Torso mechanism and robot

Abstract

The utility model discloses a kind of torso mechanism and robot, the torso mechanism includes: shell, the inside of the shell forms accommodating cavity, the shell is equipped with multiple air inlet holes, the air inlet hole is communicated with the accommodating cavity, the bottom of the shell is equipped with mounting hole, the mounting hole is communicated with the accommodating cavity;Exhaust fan, the exhaust fan is located in the mounting hole.The technical scheme provided in the application sets exhaust fan in the bottom of shell, to realize downward exhaust in second direction, so that the hot air discharged can be avoided to blow to user, to improve the experience of user.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, and in particular relates to a torso mechanism and a robot. Background Technology

[0002] Currently, the internal heat dissipation system for the robot's torso mainly uses air blowing to dissipate heat. Air enters from the bottom of the torso shell and exits from the shoulders. This solution places the air outlets on the shoulders, and the hot air may blow towards consumers, thus affecting the user experience. Utility Model Content

[0003] The purpose of this application is to provide a torso mechanism and a robot.

[0004] According to a first aspect of the embodiments of this application, a torso mechanism is provided, comprising:

[0005] The housing has an interior cavity, and the housing has multiple air inlets that communicate with the cavity. The bottom of the housing has mounting holes that communicate with the cavity.

[0006] An exhaust fan is provided in the mounting hole.

[0007] Optionally, the housing includes a front shell and a rear shell, the front shell being connected to the rear shell, and the interior of the front shell and the interior of the rear shell forming the receiving cavity;

[0008] The rear housing includes a mounting member located at the top of the housing. An air inlet gap is formed between the mounting member and the front housing at the edge of the front housing, and the air inlet gap communicates with the receiving cavity.

[0009] Optionally, the exhaust fan includes an axial fan.

[0010] Optionally, the inner wall of the housing is provided with a first insertion portion, the first insertion portion including a first slot and a second slot, the first slot and the second slot being spaced apart along a first direction;

[0011] The torso mechanism also includes a first circuit board, which is located between the first slot and the second slot and inserted into the first slot and the second slot.

[0012] Optionally, a second insertion portion is provided on the inner wall of the housing, the first insertion portion and the second insertion portion are spaced apart along a second direction, the second insertion portion includes a third slot and a fourth slot, the third slot and the fourth slot are spaced apart along a first direction;

[0013] The torso mechanism also includes a second circuit board, which is located between the third slot and the fourth slot and inserted into the third slot and the fourth slot.

[0014] Optionally, the torso mechanism further includes a third circuit board, which is disposed in the receiving cavity and arranged adjacent to the first circuit board in the third direction;

[0015] The thickness direction of the third circuit board is the same as that of the third direction, the thickness direction of the first circuit board is the same as that of the second direction, and the second direction intersects with the third direction.

[0016] Optionally, the torso mechanism further includes a fourth circuit board, which is spaced apart from the third circuit board, and the thickness direction of the fourth circuit board is the same as that of the third circuit board.

[0017] Optionally, the air inlet is located on the side of the housing near the fourth circuit board.

[0018] Optionally, the torso mechanism further includes a battery module disposed in the receiving cavity and close to the mounting member.

[0019] Optionally, the housing has a notch that communicates with the receiving cavity, and a portion of the battery module is located in the notch and abuts against the inner wall of the notch.

[0020] Optionally, the battery module is adjacent to the fourth circuit board, and the battery module is electrically connected to the fourth circuit board.

[0021] According to a second aspect of the embodiments of this application, a robot is provided, including the torso mechanism described above.

[0022] One technical advantage of this application embodiment is that external cold air is drawn into the receiving cavity through the air inlet by the exhaust fan, forming an airflow channel in the receiving cavity. The cold air circulates and exchanges in the receiving cavity, and then is discharged from the receiving cavity by the exhaust fan to achieve the purpose of heat dissipation. Since the exhaust fan is located at the bottom of the housing, it exhausts air downwards in the second direction, thereby avoiding the hot air being blown towards the user and improving the user experience.

[0023] Other features and advantages of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0024] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the present application and, together with their description, serve to explain the principles of the present application.

