CN218255193U

CN218255193U - Integrated control module and robot

Info

Publication number: CN218255193U
Application number: CN202221510003.6U
Authority: CN
Inventors: 赖顶天; 余文华; 蔡远平; 高海; 余延明; 赵娜
Original assignee: Cloudminds Shanghai Robotics Co Ltd
Current assignee: Cloudminds Shanghai Robotics Co Ltd
Priority date: 2022-06-15
Filing date: 2022-06-15
Publication date: 2023-01-10
Anticipated expiration: 2032-06-15

Abstract

The embodiment of the application provides a control module and robot integrate, wherein, integrate control module and be arranged in realizing control function among the robot, include: the box body is internally provided with an installation cavity; and the board cards are accommodated in the mounting cavity, and at least part of the board cards are stacked. The technical scheme that this application embodiment provided accepts the installation intracavity of box body with the integrated circuit board holding, accepts the integrated circuit board through the box body together, has solved the integrated circuit board and has put at will and occupy a large amount of spaces, walk the problem of line disorder. Simultaneously, a whole module is constituteed together to box body and a plurality of integrated circuit boards, and it is fixed with other structures for example the thorax skeleton of robot to recycle the box body, and this mode that adopts the modular design has made things convenient for overall fixation, satisfies installation and easy maintenance's functional requirement.

Description

Integrated control module and robot

Technical Field

The application relates to the technical field of robots, in particular to an integrated control module and a robot.

Background

As a robot device capable of automatically executing work, if more functions can be realized, more circuit boards are used for controlling various functions, which is a systematic problem for space, circuit arrangement, heat dissipation, and the like.

The traditional robot chest board card is directly fixed on the anterior chest bone, which causes the anterior chest bone to need a great amount of structural features, so that the structure is complex. In addition, additional plastic, hardware and other connecting pieces are required, so that great difficulty is caused for fixing, wiring, checking and maintaining the board card.

SUMMERY OF THE UTILITY MODEL

In view of the above problems, embodiments of the present application are proposed to provide an integrated control module and a robot that solve the above problems, or at least partially solve the above problems.

The embodiment of the application provides a control module integrates for realize control function in the robot, include:

the box body is internally provided with an installation cavity; and the number of the first and second groups,

the board cards are accommodated in the installation cavity, and at least part of the board cards are arranged in a stacked mode.

In some embodiments, the mounting cavity has a first cavity wall, the first cavity wall is provided with a lapping convex column, at least some of the board cards are stacked in a direction perpendicular to the first cavity wall, and the board card adjacent to the first cavity wall in the plurality of board cards is lapped on the lapping convex column and is fixed with the lapping convex column.

In some embodiments, the plurality of boards include at least one first board and a plurality of second boards, the first board and the second board are arranged side by side along a board surface of the first cavity wall, and the plurality of second boards are stacked on a board surface perpendicular to the first cavity wall.

In some embodiments, the overlapping posts include a plurality of first posts and a plurality of second posts, the first card overlapping the first posts, and the second card adjacent to the first cavity wall overlapping the second posts.

In some embodiments, for a plurality of the board cards arranged in a stacked manner, a third convex pillar is arranged between every two adjacent board cards, so that every two adjacent board cards are arranged at intervals, and the board cards are fixed with the third convex pillars.

In some embodiments, the installation cavity has a first cavity wall, and the board card is arranged in parallel with the first cavity wall;

the integrated control module further comprises a heat dissipation plate, and the heat dissipation plate is located between the board card and the first cavity wall.

In some embodiments, the first cavity wall is further provided with a fourth convex column, and the heat dissipation plate is overlapped with the fourth convex column and is fixed with the fourth convex column.

In some embodiments, the box body is provided with an air inlet and an air outlet, and the air inlet and the air outlet are respectively communicated with the installation cavity;

and the air inlet and/or the air outlet is/are provided with a cooling fan.

In some embodiments, the box body comprises a first side wall and a second side wall distributed along the length direction of the box body, the air inlet is arranged on the first side wall, and the air outlet is arranged on the second side wall; the first integrated circuit board and the second integrated circuit board of integrated circuit board follow the length direction of box body sets up side by side.

