A thoracic control structure and robot

Abstract

The application belongs to the technical field of robots, and specifically provides a chest control structure and a robot; the chest control structure comprises a chest shell assembly, a driving assembly installed across opposite sides of the chest shell assembly, and a plurality of functional devices located in the chest shell assembly, wherein a part of the functional devices are arranged around the driving assembly, another part of the functional devices are installed on the inner top of the chest shell assembly, and the remaining part of the functional devices are installed on the inner front of the chest shell assembly. The robot comprises a leg structure and the chest control structure; the leg structure is movably connected with the chest control structure. When overhauling and maintaining, only a part of the structure of the chest shell assembly needs to be removed to overhaul and maintain the functional devices at the corresponding positions, so that the operation is simple and convenient, the maintenance time is greatly shortened, and the maintenance difficulty is reduced.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, and more specifically, relates to a thoracic cavity control structure and a robot. Background Technology

[0002] As more and more service robots enter the public eye and serve ordinary households, robots are becoming increasingly popular. Humanoid robots, legged robots, and wheeled robots are all beginning to be developed and transformed for ordinary consumers. While meeting the service functions of robots, the requirements for lightweight and miniaturized robots are becoming increasingly higher.

[0003] In order to enable robots to perform various service functions, the industry uses a variety of functional components. These components are haphazardly placed on the robot, which is not conducive to daily inspection and maintenance. Summary of the Invention

[0004] The purpose of this application is to provide a thoracic cavity control structure and a robot to solve the technical problems of messy functional component layout and difficult inspection and maintenance in the prior art.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows: a thoracic cavity control structure is provided, the thoracic cavity control structure including a thoracic cavity shell assembly, a drive assembly spanning and installed across opposite sides of the thoracic cavity shell assembly, and a plurality of functional devices located within the thoracic cavity shell assembly, wherein a portion of the functional devices are arranged around the drive assembly, another portion of the functional devices are installed on the inner top of the thoracic cavity shell assembly, and the remaining portion of the functional devices are installed on the inner front of the thoracic cavity shell assembly.

[0006] Optionally, the thoracic cavity shell assembly includes two thoracic cavity shells that are joined together to form a receiving cavity and a thoracic cavity top cover plate that is detachably mounted on top of the two thoracic cavity shells. Some of the functional devices are mounted on the inner side of the thoracic cavity top cover plate and move as a whole with the thoracic cavity top cover plate when the thoracic cavity top cover plate is installed or removed.

[0007] Optionally, the thoracic cavity shell assembly further includes a detachably mounted thoracic cavity front panel on the front of the two thoracic cavity shells, with some of the functional devices mounted on the inner side of the thoracic cavity front panel and moving as a whole with the thoracic cavity front panel when the thoracic cavity front panel is installed or removed.

[0008] Optionally, at least one of the thoracic cavity shells has a cutout corresponding to each of the functional devices around the drive assembly, and the two thoracic cavity shells are joined together to close the bottom of the thoracic cavity shell assembly. The front, rear and top of the thoracic cavity shell assembly are cutout, and the thoracic cavity top cover plate covers the cutout portions of the top and rear of the thoracic cavity shell assembly. The thoracic cavity front panel covers the cutout portion of the front of the thoracic cavity shell assembly.

[0009] Optionally, the functional components include at least a battery assembly, a motherboard assembly, a computing board assembly, a power board assembly, an image sensing assembly, a positioning and navigation assembly, and a microphone assembly; the battery assembly, the motherboard assembly, the computing board assembly, and the power board assembly surround the drive assembly; the image sensing assembly is installed in the inner front part of the thoracic cavity shell assembly, and the positioning and navigation assembly and the microphone assembly are installed in the inner top part of the thoracic cavity shell assembly.

[0010] Optionally, the functional device includes at least a debugging component and a display component, wherein the debugging component and the display component are installed on the portion of the thoracic cavity top cover plate that covers the rear part of the thoracic cavity control structure.

[0011] Optionally, the thoracic cavity control structure further includes a mounting assembly that spans across opposite sides of the thoracic cavity shell assembly. The mounting assembly includes multiple connecting brackets with opposite ends respectively mounted on opposite sides of the thoracic cavity shell assembly. The drive assembly is mounted within the space enclosed by the multiple connecting brackets, and some of the functional devices are mounted outside the space through each of the connecting brackets.

[0012] Optionally, the connecting bracket includes a first part and two second parts located at opposite ends of the first part; the first part is closer to the drive assembly relative to the second part, a portion of the functional devices are mounted on the first part, and another portion of the functional devices span across the two second parts and are stacked on top of a portion of the functional devices.

[0013] Optionally, the battery assembly, the motherboard assembly, the computing board assembly, and the power board assembly are respectively mounted on each connecting bracket and located outside the space; wherein the battery assembly and the power board assembly are arranged opposite to each other, and the computing board assembly and the motherboard assembly are arranged opposite to each other.

[0014] Optionally, at least one of the battery assembly and the power board assembly includes a support bracket mounted on a corresponding connecting bracket and a binding member mounted on the support bracket for binding a corresponding functional device to the support bracket. The binding member faces the front of the thoracic shell assembly, and the functional device on the support bracket is detached from the front of the thoracic shell assembly.

