Robot limb and robot

Abstract

The invention provides a robot limb and a robot, and the robot limb comprises a shell which is provided with a containing cavity; at least part of the first power module is arranged in the accommodating cavity; the at least one second power module is arranged in the accommodating cavity; the first fan assembly is located in the containing cavity; the shell is provided with a plurality of air ports, the multiple air ports at least comprise the first air port and the second air port, the first air port and the second air port both communicate with the containing cavity, and the distance between the first air port and the first power module is smaller than that between the first air port and the second power module; the second air opening is located in the side, away from the first power module, of the second power module farthest from the first power module. The at least one second power module is located between the first power module and the second air opening. The problems that in the prior art, the temperature of a power module in a robot limb is too high, and the flexibility of the robot limb is poor are solved.

Description

Technical Field

[0001] This invention relates to the field of robotic limbs, and more specifically, to a robotic limb and a robot. Background Technology

[0002] In current technologies, with the rapid development of robotics and the increasing demands for robot limb power, the power density of power modules is constantly increasing. During operation, these modules generate a significant amount of heat. If this heat cannot be dissipated effectively and promptly, the internal temperature of the power module will continue to rise. Current heat dissipation solutions for robot power modules primarily rely on independent cooling. However, this independent cooling approach limits the heat dissipation efficiency of the power module and hinders the integrated design of the robot. Furthermore, the separate structure of independent cooling solutions results in low integration and a large footprint. The heat sink and power module need to be connected by an additional support, which not only increases the overall size and weight of the robot limb but also interferes with its movement flexibility.

[0003] There is currently no effective solution to the aforementioned technical problems. Summary of the Invention

[0004] The main objective of this invention is to provide a robot limb and a robot to solve the problems of excessively high temperature of the internal power module and poor flexibility of the robot limb in the prior art.

[0005] To achieve the above objectives, according to one aspect of the present invention, a robot limb is provided, comprising: a housing having a receiving cavity; a first power module, at least a portion of which is disposed within the receiving cavity; at least one second power module disposed within the receiving cavity; a first fan assembly located within the receiving cavity; the housing having a plurality of air vents, the plurality of air vents including at least a first air vent and a second air vent, both the first air vent and the second air vent being connected to the receiving cavity, wherein the distance between the first air vent and the first power module is less than the distance between the first air vent and the second power module, and the second air vent is located on the side of the second power module furthest from the first power module; at least one second power module is located within the receiving cavity between the first power module and the second air vent.

[0006] Furthermore, there is a gap between the outer shell and the housing of the first power module.

[0007] Furthermore, along the circumference of the first power module, the gap between the outer shell and the housing of the first power module forms an air guide channel.

[0008] Furthermore, at least one first air vent is provided on the housing where the air guide channel is located.

[0009] Furthermore, the housing containing the air duct has a first air vent, and the housing is also equipped with a wind deflector. The distance between the wind deflector and the nearest second power module is less than the distance between the first air vent and the nearest second power module.

[0010] Furthermore, a wind deflector is disposed on the housing where the air guide channel is located. The distance between the wind deflector and the first air inlet is less than the diameter of the first power module. The outer edge of the wind deflector is adapted to the inner wall of the air guide channel to restrict the airflow entering from the first air inlet from directly passing through the location of the wind deflector. The wind deflector and the air guide channel together guide the airflow entering from the first air inlet to contact the housing of the first power module and carry away the heat generated by the first power module.

[0011] Furthermore, the wind deflector is located on the housing near the air guide channel. The distance between the wind deflector and the first air outlet is less than the diameter of the first power module. The outer edge of the wind deflector is adapted to the inner wall of the housing where the wind deflector is located and the outer shell of the first power module, so as to restrict the airflow entering from the first air outlet from directly passing through the location of the wind deflector. The wind deflector and the air guide channel together guide the airflow entering from the first air outlet to contact the outer shell of the first power module and carry away the heat generated by the first power module.

[0012] Furthermore, along the circumferential direction of the first power module, the flow area of ​​the air guide channel is set to gradually increase or gradually decrease, or the flow area of ​​the air guide channel is set uniformly.

[0013] Furthermore, the first fan assembly is located between the first power module and the second power module, or the first fan assembly is located in a receiving cavity between the second air outlet and at least one second power module.

[0014] Furthermore, the first fan assembly is located between the first power module and the second power module, and a second fan assembly is also provided in the receiving cavity. The second fan assembly is located in the receiving cavity between the second air outlet and at least one second power module, and the fan impeller area of ​​the second fan assembly faces the housing of the stator of the second power module.

[0015] Furthermore, a power module mounting base is also provided inside the cavity, and the second power module is mounted on the power module mounting base.

[0016] Furthermore, the power module mounting base is provided with at least one mounting cavity, and at least part of the second power module is fixed in the mounting cavity, with the housing of the second power module protruding from the mounting cavity at the location of the stator.

[0017] Furthermore, the robot limb includes two second power modules. The power module mounting base has two mounting cavities. The two second power modules are arranged one-to-one with the two mounting cavities, and each second power module is located in the corresponding mounting cavity.

[0018] Furthermore, the bottom shell of the second power module is provided with a heat dissipation component, which includes at least heat dissipation fins.

[0019] Furthermore, the robot limb also includes a linkage assembly, the first end of which is connected to the output end of the second power module, and the second end of which is used to connect to the remaining limbs of the robot.

[0020] Furthermore, at least one heat-conducting component is provided between the second power module and the housing. The heat-conducting component has at least one heat-conducting groove, and a heat-conducting medium is provided in the at least one heat-conducting groove. The heat-conducting component and the housing are integrally formed, or the heat-conducting component and the housing are detachably connected.

[0021] Furthermore, a power module mounting base is also provided within the receiving cavity. The power module mounting base has at least one mounting cavity, and at least a portion of the second power module is fixed within the mounting cavity. The housing of the second power module at the location of the stator protrudes from the mounting cavity. The side of the heat-conducting member extending toward the second power module is the adapter side, which corresponds to the portion of the housing of the second power module protruding from the mounting cavity. The opening of at least one heat-conducting groove is located on the adapter side, and the adapter side contacts the housing of the second power module. And / or, the heat-conducting medium contacts the housing of the second power module.

[0022] According to another aspect of the present invention, a robot is provided, the robot having robotic limbs, the robotic limbs being the aforementioned robotic limbs.

