A robot leg heat dissipation structure and a robot

Abstract

The application discloses a robot leg heat dissipation structure and a robot, which are used for improving the heat dissipation efficiency of joints, so that the joints are evenly cooled and stably operated. The method comprises the following steps: a leg shell, a power module fixing seat and at least one power module; the leg shell forms a containing cavity, the leg shell comprises a first joint connecting end and a second joint connecting end, the power module fixing seat is arranged in the containing cavity and is fixedly connected with the leg shell; the distance between the power module fixing seat and the first joint connecting end is smaller than the distance between the power module fixing seat and the second joint connecting end; at least one mounting cavity is arranged on the power module fixing seat, the power module is fixed in the mounting cavity, and a part of a shell of the power module protrudes from the mounting cavity; a heat conduction member is further arranged between the power module and the leg shell, and the heat conduction member is integrally formed with the leg shell or is detachably connected with the leg shell.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a heat dissipation structure for a robot's legs and a robot. Background Technology

[0002] With the rapid development of robotics technology, the increasing power demands of robot legs have led to a continuous increase in the power density of power modules, generating a significant amount of heat during operation. If this heat cannot be dissipated effectively and promptly, the internal temperature of the power module will rise continuously. This will not only reduce motor output efficiency and increase energy consumption, but may also cause problems such as reducer lubrication failure and accelerated aging of electronic components. In severe cases, it may even trigger the power module's overheat protection mechanism, causing the robot's leg movement to be interrupted, affecting the continuity of the overall work process, shortening the power module's lifespan, and increasing the robot's maintenance costs and failure risks.

[0003] Current heat dissipation solutions for robot power modules mainly involve independent cooling. The process is as follows: a separate heat dissipation shell is designed outside the power module, and a fan and heat dissipation fins are installed inside the shell. The heat dissipation shell is fixed to the power module housing by a bracket. When the fan runs, it draws in external cold air, which flows through the heat dissipation fins and exchanges heat with them. The hot air that has absorbed heat is then expelled. At the same time, to enhance the heat conduction effect, a thermally conductive silicone pad is attached between the power module housing and the heat dissipation fins, so that the heat generated by the joints can be transferred to the fins through the silicone pad.

[0004] However, existing heat dissipation solutions limit the heat dissipation efficiency of the power module and the integrated design of the robot. The separate structure of independent heat dissipation solutions results in low integration and large space occupation. The heat dissipation shell and the power module need to be connected by an additional bracket, which not only increases the overall size and weight of the lower leg area, but also interferes with the movement flexibility of the robot's lower leg, making it particularly unsuitable for robots with strict limitations on size and weight. Summary of the Invention

[0005] This application discloses a heat dissipation structure for a robot leg and a robot, which improves the heat dissipation efficiency of the joints, thereby achieving balanced heat dissipation and stable operation of the joints.

[0006] The first aspect of this application discloses a heat dissipation structure for a robot leg, comprising: Leg shell, power module mounting base, and at least one power module; The leg housing forms a receiving cavity, and the leg housing includes a first joint connecting end and a second joint connecting end. The power module fixing seat is disposed in the receiving cavity and is fixedly connected to the leg housing. The distance between the power module fixing seat and the first joint connecting end is less than the distance between the power module fixing seat and the second joint connecting end. The power module mounting base is provided with at least one mounting cavity, the power module is fixed to the mounting cavity, and a portion of the housing of the power module protrudes from the mounting cavity; A heat-conducting component is also provided between the power module and the leg housing. The heat-conducting component is integrally formed with the leg housing or detachably connected. The side of the heat-conducting component extending toward the power module is the adapter side. The adapter side is adapted to the shape of the housing part of the power module protruding from the mounting cavity and contacts the housing part of the power module protruding from the mounting cavity. At least one heat-conducting groove is provided in the heat-conducting component. The opening of the at least one heat-conducting groove is located on the adapter side. A heat-conducting medium is provided in the at least one heat-conducting groove.

[0007] Optionally, the at least one power module includes a first power module and a second power module, the at least one mounting cavity includes two mounting cavities, the two power modules are each disposed in one mounting cavity, and the distance between the first power module and the first joint connection end is less than the distance between the second power module and the first joint connection end.

