robot

Abstract

The application discloses a robot, which comprises a shell, a middle frame arranged in the shell, a circuit board support connected with the middle frame and forming a containing space between the middle frame and the circuit board support, a main control circuit board and a fan, the main control circuit board and the fan being mounted on the circuit board support, the fan being arranged in the containing space and being spaced apart from the main control circuit board, a power mechanism for driving a limb assembly to move relative to the shell, at least part of the power mechanism being arranged in the containing space, the power mechanism being spaced apart from the fan, an input end of the power mechanism being connected with the middle frame, an output end of the power mechanism being connected with the limb assembly, a avoiding part for providing a space required by the power mechanism for driving the limb assembly to move, a gap between the power mechanism and the avoiding part being formed as an air flow inlet and outlet part, the air flow inlet and outlet part being communicated with the containing space, and at least part of the air flow inlet and outlet part being capable of guiding air flow of an external environment into the containing space when the fan rotates. The robot has good heat dissipation effect and good appearance integrity.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and more particularly to robots. Background Technology

[0002] To improve the robot's mobility, multiple power components are installed to increase the degrees of freedom of the limb units.

[0003] In related technologies, when robots work for long periods of time and perform different actions in different scenarios, the robot's main control circuit board and limb units often generate a lot of heat. Even if heat dissipation holes are set on the shell, due to the compact spatial structure of the robot, it is difficult to achieve active and rapid heat dissipation, which can easily cause the robot's temperature to become too high and prevent it from continuing to move. If too many heat dissipation holes are set, the robot's waterproof and dustproof performance will be reduced. Utility Model Content

[0004] In view of this, the present invention proposes a robot that aims to achieve active and rapid heat dissipation, with fewer openings and improved waterproof and dustproof performance.

[0005] The robot proposed in this utility model includes: a shell with a clearance portion, the clearance portion including a clearance opening; a middle frame frame disposed within the shell; a circuit board bracket disposed within the shell, the circuit board bracket connected to the middle frame frame, and an accommodating space formed between the middle frame frame and the circuit board bracket; a main control circuit board mounted on the side of the circuit board bracket near the shell; a fan mounted on the other side of the circuit board bracket away from the shell, the fan being located in the accommodating space and spaced apart from the main control circuit board, used for heat dissipation of the main control circuit board; limb components capable of movement relative to the shell; and a power mechanism for driving the limb components, at least a portion of the power mechanism being disposed in the accommodating space, the power mechanism being spaced apart from the fan, and the input end of the power mechanism being connected to the middle frame frame. The output end of the power mechanism is connected to the limb assembly. The clearance portion provides the space required for the power mechanism to drive the limb assembly. The output end of the power mechanism extends from the clearance opening to the external environment, and the output end of the power mechanism is in clearance fit with the clearance opening. The gap between the power mechanism and the clearance portion forms an airflow inlet / outlet, which communicates with the accommodating space. When the fan rotates, at least a portion of the airflow inlet / outlet can be used to introduce airflow from the external environment into the accommodating space. The remaining portion of the airflow inlet / outlet can be used to discharge airflow from the accommodating space. Alternatively, the clearance portion may also have a channel for air outlet, which is spaced from the output end of the power mechanism, and at least a portion of the channel is blocked by the output end of the power mechanism and / or the limb assembly.

[0006] As can be seen from the above technical solution, the robot proposed by this utility model, by placing the fan in the accommodating space, can drive the external airflow into the accommodating space through the airflow inlet and outlet during the fan rotation; the airflow with heat generated by the main control circuit board continuously exchanges heat with the airflow around the shell, and the airflow with increased temperature and the airflow entering from the external environment can be continuously mixed and circulated under the rotation of the fan, and some airflow is discharged from the external environment from another part of the airflow inlet and outlet or the channel opening, thereby realizing continuous heat dissipation of the main control circuit board, realizing active air cooling of various components inside the robot's shell, improving heat dissipation efficiency, and enabling the robot to not crash or report errors due to excessive internal component temperature during movement. Since the power mechanism is connected to the limb components, and the power mechanism drives the movement of the limb components, a clearance section must be provided in the shell for clearance. Airflow in and out is achieved through natural gaps formed between the power mechanism and the clearance section, allowing airflow to enter through these natural gaps or exit through channel openings. During the movement of the limb components driven by the power mechanism, some natural gaps or channel openings can be blocked, reducing the number of additional, significantly exposed holes in the robot's shell. This allows for the circulation and exchange of airflow between the shell and the external environment. Reducing the number of required openings, while ensuring efficient heat dissipation, helps improve the structural strength of the robot shell, enhances the robot's appearance, and improves its waterproof and dustproof performance.

[0007] In some embodiments, the clearance portion includes a clearance opening, the airflow inlet / outlet portion includes a first airflow inlet / outlet, the gap between the clearance opening and the power mechanism forms the first airflow inlet / outlet; a portion of the first airflow inlet / outlet faces the fan blades, the portion of the first airflow inlet / outlet facing the fan blades forms an air outlet to discharge air when the fan rotates; the portion of the first airflow inlet / outlet away from the fan blades forms an air inlet to intake air when the fan rotates.

[0008] In some embodiments, the avoidance part includes an avoidance opening and an avoidance channel, the avoidance opening being connected to the avoidance channel, the airflow inlet / outlet part includes a second airflow inlet / outlet and an airflow inlet / outlet channel, the gap between the avoidance opening and the power mechanism forms the second airflow inlet / outlet, the channel between the avoidance channel and the power mechanism forms the airflow inlet / outlet channel, and the two ends of the second airflow inlet / outlet are respectively connected to the airflow inlet / outlet channel and the accommodating space.

[0009] In some exemplary embodiments, the passage wall of the clearance passage is further provided with a passage opening, the passage opening and the clearance opening are spaced apart, the passage opening and the clearance opening are both connected to the accommodating space, the passage opening is directly opposite the fan blades so as to exhaust air when the fan rotates; the clearance opening is clearance-fitted with the output end of the power mechanism so as to intake air when the fan rotates.

[0010] In some possible embodiments, the surface of the housing is recessed into the accommodating space to form the clearance portion.

[0011] In some embodiments, the fan includes a centrifugal fan or a mixed-flow fan.

