WO2020071431A1

WO2020071431A1 - Heat sink and robot control device provided with same

Info

Publication number: WO2020071431A1
Application number: PCT/JP2019/038944
Authority: WO
Inventors: 毅田頭
Original assignee: 川崎重工業株式会社
Priority date: 2018-10-03
Filing date: 2019-10-02
Publication date: 2020-04-09
Also published as: JP7421264B2; CN112789722A; JP2020057722A

Abstract

This heat sink is provided on a robot control device; and the robot control device comprises a substrate, and a first element and a second element, said elements being arranged on a main surface of the substrate. This heat sink is characterized by being provided with: a base part which is formed into a plate-like shape so as to have a first main surface, and which is arranged such that the first main surface is in thermal contact with the first element; and a projection part which is formed so as to protrude from the first main surface of the base part, and which is arranged such that the front end thereof is in thermal contact with the second element.

Description

Heat sink and robot control device including the same

The present invention relates to a heat sink and a robot control device including the same.

ヒートシンク Heat sinks for cooling a heating element have been known. As such a heat sink, for example, there is a radiator proposed in the heat radiation structure of the element of Patent Document 1.

Patent Document 1 describes a heat dissipation structure including an element, a heat conductive material, a substrate, and a radiator. The radiator has a plate-like portion having a first main surface and a second main surface, a protrusion protruding from the first main surface of the plate-like portion, and protruding from the second main surface of the plate-like portion. A plurality of radiation fins. The radiator is arranged such that the protrusion penetrates a through hole formed in the substrate and the protrusion contacts the lower surface of the element via a heat conductive material.

JP 2010-141279 A

By the way, the radiator of Patent Document 1 does not consider cooling an element as a heating element provided in the robot controller. Here, some robot control devices include a first element and a second element existing on a substrate. These two elements may have different distances from their respective tips to the substrate.

Here, the distance from the tip of the first element to the substrate is longer than that of the second element. In such a case, since the base of the heat sink contacts only the first element and does not contact the second element, it is difficult to cool these two elements with one heat sink.

Accordingly, it is an object of the present invention to provide a heat sink and a robot control device including the same, which can cool both the first element and the second element having different distances from the respective tips to the substrate.

In order to solve the above problem, a heat sink according to the present invention is a heat sink provided in a robot control device, wherein the robot control device includes a substrate, a first element and a second element existing on a main surface of the substrate. And a base portion formed in a plate shape having a first main surface, wherein the base portion is arranged such that the first main surface is in thermal contact with the first element. A projecting portion projecting from the main surface, the tip of which is arranged so as to be in thermal contact with the second element.

According to the configuration, in the heat sink according to the present invention, the first element can be cooled by the base portion arranged such that the first main surface thereof is in thermal contact with the first element, and The second element can be cooled by a protrusion arranged such that the tip is in thermal contact with the second.

The method may further include a heat conductive material provided at a tip of the protrusion, and the protrusion may be arranged so as to be in thermal contact with the second element via the heat conductive material.

According to the above configuration, the heat generated by the second element can be satisfactorily transmitted to the protrusion by the heat conductive material.

The heat conductive material may be composed of an insulator.

According to the above configuration, it is possible to eliminate the possibility that a short circuit occurs between the protrusion of the heat sink and the second element.

The heat conductive material may be made of an elastic material.

According to the above configuration, it is possible to easily and appropriately bring the tip of the projection into thermal contact with the second element.

突 The protrusion may be formed integrally with the base.

According to the above configuration, the heat generated by the second element can be transmitted well from the protrusion to the base, so that the second element can be efficiently cooled.

The robot control device may include a plurality of the second elements, and a plurality of the protrusions may be provided according to the second elements.

According to the above configuration, it is possible to cool the plurality of second elements provided in the robot control device.

A plurality of fins each standing on a second main surface extending parallel to the first main surface of the base portion may be further provided.

According to the above configuration, since the surface area of the heat sink is increased by the plurality of fins, both the first element and the second element can be efficiently cooled.

In order to solve the above problem, a robot control device according to the present invention is a robot control device including any one of the heat sinks, the substrate, the first element, and the second element, Further comprising a housing in which a first space isolated from the air and a second space open to the outside are provided, and wherein the substrate, the first element, and the second element are arranged in the first space. And at least a part of the heat sink is arranged in the second space.