[0008] Optionally, it may also include at least one fan; The first joint connection end of the leg shell is provided with a first air vent; The second joint connection end of the leg shell is provided with a second air vent; The at least one fan is located inside the receiving cavity and is fixedly connected to the leg housing.

[0009] Optionally, the at least one fan may be two fans arranged together; Both fans are positioned between the power module and the first air vent.

[0010] Optionally, the at least one fan includes a first fan and a second fan, wherein the first fan is disposed between the power module and the first air outlet; and the second fan is disposed between the power module and the second air outlet.

[0011] Optionally, the fan surfaces of the two arranged fans are positioned opposite to the first air outlet; The first air outlet is a grille-type air outlet or a mesh-type air outlet; The spacing between adjacent grilles of the grille-type air vent is 3mm to 8mm, which is used to prevent foreign objects from entering.

[0012] Optionally, the rotational speed of the at least one fan is automatically adjusted according to the internal temperature of the leg housing cavity; As the temperature rises, the fan speed increases; When the temperature drops, the fan speed decreases.

[0013] Optionally, it may also include at least one heat pipe; The first section of the heat pipe is attached to the housing of the power module, and the second section of the heat pipe is attached to the inner wall of the leg housing or to the mounting base of the power module. The heat pipe is a hollow metal tube.

[0014] Optionally, the leg housing is further provided with a plurality of heat-conducting pillars. The heat-conducting pillars do not contact the power module. The heat-conducting pillars protrude from the inner wall of the leg housing and extend away from the inner wall of the leg housing. The heat-conducting pillars have a hollow structure and an opening at one end away from the leg housing. The heat-conducting pillars are filled with a heat-conducting medium. The plurality of heat-conducting pillars are arranged regularly or irregularly.

[0015] Optionally, the thermally conductive medium is thermally conductive silicone.

[0016] The second aspect of this application discloses a robot, including a heat dissipation structure for the robot's legs as described in the first aspect.

[0017] As can be seen from the above technical solutions, the embodiments of this application have the following advantages: In this solution, the heat-conducting component is tightly fitted to the protruding part of the power module, eliminating heat conduction gaps and constructing a direct heat conduction path. The heat-conducting groove and internal medium further expand the heat conduction area, accelerate heat diffusion, quickly remove heat, avoid motor efficiency degradation, ensure stable operation of the power module, extend service life, and reduce maintenance costs. The heat-conducting component is integrally molded or detachably connected to the leg shell, eliminating the need for an additional heat dissipation shell and bracket, integrating the heat dissipation function with the leg structure, and improving integration. The power module mounting base is reasonably laid out with a compact design, reducing space occupation and weight, avoiding interference with leg flexibility, and adapting to the needs of robots with limited size and weight. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A structural diagram of a heat dissipation structure for a robot leg provided in this application; Figure 2 Another structural diagram of a robot leg heat dissipation structure provided in this application; Figure 3A structural diagram of a heat-conducting component in a robot leg heat dissipation structure provided in this application; Figure 4 A structural diagram of a grid-type air vent in a heat dissipation structure for a robot leg provided in this application; Figure 5 An exploded view of a robot leg heat dissipation structure provided in this application; Figure 6 A schematic diagram of a robot leg shell provided in this application; Figure 7 Another schematic diagram of a robot leg shell provided in this application; Figure 8 A schematic diagram of a robot provided for this application; Figure 9 Another schematic diagram of a robot provided in this application; In the figure: leg shell 01, power module 02, first power module 03, second power module 04, power module mounting base 05, heat-conducting component 06, heat-conducting groove 07, fan 08, grille-type air vent 09, heat-conducting pipe 10, housing 11, heat-conducting column 12, metal pressure plate 13. Detailed Implementation

[0020] In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and other terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only used to describe the relative positional relationship between the components or parts and do not specifically limit the specific installation orientation of each component or part.

[0021] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0022] Furthermore, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0023] Furthermore, the structures, proportions, sizes, etc., drawn in the accompanying drawings of this application are only used to complement the content disclosed in the specification for those skilled in the art to understand and read, and are not intended to limit the conditions under which this application can be implemented. Therefore, they have no substantial technical significance. Any modification to the structure, change in the proportional relationship, or adjustment of the size, without affecting the effects and purposes that this application can produce, should still fall within the scope of the technical content disclosed in this application.

