A main structure of the thoracic cavity and a robot

Abstract

This application provides a thoracic cavity main structure and a robot. The thoracic cavity main structure includes a thoracic cavity shell assembly, a drive assembly located within the thoracic cavity shell assembly, and a mounting assembly that spans across and is installed between opposite sides of the thoracic cavity shell assembly. The drive assembly includes a first rotation drive member and a second rotation drive member connected in series. The mounting assembly includes a connecting bracket, two first mounting members and a second mounting member mounted on the connecting bracket, and the connecting bracket spans across and is installed between opposite sides of the thoracic cavity shell assembly via the first mounting members. The robot includes a leg structure and the aforementioned thoracic cavity main structure, with the leg structure movably connected to the thoracic cavity main structure. In this application, the drive assembly is suspended within the thoracic cavity shell assembly, forming the core weight of the thoracic cavity main structure. Other components that need to be installed within the thoracic cavity shell assembly can be arranged around this core, resulting in a rational structural layout and effectively achieving miniaturization through layout design.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, and more specifically, relates to a thoracic cavity main 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-legged robots are all being developed and transformed for ordinary consumers. While meeting the service functions of robots, the demand for miniaturization of robots is increasing.

[0003] The path to miniaturization in the research and development of robots will result in cramped internal space. How to reasonably arrange the key components required by the robot in such a cramped space is a problem that must be solved. Since robots require many key components, the industry has not provided a reasonable layout solution, which has led to insufficient miniaturization of robots. Summary of the Invention

[0004] The purpose of this application is to provide a thoracic cavity main structure and a robot to solve the technical problem that the unreasonable internal layout of the key components required by the robot affects its miniaturization development.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows: A thoracic cavity main body structure is provided, including a thoracic cavity shell assembly, a drive assembly located within the thoracic cavity shell assembly, and a mounting assembly that spans across and is installed between opposite sides of the thoracic cavity shell assembly; the drive assembly includes a first rotation drive member and a second rotation drive member connected in series, with the rotating portion of the first rotation drive member fixedly connected to the fixed portion of the second rotation drive member; the mounting assembly includes a connecting bracket, two first mounting members and a second mounting member mounted on the connecting bracket, with the two first mounting members respectively fixedly connected to...

[0006] On opposite sides of the thoracic cavity shell assembly, the fixed part of the first rotation drive is fixedly connected to the second mounting part, the rotating part of the second rotation drive passes through one of the first mounting parts, and the connecting bracket is installed across the opposite sides of the thoracic cavity shell assembly via the first mounting part.

[0007] Optionally, the rotating part of the first rotating drive member and the fixed part of the second rotating drive member are fixedly connected by a connector; the connector includes a first mounting part mounted on the rotating part of the first rotating drive member and a second mounting part extending from the outer periphery of the first mounting part toward the fixed part of the second rotating drive member and wrapping around one end of the fixed part of the second rotating drive member, with one end of the rotating part of the second rotating drive member extending into the second mounting part.

[0008] Optionally, there are two drive components arranged on a single axis. The first rotational drive components of the two drive components are close to each other, while the second rotational drive components of the two drive components are opposite to each other. The rotating parts of the two second rotational drive components pass through the two first mounting members respectively. There are two second mounting members, and the fixed parts of the two first rotational drive components are fixedly connected to the two second mounting members respectively.

[0009] Optionally, the connecting bracket is a long frame structure, with its opposite ends fixedly connected to two first mounting members, and two second mounting members located between the two first mounting members.

[0010] Optionally, the connecting bracket has a weight-reducing opening between the first mounting member and its adjacent second mounting member, and the connecting bracket has two weight-reducing openings between the two second mounting members.

[0011] Optionally, the connecting bracket includes a first portion connected between two second mounting members and a second portion connected between the first mounting member and the second mounting member, wherein the first portion is closer to the rotation axis of the drive assembly relative to the second portion.

[0012] Optionally, multiple connecting brackets are provided, and the multiple connecting brackets surround the outer periphery of the drive assembly.

[0013] Optionally, a wire stop is provided between the second mounting component and the connector, and the wire stop is connected to the connecting bracket.

[0014] Optionally, the connector has a protruding structure; the first mounting member is provided with two limiting members, and when the connector rotates forward and backward, the protruding structure can abut against the two limiting members respectively.

[0015] Optionally, the first mounting component is provided with a first zero-point hole, and the protruding structure is provided with a second zero-point hole. In the zero-point state, the axis of the first zero-point hole and the axis of the second zero-point hole are on the same straight line.

