Disassembly and assembly of structures, battery components, torso devices and humanoid robots

Abstract

A disassembly structure, a battery assembly, a trunk device and a humanoid robot, wherein the disassembly structure comprises a cover body, a first locking assembly and a first unlocking member; the cover body comprises a cover plate and a first side plate, the cover plate comprises a first surface and a second surface opposite to each other, the first side plate is connected to the cover plate and protrudes from the second surface, a first limiting groove is provided on the cover plate from the second surface, a first limiting hole is also provided on the cover plate that passes through the first surface to the first limiting groove, a first clamping hole is provided on the first side plate, and the first clamping hole is communicated with the first limiting groove; a part of the first locking assembly is accommodated in the first limiting groove, a part extends from the first clamping hole to the outside of the first side plate, and another part is exposed from the first limiting hole to the first surface; the first unlocking member is connected to the cover body and to the part of the first locking assembly exposed on the first surface, and the first unlocking member is used to drive the first locking assembly to return to the first limiting groove. A humanoid robot using the disassembly structure does not need to wait for charging, and has high working efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of humanoid robots, and in particular to a disassembly and assembly structure, a battery assembly, a trunk device and a humanoid robot. Background Art

[0002] The battery of the humanoid robot needs to be charged after work is completed, which causes the robot to be unable to continue working during the charging process. The waiting time for charging is long, resulting in low work efficiency of the humanoid robot. Summary of the Invention

[0003] The purpose of the present invention is to provide a disassembly and assembly structure, a battery assembly, a trunk device and a humanoid robot to solve the problem of low working efficiency of the humanoid robot.

[0004] To achieve the purpose of the present invention, the present invention provides the following technical solutions:

[0005] In a first aspect, the present invention provides a disassembly and assembly structure for a battery assembly of a humanoid robot, wherein the battery assembly is used in a torso device of the humanoid robot, the torso device further comprising an installation box and a housing, the installation box being housed within the housing, the battery assembly being housed within the installation box, and the disassembly and assembly structure being exposed from the housing;

[0006] The disassembly and assembly structure comprises:

[0007] The cover body includes a cover plate and a first side plate, the cover plate including a first surface and a second surface opposite to each other, the first side plate being connected to the cover plate and protruding from the second surface, the cover plate having a first limiting groove formed from the second surface, the cover plate further having a first limiting hole extending through the first surface to the first limiting groove, the first side plate having a first clamping hole formed thereon, the first clamping hole being in communication with the first limiting groove;

[0008] a first locking assembly, partially received in the first limiting groove, partially extending from the first engaging hole to the outside of the first side plate, and another portion exposed from the first limiting hole to the first surface, the first locking assembly being configured to engage with the installation box;

[0009] The first unlocking member is connected to the cover body and to the portion of the first locking component exposed on the first surface. The first unlocking member is used to drive the first locking component to return to the first limiting groove.

[0010] The disassembly and assembly structure of the present invention realizes the switching of the disassembly and assembly structure between the unlocked state and the locked state by setting a first locking component and a first unlocking component in cooperation with the cover body, wherein the first locking component extends from the first clamping hole to the outside of the first side plate to put the disassembly and assembly structure in the locked state, and the first unlocking component drives the first locking component to return to the first limiting groove to put the disassembly and assembly structure in the unlocked state. The operation of switching the disassembly and assembly structure of the present invention between the unlocked state and the locked state is simple and easy to implement. Therefore, when the disassembly and assembly structure is used for battery assemblies, the battery assemblies can also be quickly disassembled and installed. The humanoid robot using this disassembly and assembly structure does not need to wait for charging, and the work efficiency is high.

[0011] In one embodiment, the cover body further includes a second side plate, the second side plate is arranged opposite to the first side plate in the first direction, the second side plate is connected to the cover plate and protrudes from the second surface, and a second snap-fit ​​hole is formed on the second side plate;

[0012] The cover plate further defines a second limiting groove extending from the second surface, and further defines a second limiting hole extending through the first surface to the second limiting groove. The second limiting groove is communicated with the second engaging hole, and the first limiting groove and the second limiting groove are spaced apart from each other.

[0013] The disassembly structure further includes a second locking assembly and a second unlocking member, wherein the second locking assembly is partially received in the second limiting groove, partially extends from the second engaging hole to the outside of the second side plate, and the other portion is exposed from the second limiting hole to the first surface;

[0014] a second unlocking member connected to the cover body and to a portion of the second locking assembly exposed on the first surface, the second unlocking member being used to drive the second locking assembly back into the second limiting groove;

[0015] The disassembly and assembly structure further includes a handle, to which the first unlocking member and the second unlocking member are both connected, and the handle is used to drive the first unlocking member and the second unlocking member to move.

[0016] Two locking assemblies and two unlocking members are set corresponding to the first side panel and the second side panel, so that the disassembly structure can unlock the two side panels, and the handle is connected to both the first unlocking member and the second unlocking member. The handle can simultaneously drive the first unlocking member and the second unlocking member to unlock the first locking assembly and the second locking assembly, thereby improving the unlocking efficiency of the disassembly structure.

[0017] In one embodiment, the first unlocking member and the second unlocking member are symmetrically arranged relative to the handle, and the first locking assembly and the second locking assembly are symmetrically arranged relative to the handle.

[0018] The symmetrical arrangement ensures that the first unlocking member and the second unlocking member have the same effect on the first locking assembly and the second locking assembly during the unlocking process, reducing the probability of the locking assembly getting stuck and facilitating the use of the disassembly and assembly structure.