[0012] In some embodiments, the power mechanism includes a first power mechanism and a second power mechanism. The input end of the first power mechanism is mechanically coupled to the middle frame, and the output end of the first power mechanism is mechanically coupled to the input end of the second power mechanism. At least a portion of the output end of the first power mechanism and the input end of the second power mechanism are disposed in the accommodating space. The output end of the second power mechanism is mechanically coupled to the limb assembly. The second power mechanism and the first power mechanism can be used to drive the limb assembly to move in different degrees of freedom. When the limb assembly moves, at least a portion of the second power mechanism has a gap with the avoidance part.

[0013] In some embodiments, the limb assembly includes a leg assembly; the power mechanism includes two first power mechanisms and two second power mechanisms, the input ends of the two first power mechanisms are mechanically coupled to the mid-frame, and the two first power mechanisms are arranged symmetrically with respect to the sagittal plane of the robot; the output end of each first power mechanism is mechanically coupled to the input end of one of the second power mechanisms, and the output end of each second power mechanism is mechanically coupled to a set of the leg assemblies; an airflow inlet / outlet is formed between the two second power mechanisms and the avoidance section.

[0014] In some exemplary embodiments, the two airflow inlets and outlets are symmetrical with respect to the sagittal plane of the robot, and the airflow generated by the fan rotation is able to blow out toward at least one of the airflow inlets and outlets.

[0015] In some exemplary embodiments, the first power mechanism is capable of rotating about a first rotation axis, and the second power mechanism is capable of rotating about a second rotation axis, wherein the first rotation axis and the second rotation axis are perpendicular to each other.

[0016] In some exemplary embodiments, the first power mechanism can drive the limb assembly to perform a rolling motion, and the second power mechanism can drive the limb assembly to perform a pitching motion; along the extension direction of the first rotation axis, the first power mechanism, the fan, and the main control circuit board are all spaced apart, and the fan and the main control circuit board are arranged opposite to each other.

[0017] In some embodiments, the robot further includes a power frame and a battery, the power frame being detachably connected to the mid-frame and the circuit board bracket, respectively, and the power frame being fitted with the battery.

[0018] In some exemplary embodiments, the battery is electrically connected to the main control circuit board via a wire, the power frame passes through the middle frame and extends toward the housing, and the power frame has a wire-passing part and / or a wire-clamping part on the side facing the housing, and the wire passes through the wire-passing part and / or the wire-clamping part.

[0019] In some embodiments, the circuit board bracket includes a first bracket and a second bracket connected together, the first bracket and the second bracket being perpendicular to each other, a first end of the middle frame extending close to the first bracket, and a second end of the middle frame being detachably connected to the second bracket; the main control circuit board and the fan are connected to opposite sides of the first bracket.

[0020] In some exemplary embodiments, the first bracket has a hollowed-out area, which is connected to one side of the fan and one side of the main control circuit board.

[0021] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit the disclosure of the embodiments of this utility model. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 This is a three-dimensional structural schematic diagram of the robot proposed in some embodiments of this utility model; Figure 2 This is a three-dimensional structural schematic diagram of the robot proposed in some embodiments of this utility model; Figure 3 This is a schematic diagram of the assembly of some components of the robot proposed in some embodiments of this utility model; Figure 4This is an exploded schematic diagram of some components of the robot proposed in some embodiments of this utility model; Figure 5 This is a schematic diagram showing the relative position of the clearance opening of the housing and the fan in some embodiments of this utility model; Figure 6 This is a schematic diagram showing the relative positions of the channel opening of the housing and the heat dissipation component in some embodiments of this utility model; Figure 7 This is a schematic diagram showing that the shell has clearance portions on both sides in some embodiments of this utility model; Figure 8 This is a schematic diagram of the mechanical coupling between the power mechanism and the leg assembly in some embodiments of this utility model; Figure 9 This is a schematic diagram of the separate structure of the circuit board support, the middle frame, the power supply frame, and the battery in some embodiments of this utility model; Figure 10 This is a schematic diagram of the heat dissipation component in some embodiments of this utility model; Figure 11 This is a schematic diagram of the robot structure in some embodiments of this utility model.

[0024] Explanation of reference numerals in the attached figures: 1000, Robot; 1001, Sagittal plane; 101. Shell; 102. Avoidance section; 1021. Avoidance opening; 1022. Avoidance passage; 1023. Passage entrance; 103. Airflow inlet and outlet; 1031. First airflow inlet / outlet; 1032. Second airflow inlet / outlet; 1034. Airflow inlet / outlet channel; 110. Middle frame; 111. First end; 112. Second end; 113. Assembly port; 120. Circuit board support; 121. First support; 1211. Cutout area; 122. Second support; 130. Power supply frame; 140. Accommodation space; 151. Cable guide section; 152. Cable clamping section; 200. Limb component; 201. Arm component; 202. Leg component; 210. Power mechanism; 211. First power mechanism; 212. Second power mechanism; 213. First rotation axis; 214. Second rotation axis; 510. Main control circuit board; 511. Controller; 600. Heat dissipation component; 610. Fan; 611. Fan blades; 620. Heat sink; 630. Heat sink housing; 700, battery. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments. Other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are all within the protection scope of the present utility model.

[0026] Robots are typically equipped with limb components to enhance their mobility and the richness of their movements. Limb components usually consist of one or both leg and arm components. To increase the degrees of freedom of movement of the limb components, multiple power components are often used to drive the limb components to different degrees of freedom.

[0027] Robots typically have a compact internal structure and contain multiple heat-generating components. For example, the main control circuit board used for control generates a lot of heat during operation, as does the power mechanism used to drive the movement of limb components, and the battery generates a lot of heat while providing power to the various components.

[0028] In related technologies, the robot's shell has multiple heat dissipation holes for the exchange of airflow between the robot's internal and external environments. When the robot works for a long time in different scenarios and performs different actions, it is difficult to achieve active and rapid heat dissipation, which can easily cause the robot's temperature to become too high and prevent it from continuing to move. Setting too many heat dissipation holes will also reduce the robot's waterproof and dustproof performance and affect its appearance quality.

[0029] In view of this, this application proposes a robot 1000, which, without opening additional heat dissipation holes, uses the necessary space reserved in the shell 101 and the gap formed between the robot 1000 and the power mechanism 210 to drive the limb component 200 to move, and serves as the connection point for the robot 1000 to exchange airflow with the external environment. The airflow is convected by the rotation of the fan 610, which aims to achieve active heat dissipation of the robot 1000, with fewer openings and improved waterproof and dustproof performance.

