Humanoid robot's trunk and humanoid robot

Abstract

The utility model discloses a torso of humanoid robot and humanoid robot, the torso of humanoid robot includes casing, fixed frame, circuit board, battery group, forms the installation chamber in casing, and the fixed frame is placed in the installation chamber and is fixed with casing, and the inner wall surface between fixed frame and casing forms the flow gap, and the flow gap includes first gap, two second gaps, and the side of first gap is communicated with second gap, battery group is installed in the fixed frame, and the circuit board is fixed on the fixed frame and is located in first gap, the bottom of casing front end wall is provided with the air inlet, and the bottom of first gap is provided with the drainage fan in the inboard of air inlet, the both sides of casing are provided with the air outlet respectively, and the top of second gap is installed with the flow fan, the utility model discloses has reduced the temperature rise in casing interior, makes the circuit board, battery group and other electronic devices work in the lower temperature environment to ensure that humanoid robot can normally work.

Description

Technical Field

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

[0002] With the continuous development of robotics technology, humanoid robots used to simulate human shape and movement have received increasing attention. Based on the shape of the human body, humanoid robots are usually composed of a head, torso, two upper limbs, and two lower limbs. Since the head, upper limbs, and lower limbs all have multiple rotating joints and corresponding drive components, existing humanoid robots usually place the battery, main control system, and some electronic devices inside the torso. The battery, main control system, and electronic devices usually generate a certain amount of heat when working, which can cause a certain temperature rise inside the torso and affect the normal operation of the humanoid robot. Utility Model Content

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the purpose of the present invention is to provide a humanoid robot torso and a humanoid robot, so as to reduce the temperature rise inside the humanoid robot torso and ensure that the humanoid robot can work normally.

[0004] The objective of this utility model is achieved through the following technical solution:

[0005] The torso of a humanoid robot is characterized by comprising a shell, a fixed frame, a circuit board, and a battery pack;

[0006] The housing has a hollow structure to form an installation chamber inside the housing. The fixing frame is placed in the installation chamber and fixedly fitted with the housing. A flow guiding gap is formed between the fixing frame and the inner wall of the housing. The flow guiding gap includes a first gap located on the front side of the fixing frame and two second gaps located on both sides of the fixing frame. The second gaps are connected to the side of the first gap. The battery pack is installed in the fixing frame, and the circuit board is fixed on the fixing frame and located in the first gap.

[0007] An air inlet is provided at the bottom of the front wall of the housing, which is used to connect the external environment of the housing with the bottom of the first gap. A duct fan is provided at the bottom of the first gap inside the air inlet, which is used to introduce air from the external environment of the housing into the bottom of the first gap. Air outlets are provided on both sides of the housing to connect the second gap with the external environment of the housing. A duct fan is installed at the top of the second gap to create an upward airflow inside the second gap.

[0008] According to an embodiment of the present invention, the torso of the humanoid robot has a fixed frame inside the shell, which is fitted with the inner wall of the shell to form a flow guide gap. The flow guide fan and the flow fan are used to exchange air between the external environment and the flow guide gap. After the external air enters the flow guide gap, it exchanges heat with the fixed frame, carrying away the heat generated by the circuit board, battery pack and other electronic components on the fixed frame. This reduces the temperature rise inside the shell, allowing the circuit board, battery pack and other electronic components to work in a lower temperature environment, thereby ensuring that the humanoid robot can work normally.

[0009] In a preferred embodiment, the front wall of the housing has a forward protrusion and a rearward recess, with the recess connecting to the lower part of the protrusion. An air inlet is located at the junction of the protrusion and the recess, so that the air inlet is arranged on the front wall of the housing in a manner that gradually slopes upwards from front to back. A drainage fan is arranged in a manner that gradually slopes downwards from front to back, so that the drainage fan is directly opposite the air inlet. The inclined arrangement of the air inlet and the drainage fan allows the drainage fan to draw air from the outside environment into the guide gap and then allow it to flow upwards, thereby facilitating heat exchange between the air and the fixed frame. Furthermore, since the air inlet is blocked by the protrusion located above it, while ensuring a large opening size, the projected area of ​​the air inlet in the vertical plane is reduced, minimizing the entry of external impurities into the housing through the air inlet.

