Crotch structure and robot

Abstract

The application provides a crotch structure and a robot. The crotch structure comprises a support frame, two middle segment connectors and two limb connectors. The two middle segment connectors are fixedly connected to the first fixed side and the second fixed side of the support frame respectively. The two limb connectors are fixedly installed on the two middle segment connectors one by one. Two first power assemblies are fixed to the two middle segment connectors respectively. Part of the first power assemblies are fixed to the first installation cavity of the support frame. Two second power assemblies are arranged in the third installation cavity of the two limb connectors one by one. The air supply module comprises a first fan. The first fan is connected to the second opening. The impeller area of the first fan is opposite to the second opening. The crotch structure solves the technical problem that the robot in the prior art is prone to cooling liquid leakage when water cooling is used for heat dissipation.

Description

Technical Field

[0001] This invention relates to the technical field of humanoid robots, and more specifically, to a hip structure and robot. Background Technology

[0002] When a robot performs a task, its joints, as the core moving parts connecting the robot body and the end effector, integrate multiple power modules. During high-frequency rotation and high-load operation, these power modules continuously release a large amount of heat. If the heat cannot be dissipated in time, the internal temperature of the joint will rise sharply, which may reduce the robot's motion accuracy and response speed, or even burn out the internal structure of the joint, leading to joint failure.

[0003] Currently, the most common heat dissipation solutions are water cooling, which uses circulating coolant to force convection and carry internal heat to the outside. However, water cooling solutions applied to joints pose a high risk of coolant leakage due to the joint's compact structure and rotational function.

[0004] There is currently no effective solution to the technical problem of coolant leakage that easily occurs when robots use water cooling for heat dissipation in existing technologies. Summary of the Invention

[0005] The main objective of this invention is to provide a hip structure and a robot to solve the technical problem of coolant leakage that easily occurs when robots use water cooling for heat dissipation in the prior art.

[0006] To achieve the above objectives, according to one aspect of the present invention, a hip structure is provided, comprising: a hip body, the hip body including at least a support frame, two mid-section connectors and two limb connectors, the support frame having a first fixed side and a second fixed side disposed opposite to each other, the two mid-section connectors being fixedly connected to the first fixed side and the second fixed side respectively, the two limb connectors being fixedly mounted on the two mid-section connectors in a one-to-one correspondence, the support frame having a first mounting cavity and a second opening, the mid-section connectors having a second mounting cavity communicating with the first mounting cavity, and the limb connectors having a third mounting cavity; a power module, the power module including at least two first power components and two second power components, the two first power components being fixedly fixed to the two mid-section connectors respectively, and a portion of the first power components extending into the first mounting cavity, the two second power components being fixedly fixed to the third mounting cavities of the two limb connectors in a one-to-one correspondence; and an air supply module, the air supply module including a first fan, the first fan being connected to a second opening, and the impeller area of ​​the first fan facing the second opening.

[0007] Furthermore, the hip body also includes a torso connector, which is fixed to the third fixed side of the support frame. The torso connector has a fourth mounting cavity, which communicates with the first mounting cavity. The power module also includes a third power component, at least a portion of which is fixed in the fourth mounting cavity.

[0008] Furthermore, a portion of the third power assembly extends into the first mounting cavity.

[0009] Furthermore, on the plane perpendicular to the shaft of the first fan, there is an overlapping area between the projection of the housing of the third power assembly on the plane and the projection of the impeller area of ​​the first fan on the plane.

[0010] Furthermore, the support frame has a first opening, and the fourth mounting cavity is connected to the first mounting cavity through the first opening. The first mounting cavity of the support frame is provided with an air guide, the fixed end of which is connected to the lower edge of the second opening, and at least part of the air guide is inclined toward one side of the first opening.

[0011] Furthermore, the support frame is provided with a third opening, which is arranged opposite to the second opening along the axial direction of the first fan's shaft. The air guide includes a first air guide plate, which includes a first section and a second section. The first end of the first section is connected to the lower edge of the air outlet of the first fan. The first section extends along the axial direction of the first fan's shaft. The first end of the second section is connected to the second end of the first section. The vertical distance from the first end of the second section to the first opening is greater than the vertical distance from the second end of the second section to the first opening.

