Mounting cabinet, battery module, trunk assembly and humanoid robot

Abstract

The invention discloses a mounting cabinet, a battery module, a trunk assembly and a humanoid robot, the mounting cabinet is used for the humanoid robot, and the mounting cabinet comprises a mounting plate, a buffer structure and a plug connector; the mounting plate comprises a first surface and a second surface which are opposite in a first direction; the buffer structure is arranged on the mounting plate and protrudes out of the first surface, the buffer structure comprises a boss and an elastic piece, the boss is arranged on the first surface, the boss and the mounting plate are provided with containing holes extending in the first direction and penetrating through the boss and the mounting plate, at least part of the elastic piece is contained in the containing hole, and one end of the elastic piece extends out of the boss from the containing hole; the elastic piece extends out of the end face of the boss and is elastically abutted against the battery assembly. The plug connector is connected with the mounting plate and protrudes out of the first surface, the plug connector and the buffer structure are arranged at an interval, and the plug connector is used for being electrically connected with a battery assembly in a plug-in mode. After the mounting cabinet is used, the impact of the battery assembly on other parts of the humanoid robot is small.

Description

Technical Field

[0001] The present application relates to the technical field of humanoid robots, and in particular to an installation cabinet, a battery module, a torso assembly and a humanoid robot. Background Art

[0002] The battery of the humanoid robot needs to be charged after work is completed, which causes the robot to be unable to continue working during the charging process. The waiting time for charging is long, resulting in low work efficiency of the humanoid robot. The batteries of some humanoid robots are detachable, but due to the heavy weight and large volume of the battery components of the humanoid robot, the battery components are prone to impact the other parts of the humanoid robot during use and installation. Summary of the invention

[0003] The purpose of this application is to provide an installation cabinet, a battery module, a trunk assembly and a humanoid robot to solve the problem of impact on other components during the use and installation of battery components.

[0004] To achieve the purpose of this application, this application provides the following technical solutions: In a first aspect, the present invention provides a mounting cabinet for a humanoid robot, comprising: The mounting plate includes a first surface and a second surface facing each other in a first direction; a buffer structure, arranged on the mounting plate and protruding from the first surface, the buffer structure comprising a boss and an elastic member, the boss being arranged on the first surface, the boss and the mounting plate being provided with a receiving hole extending along the first direction and penetrating the two, at least a portion of the elastic member being received in the receiving hole, one end of the elastic member extending out of the boss from the receiving hole, and an end surface of the elastic member extending out of the boss being used for elastically abutting against a battery assembly; A plug-in connector is connected to the mounting plate and protrudes from the first surface. The plug-in connector is spaced apart from the buffer structure and is used for plugging with the battery assembly to achieve electrical connection. With such arrangement, during the installation process of the battery assembly and the mounting plate, the battery assembly elastically abuts against the end of the buffer structure away from the first surface. The buffer structure can reduce the damage to the battery assembly caused by vibration and impact, and also reduce the impact of the battery assembly on the remaining parts of the humanoid robot, thereby improving the stability and safety of the battery assembly. When the connector is plugged into the battery assembly, a positioning effect is provided for the installation of the battery assembly, thereby making the installation process of the battery assembly accurate and stable.

[0005] In one embodiment, the buffer structure further includes a baffle, which is disposed on the second surface and closes one end opening of the receiving hole; the other end of the elastic member elastically abuts against the baffle. This arrangement facilitates the installation of the buffer structure on the mounting plate, and facilitates the disassembly of the buffer structure when the elastic member of the buffer structure needs to be replaced.

[0006] In one embodiment, the boss includes a cylinder and a first stopper, the cylinder is disposed on the first surface, the first stopper is disposed on the inner circumference of the end of the cylinder away from the mounting plate, and the first stopper is used to prevent the elastic member from escaping from the end of the cylinder away from the mounting plate. In this way, when the battery assembly is away from the mounting plate, the elastic member changes from a compressed state to an extended state, and the first stopper can prevent the elastic member in the extended state from escaping from the cylinder from the receiving hole, thereby improving the overall structural stability of the buffer structure.

[0007] In one embodiment, the elastic member includes a main body and an elastic part, the elastic part elastically abuts against the baffle, and the outer peripheral surface of the main body is arranged corresponding to the inner wall surface of the receiving hole; The elastic member further includes a second stopper, which is arranged on the outer peripheral surface of the end of the main body close to the mounting plate, and cooperates with the first stopper to prevent the elastic member from falling out of the end of the cylinder away from the mounting plate. In this arrangement, the second stopper cooperates with the first stopper to limit the movement of the elastic member in the receiving hole, thereby preventing the elastic member from falling out of the receiving hole and causing the buffer structure to fail.

[0008] In one embodiment, a receiving groove is provided in the main body, the opening of the receiving groove faces the baffle, one end of the elastic part abuts against the bottom wall of the receiving groove, and the other end of the elastic part elastically abuts against the baffle. This arrangement can improve the structural strength of the elastic member, and during the expansion and contraction process of the elastic part, it is always carried out in the receiving groove, which can prevent the elastic part from tilting relative to the main body, so that the expansion and contraction of the elastic part is always carried out in the axial direction of the receiving hole.

[0009] In one embodiment, the mounting plate includes a first plate, a second plate, and a third plate connected in sequence; The second plate protrudes from the first surface of the first plate and the third plate, and the second plate has a receiving groove, the opening of the receiving groove faces away from the first surface, and the receiving groove is used to receive the electric control module of the humanoid robot. In this way, the mounting plate can not only have a buffering effect, but also be used to mount the electric control module, which is conducive to improving the integration of the mounting cabinet.

[0010] In one embodiment, at least one buffer structure is provided on the first plate, and / or at least one buffer structure is provided on the third plate. Providing multiple buffer structures is beneficial to improving the stability of the battery assembly during installation and removal, and reducing the impact of the battery assembly installation process on other components.

