Limb structure and robot

Abstract

The application provides a limb structure and a robot, and relates to the technical field of robots.The limb structure comprises a first limb, a second limb, a joint module, a gas driving element and a heat dissipation element, the joint module comprises a joint motor with a plurality of annular heat dissipation fins arranged along an axial direction on an outer wall, airflow channels are formed between the heat dissipation fins, the first limb comprises a wrapping component, the gas driving element and the heat dissipation fins are located in the wrapping component, the wrapping component is provided with a second communication port and a first communication port in communication with the airflow channels, the gas driving element comprises an air inlet and an air outlet facing the second communication port, and the airflow channels face the air inlet; the heat dissipation element comprises a bearing part and a phase change material filled in the bearing part; the heat dissipation element is attached to an inner side wall of the wrapping component and is in contact with the end of the heat dissipation fin away from the joint motor.The application can solve the problems that the existing joint module has poor heat dissipation effect and cannot quickly cool down when the motor is locally overheated to a certain extent.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a limb structure and robot. Background Technology

[0002] With the rapid development of robotics technology, robots, especially humanoid robots, are being used more and more widely. Joint modules, as the core components for motion control in humanoid robots, typically integrate high-torque-density motors and reducers, generating significant heat during operation.

[0003] The heat dissipation of the joint module mainly relies on natural convection cooling from the motor housing, or simply adding heat dissipation fins (or tubes) to the housing, which has relatively low heat dissipation efficiency. Therefore, some cooling solutions opt for forced air cooling with fans, but these fans often blow directly onto the motor, leading to chaotic airflow and poor heat dissipation. Furthermore, during motor operation, localized overheating may occur, and fans alone cannot achieve rapid cooling. Summary of the Invention

[0004] In view of this, this application provides a limb structure and robot to solve, to some extent, the problems of poor heat dissipation of existing joint modules and the inability to cool down quickly when the motor overheats locally.

[0005] This application provides a limb structure, which includes a first limb, a second limb, and a joint module. The joint module includes a joint motor, and the outer wall of the joint motor is provided with annular heat dissipation fins. A plurality of heat dissipation fins are arranged at intervals along the axial direction of the joint motor, and an airflow channel is formed between two adjacent heat dissipation fins. The first limb includes a connected support body and a wrapping component. The limb structure also includes a gas driving component and a heat dissipation component. The joint motor is partially inserted into the interior of the wrapping component so that the plurality of heat dissipation fins are located inside the wrapping component. The gas drive is disposed inside the wrapping component. The wrapping component has a first connecting port and a second connecting port, which are arranged at intervals. The first connecting port is connected to at least one of the airflow channels. The gas drive includes an air inlet and an air outlet. Each of the airflow channels faces the air inlet, and the air outlet faces the second connecting port. The gas drive can drive gas to enter the airflow channel through the first connecting port and then flow out from the second connecting port. The heat dissipation component includes a support portion and a phase change material, wherein the phase change material is filled within the support portion; The heat sink is attached to the inner wall of the wrapping member and contacts the end of the heat sink fins away from the joint motor.

[0006] In the above technical solution, the phase change material is further selected from one of the following: paraffin wax, stearic acid, lauric acid, and calcium chloride hexahydrate.

[0007] In the above technical solution, the thickness of the heat sink is greater than or equal to 1.5 mm and less than or equal to 2.0 mm.

[0008] In the above technical solution, the wrapping component further includes a base plate and a surrounding plate. The surrounding plate has a first connecting end and a second connecting end. Both the first connecting end and the second connecting end are connected to the base plate, so that the first connecting end and the second connecting end are arranged at intervals. The enclosure has the first connecting opening, and the bottom plate has the second connecting opening.

[0009] In the above technical solution, the first connecting opening is further provided on the part of the enclosure near the first connecting end, the gas driving member is near the second connecting end, the air inlet and the air outlet are respectively located on opposite sides of the gas driving member, and the air outlet faces the bottom plate.

[0010] In the above technical solution, the enclosure is further provided with a plurality of second communication ports, which are spaced apart.

[0011] In the above technical solution, the enclosure is further provided with a plurality of first communication ports, which are arranged in a matrix.

