Trunk device and humanoid robot

Abstract

The invention discloses a trunk device and a humanoid robot, and the trunk device is used for the humanoid robot and comprises a battery module and a shoulder and neck structure; the battery module comprises a battery cabinet and a battery assembly, the battery cabinet is provided with a first opening in the first direction, the battery assembly is contained in the battery cabinet from the first opening and detachably connected with the battery cabinet, the end, in the second direction, of the battery cabinet is used for being connected with the waist assembly, and the first direction is the front-back direction of the humanoid robot. The second direction is the vertical direction of the humanoid robot; the shoulder and neck structure comprises a mounting support, a shoulder assembly and a neck assembly, the mounting support is connected with the end, back to the waist assembly, of the battery cabinet in the second direction, the neck assembly is arranged at the end, away from the battery module, of the mounting support, the shoulder assembly is connected with the end, in the third direction, of the mounting support, and the third direction is the left-right direction of the humanoid robot. The trunk device is compact in structural arrangement and high in space utilization rate.

Description

Technical Field

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

[0002] Humanoid robots can imitate the appearance and movement of the human body and have broad development prospects. Similar to the human body, humanoid robots include a trunk device. In order to meet the requirements of endurance, the battery of the humanoid robot has a large mass and volume and is generally installed in the trunk device.

[0003] In the related art, the structure of the trunk device is complex and scattered, and the space utilization rate is low. Summary of the invention

[0004] The purpose of the present application is to provide a torso device and a humanoid robot to solve the problem of dispersed structural arrangement of the torso device and low space utilization.

[0005] To achieve the purpose of this application, this application provides the following technical solutions: In a first aspect, the present invention provides a torso device for a humanoid robot, comprising: A battery module, comprising a battery cabinet and a battery assembly, wherein the battery cabinet has a first opening in a first direction, the battery assembly is received in the battery cabinet from the first opening and is detachably connected to the battery cabinet, and an end of the battery cabinet in a second direction is used to be connected to a waist assembly, the first direction is a front-to-back direction of the humanoid robot, and the second direction is an up-and-down direction of the humanoid robot; The shoulder and neck structure includes a mounting bracket, a shoulder assembly and a neck assembly, wherein the mounting bracket is connected to the end of the battery cabinet in the second direction facing away from the waist assembly, the neck assembly is arranged at the end of the mounting bracket away from the battery module, and the shoulder assembly is connected to the end of the mounting bracket in the third direction, and the third direction is the left and right direction of the humanoid robot.

[0006] In this way, the torso device of the humanoid robot is divided into two parts: a battery module and a shoulder and neck structure. The shoulder component and neck component of the humanoid robot are both arranged on a mounting bracket, which improves the integration of the shoulder and neck structure and facilitates the production and assembly of the humanoid robot. Therefore, the torso device of the present invention has a compact structural arrangement and high space utilization.

[0007] In one embodiment, the mounting bracket and the battery cabinet enclose a first receiving space, and the trunk device includes a first electronic device, which is connected to the battery cabinet and received in the first receiving space. In this way, the mounting bracket and the battery cabinet enclose a first receiving space for receiving the first electronic device of the humanoid robot, which is conducive to improving the integration and space utilization of the trunk device.

[0008] In one embodiment, the mounting bracket includes a first supporting portion, a second supporting portion, and a third supporting portion connected in sequence, the first supporting portion and the third supporting portion are arranged opposite to each other in the third direction, and an end of the first supporting portion away from the second supporting portion and an end of the third supporting portion away from the second supporting portion are both connected to the battery cabinet; The second support part is connected to the neck component, and there are two shoulder components, one of which is connected and fixed to the first support part, and the other is connected and fixed to the third support part. In this way, the neck component and the shoulder component of the humanoid robot are both arranged on the mounting bracket, which is convenient for the assembly and subsequent maintenance of the humanoid robot during the production process, and also improves the integration of the shoulder and neck structure. The mounting bracket is a cube as a whole, which is convenient for the production and installation of the mounting bracket.

[0009] In one embodiment, the mounting bracket further includes a fourth support portion and a fifth support portion that are arranged relative to each other in the first direction, the fourth support portion connects the first support portion and the third support portion, the fifth support portion connects the first support portion and the third support portion, the fourth support portion is farther away from the first opening than the fifth support portion, the first support portion to the fifth support portion and the battery cabinet jointly enclose the first receiving space, and the second support portion and / or the fourth support portion and / or the fifth support portion are provided with at least one heat dissipation hole. In this arrangement, the heat dissipation hole enables the first receiving space to be connected to the outside, so that the heat generated by the first electronic device and / or the neck assembly can be dissipated through the heat dissipation hole. The provision of the fourth support portion and the fifth support portion is conducive to improving the structural strength of the mounting bracket, and the heat dissipation hole can achieve lightweight of the mounting bracket while meeting the heat dissipation requirements.

[0010] In one embodiment, the torso device further includes a speaker, the speaker includes a first end and a second end, the first end and the second end are both connected to the fourth support portion, and the fourth support portion has at least one heat dissipation hole between the first end and the second end. In this way, while the speaker is provided to realize the function of the audio system of the humanoid robot, the heat dissipation hole corresponding to the fourth support portion allows the heat generated by the first electronic device to be dissipated from the first accommodation space.

[0011] In one embodiment, the trunk device further comprises a shell, the shell having a second opening, the second opening being arranged corresponding to the first opening, the battery cabinet being received in the shell and connected and fixed to the shell, and the battery assembly being received in the battery cabinet through the second opening and the first opening; The shell is provided with a speaker hole, and the speaker hole is arranged corresponding to the speaker. With such arrangement, the battery assembly of the trunk device of the present invention is detachably connected to the battery cabinet, and when replacing the battery assembly, it is only necessary to disconnect the battery assembly from the battery cabinet without performing additional disassembly operations, which is conducive to improving the replacement efficiency of the battery assembly and the working efficiency of the humanoid robot. In addition, the speaker hole on the shell facilitates the use of the audio system of the humanoid robot, and the speaker hole can also connect the first receiving space and the external space of the humanoid robot, playing a certain role in heat dissipation.

