A robot heat dissipation structure and a robot

Abstract

This application discloses a robot heat dissipation structure and a robot for improving the heat dissipation efficiency of robot joints. The robot heat dissipation structure of this application includes: a shell, a first power module, a second power module, and an air supply assembly; the shell includes a first receiving part and a second receiving part, which are integrally formed or detachably connected, and a communication port is provided between the first receiving part and the second receiving part; the first power module is at least partially received in the first receiving part, and a gap is provided between the side wall of the first receiving part and the first power module; the first receiving part is provided with a first air outlet and an air inlet; the first power module is provided with an air supply assembly near the air inlet; the second receiving part includes a third air outlet, a mounting interface, and a communication port, a dustproof plate is installed on the third air outlet, and a ventilation opening is provided on the dustproof plate; the second receiving part is connected to the second power module through the mounting interface, which has an opening.

Description

Technical Field

[0001] This application relates to the field of heat dissipation device technology, and in particular to a robot heat dissipation structure and a robot. Background Technology

[0002] When a robot performs a task, its joints, as the core moving parts connecting the robot body and the end effector, integrate multiple power modules. These power modules continuously release a large amount of heat during high-frequency rotation and high-load operation. If this heat cannot be dissipated in time, the internal temperature of the joint will rise sharply, potentially reducing the robot's motion accuracy and response speed, or even burning out the internal structure of the joint and causing joint failure. Therefore, improving the heat dissipation performance of joints is a key research direction. Currently, commonly used heat dissipation solutions include water cooling, which uses forced convection of circulating coolant to carry internal heat to the outside. However, applying water cooling to joints carries a high risk of coolant leakage due to the joint's compact structure and rotational function. Summary of the Invention

[0003] To address the aforementioned technical problems, this application provides a robot heat dissipation structure and a robot, which improves the heat dissipation efficiency of robot joints.

[0004] The technical solution provided in this application is described below: The first aspect of this application provides a robot heat dissipation structure, including: a shell, a first power module, a second power module, and an air supply component; The housing includes a first receiving part and a second receiving part, which are integrally formed or detachably connected, and a communication port is provided between the first receiving part and the second receiving part; The first power module is at least partially housed within the first housing portion, and a gap is provided between the sidewall of the first housing portion and the first power module. The first containment section is provided with a first air outlet and an air inlet; The first power module has the air supply component located near the air inlet. The second housing includes a third air outlet, a mounting interface, and a connecting port. A dustproof plate is installed on the third air outlet, and a ventilation opening is provided on the dustproof plate. The second housing is connected to the second power module through the mounting interface, which has an opening.

[0005] The second aspect of this application provides a robot, including a robot heat dissipation structure as described in the first aspect.

[0006] As can be seen from the above technical solutions, this application has the following beneficial effects: This application provides a robot heat dissipation structure, including: a shell, a first power module, a second power module, and an air supply assembly; the shell includes a first receiving part and a second receiving part, which are integrally formed or detachably connected, and a communication port is provided between the first receiving part and the second receiving part; the first power module is at least partially received in the first receiving part, and a gap is provided between the side wall of the first receiving part and the first power module; the first receiving part is provided with a first air outlet and an air inlet; the first power module is provided with an air supply assembly near the air inlet; the second receiving part includes a third air outlet, a mounting interface, and a communication port, a dustproof plate is installed on the third air outlet, and a ventilation opening is provided on the dustproof plate; the second receiving part is connected to the second power module through the mounting interface, and the mounting interface is provided with an opening. This robot's heat dissipation structure integrates air-cooled heat dissipation channels with the shell structure. The first housing section of the shell houses the first power module and provides a gap. Together with the air inlet, the first air outlet, and the air supply component near the air inlet, it forms a directional airflow channel. This allows the airflow generated by the air supply component to flow over the surface of the first power module, quickly carrying away heat through the gap and exiting through the first air outlet, thus improving the heat dissipation efficiency of the first power module. The second housing section connects to the second power module via an interface. The opening at the interface allows heat from the second power module to enter the cavity, while a connecting port creates airflow linkage with the first housing section, allowing some of the airflow passing through the first housing section to flow into the second housing section. This, combined with the third air outlet, allows heat from the second power module to be discharged, achieving simultaneous heat dissipation for multiple power modules. Furthermore, the dustproof plate of the third air outlet ensures ventilation while preventing external dust from entering, avoiding dust accumulation that could affect the performance of the first and second power modules and the heat dissipation structure. This avoids the risk of coolant leakage associated with water-cooling solutions used in robot joints. Attached Figure Description

[0007] To more clearly illustrate the technical solutions in this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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.