[0012] Furthermore, the air guide also includes: a second air guide plate, the first end of which is connected to the lower edge of the third opening, the second air guide plate extending along the axial direction of the first fan's shaft, and the second end of the second air guide plate abutting against the second end of the second component section.

[0013] Furthermore, on the plane perpendicular to the shaft of the first fan, there is an overlapping area between the projection of the housing of at least one first power component on the plane and the projection of the impeller area of ​​the first fan on the plane.

[0014] Furthermore, the air supply module also includes two second fans, which are respectively disposed on the two limb connectors, and the impeller areas of the two second fans face their respective second power components.

[0015] Furthermore, the output side of the mid-section connector is arranged opposite to the connection side of the limb connector. The output side of the mid-section connector is fixedly connected to the connection side of the limb connector through the output end of the first power component. A gap is provided between the output side of the mid-section connector and the connection side of the limb connector. The limb connector is provided with a drainage port, which is arranged opposite to the output end of the first power component. The drainage port is used to guide part of the airflow in the third mounting cavity to flow towards the output end of the first power component and to be discharged to the outside of the limb connector through the gap.

[0016] Furthermore, the crotch structure also includes: an outer shell, the outer shell having a first air outlet and a first air inlet, a support frame and at least part of the middle section connector being disposed inside the outer shell, and a limb connector being disposed outside the outer shell, the first air outlet being disposed opposite to the third opening along the axial direction of the first fan's rotation axis, and the first air inlet being disposed opposite to the first fan's air inlet along the axial direction of the first fan's rotation axis.

[0017] According to another aspect of the invention, a robot is provided, which includes the above-described hip structure.

[0018] Applying the technical solution of this invention, the middle connecting member is equipped with a first power assembly, a portion of which extends into the first mounting cavity. The impeller area of ​​the first fan faces the second opening of the support frame, meaning the airflow channel of the first fan communicates with the first mounting cavity. This allows the airflow from the first fan to enter the first mounting cavity and contact the surface of the first power assembly to remove heat, thus achieving heat dissipation for the first power assembly. The airflow module in this solution replaces the traditional water-cooling system, using a fan to provide directional heat dissipation to the power module, solving the technical problem of coolant leakage that easily occurs when using water cooling in robots in the prior art. Attached Figure Description

[0019] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0020] Figure 1 A three-dimensional structural diagram of the hip structure in this invention is shown;

[0021] Figure 2 A front view of the hip structure in this invention is shown;

[0022] Figure 3 A three-dimensional structural schematic diagram of the support frame in this invention is shown;

[0023] Figure 4 A left view of the support frame in this invention is shown;

[0024] Figure 5A schematic diagram showing the assembly relationship between the limb connector and the mid-section connector in this invention is provided.

[0025] Figure 6 A schematic diagram of the rear structure of the outer casing in this invention is shown;

[0026] Figure 7 A schematic diagram of the front structure of the outer casing in this invention is shown;

[0027] Figure 8 An exploded view of the hip structure in this invention is shown.

[0028] The above figures include the following reference numerals:

[0029] 1. Outer shell;

[0030] 11. First air outlet;

[0031] 12. First air inlet;

[0032] 2. The hip area itself;

[0033] 21. Support frame;

[0034] 211. First opening; 212. Second opening; 213. Third opening;

[0035] 22. Mid-section connector;

[0036] 221. Heat dissipation structure;

[0037] 23. Limb connectors;

[0038] 231. Second air inlet; 232. Air outlet;

[0039] 24. Torso connectors;

[0040] 25. Rotate the platform;

[0041] 31. First power assembly;

[0042] 32. Second power assembly;

[0043] 33. Third power component;

[0044] 4. First fan;

[0045] 5. Second fan;

[0046] 6. Air guide components;

[0047] 61. First air guide plate;

[0048] 611. First paragraph; 612. Second paragraph;

[0049] 62. Second air guide plate;

[0050] 7. Gap. Detailed Implementation

[0051] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0052] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0053] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0054] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art. In the drawings, for clarity, the thickness of layers and regions may be exaggerated, and the same reference numerals are used to denote the same devices, and therefore their description will be omitted.