[0016] This application also provides a robot, including a leg structure and the aforementioned thoracic cavity main structure, wherein the leg structure is movably connected to the thoracic cavity main structure.

[0017] Optionally, the leg structure includes a leg and a wheel; one end of the leg is connected to the second rotation drive member, and the other end of the leg is movably connected to the wheel.

[0018] The beneficial effects of the thoracic cavity main structure and robot provided in this application are as follows: Compared with the prior art, in this application, the connecting bracket is installed across the opposite sides of the thoracic cavity shell assembly via the first mounting member. The fixed part of the first rotating drive member of the drive assembly is connected to the connecting bracket via the second mounting member. The fixed part of the first rotating drive member is relatively fixedly connected to the thoracic cavity shell assembly via the second mounting member, the connecting bracket, and the second rotating drive member. Since the second rotating drive member and the first rotating drive member are connected in series, the position of the second rotating drive member and the thoracic cavity shell assembly is also relatively fixed. Thus, this application achieves the drive assembly to be installed across the thoracic cavity shell assembly via the mounting component, with the drive assembly suspended inside the thoracic cavity shell assembly. There is no need to set an additional support for the drive assembly, nor is there a need to set an additional bearing between the first and second rotating drive members. At the same time, the drive assembly is suspended inside the thoracic cavity shell assembly, forming the core weight of the thoracic cavity main structure. Other components that need to be set inside the thoracic cavity shell assembly can be set around this core, making the structural layout reasonable and effectively achieving miniaturization through layout design. Attached Figure Description

[0019] 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.

[0020] Figure 1 This is an exploded structural diagram of the main thoracic cavity structure provided in an embodiment of this application;

[0021] Figure 2 A three-dimensional structural diagram of the left main shell of the thoracic cavity in the main structure of the thoracic cavity provided in the embodiments of this application;

[0022] Figure 3 This is an exploded structural diagram of the internal structure of the main thoracic cavity provided in an embodiment of this application;

[0023] Figure 4 This application provides an embodiment of the assembly structure of the internal structure of the thoracic cavity. Figure 1 ;

[0024] Figure 5 This application provides an embodiment of the assembly structure of the internal structure of the thoracic cavity. Figure 2 ;

[0025] Figure 6 This application provides an embodiment of the assembly structure of the internal structure of the thoracic cavity. Figure 3 ;

[0026] Figure 7 This is a schematic diagram of the zero-point and limiting structure of the first rotation drive component in the main thoracic cavity structure provided in the embodiments of this application;

[0027] Figure 8 Schematic diagram of the function of the line-blocking member in the main thoracic cavity structure provided in the embodiments of this application. Figure 1 ;

[0028] Figure 9 Schematic diagram of the function of the line-blocking member in the main thoracic cavity structure provided in the embodiments of this application. Figure 2 ;

[0029] Figure 10 This is a schematic diagram of the connecting member in the main thoracic cavity structure provided in an embodiment of this application;

[0030] Figure 11 This is a schematic diagram of the connecting stent in the main thoracic cavity structure provided in an embodiment of this application;

[0031] Figure 12 This is a schematic diagram illustrating the installation of the main thoracic cavity structure and the leg-shaped structure in an embodiment of this application.

[0032] Figure 13 A schematic diagram of the three-dimensional structure of the robot provided in the embodiments of this application. Figure 1 .

[0033] Figure 14 A schematic diagram of the three-dimensional structure of the robot provided in the embodiments of this application. Figure 2 .

[0034] The following are the labeling elements in the figure:

[0035] 1-Main structure of the thoracic cavity; 2-Leg structure; 21-Thigh; 22-Knee joint rocker arm;

[0036] 101-Left main shell of the thoracic cavity; 110-First hollow section; 111-First inner frame; 112-First outer frame; 113-First rib; 114-First bend; 115-First inclined section; 102-Right main shell of the thoracic cavity; 103-Left side cover of the thoracic cavity; 104-Right side cover of the thoracic cavity; 105-Support column;

[0037] 200 - Front panel of the thoracic cavity; 201 - First mounting hole; 202 - Second mounting hole;

[0038] 300 - Thoracic cavity roof cover; 301 - First cover plate; 302 - Second cover plate; 321 - Cavity;

[0039] 401-First mounting component; 411-Limiting component; 412-First zeroing hole; 413-Mounting connection hole; 402-Connecting bracket; 421-First part; 422-Second part; 423-Weight reduction port; 403-Second mounting component; 404-Connector; 441-Protruding structure; 442-Second zeroing hole; 443-First mounting part; 444-Second mounting part; 405-Wire stop component; 406-Related wire harness; 461-Wire harness rotation space; 462-Wire harness fixing space; 407-Zeroing auxiliary pin;