[0030] The robot 1000 of this application can be in the form of a legged robot, a wheel-legged robot, a wheeled robot, etc.

[0031] Provided that the solutions do not contradict each other, the following embodiments can be combined with each other.

[0032] Combination Figure 1 , Figure 2 , Figure 3 and Figure 10As shown in the figure, a robot 1000 proposed in this embodiment of the present invention includes: a shell 101, a middle frame 110, a circuit board bracket 120, a main control circuit board 510, a fan 610, a limb assembly 200, and a power mechanism 210.

[0033] Among them, such as Figure 1 and Figure 2 As shown, the housing 101 is provided with a clearance portion 102, which includes a clearance opening 1021. (This is in conjunction with...) Figure 1 , Figure 3 As shown, the mid-frame 110 and the circuit board support 120 are disposed within the housing 101, and the circuit board support 120 is connected to the mid-frame 110. (Refer to...) Figure 4 An accommodating space 140 is formed between the middle frame 110 and the circuit board support 120.

[0034] Combination Figure 1 and Figure 3 As shown, the main control circuit board 510 is mounted on the side of the circuit board bracket 120 near the housing 101; combined with Figure 3 , Figure 4 and Figure 10 As shown, the fan 610 is mounted on the other side of the circuit board bracket 120 away from the housing 101. The fan 610 is located in the accommodating space 140 and is spaced apart from the main control circuit board 510, and is used to dissipate heat from the main control circuit board 510.

[0035] refer to Figure 1 and Figure 2 The limb component 200 is movable relative to the housing 101; combined with Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the power mechanism 210 is used to drive the movement of the limb assembly 200. At least a portion of the power mechanism 210 is disposed in the accommodating space 140. The power mechanism 210 and the fan 610 are spaced apart. (Refer to...) Figure 3 The input end of the power mechanism 210 is connected to the middle frame 110; the output end of the power mechanism 210 is connected to the limb assembly 200, see reference. Figure 1 , Figure 2 and Figure 4 The clearance portion 102 provides the space required for the power mechanism 210 to drive the limb assembly 200. The output end of the power mechanism 210 extends from the clearance opening 1021 to the external environment, and the output end of the power mechanism 210 is clearance-fitted with the clearance opening 1021. The gap between the power mechanism 210 and the clearance portion 102 is formed as follows: Figure 5 , Figure 6The airflow inlet / outlet 103 shown is connected to the accommodating space 140; when the fan 610 rotates, at least a portion of the airflow inlet / outlet 103 can be used to introduce airflow from the external environment into the accommodating space 140; the remaining portion of the airflow inlet / outlet 103 can be used to discharge airflow from the accommodating space 140 outwards; or in combination Figure 4 and Figure 6 The clearance section 102 is also provided with a passage 1023 for air outlet. The passage 1023 is spaced apart from the output end of the power mechanism 210, and at least part of the passage 1023 is blocked by the output end of the power mechanism 210 and / or the limb assembly 200.

[0036] As can be seen from the above, the robot 1000 proposed in this utility model, by placing the fan 610 in the accommodating space 140 and spaced apart from the main control circuit board 510, and the main control circuit board 510 being located on the side of the circuit board support 120 near the housing 101, the main control circuit board 510, the middle frame 110, and the circuit board support 120 can provide a certain degree of protection for the fan 610. During operation, the fan 610 can also circulate and exchange airflow within the accommodating space 140 and between the inside and outside of the housing 101, effectively preventing heat accumulation from components that generate a lot of heat. Because the fan 610 is located within the accommodating space 140 and on the side of the circuit board support 120 away from the housing 101, the fan 610 is less likely to be directly impacted during a fall or collision of the robot 1000, thus improving the reliability of the fan 610 while ensuring active heat dissipation.

[0037] Specifically, during the rotation of fan 610, a certain amount of wind pressure and airflow disturbance are generated. Fan 610 can drive external airflow into the accommodating space 140 through airflow inlet / outlet 103, and fan 610 can also drive the airflow in the accommodating space 140 out to the external environment through airflow inlet / outlet 103. During the airflow circulation and exchange process, the main control circuit board 510 generates hot airflow that continuously exchanges heat with the surrounding airflow inside the housing 101. The heated airflow and the airflow entering from the external environment can continuously mix and circulate, so that heat can be quickly dispersed and heat accumulation is reduced. Part of the airflow is discharged to the external environment from another part of the airflow inlet / outlet 103 or the channel 1023, thereby achieving continuous heat dissipation of the main control circuit board 510. This improves the heat dissipation efficiency of the robot 1000, preventing the robot 1000 from crashing or reporting errors due to excessive internal component temperature during operation. The rotation of fan 610 causes airflow to flow continuously in the accommodating space 140 and exchange airflow with the external environment through the airflow inlet and outlet 103. This enables fan 610 to effectively dissipate heat from the main control circuit board 510, and also enables fan 610 to dissipate heat from other heat-generating components and the space adjacent to the power mechanism 210 near the circuit board bracket 120.

[0038] Since the power mechanism 210 drives the limb component 200 to move, and the connection between the power mechanism 210 and the limb component 200 requires the opening of a clearance part 102 in the housing 101 for clearance, the design of the clearance part 102 on the housing 101 is essential. The airflow inlet and outlet part 103 achieves airflow inflow through the natural gap formed between the power mechanism 210 and the clearance part 102, and airflow outflow through the natural gap or through the channel opening 1023. During the process of the power mechanism 210 driving the limb component 200 to move, part of the natural gap or part of the channel opening 1023 can be blocked, making it invisible from the outside. This can reduce the number of additional significantly exposed holes that the robot 1000 needs to open on the housing 101. The robot 1000 can achieve the circulation and exchange of airflow between the housing 101 and the external environment without having to open additional significantly exposed heat dissipation holes on the housing 101.

[0039] It is understood that the solution of robot 1000 in the embodiments of this application can reduce the number of heat dissipation holes required in the shell 101, reduce the processing difficulty, realize active air cooling of internal components of robot 1000, improve the structural strength of shell 101 of robot 1000, improve the appearance of robot 1000, and improve the waterproof and dustproof performance of robot 1000.

