Robot trunk and robot

Abstract

The invention provides a robot trunk and a robot, and relates to the technical field of robots, the robot trunk comprises a shell, an internal framework and a plurality of adapters, the shell comprises a first shell, a second shell, a third shell and a fourth shell which are sequentially enclosed to form a first accommodating cavity, and the internal framework is mounted in the first accommodating cavity. The first shell, the second shell, the third shell and the fourth shell are respectively provided with a plurality of connecting positions, part of the connecting positions of the first shell, the second shell, the third shell and the fourth shell are respectively connected with the internal framework through adapters, and part of the connecting positions of the second shell and the fourth shell are connected with the first shell and / or the third shell; a stable and firm integral structure is formed, and an internal framework is effectively protected. Besides, the rigidity of the adapter is designed to be smaller than the rigidity of the shell and the rigidity of the internal framework, so that the adapter plays a role in buffering and energy absorption when the shell is impacted, and direct damage to the shell is effectively avoided.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robot torso and a robot. Background Art

[0002] The robot's shell plays a key role in protecting its internal structure. As the robot's first line of defense, the shell not only resists physical impact from the external environment, but also effectively reduces the risk of internal precision components being exposed to harsh conditions. The design and material selection of the shell directly affect the service life and stability of the robot, so a high-quality shell is essential for the normal operation of the robot.

[0003] However, the existing shell is usually directly fixed to the high-rigidity internal structure of the robot. This design easily causes the shell to be damaged when it is hit or dropped due to the lack of sufficient deformation space. Once the shell is damaged, the protective effect it is supposed to provide will be greatly reduced, and important internal components such as cameras and circuit boards may also be damaged. Summary of the invention

[0004] The purpose of this application is to provide a robot torso and a robot to address the deficiencies in the above-mentioned prior art.

[0005] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows: In one aspect of an embodiment of the present application, a robot torso is provided, comprising an outer shell, an internal skeleton, and a plurality of adapters, wherein the outer shell comprises a first shell, a second shell, a third shell, and a fourth shell which are sequentially enclosed to form a first accommodating cavity, and the internal skeleton is installed in the first accommodating cavity; The first shell, the second shell, the third shell and the fourth shell respectively have a plurality of connection positions; Partial connection positions of the first shell, the second shell, the third shell and the fourth shell are respectively connected to the internal frame via adapters; Part of the connecting positions of the second shell and the fourth shell are connected to the first shell and / or the third shell; The stiffness of the adapter is less than the stiffness of the outer shell and the stiffness of the internal frame.

[0006] Optionally, the first shell has a first extension portion extending toward the third shell, and the first extension portion is connected to the internal skeleton via an adapter, and / or the third shell has a third extension portion extending toward the first shell, and the third extension portion is connected to the internal skeleton via an adapter.

[0007] Optionally, a partial connection point of the second shell is connected to the first extension portion of the first shell, and / or a partial connection point of the second shell is connected to the third extension portion of the third shell, and / or a partial connection point of the fourth shell is connected to the first extension portion of the first shell, and / or a partial connection point of the fourth shell is connected to the third extension portion of the third shell.

[0008] Optionally, the plurality of adapters include a first I-shaped piece and a second I-shaped piece, and vertical extensions of the first I-shaped piece and the second I-shaped piece are respectively connected to the internal frame; Two ends of the upper lateral extension portion of the first I-shaped member are respectively connected to the first extension portion of the first shell and the third extension portion of the third shell; two ends of the lower lateral extension portion of the first I-shaped member are connected to the second shell; Two ends of the upper lateral extension portion of the second I-shaped piece are respectively connected to the first extension portion of the first shell and the third extension portion of the third shell; two ends of the lower lateral extension portion of the second I-shaped piece are connected to the fourth shell.

[0009] Optionally, at least one of the first shell, the second shell, the third shell and the fourth shell is directly connected to the internal skeleton via another partial connection position.

[0010] Optionally, the internal skeleton includes a single-layer support plate extending vertically and a plurality of reinforcement plates fixed to the same side of the support plate, the plurality of reinforcement plates are arranged at intervals between the third shell and the support plate, and partial connection positions of the first shell, the second shell, the third shell and the fourth shell are respectively connected to the support plate via adapters.

[0011] Optionally, the robot body also includes a battery box, the support plate and the plurality of reinforcing plates form at least one second accommodating cavity, the battery box is placed in the second accommodating cavity, and the battery box is attached to the inner wall of the second accommodating cavity.

[0012] Optionally, the battery box includes a box body, a battery cell arranged in the box body, and a connecting ear arranged outside the box body, the box body is attached to the inner wall of the second accommodating cavity, and the connecting ear is connected to the reinforcing plate.