[0040] 500 - Image sensor assembly; 501 - RGBD assembly; 502 - RGBD mounting bracket; 503 - Mounting plate; 504 - Binocular camera; 505 - Binocular control board; 506 - Copper stud;

[0041] 600 - Positioning and navigation component; 601 - UWB antenna board; 602 - UWB control board;

[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 - First rotation drive component;

[0044] 900 - Second rotation drive component. Detailed Implementation

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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-legged robots are all beginning to be developed and transformed for ordinary consumers, and the demand for miniaturization of robots is increasing while still fulfilling their service functions.

[0050] Miniaturization inevitably leads to cramped internal space for robots. How to rationally arrange the various components inside the robot within this limited space is a key research focus for industry professionals. As robots become increasingly functional and require numerous key components, no reasonable layout solution has yet been found, which restricts the miniaturization of robots.

[0051] The most important aspect of robot miniaturization lies in the miniaturization of the robot's main thoracic cavity structure. Please refer to [link / reference needed]. Figure 1 The thoracic cavity main structure provided in the embodiments of this application will now be described. The thoracic cavity main structure 1 includes a thoracic cavity shell assembly, a drive assembly located inside the thoracic cavity shell assembly, and a mounting assembly that spans across the opposite sides of the thoracic cavity shell assembly. The drive assembly includes a first rotation drive member 800 and a second rotation drive member 900 connected in series. The rotating part of the first rotation drive member 800 is fixedly connected to the fixed part of the second rotation drive member 900. The mounting assembly includes a connecting bracket 402, two first mounting members 401 and a second mounting member 403 mounted on the connecting bracket 402. The two first mounting members 401 are respectively fixedly connected to the opposite sides of the thoracic cavity shell assembly. The fixed part of the first rotation drive member 800 is fixedly connected to the second mounting member 403. The rotating part of the second rotation drive member 900 passes through one of the first mounting members 401. The connecting bracket 402 spans across the opposite sides of the thoracic cavity shell assembly through the first mounting members 401.

[0052] Compared with the prior art, in this embodiment, the connecting bracket 402 is installed across the opposite sides of the thoracic cavity shell assembly via the first mounting member 401. The fixed part of the first rotation drive member 800 of the drive assembly is connected to the connecting bracket 402 via the second mounting member 403. The fixed part of the first rotation drive member 800 is relatively fixedly connected to the thoracic cavity shell assembly via the second mounting member 403 and the connecting bracket 402. Because the second rotation drive member 900 is connected in series with the first rotation drive member 800, the position of the second rotation drive member 900 relative to the thoracic cavity shell assembly is... It is also relatively fixed. Thus, this application achieves the drive component to be installed across the chest cavity shell assembly by mounting components. The drive component is suspended in the chest cavity shell assembly. There is no need to set an additional support for the drive component, nor is there a need to set an additional bearing between the first rotating drive component 800 and the second rotating drive component 900. At the same time, the drive component is suspended in the chest cavity shell assembly, forming the core weight of the chest cavity main structure 1. Other components that need to be set in the chest cavity shell assembly can be set around this core, making the structural layout reasonable and effectively achieving miniaturization through layout design.

[0053] Specifically, please refer to Figure 7 The first mounting member 401 has mounting connection holes 413, and the first mounting member 401 is connected to the thoracic cavity shell assembly by inserting bolts into the mounting connection holes 413. The second mounting member 403 is annular. The second mounting member 403 is perpendicular to each connecting bracket 402. The direction of the rotation axis of the first rotation drive member 800 coincides with the annular center of the second mounting member 403. The connecting member 404 is annular and perpendicular to each connecting bracket 402. The direction of the rotation axis of the second rotation drive member 900 coincides with the annular center of the connecting member 404.

[0054] In one embodiment of this application, please refer to the following: Figure 3 , Figure 4 and Figure 10 The rotating part of the first rotating drive member 800 and the fixed part of the second rotating drive member 900 are fixedly connected by a connector 404. The connector 404 includes a first mounting part 443 mounted on the rotating part of the first rotating drive member 800 and a second mounting part 444 extending from the outer periphery of the first mounting part 443 toward the fixed part of the second rotating drive member 900 and wrapping around one end of the fixed part of the second rotating drive member 900. One end of the rotating part of the second rotating drive member 900 extends into the second mounting part 444.

