Trunk device and humanoid robot

Abstract

A torso device and a humanoid robot, the torso device is used for the humanoid robot and includes a battery module and a shoulder and neck structure; the battery module includes a battery cabinet and a battery assembly, 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 the end of the battery cabinet in a second direction is used to be connected to a waist assembly, the first direction is the front-back direction of the humanoid robot, and the second direction is the up-down direction of the humanoid robot; the shoulder and neck structure includes a mounting bracket, a shoulder assembly and a neck assembly, 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 a third direction, the third direction is the left-right direction of the humanoid robot. The structure of the torso device of the present invention is compact and has a high space utilization rate.

Description

Technical Field

[0001] This application relates to the technical field of humanoid robots, and specifically relates to a torso device and a humanoid robot. Background Art

[0002] Humanoid robots can imitate the human body's shape and movement postures, and have broad development prospects. Similar to the human body, a humanoid robot includes a torso device. To meet the requirements of battery life, the battery of a humanoid robot is large in mass and volume, and is generally arranged inside the torso device.

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

[0004] The purpose of this application is to provide a torso device and a humanoid robot, so as to solve the problems of scattered structural arrangement and low space utilization rate of the torso device.

[0005] To achieve the purpose of this application, the following technical solutions are provided in this application:

[0006] In the first aspect, the present invention provides a torso device for a humanoid robot, including:

[0007] A battery module, including a battery cabinet and battery components. The battery cabinet has a first opening in a first direction. The battery components are received in the battery cabinet from the first opening and are detachably connected to the battery cabinet. The end of the battery cabinet in a second direction is used to connect to a waist component. The first direction is the front-back direction of the humanoid robot, and the second direction is the up-down direction of the humanoid robot;

[0008] A shoulder and neck structure, including a mounting bracket, a shoulder component, and a neck component. The mounting bracket is connected to the end of the battery cabinet in the second direction facing away from the waist component. The neck component is arranged at the end of the mounting bracket away from the battery module. The shoulder component is connected to the end of the mounting bracket in a third direction. The third direction is the left-right direction of the humanoid robot.

[0009] With such an arrangement, 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 the neck component of the humanoid robot are both arranged on the mounting bracket, which improves the integration degree of the shoulder and neck structure and facilitates the production and assembly of the humanoid robot. Therefore, the structure of the torso device of the present invention is compact and the space utilization rate is high.

[0010] In one implementation, the mounting bracket and the battery cabinet enclose a first receiving space, and the torso device includes a first electronic component, which is connected to the battery cabinet and received in the first receiving space. With this arrangement, the first receiving space is formed by enclosing the mounting bracket and the battery cabinet to receive the first electronic component of the humanoid robot, which is beneficial to improving the integration degree and space utilization rate of the torso device.

[0011] In one implementation, the mounting bracket includes a first support portion, a second support portion, and a third support portion that are sequentially connected. The first support portion and the third support portion are oppositely arranged in the third direction, and one end of the first support portion away from the second support portion and one end of the third support portion away from the second support portion are both connected to the battery cabinet;

[0012] The second support portion is connected to the neck assembly. There are two shoulder assemblies, one of the shoulder assemblies is fixedly connected to the first support portion, and the other shoulder assembly is fixedly connected to the third support portion. With this arrangement, the neck assembly and the shoulder assemblies of the humanoid robot are both arranged on the mounting bracket, which is convenient for assembly during the production process of the humanoid robot and subsequent maintenance, and also improves the integration degree of the shoulder and neck structure. Moreover, the overall mounting bracket is a cube, which is convenient for the production and installation of the mounting bracket.

