Waist and hip structures and robots

Abstract

The present disclosure relates to the field of robotics technology, and in particular to a waist and hip structure and a robot, which solves the problem of poor heat dissipation effect of the waist and hip structure. The waist and hip structure includes at least three joint modules, a heat dissipation shell and a ventilation unit. The gap between the inner wall of the heat dissipation shell and the outer side surface of the columnar structure of the joint module forms a heat dissipation duct. The ventilation unit can extract the gas in the heat dissipation duct, so that the outside air enters from the opening, passes through the heat dissipation duct, and is discharged from the ventilation port; the ventilation unit can also supply air to the heat dissipation duct, so that the outside air enters from the ventilation port, passes through the heat dissipation duct, and is discharged from the opening, thereby realizing convection heat dissipation and high heat dissipation efficiency. In addition, when passing through the heat dissipation duct, the outside air directly contacts the joint module, thereby being able to directly take away the heat of the joint module, further improving the heat dissipation effect on the joint module, thereby further improving the heat dissipation effect of the joint module, and thus further improving the heat dissipation effect of the waist and hip structure.

Description

Technical Field

[0001] The present disclosure relates to the technical field of robots, and in particular to a waist and hip structure and a robot. Background Art

[0002] Heat generation within the joint modules of humanoid robots is a key factor limiting their rated torque. High temperatures can reduce the efficiency of the motors in these modules and even cause them to demagnetize. High temperatures can also adversely affect other components within the modules, such as reducers and drivers. Therefore, effective heat dissipation within these modules is crucial to ensuring optimal motor performance and increasing torque density. The robot's waist and hip structures include multiple joint modules, which collectively dissipate more heat and require higher heat dissipation requirements.

[0003] However, in the related art, the waist and hip structures generally dissipate heat through natural convection, which has a poor heat dissipation effect. 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 the first aspect, an embodiment of the present disclosure provides a waist and hip structure, comprising: at least three joint modules, wherein the joint module comprises a columnar structure; a heat dissipation shell, comprising a closed portion and at least three arc-shaped portions, wherein the closed portion is connected to the arc-shaped portion to form a accommodating chamber, wherein the accommodating chamber is configured to accommodate the joint module, wherein the outer side surfaces of the columnar structures of at least three joint modules are coaxially arranged with the at least three arc-shaped portions, respectively, and the gap between the inner wall of the arc-shaped portion and the outer side surface of the columnar structure forms a heat dissipation duct, and the arc-shaped portion has an opening. The opening connects the heat dissipation duct and the outside world; a ventilation unit is connected to the heat dissipation shell, and the ventilation unit has a ventilation port, which is connected to the heat dissipation duct through the accommodating chamber, and the ventilation port is also connected to the outside world, wherein the ventilation unit is configured to extract the gas in the heat dissipation duct, so that the external gas enters from the opening, passes through the heat dissipation duct, and is discharged from the ventilation port, or the ventilation unit is configured to supply air to the heat dissipation duct, so that the external gas enters from the ventilation port, passes through the heat dissipation duct, and is discharged from the opening.

[0006] In some embodiments, at least three of the arc-shaped 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 port; wherein the heat dissipation port exposes at least a portion of a first end surface of the columnar structure, the first end of the columnar structure closes the heat dissipation port, and the first end surface is located at the first end.

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

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

[0010] In some embodiments, there are multiple arc-shaped portions, and the closing portion includes: a connecting portion connecting multiple arc-shaped portions to form the accommodating chamber with an installation port; and a cover body detachably connected to the connecting portion and sealing the installation port.

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

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

[0013] In some embodiments, the controller includes: a driving circuit board, which is arranged in the accommodating chamber and between at least three of the joint modules; wherein 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; wherein the arc portion extends into the accommodating chamber, and the part of the arc portion extending into the accommodating chamber includes a first arc segment and a second arc segment, the first arc segment is connected to the arc portion located outside the accommodating chamber, and the second arc segment is connected to the first arc segment, the axial dimension of the first arc segment in the joint module is larger than the axial dimension of the second arc segment in the joint module, the first arc segment extends toward the ventilation unit and is configured to guide gas through the driving circuit board, and 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.

