Robot torso and robot

Abstract

The present application provides a robot trunk and a robot, which relates to the field of robot technology, and includes an outer shell, an internal skeleton, and a plurality of adapters. The outer shell includes a first shell, a second shell, a third shell, and a fourth shell that 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, 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 strong overall structure, which effectively protects the internal skeleton. In addition, the stiffness of the adapter is designed to be less than the stiffness of the outer shell and the stiffness of the internal skeleton, 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.

Description

Technical Field

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

[0002] A robot's outer shell plays a critical role in protecting its internal structure. As the robot's first line of defense, the shell not only protects against physical impact from the external environment but also effectively reduces the risk of exposure of delicate internal components to harsh conditions. The design and material selection of the shell directly impact the robot's lifespan and stability, making a high-quality shell crucial to its proper operation.

[0003] However, existing housings are typically fixed directly to the robot's highly rigid internal structural components. This design easily breaks the housing when it's impacted or dropped, due to a lack of sufficient space for deformation. Once damaged, the housing's protective properties are significantly compromised, potentially damaging critical internal components like cameras and circuit boards. 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 objectives, the technical solutions adopted in the embodiments of the present application are as follows:

[0006] 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 that are sequentially enclosed to form a first accommodating cavity, and the internal skeleton is installed in the first accommodating cavity;

[0007] The first shell, the second shell, the third shell and the fourth shell each have a plurality of connection points;

[0008] Partial connection points of the first shell, the second shell, the third shell, and the fourth shell are respectively connected to the internal frame via adapters;

[0009] Partial connection points of the second shell and the fourth shell are connected to the first shell and / or the third shell;

[0010] The stiffness of the adapter is less than the stiffness of the outer shell and the stiffness of the internal frame.

[0011] 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.

[0012] Optionally, part of the connection position of the second shell is connected to the first extension portion of the first shell, and / or part of the connection position of the second shell is connected to the third extension portion of the third shell, and / or part of the connection position of the fourth shell is connected to the first extension portion of the first shell, and / or part of the connection position of the fourth shell is connected to the third extension portion of the third shell.

[0013] Optionally, the plurality of adapters include a first I-shaped member and a second I-shaped member, and vertical extensions of the first I-shaped member and the second I-shaped member are respectively connected to the internal frame;

[0014] The 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; the two ends of the lower lateral extension portion of the first I-shaped member are connected to the second shell;

[0015] 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.

[0016] 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 part of the connection position.

[0017] Optionally, the internal skeleton includes a single-layer support plate extending vertically and a plurality of reinforcing plates fixed to the same side of the support plate. The plurality of reinforcing plates are arranged at intervals between the third shell and the support plate. 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.

[0018] Optionally, the robot body further 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.

[0019] 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.

[0020] Optionally, the robot torso further includes 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.

[0021] Another aspect of an embodiment of the present application provides a robot comprising any one of the robot torsos described above.

[0022] The beneficial effects of this application include:

[0023] The present application provides a robot trunk, comprising an outer shell, an internal skeleton, and a plurality of adapters. 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 chamber, and the internal skeleton is installed in the first accommodating chamber. The first shell, the second shell, the third shell, and the fourth shell each have a plurality of connection points. Part of the connection points of the first shell, the second shell, the third shell, and the fourth shell are connected to the internal skeleton via adapters, and part of the connection points of the second shell and the fourth shell are connected to the first shell and / or the third shell, forming a stable and strong overall structure that effectively protects the internal skeleton. In addition, the stiffness of the adapter is designed to be less than the stiffness of the outer shell and the stiffness of the internal skeleton. Since the outer shell is not directly fixed to the high-rigidity internal skeleton, but is connected to the internal skeleton via an adapter with lower stiffness, this design fully utilizes the deformable characteristics of the adapter, so that it plays a role in 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

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. 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 relevant drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 This is one of the structural schematic diagrams of a robot torso provided in an embodiment of the present application;

[0026] Figure 2 This is a second structural diagram of a robot torso provided in an embodiment of the present application;

[0027] Figure 3 This is a third structural diagram of a robot torso provided in an embodiment of the present application;

[0028] Figure 4 This is a fourth structural diagram of a robot torso provided in an embodiment of the present application;

[0029] Figure 5 This is a fifth structural diagram of a robot torso provided in an embodiment of the present application;

[0030] Figure 6 This is a sixth structural diagram of a robot torso provided in an embodiment of the present application;

[0031] Figure 7 This is a seventh structural diagram of a robot torso provided in an embodiment of the present application;

[0032] Figure 8 This is an eighth structural diagram of a robot torso provided in an embodiment of the present application;

[0033] Figure 9 A cross-sectional view of a battery box in a robot trunk structure provided in an embodiment of the present application.