[0055] Combination Figures 1 to 8 As shown, according to a specific embodiment of this application, a hip structure is provided.

[0056] Specifically, the hip structure includes: a hip body 2, a power module, and an air supply module. The hip body 2 includes at least a support frame 21, two mid-section connectors 22, and two limb connectors 23. The support frame 21 has a first fixed side and a second fixed side arranged opposite to each other. The two mid-section connectors 22 are respectively fixedly connected to the first fixed side and the second fixed side. The two limb connectors 23 are fixedly installed on the two mid-section connectors 22 in a one-to-one correspondence. The support frame 21 has a first mounting cavity and a second opening 212. The mid-section connectors 22 have a second mounting cavity, which communicates with the first mounting cavity. The limb connectors 23 have a third mounting cavity. The power module includes at least two first power components 31 and two second power components 32. The two first power components 31 are respectively fixed to the two mid-section connectors 22, and a portion of the first power components 31 extends into the first mounting cavity. The two second power components 32 are fixed to the third mounting cavities of the two limb connectors 23 in a one-to-one correspondence. The air supply module includes a first fan 4, which is connected to a second opening 212, and the impeller area of ​​the first fan 4 is directly opposite the second opening 212.

[0057] In the embodiments of this application, the middle connecting member 22 is provided with a first power assembly 31, a portion of which extends into the first mounting cavity. The impeller area of ​​the first fan 4 faces the second opening 212 of the support frame 21, meaning the airflow channel of the first fan 4 communicates with the first mounting cavity. This allows the airflow from the first fan 4 to enter the first mounting cavity and contact the surface of the first power assembly 31 to dissipate heat, thus achieving heat dissipation for the first power assembly 31. The airflow module in the above solution replaces the traditional water-cooling system, using a fan to directionally cool the power module, solving the technical problem of coolant leakage that easily occurs when robots use water cooling in the prior art.

[0058] In one exemplary embodiment of this application, such as Figure 1 , Figure 2 As shown, the support frame 21 has a first fixed side, a second fixed side, and a third fixed side. The first fixed side and the second fixed side are arranged opposite each other, forming an acute angle between them. Two intermediate connecting pieces 22 are symmetrically arranged, one of which is connected to the first fixed side, and the other is connected to the second fixed side. One of the two limb connecting pieces 23 is installed at the end of one of the intermediate connecting pieces 22, and the other is installed at the end of the other intermediate connecting piece 22. The support frame 21 has a first mounting cavity, the intermediate connecting piece 22 has a second mounting cavity communicating with the first mounting cavity, and the limb connecting piece 23 has a third mounting cavity.

[0059] like Figure 1 , Figure 2As shown, the power module includes two first power components 31 and two second power components 32, both of which are rotary motors. Each mid-section connector 22 has a first power component 31 housed in its second mounting cavity. A portion of the first power component 31 extends into the first mounting cavity and connects to the support frame 21. The output end of the first power component 31 is connected to the limb connector 23 to drive the limb connector 23 to rotate. Each limb connector 23 has a second power component 32 housed in its third mounting cavity. The output end of the second power component 32 is used to connect to the robot's leg to drive the robot's leg to rotate.

[0060] like Figure 1 , Figure 2 , Figure 3 , Figure 5 As shown, the support frame 21 has a second opening 212 on its front side and a third opening 213 on its rear side. The second opening 212 and the third opening 213 are opposite to each other and are both connected to the first mounting cavity. The first fan 4 is connected to the outside of the support frame 21. The first fan 4 is connected to the second opening 212, and the impeller area of ​​the first fan 4 is directly opposite the second opening 212. That is, the air supply channel of the first fan 4 is connected to the first mounting cavity through the second opening 212. The airflow blown out by the first fan 4 can flow into the first mounting cavity and exchange heat with the first power component in the first mounting cavity. The third opening 213 serves as the air outlet of the first fan 4.