[0010] In a preferred embodiment, the air inlet is an elongated strip extending laterally along the housing. An air guide seat is fixed to the housing between the air inlet and the exhaust fan. Multiple air guide plates are arranged on the air guide seat along the length of the air inlet, with an air inlet hole formed between adjacent air guide plates. By dividing the air inlet into multiple air inlets using the air guide seat, the air entering the airflow gap flows upwards in a dispersed manner, preventing airflow concentration and facilitating heat dissipation from the fixed frame. Furthermore, the multiple air guide plates effectively prevent large particles of impurities from entering the housing.

[0011] In a preferred embodiment, the air outlet includes multiple through holes arranged on the side of the housing, the diameter of which is 1.8–5.2 mm. By configuring the air outlet with multiple relatively small-diameter through holes, external impurities can be prevented from entering the housing through the air outlet, thus protecting the battery pack, circuit board, and other electronic components inside the housing.

[0012] In a preferred embodiment, the fixing frame has a regular hexahedral structure, including a top plate, two side plates, a bottom plate, a front plate, and a rear cover. The two side plates extend downwards from the two sides of the top plate, and the bottom plate connects the lower ends of the two side plates. The edge of the front plate connects to the front side of the top plate, side plates, and bottom plate. The rear cover is detachably fixed to the rear side of the top plate, side plates, and bottom plate. Setting the fixing frame in a regular hexahedral structure facilitates the arrangement of the battery pack inside the fixing frame, fully utilizing the internal space to accommodate a larger capacity battery pack, thereby improving the humanoid robot's endurance.

[0013] In a preferred embodiment, two outwardly extending connecting cantilever arms are provided on the side plate of the fixed frame. The outer ends of the connecting cantilever arms are detachably fixed to the housing, and the two connecting cantilever arms are staggered vertically. A flow-guiding fan is mounted on the side plate of the fixed frame, and a finned heat sink is connected to the side plate of the fixed frame above the flow-guiding fan. The two vertically staggered connecting cantilever arms fix the fixed frame and the housing together, ensuring a high connection strength between the fixed frame and the housing. This also ensures that a second gap, a flow-guiding gap, is formed between the side plate of the fixed frame and the side of the housing, providing sufficient width to increase heat dissipation efficiency. The heat generated by the fixed frame and the electronic components located on it is transferred to the finned heat sink. The flow-guiding fan causes air to flow within the heat dissipation gap of the finned heat sink, accelerating the heat exchange between the air entering the flow-guiding gap and the fixed frame and electronic components, thereby further improving heat dissipation efficiency.

[0014] In a preferred embodiment, the circuit board includes a first circuit board and a second circuit board located below the first circuit board. The first circuit board integrates a main control module, and the second circuit board has multiple wiring terminals. Both the first and second circuit boards are fixed to the front end board. The low-temperature ambient air introduced by the exhaust fan contacts and exchanges heat with the second and first circuit boards from bottom to top, thereby directly and quickly removing the heat generated by the second and first circuit boards, effectively reducing the temperature rise of both circuit boards.

[0015] In a preferred embodiment, a protective cover is fixed to the front end plate of the fixed frame, abutting against the inner surface of the front wall of the housing. The first circuit board is placed within the space enclosed by the protective cover and the front end plate. The protective cover not only protects the first circuit board but also reinforces the front wall of the housing, increasing the strength of the housing, especially enhancing the impact resistance of the front side of the housing.

[0016] In a preferred embodiment, the housing includes a front shell and a rear shell mating to the rear side of the front shell, the front shell and the rear shell being detachably fixed together. During assembly, the fixing frame can be fixedly connected to the front shell first, then the rear shell can be sealed to the rear side of the fixing frame and fixed to the front shell, making the assembly of the entire torso simple and convenient.