According to the above configuration, the robot control device according to the present invention can cool both the first element and the second element having different distances from the respective tips to the substrate by including any one of the heat sinks. Becomes

The first element is configured as a power module mounted on a main surface of the substrate, and the second element is mounted on the main surface of the substrate to measure a current value output from the power module. It may be configured as an element.

According to the above configuration, it is possible to cool both the power module and the resistance element, which are difficult to cool together because the distances from the respective tips to the substrate are different from each other and are provided adjacent to each other. Becomes

The apparatus may further include a cooling fan that blows outside air to the heat sink.

According to the above configuration, both the first element and the second element can be efficiently cooled.

According to the present invention, it is possible to provide a heat sink and a robot control device including the same, which can cool both the first element and the second element having different distances from the respective tips to the substrate.

1 is an external perspective view of a robot control device including a heat sink according to one embodiment of the present invention. FIG. 1 is a schematic diagram illustrating a main structure of a robot control device including a heat sink according to an embodiment of the present invention. It is the schematic which looked at the state which expanded the principal part structure and its peripheral part of the robot control apparatus provided with the heat sink which concerns on one Embodiment of this invention from the right side plate side. It is a figure for explaining the positional relationship of the heat sink which concerns on one Embodiment of this invention, a power module, and a resistance element, (A) is a bottom view of a heat sink, (B) is a board | substrate and the power attached to the said board | substrate. It is a bottom view of a module and a resistance element.

Hereinafter, a heat sink according to an embodiment of the present invention and a robot control device including the same will be described with reference to the drawings. The present invention is not limited by the embodiment. In the following, the same or corresponding elements are denoted by the same reference symbols throughout all the drawings, and redundant description will be omitted.

(Robot control device 10)
FIG. 1 is an external perspective view of a robot control device including a heat sink according to the present embodiment. The robot control device 10 according to the present embodiment is used to control the operation of a robot (not shown). The robot may include, for example, a robot arm having a plurality of joint axes, and an end effector attached to a tip of the robot arm.

As shown in FIG. 1, the robot control device 10 includes a housing 20 for housing its internal structure (for example, a substrate 30, a power module 40, a resistance element 90, a heat sink 50, and the like, which will be described later). The housing 20 has a hollow rectangular parallelepiped shape.

The housing 20 includes a rectangular bottom plate 21 in plan view, a front plate 22 erected on the front edge of the bottom plate 21, and a back plate 23 erected on the rear edge of the bottom plate 21. The housing 20 includes a right side plate 24 erected on the right end edge of the bottom plate 21, a left side plate 25 erected on the left end edge of the bottom plate 21, a front plate 22, a back plate 23, a right side plate 24, and a left side plate. A top plate provided to cover a box formed by the plate. In addition, at each of the four corners of the bottom surface of the bottom plate 21, a tapered mounting portion 80 whose cross-sectional area decreases toward the bottom is provided.

FIG. 2 is a schematic view of an enlarged view of a main structure of a robot control device including a heat sink according to the present embodiment and a peripheral portion thereof as viewed from a right side plate. As shown in FIG. 2, the housing 20 further includes a partition plate 27 that extends horizontally at the center in the height direction. A first space 28 and a second space 29 that are adjacent to each other in the height direction with the partition plate 27 as a boundary are provided inside the housing 20. The partition plate 27 is provided with a rectangular through hole 27a having an area slightly smaller than a base portion 51 of the heat sink 50 described later in plan view.

The first space 28 is a space above the partition plate 27 and is shielded from the outside air. The first space 28 mainly includes an upper surface of the partition plate 27, a first main surface 52 of a base portion 51 of the heat sink 50 described later, an upper inner surface of the front plate 22, an upper inner surface of the back plate 23, an upper inner surface of the right plate 24, The peripheral edge is defined by the upper inner surface of the left side plate 25 and the inner surface of the top plate 26. The first space 28 has a dustproof property by being shielded from the outside air, and for example, precision machines such as a substrate 30, a power module 40, and a resistance element 90, which will be described later, are arranged.