[0019] In one embodiment, the cover plate includes a base plate, a first limiting plate, a second limiting plate, and a partition plate, wherein the first limiting plate and the second limiting plate are arranged opposite to each other in the second direction and connected to the base plate, the first side plate is connected to one end of the first limiting plate and the second limiting plate in the first direction, and the second side plate is connected to the other end of the first limiting plate and the second limiting plate in the first direction;

[0020] The partition connects the first limiting plate and the second limiting plate, the base plate, the first limiting plate, the second limiting plate and the partition together form the first limiting groove and the second limiting groove, and the first direction intersects with the second direction.

[0021] A first limiting plate, a second limiting plate and a partition are provided to enclose together with the base plate to form a first limiting groove and a second limiting groove, providing installation space for the first locking assembly and the second locking assembly, and the first locking assembly and the second locking assembly are both accommodated in the internal space enclosed by the cover plate, thereby improving the space utilization of the disassembly and assembly structure.

[0022] In one embodiment, the first locking assembly includes a first slider and a first elastic member, the first slider is slidably connected to the base plate, one end of the first elastic member in the first direction abuts against the partition, and the other end of the first elastic member in the first direction abuts against the first slider.

[0023] When the first locking assembly is in a locked state, the first elastic member applies pressure to the first slider in a first direction to prevent the first slider from returning to the first limiting groove; when the first locking assembly is in an unlocked state, the first slider compresses the first elastic member in the first direction, so that the first slider does not need to abut against the partition, thereby reducing the size of the first slider and facilitating the lightweight disassembly and assembly structure.

[0024] In one embodiment, the first slider includes a third surface and a fourth surface facing each other, the third surface being closer to the cover plate than the fourth surface. The first slider also includes a connecting surface connecting the third and fourth surfaces. The end of the first slider extending from the first engaging hole is pointed. The connecting surface guides the first slider as it enters or exits the first engaging hole, and the third surface prevents the first slider from retracting into the first limiting groove when locked.

[0025] In one embodiment, the disassembly and assembly structure also includes a baffle, one end of the baffle in the first direction is connected to the first side plate, the other end of the baffle in the first direction is connected to the second side plate, one end of the baffle in the second direction is connected to the first limiting plate, one end of the baffle in the second direction is connected to the second limiting plate, and the first slider is slidably connected to the baffle.

[0026] The baffle is provided to limit the first slider in the third direction, thereby preventing the first slider from being separated from the first limiting groove and enhancing the structural strength of the first locking assembly.

[0027] In one embodiment, the cover plate further includes a mounting portion, the mounting portion being protruding from the first surface and rotatably connected to the first unlocking member;

[0028] The first unlocking member includes a connecting portion, a rotating shaft and a hook connected in sequence, the connecting portion is rotatably connected to the handle, the rotating shaft is rotatably connected to the mounting portion, the hook is connected to the portion of the first locking assembly exposed from the first limiting hole to the first surface, and the handle drives the rotating shaft and the mounting portion to rotate relative to each other, so that the hook drives the first locking assembly to return to the first limiting groove.

[0029] A mounting portion protruding from the first surface is provided for connection with the first unlocking member, and a hook is provided for extending into the first limiting hole and driving the first slider to move to realize unlocking of the disassembly and assembly structure.

[0030] In one embodiment, the first locking assembly further includes a first limiting block, the first limiting block being disposed on a side of the first slider facing the base plate, the first limiting block being exposed from the first limiting hole to the first surface, and the first limiting block being connected to the hook;

[0031] The cover plate is further provided with a first receiving groove which passes through the first surface to the first limiting groove. The first limiting hole is communicated with the first receiving groove. The first receiving groove is used to receive the hook.

[0032] The first limiting block is accommodated in the first limiting hole and exposed on the first surface, so as to be connected with the hook; while the first receiving groove is provided to accommodate the hook, the bottom wall of the first receiving groove can also limit the hook in the first direction, thereby limiting the movement of the first slider in the first direction.

[0033] In one embodiment, the maximum dimension of the first limiting hole in the second direction is greater than the maximum dimension of the first receiving groove in the second direction;

[0034] In the second direction, the side walls at both ends of the first receiving groove are connected to the side walls of the first limiting hole.

[0035] The sizes of the first limiting hole and the first receiving groove are limited so that a guard is formed at the connection between the first limiting hole and the first receiving groove, thereby limiting the movement of the first limiting block in the first direction; the side walls at both ends of the first limiting groove are connected to the side walls of the first limiting hole, so that the ends of the first limiting block in the second direction are limited, so that the movement of the first limiting block in the second direction is always synchronized.

[0036] In a second aspect, the present invention provides a battery assembly comprising a battery structure and a disassembly structure as described in any one of the various embodiments of the first aspect, wherein the disassembly structure is detachably connected to the battery structure. The detachable connection between the disassembly structure and the battery structure facilitates replacement of the battery structure and expands the application range of the disassembly structure.

[0037] In one embodiment, the battery structure includes a battery housing and a battery. The battery housing has a first opening, the battery is accommodated in the battery housing, and the disassembly structure seals the first opening. When replacing the battery assembly, the battery assembly can directly replace the entire battery assembly or only the battery, broadening the application range of the battery structure.

[0038] In a third aspect, the present invention provides a torso device, comprising an installation box and the battery assembly according to any one of the various embodiments of the second aspect, wherein the installation box has a second opening, and the battery assembly is received in the installation box through the second opening;

[0039] A first locking hole is provided on the side wall of the installation box, and the first locking hole is arranged corresponding to the first clamping hole. The first locking assembly is used to extend from the first locking hole to the outer surface of the installation box, and the first unlocking member is used to drive the first locking assembly to retreat from the first locking hole to the first limiting groove.