[0025] Figure 1 This is a schematic diagram of the torso mechanism in the embodiments of this application;

[0026] Figure 2 This is a schematic diagram of the torso mechanism in the embodiments of this application;

[0027] Figure 3 This is a schematic diagram of the torso mechanism in the embodiments of this application;

[0028] Figure 4 This is a schematic diagram of the torso mechanism in the embodiments of this application;

[0029] Figure 5 This is a schematic diagram of the structure of the rear shell, the first insertion part, the second insertion part, the battery module and the exhaust fan in the embodiments of this application;

[0030] Figure 6 This is a schematic diagram of the structure of the rear shell, first plug-in portion, second plug-in portion, first circuit board, second circuit board, third circuit board, fourth circuit board, battery module and exhaust fan in the embodiments of this application;

[0031] Figure 7 This is a schematic diagram of the structure of the rear shell, the first plug-in portion, the second plug-in portion, the first circuit board, the second circuit board, the battery module, and the exhaust fan in the embodiments of this application;

[0032] Figure 8 This is a schematic diagram of the structure of the rear shell, the first insertion part, the second insertion part, and the exhaust fan in the embodiments of this application;

[0033] Figure 9 This is a schematic diagram of the structure of the rear shell in an embodiment of this application.

[0034] Explanation of reference numerals in the attached drawings: Torso mechanism 100; Housing 1; Receiving cavity 11; Front shell 12; Rear shell 13; Mounting component 131; Body 132; Air inlet 14; Air inlet gap 15; Notch 16; First insertion part 17; First slot 171; Second slot 172; Second insertion part 18; Third slot 181; Fourth slot 182; Mounting hole 19; Exhaust fan 2; First circuit board 3; Second circuit board 4; Third circuit board 5; Fourth circuit board 6; Fifth circuit board 7; Sixth circuit board 8; Battery module 9; Outer wall 91; First connector a; Second connector b; Third connector c; Fourth connector d. Detailed Implementation

[0035] Various exemplary embodiments of the present application 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 application.

[0036] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the scope of this application and its application or use.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] In the specification and claims of this invention, the terms "first" and "second" may explicitly or implicitly include one or more of those features. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0041] In the description of this invention, it should be understood that if the terms "axial", "radial", etc., are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for the convenience of describing this invention and simplifying the description, and is not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0042] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0043] First, it should be noted that the first direction, second direction, and third direction mentioned in the embodiments of this application are referred to in the appendix. Figure 1 , Figure 2 , Figure 3 as well as Figure 6The marked directions; wherein the axes of the first direction, the second direction, and the third direction intersect each other.

[0044] like Figures 1-9 As shown, according to a first aspect of the embodiments of this application, a torso mechanism 100 is provided, including a housing 1 and an exhaust fan 2; the housing 1 forms a receiving cavity 11 inside, the housing 1 has a plurality of air inlets 14, the air inlets 14 communicate with the receiving cavity 11, the bottom of the housing 1 has a mounting hole 19, the mounting hole 19 communicates with the receiving cavity 11; the exhaust fan 2 is disposed in the mounting hole 19.

[0045] like Figure 1 , Figure 2 and Figure 3 As shown, the torso mechanism 100 includes a housing 1 and an exhaust fan 2; wherein, the housing 1 has an internal cavity 11 for accommodating a circuit board, a battery module 9 and other functional components; an air inlet 14 is provided on the housing 1, which is located above the exhaust fan 2 in the second direction and communicates with the cavity 11; a mounting hole 19 is provided at the bottom of the housing 1, which communicates with the cavity 11, and the exhaust fan 2 is disposed in the mounting hole 19.

[0046] To further explain, the exhaust fan 2 draws external cold air into the housing 11 through the air inlet 14, forming an airflow channel within the housing 11. The cold air circulates and exchanges within the housing 11 before being exhausted from the housing 11 by the exhaust fan 2, thus achieving the purpose of heat dissipation. Since the exhaust fan 2 is located at the bottom of the housing 1, it exhausts air downwards in the second direction, thereby preventing the exhausted hot air from blowing towards the user and improving the user experience.