[0011] In one embodiment, the installation cabinet also includes an installation frame, which encloses an installation space and has a first opening and a second opening that are opposite to and connected to the installation space, the installation plate is connected to the installation frame and closes the second opening, the first surface faces the installation space, the buffer structure and the connector extend into the installation space, the installation space is used to accommodate the battery assembly extending from the first opening, and the buffer structure is used to elastically abut against the battery assembly, and the connector is used to plug into the battery assembly.

[0012] In one embodiment, the installation frame includes a first side plate and a second side plate connected to each other, one of the first side plate and the second side plate has a snap-fitting groove, and the other is snap-fitted with the snap-fitting groove. This arrangement facilitates the production of the installation frame, and the snap-fitting groove also serves as a positioning guide during the installation of the installation frame, thereby simplifying the installation steps of the installation frame and improving the installation efficiency of the installation frame.

[0013] In a second aspect, the present invention provides a battery module, comprising a battery assembly and an installation cabinet according to any one of various embodiments of the first aspect, wherein the buffer structure elastically abuts against the battery assembly, and the plug-in component is plugged into the battery assembly. Such an arrangement facilitates the positioning of the battery assembly during the process of the battery assembly entering the installation cabinet, and reduces the impact of the battery assembly on the installation cabinet and the components fixed to the installation cabinet during the installation process.

[0014] In one embodiment, the installation cabinet has a first opening opposite to the installation plate, and the battery assembly is received in the installation cabinet through the first opening; At least one side of the installation cabinet is provided with a snap-in hole, and the battery assembly is provided with a retractable locking structure, and the locking structure extends into the snap-in hole to snap-in the battery assembly with the installation cabinet. Such a configuration facilitates the installation and removal of the battery assembly with the installation cabinet, is conducive to improving the use efficiency of the humanoid robot, and reduces the duration of the humanoid robot stopping working due to the charging of the battery assembly.

[0015] In one embodiment, the battery assembly includes a battery body and a container, the container is arranged at one end of the battery body facing the mounting plate, the container is provided with a container groove, the opening of the container groove faces the mounting plate, and the end surface of the buffer structure away from the mounting plate contacts the bottom wall of the container groove; The receiving member is also provided with a connection hole that penetrates the receiving member in the first direction, the connection hole is spaced apart from the receiving groove, and the plug-in member extends into the connection hole and is connected to the battery body. In this way, during the installation of the battery assembly, the receiving groove and the buffer structure are correspondingly arranged, and the connection hole and the plug-in member 13 are correspondingly arranged, so that the stability of the battery assembly during installation is good.

[0016] In a third aspect, the present invention provides a trunk assembly, comprising a housing and a battery module according to any one of the various embodiments of the second aspect, wherein the installation cabinet is accommodated in the housing and connected to the housing, the housing has a third opening opposite to the mounting plate, the battery assembly extends into or out of the installation cabinet from the third opening, and when the battery assembly is in the installation cabinet, the battery assembly closes the third opening. In this arrangement, the battery assembly closes the third opening so that the battery assembly and the housing together constitute the outer surface of the trunk assembly, and when installing and removing the battery assembly, there is no need to perform additional disassembly and installation operations on the housing of the trunk assembly, and the installation and removal of the battery assembly are convenient.

[0017] In a fourth aspect, the present invention provides a humanoid robot, comprising a trunk assembly as described in any one of the various embodiments of the third aspect. With such a configuration, the battery module of the trunk assembly has little impact on the other parts of the trunk assembly when the battery assembly is installed, so that the overall structural stability of the trunk assembly is good. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 is a perspective view of a torso assembly of an embodiment; Figure 2 is a three-dimensional diagram of a partial structure of a trunk assembly of an embodiment; Figure 3 is a three-dimensional diagram of a partial structure of a trunk assembly of another embodiment; Figure 4 is an exploded view of a mounting plate of one embodiment; Figure 5 is a cross-sectional view of a mounting plate of one embodiment; Figure 6 is a perspective view of a battery assembly of an embodiment; Figure 7 is a perspective view of a battery assembly according to another embodiment; Figure 8 An exploded view of a partial structure of a battery module of an embodiment.

[0020] Description of reference numerals: 1000-trunk assembly, 100-battery module, 10-installation cabinet, 11-installation plate, 111-first surface, 112-second surface, 113-first plate, 114-second plate, 1141-accommodation groove, 1142-first sub-plate, 1143-second sub-plate, 1144-third sub-plate, 115-third plate, 116-installation hole, 12-buffer structure, 121-boss, 1211-cylinder, 1212-first limit block, 122-baffle, 123-elastic member, 1231-main body, 1232-elastic part, 1233-second limit block, 1234-accommodation groove, 124-accommodation hole, 13-connector, 14-installation frame, 145-clamping hole; 20-battery assembly, 21-battery body, 22-end cover, 221-handle, 23-locking structure, 24-accommodating member, 241-accommodating groove, 242-connecting hole, 243-connecting terminal, 30-electric control module; 200-housing, 300-first shoulder driving structure, 400-second shoulder driving structure, 500-waist driving structure, 600-neck driving structure; X-first direction, Y-second direction, Z-third direction. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0022] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0023] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this application and in the specification are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this application includes any and all combinations of one or more of the related listed items.

[0024] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0025] For reference Figure 1 , Figure 2 , Figure 3 and Figure 8 The present invention provides a humanoid robot, comprising a trunk assembly 1000 according to any one of the aforementioned various embodiments. The trunk assembly 1000 is connected to a head assembly (not shown in the figure) and a lower limb assembly (not shown in the figure) of the humanoid robot. The specific structures of the head assembly and the lower limb assembly can refer to any feasible scheme, and the embodiment of the present application is not limited thereto. The head assembly and the lower limb assembly can both be set to a humanoid shape.

[0026] The battery assembly 20 of the humanoid robot is housed inside the torso assembly 1000, and the battery assembly 20 of the humanoid robot in the embodiment of the present invention is detachable. However, due to the heavy weight and large size of the battery assembly 20 of the humanoid robot, the battery assembly 20 is likely to impact other parts of the humanoid robot during use and installation.

