Trunk module and robot

Abstract

The utility model relates to a trunk module and a robot. The trunk module comprises a shell, a fan and a circuit board, a mounting cavity is formed in the shell, the shell comprises a first side plate and a second side plate which are oppositely arranged, the first side plate and the second side plate are suitable for mounting limb modules, a first opening is formed in the first side plate, and a second opening is formed in the second side plate. A first opening opposite to the first opening is formed in the first side plate, a second opening opposite to the first opening is formed in the second side plate, a fan for supplying air to the mounting cavity is arranged in the first opening, and the circuit board is arranged in the mounting cavity and divides the mounting cavity into a first heat dissipation cavity and a second heat dissipation cavity; the first heat dissipation cavity and the second heat dissipation cavity are both communicated with the first opening and the second opening.

Description

Torso module and robot Technical Field

[0001] This utility model relates to the field of robot manufacturing technology, and more specifically, to a torso module and a robot. Background Technology

[0002] In related technologies, humanoid robots can mimic the appearance and movement of humans. However, the chest cavity of a humanoid robot needs to accommodate high-power-density components, such as industrial control computers, hard drives, and memory. Due to the limited space within the chest cavity, the dense arrangement of these components leads to severe heat generation within the chest cavity. Summary of the Invention

[0003] One objective of this invention is to provide a new technical solution for a torso module.

[0004] According to one aspect of the present invention, a torso module is provided. The torso module includes a housing, a fan, and a circuit board. The housing has an internal mounting cavity. The housing includes a first side plate and a second side plate disposed opposite to each other, the first side plate and the second side plate being adapted to mount a limb module. A first opening is provided on the first side plate, and a second opening opposite to the first opening is provided on the second side plate. A fan is disposed within the first opening to supply air to the mounting cavity. The circuit board is disposed within the mounting cavity, dividing the mounting cavity into a first heat dissipation cavity and a second heat dissipation cavity, both of which communicate with the first opening and the second opening.

[0005] Optionally, it also includes a support plate and an upper crossbeam, the support plate and the upper crossbeam being disposed within the housing, forming the mounting cavity between the support plate and the upper crossbeam, and a plurality of heat sinks being disposed on the support plate, the plurality of heat sinks being parallel to the airflow direction of the fan.

[0006] Optionally, a heating element is provided on the support plate, and the heat sink includes a first heat sink located on at least one side of the heating element along the airflow direction. The distance from the first heat sink to the heating element is greater than or equal to 1 / 2 of the length of the heating element, wherein the length of the heating element is the dimension of the heating element parallel to the airflow direction.

[0007] Optionally, drainage plates are provided on both sides of the support plate near the first opening, and the distance between the two drainage plates gradually increases from the end near the first opening to the end away from the first opening.

[0008] Optionally, a busbar is provided on both sides of the support plate near the second opening, and the distance between the two busbars gradually increases from the end near the second opening to the end away from the second opening.

[0009] Optionally, the edge of the support plate is provided with reinforcing ribs at least partially, the reinforcing ribs including a bent portion opposite to the first opening, the maximum distance from the bent portion to the first opening being greater than or equal to the diameter of the fan hub and less than or equal to 1 / 6 of the width of the support plate, wherein the width of the support plate is the dimension of the support plate perpendicular to the airflow direction.

[0010] Optionally, the edge of the support plate is provided with reinforcing ribs at least partially, and a notch is provided at the position of the reinforcing ribs opposite to the first opening and / or the second opening.

[0011] Optionally, there are drainage plates on both sides of the support plate near the first opening. The distance between the two drainage plates gradually increases from the end near the first opening to the end away from the first opening. The bent portion has a trapezoidal structure. The opening direction of the two waists of the trapezoidal structure is opposite to the opening direction of the two drainage plates. At least a portion of the bent portion is located between the two ends of the two drainage plates near the first opening.

[0012] Optionally, the upper crossbeam is located above the circuit board, and a plurality of heat dissipation fins are provided on the circuit board. The plurality of heat dissipation fins are arranged along the airflow direction, and a gap is formed between the plurality of heat dissipation fins and the upper crossbeam. The upper crossbeam is provided with a protruding structure protruding out of the gap, and a groove is formed at the position of the plurality of heat dissipation fins opposite to the protruding structure. The protruding structure and the groove are spaced apart.