[0024] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0025] Based on this, this application discloses a robot leg heat dissipation structure and robot, which is used to improve the heat dissipation efficiency of the joint, thereby achieving balanced heat dissipation and stable operation of the joint.

[0026] Please see Figures 1 to 7 This application provides a heat dissipation structure for a robot leg, comprising: Leg housing 01, power module mounting base 05, and at least one power module 02; The leg housing 01 forms a receiving cavity. The leg housing 01 includes a first joint connecting end and a second joint connecting end. The power module fixing seat 05 is disposed in the receiving cavity and is fixedly connected to the leg housing 01. The distance between the power module fixing seat 05 and the first joint connecting end is less than the distance between the power module fixing seat 05 and the second joint connecting end. The power module mounting base 05 is provided with at least one mounting cavity, the power module 02 is fixed in the mounting cavity, and a part of the housing 11 of the power module 02 protrudes out of the mounting cavity; A heat-conducting component 06 is also provided between the power module 02 and the leg housing 01. The heat-conducting component 06 is integrally formed with the leg housing 01 or is detachably connected. The side of the heat-conducting component 06 extending toward the power module 02 is the adapter side. The adapter side is adapted to the shape of the housing part of the power module 02 that protrudes from the mounting cavity and is in contact with the housing part of the power module 02 that protrudes from the mounting cavity. At least one heat-conducting groove 07 is provided in the heat-conducting component 06. The opening of the at least one heat-conducting groove 07 is provided on the adapter side. A heat-conducting medium is provided in the at least one heat-conducting groove 07.

[0027] In this embodiment, the leg housing 01 is the basic framework of the entire leg structure. The leg housing 01 has an internal cavity that provides a safe storage space for key internal components. Its first joint connecting end and second joint connecting end are the joint hubs connecting the leg to the outside world. Through precise connection with adjacent joint components, the leg can achieve flexible and diverse movement postures.

[0028] As one example, the first joint is the robot's knee joint, and the second joint is the robot's ankle joint.

[0029] The housing 11 serves as the outer protective and support structure for the power module 02. It not only provides a robust protective barrier for the internal precision power components, preventing damage from external factors such as collisions and dust, but also provides structural support. The housing can be cylindrical or square, and can be designed according to the needs of the power module. Part of the housing 11 protrudes from the mounting cavity of the power module mounting base 05. This design allows the protruding portion to better contact with heat dissipation components such as the heat-conducting component 06, thereby helping the power module 02 maintain good performance during operation and continuously provide stable power support to the legs.

[0030] The power module 02, as the power core of the leg, is the key component driving leg movements. The power module 02 is fixedly installed within the mounting cavity of the power module mounting base 05. The power components inside the power module 02 work together to convert electrical energy or other forms of energy into mechanical energy, providing power for various leg movements. During operation, the power module 02 generates heat, and the cooperation between the upper housing 11 and the heat-conducting component 06 helps to dissipate this heat in a timely manner, ensuring that the power module 02 operates stably in a suitable temperature environment.

[0031] The power module mounting base 05 and the leg housing 01 are mechanically connected. Specifically, the leg housing 01 has pre-drilled threaded mounting holes, and the power module mounting base 05 has corresponding through holes. The power module mounting base 05 is placed in the pre-drilled position within the receiving cavity, aligning the through holes with the mounting holes. Screws are then passed through the through holes and screwed into the mounting holes. The pre-tightening force of the screws secures the power module mounting base 05 to the leg housing 01. To ensure connection strength, spring washers are used to prevent the screws from loosening. Alternatively, a snap-fit ​​connection can be used. The leg housing 01 has slots or protrusions, and the power module mounting base 05 has a corresponding snap-fit ​​structure. During installation, pressing the power module mounting base 05 causes the snap-fit ​​to engage with the slots or protrusions, achieving quick connection and positioning.

[0032] The heat-conducting component 06, composed of multiple heat-conducting grooves 07, is a crucial auxiliary component ensuring the stable operation of the power module 02. The heat-conducting component 06 is integrally molded or detachably connected to the leg housing 01. The integral design enhances the structural integrity and thermal continuity, allowing heat to be conducted more smoothly throughout the structure. The detachable connection facilitates maintenance and replacement of the heat-conducting component 06, improving component adaptability; a suitable heat-conducting component 06 can be selected according to different power module models. The adapting side of the heat-conducting component 06 extending towards the power module 02 is adapted to the shape of the portion of the housing 11 protruding from the mounting cavity, allowing for a tight fit and significantly increasing the heat conduction area, thus improving the heat dissipation efficiency of the housing 11. The multiple heat-conducting grooves 07, and the heat-conducting medium filled within them, can quickly conduct the heat generated by the power module 02 away, effectively preventing performance degradation or damage to the power module 02 due to overheating.

