A robot limb and a robot

Abstract

The application provides a robot limb and a robot, and the robot limb comprises: a shell, the shell has a containing cavity, the containing cavity has an opening structure in communication with the outside; at least a first power module is located in the containing cavity, a wind guide space is formed between the shell and the outer shell of the first power module located in the containing cavity; a connecting piece corresponds to the opening structure, a gap is formed between the shell and the connecting piece, the connecting piece is connected with the output end of the first power module, the normal projection of the connecting piece on a preset plane covers the projection of the inner edge of the opening structure on the preset plane, and the preset plane is perpendicular to the axial direction of the rotor rotation of the first power module; a fan assembly is arranged in the containing cavity, the fan assembly is located on the side of the first power module away from the opening structure; the shell is provided with a first air port and a second air port, and the first air port and the second air port are both arranged in communication with the containing cavity. The application embodiment solves the problems of low heat dissipation efficiency and high temperature of the robot limb in the prior art.

Description

Technical Field

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

[0002] In existing technologies, robot limbs are typically equipped with joints. These joints work in concert with complex mechanical transmissions and precise control systems to achieve the robot's movements and postures, meeting the motion requirements of different scenarios. When a robot performs complex movements, the joints need to withstand greater loads and more frequent movement transitions. This significantly increases the workload of the internal components of the joints, leading to a sharp rise in heat generation. Furthermore, prolonged continuous operation exacerbates heat accumulation, and the joints' passive cooling capacity is far from sufficient to meet the cooling demands, resulting in excessively high robot limb temperatures and affecting the robot's normal operation.

[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 low heat dissipation efficiency and excessively high temperature in existing robot limbs.

[0005] To achieve the above objectives, according to one aspect of the present invention, a robot limb is provided, comprising: a shell having a receiving cavity having an opening structure communicating with the outside; a first power module, at least a portion of which is located within the receiving cavity, the first power module being directly connected to the shell or connected via an intermediate component, a ventilation space being formed between the outer shell of the first power module located within the receiving cavity and the shell; and a connector corresponding to the opening structure, the connector being connected to the output end of the first power module, a gap being present between the shell and the connector, the first power module being capable of driving the connector to rotate relative to the shell, and the connector being able to rotate relative to a predetermined plane. The orthographic projection of the surface covers the projection of the inner edge of the opening structure onto a preset plane, wherein the preset plane is perpendicular to the axial direction of the rotor rotation of the first power module; a fan assembly is disposed within the receiving cavity, and the fan assembly is located on the side of the first power module away from the opening structure; the housing has multiple air vents, including at least a first air vent and a second air vent, both the first air vent and the second air vent are connected to the receiving cavity, wherein the minimum straight-line distance between the first air vent and the opening structure is less than the minimum straight-line distance between the second air vent and the opening structure, and the second air vent is located on the housing on the side of the fan assembly away from the first power module.

[0006] Furthermore, the robot limb also includes: at least one first air guide component, which is disposed within the receiving cavity and located between the first power module and the fan component; the first air guide component has at least one first air guide port, a second air guide port, and a first air guide channel connecting the at least one first air guide port and the second air guide port, wherein the position of the first air guide port corresponds to the position of the first air vent, and the second air guide port faces the first power module.

[0007] Furthermore, the robot limb also includes: at least one first air guide component, the first air guide component is disposed in the receiving cavity, and a fan component is provided between the first air guide component and the first power module; the first air guide component has at least one first air guide port, a second air guide port and a first air guide channel connecting at least one first air guide port and the second air guide port, wherein the position of the first air guide port corresponds to the position of the first air vent, and the second air guide port is disposed facing the first power module.

[0008] Furthermore, at least one first air guide component has two first air guide ports, and the housing has two first air ports, with the two first air ports corresponding one-to-one with the two first air guide ports.

[0009] Furthermore, the robot limb also includes a filter element, which is located between the first air vent and the corresponding first air outlet, or the filter element is located within the first air duct; wherein the filter element is used to filter out impurities in the airflow.

[0010] Furthermore, the first air vent has a hollow structure.

[0011] Furthermore, the first air guiding channel includes: a first sub-channel, through which two first air guides are connected; and a second sub-channel, through which a second air guide is connected to the first sub-channel; wherein, both ends of the first sub-channel are provided with air intake sections, the flow area of ​​which is gradually reduced along the direction away from the corresponding first air guide; and the second sub-channel has an air expansion section, the flow area of ​​which is gradually increased along the direction away from the first sub-channel.

[0012] Furthermore, at least a portion of the first power module extends into the second air vent.

[0013] Furthermore, the robot limb also includes: a second air guide assembly, which is located inside the receiving cavity and on the side of the fan assembly away from the first power module; wherein, the second air guide assembly has a third air guide port, a fourth air guide port, and a second air guide channel connecting the third air guide port and the fourth air guide port, the third air guide port is correspondingly set to the fan assembly, and the fourth air guide port is correspondingly set to the second air guide port.

[0014] Furthermore, at least part of the fan assembly extends into the third air duct.

[0015] Furthermore, the robot limb also includes: a second air guide assembly, which is located within the receiving cavity and between the first air guide assembly and the second air outlet; wherein, the second air guide assembly has a third air outlet, a fourth air outlet, and a second air guide channel connecting the third air outlet and the fourth air outlet, the third air outlet being correspondingly arranged with the first air guide assembly, and the fourth air outlet being correspondingly arranged with the second air outlet.

[0016] Furthermore, the fourth air vent is designed to match the second air vent.

[0017] Furthermore, a clamping connection structure is provided at one end of the shell opposite to the opening structure. The clamping connection structure has a clamping space, through which the robot limbs are rotatably connected to the other limbs of the robot. The second air vent is connected to the clamping space.