[0023] Applying the technical solution of this invention, the first air vent and the second air vent can realize the inflow and outflow of air. The distance between the first air vent and the first power module is less than the distance between the first air vent and the second power module. The second air vent is located on the side of the second power module furthest from the first power module, allowing the first air vent to be closer to the first power module and the second air vent to be closer to the second power module. Airflow enters from either the first or second air vent and is blown towards the closer power module. After circulating within the receiving cavity, it is blown towards the farther power module, and then flows through the first or second air vent. Another outlet ensures that the airflow path covers both the first and second power modules, avoiding local overheating of the power modules; the first fan assembly is disposed in the receiving cavity, and the first fan assembly can guide the airflow in the receiving cavity so that the airflow passes through the surfaces of the first and second power modules along a designated path, thereby achieving heat dissipation and cooling of the first and second power modules, reducing the impact of component heating on the robot's limb flexibility. The technical solution of this embodiment effectively solves the problems of excessively high temperature of the internal power module of the robot limb and poor robot limb flexibility in the prior art. Attached Figure Description

[0024] 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:

[0025] Figure 1 A schematic diagram of the structure of a first embodiment of a robot limb according to the present invention is shown;

[0026] Figure 2 A schematic diagram of a second embodiment of a robot limb according to the present invention is shown;

[0027] Figure 3 A structural schematic diagram of a third embodiment of a robot limb according to the present invention is shown;

[0028] Figure 4 A structural schematic diagram of a fourth embodiment of a robot limb according to the present invention is shown;

[0029] Figure 5 A structural schematic diagram of a fifth embodiment of a robot limb according to the present invention is shown;

[0030] Figure 6 A structural schematic diagram of a sixth embodiment of a robot limb according to the present invention is shown;

[0031] Figure 7 A structural schematic diagram of a seventh embodiment of a robot limb according to the present invention is shown;

[0032] Figure 8 A structural schematic diagram of an eighth embodiment of a robot limb according to the present invention is shown;

[0033] Figure 9 A schematic diagram of a first embodiment of the internal airflow path of a robot limb according to the present invention is shown;

[0034] Figure 10 A schematic diagram of a second embodiment of the internal airflow path of a robot limb according to the present invention is shown;

[0035] Figure 11 A schematic diagram of a third embodiment of the internal airflow path of a robot limb according to the present invention is shown;

[0036] Figure 12 A schematic diagram of a fourth embodiment of the internal airflow path of a robot limb according to the present invention is shown.

[0037] The above figures include the following reference numerals:

[0038] 05. Power module mounting base; 06. Heat-conducting component; 07. Heat-conducting groove;

[0039] 10. Shell; 110. Receiving cavity; 1101. First receiving cavity; 1102. Second receiving cavity;

[0040] 111. First air vent; 112. Second air vent; 113. Windshield; 114. Air guide channel;

[0041] 20. Second power module;

[0042] 30. First wind turbine assembly;

[0043] 40. Second fan assembly;

[0044] 50. First power module;

[0045] 60. Heat dissipation components; 61. Heat dissipation fins;

[0046] 70. Robotic thigh;

[0047] 80. Linkage assembly;

[0048] 90. Robot's feet. Detailed Implementation

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] Combination Figures 1 to 12 As shown, according to a specific embodiment of this application, a robotic limb is provided.

[0054] Specifically, the robot limb includes a shell 10, a first power module 50, at least one second power module 20, and a first fan assembly 30. The shell 10 has a receiving cavity 110. At least a portion of the first power module 50 is disposed within the receiving cavity 110. At least one second power module 20 is disposed within the receiving cavity 110. The first fan assembly 30 is located within the receiving cavity 110. The shell 10 has multiple air vents, including at least a first air vent 111 and a second air vent 112. Both the first air vent 111 and the second air vent 112 are connected to the receiving cavity 110. The distance between the first air vent 111 and the first power module 50 is less than the distance between the first air vent 111 and the second power module 20. The second air vent 112 is located on the side of the second power module 20 furthest from the first power module 50. At least one second power module 20 is located within the receiving cavity 110 between the first power module 50 and the second air vent 112.

[0055] Applying the technical solution of this application embodiment, the first air vent 111 and the second air vent 112 can realize the inflow and outflow of air. The distance between the first air vent 111 and the first power module 50 is less than the distance between the first air vent 111 and the second power module 20. The second air vent 112 is located on the side of the second power module 20 furthest from the first power module 50, allowing the first air vent 111 to be closer to the first power module 50 and the second air vent 112 to be closer to the second power module 20. Airflow enters from either the first air vent 111 or the second air vent 112 and is blown towards the closer power module. After flowing within the receiving cavity 110, it is blown towards the farther power module, and then through the first... The other outlet of the first air outlet 111 and the second air outlet 112 ensures that the airflow path covers the first power module 50 and the second power module 20, avoiding local overheating of the power modules; the first fan assembly 30 is disposed in the receiving cavity 110, and the first fan assembly 30 can guide the airflow in the receiving cavity 110 so that the airflow passes through the surface of the first power module 50 and the second power module 20 along a designated path, thereby achieving heat dissipation and cooling of the first power module 50 and the second power module 20, reducing the impact of component heating on the robot's limb flexibility. The technical solution of this embodiment effectively solves the problems of excessively high temperature of the internal power module of the robot limb and poor robot limb flexibility in the prior art.

[0056] In one exemplary embodiment of this application, such as Figure 9 and Figure 10 As shown, the first fan assembly 30 can drive airflow to enter from the first air outlet 111, flow through the first power module 50 and the second power module 20 in the receiving cavity 110 in sequence, and finally be discharged from the second air outlet 112.

[0057] In another exemplary embodiment of this application, such as Figure 11 and Figure 12 As shown, the first fan assembly 30 can also drive airflow to enter from the second air outlet 112, flow through the second power module 20 and the first power module 50 in the receiving cavity 110 in sequence, and finally be discharged from the first air outlet 111.

[0058] As an example, the entire circumferential outer shell of the first power module 50 can be located within the receiving cavity 110. The output end (e.g., output flange) of the first power module 50 is connected to an external transmission component (e.g., ball bearing). The external transmission component can be used to connect other robot limbs, so that when the first power module 50 outputs power, it can drive the robot limb in this embodiment to rotate relative to the connected other robot limbs. The bottom cover of the first power module 50 is located within the receiving cavity 110, and the bottom cover of the first power module 50 can be connected to other external structural components through bearings or other structures.