[0014] In some embodiments, the gap between the inner wall of the heat dissipation housing and the joint module ranges from 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 duct ranges from 0.5 to 4.

[0015] In some embodiments, the at least three 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 relative to the waist joint module.

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

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

[0018] The waist and hip structure provided by the embodiment of the present disclosure includes at least three joint modules, a heat dissipation shell and a ventilation unit. The gap between the inner wall of the heat dissipation shell and the outer side surface of the columnar structure of the joint module forms a heat dissipation duct. The ventilation unit can extract the gas in the heat dissipation duct, so that the external gas enters from the opening, passes through the heat dissipation duct, and is discharged from the ventilation port; the ventilation unit can also supply air to the heat dissipation duct, so that the external gas enters from the ventilation port, passes through the heat dissipation duct, and is discharged from the opening, thereby realizing convection heat dissipation and high heat dissipation efficiency.

[0019] In addition, the heat dissipation duct is formed by the gap between the inner wall of the heat dissipation shell and the outer side surface of the columnar structure. When the external gas passes through the heat dissipation duct, it directly contacts the joint module, thereby directly taking away the heat of the joint module, further improving the heat dissipation effect of the joint module, thereby further improving the heat dissipation effect of the waist and hip structures. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and other purposes, features, and advantages of the present disclosure will become more apparent through a more detailed description of the embodiments of the present disclosure in conjunction with the accompanying drawings. The accompanying drawings are intended 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 are not intended to limit the present disclosure. In the drawings, the same reference numerals generally represent the same components.

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

[0022] Figure 2 Shown is a rear view of a waist and hip structure provided by one embodiment of the present disclosure.

[0023] Figure 3 The present invention provides an embodiment of the present invention. Figure 2 A cross-sectional view of the waist and hip structures along the AA direction is shown.

[0024] Figure 4 The present invention provides an embodiment of the present invention. Figure 3 A partial enlarged view of the waist and hip structures in area B is shown.

[0025] Figure 5 Shown is a right side view of the waist and hip structure provided by one embodiment of the present disclosure.

[0026] Figure 6 The present invention provides an embodiment of the present invention. Figure 5 A cross-sectional view of the waist and hip structures shown in the CC direction.

[0027] Figure 7 The present invention provides an embodiment of the present invention. Figure 5 A partial enlarged view of the waist and hip structure in area D is shown.

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

[0029] Figure 9 Shown is a schematic structural diagram of the waist and hip structures provided by one embodiment of the present disclosure after the cover body is removed.

[0030] Figure 10Shown is a schematic structural diagram of a robot provided in one embodiment of the present disclosure.

[0031] Reference numerals:

[0032] 1. Robot; 10. Waist and hip structure; 100. Heat dissipation housing; 101. Accommodation chamber; 102. Opening; 103. Heat dissipation duct; 104. Heat dissipation port; 105. Mounting port; 110. Arc portion; 111. First arc segment; 112. Second arc segment; 120. Enclosure; 121. Connecting portion; 122. Cover; 1221. Grid; 200. Ventilation unit; 201. Ventilation port; 210. Ventilation Air structure; 300, controller; 310, drive 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, fin; 13, leg structure; 14, trunk structure; 15, head structure; δ, gap. DETAILED DESCRIPTION

[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present disclosure in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present disclosure without making any creative efforts shall fall within the scope of protection of the present disclosure.

