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CN-121989274-A - Crotch structure and robot

CN121989274ACN 121989274 ACN121989274 ACN 121989274ACN-121989274-A

Abstract

The invention provides a crotch structure and a robot, wherein the crotch structure at least comprises a support frame, two middle section connecting pieces and two limb connecting pieces, the two middle section connecting pieces are respectively and fixedly connected to a first fixing side and a second fixing side of the support frame, the two limb connecting pieces are fixedly installed on the two middle section connecting pieces in a one-to-one correspondence manner, two first power components are respectively and fixedly installed on the two middle section connecting pieces, part of the first power components are fixedly installed in a first installation cavity of the support frame, the two second power components are respectively and correspondingly arranged in a third installation cavity of the two limb connecting pieces, the air supply module comprises a first fan, the first fan is in butt joint with the second opening, and the impeller area of the first fan is opposite to the second opening. According to the crotch structure in the scheme, the technical problem that cooling liquid is easy to leak due to the fact that the robot adopts water cooling in the prior art is solved.

Inventors

  • PENG YAOFENG
  • HEI GUANGJUN
  • Jin Zefan
  • HUANG PENGCHENG
  • LIN HUANBIN
  • LIAO DAIBING
  • LI HAILEI
  • CHEN JIAN
  • YAO XINJIE

Assignees

  • 深圳众擎机器人科技股份有限公司

Dates

Publication Date
20260508
Application Date
20260410

Claims (12)

  1. 1. A crotch portion structure, which comprises a crotch portion, characterized by comprising the following steps: The crotch body (2), crotch body (2) includes support frame (21), two middle section connecting pieces (22) and two limbs connecting pieces (23) at least, support frame (21) have relative first fixed side and the second fixed side that sets up, two middle section connecting pieces (22) respectively fixed connection in first fixed side with the second fixed side, two limbs connecting pieces (23) one-to-one fixedly mounted on two middle section connecting pieces (22), support frame (21) are equipped with first installation chamber and second opening (212), middle section connecting piece (22) are equipped with the second installation chamber, the second installation chamber with first installation chamber intercommunication sets up, limbs connecting piece (23) are equipped with the third installation chamber; The power module comprises at least two first power components (31) and two second power components (32), wherein the two first power components (31) are respectively fixed on the two middle section connecting pieces (22), part of the first power components (31) extend into the first mounting cavities, and the two second power components (32) are correspondingly fixed in the third mounting cavities of the two limb connecting pieces (23); the air supply module comprises a first fan (4), the first fan (4) is in butt joint with the second opening (212), and the impeller area of the first fan (4) is opposite to the second opening (212).
  2. 2. The crotch structure according to claim 1, characterized in that the crotch body (2) further comprises a torso connector (24), the torso connector (24) being fixed to a third fixed side of the support frame (21), the torso connector (24) being provided with a fourth mounting cavity, which is in communication with the first mounting cavity; The power module further comprises a third power assembly (33), at least part of the third power assembly (33) being fixed in the fourth mounting cavity.
  3. 3. The crotch structure according to claim 2, characterized in that part of the third power assembly (33) protrudes into the first mounting cavity.
  4. 4. A crotch structure according to claim 3, characterized in that on a plane perpendicular to the rotation axis of the first fan (4), there is an overlap of the projection of the housing of the third power assembly (33) on said plane with the projection of the impeller area of the first fan (4) on said plane.
  5. 5. The crotch structure according to claim 2, characterized in that the support frame (21) is provided with a first opening (211), the fourth mounting cavity communicates with the first mounting cavity through the first opening (211), an air guide (6) is provided in the first mounting cavity of the support frame (21), the fixed end of the air guide (6) is connected with the lower edge of the second opening (212), and at least part of the air guide (6) is arranged obliquely towards one side of the first opening (211).
  6. 6. The crotch structure according to claim 5, wherein the support frame (21) is provided with a third opening (213), the third opening (213) being arranged opposite the second opening (212) in the axial direction of the rotation axis of the first fan, the air guide (6) comprising: The first air deflector (61), first air deflector (61) includes first group section (611) and second group section (612), the first end of first group section (611) with the lower border of the supply-air outlet of first fan (4) is connected, first group section (611) are followed the axial direction extension setting of the pivot of first fan, the first end of second group section (612) with the second end of first group section (611) is connected, the first end of second group section (612) with the perpendicular distance of first opening (211) is greater than the perpendicular distance of second end of second group section (612) with first opening (211).
  7. 7. The crotch structure according to claim 6, wherein the air guide (6) further comprises: The first end of the second air deflector (62) is connected with the lower edge of the third opening (213), the second air deflector (62) extends along the axial direction of the rotating shaft of the first fan (4), and the second end of the second air deflector (62) is in butt joint with the second end of the second component section (612).
  8. 8. The crotch structure according to any one of claims 1-7, characterized in that on a plane perpendicular to the rotation axis of the first fan (4), there is an overlap area of the projection of the housing of at least one of the first power assemblies (31) on said plane with the projection of the impeller area of the first fan (4) on said plane.
  9. 9. The crotch structure according to any one of claims 1-7, wherein the air supply module further comprises two second fans (5), the two second fans (5) being arranged on the two limb connections (23) in a one-to-one correspondence, and the impeller areas of the two second fans (5) being directed towards the respective corresponding second power assemblies (32), respectively.
  10. 10. The crotch structure according to claim 9, characterized in that the output side of the middle section connector (22) is arranged opposite to the connection side of the limb connector (23), the output side of the middle section connector (22) is fixedly connected to the connection side of the limb connector (23) through the output end of the first power assembly (31), a gap (7) is provided between the output side of the middle section connector (22) and the connection side of the limb connector (23), the limb connector (23) is provided with a drainage port (232), the drainage port (232) is arranged opposite to the output end of the first power assembly (31), and the drainage port (232) is used for guiding a part of the airflow in the third mounting cavity to flow towards the direction of the output end of the first power assembly (31) and to be discharged outside the limb connector (23) through the gap (7).
  11. 11. The crotch structure of claim 6 wherein the crotch structure further comprises: The shell (1), shell (1) is equipped with first air outlet (11) and first air intake (12), support frame (21) and at least part middle section connecting piece (22) are located in shell (1), limb connecting piece (23) are located outside shell (1), first air outlet (11) are followed the axial direction of the pivot of first fan (4) with third opening (213) set up relatively, first air intake (12) are followed the axial direction of the pivot of first fan (4) with the air intake of first fan (4) sets up relatively.
  12. 12. A robot, characterized in that it comprises a crotch structure according to any one of claims 1-11.