[0012] In the above technical solution, the limb structure further includes an end cap, the wrapping member has two openings opposite each other in the axial direction, and the end cap is connected to one end of the wrapping member in the axial direction to close one of the openings.

[0013] This application also provides a robot, which includes the limb structure described in any of the above technical solutions.

[0014] The limb structure of this application includes a first limb, a second limb, and a joint module. The joint module includes a joint motor, and the outer wall of the joint motor is provided with annular heat dissipation fins. Multiple heat dissipation fins are arranged at intervals along the axial direction of the joint motor, and an airflow channel is formed between two adjacent heat dissipation fins. The first limb includes a connected support body and a wrapping component. The limb structure also includes a gas drive component and a heat dissipation component. A portion of the joint motor is inserted into the interior of the wrapping component so that multiple heat dissipation fins are located inside the wrapping component. The gas drive component is disposed inside the wrapping component. The wrapping component has a first connecting port and a second connecting port, which are arranged at intervals. The first connecting port communicates with at least one airflow channel. The gas drive component includes an air inlet and an air outlet. Each airflow channel faces the air inlet, and the air outlet faces the second connecting port. The gas drive component can drive gas to enter the airflow channel through the first connecting port and then flow out from the second connecting port. The heat dissipation component includes a support portion and a phase change material. The phase change material is filled in the support portion. The heat dissipation component is attached to the inner sidewall of the wrapping component and contacts the ends of the heat dissipation fins away from the joint motor. Thus, when the gas-driven component is working, the gas outside the joint module flows sequentially through the first connecting port, the airflow channel, the gas-driven component, and the second connecting port. The limb structure of this application, through the cooperation of heat dissipation fins and the gas-driven component, constructs a directional gas channel, forcing the gas to flow in close contact with the surface of the heat dissipation fins, eliminating the thermal boundary layer of natural convection, improving heat dissipation efficiency, and effectively reducing the temperature rise of the joint motor. Simultaneously, when localized high temperatures occur in the joint motor, heat can be conducted to the heat dissipation component through the heat dissipation fins at the high-temperature location. The phase change material of the heat dissipation component can absorb heat through phase change, thereby rapidly cooling the high-temperature area. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 The diagram shows the relative positions of the joint module, end caps, and wrapping components. Figure 2 An exploded view of the joint module, end caps, and wrapping components is shown. Figure 3 The diagram shows the relative positions of the joint module and the wrapping components; Figure 4 The diagram shows the relative positions of the thigh, calf, and joint modules.

[0017] Reference numerals: 1-Wrapping component; 11-Base plate; 111-Second connecting port; 12-Enclosure plate; 121-First connecting port; 122-First connecting end; 123-Second connecting end; 2-Joint motor; 3-Heat dissipation fins; 4-Gas drive component; 5-End cap; 6-Thigh; 7-Lower leg. Detailed Implementation

[0018] The following detailed embodiments are provided to help the reader gain a comprehensive understanding of the methods, apparatus, and / or systems described herein. However, various changes, modifications, and equivalents of the methods, apparatus, and / or systems described herein will be apparent after understanding the disclosure of this application. For example, the order of operations described herein is merely illustrative and is not limited to the order set forth herein; changes that will be apparent after understanding the disclosure of this application are possible, except for operations that must occur in a specific order. Furthermore, for clarity and brevity, descriptions of features known in the art may be omitted.

[0019] The features described herein may be implemented in different forms and should not be construed as being limited to the examples described herein. Rather, the examples described herein have been provided merely to illustrate some of the many feasible ways of implementing the methods, apparatus, and / or systems described herein that will be apparent upon understanding the disclosure of this application.

[0020] Throughout the specification, when an element (such as a layer, region, or substrate) is described as being "on" another element, "connected to" another element, "bonded to" another element, "on" another element, or "covering" another element, it may be directly "on" another element, "connected to" another element, "bonded to" another element, "on" another element, or "covering" another element, or there may be one or more other elements in between. In contrast, when an element is described as being "directly on" another element, "directly connected to" another element, "directly bonded to" another element, "directly on" another element, or "directly covering" another element, there may be no other elements in between.

[0021] As used herein, the term “and / or” includes any one of the relevant items listed and any combination of any two or more items.