[0013] Optionally, the circuit board includes a first side disposed opposite to the first opening, the distance from the first side to the first opening being greater than or equal to the hub radius of the fan.

[0014] According to another aspect of the present invention, a robot is provided. This robot includes the torso module described in the present invention.

[0015] One technical advantage of this invention is that a mounting cavity is formed inside the housing. Both the first and second side plates of the housing have openings communicating with the mounting cavity, namely a first opening and a second opening. A fan is installed inside the first opening. A circuit board is installed inside the mounting cavity. The circuit board divides the mounting cavity into a first heat dissipation cavity and a second heat dissipation cavity. Both the first and second heat dissipation cavities communicate with the first and second openings. In this way, the first and second heat dissipation cavities effectively increase the heat dissipation area of ​​the mounting cavity. Through this method, the airflow generated by the fan can pass through the first and second heat dissipation cavities respectively, thereby effectively dissipating heat from the heat-generating components within the mounting cavity.

[0016] Furthermore, the first opening and the second opening are located on the first side plate and the second side plate, respectively. The fan is located inside the first opening, and the mounting cavity is divided into a first heat dissipation cavity and a second heat dissipation cavity using a circuit board as a partition. In this way, the heat dissipation structure inside the torso module does not add any components; it only adjusts the mounting positions of the existing components, which simplifies the structure of the torso module.

[0017] Other features and advantages of the present invention will become clear from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. Attached Figure Description

[0018] The accompanying drawings, which form part of this specification, illustrate embodiments of the present invention and, together with the specification, serve to explain the principles of the present invention.

[0019] Figure 1 is a perspective view of the torso module with the outer shell removed according to an embodiment of the present invention.

[0020] Figure 2 is a partial internal view of the torso module according to an embodiment of the present invention.

[0021] Figure 3 is a magnified view of a portion of Figure 2.

[0022] Figure 4 is a partial view of another torso module according to an embodiment of the present invention.

[0023] Figure 5 is a schematic diagram of the support plate according to an embodiment of the present utility model.

[0024] Figure 6 is a partial enlarged view of another support plate according to an embodiment of the present utility model.

[0025] Explanation of reference numerals in the attached figures:

[0026] 100. Housing; 101. First side panel; 102. Second side panel; 103. Front bumper beam; 104. Rear bumper beam; 105. First heat dissipation cavity; 106. Second heat dissipation cavity; 107. Second opening; 108. Fan; 111. First opening;

[0027] 200. Upper crossbeam; 201. Raised structure;

[0028] 300. Support plate; 301. Drain plate; 302. Busbar plate; 303. Reinforcing rib; 3031. Notch; 3032. Bending section; 3033. Short side; 304. Heat-conducting boss; 305. First heat sink;

[0029] 400, PCB board; 402, heat sink fins; 403, groove. Detailed Implementation

[0030] Various exemplary embodiments of the present invention 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 invention.

[0031] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0032] Technologies and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such technologies and equipment should be considered part of the specification.

[0033] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0034] 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.

[0035] The torso module according to an embodiment of the present invention will now be described in detail with reference to the accompanying drawings.

[0036] According to one embodiment of the present invention, a torso module is provided. As shown in Figures 1-2, the torso module includes a housing 100, a fan 108, and a circuit board. The housing 100 has an internal mounting cavity. The housing 100 includes a first side plate 101 and a second side plate 102 disposed opposite to each other. The first side plate 101 and the second side plate 102 are adapted to mount a limb module. A first opening 111 is provided on the first side plate 101, and a second opening 107 opposite to the first opening 111 is provided on the second side plate 102. A fan 108 for supplying air to the mounting cavity is disposed in the first opening 111. The circuit board is disposed in the mounting cavity and divides the mounting cavity into a first heat dissipation cavity 105 and a second heat dissipation cavity 106. Both the first heat dissipation cavity 105 and the second heat dissipation cavity 106 communicate with the first opening 111 and the second opening 107.

