Torso assembly and humanoid robot

Abstract

A trunk assembly and a humanoid robot. The trunk assembly is used for a humanoid robot, and includes a trunk device and a waist device. The trunk device includes a mounting frame, a pillar, and a battery assembly. The mounting frame encloses a receiving space, and the battery assembly is received in the receiving space. One end of the pillar is connected and fixed to the mounting frame. The waist device includes a mounting seat and a waist driving member. The waist driving member is mounted on the mounting seat, and the waist driving member is connected and fixed to the other end of the pillar. The waist driving member is used to drive the pillar to rotate around a first axis relative to the mounting seat. The first axis extends along a first direction. When the humanoid robot is in an upright state, the first direction is the up and down direction of the humanoid robot. The center of gravity of the trunk device is located on the first axis. The humanoid robot using the trunk assembly has good stability.

Description

Technical Field

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

[0002] In order to make the humanoid robot suitable for a wider range of application scenarios, it is necessary to equip the humanoid robot with batteries, and the humanoid robot also needs to have a certain endurance. Batteries with this performance are heavy, and heavy batteries can easily affect the balance of the robot, resulting in poor stability of the humanoid robot. Summary of the invention

[0003] The purpose of the present application is to provide a torso assembly and a humanoid robot to solve the problem of stability of the humanoid robot.

[0004] To achieve the purpose of this application, this application provides the following technical solutions:

[0005] In a first aspect, the present application provides a torso assembly for a humanoid robot, comprising:

[0006] The trunk device comprises a mounting frame, a support and a battery assembly, wherein the mounting frame encloses a receiving space, the battery assembly is received in the receiving space, and one end of the support is connected and fixed to the mounting frame;

[0007] The waist device includes a mounting seat and a waist driving component, wherein the waist driving component is mounted on the mounting seat and is fixedly connected to the other end of the pillar, and the waist driving component is used to drive the pillar to rotate around a first axis relative to the mounting seat. When the humanoid robot is in an upright state, the first axis extends along a first direction, and the first direction is the up and down direction of the humanoid robot; wherein the center of gravity of the torso device is located on the first axis.

[0008] The center of gravity of the torso device of the torso assembly of the present application is located on the rotation axis of the waist drive member, and the mounting frame and the mounting seat are connected and fixed by pillars, so that the connection strength between the torso device and the waist device is good, and the center of gravity of the torso device always remains unchanged, so the static stability of the humanoid robot is good; and during the movement process, the center of gravity of the torso device is always located on the first axis, the center of gravity line remains stable and easy to control, the humanoid robot can respond to various dynamic changes more flexibly, and improve its stability and adaptability in complex environments. Therefore, after the torso assembly of the present application is applied to the humanoid robot, the stability of the humanoid robot is good.

[0009] In one embodiment, the pillar includes a connected first cylinder and a mounting plate, the mounting plate is connected to the mounting frame, the pillar is provided with a first mounting hole, the first mounting hole penetrates the first cylinder and the mounting plate in the first direction, the lumbar driving member extends into the first cylinder from the first mounting hole, and the rotor of the lumbar driving member is connected to the first cylinder.

[0010] Providing a mounting plate increases the connection area and strength between the pillar and the mounting frame, thereby improving the connection effect between the waist device and the trunk device. Providing a first cylinder is convenient for accommodating at least part of the waist drive component, thereby improving the integration of the trunk assembly. At the same time, the first mounting hole passes through the first cylinder and the mounting plate, which helps to reduce the weight of the pillar.

[0011] In one embodiment, the pillar also includes a positioning boss, which is arranged on the inner wall surface of the first cylinder and along the circumference of the first cylinder. A connecting hole is opened at the end of the first cylinder close to the mounting seat, and the connecting hole passes through the outer circumferential surface and the inner wall surface of the first cylinder. In the first direction, the positioning boss is closer to the mounting frame than the connecting hole.

[0012] During the connection process between the first cylinder and the waist driving member, the positioning boss and the connecting hole play a role in positioning and limiting, thereby improving the installation efficiency of the waist driving member and the first cylinder.

[0013] In one embodiment, the mounting seat includes a second cylinder, a first connecting portion and a second connecting portion, the second cylinder is provided with a second mounting hole, the second mounting hole penetrates the second cylinder in the first direction, the waist driving member is at least partially accommodated in the second mounting hole, the stator of the waist driving member is connected to the second cylinder, the first connecting portion is arranged at one end of the second cylinder in the second direction, the second connecting portion is arranged at the other end of the second cylinder in the second direction, the first connecting portion and the second connecting portion are used for one-to-one connection with two hip joint devices of the humanoid robot, and the second direction is the left and right direction of the humanoid robot.

[0014] A second cylinder is provided to accommodate the waist driving member to improve the integration of the torso assembly in the first direction, and a first connecting portion and a second connecting portion are provided to facilitate connection with the hip joint device to realize the anthropomorphism of the humanoid robot.

[0015] In one embodiment, the support further comprises a first limit block, and the first limit block is arranged on the end surface of the first cylinder facing the second cylinder;

[0016] The mounting seat also includes a second limit block and a third limit block arranged at intervals, the second limit block and the third limit block are arranged on the end surface of the second cylinder facing the first cylinder, the first limit block is arranged between the second limit block and the third limit block, and the second limit block and the third limit block are used to limit the rotation angle of the first limit block.

[0017] The first limit block is arranged between the second limit block and the third limit block. By limiting the first limit block, the rotation angle of the waist driving component is limited to prevent the humanoid robot from losing balance or causing structural damage due to excessive movement. By limiting the waist movement range of the humanoid robot, the wear and fatigue of the waist device of the humanoid robot can be reduced, thereby extending its overall service life.

