Waist and hip structure and robot

Abstract

The invention relates to the technical field of robots, in particular to a waist and hip structure and a robot, and solves the problem that the heat dissipation effect of the waist and hip structure is poor. The waist and hip structure comprises at least three joint modules, a heat dissipation shell and a ventilation unit. A gap between the inner wall of the heat dissipation shell and the outer side face of the columnar structure of the joint module forms a heat dissipation air channel. The ventilation unit can extract gas in the heat dissipation air duct, so that external gas enters from the opening, passes through the heat dissipation air duct and is discharged from the ventilation port; the ventilation unit can also supply air to the heat dissipation air channel, so that external air enters from the ventilation port, passes through the heat dissipation air channel and is discharged from the opening, convection heat dissipation is achieved, and the heat dissipation efficiency is high. Besides, when passing through the heat dissipation air channel, external air is in direct contact with the joint modules, so that heat of the joint modules can be directly taken away, the heat dissipation effect on the joint modules is further improved, and the heat dissipation effect of the waist and hip structures is further improved.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics, and particularly to a waist and hip structure and a robot. Background Art

[0002] The heat generation of the joint module of a humanoid robot is the core factor restricting the rated torque of the joint module. High temperature will reduce the efficiency of the motor in the joint module and even cause demagnetization of the motor. High temperature will also have an adverse impact on other components in the joint module, such as the reducer and the driver. Therefore, only by doing a good job in the heat dissipation of the joint module can the motor in the joint module exert its corresponding performance and improve the torque density of the joint module. The waist and hip structure of the robot includes multiple joint modules, and the multiple joint modules gathered together will emit more heat, and the heat dissipation requirement is higher.

[0003] However, in the related art, the waist and hip structure generally dissipates heat through natural convection, and the heat dissipation effect is poor. Summary of the Invention

[0004] In view of this, the embodiments of the present disclosure provide a waist and hip structure and a robot, which solve the problem of poor heat dissipation effect of the waist and hip structure.

[0005] In a first aspect, an embodiment of the present disclosure provides a waist and hip structure, including: at least three joint modules, the joint module including a columnar structure; a heat dissipation housing, including a closed portion and at least three arc portions, the closed portion being connected to the arc portions to form an accommodation chamber, the accommodation chamber being configured to accommodate the joint module, the outer sides of the columnar structures of at least three of the joint modules being coaxially arranged with at least three of the arc portions respectively, a gap between the inner wall of the arc portion and the outer side of the columnar structure forming a heat dissipation air duct, the arc portion having an opening, the opening communicating the heat dissipation air duct and the outside; a ventilation unit, connected to the heat dissipation housing, the ventilation unit having a ventilation port, the ventilation port being communicated with the heat dissipation air duct through the accommodation chamber, the ventilation port also being communicated with the outside, wherein the ventilation unit is configured to extract the gas in the heat dissipation air duct, so that the outside gas enters from the opening, passes through the heat dissipation air duct, and is discharged from the ventilation port, or the ventilation unit is configured to send air to the heat dissipation air duct, so that the outside gas enters from the ventilation port, passes through the heat dissipation air duct, and is discharged from the opening.

[0006] In some embodiments, at least three of the arc portions are arranged in a triangle, and at least three of the joint modules are arranged in a triangle.

[0007] In some embodiments, the heat dissipation housing further has a heat dissipation opening; wherein, the heat dissipation opening exposes at least a part of the first end face of the columnar structure, the first end of the columnar structure closes the heat dissipation opening, and the first end face is located at the first end.

[0008] In some embodiments, the shape of the arc portion in a cross-section parallel to the flow direction of the gas in the heat dissipation air duct includes a circular arc, and the circular arc is a major arc; and / or, the shape of the arc portion in a cross-section parallel to the flow direction of the gas in the heat dissipation air duct includes a circular arc, and the circular arc is symmetric about the opening.

[0009] In some embodiments, a plurality of the arc portions are arranged around the ventilation unit; or, a plurality of the arc portions are arranged around the ventilation unit, and the opening and the ventilation unit are respectively disposed on two sides of the arc portion.

[0010] In some embodiments, the number of the arc portions is multiple, and the closing portion includes: a connecting portion connecting the multiple arc portions to form the accommodating chamber having the installation opening; and a cover body detachably connected to the connecting portion and sealing the installation opening.

[0011] In some embodiments, the waist and hip structure further includes: a controller communicatively connected to the joint module and the ventilation unit respectively, and the controller is configured to receive the temperature value sent by the joint module and adjust the ventilation volume of the ventilation unit based on the comparison between the temperature value and a preset value.