[0017] Humanoid robots, including the torso of the aforementioned humanoid robots.

[0018] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. Attached Figure Description

[0019] Figure 1 This is an installation diagram of the present invention;

[0020] Figure 2 This is a schematic diagram of the structure of this utility model;

[0021] Figure 3 This is a schematic diagram of the structure of this utility model, omitting the shell.

[0022] Figure 4 for Figure 1 Schematic diagram of the structure of the middle air guide seat

[0023] Figure 5 This is a schematic diagram of the working state of this utility model.

[0024] In the diagram: 10. Housing; 11. Front housing; 111. Protrusion; 112. Recess; 12. Rear housing; 13. Air inlet; 14. Air outlet; 141. Through hole; 15. Air guide seat; 151. Air guide plate; 152. Air inlet hole; 20. Fixing frame; 201. Connecting cantilever; 21. Top plate; 22. Side plate; 23. Bottom plate; 24. Front plate; 25. Rear cover; 26. Protective cover; 30. Battery pack; 40. Airflow fan; 41. First circuit board; 42. Second circuit board; 50. Airflow fan; 60. Finned heat sink. Detailed Implementation

[0025] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments. Unless otherwise specified, the materials and equipment used in this embodiment are all commercially available. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0026] In the description of this application, it should be understood that the terms "upper," "lower," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not 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 on this application. In the description of this application, "a plurality of" means two or more, unless otherwise precisely specified.

[0027] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "connected," "linked," and "connected" should be interpreted broadly. For example, they can refer to a fixed connection, a connection through an intermediary, or a connection within two elements or an interaction between two elements. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0028] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such process, method, product, or apparatus.

[0029] Please refer to Figure 1-5As shown, this is the torso of a humanoid robot according to the present invention, which includes a shell 10, a fixing frame 20, a circuit board, and a battery pack 30. The shell 10 has a hollow structure, and an installation chamber is formed inside the shell 10. The fixing frame 20 is installed in the installation chamber of the shell 10 and is fixedly fitted to the shell 10. The internal space of the installation chamber is larger than the outer contour dimension of the fixing frame 20. After the fixing frame 20 is installed into the installation chamber of the shell 10, a guide gap is formed between the fixing frame 20 and the inner wall surface of the shell 10, thus placing the fixing frame 20 in the installation chamber. The components are arranged in the center, so that the flow guiding gaps are arranged at the front and on both sides of the fixed frame 20. That is, the flow guiding gaps include a first gap A located at the front of the fixed frame 20 and two second gaps B located on both sides of the fixed frame 20 respectively. The second gaps B are connected to the side of the first gap A. The fixed frame 20 is a rigid component, which can be made of aluminum profile. The battery pack 30 is installed inside the fixed frame 20, and the fixed frame 20 provides protection for the battery pack 30. The circuit board is fixed at the front of the fixed frame 20, so that the circuit board is located in the first gap A. An air inlet 13 is provided at the bottom of the front wall of the housing 10. The air inlet 13 is used to connect the external environment of the housing 10 with the first gap A. A duct fan 40 is provided at the bottom of the first gap A inside the air inlet 13. When the duct fan 40 is turned on, the air from the external environment of the housing 10 can be drawn out to the bottom of the first gap A through the air inlet 13. An air outlet 14 is provided on both sides of the housing 10 to connect the second gap B with the external environment of the housing 10. A guide fan 50 is installed on the top of the second gap B. When the guide fan 50 is turned on, an airflow from bottom to top is formed inside the second gap B. Since the duct fan 40 continuously delivers air into the guide gap, the airflow will flow to the external environment through the air outlet 14 when it flows inside the second gap B, thereby continuously exchanging airflow between the guide gap and the external environment.

