A torso structure of a simulation robot and the simulation robot

Abstract

This disclosure discloses the torso structure of a humanoid robot, including a frame body with a mounting cavity. A neck joint is located at the top of the frame body, and the main body of the neck joint is configured to extend into the mounting cavity. A main control circuit board is mounted at the bottom of the mounting cavity. Shoulder joints are located on opposite sides of the frame body, and the main body of each shoulder joint is configured to extend into the mounting cavity. The output end of the shoulder joint is configured to protrude outside the frame body. A heat dissipation device is also included, fixed to the main control circuit board. The heat dissipation device is configured to be located between the two shoulder joints in the left-right direction and between the neck joint and the main control circuit board in the height direction. The air inlet of the heat dissipation device is located within the mounting cavity, and the air outlet is configured to extend to communicate with the outside of the frame body. This configuration allows the heat dissipation device to simultaneously cool the neck joint, the main control circuit board, and the shoulder joints, improving the compactness of the humanoid robot structure.

Description

Technical Field

[0001] This disclosure relates to the field of simulation robot technology, and in particular to a torso structure of a simulation robot and the simulation robot itself. Background Technology

[0002] The torso structure is a crucial structural component of a robotic simulator, as it connects to various joints, such as the neck and shoulder joints. To meet the demands of anthropomorphic appearance and miniaturization, the internal space of the torso is extremely limited. Therefore, the structural layout of each functional component directly impacts the robot's motion performance, heat dissipation efficiency, and ease of assembly and maintenance.

[0003] Existing heat dissipation devices often occupy additional space within the chest cavity, such as by setting up a separate fan duct on one side or behind the chest cavity. This results in low utilization of the space inside the chest cavity, forcing an increase in the overall size of the robot, which is not conducive to lightweight and compact design. Summary of the Invention

[0004] To address the technical problems existing in the prior art, this disclosure provides a torso structure for a simulation robot and the simulation robot itself. This torso structure can efficiently dissipate heat from the neck joint, main control circuit board, and both arm joints simultaneously, effectively utilizing the space of the simulation robot's chest cavity and improving the compactness of the simulation robot's structure.

[0005] This disclosure provides a torso structure for a humanoid robot. The torso structure includes a frame body with a mounting cavity. A neck joint is provided at the top of the frame body, and the main body of the neck joint is configured to extend into the mounting cavity. A main control circuit board is mounted at the bottom of the mounting cavity. Shoulder joints are respectively provided on opposite sides of the frame body, and the main body of the shoulder joint is configured to extend into the mounting cavity. The output end of the shoulder joint is configured to protrude outside the frame body. It also includes a heat dissipation device fixed to the main control circuit board. The heat dissipation device is configured to be located between the two shoulder joints in the left-right direction and between the neck joint and the main control circuit board in the height direction. The air inlet of the heat dissipation device is configured to be located inside the mounting cavity, and the air outlet is configured to extend to communicate with the outside of the frame body.

[0006] In one embodiment, the heat dissipation fin assembly includes interconnected heat dissipation fin air ducts and air outlet ducts. The heat dissipation fin air ducts are connected to the air outlet, and the air outlet ducts are configured to bend the cooling air upwards from the heat dissipation fin air ducts and extend outwards from the simulated robot to form the air outlet.

[0007] In one embodiment, the heat dissipation fin duct is provided with a plurality of fins, which are evenly spaced along a direction parallel to the heat dissipation airflow, so that the airflow blown out by the fan assembly flows through the gap between adjacent fins.

[0008] In one embodiment, the heat dissipation device further includes a bracket supported below the fan assembly and the heat dissipation fin group, the bracket being disposed above the main control circuit board via a fixing connector.

[0009] In one embodiment, the frame body includes a neck connecting plate and a middle connecting plate arranged opposite each other, and two shoulder connecting plates arranged opposite each other. The neck connecting plate, the middle connecting plate, and the two shoulder connecting plates form the mounting cavity having a front opening and a rear opening.

[0010] In one embodiment, the intermediate connecting plate is configured to be positioned adjacent to the rear opening; it also includes a main control circuit board bracket, one end of which is configured to overlap the upper surface of the intermediate connecting plate, and the other end of which is configured to extend to a position adjacent to the front opening. The neck connecting plate, the middle connecting plate, the two shoulder connecting plates, and the main control circuit board bracket together form the mounting cavity.

