JP4563703B2 - Electric equipment cooling structure for humanoid robot - Google Patents

Description

  The present invention relates to a structure for cooling control system electrical equipment such as a motor drive circuit (driver) and an operation control computer mounted on a humanoid robot.

Conventionally, the control system electrical equipment (excluding the motor) in the humanoid robot is intensively arranged in a backpack carried on the body of the humanoid robot, for example (Patent Document 1). For example, it is known that control system electrical equipment is distributed and stored on legs and arms.
JP 2002-154083 A

  However, when a large protrusion such as a backpack is provided on the body, the center of gravity shifts to the rear and the large protrusion obstructs the robot so that it greatly restricts the walking performance of the humanoid robot. There is a possibility that a large restriction is imposed on the whole body movement function at the time of going up, and the degree of freedom of the appearance design of the humanoid robot is also impaired.

  Also, if electrical equipment is distributed and mounted on legs and arms that require exercise performance, the inertial mass including mounting brackets may increase, which may hinder the exercise performance of the legs and arms. There is a problem that it is necessary to individually install cooling means on the equipment for the legs and arms.

An object of the present invention is to advantageously solve the above-described problems. An electrical equipment cooling structure for a humanoid robot according to the present invention is a structure for cooling a control system electrical equipment mounted on a humanoid robot. The control system electrical equipment is mounted in the body of the robot, and at least a part of the high heat generation heat source element included in the control system electrical equipment is arranged on the side portion in the upper half of the body to generate the high heat Dissipating means is provided in the quantity heat source element, the control system electrical equipment is centrally mounted in the upper half of the fuselage, and at least the rear of the fuselage is supplied with cooling air taken from the front inlet of the fuselage. provided with a cooling fan to flow through from front to back, at least a portion of the exhaust of the rear of the cooling fan in said body, said heat radiating means provided in a high heat value source element side in the body upper half Through The body on leads to an exhaust port of the half of the side, the cooling fan cooling air duct toward said heat dissipating means from the exhaust port, and the high temperature of the high heating value heat source elements from the exhaust of the cooling fan through the radiator means Te Cooling air guide means comprising a cooling air guide plate for guiding the cooling air after cooling to the exhaust port on the side of the upper half of the fuselage is provided, and in addition to the wind pressure of the cooling fan, the differential pressure between the ram pressure generated on the front and the static pressure of the side surface of the body, the cooling air forcibly flows through the laterally through the rear from the front in the body upper half portion, the body on the half in which it characterized that you intensively cool the control system electrical equipment concentrated mounted.

According to the electrical equipment cooling structure of the humanoid robot of the present invention, the control system electrical equipment is centrally mounted in the upper half of the humanoid robot body, and the control system electrical equipment is provided at least at the rear of the body. Control system electrical equipment that is mounted in the upper half of the fuselage with cooling air that is sent from the front to the rear in the upper half of the fuselage through the cooling wind guide means comprising the cooling wind duct and the cooling wind guide plate Since the equipment is intensively cooled, a backpack equipped with control system electrical equipment can be dispensed with, and it is possible to eliminate restrictions on the walking performance and whole body motion function of the humanoid robot by the backpack. The degree of freedom of the appearance design of the type robot can also be increased. Then, in addition to the wind pressure of the cooling fan, cooling that flows from the front of the fuselage to the side of the fuselage by the differential pressure between the ram pressure generated on the front of the fuselage and the static pressure on the side of the fuselage by walking forward of the humanoid robot Since the wind is forcibly generated, the cooling fan can be made small.

In addition, according to the electrical equipment cooling structure for a humanoid robot of the present invention, the cooling air guide means has a central processing unit (CPU) in which at least a part of the exhaust of the cooling fan at the rear of the fuselage is arranged on the side of the fuselage. ), Etc., through a heat sink such as a radiator plate or radiator provided on the heat source element with a high heating value, etc., to cool the high heat value heat source element at a higher temperature than the exhaust, and then led to the exhaust port on the side of the fuselage Since it is discharged to the outside, the control system electrical equipment can be efficiently cooled with a small number of cooling fans, which can contribute to space saving, power saving and weight reduction.