[0040] The specific structural forms of the avoidance section 102 and the airflow inlet / outlet section 103 will be described below as examples.

[0041] In some embodiments, reference Figure 4 The avoidance section 102 includes an avoidance opening 1021, such as Figure 5 As shown, the airflow inlet / outlet 103 includes a first airflow inlet / outlet 1031, combined with... Figure 3 and Figure 4 The gap between the clearance 1021 and the power mechanism 210 forms a first airflow inlet / outlet 1031. A portion of the first airflow inlet / outlet 1031 faces the fan blades 611 of the fan 610. The portion of the first airflow inlet / outlet 1031 facing the fan blades 611 forms an air outlet to discharge air when the fan 610 rotates. The portion of the first airflow inlet / outlet 1031 away from the fan blades 611 forms an air inlet to intake air when the fan 610 rotates. During the rotation of the fan 610, airflow can smoothly enter or exit from the first airflow inlet / outlet 1031. For example, the housing 101 is a relatively continuous layered structure. To provide space for the connection and movement of the power mechanism 210 and the limb assembly 200, an opening is provided through the thickness of the housing 101. This opening serves as a clearance opening 1021, allowing the power mechanism 210 to drive the limb assembly 200 to move freely within a preset degree of freedom without interfering with the housing 101. Furthermore, regardless of the positions of the power mechanism 210 and the limb assembly 200, there are always gaps and space between the power mechanism 210 and the opening wall of the clearance opening 1021 for airflow to enter and exit. Thus, the first airflow inlet / outlet 1031 is always connected to the accommodating space 140 and the external environment. The size of the first airflow inlet / outlet 1031 is continuously adjusted according to the relative position of the power mechanism 210 with respect to the clearance opening 1021. During the movement of the limb assembly 200 driven by the power mechanism 210, at least a portion of the first airflow inlet / outlet 1031 can be blocked from external view.

[0042] In other embodiments, combined with Figure 4 and Figure 6 The avoidance section 102 includes an avoidance opening 1021 and an avoidance channel 1022, with the avoidance opening 1021 communicating with the avoidance channel 1022. The airflow inlet / outlet section 103 includes a second airflow inlet / outlet 1032 and an airflow inlet / outlet channel 1034. The gap between the avoidance opening 1021 and the power mechanism 210 forms the second airflow inlet / outlet 1032, and the channel between the avoidance channel 1022 and the power mechanism 210 forms the airflow inlet / outlet channel 1034. Figure 4 and Figure 6As shown, the two ends of the second airflow inlet / outlet 1032 are connected to the airflow inlet / outlet channel 1034 and the accommodating space 140, respectively. The second airflow inlet / outlet 1032 can exchange with the external ambient airflow. The annular channel between the clearance channel 1022 and the power mechanism 210 forms the airflow inlet / outlet channel 1034. The shape of the airflow inlet / outlet channel 1034 is continuously adjusted according to the position of the power mechanism 210 relative to the channel wall of the clearance channel 1022. The size of the second airflow inlet / outlet 1032 is continuously adjusted according to the relative position of the clearance port 1021 and the second airflow inlet / outlet 1032.

[0043] For example, combining Figure 4 and Figure 6 As shown, the surface of the housing 101 is recessed into the accommodating space 140 to form a clearance portion 102. The recessed channel is a clearance channel 1022. A clearance opening 1021 is provided on the end face of the clearance portion 102. The limb assembly 200 and the power mechanism 210 can move relative to the clearance portion 102. When the power mechanism 210 drives the limb assembly 200 to move, at least a portion of the power mechanism 210 is spaced apart from the inner wall of the clearance channel 1022, and at least a portion of the power mechanism 210 is spaced apart from the clearance opening 1021. This ensures that the airflow in the accommodating space 140 can always exchange with the airflow of the external environment during the rotation of the fan 610. In embodiments with an airflow inlet / outlet channel 1034, the airflow inlet / outlet channel 1034 can guide the flow of air, which is beneficial to improving the airflow exchange efficiency between the accommodating space 140 and the external environment when the fan 610 rotates. In a specific embodiment, the clearance channel 1022 gradually decreases in cross-section from the outside of the housing 101 toward the accommodating space 140. The clearance opening 1021 can accommodate the movement of the clearance power mechanism 210. While the power mechanism 210 maintains a gap with the clearance opening 1021 and the clearance channel 1022 when it drives the limb assembly 200, the aesthetics of the clearance channel 1022 can be improved, and the amount of dust, hair and other contaminants entering the housing 101 can be reduced.

[0044] In some embodiments, combined with Figure 4 and Figure 6 The passage wall of the clearance passage 1022 is also provided with a passage opening 1023, which is spaced apart from the clearance opening 1021. Both the passage opening 1023 and the clearance opening 1021 are connected to the accommodating space 140. Figure 6 and Figure 10As shown, the channel opening 1023 faces the fan blades 611 of the fan 610 to exhaust air when the fan 610 rotates; the clearance opening 1021 is clearance-fitted with the output end of the power mechanism 210 to allow air to enter when the fan 610 rotates. In these embodiments, by opening the channel opening 1023 directly facing the fan blades 611 of the fan 610, it is beneficial for the fan 610 to exhaust air more smoothly from the channel opening 1023 to the airflow inlet / outlet channel 1034. For example, the channel opening 1023 serves as the exhaust port of the fan 610, while the gap between the clearance opening 1021 and the power mechanism 210 serves as a second airflow inlet / outlet 1032 for air intake, which can further improve the airflow circulation effect of the fan 610. Specifically, the channel opening 1023 and the output end of the power mechanism 210 are spaced apart, making it difficult for the air outlet of the channel opening 1023 to be blocked. At least part of the channel opening 1023 is obscured by the output end of the power mechanism 210 and / or the limb assembly 200, making it invisible from the outside. This ensures that the exhaust effect of the fan 610 is always guaranteed during the movement of the limb assembly 200 driven by the power mechanism 210, and makes the robot 1000 look better from the outside, significantly reducing the number of visible exposed holes. The efficient exhaust of the fan 610 facilitates the further introduction of airflow through the second airflow inlet and outlet 1032, enabling the fan 610 to efficiently circulate the airflow in the accommodating space 140.