[0034] 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 horizontal extension; 33-lower horizontal extension; 40-battery box; 41-box body; 42-battery cell; 43-connecting ear; 44-battery cell bracket. DETAILED DESCRIPTION

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0036] 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 as claimed, but merely represents selected embodiments of the present application. It should be noted that, unless there is a conflict, the various features of the embodiments of the present application may be combined with each other, and the combined embodiments are still within the scope of protection of the present application.

[0037] 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, it does not need to be further defined or explained in subsequent drawings.

[0038] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the product of this application is typically placed when in use. These terms are intended only to facilitate the description of this application and simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0039] Furthermore, terms such as "horizontal" and "vertical" do not necessarily mean that a component must be absolutely horizontal or overhanging, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted.

[0040] It should also be noted that, in the description of this application, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0041] In one aspect of the embodiments of the present application, a robot torso is provided for mounting functional structures such as the robot's arms and waist, such as Figures 1 to 8 As shown, the robot trunk comprises an outer shell, an internal skeleton 20, and multiple adapters. The outer shell is composed of a first shell 11, a second shell 12, a third shell 13, and a fourth shell 14. These shells are sequentially enclosed to form a first housing cavity for accommodating the internal skeleton 20 and functional structures. The internal skeleton 20 is installed in the first housing cavity to support and stabilize the functional structures.

[0042] Specifically, the first shell 11, the second shell 12, the third shell 13, and the fourth shell 14 each have multiple connection points, some of which are connected to the internal skeleton 20 via adapters to ensure a reliable connection between the outer shell and the internal skeleton 20. Some of the connection points are directly connected to other shells. For example, some of the connection points 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 points 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 tight 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 torso and effectively protecting the internal structure.

[0043] 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 hit. 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.

[0044] It should be understood that the low stiffness design of the adapter is relative to the stiffness 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 absorbing and buffering role in the connection structure. However, the stiffness of the adapter cannot be too low, and its design needs to fully consider the impact resistance requirements in actual applications. Specifically, the stiffness of the adapter should be set to be sufficient to resist general bumps and slight external impacts, and be able to produce elastic deformation, which means that the adapter will deform within a controllable range after being subjected to an impact, and gradually return to its original shape after the external force disappears, thereby achieving a self-recovery protection effect.

[0045] In practical applications, the adapter can utilize a thin-plate bending design. This design fully utilizes the thin-plate material's flexibility and excellent deformation recovery. When the adapter is subjected to a significant external impact, the thin-plate portion will first undergo elastic deformation. The structural bending area absorbs the impact energy, preventing the impact force from being directly transmitted to critical components. This bending design increases the rigidity of the thin plate while retaining a certain degree of elastic deformation and the ability to recover after elastic deformation. Even in the event of significant deformation, the impact force can prevent the adapter from causing irreversible plastic deformation, thereby extending the adapter's service life and ensuring the stability and integrity of the robot trunk during long-term use. Furthermore, this elastic deformation mechanism of the adapter facilitates maintenance and manual reset. If the adapter undergoes significant deformation after a significant impact, the user can manually adjust it to its original shape quickly by leveraging the thin-plate's ductility and the flexible nature of the bending area. This design not only reduces maintenance costs but also improves the durability and convenience of the robot trunk.

[0046] Alternatively, as Figure 5 As 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 fully absorbed, the first extension portion 111 and / or the third extension portion 131 can play an important buffering and stabilizing role in this process, further dispersing the impact force not absorbed by the adapter, and effectively protecting the shell and internal structure from impact damage.

[0047] 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 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 sturdy shell.

