Search

CN-122008155-A - Robot limb and robot

CN122008155ACN 122008155 ACN122008155 ACN 122008155ACN-122008155-A

Abstract

The application provides a robot limb and a robot, wherein the robot limb comprises a shell, a first power module, at least one second power module, a first fan assembly, a plurality of air openings and a second fan assembly, wherein the shell is provided with a containing cavity, the first power module is at least partially arranged in the containing cavity, the at least one second power module is arranged in the containing cavity, the first fan assembly is arranged in the containing cavity, the plurality of air openings at least comprise a first air opening and a second air opening, the first air opening and the second air opening are both communicated with the containing cavity, the distance between the first air opening and the first power module is smaller than the distance between the first air opening and the second power module, the second air opening is arranged on one side, away from the first power module, of the second power module farthest from the first power module, and the at least one second power module is arranged between the first power module and the second air opening. The embodiment of the application solves the problems of overhigh temperature of the power module inside the robot limb and poor flexibility of the robot limb in the prior art.

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
20260512
Application Date
20260413

Claims (18)

  1. 1. A robotic limb, comprising: a housing (10), the housing (10) having a receiving cavity (110); The first power module (50) is arranged in the accommodating cavity (110) at least partially; at least one second power module (20), the at least one second power module (20) being arranged in the accommodating cavity (110); -a first fan assembly (30), the first fan assembly (30) being located within the containment cavity (110); A plurality of wind gaps have been seted up to casing (10), a plurality of wind gaps include at least first wind gap (111) and second wind gap (112), first wind gap (111) second wind gap (112) all with hold chamber (110) intercommunication setting, wherein, first wind gap (111) distance first power module (50) distance is less than first wind gap (111) distance second power module (20), second wind gap (112) are located distance first power module (50) the farthest second power module (20) keep away from first power module (50) one side, at least one second power module (20) are located first power module (50) with between second wind gap (112) hold chamber (110).
  2. 2. The robotic limb according to claim 1, wherein a gap exists between the housing of the first power module (50) and the housing (10).
  3. 3. The robotic limb according to claim 2, wherein a gap between the housing of the first power module (50) and the housing (10) forms an air guiding channel (114) along the circumference of the first power module (50).
  4. 4. A robotic limb according to claim 3, wherein the housing (10) in which the air guiding channel (114) is located is provided with at least one first air opening (111).
  5. 5. A robotic limb according to claim 3, wherein the housing (10) in which the air guide channel (114) is located is provided with a first air opening (111), the housing (10) is further provided with a wind shielding member (113), and the distance between the wind shielding member (113) and the second power module (20) closest thereto is smaller than the distance between the first air opening (111) and the second power module (20) closest thereto.
  6. 6. The robot limb according to claim 5, wherein the wind shielding member (113) is disposed on the housing (10) where the wind guiding channel (114) is located, a distance between the wind shielding member (113) and the first wind gap (111) is smaller than a diameter size of the first power module (50), an outer edge of the wind shielding member (113) is adapted to an inner wall of the wind guiding channel (114) so as to limit the airflow entering from the first wind gap (111) to directly pass through a position where the wind shielding member (113) is located, and the wind shielding member (113) and the wind guiding channel (114) jointly guide the airflow entering from the first wind gap (111) to contact with the housing of the first power module (50) to take away heat generated by the first power module (50).
  7. 7. The robot limb according to claim 5, wherein the wind shielding member (113) is disposed on the housing (10) near the wind guiding channel (114), a distance between the wind shielding member (113) and the first wind opening (111) is smaller than a diameter size of the first power module (50), an outer edge of the wind shielding member (113) is matched with an inner wall of the housing (10) where the wind shielding member (113) is disposed, and a housing of the first power module (50) so as to limit the air flow entering from the first wind opening (111) to directly pass through the position where the wind shielding member (113) is disposed, and the wind shielding member (113) and the wind guiding channel (114) jointly guide the air flow entering from the first wind opening (111) to contact the housing of the first power module (50) to take away heat generated by the first power module (50).
  8. 8. The robotic limb of any one of claims 3-7, wherein the flow area of the air guiding channel (114) is arranged gradually increasing or gradually decreasing or the flow area of the air guiding channel (114) is arranged uniformly along the circumferential direction of the first power module (50).
  9. 9. The robotic limb of any of claims 1-7, wherein the first fan assembly (30) is disposed at a position between the first power module (50) and the second power module (20) or wherein the first fan assembly (30) is located within the receiving cavity (110) between the second tuyere (112) and the at least one second power module (20).
  10. 10. The robotic limb of claim 9, wherein the first fan assembly (30) is disposed at a position between the first power module (50) and the second power module (20), a second fan assembly (40) is further disposed in the accommodating cavity (110), the second fan assembly (40) is disposed in the accommodating cavity (110) between the second air port (112) and the at least one second power module (20), and a fan impeller area of the second fan assembly (40) faces a housing at a position where a stator of the second power module (20) is located.
  11. 11. The robotic limb of any one of claims 1-7, wherein a power module holder (05) is further disposed within the receiving cavity (110), and the second power module (20) is disposed on the power module holder (05).
  12. 12. The robotic limb of claim 11, wherein the power module holder (05) is provided with at least one mounting cavity, at least part of the second power module (20) is fixed in the mounting cavity, and a housing at the position of the stator of the second power module (20) protrudes from the mounting cavity.
  13. 13. The robot limb according to claim 12, wherein the robot limb comprises two second power modules (20), the power module fixing seat (05) is provided with two installation cavities, the two second power modules (20) are arranged in one-to-one correspondence with the two installation cavities, and each second power module (20) is arranged in the corresponding installation cavity.
  14. 14. The robotic limb of any one of claims 1-7, wherein the bottom shell of the second power module (20) is provided with a heat dissipating assembly (60), the heat dissipating assembly (60) comprising at least heat dissipating fins (61).
  15. 15. The robotic limb of any one of claims 1-7, wherein the robotic limb further comprises: The first end of the connecting rod assembly (80) is connected with the output end of the second power module (20), and the second end of the connecting rod assembly (80) is used for being connected with the rest limb of the robot.
  16. 16. The robotic limb according to any one of claims 1-7, wherein at least one heat conducting member (06) is further arranged between the second power module (20) and the housing (10), wherein the heat conducting member (06) is provided with at least one heat conducting slot (07), wherein a heat conducting medium is arranged in the at least one heat conducting slot (07), wherein the heat conducting member (06) and the housing (10) are integrally formed, or wherein the heat conducting member (06) and the housing (10) are detachably connected.
  17. 17. The robot limb according to claim 16, wherein a power module fixing seat (05) is further provided in the accommodating cavity (110), the power module fixing seat (05) is provided with at least one mounting cavity, at least part of the second power module (20) is fixed in the mounting cavity, a housing at a position where a stator of the second power module (20) is located protrudes out of the mounting cavity, a side, extending towards the second power module (20), of the heat conducting member (06) is an adapting side, the adapting side and the housing portion, protruding out of the mounting cavity, of the second power module (20) are correspondingly arranged, an opening of the at least one heat conducting groove (07) is formed in the adapting side, the adapting side is in contact with the housing of the second power module (20), and/or the heat conducting medium is in contact with the housing of the second power module (20).
  18. 18. A robot, characterized in that the robot has a robot limb, the robotic limb is the robotic limb of any one of claims 1-17.