[0045] In an exemplary embodiment, reference is made to Figure 10 The fan 610 includes rotatable fan blades 611. The extension direction of the airflow inlet / outlet channel 1034 is approximately parallel to the extension direction of the fan blades 611. When the fan blades 611 rotate, the turning loss and airflow resistance are small when the airflow enters and exits through the airflow inlet / outlet channel 1034. This is beneficial to increase the amount of gas actually flowing through the containment space 140 under the same conditions of fan 610 speed and time.

[0046] The specific design of the power mechanism 210 will be described below as an example.

[0047] In some embodiments, such as Figure 3 As shown, the power mechanism 210 includes a first power mechanism 211 and a second power mechanism 212. The input end of the first power mechanism 211 is mechanically coupled to the middle frame 110, and the output end of the first power mechanism 211 is mechanically coupled to the input end of the second power mechanism 212. (Refer to...) Figure 4 At least a portion of the output end of the first power mechanism 211 and the input end of the second power mechanism 212 are disposed in the accommodating space 140. The output end of the second power mechanism 212 is mechanically coupled to the limb assembly 200. Figure 2 and Figure 4The second power mechanism 212 and the first power mechanism 211 can be used to drive the limb assembly 200 to move in different degrees of freedom. When the limb assembly 200 moves, at least a part of the second power mechanism 212 has a gap with the avoidance part 102. By setting the first power mechanism 211 and the second power mechanism 212, the movement of the limb assembly 200 can be made more flexible. The clearance part 102 of the shell 101 needs to reserve sufficient space so that when the first power mechanism 211 and the second power mechanism 212 drive the limb assembly 200 to move in different degrees of freedom, there is always a gap between the second power mechanism 212 and the clearance part 102. This allows the airflow inlet and outlet part 103 formed by the gap to always connect the accommodating space 140 with the airflow of the external environment. When the fan 610 rotates, it can continuously exchange the airflow between the accommodating space 140 and the external environment. The heat generated by the main control circuit board 510, as well as the heat generated by the first power mechanism 211 and the second power mechanism 212, can be exchanged and dispersed through the continuously circulating airflow. The airflow with increased temperature after heat exchange is discharged to the outside of the robot 1000 through the airflow inlet and outlet part 103, effectively preventing the robot 1000 from overheating.

[0048] In some exemplary embodiments, such as Figure 1 and Figure 2 As shown, the limb component 200 includes a leg component 202; combined with Figure 3 and Figure 8 As shown, the power mechanism 210 includes two first power mechanisms 211 and two second power mechanisms 212. The input ends of the two first power mechanisms 211 are mechanically coupled to the middle frame 110. Figure 1 and Figure 8Two first power mechanisms 211 are symmetrically arranged with respect to the sagittal plane 1001 of the robot 1000. The output end of each first power mechanism 211 is mechanically coupled to the input end of a second power mechanism 212, and the output end of each second power mechanism 212 is mechanically coupled to a set of leg components 202. An airflow inlet / outlet 103 is formed between the two second power mechanisms 212 and the avoidance part 102. Thus, the two sets of leg components 202 enable the robot 1000 to be more balanced when moving and to perform more diverse movements, adapting to different terrains. The two airflow inlet / outlet 103 can increase the communication port for the exchange of airflow in the accommodating space 140 with the external environment airflow, improving the exchange efficiency of airflow in the accommodating space 140 with the external environment airflow during the rotation of the fan 610. For example, during the rotation of the fan 610, one airflow inlet / outlet 103 is mainly used for airflow intake, while the other airflow inlet / outlet 103 is mainly used for airflow exhaust, forming a certain airflow convection. This allows for more efficient exchange of airflow between the entire robot 1000's containment space 140 and the external environment's airflow. It also allows the intake and exhaust of the two airflow inlet / outlet 103 to be further apart, which is beneficial for introducing cooler air from the external environment into the containment space 140 via the airflow inlet / outlet 103. In other embodiments, see reference... Figure 2 , Figure 3 As shown, the limb assembly 200 also includes an arm assembly 201. The power mechanism 210 can be further equipped with two third power mechanisms (not shown). The input end of each third power mechanism can be mechanically coupled to the middle frame 110, and the output end of each third power mechanism is coupled to one arm assembly 201, thereby enabling flexible movement of the limb assembly 200. Thus, the airflow inlet / outlet 103 formed between the two arm assemblies 201 and the clearance portion 102 of the housing 101 can also be connected to the external environment. During the rotation of the fan 610, the connection between the accommodating space 140 and the external environment can be further increased. In a specific embodiment, refer to... Figure 2 Along the height direction of the robot 1000, the position of the airflow inlet / outlet 103 formed between the arm assembly 201 and the clearance part 102 is higher than the position of the airflow inlet / outlet 103 formed between the leg assembly 202 and the clearance part 102. The air outlet side of the fan 610 is arranged opposite to the lower airflow inlet / outlet 103, so that the airflow can flow outward quickly from the two lower airflow inlet / outlet 103, which has a faster heat exchange efficiency; while the two higher airflow inlet / outlet 103 can flow inward when the fan 610 rotates, replenishing the accommodating space 140 with new airflow at a lower temperature.

[0049] In an exemplary embodiment, combined with Figure 1 and Figure 7As shown, the two airflow inlets and outlets 103 are symmetrical with respect to the sagittal plane 1001 of the robot 1000, combined with Figure 4 , Figure 7 and Figure 10 As shown, the airflow generated by the rotation of the fan 610 can be blown out toward at least one of the airflow inlet / outlet parts 103. In other words, the fan 610 can blow the airflow that has been heated by heat exchange with the main control circuit board 510 in the accommodating space 140 outward toward at least one airflow inlet / outlet part 103, thereby improving the heat dissipation efficiency of the robot 1000 and preventing the accumulation of internal heat.

[0050] In some embodiments, reference Figure 3 , Figure 4 and Figure 8 As shown, the first power mechanism 211 can rotate around the first rotation axis 213, and the second power mechanism 212 can rotate around the second rotation axis 214. The first rotation axis 213 and the second rotation axis 214 are perpendicular to each other. At this time, the first power mechanism 211 and the second power mechanism 212 can respectively drive the limb assembly 200 to move in different directions, allowing the limb assembly 200, such as the leg assembly 202, to move in a larger three-dimensional workspace, making the movement of the limb assembly 200 more flexible and varied. For example, the first rotation axis 213 and the second rotation axis 214 can be selected from any two of the roll axis, pitch axis, and yaw axis; any combination of these two axes can form perpendicular axes.