[0013] In one implementation, the mounting bracket further includes a fourth support portion and a fifth support portion that are oppositely arranged in the first direction. The fourth support portion connects the first support portion and the third support portion, and the fifth support portion connects the first support portion and the third support portion. The fourth support portion is farther 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 at least one heat dissipation hole is formed in the second support portion and / or the fourth support portion and / or the fifth support portion. With this arrangement, the heat dissipation hole enables the first receiving space to communicate with the outside, so that the heat generated by the first electronic component and / or the neck assembly can be dissipated through the heat dissipation hole. The arrangement of the fourth support portion and the fifth support portion is beneficial to improving the structural strength of the mounting bracket, and the heat dissipation hole can achieve the lightweight of the mounting bracket while meeting the heat dissipation requirements.

[0014] In one implementation, the torso device further includes a speaker. The speaker includes a first end and a second end, and both the first end and the second end are connected to the fourth support portion. At least one of the heat dissipation holes is formed in the fourth support portion between the first end and the second end. With this arrangement, while the speaker is provided to realize the function of the audio system of the humanoid robot, the heat dissipation hole correspondingly formed in the fourth support portion enables the heat generated by the first electronic component to be dissipated from the first receiving space.

[0015] In one implementation, the torso device further includes a housing having a second opening corresponding to the first opening. The battery cabinet is received in the housing and fixedly connected to the housing. The battery assembly is received in the battery cabinet through the second opening and the first opening.

[0016] The housing is provided with a sound hole corresponding to the speaker. With this arrangement, the battery assembly of the torso device of the present invention is detachably connected to the battery cabinet. When replacing the battery assembly, it is only necessary to disconnect the battery assembly from the battery cabinet, without the need for additional disassembly operations, which is beneficial to improving the replacement efficiency of the battery assembly and the working efficiency of the humanoid robot. In addition, the sound hole on the housing helps the use of the audio system of the humanoid robot, and the sound hole can also connect the first accommodation space and the external space of the humanoid robot, playing a certain role in heat dissipation.

[0017] In one implementation, the torso device further includes a lifting part including a third end and a fourth end. The third end is connected to the second support part, and the fourth end is connected to the fifth support part. The fifth support part is provided with at least one heat dissipation hole between the third end and the fourth end.

[0018] The housing is also provided with a lifting hole, and part of the lifting part extends out of the housing through the lifting hole. With this arrangement, the lifting part is fixedly connected to the mounting bracket, and extending out of the housing through the lifting hole facilitates the handling and movement of the humanoid robot. Moreover, the lifting hole and the heat dissipation hole of the fifth support part communicate the first accommodation space with the outside of the humanoid robot, which is beneficial to improving the heat dissipation of the first electronic device.

[0019] In one implementation, the lifting part includes a bottom plate, a lifting handle, and side enclosing plates. One end of the bottom plate is fixedly connected to the second support part, and the other end of the bottom plate is fixedly connected to the fifth support part. The lifting handle is disposed opposite to the bottom plate, and both ends of the lifting handle are connected to the side enclosing plates. The bottom plate is provided with ventilation holes. With this arrangement, the structure of the lifting part is stable, making the movement of the humanoid robot simple. At the same time, the bottom plate of the lifting part is provided with ventilation holes, so that the first accommodation space communicates with 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.

[0020] 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 configured to drive the head assembly of the humanoid robot to move about a first axis, and the second driving member is configured to drive the head assembly to move about 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, and the other end of the first connecting member is connected to the stator of the second driving member. The stator of the first driving member is fixedly connected to the second supporting portion;

[0021] The shoulder assembly is configured to drive the arm assembly of the humanoid robot to move about a third axis, and the third axis extends along the third direction. With such an arrangement, the neck assembly can drive the head assembly to move about two axes, realizing actions such as turning and nodding of the head assembly, 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, facilitating the implementation of more functions within a limited space. Moreover, the perpendicular 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, maintaining the precise control of the humanoid robot.