[0061] Furthermore, the hip body 2 also includes a torso connector 24, which is fixed to the third fixed side of the support frame 21. The torso connector 24 is provided with a fourth mounting cavity, which is connected to the first mounting cavity. The power module also includes a third power component 33, at least a portion of which is fixed in the fourth mounting cavity.

[0062] In the embodiments of this application, the torso connector 24 is provided with a fourth mounting cavity for mounting the third power component 33. The fourth mounting cavity is connected to the first mounting cavity, and the air delivery channel of the first fan 4 is connected to the first mounting cavity. That is, the airflow blown out by the first fan 4 can enter the fourth mounting cavity to contact the surface of the third power component 33, thereby achieving heat dissipation of the third power component 33. The first fan 4 provides coordinated heat dissipation for the first power component 31 and the third power component 33, reducing system complexity and avoiding problems such as wiring conflicts, electromagnetic interference, and vibration superposition caused by multiple fans.

[0063] like Figure 1 , Figure 3As shown, the third fixed side of the support frame 21 has a first opening 211. The torso connector 24 is connected to the third fixed side of the support frame 21. The torso connector 24 has a fourth mounting cavity, which communicates with the first mounting cavity of the support frame 21 through the first opening 211. The third power assembly 33 is located in the fourth mounting cavity. The third power assembly 33 can be a rotary motor. The output end of the third power assembly 33 is connected to a rotating platform 25. The third power assembly 33 is connected to the robot's torso through the rotating platform 25 to drive the robot's torso to rotate.

[0064] like Figure 1 , Figure 3 As shown, the rotating platform 25 is a rectangular hollow frame. While ensuring sufficient support, the hollow design reduces the overall weight of the hip structure. The torso connector 24 is a hollow structure, which not only reduces the weight of the torso connector 24, but also provides multiple heat dissipation channels for the third power component 33.

[0065] In one exemplary embodiment of this application, a portion of the third power component 33 extends into the first mounting cavity. This arrangement allows the airflow from the first fan 4 to make direct and continuous contact with the surface of the third power component 33, helping to shorten the heat dissipation path of the third power component 33 and reduce its peak temperature.

[0066] Furthermore, on the plane perpendicular to the axis of the first fan 4, there is an overlap between the projection of the housing of the third power assembly 33 and the projection of the impeller area of ​​the first fan 4. This arrangement allows the high-velocity airflow generated by the impeller edge of the first fan 4 to directly act on the housing of the third power assembly 33, resulting in strong convective heat exchange and thus improving the heat dissipation effect of the third power assembly 33.

[0067] In another exemplary embodiment of this application, the support frame 21 is provided with a first opening 211, and the fourth mounting cavity is connected to the first mounting cavity through the first opening 211. The first mounting cavity of the support frame 21 is provided with an air guide 6, the fixed end of the air guide 6 is connected to the lower edge of the second opening 212, and at least part of the air guide 6 is inclined toward one side of the first opening 211.

[0068] In the embodiments of this application, the third power component 33 is disposed in the fourth mounting cavity, the first mounting cavity is connected to the fourth mounting cavity through the first opening 211, the air guide 6 is disposed in the first mounting cavity, and at least part of the air guide 6 is inclined toward one side of the first opening 211 so that the airflow blown out by the first fan 4 is bounced back into the fourth mounting cavity through the air guide plate, thereby increasing the airflow rate entering the fourth mounting cavity and improving the heat dissipation efficiency of the third power component 33.

[0069] Furthermore, the support frame 21 is provided with a third opening 213, which is arranged opposite to the second opening 212 along the axial direction of the first fan 4. The air guide 6 includes a first air guide plate 61, which includes a first component segment 611 and a second component segment 612. The first end of the first component segment 611 is connected to the lower edge of the air outlet of the first fan 4. The first component segment 611 extends along the axial direction of the first fan 4. The first end of the second component segment 612 is connected to the second end of the first component segment 611. The vertical distance between the first end of the second component segment 612 and the first opening 211 is greater than the vertical distance between the second end of the second component segment 612 and the first opening 211.