[0015] This application also provides a robot, which includes a leg structure and the aforementioned thoracic control structure; the leg structure is movably connected to the thoracic control structure.

[0016] Optionally, the leg structure includes a leg and a wheel; one end of the leg is connected to the drive assembly, and the other end of the leg is movably connected to the wheel.

[0017] The beneficial effects of the thoracic cavity control structure and robot provided in this application are as follows: Compared with the prior art, in this application, some functional components are arranged around the drive component, another part of the functional components are installed on the inner top of the thoracic cavity shell component, and the remaining functional components are installed on the inner front of the thoracic cavity shell component. During inspection and maintenance, only a part of the thoracic cavity shell component needs to be removed to inspect and maintain the functional components in the corresponding positions. The operation is simple and convenient, greatly shortening the maintenance time and reducing the maintenance difficulty. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a three-dimensional structural diagram of the thoracic cavity control structure provided in the embodiments of this application;

[0020] Figure 2 This is an exploded structural diagram of the front panel of the thoracic cavity and functional components in the thoracic cavity control structure provided in the embodiments of this application;

[0021] Figure 3 A schematic diagram of the installation angle of functional devices on the front panel of the thoracic cavity in the thoracic cavity control structure provided in the embodiments of this application;

[0022] Figure 4 Schematic diagram of the installation of functional components on the top cover plate of the thoracic cavity control structure provided in the embodiments of this application. Figure 1 ;

[0023] Figure 5 Schematic diagram of the installation of functional components on the top cover plate of the thoracic cavity control structure provided in the embodiments of this application. Figure 2 ;

[0024] Figure 6 A three-dimensional structural diagram of the thoracic cavity top cover plate in the thoracic cavity control structure provided in the embodiments of this application;

[0025] Figure 7 This is an exploded structural diagram of the thoracic cavity control structure provided in the embodiments of this application;

[0026] Figure 8 Schematic diagram of the functional component layout inside the thoracic cavity control structure provided in the embodiments of this application. Figure 1 ;

[0027] Figure 9 Schematic diagram of the functional component layout inside the thoracic cavity control structure provided in the embodiments of this application. Figure 2 ;

[0028] Figure 10 Schematic diagram of the functional component layout inside the thoracic cavity control structure provided in the embodiments of this application. Figure 3 ;

[0029] Figure 11 This is a schematic diagram of the connecting stent in the thoracic cavity control structure provided in the embodiments of this application;

[0030] Figure 12 A schematic diagram of the three-dimensional structure of the robot provided in the embodiments of this application. Figure 1 ;

[0031] Figure 13 A schematic diagram of the three-dimensional structure of the robot provided in the embodiments of this application. Figure 2 .

[0032] The following are the labeling elements in the figure:

[0033] 1- Thoracic cavity control structure; 2- Leg-shaped structure; 12- Internal thoracic cavity components;

[0034] 100 - Front panel of the thoracic cavity; 101 - First mounting hole; 102 - Second mounting hole;

[0035] 110 - RGBD assembly; 121 - Binocular camera; 122 - Binocular control board; 130 - RGBD mounting hardware; 140 - Mounting plate; 150 - Copper stud;

[0036] 200 - Thoracic cavity cover plate; 201 - Cavity; 202 - McBurney's aperture; 203 - Translucent part; 204 - First cover plate; 205 - Second cover plate;

[0037] 211-UWB antenna board; 212-UWB control board; 220-ring microphone array; 230-single microphone board; 240-power display screen; 250-debugging board mounting hardware; 260-USB / network port debugging board; 270-silicone cover;

[0038] 300 - Left main shell of the thoracic cavity;

[0039] 400 - Right main shell of the thoracic cavity;

[0040] 500-Left side of the thoracic cavity cover;

[0041] 600-Right thoracic ventricular cover;

[0042] 701-Battery; 702-Battery mounting component; 703-Battery clamping plate; 704-Computing board mounting component; 705-Computing board clamping strip; 706-Computing board; 707-Voice broadcaster; 708-Broadcaster mounting component; 709-Main board; 710-Main board mounting component; 711-Power board; 712-Power board mounting component; 713-IMU; 714-IMU data adapter cable; 715-IMU clamping plate; 716-IMU mounting component; 717-DC-DC module; 718-Ring microphone array control board;

[0043] 800 - Connecting bracket; 801 - First part; 802 - Second part; 803 - Weight reduction port. Detailed Implementation

[0044] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0045] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0046] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0047] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0048] As more and more service robots enter the public eye and serve ordinary households, robots are becoming increasingly popular. Humanoid robots, legged robots, and wheeled robots are all beginning to be developed and transformed for ordinary consumers. While meeting the service functions of robots, the requirements for lightweight and miniaturized robots are becoming increasingly higher.

[0049] In order to enable robots to perform various service functions, the industry uses a variety of functional components. These components are haphazardly placed on the robot. Generally, whenever a component needs to be repaired or replaced, the entire robot shell is opened for repair, which is not conducive to daily inspection and maintenance.

[0050] After extensive research, the applicant has found a relatively good solution. The core idea is to repair the corresponding functional components by removing a portion of the outer casing, making the repair more targeted and convenient. Please see the following description for the specific solution.