[0059] As an example, such as Figure 6 As shown, the shell 10 of the robot limb can also be arranged around the circumferential shell of the first power module 50. The output end of the first power module 50 can protrude outside the shell 10, and the bottom cover of the first power module 50 can also protrude outside the shell. In this embodiment, part of the circumferential shell of the first power module 50 is located inside the shell 10, and the circumferential shell corresponding to the output end of the first power module 50 and the part of the circumferential shell adjacent to the bottom cover of the first power module 50 are located outside the shell 10. The bottom cover of the first power module 50 is located outside the shell 10.

[0060] Specifically, the robot limbs in the embodiments of this application can be robot thighs, robot calves, robot upper arms, robot forearms, etc. For ease of description, this application uses robot calves as an example for illustration. When the robot limb is a robot calves, the second end of the housing 10 can be connected to the robot foot 90, the first end of the housing 10 can be connected to the robot thigh 70, the first power module 50 is close to or located at the first end of the housing 10, and the second power module 20 is close to or located at the second end of the housing 10.

[0061] Furthermore, taking the robot's lower leg as an example, the end of the robot's thigh is provided with two opposing clamping parts. The output end of the first power module 50 of the robot's lower leg extends to the outside of the housing 10 and is fixedly connected to one of the clamping parts of the robot's thigh via a ball bearing (for example, the outer ring of the ball bearing is interference-fitted to the clamping part). The bottom cover of the first power module 50 of the robot's lower leg (i.e. the other end opposite to the output end) extends to the outside of the housing 10 and is rotatably connected to the other clamping part of the robot's thigh via a rotating shaft. When the first power module 50 outputs power, the relative rotation of the robot's lower leg and the robot's thigh can be realized.

[0062] In this application, to clearly illustrate the relative positional and connection relationships between the components, the overall space formed inside the housing 10 is referred to as the receiving cavity 110. For ease of description and understanding, the following section divides the receiving cavity 110 into a first receiving cavity 1101 and a second receiving cavity 1102. The first receiving cavity 1101 refers to the spatial region used to receive the first component (e.g., the first power module 50), and the second receiving cavity 1102 refers to the spatial region used to receive the second component (e.g., the second power module 20). The first receiving cavity 1101 and the second receiving cavity 1102 can communicate with each other, and their boundaries are not strictly fixed. As long as the main body of the first component is located within the area defined by the first receiving cavity 1101 and the main body of the second component is located within the area defined by the second receiving cavity 1102, it should be considered to conform to the description of the cavity structure in this application. It should be clarified that the first receiving cavity 1101 and the second receiving cavity 1102 are not two independent chambers completely separated by a solid partition or other structure. Rather, they are functional areas of a continuous space within the same cavity. That is to say, there may be no solid separating structure (such as a physical partition) between the first receiving cavity 1101 and the second receiving cavity 1102. They can be interconnected or partially overlap, as long as the first component is located in the area corresponding to the first receiving cavity 1101 and the second component is located in the area corresponding to the second receiving cavity 1102. The boundaries of the first receiving cavity 1101 and the second receiving cavity 1102 should be defined by the components they contain, their location, or the functions they perform. After reading this application, those skilled in the art can clearly distinguish the areas of the first receiving cavity 1101 and the second receiving cavity 1102 based on the layout of the components.

[0063] Specifically, the receiving cavity 110 includes a first receiving cavity 1101 and a second receiving cavity 1102 that are interconnected. A first power module 50 is disposed in the first receiving cavity 1101, and at least one second power module 20 is disposed in the second receiving cavity 1102. A first air vent 111 is disposed on the housing 10 where the first receiving cavity 1101 is located, and a second air vent 112 is disposed on the housing 10 where the second receiving cavity 1102 is located. The second air vent 112 is located on the side of the second power module 20 that is furthest from the first receiving cavity 1101 from the first receiving cavity 1101.

[0064] In this embodiment, the first power module 50 and the second power module 20 are respectively disposed in the first receiving cavity 1101 and the second receiving cavity 1102. The separate cavity arrangement effectively avoids excessive local temperature rise caused by heat accumulation in the first power module 50 and the second power module 20. The first air outlet 111 is disposed on the housing 10 where the first receiving cavity 1101 is located, and the second air outlet 112 is disposed on the housing 10 where the second receiving cavity 1102 is located, and is located on the side of the second power module 20 that is furthest from the first receiving cavity 1101. This allows the airflow to flow in the first receiving cavity 1101 and the second receiving cavity 1102 after entering, ensuring that the airflow path covers the first power module 50 and the second power module 20, and avoiding the problem of local overheating of the power modules.

[0065] In conjunction with the foregoing embodiments, when the robot limb is the robot's lower leg, the second end of the housing 10 can be connected to the robot's foot 90, and the first end of the housing 10 can be connected to the robot's thigh 70.

[0066] Furthermore, there is a gap between the outer shell of the first power module 50 and the housing 10.

[0067] In this embodiment, by setting a gap between the outer shell of the first power module 50 and the housing 10, the airflow driven by the first fan assembly 30 enters the receiving cavity 110 and directly exchanges heat with the surface of the outer shell of the first power module 50 through the gap, thereby achieving direct cooling of the first power module 50 and significantly improving the heat dissipation efficiency of the first power module 50.

[0068] It should be understood that the gap between the outer shell of the first power module 50 and the housing 10 may include only the circumferential gap between the outer shell of the first power module 50 and the housing 10, or it may also include the axial gap between the outer shell of the first power module 50 and the housing 10. That is, the bottom cover of the first power module 50 and the outer shell corresponding to the output end of the first power module 50 may also have a gap with the housing 10.

[0069] Furthermore, along the circumference of the first power module 50, the gap between the outer shell of the first power module 50 and the housing 10 forms an air guide channel 114.

[0070] In this embodiment, by setting an air guide channel 114 along the gap between the first power module 50 and the housing 10, the airflow driven by the first fan assembly 30 enters the receiving cavity 110 through the first air outlet 111 and can flow directionally along the air guide channel 114 across the outer surface of the first power module 50, carrying away the heat generated during the operation of the first power module 50 and preventing local heat accumulation in the receiving cavity 110. At the same time, the air guide channel 114, as an annular airflow channel, has a compact structure and does not occupy additional space, ensuring a stable airflow path within the limited installation space.

[0071] Preferably, at least one first air vent 111 is provided on the housing 10 where the air duct 114 is located.