[0048] Specifically, some connection points of the second housing 12 may be connected only to the first extension 111 of the first housing 11, only to the third extension 131 of the third housing 13, or separately to the first extension 111 of the first housing 11 and the third extension 131 of the third housing 13. For example, threaded holes are provided at both ends of the upper side of the second housing 12, as well as threaded holes at corresponding locations on the first extension 111 and the third extension 131. Screws are sequentially inserted through the threaded holes in the first extension 111 and the threaded holes in the second housing 12 corresponding to the first extension 111 to connect the first and second housings 11, and screws are sequentially inserted through the threaded holes in the third extension 131 and the threaded holes in the second housing 12 corresponding to the third extension 131 to connect the third and second housings 13. This connection method ensures that the second housing 12 is stably supported within the structure while effectively distributing force through the first extension 111 and / or the third extension 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.

[0049] Optionally, the multiple adapters include a first I-shaped member 30a and a second I-shaped member 30b symmetrically arranged 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 the four directions of up, down, front and back.

[0050] like Figure 5 As shown, the vertical extension 31 of the first I-shaped member 30a is directly threaded onto the internal frame 20, forming a stable support point and providing a solid foundation for the entire structure. The ends of the upper lateral extension 32 of the first I-shaped member 30a are respectively connected to the first extension 111 of the first shell 11 and the third extension 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 member 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 passed through the threaded holes of the first extension portion 111 and the threaded holes of the upper lateral extension portion 32 of the first I-shaped member 30a corresponding to the first extension portion 111 to connect the first shell 11 and the first I-shaped member 30a. Screws are sequentially passed through the threaded holes of the third extension portion 131 and the threaded holes of the upper lateral extension portion 32 of the first I-shaped member 30a corresponding to the third extension portion 131 to connect the third shell 13 and the first I-shaped member 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 member 30a.

[0051] In addition, threaded holes are provided at both ends of the lower lateral extension 33 of the first I-shaped member 30a, and threaded holes are provided at both ends of the lower side of the second shell 12. Screws are sequentially inserted through the threaded holes of the second shell 12 and the threaded holes of the lower lateral extension 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 connected to the first extension 111 of the first shell 11 and the third extension 131 of the third shell 13, respectively. This layout ensures that the second shell 12 is firmly supported in both its upper and lower directions. Furthermore, through this multi-point connection, the first shell 11, the second shell 12, and the third shell 13 are not only stably connected to the internal skeleton 20 via the first I-shaped member 30a, but also form a tightly connected whole with 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 with threaded holes are deformed first, followed by the vertical extension portion 31, thereby effectively alleviating the impact on the internal frame 20.

[0052] It's important to note that the design of the first I-shaped member 30a ensures that the three shells are independently connected to their respective locations without interfering with each other. This independent connection allows for greater flexibility in the mechanical response of each shell, effectively reducing stress concentration at the connection points and improving overall mechanical performance. It's also important to note that even after the robot is hoisted, the outer shells can still be freely removed and installed, meaning that the shells are not coupled to the hoisting location.

[0053] Similar to the first I-shaped member 30a, the vertical extension 31 of the second I-shaped member 30b is also connected to the internal skeleton 20, providing another support point and further enhancing the overall stability of the structure. The two ends of its 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 member 30a. The two ends of the lower lateral extension 33 are respectively connected to the lower side of the fourth shell 14, thereby providing 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 member 30b, but also form a stable integral structure with each other, further enhancing 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.

[0054] To avoid stress concentration and the potential structural weaknesses caused by overlapping connections, the connection point between the first extension 111 and the second housing 12 does not overlap with the connection point between the first I-shaped member 30a, and the connection point between the third extension 131 and the second housing 12 does not overlap with the connection point between the first I-shaped member 30a. Similarly, the connection point between the first extension 111 and the fourth housing 14 is also separate from the connection point between the second I-shaped member 30b, and the connection point between the third extension 131 and the fourth housing 14 is also separate from the connection point between the second I-shaped member 30b. Through this optimized layout, each housing maintains sufficient independence at its connection point, avoiding structural stress concentration caused by overlapping connections.

[0055] Alternatively, as Figure 6 and Figure 7 As shown, the multiple 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 via the straight-line connectors 30c. The straight-line connectors 30c are mainly used to resist forces in the vertical direction, and secondarily, they can also resist 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 achieving the connection between the first shell 11, the third shell 13 and the internal skeleton 20.

[0056] Alternatively, as 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 forces in the front and rear directions. 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 provided on 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 web of the T-shaped connector 30d with the positioning hole is deformed first, followed by its two side flanges, thereby effectively alleviating the impact on the internal skeleton 20.