[0008] Figure 1 A schematic diagram of the structure of an embodiment of the robot provided in this application; Figure 2 A schematic diagram of one embodiment of the robot hip provided in this application; Figure 3 A schematic diagram of an embodiment of the robot heat dissipation structure provided in this application; Figure 4 A schematic diagram of the shell structure of the robot heat dissipation structure provided in this application; Figure 5A partial cross-sectional schematic diagram of the housing of the robot heat dissipation structure provided in this application; Figure 6 A right cross-sectional view of the housing of the robot heat dissipation structure provided in this application; Figure 7 A schematic diagram of the heat-conducting component for the robot heat dissipation structure provided in this application; Figure 8 Another schematic diagram of the heat-conducting component for the robot heat dissipation structure provided in this application; Figure 9 A schematic diagram of the airflow guide structure for the robot heat dissipation structure provided in this application; Figure 10 A schematic diagram of the air supply component structure of the robot heat dissipation structure provided in this application. Detailed Implementation

[0009] 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.

[0010] 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.

[0011] It should also be noted that the terms "first," "second," etc., in the specification and drawings are used to distinguish similar objects and are not necessarily used to describe a specific order, sequence, or importance.

[0012] 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.

[0013] 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.

[0014] 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.

[0015] See Figures 3-10 This application first provides an embodiment of a robot heat dissipation structure, which includes: a housing 01, a first power module 02, a second power module 03, and an air supply assembly 06; The housing 01 includes a first receiving part 011 and a second receiving part 012. The first receiving part 011 and the second receiving part 012 are integrally formed or detachably connected. A communication port 018 is provided between the first receiving part 011 and the second receiving part 012. The first power module 02 is at least partially housed within the first housing portion 011, and a gap is provided between the side wall of the first housing portion 011 and the first power module 02. The first containment section 011 is equipped with a first air outlet 013 and an air inlet 014; The first power module 02 is equipped with an air supply component 06 near the air inlet 014; The second housing 012 includes a third air outlet 016, a mounting interface 017, and a connecting port 018. A dustproof plate 019 is installed on the third air outlet 016, and a ventilation opening is provided on the dustproof plate 019. The second housing 012 is connected to the second power module 03 through the mounting interface 017, which has an opening.

[0016] Reference Figure 1 , Figure 2 and Figure 3 In a preferred embodiment, the robot heat dissipation structure in this application is located in the robot's crotch area for heat dissipation of the robot's crotch power module.

[0017] The components of this embodiment will be described below: Housing 01: Housing 01 serves as both the basic load-bearing component of the robot's heat dissipation structure and the outer shell of the robot's joints. Housing 01 comprises two independent yet interconnected parts: a first receiving section 011 and a second receiving section 012. The first receiving section 011 and the second receiving section 012 can be integrally formed or detachably fixedly connected. The first receiving section 011, as the main mounting area of ​​the first power module 02, establishes the basic airflow inlet and outlet by providing a first air outlet 013 and an air inlet 014. Simultaneously, the pre-reserved gap between the side wall of the first receiving section 011 and the first power module 02 provides a first channel for heat dissipation from the surface of the first power module 02. The second housing 012 is connected to the second power module 03 via the mounting interface 017. The opening at the interface allows heat from the second power module 03 to be conducted into the cavity, and airflow is exchanged with the first housing 011 via the connecting port 018. This, combined with the third air outlet 016, allows heat to be discharged. In other words, air from the air inlet 014 can enter the second housing 012 through the connecting port 018, then flow through the opening on the mounting interface 017 across the surface of the second power module 03, and finally be blown out from the third air outlet 016. The third air outlet 016 of the second housing 012 is equipped with a dustproof plate 019 with ventilation openings, which ensures ventilation while preventing external dust from entering and keeping the internal components clean.

[0018] It should be noted that the ventilation openings on the dustproof plate 019 can be made into several small-diameter perforated ventilation openings on the dustproof part of the dustproof plate 019; or larger polygonal ventilation openings can be made on the dustproof plate 019. The location of the ventilation openings is not limited.

[0019] First Power Module 02: The first power module 02 generates heat during operation. At least a portion of the structure of the first power module 02 is housed within the first housing section 011. Please refer to [reference needed]. Figure 4The gap between the housing of the first power module 02 and the side wall of the first receiving part 011 forms a surrounding airflow channel. Part of the airflow generated by the air supply assembly 06 can fully contact the surface of the housing of the first power module 02 to remove heat, achieving rapid heat exchange. Specifically, when part of the airflow generated by the air supply assembly 06 at the air inlet 014 passes through the surrounding airflow channel, it can contact the surface of the first power module 02 and quickly flow to the first air outlet 013 through the gap. Part of the airflow also enters the second receiving part 012 through the connecting port 018, achieving efficient heat dissipation for the first power module 02 while providing auxiliary airflow to the second receiving part 012. As an embodiment, the first power module 02 includes a stator-rotor unit and a reduction unit. The distance between the stator-rotor unit of the first power module 02 and the first air outlet 013 is greater than the distance between the reduction unit of the first power module 02 and the first air outlet 013. Since the main heat source of the first power module 02 is the stator, the airflow generated by the air supply assembly 06 can directly blow on the heat source.