[0033] The contour, curvature, and dimensions of the heat-conducting component 06's adapter side perfectly match the portion of the power module protruding from the mounting cavity's housing 11. This is not a simple planar fit, but rather a conformal design. Specifically, if the portion of the power module 02 protruding from the mounting cavity's housing 11 is an arc-shaped surface, the adapter side will be correspondingly machined with a concave arc of the same curvature. If the housing 11 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 11 portion" refers to the adapter side contacting the portion of the power module protruding from the mounting cavity's housing 11, not a complete, uninterrupted fit of the heat-conducting component 06 to the entire housing 11. Contact is only formed in specific areas or key locations.

[0034] The following explains the operating principle of the robot's leg heat dissipation structure. The power module 02 generates heat during operation, and some of the heat is conducted to the leg housing 01 through the mounting base 05. Since part of the housing 11 protrudes from the mounting cavity of the power module mounting base 05, some of the heat is directly transferred to the heat-conducting component 06, which is in close contact with the leg housing 01. The heat-conducting grooves 07 with multiple openings facing the mounting side and the heat-conducting silicone in the grooves quickly absorb the heat and efficiently conduct the heat to the leg housing 01.

[0035] In this embodiment, the heat-conducting component 06 is tightly fitted to the protruding part of the power module 02, eliminating heat conduction gaps and constructing a direct heat conduction path. The heat-conducting groove 07 and its internal medium further expand the heat conduction area, accelerate heat diffusion, and quickly remove heat, preventing a decrease in motor efficiency, ensuring stable operation of the power module 02, extending its service life, and reducing maintenance costs. The heat-conducting component 06 is integrally formed or detachably connected to the leg shell 01, eliminating the need for an additional heat dissipation shell and bracket, integrating the heat dissipation function with the leg structure, and improving integration. The power module fixing base 05 is reasonably laid out with a compact design, reducing space occupation and weight, avoiding interference with leg flexibility, and adapting to the needs of robots with limited size and weight.

[0036] In an optional embodiment, at least one power module 02 includes a first power module 03 and a second power module 04, and at least one mounting cavity includes two mounting cavities. The two power modules 02 are arranged side by side and each is disposed in one mounting cavity. The distance between the first power module 03 and the first joint connection end is less than the distance between the second power module 04 and the first joint connection end.

[0037] This embodiment optimizes the number and installation position of the power module 02. Specifically, at least one power module 02 includes a first power module 03 and a second power module 04. Correspondingly, at least one mounting cavity includes two mounting cavities. During assembly, the two power modules 02 are arranged side by side and each is independently installed in one mounting cavity. The limiting structure of the mounting cavity achieves stable fixation and avoids displacement during operation. The first power module 03 is closer to the first joint connection end of the leg shell 01, while the distance between the second power module 04 and the first joint connection end is greater than the distance between the first power module 03 and the first joint connection end. This design can not only rationally allocate the functions of the two power modules 02 according to the power output requirements of different joints of the robot's leg, but also avoid local heat accumulation caused by the concentrated arrangement of the two modules.

[0038] In an optional embodiment, it further includes at least one fan 08; the first joint connection end of the leg housing 01 is provided with a first air vent; the second joint connection end of the leg housing 01 is provided with a second air vent; at least one fan 08 is located in the receiving cavity and is fixedly connected to the leg housing 01.

[0039] To enhance the air-cooling effect, this embodiment includes at least one fan 08. When the power module 02 is operating, the heat-generating components, such as the power module 02, generate heat, causing the internal temperature of the leg housing 01 to rise. At this time, the fan 08 generates a strong airflow. External cold air is drawn into the leg housing 01 through the first vent. Under the action of the fan 08, the cold air quickly flows towards the heat-generating components, absorbs heat, and becomes hot air. The hot air is then driven by the airflow to the second vent and finally discharged into the external environment through the second vent, forming a complete air circulation system that continuously removes heat from inside the leg, maintaining the temperature of the leg structure within a reasonable range.