[0013] Optionally, the robot trunk further comprises a sensor, and an arched protrusion for accommodating at least part of the sensor is provided on a side opposite to the first shell and / or the third shell.

[0014] Another aspect of an embodiment of the present application provides a robot comprising any one of the robot torsos described above.

[0015] The beneficial effects of this application include: The present application provides a robot trunk, including an outer shell, an internal skeleton and a plurality of adapters, wherein the outer shell includes a first shell, a second shell, a third shell and a fourth shell which are enclosed in sequence to form a first accommodating cavity, and the internal skeleton is installed in the first accommodating cavity. The first shell, the second shell, the third shell and the fourth shell respectively have a plurality of connection positions, and part of the connection positions of the first shell, the second shell, the third shell and the fourth shell are respectively connected to the internal skeleton via adapters, and part of the connection positions of the second shell and the fourth shell are connected to the first shell and / or the third shell, forming a stable and solid overall structure, which effectively protects the internal skeleton. In addition, the rigidity of the adapter is designed to be less than the rigidity of the outer shell and the rigidity of the internal skeleton. Since the outer shell is not directly fixed on the high-rigidity internal skeleton, it is connected to the internal skeleton through an adapter with lower rigidity. This design makes full use of the deformable characteristics of the adapter, so that it plays a role of buffering and energy absorption when the outer shell is hit, effectively avoiding direct damage to the outer shell and further protecting the internal skeleton. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 One of the structural schematic diagrams of a robot torso provided in an embodiment of the present application; Figure 2 A second structural schematic diagram of a robot torso provided in an embodiment of the present application; Figure 3 A third structural schematic diagram of a robot torso provided in an embodiment of the present application; Figure 4 A fourth structural schematic diagram of a robot torso provided in an embodiment of the present application; Figure 5 A fifth structural diagram of a robot torso provided in an embodiment of the present application; Figure 6 A sixth structural diagram of a robot torso provided in an embodiment of the present application; Figure 7 The seventh structural diagram of a robot torso provided in an embodiment of the present application; Figure 8 An eighth structural diagram of a robot torso provided in an embodiment of the present application; Fig. 9A cross-sectional view of a battery box in a robot trunk structure provided in an embodiment of the present application.

[0018] Icons: 11-first shell; 111-first extension; 112-arched protrusion; 12-second shell; 13-third shell; 131-third extension; 14-fourth shell; 20-internal skeleton; 21-support plate; 22-reinforcement plate; 30a-first I-shaped member; 30b-second I-shaped member; 30c-I-shaped connector; 30d-T-shaped connector; 30e-C-shaped connector; 31-vertical extension; 32-upper lateral extension; 33-lower lateral extension; 40-battery box; 41-box; 42-battery cell; 43-connecting ear; 44-battery cell holder. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0020] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. It should be noted that, in the absence of conflict, the various features in the embodiments of the present application can be combined with each other, and the combined embodiments are still within the scope of protection of the present application.

[0021] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0022] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the application is usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0023] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0024] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0025] In one aspect of the embodiments of the present application, a robot trunk is provided for installing functional structures such as the robot's arms and waist, such as Figures 1 to 8 As shown, the robot trunk includes an outer shell, an internal skeleton 20 and a plurality of adapters. The outer shell is composed of a first shell 11, a second shell 12, a third shell 13 and a fourth shell 14, which are enclosed in sequence to form a first accommodating cavity for accommodating the internal skeleton 20 and the functional structure. The internal skeleton 20 is installed in the first accommodating cavity to support and stabilize the functional structure.

[0026] Specifically, the first shell 11, the second shell 12, the third shell 13 and the fourth shell 14 have multiple connection positions respectively, and some of the connection positions are connected to the internal skeleton 20 through adapters to ensure reliable connection between the outer shell and the internal skeleton 20. Some of the connection positions are directly connected to other shells, such as some of the connection positions of the second shell 12 can be connected only to the first shell 11 or the third shell 13, or to the first shell 11 and the third shell 13 respectively. Similarly, some of the connection positions of the fourth shell 14 can be connected only to the first shell 11 or the third shell 13, or to the first shell 11 and the third shell 13 respectively, to ensure a close fit between the shells. As a result, the outer shell and the internal skeleton 20 can form a stable and solid overall structure, thereby improving the impact resistance of the robot trunk and effectively protecting the internal structure.