[0037] Specifically, as shown in Figure 1, the torso module is used for humanoid robots or biomimetic robots. The torso module is used to mount the head module, limb modules, etc. The limb modules include, for example, arm modules and leg modules. The torso module internally houses an industrial control computer, a main control board (PCB), a hard drive, memory devices, and other heat-generating components. The housing 100 includes a front anti-collision beam 103, a rear anti-collision beam 104, a first side plate 101, and a second side plate 102 connected together. The front anti-collision beam 103 and the rear anti-collision beam 104 are positioned opposite each other. The first side plate 101 and the second side plate 102 are positioned opposite each other. The front anti-collision beam 103, the rear anti-collision beam 104, the first side plate 101, and the second side plate 102 form a cavity. A portion of the cavity forms a mounting cavity. The mounting cavity is used to mount circuit boards and heat-generating components, etc.

[0038] Optionally, the front bumper beam 103, the rear bumper beam 104, the first side plate 101, and the second side plate 102 may be made of metal, plastic, glass, ceramic, wood, etc.

[0039] As shown in Figures 1-2, the first side plate 101 and the second side plate 102 are adapted to mount a limb module. For example, the first side plate 101 and the second side plate 102 are connected to the limb module via a joint module. A first opening 111 is provided on the first side plate 101, and a second opening 107 opposite to the first opening 111 is provided on the second side plate 102. Both the first opening 111 and the second opening 107 communicate with the mounting cavity. Optionally, a filter screen is provided outside the first opening 111 and / or the second opening 107. The filter screen is used to filter external foreign objects. The first opening 111 and the second opening 107 can be directly opposite each other; alternatively, the first opening 111 and the second opening 107 can be partially opposite each other. A fan 108 is installed in the first opening 111 to deliver air to the mounting cavity. The fan 108 is used to dissipate heat from the heat-generating elements in the mounting cavity. For example, the fan 108 blows air into the second opening 107. The airflow generated by the fan 108 flows out through the second opening 107. Optionally, a fan 108 is also provided in the second opening 107. This fan 108 is used to exhaust gas from the mounting cavity. This significantly increases the airflow velocity within the mounting cavity, improving its heat dissipation efficiency. The airflow direction within the mounting cavity is shown by the arrow in Figure 2, where the first opening 111 is the air inlet and the second opening 107 is the air outlet.

[0040] The circuit board is, for example, a PCB board 400. The PCB board 400 divides the mounting cavity into a first heat dissipation cavity 105 and a second heat dissipation cavity 106. For example, the first heat dissipation cavity 105 is located above the second heat dissipation cavity 106, or the first heat dissipation cavity 105 and the second heat dissipation cavity 106 are arranged one in front of the other. Both the first heat dissipation cavity 105 and the second heat dissipation cavity 106 are connected to the first opening 111 and the second opening 107. In this way, the airflow generated by the fan 108 can enter the first heat dissipation cavity 105 and the second heat dissipation cavity 106 respectively. Finally, after the two airflows pass through the heat-generating components in the first heat dissipation cavity 105 and the second heat dissipation cavity 106, they both flow out through the second opening 107 to dissipate heat.

[0041] In this embodiment of the invention, a mounting cavity is formed inside the housing 100. The first side plate 101 and the second side plate 102 of the housing 100 are both provided with openings communicating with the mounting cavity, namely a first opening 111 and a second opening 107. A fan is disposed within the first opening 111. A circuit board is disposed within the mounting cavity. The circuit board divides the mounting cavity into a first heat dissipation cavity 105 and a second heat dissipation cavity 106. Both the first heat dissipation cavity 105 and the second heat dissipation cavity 106 communicate with the first opening 111 and the second opening 107. Thus, the first heat dissipation cavity 105 and the second heat dissipation cavity 106 effectively increase the heat dissipation area of ​​the mounting cavity. In this way, the airflow generated by the fan 108 can pass through the first heat dissipation cavity 105 and the second heat dissipation cavity 106 respectively, thereby effectively dissipating heat from the heat-generating components within the mounting cavity.

[0042] Furthermore, the first opening 111 and the second opening 107 are located on the first side plate 101 and the second side plate 102, respectively. The fan 108 is located inside the first opening 111. The mounting cavity is divided into a first heat dissipation cavity 105 and a second heat dissipation cavity 106 by using a circuit board as a partition. In this way, the heat dissipation structure inside the torso module does not add any components, but only adjusts the mounting positions of the original components, which makes the structure of the torso module simple.