[0051] In an exemplary embodiment, reference is made to Figure 8 As shown, the first power mechanism 211 can drive the limb component 200 to perform a rolling motion, and the second power mechanism 212 can drive the limb component 200 to perform a pitching motion; Reference Figure 3 and Figure 4 Along the extension direction of the first rotation axis 213, the first power mechanism 211, the fan 610, and the main control circuit board 510 are all spaced apart, with the fan 610 and the main control circuit board 510 positioned opposite each other. Thus, the first rotation axis 213 is the roll axis, allowing the first power mechanism 211 to rotate around it, thereby driving the limb assembly 200 to perform roll motion. The second rotation axis 214 is the pitch axis, allowing the second power mechanism 212 to rotate around it, thereby driving the limb assembly 200 to perform pitch motion. The components spaced apart along the extension direction of the first rotation axis 213 do not interfere with each other during operation. During the rotation of the fan 610, they can quickly mix and exchange the hotter airflow around the main control circuit board 510 with the cooler airflow drawn in from the airflow inlet / outlet 103, dispersing heat and expelling the heated airflow through the airflow inlet / outlet 103, thus improving heat dissipation efficiency.

[0052] The following describes the solution for fan 610 as an example.

[0053] In some embodiments, the fan 610 includes a centrifugal fan or a mixed-flow fan, with the air outlet side of the fan 610 facing the airflow inlet / outlet 103, for example, facing the first airflow inlet / outlet 1031 of the aforementioned embodiment or facing the channel opening 1023 of the aforementioned embodiment. The air outlet direction of both the centrifugal fan and the mixed-flow fan can be changed relative to the air inlet direction. For example, the inlet and outlet directions of a centrifugal fan are approximately 90 degrees apart. For a mixed-flow fan, a fan 610 with an inlet and outlet direction greater than or equal to 90 degrees and less than 180 degrees apart is selected. Since the airflow inlet / outlet 103 formed between the power mechanism 210 and the clearance part 102 is usually located on the side of the housing 101, while the fan 610 and the main control circuit board 510 are spaced apart on both sides of the circuit board support 120, for example, the main control circuit board 510 is located in the front protruding area of ​​the housing 101 near the robot 1000, then by using a centrifugal fan or a mixed-flow fan, the exhaust direction can be flexibly adjusted, so that the airflow with increased heat can be discharged outward from the airflow inlet / outlet 103 located on the side of the housing 101, thereby improving the exchange and circulation capacity of the fan 610 for the airflow in the accommodating space 140 and the external airflow.

[0054] For example, in some specific embodiments having two airflow inlets / outlets 103, where the two airflow inlets / outlets 103 are respectively first airflow inlets / outlets 1031, in order to improve heat exchange efficiency, the main control circuit board 510 is located on the air inlet side of the fan 610, for example, the air inlet side of a centrifugal fan. The air outlet side of the centrifugal fan faces one airflow inlet / outlet 103, while the other airflow inlet / outlet 103 can be used for air intake. Since the two first airflow inlets / outlets 1031 are far apart, the hot airflow discharged by the centrifugal fan from one of the first airflow inlets / outlets 1031 will not be drawn back into the accommodating space 140 from the other first airflow inlet / outlet 1031. This results in a lower temperature of the airflow drawn in when the centrifugal fan rotates, which is beneficial for effective heat exchange between the airflow inside and outside the accommodating space 140.

[0055] For example, refer to Figure 6 In some embodiments with two airflow inlets and outlets 103, each of which includes a second airflow inlet / outlet 1032 and an airflow inlet / outlet channel 1034, and each clearance channel 1022 having a channel opening 1023, the exhaust side of the mixed-flow fan exhausts air towards the two channel openings 1023 on both sides, while the second airflow inlet / outlet 1032 can be used for air intake; since the second airflow inlet / outlet 1032 and the channel opening 1023 are spaced apart, when the channel openings 1023 on both sides exhaust air to the outside of the housing 101, the second airflow inlet / outlet 1032 on both sides can also supplement airflow to the accommodating space 140.

[0056] In some embodiments, combined with Figure 1 , Figure 3 and Figure 10 As shown, the robot 1000 includes a heat dissipation component 600, combined with... Figure 5 and Figure 10 As shown, the heat dissipation assembly 600 includes a heat sink 620, a heat dissipation housing 630, and a fan 610. The heat dissipation housing 630 is a shell component with good thermal conductivity. The fan 610 is installed inside the heat dissipation housing 630, forming an air duct. The heat sink 620 is arranged inside the air duct. The airflow generated by the rotation of the fan 610 can flow through the air duct to the heat sink 620, and further be discharged outward through the first airflow inlet / outlet 1031 of the aforementioned embodiment or the channel opening 1023 of the aforementioned embodiment. The heat dissipation housing 630 and the heat sink 620 can increase the heat exchange area between the air around the fan 610 and the air inside the accommodating space 140, so that the fan 610 can continuously reduce the temperature of the airflow inside the accommodating space 140 during the airflow circulation process. In a specific embodiment, the heat sink 630 is positioned close to the main control circuit board 510, thereby enabling the heat generated by the main control circuit board 510 to be quickly transferred to the heat sink 630 through thermal radiation, and further transferred to the heat sink 620. During the rotation of the fan 610, the cooler airflow continuously flows through the heat sink 630 and the heat sink 620. Through the continuous heat exchange between the cooler airflow and the hotter heat sink 630 and the heat sink 620, the main control circuit board 510 can be cooled down. After the heat exchange, the heated gas is discharged to the outside of the housing 101, so that the temperature of the main control circuit board 510 does not become too high, effectively preventing the main control circuit board 510 from overheating and reporting errors.

[0057] The other components in robot 1000 are described below as examples.