[0027] In addition, the stiffness of the adapter is designed to be lower than the stiffness of the outer shell and the internal skeleton 20. Based on this, the outer shell is not directly fixed to the high-rigidity internal skeleton 20, but is connected through an adapter with lower stiffness. This design can fully utilize the deformable characteristics of the adapter, so that it can play a role in buffering and energy absorption when the outer shell is impacted. Specifically, when the outer shell is subjected to external impact force, the impact force is first transmitted to the adapter. Due to its lower stiffness, the adapter will deform first, thereby resisting and absorbing external forces from up and down, left and right, front and back, that is, it can absorb impact deformation in six directions, thereby fully protecting the outer shell. This buffering mechanism can effectively reduce the force on the outer shell, avoid direct damage to the outer shell, further protect the internal structure, and improve the durability and safety of the robot.

[0028] It should be understood that the low-rigidity design of the adapter is relative to the rigidity of the outer shell and the internal skeleton 20, that is, when encountering external impact, the adapter is relatively more likely to deform, thereby playing an absorption and buffering role in the connection structure. However, the rigidity of the adapter cannot be too low, and its design needs to fully consider the impact resistance requirements in practical applications. Specifically, the rigidity of the adapter should be set to be sufficient to resist general bumps and slight external force impacts, and be able to produce elastic deformation, which means that the adapter will deform within a controllable range after being impacted, and gradually return to its original shape after the external force disappears, thereby achieving a self-recovery protection effect.

[0029] In practical applications, the adapter can adopt a thin plate bending design. This design can make full use of the bendability and good deformation recovery ability of the thin plate material. When the adapter is hit by a large external force, its thin plate part will first undergo elastic deformation, and the impact energy will be absorbed through the bending area on the structure to prevent the impact force from being directly transmitted to key components. Because the bending design allows the thin plate to retain a certain elastic deformation and the ability to recover to its original state after elastic deformation on the basis of increasing rigidity, even in the case of large deformation, the impact force can be prevented from causing irreversible plastic deformation of the adapter, thereby extending the service life of the adapter and ensuring that the robot trunk maintains stability and integrity during long-term use. In addition, this elastic deformation mechanism of the adapter is also convenient for maintenance and manual reset. If the adapter is greatly deformed after a large impact, the user can manually adjust it to quickly restore it to its original shape by relying on the ductility of the thin plate and the flexibility of the bending area. This design can not only reduce maintenance costs, but also improve the durability and convenience of the robot trunk.

[0030] Alternatively, if Figure 5As shown, the first shell 11 has a first extension portion 111 extending toward the third shell 13, and the first extension portion 111 is connected to the internal skeleton 20 through an adapter to form a stable connection relationship. Similarly, the third shell 13 can also be designed with a third extension portion 131 extending toward the first shell 11, and the third extension portion 131 is connected to the internal skeleton 20 through an adapter. On the one hand, the extension design of the first extension portion 111 and / or the third extension portion 131 can increase the connection area between the first shell 11 and / or the third shell 13 and the adapter, making the connection process more stable and easy to operate. On the other hand, the adapter can preferentially undergo elastic deformation by utilizing its low stiffness characteristics, which can not only effectively absorb the impact force transmitted by the shell, but also when the impact is too large and cannot be completely absorbed, the first extension portion 111 and / or the third extension portion 131 can play an important role in buffering and stabilizing in this process, further dispersing the impact force not absorbed by the adapter, and effectively protecting the shell and internal structure from impact damage.

[0031] Optionally, the role of the first extension portion 111 and the third extension portion 131 in the structural design is not limited to connecting with the adapter to achieve a firm fixation of the outer shell and the internal skeleton 20, but can also be connected with other shells to achieve coordinated assembly between multiple shells to form a complete and solid outer shell.

[0032] Specifically, part of the connection position of the second shell 12 can be connected only to the first extension portion 111 of the first shell 11, or only to the third extension portion 131 of the third shell 13, or respectively to the first extension portion 111 of the first shell 11 and the third extension portion 131 of the third shell 13. For example, threaded holes are provided at both ends of the upper side of the second shell 12, and threaded holes are also provided at positions corresponding to the first extension portion 111 and the third extension portion 131. Screws are sequentially inserted through the threaded holes of the first extension portion 111 and the threaded holes of the second shell 12 corresponding to the first extension portion 111 to connect the first shell 11 and the second shell 12, and screws are sequentially inserted through the threaded holes of the third extension portion 131 and the threaded holes of the second shell 12 corresponding to the third extension portion 131 to connect the third shell 13 and the second shell 12. This connection method enables the second shell 12 to be stably supported in the structure, while achieving effective force dispersion through the first extension portion 111 and / or the third extension portion 131. Similarly, some connection positions of the fourth shell 14 can be connected only to the first extension portion 111 of the first shell 11, or only to the third extension portion 131 of the third shell 13, or respectively to the first extension portion 111 of the first shell 11 and the third extension portion 131 of the third shell 13, thereby further enhancing the impact resistance and assembly stability of the overall structure.