[0018] Furthermore, the connector includes: a fixed base and a fixed seat, the base being fixedly connected to the output end of the first power module, and the fixed seat being used to fix the second power module and the third power module.

[0019] Furthermore, the edge of the opening structure is provided with an annular protrusion, and the base is fitted onto the outer ring of the annular protrusion, with a gap between the base and the outer ring of the annular protrusion.

[0020] Furthermore, the intermediate component includes a mounting base having a mounting cavity, a portion of the first power module being located within the mounting cavity, and another portion of the first power module extending outside the mounting cavity and positioned toward the side where the wind turbine assembly is located.

[0021] According to another aspect of the present invention, a robot is provided, wherein the robot limbs are those described above.

[0022] Applying the technical solution of this invention, the shell has a receiving cavity and an opening structure. At least part of the first power module and the fan assembly are disposed within the receiving cavity. The connecting piece is correspondingly disposed with the opening structure, forming a shielding plane. This prevents external impurities such as sand and gravel from entering the receiving cavity while simultaneously redirecting airflow back into the receiving cavity. This allows more airflow to flow out from the second air vent after cooling the first power module. This not only removes some of the heat from the components within the receiving cavity but also further cools the components corresponding to the second air vent, improving the overall cooling efficiency of the robot limb. A gap exists between the shell and the connecting piece to ensure that the connecting piece does not contact the shell when rotating relative to it, ensuring the smooth operation of the connecting piece. The fan assembly guides the airflow within the cavity, ensuring that the airflow follows the target path across the surface of the first power module, thereby improving the cooling rate of the first power module. The first air outlet is located between the first end of the housing and the fan assembly. The fan assembly directs the airflow from the first air outlet into the cavity, thereby cooling the overheated first power module. The second air outlet is located on the side of the housing opposite to the first power module of the fan assembly. The airflow passing through the first power module can be smoothly discharged from the second air outlet, avoiding the problem of heat accumulation in the robot's internal cavity, significantly improving heat dissipation efficiency, and effectively solving the problems of low heat dissipation efficiency and excessively high temperature of robot limbs in the prior art. Attached Figure Description

[0023] 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:

[0024] Figure 1 A schematic diagram of the structure of a first embodiment of a robot limb according to the present invention is shown;

[0025] Figure 2 A schematic diagram of a second embodiment of a robot limb according to the present invention is shown;

[0026] Figure 3 A structural schematic diagram of a third embodiment of a robot limb according to the present invention is shown;

[0027] Figure 4 A structural schematic diagram of a fourth embodiment of a robot limb according to the present invention is shown;

[0028] Figure 5 A structural schematic diagram of a fifth embodiment of a robot limb according to the present invention is shown;

[0029] Figure 6 A structural schematic diagram of a sixth embodiment of a robot limb according to the present invention is shown;

[0030] Figure 7A structural schematic diagram of a seventh embodiment of a robot limb according to the present invention is shown;

[0031] Figure 8 A structural schematic diagram of an eighth embodiment of a robot limb according to the present invention is shown;

[0032] Figure 9 A schematic diagram of the internal airflow path of a robot limb according to the present invention is shown.

[0033] The above figures include the following reference numerals:

[0034] 10. Housing; 110. Receiving cavity; 111. First air outlet; 112. Second air outlet; 113. Clamping space; 114. Stop protrusion; 115. Opening structure; 116. Annular protrusion; 117. Mounting base; 118. Air guiding space;

[0035] 20. First power module; 21. Output flange;

[0036] 30. Fan components;

[0037] 40. First air guide assembly; 410. First air guide outlet; 420. Second air guide outlet;

[0038] 430. First air guide channel;

[0039] 431, First Sub-channel; 4311, Air Intake Section;

[0040] 432. Second sub-channel; 4321. Ventilation expansion section;

[0041] 50. Second air guide assembly; 510. Third air guide outlet; 520. Fourth air guide outlet; 530. Second air guide channel;

[0042] 60. Knee joint power unit;

[0043] 70. Robotic calf;

[0044] 80. Connecting component; 810. Base; 811. Connecting flange; 820. Fixing seat;

[0045] 90. Third power module. Detailed Implementation

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] Currently, some robots have two joints installed in their thighs. These two joints work together through complex mechanical transmissions and a precise control system to achieve the robot's posture and meet the movement requirements in different scenarios. When the robot performs complex movements, the leg joints need to withstand greater loads and more frequent movement switching. This significantly increases the workload of the internal components of the joints, and the heat generated rises sharply. At the same time, prolonged continuous operation further exacerbates the heat accumulation, and the passive heat dissipation capacity of the joints themselves is far from sufficient to meet the heat dissipation requirements, resulting in excessively high temperatures inside the robot's thigh cavity.

[0051] Combination Figures 1 to 9 As shown, according to a specific embodiment of this application, a robot limb and a robot are provided.

[0052] Specifically, the robot limb includes a shell 10, a first power module 20, a connector 80, and a fan assembly 30. The shell 10 has a receiving cavity 110 with an opening structure 115 communicating with the outside. At least a portion of the first power module 20 is located within the receiving cavity 110. The first power module 20 is directly connected to the shell 10 or connected via an intermediate component. An air-guiding space 118 is formed between the outer shell of the first power module 20 and the side wall of the receiving cavity 110. The connector 80 is correspondingly arranged with the opening structure 115 and is connected to the output end of the first power module 20. There is a gap between the shell 10 and the connector 80. The first power module 20 can drive the connector 80 to rotate relative to the shell 10. The connector 80 is located on a preset plane. The orthographic projection covers the projection of the inner edge of the opening structure 115 onto a preset plane, wherein the preset plane is perpendicular to the axial direction of the rotor rotation of the first power module 20; the fan assembly 30 is disposed in the receiving cavity 110, and the fan assembly 30 is located on the side of the first power module 20 away from the opening structure 115; the housing 10 has multiple air vents, including at least a first air vent 111 and a second air vent 112, both of which are connected to the receiving cavity 110, wherein the minimum straight-line distance between the first air vent 111 and the opening structure 115 is less than the minimum straight-line distance between the second air vent 112 and the opening structure 115, and the second air vent 112 is located on the side of the housing 10 of the fan assembly 30 away from the first power module 20.