[0040] The fans 08 are all located inside the receiving cavity of the leg housing 01 and are fixedly connected to the leg housing 01 by means of bolts, clips and other detachable methods. When the fans 08 are running, they can drive the air flow in the receiving cavity, and together with the first air inlet and the second air inlet, realize the airflow circulation of "air intake - heat exchange - air exhaust", and carry the heat of the power module 02 and the heat conduction component 06 out of the housing through the airflow, supplementing the insufficiency of passive heat dissipation.

[0041] In an optional embodiment, at least one fan 08 is two arranged fans 08; both arranged fans 08 are located between the power module 02 and the first air outlet.

[0042] In this embodiment, the fans 08 are all located between the power module 02 and the first air outlet, and there are two fans 08. Both fans 08 are positioned between the power module 02 and the first air vent. They can directly draw in outside cold air from the first air vent. After being guided by the fans 08, the airflow can come into contact with the power module 02, the power module mounting base 05, and the heat-conducting component 06 and exchange heat. The exchanged hot air forms a pressure difference in the containment cavity and naturally flows towards the second air vent and is discharged, forming a directional airflow path to avoid heat dissipation efficiency loss caused by airflow turbulence.

[0043] In an optional embodiment, at least one fan 08 includes a first fan and a second fan, the first fan being disposed between the power module 02 and the first air outlet; the second fan being disposed between the power module 02 and the second air outlet.

[0044] In this embodiment, two fans 08 are provided, namely a first fan and a second fan. The first fan is installed between the power module 02 and the first air outlet, and the second fan is installed between the power module 02 and the second air outlet.

[0045] By deploying the first fan and the second fan respectively on the connecting path between the power module 02 and the first air vent and the second air vent, the first fan can introduce cooling airflow from the external environment through the first air vent and guide it to the power module 02. At the same time, the second fan can exhaust the high-temperature airflow generated by the operation of the power module 02 to the external environment through the second air vent. Alternatively, the first fan and the second fan can work together to form a directional airflow channel that runs through the power module 02, thereby achieving efficient heat dissipation of the power module 02.

[0046] The arrangement of the first and second fans can optimize the airflow path according to the heat distribution characteristics of the power module 02, improve the heat dissipation uniformity, and adapt to the heat dissipation requirements of the power module 02 under different load conditions through the collaborative working mode of the two fans, ensuring the long-term stable operation of the power module 02.

[0047] Inside the leg housing 01, there is also a temperature detection unit (not shown in the figure). When the temperature detection unit detects that the temperature inside the leg housing 01 is lower than the threshold, it can control one fan to start or reduce the fan speed. When the temperature detection unit detects that the temperature inside the leg housing 01 is higher than the threshold, it can start two fans at the same time or increase the fan speed.

[0048] In an optional embodiment, the fan surfaces of the two arranged fans 08 are positioned opposite to the first air vent; the first air vent is a grille-type air vent 09 or a mesh-type air vent; the spacing between adjacent grilles of the grille-type air vent 09 is 3mm to 8mm to prevent foreign objects from entering.

[0049] In this embodiment, at least one fan 08 is provided. The fan 08 is installed in the receiving cavity of the leg housing 01, with its fan 08 face directly facing the first air inlet. This ensures that the air outlet direction of the fan 08 is completely matched with the air inlet direction of the first air inlet, reducing the airflow resistance during the air inlet process and ensuring that a sufficient amount of cold air can quickly enter the receiving cavity.

[0050] The first air vent is located on the leg housing 01, corresponding to the fan 08, and is used to facilitate the flow of air between the inside and outside of the leg. The first air vent is either a grille-type vent 09 or a mesh-type vent.

[0051] The grille-type air vent 09 consists of multiple parallel grilles, with a spacing of 3mm to 8mm between adjacent grilles. This appropriate spacing effectively prevents foreign objects from entering the leg housing and damaging components such as the power module 02 and control circuitry. Simultaneously, the grille-type air vent 09 possesses a certain structural strength, capable of withstanding a certain amount of external impact. The grilles can be straight, curved, or other shapes, with the specific shape selected based on the appearance design of the leg housing 01 and ventilation requirements.