The embodiment of this application still provides a robot, the robot is including integrating control module, it includes to integrate control module:

the box body is internally provided with a mounting cavity; and the number of the first and second groups,

the board cards are accommodated in the mounting cavity, and at least part of the board cards are arranged in a stacked mode.

According to the technical scheme, the mode layout of the stacking arrangement of the board cards is reasonable and neat, the structure is compact, the occupied space is small, the wiring can be carried out along one direction or along the preset direction, and the line arrangement can be set neatly. In addition, with the installation intracavity of integrated circuit board holding to the box body, accommodate the integrated circuit board together through the box body, solved the integrated circuit board and put at will and occupy a large amount of spaces, walk the problem of line randomly arranged. Simultaneously, a whole module is constituteed together to box body and a plurality of integrated circuit boards, and it is fixed with other structures for example the thorax skeleton of robot to recycle the box body, and this mode that adopts the modular design has made things convenient for overall fixation, satisfies installation and easy maintenance's functional requirement.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of an integrated control module according to an embodiment of the present disclosure;

FIG. 2 is an exploded view of the integrated control module of FIG. 1;

FIG. 3 is an assembled view of a portion of the integrated control module of FIG. 1;

FIG. 4 is another assembly view of the integrated control module shown in FIG. 1;

fig. 5 is another assembly view of the integrated control module shown in fig. 1.

Reference numerals:

reference numerals	Name (R)	Reference numerals	Name(s)	Reference numerals	Name (R)
						10	Box body	161	Air inlet	20	Board card
11	Mounting cavity	162	Air outlet	21	First board card
						12	First chamber wall	163	A first side wall	22	Second board card
13	First convex column	164	Second side wall	23	Third convex column
						14	Second convex column	171	Upper cover	30	Heat radiation plate
15	Fourth convex column	172	Lower cover	40	Heat radiation fan
								18	Connecting ear plate

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the embodiments in the present application.

It should be noted that, in the description of the present application, if the terms "first", "second", etc. appear, the terms "first", "second", etc. are only used for convenience in describing different components or names, and cannot be understood as indicating or implying a sequential relationship, relative importance, or implicitly indicating the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, if "and/or" appears throughout, it is meant to include three juxtapositions, exemplified by "A and/or B," including either solution A, or solution B, or both solution A and solution B.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

The embodiment of the application provides a control module and robot integrate can pile up integrated circuit board, heating panel, radiator fan etc. in the box the inside, has solved the integrated circuit board and has put and occupy a large amount of spaces, walks the mixed and disorderly chapter of line, the difficult scheduling problem of heat dissipation. Meanwhile, the modular design is adopted, and the functional requirements of convenient installation and maintenance are met.

Referring to fig. 1 and fig. 2 in combination, an embodiment of the present application provides an integrated control module, where the integrated control module is used in a robot to implement a control function, and specifically includes: the mounting structure comprises a box body 10 and a plurality of board cards 20, wherein a mounting cavity 11 is formed in the box body 10; a plurality of boards 20 are accommodated in the mounting cavity 11, and at least a part of the boards 20 are stacked.

The shape of the case 10 may be rectangular, square, cylindrical, oval, spherical, etc., which is not limited in the embodiments of the present application. For rational utilization space, when can holding integrated circuit board 20, avoid the box body 10 bulky, consequently in some embodiments, the shape of box body 10 is similar with the shape of integrated circuit board 20, and exemplarily, integrated circuit board 20 is square, and box body 10 is square likewise.

The stacking arrangement of the plurality of board cards 20 means that the board cards 20 are stacked one on another, the mode of the stacking arrangement is reasonable and neat in layout, compact in structure and small in occupied space, the wiring can be conducted along one direction or a preset direction, and the line arrangement can be set to be neat.

In addition, the board card 20 is accommodated in the installation cavity 11 of the box body 10, and the board card 20 is accommodated together through the box body 10, so that the problems that the board card 20 occupies a large space and is disordered in wiring are solved. Meanwhile, the box body 10 and the plurality of board cards 20 form an integral module together, and then the box body 10 is fixed with other structures such as the thoracic bones of a robot.

The mounting cavity 11 has a first cavity wall 12, and the board card 20 is arranged in parallel with the first cavity wall 12. Parallel here means completely parallel or substantially parallel.