[0012] In some embodiments, the controller includes: a driving circuit board disposed in the accommodating chamber and between at least three of the joint modules; and at least one component disposed on the driving circuit board; wherein, the edge of the driving circuit board includes: at least three arc segments and a plurality of straight segments connecting the at least three arc segments, the at least three arc segments are respectively adjacent to and coaxially arranged with the outer side surfaces of the at least three columnar structures, and the driving circuit board is perpendicular to the axial direction of the columnar structure; wherein, for each end formed by two adjacent arc segments of the driving circuit board and the straight segment connecting the two adjacent arc segments, the ratio of the length of the straight segment to the length of the arc segment is a first ratio, and the component is disposed in a region of the driving circuit board close to the end having the largest first ratio.

[0013] In some embodiments, the controller includes: a drive circuit board disposed in the accommodation chamber and between at least three of the joint modules; wherein, the minimum distance between the drive circuit board and the air exchange unit is less than the minimum distance between any one of the joint modules and the air exchange unit; wherein, the arc portion extends into the accommodation chamber, and the portion of the arc portion extending into the accommodation chamber includes a first arc segment and a second arc segment, the first arc segment is connected to the arc portion located outside the accommodation chamber, the second arc segment is connected to the first arc segment, the dimension of the first arc segment in the axial direction of the joint module is greater than the dimension of the second arc segment in the axial direction of the joint module, the first arc segment extends towards the air exchange unit and is configured to guide gas past the drive circuit board, and the surface of the second arc segment facing the air exchange unit is coplanar with the surface of the drive circuit board facing the air exchange unit for gas circulation.

[0014] In some embodiments, the range of the gap between the inner wall of the heat dissipation housing and the joint module is 5 mm to 15 mm; and / or, the ratio of the effective area of the opening to the cross-sectional area of the heat dissipation air duct ranges from 0.5 to 4.

[0015] In some embodiments, at least three of the joint modules include a waist joint module, a first hip joint module, and a second hip joint module, and the first hip joint module and the second hip joint module are symmetrically arranged with respect to the waist joint module.

[0016] In some embodiments, the joint module includes: a joint body disposed in the accommodation chamber; and at least one fin disposed on the outer side surface of the joint body.

[0017] In a second aspect, an embodiment of the present disclosure provides a robot, including: the waist and hip structure mentioned in the first aspect.

[0018] The waist and hip structure provided by the embodiments of the present disclosure includes at least three joint modules, a heat dissipation housing, and an air exchange unit. The gap between the inner wall of the heat dissipation housing and the outer side surface of the columnar structure of the joint module forms a heat dissipation air duct. The air exchange unit can extract the gas in the heat dissipation air duct, so that the outside gas enters through the opening, passes through the heat dissipation air duct, and is discharged through the air exchange port; the air exchange unit can also send air into the heat dissipation air duct, so that the outside gas enters through the air exchange port, passes through the heat dissipation air duct, and is discharged through the opening, realizing convective heat dissipation with high heat dissipation efficiency.

[0019] In addition, the heat dissipation air duct is formed by the gap between the inner wall of the heat dissipation housing and the outer side surface of the columnar structure. When the outside air passes through the heat dissipation air duct, it directly contacts the joint module, so that the heat of the joint module can be directly taken away, further improving the heat dissipation effect on the joint module, and thus further improving the heat dissipation effect of the waist and hip structures. Description of the Drawings

[0020] The above and other objects, features and advantages of the present disclosure will become more apparent by describing the embodiments of the present disclosure in more detail with reference to the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of the present disclosure, and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not constitute a limitation to the present disclosure. In the accompanying drawings, the same reference numerals generally represent the same components.

[0021] Figure 1 The structural schematic diagram of the waist and hip structures provided by an embodiment of the present disclosure is shown.

[0022] Figure 2 The rear view of the waist and hip structures provided by an embodiment of the present disclosure is shown.

[0023] Figure 3 Shown is what is provided by an embodiment of the present disclosure Figure 2 The cross-sectional view of the waist and hip structures shown in the A-A direction.

[0024] Figure 4 Shown is what is provided by an embodiment of the present disclosure Figure 3 The partial enlarged view of the waist and hip structures shown in the B area.

[0025] Figure 5 The right view of the waist and hip structures provided by an embodiment of the present disclosure is shown.

[0026] Figure 6 Shown is what is provided by an embodiment of the present disclosure Figure 5 The cross-sectional view of the waist and hip structures shown in the C-C direction.

[0027] Figure 7 Shown is what is provided by an embodiment of the present disclosure Figure 5 The partial enlarged view of the waist and hip structures shown in the D area.

[0028] Figure 8 The structural schematic diagram of the waist and hip structures provided by another embodiment of the present disclosure is shown.

[0029] Figure 9 The structural schematic diagram of the waist and hip structures provided by an embodiment of the present disclosure after removing the cover is shown.

[0030] Figure 10The following is a schematic structural diagram of a robot provided by an embodiment of the present disclosure.