[0040] When the first locking component extends out of the outer surface of the installation box from the first lock hole, the disassembly and assembly structure is in a locked state, and the battery assembly is fixed to the installation box. When the first locking component retracts into the first limit groove from the first lock hole, the disassembly and assembly structure is in an unlocked state, and the battery assembly can be withdrawn from the installation box from the second opening, thereby realizing the disassembly and replacement of the battery assembly. The operation of replacing the battery assembly with the torso assembly of the present invention is simple.

[0041] In one embodiment, the trunk device further includes a housing enclosing an installation space, the installation box being received within the installation space, the housing being connected to the installation box, and the disassembly structure being exposed from the housing. The disassembly structure being exposed from the housing allows the battery assembly to enter or exit the installation space of the repelling device during replacement.

[0042] In a fourth aspect, the present invention provides a humanoid robot comprising the torso device according to any one of the various embodiments of the third aspect. The battery assembly of the humanoid robot is housed within the torso device, making it easy to remove the battery assembly without affecting the operation of the humanoid robot due to charging. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0044] Figure 1 is a front view of a torso device according to an embodiment;

[0045] Figure 2 is an exploded view of an installation box of an embodiment;

[0046] Figure 3 is an exploded view of a battery assembly according to an embodiment;

[0047] Figure 4 This is a three-dimensional diagram of the disassembly and assembly structure of an embodiment;

[0048] Figure 5 is a partial exploded view of the disassembled structure of an embodiment;

[0049] Figure 6 is a bottom view of the disassembly and assembly structure of an embodiment;

[0050] Figure 7 is an exploded view of another state of the disassembled structure of an embodiment;

[0051] Figure 8 is a perspective view of a first unlocking member according to an embodiment;

[0052] Figure 9 is a perspective view of a first locking assembly according to an embodiment.

[0053] Description of reference numerals:

[0054] 1000-trunk device, 100-battery assembly, 10-assembly and disassembly structure, 11-cover body, 111-cover plate, 1111-first surface, 1112-second surface, 1113-first limiting groove, 1114-first limiting hole, 1115-second limiting groove, 1116-second limiting hole, 1117-reinforcement rib, 112-first side plate, 1121-first clamping hole, 113-second side plate, 114-base plate, 115-first limiting plate, 116-second limiting plate, 117-partition plate, 1171-accommodating groove, 118-first receiving groove, 119-installing portion, 12-first locking assembly, 121-first slider, 1211-accommodating hole, 1212-third surface, 1213-fourth surface, 1214-connecting surface, 122-first elastic member, 123-first limiting block, 13-first unlocking member, 131-connecting portion, 132-rotating shaft, 133-hook, 14-second locking assembly, 15-second unlocking member, 16-handle, 17-baffle, 18-protective cover, 20-battery housing, 30-battery, 40-first opening, 200-installation box, 210-first lock hole, 300-housing, X-first direction, Y-second direction, Z-third direction. DETAILED DESCRIPTION

[0055] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0056] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may be an intermediate component. When a component is referred to as being "connected to" another component, it may be directly connected to the other component or there may be an intermediate component.

[0057] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art to which this invention pertains. The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0058] The following embodiments of the present invention are described in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments may be combined with each other.

[0059] For reference Figure 1 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 and Figure 7 The present invention provides a disassembly and assembly structure 10 for a battery assembly 100 of a humanoid robot. The disassembly and assembly structure 10 includes a cover body 11, a first locking assembly 12, and a first unlocking member 13. The cover body 11 includes a cover plate 111 and a first side plate 112. The cover plate 111 includes a first surface 1111 and a second surface 1112 opposite to each other. The first side plate 112 is connected to the cover plate 111 and protrudes from the second surface 1112. The cover plate 111 defines a first limiting groove 1113 from the second surface 1112. The cover plate 111 also defines a first limiting hole 1114 that passes through the first surface 1111 to the first limiting groove 1113. The first side plate 112 defines a first engaging hole 1121 that communicates with the first limiting groove 1113. The first locking assembly 12 is partially received in the first limiting slot 1113, partially extends from the first engaging hole 1121 to the outside of the first side panel 112, and the remaining portion is exposed on the first surface 1111 through the first limiting hole 1114. The first unlocking member 13 is connected to the cover 11 and to the portion of the first locking assembly 12 exposed on the first surface 1111. The first unlocking member 13 moves within the first limiting hole 1114 to drive the first locking assembly 12 back into the first limiting slot 1113.

[0060] The cover 11 and first side panel 112 are made of materials with high structural strength, specifically metal, high-strength plastic, ceramic, etc. Metal materials include aluminum, aluminum alloys, magnesium alloys, iron, and iron alloys. The cover 11 can be a one-piece structure, i.e., the cover panel 111 and first side panel 112 are formed using a one-piece molding process, which can be stamping, casting, etc., without limitation. The cover 11 can also be a split structure, in which the first side panel 112 and cover panel 111 are connected and secured by welding, bonding, clamping, screwing, etc.

[0061] The first engaging hole 1121 can be in communication with the surface of the first side plate 112 away from the cover plate 111, or can be spaced apart from the surface of the first side plate 112 away from the cover plate 111. The first engaging hole 1121 can be a rectangular hole, an elliptical hole, etc., without limitation.