[0057] Alternatively, as Figure 7As shown, the multiple adapters also include at least two C-shaped connectors 30e respectively provided on the two reinforcing plates 22. The third shell 13 is also connected to the reinforcing plates 22 of the internal skeleton 20 via the C-shaped connectors 30e to further resist the forces acting in the front-to-back direction. Secondly, it can also resist the forces acting in the up-down, left-right and four other directions. Specifically, the C-shaped connector 30e is threadedly connected to the reinforcing plates 22, and a threaded hole is provided on the web of the C-shaped connector 30e. Then, an L-shaped connector is provided on the third shell 13, and a threaded hole is provided on one side of the L-shaped connector. 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 alignment and connection of the third shell 13 with the internal skeleton 20 via the C-shaped connector 30e. It should be understood that after a large impact, the first thing to deform is the web of the C-shaped connector 30e with threaded holes, followed by its two side flanges, thereby effectively alleviating the impact on the internal skeleton 20.

[0058] 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, the two I-shaped connectors 30c provided on both sides of the top of the internal skeleton 20, the 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.

[0059] It should be understood that depending on the direction of the external force, the adapters in different locations experience different forces and deformations. When the force is applied from the front, the T-shaped connector 30d deforms the most, followed by the I-shaped connector 30c, the first I-shaped member 30a, and the second I-shaped member 30b. When the force is applied from above, the I-shaped connector 30c deforms the most, followed by the T-shaped connector 30d, the C-shaped connector 30e, the first I-shaped member 30a, and the second I-shaped member 30b. When the force is applied from the left or right side, the first I-shaped member 30a and the second I-shaped member 30b deform the most, followed by the T-shaped connector 30d and the C-shaped connector 30e.

[0060] Optionally, part of the connection point of at least one of the first shell 11, the second shell 12, the third shell 13 and the fourth shell 14 is 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 certain extreme cases, such as when the adapter fails 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.

[0061] 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.

[0062] Alternatively, as 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 reinforcement plates 22. The support plate 21 extends vertically to provide core structural support for the internal skeleton 20. A plurality of reinforcement 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 reinforcement plates 22 are provided and are fixed vertically to the two end positions on the same side of the support plate 21. This symmetrical layout not only simplifies the design and installation, but also achieves the best balance in mechanical performance, so that the support plate 21 has a stronger ability to resist deformation when subjected to external force, while ensuring the compactness and lightweight of the structure.

[0063] Partial connections between the first shell 11, the second shell 12, the third shell 13, and the fourth shell 14 are connected to the support plate 21 via adapters. This connection method utilizes the deformable nature of the adapters to effectively buffer the direct impact of external impact forces on the support plate 21 and the outer shell, thereby enhancing the overall impact resistance of the structure.

[0064] Furthermore, the support plate 21 is typically made of metal. Compared to 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 maintains strength while significantly reducing the weight and volume of the entire robot. Furthermore, by rationally arranging the structural relationship between the support plate 21 and the reinforcement plates 22, the internal skeleton 20 effectively optimizes the internal spatial layout of the robot trunk. The spaced-apart arrangement of multiple reinforcement plates 22 creates a more open internal space, providing more mounting locations and operating space for other functional structures.

[0065] Alternatively, as Figure 7 As 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 not only enables effective use of space, but also enhances 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 rectangular parallelepiped, a cylinder, etc., to maximize adaptation to the structure of the internal skeleton 20 and meet the space and weight requirements of different robot application scenarios.

[0066] In addition, the battery box 40 can also play a counter-support role for the internal skeleton 20. When the battery box 40 is attached to the inner wall of the second accommodating cavity, its rigidity characteristics can provide additional support force for the support plate 21 and the reinforcement plate 22. This counter-support 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 reinforcement 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 reinforcement 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 goals of lightweighting and miniaturization.

[0067] Alternatively, as Figure 9As 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 provided on the box body 41. 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.

[0068] Optionally, there are multiple connecting lugs 43, each of which is divided into two groups. The two groups of connecting lugs 43 are respectively disposed on opposite sides of the box body 41. The two groups of connecting lugs 43 are respectively connected to different reinforcing plates 22 to improve the secure installation of the battery box 40. The number of connecting lugs 43 in each group of connecting lugs 43 is at least two, and the at least two connecting lugs 43 are spaced apart to further improve the reliability of the installation of the battery box 40.