[0018] In one embodiment, the mounting frame includes a top plate, a bottom plate, a first side plate, a second side plate and a third side plate, the top plate and the bottom plate are opposite to each other in the first direction, the first side plate and the second side plate are opposite to each other in the second direction, the third side plate connects the top plate, the bottom plate, the first side plate and the second side plate, and the second direction is the left-right direction of the humanoid robot;

[0019] The top plate, the bottom plate, the first side plate, the second side plate and the third side plate are enclosed to form a first opening and the receiving space, and the battery assembly extends into the receiving space from the first opening.

[0020] The installation frame formed by the top plate, the bottom plate, the first side plate, the second side plate and the third side plate is a cube, which makes the structure of the installation frame simple and easy to produce. At the same time, it also limits the shape of the battery assembly, and the cross-section of the battery assembly corresponds to a rectangle.

[0021] In one embodiment, the first side plate is provided with a snap-in hole, and the battery assembly includes an unlocking member and a snap-in portion, and the unlocking member is used to drive the snap-in portion to extend into or withdraw from the snap-in hole.

[0022] By snap-fitting the battery assembly to the first side plate and the second side plate, the battery assembly and the mounting frame are fixed in a simple and detachable manner, which facilitates the disconnection between the battery assembly and the mounting frame and the replacement of the battery assembly, thereby avoiding the humanoid robot from being unable to work due to the long-term charging of the battery assembly, thereby improving the work efficiency of the humanoid robot.

[0023] In one embodiment, the trunk assembly further comprises a first shoulder device and a second shoulder device that are opposite to each other in the second direction, the first shoulder device being connected to the first side plate, and the second shoulder device being connected to the second side plate;

[0024] The first shoulder device includes a first mounting shell and a first driving member, the first mounting shell is connected to the mounting frame, the first driving member is accommodated in the first mounting shell and connected to the first mounting shell, the first driving member moves around a second axis, the second axis extends along the second direction, and the second axis intersects and is perpendicular to the first axis.

[0025] The first axis and the second axis intersect and are perpendicular to each other, making the structure of the humanoid robot's trunk assembly more compact, which is conducive to realizing more functions in a limited space. In addition, the perpendicularly intersecting axis layout helps to enhance the overall stability of the humanoid robot. During dynamic working, this structure can better resist external interference and vibration and maintain precise control of the humanoid robot.

[0026] In one embodiment, the mounting frame further comprises a first extension plate, the first extension plate is connected to an end of the first side plate away from the bottom plate, and the first extension plate protrudes from the top plate;

[0027] One end of the first installation shell in the first direction is connected and fixed to the first side plate, and the other end of the first installation shell in the first direction is connected and fixed to the first extension plate.

[0028] Setting the first extension plate lengthens the length of the mounting frame in the first direction, and the first mounting shell is respectively connected and fixed to the first extension plate and the first side plate, which helps to provide more installation space for the first side plate and facilitates the integration of other components on the mounting frame.

[0029] In one embodiment, the mounting frame further comprises a second extension plate, the second extension plate is connected to an end of the second side plate away from the bottom plate, the second extension plate protrudes from the top plate, and the second shoulder device is also connected to the second extension plate;

[0030] The mounting frame also includes a first reinforcing plate and a second reinforcing plate, the first reinforcing plate and the second reinforcing plate are arranged relative to each other in a third direction, the first reinforcing plate and the second reinforcing plate are connected to the first extension plate and the second extension plate, and the third direction is the front-to-back direction of the humanoid robot.

[0031] The second extension plate is arranged opposite to the first extension plate, and the second extension plate helps to provide more installation space for the second side plate. The first reinforcement plate and the second reinforcement plate are used to increase the structural strength of the first extension plate and the second extension plate, which helps to improve the overall strength of the trunk assembly.

[0032] In one embodiment, the torso assembly further comprises a neck device, wherein the neck device is connected to the top plate;

[0033] The neck device includes a first connecting member, a second driving member and a third driving member, the second driving member is used to drive the head device of the humanoid robot to move around the first axis, the third driving member is used to drive the head device to move around the second axis, the second axis extends along the second direction, one end of the first connecting member is connected to the rotor of the second driving member, and the other end of the first connecting member is connected to the rotor of the third driving member.

[0034] The second driving member and the third driving member are arranged so that the head device has two degrees of freedom, and the movement axis of the second driving member is the same as the movement axis of the waist driving member, both of which are the first axis. The stable center of gravity line helps to maintain the stability of the humanoid robot during movement, so that the humanoid robot can respond to dynamic changes more flexibly.

[0035] In one embodiment, the trunk assembly further includes a functional device, and the functional device is disposed on at least one of the first side panel, the second side panel, the third side panel, and the bottom panel. The functional device is integrated at various positions of the mounting frame, which is conducive to improving the space utilization of the trunk assembly.

[0036] In one embodiment, the third side plate includes a first portion, a recessed portion, and a second portion connected in sequence, the first portion is connected to the top plate, the second portion is connected to the bottom plate, the recessed portion has a first groove, the opening of the first groove faces away from the first opening, the first portion and the top plate are enclosed to form a second groove, the second portion and the bottom plate are enclosed to form a third groove, and the openings of the second groove and the third groove both face the first opening;

[0037] At least one of the functional components is accommodated in the first groove, and the trunk device further includes a first electric control module and a second electric control module, the first electric control module is accommodated in the second groove, and the second electric control module is accommodated in the third groove.

[0038] The first groove of the third side plate is used to accommodate functional components, and the groove enclosed by the third side plate, the top plate and the bottom plate is used to accommodate the electronic control module. Such an arrangement is conducive to improving the space utilization and integration of the trunk device.

