Leg structure and robot

Abstract

This application provides a leg structure and a robot. The leg structure includes a shell, a motor, and an exhaust fan and an intake fan with opposite airflow directions. The shell has an inner cavity and multiple air inlets and exhaust outlets communicating with the inner cavity. The air inlets form an intake surface, and the exhaust outlets form an exhaust surface. The motor, intake fan, and exhaust fan are all located within the inner cavity, with the intake surface facing the intake fan and the exhaust surface facing the exhaust fan. This application reduces the pressure at the exhaust end of the intake fan, allowing it to more efficiently deliver air into the inner cavity. Simultaneously, it reduces the pressure at the intake end of the exhaust fan, allowing it to more efficiently expel air from the inner cavity to the outside. This promotes rapid airflow around the motor, carrying away heated air and bringing in fresh air, creating a continuous heat exchange cycle, thereby accelerating motor heat dissipation and improving its cooling efficiency.

Description

Technical Field

[0001] This application relates to the field of robotics technology, specifically to a leg structure and a robot. Background Technology

[0002] A robot is an automated device capable of executing pre-programmed instructions or making autonomous decisions, working collaboratively through components such as mechanical structures, sensors, controllers, and actuators to complete specific tasks. Some robots' lower limbs are designed to mimic the structure of human legs, achieving bipedal locomotion functions such as walking, running, and jumping through the coordinated movement of components such as the thigh, calf, foot, hip joint, knee joint, and ankle joint.

[0003] In related technologies, the robot's legs consist of a shell and multiple motors housed within it. Some motors function as hip joints to enable leg rotation relative to the robot's body, some as knee joints to enable lower leg rotation relative to the thigh, and others as ankle joints to enable foot rotation relative to the lower leg. Therefore, the motors are the core components providing power to the robot's legs, and their performance directly affects the robot's reliability.

[0004] When a motor is working, it generates heat. If the motor's operating temperature is too high, it can cause problems such as thermal demagnetization of the permanent magnets, increased copper and iron losses, which can lead to a decrease in the motor's output torque, reduced efficiency, and slower response speed, thus reducing the motor's reliability. Utility Model Content

[0005] The embodiments of this application provide a leg structure and robot that can improve the heat dissipation efficiency of the motor in the leg structure, thereby improving the reliability of the motor.

[0006] In a first aspect, embodiments of this application provide a leg structure, which includes a housing, a motor, an exhaust fan, and an intake fan; the housing has an inner cavity and multiple air inlets and multiple air outlets all communicating with the inner cavity; the multiple air inlets form an air intake surface, and the multiple air outlets form an air outlet surface; the motor is disposed in the inner cavity; the intake fan is located in the inner cavity, with the air intake surface facing the intake fan; the exhaust fan is located in the inner cavity, with the air outlet surface facing the exhaust fan; wherein the air blowing direction of the intake fan is different from the air blowing direction of the exhaust fan.

[0007] Optionally, the housing has a first side and a second side facing away from each other, with the air inlet and exhaust port located on the first side of the housing.

[0008] Optionally, the air intake and exhaust ports are arranged sequentially along the circumference of the housing, and the housings of the intake fan and exhaust fan are arranged sequentially along the circumference.

[0009] Optionally, the rotation axis of the intake fan is set at an angle to the rotation axis of the exhaust fan, and the intake end of the intake fan and the exhaust end of the exhaust fan are far apart from each other.

[0010] Optionally, a first fin is provided on the inner surface of the housing opposite to the air outlet end of the intake fan. There are multiple first fins, and at least some of the first fins extend along the diffusion direction of the airflow blown out by the intake fan.

[0011] Optionally, a second fin is provided on the inner surface of the housing opposite to the air inlet end of the exhaust fan. There are multiple second fins, and at least some of the second fins extend along the convergence direction of the airflow drawn away by the exhaust fan.

[0012] Optionally, the air intake is a grille opening; and / or, the exhaust is a grille opening.