[0055] In this embodiment, the connector 404 connects the first rotary drive 800 and the second rotary drive 900. Simultaneously, the second mounting portion 444 encloses one end of the fixed portion of the second rotary drive 900 and allows one end of the rotating portion of the second rotary drive 900 to extend into it. This reduces the axial space occupied by the core drive structure of the thoracic cavity main structure 1, resulting in a smaller and more compact main structure 1. Furthermore, the second mounting portion 444 also positions the second rotary drive 900, ensuring that the rotation axis of the first rotary drive 800 and the rotation axis of the second rotary drive 900 are aligned.

[0056] In one embodiment of this application, please refer to Figure 3 There are two drive components, which are arranged on the same axis. The first rotation drive component 800 of the two drive components is close to each other, and the second rotation drive component 900 of the two drive components is away from each other. The rotating parts of the two second rotation drive components 900 pass through the two first mounting components 401 respectively. There are two second mounting components 403, and the fixed parts of the two first rotation drive components 800 are fixedly connected to the two second mounting components 403 respectively.

[0057] In this embodiment, by setting two annular second mounting members 403 and connecting members 404, the first rotation drive member 800 and the second rotation drive member 900 are installed in the installation space formed by the connecting bracket 402, which is beneficial for lightweight design. The two first mounting members 401, the multiple connecting brackets 402 spanning between the two first mounting members 401, and the second mounting members 403 and connecting members 404 set between the two first mounting members 401 together form the core mounting components of the thoracic cavity main structure 1. Each connecting bracket 402 is designed with a hollow and lightweight principle, reducing weight while meeting structural mechanical performance requirements.

[0058] Specifically, the fixed part of the first rotating drive member 800 is assembled with the second mounting member 403 by screws; one side of the connecting member 404 is connected to the rotating part of the first rotating drive member 800 by screws, and the other side of the connecting member 404 is connected to the threaded hole of the fixed part of the second rotating drive member 900 by screws. Through the above connection, the power of the first rotating drive member 800 can be transmitted to the fixed part of the second rotating drive member 900, thereby realizing the movement of the thigh part in the leg-shaped structure driven by the inner first rotating drive member 800. The power distribution of the entire thoracic cavity main structure 1 is symmetrical from left to right, and all related parts are also symmetrical and interchangeable. The power connection and fixation on the left and right sides are completed by four connecting brackets 402 and the second mounting members 403 on the left and right sides by screws. Then, the first mounting members 401 on both sides are respectively assembled into the corresponding holes of the four connecting brackets 402 by screws, realizing the core structural support of the thoracic cavity main structure 1.

[0059] In one embodiment of this application, please refer to Figure 3 The connecting bracket 402 is a long frame structure. The two ends of the connecting bracket 402 are fixedly connected to the two first mounting parts 401 respectively, and the two second mounting parts 403 are located between the two first mounting parts 401.

[0060] Specifically, please refer to Figure 11 The connecting bracket 402 is a hollow long frame structure with multiple weight reduction ports 423. The size and number of weight reduction ports 423 can be set based on the structural mechanical strength of the connecting bracket 402. The hollow long frame structure of the connecting bracket 402 is conducive to meeting the design requirements of lightweight overall structure.

[0061] For example, the connecting bracket 402 has a weight-reducing opening 423 between the first mounting member 401 and its adjacent second mounting member 403, and the connecting bracket 402 has two weight-reducing openings 423 between the two second mounting members 403. The frame structure of the connecting bracket 402 can have a uniform or non-uniform width of the frame strips. It is understood that, under the premise of meeting the structural mechanical strength requirements, the width of the frame strips can be as narrow as possible; the narrower the frame strips, the lighter the weight of the connecting bracket 402.

[0062] In one embodiment of this application, please refer to the following: Figure 11 The connecting bracket 402 includes a first portion 421 connected between two second mounting members 403 and a second portion 422 connected between the first mounting member 401 and the second mounting member 403, wherein the first portion 421 is closer to the rotation axis of the drive assembly than the second portion 422.

[0063] In this embodiment, the first part 421 of the connecting bracket 402 is closer to the rotation axis of the drive component than the second part 422, which makes the connecting bracket 402 and the drive component more compact, saves space, and is conducive to the miniaturization design of the overall structure.

[0064] Specifically, the first part 421 and the second part 422 of the connecting bracket 402 are arranged in a stepped manner, that is, the first part 421 of the connecting bracket 402 is lower than the second part 422, and other components are installed in the lowered part, which can effectively free up more installation space.