At least part of the board cards 20 are stacked in a direction perpendicular to the first cavity wall 12, so that the board cards 20 are parallel to the first cavity wall 12, and the space is favorably and reasonably utilized. In some embodiments, the cards 20 are stacked in the thickness direction of the case 10.

In some embodiments of the present application, all the boards 20 may be stacked in sequence along one direction. Of course, in other embodiments of the present application, the plurality of boards 20 may be divided into two or more groups, the plurality of boards 20 in the same group are stacked in a direction perpendicular to the first cavity wall 12, and the plurality of groups of boards 20 are spaced apart in a direction parallel to the first cavity wall 12.

Referring to fig. 2, 4 and 5, in some embodiments, the plurality of boards 20 includes at least one first board 21 and a plurality of second boards 22, the first board 21 and the second board 22 are disposed side by side along the surface of the first cavity wall 12, and the plurality of second boards 22 are stacked on the surface perpendicular to the first cavity wall 12. Therefore, in this embodiment, not all the boards 20 are stacked together, so that the case 10 with an excessive thickness caused by the excessive stacking of the boards 20 can be avoided. After the first board card 21 and the second board card 22 are staggered, the box body 10 can be in a flat structure.

Optionally, the first cavity wall 12 is rectangular, and the first board 21 and the second board 22 are arranged at intervals along the length direction of the first cavity wall 12.

Furthermore, the first cavity wall 12 is provided with a lap convex column, at least a part of the board cards 20 are stacked in a direction perpendicular to the first cavity wall 12, and the board card 20 adjacent to the first cavity wall 12 among the plurality of board cards 20 is lapped on the lap convex column and fixed with the lap convex column.

The lap post can be provided with a through hole, the board card 20 can also be provided with a through hole, and the fastener penetrates through the two through holes, so that the board card 20 is fixed to the lap post. The lap convex columns not only can separate the board card 20 from the first cavity wall 12 to improve the heat dissipation effect of the board card 20, but also can fix the board card 20 to avoid displacement.

In some embodiments, the overlapping posts include a plurality of first posts 13 and a plurality of second posts 14, wherein a first card 21 overlaps the first posts 13, and a second card 22 adjacent to the first cavity wall 12 overlaps the second posts 14.

Wherein, a plurality of first projections 13 set up along the edge of first integrated circuit board 21 interval in proper order, can all support first integrated circuit board 21 at each edge of first integrated circuit board 21 for first integrated circuit board 21 is supported more steadily. Meanwhile, the first board card 21 is fixed with the first protruding column 13, specifically, the first protruding column 13 may be provided with a first mounting hole, the first board card 21 is provided with a first fixing hole, and the fastener penetrates through the first fixing hole and the first mounting hole to fix the first board card 21 with the first protruding column 13.

Similarly, a plurality of second projections 14 are arranged along the edge of the second board 22 at intervals in sequence, and can support the second board 22 at each edge of the second board 22, so that the second board 22 is supported more stably. Meanwhile, the second board 22 is fixed to the second boss 14, specifically, the second boss 14 may be provided with a second mounting hole, the second board 22 is provided with a second fixing hole, and the fastener passes through the second fixing hole and the second mounting hole to fix the second board 22 to the second boss 14.

Further, to a plurality of integrated circuit boards 20 of range upon range of setting, be equipped with third projection 23 between two adjacent integrated circuit boards 20 to make two adjacent integrated circuit boards 20 interval set up, integrated circuit board 20 is fixed with third projection 23. Therefore, the stacked board cards 20 are spaced from each other, and a heat dissipation channel is formed at the interval, so that the heat generated by the board cards 20 can be discharged through the heat dissipation channel, and the phenomenon that the board cards 20 are stacked tightly and are locally overheated is avoided.

In addition, for a plurality of boards 20 arranged in a stacked manner, two adjacent boards 20 are fixed to the third boss 23, for example, the second boss 14 is integrated with one of the boards 20, the third boss 23 is provided with a third mounting hole, another board 20 is provided with a third fixing hole, and a fastener passes through the third fixing hole and the third mounting hole to fix the other board 20 and the third boss 23.