[0031] Reference numerals: 1. Robot; 10. Waist and hip structure; 100. Heat dissipation housing; 101. Accommodation chamber; 102. Opening; 103. Heat dissipation air duct; 104. Heat dissipation port; 105. Mounting port; 110. Arc portion; 111. First arc segment; 112. Second arc segment; 120. Enclosed portion; 121. Connection portion; 122. Cover body; 1221. Grid; 200. Ventilation unit; 201. Ventilation port; 210. Ventilation structure; 300. Controller; 310. Driving circuit board; 311. Arc segment; 312. Straight segment; 320. Components; 20. Joint module; 21. Columnar structure; 22. First end face; 23. Waist joint module; 24. First hip joint module; 25. Second hip joint module; 26. Joint body; 27. Fins; 13. Leg structure; 14. Trunk structure; 15. Head structure; δ. Gap. Detailed implementation manners

[0032] Next, the technical solutions in the embodiments of the present disclosure will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present disclosure.

[0033] Figure 1 The following is a schematic structural diagram of a waist and hip structure provided by an embodiment of the present disclosure. Figure 2 The following is a rear view of a waist and hip structure provided by an embodiment of the present disclosure. Figure 3 The following is provided by an embodiment of the present disclosure Figure 2 The following is a cross-sectional view of the shown waist and hip structure in the A-A direction. Figure 4 The following is provided by an embodiment of the present disclosure Figure 3 The following is a partial enlarged view of the shown waist and hip structure in the B area. Figure 5 The following is a right view of a waist and hip structure provided by an embodiment of the present disclosure. Figure 6 The following is provided by an embodiment of the present disclosure Figure 5 The following is a cross-sectional view of the shown waist and hip structure in the C-C direction. Figure 7 The following is provided by an embodiment of the present disclosure Figure 5 The following is a partial enlarged view of the shown waist and hip structure in the D area. Figure 8 The following is a schematic structural diagram of a waist and hip structure provided by another embodiment of the present disclosure. Figure 9The following is a schematic diagram of the structure of the waist and hip structure provided by an embodiment of the present disclosure after removing the cover. As Figures 1 to 9 shown, the waist and hip structure 10 includes at least three joint modules 20, a heat dissipation housing 100, and a ventilation unit 200.

[0034] The joint module 20 includes a columnar structure 21.

[0035] The heat dissipation housing 100 includes a closed portion 120 and at least three arc portions 110. The closed portion 120 is connected to the arc portions 110 to form an accommodation chamber 101. The accommodation chamber 101 is configured to accommodate the joint module 20. The outer sides of the columnar structures 21 of at least three joint modules 20 are respectively coaxially arranged with at least three arc portions 110. The gap δ between the inner wall of the arc portion 110 and the outer side of the columnar structure 21 forms a heat dissipation air duct 103. The arc portion 110 has an opening 102, and the opening 102 communicates the heat dissipation air duct 103 with the outside.

[0036] In some embodiments, at least three joint modules 20 are arranged in a triangle, and at least three arc portions 110 are arranged in a triangle.

[0037] In some embodiments, at least three joint modules 20 are respectively a waist joint module 23, a first hip joint module 24, and a second hip joint module 25. The first hip joint module 24 and the second hip joint module 25 are symmetrically arranged with respect to the waist joint module 23.

[0038] Exemplarily, the waist and hip structure 10 may also include more joint modules 20, such as two waist joint modules 23, two first hip joint modules 24, and two second hip joint modules 25. Among them, one waist joint module 23, one first hip joint module 24, and one second hip joint module 25 are arranged in a triangle to form a first layer, and another waist joint module 23, another first hip joint module 24, and another second hip joint module 25 are arranged in a triangle to form a second layer. The first layer and the second layer are stacked. The heat dissipation housing 100 of the waist and hip structure 10 includes a closed portion 120 and six arc portions 110. Among them, three arc portions 110 are arranged in a triangle to form a first layer, and the other three arc portions 110 are arranged in a triangle to form a second layer. The first layer and the second layer are stacked to accommodate the above two waist joint modules 23, two first hip joint modules 24, and two second hip joint modules 25.

[0039] In some embodiments, the range of the gap δ between the inner wall of the heat dissipation housing 100 and the joint module 20 is from 5 mm to 15 mm. Exemplarily, the gap δ between the inner wall of the heat dissipation housing 100 and the joint module 20 is 5 mm, 7 mm, 10 mm, 12 mm, 15 mm, etc. Through experimental verification, when the range of the gap δ between the inner wall of the heat dissipation housing 100 and the joint module 20 is from 5 mm to 15 mm, a better heat dissipation effect can be achieved. In practical applications, the gap δ between the inner wall of the heat dissipation housing 100 and the joint module 20 can be adjusted according to actual needs.