[0012] In one embodiment, the trunk device further includes a hanging portion, the hanging portion includes a third end and a fourth end, the third end is connected to the second supporting portion, the fourth end is connected to the fifth supporting portion, and the fifth supporting portion is provided with at least one heat dissipation hole between the third end and the fourth end; The shell is also provided with a hanging hole, and part of the hanging part extends out of the shell from the hanging hole. In this way, the hanging part is connected and fixed with the mounting bracket, and the hanging part extends out of the shell from the hanging hole, which is convenient for carrying and moving the humanoid robot. The hanging hole and the heat dissipation hole of the fifth supporting part make the first receiving space communicate with the outside of the humanoid robot, which is conducive to improving the heat dissipation of the first electronic device.

[0013] In one embodiment, the hoisting part includes a bottom plate, a hoisting handle and a side panel, one end of the bottom plate is connected and fixed to the second support part, the other end of the bottom plate is connected and fixed to the fifth support part, the hoisting handle and the bottom plate are arranged opposite to each other, both ends of the hoisting handle are connected to the side panel, and the bottom plate is provided with ventilation holes. With such arrangement, the structure of the hoisting part is stable, making it easy to move the humanoid robot, and at the same time, the bottom plate of the hoisting part is provided with ventilation holes, so that the first receiving space is connected to the outside through the heat dissipation holes of the fifth support part and the ventilation holes of the bottom plate, so that the heat generated by the operation of the first electronic device can be smoothly discharged from the inside of the humanoid robot.

[0014] In one embodiment, the neck assembly includes a first connecting member, a first driving member, and a second driving member, the first driving member is used to drive the head assembly of the humanoid robot to move around a first axis, the second driving member is used to drive the head assembly to move around a second axis, the first axis extends along the second direction, and the second axis extends along the third direction, one end of the first connecting member is connected to the rotor of the first driving member, the other end of the first connecting member is connected to the stator of the second driving member, and the stator of the first driving member is connected and fixed to the second supporting portion; The shoulder assembly is used to drive the arm assembly of the humanoid robot to move around a third axis, and the third axis extends along the third direction. With this arrangement, the neck assembly can drive the head assembly to move around two axes, thereby realizing the movements of the head assembly such as turning and nodding, improving the flexibility of the head assembly, and making the humanoid robot more anthropomorphic. The axis layout in which the first axis and the second axis intersect and are perpendicular, and the second axis and the third axis are parallel makes the structure of the torso device of the humanoid robot more compact, which is conducive to realizing more functions in a limited space. And the vertically intersecting axis layout helps to enhance the overall stability of the humanoid robot. During the dynamic working process, this structure can better resist external interference and vibration and maintain precise control of the humanoid robot.

[0015] In one embodiment, the battery cabinet includes a first side plate, the first side plate is arranged opposite to the first opening in the first direction, and the trunk device also includes a protective cover, the protective cover is connected and fixed to the first side plate, and the protective cover and the first side plate are enclosed to form a second receiving space; The trunk device includes a second electronic device, which is connected to the first side plate and accommodated in the second accommodation space. The second accommodation space is formed by providing a protective cover, and the second electronic device is accommodated in the second accommodation space, which helps to improve the integration and space utilization of the battery cabinet.

[0016] In one embodiment, the first side plate includes a first portion, a recessed portion, and a second portion sequentially connected in the second direction, the recessed portion has a receiving groove, the opening of the receiving groove faces away from the first opening, and the second electronic device is received in the receiving groove; The protective cover includes a first plate, a second plate and a third plate connected in sequence, an end of the first plate away from the second plate is connected to the first part, an end of the third plate away from the second plate is connected to the bottom wall of the receiving groove, and the second plate and the end surface of the receiving groove are spaced apart in the first direction. By providing the receiving groove and the protective cover, the available space of the second receiving space is increased in the first direction, the volume restriction of the second electronic device received in the second receiving space is small, and the increase of the second receiving space makes the heat dissipation effect of the second electronic device good.

[0017] In one embodiment, the first plate and / or the second plate and / or the third plate are provided with weight-reducing holes, which helps to improve the weight reduction of the trunk device, and the weight-reducing holes can also play a role in partial heat dissipation, which is beneficial to the long-term use of the second electronic device.

[0018] In a second aspect, the present invention provides a humanoid robot, comprising a waist assembly and a trunk device according to any one of various embodiments of the first aspect, wherein the waist assembly is connected to an end of the battery cabinet away from the shoulder and neck structure in the second direction. The trunk device of the humanoid robot of the present application has a compact layout and high space utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 is a three-dimensional diagram of a partial structure of a humanoid robot according to an embodiment; Figure 2 is a three-dimensional diagram of a partial structure of a humanoid robot according to another embodiment; Figure 3 is a perspective view of a torso device of an embodiment; Figure 4 is a perspective view of a torso device according to another embodiment; Figure 5 is a three-dimensional diagram of a shoulder and neck structure of an embodiment; Figure 6 is a three-dimensional diagram of a shoulder and neck structure of another embodiment; Figure 7 is a three-dimensional view of a mounting bracket of an embodiment.

[0021] Description of reference numerals: 100-trunk device, 10-battery module, 11-battery cabinet, 111-first side plate, 1111-first part, 1112-recessed part, 1113-second part, 1114-accommodation groove, 112-protective cover, 1121-first plate, 1122-second plate, 1123-third plate, 1124-weight reduction hole, 113-second side plate, 12-battery assembly, 20-shoulder and neck structure, 21-mounting bracket, 211-first support Support part, 212-second support part, 2121-first sub-board, 2122-second sub-board, 2123-third sub-board, 2124-first mounting groove, 2125-mounting hole, 213-third support part, 2131-second fixing member, 2132-second mounting groove, 214-fourth support part, 215-fifth support part, 216-heat dissipation hole, 217-through hole, 218-reinforcement plate, 22-shoulder assembly, 221-fixed Shell, 222-shoulder drive member, 23-neck assembly, 231-first connecting member, 2311-first connecting plate, 2312-second connecting plate, 232-first driving member, 233-second driving member, 234-second connecting member, 235-protective shell, 2351-guide hole, 30-first receiving space, 40-first electronic device, 41-support member, 42-circuit board, 43-graphics card driver, 431-heat dissipation grille, 50- Second electronic device, 60-third electronic device, 70-speaker, 71-speaker part, 72-mounting seat, 80-shell, 81-speaker hole, 82-hanging hole, 90-hanging part, 91-bottom plate, 911-ventilation hole, 92-hanging handle, 921-first fixing plate, 922-second fixing plate, 923-third fixing plate, 93-side panel, 200-waist component, X-first direction, Y-second direction, Z-third direction. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0023] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0024] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this application and in the specification are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this application includes any and all combinations of one or more of the related listed items.