[0053] Applying the technical solution of this embodiment, the housing 10 has a receiving cavity 110 and an opening structure 115. At least part of the first power module 20 and the fan assembly 30 are disposed in the receiving cavity 110. The connector 80 is correspondingly disposed with the opening structure 115, forming a shielding plane to prevent external sand and other impurities from entering the receiving cavity 110. At the same time, it bounces the airflow back into the receiving cavity 110, allowing more airflow to flow out from the second air outlet 112 after cooling the first power module 20. This removes some of the heat from the components in the receiving cavity 110 and further cools the components corresponding to the second air outlet 112, improving the overall cooling efficiency of the robot limb. There is a gap between the housing 10 and the connector 80 to ensure that the connector 80 does not contact the housing 10 when rotating relative to it, ensuring the connection. The component 80 rotates smoothly, and the fan assembly 30 can guide the airflow inside the receiving cavity 110, ensuring that the airflow flows along the target path through the surface of the first power module 20, thereby improving the cooling rate of the first power module 20. The first air outlet 111 is located between the first end of the housing 10 and the fan assembly 30. The fan assembly 30 allows the airflow to enter the receiving cavity 110 from the first air outlet 111, thereby cooling the first power module 20 which has an excessively high temperature. The second air outlet 112 is set on the housing 10 on the side of the fan assembly 30 away from the first power module 20. The airflow flowing through the first power module 20 can be smoothly discharged from the second air outlet 112, avoiding the problem of heat accumulation in the internal cavity of the robot, significantly improving the heat dissipation efficiency, and effectively solving the problems of low heat dissipation efficiency and excessively high temperature of robot limbs in the prior art.

[0054] In the embodiments of this application, the gap between the connector 80 and the housing 10 means that most of the airflow in the receiving cavity 110 is blocked and bounced off the connector 80, and a small amount of gas flows out through the gap between the connector 80 and the housing 10. It should be understood that the gap between the connector 80 and the housing 10 is small, which can effectively prevent external sand and gravel from entering the robot's limb and protect the internal components.

[0055] In the following embodiments, the end where the opening structure 115 is located is the first end of the housing 10, and the end opposite to the opening structure 115 is the second end of the housing 10. In this embodiment, the first end and the second end refer to two regions of the housing 10 that are arranged opposite each other in a certain direction (e.g., the length direction of the housing 10, or the width direction of the housing 10 in other embodiments). In some embodiments, the second end of the housing 10 is provided with a clamping structure to clamp other robot limbs. The second end of the housing 10 is also provided with a ventilation opening for airflow to enter and exit.

[0056] Specifically, the robot limbs in this application embodiment can be robot thighs, robot calves 70, robot upper arms, robot forearms, etc. For ease of description, this application uses thighs as the description object. When the robot limb is a robot thigh, the second end of the housing 10 can be connected to the knee joint power assembly 60.

[0057] The location of the first air vent 111 can be adjusted according to actual needs. For example, the housing 10 where the first air vent 111 is located can correspond to the first power module 20, so that the airflow entering from the first air vent 111 can flow directly over the surface of the first power module 20, thereby improving the heat dissipation efficiency of the first power module 20. To improve the air guiding efficiency, an air guide duct structure can also be added. The air guide duct structure directly corresponds to the stator part of the first power module 20, so as to achieve heat dissipation of the stator part of the first power module 20 that generates a large amount of heat.

[0058] In this embodiment, the first power module 20 can be entirely located within the receiving cavity 110.

[0059] In another embodiment, part of the housing of the first power module 20 is located inside the receiving cavity 110, and part of the housing on the output side of the first power module 20 is located outside the receiving cavity 110. The output side of the first power module 20 can be a power output flange. The output flange is connected to the connector 80 by fasteners such as bolts and screws to control the rotation of the housing 10 relative to the connector 80.

[0060] Taking the robot's thigh as an example, the output side of the first power module 20 of the robot's thigh includes an output flange. The output flange is fixedly connected to the connector 80 by fasteners such as bolts and screws. The connector 80 is connected to the robot's hip. The first power module 20 drives the connector 80 to rotate, thereby realizing the rotation of the robot's thigh relative to the robot's hip.

[0061] It should be noted that, in this embodiment, the first power module 20 can be directly connected to the housing 10 by any connection method such as screw connection, bolt connection, snap-fit ​​connection, or adhesive bonding, so that the first power module 20 and the housing 10 are firmly connected. When an intermediate component is used for connection, the intermediate component is connected to the housing 10 and the first power module 20 is connected to the intermediate component. The intermediate component facilitates the fixation of the position of the first power module 20. By adjusting the connection position between the intermediate component and the housing 10, the position of the first power module 20 can be adjusted. According to the specific model and size of the first power module 20, a matching intermediate component can be selected to ensure that the first power module 20 is firmly connected.

[0062] Specifically, the robot limb also includes at least one first air guide assembly 40, which is disposed within the receiving cavity 110 and located between the first power module 20 and the fan assembly 30. The first air guide assembly 40 has at least one first air guide port 410, a second air guide port 420, and a first air guide channel 430 connecting the at least one first air guide port 410 and the second air guide port 420. The position of the first air guide port 410 corresponds to the position of the first air guide port 111, and the second air guide port 420 is oriented towards the first power module 20.