[0027] In the embodiment of the present invention, by providing a unique battery assembly 20 and an installation cabinet 10, the impact force generated by the battery assembly 20 during the installation process can be reduced.

[0028] For reference Figure 1 , Figure 3 and Figure 8 The trunk assembly 1000 of the present invention includes a shell 200 and a battery module 100. The installation cabinet 10 is accommodated in the shell 200 and connected to the shell 200. The shell 200 has a third opening opposite to the mounting plate 11. The battery component 20 extends into or out of the installation cabinet 10 from the third opening. When the battery component 20 is in the installation cabinet 10, the battery component 20 closes the third opening.

[0029] The installation cabinet 10 and the housing 200 may be connected by welding, screwing, bonding, etc., without limitation.

[0030] The shell 200 includes a first shell and a second shell, and the connection between the first shell and the second shell can be welding, bonding, screwing, clamping, etc., without limitation. A third opening is provided on the first shell. The first shell and the second shell are made of materials with high structural strength, specifically metal materials, high-strength plastics, etc., such as aluminum, aluminum alloys, magnesium alloys, iron and iron alloys, etc. Optionally, the first shell can be a whole, or it can be formed by connecting a plurality of plate-like parts, and the connection between the plate-like parts can be bonding, welding, screwing, etc., without limitation. The composition of the second shell can be consistent with that of the first shell, or it can be different from that of the first shell, without limitation. There is a smooth transition between the first shell and the second shell, and the outer surfaces of the first shell and the second shell are both smooth surfaces, and the outer surfaces of the first shell and the second shell are used to simulate the skin of the human body trunk.

[0031] Optionally, the torso assembly 1000 also includes a driving structure, which includes a first shoulder driving structure 300, a second shoulder driving structure 400, a waist driving structure 500 and a neck driving structure 600, the first shoulder driving structure 300 is connected and fixed to the first side panel of the installation cabinet 10, the second shoulder driving structure 400 is connected and fixed to the third side panel of the installation cabinet 10, the waist driving structure 500 is connected and fixed to the second side panel of the installation cabinet 10, and the neck driving structure 600 is connected and fixed to the fourth side panel of the installation cabinet 10.

[0032] In the embodiment of the present invention, the battery assembly 20 closes the third opening so that the battery assembly 20 and the outer shell 200 together constitute the outer surface of the trunk assembly 1000. When installing and disassembling the battery assembly 20, there is no need to perform additional disassembly and installation operations on the outer shell 200 of the trunk assembly 1000, and the installation and disassembly of the battery assembly 20 are convenient.

[0033] To facilitate subsequent explanations, establish a coordinate system, which can be referenced Figure 8 , wherein the first direction X is the front-rear direction of the humanoid robot; the second direction Y is the left-right direction of the humanoid robot; and the third direction Z is the up-down direction of the humanoid robot.

[0034] For reference Figure 4 , Figure 5 , Figure 6 and Figure 8The present invention provides a mounting cabinet 10 for a humanoid robot, wherein the mounting cabinet 10 includes a mounting plate 11, a buffer structure 12, and a connector 13. The mounting plate 11 includes a first surface 111 and a second surface 112 opposite to each other in a first direction X. The buffer structure 12 is disposed on the mounting plate 11 and protrudes from the first surface 111. One end of the buffer structure 12 protruding from the first surface 111 is used to elastically abut against a battery assembly 20. The connector 13 is connected to the mounting plate 11 and protrudes from the first surface 111. The connector 13 is spaced apart from the buffer structure 12, and the connector 13 is used to be plugged into the battery assembly 20. The mounting plate 11 is made of a material with high structural strength, and specifically can be made of metal materials, high-strength plastics, ceramics, etc. Metal materials include aluminum, aluminum alloys, magnesium alloys, iron, and iron alloys. The mounting plate 11, the buffer structure 12, and the connector 13 can be an integrated structure, that is, the mounting plate 11, the buffer structure 12, and the connector 13 are an integrated structure made by an integrated molding process, and the integrated molding process can specifically be stamping, casting, etc., without limitation. The mounting plate 11, the buffer structure 12, and the connector 13 can also be a split structure, and the mounting plate 11 and the buffer structure 12, the mounting plate 11 and the connector 13 can be connected and fixed by welding, bonding, clamping, screwing, etc.

[0035] Optionally, the connector 13 is electrically connected to the battery assembly 20, and the connector 13 is used to realize the power output of the battery assembly 20. The connector 13 is also used to realize the internal signal output of the battery assembly 20, such as the temperature inside the battery assembly 20, the state of each battery cell, etc. The connector 13 may include a base plate and a plurality of plug-in blocks, and the plurality of plug-in blocks are arranged at intervals on the end surface of the base plate facing away from the second surface 112. The plug-in blocks can be arranged at equal intervals. The base plate is connected and fixed to the mounting plate 11. Different plug-in blocks correspond to different functions. Optionally, the plug-in block is used to output the power signal of the battery, or the plug-in block is used to output the temperature signal of the battery, or the plug-in block is used to output the health status of the battery.

[0036] Optionally, a mounting hole 116 is provided on the mounting plate 11, and the mounting hole 116 is provided corresponding to the plug connector 13. The shape of the mounting hole 116 can be circular, rectangular, elliptical, etc., without limitation. The mounting hole 116 is used to install the plug connector 13, and the side of the plug connector 13 facing away from the first surface 111 can also be used to connect with a wiring (not shown in the figure), and the other end of the wiring is connected to the remaining parts of the humanoid robot, so that the battery assembly 20 can be electrically connected to the remaining parts of the humanoid robot.

[0037] When the connector 13 is electrically connected to the battery assembly 20, the connector 13 is made of a material with certain electrical conductivity, specifically copper and copper alloy. The connector 13 also needs to have a certain structural strength to withstand a certain plugging and unplugging force and mechanical stress to ensure the stability and reliability of the connection. The connector 13 needs to have good corrosion resistance to prevent problems such as poor contact or short circuit caused by corrosion.