[0022] In one embodiment, the battery cabinet includes a first side plate, the first side plate is disposed opposite to the first opening in the first direction, and the torso device further includes a protective cover, the protective cover is fixedly connected to the first side plate, and the protective cover and the first side plate enclose a second receiving space;

[0023] The torso device includes a second electronic device, the second electronic device is connected to the first side plate and received in the second receiving space. By providing the protective cover to form the second receiving space and receiving the second electronic device in the second receiving space, it helps to improve the integration and space utilization rate of the battery cabinet.

[0024] In one embodiment, the first side plate includes a first portion, a recessed portion, and a second portion that are 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;

[0025] The protective cover includes a first plate, a second plate, and a third plate that are connected in sequence. One end of the first plate away from the second plate is connected to the first part, one 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 face 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 limitation of the second electronic device received in the second receiving space is small, and at the same time, the increase in the second receiving space results in good heat dissipation of the second electronic device.

[0026] In one embodiment, the first plate and / or the second plate and / or the third plate are provided with weight-reducing holes. With this arrangement, it helps to improve the light weight of the torso device, and at the same time, the weight-reducing holes can also play a role in heat dissipation to some extent, which is beneficial to the long-term use of the second electronic device.

[0027] In a second aspect, the present invention provides a humanoid robot, including a waist assembly and the torso device according to any one of the various embodiments of the first aspect, and the waist assembly is connected to the end of the battery cabinet away from the shoulder and neck structure in the second direction. The layout of the torso device of the humanoid robot in this application is compact and has high space utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0029] Figure 1 It is a perspective view of a partial structure of a humanoid robot in an embodiment;

[0030] Figure 2 It is a perspective view of a partial structure of another humanoid robot in an embodiment;

[0031] Figure 3 It is a perspective view of a torso device in an embodiment;

[0032] Figure 4 It is a perspective view of another torso device in an embodiment;

[0033] Figure 5 It is a perspective view of a shoulder and neck structure in an embodiment;

[0034] Figure 6 It is a perspective view of another shoulder and neck structure in an embodiment;

[0035] Figure 7It is a perspective view of an installation bracket of an embodiment.

[0036] Description of reference numerals:

[0037] 100 - Trunk device, 10 - Battery module, 11 - Battery cabinet, 111 - First side plate, 1111 - First part, 1112 - Recessed part, 1113 - Second part, 1114 - Accommodating 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 - Installation bracket, 211 - First support part, 212 - Second support part, 2121 - First sub - plate, 2122 - Second sub - plate, 2123 - Third sub - plate, 2124 - First installation groove, 2125 - Installation hole, 213 - Third support part, 2131 - Second fixing part, 2132 - Second installation groove, 214 - Fourth support part, 215 - Fifth support part, 216 - Heat dissipation hole, 217 - Through hole, 218 - Reinforcing plate, 22 - Shoulder assembly, 221 - Fixed shell, 222 - Shoulder driving part, 23 - Neck assembly, 231 - First connecting part, 2311 - First connecting plate, 2312 - Second connecting plate, 232 - First driving part, 233 - Second driving part, 234 - Second connecting part, 235 - Protective shell, 2351 - Flow - guiding hole, 30 - First accommodation space, 40 - First electronic device, 41 - Support part, 42 - Circuit board, 43 - Graphics card driver, 431 - Heat dissipation grille, 50 - Second electronic device, 60 - Third electronic device, 70 - Speaker, 71 - Sound - emitting part, 72 - Mounting seat, 80 - Shell, 81 - Sound - emitting hole, 82 - Hoisting hole, 90 - Hoisting part, 91 - Bottom plate, 911 - Ventilation hole, 92 - Hoisting handle, 921 - First fixing plate, 922 - Second fixing plate, 923 - Third fixing plate, 93 - Side enclosure, 200 - Waist assembly, X - First direction, Y - Second direction, Z - Third direction. Detailed implementation manners

[0038] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0039] It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or there can also be an intermediate component. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be an intermediate component at the same time.

[0040] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used in the specification of this application 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.

[0041] The following will, with reference to the accompanying drawings, elaborate on some embodiments of this application. Without conflict, the following embodiments and the features in the embodiments may be combined with each other.