[0063] In this embodiment, the position of the first air guide 410 corresponds to the position of the first air vent 111, and the second air guide 420 is set towards the first power module 20, so that after the external airflow enters through the first air vent 111, it can be guided to the second air guide 420 by the first air guide channel 430, preventing the airflow from spreading disorderly in the receiving cavity 110, ensuring that the airflow efficiently cools the surface of the first power module 20, and significantly improving the heat dissipation efficiency.

[0064] Optionally, the number of first air vents 410 can be adjusted as needed. For example, the number of first air vents 410 can be set to one, two, three, four, five, etc., according to actual needs. Multiple first air vents 111 are opened on the housing 10, and the first air vents 111 and the first air vents 410 are matched so that each first air vent 410 corresponds to at least one first air vent 111.

[0065] Optionally, the shape of the first air guide channel 430 connecting the first air guide 410 and the second air guide 420 can be adjusted as needed. For example, the position of the first air guide 410 can be set higher than the position of the second air guide 420, and the first air guide channel 430 can be set in a downward inclined shape. Alternatively, the position of the first air guide 410 can be set lower than the position of the second air guide 420, and the first air guide channel 430 can be set in an upward inclined shape. The inclined setting allows impurities such as sand to automatically move to the lower air guide due to gravity until they flow out of the housing 10. Alternatively, the position of the first air guide 410 can be set at the same height as the position of the second air guide 420, and the first air guide channel 430 can be set horizontally. When multiple first air vents 410 are set, the height positions of different first air vents 410 can be set differently so that the corresponding multiple first air ducts 430 are set in different shapes. The airflow entering from each first air vent 111 enters the corresponding first air duct 430 through the corresponding first air vent 410 and is blown out from the second air vent 420 towards the first power module 20.

[0066] Multiple first air guide components 40 can be provided between the first power module 20 and the fan assembly 30. Each first air guide component 40 is provided with at least one first air guide port 410, a second air guide port 420, and a first air guide channel 430 connecting at least one first air guide port 410 and a second air guide port 420. The structures of each first air guide component 40 can be the same or different.

[0067] Specifically, the robot limb also includes at least one first air guide assembly 40, which is disposed within the receiving cavity 110. A fan assembly 30 is provided between the first air guide assembly 40 and the first power module 20. The first air guide assembly 40 has at least one first air guide port 410, a second air guide port 420, and a first air guide channel 430 connecting the first air guide port 410 and the second air guide port 420. The position of the first air guide port 410 corresponds to the position of the first air guide port 111, and the second air guide port 420 is oriented towards the first power module 20.

[0068] In this embodiment, the fan assembly 30 is located between the first power module 20 and the first air guide assembly 40. The first air guide port 410 corresponds to the first air vent 111 of the housing 10, so that the airflow generated by the fan assembly 30 can be accurately guided into the first air guide channel 430 after entering through the first air vent 111, and then transported to the second air guide port 420 through the first air guide channel 430. The second air guide port 420 is set towards the first power module 20 to ensure that the airflow directly acts on the surface of the first power module 20 after passing through the fan assembly 30, preventing the airflow from not being effectively covered, and achieving efficient heat dissipation of the first power module 20. When the fan assembly 30 is positioned between the first power module 20 and the first air guide assembly 40, the airflow output from the second air guide port 420 of the first air guide assembly 40 is blown towards the first power module 20 by the action of the fan assembly 30. After the airflow comes into contact with the outer shell of the first power module 20, it carries away a large amount of heat from the first power module 20. The airflow flowing out from the second air guide port 420 moves towards the fan assembly 30 under the combined action of the resistance encountered at the opening structure 115 and the fan assembly 30, flows through the receiving cavity 110 and is blown out from the second air port 112.

[0069] There can be multiple first air guiding components 40. The fan assembly 30 is located between the first power module 20 and the multiple first air guiding components 40. Each first air guiding component 40 is provided with at least one first air guide port 410, a second air guide port 420, and a first air guiding channel 430 connecting at least one first air guide port 410 and a second air guide port 420. The structures of each first air guiding component 40 can be the same or different.

[0070] Specifically, at least one first air guide assembly 40 has two first air guide ports 410, and the housing 10 has two first air vents 111, with the two first air vents 111 corresponding to the two first air guide ports 410.

[0071] In this embodiment, by opening two first air guide ports 410 on the first air guide assembly 40 and two first air inlets 111 on the housing 10, and by setting the two first air inlets 111 and the two first air guide ports 410 in a one-to-one correspondence, external airflow can enter the first air guide assembly 40 through the two first air inlets 111 respectively, thereby increasing the air intake volume, ensuring sufficient cooling airflow to cover the first power module 20, avoiding uneven airflow distribution on the surface of the first power module 20, avoiding local overheating of the first power module 20, and ensuring the thermal stability of the first power module 20 during operation.

[0072] Specifically, the robot limb also includes a filter element, which is located between the first air vent 410 and the corresponding first air vent 111, or the filter element is located within the first air duct 430; wherein, the filter element is used to filter out impurities in the airflow.

[0073] In this embodiment, by placing the filter between the first air vent 410 and the corresponding first air outlet 111 or within the first air duct 430, the airflow can be filtered by the filter before entering the first air duct 430, removing impurities from the airflow and effectively preventing pollutants such as sand, dust, and debris from entering the first power module 20 with the airflow, thereby ensuring the long-term operational reliability of the first power module 20.

[0074] The filter element can be a separate structural component, located between the first air vent 410 and the corresponding first air vent 111, or the filter element can be installed in the first air duct 430, i.e., assembled with the first air duct assembly 40 as a whole.

[0075] Specifically, the filter element can be a filter screen, and the pore size, pore density, etc. of the filter screen can be adjusted according to the specific application environment.

[0076] Specifically, the first air vent 111 has a hollow structure.

[0077] In this embodiment, the first air vent 111 is set as a hollow structure, which ensures that the airflow can smoothly enter the receiving cavity 110, and at the same time can effectively filter larger particles that enter with the airflow, significantly improving the cleanliness of the airflow and ensuring the long-term stable operation of the internal components of the receiving cavity 110.