[0052] Mesh vents are made of woven metal or plastic wires, forming a regular mesh structure. Mesh vents also prevent foreign objects from entering, and the mesh aperture size can be adjusted according to actual needs. Compared to grille-type vents, mesh vents have a larger ventilation area and better ventilation effect, but their structural strength is relatively lower. In practical applications, a suitable mesh vent can be selected based on the operating environment and heat dissipation requirements of the leg structure.

[0053] In an optional embodiment, the rotational speed of the at least one fan 08 is automatically adjusted according to the internal temperature of the receiving cavity of the leg housing 01; when the temperature rises, the rotational speed of the fan 08 increases; when the temperature decreases, the rotational speed of the fan 08 decreases.

[0054] Fan 08 uses a small DC fan, which features small size, large air volume and low noise.

[0055] The speed of at least one fan 08 is automatically adjusted based on the internal temperature of the accommodating cavity of the leg housing 01. Specifically, temperature detection elements are configured inside the accommodating cavity of the leg housing 01 to collect internal ambient temperature data in real time. After the temperature data is transmitted to the heat dissipation control system, the control system dynamically adjusts the speed of the fan 08 according to the preset temperature-speed correspondence.

[0056] When the internal temperature of the containment cavity is higher than the preset temperature threshold, the heat dissipation control system issues an acceleration command to increase the speed of fan 08 to improve the airflow circulation rate, enhance heat dissipation capacity, and quickly reduce the internal temperature of the containment cavity; when the internal temperature of the containment cavity collected by the temperature detection element is lower than the preset temperature threshold, the heat dissipation control system issues a deceleration command to slow down the speed of fan 08 to reduce energy consumption, while avoiding excessive heat dissipation that could lead to excessively low internal temperature of the equipment.

[0057] The automatic speed adjustment method can achieve precise matching between the fan 08 speed and the internal temperature of the housing cavity. While ensuring the heat dissipation requirements of internal components such as the power module 02, it also takes into account energy saving and operational stability, and extends the service life of the fan 08 and related components.

[0058] In an optional embodiment, at least one heat pipe 10 is also included; the first section of the heat pipe 10 is attached to the housing 11 of the power module 02, and the second section of the heat pipe 10 is attached to the inner wall of the leg housing or to the mounting base of the power module 02; the heat pipe 10 is a hollow metal pipe.

[0059] In this embodiment, at least one heat pipe 10 is provided. The heat pipe 10 is a hollow metal pipe (such as a copper pipe, an aluminum alloy pipe, etc.). The excellent thermal conductivity of the metal is used to construct an additional heat transfer path.

[0060] During assembly, the first section of the heat pipe 10 is tightly attached to the surface of the housing 11 of the power module 02, directly contacting the housing 11 to quickly absorb the heat generated by the operation of the power module 02. The second section of the heat pipe 10 is attached to the inner wall of the leg housing 01 or to the surface of the power module mounting base 05. Through the extension of the heat pipe 10, the heat of the power module 02 can be transferred to the two heat dissipation carriers, the leg housing 01 or the power module mounting base 05, expanding the heat diffusion range, preventing heat from accumulating locally in the power module 02, and forming synergistic heat dissipation with the heat-conducting component 06 to improve the overall heat dissipation efficiency.

[0061] To ensure that the tight contact between the heat pipe 10 and the power module 02 and the leg housing 01 is not damaged by vibration or external force, this embodiment uses a metal pressure plate 13 to fix the heat pipe 10. The metal pressure plate 13 is made of stainless steel or aluminum alloy and has a certain rigidity. The shape is designed according to the location of the heat pipe 10 to be fixed, and the pressure plate has through holes for bolts to pass through.

[0062] Specifically, the first section of the heat pipe 10 is tightly attached to the predetermined position of the power module 02, and the second section is attached to the inner wall of the leg housing 01. The metal pressure plate 13 is then placed over the position where the heat pipe 10 needs to be fixed. At the point where the first section of the heat pipe 10 is attached to the power module 02, an arc-shaped pressure plate is fastened onto the heat pipe 10; at the point where the second section is attached to the inner wall of the housing, a straight pressure plate is pressed onto the heat pipe 10.

[0063] Screws or bolts are screwed through the through holes in the metal pressure plate 13 and into the pre-machined threaded holes in the leg housing 01. By tightening the bolts, the metal pressure plate 13 generates a continuous and uniform pressure, firmly clamping the heat pipe 10 onto its mounting surface.