[0030] In this invention, a fixed frame 20 is provided inside the housing 10, and the fixed frame 20 and the inner wall of the housing 10 are fitted together to form a flow guide gap. The flow guide fan 40 and the flow guide fan 50 are used to exchange air between the external environment and the flow guide gap. After the external air enters the flow guide gap, it exchanges heat with the fixed frame 20, carrying away the heat generated by the circuit board, battery pack 30 and other electronic components on the fixed frame 20. This reduces the temperature rise inside the housing 10, allowing the circuit board, battery pack 30 and other electronic components to work in a lower temperature environment, thereby ensuring that the humanoid robot can work normally.

[0031] In a preferred embodiment, the front wall of the housing 10 is provided with a forward-protruding protrusion 111 and a rearward-recessed recess 112. The recess 112 is connected to the lower part of the protrusion 111. The air inlet 13 is provided at the junction of the protrusion 111 and the recess 112, so that the air inlet 13 is arranged on the front wall of the housing 10 in a manner that gradually tilts upward from front to back. The air-draining fan 40 is gradually tilted downward from front to back so that the air-draining fan 40 is positioned directly opposite the air inlet 13. The air inlet 13 and the air-guiding fan 40 are tilted so that the air-guiding fan 40 draws air from the outside environment into the air-guiding gap and then flows upward, which facilitates heat exchange between the air and the fixed frame 20. In addition, since the air inlet 13 is blocked by the protrusion 111 located above it, the projected area of ​​the air inlet 13 on the vertical plane is reduced while ensuring that the air inlet 13 has a large opening size, so as to avoid external impurities from entering the housing 10 through the air inlet 13 as much as possible.

[0032] The air inlet 13 is an elongated strip extending laterally along the housing 10. A guide seat 15 is fixedly connected to the housing 10 between the air inlet 13 and the exhaust fan 40. The guide seat 15 is provided with multiple guide plates 151 arranged along the length of the air inlet 13, and an air inlet hole 152 is formed between adjacent guide plates 151. In other words, the air inlet 13 is divided into multiple air inlet holes 152 by the guide seat 15, so that the air entering the airflow gap flows upward in a dispersed manner, avoiding airflow concentration and facilitating heat dissipation of the fixed frame 20. In addition, the multiple guide plates 151 can effectively block large particles of impurities from entering the interior of the housing 10.

[0033] In this invention, the air outlet 14 includes multiple through holes 141, which are arranged on the side of the housing 10. Specifically, the multiple through holes 141 can be distributed vertically on the side of the housing 10 so that the airflow inside the housing 10 can flow out from different positions on the side of the housing 10. The diameter of the through holes 141 is in the range of 1.8 to 5.2 mm. By setting the air outlet 14 to have multiple through holes 141 with relatively small diameters, it is possible to prevent external impurities from entering the housing 10 through the air outlet 14, thereby protecting the battery pack 30, circuit board and other electronic components inside the housing 10.

[0034] To facilitate the installation of the battery pack 30, the aforementioned fixing frame 20 is configured as a regular hexahedron, comprising a top plate 21, two side plates 22, a bottom plate 23, a front plate 24, and a rear cover 25. The two side plates 22 extend downwards from the sides of the top plate 21, and the bottom plate 23 connects the lower ends of the two side plates 22. The edge of the front plate 24 connects to the front sides of the top plate 21, side plates 22, and bottom plate 23. The rear cover 25 is detachably fixed to the rear sides of the top plate 21, side plates 22, and bottom plate 23. The regular hexahedron structure of the fixing frame 20 facilitates the arrangement of the battery pack 30 within the fixing frame 20, fully utilizing the internal space to accommodate a larger capacity battery pack 30, thereby improving the humanoid robot's endurance. During assembly, the battery pack 30 is inserted into the fixing frame 20 from the rear side, and then the rear cover 25 is fixed to the top plate 21, side plates 22, and bottom plate 23 using bolts.