[0043] Of course, the volume of the first heat dissipation cavity 105 and the second heat dissipation cavity 106 is not limited here, and those skilled in the art can select them according to the volume, power consumption, etc. of the heat-generating element in each heat dissipation cavity.

[0044] For example, the first heat dissipation cavity 105 houses a core module, such as an industrial control computer, with a power consumption of 60W. The second heat dissipation cavity 106 houses a main control board, with a power consumption of 30W. The core module is relatively large. The volume ratio of the first heat dissipation cavity 105 to the second heat dissipation cavity 106 is 5:1.

[0045] In one embodiment of the present invention, the torso module further includes a support plate 300 and an upper crossbeam 200. The support plate 300 and the upper crossbeam 200 are disposed within the housing 100, and the mounting cavity is formed between the support plate 300 and the upper crossbeam 200. A plurality of heat sinks are disposed on the support plate 300, and the plurality of heat sinks are parallel to the airflow direction of the fan 108.

[0046] In this embodiment, as shown in Figures 2-4, the torso module further includes a support plate 300 and an upper crossbeam 200 installed within the housing 100. The upper crossbeam 200 is located above the support plate 300. Thus, the upper crossbeam 200, support plate 300, front anti-collision beam 103, rear anti-collision beam 104, first side plate 101, and second side plate 102 together form an installation cavity. The upper crossbeam 200 is located at the top of the housing 100. The support plate 300 is used to support the heat-generating elements and also serves to conduct heat. A first heat dissipation cavity 105 is formed between the upper crossbeam 200 and the PCB board 400. A second heat dissipation cavity 106 is formed between the PCB board 400 and the support plate 300. Optionally, the upper crossbeam 200 and the support plate 300 can be made of metal, plastic, ceramic, glass, wood, etc.

[0047] As shown in Figures 5 and 6, multiple heat sinks are provided on the support plate 300. The heat sinks protrude from the support plate 300. The multiple heat sinks are arranged side-by-side. The extending direction of the heat sinks is parallel to the airflow direction of the fan 108. Here, the multiple heat sinks can be divided into multiple groups to effectively dissipate heat from different areas of the support plate 300. Optionally, the multiple heat sinks in each group can cover the corresponding heat-generating element to facilitate sufficient heat dissipation.

[0048] In this embodiment, the upper crossbeam 200 can enhance the structural strength of the shell 100, making the shell 100 more structurally robust. The support plate 300 is equipped with multiple heat sinks, which are arranged parallel to the airflow direction, resulting in better heat dissipation for the torso module.

[0049] In one embodiment of the present invention, a heating element is provided on the support plate 300, and the heat sink includes a first heat sink 305. The first heat sink 305 is located on at least one side of the heating element along the airflow direction. The distance from the first heat sink 305 to the heating element is greater than or equal to 1 / 2 of the length of the heating element, wherein the length of the heating element is the dimension of the heating element parallel to the airflow direction.

[0050] In this embodiment, as shown in Figures 5-6, the heating element is, for example, a main control board or an industrial computer. A thermally conductive boss 304 is provided on the support plate 300. The heating element is bonded to the thermally conductive boss 304 using thermally conductive grease or adhesive. First heat sinks 305 are provided on both sides of the airflow direction of the heating element. There are multiple first heat sinks 305. When the first heat sinks 305 are close to the heating element, the airflow resistance is high, and dead zones are easily formed.

[0051] To avoid the aforementioned problems, the distance from the first heat sink 305 to the heating element is greater than or equal to half the length of the heating element, where the length of the heating element is its dimension parallel to the airflow direction. In other words, a space is provided between the first heat sink 305 and the heating element. The length of this space is at least half the length of the heating element. This arrangement effectively avoids excessive resistance when airflow passes between the first heat sink 305 and the heating element, and prevents the formation of flow dead zones, thereby improving the heat dissipation efficiency of the first heat dissipation cavity 105.

[0052] Optionally, the first heat sink 305 may be provided only on one side of the airflow direction of the heat-generating element.