[0064] The fixing method using metal pressure plate 13 and bolts not only provides reliable mechanical fixation, preventing displacement of heat pipe 10 during equipment operation, but also ensures tight contact between heat pipe 10 and contact surface through pre-tightening force, thereby effectively reducing contact thermal resistance and ensuring smooth heat conduction.

[0065] In an optional embodiment, a plurality of heat-conducting pillars 12 are also provided on the leg housing 01. The heat-conducting pillars 12 do not contact the power module 02. The heat-conducting pillars 12 protrude from the inner wall of the leg housing 01 and extend away from the inner wall of the leg housing 01. The heat-conducting pillars 12 have a hollow structure and an opening at one end away from the leg housing 01. The heat-conducting pillars 12 are filled with a heat-conducting medium. The plurality of heat-conducting pillars 12 are arranged regularly or irregularly.

[0066] In this embodiment, multiple heat-conducting pillars 12 are provided on the inner wall of the leg housing 01. The heat-conducting pillars 12 do not directly contact the power module 02, so as to avoid structural interference or pressure caused by contact affecting the normal operation of the power module 02. The heat-conducting pillar 12 protrudes from the inner wall of the leg housing 01 and extends away from the inner wall. It adopts a hollow structure design and has an opening at the end away from the leg housing 01 for filling with heat-conducting medium. The arrangement of multiple heat-conducting pillars 12 is flexible and can be arranged regularly or irregularly according to the spatial layout and heat distribution in the containment cavity.

[0067] With regularly arranged heat-conducting pillars 12, heat can be conducted and dissipated in a certain pattern, ensuring uniform heat dissipation in all parts of the leg. Irregularly arranged heat-conducting pillars 12, on the other hand, can target heat dissipation based on the heat distribution inside the leg housing 01, focusing on areas with concentrated heat. Through the synergistic effect of the heat-conducting components 06 and the heat-conducting pillars 12, the heat generated by the power module 02 can be effectively dissipated, ensuring that the power module 02 always operates in a suitable temperature environment.

[0068] The heat-conducting column 12 absorbs heat from the air inside the containment cavity through the internal heat-conducting medium and transfers it to the leg housing 01, which then dissipates it to the outside. This serves as an auxiliary heat dissipation mechanism, improves the heat exchange efficiency of the air inside the containment cavity, and prevents hot air from accumulating.

[0069] In an optional embodiment, the thermally conductive medium is thermally conductive silicone.

[0070] In this embodiment, it is specified that the thermally conductive medium of all structures (such as the thermally conductive groove 07 of the thermally conductive component 06, the thermally conductive column 12, the interior of the thermally conductive pipe 10, etc.) is thermally conductive silicone.

[0071] Thermally conductive silicone has excellent thermal conductivity, enabling rapid heat transfer. It also possesses good insulation properties, preventing short circuits caused by conductive media. Its flexibility allows it to tightly fill gaps between components, eliminating thermal resistance from air gaps and ensuring efficient heat transfer. Furthermore, thermally conductive silicone has good temperature resistance, adapting to temperature changes during the operation of the power module 02, maintaining stable heat dissipation performance over the long term, thus balancing heat dissipation effectiveness and structural safety.

[0072] In this structure, heat-conducting components and heat pipes conduct heat to cool the heat-generating areas of the power module. In addition, through heat dissipation in conjunction with heat-conducting components and heat pipes, the directional airflow path formed by the fan in the housing cavity contacts the power module, power module mounting base, heat pipes, heat-conducting components, and leg shell respectively, eliminating heat dissipation blind spots. Furthermore, relying on the rapid replacement of airflow, the heat conducted by the heat pipes and heat-conducting components can be dissipated in time, avoiding heat accumulation around the joints, further reducing the temperature of the power module, and ultimately ensuring the temperature stability of the power module during operation.

[0073] Please see Figure 8 and Figure 9 This application also provides a robot, including, for example, Figures 1 to 7 Any robot leg heat dissipation structure in any optional embodiment.

[0074] Reference Figure 8 and Figure 9 As a preferred embodiment, the robot leg heat dissipation structure in this application is located on the robot leg and is used for heat dissipation of the robot leg power module.