[0035] In some other embodiments, the shape of the fixing frame 20 is not necessarily set to a regular hexahedral structure. Its shape can be other shapes that can form a flow guide gap with the housing 10 and obtain a larger battery pack 30 installation space.

[0036] Two outwardly extending connecting cantilever arms 201 are provided on the side plate 22 of the fixed frame 20. The outer ends of the connecting cantilever arms 201 are detachably fixed to the housing 10. The two connecting cantilever arms 201 are staggered in the vertical direction. The fixed frame 20 and the housing 10 are fixed together by the two vertically staggered connecting cantilever arms 201, ensuring a high connection strength between the fixed frame 20 and the housing 10. This also ensures that a second gap B is formed between the side plate 22 of the fixed frame 20 and the side of the housing 10, so that the second gap B has sufficient width to increase heat dissipation efficiency. In other embodiments, the number of connecting cantilever arms 201 may be three or more, further increasing the connection strength between the fixed frame 20 and the housing 10. The airflow fan 50 is mounted on the side plate 22 of the fixed frame 20. A finned heat sink 60 located above the airflow fan 50 is connected to the side plate 22 of the fixed frame 20. The heat generated by the fixed frame 20 and the electronic components located on the fixed frame 20 is transferred to the finned heat sink 60. The airflow fan 50 makes the air flow in the heat dissipation gap of the finned heat sink 60, which accelerates the heat exchange between the air entering the airflow gap and the fixed frame 20 and the electronic components, thereby further improving the heat dissipation efficiency.

[0037] The aforementioned circuit board includes a first circuit board 41 and a second circuit board 42 located below the first circuit board 41. The first circuit board 41 integrates a main control module for controlling the humanoid robot. The second circuit board 42 is provided with multiple terminals, which can be used to connect the drive motors at each joint of the humanoid robot to the terminals of the second circuit board 42 to supply power to the drive motors. The first circuit board 41 and the second circuit board 42 are both fixedly connected to the front end plate 24 of the fixed frame 20, so that the first circuit board 41 and the second circuit board 42 are located on the front end plate 24 and placed in the first gap A of the guide gap. The low-temperature air from the external environment introduced by the guide fan 40 comes into contact with the second circuit board 42 and the first circuit board 41 from bottom to top and exchanges heat, thereby directly and quickly removing the heat generated by the second circuit board 42 and the first circuit board 41, effectively reducing the temperature rise of the first circuit board 41 and the second circuit board 42.

[0038] To protect the first circuit board 41, a protective cover 26 is fixed to the front end plate 24 of the fixed frame 20. The protective cover 26 is arc-shaped, and the first circuit board 41 is placed in the space enclosed by the protective cover 26 and the front end plate 24. The arc shape of the protective cover 26 is consistent with the curved surface shape of the housing 10, so that the protective cover 26 can abut against the inner surface of the housing 10 and fit against the inner surface of the housing 10. In this way, the protective cover 26 can not only protect the first circuit board 41, but also reinforce the front side wall of the housing 10, improve the strength of the housing 10, especially improve the impact resistance of the front side of the housing 10.

[0039] For ease of installation, the housing 10 is designed as a split structure. Specifically, the housing 10 includes a front housing 11 and a rear housing 12 that abuts against the rear side of the front housing 11. The front housing 11 and the rear housing 12 are detachably fixed together, for example, by bolts. During assembly, the fixing frame 20 can be fixedly connected to the front housing 11 first, and then the rear housing 12 can be sealed on the rear side of the fixing frame 20 and fixed to the front housing 11, making the assembly of the entire body simple and convenient.

[0040] The humanoid robot of this utility model includes the torso of the aforementioned humanoid robot. The other structures of the humanoid robot are the same as those in the prior art and will not be described in detail here.

[0041] Although only certain components and embodiments of this application have been illustrated and described, many modifications and alterations will be apparent to those skilled in the art without actually departing from the scope and spirit of the claims, such as variations in the size, dimensions, structure, shape and proportion of the various elements, installation arrangement, material use, color, orientation, etc.