[0020] Second Power Module 03: The second power module 03 generates heat during operation and connects to the robot's heat dissipation structure via the mounting interface 017 of the second housing 012. As an example, the second power module 03 includes a stator-rotor unit and a reduction unit. The distance between the stator-rotor unit and the mounting interface 017 is less than the distance between the reduction unit and the mounting interface 017. The opening on the mounting interface 017 is a key channel for heat transfer. The airflow generated by the air supply component 06 enters the second housing 012 through the connecting port 018, then flows through the opening on the mounting interface 017 across the surface of the second power module 03, directing the heat generated during operation into the second housing 012. The heat is then discharged through the third air outlet 016, forming a directional heat dissipation path for the second power module 03, which works in conjunction with the heat dissipation path of the first power module 02.

[0021] Air supply component 06: This is the power source for generating cooling airflow in the robot's heat dissipation structure, located on the side of the first power module 02 near the air inlet 014. The function of the air supply component 06 is to actively supply air to form a directional airflow, which can introduce cool air from the air inlet 014. The airflow blows directly onto the surface of the first power module 02. Utilizing the gap between the side wall of the first receiving part 011 and the first power module 02, part of the airflow is pushed out from the first air outlet 013, carrying away the heat from the first power module 02. Another part of the airflow enters the second receiving part 012 through the connecting port 018, providing airflow power for the heat dissipation of the second power module 03, and is finally discharged through the third air outlet 016. This achieves coordinated heat dissipation drive for the two power modules, ensuring heat dissipation efficiency while achieving low power consumption, low cost, and small size.

[0022] In this embodiment, the robot's heat dissipation structure integrates the air-cooled heat dissipation channel with the shell 01 structure. The first receiving part 011 of the shell 01 accommodates the first power module 02 and leaves a gap, forming a directional airflow channel with the air inlet 014, the first air outlet 013, and the air supply component 06 near the air inlet 014. This allows the airflow generated by the air supply component 06 to flow over the surface of the first power module 02, quickly carrying away heat through the gap and being discharged from the first air outlet 013, thus improving the heat dissipation efficiency of the first power module 02. The second receiving part 012 connects to the second power module 02 via the mounting interface 017. Module 03 is connected, and the opening at the interface allows heat from the second power module 03 to enter the cavity. Simultaneously, through the connecting port 018, it forms an airflow linkage with the first receiving part 011, allowing some of the airflow passing through the first receiving part 011 to flow into the second receiving part 012. This, combined with the third air outlet 016, allows heat from the second power module 03 to be discharged, achieving simultaneous cooling for multiple power modules. Furthermore, the dustproof plate 019 of the third air outlet 016 ensures ventilation while preventing external dust from entering, avoiding dust accumulation that could affect the performance of the first power module 02, the second power module 03, and the heat dissipation structure. This avoids the risk of coolant leakage associated with using water-cooling solutions in robot joints.

[0023] In an optional embodiment, a heat-conducting component 04 is further provided between the first power module 02 and the air supply component 06. The heat-conducting component 04 includes a heat sink unit 041, a heat-conducting plate 042, and at least one heat-conducting pipe 043. One side of the heat-conducting plate 042 is connected to the first power module 02, and the other side is connected to the first section of the at least one heat-conducting pipe 043. The second section of the at least one heat-conducting pipe 043 extends along the housing direction of the first power module 02 and is tightly fitted to the housing of the first power module 02.

[0024] In this embodiment, the heat-conducting component 04 is disposed between the first power module 02 and the air supply component 06, serving as a medium for transferring heat from the first power module 02, thereby improving the heat dissipation efficiency of the airflow generated by the air supply component 06. The heat-conducting component 04 consists of a heat sink unit 041, a heat-conducting plate 042, and at least one heat-conducting pipe 043. The heat-conducting plate 042 has a sheet-like structure, with one side in close contact with the heating surface of the first power module 02, forming a large-area heat collection interface; the other side is connected to the first segment of at least one heat-conducting pipe 043, thus fixing at least one heat-conducting pipe 043 on the heat-conducting plate 042 and transferring heat from the heat-conducting plate 042 to the first segment of at least one heat-conducting pipe 043. At least one heat pipe 043 can be a flexible or rigid tubular structure. The second section of the at least one heat pipe 043 extends along the housing direction of the first power module 02 and is in close contact with the housing of the first power module 02, thereby transferring heat from the housing of the first power module 02 to the second section of the at least one heat pipe 043. The heat sink unit 041 is a structure composed of multiple fins with gaps between them to increase the contact area with air and allow airflow to quickly remove heat as it passes through the gaps between the fins. The heat sink unit 041 is located between the heat conduction plate 042 and the air supply assembly 06, and can be connected to at least one heat pipe 043 and / or the heat conduction plate 042, so that at least one heat pipe 043 or the heat conduction plate 042 can transfer its own heat to the heat sink unit 041 for heat dissipation.