[0034] Figure 1 Shown is a schematic structural diagram of the waist and hip structures provided by an embodiment of the present disclosure. Figure 2 Shown is a rear view of a waist and hip structure provided by one embodiment of the present disclosure. Figure 3 The present invention provides an embodiment of the present invention. Figure 2 A cross-sectional view of the waist and hip structures along the AA direction is shown. Figure 4 The present invention provides an embodiment of the present invention. Figure 3 A partial enlarged view of the waist and hip structures in area B is shown. Figure 5 Shown is a right side view of the waist and hip structure provided by one embodiment of the present disclosure. Figure 6 The present invention provides an embodiment of the present invention. Figure 5 A cross-sectional view of the waist and hip structures shown in the CC direction. Figure 7 The present invention provides an embodiment of the present invention. Figure 5 A partial enlarged view of the waist and hip structure in area D is shown. Figure 8 Shown is a schematic structural diagram of the waist and hip structures provided by another embodiment of the present disclosure. Figure 9The figure shows a schematic diagram of the structure of the waist and hip structure after removing the cover body provided by an embodiment of the present disclosure. Figures 1 to 9 As shown, the waist and hip structure 10 includes at least three joint modules 20 , a heat dissipation shell 100 and a ventilation unit 200 .

[0035] The joint module 20 includes a columnar structure 21 .

[0036] The heat dissipation housing 100 includes a closed portion 120 and at least three curved portions 110, the closed portion 120 being connected to the curved portions 110 to form a housing chamber 101. The housing chamber 101 is configured to accommodate the joint modules 20. The outer side surfaces of the columnar structures 21 of the at least three joint modules 20 are coaxially arranged with the at least three curved portions 110. The gap δ between the inner wall of the curved portion 110 and the outer side surface of the columnar structure 21 forms a heat dissipation duct 103. The curved portion 110 has an opening 102, which connects the heat dissipation duct 103 with the outside.

[0037] In some embodiments, at least three joint modules 20 are arranged in a triangle, and at least three arc-shaped portions 110 are arranged in a triangle.

[0038] In some embodiments, at least three joint modules 20 are 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 relative to the waist joint module 23 .

[0039] 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, 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, and the first layer and the second layer are stacked. The heat dissipation shell 100 of the waist and hip structure 10 includes a closed portion 120 and six arc-shaped portions 110, wherein three arc-shaped portions 110 are arranged in a triangle to form a first layer, and the other three arc-shaped portions 110 are arranged in a triangle to form a second layer, and 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.

[0040] In some embodiments, the gap δ between the inner wall of the heat dissipation housing 100 and the joint module 20 ranges from 5 mm to 15 mm. For example, 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. Experimental verification shows that the gap δ between the inner wall of the heat dissipation housing 100 and the joint module 20 ranges from 5 mm to 15 mm, which can achieve a good heat dissipation effect. In actual 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.

[0041] In some embodiments, the ratio of the effective area of ​​the opening 102 to the cross-sectional area of ​​the heat dissipation 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 duct 103 is 0.5, 1, 1.5, 2, 2.5, 3, and so on. Experimental verification shows that a ratio of the effective area of ​​the opening 102 to the cross-sectional area of ​​the heat dissipation duct 103 ranging from 0.5 to 4 can achieve a good heat dissipation effect. In actual applications, the ratio of the effective area of ​​the opening 102 to the cross-sectional area of ​​the heat dissipation duct 103 can be adjusted according to actual needs.

[0042] Exemplarily, the effective area of ​​the opening 102 is the area of ​​the portion of the opening 102 that passes through the heat dissipation housing 100. Exemplarily, the cross-sectional area of ​​the heat dissipation duct 103 is the area of ​​the cross section of the heat dissipation duct 103 perpendicular to the flow direction of the gas.

[0043] The ventilation unit 200 is connected to the heat dissipation housing 100. The ventilation unit 200 has a ventilation port 201, which communicates with the heat dissipation duct 103 through the accommodating chamber 101. The ventilation port 201 also communicates with the outside world. For example, the ventilation unit 200 can be an exhaust device or an air blowing device, such as an exhaust fan, an air blowing fan, or an air pump.