[0062] The first limiting hole 1114 can be a rectangular hole, an elliptical hole, a circular hole, etc., without limitation. The first limiting hole 1114 is provided so that the first locking assembly 12 is partially exposed on the first surface 1111, facilitating the connection between the first unlocking member 13 and the first locking assembly 12, thereby enabling the first unlocking member 13 to drive the first locking assembly 12 to move.

[0063] The cover plate 111 further includes a plurality of reinforcing ribs 1117 . The plurality of reinforcing ribs 1117 are disposed on the second surface 1112 . The plurality of reinforcing ribs 1117 are arranged vertically and horizontally to enhance the structural strength of the cover plate 111 .

[0064] The disassembly and assembly structure 10 of the present invention is used in conjunction with the cover body 11 by setting a first locking component 12 and a first unlocking component 13 to realize the switching of the disassembly and assembly structure 10 between the unlocked state and the locked state, wherein the first locking component 12 extends from the first clamping hole 1121 to the outside of the first side plate 112 to put the disassembly and assembly structure 10 in the locked state, and the first unlocking component 13 drives the first locking component 12 to return to the first limiting groove 1113 to put the disassembly and assembly structure 10 in the unlocked state. The operation of switching the disassembly and assembly structure 10 between the unlocked state and the locked state is simple and easy to implement. Therefore, when the disassembly and assembly structure 10 is used for the battery assembly 100, the battery assembly 100 can also be quickly disassembled and installed. The humanoid robot using this disassembly and assembly structure 10 does not need to wait for charging, and the work efficiency is high.

[0065] For reference Figure 3 、 Figure 4 、 Figure 5 and Figure 7 In one embodiment, the cover body 11 further includes a second side panel 113. The second side panel 113 is disposed opposite the first side panel 112 in the first direction X. The second side panel 113 is connected to the cover panel 111 and protrudes from the second surface 1112. A second engaging hole is defined on the second side panel 113. The cover panel 111 further includes a second limiting groove 1115 extending from the second surface 1112. The cover panel 111 further includes a second limiting hole 1116 extending from the first surface 1111 to the second limiting groove 1115. The second limiting groove 1115 is connected to the second engaging hole, and the first limiting groove 1113 is spaced apart from the second limiting groove 1115. The disassembly structure 10 further includes a second locking assembly 14 and a second unlocking member 15. The second locking assembly 14 is partially received in the second limiting groove 1115, partially extends from the second engaging hole to the outside of the second side panel 113, and the remaining portion is exposed from the second limiting hole 1116 to the first surface 1111. The second unlocking member 15 is connected to the cover 11 and to the portion of the second locking assembly 14 exposed on the first surface 1111. The second unlocking member 15 moves within the second limiting hole 1116 to drive the second locking assembly 14 back into the second limiting groove 1115. The disassembly structure 10 also includes a handle 16, to which both the first unlocking member 13 and the second unlocking member 15 are connected. The handle 16 is used to drive the movement of the first unlocking member 13 and the second unlocking member 15.

[0066] Optionally, the cover plate 111 and the second side plate 113 may be an integral structure made by an integral molding process, which may be stamping, casting, etc. The second side plate 113 and the cover plate 111 may be connected and fixed by welding, bonding, clamping, screwing, etc.

[0067] Optionally, the material of the handle 16 can be plastic, metal, wood, etc., without limitation. The distance between the handle 16 and the cover 11 can be equal everywhere, or the distance between the ends of the handle 16 and the cover 11 can be smaller than the distance between the middle area of ​​the handle 16 and the cover 11.

[0068] Optionally, the disassembly structure 10 further includes a third locking assembly and a fourth locking assembly, and correspondingly, the disassembly structure 10 further includes a third unlocking member and a fourth unlocking member. The third locking assembly is spaced apart from the first locking assembly 12 in the second direction Y, and the fourth locking assembly is spaced apart from the second locking assembly 14 in the second direction Y. The third unlocking member and the fourth unlocking member are both connected to the handle 16.

[0069] Optionally, the cover body 11 also includes a third side panel and a fourth side panel arranged opposite to each other, the third side panel connects one end of the first side panel 112 and the second side panel 113, and the fourth side panel connects the other end of the first side panel 112 and the second side panel 113. Snap-in holes may also be provided on the third side panel and the fourth side panel, and the disassembly structure 10 also correspondingly provides a locking structure to extend into or out of the snap-in hole.

[0070] Two locking assemblies and two unlocking members are provided corresponding to the first side panel 112 and the second side panel 113, so that the disassembly structure 10 can unlock the two side panels, and the handle 16 is connected to both the first unlocking member 13 and the second unlocking member 15, so that the handle 16 can simultaneously drive the first unlocking member 13 and the second unlocking member 15 to unlock the first locking assembly 12 and the second locking assembly 14, thereby improving the unlocking efficiency of the disassembly structure 10.

[0071] In one embodiment, the first unlocking member 13 and the second unlocking member 15 are symmetrically arranged relative to the handle 16 , and the first locking assembly 12 and the second locking assembly 14 are symmetrically arranged relative to the handle 16 .

[0072] Optionally, the third unlocking member and the fourth unlocking member are symmetrically arranged relative to the handle 16 , and the third locking assembly and the fourth locking assembly are symmetrically arranged relative to the handle 16 .

[0073] The symmetrical arrangement ensures that the first unlocking member 13 and the second unlocking member 15 have the same effect on the first locking assembly 12 and the second locking assembly 14 during the unlocking process, reducing the probability of the locking assembly getting stuck and facilitating the use of the disassembly and assembly structure 10.