[0065] Multiple connecting brackets 402 are provided, and the multiple connecting brackets 402 surround the outer periphery of the drive assembly.

[0066] In one embodiment of this application, the functional components include a battery assembly, a motherboard assembly, a computing board assembly, and a power board assembly; the battery assembly, motherboard assembly, computing board assembly, and power board assembly are respectively mounted on each connecting bracket 402 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.

[0067] Specifically, the mounting assembly includes four connecting brackets 402, 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 402 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 402 located at the front and rear parts of the mounting assembly, respectively.

[0068] The thoracic cavity shell assembly includes two thoracic cavity shells that dock to form a receiving cavity. In this embodiment, please refer to... Figure 1 and Figure 2 The two thoracic shells are the left main shell 101 and the right main shell 102. The left main shell 101 is provided with a plurality of first hollow parts 110. The right main shell 102 is provided with a plurality of second hollow parts.

[0069] In one embodiment of this application, please refer to Figure 1 The thoracic cavity shell assembly also includes two thoracic cavity side covers, which are detachably connected to two thoracic cavity shells respectively, and cover the perforated portions on the two thoracic cavity shells respectively.

[0070] In this embodiment, the two thoracic cavity side covers are the left thoracic cavity cover 103 and the right thoracic cavity cover 104, respectively. The left thoracic cavity cover 103 is detachably connected to the left main shell 101 of the thoracic cavity so that the left thoracic cavity cover 103 covers the first hollow portion 110. The right thoracic cavity cover 104 is detachably connected to the right main shell 102 of the thoracic cavity so that the right thoracic cavity cover 104 covers the second hollow portion.

[0071] In one embodiment of this application, please refer to Figure 1 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 hollowed out, and a support column 105 is set at the hollowed-out position between the two thoracic shells.

[0072] The support column 105 can be set in the front hollow part of the thoracic shell assembly, the rear hollow part of the thoracic shell assembly, or the top hollow part of the thoracic shell assembly. It is even possible to set the support column 105 in all or part of these parts.

[0073] In this embodiment, by providing the support column 105, the assembly structure of the left main shell 101 and the right main shell 102 of the thoracic cavity can be made more stable, reducing the compression deformation of the left main shell 101 or the right main shell 102 caused by external forces. Specifically, the opposite ends of the support column 105 can be connected to the left main shell 101 and the right main shell 102 of the thoracic cavity respectively by fasteners (screws, bolts, etc.).

[0074] In one embodiment of this application, please refer to Figure 1 The thoracic shell assembly also includes a front thoracic panel 200 and a top thoracic cover 300. The front thoracic panel 200 is detachably mounted between the two thoracic shells and covers the front of the thoracic shell assembly, while the top thoracic cover 300 is detachably mounted between the two thoracic shells and covers the top and rear of the thoracic shell assembly.

[0075] Specifically, at the front end of the receiving cavity, the opposite sides of the front panel 200 of the thoracic cavity are detachably connected to the left main shell 101 and the right main shell 102 of the thoracic cavity, respectively; at the top end of the receiving cavity, the opposite sides of the top cover 300 of the thoracic cavity are detachably connected to the left main shell 101 and the right main shell 102 of the thoracic cavity, respectively. The left main shell 101, the right main shell 102, the left side cover 103, the right side cover 104, the front panel 200, and the top cover 300 together form a closed shell that does not reveal the internal structure.

[0076] Understandably, since the functional components are installed within the receiving cavity, when a functional component near the front panel 200 of the thoracic cavity is damaged, simply removing the front panel 200 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 300 of the thoracic cavity is damaged, removing the top cover 300 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 103 of the thoracic cavity is damaged, removing the left side cover 103 opens the left side of the receiving cavity, allowing access through the first perforated portion 110 to insert, remove, or replace the nearest functional component. Likewise, when a functional component near the right side cover 104 of the thoracic cavity is damaged, removing the right side cover 104 opens the right side of the receiving cavity, allowing access through the second perforated portion to insert, remove, or replace 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.

[0077] In this embodiment, the left main shell 101 of the thoracic cavity, the right main shell 102 of the thoracic cavity, the left side cover 103 of the thoracic cavity, the right side cover 104 of the thoracic cavity, the front panel 200 of the thoracic cavity, and the top cover 300 of the thoracic cavity can be connected by fasteners (screws, bolts, etc.) to achieve detachable connection between the various components.

[0078] Please see Figure 2 The left main shell 101 of the thoracic cavity includes a first inner frame 111, a first outer frame 112, and a plurality of first ribs 113 connecting the first inner frame 111 and the first outer frame 112. A first hollow portion 110 is formed between the first inner frame 111, the first outer frame 112 and two adjacent first ribs 113.