[0042] Reference may be made to Figures 1 to 3 , the present invention provides a humanoid robot, including a waist assembly 200 and a torso device 100, and the waist assembly 200 is connected to the torso device 100. The specific structure of the waist assembly 200 is not limited and can be set in a humanoid shape. The waist assembly 200 is connected to the torso device 100 and can rotate relative to each other. One end of the waist assembly 200 away from the torso device 100 is connected to the leg assembly and can rotate relative to each other, realizing the waist function similar to the human body structure. For the convenience of subsequent description, a coordinate system XYZ is established, where the X direction is the first direction X, and the first direction X is the front-back direction of the humanoid robot, the Y direction is the second direction Y, and the second direction Y is the up-down direction of the humanoid robot, and the Z direction is the third direction Z, and the third direction Z is the left-right direction of the humanoid robot.

[0043] In the embodiment of the present invention, by providing a unique torso device 100, the structure of the torso device 100 is reasonably arranged, the structure is compact, and the space utilization rate is high.

[0044] The following will introduce the torso device 100 of the embodiment of the present invention in detail.

[0045] Reference may be made to Figures 1 to 4, the present invention provides a torso device 100 for a humanoid robot. The torso 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 the 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 the second direction Y is used to connect to 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 opposite to the waist assembly 200. The neck assembly 23 is provided 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 the third direction Z. The third direction Z is the left-right direction of the humanoid robot.

[0046] The battery cabinet 11 is made of a material with high structural strength, specifically, it can be a metal material, a high-strength plastic, a ceramic, etc. The metal material can be, for example, aluminum, aluminum alloy, magnesium alloy, iron, and iron alloy, etc. The battery cabinet 11 can be an integral structure, that is, an integral structure made by an integral molding process. The integral molding process can specifically be stamping, casting, etc., without limitation. The battery cabinet 11 can also be a split structure, that is, the battery cabinet 11 is composed of multiple plate bodies, and the multiple plate bodies can be connected and fixed by welding, bonding, clamping, screwing, etc. The wall thickness of each part of the battery cabinet 11 can be approximately uniform. The battery cabinet 11 has no other openings except the first opening.

[0047] Optionally, the waist assembly 200 is connected to the end of the battery cabinet 11 in the second direction Y that is away from the shoulder and neck structure 20. The connection method can be screwing, welding, bonding, etc., without limitation.

[0048] The cross-sectional shape of the first opening can be rectangular, circular, oval, etc., without limitation.

[0049] The connection method between the mounting bracket 21 and the battery cabinet 11 can be screwing, bonding, welding, etc., without limitation.

[0050] The battery assembly 12 is detachably connected to the battery cabinet 11. That is, the connection method between the battery assembly 12 and the battery cabinet 11 can be screw connection, snap connection, etc., without limitation. Specifically, the end of the battery cabinet 11 near the first opening is provided with snap holes, and there can be multiple snap holes. The shape of the snap holes can be circular, rectangular, oval, etc., without limitation. The battery assembly 12 includes a battery body, a battery housing, an end cover, and a locking member. The battery body can be formed by connecting multiple battery cells in series and / or in parallel, and the battery body is housed in the battery housing. The end cover closes the battery housing. The connection method between the end cover and the battery housing can be screw connection, welding, bonding, welding, etc., without limitation. The locking member is fixedly connected to the end cover. At least part of the locking member is housed in the end cover. The locking member extends from inside the end cover into the snap hole to snap-connect the battery assembly 12 to the battery cabinet 11. The locking member retracts from the snap hole back into the end cover to unlock the battery assembly 12 and the battery cabinet 11, and the battery assembly 12 can exit from the first opening of the battery cabinet 11. The locking members are arranged in one-to-one correspondence with the snap holes. The battery assembly 12 may further include a handle. The handle is connected to multiple locking members, and the handle is used to drive the locking members to extend into and retract from the snap holes. In another embodiment, the locking member can also be controlled by an electronic control unit to extend into or retract from the snap hole. Optionally, at least part of the end cover is exposed from the first opening, and there are no additional parts on the surfaces of the end cover and the handle away from the first battery body, so that no additional disassembly actions are required when replacing the battery assembly 12 of the humanoid robot.