[0051] The thoracic cavity control structure provided in the embodiments of this application will now be described. The thoracic cavity control structure 1 includes a thoracic cavity shell assembly, a drive assembly that spans across opposite sides of the thoracic cavity shell assembly, and a plurality of functional devices located within the thoracic cavity shell assembly. Some of the functional devices are arranged around the drive assembly, another part of the functional devices are installed on the inner top of the thoracic cavity shell assembly, and the remaining part of the functional devices are installed on the inner front of the thoracic cavity shell assembly.

[0052] Compared with the prior art, the thoracic cavity control structure 1 provided in this application embodiment has a portion of functional components surrounding the drive assembly, another portion of functional components installed on the inner top of the thoracic cavity shell assembly, and the remaining portion of functional components installed on the inner front of the thoracic cavity shell assembly. During inspection and maintenance, only a portion of the thoracic cavity shell assembly needs to be removed to inspect and maintain the corresponding functional components. The operation is simple and convenient, greatly shortening the maintenance time and reducing the maintenance difficulty.

[0053] In one embodiment of this application, please refer to the following: Figure 1 and Figure 4 The thoracic cavity shell assembly includes two thoracic cavity shells that are joined together to form a receiving cavity and a thoracic cavity top cover plate 200 that is detachably installed on the top of the two thoracic cavity shells. Some functional components are installed on the inner side of the thoracic cavity top cover plate 200 and move as a whole with the thoracic cavity top cover plate 200 when it is disassembled or assembled.

[0054] In this embodiment, the thoracic cavity top cover plate 200 is detachably connected to the two thoracic cavity shells. During inspection and maintenance, only the thoracic cavity top cover plate 200 needs to be removed to inspect and maintain the functional devices installed on the thoracic cavity top cover plate 200 and the functional devices surrounding the drive assembly and facing the thoracic cavity top cover plate 200. The operation is simple and convenient, greatly shortening the maintenance time and reducing the maintenance difficulty.

[0055] In one embodiment of this application, please refer to the following: Figure 1 and Figure 2The thoracic shell assembly also includes a thoracic front panel 100 detachably mounted on the front of the two thoracic shells. Some functional components are mounted on the inside of the thoracic front panel 100 and move as a whole with the thoracic front panel 100 when it is removed or installed.

[0056] In this embodiment, the front panel 100 of the thoracic cavity is detachably connected to the two thoracic cavity shells. During inspection and maintenance, only the front panel 100 of the thoracic cavity needs to be removed to inspect and maintain the functional devices installed on the front panel 100 of the thoracic cavity and the functional devices surrounding the drive assembly and facing the front panel 100 of the thoracic cavity. The operation is simple and convenient, which greatly shortens the maintenance time and reduces the maintenance difficulty.

[0057] In one embodiment of this application, at least one thoracic shell has a cutout corresponding to each functional device around the drive assembly. The two thoracic shells are joined together to close the bottom of the thoracic shell assembly. The front, rear and top of the thoracic shell assembly are cutout. The thoracic top cover plate 200 covers the cutout portions of the top and rear of the thoracic shell assembly. The thoracic front panel 100 covers the cutout portion of the front of the thoracic shell assembly.

[0058] In this embodiment, please refer to Figure 7 The two thoracic shells are the left main shell 300 and the right main shell 400; the left main shell 300 is provided with multiple first hollow parts; the right main shell 400 is provided with multiple second hollow parts.

[0059] In one embodiment of this application, the robot thoracic cavity further includes two thoracic cavity side covers, which are detachably connected to two thoracic cavity shells respectively, and the two thoracic cavity side covers cover the hollow portions on the two thoracic cavity shells respectively.

[0060] In this embodiment, please refer to Figure 7 The two thoracic cavity side covers are the left thoracic cavity cover 500 and the right thoracic cavity cover 600. The left thoracic cavity cover 500 is detachably connected to the left main shell 300 of the thoracic cavity so that the left thoracic cavity cover 500 covers the first hollow part. The right thoracic cavity cover 600 is detachably connected to the right main shell 400 of the thoracic cavity so that the right thoracic cavity cover 600 covers the second hollow part.

[0061] In one embodiment of this application, a support column is provided at the hollowed-out position between the two thoracic cavity shells. The support column can be located at the front hollowed-out portion of the robot's thoracic cavity, the rear hollowed-out portion of the robot's thoracic cavity, or the top hollowed-out portion of the robot's thoracic cavity, or even all or part of these locations.

[0062] In this embodiment, by providing support columns, the assembly structure of the left main shell 300 and the right main shell 400 of the thoracic cavity can be made more stable, reducing the compression deformation of the left main shell 300 or the right main shell 400 caused by external forces. Specifically, the opposite ends of the support columns can be connected to the left main shell 300 and the right main shell 400 of the thoracic cavity respectively by fasteners (screws, bolts, etc.).