[0053] Of course, the number, spacing, and size of the first heat sink 305 are not limited here, and those skilled in the art can set them according to actual needs.

[0054] In one embodiment of the present invention, a flow guide plate 301 is provided on both sides of the support plate 300 near the first opening 111, and the distance between the two flow guide plates 301 gradually increases from the end near the first opening 111 to the end away from the first opening 111.

[0055] The heat dissipation cavity where the support plate 300 is located, such as the second heat dissipation cavity 106, is typically a structure with edges and corners, such as a cuboid structure. The airflow generated by the fan 108 easily forms vortices at the edges and corners, leading to poor airflow and ineffective heat dissipation. To solve the above technical problem, in this embodiment, as shown in Figures 5-6, a guide plate 301 is provided on the support plate 300. The guide plate 301 is used to guide the airflow entering the second heat dissipation cavity 106 along a predetermined path. The guide plate 301 protrudes from the support plate 300. Alternatively, the support plate 300 and the guide plate 301 can be integrally formed; or the guide plate 301 can be fixed to the support plate 300 by bolting, snap-fitting, bonding, welding, or other methods.

[0056] Two airflow guide plates 301 are respectively disposed on both sides of the first opening 111. The two airflow guide plates 301 are inclined so that the overall shape of the two airflow guide plates 301 is funnel-shaped. Due to the guiding effect of the two airflow guide plates 301, the airflow entering the second heat dissipation cavity 106 can move along the airflow guide plates 301. In this way, the airflow guide plates 301 can more effectively guide the airflow to the heating element and avoid the airflow reaching the edges and corners of the second heat dissipation cavity 106. The two airflow guide plates 301 can significantly increase the airflow velocity near the heating element, reduce flow resistance, improve heat exchange effect, and avoid the formation of turbulence.

[0057] Optionally, the drainage plate 301 can be a straight line, an arc, or a wavy line structure.

[0058] Of course, the length and height of the drainage plate 301 are not limited here, and those skilled in the art can set them according to actual needs.

[0059] In one embodiment of the present invention, a busbar 302 is provided on both sides of the support plate 300 near the second opening 107, and the distance between the two busbars 302 gradually increases from the end near the second opening 107 to the end away from the second opening 107.

[0060] When airflow flows within the mounting cavity, vortices are easily formed at the edges and corners near the second opening 107. In this embodiment, as shown in Figure 5, converging plates 302 are provided on both sides of the second opening 107. The two converging plates 302 protrude from the support plate 300. Alternatively, the support plate 300 and the converging plates 302 can be integrally formed; or the converging plates 302 can be fixed to the support plate 300 by means of bolt connection, snap-fit, bonding, welding, etc.

[0061] The two converging plates 302 are inclined so that their overall shape resembles a funnel. Due to the guiding effect of the two converging plates 302, the airflow after passing the heating element can move along the converging plates 302, thus reaching the second opening 107 more smoothly and being discharged by the fan 108 within the second opening 107, preventing the airflow from reaching the edges and corners of the second heat dissipation cavity 106. The two converging plates 302 also significantly increase the air velocity near the heating element, reduce flow resistance, improve heat exchange efficiency, and prevent the formation of turbulence.

[0062] Optionally, the busbar 302 can be a straight line, an arc, or a wavy line structure.

[0063] Of course, the length and height of the busbar 302 are not limited here, and those skilled in the art can set them according to actual needs.

[0064] Optionally, the two diverting plates 301 are symmetrically arranged with respect to the centerline of the support plate 300 along its length. The two converging plates 302 are also symmetrically arranged with respect to the centerline of the support plate 300 along its length. This arrangement effectively avoids inconsistent airflow velocities in different areas of the support plate 300, resulting in good overall heat dissipation of the support plate 300.

[0065] In one embodiment of the present invention, the edge of the support plate 300 is provided with at least a partial reinforcing rib 303. The reinforcing rib 303 includes a bent portion 3032 opposite to the first opening 111. The maximum distance from the bent portion 3032 to the first opening 111 is greater than or equal to the diameter of the hub of the fan 108 and less than or equal to 1 / 6 of the width of the support plate 300. The width of the support plate 300 is the dimension of the support plate 300 perpendicular to the airflow direction.