[0025] A preferred embodiment of the heat-conducting component 04 is that the heat sink unit 041 consists of multiple fins arranged in a uniform ring around the rotation center axis of the rotor of the first power module 02; at least one heat-conducting pipe 043 is an L-shaped heat-conducting pipe, the horizontal portion of the L-shaped heat-conducting pipe is the first segment, and the vertical portion of the L-shaped heat-conducting pipe is the second segment. The horizontal portion is mounted on one side of the heat-conducting plate 042, and the vertical portion is tightly fitted to the casing of the first power module 02. In order to achieve a tight fit, the shape of the vertical portion is adapted to the shape of the casing of the first power module 02. The casing of the first power module 02 can be a barrel-shaped outer shell.

[0026] In this embodiment, the heat from the first power module 02 is collected centrally by the heat-conducting plate 042, and the heat is conducted to the heat-conducting plate 042 or the heat sink unit 041 by at least one heat-conducting pipe 043. Then, the airflow generated by the air supply component 06 carries away the heat dissipation from the heat sink unit 041, the heat-conducting plate 042, the at least one heat-conducting pipe 043, and the casing of the first power module 02, significantly improving the heat dissipation efficiency of the first power module 02. Specifically, when the first power module 02 generates heat during operation, the heat from one of the heating surfaces of the first power module 02 is first quickly absorbed by the closely contacting heat-conducting plate 042, and then the heat collected by the heat-conducting plate 042 is conducted to the heat sink unit 041. At least one heat pipe 043 has its second section tightly fitted to the housing of the first power module 02, absorbing heat from the housing and transferring it to the first section. The first section is connected to the heat sink unit 041 and / or the heat conduction plate 042, thereby transferring heat to the heat sink unit 041 and / or the heat conduction plate 042. The air supply assembly 06 faces the heat conduction assembly 04, so that the air blown out by the air supply assembly 06 can directly blow on the heat conduction assembly 04 for heat dissipation.

[0027] In an optional embodiment, a guide 05 is further provided between the first power module 02 and the air supply assembly 06. The guide 05 corresponds to the position of the heat sink unit 041 in the axial direction of the rotor rotation center axis of the first power module 02 and is arranged around the heat sink unit 041.

[0028] In this embodiment, the air guide 05 is installed between the first power module 02 and the air supply assembly 06. The structure of the air guide 05 is adapted to the heat sink unit 041. Specifically, the air guide 05 is positioned relative to the heat sink unit 041 along the axial direction of the rotor rotation center axis of the first power module 02. Furthermore, the air guide 05 has a surrounding structure, which can be a complete ring or a partial ring. The partial ring structure can be an open retaining ring, a C-shaped retaining ring, or a semi-circular arc bracket. After the airflow generated by the air supply assembly 06 is directly blown onto the heat sink unit 041 by the air guide 05, it flows along the gaps between the fins of the heat sink unit 041 towards the periphery of the heat sink unit 041, carrying away the heat from the heat sink.

[0029] In this embodiment, when the air supply assembly 06 introduces a directional airflow from the air inlet 014 to the heat conduction assembly 04, the airflow blows directly onto the heat sink unit 041. After making full contact with the fin surface of the heat sink unit 041 and / or part of the surface of the heat conduction plate 042, the airflow diffuses outwards along the gaps between the fins of the heat sink unit 041, carrying away heat.

[0030] In an optional embodiment, the guide member 05 includes a base plate 051 and a baffle 052, and the baffle 052 is also provided with a plurality of air outlets 053; the side wall of the first receiving part 011 is provided with at least one second air outlet 015, and the plurality of air outlets 053 and the at least one second air outlet 015 are arranged opposite to each other.