[0025] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0026] For reference Figures 1 to 3 The present invention provides a humanoid robot, including a waist component 200 and a trunk device 100, wherein the waist component 200 is connected to the trunk device 100. The specific structure of the waist component 200 is not limited, and can be set to a humanoid shape. The waist component 200 is connected to the trunk device 100 and can rotate relatively, and the end of the waist component 200 away from the trunk device 100 is connected to the leg component and can rotate relatively, so as to realize a waist function similar to that of the human body structure. For the convenience of subsequent description, a coordinate system XYZ is established, wherein the X direction is a first direction X, and the first direction X is the front-back direction of the humanoid robot, the Y direction is a second direction Y, and the second direction Y is the up-down direction of the humanoid robot, and the Z direction is a third direction Z, and the third direction Z is the left-right direction of the humanoid robot.

[0027] In the embodiment of the present invention, by providing a unique trunk device 100, the structure of the trunk device 100 is reasonably arranged, compact, and has high space utilization.

[0028] The torso device 100 according to the embodiment of the present invention is described in detail below.

[0029] For reference Figures 1 to 4 The present invention provides a trunk device 100 for a humanoid robot. The trunk device 100 includes a battery module 10 and a shoulder and neck structure 20. The battery module 10 includes a battery cabinet 11 and a battery assembly 12. The battery cabinet 11 has a first opening in a first direction X. The battery assembly 12 is received in the battery cabinet 11 from the first opening and is detachably connected to the battery cabinet 11. The end of the battery cabinet 11 in a second direction Y is used to connect with the waist assembly 200. The first direction X is the front-back direction of the humanoid robot, and the second direction Y is the up-down direction of the humanoid robot. The shoulder and neck structure 20 includes a mounting bracket 21, a shoulder assembly 22, and a neck assembly 23. The mounting bracket 21 is connected to the end of the battery cabinet 11 in the second direction Y that is away from the waist assembly 200. The neck assembly 23 is arranged at the end of the mounting bracket 21 away from the battery module 10. The shoulder assembly 22 is connected to the end of the mounting bracket 21 in a third direction Z. The third direction Z is the left-right direction of the humanoid robot.

[0030] The battery cabinet 11 is made of a material with relatively high structural strength, specifically metal materials, high-strength plastics, ceramics, etc. Metal materials include aluminum, aluminum alloys, magnesium alloys, iron, and iron alloys. The battery cabinet 11 may be an integrated structure, that is, an integrated structure made by an integrated molding process, and the integrated molding process may specifically be stamping, casting, etc., without limitation. The battery cabinet 11 may also be a split structure, that is, the battery cabinet 11 is composed of a plurality of plates, and the plurality of plates may be connected and fixed by welding, bonding, clamping, screwing, etc. The wall thickness of the battery cabinet 11 may be roughly uniform at various locations. The battery cabinet 11 has no other openings except the first opening.

[0031] Optionally, the waist component 200 is connected to the end of the battery cabinet 11 away from the shoulder and neck structure 20 in the second direction Y, and the connection method can be screwing, welding, bonding, etc., without limitation.

[0032] The cross-sectional shape of the first opening can be rectangular, circular, elliptical, etc., without limitation.

[0033] The mounting bracket 21 and the battery cabinet 11 may be connected by screw connection, bonding, welding, etc., without limitation.

[0034] The battery assembly 12 is detachably connected to the battery cabinet 11, that is, the connection between the battery assembly 12 and the battery cabinet 11 can be screwed, clamped, etc., without limitation. Specifically, the end of the battery cabinet 11 close to the first opening is provided with a clamping hole, and there can be multiple clamping holes. The shape of the clamping hole can be circular, rectangular, elliptical, etc., without limitation. The battery assembly 12 includes a battery body, a battery shell, an end cover and a locking member. The battery body can be formed by a plurality of battery cells connected in series and / or in parallel, and the battery body is accommodated in the battery shell. The end cover closes the battery shell, and the connection between the end cover and the battery shell can be screwed, welded, bonded, welded, etc., without limitation. The locking member is connected and fixed to the end cover, and the locking member is at least partially accommodated in the end cover. The locking member extends from the end cover into the clamping hole to clamp the battery assembly 12 and the battery cabinet 11, and the locking member is withdrawn from the clamping hole to the inside of the end cover to unlock the battery assembly 12 and the battery cabinet 11, and the battery assembly 12 can be withdrawn from the first opening of the battery cabinet 11. The locking members are arranged in one-to-one correspondence with the engaging holes. The battery assembly 12 may also include a handle, which is connected to the plurality of locking members, and the handle is used to drive the locking members to extend into and out of the engaging holes. In another embodiment, the locking members may also be controlled by the electronic control unit to extend into or out of the engaging holes. Optionally, at least a portion of the end cover is exposed from the first opening, and there are no additional parts on the surface of the end cover and the handle away from the first battery body, so that the battery assembly 12 of the humanoid robot does not require additional disassembly when it is replaced.

[0035] In this way, the torso device 100 of the humanoid robot is divided into two parts: a battery module 10 and a shoulder and neck structure 20. The shoulder component 22 and the neck component 23 of the humanoid robot are both arranged on the mounting bracket 21, which improves the integration of the shoulder and neck structure 20 and facilitates the production and assembly of the humanoid robot. Therefore, the torso device 100 of the present invention has a compact structure and high space utilization.

[0036] For reference Figure 3 and Figure 5 In one embodiment, the mounting bracket 21 and the battery cabinet 11 enclose a first receiving space 30 , and the trunk device 100 includes a first electronic device 40 , which is connected to the battery cabinet 11 and received in the first receiving space 30 .

[0037] The first electronic device 40 may be a graphics card assembly, which is used to complete tasks such as visual perception, data processing and motion planning of the humanoid robot, such as capturing environmental information through sensors such as cameras, performing image processing and recognition, and providing basic data for the robot's decision-making; performing high-speed processing and analysis on the captured visual information, and extracting useful information, such as the location of obstacles, characteristics of target objects, etc.; and planning the motion path and actions of the humanoid robot based on the results of visual perception and data processing, to ensure that the humanoid robot can perform tasks safely and accurately.