[0078] Furthermore, the first air guide channel 430 includes a first sub-channel 431 and a second sub-channel 432, with two first air guide ports 410 connected through the first sub-channel 431; the second air guide port 420 is connected to the first sub-channel 431 through the second sub-channel 432; wherein, both ends of the first sub-channel 431 are provided with air intake sections 4311, and the flow area of ​​the air intake sections 4311 is gradually reduced along the direction away from the corresponding first air guide port 410; the second sub-channel 432 has an air expansion section 4321, and the flow area of ​​the air expansion section 4321 is gradually increased along the direction away from the first sub-channel 431.

[0079] In this embodiment, two first air vents 410 are connected by a first sub-channel 431, and a second air vent 420 is connected to the first sub-channel 431 by a second sub-channel 432. This allows cooling airflow from the two first air vents 410 to enter simultaneously and in equal amounts from both sides. The airflow is then converged through the first sub-channel 431 and blown towards the first power module 20, increasing the surface airflow of the first power module 20. This is achieved by gradually decreasing the flow area of ​​the air intake section 4311 away from the corresponding first air vent 410. The design allows the airflow to converge and accelerate after entering the first sub-channel 431, effectively preventing energy dissipation at the inlet. The accelerated airflow then enters the second sub-channel 432. The airflow area in the expansion section 4321 is gradually increased in the direction away from the first sub-channel 431, ensuring that the high-speed converging airflow diffuses evenly before entering the second air guide 420. This avoids excessively high local flow velocities and ensures that the airflow smoothly and evenly covers the surface of the first power module 20, significantly improving the heat exchange efficiency of the first power module 20.

[0080] In one exemplary embodiment of this application, two first air guides 410 are arranged in a one-to-one correspondence with each other, the two first air guides 410 are arranged at the same height, the first sub-channel 431 is arranged horizontally, and the second sub-channel 432 is arranged vertically.

[0081] In another exemplary embodiment of this application, the heights of the two first air vents 410 and the inlet height of the second sub-channel 432 can be set differently, so that at least a portion of the first sub-channel 431 is inclined. For example, the height of one of the first air vents 410 is higher than the inlet height of the second sub-channel 432, and the section of the first sub-channel 431 connected to the first air vent 410 is inclined. Alternatively, the heights of both first air vents 410 are higher than the inlet height of the second sub-channel 432, so that the portions of the first sub-channel 431 connected to the two first air vents 410 are inclined. Specifically, the heights of the two first air vents 410 can also be set differently, so that the corresponding first sub-channels 431 have different inclination angles. By adjusting the inclination angle of each channel, impurities such as sand carried by the airflow in the channel can be automatically moved to an unknown, lower air vent under the influence of gravity until they flow out of the housing 10, avoiding structural damage caused by impurities being blown towards the power module and entering the housing 10, and extending the service life of the robot limbs.

[0082] Optionally, the height of the first air guide 410 can also be set lower than the inlet height of the second sub-channel 432. This setting allows the airflow to enter the first sub-channel 431 along an upward oblique path, achieving an inclined airflow path. Sand particles and other impurities carried by the airflow in the channel are automatically moved to the unknown, lower air guide under the influence of gravity until they flow out of the housing 10, preventing impurities from being blown into the housing 10 and causing structural damage.

[0083] Furthermore, at least a portion of the first power module 20 extends into the second air vent 420.

[0084] In this embodiment, the housing of the first power module 20 extending into the second air vent 420 is the housing corresponding to the stator portion of the first power module 20. The stator of the first power module 20 generates a large amount of heat and requires air cooling temperature control. Extending the housing of the first power module 20 corresponding to the stator portion into the second air vent 420 allows the cooling airflow to flow directly to the stator portion of the first power module 20. The cold airflow directly contacts the surface of the housing corresponding to the stator portion, achieving air cooling temperature control of the stator. That is, the heating surface of the first power module 20 directly contacts the cooling airflow, significantly shortening the heat conduction path, avoiding heat dissipation lag and local temperature rise problems, thereby greatly improving heat dissipation efficiency.

[0085] Specifically, in an exemplary embodiment of this application, the robot limb further includes a second air guide assembly 50, which is located within the receiving cavity 110 and on the side of the fan assembly 30 away from the first power module 20. The second air guide assembly 50 has a third air guide port 510, a fourth air guide port 520, and a second air guide channel 530 connecting the third air guide port 510 and the fourth air guide port 520. The third air guide port 510 is correspondingly arranged with the fan assembly 30, and the fourth air guide port 520 is correspondingly arranged with the second air vent 112.

[0086] In this embodiment, by setting the second air guide component 50 on the side of the fan component 30 away from the first power module 20, and setting the third air guide 510 corresponding to the fan component 30, the airflow generated by the fan component 30 can be accurately guided into the second air guide channel 530, making the airflow more orderly in the receiving cavity 110. By setting the fourth air guide 520 corresponding to the second air outlet 112, the airflow flows along the second air guide channel 530 and is smoothly discharged from the shell 10 through the second air outlet 112, which significantly reduces wind pressure loss, improves airflow efficiency, enhances the heat dissipation capacity of the first power module 20, and ensures that the temperature distribution of the robot limbs is uniform during long-term operation.

[0087] like Figure 9 As shown, in an exemplary embodiment of this application, the airflow is discharged from the first air outlet 111 via the first air guide assembly 40, the first power module 20, the fan assembly 30, the second air guide assembly 50, and finally discharged from the second air outlet 112.

[0088] Furthermore, at least a portion of the fan assembly 30 extends into the third air duct 510.