[0013] Optionally, the outer casing includes a first shell, a second shell, and an intermediate member, with the intermediate member sandwiched between the first shell and the second shell. The first shell and the intermediate member enclose an inner cavity, and both the air inlet and the air outlet are located on the first shell.

[0014] Optionally, there are two motors installed in the inner cavity, which are spaced apart along the length of the leg structure, with the intake fan and exhaust fan located between the two motors.

[0015] Secondly, embodiments of this application provide a robot that includes the aforementioned leg structure.

[0016] The beneficial effects of the embodiments of this application are as follows:

[0017] In the embodiments of this application, by providing an intake fan and an exhaust fan, the intake fan blows air from outside the leg structure into the inner cavity, while the exhaust fan expels air from the inner cavity to the outside of the leg structure. The continuous exhaust of air from the inner cavity by the exhaust fan reduces the pressure at the outlet of the intake fan, allowing the intake fan to more efficiently deliver air into the inner cavity. Simultaneously, the continuous delivery of outside air into the inner cavity by the intake fan reduces the pressure at the inlet of the exhaust fan, allowing the exhaust fan to more efficiently expel air from the inner cavity to the outside. This promotes rapid airflow around the motor, carrying away heated air and bringing in fresh air, forming a continuous heat exchange cycle, thereby accelerating motor heat dissipation and improving the motor's heat dissipation efficiency. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of 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.

[0019] Figure 1 This is a schematic diagram of the leg structure provided in an embodiment of this application;

[0020] Figure 2 This is a partial exploded view of the leg structure provided in an embodiment of this application;

[0021] Figure 3 This is a schematic diagram of the internal structure of the leg structure provided in an embodiment of this application;

[0022] Figure 4 This is a schematic diagram of airflow direction provided in an embodiment of this application;

[0023] Figure 5 This is another internal structural diagram of the leg structure provided in the embodiments of this application.

[0024] Explanation of reference numerals in the attached figures:

[0025] 100 - Leg structure;

[0026] 10-Outer shell; 11-Inner cavity; 111-Intake chamber; 112-Exhaust chamber; 113-First side; 114-Second side;

[0027] 12-Separator plate; 13-First fin; 14-Second fin; 15-First shell; 16-Second shell; 17-Intermediate component; 171-First motor mounting position; 172-Second motor mounting position;

[0028] 18-Air inlet; 181-Air intake surface; 19-Exhaust outlet; 191-Air outlet surface;

[0029] 20 - Motor; 30 - Exhaust fan; 40 - Intake fan; 50 - Thigh motor. Detailed Implementation

[0030] The technical solutions of the embodiments of this application will be clearly and completely described below 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. Furthermore, it should be understood that the specific embodiments described herein are only for illustration and explanation of this application and are not intended to limit this application.

[0031] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0032] The terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a product that comprises a list of elements includes not only those elements but also other elements not expressly listed or inherent to such a product.

[0033] In the description of the embodiments of this application, the words "example" or "for example" are used to indicate exemplification, illustration, or description. Any embodiment or design described as "example" or "for example" in the embodiments of this application is not to be construed as being more preferred or having more advantages than another embodiment or design. The use of the words "example" or "for example" is intended to present relative concepts in a clear manner.

[0034] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0035] The following combination Figures 1 to 5 The present application provides a detailed description of a leg structure 100 and a robot according to embodiments thereof.

[0036] Please see Figure 1 , Figure 2 and Figure 3 , Figure 1 This is a schematic diagram of the leg structure 100 provided in an embodiment of this application. Figure 2 This is a partial exploded view of the leg structure 100 provided in an embodiment of this application. Figure 3This is a schematic diagram of the internal structure of the leg structure 100 provided in an embodiment of this application. In a first aspect, an embodiment of this application provides a leg structure 100. The leg structure 100 includes a housing 10, a motor 20, an exhaust fan 30, and an intake fan 40. The housing 10 has an inner cavity 11 and a plurality of air inlets 18 and a plurality of exhaust holes 19, all communicating with the inner cavity 11. The plurality of air inlets 18 form an air intake surface 181, and the plurality of exhaust holes 19 form an air outlet surface 191. The motor 20 is disposed in the inner cavity 11. The intake fan 40 is located in the inner cavity 11, with the air intake surface 181 facing the intake fan 40. The exhaust fan 30 is located in the inner cavity 11, with the air outlet surface 191 facing the exhaust fan 30. The air blowing direction of the intake fan 40 is different from that of the exhaust fan 30.