[0058] In some embodiments, combined with Figure 1 and Figure 9As shown, the robot 1000 also includes a power frame 130 and a battery 700. The power frame 130 is detachably connected to the mid-frame 110 and the circuit board support 120, respectively, and the battery 700 is mounted on the power frame 130. The power frame 130 provides the necessary support and space for the battery 700, making it less likely for the battery 700 to be damaged by impacts. The connection between the power frame 130 and the mid-frame 110 and the circuit board support 120 further enhances the structural strength of the entire robot 1000 and improves its impact resistance. The battery 700 provides the necessary power to various electrical components. For example, the battery 700 provides the necessary power to the main control circuit board 510, enabling the main control circuit board 510 to function normally. The battery 700 also provides the necessary power to the power mechanism 210 for movement, enabling the power mechanism 210 to drive the limb assembly 200 to move. The power supply frame 130 and circuit board bracket 120 are detachably connected, facilitating the disassembly of the power supply frame 130 for battery 700 maintenance and the assembly of components in the housing space 140, such as the fan 610. This reduces the processing difficulty of the various frames of the robot 1000 and improves assembly convenience. The detachable connection can be at least one of snap-fit, plug-in, or fastener connection. Since the power supply frame 130 is also located inside the housing 101, the heat generated by the battery 700 during operation can be radiated to the surroundings through the power supply frame 130. During the rotation of the fan 610, the heat generated by the battery 700 can also be transferred to the outside of the housing 101 by continuously driving airflow and exchanging airflow with the external environment. This helps the battery 700 to operate normally at a safe operating temperature, thereby further improving the robot 1000's motion endurance, service life, and operational safety.

[0059] In an exemplary embodiment, combined with Figure 3 and Figure 9 As shown, the battery 700 is electrically connected to the main control circuit board 510 via a wire (not shown in the figure), and the power supply frame 130 extends through the middle frame 110 and toward the housing 101, as shown in the figure. Figure 9As shown, the power supply frame 130 has a wire-passing part 151 and / or a wire-clamping part 152 on the side facing the housing 101, through which the wire passes. The battery 700 and the main control circuit board 510 are connected by the physical wire, which can reliably transmit power and can also be wired together with the communication line when needed. The wire is limited by the wire-passing part 151 and / or the wire is clamped and held in position by the wire-clamping part 152, which makes the arrangement of the wire more orderly. During the movement of the robot 1000, the various components connected by the wire can always maintain electrical connection, reducing the risk of loosening of the connection between the wire and the main control circuit board 510, and also reducing the risk of loosening of the connection between the wire and the battery 700. In some specific embodiments, the main control circuit board 510 is provided with a connector for connecting the wire. The connector and the wire-passing part 151 and / or the wire-clamping part 152 are spaced apart in a direction generally parallel to the main control circuit board 510. The wire can smoothly pass through the connector and the wire-passing part 151, and / or the wire is fixed by the connector and the wire-clamping part 152, so that its position relative to the circuit board support 120 remains approximately unchanged. This effectively prevents the wire from becoming loose or misaligned, keeps the wire away from the working area of ​​the fan 610, prevents the wire from interfering with the fan blade 611 when the fan 610 is working, and enables the robot 1000 to operate safely.

[0060] The structure of the circuit board support 120 will now be described by way of example.

[0061] In some embodiments, combined with Figure 4 and Figure 9 As shown, the circuit board support 120 includes a first support 121 and a second support 122 connected to each other. The first support 121 and the second support 122 are perpendicular to each other. The first end 111 of the middle frame 110 extends close to the first support 121, and the second end 112 of the middle frame 110 is detachably connected to the second support 122. Figure 3 , Figure 9 and Figure 10As shown, the main control circuit board 510 and the fan 610 are connected to opposite sides of the first bracket 121. The perpendicular first bracket 121 and the second bracket 122 can form a certain space between them, which facilitates the arrangement of the fan 610 and the main control circuit board 510 respectively. The circuit board bracket 120, which is roughly L-shaped, is connected to the middle frame 110 to form a accommodating space 140 with a certain volume. The accommodating space 140 is located inside the shell 101 of the robot 1000. The accommodating space 140 where the fan 610 is located inside is less likely to be damaged when the robot 1000 is hit by external force. The accommodating space 140 where the fan 610 is located inside can also make the airflow in the accommodating space 140 continuously circulate when rotating, make the airflow in the accommodating space 140 continuously exchange with the airflow in other spaces in the shell 101, and make the airflow in the accommodating space 140 exchange with the airflow in the external environment through the airflow inlet and outlet 103. The second end 112 of the middle frame 110 can be detachably connected to the second bracket 122 in at least one of the following forms: plug-in, snap-in, or fastener connection.

[0062] In an exemplary embodiment, such as Figure 4 and Figure 9 As shown, the first bracket 121 has a hollow area 1211, which connects one side of the fan 610 and one side of the main control circuit board 510. This allows the fan 610 to rotate, causing airflow around the main control circuit board 510 to exchange with the airflow in the accommodating space 140. During this continuous heat exchange, the heat generated by the main control circuit board 510 is dispersed and transferred to the outside of the robot 1000, thus improving heat dissipation for the main control circuit board 510.

[0063] In an exemplary embodiment, the main control circuit board 510 is used to output electrical control signals to the power mechanism 210 to control the movement of the power mechanism 210. For example, the main control circuit board 510 can control parameters such as the rotation angle, angular velocity, and rotation time of the power mechanism 210, thereby achieving precise and flexible movement of the power mechanism 210, enabling the limb components 200 of the robot 1000 to accurately complete preset actions driven by the power mechanism 210. In a specific embodiment, refer to... Figure 11 The main control circuit board 510 includes a controller 511, which is electrically connected to the power mechanism 210. The controller 511 is configured to send a control signal to the power mechanism 210 in response to user input to make the power mechanism 210 rotate.

[0064] In a specific embodiment, combined with Figure 1 and Figure 9 As shown, the robot 1000 also includes a power supply frame 130, referenced. Figure 9The middle frame 110 is provided with an assembly port 113. The power supply frame 130 passes through the assembly port 113 and is detachably connected to the first bracket 121. The fan 610 is located in the space enclosed by the first bracket 121, the second bracket 122, the middle frame 110 and the power supply frame 130, so that the airflow generated by the fan 610 can be easily exchanged with the airflow around the power supply frame 130, and the heat generated by the battery 700 can also be discharged to the outside of the housing 101 during the continuous circulation of airflow.

[0065] In this utility model, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first," "second," and "third" may explicitly or implicitly include one or more of the stated features.

[0066] In the description of this application, "multiple" means two or more, unless otherwise expressly and specifically defined.