[0072] In this embodiment, by providing at least one first air vent 111 on the housing 10 where the air duct 114 is located, external airflow can directly enter the air duct 114 through the first air vent 111 and flow along the air duct 114 in the circumferential direction of the housing of the first power module 50. The airflow makes full contact with the surface of the housing of the first power module 50, effectively removing the heat generated during its operation and significantly improving the heat dissipation efficiency of the first power module 50.

[0073] It should be understood that the number, location, and shape of the first air vents 111 can be adjusted according to actual needs. For example, multiple first air vents 111 can be opened on the housing 10 where the air guide channel 114 is located to achieve multi-position air intake or exhaust. The first air vents 111 can be located on the housing 10 where the air guide channel 114 is located, in order to... Figure 3 and Figure 7 For example, the first air vent 111 can be located at the top of the housing 10 where the air guide channel 114 is located, or it can be located on the left and right sides of the housing 10 where the air guide channel 114 is located, so that the airflow can blow directly to the outer peripheral surface of the first power module 50 from multiple directions, thereby achieving heat dissipation of the circumferential shell of the first power module 50.

[0074] In an alternative embodiment of this application, the wind deflector 113 is omitted, and a first air vent 111 is formed at the top of the first end of the housing 10, allowing the airflow entering from the first air vent 111 to flow directly downwards across the outer surface of the first power module 50, thereby achieving effective heat dissipation for the first power module 50. Specifically, as... Figure 9 As shown, in the airflow entering from the first air vent 111, part of the airflow flows along the left side across the outer surface of the first power module 50, and the other part of the airflow flows along the right side across the outer surface of the first power module 50, thereby achieving the purpose of heat dissipation on the entire outer periphery of the first power module 50.

[0075] like Figure 7 and Figure 8As shown, the first air vent 111 is located on the housing 10 corresponding to the circumference of the first power module 50. In other embodiments, the first air vent 111 may also be located on the housing 10 corresponding to the end face of the first power module 50.

[0076] The first air vent 111 can be a single large-diameter hole or a combination of multiple small-diameter holes that are close to each other, such as a fence-type air vent structure or a mesh-type air vent structure.

[0077] Specifically, the housing 10 containing the air duct 114 has a first air vent 111, and the housing 10 is also provided with a wind deflector 113. The distance between the wind deflector 113 and the nearest second power module 20 is less than the distance between the first air vent 111 and the nearest second power module 20.

[0078] In this embodiment, the wind deflector 113 can block at least part of the airflow from blowing directly onto the second power module 20 through the location of the wind deflector 113, so that the blocked airflow flows along the air guide channel 114 to fully contact the outer surface of the first power module 50, thereby achieving effective heat dissipation of the first power module 50 and avoiding the problem of reduced heat dissipation effect of the first power module 50 caused by a large amount of airflow blowing directly onto the second power module 20 through the location of the wind deflector 113.

[0079] Specifically, the position and structure of the wind deflector 113 are set according to specific needs. For example, the wind deflector 113 can be adjusted according to the specific position of the first air vent 111 to ensure that the distance between the wind deflector 113 and the first air vent 111 is short. The wind deflector 113 can be a straight surface structure or a curved surface structure.

[0080] Optionally, the wind deflector 113 is disposed on the housing 10 where the air guide channel 114 is located. The distance between the wind deflector 113 and the first air outlet 111 is less than the diameter of the first power module 50. The outer edge of the wind deflector 113 is adapted to the inner wall of the air guide channel 114 to restrict the airflow entering from the first air outlet 111 from directly passing through the location of the wind deflector 113. The wind deflector 113 and the air guide channel 114 together guide the airflow entering from the first air outlet 111 to contact the housing of the first power module 50 and carry away the heat generated by the first power module 50.

[0081] In this embodiment, the distance between the wind deflector 113 and the first air outlet 111 is limited to a certain range. Utilizing the fluid adhesion effect, premature diffusion of airflow after entering the air guide channel 114 can be effectively prevented, ensuring that most of the airflow flows along the preset air guide direction. Through the adaptive structure between the wind deflector 113 and the air guide channel 114, the airflow can be precisely guided to the outer surface of the first power module 50. This avoids the problem of guidance failure caused by an excessively large distance between the wind deflector 113 and the first air outlet 111, reduces airflow loss, and improves heat exchange efficiency.

[0082] The wind deflector 113 can be connected to the side wall of the air guide channel 114 that is away from the first power module 50, or it can be connected to the side wall of the air guide channel 114 that is adjacent to the first power module 50.

[0083] Optionally, the wind deflector 113 is disposed on the housing 10 near the air guide channel 114. The distance between the wind deflector 113 and the first air outlet 111 is less than the diameter of the first power module 50. The outer edge of the wind deflector 113 is adapted to the inner wall of the housing 10 where the wind deflector 113 is located and the outer shell of the first power module 50, so as to restrict the airflow entering from the first air outlet 111 from directly passing through the location of the wind deflector 113. The wind deflector 113 and the air guide channel 114 together guide the airflow entering from the first air outlet 111 to contact the outer shell of the first power module 50 and carry away the heat generated by the first power module 50.

[0084] In this embodiment, by placing the wind deflector 113 on the housing 10 near the air guide channel 114, the placement and size of the wind deflector 113 become more flexible. This is beneficial when the circumferential spatial arrangement of the first power module 50 is relatively compact, reducing the space occupied inside the receiving cavity 110 and improving the arrangement flexibility of the wind deflector 113. By limiting the distance between the wind deflector 113 and the first air outlet 111 to a certain range, the fluid adhesion effect can be utilized to effectively prevent the airflow from diffusing too early after entering the air guide channel 114, allowing most of the airflow to flow along the preset air guide direction. Through the matching structure between the wind deflector 113 and the air guide channel 114, the airflow can be accurately guided to the outer surface of the first power module 50. This avoids the problem of guidance failure caused by an excessive distance between the wind deflector 113 and the first air outlet 111, reduces airflow loss, and improves heat exchange efficiency.

[0085] In any of the above embodiments, such as Figure 10 As shown, the wind deflector 113 can restrict the airflow entering from the first air vent 111 completely, meaning that all the airflow entering from the first air vent 111 is blocked by the wind deflector 113 and can only fully contact the outer shell of the first power module 50 along the air guide channel 114. Alternatively, the wind deflector 113 can restrict the airflow entering from the first air vent 111 partially, meaning that some of the airflow entering from the first air vent 111 is blocked by the wind deflector 113 and then fully contacts the outer shell of the first power module 50 along the air guide channel 114, while the other part of the airflow entering from the first air vent 111 flows directly to the second power module 20 through the location of the wind deflector 113.