The second space 29 is a space located below the partition plate 27 and is open to the outside air. The second space 29 mainly includes a bottom surface of the partition plate 27, a second main surface 54 of a base portion 51 of a heat sink 50 described later, an inner surface of the bottom plate 21, a lower inner surface of the front plate 22, a lower inner surface of the back plate 23, and a right side plate. The lower inner surface of the left side plate 24 and the lower inner surface of the left side plate 25 define the periphery thereof.

Here, the robot controller 10 further includes a cooling fan 82 that blows outside air to the heat sink 50. As shown in FIG. 1, in the present embodiment, four cooling fans 82 are arranged in parallel along the lower inner surface of the right side plate 24. Further, as shown in FIG. 2, a plurality of intake slits 84 are formed in the lower portion of the right side plate 24 at positions corresponding to the four cooling fans 82. Further, a plurality of exhaust slits 85 corresponding to the plurality of intake slits 84 are formed in a lower portion of the left side plate 25.

According to such a structure, when the cooling fan 82 is driven, outside air is taken into the second space 29 from the intake slit 84 of the right side plate 24, and the outside air is exhausted from the exhaust slit 85 of the left side plate 25. . That is, the outside air flowing in the direction from the right side plate 24 to the left side plate 25 (X direction described later) is supplied to the second space 29 in the housing 20. In the second space 29, for example, at least a part of a heat sink 50 described later is arranged. Here, at least a part of the heat sink 50 includes a fin assembly 60 and a second main surface 54 of the base 51 described later.

(Main structure)
With reference to FIGS. 2 to 4, a description will be given of a main part structure of a heat sink 50 according to the present embodiment and a robot control device 10 including the same. As described above, FIG. 2 is a schematic diagram illustrating a main structure of a robot control device including the heat sink according to the present embodiment. FIG. 3 is a schematic view of a main part structure of a robot control device including a heat sink according to the present embodiment and an enlarged view of a peripheral portion thereof when viewed from a right side plate side.

FIGS. 3A and 3B are diagrams for explaining the positional relationship between the heat sink, the power module, and the resistance element according to the present embodiment. FIG. 3A is a bottom view of the heat sink, and FIG. It is a bottom view of the power module and the resistance element which were obtained. In FIG. 4B, the main structure (a base 51, a protrusion 77, and a heat conductive sheet 78 to be described later) of the heat sink 50 according to the present embodiment is indicated by a broken line.

(Substrate 30, power module 40 and resistance element 90)
As shown in FIGS. 2 to 4, the robot controller 10 measures the substrate 30, a power module 40 (first element) attached to the bottom surface of the substrate 30, and a current value output from the power module 40. And a resistive element 90 (second element). The substrate 30, the power module 40, and the resistance element 90 are each disposed in the first space 28 that is shielded from the outside air.

The substrate 30 has, for example, a flat plate formed of an insulator such as silicon, and a plurality of electronic components each of which is disposed on the surface and inside of the flat plate and is electrically connected to each other, thereby forming an electronic circuit. May work.

パワー As shown in FIGS. 2 to 4, eight power modules 40 are substantially rectangular parallelepiped, and eight power modules 40 are mounted on the bottom surface of the substrate 30. The eight power modules 40 have the same shape and size as each other. In addition, the plurality of power modules 40 are respectively arranged in the X direction shown in FIG. 4 (that is, the direction connecting the right side plate 24 and the left side plate 25 of the housing 20) and the Y direction orthogonal to the X direction. Are arranged in a matrix.

Specifically, in the present embodiment, eight power modules 40 are arranged on the bottom surface of the substrate 30 by arranging four power modules 40 in parallel in the X direction and arranging two of the aggregates in the Y direction. Mounted in a matrix of × 4. Note that each of the eight power modules 40 may be attached to the substrate 30 via a spacer 41 (see FIG. 3). Thus, since the eight power modules 40 are arranged such that the top surfaces thereof do not contact the bottom surface of the substrate 30, it is possible to prevent heat generated in each of the eight power modules from being directly transmitted to the substrate 30.

The eight power modules 40 may be intelligent power modules (Intelligent Power Module, IPM), or may be main components of a servo amplifier. Then, for example, a current for a three-phase motor may be output from each of the plurality of servo amplifiers including the power module 40. With such a configuration, the robot controller 10 may be configured to control one axis by one power module 40. Here, the axis may include, for example, a joint axis or an external axis of the robot.