[0063] At the front end of the receiving cavity, the opposite sides of the front panel 100 of the thoracic cavity are detachably connected to the left main shell 300 and the right main shell 400 of the thoracic cavity, respectively; at the top end of the receiving cavity, the opposite sides of the top cover 200 of the thoracic cavity are detachably connected to the left main shell 300 and the right main shell 400 of the thoracic cavity, respectively. The left main shell 300, the right main shell 400, the left side cover 500, the right side cover 600, the front panel 100, and the top cover 200 together form a closed shell that does not reveal the internal structure.

[0064] Understandably, since the functional components are installed within the receiving cavity, when a functional component near the front panel 100 of the thoracic cavity is damaged, simply removing the front panel 100 opens the front end of the receiving cavity, allowing easy access for insertion, removal, or replacement of the functional component. Similarly, when a functional component near the top cover 200 of the thoracic cavity is damaged, removing the top cover 200 opens the top of the receiving cavity, allowing easy access for insertion, removal, or replacement of the functional component. When a functional component near the left side cover 500 of the thoracic cavity is damaged, removing the left side cover opens the left side of the receiving cavity, allowing access through the first perforated section for insertion, removal, or replacement of the nearest functional component. Likewise, when a functional component near the right side cover 600 of the thoracic cavity is damaged, removing the right side cover opens the right side of the receiving cavity, allowing access through the second perforated section for insertion, removal, or replacement of the nearest functional component. In this way, the repair of functional components inside the chest cavity becomes so simple and easy to operate, which not only makes it easier for professionals to repair, but also makes it more user-friendly for non-professionals (ordinary consumers) to repair. The robot is more adapted to the needs of the general consumer and improves the product competitiveness of the robot.

[0065] In this embodiment, the left main shell 300 of the thoracic cavity, the right main shell 400 of the thoracic cavity, the left side cover 500 of the thoracic cavity, the right side cover 600 of the thoracic cavity, the front panel 100 of the thoracic cavity, and the top cover 200 of the thoracic cavity can be connected by fasteners (screws, bolts, etc.) to achieve detachable connection between the various components.

[0066] In one embodiment of this application, please refer to Figure 7The drive assembly and multiple functional components constitute the internal thoracic cavity assembly 12. The functional components include at least a battery assembly, a motherboard assembly, a computing board assembly, a power board assembly, an image sensing assembly, a positioning and navigation assembly, and a microphone assembly. The battery assembly, motherboard assembly, computing board assembly, and power board assembly surround the drive assembly. The image sensing assembly is installed in the inner front part of the thoracic cavity outer shell assembly, and the positioning and navigation assembly and microphone assembly are installed in the inner top part of the thoracic cavity outer shell assembly.

[0067] For details, please refer to the following: Figure 2 As shown in Figure 3, the image sensing component includes an RGBD component 110 and a camera component; the front panel 100 of the thoracic cavity is provided with a first mounting hole 101 and a second mounting hole 102; the RGBD component 110 is connected to the front panel 100 of the thoracic cavity at the first mounting hole 101, and the camera component is connected to the front panel 100 of the thoracic cavity at the second mounting hole 102.

[0068] In one embodiment of this application, please refer to Figure 2 The image sensing component also includes an RGBD fixture 130; the RGBD fixture 130 is connected to the front panel 100 of the thoracic cavity, and the RGBD component 110 is mounted on the RGBD fixture 130.

[0069] In this embodiment, the RGBD component 110 is an RGBD camera.

[0070] Specifically, the RGBD component 110 is first fixed to the RGBD fastener 130 with screws, and then the RGBD fastener 130 is fixed to the front panel 100 of the chest cavity with screws to achieve the fixed position of the RGBD component 110.

[0071] In one embodiment of this application, please refer to Figure 2 The image sensing assembly also includes a mounting plate 140, which is connected to the front panel 100 of the chest cavity; the camera assembly includes a binocular camera 121 and a binocular control board 122, with the binocular camera 121 mounted on one side of the mounting plate 140 and the binocular control board 122 mounted on the other side of the mounting plate 140.

[0072] Specifically, the binocular camera 121 is first fixed to one side of the mounting plate 140 with screws, and then the mounting plate 140 is installed and fixed to the front panel 100 of the chest cavity with screws. The binocular control board 122 is fixed to the other side of the mounting plate 140 by means of four copper studs 150 connected by screws, thereby realizing the position fixation of the camera assembly.

[0073] In one embodiment of this application, please refer to Figure 3 The angle A between the RGBD component 110 and the direction perpendicular to the front panel 100 of the thoracic cavity is 9° to 11°.

[0074] In one embodiment of this application, please refer to Figure 3 The angle B between the binocular camera 121 and the direction perpendicular to the front panel 100 of the chest cavity is 9° to 11°.

[0075] Specifically, A = 10° and B = 10° to ensure that the RGBD component 110 and the binocular camera 121 have a good field of view and a certain obstacle avoidance capability, and to minimize the distance between the obstacle avoidance blind spot and the chest cavity body.

[0076] Understandably, the values ​​of A and B will also be appropriately adjusted according to the changes in the FOV (field of view) of the selected models of RGBD component 110 and binocular camera 121, so as to ensure that the navigation performance and obstacle avoidance performance of RGBD component 110 and binocular camera 121 are optimal.