[0066] The torso module is susceptible to impact loads during robot walking and running. To prevent damage to the support plate 300, as shown in Figures 5-6, reinforcing ribs 303 are provided along the edge of the support plate 300. The reinforcing ribs 303 can be partially located along the edge of the support plate or can be integrally formed around the edge of the support plate 300. The reinforcing ribs 303 protrude from the surface of the support plate 300. The reinforcing ribs 303 can be integrally formed with the support plate 300, or they can be fixed to the edge of the support plate 300 by welding, bonding, snap-fitting, riveting, or other methods.

[0067] However, the reinforcing rib 303 at the first opening 111 creates significant flow resistance to the airflow generated by the fan 108. To reduce the flow resistance of the reinforcing rib 303 at this location, in this embodiment, the reinforcing rib 303 includes a bent portion 3032. The bent portion 3032 is recessed towards the center of the support plate 300. The maximum distance from the bent portion 3032 to the first opening 111 is greater than or equal to the diameter of the hub of the fan 108 and less than or equal to 1 / 6 of the width of the support plate 300.

[0068] In this embodiment, when the maximum distance is less than the diameter of the fan 108 hub, the bend 3032 has a large flow resistance to the airflow. When the maximum distance is greater than or equal to the diameter of the fan 108 hub, the bend 3032 has a small flow resistance to the airflow. However, when the maximum distance is too large, the bend 3032 cannot structurally strengthen the support plate 300. When the maximum distance is less than or equal to 1 / 6 of the width of the support plate 300, the bend 3032 can effectively strengthen the support plate 300. Therefore, the maximum distance from the bend 3032 to the first opening 111 is set to be greater than or equal to the diameter of the fan 108 hub and less than or equal to 1 / 6 of the width of the support plate 300. In this way, the bend 3032 has a small flow resistance and strengthens the structure of the support plate 300.

[0069] It should be noted that the width of the support plate 300 is the dimension of the support plate 300 perpendicular to the airflow direction. For example, the support plate 300 is rectangular in shape. The airflow direction, i.e., the left-right direction, is the length direction of the support plate 300. The direction perpendicular to the airflow direction, i.e., the front-back direction, is the width direction of the support plate 300.

[0070] In one embodiment of the present invention, the edge of the support plate 300 is provided with at least a partial reinforcing rib 303, and a notch 3031 is provided at the position of the reinforcing rib 303 opposite to the first opening 111 and / or the second opening 107.

[0071] To prevent the reinforcing rib 303 from obstructing airflow, in this embodiment, as shown in FIG. 5, a notch 3031 is provided at the position opposite to the first opening 111 and / or the second opening 107 of the reinforcing rib 303. That is, the reinforcing rib 303 is partially provided around the edge of the support plate 300. The notch 3031 formed in the reinforcing rib 303 at the first opening 111 and / or the second opening 107 avoids the reinforcing rib 303 from obstructing airflow at that position.

[0072] In one embodiment of the present invention, there are drainage plates 301 on both sides of the support plate 300 near the first opening 111. The distance between the two drainage plates 301 gradually increases from the end near the first opening 111 to the end away from the first opening 111. The bent portion 3032 has a trapezoidal structure. The opening direction of the two waists of the trapezoidal structure is opposite to the opening direction of the two drainage plates 301. At least a portion of the bent portion 3032 is located between the two ends of the two drainage plates 301 near the first opening 111.

[0073] In this embodiment, as shown in FIG6, the bending portion 3032 has an overall trapezoidal structure, such as an isosceles trapezoid. The opening directions of the two waists of the trapezoidal structure are opposite to the opening directions of the two air-guiding plates 301. The distance from the short side 3033 of the isosceles trapezoidal structure to the first opening 111 is the largest. The short side 3033 extends into the two ends of the two air-guiding plates 301 near the first opening 111. In this way, the two waists of the isosceles trapezoidal structure can guide the airflow of the fan 108 into the space between the two air-guiding plates 301. Since the distance from the short side 3033 to the first opening 111 is large enough, the resistance of the short side 3033 is small, so the airflow will not be significantly weakened. With this arrangement, the bending portion 3032 not only strengthens the structural strength of the support plate 300, but also guides the airflow between the two air-guiding plates 301, thereby enabling the airflow to reach the heating element more effectively and further improving the heat dissipation effect of the body module.