[0039] In one embodiment, the trunk device further comprises an elastic member, and the surface of the first part facing away from the first electronic control module is provided with the elastic member, and / or the surface of the second part facing away from the second electronic control module is provided with the elastic member. The elastic member is provided to provide a buffering and shock absorbing effect during the insertion of the battery assembly into the mounting frame.

[0040] In a second aspect, the present application provides a humanoid robot, comprising a trunk assembly as described in any one of the various embodiments of the first aspect. The humanoid robot using the trunk assembly described in any one of the various embodiments has good stability, can more flexibly respond to various dynamic changes, and has good stability and adaptability in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0042] Figure 1 is a perspective view of a torso assembly of an embodiment;

[0043] Figure 2 is a three-dimensional view of a torso assembly of another embodiment;

[0044] Figure 3 is an exploded view of a partial structure of a torso device according to an embodiment;

[0045] Figure 4 is an exploded view of a support column and waist device of one embodiment;

[0046] Figure 5 is a cross-sectional view of a first cylinder of an embodiment;

[0047] Figure 6 is an exploded view of a neck device of an embodiment;

[0048] Figure 7 is a cross-sectional view of a torso device according to an embodiment.

[0049] Description of reference numerals:

[0050] 100-trunk assembly, 10-trunk device, 11-mounting frame, 111-top plate, 112-bottom plate, 114-first side plate, 1141-first extension plate, 115-second side plate, 1151-second extension plate, 116-third side plate, 1161-first part, 1162-recessed part, 1163-second part, 1164-first groove, 1165-second groove, 1166-third groove, 117-clip hole, 118-third A reinforcing plate, 1181-weight-reducing hole, 119-second reinforcing plate, 12-pillar, 121-first cylinder, 122-mounting plate, 123-first mounting hole, 124-connecting plate, 125-positioning boss, 126-connecting hole, 127-first limit block, 13-battery assembly, 131-battery housing, 132-cover, 133-clamping part, 134-unlocking member, 135-handle, 20-waist device, 21-mounting seat, 211-first Two cylinders, 212-first connecting part, 213-second connecting part, 214-base, 215-inertial measurement unit, 216-second limit block, 217-third limit block, 22-waist driving member, 30-first shoulder device, 31-first mounting shell, 32-first driving member, 40-second shoulder device, 50-neck device, 51-first connecting member, 511-first plate, 512-second plate, 52-second driving member, 53-third driving member , 54-second connecting member, 55-protective shell, 551-heat dissipation hole, 61-first functional device, 62-second functional device, 63-third functional device, 64-fourth functional device, 65-fifth functional device, 66-sixth functional device, 661-power switch, 662-charging unit, 663-network interface, 67-first electric control module, 68-second electric control module, 70-elastic member, X-first direction, Y-second direction, Z-third direction. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0052] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0053] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this application and in the specification are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this application includes any and all combinations of one or more of the related listed items.

[0054] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0055] For reference Figure 1 , Figure 2 and Figure 3 The present application provides a trunk assembly 100 for a humanoid robot, including a trunk device 10 and a waist device 20. The trunk device 10 includes a mounting frame 11, a pillar 12 and a battery assembly 13. The mounting frame 11 encloses a receiving space, and the battery assembly 13 is received in the receiving space. One end of the pillar 12 is connected and fixed to the mounting frame 11. The waist device 20 includes a mounting seat 21 and a waist driving member 22. The waist driving member 22 is mounted on the mounting seat 21, and the waist driving member 22 is connected and fixed to the other end of the pillar 12. The waist driving member 22 is used to drive the pillar 12 to rotate around a first axis relative to the mounting seat 21. The first axis extends along a first direction X. When the humanoid robot is in an upright state, the first direction X is the up and down direction of the humanoid robot; wherein the center of gravity of the trunk device 10 is located on the first axis.

[0056] The battery assembly 13 includes a cover 132, a battery shell 131 and a battery pack. The battery pack is accommodated in the battery shell 131. The cover 132 closes the battery shell 131. The battery pack is composed of multiple battery cells connected in series or in parallel, so that the battery assembly 13 can provide endurance for the humanoid robot.

[0057] The mounting frame 11 , the pillars 12 , and the mounting seat 21 are made of materials with relatively high structural strength, and specifically can be metal materials, high-strength plastics, ceramics, etc. The metal materials include aluminum, aluminum alloy, magnesium alloy, iron, and iron alloy.

[0058] The center of gravity of the torso device 10 of the torso assembly 100 of the present application is located on the rotation axis of the waist drive member 22, and the mounting frame 11 and the mounting seat 21 are connected and fixed by the support 12, so that the connection strength between the torso device 10 and the waist device 20 is good, and the center of gravity of the torso device 10 always remains unchanged, so that the static stability of the humanoid robot is good; and during the movement, the center of gravity of the torso device 10 is always located on the first axis, the center of gravity line remains stable and easy to control, the humanoid robot can more flexibly respond to various dynamic changes, and improve its stability and adaptability in complex environments. Therefore, after the torso assembly 100 of the present application is applied to the humanoid robot, the stability of the humanoid robot is good.

[0059] A stable center of gravity line can also help reduce the energy consumption of the humanoid robot during movement. When the humanoid robot maintains a stable center of gravity position, its movement path and posture changes will be more reasonable and efficient, thereby reducing unnecessary energy consumption and mechanical wear.

[0060] For reference Figure 1 and Figure 4 In one embodiment, the pillar 12 includes a connected first cylinder 121 and a mounting plate 122, the mounting plate 122 is connected to the mounting frame 11, the pillar 12 is provided with a first mounting hole 123, the first mounting hole 123 penetrates the first cylinder 121 and the mounting plate 122 in the first direction X, the lumbar driving member 22 extends into the first cylinder 121 from the first mounting hole 123, and the rotor of the lumbar driving member 22 is connected to the first cylinder 121.