[0031] In this embodiment, the flow guide 05 includes a base plate 051 and a baffle 052, the shape and size of which correspond to the shape and size of the baffle 052. It should be noted that the base plate 051 and the plane perpendicular to the axis may not be parallel; specifically, the angle between the base plate 051 and the plane perpendicular to the axis (which refers to the rotor rotation center axis of the first power module 02) is not 0°, in which case the angle between the base plate 051 and the baffle 052 is less than 90°. Alternatively, the base plate 051 and the plane perpendicular to the axis may be parallel, i.e., the angle between the base plate 051 and the plane perpendicular to the axis (which also refers to the rotor rotation center axis of the first power module 02) is 0°, in which case the angle between the base plate 051 and the baffle 052 is equal to 90°. The base plate 051 is a flat plate structure, serving as the basic supporting part of the flow guide 05, used to fix the baffle 052 and to achieve the positioning and installation of the flow guide 05 between the first power module 02 and the air supply assembly 06. As one embodiment, the baffle 052 is arranged perpendicular to the edge of the base plate 051 and surrounds the heat sink unit 041. A plurality of air outlets 053 are evenly distributed on the baffle 052. These air outlets 053 can be designed as circular, strip-shaped, or grid-shaped to ensure smooth airflow. Correspondingly, at least one second air outlet 015 is provided on the side wall of the first receiving part 011. The plurality of air outlets 053 are spatially opposite to the at least one second air outlet 015, thereby guiding the airflow generated by the air supply assembly 06, which blows directly onto the heat sink unit 041, and flows away from the heat sink unit 041, towards the at least one second air outlet 015. This also prevents large foreign objects from entering the interior of the first receiving part 011 from the at least one second air outlet 015. Based on the aforementioned exhaust path, since the gap between the side wall of the first receiving part 011 and the housing of the first power module 02 has formed a surrounding airflow channel, the air blown out from the several air outlets 053 can also flow into this surrounding airflow channel in the first receiving part 011, blowing against the housing of the first power module 02, carrying away some heat, and then being discharged from the first air outlet 013. Therefore, the air carrying away the heat from the first power module 02 can exit from the first air outlet 013 and at least one second air outlet 015, achieving heat dissipation diversion, reducing heat dissipation pressure, and improving heat dissipation efficiency.

[0032] The specific exhaust process implemented by the above structure is as follows: the cold air generated by the air supply component 06 mainly flows to the fin gaps of the heat sink unit 041, and after sufficient heat exchange with the heat sink unit 041, it is converted into hot air. At this time, part of the hot air is directly discharged through several air outlets 053 on the baffle 052 under the action of the air pressure inside the guide component 05. Since the several air outlets 053 are opposite to at least one second air outlet 015 of the first receiving part 011, the hot air can be discharged unimpeded from at least one second air outlet 015 to the outside of the housing 01. The other part of the hot air continues to flow along the gap between the side wall of the first receiving part 011 and the housing of the first power module 02 after being discharged from the several air outlets 053, and is then discharged from the first air outlet 013.

[0033] In an optional embodiment, the guide 05 may consist only of the base plate 051 and may not have a baffle 052. In this embodiment, only the air guide 05 of the base plate serves the function of installing and supporting the heat-conducting assembly 04, especially fixing the heat-conducting plate 042 and the heat sink unit 041. Without the baffle 052, the airflow from the air supply assembly 06 can be blown out directly without obstruction.

[0034] In an optional embodiment, the second air outlet 015 is not provided on the side wall of the first receiving part 011.

[0035] In this embodiment, the first receiving part 011, which does not have a second air outlet 015, has only one air path, namely the surrounding airflow channel formed by the gap between the side wall of the first receiving part 011 and the housing of the first power module 02. The air blown out from several air outlets 053 will directly flow into this surrounding airflow channel in the first receiving part 011, blow on the housing of the first power module 02, take away some heat, and then be discharged from the first air outlet 013.

[0036] In an optional embodiment, the base plate 051 has a plurality of perforations, and the second segment of at least one heat pipe 043 passes through the plurality of perforations.

[0037] In this embodiment, the perforations on the base plate 051 are used to install at least one heat pipe 043 and a heat conduction plate 042. Taking an L-shaped heat pipe as an example, the horizontal portion of the L-shaped heat pipe is installed on one side of the heat conduction plate 042, and the vertical portion passes through several perforations, thereby mounting the heat conduction plate 042 on the base plate 051. The number and position of the perforations correspond to the at least one heat pipe 043, and the size of the perforations can be slightly larger than the second section of the at least one heat pipe 043, thereby ensuring that the second section of the at least one heat pipe 043 can pass through smoothly and fit tightly against the edge of the perforation, and can naturally fit against the housing of the first power module 02. In addition, the edges of the perforations can be smoothed to avoid sharp edges from abrading the at least one heat pipe 043.

[0038] In an optional embodiment, the flow guide 05 is a partially annular structure, with the positions of both ends of the flow guide 05 corresponding to the connecting port 018, and a wind-guiding space is formed between the two ends of the flow guide 05.

[0039] In this embodiment, the guide member 05 is a frame structure adapted to the layout of the first receiving part 011. The two ends of the guide member 05 correspond to the communication port 018 of the first receiving part 011 in spatial position. The area between the two ends forms a guide space, providing a channel for the directional flow of air.

[0040] In an optional embodiment, a guide member (not shown) is also provided in the air guide space between the two ends of the guide member 05. The position of the guide member corresponds to the position of the connecting port 018. The guide member is used to guide part of the airflow passing through the air guide space to the direction of the connecting port 018 and enter the second receiving part 012.

[0041] In this embodiment, the airflow generated by the air supply assembly 06 partially passes through the air guide space. The guide member is used to introduce the part of the airflow that passes through the air guide space into the communication port 018 and into the second receiving part 012, so that the wind speed entering the second receiving part 012 reaches the requirement.