[0044] Exemplarily, the ventilation unit 200 is an air extraction device, such as Figure 1 As shown, the hollow arrows represent the flow direction of the gas. The ventilation unit 200 is configured to extract the gas in the heat dissipation duct 103, so that the external gas enters from the opening 102, passes through the heat dissipation duct 103, and is discharged from the ventilation port 201, thereby realizing convection heat dissipation with high heat dissipation efficiency.

[0045] Exemplarily, the ventilation unit 200 is an air blowing device, such as Figure 2 As shown, the hollow arrows represent the flow direction of the gas. The ventilation unit 200 is configured to supply air to the heat dissipation duct 103, so that the external air enters from the ventilation port 201, passes through the heat dissipation duct 103, and is discharged from the opening 102, thereby realizing convection heat dissipation with high heat dissipation efficiency.

[0046] In addition, the heat dissipation duct 103 is formed by the gap δ between the inner wall of the heat dissipation shell 100 and the joint module 20. When the external gas passes through the heat dissipation duct 103, it directly contacts the joint module 20, thereby directly taking away the heat of the joint module 20, further improving the heat dissipation effect of the joint module 20.

[0047] In some embodiments, as Figure 3 and Figure 6 As shown, the joint module 20 includes a columnar structure 21. Figure 3 As shown, the first end of the columnar structure 21 is connected to the heat dissipation housing 100. Figure 6 As shown, a gap δ between the inner wall of the heat dissipation housing 100 and the outer side surface of the columnar structure 21 forms a heat dissipation duct 103 .

[0048] In actual applications, the structure that generates heat in the joint module 20 is generally the motor in the joint module 20, and the motor is closer to the side of the joint module 20. Therefore, by forming a heat dissipation duct 103 through the gap δ between the inner wall of the heat dissipation shell 100 and the outer side of the columnar structure 21, it is convenient to concentrate the heat dissipation on the outer side of the joint module 20, thereby further improving the heat dissipation effect.

[0049] In some embodiments, as Figure 3 and Figure 8 As shown, the heat dissipation housing 100 further has a heat dissipation opening 104. The heat dissipation opening 104 exposes at least a portion of the first end surface 22 of the columnar structure 21. The first end of the columnar structure 21 closes the heat dissipation opening 104, and the first end surface 22 is located at the first end.

[0050] Convection heat dissipation has a high heat dissipation efficiency, but to achieve this, the waist and hip structures 10 must form a housing chamber 101 consisting solely of the opening 102 and the ventilation port 201. Using the first ends of the columnar structures 21 to seal the heat dissipation ports 104 allows the waist and hip structures 10 to form a housing chamber 101 consisting solely of the opening 102 and the ventilation port 201, while also exposing at least a portion of the first end surfaces 22 of the columnar structures 21 to the outside world, facilitating heat dissipation through the first end surfaces 22 of the columnar structures 21.

[0051] For example, the heat dissipation vent 104 can expose the entire first end surface 22 of the columnar structure 21 to further improve the heat dissipation efficiency through the first end surface 22 of the columnar structure 21. In addition, the joint module 20 can enter and exit the accommodating chamber 101 through the heat dissipation vent 104, facilitating the removal and installation of the waist and hip structures 10.

[0052] In some embodiments, as Figure 1 and Figure 6As shown, the heat dissipation housing 100 includes at least one arcuate portion 110 and a closed portion 120. Each arcuate portion 110 is provided corresponding to a joint module 20. The outer side surface of the columnar structure 21 is coaxially arranged with the arcuate portion 110. The gap δ between the inner wall of the arcuate portion 110 and the outer side surface of the columnar structure 21 forms a heat dissipation duct 103. The opening 102 is provided in the arcuate portion 110. The closed portion 120 is connected to the arcuate portion 110 to form a receiving chamber 101.