[0074] For reference Figure 4 and Figure 5In one embodiment, the cover plate 111 includes a base plate 114, a first limiting plate 115, a second limiting plate 116, and a partition plate 117. The first limiting plate 115 and the second limiting plate 116 are arranged opposite to each other in the second direction Y and connected to the base plate 114. The first side plate 112 is connected to one end of the first limiting plate 115 and the second limiting plate 116 in the first direction X, and the second side plate 113 is connected to the other end of the first limiting plate 115 and the second limiting plate 116 in the first direction X. The partition plate 117 connects the first limiting plate 115 and the second limiting plate 116. The base plate 114, the first limiting plate 115, the second limiting plate 116, and the partition plate 117 enclose a first limiting groove 1113 and a second limiting groove 1115. The first direction X intersects with the second direction Y.

[0075] The surface of the base plate 114 facing the first limiting plate 115 and the second limiting plate 116 may be provided with multiple slide rails to facilitate the movement of the first locking assembly 12 relative to the base plate 114 in the first direction X, and to facilitate the switching of the disassembly structure 10 between the unlocked and locked states.

[0076] The base plate 114 , the first limiting plate 115 , the second limiting plate 116 and the partition plate 117 may be an integrated structure, or may be connected and fixed by screwing, welding, bonding, clamping or the like.

[0077] A first limiting plate 115, a second limiting plate 116 and a partition plate 117 are provided together with the base plate 114 to enclose a first limiting groove 1113 and a second limiting groove 1115, providing installation space for the first locking assembly 12 and the second locking assembly 14, and the first locking assembly 12 and the second locking assembly 14 are both accommodated in the internal space enclosed by the cover plate 111, thereby improving the space utilization of the disassembly and assembly structure 10.

[0078] For reference Figure 5 and Figure 6 In one embodiment, the first locking assembly 12 includes a first slider 121 and a first elastic member 122. The first slider 121 is slidably connected to the substrate 114. One end of the first elastic member 122 in the first direction X abuts against the partition 117, and the other end of the first elastic member 122 in the first direction X abuts against the first slider 121.

[0079] The first elastic member 122 can be a spring, rubber, etc. There can be a plurality of first elastic members 122 , which are spaced apart in the second direction Y.

[0080] Optionally, a receiving hole 1211 is further provided at the end of the first slider 121 facing the first elastic member 122, one end of the first elastic member 122 abuts against the partition 117, and the other end of the first elastic member 122 abuts against the bottom wall of the receiving hole 1211, and the number of the receiving holes 1211 is the same as the number of the first elastic member 122.

[0081] Optionally, a receiving groove 1171 is opened on the side of the partition 117 facing the first slider 121, and the receiving groove 1171 is arranged corresponding to the first elastic member 122. One end of the first elastic member 122 abuts against the bottom wall of the receiving hole 1211, and the other end of the first elastic member 122 abuts against the bottom wall of the receiving groove 1171.

[0082] When the first locking assembly 12 is in a locked state, the first elastic member 122 applies pressure to the first slider 121 in the first direction X to prevent the first slider 121 from retreating into the first limiting groove 1113; when the first locking assembly 12 is in an unlocked state, the first slider 121 compresses the first elastic member 122 in the first direction X, so that the first slider 121 does not need to abut against the partition 117, thereby reducing the size of the first slider 121 and facilitating the lightweighting of the disassembly and assembly structure 10.

[0083] For reference Figure 9 In one embodiment, the first slider 121 includes a third surface 1212 and a fourth surface 1213 opposite to each other, the third surface 1212 is closer to the cover plate 111 than the fourth surface 1213, the first slider 121 also includes a connecting surface 1214, the connecting surface 1214 connects the third surface 1212 and the fourth surface 1213, and the end of the first slider 121 extending out of the first clamping hole 1121 is pointed.

[0084] The third surface 1212 and the fourth surface 1213 are arranged opposite to each other in the third direction Z, and the first direction X, the second direction Y and the third direction Z intersect with each other.

[0085] The size of the end of the first slider 121 close to the first clamping hole 1121 in the third direction Z is smaller than the size of the middle area of ​​the first slider 121 in the third direction Z, so that the first slider 121 is wedge-shaped as a whole, and the end of the first slider 121 can be a smooth transition or a direct transition without limitation.

[0086] The connecting surface 1214 guides the first slider 121 as it enters or exits the first engaging hole 1121. The third surface 1212 prevents the first slider 121 from retracting into the first limiting groove 1113 when in the locked state. The dimensions of the first slider 121 in the third direction Z are limited, and the end of the first slider 121 is smaller than the middle area of ​​the first slider 121 to form a pointed tip, which facilitates switching of the disassembly structure 10 between the unlocked and locked states.

[0087] For reference Figure 4 and Figure 5In one embodiment, the disassembly and assembly structure 10 further includes a baffle 17, one end of the baffle 17 in the first direction X is connected to the first side plate 112, the other end of the baffle 17 in the first direction X is connected to the second side plate 113, one end of the baffle 17 in the second direction Y is connected to the first limiting plate 115, one end of the baffle 17 in the second direction Y is connected to the second limiting plate 116, and the first slider 121 is slidably connected to the baffle 17.

[0088] The baffle 17 and the first limiting hole 1114 and the second limiting plate 116 may be connected by screwing, bonding, clamping, etc., without limitation.

[0089] A plurality of slide rails may be provided on the surface of the baffle 17 facing the first sliding block 121 to facilitate sliding connection with the first sliding block 121 and facilitate the first sliding block 121 to extend into or exit from the first engaging hole 1121 .