[0038] The battery assembly 20 will generate impact and vibration during installation and operation, which may damage the battery cells. The main function of the buffer structure 12 is to alleviate these impacts and vibrations, reduce friction and wear between the battery cells, and thus protect the battery cells. The buffer structure 12 can increase the flexibility and stability of the battery, so that the battery assembly 20 can better maintain the stability of its structure and performance when subjected to external impact or vibration, and reduce the probability of battery failure and overheating.

[0039] With such arrangement, during the installation process of the battery assembly 20 and the mounting plate 11, the battery assembly 20 elastically abuts against the end of the buffer structure 12 away from the first surface 111, and the buffer structure 12 can reduce the damage to the battery assembly 20 caused by vibration and impact, and also reduce the impact of the battery assembly 20 on the other parts of the humanoid robot, thereby improving the stability and safety of the battery assembly 20. While the connector 13 is plugged into the battery assembly 20, it provides a positioning effect for the installation of the battery assembly 20, making the installation process of the battery assembly 20 accurate and stable. The battery module 100 of the trunk assembly 1000 has little effect on the other parts of the trunk assembly 1000 when installing the battery assembly 20, so that the overall structural stability of the trunk assembly 1000 is good.

[0040] For reference Figure 4 and Figure 5 In one embodiment, the buffer structure 12 includes a boss 121, a baffle 122 and an elastic member 123. The boss 121 is disposed on the first surface 111, and the boss 121 and the mounting plate 11 are provided with a receiving hole 124 extending along the first direction X and penetrating the two. The baffle 122 is disposed on the second surface 112 and closes one end opening of the receiving hole 124. The elastic member 123 is received in the receiving hole 124, and one end is elastically abutted against the baffle 122, and the other end extends from the boss 121 from the receiving hole 124. The end surface of the elastic member 123 extending from the boss 121 is used to elastically abut against the battery assembly 20.

[0041] Optionally, the baffle 122 extends into the receiving hole 124, and the baffle 122 is in close contact with the inner wall surface of the receiving hole 124 to achieve that the baffle 122 closes one end opening of the receiving hole 124. The surface of the baffle 122 away from the boss 121 may be flush with the second surface 112, or the surface of the baffle 122 away from the boss 121 does not exceed the first surface 111.

[0042] Optionally, the baffle 122 is disposed on the second surface 112 to close one end opening of the receiving hole 124 , and the baffle 122 and the mounting plate 11 may be connected by screwing, clamping, bonding, welding, etc., without limitation.

[0043] Optionally, the buffer structure 12 further includes a reinforcing rib (not shown in the figure), and the reinforcing rib is used to strengthen the connection strength between the boss 121 and the mounting plate 11. There can be a plurality of reinforcing ribs, and the plurality of reinforcing ribs are arranged at intervals.

[0044] The baffle 122 is made of a material with relatively high structural strength, and specifically may be a metal material, high-strength plastic, ceramic, etc. The metal material may be aluminum, aluminum alloy, magnesium alloy, iron, iron alloy, etc.

[0045] The boss 121 and the mounting plate 11 may be an integrated structure or a split structure without limitation.

[0046] Such arrangement, on the one hand, facilitates installation of the buffer structure 12 on the mounting plate 11 , and on the other hand, facilitates disassembly of the buffer structure 12 when the elastic member 123 of the buffer structure 12 needs to be replaced.

[0047] For reference Figure 4 and Figure 5 In one embodiment, the boss 121 includes a cylinder 1211 and a first limit block 1212. The cylinder 1211 is disposed on the first surface 111. The first limit block 1212 is disposed on the inner circumference of the end of the cylinder 1211 away from the mounting plate 11. The first limit block 1212 is used to prevent the elastic member 123 from escaping from the end of the cylinder 1211 away from the mounting plate 11.

[0048] The cross-sectional shape of the inner wall surface of the cylinder 1211 can be circular, elliptical, annular, rectangular, etc. without limitation.

[0049] There may be one or more first limit blocks 1212. When there is one first limit block 1212, the first limit block 1212 may be a ring structure connected end to end, or the first limit block 1212 may be a single block structure. When there are multiple first limit blocks 1212, multiple first limit blocks 1212 are spaced apart in the circumferential direction of the receiving hole 124. Preferably, multiple first limit blocks 1212 are equally spaced apart in the circumferential direction of the receiving hole 124.

[0050] Optionally, when the inner wall surface of the cylinder 1211 is elliptical, the thickness of the first limit block 1212 in the long axis direction of the ellipse is greater than the thickness of the first limit block 1212 in the short axis direction of the ellipse.

[0051] The first stopper 1212 and the cylinder 1211 may be an integrated structure, that is, the first stopper 1212 and the cylinder 1211 are an integrated structure made by an integrated molding process, and the integrated molding process may be stamping, casting, etc., without limitation. The first stopper 1212 and the cylinder 1211 may also be a split structure, and the first stopper 1212 and the cylinder 1211 may be connected and fixed by welding, bonding, clamping, screwing, etc.

[0052] Optionally, the maximum dimension of the receiving hole 124 in the third direction Z is d1, the minimum dimension of the receiving hole 124 in the third direction Z is d1, the maximum dimension of the receiving hole 124 in the third direction Z is located at the end of the cylinder 1211 close to the mounting plate 11, and the minimum dimension of the receiving hole 124 in the third direction Z is located at the end of the first limit block 1212 away from the mounting plate 11. Optionally, 0.6≤d2 / d1≤0.8, d2 / d1 can be 0.6, 0.65, 0.7, 0.75, 0.8, etc., without limitation. When d2 / d1<0.6, the portion of the buffer structure 12 extending from the receiving hole 124 is small, that is, the contact area with the battery assembly 20 is small, and the buffer structure 12 has a small buffering effect on the battery assembly 20; when d2 / d1>0.8, the size of the first limit block 1212 in the third direction Z is small, and the limiting effect on the elastic member 123 is poor, and the elastic member 123 may be separated from the cylinder 1211 from the receiving hole; when 0.6≤d2 / d1≤0.8, the size of the first limit block 1212 in the third direction Z is moderate, which not only meets the contact area requirements of the elastic member 123 and the battery assembly 20, but also meets the limiting function of the elastic member 123. Optionally, the size of each receiving hole 124 in the second direction Y is consistent.