[0040] In some embodiments, the ratio of the effective area of the opening 102 to the cross-sectional area of the heat dissipation air duct 103 ranges from 0.5 to 4. Exemplarily, the ratio of the effective area of the opening 102 to the cross-sectional area of the heat dissipation air duct 103 is 0.5, 1, 1.5, 2, 2.5, 3, etc. Through experimental verification, when the ratio of the effective area of the opening 102 to the cross-sectional area of the heat dissipation air duct 103 ranges from 0.5 to 4, a better heat dissipation effect can be achieved. In practical applications, the ratio of the effective area of the opening 102 to the cross-sectional area of the heat dissipation air duct 103 can be adjusted according to actual needs.

[0041] Exemplarily, the effective area of the opening 102 is the area of the part where the opening 102 penetrates through the heat dissipation housing 100. Exemplarily, the cross-sectional area of the heat dissipation air duct 103 is the area of the cross-section of the heat dissipation air duct 103 that is perpendicular to the gas flow direction.

[0042] The ventilation unit 200 is connected to the heat dissipation housing 100. The ventilation unit 200 has a ventilation port 201. The ventilation port 201 is communicated with the heat dissipation air duct 103 through the accommodation chamber 101, and the ventilation port 201 is also communicated with the outside. Exemplarily, the ventilation unit 200 can be an air extraction device or a blowing device, such as an air extraction fan, a blowing fan, an air pump, etc.

[0043] Exemplarily, the ventilation unit 200 is an air extraction device. As Figure 1 shown, the hollow arrow indicates the gas flow direction. The ventilation unit 200 is configured to extract the gas in the heat dissipation air duct 103, so that the outside gas enters through the opening 102, passes through the heat dissipation air duct 103, and is discharged through the ventilation port 201, realizing convective heat dissipation with high heat dissipation efficiency.

[0044] Exemplarily, the ventilation unit 200 is a blowing device. As Figure 2 shown, the hollow arrow indicates the gas flow direction. The ventilation unit 200 is configured to send air to the heat dissipation air duct 103, so that the outside gas enters through the ventilation port 201, passes through the heat dissipation air duct 103, and is discharged through the opening 102, realizing convective heat dissipation with high heat dissipation efficiency.

[0045] In addition, the heat dissipation air duct 103 is formed by the gap δ between the inner wall of the heat dissipation housing 100 and the joint module 20. When the outside air passes through the heat dissipation air duct 103, it directly contacts the joint module 20, thereby directly taking away the heat of the joint module 20 and further improving the heat dissipation effect on the joint module 20.

[0046] In some embodiments, as Figure 3 and Figure 6 shown, the joint module 20 includes a columnar structure 21. As Figure 3 shown, the first end of the columnar structure 21 is connected to the heat dissipation housing 100. As Figure 6 shown, the gap δ between the inner wall of the heat dissipation housing 100 and the outer side surface of the columnar structure 21 forms the heat dissipation air duct 103.

[0047] In practical applications, the heat - generating structure of the joint module 20 is generally the motor in the joint module 20. The motor is closer to the side surface of the joint module 20. Therefore, by forming the gap δ between the inner wall of the heat dissipation housing 100 and the outer side surface of the columnar structure 21 as the heat dissipation air duct 103, it is convenient to centrally dissipate heat from the outer side surface of the joint module 20 and further improve the heat dissipation effect.

[0048] In some embodiments, as Figure 3 and Figure 8 shown, the heat dissipation housing 100 also has a heat dissipation opening 104. The heat dissipation opening 104 exposes at least a part of the first end face 22 of the columnar structure 21. The first end of the columnar structure 21 closes the heat dissipation opening 104, and the first end face 22 is located at the first end.

[0049] The heat dissipation efficiency of convective heat dissipation is relatively high. However, to achieve convective heat dissipation, the waist and hip structure 10 needs to form a receiving cavity 101 with only the opening 102 and the ventilation opening 201. Using the first end of the columnar structure 21 to close the heat dissipation opening 104 can not only enable the waist and hip structure 10 to form a receiving cavity 101 with only the opening 102 and the ventilation opening 201, but also expose at least a part of the first end face 22 of the columnar structure 21 to the outside, facilitating heat dissipation through the first end face 22 of the columnar structure 21.

[0050] Exemplarily, the heat dissipation opening 104 can expose the entire first end face 22 of the columnar structure 21 to further improve the heat dissipation efficiency through the first end face 22 of the columnar structure 21. In addition, the joint module 20 can enter and exit the receiving cavity 101 through the heat dissipation opening 104, facilitating the disassembly and installation of the waist and hip structure 10.