[0053] By arranging the outer side surface of the columnar structure 21 coaxially with the arc-shaped portion 110, a heat dissipation duct 103 is formed by a gap δ between the inner wall of the arc-shaped portion 110 and the outer side surface of the columnar structure 21, and the gap δ between the inner wall of the arc-shaped portion 110 and the outer side surface of the columnar structure 21 is made the same, thereby ensuring the consistency of the cross-sectional area of ​​the heat dissipation duct 103, thereby making the gas flow smoother, the heat carried away by the gas from the joint module 20 more uniform, and the heat dissipation efficiency higher.

[0054] Figure 6 The hollow arrows in FIG. 1 show the direction of gas flow. Figure 6 As shown, the shape of the curved portion 110 on a cross section parallel to the flow direction of the gas in the heat dissipation duct 103 comprises an arc, which is a major arc. A major arc is an arc with a central angle greater than 180°. By making the shape of the curved portion 110 on a cross section parallel to the flow direction of the gas in the heat dissipation duct 103 comprise an arc, and making the arc a major arc, the length of the heat dissipation duct 103 is increased, further improving heat dissipation efficiency.

[0055] In some embodiments, as Figure 6 As shown, the shape of the arc portion 110 on the cross section parallel to the flow direction of the gas in the heat dissipation duct 103 includes an arc shape, which is symmetrical about the opening 102, so that the gas entering and exiting the opening 102 can enter and exit the heat dissipation duct 103 evenly, thereby improving the uniformity of heat dissipation of the joint module 20.

[0056] In some embodiments, as Figure 9 As shown, the heat dissipation housing 100 includes a plurality of arc-shaped portions 110 to accommodate a plurality of joint modules 20 , and the plurality of arc-shaped portions 110 are arranged around the ventilation unit 200 .

[0057] For example, Figure 9 As shown, the ventilation unit 200 may include multiple ventilation structures 210. Exemplarily, the ventilation structures 210 may be exhaust devices or air blowing devices, such as exhaust fans, air blowing fans, air pumps, etc. Exemplarily, the multiple ventilation structures 210 included in the ventilation unit 200 are all exhaust devices or all air blowing devices to ensure that the air in the same heat dissipation duct 103 flows in the same direction, thereby improving heat dissipation efficiency.

[0058] like Figure 9 As shown, multiple arc-shaped portions 110 are arranged around the ventilation unit 200, so that the ventilation unit 200 can dissipate heat for each joint module 20 more evenly and effectively, avoiding the problem that some joint modules 20 dissipate heat quickly while other joint modules 20 dissipate heat slowly.

[0059] Exemplarily, the number of joint modules 20 can also be four, five, or more, and correspondingly, the number of arc-shaped portions 110 can also be four, five, or more, so as to achieve heat dissipation for more joint modules 20 at the same time.

[0060] In some embodiments, as Figure 9 As shown, the heat dissipation housing 100 includes a plurality of arc-shaped portions 110, which are arranged around the ventilation unit 200. The opening 102 and the ventilation unit 200 are respectively arranged on either side of the arc-shaped portion 110. Since gas flows from the opening 102 through the heat dissipation duct 103 to the ventilation unit 200, or gas flows from the ventilation unit 200 through the heat dissipation duct 103 to the opening 102, the opening 102 and the ventilation unit 200 are respectively arranged on either side of the arc-shaped portion 110, so that gas can evenly enter and exit the heat dissipation duct 103, thereby improving the uniformity of heat dissipation of the joint module 20.

[0061] In some embodiments, as Figure 1 、 Figure 8 and Figure 9 As shown, there are multiple arcuate portions 110, and the enclosing portion 120 includes a connecting portion 121 and a cover 122. The connecting portion 121 connects the multiple arcuate portions 110 to form a receiving chamber 101 having an installation opening 105. The joint module 20 can enter and exit the receiving chamber 101 through the installation opening 105, facilitating the removal and installation of the waist and hip structure 10.

[0062] The cover 122 is detachably connected to the connecting portion 121 and seals the mounting opening 105, making it easy to open or close the cover 122, thereby facilitating maintenance of the joint module 20. Furthermore, the cover 122 seals the mounting opening 105, allowing the waist and hip structure 10 to form a single housing chamber 101 consisting solely of the opening 102 and the ventilation port 201, thereby achieving convection heat dissipation and achieving high heat dissipation efficiency.