  In the electrical equipment cooling structure for a humanoid robot according to the present invention, one or a plurality of the cooling fans are provided at the rear part of the fuselage, and the one or more cooling fans at the rear part of the fuselage provide a part of the exhaust. Exhaust from the rear exhaust port of the fuselage, i.e. one or more cooling fans respectively exhaust part of the exhaust from the exhaust port at the rear of the fuselage, while sending the remainder of the exhaust to the cooling wind guide means, or Some of the cooling fans may exhaust the exhaust from the exhaust port at the rear of the fuselage, while the remaining cooling fans may send the exhaust to the cooling air guiding means. Since the exhaust efficiency of the cooling air is improved, the control system electrical equipment mounted in the fuselage can be better cooled.

  Moreover, in the electrical equipment cooling structure for a humanoid robot according to the present invention, the high heat value heat source that is a part of the high heat value heat source element included in the control system electrical equipment and is located away from the side portion of the body. A heat transfer means such as a heat pipe, a cooling water circulation system, or a heat conduction member for moving the heat generated by the element to the heat dissipation means of the high heat generation heat source element on the side of the fuselage may be provided. The degree of freedom of arrangement of the high heat generation heat source elements included in the control system electrical equipment can be increased.

  Furthermore, in the electrical equipment cooling structure for a humanoid robot according to the present invention, a cooling fan that allows cooling air to flow from the front to the rear of the body may be provided at the front of the body. Since the intake efficiency of the cooling air into the fuselage is improved, the control system electrical equipment installed in the fuselage can be cooled better.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 and FIG. 2 are explanatory views showing an embodiment of the cooling system for the electrical equipment of the humanoid robot according to the present invention as seen from the side and from above, and FIGS. 3 (a) and 3 (b). These are the front view and side view which show the whole said humanoid robot.

  As shown in FIGS. 3 (a) and 3 (b), the humanoid robot has two legs 2 under the body 1, and these legs 2 balance dynamically in an inverted pendulum by a known method. While walking. This humanoid robot also has arms 3 on the left and right as viewed from the robot itself of the body 1 and a head 4 on the body 1.

The fuselage 1 here comprises an upper half 1a and a lower half 1b that are connected to each other at the waist so as to be able to rotate back and forth and to the left and right. The electrical equipment cooling structure of this embodiment is connected to the upper half 1a of the fuselage. It has been applied. That is, the fuselage upper half 1a includes a fuselage upper half cover 5 of a front and rear split type as shown in FIG. 3. In the electrical equipment cooling structure of this embodiment, the front upper half cover 5 is provided in front of the fuselage upper half cover 5. An opening 5a is appropriately provided as an intake port for taking in cooling air into the fuselage upper half cover 5 and an exhaust port for discharging cooling air to the outside of the fuselage upper half cover 5. As shown in FIGS. 1 and 2, a single cooling fan 6 is mounted at the rear position in the upper half 1a of the fuselage so as to suck air from the front and exhaust it backward. Yes.

  Moreover, in the electrical equipment cooling structure of this embodiment, as shown in FIGS. 1 and 2, as a control system electrical equipment in which a large number of motor driver boards are combined on the left and right of the front part in the upper half 1a of the fuselage. Are housed, and a sensor unit 8 as a control system electrical device for detecting the posture and movement of the fuselage 1 is housed in the center of the rear part of the upper half 1a of the fuselage. Control units 9 as control system electrical equipment are housed on the left and right of the rear part in the upper half 1a, and further, the visual control system as the control system electrical equipment and on the outermost left and right of the rear part in the upper half 1a of the body The two computer units 10 of the operation calculation system are respectively housed, and the central processing unit as a part of the high heat generation heat source element included in the control system electrical equipment possessed by these computer units 10. Heat radiating plate 10a of the heat dissipating means is provided on the (CPU), further the lower central portion of the fuselage on the half 1a, the power board 11 as a control system electrical equipment is housed.