[0051] With such a setting, 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 assembly 22 and the neck assembly 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 structure of the torso device 100 of the present invention is compact and has a high space utilization rate.

[0052] For reference Figure 3 and Figure 5 In one embodiment, a first accommodation space 30 is enclosed by the mounting bracket 21 and the battery cabinet 11. The torso device 100 includes a first electronic device 40. The first electronic device 40 is connected to the battery cabinet 11 and is housed in the first accommodation space 30.

[0053] The first electronic device 40 can be a graphics card assembly. The graphics card assembly is used to complete tasks such as visual perception, data processing, and motion planning of the humanoid robot. For example, it captures environmental information through sensors such as cameras, performs image processing and recognition, and provides basic data for the robot's decision-making; it performs high-speed processing and analysis on the captured visual information, extracts useful information, such as the position of obstacles and the characteristics of target objects; based on the results of visual perception and data processing, it plans the motion path and actions of the humanoid robot to ensure that the humanoid robot can perform tasks safely and accurately.

[0054] For referenceFigure 5 and Figure 6 As shown in FIGS. Figure 6 and Figure 5 , the first electronic device 40 may include a support 41, a circuit board 42, and a graphics card driver 43. The support 41 is fixedly connected to the battery cabinet 11. The circuit board 42 is disposed on the surface of the support 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 overall shape of the graphics card driver 43 may be a cube or a cylinder. The graphics card driver 43, the circuit board 42, and the installation support 41 are spaced apart in the second direction Y. The connection manner between the support 41 and the battery cabinet 11 may be bonding, welding, clamping, screwing, etc., without limitation.

[0055] With such an arrangement, the installation bracket 21 and the battery cabinet 11 enclose a first accommodation space 30 for accommodating the first electronic device 40 of the humanoid robot, which is beneficial to improving the integration and space utilization rate of the torso device 100.

[0056] Reference can be made to Figure 3 、 Figures 5 to 7 In one embodiment, the installation bracket 21 includes a first support portion 211, a second support portion 212, and a third support portion 213 that are connected in sequence. The first support portion 211 and the third support portion 213 are oppositely disposed in the third direction Z. 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;

[0057] The second support portion 212 is connected to the neck assembly 23. There are two shoulder assemblies 22. One of the shoulder assemblies 22 is fixedly connected to the first support portion 211, and the other shoulder assembly 22 is fixedly connected to the third support portion 213.

[0058] Optionally, the installation bracket 21 is made of a material with high structural strength, specifically, it may be a metal material, a high-strength plastic, a ceramic, etc. The metal material may be, for example, aluminum, aluminum alloy, magnesium alloy, iron, and iron alloy, etc. The installation bracket 21 may be an integral structure, that is, the first support portion 211, the second support portion 212, and the third support portion 213 are an integral structure made by an integral molding process. The integral molding process may specifically be stamping, casting, etc., without limitation. The installation bracket 21 may also be a split structure, that is, the first support portion 211, the second support portion 212, and the third support portion 213 may 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 may be substantially uniform.

[0059] Optionally, the first support portion 211 and the third support portion 213 are provided with through holes 217 penetrating therethrough. The shoulder assembly 22 includes a fixed housing 221 and a shoulder driving member 222. The shoulder driving member 222 is received in the fixed housing 221, and the stator of the shoulder driving member 222 is fixedly connected to the fixed housing 221. The fixed housing 221 is fixedly connected to the first support portion 211 or the second support portion 212. The connection manner between the fixed housing 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 within the fixed housing 221. The provision of the through hole 217 facilitates the heat dissipation of the shoulder driving member 222 and the light weight of the mounting bracket 21.