[0011] In one embodiment, the main control circuit board bracket is configured to extend downwards with a connecting flange to be fastened to one end of the intermediate connecting plate adjacent to the front opening by fasteners; one end of the main control circuit board bracket adjacent to the front opening is configured to be fastened to the two shoulder connecting plates by fasteners.

[0012] In one embodiment, the frame body is configured to have a battery receiving cavity, which is configured to be located at the bottom of the mounting cavity; the battery receiving cavity is configured to receive a battery.

[0013] This disclosure also provides a humanoid robot that includes the torso structure described above.

[0014] This disclosure provides a torso structure for a humanoid robot, comprising a frame body with a mounting cavity, a neck joint at the top of the frame body, the main body of which extends into the mounting cavity; a main control circuit board mounted at the bottom of the mounting cavity; shoulder joints on opposite sides of the frame body, the main body of which extends into the mounting cavity; the output end of the shoulder joint protruding outside the frame body; and a heat dissipation device fixed to the main control circuit board, the heat dissipation device being located between the two shoulder joints in the left-right direction and between the neck joint and the main control circuit board in the height direction; the air inlet of the heat dissipation device being located inside the mounting cavity, and the air outlet being extended to communicate with the outside of the frame body. This design allows the heat dissipation device to simultaneously cool the neck joint, main control circuit board, and shoulder joints on both sides, releasing the heat to the outside of the simulation robot. The heat dissipation device forms a directional circulating airflow within the mounting cavity of the simulation robot's torso structure, thereby removing the heat generated by the neck joint, main control circuit board, and shoulder joints on both sides during operation, and releasing it to the outside of the simulation robot through the air outlet. Attached Figure Description

[0015] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments of the present disclosure and, together with their description, serve to explain the principles of the present disclosure.

[0016] Figure 1 This is a schematic diagram of the torso structure of a simulated robot in one embodiment; Figure 2 This is a schematic diagram of the torso structure of a simulated robot from another perspective in one embodiment; Figure 3 This is a front view of the torso structure of a simulated robot in one embodiment; Figure 4 This is a schematic diagram of the assembly of the heat dissipation device and the main control circuit board in one embodiment; Figure 5 One embodiment Figure 4 Exploded view; Figure 6 This is a schematic diagram of the heat dissipation device in one embodiment; Figure 7 This is a schematic diagram of the structure of the disclosure framework in one embodiment; Figure 8 This is a main view of the framework of this disclosure in one embodiment; Figure 9 This is a schematic diagram of the structure of the main control circuit bracket of this disclosure in one embodiment.

[0017] in, Figures 1 to 9 The one-to-one correspondence between the component names and the reference numerals in the attached figures is as follows: 1. Neck joint; 2. Main control circuit board; 3. Shoulder joint; 4. Heat dissipation device; 41 Fan assembly; 411 air inlet; 412 air vent; 42 heat dissipation fins; 421 heatsink fin airflow; 422 airflow duct; 423 air outlet; 424 fins; 43 supports; 44 heat-conducting plate; 51 Neck Connecting Plate; 52 shoulder connecting plate; 53. Intermediate connecting plate; 531 Connecting boss; 54 Main control circuit board bracket; 541 connecting flange; 542 Connecting lugs; 543 lap joint section; 55 base plate; 1a Installation cavity; 2a battery housing. Detailed Implementation

[0018] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0019] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0020] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0021] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0022] The specific embodiments of this disclosure are described below with reference to the accompanying drawings.

[0023] In this article, terms such as "up," "down," "front," "back," "left," and "right" are used only to indicate the relative positional relationship between related parts, rather than to define the absolute position of these related parts.

[0024] In this article, "first," "second," etc., are used only to distinguish one another, and not to indicate degree of importance, order, or prerequisite for each other.

[0025] In this document, terms such as “equal” and “same” are not strict mathematical and / or geometric limitations, but also include errors that are understandable to those skilled in the art and permissible in manufacturing or use.

[0026] The following is a reference to the appendix. Figures 1 to 9 The specific structure and principles of this disclosure will be described in detail with reference to specific embodiments.