[0079] In this embodiment, the structure of the right main shell 102 of the thoracic cavity is similar to that of the left main shell 101 of the thoracic cavity, and is a symmetrical structure. The right main shell 102 of the thoracic cavity includes a second inner frame, a second outer frame, and a plurality of second ribs connecting the second inner frame and the second outer frame. A second hollow part is formed between the second inner frame, the second outer frame and two adjacent second ribs.

[0080] In one embodiment of this application, please refer to 2, the bottom and rear sides of the first outer frame 112 have a first bend 114; the bottom and rear sides of the second outer frame have a second bend; the first bend 114 and the second bend are connected by fasteners (screws, bolts, etc.).

[0081] Furthermore, the first outer frame 112 has a first inclined portion 115 at its top corner; the second outer frame has a second inclined portion at its top corner; please refer to [link / reference]. Figure 13 The thoracic cavity top cover plate 300 includes a first cover plate 301 and a second cover plate 302 that are bent and connected. The opposite sides of the first cover plate 301 are respectively connected to the first inclined portion 115 and the second inclined portion.

[0082] In this embodiment, by setting the first inclined portion 115 and the second inclined portion, the first cover plate 301 is installed accordingly. The display screen can be installed on the first cover plate 301, which is convenient for the user to observe. It is understood that if the display screen is installed on the front panel 200 of the chest cavity, the user needs to bend over and squat down to see the display screen. If the display screen is installed on the second cover plate 302, the user needs to lower their head to see the display screen. Therefore, installing the display screen on the inclined first cover plate 301 is the optimal choice.

[0083] In one embodiment of this application, the second cover plate 302 is provided with a handle, which facilitates the handling and carrying of the thoracic cavity shell assembly 11.

[0084] In one embodiment of this application, please refer to the following: Figure 3 and Figure 4The 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 402 at the front of the mounting assembly.

[0085] In one embodiment of this application, please refer to the following: Figure 3 and Figure 5 The functional components also include 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.

[0086] Specifically, the voice broadcaster 707 is installed on the broadcaster mounting piece 708 with screws, and then the broadcaster mounting piece 708 is fixed to the computing board mounting piece 704 with screws. The computing board clamping strip 705 and the computing board mounting piece 704 are pressed and fixed to the computing board 706 with screws. Finally, the computing board mounting piece 704 is fixed to the front connecting bracket 402 with screws, thereby fixing the spatial position of the computing board 706 and the voice broadcaster 707 in the internal thoracic cavity component 700.

[0087] The installation direction of the computing board pressure strip 705 is consistent with the installation direction of the front panel 200 of the thoracic cavity. After the front panel 200 of the thoracic cavity is removed, the operator's hand can reach into the interior of the main structure 1 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.

[0088] In one embodiment of this application, please refer to the following: Figure 3 and Figure 6 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 402 at the rear of the mounting assembly.

[0089] 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 402 with screws, thereby fixing the spatial position of the X86 board in the receiving cavity.

[0090] 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 300. After the thoracic cavity top cover plate 300 is removed, the operator's hand can reach into the interior of the thoracic cavity main structure 1 from the rear of the thoracic cavity outer 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 outer 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 outer shell assembly, which is more conducive to maintenance.

[0091] 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 402 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.

[0092] In one embodiment of this application, please refer to the following: Figure 3 and Figure 4 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 402 on the upper part of the mounting assembly.

[0093] 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 300. After the thoracic cavity top cover plate 300 is removed, the operator's hand can reach into the interior of the thoracic cavity main structure 1 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.

[0094] In one embodiment of this application, please refer to the following: Figure 3 and Figure 5 The power board assembly also includes an IMU713, which is mounted on a connection bracket 402 on the upper part of the mounting assembly.

[0095] The installation direction of IMU713 is consistent with the installation direction of the upper end of the thoracic cavity top cover plate 300. After the thoracic cavity top cover plate 300 is removed, the operator's hand can reach into the interior of the main thoracic cavity structure 1 from the upper part of the thoracic cavity shell assembly to remove IMU713 from the connecting bracket 402 on the upper part of the mounting assembly. 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.

[0096] In one embodiment of this application, please refer to the following: Figure 3 and Figure 5 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.

[0097] The installation direction of the IMU clip 715 is consistent with the installation direction of the thoracic cavity top cover plate 300. After the thoracic cavity top cover plate 300 is removed, the operator's hand can reach into the interior of the thoracic cavity main structure 1 from the top of the thoracic cavity shell assembly to remove the IMU clip 715 from the IMU mounting part 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.