[0038] For reference Figure 5 and Figure 6 The first electronic device 40 may include a support member 41, a circuit board 42 and a graphics card driver 43. The support member 41 is connected and fixed to the battery cabinet 11. The circuit board 42 is arranged on the surface of the support member 41 facing away from the battery cabinet 11. The graphics card driver 43 is electrically connected to the circuit board 42. A heat dissipation grille 431 is provided on the outer shell of the graphics card driver 43. The graphics card driver 43 may be a cube or a cylinder as a whole. The graphics card driver 43 and the circuit board 42, the graphics card driver 43 and the mounting support member 41 are spaced apart in the second direction Y. The connection method between the support member 41 and the battery cabinet 11 may be bonding, welding, clamping, screwing, etc., without limitation.

[0039] In this configuration, the mounting bracket 21 and the battery cabinet 11 are used to enclose a first receiving space 30 for receiving a first electronic device 40 of the humanoid robot, which is beneficial to improving the integration and space utilization of the torso device 100.

[0040] For reference Figure 3 , Figures 5 to 7In one embodiment, the mounting bracket 21 includes a first support portion 211, a second support portion 212, and a third support portion 213 connected in sequence, the first support portion 211 and the third support portion 213 are arranged opposite to each other in the third direction Z, and one end of the first support portion 211 away from the second support portion 212 and one end of the third support portion 213 away from the second support portion 212 are both connected to the battery cabinet 11; The second support portion 212 is connected to the neck component 23 . There are two shoulder components 22 , one of which is connected and fixed to the first support portion 211 , and the other of which is connected and fixed to the third support portion 213 .

[0041] Optionally, the mounting bracket 21 is made of a material with high structural strength, specifically metal materials, high-strength plastics, ceramics, etc., and metal materials such as aluminum, aluminum alloys, magnesium alloys, iron and iron alloys, etc. The mounting bracket 21 can be an integrated structure, that is, the first support portion 211, the second support portion 212 and the third support portion 213 are an integrated structure made by an integrated molding process, and the integrated molding process can be specifically stamping, casting, etc., without limitation. The mounting bracket 21 can also be a split structure, that is, the first support portion 211, the second support portion 212 and the third support portion 213 can be connected and fixed by welding, bonding, clamping, screwing, etc. The wall thickness of each part of the first support portion 211, the second support portion 212 and the third support portion 213 can be roughly uniform.

[0042] Optionally, the first support portion 211 and the third support portion 213 are provided with a through hole 217 penetrating through the first support portion 211 and the third support portion 213. The shoulder assembly 22 includes a fixed shell 221 and a shoulder driver 222. The shoulder driver 222 is accommodated in the fixed shell 221, and the stator of the shoulder driver 222 is connected and fixed to the fixed shell 221. The fixed shell 221 is connected and fixed to the first support portion 211 or the second support portion 212. The connection method between the fixed shell 221 and the first support portion 211 or the second support portion 212 can be screw connection, welding, bonding, etc., without limitation. In the orthographic projection along the third direction Z, the through hole 217 is located in the fixed shell 221. The provision of the through hole 217 can facilitate the heat dissipation of the shoulder driver 222 and the lightweight mounting bracket 21.

[0043] Optionally, the second support portion 212 has a first mounting groove 2124, the opening of the first mounting groove 2124 faces away from the first receiving space 30, and the second support portion 212 is also provided with a mounting hole 2125 passing through itself, and the mounting hole 2125 passes through the bottom wall of the first mounting groove 2124. The bottom wall of the first mounting groove 2124 is also provided with a threaded hole, and the threaded hole is provided on the periphery of the mounting hole 2125. The neck component 23 is tightly attached to the bottom wall of the first mounting groove 2124 and is at least partially received in the mounting hole 2125, and is connected and fixed to the second support portion 212.

[0044] Optionally, the mounting bracket 21 also includes a first fixing member and a second fixing member 2131, the first fixing member is arranged on the surface of the first support portion 211 facing away from the third support portion 213, the second fixing member 2131 is arranged on the surface of the third support portion 213 facing away from the first support portion 211, the second fixing member 2131 is provided with a second mounting groove 2132, and the through hole 217 penetrates the bottom wall of the second mounting groove 2132, the third support portion 213 also includes a threaded hole, the threaded hole is arranged on the bottom wall of the second mounting groove 2132, and the threaded holes are spaced apart in the circumferential direction of the through hole 217, and the threaded holes are used to connect and fix with the shoulder assembly 22.

[0045] Optionally, the mounting bracket 21 further includes a reinforcing plate 218 , and there may be multiple reinforcing plates 218 . One end of the reinforcing plate 218 is connected to the first fixing member or the second fixing member 2131 , and the other end of the reinforcing plate 218 is used to be connected and fixed to the battery cabinet 11 .

[0046] Such an arrangement enables the neck assembly 23 and the shoulder assembly 22 of the humanoid robot to be both arranged on the mounting bracket 21, which facilitates the assembly during the production process of the humanoid robot and subsequent maintenance, and also improves the integration of the shoulder and neck structure 20. In addition, the mounting bracket 21 is a cube as a whole, which facilitates the production and installation of the mounting bracket 21.

[0047] For reference Figures 5 to 7 In one embodiment, the mounting bracket 21 also includes a fourth support portion 214 and a fifth support portion 215 that are relatively arranged in the first direction X, the fourth support portion 214 connects the first support portion 211 and the third support portion 213, the fifth support portion 215 connects the first support portion 211 and the third support portion 213, the fourth support portion 214 is farther away from the first opening than the fifth support portion 215, the first support portion 211 to the fifth support portion 215 and the battery cabinet 11 jointly enclose the first accommodating space 30, and the second support portion 212 and / or the fourth support portion 214 and / or the fifth support portion 215 are provided with at least one heat dissipation hole 216.

[0048] Optionally, the second support portion 212 includes a first sub-plate 2121, a second sub-plate 2122, and a third sub-plate 2123 connected in sequence, the second sub-plate 2122 is connected to the first support portion 211 and the third support portion 213, the first sub-plate 2121 is connected to the fourth support portion 214, and the third sub-plate 2123 is connected to the fifth support portion 215. The end of the first sub-plate 2121 away from the second sub-plate 2122 is closer to the battery cabinet 11 than the second sub-plate 2122, and the end of the third sub-plate 2123 away from the second sub-plate 2122 is closer to the battery cabinet 11 than the second sub-plate 2122. The first sub-plate 2121 and the third sub-plate 2123 are arranged correspondingly. That is, the second support portion 212 is flared as a whole, and the flared opening faces the battery cabinet 11.