[0089] Optionally, in an exemplary embodiment of this application, the sidewall of the receiving cavity 110 is further provided with a stop protrusion 114, and at least a portion of the second air guide assembly 50 is mounted on the stop protrusion 114. This can improve the connection stability of the second air guide assembly 50 while reducing the gap between the second air guide assembly 50 and the sidewall of the receiving cavity 110, ensuring that more airflow flows into the second air guide assembly 50.

[0090] In this embodiment, by extending at least part of the fan assembly 30 into the third air guide 510, the airflow discharged from the fan assembly 30 is confined within the third air guide 510. This effectively avoids turbulence at the connection between the fan assembly 30 and the second air guide assembly 50, significantly reducing air pressure loss. At the same time, it ensures the continuity and enclosure of the airflow path, enabling the airflow to be efficiently transported from the fan assembly 30 through the second air guide channel 530 to the second air outlet 112, thereby improving the overall airflow heat dissipation efficiency.

[0091] Furthermore, the robot limb also includes a second air guide assembly 50, which is located within the receiving cavity 110 and between the first air guide assembly 40 and the second air outlet 112. The second air guide assembly 50 has a third air outlet 510, a fourth air outlet 520, and a second air guide channel 530 connecting the third air outlet 510 and the fourth air outlet 520. The third air outlet 510 is correspondingly arranged with the first air guide assembly 40, and the fourth air outlet 520 is correspondingly arranged with the second air outlet 112.

[0092] In this embodiment, by placing the second air guide component 50 between the first air guide component 40 and the second air outlet 112, the second air guide component 50 has a second air guide channel 530 connecting the third air outlet 510 and the fourth air outlet 520. The third air outlet 510 corresponds to the first air guide component 40 and can introduce the airflow in the receiving cavity 110 into the second air guide channel 530. The fourth air outlet 520 is set directly opposite the second air outlet 112, so that the airflow flows out without diffusion through the second air guide channel 530, which significantly improves the continuity and stability of the airflow channel. This allows the heat dissipation airflow to be efficiently and orderly discharged from the first air outlet 111 through the first air guide component 40, the fan component 30, the first power module 20, and the second air guide component 50, and finally discharged from the second air outlet 112. This ensures the thermal stability of the first power module 20 during long-term operation and significantly enhances the heat dissipation efficiency inside the robot limb.

[0093] Furthermore, the fourth air vent 520 is configured to match the second air vent 112.

[0094] In this embodiment, by matching the fourth air vent 520 with the second air vent 112, the airflow discharged from the second air guide assembly 50 can be directly and orderly introduced into the second air vent 112 along the second air guide channel 530, thus avoiding airflow turbulence caused by structural misalignment.

[0095] In the embodiments of this application, the shape and size of the fourth air guide vent 520 and the second air vent 112 can be matched. For example, the fourth air guide vent 520 can be embedded in the second air vent 112 and fit against the edge of the second air vent 112, or the fourth air guide vent 520 can abut against the second air vent 112, with the diameter of the fourth air guide vent 520 being larger than the diameter of the second air vent 112, ensuring that the second air vent 112 is located inside the fourth air guide vent 520. The specific air vent shape can be any shape such as rectangular, circular, elliptical, or irregular.

[0096] Specifically, the end of the housing 10 opposite to the opening structure 115 is provided with a clamping connection structure. The clamping connection structure has a clamping space 113. The robot limbs are rotatably connected to the other limbs of the robot through the clamping space 113. The second air vent 112 is connected to the clamping space 113.

[0097] In this embodiment, the housing 10 is provided with a clamping connection structure, which has a clamping space 113. Other limbs of the robot can be partially extended into the clamping space 113, which improves the connection stability between the robot limbs and improves the assembly efficiency. The second air vent 112 is connected to the clamping space 113, which allows the airflow inside the housing 10 to be blown out through the second air vent 112 and enter the clamping space 113 to dissipate heat from the other limb structures in the clamping space 113 and improve the airflow utilization efficiency.

[0098] In one exemplary embodiment of this application, the clamping connection structure includes two clamping parts disposed opposite to each other, forming a clamping space 113 between the two clamping parts. The clamping space 113 can be used to fix the power module of other robot limbs.

[0099] Preferably, the second air vent 112 is located at the second end and communicates with the clamping space 113. This arrangement allows the airflow inside the housing 10 to be blown directly onto the power module of another robot limb within the clamping space 113, thereby achieving heat dissipation for the power module of the other robot limb.

[0100] Furthermore, a stop protrusion 114 is provided at the second end of the housing 10. The stop protrusion 114 and the housing 10 enclose each other to form a second air vent 112. At least a portion of the second air guide assembly 50 overlaps the stop protrusion 114. The fourth air guide port 520 of the second air guide assembly 50 is correspondingly provided with the second air vent 112. The second air vent 112 is opened at the second end of the housing 10 and communicates with the clamping space 113.

[0101] Taking the robot's thigh as an example, the robot's thigh can be rotatably connected to the robot's lower leg through two clamping parts. The knee joint power component 60 of the robot's lower leg is located in the clamping space 113. The second end of the housing 10 has a second air vent 112 that is connected to the clamping space 113 so that the air blown out from the second air vent 112 can be blown toward the knee joint power component 60 to achieve heat dissipation and cooling of the knee joint power component 60.

[0102] Furthermore, the fourth air vent 520 of the second air guide assembly 50 is correspondingly arranged with the knee joint power assembly 60, and the third air vent 510 of the second air guide assembly 50 is correspondingly arranged with the fan assembly 30, so that the airflow in the housing 10 enters the second air guide assembly 50 after passing through the fan assembly 30, and is directly blown towards the knee joint power assembly 60 after being tightened by the second air guide assembly 50. The fan assembly 30 can not only dissipate heat for the first power module 20, but also dissipate heat for the knee joint power assembly 60 at the same time, thereby improving the utilization rate of the fan assembly 30.