[0070] In the embodiments of this application, the top of the support frame 21 is provided with a third fixed side, and the third fixed side is provided with a first opening 211. The first component section 611 of the first air guide plate 61 extends along the axial direction of the rotation shaft of the first fan 4, and the second component section 612 of the first air guide plate 61 is inclined toward the top of the support frame 21. The first component section 611 plays a converging role, guiding most of the airflow blown out by the first fan 4 along the first component section 611 to the second component section 612. The second component section 612 changes the path of the airflow, and the airflow is reflected by the second component section 612 and diffused into the fourth mounting cavity. The first air guide plate 61 is arranged in this way to ensure that the airflow can flow into the fourth mounting cavity stably and concentratedly, so as to fully cool the third power component 33.

[0071] like Figure 3 , Figure 4 As shown, the support frame 21 has a hollow structure and is provided with a first fixed side, a second fixed side, and a third fixed side. The first and second fixed sides are arranged opposite to each other and are used to connect with the interrupting connector. The third fixed side is used to connect with the torso connector 24. The support frame 21 has a first mounting cavity. The first and second fixed sides are respectively provided with communicating holes that communicate with the first mounting cavity, so that the first power assembly 31 can extend into the first mounting cavity. The third fixed side of the support frame 21 has a first opening 211. The front side of the support frame 21 has a second opening 212, and the rear side of the support frame 21 has a third opening 213. The second opening 212 and the third opening 213 are arranged opposite to each other along the axial direction of the rotation shaft of the first fan 4. The first fan 4 is connected to the front side of the support frame 21, and the air outlet of the first fan 4 is connected to the second opening 212 so that the airflow blown by the first fan 4 flows into the first mounting cavity. The third opening 213 serves as the air outlet of the first fan 4.

[0072] like Figure 4As shown, the first air guide plate 61 includes a first component section 611 and a second component section 612. The first end of the first component section 611 is connected to the lower edge of the second opening 212. The first component section 611 extends along the axial direction of the rotating shaft of the first fan 4. The first end of the second component section 612 is connected to the second end of the first component section 611. The vertical distance from the first end of the second component section 612 to the first opening 211 is L1, and the vertical distance from the second end of the second component section 612 to the first opening 211 is L2. L1 is greater than L2, that is, the second component section 612 is inclined toward the third fixed side of the support frame 21 to guide the airflow to the first opening 211 on the third fixed side.

[0073] It should be noted that, as Figure 4 As shown in the figure, the dashed lines and arrows indicate the flow path of the airflow.

[0074] Furthermore, the air guide 6 also includes: a second air guide plate 62, the first end of the second air guide plate 62 is connected to the lower edge of the third opening 213, the second air guide plate 62 extends along the axial direction of the rotating shaft of the first fan 4, and the second end of the second air guide plate 62 is connected to the second end of the second component section 612.

[0075] In the embodiments of this application, the first end of the second air guide plate 62 is connected to the lower edge of the third opening 213, and the second end of the second air guide plate 62 is connected to the second end of the second component segment 612, thereby improving the cantilever structure of the air guide plate, enhancing its stability, and guiding the airflow along a preset path. Simultaneously, the second air guide plate 62 extends along the axial direction of the first fan 4's rotation axis, so that the airflow from the first fan 4 flows along its rotation axis, reducing turbulence caused by airflow impacting the wall, reducing energy loss, and thus improving heat dissipation efficiency.

[0076] In another exemplary embodiment of this application, the first fan 4 is inclined, that is, the shaft of the first fan 4 is inclined toward the third fixed side of the support frame 21, so that the airflow blown out by the first fan 4 can directly enter the fourth mounting cavity through the first opening 211 to dissipate heat from the third power component 33 in the fourth mounting cavity.

[0077] Furthermore, on the plane perpendicular to the shaft of the first fan 4, there is an overlapping area between the projection of the housing of at least one first power component 31 onto the plane and the projection of the impeller area of ​​the first fan 4 onto the plane.