抵抗 As shown in FIGS. 2 to 4, eight resistance elements 90 are substantially rectangular parallelepiped, and eight resistance elements 90 are mounted on the bottom surface of the substrate 30 in correspondence with the power modules 40. Each of the eight resistance elements 90 has the same shape and dimensions as each other. Each of the eight resistance elements 90 is arranged along a surface existing outside the corresponding power module 40 in the front-rear direction (that is, the direction connecting the front plate 22 and the back plate 23).

That is, the resistance elements 90 mounted corresponding to the four power modules 40 arranged in parallel in the X direction on the front plate 22 side are mounted on the front plate 22 side of the four power modules 40, respectively. You. On the other hand, the resistance elements 90 mounted corresponding to the four power modules 40 arranged in parallel in the X direction on the back plate 23 side are mounted on the back plate 23 side of the four power modules 40, respectively. You. Each of the four resistance elements 90 is connected in series to the corresponding power module 40 in order to measure a current value output from the corresponding power module 40.

(3) As shown in FIG. 3, the tip of the power module 40 (that is, the bottom surface in FIG. 3) is located farther from the main surface of the substrate 30 than the tip (before) of the resistance element 90. As a result, (the first main surface 52 of) the base portion 51 of the heat sink 50 according to the present embodiment directly (thermally) contacts only the power module 40 and does not contact the resistance element 90.

(Heat sink 50)
As shown in FIGS. 2 to 4, the heat sink 50 according to the present embodiment is disposed in the second space 29 open to the outside air. The heat sink 50 is formed in a plate shape so as to have a first main surface 52 and a second main surface 54 extending in parallel with the first main surface 52, and the first main surface 52 includes eight power modules 40. And a plurality of fins 70 erected on the second main surface 54 of the base portion 51.

The base portion 51 is formed in a rectangular shape slightly larger than the through hole 27a formed in the partition plate 27 in a plan view. The base portion 51 is fixed to the bottom surface of the partition plate 27 in a state where the edge portion of the first main surface 52 is in contact with the peripheral edge portion of the through hole 27a from the bottom surface side of the partition plate 27. The base portion 51 is arranged in this manner, so that the first main surface 52 defines a part of the periphery of the first space 28 shielded from the outside air, and the second main surface 54 is connected to the outside air. It defines a part of the periphery of the opened second space 29.

Each of the plurality of fins 70 is formed in a plate shape, and is erected on the second main surface 54 of the base portion 51 in parallel with the Y direction with each thickness direction coinciding with the Y direction. . The plurality of fins 70 form the fin assembly 60. Note that the intervals between the fins 70 adjacent to each other in the Y direction are the same as each other.

Then, as shown in FIG. 4, the plurality of fins 70 are arranged in parallel at positions corresponding to the eight power modules 40, so that each of the fin assemblies 60 extends in the Y direction and is arranged in parallel in the X direction. A plurality of ridges 62 and a groove 64 extending in the Y direction between the ridges 62 adjacent to each other in the X direction among the plurality of ridges 62. Note that the plurality of ridges 62 referred to herein means that the plurality of fins 70 are erected on the second main surface 54 of the base portion 51 as described above, so that the plurality of fins 70 as a whole A portion configured as a ridge or a protrusion extending in the Y direction on the second main surface 54 of the base portion 51.

Thus, the heat sink 50 according to the present embodiment is sufficiently cooled by the plurality of ridges 62 of the fin assembly 60 while the weight is reduced by the groove 64 of the fin assembly 60. It is possible to

In the present embodiment, since the four power modules 40 are arranged in the X direction as described above, the four ridges 62 are arranged in the X direction correspondingly. In addition, since the four ridges 62 are arranged in parallel in this manner, there are a total of three groove-like portions 64 extending in the Y direction therebetween.

As shown in FIG. 4, the plurality of fins 62 are arranged in parallel at positions corresponding to the power modules 40 adjacent to each other in the Y direction among the eight power modules 40, so that the four ridges 62 are formed. Extend in the Y direction even at positions corresponding to between the power modules 40 adjacent to each other in the Y direction.