[0077] In one embodiment of this application, the corners of the thoracic cavity shell have inclined portions; such as Figure 6 As shown, the thoracic cavity top cover plate 200 includes a first cover plate 204 and a second cover plate 205 that are bent and connected. The first cover plate 204 is connected to the inclined portion.

[0078] In one embodiment of this application, please refer to Figure 4 The second cover plate 205 has a cavity 201. It can be understood that the second cover plate 205 is located at the highest position of the thoracic cavity top cover plate 200. The positioning and navigation component includes a UWB antenna plate 211 and a UWB control plate 212. The UWB antenna plate 211 is inserted into the cavity 201. The UWB control plate 212 is connected to the thoracic cavity top cover plate 200 and is located close to the UWB antenna plate 211.

[0079] In this embodiment, UWB stands for Ultra Wide Band. UWB technology is a wireless carrier communication technology that does not use sinusoidal carriers but instead uses nanosecond-level non-sinusoidal narrow pulses to transmit data, thus occupying a very wide spectrum. UWB technology has advantages such as low system complexity, low transmitted signal power spectral density, insensitivity to channel fading, low interception capability, and high positioning accuracy, making it particularly suitable for high-speed wireless access in dense multipath environments such as indoor spaces.

[0080] Understandably, the cavity 201 is positioned at the highest point of the thoracic cavity top cover 200 to ensure the UWB antenna is at its highest position for optimal signal reception. There are no metal components around the UWB antenna to prevent signal interference. The UWB control board 212 is then mounted and fixed to the thoracic cavity top cover 200 nearby using screws.

[0081] In one embodiment of this application, please refer to the following: Figure 4 and Figure 5The microphone assembly includes a ring microphone array 220 and a single microphone board 230. Both the ring microphone array 220 and the single microphone board 230 are mounted on the second cover plate 205, and the single microphone board 230 is located in the inner hole of the ring microphone array 220. The chest cavity top cover plate 200 is provided with a microphone array hole 202, which is set towards the ring microphone array 220.

[0082] In this embodiment, the annular microphone array 220 and the single microphone board 230 are designed to be compatible, meaning the single microphone board 230 is located within the inner hole of the annular microphone array 220, without adding extra installation space, making the overall structure more compact. Specifically, both the annular microphone array 220 and the single microphone board 230 are fixed to the thoracic cavity top cover plate 200 by screws.

[0083] Understandably, the specific microphone array format used in the circular microphone array 220 and the single microphone board 230 will be determined based on the user's specific needs.

[0084] In one embodiment of this application, please refer to Figure 2 The functional components include at least a debugging component and a display component, which are installed on the portion of the thoracic cavity top cover plate 200 that covers the rear part of the thoracic cavity control structure 1.

[0085] In one embodiment of this application, please refer to Figure 4 The debugging components include a debugging board fixture 250 and a USB / Ethernet debugging board 260; the debugging board fixture 250 is connected to the first cover plate 204; the USB / Ethernet debugging board 260 is mounted on the debugging board fixture 250.

[0086] Specifically, the USB / network port debugging board 260 is first installed and fixed on the debugging board fixing part 250, and then the debugging board fixing part 250 is installed and fixed on the first cover plate 204 by screws to fix the position of the USB / network port debugging board 260.

[0087] In one embodiment of this application, the thoracic cavity top cover plate 200 is provided with an inspection hole, which is positioned facing the USB / network port debugging board 260.

[0088] In one embodiment of this application, please refer to Figure 5 A silicone cover 270 is also provided at the inspection hole, and the silicone cover 270 is detachably connected to the front panel 100 of the thoracic cavity at the inspection hole.

[0089] Specifically, the silicone cover 270 is fixed to the thoracic cavity top cover 200 with screws and is assembled with the access hole via an interference fit. When the entire thoracic cavity needs to be adjusted, simply open the silicone cover 270 and insert the corresponding USB / Ethernet port.

[0090] In one embodiment of this application, please refer to the following: Figure 4 and Figure 5 The display component includes a power display screen 240, and a transparent portion 203 on a first cover plate 204; the power display screen 240 is connected to the first cover plate 204 and abuts against the transparent portion 203.

[0091] In this embodiment, by providing a transparent portion 203 and having the power display screen 240 abut (contact) with the transparent portion 203, it can be ensured that the power display can be seen from the outside of the thoracic cavity top cover plate 200.

[0092] In this embodiment, by setting an inclined portion, the first cover plate 204 is correspondingly installed, and the power display screen 240 can be installed on the first cover plate 204 for easy observation by the user. It is understood that if the power display screen 240 is installed on the front panel 100 of the chest cavity, the user needs to bend over and squat down to see the power display screen 240. If the power display screen 240 is installed on the second cover plate 205, the user needs to lower their head to see the power display screen 240. Therefore, installing the power display screen 240 on the inclined first cover plate 204 is the optimal choice.

[0093] In one embodiment of this application, please refer to the following: Figures 8 to 10 The thoracic control structure 1 also includes a mounting assembly that spans across the opposite sides of the thoracic shell assembly. The mounting assembly includes multiple connecting brackets 800 with opposite ends respectively mounted on the opposite sides of the thoracic shell assembly. The drive assembly is mounted within the space enclosed by the multiple connecting brackets 800, and some functional devices are mounted outside the space through each connecting bracket 800.