[0037] It is understandable that the air intake surface 181 faces the air intake end of the intake fan 40, and the air outlet surface 191 faces the air outlet end of the exhaust fan 30.

[0038] It is understood that the air blowing direction of the intake fan 40 is different from that of the exhaust fan 30, meaning that one of the intake fan 40 and the exhaust fan 30 blows airflow from outside the housing 10 into the inner cavity 11, while the other blows airflow from the inner cavity 11 to outside the housing 10. For example, the intake fan 40 draws airflow from outside the housing 10 into the inner cavity 11 through the intake port 18, and the exhaust fan 30 blows airflow from the inner cavity 11 to outside the housing 10 through the exhaust port 19.

[0039] It is understood that there are at least two motors 20. For example, there are three motors 20, which can be a thigh motor 50, a calf motor 20, and an ankle motor 20.

[0040] For example, the housing 10 may be an assembly that defines the cavity 11 by at least two sub-components interlocking with each other.

[0041] For example, both the intake fan 40 and the exhaust fan 30 are silent fans. Silent fans can keep noise levels low (typically below 40 decibels) while maintaining basic functions such as ventilation and heat dissipation.

[0042] For example, both the intake fan 40 and the exhaust fan 30 are fixed in the inner cavity 11 by screws to improve the ease of installation and maintainability of the intake fan 40 and the exhaust fan 30.

[0043] The space between the intake fan 40 and the intake port 18 is the intake chamber 111, and the space between the exhaust fan 30 and the exhaust port 19 is the exhaust chamber 112.

[0044] In this embodiment, when cooling the motor 20, the intake fan 40 and exhaust fan 30 are activated. The intake fan 40 blows air from outside the leg structure 100 into the inner cavity 11, and the exhaust fan 30 exhausts air from the inner cavity 11 to the outside of the leg structure 100. The continuous exhaust of air from the inner cavity 11 by the exhaust fan 30 reduces the pressure at the outlet of the intake fan 40, allowing the intake fan 40 to more efficiently deliver air into the inner cavity 11. Simultaneously, the continuous delivery of external air into the inner cavity 11 by the intake fan 40 reduces the pressure at the inlet of the exhaust fan 30, allowing the exhaust fan 30 to more efficiently exhaust air from the inner cavity 11 to the outside. This promotes rapid airflow around the motor 20, carrying away heated air and bringing in fresh air, creating a continuous heat exchange cycle, thereby accelerating heat dissipation of the motor 20 and improving its cooling efficiency.

[0045] Please see Figure 1 and Figure 2 In some embodiments, the housing 10 has a first side 113 and a second side 114 facing away from each other. An air inlet 18 and an exhaust outlet 19 are located on the first side 113 of the housing 10. This arrangement, where the air inlet 18 and exhaust outlet 19 are on the same side of the housing 10, simplifies the internal structure for airflow within the housing 10. This reduces airflow detours within the leg structure 100, improving airflow efficiency and thus heat dissipation efficiency of the motor 20. It also simplifies the structure of the leg structure 100, enhancing its compactness.

[0046] Please see Figure 1 and Figure 2 In some embodiments, the air intake vent 18 and the exhaust vent 19 are arranged sequentially along the circumference of the housing 10. The intake fan 40 and the exhaust fan 30 are also arranged sequentially along the circumference of the housing 10. This improves the compactness of the space in the leg structure 100 for mounting the intake fan 40 and the exhaust fan 30, thereby reducing the interference of the mounting positions of the intake fan 40 and the exhaust fan 30 on other components of the leg structure 100.