[0033] Optionally, the plurality of adapters include a first I-shaped member 30a and a second I-shaped member 30b symmetrically disposed on the left and right sides of the internal skeleton 20, which are mainly used to resist the forces on the left and right sides, and secondly, can also resist the forces in four directions of up, down, front and back.

[0034] like Figure 5 As shown, the vertical extension portion 31 of the first I-shaped member 30a is directly threadedly connected to the internal frame 20 to form a stable support point, providing a solid foundation for the entire structure. The two ends of the upper lateral extension portion 32 of the first I-shaped member 30a are respectively connected to the first extension portion 111 of the first shell 11 and the third extension portion 131 of the third shell 13. Specifically, threaded holes are respectively opened at both ends of the upper lateral extension portion 32 of the first I-shaped piece 30a, and threaded holes are also respectively opened at positions corresponding to the first extension portion 111 and the third extension portion 131. Screws are sequentially inserted into the threaded holes of the first extension portion 111 and the threaded holes of the lateral extension portion 32 on the first I-shaped piece 30a corresponding to the first extension portion 111 to connect the first shell 11 and the first I-shaped piece 30a. Screws are sequentially inserted into the threaded holes of the third extension portion 131 and the threaded holes of the lateral extension portion 32 on the first I-shaped piece 30a corresponding to the third extension portion 131 to connect the third shell 13 and the first I-shaped piece 30a. This connection enables the first shell 11 and the third shell 13 to form a tight connection relationship with the internal skeleton 20 through the first I-shaped piece 30a.

[0035] In addition, threaded holes are respectively provided at both ends of the lower lateral extension portion 33 of the first I-shaped member 30a, and threaded holes are respectively provided at both ends of the lower side of the second shell 12, and screws are sequentially inserted into the threaded holes of the second shell 12 and the threaded holes of the lower lateral extension portion 33 to connect the second shell 12 and the first I-shaped member 30a. As can be seen from the foregoing, the upper side of the second shell 12 is respectively connected to the first extension portion 111 of the first shell 11 and the third extension portion 131 of the third shell 13. This layout can ensure that the second shell 12 can obtain stable support in both its upper and lower directions. And through the above-mentioned multi-point connection, the first shell 11, the second shell 12 and the third shell 13 not only achieve a stable connection with the internal skeleton 20 through the first I-shaped member 30a, but also form a tightly connected whole between each other, further improving the coordination and impact resistance of the overall structure. It should be understood that after a large impact, the upper lateral extension portion 32 and the lower lateral extension portion 33 having threaded holes are deformed first, followed by the vertical extension portion 31 , thereby effectively alleviating the impact on the internal frame 20 .

[0036] It should be particularly pointed out that the design of the first I-shaped member 30a can ensure that the three shells are independently connected to their different positions without interfering with each other. This independent connection method can make each shell more flexible in mechanical response, effectively reduce the stress concentration problem at the connection position, and improve the overall mechanical performance. It should also be noted that after the robot is hoisted, the shell can still be freely disassembled, that is, each shell is not coupled to the hoisting position.

[0037] Similar to the first I-shaped piece 30a, the vertical extension 31 of the second I-shaped piece 30b is also connected to the internal skeleton 20, providing another support point, further enhancing the overall stability of the structure. The two ends of the upper lateral extension 32 are respectively connected to the first extension 111 of the first shell 11 and the third extension 131 of the third shell 13, forming an upper connection network similar to the first I-shaped piece 30a. The two ends of the lower lateral extension 33 are respectively connected to the lower side of the fourth shell 14, thereby providing a reliable bottom support for the fourth shell 14. At the same time, the upper side of the fourth shell 14 is respectively connected to the first extension 111 of the first shell 11 and the third extension 131 of the third shell 13. In this way, the first shell 11, the third shell 13 and the fourth shell 14 are not only tightly connected to the internal skeleton 20 through the second I-shaped piece 30b, but also form a stable overall structure between each other, further improving the seismic performance and impact resistance of the shell system. Likewise, the three shells are independently connected to different positions of the second I-shaped member 30 b without interfering with each other, thereby ensuring the flexibility and stability of the overall design.

[0038] In order to avoid stress concentration and structural weaknesses that may be caused by overlapping connection positions, the connection position of the first extension portion 111 and the second shell 12 does not overlap with the position where it connects to the first I-shaped piece 30a, and the connection position of the third extension portion 131 and the second shell 12 does not overlap with the position where it connects to the first I-shaped piece 30a. Similarly, the connection position of the first extension portion 111 and the fourth shell 14 is also separated from the position where it connects to the second I-shaped piece 30b, and the connection position of the third extension portion 131 and the fourth shell 14 is also separated from the position where it connects to the second I-shaped piece 30b. Through this layout optimization, each shell can maintain sufficient independence at the connection position, avoiding the problem of structural stress concentration caused by overlapping connections.