[0053] With such arrangement, when the battery assembly 20 moves away from the mounting plate 11 , the elastic member 123 changes from a compressed state to an extended state, and the first limit block 1212 can prevent the elastic member 123 in the extended state from escaping from the cylinder 1211 from the receiving hole 124 , thereby improving the overall structural stability of the buffer structure 12 .

[0054] For reference Figure 4 and Figure 5 In one embodiment, the elastic member 123 includes a main body 1231 and an elastic part 1232, the elastic part 1232 elastically abuts against the baffle 122, and the outer peripheral surface of the main body 1231 is arranged corresponding to the inner wall surface of the receiving hole 124. The elastic member 123 also includes a second stopper 1233, which is arranged on the outer peripheral surface of the end of the main body 1231 close to the mounting plate 11, and the second stopper 1233 cooperates with the first stopper 1212 to prevent the elastic member 123 from escaping from the end of the cylinder 1211 away from the mounting plate 11.

[0055] Optionally, the inner wall surface of the receiving hole 124 is circular, and the outer circumference of the main body 1231 is correspondingly set to be circular; the inner wall surface of the receiving hole 124 is elliptical, and the outer circumference of the main body 1231 is correspondingly set to be elliptical.

[0056] Optionally, the outer peripheral surface of the main body 1231 is in close contact with the end surface of the first limiting block 1212 away from the receiving hole 124 , and the main body 1231 slides relative to the first limiting block 1212 .

[0057] The main body 1231 slides relative to the boss 121 in the first direction X, and the distance between the end surface of the second limiting block 1233 away from the main body 1231 and the inner wall surface of the receiving hole 124 is smaller than the distance between the end surface of the first limiting block 1212 away from the cylinder 1211 and the inner wall surface of the receiving hole 124.

[0058] The elastic part 1232 can be a spring, a rubber part, a silicone product, a polyurethane elastomer, an elastic gasket, etc., without limitation.

[0059] One end of the elastic portion 1232 elastically contacts the baffle 122 , and the other end of the elastic portion 1232 contacts the main body 1231 .

[0060] Optionally, there may be one or more second limit blocks 1233. When there is one second limit block 1233, the second limit block 1233 may be a ring structure connected end to end, or the second limit block 1233 may be a single block structure. When there are multiple second limit blocks 1233, multiple second limit blocks 1233 are arranged at intervals on the outer peripheral surface of the main body 1231. Preferably, multiple second limit blocks 1233 are arranged at equal intervals on the outer peripheral surface of the main body 1231.

[0061] The second limiting block 1233 may include a first sub-limiting block and a second sub-limiting block, the first sub-limiting block is connected to the main body 1231 , the second sub-limiting block is connected to the first sub-limiting block, and the second sub-limiting block is used to abut against the baffle 122 .

[0062] The second stopper 1233 and the main body 1231 may be an integrated structure, that is, the second stopper 1233 and the main body 1231 are an integrated structure made by an integrated molding process, and the integrated molding process may be stamping, casting, etc., without limitation. The second stopper 1233 and the main body 1231 may also be a split structure, and the first stopper 1212 and the cylinder 1211 may be connected and fixed by welding, bonding, clamping, screwing, etc.

[0063] With such arrangement, the second limiting block 1233 cooperates with the first limiting block 1212 to limit the movement of the elastic member 123 in the receiving hole 124 , thereby preventing the elastic member 123 from escaping from the receiving hole 124 and causing failure of the buffer structure 12 .

[0064] For reference Figure 4 and Figure 5 In one embodiment, a receiving groove 1234 is opened in the main body 1231, the opening of the receiving groove 1234 faces the baffle 122, one end of the elastic portion 1232 abuts against the bottom wall of the receiving groove 1234, and the other end of the elastic portion 1232 elastically abuts against the baffle 122.

[0065] Optionally, there may be one or more receiving grooves 1234, and the plurality of receiving grooves 1234 are arranged at intervals, and the number of elastic portions 1232 is consistent with the number of receiving grooves 1234. Specifically, each elastic member 123 has two elastic portions 1232, and the two elastic portions 1232 are arranged at intervals in the third direction Z.

[0066] Optionally, a size of the receiving groove 1234 in the first direction X is similar to a size of the elastic portion 1232 in the first direction X. Specifically, a size of the elastic portion 1232 in the first direction X is slightly longer than a size of the receiving groove 1234 in the first direction X.

[0067] The bottom surface of the receiving groove 1234 can be a plane or a curved surface without limitation. The shape of the plane can be circular, elliptical, rectangular, etc. without limitation.

[0068] Such a configuration can improve the structural strength of the elastic member 123 . During the expansion and contraction process of the elastic portion 1232 , it always takes place in the receiving groove 1234 , which can prevent the elastic portion 1232 from tilting relative to the main body 1231 , so that the expansion and contraction of the elastic portion 1232 always takes place in the axial direction of the receiving hole 124 .

[0069] For reference Figure 2 , Figure 4 and Figure 5 In one embodiment, the mounting plate 11 includes a first plate 113, a second plate 114, and a third plate 115 connected in sequence. The second plate 114 protrudes from the first surface 111 of the first plate 113 and the third plate 115, the first surface 111 of the first plate 113 and the first surface 111 of the third plate 115 are parallel, the second plate 114 has a receiving groove 1141, the opening of the receiving groove 1141 faces away from the first surface 111, and the receiving groove 1141 is used to accommodate the electric control module 30 of the humanoid robot.