[0022] Although terms such as “first,” “second,” and “third” may be used herein to describe individual components, assemblies, regions, layers, or parts, these components, assemblies, regions, layers, or parts are not limited by these terms. Rather, these terms are used only to distinguish one component, assembly, region, layer, or part from another. Therefore, without departing from the teachings of the examples described herein, the first component, assembly, region, layer, or part referred to as the second component, assembly, region, layer, or part may also be referred to as the second component, assembly, region, layer, or part.

[0023] For ease of description, spatial relation terms such as “above,” “upper,” “below,” and “lower” are used herein to describe the relationship between one element and another, as shown in the accompanying drawings. Such spatial relation terms are intended to include not only the orientation depicted in the drawings but also different orientations of the device during use or operation. For example, if the device in the drawings is flipped, an element described as being “above” or “upper” relative to another element will subsequently be “below” or “lower” relative to that other element. Therefore, the term “above” includes both “above” and “below” orientations depending on the spatial orientation of the device. The device may also be positioned in other ways (e.g., rotated 90 degrees or in other orientations), and the spatial relation terms used herein will be interpreted accordingly.

[0024] The terminology used herein is for the purpose of describing various examples only and is not intended to limit this disclosure. Unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. The terms “comprising,” “including,” and “having” enumerate the stated features, quantities, operations, components, elements, and / or combinations thereof, but do not exclude the presence or addition of one or more other features, quantities, operations, components, elements, and / or combinations thereof.

[0025] Variations in the shapes shown in the accompanying drawings may occur due to manufacturing techniques and / or tolerances. Therefore, the examples described herein are not limited to the specific shapes shown in the accompanying drawings, but include changes in shape that may occur during manufacturing.

[0026] The features of the examples described herein can be combined in various ways that will be apparent upon understanding the disclosure of this application. Furthermore, although the examples described herein have a wide variety of constructions, other constructions are possible, as will be apparent upon understanding the disclosure of this application.

[0027] According to one aspect of this application, a joint module is provided, such as... Figures 1 to 3As shown, the limb structure of this application includes a first limb, a second limb, and a joint module. The joint module includes a joint motor 2. The outer wall of the joint motor 2 is provided with annular heat dissipation fins 3. Multiple heat dissipation fins 3 are arranged at intervals along the axial direction of the joint motor 2. An airflow channel is formed between two adjacent heat dissipation fins 3. The first limb includes a connected support body and a wrapping member 1. The limb structure also includes a gas drive component 4 and a heat dissipation component. Figures 1 to 3 (Not shown in the image). Part of the joint motor 2 is inserted into the interior of the wrapping component 1 so that multiple heat dissipation fins 3 are located inside the wrapping component 1. The gas drive component 4 is disposed inside the wrapping component 1. The wrapping component 1 has a first connecting port 121 and a second connecting port 111, which are arranged at intervals. The first connecting port 121 is connected to at least one airflow channel. The gas drive component 4 includes an air inlet and an air outlet. Each airflow channel faces the air inlet, and the air outlet faces the second connecting port 111. The gas drive component 4 can drive gas to enter the airflow channel through the first connecting port 121 and then flow out through the second connecting port 111. The heat dissipation component includes a support part and a phase change material, with the phase change material filling the support part. The heat dissipation component is attached to the inner sidewall of the wrapping component 1 and contacts the end of the heat dissipation fins 3 away from the joint motor 2. The heat dissipation component is spaced apart from the first connecting port 121. Thus, when the gas drive component 4 is working, the gas outside the joint module flows sequentially through the first connecting port 121, the airflow channel, the gas drive component 4, and the second connecting port 111. The limb structure of this application, through the cooperation of heat dissipation fins 3 and gas driving components 4, constructs a directional channel for gas, forcing the gas to flow in close contact with the surface of the heat dissipation fins 3, eliminating the thermal boundary layer of natural convection, improving heat dissipation efficiency, and effectively reducing the temperature rise of the joint motor 2. At the same time, when a local high temperature occurs in the joint motor 2, the heat can be conducted to the heat sink through the heat dissipation fins 3 at the high temperature location. The phase change material of the heat sink can absorb heat through phase change, thereby rapidly cooling the local high temperature.