[0078] In the embodiments of this application, there is an overlapping area between the projection of the outer shell of the first power component 31 on the plane and the projection of the impeller area of ​​the first fan 4 on the plane. That is, the high-speed airflow formed by the impeller edge of the first fan 4 can directly act on the outer shell of the first power component 31 and perform strong convective heat exchange with the outer shell of the first power component 31, thereby improving the heat dissipation effect of the first power component 31.

[0079] like Figure 2 As shown, two intermediate connecting pieces 22 are symmetrically arranged on both sides of the support frame 21. Each intermediate connecting piece 22 has a second power assembly 32 in its second mounting cavity. The two second power assemblies 32 are symmetrically arranged, and a portion of the second power assembly 32 extends into the first mounting cavity. On a plane perpendicular to the rotation axis of the first fan 4, the projection of the housing of each first power assembly 31 onto the plane overlaps with the projection of the impeller area of ​​the first fan 4 onto the plane.

[0080] Furthermore, the air supply module also includes two second fans 5, which are respectively disposed on the two limb connectors 23, and the impeller areas of the two second fans 5 face their respective second power components 32.

[0081] In the embodiments of this application, the second power assembly 32 is disposed within the third mounting cavity of the limb connector 23. The fan blades of the second fan 5 are positioned towards the second power assembly 32, meaning that the airflow blown by the second fan 5 can enter the third mounting cavity and contact the surface of the second power assembly 32 to remove heat, thereby achieving heat dissipation for the second power assembly 32. The air delivery module in the above solution replaces the traditional water-cooling system, using a fan to provide directional heat dissipation to the power module, thus solving the technical problem of coolant leakage that easily occurs when robots use water cooling in the prior art.

[0082] like Figure 5 , Figure 6 As shown, each limb connector 23 has a second fan 5 in its third mounting cavity. The limb connector 23 has a second air inlet 231 that communicates with the air inlet channel of the second fan 5. The air outlet channel of the second fan 5 is arranged opposite to the second power component 32 to dissipate heat from the second power component 32.

[0083] Furthermore, the output side of the middle connector 22 is arranged opposite to the connection side of the limb connector 23. The output side of the middle connector 22 is fixedly connected to the connection side of the limb connector 23 through the output end of the first power component 31. A gap 7 is provided between the output side of the middle connector 22 and the connection side of the limb connector 23. The limb connector 23 is provided with a drainage port 232, which is arranged opposite to the output end of the first power component 31. The drainage port 232 is used to guide part of the airflow in the third mounting cavity to flow toward the output end of the first power component 31 and discharge it to the outside of the limb connector 23 through the gap 7.

[0084] In the embodiments of this application, a second fan 5 is provided in the third mounting cavity of the limb connector 23. Part of the airflow blown out by the second fan 5 flows through the drain port 232 to the output end of the first power component 31, where it exchanges heat with the first power component 31, and finally exits through the gap to the outside of the limb connector 23, thereby providing localized heat dissipation for the first power component 31. The cooperation between the gap 7 and the drain port 232 forms an air guide channel, allowing the second fan 5 to cool not only the second power component 32 but also the first power component 31.

[0085] like Figure 5 As shown in the figure, the dashed lines and arrows indicate the airflow path. A first power assembly 31 is housed in the second mounting cavity of the mid-section connector 22. The output end of the first power assembly 31 is connected to the connecting side of the limb connector 23 to drive the limb connector 23 to rotate. To ensure smooth rotation of the limb connector 23 and avoid friction between the limb connector 23 and the mid-section connector 22, a gap 7 is provided between the connecting side of the limb connector 23 and the output side of the mid-section connector 22. The limb connector 23 has a third mounting cavity and a drain port 232. The drain port 232 is connected to the third mounting cavity and is directly opposite the first power assembly 31. Part of the airflow in the third mounting cavity is blown through the drain port 232 to the output end of the first power assembly 31 for heat exchange, and then flows out through the gap 7 between the connecting side of the limb connector 23 and the output side of the mid-section connector 22, thus dissipating heat from the first power assembly 31.