[0049] The heat dissipation hole 216 can be a circular hole, a rectangular hole, a polygonal hole, etc., without limitation.

[0050] There can be multiple heat dissipation holes 216, which are spaced apart on the second support portion 212 and / or the fourth support portion 214 and / or the fifth support portion 215, and the heat dissipation holes 216 penetrate the second support portion 212 and / or the fourth support portion 214 and / or the fifth support portion 215.

[0051] In this way, the heat dissipation hole 216 connects the first receiving space 30 with the outside, so that the heat generated by the first electronic device 40 and / or the neck component 23 can be dissipated through the heat dissipation hole 216. The provision of the fourth support portion 214 and the fifth support portion 215 is beneficial to improving the structural strength of the mounting bracket 21. The heat dissipation hole 216 can meet the heat dissipation requirements while also achieving lightweight mounting bracket 21.

[0052] For reference Figure 5 In one embodiment, the torso device 100 further includes a speaker 70, which includes a first end and a second end, both of which are connected to the fourth support portion 214, and the fourth support portion 214 has at least one heat dissipation hole 216 between the first end and the second end.

[0053] The speaker 70 includes a mounting seat 72 and a speaker 71. The mounting seat 72 is made of a material with a certain structural strength. Specifically, the mounting seat 72 can be made of a metal material, a high-strength plastic material, a ceramic material, etc. The first end and the second end are the first end and the second end of the mounting seat 72. The speaker 71 is arranged on the end surface of the mounting seat 72 facing away from the fourth support portion 214. The connection method of the first end and the second end with the fourth support portion 214, and the connection method of the speaker 71 with the mounting seat 72 can be bonding, welding, screwing, etc., without limitation.

[0054] The mounting seat 72 can be in the shape of a prism, a cube, a cylinder, etc., without limitation.

[0055] The speaker 71 may include a magnetic circuit system, a vibration system, a support and auxiliary system, and the magnetic circuit system includes a permanent magnet, a voice coil, etc. The permanent magnet provides a constant magnetic field for the speaker 71, and the voice coil is used to convert electrical signals into mechanical vibrations. The vibration system is mainly composed of a diaphragm (paper cone), a voice coil, and a centering support. The diaphragm vibrates driven by the voice coil, and then pushes the surrounding air to generate sound waves. The voice coil is closely connected to the diaphragm and is responsible for converting electrical signals into mechanical vibrations. The centering support plays the role of supporting and positioning the voice coil to ensure that the voice coil can maintain the correct position and direction during the vibration process. The support and auxiliary system includes a basin frame, a dust cover, a decorative plate (front baffle), a pressing edge, and a terminal. The basin frame is the skeleton of the speaker 71, which supports and fixes the magnetic circuit system and the vibration system. The basin frame is connected and fixed to the mounting seat 72. The dust cover is used to protect the diaphragm and the voice coil from dust and foreign objects. The decorative plate plays the role of beautifying the appearance of the speaker 70. The pressing edge is used to fix the diaphragm and the voice coil. The terminal is used to connect the speaker part 71 with the audio device of the humanoid robot to transmit the audio signal to the speaker part 71 .

[0056] Specifically, the fourth supporting portion 214 defines a heat dissipation hole 216 between the first end and the second end of the speaker 70 .

[0057] In this way, while the speaker 70 is provided to realize the function of the audio system of the humanoid robot, the heat dissipation holes 216 corresponding to the fourth supporting portion 214 enable the heat generated by the first electronic device 40 to be dissipated from the first receiving space 30 .

[0058] For reference Figure 1 and Figure 5 In one embodiment, the torso device 100 also includes a shell 80, the shell 80 has a second opening, the second opening is arranged corresponding to the first opening, the battery cabinet 11 is accommodated in the shell 80 and is connected and fixed to the shell 80, and the battery assembly 12 is accommodated in the battery cabinet 11 from the second opening and the first opening; a speaker hole 81 is opened on the shell 80, and the speaker hole 81 is arranged corresponding to the speaker 70.

[0059] The battery cabinet 11 and the housing 80 may be connected and fixed by screwing, bonding, welding, etc., without limitation.

[0060] Optionally, there may be a plurality of speaker holes 81 arranged in an array on the housing 80 .

[0061] Optionally, the end of the battery assembly 12 close to the first opening closes the second opening, so that the battery assembly 12 and the shell 80 together constitute the outer surface of the torso device 100 .

[0062] The housing 80 may include a first housing and a second housing. The first housing and the second housing are arranged opposite to each other in the first direction X and are connected and fixed. The first housing and the second housing are smoothly connected. The housing 80 is made of a material with high structural strength, specifically a metal material, a high-strength plastic, etc. The first housing and the second housing may be an integrated structure or may be composed of a plurality of sheet metal parts, without limitation.

[0063] With such arrangement, the battery assembly 12 of the torso device 100 of the present invention is detachably connected to the battery cabinet 11. When replacing the battery assembly 12, it is only necessary to disconnect the battery assembly 12 from the battery cabinet 11 without performing additional disassembly operations, which is beneficial to improving the replacement efficiency of the battery assembly 12 and the working efficiency of the humanoid robot. In addition, the speaker hole 81 on the shell 80 facilitates the use of the audio system of the humanoid robot, and the speaker hole 81 can also connect the first containment space 30 and the external space of the humanoid robot, thereby playing a certain heat dissipation role.

[0064] For reference Figure 1 , Figure 2 and Figure 6 In one embodiment, the torso device 100 also includes a hanging portion 90, the hanging portion 90 includes a third end and a fourth end, the third end is connected to the second support portion 212, and the fourth end is connected to the fifth support portion 215, and the fifth support portion 215 has at least one heat dissipation hole 216 between the third end and the fourth end; the shell 80 also has a hanging hole 82, and part of the hanging portion 90 extends out of the shell 80 from the hanging hole 82.

[0065] The connection method between the third end and the second support portion 212 and / or the fourth end and the fifth support portion 215 can be welding, bonding, screw connection, etc., without limitation.