[0039] Alternatively, if Figure 6 and Figure 7As shown, the plurality of adapters also include two straight-line connectors 30c symmetrically arranged on both sides of the top of the internal skeleton 20. The first shell 11 and the third shell 13 are also connected to the support plate 21 of the internal skeleton 20 through the straight-line connector 30c, which is mainly used to resist the forces in the up and down directions, and secondly, it can also resist the forces in the front, back, left and right directions. Specifically, the middle position of the straight-line connector 30c is directly threadedly connected to the support plate 21, and the two ends of the straight-line connector 30c are respectively threadedly connected to the first extension portion 111 of the first shell 11 and the third extension portion 131 of the third shell 13, thereby realizing the connection between the first shell 11, the third shell 13 and the internal skeleton 20.

[0040] Alternatively, if Figure 6 and Figure 8 As shown, the multiple adapters also include two T-shaped connectors 30d symmetrically arranged on both sides of the front cavity. The first shell 11 is also connected to the support plate 21 of the internal skeleton 20 through the T-shaped connector 30d, which is mainly used to resist the force in the front and rear directions, and secondly, it can also resist the forces in the four directions of up, down, left and right. Specifically, the two side flanges of the T-shaped connector 30d are threadedly connected to the internal skeleton 20, and a positioning hole is opened at the web of the T-shaped connector 30d. A positioning column is provided on the first shell 11, and the positioning column is inserted into the positioning hole to realize the alignment and connection of the first shell 11 with the internal skeleton 20 through the T-shaped connector 30d. It should be understood that after a large impact, the first thing to deform is the web of the T-shaped connector 30d with the positioning hole, followed by its two side flanges, thereby effectively alleviating the impact on the internal skeleton 20.

[0041] Alternatively, if Figure 7 As shown, the multiple adapters also include at least two C-shaped connectors 30e respectively arranged on the two reinforcing plates 22, and the third shell 13 is also connected to the reinforcing plate 22 of the internal skeleton 20 through the C-shaped connector 30e to further resist the force in the front-back direction, and secondly, it can also resist the force in the four directions of up, down, left and right. Specifically, the C-shaped connector 30e is threadedly connected to the reinforcing plate 22, and a threaded hole is opened on the web of the C-shaped connector 30e, and then an L-shaped connector is provided on the third shell 13, and a threaded hole is opened on one side of the L-shaped connector, and the side of the L-shaped connector with the threaded hole is fitted with the web of the C-shaped connector 30e, and screws are sequentially passed through the threaded holes of the L-shaped connector and the threaded holes of the C-shaped connector 30e to achieve the alignment and connection of the third shell 13 with the internal skeleton 20 through the C-shaped connector 30e. It should be understood that after a large impact, the first thing to deform is the web with threaded holes in the C-shaped connector 30e, followed by its two side flanges, thereby effectively alleviating the impact on the internal frame 20.

[0042] In summary, by respectively providing the first I-shaped member 30a and the second I-shaped member 30b on the left and right sides of the internal skeleton 20, two I-shaped connectors 30c provided on both sides of the top of the internal skeleton 20, two T-shaped connectors 30d provided on the front side of the internal skeleton 20, and at least two C-shaped connectors 30e provided on the rear side of the internal skeleton 20, since each adapter can resist external forces from the front and back, left and right sides, and up and down directions, multiple adapters at different positions cooperate with each other to better absorb impact deformation in six directions, thereby comprehensively protecting the outer shell from damage.

[0043] It should be understood that, depending on the direction of the external force, the main forces and deformations borne by the adapters at different positions are also different. When the force comes from the front, the T-shaped connector 30d deforms the most, followed by the I-shaped connector 30c, the first I-shaped component 30a and the second I-shaped component 30b; when the force comes from the top, the I-shaped connector 30c deforms the most, followed by the T-shaped connector 30d, the C-shaped connector 30e, the first I-shaped component 30a and the second I-shaped component 30b; when the force comes from the left or right side, the first I-shaped component 30a and the second I-shaped component 30b deform the most, followed by the T-shaped connector 30d and the C-shaped connector 30e.

[0044] Optionally, at least one of the first shell 11, the second shell 12, the third shell 13 and the fourth shell 14 has a partial connection point designed to be directly connected to the internal skeleton 20. Under normal working conditions, the direct connection point may be in a standby state, and in some extreme cases, such as when the adapter fails to connect due to accidental impact or long-term use, the direct connection point can quickly intervene to ensure that the shell can still be firmly fixed to the internal skeleton 20 through the direct connection point. This not only avoids the risk of failure of the entire system due to a single point failure, but also reduces the possibility of replacing the entire shell due to accidental damage. In addition, the direct connection point can provide additional support during extreme impacts, effectively disperse the concentrated effect of external forces, reduce the probability of damage to the internal structure, and greatly improve the maintainability and service life of the robot.