[0060] 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. The second support portion 212 is also provided with a mounting hole 2125 penetrating therethrough. The mounting hole 2125 penetrates the bottom wall of the first mounting groove 2124. A threaded hole is further provided on the bottom wall of the first mounting groove 2124. The threaded hole is provided on the outer periphery of the mounting hole 2125. The neck assembly 23 is in close contact with the bottom wall of the first mounting groove 2124 and is at least partially received in the mounting hole 2125 and is fixedly connected to the second support portion 212.

[0061] Optionally, the mounting bracket 21 further includes a first fixing member and a second fixing member 2131. The first fixing member is disposed on the surface of the first support portion 211 facing away from the third support portion 213. The second fixing member 2131 is disposed 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. The through hole 217 penetrates the bottom wall of the second mounting groove 2132. The third support portion 213 further includes a threaded hole. The threaded hole is provided on the bottom wall of the second mounting groove 2132 and is spaced apart in the circumferential direction of the through hole 217. The threaded hole is used for fixedly connecting with the shoulder assembly 22.

[0062] Optionally, the mounting bracket 21 further includes reinforcing plates 218. There can 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 for fixedly connecting with the battery cabinet 11.

[0063] With such a setting, the neck assembly 23 and the shoulder assembly 22 of the humanoid robot are both disposed 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 degree of the shoulder and neck structure 20. Moreover, the mounting bracket 21 is a cube as a whole, which facilitates the production and installation of the mounting bracket 21.

[0064] For reference, see Figures 5 to 7, In one embodiment, the mounting bracket 21 further includes a fourth support portion 214 and a fifth support portion 215 that are oppositely arranged in the first direction X. The fourth support portion 214 connects the first support portion 211 and the third support portion 213, and the fifth support portion 215 connects the first support portion 211 and the third support portion 213. The fourth support portion 214 is farther 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 together enclose a first accommodation space 30. At least one heat dissipation hole 216 is formed in the second support portion 212 and / or the fourth support portion 214 and / or the fifth support portion 215.

[0065] Optionally, the second support portion 212 includes a first sub-board 2121, a second sub-board 2122, and a third sub-board 2123 that are sequentially connected. The second sub-board 2122 is connected to the first support portion 211 and the third support portion 213. The first sub-board 2121 is connected to the fourth support portion 214, and the third sub-board 2123 is connected to the fifth support portion 215. One end of the first sub-board 2121 away from the second sub-board 2122 is closer to the battery cabinet 11 than the second sub-board 2122, and one end of the third sub-board 2123 away from the second sub-board 2122 is closer to the battery cabinet 11 than the second sub-board 2122. The first sub-board 2121 and the third sub-board 2123 are correspondingly arranged. That is, the second support portion 212 is integrally in a flared shape, and the opening of the flared shape faces the battery cabinet 11.

[0066] The heat dissipation hole 216 can be a circular hole, a rectangular hole, a polygonal hole, etc., without limitation.

[0067] There can be multiple heat dissipation holes 216. The multiple heat dissipation holes 216 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 through the second support portion 212 and / or the fourth support portion 214 and / or the fifth support portion 215.

[0068] With such a setting, the heat dissipation holes 216 enable the first accommodation space 30 to communicate with the outside, so that the heat generated by the first electronic device 40 and / or the neck assembly 23 can be dissipated through the heat dissipation holes 216. The arrangement 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 holes 216 can achieve the light weight of the mounting bracket 21 while meeting the heat dissipation requirements.

[0069] For reference Figure 5 , In one embodiment, the torso device 100 further includes a speaker 70. The speaker 70 includes a first end and a second end. Both the first end and the second end are connected to the fourth support portion 214. At least one heat dissipation hole 216 is formed in the fourth support portion 214 between the first end and the second end.