[0051] In some embodiments, as Figure 1 and Figure 6As shown, the heat dissipation housing 100 includes at least one arc portion 110 and an enclosing portion 120. Each arc portion 110 is correspondingly arranged with a joint module 20. The outer side surface of the columnar structure 21 is coaxially arranged with the arc portion 110. A gap δ between the inner wall of the arc portion 110 and the outer side surface of the columnar structure 21 forms a heat dissipation air duct 103, and an opening 102 is arranged on the arc portion 110. The enclosing portion 120 is connected to the arc portion 110 to form an accommodation chamber 101.

[0052] By coaxially arranging the outer side surface of the columnar structure 21 with the arc portion 110, a gap δ between the inner wall of the arc portion 110 and the outer side surface of the columnar structure 21 forms a heat dissipation air duct 103, and the gap δ between the inner wall of the arc portion 110 and the outer side surface of the columnar structure 21 is made the same, ensuring the consistency of the cross-sectional area of the heat dissipation air duct 103, thereby making the gas flow more smoothly, the heat taken away by the gas from the joint module 20 more uniform, and the heat dissipation efficiency higher.

[0053] Figure 6 The flow direction of the gas is shown by a hollow arrow in the figure. In some embodiments, as Figure 6 shown, the shape of the arc portion 110 in a cross-section parallel to the flow direction of the gas in the heat dissipation air duct 103 includes a circular arc, and the circular arc is a major arc. A major arc is an arc with a central angle greater than 180°. By making the shape of the arc portion 110 in a cross-section parallel to the flow direction of the gas in the heat dissipation air duct 103 include a circular arc and the circular arc be a major arc, the length of the heat dissipation air duct 103 is increased to further improve the heat dissipation efficiency.

[0054] In some embodiments, as Figure 6 shown, the shape of the arc portion 110 in a cross-section parallel to the flow direction of the gas in the heat dissipation air duct 103 includes a circular arc, and the circular arc is symmetric about the opening 102, enabling the gas entering and exiting through the opening 102 to enter and exit the heat dissipation air duct 103 evenly, thereby improving the uniformity of heat dissipation for the joint module 20.

[0055] In some embodiments, as Figure 9 shown, the heat dissipation housing 100 includes a plurality of arc portions 110 to accommodate a plurality of joint modules 20, and the plurality of arc portions 110 are arranged around the ventilation unit 200.

[0056] Exemplarily, as Figure 9 shown, the ventilation unit 200 may include a plurality of ventilation structures 210. Exemplarily, the ventilation structure 210 may be an air extraction device or a blowing device, such as an air extraction fan, a blowing fan, an air pump, etc. Exemplarily, the plurality of ventilation structures 210 included in the ventilation unit 200 are all air extraction devices or all blowing devices to ensure the same flow direction of the gas in the same heat dissipation air duct 103 and improve the heat dissipation efficiency.

[0057] As shown Figure 9 in Figure 9 , a plurality of arc portions 110 are arranged around the ventilation unit 200, enabling the ventilation unit 200 to more evenly and effectively dissipate heat from each joint module 20, avoiding the problem that some joint modules 20 dissipate heat quickly while some other joint modules 20 dissipate heat slowly.

[0058] Exemplarily, the number of joint modules 20 can also be four, five, or more. Correspondingly, the number of arc portions 110 is also four, five, or more, so as to dissipate heat from more joint modules 20 simultaneously.

[0059] In some embodiments, as Figure 9 shown in Figure 9 , the heat dissipation housing 100 includes a plurality of arc portions 110 which are arranged around the ventilation unit 200, and the opening 102 and the ventilation unit 200 are respectively disposed on two sides of the arc portion 110. Since the gas flows from the opening 102 to the ventilation unit 200 through the heat dissipation air duct 103, or the gas flows from the ventilation unit 200 to the opening 102 through the heat dissipation air duct 103, disposing the opening 102 and the ventilation unit 200 on two sides of the arc portion 110 facilitates the gas to enter and exit the heat dissipation air duct 103 evenly, improving the uniformity of heat dissipation for the joint module 20.

[0060] In some embodiments, as Figure 1 、 Figure 8 and Figure 9 shown in Figure 1 , Figure 8 and Figure 9 , the number of arc portions 110 is multiple, and the closed portion 120 includes a connecting portion 121 and a cover body 122. The connecting portion 121 connects the multiple arc portions 110 to form an accommodation chamber 101 with an installation opening 105. The joint module 20 can enter and exit the accommodation chamber 101 through the installation opening 105, facilitating the disassembly and installation of the waist and hip structure 10.

[0061] The cover body 122 is detachably connected to the connecting portion 121 and seals the installation opening 105, facilitating the opening or closing of the installation opening 105 by the cover body 122, thereby facilitating the maintenance of the joint module 20. In addition, the cover body 122 seals the installation opening 105, enabling the waist and hip structure 10 to form an accommodation chamber 101 with only the opening 102 and the ventilation opening 201, achieving convective heat dissipation with high heat dissipation efficiency.