[0086] Furthermore, the outer wall of the middle section connector 22 is provided with a plurality of heat dissipation structures 221, which are spaced apart along the circumference of the middle section connector 22. The heat dissipation structure 221 is a blind hole formed on the outer wall of the middle section connector 22. The heat dissipation structure 221 is used to increase the heat dissipation area of ​​the middle section connector 22, thereby improving the heat dissipation effect of the middle section connector 22 and the second power component 32 located inside the middle section connector 22.

[0087] Furthermore, the hip structure also includes: a shell 1, which is provided with a first air outlet 11 and a first air inlet 12, a support frame 21 and at least part of the middle section connector 22 are provided inside the shell 1, and a limb connector 23 is provided outside the shell 1. The first air outlet 11 is arranged opposite to the third opening 213 along the axial direction of the rotation axis of the first fan 4, and the first air inlet 12 is arranged opposite to the air inlet of the first fan 4 along the axial direction of the rotation axis of the first fan 4.

[0088] In the embodiments of this application, the outer shell 1 not only protects the overall hip structure, but also forms a closed-loop axial air duct system, which reduces energy loss and helps improve heat dissipation compared to an open air duct system.

[0089] like Figure 6 , Figure 7 As shown, the support frame 21, part of the mid-section connector 22, and part of the torso connector 24 are disposed inside the outer casing 1, and the limb connector 23 is disposed outside the outer casing 1. The front side of the outer casing 1 is provided with a first air inlet 12, which is arranged opposite to the air inlet of the first fan 4 along the axial direction of the rotation axis of the first fan 4. The rear side of the outer casing 1 is provided with a first air outlet 11, which is arranged opposite to the third opening 213 along the axial direction of the rotation axis of the first fan 4.

[0090] like Figure 3 , Figure 6 , Figure 7 The first fan 4 shown is located inside the housing 1. The housing 1 serves as a closed-loop air duct for the first fan 4. When the first fan 4 is turned on, the air enters the air inlet of the first fan 4 from the first air inlet 12, and then flows out of the housing 1 through the air supply channel of the first fan 4, the second opening 212, the third opening 213 and the first air outlet 11, forming a closed-loop axial air duct system.

[0091] like Figure 6 , Figure 7 As shown, the outer shell 1 includes a front shell and a rear shell, which are detachably connected. Both the front shell and the rear shell are provided with arc-shaped notches that engage with the middle section connector 22 and the torso connector 24, so that the snap-fit ​​interface of the outer shell 1 fits against the outer wall of the middle section connector 22 and the torso connector 24.

[0092] According to another specific embodiment of this application, a robot is provided, which includes the hip structure described in the above embodiments.

[0093] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0094] In addition to the above, it should be noted that the terms "one embodiment," "another embodiment," and "embodiment" used in this specification refer to specific features, structures, or characteristics described in connection with that embodiment, which are included in at least one embodiment described in the general description of this application. The appearance of the same expression in multiple places in the specification does not necessarily refer to the same embodiment. Furthermore, when a specific feature, structure, or characteristic is described in connection with any embodiment, the intention is to suggest that implementing such a feature, structure, or characteristic in conjunction with other embodiments also falls within the scope of this invention.