[0067] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this utility model, and these modifications or substitutions should all be covered within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A robot, characterized in that, include: The housing is provided with a clearance portion, the clearance portion including a clearance opening; The middle frame is disposed within the housing; A circuit board support is disposed within the housing, and the circuit board support is connected to the middle frame, forming an accommodating space between the middle frame and the circuit board support; The main control circuit board is mounted on the side of the circuit board bracket near the housing; A fan is installed on the side of the circuit board bracket away from the housing. The fan is located in the accommodating space and spaced apart from the main control circuit board, and is used to dissipate heat from the main control circuit board. A limb assembly that is movable relative to the housing; A power mechanism is provided to drive the movement of the limb assembly. At least a portion of the power mechanism is disposed in the accommodating space. The power mechanism is spaced apart from the fan. The input end of the power mechanism is connected to the middle frame. The output end of the power mechanism is connected to the limb assembly. A clearance portion is provided to provide the space required for the power mechanism to drive the movement of the limb assembly. The output end of the power mechanism extends from the clearance opening to the external environment, and the output end of the power mechanism is clearance-fitted with the clearance opening. The gap between the power mechanism and the clearance portion forms an airflow inlet / outlet, which communicates with the accommodating space. When the fan rotates, at least a portion of the airflow inlet / outlet can be used to introduce airflow from the external environment into the accommodating space. The remaining portion of the airflow inlet / outlet can be used to discharge the airflow in the accommodating space to the outside; or the avoidance portion is further provided with a channel for air outlet, the channel being spaced apart from the output end of the power mechanism, and at least a portion of the channel being blocked by the output end of the power mechanism and / or the limb assembly.

2. The robot as described in claim 1, characterized in that, The clearance section includes a clearance opening, and the airflow inlet / outlet section includes a first airflow inlet / outlet. The gap between the clearance opening and the power mechanism forms the first airflow inlet / outlet. A portion of the first airflow inlet / outlet faces the fan blades, and the portion of the first airflow inlet / outlet facing the fan blades forms an air outlet to discharge air when the fan rotates; the portion of the first airflow inlet / outlet away from the fan blades forms an air inlet to intake air when the fan rotates.

3. The robot as described in claim 1, characterized in that, The avoidance part includes an avoidance opening and an avoidance channel, the avoidance opening and the avoidance channel are connected, the airflow inlet and outlet part includes a second airflow inlet and outlet and an airflow inlet and outlet channel, the gap between the avoidance opening and the power mechanism forms the second airflow inlet and outlet, the channel between the avoidance channel and the power mechanism forms the airflow inlet and outlet channel, and the two ends of the second airflow inlet and outlet are respectively connected to the airflow inlet and outlet channel and the accommodating space.

4. The robot as described in claim 3, characterized in that, The passage wall of the clearance passage is also provided with a passage opening, which is spaced apart from the clearance opening. Both the passage opening and the clearance opening are connected to the accommodating space. The passage opening is directly opposite the fan blades so that air is discharged when the fan is rotating. The clearance opening is clearance-fitted with the output end of the power mechanism so that air is introduced when the fan is rotating.

5. The robot as described in claim 3, characterized in that, The surface of the housing is recessed into the accommodating space to form the clearance portion.

6. The robot as described in any one of claims 1 to 5, characterized in that, The fan may be a centrifugal fan or a mixed-flow fan.

7. The robot as described in any one of claims 1 to 5, characterized in that, The power mechanism includes a first power mechanism and a second power mechanism. The input end of the first power mechanism is mechanically coupled to the middle frame, and the output end of the first power mechanism is mechanically coupled to the input end of the second power mechanism. At least a portion of the output end of the first power mechanism and the input end of the second power mechanism are disposed in the accommodating space. The output end of the second power mechanism is mechanically coupled to the limb assembly. The second power mechanism and the first power mechanism can be used to drive the limb assembly to move in different degrees of freedom. When the limb assembly moves, at least a portion of the second power mechanism has a gap with the avoidance part.

8. The robot as described in claim 7, characterized in that, The limb components include a leg component; The power mechanism includes two first power mechanisms and two second power mechanisms. The input ends of the two first power mechanisms are mechanically coupled to the middle frame, and the two first power mechanisms are arranged symmetrically with respect to the sagittal plane of the robot. The output end of each first power mechanism is mechanically coupled to the input end of one of the second power mechanisms, and the output end of each second power mechanism is mechanically coupled to a set of the leg components. An airflow inlet / outlet is formed between each of the two second power mechanisms and the avoidance section.

9. The robot as described in claim 8, characterized in that, The two airflow inlets and outlets are symmetrical with respect to the sagittal plane of the robot, and the airflow generated by the fan rotation can be blown toward at least one of the airflow inlets and outlets.

10. The robot as described in claim 7, characterized in that, The first power mechanism is capable of rotating around a first rotation axis, and the second power mechanism is capable of rotating around a second rotation axis, wherein the first rotation axis and the second rotation axis are perpendicular to each other.

11. The robot as claimed in claim 10, characterized in that, The first power mechanism can drive the limb assembly to perform a rolling motion, and the second power mechanism can drive the limb assembly to perform a pitching motion; along the extension direction of the first rotation axis, the first power mechanism, the fan, and the main control circuit board are all spaced apart, and the fan and the main control circuit board are arranged opposite to each other.

12. The robot as described in any one of claims 1 to 5, characterized in that, The robot also includes a power supply frame and a battery. The power supply frame is detachably connected to the middle frame and the circuit board bracket, and the power supply frame is equipped with the battery.

13. The robot as described in claim 12, characterized in that, The battery is electrically connected to the main control circuit board via a wire. The power frame passes through the middle frame and extends into the housing. The power frame has a wire-passing part and / or a wire-clamping part on the side facing the housing. The wire passes through the wire-passing part and / or the wire-clamping part.

14. The robot as described in any one of claims 1 to 5, characterized in that, The circuit board bracket includes a first bracket and a second bracket connected together, the first bracket and the second bracket being perpendicular to each other, the first end of the middle frame extending close to the first bracket, and the second end of the middle frame being detachably connected to the second bracket; the main control circuit board and the fan are connected to opposite sides of the first bracket.

15. The robot as described in claim 14, characterized in that, The first bracket has a hollow area, which connects one side of the fan and one side of the main control circuit board.

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