[0027] To address the heat dissipation problem of existing simulated robots mentioned in the background art, this disclosure provides a torso structure for a simulated robot. The torso structure includes a frame body with a mounting cavity 1a. A neck joint 1 is located at the top of the frame body, and the main body of the neck joint 1 is configured to extend into the mounting cavity 1a. A main control circuit board 2 is mounted at the bottom of the mounting cavity 1a. Shoulder joints 3 are located on opposite sides of the frame body, and the main body of each shoulder joint 3 is configured to extend into the mounting cavity 1a. The output end of the shoulder joint 3 is configured to protrude outside the frame body. The disclosure also includes a heat dissipation device 4 fixed to the main control circuit board 2. The heat dissipation device 4 is configured to be located between the two shoulder joints 3 in the left-right direction and between the neck joint 1 and the main control circuit board 2 in the height direction. The air inlet 411 of the heat dissipation device 4 is located within the mounting cavity 1a, and the air outlet 423 is configured to extend to communicate with the outside of the frame body.

[0028] In a specific embodiment, combined with Figure 1 , Figure 2 and Figure 3 As shown, the frame body of the torso structure is formed by a neck connecting plate 51 at the top, shoulder connecting plates 52 on both sides, and a middle connecting plate 53 to form an installation cavity 1a. The left and right edges of the upper neck connecting plate 51 are fixedly connected to the upper edges of the shoulder connecting plates 52 on both sides, while the middle connecting plate 53 is disposed opposite to the neck connecting plate 51, and the left and right edges of the middle connecting plate 53 are fixed between the shoulder connecting plates 52 on both sides.

[0029] The neck connecting plate 51 has a fixing hole through which the neck joint 1 can pass and extend its main body into the mounting cavity 1a, thereby providing fixed support for the neck and head; both shoulder connecting plates 52 have openings through which the shoulder joint 3 can pass, allowing its main body to extend into the mounting cavity 1a, while its output end protrudes from the frame body, thus providing fixed support for the connection of the shoulder joint 3; and the middle connecting plate 53 can provide a fixed mounting position for the main control circuit board 2, and also provide a top fixed limit for forming an assembly space for the simulator's battery pack.

[0030] The aforementioned frame body, based on the torso structure of a simulated robot, can conveniently and reliably fix the neck joint 1, the main control circuit board 2, and the two shoulder joints 3, and stably support the heat dissipation device. For example... Figure 1 , Figure 2 and Figure 3 As shown, the neck joint 1 and main control circuit board 2, arranged vertically opposite each other, and the two shoulder joints 3, arranged horizontally opposite each other, surround the heat dissipation device 4. In other words, through this torso structure layout, the heat dissipation device 4 is compactly located between the neck joint 1 and the main control circuit board 2, and between the two shoulder joints 3. This arrangement allows the heat dissipation device 4 to simultaneously cool the neck joint 1, the main control circuit board 2, and the two shoulder joints 3, eliminating the need for separate cooling for each component. The heat dissipation device 4 creates a directional circulating airflow within the mounting cavity 1a of the simulation robot, thereby removing the heat generated during operation by the main body of the neck joint 1, the main control circuit board 2, and the main body of the two shoulder joints 3, ensuring the reliable and stable operation of the simulation robot.

[0031] In a specific embodiment, the heat dissipation device 4 is confined within the mounting cavity 1a formed by the neck joint 1, the main control circuit board 2, and the two shoulder joints 3. A pre-defined airflow guide gap is reserved between the main body parts of the shoulder joints 3 in the left and right directions, and a pre-defined air inlet gap is reserved between the device and the lower end face of the main body part of the neck joint 1 in the height direction. This allows the airflow in the mounting cavity 1a to enter the air inlet 411 along a pre-defined path, effectively dissipating heat from the neck joint 1 and the shoulder joints 3, avoiding turbulence and ensuring that the incoming air is ambient air at a lower temperature.

[0032] The overall height of the heat dissipation device 4 does not exceed the maximum height of the main body of the shoulder joint 3, does not interfere with the movement trajectory of the shoulder joint 3, and does not occupy the driving space of the shoulder joint 3 and the rotation space of the neck joint 1. While achieving heat dissipation in the whole area, it ensures the compactness, lightweight and freedom of movement of the simulation robot.