[0063] For example, Figure 5 and Figure 7 As shown, the cover 122 includes a grid 1221, which covers a portion of the opening 102 to reduce impurities in the air from entering the heat dissipation duct 103 through the opening 102. Figure 7 As shown, the grid 1221 may be a toothed grid. For example, the grid 1221 may also be a meshed grid.

[0064] In some embodiments, as Figure 6 and Figure 9 As shown, the waist and hip structure 10 further includes a controller 300. The controller 300 is respectively connected to the joint module 20 and the ventilation unit 200 for communication. 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 the preset value.

[0065] In some embodiments, as Figure 6 As shown, the controller 300 includes a driving circuit board 310 and at least one component 320. At least one component 320 is arranged on the driving circuit board 310. The component 320 can be a connector, an electrolytic capacitor, a chip or other components to realize the communication connection between the controller 300 and the joint module 20 and the ventilation unit 200. Exemplarily, the driving circuit board 310 is arranged in the accommodating chamber 101. In actual application, the component 320 is installed on the side of the driving circuit board 310 close to the cover body 122, so the driving circuit board 310 can be installed on the side of the accommodating chamber 101 away from the cover body 122 to leave enough installation space for the component 320, facilitate the layout of multiple components 320, and facilitate the flow of gas in the accommodating chamber 101.

[0066] Exemplarily, the driving circuit board 310 is disposed in the accommodating chamber 101 and between at least three joint modules 20 .

[0067] For example, Figure 6 As shown, the edge of the driver 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 disposed with the outer side surfaces of the at least three columnar structures 21, and the driver circuit board 310 is perpendicular to the axial direction of the columnar structures 21.

[0068] For example, Figure 6 As shown, two adjacent arc segments 311 of the driving circuit board 310 and a straight line segment 312 connecting the two adjacent arc segments 311 form an end portion. For each end portion, the ratio of the length of the straight line segment 312 to the length of the arc segment 311 is a first ratio. The component 320 is arranged in a region of the driving circuit board 310 close to the end portion having the largest first ratio. In other words, Figure 6 As shown, the driving circuit board 310 has three arc segments 311 and three straight segments 312, forming three ends, which are respectively located at the lower side, the upper side and the upper right side. The component 320 is arranged in the area of ​​the driving circuit board 310 close to the lower end.

[0069] In some embodiments, as Figure 9As shown, the controller 300 includes a drive circuit board 310. The drive circuit board 310 is disposed in the accommodating 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 joint module 20 and the ventilation unit 200.

[0070] In some embodiments, as Figure 9 As shown, the arcuate portion 110 extends into the accommodating chamber 101. The portion of the arcuate portion 110 extending into the accommodating chamber 101 includes a first arc segment 111 and a second arc segment 112. The first arc segment 111 is connected to the arcuate portion 110 located outside the accommodating chamber 101, and the second arc segment 112 is connected to the first arc segment 111. The axial dimension of the first arc segment 111 in the joint module 20 is greater than the axial dimension of the second arc segment 112 in the joint module 20. The first arc segment 111 extends toward the ventilation unit 200 and is configured to guide gas through the driver circuit board 310. The surface of the second arc segment 112 facing the ventilation unit 200 is coplanar with the surface of the driver circuit board 310 facing the ventilation unit 200, facilitating the circulation of gas.

[0071] For example, the ventilation unit 200 may be a fan, and adjusting the ventilation volume of the ventilation unit 200 may be adjusting the rotation speed of the ventilation unit 200 .

[0072] Exemplarily, the joint module 20 has a temperature sensor inside, which can detect the temperature value of the joint module 20 in real time and send the temperature value to the controller 300. A pre-set preset value is stored in the controller 300. By comparing the temperature value with the preset value, the heat dissipation demand 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 high, and the ventilation volume of the ventilation unit 200 needs to be increased to take away more heat from 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 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 be operated within a reasonable temperature range.