Taking the second board card 22 as an example, one second board card 22 close to the first cavity wall 12 is fixed to the second protruding columns 14 in an overlapping manner, and among the other second board cards 22, a plurality of third protruding columns 23 are arranged between every two adjacent second board cards 22 and fixed to the second protruding columns.

In the above, the first board 21 may be an RCU board (cloud robot control unit), one of the second boards 22 may be a CCU board (robot body computing unit), and one of the second boards 22 is an ECU board (robot body peripheral unit). The CCU plate is adjacent the first chamber wall 12 and the ecu plate is located on the side of the CCU plate facing away from the first chamber wall 12.

Referring to fig. 2 to fig. 4, further, the integrated control module further includes a heat dissipation plate 30, and the heat dissipation plate 30 is located between the board 20 and the first cavity wall 12.

In some embodiments, the heat dissipation plate 30 is disposed between the first board 21 and the first cavity wall 12 to quickly absorb and transfer heat generated by the first board 21, so as to prevent the temperature of the first board 21 from being too high. Can direct contact or have less clearance between heating panel 30 and the first integrated circuit board 21, fill heat conduction silica gel or paste the conducting strip in this clearance, heat conduction silica gel or conducting strip contact first integrated circuit board 21 and heating panel 30 respectively, can shift the heat that first integrated circuit board 21 produced to heating panel 30 fast, avoid first integrated circuit board 21 local high temperature. Of course, a heat sink 30 may be disposed between the second board 22 and the first cavity wall 12.

When the first board card 21 is integrated with more heat sources, the heat generated by the first board card 21 is larger than that generated by the second board card 22, so that the heat dissipation plate 30 is arranged on the first board card 21, which is beneficial to rapid heat conduction.

The heat sink 30 has substantially the same size as the first board 21, i.e. the heat sink 30 covers the surface of the first board 21 facing the first cavity wall 12, so that heat is quickly absorbed by the first board 21.

The surface of the heat dissipation plate 30 facing the first cavity wall 12 may be provided with a plurality of heat dissipation fins to improve the heat dissipation effect.

Furthermore, the first chamber wall 12 is further provided with a fourth convex column 15, and the heat dissipation plate 30 is connected to the fourth convex column 15 and fixed thereto. Similarly, the fourth boss 15 may be provided with a fourth mounting hole, the heat dissipation plate 30 is provided with a fourth fixing hole, and a fastener passes through the fourth fixing hole and the fourth mounting hole to fix the heat dissipation plate 30 and the fourth boss 15.

The first protrusion 13 has a height greater than the fourth protrusion 15, so that the heat dissipation plate 30 can be located between the first cavity wall 12 and the first board 21.

The box body 10 is provided with an air inlet 161 and an air outlet 162, and the air inlet 161 and the air outlet 162 are respectively communicated with the installation cavity 11; the heat dissipation fan 40 is disposed at the air inlet 161 and/or the air outlet 162. After the heat dissipation fan 40 is disposed, the heat dissipation fan 40 draws outside air into the mounting cavity 11 of the box body 10 from the air inlet 161, and the air takes away heat in the mounting cavity 11 and is blown out from the air outlet 162 by other heat dissipation fans 40, so that convection with the outside air is increased, and the heat dissipation effect of each board card 20 is improved.

The heat dissipation fan 40 is electrically connected to the board card 20 by a wire.

The box body 10 includes along its length direction distributed first lateral wall 163 and second lateral wall 164, and air intake 161 sets up at first lateral wall 163, and air outlet 162 sets up at second lateral wall 164, and consequently the air flows along the length direction of box body 10, and the outside air can contact second integrated circuit board 22 and first integrated circuit board 21 in proper order, can take away the heat that second integrated circuit board 22 and first integrated circuit board 21 produced in proper order, guarantees the radiating effect of each integrated circuit board 20.

In addition, the first side wall 163 may be provided with a plurality of air inlets 161, the plurality of air inlets 161 may be spaced apart from each other along the width direction of the box 10, the second side wall 164 may be provided with a plurality of air outlets 162, and the plurality of air outlets 162 may be spaced apart from each other along the width direction of the box 10. Each air inlet 161 is provided with one cooling fan 40, and each air outlet 162 is also provided with one cooling fan 40, so that a plurality of convection channels distributed along the width direction of the box body 10 are formed on the box body, and the airflow of the convection channels can cover the length and width directions of each board card 20, thereby improving the cooling effect.