[0045] Direct connection points are usually realized by reserving additional connection positions between the outer shell and the internal skeleton 20. These connection positions can be independent of the installation points of the adapter and directly connected to the internal skeleton 20 through bolts, snaps or similar fixing structures. For example, an additional connection point is designed in the first shell 11. When the adapter fails, a direct connection with the internal skeleton 20 is achieved through this connection point to ensure that the outer shell is stable and does not fall off. Similarly, the redundant connection points of the second shell 12, the third shell 13 or the fourth shell 14 can also achieve similar functions respectively. In addition, the position of the direct connection point is usually set in the key stress area to share the external force after the adapter connection fails. Through this design, the overall stability of the equipment can be guaranteed even in harsh environments or high-intensity impacts.

[0046] Alternatively, if Figures 6 to 8 As shown, the internal skeleton 20 adopts a combination design of a single-layer support plate 21 and a plurality of reinforcing plates 22. The support plate 21 extends vertically to provide core structural support for the internal skeleton 20. A plurality of reinforcing plates 22 are fixed on the same side of the support plate 21 and are evenly spaced between the support plate 21 and the third shell 13. This arrangement can provide a plurality of stable fixing points for connecting the outer shell and the support plate 21 while ensuring the stability of the overall structure, thereby effectively improving the overall mechanical properties and connection reliability of the equipment. Preferably, two reinforcing plates 22 are provided and are vertically fixed at the two end positions on the same side of the support plate 21, respectively. This symmetrical layout can not only simplify the design and installation, but also achieve the best balance in mechanical properties, so that the support plate 21 has a stronger ability to resist deformation when subjected to external forces, while ensuring the compactness and lightness of the structure.

[0047] Partial connection positions of the first shell 11, the second shell 12, the third shell 13 and the fourth shell 14 are respectively connected to the support plate 21 through adapters. This connection method utilizes the deformable characteristics of the adapter to effectively buffer the direct impact of external impact force on the support plate 21 and the shell, and enhance the impact resistance of the overall structure.

[0048] In addition, the support plate 21 is usually made of metal. Compared with the traditional double-layer support plate 21 design, the single-layer support plate 21 combined with multiple thin-walled, lightweight, high-strength reinforcement plates 22 can not only retain strength, but also significantly reduce the weight and volume of the whole machine. In addition, by reasonably arranging the structural relationship between the support plate 21 and the reinforcement plate 22, the internal skeleton 20 can effectively optimize the internal space layout of the robot trunk. The spaced arrangement of multiple reinforcement plates 22 makes the internal space more open, providing more installation locations and operating space for other functional structures.

[0049] Alternatively, if Figure 7As shown, the robot trunk also includes a battery box 40 that provides power for the functional structure. The support plate 21 and the plurality of reinforcing plates 22 form at least one second accommodating cavity. For example, when there are two reinforcing plates 22, the support plate 21 and the two reinforcing plates 22 arranged at intervals together constitute a second accommodating cavity. The battery box 40 is placed in the second accommodating cavity, and the battery box 40 is attached to the inner wall of the second accommodating cavity. This tightly fitting arrangement can not only realize the effective utilization of space, but also enhance the stability of the battery box 40. The shape of the battery box 40 can be flexibly designed according to the shape of the second accommodating cavity and the optimization requirements of the internal space. Specifically, the battery box 40 can be designed into a variety of shapes such as a cube, a cuboid, a cylinder, etc., to maximize the adaptation to the internal skeleton 20 structure and meet the space and weight requirements of different robot application scenarios.

[0050] In addition, the battery box 40 can also play a counter-supporting role for the internal skeleton 20. When the battery box 40 is attached to the inner wall of the second accommodating cavity, its rigid characteristics can provide additional supporting force for the support plate 21 and the reinforcing plate 22. This counter-supporting effect helps to improve the overall deformation resistance of the skeleton, making the internal skeleton 20 more stable under the action of external forces. This design uses the battery box 40 as a participating component for stiffness enhancement, thereby reducing the requirements for the thickness and strength of the support plate 21 and the reinforcing plate 22. By rationally utilizing the supporting performance of the battery box 40, the thickness, size and strength of the support plate 21 and the reinforcing plate 22 can be significantly reduced while ensuring the overall stiffness, thereby reducing the overall weight of the equipment and reducing the volume, achieving the goal of lightweight and miniaturization.