[0062] Exemplarily, as Figure 5 and Figure 7 shown in Figure 5 and Figure 7 , the cover body 122 includes a grid 1221 which covers a part of the opening 102 to reduce impurities in the air from entering the heat dissipation air duct 103 through the opening 102. Exemplarily, as Figure 7 shown in Figure 7 , the grid 1221 can be a toothed grid. Exemplarily, the grid 1221 can also be a mesh grid, etc.

[0063] In some embodiments, such as Figure 6 and Figure 9 shown, the waist and hip structure 10 further includes a controller 300. The controller 300 is communicatively connected to the joint module 20 and the ventilation unit 200 respectively. The controller 300 is configured to receive the temperature value sent by the joint module 20 and adjust the ventilation volume of the ventilation unit 200 based on the temperature value and a preset value.

[0064] In some embodiments, such as Figure 6 shown, the controller 300 includes a drive circuit board 310 and at least one component 320. The at least one component 320 is disposed on the drive circuit board 310. The component 320 can be components such as connectors, electrolytic capacitors, chips, etc. to achieve the communication connection between the controller 300 and the joint module 20 and the ventilation unit 200. Exemplarily, the drive circuit board 310 is disposed in the accommodation chamber 101. In practical applications, the component 320 is installed on the side of the drive circuit board 310 close to the cover 122. Therefore, the drive circuit board 310 can be installed on the side of the accommodation chamber 101 away from the cover 122 to leave enough installation space for the component 320, facilitate the layout of multiple components 320, and also facilitate the flow of gas in the accommodation chamber 101.

[0065] Exemplarily, the drive circuit board 310 is disposed in the accommodation chamber 101 and is disposed between at least three joint modules 20.

[0066] Exemplarily, such as Figure 6 shown, the edge of the drive circuit board 310 includes: at least three arc segments 311 and a plurality of straight segments 312 connecting the at least three arc segments 311. The at least three arc segments 311 are respectively adjacent to and coaxially arranged with the outer side surfaces of the at least three columnar structures 21, and the drive circuit board 310 is perpendicular to the axial direction of the columnar structure 21.

[0067] Exemplarily, such as Figure 6 shown, two adjacent arc segments 311 of the drive circuit board 310 and the straight segment 312 connecting the two adjacent arc segments 311 enclose an end. For each end, the ratio of the length of the straight segment 312 to the length of the arc segment 311 is a first ratio, and the component 320 is disposed in the area of the drive circuit board 310 close to the end with the largest first ratio. In other words, such as Figure 6 shown, the drive circuit board 310 has three arc segments 311 and three straight segments 312, forming three ends. The three ends are respectively located at the lower side, the upper left side, and the upper right side, and the component 320 is disposed in the area of the drive circuit board 310 close to the end at the lower side.

[0068] In some embodiments, such as Figure 9As shown, the controller 300 includes a drive circuit board 310. The drive circuit board 310 is disposed in the accommodation chamber 101 and is disposed between at least three joint modules 20. The minimum distance between the drive circuit board 310 and the ventilation unit 200 is less than the minimum distance between any one of the joint modules 20 and the ventilation unit 200.

[0069] In some embodiments, as Figure 9 shown, the arc portion 110 extends into the accommodation chamber 101. The portion of the arc portion 110 extending into the accommodation chamber 101 includes a first arc segment 111 and a second arc segment 112. The first arc segment 111 is connected to the arc portion 110 located outside the accommodation chamber 101. The second arc segment 112 is connected to the first arc segment 111. The dimension of the first arc segment 111 in the axial direction of the joint module 20 is greater than the dimension of the second arc segment 112 in the axial direction of the joint module 20. The first arc segment 111 extends toward the ventilation unit 200 and is configured to guide gas through the drive circuit board 310. The surface of the second arc segment 112 facing the ventilation unit 200 is coplanar with the surface of the drive circuit board 310 facing the ventilation unit 200 for gas circulation.

[0070] Exemplarily, the ventilation unit 200 may be a fan. Adjusting the ventilation volume of the ventilation unit 200 may be to adjust the rotation speed of the ventilation unit 200.

[0071] Exemplarily, a temperature sensor is provided inside the joint module 20, which can detect the temperature value of the joint module 20 in real time and send the temperature value to the controller 300. A preset value is stored in the controller 300. By comparing the temperature value with the preset value, the heat dissipation requirement of the joint module 20 can be judged. For example, if the temperature value is greater than or equal to the preset temperature, it can be considered that the temperature of the joint module 20 is relatively high, and the ventilation volume of the ventilation unit 200 needs to be increased to take away more heat of the joint module 20 and accelerate the heat dissipation of the joint module 20. If the temperature value is less than the preset temperature, it can be considered that the temperature of the joint module 20 is relatively low, and the ventilation volume of the ventilation unit 200 can be reduced to reduce the operating noise of the ventilation unit 200. By setting the controller 300, the joint module 20 can operate within a reasonable temperature range.