[0061] The waist driving part 22 includes a stator and a rotor. The stator is the fixed part of the waist driving part 22. The stator is mainly composed of an iron core and a winding. The iron core is made of laminated silicon steel sheets and is used to form the magnetic circuit of the driving part. The winding is wound with a thick copper conductor, wrapped with insulating material and coated with epoxy resin to improve the insulation performance. The rotor is the part of the waist driving part 22 that rotates with the magnetic field generated by the stator, and is usually composed of an iron core, a rotating shaft, and a bearing.

[0062] The support 12 may be an integrated structure, that is, the first cylinder 121 and the mounting plate 122 are an integrated structure made by an integrated molding process, and the integrated molding process may be stamping, casting, etc., without limitation. The support 12 may also be a split structure, and the first cylinder 121 and the mounting plate 122 may be connected and fixed by welding, bonding, clamping, screwing, etc.

[0063] The mounting plate 122 and the mounting frame 11 may be connected by screw connection, welding, etc., without limitation.

[0064] Optionally, the pillar 12 further includes a connecting plate 124 , which connects the outer surface of the first cylinder 121 and the surface of the mounting plate 122 facing away from the mounting frame 11 , and is used to strengthen the structural strength of the pillar 12 .

[0065] The installation plate 122 increases the connection area and connection strength between the support 12 and the installation frame 11, so that the connection effect between the waist device 20 and the trunk device 10 is good. The first cylinder 121 is provided to facilitate the accommodation of at least part of the waist driving component 22, so as to improve the integration of the trunk assembly 100. At the same time, the first installation hole 123 passes through the first cylinder 121 and the installation plate 122, which helps to reduce the weight of the support 12.

[0066] For reference Figure 4 and Figure 5 In one embodiment, the pillar 12 also includes a positioning boss 125, which is arranged on the inner wall surface of the first cylinder 121 and along the circumference of the first cylinder 121. A connecting hole 126 is opened at the end of the first cylinder 121 close to the mounting seat 21. The connecting hole 126 passes through the outer circumferential surface and the inner wall surface of the first cylinder 121. In the first direction X, the positioning boss 125 is closer to the mounting frame 11 than the connecting hole 126.

[0067] The positioning boss 125 and the first barrel 121 can be an integral structure or a split structure. Specifically, when the positioning boss 125 and the first barrel 121 are a split structure, the positioning boss 125 and the first barrel 121 can be connected by bonding, welding, clamping, etc. without limitation.

[0068] Optionally, the positioning boss 125 may be in the shape of a ring connected end to end, or in the shape of a ring spaced end to end, without limitation.

[0069] There may be one or more positioning bosses 125 , and the plurality of positioning bosses 125 are spaced apart on the circumference of the inner wall surface of the first cylinder 121 . Optionally, the plurality of positioning bosses 125 are equally spaced on the circumference of the inner wall surface of the first cylinder 121 .

[0070] There can be a plurality of connection holes 126, which are arranged at intervals on the side wall of the first cylinder 121. Each connection hole 126 is correspondingly provided with a threaded member to connect the first cylinder 121 and the waist driving member 22.

[0071] During the connection process between the first cylinder 121 and the lumbar driving member 22 , the positioning boss 125 and the connecting hole 126 play a role in positioning and limiting, thereby improving the installation efficiency of the lumbar driving member 22 and the first cylinder 121 .

[0072] For reference Figure 4In one embodiment, the mounting seat 21 includes a second cylinder 211, a first connecting portion 212 and a second connecting portion 213. The second cylinder 211 is provided with a second mounting hole, and the second mounting hole penetrates the second cylinder 211 in the first direction X. The waist driving member 22 is at least partially accommodated in the second mounting hole. The stator of the waist driving member 22 is connected to the second cylinder 211. The first connecting portion 212 is arranged at one end of the second cylinder 211 in the second direction Y, and the second connecting portion 213 is arranged at the other end of the second cylinder 211 in the second direction Y. The first connecting portion 212 and the second connecting portion 213 are used to be connected to two hip joint devices (not shown in the figure) of the humanoid robot in a one-to-one correspondence. The second direction Y is the left and right direction of the humanoid robot.

[0073] The mounting seat 21 may be an integrated structure, that is, the second cylinder 211, the first connecting portion 212 and the second connecting portion 213 are an integrated structure made by an integrated molding process, and the integrated molding process may be stamping, casting, etc., without limitation. The mounting seat 21 may also be a split structure, and the second cylinder 211, the first connecting portion 212 and the second connecting portion 213 may be connected and fixed by welding, bonding, clamping, screwing, etc.

[0074] The stator of the waist driving member 22 and the second cylinder 211 can be connected by screw connection, bonding, etc.

[0075] The first connection portion 212 can be a straight plate or a curved plate without limitation.

[0076] Optionally, the mounting base 21 further includes a base 214 and an inertial measurement unit (IMU) 215, wherein the base 214 is disposed at the end of the second cylinder 211 in the front-rear direction of the humanoid robot, and the inertial measurement unit 215 is connected and fixed to the base 214. The humanoid robot processes the posture information output by the inertial measurement unit 215 to estimate the position, direction, speed and other information of the humanoid robot in space, thereby realizing autonomous movement and navigation of the humanoid robot.

[0077] The second cylinder 211 is provided to accommodate the waist driving member 22 to improve the integration of the trunk assembly 100 in the first direction X. The first connecting portion 212 and the second connecting portion 213 are provided to facilitate connection with the hip joint device to realize the anthropomorphism of the humanoid robot.