[0047] like Figure 1 , Figure 3 and Figure 4As shown, in an optional embodiment, the housing 1 includes a front housing 12 and a rear housing 13, the front housing 12 is connected to the rear housing 13, and the interior of the front housing 12 and the interior of the rear housing 13 form the receiving cavity 11; the rear housing 13 includes a mounting member 131, the mounting member 131 is located at the top of the housing 1, and an air inlet gap 15 is formed between the mounting member 131 and the front housing 12 at the edge of the front housing 12, the air inlet gap 15 communicating with the receiving cavity 11. Specifically, the side of the front shell 12 facing the rear shell 13 is connected to the side of the rear shell 13 facing the front shell 12. The front shell 12 and the rear shell 13 are connected, and the interior of the front shell 12 and the interior of the rear shell 13 form a receiving cavity 11. The rear shell 13 includes a mounting member 131 and a body 132. The mounting member 131 is located on the top of the shell 1 and is located on the side of the body 132 facing the front shell 12. When the front shell 12 and the rear shell 13 are connected, an air inlet gap 15 is formed between the side of the mounting member 131 facing the front shell 12 and the front shell 12. The air inlet gap 15 communicates with the receiving cavity 11. In this embodiment, the air can enter the receiving cavity 11 through the air inlet gap 15 to dissipate heat from the components located in the receiving cavity 11. On the one hand, it is not necessary to open other air inlets 14, thereby reducing the processing difficulty and processing cost. On the other hand, it can also reduce the installation accuracy between the front shell 12 and the rear shell 13, thereby improving the installation efficiency.

[0048] The mounting component 131 is used to mount the head mechanism.

[0049] In one specific embodiment, the exhaust fan 2 includes an axial fan; in this embodiment, an axial fan is used, which has lower noise and larger air volume, thereby improving the user experience and the heat dissipation effect.

[0050] In another specific embodiment, the exhaust fan 2 includes a centrifugal fan.

[0051] like Figure 5 , Figure 6 , Figure 7 and Figure 8 As shown, in an optional embodiment, the inner wall of the housing 1 is provided with a first insertion portion 17, the first insertion portion 17 including a first slot 171 and a second slot 172, the first slot 171 and the second slot 172 being spaced apart along a first direction; specifically, the first insertion portion 17 is located in the receiving cavity 11, the first slot 171 and the second slot 172 are spaced apart along the first direction, the opening of the first slot 171 faces the second slot 172, the opening of the second slot 172 faces the first slot 171, and the length direction of the first slot 171 is the same as the length direction of the first slot 171.

[0052] To further explain, the torso mechanism 100 also includes a first circuit board 3, which is located between the first slot 171 and the second slot 172 and inserted into the first slot 171 and the second slot 172. Specifically, the first circuit board 3 is inserted into the first slot 171 and the second slot 172, which facilitates the installation of the first circuit board 3 in the receiving cavity 11. In addition, the first circuit board 3 is also relatively easy to disassemble, which facilitates maintenance and repair.

[0053] The first plug-in part 17 and the housing 1 can be an integral structure, or they can be detachably installed together.

[0054] In a preferred embodiment, the first plug-in portion 17 is located on the inner wall of the rear shell 13. The first circuit board 3 is inserted into the first slot 171 and the second slot 172, and then the front shell 12 and the rear shell 13 are installed. In this embodiment, it is more convenient to install the first circuit board 3.

[0055] Preferably, at the end of the first slot 171 near the front housing 12, the first circuit board 3 is connected to the first slot 171 via a first connector a; at the end of the second slot 172 near the front housing 12, the first circuit board 3 is connected to the second slot 172 via a second connector b; therefore, the first connector a and the second connector b can fix the first circuit board 3, and the first connector a and the second connector b are relatively easy to install.

[0056] like Figure 5 , Figure 6 , Figure 7 and Figure 8 As shown, in an optional embodiment, a second insertion portion 18 is provided on the inner wall of the housing 1. The first insertion portion 17 and the second insertion portion 18 are spaced apart along a second direction. The second insertion portion 18 includes a third slot 181 and a fourth slot 182, which are spaced apart along a first direction. Specifically, the second insertion portion 18 is located inside the receiving cavity 11. The first insertion portion 17 may be located above or below the second insertion portion 18 in the second direction. In this embodiment, the example of the first insertion portion 17 being located above the second insertion portion 18 in the second direction is used for explanation. The third slot 181 and the fourth slot 182 are spaced apart along the first direction. The opening of the third slot 181 faces the fourth slot 182, and the opening of the fourth slot 182 faces the third slot 181. The length direction of the third slot 181 is the same as the length direction of the fourth slot 182.

[0057] Further explanation: the torso mechanism 100 also includes a second circuit board 4, which is inserted between and into the third slot 181 and the fourth slot 182. Specifically, the second circuit board 4 is inserted into the third slot 181 and the fourth slot 182, which facilitates the installation of the second circuit board 4 in the receiving cavity 11. The second circuit board 4 is also relatively easy to disassemble, which facilitates maintenance and repair. Moreover, the second circuit board 4 and the first circuit board 3 are arranged at intervals along the second direction, which can make reasonable use of the space of the receiving cavity 11 and improve the compactness of the structure of the torso mechanism 100.