[0086] To achieve all the limiting functions, the wind deflector 113 can be in contact with the outer casing of the first power module 50, or the distance between the wind deflector 113 and the outer casing of the first power module 50 can be limited to a small range. To achieve some of the limiting functions, there can be a certain distance between the wind deflector 113 and the outer casing of the first power module 50, or the wind deflector 113 can be configured as a hollow structure or other structure with a certain air leakage capability.

[0087] Preferably, the distance between the wind deflector 113 and the first air vent 111 is less than the radius of the first power module 50. This ensures that the distance between the wind deflector 113 and the first air vent 111 is small, reducing airflow loss.

[0088] Specifically, the windbreak 113 can be a sheet-like structure, a plate-like structure, a block-like structure, or any irregularly shaped structure. The specific shape and size of the windbreak 113 can be adjusted according to actual needs.

[0089] Specifically, in practical applications, the wind deflector 113 and the air guide channel 114 can achieve precise matching of multiple features such as contour shape and contour size, avoiding airflow deviation or eddies within the channel, and ensuring that the cooling airflow preferentially acts on the first power module 50, achieving precise cooling of high-heat components. For example, setting the effective wind-blocking area of ​​the wind deflector 113 and the flow cross-sectional area of ​​the air guide channel 114 within a certain ratio range can ensure that most of the airflow is effectively blocked. Alternatively, the flow cross-sectional shape of the air guide channel 114 can be set to be consistent with the shape of the effective wind-blocking area of ​​the wind deflector 113. For example, when the flow cross-sectional shape of the air guide channel 114 is rectangular, the effective wind-blocking area shape of the wind deflector 113 is a rectangle of the same proportion.

[0090] Specifically, along the circumferential direction of the first power module 50, the flow area of ​​the air guide channel 114 is set to gradually increase or decrease.

[0091] In this embodiment, by gradually increasing the flow area of ​​the air guide channel 114, the airflow speed can be reduced, and the flow time of the airflow in the circumference of the first power module 50 can be extended. This ensures that the circumferential surface of the first power module 50 is in contact with the airflow for heat exchange. The expansion design of the air guide channel 114 can achieve the purpose of uniform airflow, so that the airflow contacts the circumferential surface of the first power module 50 more evenly, ensuring the temperature consistency of the circumferential surface of the first power module 50. At the same time, it is also beneficial to reduce noise and overcome airflow resistance. By gradually decreasing the flow area of ​​the air guide channel 114, the airflow can flow more smoothly and reduce the probability of airflow blockage. The contraction design of the air guide channel 114 can accelerate the airflow. The higher speed airflow can achieve rapid heat dissipation of the outer circumferential surface of the first power module 50. At the same time, the airflow can complete the flow in the air guide channel 114 at a faster speed, avoiding the problem of insufficient heat dissipation of local surfaces of the first power module 50 caused by airflow attenuation.

[0092] Optionally, the flow area of ​​the air guide channel 114 is uniformly arranged along the circumferential direction of the first power module 50. This uniform flow area of ​​the air guide channel 114 allows the airflow to maintain a stable speed, ensuring a stable heat exchange effect on the circumferential surface of the first power module 50. Furthermore, the structure of the air guide channel 114 is simpler, reducing its manufacturing cost.

[0093] Optionally, the first fan assembly 30 is located between the first power module 50 and the second power module 20.

[0094] In this embodiment, by placing the first fan assembly 30 between the first power module 50 and the second power module 20, the first fan assembly 30 can effectively drive the airflow to enter from the first air outlet 111, flow through the first power module 50 and the second power module 20 in sequence, and finally exit from the second air outlet 112, thereby achieving continuous heat dissipation for the first power module 50, the second power module 20 and the area between them.

[0095] In conjunction with the foregoing embodiments, it should be understood that when the first fan assembly 30 is located between the first power module 50 and the second power module 20, the first fan assembly 30 can be in the first receiving cavity 1101 or in the second receiving cavity 1102, or a portion of the first fan assembly 30 can be in the first receiving cavity 1101 and another portion can be in the second receiving cavity 1102.

[0096] Preferably, the first fan assembly 30 is located at the connection position between the first receiving cavity 1101 and the second receiving cavity 1102.

[0097] In this embodiment, the connection position of the first receiving cavity 1101 and the second receiving cavity 1102 forms a narrowing structure with at least one of the first receiving cavity 1101 and the second receiving cavity 1102. The narrowing structure can form a relative negative pressure zone at the inlet of the first fan assembly 30, which is beneficial for the first fan assembly 30 to capture airflow. At the same time, a relative positive pressure zone is formed at the outlet of the first fan assembly 30. Static pressure recovery is generated through the cross-sectional expansion structure, reducing dynamic pressure loss. Thus, the first fan assembly 30 is in a more efficient flow-pressure range, and the heat dissipation requirements can be met with a smaller volume of the first fan assembly 30.

[0098] Optionally, the first fan assembly 30 is located within a receiving cavity 110 between the second air outlet 112 and at least one second power module 20.

[0099] In this embodiment, the first fan assembly 30 is located between the second air outlet 112 and at least one second power module 20. The first fan assembly 30 can form a directional forced airflow, so that the cooling airflow flows over the surface of the casing of the second power module 20 and directly carries away the heat before flowing out from the second air outlet 112. Alternatively, the first fan assembly 30 can guide the airflow flowing in from the second air outlet 112 to the surface of the casing of the second power module 20 for heat dissipation, which significantly improves the heat dissipation effect of the second power module 20.

[0100] Specifically, the first fan assembly 30 includes one or more fans, preferably with the impeller area of ​​the fan facing the first power module 50.

[0101] In some embodiments, the fan of the first fan assembly 30 may have multiple heat dissipation modes. In one heat dissipation mode, after the fan of the first fan assembly 30 is started, the airflow enters the receiving cavity 110 through the first air outlet 111 and is finally blown out through the second air outlet 112. In another heat dissipation mode, after the fan of the first fan assembly 30 is started, the airflow enters the receiving cavity 110 through the second air outlet 112 and is finally blown out through the first air outlet 111.

[0102] Preferably, the first fan assembly 30 is located between the first power module 50 and the second power module 20, and a second fan assembly 40 is also provided in the receiving cavity 110. The second fan assembly 40 is located in the receiving cavity 110 between the second air outlet 112 and at least one second power module 20, and the fan impeller area of ​​the second fan assembly 40 faces the housing of the stator of the second power module 20.