[0070] The speaker 70 includes a mounting base 72 and a sounding part 71. The mounting base 72 is made of a material with a certain structural strength, and specifically, the mounting base 72 can be made of metal materials, high-strength plastic materials, ceramic materials, etc. The first end and the second end are the first end and the second end of the mounting base 72. The sounding part 71 is disposed on the end face of the mounting base 72 facing away from the fourth support portion 214. The connection manners of the first end and the second end with the fourth support portion 214 and the connection manner of the sounding part 71 with the mounting base 72 can be bonding, welding, screwing, etc., without limitation.

[0071] The mounting base 72 can be prismatic, cubic, cylindrical, etc., without limitation.

[0072] The sounding part 71 may include a magnetic circuit system, a vibration system, and a support and auxiliary system. The magnetic circuit system includes a permanent magnet, a voice coil, etc. The permanent magnet provides a constant magnetic field for the sounding part 71, and the voice coil is used to convert an electrical signal into mechanical vibration. The vibration system mainly consists of a diaphragm (paper cone), a voice coil, a centering spider, etc. 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 the electrical signal into mechanical vibration. The centering spider plays a role in supporting and positioning the voice coil to ensure that the voice coil can maintain the correct position and direction during vibration. The support and auxiliary system includes a chassis, a dust cap, a decorative panel (front baffle), a surround, and a terminal, etc. The chassis is the framework of the sounding part 71, which supports and fixes the magnetic circuit system and the vibration system, and the chassis is connected and fixed to the mounting base 72. The dust cap is used to protect the diaphragm and the voice coil from dust and foreign objects. The decorative panel plays a role in beautifying the appearance of the speaker 70. The surround is used to fix the diaphragm and the voice coil. The terminal is used to connect the sounding part 71 to the audio device of the humanoid robot and transmit the audio signal into the sounding part 71.

[0073] Specifically, a heat dissipation hole 216 is correspondingly provided between the first end and the second end of the speaker 70 on the fourth support portion 214.

[0074] With such a setting, while the speaker 70 is set to realize the function of the audio system of the humanoid robot, the heat dissipation hole 216 correspondingly provided on the fourth support portion 214 enables the heat generated by the first electronic device 40 to be dissipated from the first accommodation space 30.

[0075] Reference can be made to Figure 1 and Figure 5 In an embodiment, the torso device 100 further includes a housing 80. The housing 80 has a second opening, and the second opening is correspondingly arranged with the first opening. The battery cabinet 11 is received in the housing 80 and is connected and fixed to the housing 80. The battery assembly 12 is received in the battery cabinet 11 from the second opening and the first opening; a sound hole 81 is provided on the housing 80, and the sound hole 81 is correspondingly arranged with the speaker 70.

[0076] The battery cabinet 11 and the housing 80 may be connected and fixed by screwing, bonding, welding, etc., without limitation.

[0077] Optionally, there may be a plurality of speaker holes 81 arranged in an array on the housing 80 .

[0078] 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 .

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] The shape of the hanging hole 82 can be circular, oval, rectangular, etc. without limitation.

[0084] 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.

[0085] With such a setting, the hoisting part 90 is fixedly connected to the mounting bracket 21, and extends out of the housing 80 from the hoisting hole 82, facilitating the handling and movement of the humanoid robot. Moreover, the hoisting hole 82 and the heat dissipation holes 216 of the fifth supporting part 215 enable the first accommodating space 30 to communicate with the outside of the humanoid robot, which is conducive to improving the heat dissipation of the first electronic device 40.

[0086] For reference Figure 6 In one implementation, the hoisting part 90 includes a bottom plate 91, a hoisting handle 92, and a side enclosure plate 93. One end of the bottom plate 91 is fixedly connected to the second supporting part 212, and the other end of the bottom plate 91 is fixedly connected to the fifth supporting part 215. The hoisting handle 92 and the bottom plate 91 are oppositely arranged, and both ends of the hoisting handle 92 are connected to the side enclosure plate 93. Ventilation holes 911 are provided on the bottom plate 91.