[0047] Please see Figure 3 In some embodiments, the rotation axis A of the intake fan 40 is set at an angle to the rotation axis B of the exhaust fan 30. The intake end of the intake fan 40 and the exhaust end of the exhaust fan 30 are far apart. This increases the distance between the intake end of the intake fan 40 and the exhaust end of the exhaust fan 30. This prevents the intake fan 40 from drawing the airflow discharged by the exhaust fan 30 into the inner cavity 11, and also prevents the airflow discharged by the exhaust fan 30 from interfering with the intake fan 40's intake of air.

[0048] The airflow from the exhaust fan 30 near the outlet of the intake fan 40 can mix with the airflow from the intake fan 30 near the intake fan 40. This reduces the back pressure of the intake fan 40 and the exhaust fan 30, thereby improving the smoothness of their operation and reducing their noise.

[0049] For example, a partition plate 12 is provided on the inner wall of the housing 10, located between the air inlet and the air outlet. One end of the partition plate 12 is connected to the housing 10, and the other end extends beyond the gap between the intake fan 40 and the exhaust fan 30. In this way, the airflow at the intake end of the intake fan 40 and the airflow at the exhaust end of the exhaust fan 30 can be separated by the partition plate 12 to reduce mutual interference between them, thereby improving the air intake smoothness of the intake fan 40 and the air outlet smoothness of the exhaust fan 30.

[0050] Specifically, there are two partition plates 12, which are spaced apart circumferentially along the outer casing 10. Each partition plate 12 corresponds to an intake fan 40 and an exhaust fan 30. One partition plate 12 extends circumferentially along its corresponding intake fan 40, and the other partition plate 12 extends circumferentially along its corresponding exhaust fan 30. This improves the separation of airflow at the intake end of the intake fan 40 and the exhaust end of the exhaust fan 30 by the partition plates 12, reducing mutual interference and thus improving the smoothness of airflow intake for the intake fan 40 and exhaust for the exhaust fan 30.

[0051] Please see Figure 3 and Figure 4 , Figure 4 This is a schematic diagram of airflow direction provided in an embodiment of this application. In some embodiments, a first fin 13 is provided on the inner surface of the housing 10 opposite to the air outlet end of the intake fan 40. There are multiple first fins 13. At least a portion of the first fins 13 extend along the diffusion direction of the airflow blown out by the intake fan 40. In this way, the airflow blown out by the intake fan 40 can be quickly guided to the vicinity of the intake fan 40 through the first fins 13, and the contact area between the housing 10 and the airflow can be increased to improve heat dissipation efficiency.

[0052] In addition, the first fin 13 can also serve as a reinforcing rib to enhance the structural strength of the outer shell 10.

[0053] Please see Figure 3 and Figure 4In some embodiments, second fins 14 are provided on the inner surface of the housing 10 opposite to the air inlet end of the exhaust fan 30. There are multiple second fins 14. At least some of the second fins 14 extend along the converging direction of the airflow drawn away by the exhaust fan 30. This allows the airflow in the inner cavity 11 to be quickly guided into the air inlet end of the exhaust fan 30 via the second fins 14, and also increases the contact area between the housing 10 and the airflow, thereby improving heat dissipation efficiency.

[0054] In addition, the second fin 14 can also serve as a reinforcing rib to enhance the structural strength of the outer shell 10.

[0055] Please see Figures 1 to 3 In some embodiments, the air intake 18 is a grille. This increases the ventilation area of ​​the air intake 18 and prevents foreign objects such as gravel from entering the inner cavity 11, thus facilitating the stable operation of the leg structure 100.

[0056] It is understandable that grid holes refer to the numerous small holes formed through the grid structure.

[0057] For example, the air inlet 18 is an oval hole, and the direction of the longest diameter of the air inlet 18 is parallel to the length direction of the leg structure 100.