This increases the surface area of the heat sink 50, so that it is possible to suppress the cooling efficiency from being lowered by the groove-shaped portion 64 of the fin assembly 60. In the case where similar power modules 40 and other heating elements are further arranged between power modules 40 adjacent to each other in the Y direction, these can be sufficiently cooled.

The plurality of fins 70 each have a width corresponding to the length in the X direction of each of the eight power modules 40. Thus, the heat sink 50 according to the present embodiment can appropriately reduce the weight. Therefore, it is possible to suppress a decrease in cooling efficiency due to a reduction in weight (that is, providing the groove portions 64 in the fin assembly 60).

Further, each of the plurality of fins 70 has a base edge extending in the X direction as a lower bottom 71, a tip edge extending in the X direction as an upper bottom 72 when viewed in the thickness direction, and The lower bottom 71 has a trapezoidal shape longer than the upper bottom 72. Accordingly, when the entire heat sink 50 is integrally formed by die casting, it is possible to appropriately perform the operation of pulling out the heat sink 50 from the mold.

接続 A connection portion 74 that connects the mutually adjacent fins 70 is provided between the mutually adjacent fins 70 in the X direction (the left and right direction in FIG. 2) among the plurality of fins 70. The connecting portion 74 is erected on the second main surface 54 of the base portion 51 and has a shorter length from the second main surface 54 than the fin 70. This increases the surface area of the heat sink 50, so that it is possible to suppress a decrease in cooling efficiency due to the groove-shaped portions 64 of the fin assembly 60.

Further, the groove formed between the fins 70 adjacent to each other in the Y direction and extending in the X direction and the groove formed between the connecting portions 74 adjacent to each other in the Y direction and extending in the X direction are continuous in the X direction. In the aggregate 60, a groove extending from one end to the other end in the X direction is formed. This prevents the outside air flowing in the X direction, which is blown into the second space 29 by the cooling fan 82, from diffusing inside the fin assembly 60, so that the heat sink 50 inhibits the flow of the outside air. Can be suppressed.

As shown in FIG. 2, the cooling fan 82 is arranged so as to face the ridge 62 on the rightmost plate 24 side of the four ridges 62 in the X direction (the horizontal direction in FIG. 2). You. Thereby, the cooling fan 82 can blow the outside air flowing in the X direction to the fin assembly 60.

As shown in FIGS. 2 to 4, the heat sink 50 further includes a protrusion 77 projecting from the first main surface 52 of the base portion 51 and arranged so that the tip thereof is in thermal contact with the resistance element 90. Prepare. Eight protrusions 77 are provided corresponding to the resistance elements 90. Each of the eight protrusions 77 is formed in a rectangular parallelepiped shape, and has the same shape and size. Further, the eight protrusions 77 are formed integrally with the base 51 and the plurality of fins 70.

As described above, the tip (the bottom in FIG. 3) of the power module 40 is located farther from the main surface of the substrate 30 than the tip (the same as before) of the resistance element 90. Here, the height dimension of the protrusion 77 is a distance in the height direction from the tip of the resistance element 90 to the tip of the power module 40 (or the distance from the tip of the resistance element 90 to the first main surface 52 of the base portion 51). ) Slightly smaller than

Thereby, a gap is formed between the tip of the protrusion 77 (the top surface in FIG. 3) and the tip of the resistance element 90 (the bottom surface in FIG. 3). Here, the heat sink 50 further includes a heat conductive sheet 78 (heat conductive material) provided at the tip of the protrusion 77. The gap is filled with the heat conductive sheet 78. According to such a configuration, the protrusion 77 is arranged so as to be in thermal contact with the resistance element 90 via the heat conductive sheet 78. The heat conductive sheet 78 is an insulator and an elastic body.

(effect)
In the heat sink 50 according to the present embodiment, the power module 40 (first element) is cooled by the base portion 51 arranged so that the first main surface 52 is in direct (thermal) contact with the power module 40. The resistance element 90 (second element) can be cooled by the protrusion 77 arranged so that the tip thereof is in thermal contact with the resistance element 90. As a result, it is possible to cool both the power module 40 and the resistance element 90 having different distances from the respective tips to the substrate 30.

Since the heat sink 50 according to the present embodiment includes the heat conductive sheet 78 (heat conductive material) provided at the tip of the protrusion 77, the heat generated by the resistance element 90 is favorably transmitted to the protrusion 77 by the heat conductive sheet 78. can do.