[0103] In this embodiment, by placing the second fan assembly 40 within the receiving cavity 110 between the second air outlet 112 and at least one second power module 20, the second fan assembly 40 can form a directional forced airflow, allowing the cooling airflow to flow over the surface of the housing of the second power module 20 and directly carry away heat, which is then quickly discharged through the second air outlet 112, significantly improving the heat dissipation capacity of the housing at the location of the stator of the second power module 20.

[0104] In conjunction with the foregoing embodiments, the second fan assembly 40 is disposed within the second receiving cavity 1102. The second fan assembly 40 is located within the receiving cavity 110 between the second air outlet 112 and at least one second power module 20. The fan impeller area of ​​the second fan assembly 40 faces the housing of the stator of the second power module 20.

[0105] It should be understood that in the robot limb of this application, only the first fan assembly 30 located between the first power module 50 and the second power module 20 may be provided, or only the first fan assembly 30 located between the second air outlet 112 and at least one second power module 20 may be provided, or both the first fan assembly 30 located between the first power module 50 and the second power module 20 and the second fan assembly 40 located between the second air outlet 112 and at least one second power module 20 may be provided. The specific arrangement can be adjusted according to actual needs.

[0106] like Figure 3 As shown, in an exemplary embodiment of this application, the second fan assembly 40 and the first fan assembly 30 may each be provided with a fan fixing member, which is connected to the housing 10. The fan fixing member may be provided on the circumferential side of the fan assembly to avoid obstructing the airflow inlet and outlet of the fan assembly. Specifically, the fan fixing member may be provided on any circumferential side of the fan assembly to adapt to the installation requirements of the fan assembly (such as installation position, installation angle, etc.).

[0107] The control board of the fan assembly can also be fixed to the fan mounting bracket. The control board can be used to control the start and stop of the fan assembly. For example, when the preset temperature value (e.g., 50°C) is detected in the receiving cavity 110, the control board can start the fan assembly to accelerate the airflow rate in the receiving cavity 110.

[0108] Specifically, the second fan assembly 40 includes one or more fans, preferably with the fan blades facing the second power module 20.

[0109] In some embodiments, the fan of the second fan assembly 40 may have multiple heat dissipation modes. In one heat dissipation mode, after the fan of the second fan assembly 40 is started, the airflow enters the receiving cavity 110 through the first air outlet 111 and is finally blown out through the second air outlet 112. In another heat dissipation mode, after the fan of the second fan assembly 40 is started, the airflow enters the receiving cavity 110 through the second air outlet 112 and is finally blown out through the first air outlet 111.

[0110] In one exemplary embodiment of this application, there is a gap between the output side of the second power module 20 and the housing 10. This gap can accommodate components connected to the output side of the second power module 20. The heat dissipation requirement of the output side of the second power module 20 is relatively low. The stator side of the second power module 20 is the main heat source area, and the heat dissipation requirement is significantly higher. The fan blades of the second fan assembly 40 are oriented towards the stator side of the second power module 20. The airflow generated by the second fan assembly 40 is directed to the stator side, so that the side receives a much higher airflow distribution than the output side, thereby improving the heat dissipation effect of the second power module 20, avoiding the ineffective distribution of cooling airflow, and realizing the efficient utilization of the heat dissipation resources of the whole machine.

[0111] Specifically, a power module mounting base 05 is also provided inside the cavity 110, and the second power module 20 is mounted on the power module mounting base 05.

[0112] Specifically, a power module mounting base 05 is also provided in the second receiving cavity 1102, and the second power module 20 is mounted on the power module mounting base 05.

[0113] In this embodiment, a power module fixing seat 05 is provided in the second receiving cavity 1102, and the second power module 20 is disposed on the power module fixing seat 05. The second power module 20 is accurately positioned by the power module fixing seat 05. The power module fixing seat 05 prevents the second power module 20 from loosening or displacement, and at the same time maintains a distance between the second power module 20 and the inner wall of the second receiving cavity 1102, so that a stable airflow channel is formed between the second power module 20 and the second air outlet 112, thereby optimizing the uniformity of airflow and heat exchange efficiency.

[0114] Optionally, the power module mounting base 05 can be a hollow structure to facilitate heat dissipation of the second power module 20.

[0115] Specifically, the power module mounting base 05 is provided with at least one mounting cavity, and at least part of the second power module 20 is fixed in the mounting cavity. The housing of the second power module 20 at the location of the stator protrudes out of the mounting cavity.

[0116] In this embodiment, by making the housing of the stator of the second power module 20 protrude out of the mounting cavity, the housing of the stator area is exposed in the cavity of the second receiving cavity 1102, so that the airflow driven by the first fan assembly 30 can fully contact the housing of the stator side of the power module, cool down the stator with high heat generation, and effectively alleviate the local overheating problem of the second power module 20.

[0117] Preferably, the robot limb includes two second power modules 20, and the power module fixing base 05 is provided with two mounting cavities. The two second power modules 20 are arranged in a one-to-one correspondence with the two mounting cavities, and each second power module 20 is located in the corresponding mounting cavity.

[0118] In this embodiment, the power module mounting base 05 is provided with two mounting cavities, and the two second power modules 20 are arranged one-to-one with the two mounting cavities, with each second power module 20 located in the corresponding mounting cavity.

[0119] It should be understood that, in this embodiment, the housings of the stators of the two second power modules 20 protrude from the corresponding mounting cavities, thereby ensuring that airflow can achieve heat dissipation and cooling of the two second power modules 20.

[0120] Specifically, the two second power modules 20 can be arranged side by side so that the airflow can flow through the two second power modules 20 synchronously, or the two second power modules 20 can be arranged out of position.

[0121] Preferably, the two second power modules 20 are arranged vertically to reduce the lateral volume of the housing 10 and the lateral dimensions of the robot limbs.

[0122] Preferably, the bottom shell of the second power module 20 is provided with a heat dissipation component 60, which includes at least heat dissipation fins 61.

[0123] In this embodiment, by providing a heat dissipation component 60 on the bottom shell of the second power module 20, the heat dissipation component 60 includes at least heat dissipation fins 61, which significantly increases the heat exchange area between the bottom shell of the second power module 20 and the airflow, so that the cooling airflow driven by the first fan component 30 can efficiently remove the heat from the heat dissipation fins 61, thereby effectively alleviating the local overheating problem in the bottom shell area of ​​the second power module 20.