[0078] For reference Figure 4 In one embodiment, the support column 12 further includes a first stopper 127, and the first stopper 127 is disposed on the end surface of the first cylinder 121 facing the second cylinder 211;

[0079] The mounting seat 21 also includes a second limit block 216 and a third limit block 217 that are spaced apart. The second limit block 216 and the third limit block 217 are disposed on the end surface of the second cylinder 211 facing the first cylinder 121. The first limit block 127 is disposed between the second limit block 216 and the third limit block 217. The second limit block 216 and the third limit block 217 are used to limit the rotation angle of the first limit block 127.

[0080] Optionally, the first limit block 127 and the first cylinder 121 may be an integral structure or a split structure. Similarly, the second limit block 216 and the third limit block 217 and the second cylinder 211 may be an integral structure or a split structure, without limitation.

[0081] The first limit block 127 is arranged between the second limit block 216 and the third limit block 217. By limiting the first limit block 127, the rotation angle of the waist drive component 22 is limited to prevent the humanoid robot from losing balance or causing structural damage due to excessive movement. By limiting the waist movement range of the humanoid robot, the wear and fatigue of the humanoid robot's waist device 20 can be reduced, thereby extending its overall service life.

[0082] For reference Figure 1 , Figure 2 and Figure 3 In one embodiment, the mounting frame 11 includes a top plate 111, a bottom plate 112, a first side plate 114, a second side plate 115, and a third side plate 116. The top plate 111 and the bottom plate 112 are opposite to each other in a first direction X, the first side plate 114 and the second side plate 115 are opposite to each other in a second direction Y, and the third side plate 116 connects the top plate 111, the bottom plate 112, the first side plate 114 and the second side plate 115. The second direction Y is the left and right direction of the humanoid robot.

[0083] The top plate 111 , the bottom plate 112 , the first side plate 114 , the second side plate 115 and the third side plate 116 are enclosed to form a first opening and a receiving space, and the battery assembly 13 extends into the receiving space from the first opening.

[0084] Correspondingly, the first opening is also rectangular, which facilitates the insertion and withdrawal of the battery assembly 13.

[0085] Optionally, the mounting frame 11 may be an integrated structure, that is, the top plate 111, the bottom plate 112, the first side plate 114, the second side plate 115 and the third side plate 116 are an integrated structure made by an integrated molding process, and the integrated molding process may be stamping, casting, etc., without limitation. The mounting frame 11 may also be a split structure, and the top plate 111, the bottom plate 112, the first side plate 114, the second side plate 115 and the third side plate 116 may be connected and fixed by welding, bonding, clamping, screwing, etc.

[0086] The installation frame 11 formed by the top plate 111, the bottom plate 112, the first side plate 114, the second side plate 115 and the third side plate 116 is a cube, which makes the structure of the installation frame 11 simple and easy to produce. At the same time, the shape of the battery assembly 13 is also limited, and the cross-section of the battery assembly 13 corresponds to a rectangle.

[0087] For reference Figure 1 and Figure 3 In one embodiment, the first side plate 114 is provided with a snap-in hole 117 , and the battery assembly 13 includes an unlocking member 134 and a snap-in portion 133 , and the unlocking member 134 is used to drive the snap-in portion 133 to extend into or out of the snap-in hole 117 .

[0088] Optionally, a snap-in hole 117 is also formed on the second side plate 115 .

[0089] Optionally, the engaging hole 117 may be circular, rectangular, elliptical, etc., without limitation.

[0090] There may be a plurality of engaging holes 117 on the first side plate 114 and / or the second side plate 115 , and the plurality of engaging holes 117 are arranged at intervals in the first direction X. The engaging portions 133 and the unlocking members 134 are arranged in one-to-one correspondence with the engaging holes 117 .

[0091] The clamping portion 133 extends into the clamping hole 117 to clamp and fix the battery assembly 13 to the mounting frame 11 , and the unlocking member 134 is used to drive the clamping portion 133 to withdraw from the clamping hole 117 to release the clamping state of the battery assembly 13 and the mounting frame 11 .

[0092] Optionally, the battery assembly 13 further includes a handle 135 , which is connected to the cover body 132 and is also connected to the unlocking member 134 . The handle 135 is used to drive the unlocking member 134 to move so that the unlocking member 134 drives the locking portion 133 to exit the locking hole 117 .

[0093] By snap-fitting the battery assembly 13 to the first side plate 114 and the second side plate 115, the battery assembly 13 and the mounting frame 11 are fixed in a simple and detachable manner, which facilitates the disconnection between the battery assembly 13 and the mounting frame 11 and the replacement of the battery assembly 13, thereby preventing the humanoid robot from being unable to work due to the long-term charging of the battery assembly 13, thereby improving the working efficiency of the humanoid robot.

[0094] For reference Figure 1 and Figure 2In one embodiment, the trunk assembly 100 further includes a first shoulder device 30 and a second shoulder device 40 which are opposite to each other in the second direction Y, the first shoulder device 30 is connected to the first side plate 114, and the second shoulder device 40 is connected to the second side plate 115. The first shoulder device 30 includes a first mounting shell 31 and a first driving member 32, the first mounting shell 31 is connected to the mounting frame 11, the first driving member 32 is accommodated in the first mounting shell 31 and connected to the first mounting shell 31, and the first driving member 32 moves around a second axis, the second axis extends along the second direction Y, and the second axis intersects and is perpendicular to the first axis.

[0095] Specifically, the stator of the first driving member 32 is connected and fixed to the first mounting shell 31 .

[0096] An escape hole is formed on the end surface of the first mounting shell 31 close to the waist device 20, and the escape hole is used for escaping the wiring.