[0090] The baffle 17 is provided to limit the first slider 121 in the third direction Z, so as to prevent the first slider 121 from being separated from the first limiting groove 1113 , thereby enhancing the structural strength of the first locking assembly 12 .

[0091] For reference Figure 3 and Figure 8 In one embodiment, the cover plate 111 further includes a mounting portion 119, which is protruding from the first surface 1111 and rotatably connected to the first unlocking member 13. The first unlocking member 13 includes a connecting portion 131, a rotating shaft 132, and a hook 133, which are sequentially connected. The connecting portion 131 is rotatably connected to the handle 16, the rotating shaft 132 is rotatably connected to the mounting portion 119, and the hook 133 is connected to the portion of the first locking assembly 12 exposed from the first limiting hole 1114 on the first surface 1111. The handle 16 drives the rotating shaft 132 and the mounting portion 119 to rotate relative to each other, so that the hook 133 drives the first locking assembly 12 to retract into the first limiting groove 1113.

[0092] The mounting portion 119 may include a first mounting block and a second mounting block opposite to each other in the second direction Y, the first mounting block being rotatably connected to one end of the rotating shaft 132 in the second direction Y, and the second mounting block being rotatably connected to the other end of the rotating shaft 132 in the second direction Y.

[0093] The mounting portion 119 and the cover plate 111 may be an integral structure, or the mounting portion 119 and the cover plate 111 may be a separate structure, without limitation.

[0094] The first unlocking member 13 is made of a material with high structural strength, specifically metal, high-strength plastic, ceramic, etc. Metal materials include aluminum, aluminum alloys, magnesium alloys, iron, and iron alloys. The first unlocking member 13 can be a one-piece structure, with the connecting portion 131, rotating shaft 132, and hook 133 being manufactured using a one-piece molding process, such as stamping or casting. The first unlocking member 133 can also be a split-piece structure, with the connecting portion 131, rotating shaft 132, and hook 133 connected and secured by welding, bonding, clamping, screwing, or other methods.

[0095] Specifically, during the process of switching the disassembly and assembly structure 10 from the locked state to the unlocked state, the handle 16 drives the connecting part 131 to move in a direction away from the cover body 11, and the connecting part 131 drives the rotating shaft 132 to rotate relative to the mounting part 119, so that the rotating shaft 132 drives the hook 133 to move in the first direction X in a direction away from the first side plate 112, and the hook 133 drives the first slider 121 to retreat to the first limiting groove 1113.

[0096] The mounting portion 119 protruding from the first surface 1111 is provided to facilitate connection with the first unlocking member 13 , and the hook 133 is provided to facilitate insertion into the first limiting hole 1114 and drive the first slider 121 to move to unlock the disassembly structure 10 .

[0097] For reference Figure 7 、 Figure 8 and Figure 9 In one embodiment, the first locking assembly 12 further includes a first limiting block 123, which is disposed on the side of the first slider 121 facing the base plate 114. The first limiting block 123 is exposed on the first surface 1111 through the first limiting hole 1114, and is connected to the hook 133. The cover plate 111 further defines a first receiving groove 118 that extends through the first surface 1111 to the first limiting groove 1113. The first limiting hole 1114 is connected to the first receiving groove 118, and the first receiving groove 118 is used to receive the hook 133.

[0098] The first limiting block 123 and the first sliding block 121 may be an integrated structure, or may be a separate structure, without limitation.

[0099] The first limiting block 123 and the hook 133 may be connected by bonding, clamping, etc., which is not limited.

[0100] The projection of the first receiving groove 118 in the third direction Z can be a rectangle, a semicircle, an ellipse, etc., without limitation.

[0101] The first limiting block 123 is received in the first limiting hole 1114 and exposed on the first surface 1111, so as to be connected with the hook 133. While the first receiving groove 118 is provided to receive the hook 133, the bottom wall of the first receiving groove 118 can also limit the hook 133 in the first direction X, thereby limiting the movement of the first slider 121 in the first direction X.

[0102] For reference Figure 7 In one embodiment, the maximum dimension of the first limiting hole 1114 in the second direction Y is greater than the maximum dimension of the first receiving groove 118 in the second direction Y. In the second direction Y, the side walls at both ends of the first receiving groove 118 are connected to the side walls of the first limiting hole 1114.

[0103] Optionally, the distance between one end of the first receiving groove 118 in the second direction Y and one end of the first limiting hole 1114 in the second direction Y is d1, and the distance between the other end of the first receiving groove 118 in the second direction Y and the other end of the first limiting hole 1114 in the second direction Y is d2, satisfying: d1=d2.

[0104] The sizes of the first limiting hole 1114 and the first receiving groove 118 are limited so that a guard is formed at the connection between the first limiting hole 1114 and the first receiving groove 118, thereby limiting the movement of the first limiting block 123 in the first direction X; the side walls at both ends of the first limiting groove 1113 are connected to the side walls of the first limiting hole 1114, so that the ends of the first limiting block 123 in the second direction Y are limited, so that the movement of the first limiting block 123 in the second direction Y is always synchronized.

[0105] For reference Figure 1 and Figure 3 In one embodiment, the disassembly structure 10 further includes a protective cover 18, which is disposed on a side of the cover plate 111 facing away from the first side plate 112 and the second side plate 113 and is fixedly connected to the cover plate 111. The protective cover 18 is used to cover the first unlocking member 13 to prevent damage to the first unlocking member 13. If the disassembly structure 10 has a handle 16, the handle 16 is exposed on the protective cover 18 for easy handling by the user.