[0042] In an optional embodiment, one end of the draining component is fixedly disposed between the two ends of the guide component 05, and the other end of the draining component is fixedly disposed at the connecting port 018; the draining component has an arc-shaped surface, the arc-shaped surface is recessed towards the first power module 02, or the draining component is a straight plate structure.

[0043] In this embodiment, the airflow generated by the air supply assembly 06 partially passes through the air guide space. The flat-plate guide member can adjust the angle between the plane and the two ends of the guide member 05, thereby guiding the airflow blown out of the air guide space into the second receiving part 012 at a suitable angle to the maximum extent. The arc-shaped surface of the guide member can also play a guiding role. Utilizing the guiding characteristics of the arc structure, the airflow that was originally flowing in a straight line is guided to the direction corresponding to the connecting port 018. At the same time, the arc-shaped surface can reduce the airflow resistance and avoid turbulence. Finally, the airflow guided by the guide member can efficiently pass through the connecting port 018 into the second receiving part 012, blowing on the surface of the second power module 03 or carrying away the hot air in the second receiving part 012, and then being discharged from the third air outlet 016.

[0044] In an optional embodiment, the flow guide 05 is detachably connected to the flow diverter, or the flow guide 05 and the flow diverter are integrally formed; each end of the flow guide 05 is provided with a baffle 054, and the baffle 054 is connected to the bottom plate 051 and / or the baffle wall 052.

[0045] In this embodiment, the guide component 05 and the diverter can adopt a detachable connection structure design, that is, assembly can be achieved through common detachable connection methods such as snap-fit, bolt, slot and plug. Specifically, snap-fit ​​is provided at both ends of the diverter, which forms a snap-fit ​​engagement with the pre-set slots at both ends of the guide component 05, or the bottom of the diverter is threadedly connected to the two ends of the base plate 051 of the guide component 05 by bolt assembly, and slots can also be provided on the baffles 054 at both ends of the guide component 05, and the end of the diverter is inserted into the slot to complete the insertion and fixation, and the connection part is usually equipped with auxiliary positioning structures such as positioning pins and limiting grooves. The flow guide 05 and the flow diverter can also adopt an integrated molding structure design, that is, the flow diverter and flow guide 05 can be made into complete components through integrated processing technology such as injection molding, die casting or stamping. The two have no split interface and form an integral shape that cannot be disassembled. The arc surface precisely maintains the preset posture of being recessed towards the first power module 02, and there are no splicing gaps or assembly gaps at the connection. The overall structure is compact and the outline is continuous, without compromising the integrity of the air guide space and the smoothness of the airflow channel.

[0046] In this embodiment, each end of the air guide 05 is equipped with a baffle 054. The baffle 054 is flat and can be combined with the base plate 051 and / or the baffle wall 052 by welding, snap-fitting, or bolting to form an end-closed structure of the air guide space. Simultaneously, a guide element is provided inside the air guide space between the two ends. This guide element is an arc-shaped plate structure adapted to the width of the air guide space, forming a coordinated airflow guiding structure with the base plate 051 and the baffle wall 052 of the air guide 05. It should be noted that the baffle 054 can be used to divide the airflow into two zones to avoid mutual interference. The first zone consists of airflow passing through the air guide space between the two ends of the air guide 05, and the second zone consists of airflow passing through several air outlets 053 of the baffle wall 052. It can also be used to calculate the airflow volume of each of the two zones. Specifically, the airflow volume can be calculated based on the dimensions of the baffle 054, the base plate 051, the baffle wall 052, and the several air outlets 053 on the baffle wall 052.

[0047] In an optional embodiment, a plurality of protrusions are provided on the inner side wall of the first receiving part 011, and the plurality of protrusions are in contact with the first power module 02. A recess is provided between any two adjacent protrusions and the side wall of the first receiving part 011. The plurality of protrusions are staggered with the second section of at least one heat conduction pipe 043, or the plurality of protrusions are provided with mounting grooves, and the second section of at least one heat conduction pipe 043 is mounted on the mounting grooves.

[0048] In this embodiment, the inner sidewall of the first receiving portion 011 is provided with several protrusions. These protrusions are evenly distributed along the inner sidewall of the first receiving portion 011, forming a block-shaped, strip-shaped, or arc-shaped protrusion structure. The protruding end faces of the several protrusions are in close contact with the housing of the first power module 02. A recessed area is naturally formed between any two adjacent protrusions and the sidewall of the first receiving portion 011. The recessed area is groove-shaped and alternates with the protrusions to form an alternating gap structure. The several protrusions and the second section of at least one heat-conducting pipe 043 can adopt two adaptation layouts: one is an interlaced distribution design, that is, the several protrusions and at least one heat-conducting pipe 043 are spatially staggered and do not interfere with each other; the other is that an arc-shaped or U-shaped mounting groove matching the outer diameter of at least one heat-conducting pipe 043 is opened on the top or side of the several protrusions, and at least one heat-conducting pipe 043 is inserted into the corresponding mounting groove for fixation.