Description

Robot limb and robot Technical Field The invention relates to the field of robot limbs, in particular to a robot limb and a robot. Background In the prior art, when the robot technology rapidly develops, along with the improvement of the power demand of the robot limb, the power density of the power module is continuously increased, a large amount of heat is generated in the operation process, and if the heat cannot be effectively dissipated, the internal temperature of the power module is continuously increased. The current heat dissipation scheme to the power module of the robot mainly is independent heat dissipation, and the independent heat dissipation scheme restricts the heat dissipation efficiency of the power module and the integrated design of the robot. In addition, the separated structure of independent heat dissipation scheme leads to the integrated level low, occupation space is big, and heat dissipation casing and power module need be through extra leg joint, have not only increased the whole volume and the weight of robot limbs, can also disturb the motion flexibility of robot limbs. In view of the above technical problems, no effective solution has been proposed at present. Disclosure of Invention The invention mainly aims to provide a robot limb and a robot, which are used for solving the problems of overhigh temperature of a power module inside the robot limb and poor flexibility of the robot limb in the prior art. In order to achieve the aim, according to one aspect of the invention, a robot limb is provided, which comprises a shell, a first power module, at least one second power module, a first fan assembly and a plurality of air inlets, wherein the shell is provided with a containing cavity, at least part of the first power module is arranged in the containing cavity, the at least one second power module is arranged in the containing cavity, the first fan assembly is arranged in the containing cavity, the shell is provided with the plurality of air inlets, the plurality of air inlets at least comprise a first air inlet and a second air inlet, the first air inlet and the second air inlet are communicated with the containing cavity, the distance between the first air inlet and the first power module is smaller than the distance between the first air inlet and the second power module, the second air inlet is arranged on one side, away from the first power module, of the second power module, of the farthest from the first power module, and the at least one second power module is arranged in the containing cavity between the first power module and the second air inlet. Further, a gap exists between the housing and the shell of the first power module. Further, along the circumference of the first power module, a gap between the shell and the shell of the first power module forms an air guide channel. Further, at least one first air port is formed in the shell where the air guide channel is located. Further, a first air port is formed in the shell where the air guide channel is located, a wind shielding piece is further arranged on the shell, and the distance between the wind shielding piece and the second power module closest to the wind shielding piece is smaller than the distance between the first air port and the second power module closest to the first air port. Further, the wind shielding piece is arranged on the shell where the wind guiding channel is located, the distance between the wind shielding piece and the first wind opening is smaller than the diameter size of the first power module, the outer edge of the wind shielding piece is matched with the inner wall of the wind guiding channel so as to limit the air flow entering from the first wind opening to directly pass through the position where the wind shielding piece is located, and the wind shielding piece and the wind guiding channel jointly guide the air flow entering from the first wind opening to contact the shell of the first power module, so that heat generated by the first power module is taken away. Further, the wind shielding piece is arranged on the shell close to the wind guiding channel, the distance between the wind shielding piece and the first wind opening is smaller than the diameter size of the first power module, the outer edge of the wind shielding piece is matched with the inner wall of the shell at the position of the wind shielding piece and the shell of the first power module so as to limit the air flow entering from the first wind opening to directly pass through the position of the wind shielding piece, and the wind shielding piece and the wind guiding channel jointly guide the air flow entering from the first wind opening to contact the shell of the first power module to take away heat generated by the first power module. Further, along the circumferential direction of the first power module, the flow area of the air guide channel is gradually increased or gradually decreased, or the flow area of the ai