[0069] Optionally, the battery box 40 is divided into a first accommodating space and a second accommodating space. The first accommodating space is provided with multiple battery cells 42, and the second accommodating space is provided with a battery cell holder 44. The battery cell holder 44 is used to fix the battery cells 42 to prevent the battery cells 42 from shaking in the battery box 40.

[0070] For example, there is one first accommodating space and two second accommodating spaces. The two second accommodating spaces are respectively arranged on opposite sides of the first accommodating space along a preset direction. Each second accommodating space is provided with a cell holder 44. One cell holder 44 can simultaneously secure multiple battery cells 42. Multiple battery cells 42 are arranged side by side in the first accommodating space, with the length direction of the battery cells 42 parallel to the preset direction. The opposite ends of the battery cells 42 in the length direction respectively extend into the two cell holders 44 and are secured by the cell holders 44.

[0071] 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.

[0072] Alternatively, as Figure 3 and Figure 4As shown, the robot trunk also includes sensors, such as cameras and other key components. 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 to accommodate part or all of the structure of the sensor. This arched protrusion 112 design 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 a flat design, the curved structure can disperse 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.

[0073] It should be noted that arched protrusion 112 can be designed with varying heights and curvatures depending on the sensor's size, shape, and specific application requirements. For larger sensors (such as high-resolution cameras), arched protrusion 112 can be appropriately raised to increase storage space. For smaller sensors, arched protrusion 112 can be reduced in height to minimize overall size, achieving a balance between design and actual application requirements.

[0074] The robot trunk optionally includes motors to drive the joints. The motor's mounting method directly impacts the robot's reliability and assembly efficiency. Specifically, the motor has a fixed end and an output end. The fixed end is connected to the internal skeleton 20 via a first connector, providing stable support for the motor. The output end is connected to the joint via a second connector, precisely transmitting the motor's power to the joint.

[0075] 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 together. They can be connected to the internal skeleton 20 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, and designs the fixed end and the first connecting member of the motor as an integral component, and 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 be reduced, making the entire production process more efficient and suitable for mass production needs.

[0076] 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 to facilitate disassembly and maintenance.

[0077] Another aspect of the present invention provides a robot comprising any of the aforementioned robot torsos. Since the robot employs the aforementioned robot torsos, it also has the same beneficial effects as the robot torsos, which will not be described in detail here.

[0078] The foregoing description is merely a preferred embodiment of the present application and is not intended to limit the present application. Persons skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection 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; The internal skeleton (20) comprises a single-layer support plate (21) extending vertically and two reinforcing plates (22) fixed to the same side of the support plate (21), the two reinforcing plates (22) being 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; The rigidity of the adapter is smaller than the rigidity of the outer shell and the rigidity of the internal skeleton (20); The first shell (11) has a first extension portion (111) extending toward the third shell (13), the first extension portion (111) being 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), the third extension portion (131) being connected to the internal skeleton (20) via the adapter; A part 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 part 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 part 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 part of the connection position of the fourth shell (14) is connected to the third extension portion (131) of the third shell (13); 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); two ends of the lower lateral extension portion (33) of the second I-shaped piece (30b) are connected to the fourth shell (14); The plurality of adapters further include two straight-line connecting members (30c) symmetrically arranged on both sides of the top of the internal skeleton (20), and the first shell (11) and the third shell (13) are respectively connected to the support plate (21) via the straight-line connecting members (30c); The plurality of adapters further include two T-shaped connecting pieces (30d) symmetrically arranged on both sides of the front cavity of the internal skeleton (20), and the first shell (11) is connected to the support plate (21) via the T-shaped connecting pieces (30d); The plurality of adapters further include at least two C-shaped connecting members (30e) respectively arranged on the two reinforcing plates (22), and the third shell (13) is connected to the reinforcing plates (22) via the C-shaped connecting members (30e).

2. The robot torso according to claim 1, 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.

3. The robot torso according to claim 1, 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.

4. The robot torso according to claim 3, 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).

5. The robot torso according to claim 1, 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).

6. A robot, characterized in that: A robot torso comprising any one of claims 1 to 5.

Images