[0033] In a specific embodiment, the air inlet 411 of the heat dissipation device 4 is configured to face the direction of the neck joint 1. Combined with... Figure 1 and Figure 4As shown, the air inlet 411 is located below the neck joint 1, so that the neck joint 1 is positioned in the airflow path above the air inlet 411 of the heat dissipation device 4. When the heat dissipation device 4 is working, the strong convection effect allows the flowing airflow to directly and continuously blow on the neck joint 1, carrying away heat. This allows for the fastest and most effective use of the cooling airflow to dissipate heat, ensuring that the neck joint dissipates heat in a timely manner during neck movements, avoiding blockage, and making the movements smoother.

[0034] Furthermore, the air inlet 411 is configured to face the direction of the neck joint 1, which can make full use of the gap in the frame body at the neck joint 1 assembly position to absorb air from the external environment into the installation cavity, thereby improving the smoothness of the heat dissipation airflow and improving heat dissipation efficiency.

[0035] Furthermore, the main body of the shoulder joint 3 is configured to extend toward the direction of the air inlet 411. In a specific embodiment, such as Figure 1 As shown, the main body of the shoulder joint 3 extends into the mounting cavity 1a and extends obliquely towards the direction of the air inlet 411 of the heat dissipation device 4. That is, from the output end of the shoulder joint 3 protruding outside the frame body to the end of the main body of the shoulder joint 3, it is constructed to extend obliquely downwards. It can also be understood that the central axis of the shoulder joint 3 is not horizontal, but has a certain angle of inclination. Figure 3 In the illustrated embodiment, the output end of the shoulder joint 3 is located on the outside of the frame body and is constructed to extend upward at an angle. This facilitates the connection of the output end of the shoulder joint 3 to the arm joint of the robot simulator. Compared to the traditional arrangement of the shoulder joint 3 in the horizontal direction, this allows for more human-like movements of the robot arm, with a larger range of motion while maintaining a compact structure. It also solves the problem of the unusual connection between the shoulder joint 3 and the robot arm. Furthermore, this arrangement allows the main body of the shoulder joint 3 to be located in the upper airflow zone near the air inlet 411. This configuration allows the two shoulder joints 3 to fully utilize the strong convective airflow within the mounting cavity 1a for heat dissipation. Simultaneously, it allows the mounting positions of the two arms to be close together, avoiding the main body of the neck joint 1, effectively utilizing the mounting cavity 1a of the robot simulator's torso structure, and improving the overall compactness of the robot simulator.

[0036] In one embodiment of this disclosure, the air inlet 411 has a protective cover to prevent impurities from entering and clogging the air inlet, thereby ensuring smooth airflow.

[0037] In this disclosure, the heat dissipation device 4 mainly dissipates heat from the main control circuit board 2. Its core heat dissipation path is divided into direct contact conduction heat dissipation and strong convection heat dissipation. The heat dissipation device 4 provides strong convection heat dissipation for the neck joint 1 and the two shoulder joints 3.

[0038] To achieve the aforementioned heat dissipation effect, the heat dissipation device 4 is further optimized. The heat dissipation device 4 includes a fan assembly 41 and a heat dissipation fin assembly 42. The fan assembly 41 can be configured as the heat dissipation body of a turbo fan, or it can be any other fan capable of achieving strong convection to remove heat from the chest cavity. The fan assembly 41 has an air inlet 411 and an air guide 412, while the heat dissipation fin assembly 42 is connected to the air guide 412 and is configured to extend from the edge of the air guide 412 along the airflow direction to communicate with the outlet air vent on the frame body.

[0039] The fan assembly 41 is preferably a turbine centrifugal fan, and the air inlet 411 is an axial air intake structure. Its axis is approximately collinear with the central axis of the neck joint 1, so that the air intake airflow can blow directly from top to bottom into the main body of the neck joint 1 that extends into the mounting cavity 1a, thereby achieving convective heat dissipation of the neck joint 1.