[0049] Several protrusions provide stable support for the first power module 02 through contact with it, preventing displacement or vibration during robot joint movements. The recessed areas between adjacent protrusions form natural airflow channels, which are the gaps between the first receiving part 011 and the first power module 02, allowing the airflow generated by the air supply component 06 to flow smoothly through the housing of the first power module 02, carrying away surface heat and exiting from the first air outlet 013. Regarding the cooperation with at least one heat-conducting pipe 043, the staggered structure prevents the protrusions from obstructing the heat-conducting pipe 043, ensuring a tight fit between the heat-conducting pipe 043 and the housing of the first power module 02, guaranteeing heat transfer. The structure of the mounting groove further enhances the installation stability of the heat-conducting pipe 043, preventing it from detaching from the contact surface due to vibration. Simultaneously, the heat conduction capacity of the protrusions transfers heat from the housing of the first power module 02 to the housing 01, increasing heat dissipation methods and improving heat dissipation efficiency.

[0050] In an optional embodiment, the air supply assembly 06 includes an isolator 061, a fan 062, and a cover plate 063; the isolator 061 is disposed between the air guide 05 and the fan 062, and the isolator 061 has an opening corresponding to the shape of the fan 062; the fan 062 is disposed between the isolator 061 and the cover plate 063; the cover plate 063 has a hollow structure and is detachably connected to the air inlet 014.

[0051] In this embodiment, the air supply assembly 06 is composed of an isolator 061, a fan 062, and a cover plate 063. The isolator 061 is a plate-shaped structure, precisely positioned in the gap between the air guide 05 and the fan 062. The surface of the isolator 061 has an opening that matches the shape of the air outlet of the fan 062, such as a circle or a square, and is adapted to the outer contour of the fan 062. The function of the isolator 061 is to prevent airflow backflow. The fan 062, as the core of airflow drive, is clamped and fixed between the isolator 061 and the cover plate 063. Its air outlet is directly opposite the opening of the isolator 061, and its air inlet is facing the cover plate 063. The cover plate 063 is a hollow structure, which can be designed as a grid, a perforated, or a strip-shaped hollow structure, providing sufficient ventilation area. At the same time, the cover plate 063 and the air inlet 014 of the housing 01 are connected in a detachable manner, such as by buckles, bolts, or magnets, to achieve quick assembly and disassembly of the air supply assembly 06.

[0052] When the air supply assembly 06 is running, the fan 062 is activated to generate negative pressure. External cold air enters the air supply assembly 06 through the hollow structure of the cover plate 063. The hollow design of the cover plate 063 ensures sufficient air intake and can initially block larger foreign objects from entering the fan 062, preventing them from affecting its operation. The isolation component 061, through an opening that matches the shape of the fan 062, directionally constrains the airflow generated by the fan 062, preventing the airflow from spreading outwards and forming ineffective turbulence, and forcing the airflow to blow directly along the opening to the guide component 05. At the same time, the isolation component 061 can also prevent hot airflow from flowing back to the fan 062.

[0053] In an optional embodiment, a finger anti-pinch device 064 is also provided between the fan 062 and the cover plate 063.

[0054] In this embodiment, the finger anti-pinch component 064 is assembled in the gap area between the fan 062 and the cover plate 063. The finger anti-pinch component 064 can be a circular or square hollow grid or protective mesh structure. The mesh diameter of the finger anti-pinch component 064 is smaller than the size of a human finger, forming a physical protective barrier while reserving sufficient ventilation area. In addition, the finger anti-pinch component 064 can be fixed to the outer frame of the fan 062 by snap-fit, or it can be connected to the inner side of the cover plate 063 by bolts.

[0055] In an optional embodiment, the mounting interface 017 is provided with a plurality of threaded holes, and the second power module 03 is connected to the mounting interface 017 through the plurality of threaded holes and a plurality of corresponding screws.

[0056] In this embodiment, the mounting interface 017 is provided with several threaded holes. The number of threaded holes is set according to the requirements of the weight and operating vibration intensity of the second power module 03, and they are usually evenly distributed in a ring or rectangular array. The specifications of the threaded holes, such as the pitch and diameter, are precisely matched with the matching screws to achieve a stable and detachable connection between the second power module 03 and the second housing part 012. The threaded connection does not block the opening on the mounting interface 017, and the heat generated by the operation of the second power module 03 can still be smoothly introduced into the interior of the second housing part 012 through the opening, and heat dissipation is completed in conjunction with the airflow flowing in from the connecting port 018 and the third air outlet 016.

[0057] Reference Figure 1 This application also provides a robot, including, for example, Figures 3-10 Any robot heat dissipation structure in any of the optional embodiments.