[0124] It should be noted that the outer shell of the second power module 20 is a cylindrical shell, which includes a circumferentially arranged annular shell and a bottom shell located at the end of the annular shell. The heat dissipation assembly 60 is disposed on the bottom shell of the cylindrical shell, and the stator of the heat dissipation assembly 60 is located inside the cylindrical shell. The output side of the second power module 20 is located on the other side opposite to the bottom shell. The output side of the second power module 20 can extend outside the cylindrical shell or be located inside the cylindrical shell.

[0125] Furthermore, the robot limb also includes a linkage assembly 80, the first end of which is connected to the output end of the second power module 20, and the second end of which is used to connect to the rest of the robot's limbs.

[0126] In this embodiment, by connecting the first end of the linkage assembly 80 to the output end of the second power module 20, and the second end of the linkage assembly 80 to connect with the rest of the robot's limbs, the driving torque generated by the second power module 20 can be stably and reliably transmitted to the rest of the robot's limbs through the linkage assembly 80, ensuring the continuity and accuracy of power transmission, improving the coordination of the robot's limb movements, effectively shortening the power transmission path, and enhancing the response speed and sensitivity of the robot's limbs.

[0127] Taking the robot's lower leg as an example, the robot's limb is the robot's lower leg, and the second end of the linkage assembly 80 is used to connect to the robot's foot 90.

[0128] In one exemplary embodiment of this application, the power module mounting base 05 is provided with two mounting cavities, and two second power modules 20 are respectively arranged in the two mounting cavities. Each second power module 20 is disposed in the corresponding mounting cavity. The linkage assembly 80 includes two linkages, which are respectively arranged in the two second power modules 20. The first end of each linkage is connected to the output end of the corresponding second power module 20, and the second end of each linkage is connected to the robot foot of the robot foot 90.

[0129] In one exemplary embodiment of this application, the second end of the housing 10 has an opening structure so that when the connecting rod assembly 80 passes through, the second air vent 112 can be integrated with the opening structure. That is, the opening structure at the second end of the housing 10 simultaneously realizes the functions of allowing the connecting rod assembly 80 to pass through and for air to enter and exit. Figure 1 For example, the opening structure can be made on the side where the heel is located (that is, the back of the robot) to provide enough room for the linkage structure to move.

[0130] In one exemplary embodiment of this application, one or more second air vents 112 may be additionally provided on the housing 10 between the opening structure and the second fan assembly 40, based on the opening structure provided at the second end of the housing 10 for the connecting rod assembly 80 to pass through. The second air vents 112 may be located at any position on the housing 10, for example, they may be located on the front of the robot, or on the side or back of the robot.

[0131] The second air vent 112 can be a large-diameter perforated structure, or it can be an air vent composed of multiple small-diameter perforations that are close to each other, such as a fence-type air vent structure or a mesh-type air vent structure.

[0132] Furthermore, at least one heat-conducting component 06 is provided between the second power module 20 and the housing 10. The heat-conducting component 06 has at least one heat-conducting groove 07, and a heat-conducting medium is provided in the at least one heat-conducting groove 07.

[0133] In this embodiment, the heat-conducting component 06 consists of a heat-conducting groove 07 and a heat-conducting medium filled in the heat-conducting groove 07. It is an important auxiliary component to ensure the stable operation of the second power module 20. The heat-conducting medium can quickly transfer the heat generated by the second power module 20 to the housing 10, thereby achieving heat dissipation and effectively preventing the second power module 20 from degrading in performance or being damaged due to overheating. The heat-conducting medium can be a structure such as heat-conducting adhesive.

[0134] Preferably, the heat-conducting component 06 is composed of multiple heat-conducting grooves 07. The multiple heat-conducting grooves 07 and the heat-conducting medium filled in each heat-conducting groove 07 can further improve the heat transfer efficiency.

[0135] Optionally, the heat-conducting component 06 and the housing 10 are integrally formed. The integral design enhances the integrity of the structure and the continuity of heat conduction, allowing heat to be conducted more smoothly throughout the structure.

[0136] Optionally, the heat-conducting component 06 is detachably connected to the housing 10. The detachable connection facilitates the maintenance and replacement of the heat-conducting component 06, improves the adaptability of the component, and allows for the selection of a suitable heat-conducting component 06 according to different models of power modules.

[0137] Furthermore, a power module mounting base 05 is also provided in the receiving cavity 110. The power module mounting base 05 has at least one mounting cavity, and at least a portion of the second power module 20 is fixed in the mounting cavity. The housing of the second power module 20 at the location of the stator protrudes from the mounting cavity. The side of the heat-conducting member 06 extending toward the second power module 20 is the adapter side, which is correspondingly provided with the housing portion of the second power module 20 protruding from the mounting cavity. The opening of at least one heat-conducting groove 07 is provided on the adapter side, and the adapter side is in contact with the housing of the second power module 20, and / or, the heat-conducting medium is in contact with the housing of the second power module 20.

[0138] This design allows the protruding portion of the second power module 20 to better contact heat dissipation components such as the heat-conducting member 06, thereby helping the second power module 20 maintain good performance during operation and continuously provide stable power support to the legs. The adapter side of the heat-conducting member 06 extending towards the second power module 20, at least one of the adapter side of the heat-conducting member 06 and the heat-conducting medium, is adapted to the shape of the portion of the housing protruding from the mounting cavity, allowing for close contact with this portion and significantly increasing the heat conduction area, thus improving the heat dissipation efficiency of the housing.

[0139] In this embodiment, the housing of the second power module 20 can be made to contact either the adapter side or the heat-conducting medium, or the housing of the second power module 20 can be made to contact the adapter side and the heat-conducting medium simultaneously, thereby further improving the heat dissipation efficiency.

[0140] The contour, curvature, and dimensions of the heat-conducting component 06's adapter side perfectly match the housing portion of the power module protruding from the mounting cavity. This is not a simple planar fit, but rather a conformal design. Specifically, if the housing portion of the second power module 20 protruding from the mounting cavity is an arc-shaped surface, the adapter side will be correspondingly machined with a concave arc of the same curvature. If the housing portion has protruding ribs, steps, or irregular protrusions, the adapter side will simultaneously reserve corresponding grooves or step notches to ensure a seamless fit when they contact each other. This prevents localized suspension due to excessively large adapter side dimensions, and avoids compression deformation due to excessively small dimensions. "Contact between the adapter side and the housing portion" refers to the adapter side contacting the housing portion of the power module protruding from the mounting cavity, not a complete, uninterrupted fit of the entire heat-conducting component 06 to the entire housing. Contact is only formed in specific areas or key locations.