[0070] The first plate 113 and the third plate 115 are parallel in the third direction Z. Optionally, the first plate 113 and the third plate 115 are in a straight line in the third direction Z. The dimension of the first limit block 1212 in the first direction X does not exceed that of the second plate 114 .

[0071] The shape of the bottom wall of the receiving groove 1141 of the second plate 114 can be a plane, an arc surface, etc., without limitation. The bottom wall and the side wall of the receiving groove 1141 can be smoothly transitioned.

[0072] The second board 114 includes a first sub-board 1142, a second sub-board 1143 and a third sub-board 1144 which are connected in sequence. The end of the first sub-board 1142 away from the second sub-board 1143 is connected to the first board 113, and the end of the third sub-board 1144 away from the second sub-board 1143 is connected to the third board 115. The first sub-board 1142 and the third sub-board 1144 are arranged opposite to each other and extend along the first direction, and the second sub-board 1143 extends along the third direction Z.

[0073] Optionally, the first plate 113 and the third plate 115 have the same size in the third direction Z, the size of the first plate 113 in the third direction Z is h1, the size of the second sub-plate 1143 in the third direction Z is h2, h1 / h2 can be 0.3-0.5, optionally, h1 / h2 can be 0.3, 0.35, 0.4, 0.45, 0.5, etc., without limitation. When h1 / h2 is greater than 0.5, the size of the receiving groove corresponding to the bottom wall of the receiving groove 1141 of the second sub-plate 1143 is too small, which is not conducive to accommodating the electric control module 30; when h1 / h2 is less than 0.3, the size of the first plate 113 and the third plate 115 is too small, which is not conducive to placing the buffer structure 12; when h1 / h2 is 0.3-0.5, it can not only increase the size of the receiving groove 1141, but also meet the requirements of installing the buffer structure 12 on the first plate 113 and / or the third plate 115.

[0074] The electric control module 30 may include a heat dissipation unit and a control unit. The heat dissipation unit may be an air-cooled radiator, including an axial flow fan, a centrifugal fan, a mixed flow fan, etc., without limitation. The control unit may be a computer or a relay. The control unit may include a core processing chip, a signal processing module, a power drive module, a communication interface, etc., without limitation.

[0075] The connection between the electric control module 30 and the second board 114 can be welding, screwing, bonding, clamping, etc., without limitation. The electric control module 30 can be a motion control and computing unit of the humanoid robot, or a power control board and switch module of the humanoid robot, used to allocate power ports and network ports to the humanoid robot, or a power output and signal output component of the battery assembly 20.

[0076] Such an arrangement enables the mounting plate 11 to have a buffering effect and also to mount an electric control module, which is beneficial to improving the integration of the mounting cabinet 10 .

[0077] For reference Figure 2 , Figure 4 and Figure 8 In one embodiment, at least one buffer structure 12 is disposed on the first plate 113 , and / or at least one buffer structure 12 is disposed on the third plate 115 .

[0078] Optionally, the multiple buffer structures 12 on the first plate 113 are arranged at intervals, and / or the multiple buffer structures 12 on the third plate 115 are arranged at intervals.

[0079] The buffer structures 12 on the first plate 113 and the buffer structures 12 on the third plate 115 are arranged in a one-to-one correspondence in the first direction X and the third direction Z.

[0080] Providing a plurality of buffer structures 12 is beneficial to improving the stability of the battery assembly 20 during installation and removal, and reducing the impact of the battery assembly 20 on other components during installation.

[0081] For reference Figure 4 , Figure 5 and Figure 8 In one embodiment, the installation cabinet 10 also includes an installation frame 14, which encloses an installation space (not shown in the figure) and has a first opening and a second opening that are opposite to and connected to the installation space. The installation plate 11 is connected to the installation frame 14 and closes the second opening. The first surface 111 faces the installation space. The buffer structure 12 and the connector 13 extend into the installation space. The installation space is used to accommodate the battery assembly 20 extending from the first opening, and the buffer structure 12 is used to elastically abut the battery assembly 20, and the connector 13 is used to plug into the battery assembly 20.

[0082] Optionally, the third opening, the first opening, and the second opening of the housing 200 are arranged correspondingly. Optionally, the first opening, the second opening, and the third opening are all rectangular.

[0083] Optionally, the battery assembly 20 is received in the installation space of the installation cabinet 10 from the third opening and the first opening, and the battery assembly 20 is snap-connected with the installation cabinet 10 .

[0084] Optionally, the mounting frame 14 is made of a material with relatively high structural strength, specifically metal materials, high-strength plastics, ceramics, etc. The metal materials include aluminum, aluminum alloy, magnesium alloy, iron, and iron alloy.

[0085] In one embodiment, the mounting frame 14 includes a first side plate and a second side plate connected to each other, one of the first side plate and the second side plate has a snap-fitting groove, and the other is snap-fitted to the snap-fitting groove.

[0086] Optionally, the mounting frame 14 further includes a third side plate and a fourth side plate connected to each other, the third side plate is further connected to an end of the second side plate away from the first side plate, and an end of the fourth side plate away from the third side plate is connected to the first side plate. The first side plate, the second side plate, the third side plate and the fourth side plate are all connected and fixed to the mounting plate 11. Specifically, the first side plate and the third side plate are arranged relative to each other in the first direction X, and the second side plate and the fourth side plate are arranged relative to each other in the third direction Z.

[0087] Optionally, the mounting frame 14 further includes a plurality of fixing bars, and the plurality of fixing bars are disposed on the first side panel and / or the second side panel and / or the third side panel and / or the fourth side panel. The plurality of fixing bars may intersect, be parallel, or be staggered without limitation.

[0088] Optionally, one of the first side panel and the fourth side panel has a snap-in groove, and the other is snap-in to the snap-in groove, and / or, one of the second side panel and the third side panel has a snap-in groove, and the other is snap-in to the snap-in groove, and / or, one of the third side panel and the fourth side panel has a snap-in groove, and the other is snap-in to the snap-in groove.