[0097] Similarly, the second shoulder device 40 includes a second mounting shell and a fourth driving member, the second mounting shell is connected to the mounting frame 11, the fourth driving member is received in the second mounting shell and connected to the second mounting shell, and the fourth driving member and the first driving member 32 both move around the second axis.

[0098] The first axis and the second axis intersect and are perpendicular to each other, making the structure of the humanoid robot trunk assembly 100 more compact, which is conducive to realizing more functions in a limited space. In addition, the perpendicularly intersecting axis layout helps to enhance the overall stability of the humanoid robot. During dynamic working, this structure can better resist external interference and vibration and maintain precise control of the humanoid robot.

[0099] For reference Figure 1 and Figure 2 In one embodiment, the mounting frame 11 further comprises a first extension plate 1141, the first extension plate 1141 is connected to the end of the first side plate 114 away from the bottom plate 112, and the first extension plate 1141 protrudes from the top plate 111. One end of the first mounting shell 31 in the first direction X is connected and fixed to the first side plate 114, and the other end of the first mounting shell 31 in the first direction X is connected and fixed to the first extension plate 1141.

[0100] The first extension plate 1141 and the first side plate 114 may be an integrated structure, or the first extension plate 1141 and the first side plate 114 may be a separate structure, without limitation.

[0101] The first installation shell 31 and the first side plate 114 and / or the first extension plate 1141 may be connected by screw connection, welding, bonding, etc., without limitation.

[0102] The first extension plate 1141 is provided to lengthen the installation frame 11 in the first direction X. Meanwhile, the first installation shell 31 is respectively connected and fixed to the first extension plate 1141 and the first side plate 114 , which helps to provide more installation space for the first side plate 114 and facilitates the integration of other components on the installation frame 11 .

[0103] For reference Figure 1 and Figure 2 In one embodiment, the mounting frame 11 further includes a second extension plate 1151, the second extension plate 1151 is connected to the end of the second side plate 115 away from the bottom plate 112, the second extension plate 1151 protrudes from the top plate 111, and the second shoulder device 40 is also connected to the second extension plate 1151;

[0104] The mounting frame 11 further includes a first reinforcing plate 118 and a second reinforcing plate 119, which are arranged opposite to each other in a third direction Z, and the first reinforcing plate 118 and the second reinforcing plate 119 are connected to the first extension plate 1141 and the second extension plate 1151, and the third direction Z is the front-to-back direction of the humanoid robot.

[0105] The first reinforcing plate 118 and the first extension plate 1141 and the second extension plate 1151 may be connected by screw connection, clamping connection, welding, bonding, etc., without limitation.

[0106] The first reinforcing plate 118 and the second reinforcing plate 119 are provided with weight-reducing holes 1181 . There may be a plurality of weight-reducing holes 1181 , which are spaced apart on the first reinforcing plate 118 and / or the second reinforcing plate 119 .

[0107] The second extension plate 1151 is disposed opposite to the first extension plate 1141, and the second extension plate 1151 helps to provide more installation space for the second side plate 115. The first reinforcement plate 118 and the second reinforcement plate 119 are used to increase the structural strength of the first extension plate 1141 and the second extension plate 1151, which helps to improve the overall strength of the trunk assembly 100.

[0108] For reference Figure 1 and Figure 6 In one embodiment, the torso assembly 100 also includes a neck device 50, which is connected to the top plate 111; the neck device 50 includes a first connecting member 51, a second driving member 52 and a third driving member 53, the second driving member 52 is used to drive the head device (not shown in the figure) of the humanoid robot to move around a first axis, and the third driving member 53 is used to drive the head device to move around a second axis, and the second axis extends along a second direction Y. One end of the first connecting member 51 is connected to the rotor of the second driving member 52, and the other end of the first connecting member 51 is connected to the rotor of the third driving member 53.

[0109] Optionally, the neck device 50 is disposed between the first reinforcing plate 118 and the second reinforcing plate 119 .

[0110] Optionally, the first connecting member 51 includes a first plate 511 and a second plate 512 connected to each other, the first plate 511 and the second plate 512 are overall "L"-shaped, the first direction X is perpendicular to the first plate 511, the second plate 512 is parallel to the first direction X, the first plate 511 is connected to the rotor of the second driving member 52, and the second plate 512 is connected to the rotor of the third driving member 53.

[0111] The first plate 511 and the second plate 512 can be an integral structure or a split structure. Specifically, when the first connecting member 51 is a split structure, the first plate 511 and the second plate 512 can be connected by bonding, welding, clamping, etc. without limitation.

[0112] Optionally, the neck device 50 also includes a second connecting member 54, one end of the second connecting member 54 is connected to the stator of the third driving member 53, and the other end of the second connecting member 54 is used to connect to the head device, and the third driving member 53 is used to drive the head device to move around the second axis, that is, the head device performs pitch motion.

[0113] Optionally, the neck device 50 further includes a protective shell 55, the second driving member 52 is connected to the top plate 111, and the second driving member 52 is accommodated in the protective shell 55. The protective shell 55 is provided with a heat dissipation hole 551, and there may be a plurality of heat dissipation holes 551, which are arranged at intervals on the protective shell 55, and the heat dissipation holes 551 are provided for heat dissipation of the second driving member 52.

[0114] The second driving member 52 and the third driving member 53 are provided so that the head device has two degrees of freedom, and the movement axis of the second driving member 52 is the same as the movement axis of the waist driving member 22, both of which are the first axis. The stable center of gravity line helps to maintain the stability of the humanoid robot during movement, so that the humanoid robot can respond to dynamic changes more flexibly.

[0115] For reference Figure 1 , Figure 2 and Figure 3 In one embodiment, the trunk assembly 100 further includes a functional device, and the functional device is disposed on at least one of the first side panel 114 , the second side panel 115 , the third side panel 116 , and the bottom panel 112 .