[0074] Of course, the trapezoidal structure does not have to be an isosceles trapezoid. The distance between the two drainage plates 301 where the trapezoidal structure extends is not limited here.

[0075] In one embodiment of this utility model, the upper crossbeam 200 is located above the circuit board, and a plurality of heat dissipation fins 402 are provided on the circuit board. The plurality of heat dissipation fins 402 are arranged along the airflow direction, and a gap is formed between the plurality of heat dissipation fins 402 and the upper crossbeam 200. The upper crossbeam 200 is provided with a protruding structure 201 protruding out of the gap. A groove 403 is formed at the position of the plurality of heat dissipation fins 402 opposite to the protruding structure 201, and the protruding structure 201 and the groove 403 are spaced apart.

[0076] A core module, such as a main controller, is housed within the first heat dissipation cavity 105. The core module generates significant heat, and to improve heat dissipation, multiple heat dissipation fins 402 are provided on it. These multiple heat dissipation fins 402 are arranged side-by-side along the airflow direction. A gap is formed between the multiple heat dissipation fins 402 and the upper crossbeam 200. Because the airflow resistance within this gap is low, airflow easily passes through it, reducing the flow rate and velocity of the airflow passing between the multiple heat dissipation fins 402, which is detrimental to the heat dissipation of the first heat dissipation cavity 105.

[0077] In this embodiment, as shown in FIG4, a protruding structure 201 protruding beyond the gap is provided on the upper crossbeam 200. The protruding structure 201 can increase the airflow resistance within the gap. Furthermore, grooves 403 are formed at positions of multiple heat dissipation fins 402 opposite to the protruding structure 201. The protruding structure 201 and the grooves 403 are spaced apart. This arrangement increases the path length of airflow through the gap.

[0078] In other words, by setting a protruding structure 201 on the upper crossbeam 200 and forming grooves 403 at the positions of multiple heat dissipation fins 402 opposite to the protruding structure 201, the airflow resistance of the gas flowing through the gap can be increased, and the airflow path can be extended, thereby reducing the airflow through the gap. This significantly increases the flow rate and velocity of the airflow passing between the multiple heat dissipation fins 402, thus improving the heat dissipation effect of the first heat dissipation cavity 105.

[0079] Of course, the size, location, and quantity of the protrusion structure 201 and the groove 403 are not limited here, and those skilled in the art can choose according to actual needs.

[0080] In one embodiment of the present invention, the circuit board includes a first side disposed opposite to the first opening 111, and the distance from the first side to the first opening 111 is greater than or equal to the hub radius of the fan 108.

[0081] In this embodiment, as shown in FIG3, the PCB board 400 is rectangular in shape. The right side of the PCB board 400 is the first side, and the left side is the second side. The first side is opposite to the first opening 111. The second side is opposite to the second opening 107. When the distance from the first side to the first opening 111 (as shown in A in FIG3) is too small, the PCB board 400 easily creates a large resistance to the airflow generated by the fan 108, which is not conducive to the heat dissipation of the first heat dissipation cavity 105 and the second heat dissipation cavity 106. By setting the distance from the first side to the fan 108 to be greater than or equal to the hub radius of the fan 108, the resistance of the PCB board 400 to the airflow can be effectively reduced, and the heat dissipation effect of the first heat dissipation cavity 105 and the second heat dissipation cavity 106 can be significantly improved.

[0082] It should be noted that in this embodiment, the fan 108 in the first opening 107 and the fan 108 in the second opening 111 are the same size. The hub diameter of the fan 108 is shown as D in Figure 2, and the radius is half of the diameter. Of course, the fan 108 in the first opening 107 and the fan 108 in the second opening 111 can also be different.

[0083] According to another embodiment of the present invention, a robot is provided. This robot and its occupants include the torso module described in the embodiments of the present invention.

[0084] For example, the robot can be a humanoid robot, a bionic robot, an industrial robotic arm, or a mobile robot. This robot features excellent heat dissipation. The above embodiments primarily describe the differences between the various embodiments. As long as the different optimization features between the embodiments are not contradictory, they can be combined to form better embodiments. For the sake of brevity, these will not be elaborated further here.