[0040] Combination Figure 4 and Figure 5 , Figure 6 As shown, the heat dissipation fin assembly 42 includes a heat dissipation fin air duct 421 and a guide air duct 422 connected to each other. The heat dissipation fin air duct 421 is connected to the air guide port 412. The guide air duct 422 is configured to bend the heat dissipation air upward from the heat dissipation fin air duct 421 and extend it outward from the simulated robot to form the air outlet 423.

[0041] A heat-conducting plate 44 is provided below the heat dissipation fin assembly 42 to absorb and conduct the heat of the main control circuit board 2 and conduct it to the heat dissipation fin air duct 421. The heat dissipation airflow blown out by the fan assembly 41 flows through the heat dissipation fin air duct 421 to dissipate heat, and flows out of the air outlet 423 through the air outlet duct 422.

[0042] The aforementioned heat dissipation fin air duct 421 is equipped with multiple fins 424, which are evenly spaced along a direction parallel to the heat dissipation airflow, so that the airflow blown by the fan assembly 41 flows through the gaps between adjacent fins 424. With this configuration, the heat from the main control circuit board 2 is conducted to the heat-conducting plate 44, and then evenly conducted to the surface of each fin 424. The fins 424 are made of a high thermal conductivity metal, ensuring that heat can be quickly and evenly diffused to the surface of the fins 424, avoiding localized hot spots. The turbine fan generates high-pressure airflow, which is constrained in the gaps between the fins 424, flowing through the surface of the fins 424, allowing heat exchange between the fins 424 and the airflow.

[0043] The aforementioned heat-conducting plate 44 is a high thermal conductivity metal plate, preferably a copper plate or an aluminum alloy plate. Its bottom surface is connected to the heat-generating units such as chips and power devices on the main control circuit board 2 through thermal conduction to achieve rapid heat transfer.

[0044] The heat dissipation device 4 also includes a bracket 43 supported below the fan assembly 41 and the heat dissipation fin group 42. The bracket 43 is mounted above the main control circuit board 2 via a fixing connector.

[0045] Combination Figure 4 and Figure 5 As shown, the core high-energy-consuming chip of the main control circuit board 2 is the main source of heat, and it is necessary to ensure the heat dissipation efficiency of the main control circuit board 2 during the operation of the simulated robot. A portion of the heat from the main control circuit board 2 is directly and quickly transferred to the support 43 of the heat dissipation device 4 through thermal conduction, and then conducted to the heat conduction plate 44. The heat conduction plate 44 evenly distributes the heat from the main control circuit board 2 onto the fins 424. The support 43 can firmly and stably fix the heat dissipation device 4 above the main control circuit board 2, and can also conduct and absorb the heat from the main control circuit board 2.

[0046] like Figure 4 As shown, the bracket 43 is supported below the fan assembly 41 and the heat sink fin group 42, which can make the installation pressure of the entire heat sink 4 evenly distributed on the main control circuit board 2, prevent the main control circuit board 2 from warping due to uneven heating and stress, and ensure that the contact pressure between the main control circuit board 2 and the heat sink is stable.

[0047] A sealing ring is provided between the air vent 412 and the heat dissipation fin assembly 42, and a sealing ring is provided between the heat dissipation fin air duct 421 and the air outlet duct 422, so that the air can be effectively sealed and the strong airflow for heat dissipation can be discharged from the installation cavity 1a to the external environment of the simulation robot.

[0048] The mounting cavity 1a of the torso structure can also be used to accommodate and mount other circuit boards, all of which can be cooled by the heat dissipation device inside the mounting cavity 1a. In a specific embodiment, the frame body includes a neck connecting plate 51 and a middle connecting plate 53 arranged opposite to each other, and two shoulder connecting plates 52 arranged opposite to each other. The neck connecting plate 51, the middle connecting plate 53, and the two shoulder connecting plates 52 form a mounting cavity 1a with a front opening and a rear opening.

[0049] In a specific embodiment, the neck connecting plate 51, shoulder connecting plate 52, intermediate connecting plate 53 and bottom plate 55 are integrally formed to form an integral torso structure, which is simple in process and has a stable and firm structure, reducing the assembly process.