[0116] The torso assembly 100 includes multiple functional devices, optionally, the functional devices include a first functional device 61, the first functional device 61 is arranged on the second side panel 115, and the first functional device 61 is used to process the laser radar related signals of the humanoid robot; the functional devices also include a second functional device 62, the second functional device 62 is arranged on the first side panel 114, and the second functional device 62 is used for motion control and calculation of the humanoid robot; the functional devices also include a third functional device 63, the third functional device 63 is arranged on the third side panel 116, and the third functional device 63 is used to manage the power supply and switch related signals of the humanoid robot; the functional devices also include a fourth functional device 64, the fourth functional device 64 is arranged on the third side panel 116 with an interval with the third functional device 63, and the fourth functional device 64 is used to control the power output and signal output of the battery assembly 13.

[0117] Optionally, the functional device also includes a fifth functional device 65, which is disposed on the second side plate 115 and is used to supply power to the laser radar.

[0118] Optionally, the functional device also includes a sixth functional device 66, which is connected to the end of the base plate 112 away from the third side plate 116. The sixth functional device 66 includes a power switch 661, a charging unit 662, and a network interface 663. The power switch 661 is used to start or shut down the humanoid robot, the charging unit 662 is used to charge the battery assembly 13, and the network interface 663 is used to connect to an external network to realize functions such as data transmission and network connection of the humanoid robot.

[0119] Functional devices are integrated at various positions of the mounting frame 11 , which is beneficial to improving the space utilization of the trunk assembly 100 .

[0120] For reference Figure 7 In one embodiment, the third side plate 116 includes a first portion 1161, a recessed portion 1162, and a second portion 1163 connected in sequence. The first portion 1161 is connected to the top plate 111, and the second portion 1163 is connected to the bottom plate 112. The recessed portion 1162 has a first groove 1164, and the opening of the first groove 1164 faces away from the first opening. The first portion 1161 and the top plate 111 are enclosed to form a second groove 1165, and the second portion 1163 and the bottom plate 112 are enclosed to form a third groove 1166. The openings of the second groove 1165 and the third groove 1166 are both facing the first opening. At least one functional device is accommodated in the first groove 1164. The trunk device 10 also includes a first electric control module 67 and a second electric control module 68. The first electric control module 67 is accommodated in the second groove 1165, and the second electric control module 68 is accommodated in the third groove 1166.

[0121] Optionally, the bottom walls of the first groove 1164 , the second groove 1165 , and the third groove 1166 may be a flat surface, a curved surface, etc., without limitation.

[0122] Specifically, the third functional device 63 is received in the first groove 1164 ; the fourth functional device 64 is disposed on a side of the second portion 1163 facing away from the first opening.

[0123] The first electric control module 67 and / or the second electric control module 68 can be used to electrically connect the battery assembly 13 with other functional devices after the battery assembly 13 is inserted into the mounting frame 11, so that the battery assembly 13 can supply power to other components of the humanoid robot. Specifically, the first electric control module 67 is used to enable the battery assembly 13 to supply power to the head device, the first shoulder device 30, the second shoulder device 40, etc.; the second electric control module 68 is used to enable the battery assembly 13 to supply power to the waist device 20, the leg device (not shown in the figure), etc.

[0124] The first groove 1164 of the third side plate 116 is used to accommodate functional components, and the groove enclosed by the third side plate 116, the top plate 111 and the bottom plate 112 is used to accommodate the electronic control module. Such a configuration is conducive to improving the space utilization and integration of the torso device 10.

[0125] For reference Figure 7 In one embodiment, the torso device 10 further includes an elastic member 70 , and the elastic member 70 is disposed on the surface of the first portion 1161 facing away from the first electronic control module 67 , and / or the elastic member 70 is disposed on the surface of the second portion 1163 facing away from the second electronic control module 68 .

[0126] The elastic member 70 can be a spring, a rubber gasket, etc., without limitation.

[0127] There may be a plurality of elastic members 70 , which are spaced apart on the first portion 1161 and / or the second portion 1163 .

[0128] The elastic member 70 is provided to provide a buffering and shock-absorbing effect during the process of inserting the battery assembly 13 into the mounting frame 11 , which is beneficial to improving the stability of the trunk device 10 .

[0129] The present application provides a humanoid robot, including the trunk assembly 100 in the various embodiments described above. The humanoid robot using the trunk assembly 100 in the various embodiments described above has good stability, can more flexibly respond to various dynamic changes, and has good stability and adaptability in complex environments.

[0130] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship of terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the orientation or positional relationship described in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0131] What is disclosed above is only a preferred embodiment of the present application, and it certainly cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiment and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A trunk assembly, characterized in that: For humanoid robots, including: The trunk device comprises a mounting frame, a support and a battery assembly, wherein the mounting frame encloses a receiving space, the battery assembly is received in the receiving space, and one end of the support is connected and fixed to the mounting frame; A waist device, comprising a mounting seat and a waist driving member, wherein the waist driving member is mounted on the mounting seat and is connected and fixed to the other end of the support, and the waist driving member is used to drive the support to rotate around a first axis relative to the mounting seat, wherein the first axis extends along a first direction, and when the humanoid robot is in an upright state, the first direction is the up-down direction of the humanoid robot; wherein the center of gravity of the torso device is located on the first axis; The mounting frame comprises a first side plate and a second side plate, the first side plate and the second side plate are opposite to each other in a second direction, and the second direction is a left-right direction of the humanoid robot; The first side panel is provided with a snap-in hole, and the battery assembly includes an unlocking member and a snap-in portion, the unlocking member is used to drive the snap-in portion to extend into or withdraw from the snap-in hole, the snap-in portion extends into the snap-in hole to realize the snap-in fixation of the battery assembly and the mounting frame, and the unlocking member is used to drive the snap-in portion to withdraw from the snap-in hole to release the snap-in state between the battery assembly and the mounting frame, and to replace the battery assembly.