  In the electrical equipment cooling structure of this embodiment, as shown in FIGS. 1 and 2, the two computer units 10 extend from the exhaust port of the cooling fan 6 located at the rear of the upper half cover 5 of the fuselage to the left and right. Two cooling air ducts 12 as cooling air guiding means toward the heat radiating plate 10a of the central processing unit (CPU), and the cooling air passing through the heat radiating plates 10a Two curved cooling air guide plates 13 that are also guided as cooling air guiding means are provided in the upper half 1a of the body.

According to the electrical equipment cooling structure of the humanoid robot of this embodiment, the control system electrical equipment 7 to 11 are centrally mounted in the upper half 1a of the humanoid robot, and the control system electrical equipment 7 to 11 are installed. Since the cooling fan 6 provided in the rear part in the upper half 1a of the fuselage is intensively cooled by the cooling air F flowing from the front to the rear in the upper half 1a of the fuselage, the control system electrical equipment is mounted. A backpack can be dispensed with, and restrictions on the walking performance and whole body motion function of the humanoid robot by the backpack can be eliminated, and the degree of freedom in the appearance design of the humanoid robot can be increased. The cooling in addition to the wind pressure of the fan 6, the differential pressure between the side surface of the static pressure of the ram pressure and the body 1 occurring on the front of the body 1 by the walking to the front of the humanoid robot, the body upper half 1a in of Runode forcibly cause cooling air F flowing through laterally through the rear from the front, the cooling fan 6 can be made small.

  Moreover, according to the electrical equipment cooling structure of the humanoid robot of this embodiment, the two cooling air ducts 12 all exhaust the rear cooling fan 6 in the upper half 1a of the fuselage in the upper half 1a. The cooling air F is used for cooling the CPU having a temperature higher than that of the exhaust gas through a heat radiating plate 10a provided in a central processing unit (CPU) disposed on both sides of the CPU. Since it guides to the opening part 5a of the both sides of the upper half part 1a, and it discharges | emits out of the fuselage | body 1 from there, the control system electrical equipment 7-11 can be cooled efficiently with one cooling fan 6, and space-saving and space-saving It can contribute to electric power and weight reduction.

  4 and 5 are explanatory views showing another embodiment of the electrical equipment cooling structure for the humanoid robot according to the present invention as seen from the side and from above, respectively, and this embodiment shows the control system electrical equipment. The heat generated by a switching element (not shown) on the power supply board 11, which is a part of the high heat generation heat source element included in FIG. Two normal heat pipes 14 are provided in the upper half 1a of the fuselage as heat transfer means for moving to the heat radiating plate 10a provided as the heat dissipation means in the CPUs arranged on both sides in the upper half 1a of the fuselage. The point is different from the previous embodiment, and the other points are configured in the same manner as the previous embodiment.

  According to the electrical equipment cooling structure of the humanoid robot of this embodiment, in addition to obtaining the same operational effect as the previous embodiment, it is a part of the high heat generation heat source element included in the control system electrical equipment. The degree of freedom of arrangement of the power supply board 11 having the switching element can be increased.

Although the present invention has been described based on the illustrated example, the present invention is not limited to the above example. For example, the electrical equipment cooling structure of the present invention cools the control system electrical equipment mounted on the entire body of the humanoid robot. It is good also as a structure. Also, one or a plurality of cooling fans are provided at the rear of the fuselage, and each of the one or more cooling fans discharges a part of the exhaust from the exhaust port at the rear of the fuselage, while the remaining exhaust is used as the cooling air guide means. Or a part of the plurality of cooling fans may exhaust the exhaust from the exhaust outlet at the rear of the fuselage, while the remaining cooling fans send the exhaust to the cooling air guide means, and the front of the fuselage In addition, a cooling fan that allows cooling air to flow from the front to the rear of the fuselage may be additionally provided .