熱 Since the heat conductive sheet 78 according to the present embodiment is made of an insulator, it is possible to eliminate the possibility that a short circuit occurs between the protrusion of the heat sink and the second element.

Since the heat conductive sheet 78 according to the present embodiment is formed of an elastic body, the heat conductive sheet 78 is elastically deformed in a gap formed between the tip of the protrusion 77 and the resistance element 90 (second element). Can be arranged. This makes it possible to easily and appropriately bring the tip of the protrusion 77 into thermal contact with the resistance element 90.

Therefore, for example, it is possible to prevent the protrusion 77 from pressing the resistance element 90 due to the height of the tip of the protrusion 77 being too high. As a result, since stress concentration does not occur in the protrusion 77 and the resistance element 90, they can be prevented from being damaged.

In the present embodiment, since the protrusion 77 is formed integrally with the base 51 and the plurality of fins 70, the heat generated by the resistance element 90 is transmitted well from the protrusion 77 to the base 51, and Since the power can be transmitted well from the base portion 51 to the plurality of fins 70, the resistance element 90 can be efficiently cooled. In addition, since the entire heat sink 50 can be integrally formed by die casting, it is possible to manufacture the heat sink 50 at low cost.

In the present embodiment, since the robot control device 10 includes eight power modules 40 and eight resistance elements 90, and eight protrusions 77 are provided in accordance with the resistance elements 90, the first main surface 52 of the base part 51 is The eight power modules 40 can be cooled by directly contacting the two power modules 40, and the eight power modules 40 can be cooled by each of the eight protrusions 77 thermally contacting the corresponding resistance element 90. The resistance element 90 can be cooled.

ヒートシンク Since the heat sink 50 according to the present embodiment includes the plurality of fins 70, the surface area is increased. Thereby, the power module 40 and the resistance element 90 can be efficiently cooled.

ロボット The robot control device 10 according to the present embodiment includes the heat sinks 50, so that both the power module 40 and the resistance element 90 having different distances from the respective ends to the substrate 30 can be cooled.

Since the first element is configured as the power module 40 and the second element is configured as the resistance element 90 for measuring the current value output from the power module 40, the distances from the respective tips to the substrate 30 are different from each other. This makes it possible to cool both the power module 40 and the resistance element 90, which have been difficult to cool together due to being provided adjacent to each other.

The robot control device 10 according to the present embodiment includes the cooling fan 82 that blows outside air to the heat sink 50, so that the power module 40 and the resistance element 90 can be efficiently cooled.

(Modification)
From the above description, many modifications and other embodiments of the present invention are obvious to one skilled in the art. Therefore, the above description should be construed as illustrative only and is provided for the purpose of teaching those skilled in the art the best mode of carrying out the invention. Details of its structure and / or function may be substantially changed without departing from the spirit of the invention.

In the above embodiment, the first element is configured as the power module 40 mounted on the main surface of the substrate 30, and the second element is mounted on the main surface of the substrate 30 to measure the current value output from the power module 40. Although the case where the resistor element 90 is mounted is described, the present invention is not limited to this. That is, the first element and the second element may be other electronic components as long as at least one of the shape and the dimension is different from each other. For example, the first element may be an IC chip mounted on the main surface of the substrate 30, or may be another electronic component. The same applies to the second element.

In the above embodiment, the case where the base portion 51 of the heat sink 50 is in direct contact with the power module 40 (first element) to thermally contact the power module 40 has been described, but the present invention is not limited to this. For example, the base portion 51 of the heat sink 50 may contact the power module 40 via a member similar to the heat conductive sheet 78 provided at the tip of the protrusion 77.

In the above embodiment, the case where the heat conductive material is the heat conductive sheet 78 which is an insulator and an elastic body has been described, but the present invention is not limited to this. For example, the heat conductive material may be another heat conductive sheet that is an insulator but not an elastic body, or may be another heat conductive sheet that is an elastic body but not an insulator, or Heat conductive material. If the heat conductive material is not an insulator, a short circuit may occur between the protrusion 77 of the heat sink 50 and the resistance element 90 (second element). Therefore, in such a case, an insulator may be provided between the protrusion 77 of the heat sink 50 and the resistance element 90 (second element) in addition to the heat conductive material, or no heat conductive material is provided. May be provided only with an insulator.