[0050] Furthermore, combined Figure 7 , Figure 8 and Figure 9As shown, the intermediate connecting plate 53 is configured to be positioned near the rear opening; it also includes a main control circuit board bracket 54, one end of which is configured to overlap the upper surface of the intermediate connecting plate 53, i.e., the overlapping section 543 in the figure overlaps the upper surface of the intermediate connecting plate 53, and the other end is configured to extend to a position near the front opening. The neck connecting plate 51, the intermediate connecting plate 53, the two shoulder connecting plates 52, and the main control circuit board bracket 54 together form the mounting cavity 1a.

[0051] With this configuration, the main control circuit board bracket 54 of the simulation robot is detachably fixed to the middle connecting plate 53, so that the main control circuit board 2 of the torso structure can be disassembled and installed from the front of the simulation robot, avoiding interference with the components on the rear side and making operation convenient.

[0052] Specifically, the main control circuit board bracket 54 is configured to extend downwards with a connecting flange 541 to be fixed to one end of the intermediate connecting plate 53 near the front opening by screws; one end of the main control circuit board bracket 54 near the front opening is configured to be fixed to the two shoulder connecting plates 52 by screws. Specifically, the front two ends of the main control circuit board bracket 54 are provided with connecting ears 542, which abut against the front edge of the two shoulder connecting plates 52 and are fixedly connected by fixing bolts.

[0053] Connecting bosses 531, corresponding to connecting flanges 541, can be provided at both ends of the intermediate connecting plate 53 near the front opening. The two are fitted together, and the connecting screw holes correspond, so that they can be fastened together by fasteners, specifically bolts and screws. With this configuration, the main control circuit board 2 can be assembled onto the main control circuit board bracket 54 first, and then directly inserted from the front of the simulation robot and fixed by bolts only, which reduces the installation difficulty and operation difficulty of the main control circuit board 2 and improves the assembly efficiency.

[0054] like Figure 8 As shown, the frame body is constructed with a battery receiving cavity 2a, which is located at the bottom of the mounting cavity 1a; the battery receiving cavity 2a is configured to receive a battery. In a specific embodiment, the neck connecting plate 51, the middle connecting plate 53, and the two shoulder connecting plates 52 are integrally formed. The mounting cavity 1a is located above the middle connecting plate 53, and the battery receiving cavity 2a is located below the middle connecting plate 53. This arrangement reduces the fixing operations between the connecting plates, which not only simplifies installation but also makes the simulation robot structure compact and simple overall.

[0055] This disclosure also provides a humanoid robot that includes the torso structure described above.

[0056] Based on the above embodiments, this disclosure provides a torso structure for a simulated robot. The torso structure includes a frame body with a mounting cavity 1a. A neck joint 1 is provided at the top of the frame body, and the main body of the neck joint 1 is configured to extend into the mounting cavity 1a. A main control circuit board 2 is installed at the bottom of the mounting cavity 1a. Shoulder joints 3 are provided on opposite sides of the frame body, and the main body of the shoulder joint 3 is configured to extend into the mounting cavity 1a. The output end of the shoulder joint 3 is configured to protrude outside the frame body. It also includes a heat dissipation device 4 fixed on the main control circuit board 2. The heat dissipation device 4 is configured to be located between the two shoulder joints 3 in the left-right direction and between the neck joint 1 and the main control circuit board 2 in the height direction. The air inlet 411 of the heat dissipation device 4 is configured to be located inside the mounting cavity 1a, and the air outlet 423 is configured to extend to communicate with the outside of the frame body. This configuration allows the heat dissipation device 4 to simultaneously cool the neck joint 1, the main control circuit board 2, and the left and right shoulder joints 3, releasing the heat to the outside of the simulation robot. The heat dissipation device 4 forms a directional circulating airflow within the mounting cavity 1a of the robot's torso structure, thereby carrying away the heat generated by the neck joint 1, main control circuit board 2, and left and right shoulder joints 3 during operation, and releasing it to the outside of the simulation robot through the air outlet 423. The heat dissipation device 4 primarily cools the main control circuit board 2, with its core heat dissipation path consisting of direct contact conduction cooling and strong convection cooling. The heat dissipation device 4 provides strong convection cooling for the neck joint 1 and the two shoulder joints 3. This torso structure arrangement enables the heat dissipation device 4 to provide both direct contact conduction cooling and strong convection cooling for the main control circuit board 2, and strong convection cooling for the neck joint 1 and the two shoulder joints 3.