[0051] Alternatively, if Fig. 9 As shown, the battery box 40 includes a box body 41, a battery cell 42 arranged in the box body 41, and a connecting ear 43 arranged outside the box body 41. The box body 41 is attached to the inner wall of the second accommodating cavity, and the connecting ear 43 is connected to the reinforcing plate 22. Specifically, the connecting ear 43 is a fixed structure arranged on the box body 41, and the connecting ear 43 protrudes from the box body 41 and is attached to the reinforcing plate 22. A through hole is provided on the connecting ear 43, and a threaded hole is provided on the reinforcing plate 22. The bolt passes through the through hole and cooperates with the threaded hole to fix the battery box 40 on the reinforcing plate 22. In addition, the material of the box body 41 can be a plastic part, such as nylon, PEek, PC+ABS, etc., or a metal part, such as aluminum alloy, steel, etc.

[0052] Optionally, there are multiple connecting lugs 43, which are divided into two groups. The two groups of connecting lugs 43 are respectively arranged on opposite sides of the box body 41, and the two groups of connecting lugs 43 are respectively connected to different reinforcing plates 22 to improve the installation firmness of the battery box 40. The number of connecting lugs 43 in each group of connecting lugs 43 is at least two, and at least two connecting lugs 43 are spaced apart to further improve the installation reliability of the battery box 40.

[0053] Optionally, the battery box 40 is divided into a first accommodating space and a second accommodating space. The first accommodating space is provided with a plurality of battery cells 42 , and the second accommodating space is provided with a battery cell holder 44 , which is used to fix the battery cells 42 to prevent the battery cells 42 from shaking in the battery box 40 .

[0054] For example, the number of the first accommodation space is one, the number of the second accommodation space is two, the two second accommodation spaces are respectively arranged on opposite sides of the first accommodation space along a preset direction, and a battery holder 44 is provided in each second accommodation space, and one battery holder 44 can simultaneously fix multiple battery cells 42. Multiple battery cells 42 are arranged side by side in the first accommodation space, the length direction of the battery cells 42 is parallel to the preset direction, and the opposite ends of the battery cells 42 in the length direction extend into the two battery holders 44 respectively and are fixed by the battery holders 44.

[0055] Optionally, reinforcing ribs are further provided in the second accommodating space, and the reinforcing ribs are used to increase the rigidity of the battery box 40 to enhance the ability of the battery box 40 to resist deformation.

[0056] Alternatively, if Figure 3 and Figure 4 As shown, the robot trunk also includes sensors, such as key components such as cameras. In order to ensure their normal operation and avoid damage due to external forces, an arched protrusion 112 is provided on the opposite side of the first shell 11 and / or the third shell 13, which is used to accommodate part or all of the structure of the sensor. This design of the arched protrusion 112 can not only provide a stable installation space, but also avoid direct exposure of the sensor, which can improve the safety of the overall structure. In addition, the arched protrusion 112 can effectively disperse external impact forces through its curved outer surface. Compared with the plane design, the arc-shaped structure can disperse the pressure more evenly when subjected to force, avoiding local stress concentration. This optimized design can enhance the impact resistance of the housing and further protect the sensor from physical damage.

[0057] It should be noted that, according to the size, shape and specific application requirements of the sensor, the arched protrusion 112 can be designed to have different heights and curvatures. For larger sensors (such as high-resolution cameras), the arched protrusion 112 can be appropriately raised to increase the accommodation space, while for smaller sensors, the height of the arched protrusion 112 can be reduced to reduce the overall size, thereby achieving a balance between the design and actual application requirements.

[0058] Optionally, the robot trunk also includes a motor for driving the joint movement, and its fixing method directly affects the reliability and assembly efficiency of the robot. Specifically, the motor has a fixed end and an output end, the fixed end is connected to the internal skeleton 20 via a first connecting member to provide a stable support for the motor, and the output end is connected to the joint via a second connecting member to accurately transmit the power generated by the motor to the joint.

[0059] Among them, the fixed end and the first connecting member are integrally formed, and there is no need to use additional fasteners such as screws to lock and fix them. They can be connected to the internal skeleton 20 only through the integrally formed overall structure. Similarly, the output end and the second connecting member can also be integrally formed to achieve a similar fixing method. The one-piece design omits additional fasteners, designs the fixed end and the first connecting member of the motor as an integral component, and designs the output end and the second connecting member of the motor as another integral component. This method can eliminate the mechanical gap that may be caused by assembly errors or loose fasteners, thereby improving the reliability of the connection. At the same time, this design can also make the overall structure more compact and save internal space by reducing the number of additional fasteners. In addition, since the use of small parts such as screws is reduced, the assembly time can be shortened, and the complexity and error rate in the assembly process can also be reduced, making the entire production process more efficient and suitable for mass production needs.