Description

Crotch structure and robot Technical Field The invention relates to the technical field of humanoid robots, in particular to a crotch structure and a robot. Background When the robot performs a task, the joints of the robot serve as core moving parts connecting the body and the end effector, wherein a plurality of power modules are integrated. The power module can continuously release a large amount of heat in the high-frequency rotation and high-load operation process, if the heat cannot be timely led out, the temperature in the joint can be rapidly increased, the movement precision and the response speed of the robot can be reduced, and even the internal structure of the joint is burnt to cause joint failure. At present, a common heat dissipation scheme is a water cooling scheme, specifically, internal heat is carried to the outside through forced convection of circulating cooling liquid, but the water cooling scheme is applied to joints, and extremely high risk of leakage of the cooling liquid exists due to the compact structure and the rotation function of the joints. Aiming at the technical problem that the cooling liquid is easy to leak when the robot adopts water cooling heat dissipation in the prior art, no effective solution is proposed at present. Disclosure of Invention The invention mainly aims to provide a crotch structure and a robot, which are used for solving the technical problem that cooling liquid is easy to leak when the robot adopts water cooling heat dissipation in the prior art. In order to achieve the above object, according to one aspect of the present invention, there is provided a crotch structure comprising a crotch body including at least a support frame having a first fixing side and a second fixing side which are disposed opposite to each other, two middle section connectors fixedly connected to the first fixing side and the second fixing side, respectively, two limb connectors fixedly mounted on the two middle section connectors in one-to-one correspondence, the support frame having a first mounting cavity and a second opening, the middle section connectors having a second mounting cavity, the second mounting cavity being disposed in communication with the first mounting cavity, the limb connectors having a third mounting cavity, a power module including at least two first power components and two second power components, the two first power components being fixed to the two middle section connectors, and a portion of the first power components extending into the first mounting cavity, the two second power components being fixed to the third mounting cavity-air-supplying module of the two limb connectors in one-to-one correspondence, the air-supplying module including a first fan and a second impeller module facing the first fan, the first impeller module facing the second opening. Further, the crotch body further comprises a trunk connecting piece, the trunk connecting piece is fixed on a third fixing side of the supporting frame, the trunk connecting piece is provided with a fourth mounting cavity, the fourth mounting cavity is communicated with the first mounting cavity, the power module further comprises a third power assembly, and at least part of the third power assembly is fixed in the fourth mounting cavity. Further, a portion of the third power assembly extends into the first mounting cavity. Further, on a plane perpendicular to the rotation axis of the first fan, there is an overlapping area between the projection of the housing of the third power assembly on the plane and the projection of the impeller area of the first fan on the plane. Further, the support frame is equipped with first opening, and the fourth installation chamber is equipped with the wind-guiding piece through first opening and first installation chamber intercommunication, the first installation intracavity of support frame, and the stiff end and the second open-ended lower border of wind-guiding piece are connected, and at least partial wind-guiding piece sets up towards first open-ended one side slope. Further, the support frame is provided with a third opening, the third opening and the second opening are oppositely arranged along the axial direction of the rotating shaft of the first fan, the air guide piece comprises a first air guide plate, the first air guide plate comprises a first composition section and a second composition section, the first end of the first composition section is connected with the lower edge of the air supply opening of the first fan, the first composition section extends along the axial direction of the rotating shaft of the first fan, the first end of the second composition section is connected with the second end of the first composition section, and the vertical distance between the first end of the second composition section and the first opening is larger than that between the second end of the second composition section and the first opening. Further, the air