[0098] In one embodiment of this application, please refer to the following: Figure 3 and Figure 6 The functional components also include a DC-DC module 717, which is mounted on the side of the power board mounting component 712.

[0099] In one embodiment of this application, please refer to the following: Figure 3 and Figure 6 The functional components also include a ring microphone array control board 718, which is mounted on the rear of the power board mounting component 712.

[0100] Specifically, the IMU 713 is fixed to the upper connecting bracket 402 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 402 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.

[0101] In one embodiment of this application, please refer to the following: Figure 3 and Figure 6The battery assembly includes a battery compartment and a battery 701 disposed within the battery compartment. The battery compartment is mounted on a connecting bracket 402 at the lower part of the mounting assembly.

[0102] For details, please refer to the following: Figure 3 and Figure 5 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 402, thus fixing the battery 701 in place within the thoracic cavity assembly 700. The installation direction of the battery clamping plate 703 is consistent with the installation direction of the thoracic cavity front panel 200. After the thoracic cavity front panel 200 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 clearly see these positions 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.

[0103] In one embodiment of this application, please refer to Figure 1 The functional components also include an image sensing component 500, a positioning and navigation component 600, and a microphone component; the image sensing component 500 is installed in the inner front part of the thoracic shell assembly, and the positioning and navigation component 600 and the microphone component are installed in the inner top part of the thoracic shell assembly.

[0104] In one embodiment of this application, please refer to the following: Figure 8 and Figure 9 A wire stop 405 is provided between the second mounting part 403 and the connector 404, and the wire stop 405 is connected to the connecting bracket 402.

[0105] Specifically, two wire-blocking components 405 are provided on each of the left and right sides. The two wire-blocking components 405 on the same side are symmetrically arranged on the connecting bracket 402, and the two wire-blocking components 405 are respectively installed and fixed on the upper and lower connecting brackets 402.

[0106] Understandably, because the fixed part of the second rotation drive 900 is directly connected to the rotating part of the first rotation drive 800 through the second mounting part 403, the second rotation drive 900 as a whole can be driven to rotate by the rotating part of the first rotation drive 800. Since the power cable and CAN communication cable of the second rotation drive 900 are all connected to the fixed part of the second rotation drive 900, these cables will rotate synchronously with the second rotation drive 900. The power cables and CAN communication cables of the first rotation drive 800 and the second rotation drive 900 are connected in series. This makes it difficult for the relevant wiring harness 406 to rotate smoothly within the confined space formed by the connector 404, the connecting bracket 402, and the second mounting part 403, leading to knots in the wiring harness 406 as it rotates with the second rotation drive 900, thus affecting overall performance. To address this issue, a wire-blocking component 405 is specially designed. Two wire-blocking components 405 on the same side are respectively installed and fixed on the upper and lower connecting brackets 402, and are located between the connecting component 404 and the second mounting component 403, dividing the space into a wire harness rotation space 461 and a wire harness fixing space 462. The spatial allocation of the wire-blocking components 405 can perfectly solve the problem of wire harness knotting during movement.

[0107] In one embodiment of this application, please refer to the following: Figure 7 and Figure 10 The connector 404 has a protruding structure 441; the first mounting member 401 is provided with two limiting members 411. When the connector 404 rotates forward and backward, the protruding structure 441 can abut against the two limiting members 411 respectively.

[0108] Specifically, the limiting member 411 can be installed at the corresponding hole of the first mounting member 401 by means of a limiting stud and threaded connection, so as to limit the rotation range of the first rotation drive member 800.

[0109] In one embodiment of this application, please refer to Figure 7 and Figure 10 The first mounting component 401 is provided with a first zero-point hole 412, and the protruding structure 441 is provided with a second zero-point hole 442. In the zero-point state, the axis of the first zero-point hole 412 and the axis of the second zero-point hole 442 are on the same straight line.

[0110] This embodiment provides a method for zeroing a servo motor. Zeroing a servo motor means providing an origin point for a rotating coordinate system for each servo motor, facilitating motion reference for subsequent motion control. During installation and debugging, a zeroing auxiliary pin 407 is used to pass through the first zeroing hole 412 and the second zeroing hole 442 to achieve coaxiality between the two holes. This position is used as the current servo motor position zero point. Powering on and acquiring the current position achieves servo motor zeroing. Simultaneously, the protruding structure 441 collides with the limiting member 411 mounted on the first mounting member 401 when the first rotation drive member 800 rotates, thereby limiting the range of motion of the rotating part of the first rotation drive member 800.