[0028] Furthermore, the limb structure of this application utilizes the space inside the enclosure component 1 to integrate the heat dissipation channel into the joint motor 2, eliminating the need for large ventilation channels in other parts of the robot and maintaining the robot's clean appearance. Simultaneously, the heat dissipation fins 3 not only increase the contact area between the gas and the joint motor 2 but also serve as a framework for forming airflow channels, ensuring gas flow along these channels. Moreover, the absence of structures obstructing gas flow within the airflow channels reduces resistance to gas flow within the enclosure component 1. For the same heat dissipation requirements, the joint module of this application can employ a lower-speed gas drive component 4, thereby reducing operating noise and energy consumption.

[0029] Optionally, the limb structure can be the upper or lower limbs of the robot, that is, the joint module can serve as the robot's knee joint, elbow joint, etc. For example, when the joint module serves as the knee joint, such as... Figure 4 As shown, the second limb is the robot's thigh 6, the supporting body is the robot's lower leg 7, the wrapping component 1 and the lower leg 7 are a single piece, and the output shaft of the joint motor 2 can be connected to the thigh 6 so that the thigh 6 and the lower leg 7 can rotate relative to each other.

[0030] Optionally, the support portion can be a bag-like structure, with phase change material filling the interior of the support portion.

[0031] Preferably, the phase change material can be one of paraffin, stearic acid, lauric acid, or calcium chloride hexahydrate, to ensure heat dissipation for the joint motor 2.

[0032] In addition, the thickness of the heat sink is greater than or equal to 1.5 mm and less than or equal to 2.0 mm to ensure the cooling effect on the joint motor 2.

[0033] Optionally, the thickness of the heat sink can be 1.5mm, 1.6mm, 1.7mm, 1.8mm, 1.9mm or 2.0mm, etc.

[0034] In the embodiments of this application, such as Figure 2 and Figure 3 As shown, the portion containing the heat dissipation fins 3 of the joint motor 2 is located inside the enclosure component 1, while another portion of the joint motor 2 extends out from the enclosure component 1. The joint module also includes an end cap 5. The enclosure component 1 has two openings that are axially opposite to each other, and the end cap 5 is connected to one axial end of the enclosure component 1 to close one opening. The enclosure component 1 and the end cap 5 serve to prevent dust and foreign object intrusion, thus protecting the precision gears and bearings of the joint motor 2.

[0035] Furthermore, such as Figure 2 and Figure 3 As shown, the enclosure component 1 includes a base plate 11 and a surrounding plate 12. The surrounding plate 12 has a first connecting end 122 and a second connecting end 123, both of which are connected to the base plate 11, such that the first connecting end 122 and the second connecting end 123 are arranged at intervals. The base plate 11 is connected to the mounting part and the end cap 5, respectively, and the surrounding plate 12 is connected to the mounting part and the end cap 5, respectively. The surrounding plate 12 has a first connecting port 121, and the base plate 11 has a second connecting port 111. When the gas drive component 4 is working, the gas outside the joint module can flow through the first connecting port 121 on the surrounding plate 12 along the airflow channel to the gas drive component 4 located on the base plate 11, and then be discharged through the second connecting port 111 on the base plate 11. In this way, the gas has a longer flow path inside the enclosure component 1, allowing the gas to fully contact the joint motor 2, thereby improving the heat dissipation efficiency of the joint motor 2.

[0036] Preferably, the gas drive component 4 is a fan, and the gas drive component 4 can be fixed on the base plate 11 or the surrounding plate 12.

[0037] Preferably, the heat sink is fitted to the inner wall of the enclosure 12, and the heat sink is spaced apart from the first communication opening. That is, the heat sink will not block the first communication opening and the gas driving component. In this way, the heat sink can be prevented from interfering with the direction of gas flow inside the enclosure component 1.