[0066] The shape of the hanging hole 82 can be circular, oval, rectangular, etc. without limitation.

[0067] Specifically, the hanging hole 82 , the heat dissipation hole 216 of the fifth supporting portion 215 , the first receiving space 30 , the receiving hole of the fourth supporting portion 214 , and the speaker hole 81 are connected in the first direction X.

[0068] In this arrangement, the lifting portion 90 is connected and fixed to the mounting bracket 21, and the shell 80 extends out from the lifting hole 82 to facilitate the transportation and movement of the humanoid robot. The lifting hole 82 and the heat dissipation hole 216 of the fifth support portion 215 enable the first housing space 30 to be connected to the outside of the humanoid robot, which is beneficial to improving the heat dissipation of the first electronic device 40.

[0069] For reference Figure 6In one embodiment, the lifting portion 90 includes a base plate 91, a lifting handle 92 and a side panel 93, one end of the base plate 91 is connected and fixed to the second support portion 212, the other end of the base plate 91 is connected and fixed to the fifth support portion 215, the lifting handle 92 and the base plate 91 are arranged opposite to each other, both ends of the lifting handle 92 are connected to the side panel 93, and a ventilation hole 911 is opened on the base plate 91.

[0070] Optionally, the hoisting part 90 is made of a material with high structural strength, specifically metal materials, high-strength plastics, ceramics, etc. Metal materials include aluminum, aluminum alloys, magnesium alloys, iron, and iron alloys. The hoisting part 90 can be an integrated structure, that is, the bottom plate 91, the hoisting handle 92, and the side panels 93 are an integrated structure made by an integrated molding process, and the integrated molding process can be specifically stamping, casting, etc., without limitation. The hoisting part 90 can also be a split structure, that is, the bottom plate 91, the hoisting handle 92, and the side panels 93 can be connected and fixed by welding, bonding, clamping, screwing, etc. The wall thickness of each part of the bottom plate 91, the hoisting handle 92, and the side panels 93 can be roughly uniform.

[0071] The lifting handle 92 can be a straight plate or an arc-shaped plate, without limitation. Specifically, the lifting handle 92 can be composed of a first fixing plate 921, a second fixing plate 922 and a third fixing plate 923 connected in sequence, the end of the first fixing plate 921 away from the second fixing plate 922 is connected to the side panel 93, the end of the third fixing plate 923 away from the second fixing plate 922 is connected to the side panel 93, and there is an angle between the first fixing plate 921 and the second fixing plate 922, and between the second fixing plate 922 and the third fixing plate 923. The end of the first fixing plate 921 away from the second fixing plate 922 smoothly transitions with the housing 80, and the end of the third fixing plate 923 away from the second fixing plate 922 smoothly transitions with the housing 80.

[0072] The side panel 93 may be composed of a plurality of sub-panels, or may be formed by enclosing a single sub-panel. The cross-sectional shape of the side panel 93 may be circular, elliptical, rectangular, triangular, trapezoidal, etc., without limitation. Correspondingly, the bottom panel 91 may be a circular panel, an elliptical panel, a rectangular panel, a triangular panel, or a polygonal panel. The sub-panels of the side panel 93 may be smoothly transitioned. The bottom panel 91 may be a straight panel or a curved panel, without limitation.

[0073] There may be one or more ventilation holes 911 , and the plurality of ventilation holes 911 are arranged in an array on the bottom plate 91 .

[0074] The ventilation hole 911 is connected to the heat dissipation hole 216 of the fifth supporting portion 215 and the first receiving space 30 .

[0075] With such arrangement, the structure of the hoisting part 90 is stable, making the movement of the humanoid robot easy; meanwhile, the bottom plate 91 of the hoisting part 90 is provided with ventilation holes 911, so that the first receiving space 30 is connected with the outside through the heat dissipation holes 216 of the fifth support part 215 and the ventilation holes 911 of the bottom plate 91, thereby allowing the heat generated by the operation of the first electronic device 40 to be smoothly discharged from the interior of the humanoid robot.

[0076] For reference Figure 5 In one embodiment, the neck assembly 23 includes a first connecting member 231, a first driving member 232 and a second driving member 233. The first driving member 232 is used to drive the head assembly (not shown in the figure) of the humanoid robot to move around the first axis, and the second driving member 233 is used to drive the head assembly to move around the second axis. The first axis extends along the second direction Y, and the second axis extends along the third direction Z. One end of the first connecting member 231 is connected to the rotor of the first driving member 232, and the other end of the first connecting member 231 is connected to the stator of the second driving member 233. The stator of the first driving member 232 is connected and fixed to the second support portion 212; the shoulder assembly 22 is used to drive the arm assembly of the humanoid robot to move around the third axis, and the third axis extends along the third direction Z.

[0077] Optionally, the first connecting member 231 includes a first connecting plate 2311 and a second connecting plate 2312 connected to each other, the first connecting plate 2311 and the second connecting plate 2312 are in an "L" shape as a whole, the first connecting plate 2311 is rotatably connected to the rotor of the first driving member 232, and the second connecting plate 2312 is fixedly connected to the stator of the second driving member 233. The first axis is perpendicular to the first connecting plate 2311, and the first axis is parallel to the second connecting plate 2312. There can be a smooth transition between the first connecting plate 2311 and the second connecting plate 2312.

[0078] The first connecting plate 2311 and the second connecting plate 2312 can be an integral structure or a split structure. Specifically, when the first connecting member 231 is a split structure, the first connecting plate 2311 and the second connecting plate 2312 can be connected by bonding, welding, clamping, etc. without limitation.

[0079] Optionally, the neck assembly 23 also includes a second connecting member 234, one end of the second connecting member 234 is fixedly connected to the stator of the second driving member 233, and the other end of the second connecting member 234 is used to connect to the head assembly. The second driving member 233 is used to drive the head assembly to move around the second axis, that is, the head device performs pitch movements such as nodding and tilting the head.

[0080] Optionally, the neck assembly 23 further includes a protective shell 235, the first driving member 232 is connected to the second supporting portion 212, and the second driving member 233 is accommodated in the protective shell 235. The protective shell 235 is provided with at least one guide hole 2351, and the guide holes 2351 may be multiple, and the multiple guide holes 2351 are arranged at intervals on the protective shell 235, and the guide holes 2351 are provided for heat dissipation of the first driving member 232.