[0072] In some embodiments, the joint module 20 includes a joint body 26 and at least one fin 27. The joint body 26 is disposed in the accommodation chamber 101. The fin 27 is disposed on the outer side surface of the joint body 26. Exemplarily, the joint body 26 includes a columnar structure 21, and the fin 27 is disposed on the outer side surface of the columnar structure 21.

[0073] By providing the fins 27, the heat dissipation area of the joint module 20 is increased, and the heat dissipation effect on the joint module 20 is further improved.

[0074] Exemplarily, the fins 27 are arranged circumferentially around the joint body 26 to further increase the heat dissipation area of the joint module 20.

[0075] Exemplarily, the joint module 20 includes a plurality of fins 27, and the plurality of fins 27 are arranged at intervals in the radial direction of the joint body 26 to further increase the heat dissipation area of the joint module 20. Exemplarily, the number of fins 27 included in the joint module 20 can be set according to the actual heat dissipation requirements. If the heat generation of the joint module 20 is large, as many fins 27 as possible can be set. If the heat generation of the joint module 20 is small, fewer fins 27 can be set.

[0076] Exemplarily, the distance between adjacent fins 27 is equal to the dimension of the fins 27 in the radial direction of the joint body 26. It has been experimentally verified that the distance between adjacent fins 27 being equal to the dimension of the fins 27 in the radial direction of the joint body 26 has a good heat dissipation effect on the joint module 20.

[0077] Figure 10 The figure shows a schematic structural diagram of a robot provided by an embodiment of the present disclosure. As Figure 10 shown, the robot 1 includes the waist and hip structure 10 in the above embodiment. Exemplarily, the robot 1 is a humanoid robot, a collaborative robot, a handling robot, etc. As Figure 10 shown, the robot 1 may further include a leg structure 13, a torso structure 14, and a head structure 15. Exemplarily, as Figure 10 shown, the waist and hip structure 10 is located on the back of the robot 1. During the forward walking process of the robot 1, it is not easy for the natural wind from the outside to pass through the front of the robot 1 to the back of the robot 1. Therefore, by providing the waist and hip structure 10, it is convenient to actively dissipate heat from the waist and hip structure 10 located on the back of the robot 1.

[0078] Since the robot 1 includes the waist and hip structure 10, the robot 1 has all the technical features and technical effects of the waist and hip structure 10, which will not be elaborated here.

[0079] In the embodiments of the present disclosure, if the form of connection is not clearly defined, the form of connection can be a detachable connection form such as bolt and nut, screw, snap, magnetic attraction, etc. In some connections, if there is no special requirement for the form of non-detachable cooperation, non-detachable connection can be carried out by means of welding, bonding, etc.

[0080] As used in the specification, phrases such as "an embodiment" and "embodiments" mean that the described embodiments may include specific features, structures, or characteristics, but not every embodiment necessarily includes such specific features, structures, or characteristics. Moreover, such phrases do not necessarily refer to the same embodiment. Further, when a specific feature, structure, or characteristic is described in connection with an embodiment, it is within the knowledge of those skilled in the art to implement such feature, structure, or characteristic in connection with other embodiments, whether explicitly or implicitly described.

[0081] It should be understood that the terms "on", "above", and "over" in this disclosure should be interpreted in the broadest manner such that "on" not only means "directly on something", but also includes the meaning of "on something" with intermediate features or layers therebetween, and "above" or "over" not only includes the meaning of "above" or "over something", but may also include the meaning of "above" or "over something" with no intermediate features or layers therebetween (i.e., directly on something).

[0082] In addition, for ease of description, spatial relative terms may be used herein, such as "below", "beneath", "under", "above", "over", etc., to describe the relationship of one component or feature to another as shown in the figures. Spatial relative terms are intended to encompass different orientations of the components in use or operation in addition to the orientation shown in the figures. The device may have other orientations (rotated 90 degrees or in other orientations), and the spatial relative descriptive terms used herein may be interpreted accordingly.

[0083] It should be noted that, in this document, the term "comprising", "including", or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a series of elements includes not only those elements but also other elements not expressly listed, or elements that are inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0084] The above are only the preferred embodiments of this disclosure and are not intended to limit this disclosure. Any modifications, equivalent substitutions, etc. made within the spirit and principles of this disclosure shall be included within the protection scope of this disclosure.