[0103] In practical applications, other limbs of the robot (such as the robot's waist, torso, and lower legs) can be inserted into the clamping space 113 and securely connected to the robot limbs by means of a preset elastic clamping structure, snap-fit ​​mechanism, or interference fit design, thereby shortening the assembly time.

[0104] Specifically, see the attached document. Figure 1 To be continued Figure 5 As shown, the connector includes a base 810 and a fixing seat 820 that are fixedly connected. The base 810 is fixedly connected to the output end of the first power module 20, and the fixing seat 820 is used to fix the third power module 90.

[0105] In this embodiment, the base 810 is rotatably disposed relative to the housing 10. The base 810 is directly fixedly connected to the output end of the first power module 20, so that the torque of the first power module 20 can be stably transmitted to the connector 80. The fixing seat 820 can directly fix the third power module 90, so that the third power module 90 rotates synchronously with the connector 80. Thus, while the first power module 20 drives the connector 80 to rotate, it provides a stable installation foundation for the third power module 90, improving the accuracy and reliability of the robot's limb movement.

[0106] For ease of description, this application uses the robot thigh as the object of description, that is, the robot limb is the robot thigh. In an exemplary embodiment of this application, the second end of the housing 10 is connected to the robot lower leg 70, the third power module 90 is a hip motor, the output end of the third power module 90 is connected to the robot hip, the third power module 90 can drive the robot thigh and robot lower leg to move relative to the robot hip, the first power module 20 can drive the robot thigh to move, and the second end of the housing 10 is also connected to the knee joint power component 60, the knee joint power component 60 can drive the robot lower leg to move relative to the robot thigh.

[0107] Preferably, refer to Figure 5 As shown, the edge of the opening structure 115 is provided with an annular protrusion 116, and the base 810 is sleeved on the outer ring of the annular protrusion 116, with a gap between the base 810 and the outer ring of the annular protrusion 116.

[0108] Specifically, the annular protrusion 116 is formed on the end face of the opening structure 115. The annular protrusion 116 is set at a distance from the outer edge of the opening structure 115. After the base 810 is sleeved on the outside of the annular protrusion 116, the base 810 abuts against the end face of the opening structure 115.

[0109] By setting the annular protrusion 116, the base 810 can be prevented from sliding in the radial direction relative to the housing 10, so that the base 810 can only rotate relative to the housing 10 in the circumferential direction, thus ensuring the stability of the position of the base 810.

[0110] Preferably, the base 810 and the entire outer ring of the annular protrusion 116 have gaps to achieve non-contact fitting between the base 810 and the annular protrusion 116.

[0111] In one exemplary embodiment of this application, reference is made to Figure 8 As shown, the base 810 is provided with a connecting flange 811, and the output side of the first power module 20 includes an output flange 21. Both the connecting flange 811 and the output flange 21 are provided with multiple connecting holes. The multiple connecting holes on the connecting flange 811 correspond to the multiple connecting holes on the output flange 21. Fasteners such as bolts and screws can be inserted into the connecting holes to achieve the connection between the base 810 and the output side of the first power module 20. It should be understood that fasteners can be inserted into only some of the connecting holes or into all of the connecting holes.

[0112] Specifically, the intermediate component includes a mounting base 117, and the first power module 20 is fixedly connected to the housing 10 through the mounting base 117. The output end of the first power module 20 is connected to the base 810 to drive the base 810 to rotate relative to the housing 10.

[0113] Specifically, the mounting base 117 has a mounting cavity, a portion of the first power module 20 is located inside the mounting cavity, and another portion of the first power module 20 extends outside the mounting cavity and is positioned toward the side where the fan assembly 30 is located.

[0114] In this embodiment, a portion of the first power module 20 is located inside the mounting cavity, which can improve the connection stability between the first power module 20 and the mounting base 117. Another portion of the first power module 20 extends outside the mounting cavity, which can increase the direct contact area between the first power module 20 and the airflow, facilitating heat dissipation of the first power module 20. The first power module 20 extending outside the mounting cavity is positioned towards the side where the fan assembly 30 is located, and the airflow rate of this portion of the first power module 20 is faster, improving heat dissipation efficiency.

[0115] Preferably, the mounting base 117 has a mounting cavity, and the housing corresponding to the stator portion of the first power module 20 is located outside the mounting cavity, so that the airflow in the receiving cavity 110 can be directly blown to the housing corresponding to the stator portion of the first power module 20, thereby improving heat dissipation efficiency.

[0116] According to another specific embodiment of this application, a robot is also provided, the robot having robotic limbs, the robotic limbs being the robotic limbs described above.