[0085] While specific embodiments of the present invention have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A torso module, characterized in that, The device includes a housing (100), a fan (108), and a circuit board. The housing (100) has an internal mounting cavity. The housing (100) includes a first side plate (101) and a second side plate (102) disposed opposite to each other. The first side plate (101) and the second side plate (102) are adapted to mount a limb module. A first opening (111) is provided on the first side plate (101), and a second opening (107) is provided on the second side plate (102) opposite to the first opening (111). A fan (108) for supplying air to the mounting cavity is provided in the first opening (111). The circuit board is disposed in the mounting cavity and divides the mounting cavity into a first heat dissipation cavity (105) and a second heat dissipation cavity (106). Both the first heat dissipation cavity (105) and the second heat dissipation cavity (106) are connected to the first opening (111) and the second opening (107).

2. The torso module according to claim 1, characterized in that, It also includes a support plate (300) and an upper crossbeam (200), the support plate (300) and the upper crossbeam (200) being disposed within the housing (100), forming the mounting cavity between the support plate (300) and the upper crossbeam (200), and a plurality of heat sinks being disposed on the support plate (300), the plurality of heat sinks being parallel to the airflow direction of the fan (108).

3. The torso form of claim 2, wherein, A heating element is provided on the support plate (300), and the heat sink includes a first heat sink (305). The first heat sink (305) is located on at least one side of the heating element along the airflow direction. The distance from the first heat sink (305) to the heating element is greater than or equal to 1 / 2 of the length of the heating element, wherein the length of the heating element is the dimension of the heating element parallel to the airflow direction.

4. The torso form of claim 2, wherein, Drainage plates (301) are provided on both sides of the support plate (300) near the first opening (111), and the distance between the two drainage plates (301) gradually increases from the end near the first opening (111) to the end away from the first opening (111).

5. The torso module according to claim 2, characterized in that, A busbar (302) is provided on both sides of the support plate (300) near the second opening (107), and the distance between the two busbars (302) gradually increases from the end near the second opening (107) to the end away from the second opening (107).

6. The torso module according to claim 2, characterized in that, The edge of the support plate (300) is provided with at least a partial reinforcing rib (303), the reinforcing rib (303) including a bent portion opposite to the first opening (111), the maximum distance from the bent portion to the first opening (111) being greater than or equal to the diameter of the fan (108) hub and less than or equal to 1 / 6 of the width of the support plate (300), wherein the width of the support plate (300) is the dimension of the support plate (300) perpendicular to the airflow direction.

7. The torso module according to claim 2, characterized in that, The edge of the support plate (300) is provided with at least a partial reinforcing rib (303), and a notch (3031) is provided at the position of the reinforcing rib (303) opposite to the first opening (111) and / or the second opening (107).

8. The torso module according to claim 6, characterized in that, On the support plate (300), there are drainage plates (301) on both sides near the first opening (111). The distance between the two drainage plates (301) gradually increases from the end near the first opening (111) to the end away from the first opening (111). The bent portion has a trapezoidal structure. The opening direction of the two waists of the trapezoidal structure is opposite to the opening direction of the two drainage plates (301). At least part of the bent portion is located between the two ends of the two drainage plates (301) near the first opening (111).

9. The torso module according to claim 2, characterized in that, The upper crossbeam (200) is located above the circuit board. Multiple heat dissipation fins (402) are provided on the circuit board. The multiple heat dissipation fins (402) are arranged along the airflow direction. A gap is formed between the multiple heat dissipation fins (402) and the upper crossbeam (200). The upper crossbeam (200) is provided with a protruding structure (201) protruding out of the gap. A groove (403) is formed at the position of the multiple heat dissipation fins (402) opposite to the protruding structure (201). The protruding structure (201) and the groove (403) are spaced apart.

10. The torso module according to any one of claims 1 to 9, characterized in that, The circuit board includes a first side disposed opposite to the first opening (111), the distance from the first side to the first opening (111) being greater than or equal to the hub radius of the fan (108).

11. A robot, characterized in that Includes the torso module as described in any one of claims 1 to 10.

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