[0094] In one embodiment of this application, please refer to Figure 11 The connecting bracket 800 includes a first part 801 and two second parts 802 located at opposite ends of the first part 801. The first part 801 is closer to the drive assembly than the second part 802. A portion of the functional devices are mounted on the first part 801, and another portion of the functional devices are straddled across the two second parts 802 and stacked on top of the other portion of the functional devices.

[0095] In this embodiment, the first part 801 of the connecting bracket 800 is closer to the rotation axis of the drive component than the second part 802, which makes the connecting bracket 800 and the drive component more compact, saves space, and is conducive to the miniaturization design of the overall structure.

[0096] Specifically, the first part 801 and the second part 802 of the connecting bracket 800 are arranged in a stepped manner, that is, the first part 801 of the connecting bracket 800 is lower than the second part 802, and other components are installed in the lowered part, which can effectively free up more installation space.

[0097] Specifically, please refer to Figure 11 The connecting bracket 800 is a hollow long frame structure with multiple weight reduction ports 803. The size and number of weight reduction ports 803 can be set based on the structural mechanical strength of the connecting bracket 800. The hollow long frame structure of the connecting bracket 800 is conducive to meeting the design requirements of lightweight overall structure.

[0098] In one embodiment of this application, the battery assembly, motherboard assembly, computing board assembly, and power board assembly are respectively mounted on each connecting bracket 800 and located outside the space; wherein, the battery assembly and power board assembly are arranged opposite to each other, and the computing board assembly and motherboard assembly are arranged opposite to each other.

[0099] Specifically, the mounting assembly includes four connecting brackets 800, which are located at the front, rear, upper, and lower parts of the mounting assembly, respectively. The power board assembly and the battery assembly are mounted on the connecting brackets 800 located at the upper and lower parts of the mounting assembly, respectively. The computing board assembly and the motherboard assembly are mounted on the connecting brackets 800 located at the front and rear parts of the mounting assembly, respectively.

[0100] In one embodiment of this application, please refer to Figure 8 The computing board assembly includes a computing board mounting component 704, a computing board clamping strip 705, and a computing board 706; the computing board mounting component 704 and the computing board clamping strip 705 are connected, and the computing board 706 is clamped between the computing board mounting component 704 and the computing board clamping strip 705; the computing board mounting component 704 is connected to the connecting bracket 800 at the front of the mounting assembly.

[0101] In one embodiment of this application, please refer to the following: Figure 8 and Figure 9 The computing board assembly also includes a voice broadcaster 707 and a broadcaster mounting component 708. The voice broadcaster 707 is mounted on the broadcaster mounting component 708, and the broadcaster mounting component 708 is connected to the computing board mounting component 704.

[0102] Specifically, the voice announcer 707 is installed on the announcer mounting part 708 with screws, and then the announcer mounting part 708 is fixed on the computing board mounting part 704 with screws. The computing board clamping strip 705 and the computing board mounting part 704 are pressed and fixed to the computing board 706 with screws. Finally, the computing board mounting part 704 is fixed on the front connecting bracket 800 with screws, thereby fixing the spatial position of the computing board 706 and the voice announcer 707 in the chest cavity control structure 1.

[0103] The installation direction of the computing board pressure strip 705 is consistent with the installation direction of the front panel 100 of the thoracic cavity. After the front panel 100 of the thoracic cavity is removed, the operator's hand can reach into the interior of the main structure of the thoracic cavity from the front of the thoracic cavity shell assembly to remove the computing board pressure strip 705 from the computing board mounting part 704. The removal positions of the computing board pressure strip 705 all face the front of the thoracic cavity shell assembly, and the operator can see these removal positions directly, which is convenient for removal. At the same time, after the computing board pressure strip 705 is removed, it can be taken out from the front of the thoracic cavity shell assembly, which is more conducive to maintenance.

[0104] In one embodiment of this application, please refer to Figure 10 The motherboard assembly includes a motherboard 709 and a motherboard mounting bracket 710; the motherboard 709 is mounted on the motherboard mounting bracket 710; the motherboard mounting bracket 710 is connected to the connecting bracket 800 at the rear of the mounting assembly.

[0105] Specifically, the motherboard 709 can be an X86 board. The X86 board is fixed to the motherboard mounting component 710 with screws, and the motherboard mounting component 710 is then fixed to the rear connecting bracket 800 with screws, thereby fixing the spatial position of the X86 board in the receiving cavity.

[0106] The installation direction of the motherboard 709 and motherboard mounting component 710 is consistent with the installation direction of the rear end of the thoracic cavity top cover plate 200. After the thoracic cavity top cover plate 200 is removed, the operator's hand can reach into the interior of the main thoracic cavity structure from the rear of the thoracic cavity shell assembly to remove the motherboard 709 from the motherboard mounting component 710. The removal positions of the motherboard 709 all face the rear of the thoracic cavity shell assembly, and the operator can see these removal positions directly, which is convenient for removal. At the same time, after the motherboard 709 is removed, it can be taken out from the rear of the thoracic cavity shell assembly, which is more conducive to maintenance.