[0073] 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 accommodating chamber 101. The fin 27 is disposed on the outer side of the joint body 26. For example, the joint body 26 includes a columnar structure 21, and the fin 27 is disposed on the outer side of the columnar structure 21.

[0074] By providing the fins 27 , the heat dissipation area of ​​the joint module 20 is increased, and the heat dissipation effect of the joint module 20 is further improved.

[0075] Exemplarily, the fins 27 are arranged circumferentially around the joint body 26 to further increase the heat dissipation area of ​​the joint module 20 .

[0076] Illustratively, the joint module 20 includes a plurality of fins 27, which are spaced apart radially along the joint body 26 to further increase the heat dissipation area of ​​the joint module 20. Illustratively, the number of fins 27 included in the joint module 20 can be set according to actual heat dissipation needs. If the joint module 20 generates a large amount of heat, as many fins 27 as possible can be provided. If the joint module 20 generates a small amount of heat, fewer fins 27 can be provided.

[0077] Exemplarily, the distance between adjacent fins 27 is equal to the radial dimension of the fin 27 in the joint body 26. Experimental verification shows that the distance between adjacent fins 27 is equal to the radial dimension of the fin 27 in the joint body 26, which has a better heat dissipation effect on the joint module 20.

[0078] Figure 10 FIG. 1 is a schematic diagram of the structure of a robot provided by an embodiment of the present disclosure. Figure 10 As shown, the robot 1 includes the waist and hip structures 10 in the above embodiment. For example, the robot 1 is a humanoid robot, a collaborative robot, a handling robot, etc. Figure 10 As shown, the robot 1 may further include a leg structure 13, a trunk structure 14 and a head structure 15. For example, Figure 10 As shown, the waist and hip structures 10 are located on the back of the robot 1. When the robot 1 is walking forward, it is not easy for the natural wind from the outside to penetrate from the front of the robot 1 to the back of the robot 1. Therefore, by setting up the waist and hip structures 10, it is convenient to actively dissipate heat for the waist and hip structures 10 located on the back of the robot 1.

[0079] 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 described in detail here.

[0080] In the various embodiments of the present disclosure, if the connection form is not clearly defined, the connection form may be a detachable connection form such as bolts and nuts, screws, snaps, magnets, etc. If there is no special requirement for a non-detachable connection form in some connections, non-detachable connections may be achieved through welding, bonding, etc.

[0081] References in the specification to "one embodiment," "an embodiment," and the like indicate that the described embodiment may include a particular feature, structure, or characteristic, but not every embodiment necessarily includes that particular feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not.

[0082] It should be understood that “on,” “above,” and “over” in this disclosure should be interpreted in the broadest manner, so that “on” means not only “directly on something,” but also includes the meaning of “on something” with intervening features or layers therebetween, and “above” or “over” includes not only the meaning of “above” or “over,” but also includes the meaning of “above” or “over” with no intervening features or layers therebetween (i.e., directly on something).

[0083] Additionally, spatially relative terms, such as "below," "beneath," "beneath," "above," and the like, may be used herein for ease of description to describe the relationship of one component or feature relative to other components or features as depicted in the figures. Spatially relative terms are intended to encompass different orientations of a component in use or operation in addition to the orientation depicted in the figures. The device may be otherwise oriented (rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein should be interpreted accordingly.