In the above embodiment, a total of eight power modules 40 are arranged in parallel in a 2 × 4 matrix, and correspondingly, eight resistive elements 90 and eight protrusions 77 are arranged in parallel. Although the case has been described, the present invention is not limited to this. That is, one or more power modules 40 may be arranged, and one or more resistance elements 90 and one or more protrusions 77 may be arranged in parallel corresponding to this. When the fin assembly 60 has the ridge portions 62 and the groove portions 64 as in the above embodiment, the power modules 40 need to be arranged at least in parallel in the X direction.

In the above-described embodiment, the case where the protrusion 77 has a rectangular parallelepiped shape has been described. However, the present invention is not limited to this case. For example, it may have a tapered shape in which the cross-sectional area decreases as the distance from the first main surface 52 of the base portion 51 increases, or may have another shape.

In the above embodiment, the case where each of the plurality of fins 70 has a trapezoidal shape when viewed in the thickness direction has been described. However, the present invention is not limited to this case. For example, each of the plurality of fins 70 may have another square shape such as a square shape or a rectangular shape when viewed in the thickness direction thereof, or may have another polygonal shape. The shape may be as follows.

In the above embodiment, the case where the X direction is the direction connecting the right side plate 24 and the left side plate 25 and the Y direction is the direction connecting the front plate 22 and the back plate 23 is described, but the present invention is not limited to this. For example, the X direction may be a direction connecting the front plate 22 and the back plate 23, and the Y direction may be a direction connecting the right side plate 24 and the left side plate 25. When a plurality of power modules 40 (heating elements) are arranged in a vertical direction, the X direction is the direction connecting the bottom plate 21 and the top plate 26, and the Y direction is the direction connecting the front plate 22 and the back plate 23. Or vice versa.

REFERENCE SIGNS LIST 10 robot control device 20 housing 21 bottom plate 22 front plate 23 back plate 24 right plate 25 left plate 26 top plate 27 partition plate 27a through hole 28 first space 29 second space 30 substrate 40 power module 50 heat sink 51 base 52 1 main surface 54 second main surface 60 fin assembly 62 ridge portion 64 groove portion 70 fin 71 trapezoidal lower bottom 72 trapezoidal upper bottom 74 connecting portion 77 protrusion 78 thermal conduction sheet 80 mounting portion 82 cooling fan 84 Inlet slit 85 Exhaust slit 90 Resistance element

Claims

A heat sink provided in the robot control device,
The robot control device includes: a substrate; a first element and a second element existing on a main surface of the substrate;
A base portion formed in a plate shape having a first main surface, the base portion being arranged such that the first main surface is in thermal contact with the first element;
A protrusion protruding from the first main surface of the base portion and having a distal end disposed in thermal contact with the second element.
Further comprising a heat conductive material provided at the tip of the protrusion,
The heat sink according to claim 1, wherein the protrusion is arranged to be in thermal contact with the second element via the heat conductive material.
3. The heat sink according to claim 2, wherein the heat conductive material is made of an insulator.
4. The heat sink according to claim 2, wherein the heat conductive material is made of an elastic material.
The heat sink according to any one of claims 1 to 4, wherein the protrusion is formed integrally with the base.
The robot control device includes a plurality of the second elements,
The heat sink according to claim 1, wherein a plurality of the protrusions are provided according to the second element.
The heat sink according to any one of claims 1 to 6, further comprising a plurality of fins each standing on a second main surface extending parallel to the first main surface of the base portion.
A robot control device comprising the heat sink according to any one of claims 1 to 7, the substrate, the first element, and the second element,
A first space that is shielded from outside air, and a second space that is open to outside air, further comprising a housing provided therein;
The robot control device, wherein the substrate, the first element, and the second element are disposed in the first space, and at least a part of the heat sink is disposed in the second space.
The first element is configured as a power module mounted on a main surface of the substrate, and the second element is mounted on the main surface of the substrate to measure a current value output from the power module. The robot control device according to claim 8, wherein the robot control device is configured as an element.
The robot control device according to claim 8 or 9, further comprising a cooling fan that blows outside air to the heat sink.