Optionally, the first side wall 163 is provided with three air intakes 161 and the second side wall 164 is provided with two air outtakes 162.

The case body 10 includes an upper cover 171 and a lower cover 172, and the upper cover 171 and the lower cover 172 are combined to form the installation chamber 11, and the installation chamber 11 is a sealed structure to prevent water from entering and dust from entering. The bottom wall of the lower cover 172 constitutes the first chamber wall 12 as described above.

The embodiment of the present application further provides a robot, where the robot includes an integrated control module, and the specific structure of the integrated control module is please refer to the above embodiment, which is not described herein again.

Further, the robot includes a thoracic bone to which the cartridge 10 of the integrated control module may be fixed. The robot is similar to a human shape and is provided with a chest, the chest is bionic, and the position of the bionic robot can be close to and approximately the same as the position of the chest of a human body. The rib cage bones are arranged on the chest and serve as the inner bones of the chest to play the roles of supporting and structural reinforcement. The shell of the chest acts as a facade element and is attached to the thoracic bones. In addition, the rib cage may include anterior and posterior bones disposed anteriorly and posteriorly, and the integrated control module may be secured to the anterior bone.

Integrate control module's box body 10 and be equipped with and connect otic placode 18, connect otic placode 18 and be equipped with first connecting hole, the thorax skeleton sets up the second connecting hole, and first connecting hole and second connecting hole are worn to locate by the fastener to fix box body 10 to the thorax skeleton.

Fasteners include, but are not limited to, screws, pins, rivets, and the like.

The control module that integrates in the embodiment of this application can pile up integrated circuit board 20, heating panel 30, radiator fan 40 etc. in box body 10 the inside, has solved integrated circuit board 20 and has put and occupy a large amount of spaces, walks the mixed and disorderly chapter, the difficult scheduling problem of heat dissipation. Meanwhile, the modular design is adopted, and the functional requirements of convenient installation and maintenance are met. In addition, the thoracic bones do not need to be provided with more structural features, so that the structural complexity of the thoracic bones can be avoided being increased.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the embodiments of the present application, and are not limited thereto; although the embodiments of the present application have been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An integrate control module for realize control function in the robot, its characterized in that includes:

2. The integrated control module of claim 1, wherein the mounting cavity has a first cavity wall, the first cavity wall has a first protrusion, at least some of the boards are stacked in a direction perpendicular to the first cavity wall, and a board of the plurality of boards adjacent to the first cavity wall is fixed to the first protrusion.

3. The integrated control module of claim 2, wherein the plurality of board cards comprise at least one first board card and a plurality of second board cards, the first board card and the second board cards are arranged side by side along the surface of the wall of the first cavity, and the second board cards are stacked on the surface perpendicular to the wall of the first cavity.

4. The integrated control module of claim 3, wherein the overlapping bosses include a first plurality of bosses and a second plurality of bosses, wherein the first card overlaps the first bosses and the second card adjacent the first cavity wall overlaps the second bosses.

5. The integrated control module according to claim 1, wherein for a plurality of stacked boards, a third boss is provided between two adjacent boards, so that two adjacent boards are spaced apart from each other, and the boards are fixed to the third boss.

6. The integrated control module of claim 1, wherein the mounting cavity has a first cavity wall, and the board card is arranged in parallel with the first cavity wall;

7. The integrated control module of claim 6, wherein the first chamber wall further comprises a fourth protrusion, and the heat sink is coupled to the fourth protrusion and fixed thereto.

8. The integrated control module according to any one of claims 1 to 7, wherein the box body is provided with an air inlet and an air outlet, and the air inlet and the air outlet are respectively communicated with the mounting cavity;

and the air inlet and/or the air outlet is/are provided with a cooling fan.

9. The integrated control module of claim 8, wherein the box body includes a first sidewall and a second sidewall distributed along a length direction thereof, the air inlet is disposed at the first sidewall, and the air outlet is disposed at the second sidewall; the first integrated circuit board and the second integrated circuit board of integrated circuit board follow the length direction of box body sets up side by side.

10. A robot comprising an integrated control module according to any of claims 1 to 9.