[0141] According to another specific embodiment of this application, a robot is provided, the robot having robotic limbs, the robotic limbs being the robotic limbs in the above embodiments.

[0142] 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.

[0143] 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.

[0144] 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.

[0145] 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 robotic limb, characterized in that, include: The housing (10) has a receiving cavity (110). The first power module (50), at least a portion of which is disposed within the receiving cavity (110); At least one second power module (20) is disposed within the receiving cavity (110); The first fan assembly (30) is located within the receiving cavity (110); The housing (10) has multiple air vents, including at least a first air vent (111) and a second air vent (112). The first air vent (111) and the second air vent (112) are both connected to the receiving cavity (110). The distance between the first air vent (111) and the first power module (50) is less than the distance between the first air vent (111) and the second power module (20). The second air vent (112) is located on the side of the second power module (20) furthest from the first power module (50). The at least one second power module (20) is located in the receiving cavity (110) between the first power module (50) and the second air vent (112).

2. The robotic limb according to claim 1, characterized in that, There is a gap between the outer shell of the first power module (50) and the housing (10).

3. The robotic limb according to claim 2, characterized in that, Along the circumference of the first power module (50), the gap between the outer shell of the first power module (50) and the housing (10) forms an air guide channel (114).

4. The robotic limb according to claim 3, characterized in that, At least one first air vent (111) is provided on the housing (10) where the air guide channel (114) is located.

5. The robotic limb according to claim 3, characterized in that, The housing (10) where the air guide channel (114) is located has a first air vent (111). The housing (10) is also provided with a wind deflector (113). The distance between the wind deflector (113) and the nearest second power module (20) is less than the distance between the first air vent (111) and the nearest second power module (20).

6. The robotic limb according to claim 5, characterized in that, The wind deflector (113) is disposed on the housing (10) where the air guide channel (114) is located. The distance between the wind deflector (113) and the first air outlet (111) is less than the diameter of the first power module (50). The outer edge of the wind deflector (113) is adapted to the inner wall of the air guide channel (114) to restrict the airflow entering from the first air outlet (111) from directly passing through the location of the wind deflector (113). The wind deflector (113) and the air guide channel (114) together guide the airflow entering from the first air outlet (111) to contact the outer shell of the first power module (50) and carry away the heat generated by the first power module (50).

7. The robotic limb according to claim 5, characterized in that, The wind deflector (113) is disposed on the housing (10) near the air guide channel (114). The distance between the wind deflector (113) and the first air outlet (111) is less than the diameter of the first power module (50). The outer edge of the wind deflector (113) is adapted to the inner wall of the housing (10) and the outer shell of the first power module (50) at the location of the wind deflector (113) to restrict the airflow entering from the first air outlet (111) from directly passing through the location of the wind deflector (113). The wind deflector (113) and the air guide channel (114) together guide the airflow entering from the first air outlet (111) to contact the outer shell of the first power module (50) and carry away the heat generated by the first power module (50).

8. The robotic limb according to any one of claims 3-7, characterized in that, Along the circumferential direction of the first power module (50), the flow area of ​​the air guide channel (114) is arranged to gradually increase or gradually decrease, or the flow area of ​​the air guide channel (114) is arranged uniformly.

9. The robotic limb according to any one of claims 1-7, characterized in that, The first fan assembly (30) is located between the first power module (50) and the second power module (20), or the first fan assembly (30) is located in the receiving cavity (110) between the second air outlet (112) and the at least one second power module (20).

10. The robotic limb according to claim 9, characterized in that, The first fan assembly (30) is located between the first power module (50) and the second power module (20). The receiving cavity (110) is also provided with a second fan assembly (40). The second fan assembly (40) is located in the receiving cavity (110) between the second air outlet (112) and the at least one second power module (20). The fan impeller area of ​​the second fan assembly (40) faces the housing of the stator of the second power module (20).

11. The robotic limb according to any one of claims 1-7, characterized in that, The cavity (110) is also provided with a power module mounting base (05), and the second power module (20) is mounted on the power module mounting base (05).

12. The robotic limb according to claim 11, characterized in that, The power module mounting base (05) is provided with at least one mounting cavity, and at least a portion of the second power module (20) is fixed in the mounting cavity. The housing of the second power module (20) at the location of the stator protrudes from the mounting cavity.

13. The robotic limb according to claim 12, characterized in that, The robot limb includes two second power modules (20), and the power module mounting base (05) is provided with two mounting cavities. The two second power modules (20) are arranged in a one-to-one correspondence with the two mounting cavities, and each second power module (20) is located in the corresponding mounting cavity.

14. The robotic limb according to any one of claims 1-7, characterized in that, The bottom shell of the second power module (20) is provided with a heat dissipation assembly (60), which includes at least heat dissipation fins (61).

15. The robotic limb according to any one of claims 1-7, characterized in that, The robotic limbs also include: Linkage assembly (80), the first end of which is connected to the output end of the second power module (20), and the second end of which is used to connect to the remaining limbs of the robot.

16. The robotic limb according to any one of claims 1-7, characterized in that, At least one heat-conducting component (06) is provided between the second power module (20) and the housing (10). The heat-conducting component (06) has at least one heat-conducting groove (07) and a heat-conducting medium is provided in the at least one heat-conducting groove (07). The heat-conducting component (06) and the housing (10) are integrally formed, or the heat-conducting component (06) and the housing (10) are detachably connected.

17. The robotic limb according to claim 16, characterized in that, The receiving cavity (110) is also provided with a power module fixing seat (05). The power module fixing seat (05) is provided with at least one mounting cavity. At least a portion of the second power module (20) is fixed in the mounting cavity. The housing of the stator of the second power module (20) protrudes from the mounting cavity. The side of the heat-conducting member (06) extending toward the second power module (20) is the adapter side. The adapter side is provided corresponding to the housing portion of the second power module (20) protruding from the mounting cavity. The opening of the at least one heat-conducting groove (07) is provided on the adapter side. The adapter side is in contact with the housing of the second power module (20), and / or the heat-conducting medium is in contact with the housing of the second power module (20).

18. A robot, characterized in that, The robot has robotic limbs, which are robotic limbs as described in any one of claims 1-17.

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