2. The trunk assembly according to claim 1, characterized in that: The pillar includes a connected first cylinder and a mounting plate, the mounting plate is connected to the mounting frame, the pillar is provided with a first mounting hole, the first mounting hole penetrates the first cylinder and the mounting plate in the first direction, the lumbar drive member extends into the first cylinder from the first mounting hole, and the rotor of the lumbar drive member is connected to the first cylinder.

3. The trunk assembly according to claim 2, characterized in that: The support also includes a positioning boss, which is arranged on the inner wall surface of the first cylinder and along the circumference of the first cylinder. A connecting hole is opened at the end of the first cylinder close to the mounting seat, and the connecting hole passes through the outer circumference and inner wall surface of the first cylinder. In the first direction, the positioning boss is closer to the mounting frame than the connecting hole.

4. The trunk assembly according to claim 2, characterized in that: The mounting seat includes a second cylinder, a first connecting portion and a second connecting portion, the second cylinder is provided with a second mounting hole, the second mounting hole penetrates the second cylinder in the first direction, the waist driving component is at least partially accommodated in the second mounting hole, the stator of the waist driving component is connected to the second cylinder, the first connecting portion is arranged at one end of the second cylinder in the second direction, the second connecting portion is arranged at the other end of the second cylinder in the second direction, the first connecting portion and the second connecting portion are used for one-to-one connection with two hip joint devices of the humanoid robot, and the second direction is the left and right direction of the humanoid robot.

5. The trunk assembly according to claim 4, characterized in that: The support column further comprises a first limit block, and the first limit block is arranged on the end surface of the first cylinder body facing the second cylinder body; The mounting seat also includes a second limit block and a third limit block arranged at intervals, the second limit block and the third limit block are arranged on the end surface of the second cylinder facing the first cylinder, the first limit block is arranged between the second limit block and the third limit block, and the second limit block and the third limit block are used to limit the rotation angle of the first limit block.

6. The trunk assembly according to claim 1, characterized in that: The mounting frame comprises a top plate, a bottom plate and a third side plate, the top plate and the bottom plate are opposite to each other in the first direction, and the third side plate connects the top plate, the bottom plate, the first side plate and the second side plate; The top plate, the bottom plate, the first side plate, the second side plate and the third side plate are enclosed to form a first opening and the receiving space, and the battery assembly extends into the receiving space from the first opening.

7. The trunk assembly according to claim 6, characterized in that: The torso assembly further includes a first shoulder device and a second shoulder device opposite to each other in the second direction, the first shoulder device being connected to the first side plate, and the second shoulder device being connected to the second side plate; The first shoulder device includes a first mounting shell and a first driving member, the first mounting shell is connected to the mounting frame, the first driving member is accommodated in the first mounting shell and connected to the first mounting shell, the first driving member moves around a second axis, the second axis extends along the second direction, and the second axis intersects and is perpendicular to the first axis.

8. The trunk assembly according to claim 7, characterized in that: The mounting frame further comprises a first extension plate, the first extension plate being connected to an end of the first side plate away from the bottom plate, and the first extension plate protruding from the top plate; One end of the first installation shell in the first direction is connected and fixed to the first side plate, and the other end of the first installation shell in the first direction is connected and fixed to the first extension plate.

9. The trunk assembly according to claim 8, characterized in that: The mounting frame further comprises a second extension plate, the second extension plate being connected to an end of the second side plate away from the bottom plate, the second extension plate protruding from the top plate, and the second shoulder device being further connected to the second extension plate; The mounting frame also includes a first reinforcing plate and a second reinforcing plate, the first reinforcing plate and the second reinforcing plate are arranged relative to each other in a third direction, the first reinforcing plate and the second reinforcing plate are connected to the first extension plate and the second extension plate, and the third direction is the front-to-back direction of the humanoid robot.

10. The trunk assembly according to claim 6, characterized in that: The torso assembly also includes a neck device, and the neck device is connected to the top plate; The neck device includes a first connecting member, a second driving member and a third driving member, the second driving member is used to drive the head device of the humanoid robot to move around the first axis, the third driving member is used to drive the head device to move around the second axis, the second axis extends along the second direction, one end of the first connecting member is connected to the rotor of the second driving member, and the other end of the first connecting member is connected to the rotor of the third driving member.

11. The trunk assembly according to claim 6, characterized in that: The trunk assembly further includes a functional device, and the functional device is disposed on at least one of the first side panel, the second side panel, the third side panel, and the bottom panel.

12. The trunk assembly according to claim 11, characterized in that: The third side plate comprises a first portion, a recessed portion, and a second portion connected in sequence, the first portion being connected to the top plate, the second portion being connected to the bottom plate, the recessed portion having a first groove, the opening of which faces away from the first opening, the first portion and the top plate forming a second groove, the second portion and the bottom plate forming a third groove, the openings of the second groove and the third groove both facing the first opening; At least one of the functional components is accommodated in the first groove, and the trunk device further includes a first electric control module and a second electric control module, the first electric control module is accommodated in the second groove, and the second electric control module is accommodated in the third groove.

13. The trunk assembly according to claim 12, characterized in that: The trunk device further comprises an elastic member, and the elastic member is disposed on a surface of the first part facing away from the first electronic control module, and / or the elastic member is disposed on a surface of the second part facing away from the second electronic control module.

14. A humanoid robot, characterized in that: Comprising a torso assembly as described in any one of claims 1 to 13.

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