[0106] For reference Figure 3 The present invention provides a battery assembly 100, comprising a battery structure and a disassembly structure 10 according to any one of the aforementioned various embodiments, wherein the disassembly structure 10 is detachably connected to the battery structure.

[0107] Optionally, the disassembly and assembly structure 10 and the battery structure may be connected by screw connection, clamping connection, etc., without limitation.

[0108] The detachable connection between the detachable structure 10 and the battery structure facilitates replacement of the battery structure and expands the application range of the detachable structure 10 .

[0109] For reference Figure 3 In one embodiment, the battery structure includes a battery housing 20 and a battery 30 . The battery housing 20 has a first opening 40 . The battery 30 is accommodated in the battery housing 20 . The disassembly structure 10 closes the first opening 40 .

[0110] The battery 30 includes a plurality of battery cells, and the first opening 40 is provided corresponding to the disassembly structure 10. Specifically, the battery housing 20 is detachably connected to the first side plate 112 and the second side plate 113 of the disassembly structure 10.

[0111] When replacing the battery assembly 100 , the battery assembly 100 can directly replace the entire battery assembly 100 , or only the battery 30 can be replaced, thereby broadening the application range of the battery structure.

[0112] For reference Figure 1 、 Figure 2 and Figure 5 The present invention provides a torso device 1000, comprising an installation box 200 and a battery assembly 100 as described in any of the aforementioned embodiments. The installation box 200 has a second opening, and the battery assembly 100 is received within the installation box 200 through the second opening. A first locking hole 210 is defined on a side wall of the installation box 200. The first locking hole 210 corresponds to a first engaging hole 1121. The first locking assembly 12 is configured to extend from the first locking hole 210 to the outer surface of the installation box 200. The first unlocking member 13 is configured to drive the first locking assembly 12 to retract from the first locking hole 210 to the first limiting slot 1113.

[0113] When the first locking hole 210 and the first engaging hole 1121 are correspondingly arranged, the battery assembly 100 is received in the installation box 200 .

[0114] The outer side wall of the installation box 200 may further include a plurality of control modules for controlling the movement and signal output of the humanoid robot.

[0115] When the first locking component 12 extends out of the outer surface of the installation box 200 from the first locking hole 210, the disassembly and assembly structure 10 is in a locked state, and the battery assembly 100 is fixed to the installation box 200. When the first locking component 12 retreats from the first locking hole 210 to the first limiting groove 1113, the disassembly and assembly structure 10 is in an unlocked state, and the battery assembly 100 can be withdrawn from the installation box 200 from the second opening, thereby realizing the disassembly and replacement of the battery assembly 100. The operation of replacing the battery assembly 100 with the torso assembly of the present invention is simple.

[0116] For reference Figure 1 and Figure 2In one embodiment, the torso device 1000 further includes a shell 300 , the shell 300 encloses an installation space, the installation box 200 is accommodated in the installation space, the shell 300 is connected to the installation box 200 , and the disassembly structure 10 is exposed on the shell 300 .

[0117] The housing 300 may be a rectangular box formed by a plurality of panels, or may be a humanoid torso structure formed by a plurality of panels.

[0118] The installation box 200 and the housing 300 may be connected by welding, bonding, screwing, etc., without limitation.

[0119] The disassembly structure 10 exposed outside the housing 300 may be a protective shell and the handle 16 exposed outside the housing 300 .

[0120] The disassembly and assembly structure 10 is exposed outside the housing 300 so that the battery assembly 100 can enter or exit the installation space of the driving device during replacement.

[0121] The present invention provides a humanoid robot comprising the trunk device 1000 described in any of the aforementioned embodiments. The battery assembly 100 of the humanoid robot is housed within the trunk device 1000. The battery assembly 100 is easily disassembled and charging does not affect the operation of the humanoid robot.

[0122] In the description of the embodiments of the present invention, it should be noted that the orientation or positional relationship of terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" is based on the orientation or positional relationship described in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0123] The above disclosure is only a preferred embodiment of the present invention, and certainly cannot be used to limit the scope of the rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiment and equivalent changes made in accordance with the claims of the present invention are still within the scope of the present invention.

Claims

1. A disassembly and assembly structure, characterized in that: A battery assembly for a humanoid robot, wherein the battery assembly is used for a trunk device of the humanoid robot, wherein the trunk device further comprises a mounting box and a housing, wherein the mounting box is accommodated in the housing, wherein the battery assembly is accommodated in the mounting box, and wherein the disassembly structure is exposed from the housing; The disassembly and assembly structure comprises: The cover body comprises a cover plate and a first side plate, wherein the cover plate comprises a first surface and a second surface opposite to each other, the first side plate is connected to the cover plate and protrudes from the second surface, the cover plate is provided with a first limiting groove from the second surface, the cover plate is further provided with a first limiting hole penetrating from the first surface to the first limiting groove, the first side plate is provided with a first clamping hole, the first clamping hole is communicated with the first limiting groove, and the cover plate further comprises a mounting portion, the mounting portion is protruded from the first surface; A first locking assembly, part of which is received in the first limiting groove, part of which extends from the first clamping hole to the outside of the first side plate, and the other part of which is exposed from the first limiting hole to the first surface. When the disassembly structure is in a locked state, the first locking assembly is used to extend from the first limiting groove to the first limiting hole and be clamped with the installation box. The first locking assembly includes a first slider and a first elastic member. The first slider is slidably connected to the cover plate, one end of the first elastic member abuts against the cover plate, and the other end of the first elastic member abuts against the first slider. A first unlocking member is connected to the cover body and to a portion of the first locking component exposed on the first surface. When the disassembly and assembly structure is in an unlocked state, the first unlocking member is used to drive the first locking component to return to the first limiting groove. The first unlocking member includes a connected rotating shaft and a hook. The rotating shaft is rotatably connected to the mounting portion. The hook is connected to a portion of the first locking component exposed on the first surface from the first limiting hole. The hook drives the first locking component to return to the first limiting groove.