[0058] Please see Figures 1 to 3 In some embodiments, the exhaust port 19 is a grille hole. This increases the ventilation area of ​​the exhaust port 19 and prevents foreign objects such as gravel from entering the inner cavity 11, thus facilitating the stable operation of the leg structure 100.

[0059] For example, the vent 19 is an oval vent, and the direction of the longest diameter of the vent 19 is parallel to the length direction of the leg structure 100.

[0060] Please see Figures 1 to 3 In some embodiments, the outer casing 10 includes a first casing 15, a second casing 16, and an intermediate component 17. The intermediate component 17 is sandwiched between the first casing 15 and the second casing 16. The first casing 15 and the intermediate component 17 enclose an inner cavity 11. An air inlet 18 and an exhaust 19 are both located in the first casing 15. This makes the outer casing 10 an assembly, thereby improving the ease of installation, operability, and maintainability of components such as the intake fan 40, the exhaust fan, and the motor 20.

[0061] Specifically, the first housing 15, the second housing 16, and the intermediate part 17 are connected as a whole by screws.

[0062] Specifically, the first fin 13 is disposed on the surface of the intermediate member 17 facing the first shell member 15, and the second fin 14 is disposed on the surface of the intermediate member 17 facing the first shell member 15.

[0063] Please see Figure 2 In some embodiments, there are two motors 20 disposed in the inner cavity 11, and the two motors 20 are spaced apart along the length of the leg structure 100, with an intake fan 40 and an exhaust fan 30 located between the two motors 20. In this way, the intake fan 40 and the exhaust fan 30 can simultaneously cool the two motors 20, while also maintaining the compactness of the internal component layout of the leg structure 100.

[0064] For example, the two motors 20 can be a calf motor 20 and an ankle motor 20, respectively.

[0065] For example, the leg structure 100 also includes a thigh motor 50, such as Figure 5 As shown. The thigh motor 50 and the calf motor 20 are coaxially arranged, and the thigh motor 50 is located outside the housing 10.

[0066] The intermediate component 17 has a first motor mounting position 171 and a second motor mounting position 172. The first fin 13 and the second fin 14 are positioned away from the first motor mounting positions 171 and 172. The first motor mounting position 171 is used to mount one motor 20, and the second motor mounting position 172 is used to mount another motor 20. Specifically, the first motor mounting position 171 is located at the end of the leg structure 100 near the robot body and is used to mount the lower leg motor 20. The second motor mounting position 172 is located in the middle of the leg structure 100 and is used to mount the ankle motor 20. Specifically, both the first motor mounting position 171 and the second motor mounting position 172 are recessed structures.

[0067] Based on the above embodiments, a leg structure 100 provided in this application is described as follows. The leg structure 100 includes a housing 10, a motor 20, an exhaust fan 30, and an intake fan 40. The housing 10 has an inner cavity 11 and an air inlet 18 and an exhaust outlet 19 communicating with the inner cavity 11. Both the air inlet 18 and the exhaust outlet 19 are grille holes. There are two motors 20, both disposed within the inner cavity 11 and spaced apart along the length of the leg structure 100. The intake fan 40 and the exhaust fan 30 are both located within the inner cavity 11 and between the two motors 20. The air inlet 18 and the exhaust outlet 19 are arranged sequentially along the circumference of the housing 10. The intake fan 40 and the exhaust fan 30 are arranged sequentially along the circumference of the housing 10, with the intake fan 40 positioned closer to the air inlet 18 and the exhaust fan 30 positioned closer to the exhaust outlet 19. The rotation axis A of the intake fan 40 and the rotation axis B of the exhaust fan 30 are arranged at an angle. The intake end of the intake fan 40 and the exhaust end of the exhaust fan 30 are far apart from each other.

[0068] Specifically, a first fin 13 is provided on the inner surface of the outer casing 10 opposite to the air outlet end of the intake fan 40. There are multiple first fins 13. At least a portion of the first fins 13 extend along the diffusion direction of the airflow blown by the intake fan 40. A second fin 14 is provided on the inner surface of the outer casing 10 opposite to the air inlet end of the exhaust fan 30. There are multiple second fins 14. At least a portion of the second fins 14 extend along the convergence direction of the airflow drawn away by the exhaust fan 30.