Thus, according to the electrical equipment cooling structure for a humanoid robot of the present invention, a backpack can be dispensed with, and the restriction on the walking performance and whole body motion function of the humanoid robot by the backpack can be eliminated, and the humanoid robot The degree of freedom of the exterior design can be increased, and the differential pressure between the ram pressure generated on the front of the fuselage and the static pressure on the side of the fuselage by walking forward can be utilized , so that the cooling fan can be made small. .

  Moreover, according to the electrical equipment cooling structure for a humanoid robot of the present invention, the control system electrical equipment can be efficiently cooled with a small number of cooling fans, which contributes to space saving, power saving and weight reduction.

It is explanatory drawing shown in the state which looked at one Example of the electrical equipment cooling structure of the humanoid robot of this invention from the side. It is explanatory drawing shown in the state which looked at the electrical equipment cooling structure of the humanoid robot of the said Example from upper direction. (A), (b) is the front view and side view which show the whole said humanoid robot. It is explanatory drawing shown in the state which looked at the other one Example of the electrical equipment cooling structure of the humanoid robot of this invention from the side. It is explanatory drawing shown in the state which looked at the electrical equipment cooling structure of the humanoid robot of the said other Example from the upper direction.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Body 1a Body upper half 1b Body lower half 2 Leg 3 Arm 4 Head 5 Body upper half cover 5a Opening 6 Cooling fan 7 Motor driver unit 8 Sensor unit 9 Control unit 10 Computer unit 10a Heat sink 11 Power supply board 12 Cooling air duct 13 Cooling air guide plate 14 Heat pipe F Cooling air

Claims (4)

In the structure to cool the control system electrical equipment mounted on the humanoid robot,
While mounting the control system electrical equipment in the body of the humanoid robot,
At least a part of the high heat generation heat source element included in the control system electrical equipment is disposed on a side portion in the upper half of the fuselage , and a heat radiating means is provided in the high heat generation heat source element, and the upper half of the fuselage Centralized control system electrical equipment ,
A cooling fan is provided at least at the rear of the fuselage to allow the cooling air taken from the front inlet of the fuselage to flow from the front to the rear of the fuselage,
The rear portion of the at least a portion of the exhaust of the cooling fan in said body, the exhaust port side of the body upper half through the radiating means provided in a high heat value source element side in the body upper half A cooling air duct that leads from the exhaust port of the cooling fan to the heat dissipating means, and the cooling air after being used for cooling the high heat generation heat source element that is hotter than the exhaust of the cooling fan through the heat dissipating means on the fuselage. A cooling air guide means comprising a cooling air guide plate leading to the exhaust port on the side of the half is provided,
Side the the differential pressure of the cooling fan of the ram pressure generated on the front surface of the body during forward travel in addition to the wind pressure and the static pressure of the side surface of the body, the cooling air through the rear from the front in the body upper half forced flow through towards, characterized that you intensively cool the control system electrical equipment concentrated mounted on the body on the half, the electrical device cooling structure of a humanoid robot. One or more cooling fans are provided at the rear of the fuselage,
2. The electrical equipment cooling structure for a humanoid robot according to claim 1, wherein the one or more cooling fans at the rear part of the fuselage exhaust part of the exhaust gas from an exhaust port at the rear part of the fuselage.   High heat value of the side part in the fuselage that is generated by the high heat value heat source element that is part of the high heat value heat source element included in the control system electrical equipment and is located away from the side part in the fuselage The structure for cooling an electrical equipment of a humanoid robot according to claim 1 or 2, further comprising heat transfer means for moving the heat source element to the heat dissipation means. 4. The cooling of electrical equipment for a humanoid robot according to any one of claims 1 to 3, wherein a cooling fan is provided at a front portion of the body to allow cooling air to flow from the front to the rear of the body. Construction.

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