[0095] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0096] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A hip structure, characterized in that, include: The hip body (2) includes at least a support frame (21), two mid-section connectors (22) and two limb connectors (23). The support frame (21) has a first fixed side and a second fixed side arranged opposite to each other. The two mid-section connectors (22) are respectively fixedly connected to the first fixed side and the second fixed side. The two limb connectors (23) are fixedly installed on the two mid-section connectors (22) in a one-to-one correspondence. The support frame (21) is provided with a first mounting cavity and a second opening (212). The mid-section connectors (22) are provided with a second mounting cavity. The second mounting cavity is connected to the first mounting cavity. The limb connectors (23) are provided with a third mounting cavity. The power module includes at least two first power components (31) and two second power components (32). The two first power components (31) are respectively fixed to the two middle connecting members (22), and a portion of the first power components (31) extends into the first mounting cavity. The two second power components (32) are fixed to the third mounting cavities of the two limb connecting members (23) in a one-to-one correspondence. An air supply module, the air supply module including a first fan (4), the first fan (4) being connected to the second opening (212), and the impeller area of ​​the first fan (4) facing the second opening (212). The hip body (2) also includes a torso connector (24), which is fixed to the third fixed side of the support frame (21). The torso connector (24) is provided with a fourth mounting cavity, which communicates with the first mounting cavity. The power module also includes a third power component (33), at least a portion of which is fixed in the fourth mounting cavity. The support frame (21) is provided with a first opening (211), and the fourth mounting cavity is connected to the first mounting cavity through the first opening (211). The first mounting cavity of the support frame (21) is provided with an air guide (6), and the fixed end of the air guide (6) is connected to the lower edge of the second opening (212). At least part of the air guide (6) is inclined toward one side of the first opening (211).

2. The hip structure according to claim 1, characterized in that, Part of the third power assembly (33) extends into the first mounting cavity.

3. The hip structure according to claim 2, characterized in that, On a plane perpendicular to the shaft of the first fan (4), the projection of the housing of the third power assembly (33) on the plane overlaps with the projection of the impeller region of the first fan (4) on the plane.

4. The hip structure according to claim 1, characterized in that, The support frame (21) is provided with a third opening (213), the third opening (213) and the second opening (212) are arranged opposite to each other along the axial direction of the first fan's shaft, and the air guide (6) includes: The first air guide plate (61) includes a first component section (611) and a second component section (612). The first end of the first component section (611) is connected to the lower edge of the air outlet of the first fan (4). The first component section (611) extends along the axial direction of the rotating shaft of the first fan. The first end of the second component section (612) is connected to the second end of the first component section (611). The vertical distance between the first end of the second component section (612) and the first opening (211) is greater than the vertical distance between the second end of the second component section (612) and the first opening (211).

5. The hip structure according to claim 4, characterized in that, The air guide (6) also includes: The second air guide plate (62) has its first end connected to the lower edge of the third opening (213). The second air guide plate (62) extends along the axial direction of the shaft of the first fan (4). The second end of the second air guide plate (62) is connected to the second end of the second component section (612).

6. The hip structure according to any one of claims 1-5, characterized in that, On a plane perpendicular to the shaft of the first fan (4), the projection of the housing of at least one of the first power components (31) onto the plane overlaps with the projection of the impeller region of the first fan (4) onto the plane.

7. The hip structure according to any one of claims 1-5, characterized in that, The air supply module also includes two second fans (5), which are respectively disposed on the two limb connectors (23), and the impeller areas of the two second fans (5) face their respective second power components (32).

8. The hip structure according to claim 7, characterized in that, The output side of the mid-section connector (22) is disposed opposite to the connection side of the limb connector (23). The output side of the mid-section connector (22) is fixedly connected to the connection side of the limb connector (23) through the output end of the first power component (31). A gap (7) is provided between the output side of the mid-section connector (22) and the connection side of the limb connector (23). The limb connector (23) is provided with a drainage port (232). The drainage port (232) is disposed opposite to the output end of the first power component (31). The drainage port (232) is used to guide part of the airflow in the third mounting cavity to flow toward the output end of the first power component (31) and discharge it to the outside of the limb connector (23) through the gap (7).

9. The hip structure according to claim 4, characterized in that, The hip structure also includes: The outer casing (1) is provided with a first air outlet (11) and a first air inlet (12). The support frame (21) and at least part of the middle section connector (22) are provided inside the outer casing (1). The limb connector (23) is provided outside the outer casing (1). The first air outlet (11) is arranged opposite to the third opening (213) along the axial direction of the rotation shaft of the first fan (4). The first air inlet (12) is arranged opposite to the air inlet of the first fan (4) along the axial direction of the rotation shaft of the first fan (4).

10. A robot, characterized in that, The robot includes the hip structure as described in any one of claims 1-9.

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