[0058] The second connector 18 can be an integral part of the housing 1, or it can be detachably installed from the housing 1.

[0059] In a preferred embodiment, the second plug-in portion 18 is located on the inner wall of the rear shell 13. The second circuit board 4 is inserted into the third slot 181 and the fourth slot 182, and then the front shell 12 and the rear shell 13 are installed. In this embodiment, it is more convenient to install the second circuit board 4.

[0060] Preferably, at the end of the third slot 181 near the front housing 12, the second circuit board 4 is connected to the third slot 181 via a third connector c; at the end of the fourth slot 182 near the front housing 12, the second circuit board 4 is connected to the fourth slot 182 via a fourth connector d; therefore, the third connector c and the fourth connector d can fix the second circuit board 4, and the third connector c and the fourth connector d are relatively easy to install.

[0061] like Figure 6 As shown, in an optional embodiment, the torso mechanism 100 further includes a third circuit board 5, which is disposed in the receiving cavity 11. In the third direction, the third circuit board 5 is arranged adjacent to the first circuit board 3. Specifically, the third circuit board 5 is located inside the receiving cavity 11 and is fixed to the inner wall of the housing 1. The thickness direction of the third circuit board 5 is the same as the third direction, and the thickness direction of the first circuit board 3 is the same as the second direction. The second direction intersects the third direction, that is, the thickness direction of the third circuit board 5 is different from the thickness direction of the first circuit board 3. In this embodiment, by reasonably arranging the positions and directions of the first circuit board 3 and the third circuit board 5, the structure of the torso mechanism 100 is made more compact.

[0062] like Figure 6As shown, in an optional embodiment, the torso mechanism 100 further includes a fourth circuit board 6, which is spaced apart from the third circuit board 5, and the thickness direction of the fourth circuit board 6 is the same as that of the third circuit board 5. Specifically, the fourth circuit board 6 and the third circuit board 5 are arranged spaced apart along a third direction, the third circuit board 5 is located between the first circuit board 3 and the fourth circuit board 6, and the thickness direction of the fourth circuit board 6 is the same as that of the third circuit board 5. In this embodiment, the compactness of the structure of the torso mechanism 100 can be improved.

[0063] like Figure 2 and Figure 4 As shown, in an optional embodiment, the air inlet 14 is located on the side of the housing 1 near the fourth circuit board 6. Specifically, external cold air enters the receiving cavity 11 through the air inlet 14. Since the fourth circuit board 6 is close to the air inlet 14, and since the fourth circuit board 6 and the third circuit board 5 are arranged adjacent to each other, the cold air first passes through the fourth circuit board 6 and then through the third circuit board 5. In this embodiment, the heat dissipation effect on the third circuit board 5 and the fourth circuit board 6 is better.

[0064] like Figure 5 , Figure 6 and Figure 7 As shown, in an optional embodiment, the torso mechanism 100 further includes a battery module 9, which is disposed in the receiving cavity 11 and close to the mounting member 131. Specifically, the battery module 9 being close to the mounting member 131 can be understood as the battery module 9 being located between the mounting member 131 and the first circuit board 3. Since there is an air inlet gap 15 between the mounting member 131 and the front shell 12, the battery module 9 being close to the mounting member 131 means that the battery module 9 is also close to the air inlet gap 15. When cold air enters the receiving cavity 11 from the air inlet gap 15, it will first pass through the battery module 9, thereby improving the heat dissipation effect on the battery module 9.

[0065] like Figure 2 and Figure 9As shown, in an optional embodiment, the housing 1 has a notch 16 that communicates with the receiving cavity 11. The battery module 9 is located in the notch 16 and abuts against the inner wall of the notch 16. Specifically, the battery module 9 is disposed in the receiving cavity 11 and has an outer wall 91. The outer wall 91 of the battery module 9 is located at the notch 16 and abuts against the inner wall of the notch 16. Therefore, the outer wall 91 of the battery module 9 closes the receiving cavity 11 at the notch 16, while the outer wall 91 of the battery module 9 protrudes outside the housing 1. In this embodiment, the outer wall 91 of the battery module 9 can play a certain function. The outer wall 91 of the battery module 9 protruding outside the housing 1 can improve the heat dissipation effect. On the other hand, the outer wall 91 of the battery module 9 protruding outside the housing 1 allows for the placement of charging ports or power-on modules, etc., for convenient operation.