2. The disassembly and assembly structure according to claim 1, characterized in that: The cover body further includes a second side plate, the second side plate is arranged opposite to the first side plate in the first direction, the second side plate is connected to the cover plate and protrudes from the second surface, and a second clamping hole is opened on the second side plate; The cover plate is further provided with a second limiting groove from the second surface, and the cover plate is further provided with a second limiting hole that passes through the first surface to the second limiting groove, the second limiting groove is communicated with the second clamping hole, and the first limiting groove and the second limiting groove are spaced apart; The disassembly structure further includes a second locking assembly and a second unlocking member, wherein the second locking assembly is partially received in the second limiting groove, partially extends from the second clamping hole to the outside of the second side plate, and the other part is exposed from the second limiting hole to the first surface; a second unlocking member connected to the cover body and to a portion of the second locking assembly exposed on the first surface, the second unlocking member being used to drive the second locking assembly to return to the second limiting groove; The disassembly and assembly structure also includes a handle, and the first unlocking member and the second unlocking member are both connected to the handle, and the handle is used to drive the first unlocking member and the second unlocking member to move.

3. The disassembly and assembly structure according to claim 2, characterized in that: The first unlocking member and the second unlocking member are symmetrically arranged relative to the handle, and the first locking assembly and the second locking assembly are symmetrically arranged relative to the handle.

4. The disassembly and assembly structure according to claim 2, characterized in that: The cover plate includes a base plate, a first limiting plate, a second limiting plate and a partition plate, wherein the first limiting plate and the second limiting plate are arranged opposite to each other in the second direction and connected to the base plate, the first side plate is connected to one end of the first limiting plate and the second limiting plate in the first direction, and the second side plate is connected to the other end of the first limiting plate and the second limiting plate in the first direction; The partition connects the first limiting plate and the second limiting plate, the base plate, the first limiting plate, the second limiting plate and the partition together form the first limiting groove and the second limiting groove, and the first direction intersects with the second direction.

5. The disassembly and assembly structure according to claim 4, characterized in that: The first slider is slidably connected to the substrate, one end of the first elastic member in the first direction abuts against the partition, and the other end of the first elastic member in the first direction abuts against the first slider.

6. The disassembly and assembly structure according to claim 5, characterized in that: The first slider includes a third surface and a fourth surface facing each other, the third surface is closer to the cover plate than the fourth surface, the first slider also includes a connecting surface, the connecting surface connects the third surface and the fourth surface, and the end of the first slider extending out of the first clamping hole is pointed.

7. The disassembly and assembly structure according to claim 5, characterized in that: The disassembly and assembly structure also includes a baffle, one end of the baffle in the first direction is connected to the first side plate, the other end of the baffle in the first direction is connected to the second side plate, one end of the baffle in the second direction is connected to the first limit plate, one end of the baffle in the second direction is connected to the second limit plate, and the first slider is slidably connected to the baffle.

8. The disassembly and assembly structure according to claim 5, characterized in that: The mounting portion is rotatably connected to the first unlocking member; The first unlocking member also includes a connecting portion, the connecting portion, the rotating shaft and the hook are connected in sequence, the connecting portion is rotatably connected to the handle, and the handle drives the rotating shaft and the mounting portion to rotate relative to each other, so that the hook drives the first locking assembly to return to the first limiting groove.

9. The disassembly and assembly structure according to claim 8, characterized in that: The first locking assembly further includes a first limit block, which is disposed on a side of the first slider facing the substrate, the first limit block is exposed from the first limit hole to the first surface, and the first limit block is connected to the hook; The cover plate is further provided with a first receiving groove which passes through the first surface to the first limiting groove, the first limiting hole is communicated with the first receiving groove, and the first receiving groove is used to receive the hook.

10. The disassembly and assembly structure according to claim 9, characterized in that: The maximum dimension of the first limiting hole in the second direction is greater than the maximum dimension of the first receiving groove in the second direction; In the second direction, the side walls at both ends of the first receiving groove are connected to the side walls of the first limiting hole.

11. A battery assembly, characterized in that: It comprises a battery structure and a disassembly and assembly structure as claimed in any one of claims 1 to 10, wherein the disassembly and assembly structure is detachably connected to the battery structure.

12. The battery assembly according to claim 11, characterized in that: The battery structure comprises a battery housing and a battery. The battery housing has a first opening. The battery is accommodated in the battery housing. The disassembly and assembly structure closes the first opening.

13. A torso device, characterized in that: A mounting box and a battery assembly as claimed in claim 11 or 12, wherein the mounting box has a second opening, and the battery assembly is received in the mounting box through the second opening; A first locking hole is provided on the side wall of the installation box, and the first locking hole is arranged corresponding to the first clamping hole. The first locking assembly is used to extend from the first locking hole to the outer surface of the installation box, and the first unlocking member is used to drive the first locking assembly to retreat from the first locking hole to the first limiting groove.

14. The torso device according to claim 13, characterized in that The trunk device also includes a shell, the shell encloses an installation space, the installation box is accommodated in the installation space, the shell is connected to the installation box, and the disassembly structure is exposed from the shell.

15. A humanoid robot, characterized in that: Comprising a torso device as claimed in claim 13 or 14.

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