[0058] 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 robot heat dissipation structure, characterized in that, include: Housing (01), first power module (02), second power module (03) and air supply assembly (06); The housing (01) includes a first receiving part (011) and a second receiving part (012). The first receiving part (011) and the second receiving part (012) are integrally formed or detachably connected, and a communication port (018) is provided between the first receiving part (011) and the second receiving part (012). The first power module (02) is at least partially housed within the first housing portion (011), and a gap is provided between the side wall of the first housing portion (011) and the first power module (02); The first containment section (011) is provided with a first air outlet (013) and an air inlet (014). The first power module (02) has the air supply component (06) located on the side near the air inlet (014). The second receiving part (012) includes a third air outlet (016), a mounting interface (017) and a connecting port (018). A dustproof plate (019) is installed on the third air outlet (016), and a ventilation opening is provided on the dustproof plate (019). The second receiving part (012) is connected to the second power module (03) through the mounting interface (017), and the mounting interface (017) is provided with an opening.

2. The robot heat dissipation structure according to claim 1, characterized in that, A heat-conducting component (04) is also provided between the first power module (02) and the air supply component (06). The heat-conducting component (04) includes a heat sink unit (041), a heat-conducting plate (042), and at least one heat-conducting pipe (043). One side of the heat-conducting plate (042) is connected to the first power module (02), and the other side is connected to the first section of the at least one heat-conducting pipe (043); The second segment of the at least one heat pipe (043) extends along the housing direction of the first power module (02) and fits tightly against the housing of the first power module (02).

3. The robot heat dissipation structure according to claim 2, characterized in that, A guide (05) is provided between the first power module (02) and the air supply assembly (06). The guide (05) is positioned in the axial direction of the rotor rotation center axis of the first power module (02) corresponding to the position of the heat sink unit (041) and is arranged around the heat sink unit (041).

4. The robot heat dissipation structure according to claim 3, characterized in that, The guide (05) includes a base plate (051) and a baffle (052), and the baffle (052) is also provided with a number of air outlet holes (053); The side wall of the first receiving part (011) is provided with at least one second air outlet (015), and the plurality of air outlets (053) and the at least one second air outlet (015) are arranged opposite to each other.

5. The robot heat dissipation structure according to claim 4, characterized in that, The base plate (051) has several perforations, and the second section of the at least one heat pipe (043) passes through the several perforations.

6. The robot heat dissipation structure according to claim 3 or 4, characterized in that, The guide (05) is a partially annular structure. The positions of the two ends of the guide (05) correspond to the connecting port (018), and a wind-guiding space is formed between the two ends of the guide (05).

7. The robot heat dissipation structure according to claim 6, characterized in that, A guide element is also provided in the air guide space between the two ends of the guide element (05). The position of the guide element corresponds to the position of the connecting port (018). The guide element is used to guide part of the airflow passing through the air guide space to the direction of the connecting port (018) and enter the second receiving part (012).

8. The robot heat dissipation structure according to claim 7, characterized in that, One end of the draining component is fixedly disposed between the two ends of the guide component (05), and the other end of the draining component is fixedly disposed at the connecting port (018); the draining component has an arc-shaped surface, the arc-shaped surface is recessed toward the first power module (02), or the draining component is a straight plate structure.

9. The robot heat dissipation structure according to claim 7, characterized in that, The flow guide (05) is detachably connected to the flow drain, or the flow guide (05) and the flow drain are integrally formed; Each end of the flow guide (05) is provided with a baffle (054), and the baffle (054) is connected to the bottom plate (051) and / or the baffle wall (052).

10. The robot heat dissipation structure according to claim 2, characterized in that, The inner side wall of the first receiving part (011) is provided with a plurality of protrusions, which are in contact with the first power module (02), and a recess is provided between any two adjacent protrusions and the side wall of the first receiving part (011). The plurality of protrusions are staggered with the second section of the at least one heat pipe (043), or the plurality of protrusions are provided with mounting grooves, and the second section of the at least one heat pipe (043) is mounted on the mounting grooves.

11. The robot heat dissipation structure according to claim 1, characterized in that, The air supply assembly (06) includes an isolation member (061), a fan (062), and a cover plate (063); The isolation member (061) is disposed between the air guide member (05) and the fan (062), and the isolation member (061) is provided with an opening corresponding to the shape of the fan (062); The fan (062) is disposed between the isolation member (061) and the cover plate (063); The cover plate (063) has a hollow structure and is detachably connected to the air inlet (014).

12. The robot heat dissipation structure according to claim 11, characterized in that, A finger anti-pinch device (064) is also provided between the fan (062) and the cover plate (063).

13. The robot heat dissipation structure according to claim 1, characterized in that, The mounting interface (017) is provided with a plurality of threaded holes, and the second power module (03) is connected to the mounting interface (017) through the plurality of threaded holes and a plurality of corresponding screws.

14. A robot, characterized in that, Including the robot heat dissipation structure as described in any one of claims 1-13.

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