[0060] Optionally, the first shell 11, the second shell 12, the third shell 13 and the fourth shell 14 are respectively detachably connected to the adapter, the second shell 12 is respectively detachably connected to the first shell 11 and the third shell 13, the fourth shell 14 is respectively detachably connected to the first shell 11 and the third shell 13, the connecting ear 43 is detachably connected to the reinforcing plate 22, the first connecting piece is detachably connected to the internal skeleton 20, and the second connecting piece is detachably connected to the joint, so as to facilitate disassembly and maintenance.

[0061] Another aspect of the present application is to provide a robot, comprising any one of the robot trunks described above. Since the robot adopts the robot trunk described above, it also has the same beneficial effects as the robot trunk, which will not be described in detail here.

[0062] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A robot torso, characterized in that: Comprising an outer shell, an internal frame (20) and a plurality of adapters, the outer shell comprising a first shell (11), a second shell (12), a third shell (13) and a fourth shell (14) which are sequentially enclosed to form a first accommodating cavity, and the internal frame (20) is installed in the first accommodating cavity; The first shell (11), the second shell (12), the third shell (13) and the fourth shell (14) respectively have a plurality of connection positions; Partial connection positions of the first shell (11), the second shell (12), the third shell (13) and the fourth shell (14) are respectively connected to the internal skeleton (20) via the adapter; Partial connection locations of the second shell (12) and the fourth shell (14) are connected to the first shell (11) and / or the third shell (13); The rigidity of the adapter is smaller than the rigidity of the outer shell and the rigidity of the internal skeleton (20).

2. The robot torso according to claim 1, characterized in that: The first shell (11) has a first extension portion (111) extending toward the third shell (13), and the first extension portion (111) is connected to the internal skeleton (20) via the adapter; and / or the third shell (13) has a third extension portion (131) extending toward the first shell (11), and the third extension portion (131) is connected to the internal skeleton (20) via the adapter.

3. The robot torso according to claim 2, characterized in that: A portion of the connection position of the second shell (12) is connected to the first extension portion (111) of the first shell (11), and / or a portion of the connection position of the second shell (12) is connected to the third extension portion (131) of the third shell (13), and / or a portion of the connection position of the fourth shell (14) is connected to the first extension portion (111) of the first shell (11), and / or a portion of the connection position of the fourth shell (14) is connected to the third extension portion (131) of the third shell (13).

4. The robot torso according to claim 3, characterized in that: The plurality of adapters include a first I-shaped piece (30a) and a second I-shaped piece (30b), and the vertical extension portions (31) of the first I-shaped piece (30a) and the second I-shaped piece (30b) are respectively connected to the internal frame (20); Two ends of the upper lateral extension portion (32) of the first I-shaped piece (30a) are respectively connected to the first extension portion (111) of the first shell (11) and the third extension portion (131) of the third shell (13); two ends of the lower lateral extension portion (33) of the first I-shaped piece (30a) are connected to the second shell (12); Two ends of the upper lateral extension portion (32) of the second I-shaped piece (30b) are respectively connected to the first extension portion (111) of the first shell (11) and the third extension portion (131) of the third shell (13); and two ends of the lower lateral extension portion (33) of the second I-shaped piece (30b) are connected to the fourth shell (14).

5. The robot torso according to any one of claims 1 to 4, characterized in that: At least one of the first shell (11), the second shell (12), the third shell (13) and the fourth shell (14) is directly connected to the internal skeleton (20) via another connection point.

6. The robot torso according to any one of claims 1 to 4, characterized in that: The internal skeleton (20) comprises a single-layer support plate (21) extending vertically and a plurality of reinforcing plates (22) fixed to the same side of the support plate (21); the plurality of reinforcing plates (22) are arranged at intervals between the third shell (13) and the support plate (21); and partial connection positions of the first shell (11), the second shell (12), the third shell (13) and the fourth shell (14) are respectively connected to the support plate (21) via the adapter.

7. The robot torso according to claim 6, characterized in that: The robot trunk further comprises a battery box (40), the support plate (21) and the plurality of reinforcing plates (22) form at least one second accommodating cavity, the battery box (40) is placed in the second accommodating cavity, and the battery box (40) is attached to the inner wall of the second accommodating cavity.

8. The robot torso according to claim 7, characterized in that: The battery box (40) comprises a box body (41), a battery cell (42) arranged in the box body (41), and a connecting lug (43) arranged outside the box body (41); the box body (41) is attached to the inner wall of the second accommodating cavity, and the connecting lug (43) is connected to the reinforcing plate (22).

9. The robot torso according to any one of claims 1 to 4, characterized in that: The robot trunk also includes a sensor, and an arched protrusion (112) for accommodating at least part of the sensor is provided on the opposite side of the first shell (11) and / or the third shell (13).

10. A robot, characterized in that: A robot torso comprising any one of claims 1 to 9.

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