[0081] With such arrangement, the neck assembly 23 can drive the head assembly to move around two axes, realizing the movements of the head assembly such as turning and nodding, improving the flexibility of the head assembly, and making the humanoid robot more anthropomorphic. The axis layout in which the first axis and the second axis intersect and are perpendicular, and the second axis and the third axis are parallel makes the structure of the torso device 100 of the humanoid robot more compact, which is conducive to realizing more functions in a limited space. And the vertically intersecting axis layout helps to enhance the overall stability of the humanoid robot. During the dynamic working process, this structure can better resist external interference and vibration and maintain the precise control of the humanoid robot.

[0082] For reference Figure 3 and Figure 4 In one embodiment, the battery cabinet 11 includes a first side plate 111, which is disposed opposite to the first opening in the first direction X. The trunk device 100 also includes a protective cover 112, which is connected and fixed to the first side plate 111, and the protective cover 112 and the first side plate 111 are enclosed to form a second receiving space. The trunk device 100 includes a second electronic device 50, which is connected to the first side plate 111 and received in the second receiving space.

[0083] The protective cover 112 may be made of a material with high structural strength, specifically metal material, high-strength plastic, ceramic, etc. The metal material may be aluminum, aluminum alloy, magnesium alloy, iron, and iron alloy, etc. The protective cover 112 may be connected to the first side plate 111 by screw connection, welding, clamping, etc., without limitation.

[0084] Optionally, the second electronic device 50 includes a heat dissipation unit and a control unit. The heat dissipation unit may be integrated with the control unit, or may be spaced apart from the control unit in the second receiving space.

[0085] The heat dissipation unit may be an air-cooled heat sink, including an axial fan, a centrifugal fan, a mixed flow fan, etc., without limitation. The control unit may be a computer, a relay, and the control unit may include a core processing chip, a signal processing module, a power drive module, a communication interface, etc., without limitation.

[0086] For reference Figure 3 and Figure 4In one embodiment, the battery cabinet 11 includes a second side plate 113 and a third side plate, and the second side plate 113 and the third side plate are arranged opposite to each other in the third direction Z. The trunk device 100 also includes a third electronic device 60, and the third electronic device 60 is arranged on a surface of the second side plate 113 facing away from the third side plate or a surface of the third side plate facing away from the second side plate 113.

[0087] Optionally, the second electronic device 50 or the third electronic device 60 can be a power control board and a switch module of the humanoid robot, used to allocate a power port and a network port to the entire humanoid robot, or a power output and signal output component of the battery assembly 12, without limitation.

[0088] The second receiving space is formed by providing the protective cover 112 , and the second electronic device 50 is received in the second receiving space, which helps to improve the integration and space utilization of the battery cabinet 11 .

[0089] For reference Figure 4 In one embodiment, the first side plate 111 includes a first portion 1111, a recessed portion 1112, and a second portion 1113 connected in sequence in the second direction Y, the recessed portion 1112 has a receiving groove 1114, the opening of the receiving groove 1114 faces away from the first opening, and the second electronic device 50 is received in the receiving groove 1114; The protective cover 112 includes a first plate 1121, a second plate 1122 and a third plate 1123 connected in sequence, the end of the first plate 1121 away from the second plate 1122 is connected to the first part 1111, the end of the third plate 1123 away from the second plate 1122 is connected to the bottom wall of the accommodating groove 1114, and the second plate 1122 and the end surface of the accommodating groove 1114 are spaced apart in the first direction X.

[0090] The protective cover 112 may be an integrated structure, that is, the first plate 1121, the second plate 1122 and the third plate 1123 are an integrated structure made by an integrated molding process, and the integrated molding process may be stamping, casting, etc., without limitation. The protective cover 112 may also be a split structure, that is, the first plate 1121, the second plate 1122 and the third plate 1123 may be connected and fixed by welding, bonding, clamping, screwing, etc.

[0091] Optionally, the second electronic device 50 is connected and fixed to the bottom wall of the receiving groove 1114, and the connection method can be welding, bonding, screw connection, etc., without limitation.

[0092] The first plate 1121 and the third plate 1123 extend along the first direction X, and the second plate 1122 extends substantially along the second direction Y. Optionally, the second plate 1122 is parallel to the second direction Y, or there is an angle between the second plate 1122 and the second direction Y, and the angle may be 5°-30°, and optionally, the angle may be 5°, 10°, 15°, 20°, 25°, 30°, etc., without limitation.

[0093] Optionally, the second board 1122 includes a first sub-board 2121 and a second sub-board 2122 connected in sequence, one end of the first sub-board 2121 away from the second sub-board 2122 is connected to the first board 1121, and one end of the second sub-board 2122 away from the first sub-board 2121 is connected to the third board 1123. Specifically, the second sub-board 2122 can be composed of a plurality of board members, and the first sub-board 2121 is an integrated structure, which is arranged to facilitate the installation of the protective cover 112.

[0094] By providing the receiving groove 1114 and the protective cover 112, the available space of the second receiving space is increased in the first direction X, and the volume restriction of the second electronic device 50 received in the second receiving space is small. At the same time, the increase of the second receiving space makes the heat dissipation effect of the second electronic device 50 better.

[0095] For reference Figure 4 In one embodiment, the first plate 1121 and / or the second plate 1122 and / or the third plate 1123 are provided with weight-reducing holes 1124 .

[0096] The weight-reducing hole 1124 passes through the first plate 1121 and / or the second plate 1122 and / or the third plate 1123. The weight-reducing hole 1124 may be a circular hole, a rectangular hole, an elliptical hole, etc., without limitation.

[0097] Such a configuration helps to improve the weight reduction of the trunk device 100 , and at the same time, the weight reduction holes 1124 can also play a part in heat dissipation, which is beneficial to the long-term use of the second electronic device 50 .

[0098] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship of terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the orientation or positional relationship described in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0099] What is disclosed above is only a preferred embodiment of the present application, and it certainly cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiment and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A torso device (100), characterized in that: For humanoid robots, including: A battery module (10) comprises a battery cabinet (11) and a battery assembly (12), wherein the battery cabinet (11) has a first opening in a first direction (X), the battery assembly (12) is received in the battery cabinet (11) through the first opening and is detachably connected to the battery cabinet (11), and an end of the battery cabinet (11) in a second direction (Y) is used to connect to a waist assembly (200), the first direction (X) is a front-to-back direction of the humanoid robot, and the second direction (Y) is an up-down direction of the humanoid robot; A shoulder and neck structure (20) comprises a mounting bracket (21), a shoulder component (22) and a neck component (23), wherein the mounting bracket (21) is connected to the end of the battery cabinet (11) in the second direction (Y) facing away from the waist component (200), the neck component (23) is arranged at the end of the mounting bracket (21) away from the battery module (10), and the shoulder component (22) is connected to the end of the mounting bracket (21) in the third direction (Z), and the third direction (Z) is the left-right direction of the humanoid robot.