[0075] It should be noted that the above description of the disclosed embodiments enables those skilled in the art to implement or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A heat dissipation structure for a robot leg, characterized in that, include: Leg housing (01), power module mounting base (05), and at least one power module (02); The leg housing (01) forms a receiving cavity. The leg housing (01) includes a first joint connecting end and a second joint connecting end. The power module fixing seat (05) is disposed in the receiving cavity and is fixedly connected to the leg housing (01). The distance between the power module fixing seat (05) and the first joint connecting end is less than the distance between the power module fixing seat (05) and the second joint connecting end. The power module mounting base (05) is provided with at least one mounting cavity, the power module is fixed in the mounting cavity, and a part of the housing (11) of the power module (02) protrudes from the mounting cavity; A heat-conducting component (06) is also provided between the power module (02) and the leg housing (01). The heat-conducting component (06) and the leg housing (01) are integrally formed or detachably connected. The side of the heat-conducting component (06) extending toward the power module (02) is the adapter side. The adapter side is adapted to the shape of the housing part of the power module (02) protruding from the mounting cavity and contacts the housing part of the power module (02) protruding from the mounting cavity. At least one heat-conducting groove (07) is provided in the heat-conducting component (06), the opening of the at least one heat-conducting groove (07) is located on the adapter side, and a heat-conducting medium is provided in the at least one heat-conducting groove (07).

2. The robot leg heat dissipation structure according to claim 1, characterized in that, The at least one power module (02) includes a first power module (03) and a second power module (04). The at least one mounting cavity includes two mounting cavities. The two power modules (02) are each disposed in one mounting cavity. The distance between the first power module (03) and the first joint connection end is less than the distance between the second power module (04) and the first joint connection end.

3. The robot leg heat dissipation structure according to claim 1, characterized in that, It also includes at least one fan (08); The first joint connection end of the leg housing (01) is provided with a first air vent; The second joint connection end of the leg housing (01) is provided with a second air vent; The at least one fan (08) is located inside the receiving cavity and is fixedly connected to the leg housing (01).

4. The robot leg heat dissipation structure according to claim 3, characterized in that, The at least one fan (08) is two fans (08) arranged together. The two fans (08) are both located between the power module (02) and the first air outlet.

5. The robot leg heat dissipation structure according to claim 3, characterized in that, The at least one fan (08) includes a first fan and a second fan, wherein the first fan is disposed between the power module (02) and the first air outlet; and the second fan is disposed between the power module (02) and the second air outlet.

6. The robot leg heat dissipation structure according to claim 4, characterized in that, The fan surfaces of the two arranged fans (08) are positioned opposite to the first air outlet; The first air outlet is a grille-type air outlet (09) or a mesh-type air outlet; The spacing between adjacent fences of the fence-type air vent (09) is 3mm to 8mm, which is used to prevent foreign objects from entering.

7. The robot leg heat dissipation structure according to claim 3, characterized in that, The rotational speed of the at least one fan (08) is automatically adjusted according to the internal temperature of the receiving cavity of the leg housing (01); When the temperature rises, the fan (08) rotates faster; When the temperature decreases, the fan (08) speed decreases.

8. The robot leg heat dissipation structure according to claim 1, characterized in that, It also includes at least one heat pipe (10); The first section of the heat pipe (10) is attached to the housing (11) of the power module (02), and the second section of the heat pipe (10) is attached to the inner wall of the leg housing or to the mounting base of the power module (02). The heat pipe (10) is a hollow metal pipe.

9. The robot leg heat dissipation structure according to claim 1, characterized in that, Multiple heat-conducting pillars (12) are also provided on the leg housing (01). The heat-conducting pillars (12) do not contact the power module (02). The heat-conducting pillars (12) protrude from the inner wall of the leg housing (01) and extend away from the inner wall of the leg housing (01). The heat-conducting pillars (12) have a hollow structure and an opening at one end away from the leg housing (01). The heat-conducting pillars (12) are filled with a heat-conducting medium. The multiple heat-conducting pillars (12) are arranged regularly or irregularly.

10. The robot leg heat dissipation structure according to any one of claims 1 to 9, characterized in that, The thermally conductive medium is thermally conductive silicone.

11. A robot, characterized in that, The robot includes a heat dissipation structure for the robot legs as described in any one of claims 1 to 10.

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