[0038] Optionally, the portion of the enclosure 12 near the first connecting end 122 has a first connecting port 121, and the gas drive component 4 is near the second connecting end 123. The air inlet and outlet are located on opposite sides of the gas drive component 4, with the outlet facing the base plate 11 and the inlet facing the joint motor 2. When the gas drive component 4 is operating, gas from outside the joint module can enter the interior of the enclosure component 1 through the first connecting port 121 near the first connecting end 122, then flow along the airflow channel to the location of the gas drive component 4 near the second connecting end 123, and finally exit through the gas drive component 4 and the second connecting port 121. Thus, the flow path of the gas entering the enclosure component 1 extends from the first connecting end 122 to the second connecting end 123, allowing the joint motor 2 to fully contact the gas, thereby reducing the temperature of the joint motor 2 and further improving heat dissipation efficiency.

[0039] like Figures 1 to 3 As shown, the enclosure 12 has multiple second connecting ports 111, which are arranged at intervals. When the gas drive unit 4 is working, the gas outside the joint module can flow through the first connecting port 121 on the enclosure 12 along the airflow channel to the gas drive unit 4 located on the base plate 11, and then be discharged through any of the second connecting ports 111 on the base plate 11. In this way, the exhaust efficiency of the gas can be improved, thereby improving the cooling efficiency of the joint motor 2.

[0040] Furthermore, the enclosure 12 has multiple first connecting ports 121 arranged in a matrix. When the gas drive unit 4 is working, the gas outside the joint module can enter the interior of the enclosure component 1 through any one of the first connecting ports 121 on the enclosure 12 to ensure the cooling efficiency of the joint motor 2.

[0041] According to another aspect of this application, a robot is provided, which includes the limb structure described above and has the same technical effects as the limb structure described above, which will not be repeated here.

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A limb structure, the limb structure comprising a first limb, a second limb, and a joint module, the joint module comprising a joint motor, the outer wall of the joint motor being provided with annular heat dissipation fins, a plurality of the heat dissipation fins being arranged at intervals along the axial direction of the joint motor, and an airflow channel being formed between adjacent two heat dissipation fins, characterized in that, The first limb includes a connected supporting body and a wrapping component, and the limb structure also includes a gas-driven component and a heat dissipation component; The joint motor is partially inserted into the interior of the wrapping component so that the plurality of heat dissipation fins are located inside the wrapping component. The gas drive is disposed inside the wrapping component. The wrapping component has a first connecting port and a second connecting port, which are arranged at intervals. The first connecting port is connected to at least one of the airflow channels. The gas drive includes an air inlet and an air outlet. Each of the airflow channels faces the air inlet, and the air outlet faces the second connecting port. The gas drive can drive gas to enter the airflow channel through the first connecting port and then flow out from the second connecting port. The heat dissipation component includes a support portion and a phase change material, wherein the phase change material is filled within the support portion; The heat sink is attached to the inner wall of the wrapping member and contacts the end of the heat sink fins away from the joint motor.

2. The limb structure according to claim 1, characterized in that, The phase change material is one of the following: paraffin wax, stearic acid, lauric acid, and calcium chloride hexahydrate.

3. The limb structure according to claim 1 or 2, characterized in that, The thickness of the heat sink is greater than or equal to 1.5 mm and less than or equal to 2.0 mm.

4. The limb structure according to claim 1, characterized in that, The wrapping component includes a base plate and a surrounding plate. The surrounding plate has a first connecting end and a second connecting end. Both the first connecting end and the second connecting end are connected to the base plate, so that the first connecting end and the second connecting end are arranged at intervals. The enclosure has the first connecting opening, and the bottom plate has the second connecting opening.

5. The limb structure according to claim 4, characterized in that, The heat dissipation component is attached to the inner side wall of the enclosure, and the heat dissipation component is arranged at intervals from the first communication port.

6. The limb structure according to claim 4, characterized in that, The first connecting opening is provided on the portion of the enclosure near the first connecting end. The gas driving component is near the second connecting end. The air inlet and the air outlet are located on opposite sides of the gas driving component. The air outlet faces the bottom plate.

7. The limb structure according to claim 4 or 6, characterized in that, The enclosure has multiple second communication ports, which are spaced apart.

8. The limb structure according to claim 4 or 6, characterized in that, The enclosure has multiple first communication ports, which are arranged in a matrix.

9. The limb structure according to claim 4, characterized in that, The limb structure also includes an end cap, the wrapping member having two openings opposite each other in the axial direction, the end cap being connected to one end of the wrapping member in the axial direction to close one of the openings.

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

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