[0057] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of this disclosure is defined by the appended claims.

Claims

1. A torso structure for a simulated robot, characterized in that, The torso structure includes a frame body with a mounting cavity (1a), a neck joint (1) is provided at the top of the frame body, and the main body of the neck joint (1) is configured to extend into the mounting cavity (1a); a main control circuit board (2) is installed at the bottom of the mounting cavity (1a); shoulder joints (3) are provided on opposite sides of the frame body, and the main body of the shoulder joints (3) is configured to extend into the mounting cavity (1a); the output end of the shoulder joints (3) is configured to protrude outside the frame body; it also includes a heat dissipation device (4) fixed on the main control circuit board (2), the heat dissipation device (4) is configured to be located between the two shoulder joints (3) in the left-right direction and between the neck joint (1) and the main control circuit board (2) in the height direction; wherein the air inlet (411) of the heat dissipation device (4) is configured to be located in the mounting cavity (1a), and the air outlet (423) is configured to extend to communicate with the outside of the frame body.

2. The torso structure according to claim 1, characterized in that, The air inlet (411) of the heat dissipation device (4) is configured to face the direction of the neck joint (1).

3. The torso structure according to claim 2, characterized in that, The main body of the shoulder joint (3) is configured to extend at an angle toward the location of the air inlet (411).

4. The torso structure according to claim 1, characterized in that, The heat dissipation device (4) also includes: A fan assembly (41) is provided with an air inlet (411) and an air guide (412). The heat dissipation fin assembly (42) is connected to the air vent (412) and is configured to extend from the edge of the air vent (412) along the air dissipation flow direction to communicate with the outlet air vent provided on the frame body.

5. The torso structure according to claim 4, characterized in that, The heat dissipation fin assembly (42) includes a heat dissipation fin air duct (421) and a guide air outlet (422) connected to each other. The heat dissipation fin air duct (421) is connected to the air guide port (412). The guide air outlet (422) is configured to bend the heat dissipation air upward from the heat dissipation fin air duct (421) and extend it outward from the simulated robot to form the air outlet (423).

6. The torso structure according to claim 5, characterized in that, The heat dissipation fin air duct (421) is provided with a plurality of fins (424), and the plurality of fins (424) are evenly spaced along a direction parallel to the heat dissipation airflow so that the airflow blown out by the fan assembly (41) flows through the gap between adjacent fins (424).

7. The torso structure according to claim 4, characterized in that, The heat dissipation device (4) also includes a bracket (43) supported below the fan assembly (41) and the heat dissipation fin group (42), and the bracket (43) is mounted above the main control circuit board (2) by a fixing connector.

8. The torso structure according to claim 4, characterized in that, The frame body includes a neck connecting plate (51) and a middle connecting plate (53) arranged opposite to each other, and two shoulder connecting plates (52) arranged opposite to each other. The neck connecting plate (51), the middle connecting plate (53), and the two shoulder connecting plates (52) form the mounting cavity (1a) having a front opening and a rear opening.

9. The torso structure according to claim 8, characterized in that, The intermediate connecting plate (53) is configured to be located adjacent to the rear opening; it also includes a main control circuit board bracket (54), one end of which is configured to overlap the upper surface of the intermediate connecting plate (53), and the other end is configured to extend to a location adjacent to the front opening. The neck connecting plate (51), the middle connecting plate (53), the two shoulder connecting plates (52) and the main control circuit board bracket (54) together form the mounting cavity (1a).

10. The torso structure according to claim 9, characterized in that, The main control circuit board bracket (54) is configured to extend downward to form a connecting flange (541) to be fastened to one end of the intermediate connecting plate (53) adjacent to the front opening by fasteners; one end of the main control circuit board bracket (54) adjacent to the front opening is configured to be fastened to the two shoulder connecting plates (52) by fasteners.

11. The torso structure according to claim 1, characterized in that, The frame body is configured to have a battery receiving cavity (2a), which is configured to be located at the bottom of the mounting cavity (1a); the battery receiving cavity (2a) is configured to receive a battery.

12. A simulated robot, characterized in that, The simulated robot includes the torso structure as described in any one of claims 1 to 11.

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