Claims

1. A lumbar and hip structure, characterized in that, Comprising: At least three joint modules, each of the joint modules including a columnar structure; A heat dissipation housing, including an enclosed portion and at least three arc portions, the enclosed portion being connected to the arc portions to form an accommodation chamber configured to accommodate the joint modules, the outer sides of the columnar structures of at least three of the joint modules being coaxially arranged with at least three of the arc portions respectively, a gap between the inner wall of the arc portion and the outer side of the columnar structure forming a heat dissipation air duct, the arc portion having an opening that communicates the heat dissipation air duct with the outside; A ventilation unit, connected to the heat dissipation housing, the ventilation unit having a ventilation port that communicates with the heat dissipation air duct through the accommodation chamber and also communicates with the outside, wherein the ventilation unit is configured to extract the gas in the heat dissipation air duct, so that the outside gas enters through the opening, passes through the heat dissipation air duct, and is discharged through the ventilation port, or the ventilation unit is configured to supply air to the heat dissipation air duct, so that the outside gas enters through the ventilation port, passes through the heat dissipation air duct, and is discharged through the opening.

2. The lumbar and hip structure according to claim 1, characterized in that, At least three of the arc portions are arranged in a triangle, and at least three of the joint modules are arranged in a triangle.

3. The lumbar and hip structure according to claim 1, characterized in that, The heat dissipation housing further has a heat dissipation port; Wherein, the heat dissipation port exposes at least a part of a first end face of the columnar structure, the first end of the columnar structure closes the heat dissipation port, and the first end face is located at the first end.

4. The lumbar and hip structure according to claim 1, characterized in that, The shape of the arc portion in a cross-section parallel to the flow direction of the gas in the heat dissipation air duct includes a circular arc, and the circular arc is a major arc; And / or, The shape of the arc portion in a cross-section parallel to the flow direction of the gas in the heat dissipation air duct includes a circular arc, and the circular arc is symmetric about the opening.

5. The lumbar and hip structure according to claim 1, characterized in that, A plurality of the arc portions are arranged around the ventilation unit; Or, A plurality of the arc portions are arranged around the ventilation unit, and the opening and the ventilation unit are respectively disposed on two sides of the arc portion.

6. The lumbar and hip structure according to claim 1, wherein The enclosed portion includes: A connecting portion that connects a plurality of the arc portions to form the accommodation chamber having an installation opening; A cover body that is detachably connected to the connecting portion and seals the installation opening.

7. The lumbar and hip structure according to any one of claims 1 to 6, characterized in that, Further comprising: A controller, communicatively connected to the joint module and the ventilation unit respectively, the controller being configured to receive a temperature value sent by the joint module and adjust the ventilation volume of the ventilation unit based on the comparison between the temperature value and a preset value.

8. The lumbar and hip structure according to claim 7, characterized in that, The controller includes: A drive circuit board, disposed in the accommodation chamber and between at least three of the joint modules; At least one component, disposed on the drive circuit board; Wherein, an edge of the drive circuit board includes: at least three arc segments and a plurality of straight segments connecting at least three of the arc segments, at least three of the arc segments being adjacent to and coaxially arranged with the outer sides of at least three of the columnar structures respectively, and the drive circuit board is perpendicular to the axial direction of the columnar structure; Among them, two adjacent arc segments of the driving circuit board and the straight segment connecting the two adjacent arc segments enclose an end. For each end, the ratio of the length of the straight segment to the length of the arc segment is a first ratio, and the component is disposed in the area of the driving circuit board close to the end having the largest first ratio.

9. The lumbar and hip structure according to claim 7, wherein The controller includes: A driving circuit board, disposed in the accommodation chamber and between at least three of the joint modules; Among them, the minimum distance between the driving circuit board and the ventilation unit is less than the minimum distance between any one of the joint modules and the ventilation unit; Among them, the arc portion extends into the accommodation chamber. The portion of the arc portion extending into the accommodation chamber includes a first arc segment and a second arc segment. The first arc segment is connected to the arc portion located outside the accommodation chamber, and the second arc segment is connected to the first arc segment. The dimension of the first arc segment in the axial direction of the joint module is greater than the dimension of the second arc segment in the axial direction of the joint module. The first arc segment extends toward the ventilation unit and is configured to guide gas through the driving circuit board. The surface of the second arc segment facing the ventilation unit is coplanar with the surface of the driving circuit board facing the ventilation unit for gas circulation.

10. The waist and hip structure according to any one of claims 1 to 6, wherein The range of the gap between the inner wall of the heat dissipation housing and the joint module is 5 mm to 15 mm; and / or The ratio range of the effective area of the opening to the cross-sectional area of the heat dissipation air duct is 0.5 to 4.

11. The lumbar and hip structure according to any one of claims 1 to 6, characterized in that, At least three of the joint modules include a waist joint module, a first hip joint module, and a second hip joint module, and the first hip joint module and the second hip joint module are symmetrically arranged with respect to the waist joint module.

12. The lumbar and hip structure according to any one of claims 1 to 6, characterized in that, The joint module includes: A joint body, disposed in the accommodation chamber; At least one fin, disposed on the outer side surface of the joint body.

13. A robot, characterized in that, Includes: The waist and hip structure according to any one of claims 1 to 12.

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