[0089] Optionally, the opening of the clamping slot faces the first opening, and the clamping slot extends along the first direction. The clamping slot may include a first sub-slot and a second sub-slot that are connected, and the first sub-slot and the second sub-slot are sequentially arranged in the third direction Z. Correspondingly, the part received in the clamping slot is a connected first clamping portion and a second clamping portion, the first clamping portion is correspondingly received in the first sub-slot, and the second clamping portion is correspondingly received in the second sub-slot.

[0090] Optionally, at least one electric control module 30 is disposed on the first side panel and / or the second side panel and / or the third side panel and / or the fourth side panel.

[0091] Such a configuration facilitates the production of the installation frame 14 , and the snap-in groove also serves as a positioning guide during the installation process of the installation frame 14 , thereby simplifying the installation steps of the installation frame 14 and improving the installation efficiency of the installation frame 14 .

[0092] In one embodiment, the mounting frame 14 further has a guide surface, which connects the inner wall surface of the first opening and the end surface of the first opening away from the mounting plate 11 .

[0093] There may be a smooth transition between the guide surface and the inner wall surface of the first opening and / or the end surface of the first opening away from the mounting plate 11 .

[0094] The guide surface is provided to provide a guide function when the battery assembly 20 enters the installation space from the first opening.

[0095] For reference Figure 6 , Figure 7 and Figure 8 The present invention provides a battery module 100, comprising a battery assembly 20 and an installation cabinet 10 according to any one of the above-mentioned various embodiments, wherein a buffer structure 12 elastically abuts against the battery assembly 20, and a plug-in connector 13 is plugged into the battery assembly 20. Such an arrangement facilitates the positioning of the battery assembly 20 during the process of the battery assembly 20 entering the installation cabinet 10, and reduces the impact of the battery assembly 20 on the installation cabinet 10 and the components fixed to the installation cabinet 10 during the installation process.

[0096] For reference Figure 6 , Figure 7 and Figure 8 In one embodiment, the installation cabinet 10 has a first opening opposite to the installation plate 11, and the battery assembly 20 is received in the installation cabinet 10 from the first opening; at least one side of the installation cabinet 10 is provided with a snap-in hole 145, and the battery assembly 20 is provided with a retractable locking structure 23, which extends into the snap-in hole 145 to snap-in the battery assembly 20 with the installation cabinet 10.

[0097] The battery assembly 20 includes a battery body 21 and an end cover 22, and the end cover 22 is arranged on the side of the battery body 21 facing away from the mounting plate 11. The end cover 22 is detachably connected to the battery body 21, and the locking structure 23 is accommodated in the end cover 22, and the locking structure 23 is retracted relative to the end cover 22. The locking structure 23 extends out of the end cover 22 and extends into the clamping hole 145, so that the battery assembly 20 is clamped with the mounting cabinet 10; the locking structure 23 retracts from the clamping hole 145 into the end cover 22, so that the battery assembly 20 is unlocked from the mounting cabinet 10.

[0098] The battery assembly 20 may further include a handle 221 , which is disposed on a side of the end cover 22 facing away from the battery body 21 . The handle 221 is connected to the locking structure 23 , and is used to drive the locking structure 23 to extend into or withdraw from the engaging hole 145 .

[0099] The locking structure 23 can be a pin-hole type locking structure (locking is achieved through the cooperation of the pin shaft and the locking hole) or a slide bar type locking structure (stable connection of the structure is achieved through the movement and locking of the slide bar).

[0100] Optionally, the engaging hole 145 may be provided on at least one of the first side panel, the second side panel, the third side panel and the fourth side panel. When there are multiple engaging holes 145, the multiple engaging holes 145 may be provided on two adjacent side panels or on two opposite side panels. Preferably, the engaging holes 145 are provided correspondingly in the first direction X and / or the third direction Z. The locking structure 23 is provided in one-to-one correspondence with the engaging holes 145.

[0101] The shape of the engaging hole 145 can be a rectangular hole, a circular hole, an elliptical hole, etc., without limitation.

[0102] Such an arrangement facilitates the installation and removal of the battery assembly 20 and the installation cabinet 10 , which is beneficial to improving the use efficiency of the humanoid robot and reducing the duration of the humanoid robot stopping working due to charging of the battery assembly 20 .

[0103] For reference Figure 6 In one embodiment, the battery assembly 20 includes a battery body 21 and a receiving member 24, the receiving member 24 is disposed at one end of the battery body 21 facing the mounting plate 11, the receiving member 24 is provided with a receiving groove 241, the opening of the receiving groove 241 faces the mounting plate 11, and the end surface of the buffer structure 12 away from the mounting plate 11 contacts the bottom wall of the receiving groove 241; The receiving member 24 is further provided with a connecting hole 242 penetrating the receiving member 24 in the first direction X. The connecting hole 242 is spaced apart from the receiving groove 241 . The plug-in member 13 extends into the connecting hole 242 and is connected to the battery body 21 .

[0104] Optionally, the battery body 21 includes a battery casing and a plurality of battery cells. The plurality of battery cells may be connected in series or in parallel, and the plurality of battery cells are accommodated in the battery casing.

[0105] The connection method between the receiving member 24 and the battery shell of the battery body 21 can be bonding, screwing, welding, etc., without limitation.

[0106] The accommodating groove 241 is provided corresponding to the buffer structure 12. Optionally, when the buffer structure 12 is provided only on the first plate 113 or the third plate 115, the accommodating member 24 is provided corresponding to the first plate 113 or the third plate 115; when the buffer structure 12 is provided on the first plate 113 and the third plate 115, there are two accommodating members 24, and the two accommodating members 24 are arranged at intervals in the third direction Z. When the second plate 114 has the accommodating groove 1141, the accommodating members 24 arranged at intervals in the third direction Z form an accommodating space for accommodating the second plate 114, which is beneficial to improving the space utilization rate of the installation cabinet 10.