2. The trunk device (100) according to claim 1, characterized in that: The mounting bracket (21) and the battery cabinet (11) enclose a first receiving space (30); the trunk device (100) comprises a first electronic device (40); the first electronic device (40) is connected to the battery cabinet (11) and received in the first receiving space (30).

3. The trunk device (100) according to claim 2, characterized in that: The mounting bracket (21) comprises a first supporting portion (211), a second supporting portion (212) and a third supporting portion (213) which are connected in sequence, the first supporting portion (211) and the third supporting portion (213) are arranged relative to each other in the third direction (Z), and an end of the first supporting portion (211) away from the second supporting portion (212) and an end of the third supporting portion (213) away from the second supporting portion (212) are both connected to the battery cabinet (11); The second supporting portion (212) is connected to the neck component (23), and there are two shoulder components (22), one of which is connected and fixed to the first supporting portion (211), and the other of which is connected and fixed to the third supporting portion (213).

4. The trunk device (100) according to claim 3, characterized in that: The mounting bracket (21) further comprises a fourth support portion (214) and a fifth support portion (215) which are arranged relative to each other in the first direction (X); the fourth support portion (214) connects the first support portion (211) and the third support portion (213); the fifth support portion (215) connects the first support portion (211) and the third support portion (213); the fourth support portion (214) is farther away from the first opening than the fifth support portion (215); the first support portion (211) to the fifth support portion (215) and the battery cabinet (11) jointly enclose the first receiving space (30); and the second support portion (212) and / or the fourth support portion (214) and / or the fifth support portion (215) are provided with at least one heat dissipation hole (216).

5. The trunk device (100) according to claim 4, characterized in that: The torso device (100) also includes a speaker (70), the speaker (70) includes a first end and a second end, the first end and the second end are both connected to the fourth support portion (214), and the fourth support portion (214) is provided with at least one heat dissipation hole (216) between the first end and the second end.

6. The trunk device (100) according to claim 5, characterized in that: The trunk device (100) further comprises a shell (80), the shell (80) having a second opening, the second opening being arranged corresponding to the first opening, the battery cabinet (11) being received in the shell (80) and being connected and fixed to the shell (80), and the battery assembly (12) being received in the battery cabinet (11) through the second opening and the first opening; The housing (80) is provided with a sound-speaking hole (81), and the sound-speaking hole (81) is arranged corresponding to the speaker (70).

7. The trunk device (100) according to claim 6, characterized in that: The trunk device (100) further comprises a hanging portion (90), the hanging portion (90) comprising a third end and a fourth end, the third end being connected to the second supporting portion (212), the fourth end being connected to the fifth supporting portion (215), and the fifth supporting portion (215) being provided with at least one heat dissipation hole (216) between the third end and the fourth end; The shell (80) is also provided with a hanging hole (82), and part of the hanging portion (90) extends out of the shell (80) from the hanging hole (82).

8. The trunk device (100) according to claim 7, characterized in that: The lifting part (90) includes a base plate (91), a lifting handle (92) and a side panel (93); one end of the base plate (91) is connected and fixed to the second support part (212); the other end of the base plate (91) is connected and fixed to the fifth support part (215); the lifting handle (92) and the base plate (91) are arranged opposite to each other; both ends of the lifting handle (92) are connected to the side panel (93); and a ventilation hole (911) is provided on the base plate (91).

9. The trunk device (100) according to claim 3, characterized in that: The neck component (23) comprises a first connecting member (231), a first driving member (232) and a second driving member (233), wherein the first driving member (232) is used to drive the head component of the humanoid robot to move around a first axis, and the second driving member (233) is used to drive the head component to move around a second axis, the first axis extends along the second direction (Y), and the second axis extends along the third direction (Z), one end of the first connecting member (231) is connected to the rotor of the first driving member (232), the other end of the first connecting member (231) is connected to the stator of the second driving member (233), and the stator of the first driving member (232) is connected and fixed to the second supporting portion (212); The shoulder component (22) is used to drive the arm component of the humanoid robot to move around a third axis, and the third axis extends along the third direction (Z).

10. The trunk device (100) according to any one of claims 1 to 9, characterized in that: The battery cabinet (11) comprises a first side plate (111), the first side plate (111) being arranged opposite to the first opening in the first direction (X), the trunk device (100) further comprises a protective cover (112), the protective cover (112) being connected and fixed to the first side plate (111), the protective cover (112) and the first side plate (111) enclosing to form a second receiving space; The trunk device (100) comprises a second electronic device (50), wherein the second electronic device (50) is connected to the first side plate (111) and is accommodated in the second accommodation space.

11. The trunk device (100) according to claim 10, characterized in that: The first side plate (111) comprises a first portion (1111), a recessed portion (1112) and a second portion (1113) which are sequentially connected in the second direction (Y); the recessed portion (1112) has a receiving groove (1114); the opening of the receiving groove (1114) faces away from the first opening; and the second electronic device (50) is received in the receiving groove (1114); The protective cover (112) comprises a first plate (1121), a second plate (1122) and a third plate (1123) which are connected in sequence, wherein one end of the first plate (1121) away from the second plate (1122) is connected to the first portion (1111), and one end of the third plate (1123) away from the second plate (1122) is connected to the bottom wall of the receiving groove (1114), and the second plate (1122) and the end surface of the receiving groove (1114) are spaced apart in the first direction (X).

12. The trunk device (100) according to claim 11, characterized in that: The first plate (1121) and / or the second plate (1122) and / or the third plate (1123) are provided with weight-reducing holes (1124).

13. A humanoid robot, characterized in that: It comprises a waist component (200) and a torso device (100) as claimed in any one of claims 1 to 12, wherein the waist component (200) is connected to the end of the battery cabinet (11) away from the shoulder and neck structure (20) in the second direction (Y).

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