[0111] This application also provides a robot, please refer to it as well. Figure 13 and Figure 14 The robot includes a leg structure 2 and the aforementioned main thoracic cavity structure 1, with the leg structure 2 being movably connected to the main thoracic cavity structure 1.

[0112] In one embodiment of this application, the leg structure 2 includes a leg and a wheel; one end of the leg is connected to the second rotation drive 900, and the other end of the leg is movably connected to the wheel.

[0113] Specifically, please refer to Figure 12 The leg assembly includes a thigh 21 and a knee joint rocker arm 22. The fixed part of the second rotation drive 900 is connected to the thigh 21 to achieve hip joint actuation. The rotating part of the second rotation drive 900 is connected to the knee joint rocker arm 22 to achieve knee joint actuation. This connection method is used when using a tandem leg configuration. Similarly, when using a parallel leg configuration, different components of the parallel leg are connected to the fixed part and the rotating part of the second rotation drive 900 respectively to achieve leg power transmission.

[0114] 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 body structure, characterized by, The chest body structure comprises a chest shell assembly, a driving assembly located in the chest shell assembly, and a mounting assembly for mounting the driving assembly across between opposite sides of the chest shell assembly; the driving assembly comprises a first rotary driving member and a second rotary driving member connected in series, and a rotating part of the first rotary driving member is fixedly connected with a fixed part of the second rotary driving member; the mounting assembly comprises a connecting bracket, two first mounting members and a second mounting member mounted on the connecting bracket, the two first mounting members are fixedly connected with opposite sides of the chest shell assembly respectively, the fixed part of the first rotary driving member is fixedly connected with the second mounting member, and a rotating part of the second rotary driving member penetrates through one of the first mounting members, and the connecting bracket is mounted across between the opposite sides of the chest shell assembly through the first mounting member. The rotating part of the first rotary driving member and the fixed part of the second rotary driving member are fixedly connected through a connecting member; the connecting member is annular, and is perpendicular to the connecting bracket; the connecting member comprises a first mounting part mounted on the rotating part of the first rotary driving member, and a second mounting part extending from an outer periphery of the first mounting part towards the fixed part of the second rotary driving member and wrapping around one end of the fixed part of the second rotary driving member, and one end of the fixed part of the second rotary driving member extends into the second mounting part. The driving assembly is two, the first rotary driving members of the two driving assemblies are close to each other, the second rotary driving members of the two driving assemblies are away from each other, and the rotating parts of the two second rotary driving members penetrate through the two first mounting members respectively; the second mounting member is two, and the fixed parts of the two first rotary driving members are fixedly connected with the two second mounting members respectively.

2. The thoracic body structure of claim 1, wherein, The connecting bracket is a long frame structure, and opposite ends of the connecting bracket are fixedly connected with the two first mounting members respectively, and the two second mounting members are located between the two first mounting members.

3. The thoracic body structure of claim 2, wherein, The connecting bracket is provided with a lightening hole between the first mounting member and the second mounting member adjacent to the first mounting member, and is provided with two lightening holes between the two second mounting members.

4. The thoracic body structure of claim 1, wherein, The connecting bracket comprises a first part connected between the two second mounting members and a second part connected between the first mounting member and the second mounting member, and the first part is closer to the rotating axis of the driving assembly than the second part.

5. The thoracic body structure of any of claims 1-4, wherein, The connecting bracket is provided with a plurality of connecting brackets, and the plurality of connecting brackets surround the outer periphery of the driving assembly.

6. The thoracic body structure of claim 1, wherein, A line blocking member is arranged between the second mounting member and the connecting member, and the line blocking member is connected with the connecting bracket.

7. The thoracic body structure of claim 1, wherein, The connecting member is provided with a protruding structure; the first mounting member is provided with two limiting members, and the protruding structure can abut against the two limiting members respectively when the connecting member rotates in the forward direction and the reverse direction.

8. The thoracic body structure of claim 7, wherein, The first mounting member is provided with a first zero mark hole, and the protruding structure is provided with a second zero mark hole, and in the zero mark state, the axis of the first zero mark hole and the axis of the second zero mark hole are on the same straight line.

9. A robot, characterized in that Comprise: The chest body structure according to any one of claims 1-8, and A leg structure movably connected with the chest body structure.

10. The robot of claim 9, wherein, The leg structure comprises a leg part and a wheel part; one end of the leg part is connected with the second rotating driving member, and the other end of the leg part is movably connected with the wheel part.

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