[0117] By providing a receiving cavity 110 within the housing 10, the structure of the robot limb becomes more compact and lightweight. At the same time, it can effectively prevent external dust and other particles from entering the robot limb, protecting the internal components. By placing the fan assembly 30 within the receiving cavity 110 and between the first power module 20 and the second end of the housing 10, the airflow generated by the fan assembly 30 can flow through the first power module 20, improving the cooling efficiency of the first power module. This also ensures a balanced mass distribution within the housing 10, preventing stress concentration that could lead to aging and wear of the internal components of the robot limb joints. By opening multiple air vents on the housing 10, with the first air vent 111 and the second air vent 112 both connected to the receiving cavity 110, the first air vent 111 is located between the first end of the housing 10 and the fan assembly 30. The fan assembly 30 allows airflow to enter the receiving cavity 110 from the first air vent 111, thereby cooling the first power module 20 which has an excessively high temperature. The second air vent 112 is located on the side of the housing 10 opposite to the first power module 20 of the fan assembly 30. The airflow passing through the first power module 20 can be smoothly discharged from the second air vent 112, avoiding the problem of heat accumulation in the robot's internal cavity, significantly improving heat dissipation efficiency, improving the accuracy and stability of the robot's joint control system, ensuring the normal operation of the robot, and extending the robot's service life.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] 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) having an opening structure (115) communicating with the outside. The first power module (20) is located in the cavity (110) at least part of the first power module (20). The first power module (20) is directly connected to the housing (10) or connected through an intermediate component. An air guide space (118) is formed between the outer shell of the first power module (20) located in the cavity (110) and the housing (10). A connector (80) is provided corresponding to the opening structure (115). The connector (80) is connected to the output end of the first power module (20). There is a gap between the housing (10) and the connector (80). The first power module (20) can drive the connector (80) to rotate relative to the housing (10). The orthographic projection of the connector (80) on a preset plane covers the projection of the inner edge of the opening structure (115) on the preset plane. The preset plane is perpendicular to the axial direction of the rotor rotation of the first power module (20). A fan assembly (30) is disposed within the receiving cavity (110) and is located on the side of the first power module (20) away from the opening structure (115). 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 minimum straight-line distance between the first air vent (111) and the opening structure (115) is less than the minimum straight-line distance between the second air vent (112) and the opening structure (115). The second air vent (112) is located on the housing (10) of the fan assembly (30) on the side opposite to the first power module (20). The robot limb also includes at least one first air guide assembly (40), which is disposed in the receiving cavity (110). The first air guide assembly (40) has at least one first air guide port (410), a second air guide port (420), and a first air guide channel (430) connecting the at least one first air guide port (410) and the second air guide port (420). The position of the first air guide port (410) corresponds to the position of the first air vent (111), and the second air guide port (420) is disposed facing the first power module (20).

2. The robotic limb according to claim 1, characterized in that, The first air guide assembly (40) is located between the first power module (20) and the fan assembly (30).

3. The robotic limb according to claim 1, characterized in that, The fan assembly (30) is provided between the first air guide assembly (40) and the first power module (20).

4. The robotic limb according to claim 2 or 3, characterized in that, The at least one first air guide assembly (40) has two first air guide ports (410), and the housing (10) has two first air vents (111), with the two first air vents (111) corresponding to the two first air guide ports (410).

5. The robotic limb according to claim 2 or 3, characterized in that, The robotic limbs also include: The filter element is located between the first air duct (410) and the corresponding first air vent (111), or the filter element is located within the first air duct (430). The filter element is used to filter out impurities in the airflow.

6. The robotic limb according to claim 5, characterized in that, The first air vent (111) has a hollow structure.

7. The robotic limb according to claim 4, characterized in that, The first air guide channel (430) includes: The first sub-channel (431) is through which the two first air guides (410) are connected; The second sub-channel (432) and the second air vent (420) are connected to the first sub-channel (431) through the second sub-channel (432); The first sub-channel (431) has an air-guiding section (4311) at both ends, and the flow area of ​​the air-guiding section (4311) is gradually decreasing in the direction away from the corresponding first air guide (410). The second sub-channel (432) has an air-expanding section (4321), and the flow area of ​​the air-expanding section (4321) is gradually increasing in the direction away from the first sub-channel (431).

8. The robotic limb according to claim 2, characterized in that, At least a portion of the first power module (20) extends into the second air vent (420), the position of the first air vent (410) is higher than the position of the second air vent (420), or the position of the first air vent (410) is lower than the position of the second air vent (420), or the position of the first air vent (410) is at the same height as the position of the second air vent (420).

9. The robotic limb according to claim 2, characterized in that, The robotic limbs also include: The second air guide assembly (50) is located inside the receiving cavity (110) and is located on the side of the fan assembly (30) away from the first power module (20). The second air guide assembly (50) has a third air guide port (510), a fourth air guide port (520) and a second air guide channel (530) connecting the third air guide port (510) and the fourth air guide port (520). The third air guide port (510) is correspondingly arranged with the fan assembly (30), and the fourth air guide port (520) is correspondingly arranged with the second air outlet (112).

10. The robotic limb according to claim 9, characterized in that, At least a portion of the fan assembly (30) extends into the third air duct (510).

11. The robotic limb according to claim 3, characterized in that, The robotic limbs also include: The second air guide assembly (50) is located inside the receiving cavity (110) and is located between the first air guide assembly (40) and the second air outlet (112); The second air guide assembly (50) has a third air guide port (510), a fourth air guide port (520) and a second air guide channel (530) connecting the third air guide port (510) and the fourth air guide port (520). The third air guide port (510) is correspondingly arranged with the first air guide assembly (40), and the fourth air guide port (520) is correspondingly arranged with the second air vent (112).

12. The robotic limb according to any one of claims 9-11, characterized in that, The fourth air vent (520) is configured to match the second air vent (112).

13. The robotic limb according to any one of claims 1-3, characterized in that, The shell (10) has a clamping connection structure at one end opposite to the opening structure (115). The clamping connection structure has a clamping space (113). The robot limb is rotatably connected to the other limbs of the robot through the clamping space (113). The second air vent (112) is connected to the clamping space (113).

14. The robotic limb according to any one of claims 1-3, characterized in that, The connector includes a fixed base (810) and a fixed seat (820), the base (810) being fixedly connected to the output end of the first power module (20), and the fixed seat (820) being used to fix the third power module (90).

15. The robotic limb according to claim 14, characterized in that, The edge of the opening structure (115) is provided with an annular protrusion (116), and the base (810) is sleeved on the outer ring of the annular protrusion (116), with a gap between the base (810) and the outer ring of the annular protrusion (116).

16. The robotic limb according to any one of claims 1-3, characterized in that, The intermediate component includes a mounting base (117) having a mounting cavity, a portion of which is located within the mounting cavity, and another portion of which extends outside the mounting cavity and is positioned toward the side where the fan assembly (30) is located.

17. A robot, characterized in that, The robot has robotic limbs, which are robotic limbs as described in any one of claims 1-16.

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