[0107] In one embodiment of this application, at least one of the battery assembly and the power board assembly includes a support bracket mounted on a corresponding connecting bracket 800 and a binding member mounted on the support bracket for binding a corresponding functional device to the support bracket. The binding member faces the front of the thoracic shell assembly, and the functional device on the support bracket is detached from the front of the thoracic shell assembly.

[0108] In one embodiment of this application, please refer to Figure 8 The power board assembly includes a power board 711 and a power board mounting component 712; the power board 711 is mounted on the upper part of the power board mounting component 712, and the power board mounting component 712 is connected to the connecting bracket 800 on the upper part of the mounting assembly.

[0109] The installation direction of the power board 711 and the power board mounting part 712 is consistent with the installation direction of the upper end of the thoracic cavity top cover plate 200. After the thoracic cavity top cover plate 200 is removed, the operator's hand can reach into the interior of the main thoracic cavity structure from the upper part of the thoracic cavity shell assembly to remove the power board 711 from the power board mounting part 712. The removal positions of the power board 711 all face the upper part of the thoracic cavity shell assembly, and the operator can see these removal positions directly, which is convenient for removal. At the same time, after the power board 711 is removed, it can be taken out from the upper part of the thoracic cavity shell assembly, which is more conducive to maintenance.

[0110] In one embodiment of this application, please refer to Figure 9 The power board assembly also includes an IMU713, which is mounted on a connection bracket 800 on the upper part of the mounting assembly.

[0111] The installation direction of IMU713 is consistent with the installation direction of the upper end of the thoracic cavity top cover plate 200. After the thoracic cavity top cover plate 200 is removed, the operator's hand can reach into the interior of the main thoracic cavity structure from the upper part of the thoracic cavity shell assembly to remove IMU713 from the connecting bracket 800 on the upper part of the connecting bracket. The removal positions of IMU713 all face the upper part of the thoracic cavity shell assembly, and the operator can see these removal positions directly, which is convenient for removal. At the same time, after removal, IMU713 can be taken out from the upper part of the thoracic cavity shell assembly, which is more conducive to maintenance.

[0112] In one embodiment of this application, please refer to Figure 9 The power board assembly also includes an IMU data adapter cable 714, an IMU clamping plate 715, and an IMU mounting bracket 716. The IMU clamping plate 715 and the IMU mounting bracket 716 are connected. The IMU data adapter cable 714 is clamped between the IMU clamping plate 715 and the IMU mounting bracket 716. The IMU mounting bracket 716 is connected to the bottom of the power board mounting bracket 712.

[0113] The installation direction of the IMU clip 715 is consistent with the installation direction of the thoracic cavity top cover plate 200. After the thoracic cavity top cover plate 200 is removed, the operator's hand can reach into the interior of the main thoracic cavity structure from the top of the thoracic cavity shell assembly to remove the IMU clip 715 from the IMU mounting piece 716. The removal positions of the IMU clip 715 all face the top of the thoracic cavity shell assembly, and the operator can see these removal positions directly, which is convenient for removal. At the same time, after the IMU clip 715 is removed, it can be taken out from the top of the thoracic cavity shell assembly, which is more conducive to maintenance.

[0114] In one embodiment of this application, please refer to Figure 10 The power board assembly also includes a DC-DC module 717, which is mounted on the side of the power board mounting bracket 712.

[0115] In one embodiment of this application, please refer to Figure 10 The power board assembly also includes a ring microphone array control board 718, which is mounted on the rear of the power board mounting component 712.

[0116] Specifically, the IMU 713 is fixed to the upper connecting bracket 800 with screws. The IMU data adapter cable 714 is pressed onto the IMU mounting piece 716 with screws via two IMU clamping plates 715, and then the IMU mounting piece 716 is fixed to the bottom of the power board mounting piece 712 with screws. The DC-DC module 717 is fixed to the side of the power board mounting piece 712 with screws, the power board 711 is fixed to the upper part of the power board mounting piece 712 with screws, and the ring microphone array control board 718 is fixed to the rear part of the power board mounting piece 712 with screws. Finally, the power board mounting piece 712 is fixed to the upper connecting bracket 800 with screws, thus fixing the spatial positions of the IMU data adapter cable 714, the power board 711, and the ring microphone array control board 718 in the receiving cavity.

[0117] In one embodiment of this application, please refer to Figure 10 The battery assembly includes a battery compartment and a battery 701 disposed within the battery compartment. The battery compartment is mounted on a connecting bracket 800 at the lower part of the mounting assembly.

[0118] Specifically, please refer to Figure 9 The battery compartment includes a battery mounting component 702 and a battery clamping plate 703. The battery 701 is positioned by the battery mounting component 702, and then the battery clamping plate 703 is screwed to the battery mounting component 702 to press the battery 701 firmly. Finally, the battery mounting component 702 is screwed to the lower connecting bracket 800, thus fixing the battery 701 in the position of the thoracic cavity control structure 1. The installation direction of the battery clamping plate 703 is consistent with the installation direction of the thoracic cavity front panel 100. After the thoracic cavity front panel 100 is removed, the operator can reach into the receiving cavity from the front of the thoracic cavity outer shell assembly to remove the battery clamping plate 703 from the battery mounting component 702. The removal positions of the battery clamping plate 703 all face the front of the thoracic cavity outer shell assembly, allowing the operator to see these removal positions directly for easy removal. Furthermore, the battery clamping plate 703 can be removed from the front of the thoracic cavity outer shell assembly after removal, facilitating maintenance.