[0069] Specifically, the outer shell 10 includes a first shell member 15, a second shell member 16, and an intermediate member 17. The intermediate member 17 is sandwiched between the first shell member 15 and the second shell member 16. The first shell member 15 and the intermediate member 17 enclose an inner cavity 11. An air inlet 18 and an exhaust 19 are both disposed on the first shell member 15. A first fin 13 is disposed on the surface of the intermediate member 17 facing the first shell member 15, and a second fin 14 is also disposed on the surface of the intermediate member 17 facing the first shell member 15.

[0070] Secondly, embodiments of this application provide a robot that includes a leg structure 100 provided in some embodiments of this application.

[0071] It is understood that the robot includes the leg structure 100 provided in some embodiments of this application, and the robot has all the beneficial effects of the second smallest leg structure 100 described above, which will not be repeated here.

[0072] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A leg structure (100), characterized in that, include: The outer casing (10) has an inner cavity (11) and a plurality of air inlets (18) and a plurality of air outlets (19) that are all connected to the inner cavity (11). The plurality of air inlets (18) form an air inlet surface (181) and the plurality of air outlets (19) form an air outlet surface (191). A motor (20) is disposed in the inner cavity (11); An intake fan (40) is located in the inner cavity (11), and the air intake surface (181) faces the intake fan (40); and An exhaust fan (30) is located in the inner cavity (11), and the air outlet surface (191) faces the exhaust fan (30); The air blowing direction of the intake fan (40) is different from that of the exhaust fan (30).

2. The leg structure (100) according to claim 1, characterized in that, The housing (10) has a first side (113) and a second side (114) facing away from each other, and the air inlet (18) and the exhaust outlet (19) are located on the first side (113) of the housing (10).

3. The leg structure (100) according to claim 2, characterized in that, The air inlet (18) and the exhaust outlet (19) are arranged sequentially along the circumference of the housing (10), and the air intake fan (40) and the exhaust fan (30) are arranged sequentially along the circumference of the housing (10).

4. The leg structure (100) according to claim 3, characterized in that, The rotation axis of the intake fan (40) is set at an angle to the rotation axis of the exhaust fan (30), and the intake end of the intake fan (40) and the exhaust end of the exhaust fan (30) are far apart from each other.

5. The leg structure (100) according to claim 1, characterized in that, The outer casing (10) has a first fin (13) on its inner surface opposite to the air outlet of the intake fan (40). There are multiple first fins (13), and at least some of the first fins (13) extend along the diffusion direction of the airflow blown out by the intake fan (40).

6. The leg structure (100) according to claim 1, characterized in that, The outer casing (10) is provided with a second fin (14) on the inner surface opposite to the air inlet end of the exhaust fan (30). There are multiple second fins (14), and at least some of the second fins (14) extend along the convergence direction of the airflow drawn away by the exhaust fan (30).

7. The leg structure (100) according to any one of claims 1-6, characterized in that, The air intake (18) is a grille hole; and / or, the exhaust hole (19) is a grille hole.

8. The leg structure (100) according to any one of claims 1-6, characterized in that, The outer shell (10) includes a first shell (15), a second shell (16), and an intermediate part (17). The intermediate part (17) is sandwiched between the first shell (15) and the second shell (16). The first shell (15) and the intermediate part (17) enclose the inner cavity (11). The air inlet (18) and the exhaust outlet (19) are both located on the first shell (15).

9. The leg structure (100) according to any one of claims 1-6, characterized in that, There are two motors (20) disposed in the inner cavity (11), and the two motors (20) are spaced apart along the length direction of the leg structure (100). The intake fan (40) and the exhaust fan (30) are located between the two motors (20).

10. A robot, characterized in that, Includes the leg structure (100) as described in any one of claims 1-9.

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