[0042] The above embodiments are merely preferred embodiments of the present utility model and should not be construed as limiting the scope of protection of the present utility model. Any non-substantial changes and substitutions made by those skilled in the art based on the present utility model shall fall within the scope of protection claimed by the present utility model.

Claims

1. The torso of a humanoid robot, characterized in that, Includes the casing, mounting frame, circuit board, and battery pack; The shell has a hollow structure to form an installation chamber inside the shell. The fixing frame is placed in the installation chamber and fixedly fitted with the shell. A flow guiding gap is formed between the fixing frame and the inner wall surface of the shell. The flow guiding gap includes a first gap located on the front side of the fixing frame and two second gaps located on both sides of the fixing frame. The second gaps are connected to the side of the first gap. The battery pack is installed inside the fixed frame, and the circuit board is fixed on the fixed frame and located within the first gap; An air inlet is provided at the bottom of the front wall of the housing, which is used to connect the external environment of the housing with the bottom of the first gap. A duct fan is provided at the bottom of the first gap inside the air inlet, which is used to introduce air from the external environment of the housing into the bottom of the first gap. Air outlets are provided on both sides of the housing to connect the second gap with the external environment of the housing. A duct fan is installed at the top of the second gap to create an upward airflow inside the second gap.

2. The torso of the humanoid robot as described in claim 1, characterized in that, The front wall of the housing has a forward protrusion and a rearward recess. The recess is connected to the lower part of the protrusion. The air inlet is located at the junction of the protrusion and the recess so that the air inlet is arranged on the front wall of the housing in a manner that gradually tilts upward from front to back. The exhaust fan is tilted downward from front to back so that the exhaust fan is positioned directly opposite the air inlet.

3. The torso of the humanoid robot as described in claim 2, characterized in that, The air inlet is a long strip extending laterally along the shell. A guide seat is fixed on the shell between the air inlet and the exhaust fan. Multiple guide plates are arranged on the guide seat along the length of the air inlet, and an air inlet hole is formed between adjacent guide plates.

4. The torso of the humanoid robot as described in claim 1, characterized in that, The air outlet includes multiple through holes arranged on the side of the housing, with a diameter of 1.8 to 5.2 mm.

5. The torso of the humanoid robot as described in claim 1, characterized in that, The fixed frame has a regular hexahedral structure, which includes a top plate, two side plates, a bottom plate, a front plate, and a rear cover. The two side plates extend downward from the two sides of the top plate, and the bottom plate is connected between the lower ends of the two side plates. The edge of the front plate is connected to the front side of the top plate, side plates, and bottom plate. The rear cover is detachably fixed to the rear side of the top plate, side plates, and bottom plate.

6. The torso of the humanoid robot as described in claim 5, characterized in that, The side plate of the fixed frame is provided with two outwardly extending connecting cantilever arms. The outer ends of the connecting cantilever arms are detachably fixed to the housing, and the two connecting cantilever arms are staggered in the vertical direction. The airflow fan is installed on the side plate of the fixed frame, and a finned heat sink located above the airflow fan is connected to the side plate of the fixed frame.

7. The torso of the humanoid robot as described in claim 5, characterized in that, The circuit board includes a first circuit board and a second circuit board located below the first circuit board. The first circuit board integrates a main control module, and the second circuit board is provided with multiple wiring terminals. Both the first circuit board and the second circuit board are fixed on the front end board.

8. The torso of the humanoid robot as described in claim 7, characterized in that, A protective cover is fixed to the front end plate of the fixed frame and abuts against the inner surface of the front end wall of the housing. The first circuit board is placed in the space enclosed by the protective cover and the front end plate.

9. The torso of the humanoid robot as described in claim 1, characterized in that, The housing includes a front shell and a rear shell mating to the rear side of the front shell, and the front shell and the rear shell are detachably fixed together.

10. A humanoid robot, characterized in that, Includes the torso of the humanoid robot as described in any one of claims 1-9.

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