[0119] Please refer to the following: Figure 12 and Figure 13 This application also provides a robot, including a leg structure 2 and the aforementioned thoracic control structure 1; the leg structure 2 is movably connected to the thoracic control structure 1.

[0120] In one embodiment of this application, the leg structure 2 includes a leg and a wheel; one end of the leg is connected to a drive assembly, and the other end of the leg is movably connected to the wheel.

[0121] In this embodiment, the thoracic cavity control structure 1 is highly versatile and can be combined with different types of leg structures 2. For example, the leg structure 2 can be a parallel leg structure with two wheels or a series leg structure with two wheels.

[0122] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A thoracic cavity control structure, characterized in that: The thoracic cavity control structure includes a thoracic cavity shell assembly, a drive assembly spanning across opposite sides of the thoracic cavity shell assembly, and a plurality of functional devices located within the thoracic cavity shell assembly. A portion of the functional devices are arranged around the drive assembly, another portion of the functional devices are installed on the inner top of the thoracic cavity shell assembly, and the remaining portion of the functional devices are installed on the inner front of the thoracic cavity shell assembly. The thoracic cavity shell assembly includes two thoracic cavity shells that are joined together to form a receiving cavity and a thoracic cavity top cover plate that is detachably mounted on the top of the two thoracic cavity shells. Some of the functional devices are mounted on the inner side of the thoracic cavity top cover plate and move as a whole with the thoracic cavity top cover plate when the thoracic cavity top cover plate is disassembled or assembled. The thoracic cavity shell assembly also includes a detachable front thoracic cavity panel mounted on the front of the two thoracic cavity shells. Some of the functional devices are mounted on the inside of the front thoracic cavity panel and move as a whole with the front thoracic cavity panel when the front thoracic cavity panel is disassembled or assembled. At least one of the thoracic cavity shells has a cutout corresponding to each of the functional devices around the drive assembly. The two thoracic cavity shells are joined together to close the bottom of the thoracic cavity shell assembly. The front, rear and top of the thoracic cavity shell assembly are cutout. The thoracic cavity top cover plate covers the cutout portions of the top and rear of the thoracic cavity shell assembly. The thoracic cavity front panel covers the cutout portion of the front of the thoracic cavity shell assembly.

2. The thoracic cavity control structure as described in claim 1, characterized in that, The functional components include at least a battery assembly, a motherboard assembly, a computing board assembly, a power board assembly, an image sensing assembly, a positioning and navigation assembly, and a microphone assembly; the battery assembly, the motherboard assembly, the computing board assembly, and the power board assembly are arranged around the drive assembly; the image sensing assembly is installed in the inner front part of the thoracic cavity shell assembly, and the positioning and navigation assembly and the microphone assembly are installed in the inner top part of the thoracic cavity shell assembly.

3. The thoracic cavity control structure as described in claim 1, characterized in that, The functional device includes at least a debugging component and a display component, wherein the debugging component and the display component are installed on the portion of the thoracic cavity top cover plate that covers the rear part of the thoracic cavity control structure.

4. The thoracic cavity control structure as described in claim 2, characterized in that, The thoracic cavity control structure further includes a mounting assembly that spans across the opposite sides of the thoracic cavity shell assembly. The mounting assembly includes multiple connecting brackets with opposite ends respectively mounted on the opposite sides of the thoracic cavity shell assembly. The drive assembly is mounted within the space enclosed by the multiple connecting brackets, and some of the functional devices are mounted outside the space through each of the connecting brackets.

5. The thoracic cavity control structure as described in claim 4, characterized in that, The connecting bracket includes a first part and two second parts located at opposite ends of the first part; the first part is closer to the drive assembly relative to the second part, a portion of the functional devices are mounted on the first part, and another portion of the functional devices span across the two second parts and are stacked on top of a portion of the functional devices.

6. The thoracic cavity control structure as described in claim 4, characterized in that, The battery assembly, the motherboard assembly, the computing board assembly, and the power board assembly are respectively mounted on each connecting bracket and located outside the space; wherein, the battery assembly and the power board assembly are arranged opposite to each other, and the computing board assembly and the motherboard assembly are arranged opposite to each other.

7. The thoracic cavity control structure as described in claim 2, characterized in that, At least one of the battery assembly and the power board assembly includes a support bracket mounted on a corresponding connecting bracket and a binding member mounted on the support bracket for binding a corresponding functional device to the support bracket. The binding member faces the front of the thoracic shell assembly, and the functional device mounted on the support bracket is detached from the front of the thoracic shell assembly.

8. A robot, characterized in that, include: The thoracic cavity control structure as described in any one of claims 1-7; and A leg-shaped structure, which is movably connected to the thoracic cavity control structure.

9. The robot as described in claim 8, characterized in that, The leg structure includes a leg and a wheel; one end of the leg is connected to the drive assembly, and the other end of the leg is movably connected to the wheel.

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