[0107] Optionally, the container 24 is further provided with a connection terminal 243, which may be a type-c port or a USB port, and is used to upgrade the internal software of the battery assembly 20. The connection terminal 243 and the connection hole 242 may be arranged at intervals on the same container 24, or the connection terminal 243 and the connection hole 242 may be arranged on different containers 24, respectively.

[0108] Specifically, the connector 13 is disposed on the first plate 113, and the first plate 113 is closer to the ground in the third direction Z than the third plate 115. The corresponding accommodating member 24 with a connecting hole 242 is also disposed at one end of the battery body 21 closer to the ground in the third direction Z, so as to facilitate the confirmation of the direction when the battery assembly 20 is installed.

[0109] With such arrangement, during the installation of the battery assembly 20, the receiving groove 241 is arranged corresponding to the buffer structure 12, and the connecting hole 242 is arranged corresponding to the connector 13, so that the battery assembly 20 has good stability during the installation process, and the battery assembly 20 is directly electrically connected to the remaining parts of the humanoid robot through the connector 13, so that the installation and disassembly of the battery assembly 20 is convenient.

[0110] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship of terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the orientation or positional relationship described in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0111] What is disclosed above is only a preferred embodiment of the present application, and it certainly cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiment and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. An installation cabinet, characterized in that: For humanoid robots, including: The mounting plate includes a first surface and a second surface facing each other in a first direction; a buffer structure, arranged on the mounting plate and protruding from the first surface, the buffer structure comprising a boss and an elastic member, the boss being arranged on the first surface, the boss and the mounting plate being provided with a receiving hole extending along the first direction and penetrating the two, at least a portion of the elastic member being received in the receiving hole, one end of the elastic member extending out of the boss from the receiving hole, and an end surface of the elastic member extending out of the boss being used for elastically abutting against a battery assembly; A plug-in connector is connected to the mounting plate and protrudes from the first surface. The plug-in connector is spaced apart from the buffer structure and is used for plugging with the battery assembly to achieve electrical connection.

2. The installation cabinet according to claim 1, characterized in that: The buffer structure further includes a baffle, which is disposed on the second surface and closes an opening of one end of the receiving hole; the other end of the elastic member elastically abuts against the baffle.

3. The installation cabinet according to claim 2, characterized in that: The boss includes a cylinder and a first limit block, the cylinder is arranged on the first surface, the first limit block is arranged on the inner circumference of the end of the cylinder away from the mounting plate, and the first limit block is used to prevent the elastic member from escaping from the end of the cylinder away from the mounting plate.

4. The installation cabinet according to claim 3, characterized in that: The elastic member comprises a main body and an elastic part, the elastic part elastically abuts against the baffle, and the outer peripheral surface of the main body is arranged corresponding to the inner wall surface of the receiving hole; The elastic member also includes a second limit block, which is arranged on the outer peripheral surface of the end of the main body close to the mounting plate, and the second limit block cooperates with the first limit block to prevent the elastic member from escaping from the end of the cylinder away from the mounting plate.

5. The installation cabinet according to claim 4, characterized in that: A receiving groove is provided in the main body, the opening of the receiving groove faces the baffle, one end of the elastic part abuts against the bottom wall of the receiving groove, and the other end of the elastic part elastically abuts against the baffle.

6. The installation cabinet according to claim 1, characterized in that: The mounting plate comprises a first plate, a second plate and a third plate connected in sequence; The second plate protrudes from the first surface of the first plate and the third plate, so that the second plate has a receiving groove, the opening of the receiving groove faces away from the first surface, and the receiving groove is used to accommodate the electric control module of the humanoid robot.

7. The installation cabinet according to claim 6, characterized in that: At least one of the buffer structures is disposed on the first plate, and / or at least one of the buffer structures is disposed on the third plate.

8. The installation cabinet according to any one of claims 1 to 7, characterized in that: The installation cabinet also includes an installation frame, which encloses an installation space and has a first opening and a second opening that are opposite to and connected to the installation space, the installation plate is connected to the installation frame and closes the second opening, the first surface faces the installation space, the buffer structure and the connector extend into the installation space, the installation space is used to accommodate the battery assembly extending from the first opening, and the buffer structure is used to elastically abut against the battery assembly, and the connector is used to plug into the battery assembly.

9. The installation cabinet according to claim 8, characterized in that: The installation frame includes a first side plate and a second side plate connected to each other, one of the first side plate and the second side plate has a clamping groove, and the other is clamped with the clamping groove.

10. A battery module, characterized in that: It comprises a battery assembly and an installation cabinet as claimed in any one of claims 1 to 9, wherein the buffer structure elastically abuts against the battery assembly, and the connector is plugged into the battery assembly.

11. The battery module according to claim 10, characterized in that: The installation cabinet has a first opening opposite to the installation plate, and the battery assembly is received in the installation cabinet through the first opening; A snap-in hole is provided on at least one side of the installation cabinet, and the battery assembly is provided with a retractable locking structure, which extends into the snap-in hole so that the battery assembly is snap-connected with the installation cabinet.

12. The battery module according to claim 10, characterized in that: The battery assembly comprises a battery body and a container, wherein the container is arranged at one end of the battery body facing the mounting plate, the container is provided with a container groove, the opening of the container groove faces the mounting plate, and the end surface of the buffer structure away from the mounting plate contacts the bottom wall of the container groove; The receiving member is further provided with a connecting hole penetrating the receiving member in the first direction, the connecting hole is spaced apart from the receiving groove, and the plug-in member extends into the connecting hole and is connected to the battery body.

13. A trunk assembly, characterized in that: It comprises a shell and a battery module as described in any one of claims 10 to 12, the installation cabinet is accommodated in the shell and connected to the shell, the shell has a third opening opposite to the mounting plate, the battery assembly extends into or out of the installation cabinet from the third opening, and when the battery assembly is in the installation cabinet, the battery assembly closes the third opening.

14. A humanoid robot, characterized in that: Comprising the torso assembly as described in claim 13.

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