[0084] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0085] The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A waist and hip structure, characterized in that: include: at least three joint modules, each comprising a columnar structure; A heat dissipation housing, comprising a closed portion and at least three curved portions, wherein the closed portion is connected to the curved portions to form a housing chamber, wherein the housing chamber is configured to accommodate the joint module, wherein the outer side surfaces of the columnar structures of the at least three joint modules are coaxially arranged with the at least three curved portions, respectively, and a gap between the inner wall of the curved portion and the outer side surface of the columnar structure forms a heat dissipation duct, and the curved portion has an opening, wherein the opening connects the heat dissipation duct with the outside world; a ventilation unit connected to the heat dissipation housing, the ventilation unit having a ventilation port, the ventilation port communicating with the heat dissipation duct through the accommodating chamber, and the ventilation port also communicating with the outside, wherein the ventilation unit is configured to extract gas from the heat dissipation duct so that external air enters through the opening, passes through the heat dissipation duct, and is discharged through the ventilation port; or the ventilation unit is configured to supply air to the heat dissipation duct so that the external air enters through the ventilation port, passes through the heat dissipation duct, and is discharged through the opening; The controller is respectively connected to the joint module and the ventilation unit for communication. The controller is configured to receive a temperature value sent by the joint module and adjust the ventilation volume of the ventilation unit based on the temperature value and a preset value.

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

3. The waist and hip structure according to claim 1, characterized in that: The heat dissipation housing further has a heat dissipation port; The heat dissipation opening exposes at least a portion of a first end surface of the columnar structure, the first end of the columnar structure closes the heat dissipation opening, and the first end surface is located at the first end.

4. The waist 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 duct includes an arc shape, and the arc shape is a major arc; and / or, The shape of the arc portion in a cross section parallel to a flow direction of gas in the heat dissipation duct includes an arc shape, and the arc shape is symmetrical about the opening.

5. The waist and hip structure according to claim 1, characterized in that: At least three of the arc-shaped portions are arranged around the ventilation unit; or, At least three arc-shaped portions are arranged around the ventilation unit, and the opening and the ventilation unit are respectively arranged on two sides of the arc-shaped portion.

6. The waist and hip structure according to claim 1, characterized in that: The closing portion comprises: a connecting portion connecting at least three of the arc-shaped portions to form the accommodating chamber having a mounting opening; The cover body is detachably connected to the connecting portion and seals the installation opening.

7. The waist and hip structure according to any one of claims 1 to 6, characterized in that: The controller includes: A driving circuit board is disposed in the accommodating chamber and between at least three of the joint modules; At least one component is provided on the driving circuit board; 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; In which, the two adjacent arc segments of the driving circuit board and the straight line segment connecting the two adjacent arc segments form an end portion, and for each end portion, the ratio of the length of the straight line segment to the length of the arc segment is a first ratio, and the components are arranged in an area of ​​the driving circuit board close to the end portion having the largest first ratio.

8. The waist and hip structure according to any one of claims 1 to 6, characterized in that: The controller includes: A driving circuit board is disposed in the accommodating chamber and between at least three of the joint modules; The minimum distance between the driving circuit board and the ventilation unit is smaller than the minimum distance between any one of the joint modules and the ventilation unit. In which, the arc portion extends into the accommodating chamber, and the part of the arc portion extending into the accommodating chamber includes a first arc segment and a second arc segment, the first arc segment is connected to the arc portion located outside the accommodating chamber, and the second arc segment is connected to the first arc segment, the axial dimension of the first arc segment in the joint module is larger than the axial dimension of the second arc segment in the joint module, the first arc segment extends toward the ventilation unit and is configured to guide gas through the drive circuit board, the surface of the second arc segment facing the ventilation unit is coplanar with the surface of the drive circuit board facing the ventilation unit, and is used for gas circulation.

9. The waist and hip structure according to any one of claims 1 to 6, characterized in that: The gap between the inner wall of the heat dissipation housing and the joint module ranges from 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 duct ranges from 0.5 to 4.

10. The waist and hip structure according to any one of claims 1 to 6, characterized in that: The at least three joint modules include a waist joint module, a first hip joint module and a second hip joint module. The first hip joint module and the second hip joint module are symmetrically arranged relative to the waist joint module.

11. The waist 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 accommodating chamber; At least one fin is provided on the outer side of the joint body.

12. A robot, characterized in that: include: The waist and hip structure according to any one of claims 1 to 11.

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