[0066] like Figure 6 As shown, in one optional embodiment, the battery module 9 is adjacent to the fourth circuit board 6 and the battery module 9 is electrically connected to the fourth circuit board 6; specifically, the fourth circuit board 6 is a power control board, and the battery module 9 is electrically connected to the fourth circuit board 6, through which the battery module 9 is controlled; in this embodiment, the fourth circuit board 6 and the battery module 9 are arranged adjacent to each other to facilitate the connection between the battery module 9 and the fourth circuit board 6.

[0067] Among them, the first circuit board 3 can be a motion control board; the second circuit board 4 can be a sensing control board; the third circuit board 5 can be a high-speed signal interconnection board; and the fourth circuit board 6 is a power control board.

[0068] like Figure 5 As shown, preferably, the torso mechanism 100 also includes a fifth circuit board 7, which is disposed in the receiving cavity and located at the bottom of the housing 1. The fifth circuit board 7 is a LoRa circuit board, which is a hardware platform for wireless communication technology design. It integrates LoRa radio frequency module, microcontroller (MCU), power management, interface circuit, etc. on a PCB to realize long-distance, low-power wireless data communication.

[0069] like Figure 5 As shown, preferably, the torso mechanism 100 further includes a sixth circuit board 8, which is disposed on the side of the mounting member away from the receiving cavity, and the sixth circuit board 8 is a debugging board.

[0070] According to a second aspect of the embodiments of this application, a robot is provided, including the torso mechanism 100 described above.

[0071] While specific embodiments of this application 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 this application. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this application. The scope of this application is defined by the appended claims.

Claims

1. A torso mechanism characterized by, include: The housing has an interior cavity, and the housing has multiple air inlets that communicate with the cavity. The bottom of the housing has mounting holes that communicate with the cavity. An exhaust fan is provided in the mounting hole.

2. The torso mechanism of claim 1, wherein, The housing includes a front shell and a rear shell, the front shell is connected to the rear shell, and the interior of the front shell and the interior of the rear shell form the receiving cavity; The rear housing includes a mounting member located at the top of the housing. An air inlet gap is formed between the mounting member and the front housing at the edge of the front housing, and the air inlet gap communicates with the receiving cavity.

3. The torso mechanism of claim 1, wherein, The exhaust fan includes an axial flow fan.

4. The torso mechanism of claim 2, wherein, The inner wall of the housing is provided with a first insertion part, the first insertion part includes a first slot and a second slot, the first slot and the second slot are spaced apart along a first direction; The torso mechanism also includes a first circuit board, which is located between the first slot and the second slot and inserted into the first slot and the second slot.

5. The torso mechanism of claim 4, wherein, The inner wall of the housing is provided with a second insertion part, the first insertion part and the second insertion part are spaced apart along a second direction, the second insertion part includes a third slot and a fourth slot, the third slot and the fourth slot are spaced apart along a first direction; The torso mechanism also includes a second circuit board, which is located between the third slot and the fourth slot and inserted into the third slot and the fourth slot.

6. The torso mechanism of claim 4, wherein, The torso mechanism also includes a third circuit board, which is disposed in the receiving cavity and arranged adjacent to the first circuit board in the third direction. The thickness direction of the third circuit board is the same as that of the third direction, the thickness direction of the first circuit board is the same as that of the second direction, and the second direction intersects with the third direction.

7. The trunk mechanism of claim 6, wherein, The torso mechanism also includes a fourth circuit board, which is spaced apart from the third circuit board, and the thickness direction of the fourth circuit board is the same as that of the third circuit board.

8. The trunk mechanism of claim 7, wherein, The air inlet is located on the side of the housing near the fourth circuit board.

9. The torso mechanism of claim 7, wherein, The torso mechanism also includes a battery module, which is located in the receiving cavity and close to the mounting component.

10. The torso mechanism according to claim 9, characterized in that, The housing has a notch that communicates with the receiving cavity, and a portion of the battery module is located in the notch and abuts against the inner wall of the notch.

11. The trunk mechanism of claim 9, wherein, The battery module is adjacent to the fourth circuit board, and the battery module is electrically connected to the fourth circuit board.

12. A robot, characterized in that Includes the torso mechanism as described in any one of claims 1-11.

Images