[0087] Optionally, the hoisting part 90 is made of a material with high structural strength, specifically, it can be a metal material, high-strength plastic, ceramic, etc. Metal materials such as aluminum, aluminum alloy, magnesium alloy, iron, and ferroalloy. The hoisting part 90 can be an integral structure, that is, the bottom plate 91, the hoisting handle 92, and the side enclosure plate 93 are an integral structure made by an integral molding process. The integral molding process can specifically be 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 enclosure plate 93 can be connected and fixed by welding, bonding, clamping, screwing, etc. The wall thicknesses at various parts of the bottom plate 91, the hoisting handle 92, and the side enclosure plate 93 can be substantially uniform.

[0088] The hoisting handle 92 can be a straight plate or an arc plate, without limitation. Specifically, the hoisting 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. One end of the first fixing plate 921 away from the second fixing plate 922 is connected to the side enclosure plate 93, and one end of the third fixing plate 923 away from the second fixing plate 922 is connected to the side enclosure plate 93. There are included angles 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. One end of the first fixing plate 921 away from the second fixing plate 922 has a smooth transition with the housing 80, and one end of the third fixing plate 923 away from the second fixing plate 922 has a smooth transition with the housing 80.

[0089] The side enclosure plate 93 can be composed of multiple sub-plates or can be formed by enclosing a single sub-plate. The cross-sectional shape of the side enclosure plate 93 can be circular, oval, rectangular, triangular, trapezoidal, etc., without limitation. Correspondingly, the bottom plate 91 can be a circular plate, oval plate, rectangular plate, triangular plate, polygonal plate. The various sub-plates of the side enclosure plate 93 can have a smooth transition. The bottom plate 91 can be a straight plate or a curved plate, without limitation.

[0090] The ventilation hole 911 can be one or multiple. When there are multiple ventilation holes 911, they are arranged in an array on the bottom plate 91.

[0091] The ventilation hole 911 is in communication with the heat dissipation hole 216 of the fifth support portion 215 and the first accommodation space 30.

[0092] With such an arrangement, the structure of the lifting portion 90 is stable, making the movement of the humanoid robot simple. At the same time, the bottom plate 91 of the lifting portion 90 is provided with ventilation holes 911, so that the first accommodation space 30 is in communication with the outside through the heat dissipation holes 216 of the fifth support portion 215 and the ventilation holes 911 of the bottom plate 91, thereby enabling the heat generated by the operation of the first electronic device 40 to be smoothly discharged from the inside of the humanoid robot.

[0093] 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 a first axis, and the second driving member 233 is used to drive the head assembly 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, 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 fixedly connected to the second support portion 212; the shoulder assembly 22 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 Z.

[0094] Optionally, the first connecting member 231 includes a connected first connecting plate 2311 and a second connecting plate 2312. The first connecting plate 2311 and the second connecting plate 2312 are integrally in an "L" shape. 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 parallel to the second connecting plate 2312. The transition between the first connecting plate 2311 and the second connecting plate 2312 can be smooth.

[0095] The first connecting plate 2311 and the second connecting plate 2312 can be of an integral structure or a split structure. Specifically, when the first connecting member 231 is of a split structure, the connection method between the first connecting plate 2311 and the second connecting plate 2312 can be bonding, welding, snap connection, etc., without limitation.

[0096] Optionally, the neck assembly 23 further 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 pitching motions such as nodding and looking up.

[0097] Optionally, the neck assembly 23 further includes a protective housing 235. The first driving member 232 is connected to the second supporting portion 212, and the second driving member 233 is received in the protective housing 235. At least one flow guiding hole 2351 is formed in the protective housing 235. The flow guiding holes 2351 can be multiple, and the multiple flow guiding holes 2351 are spaced apart on the protective housing 235. The flow guiding holes 2351 are provided for heat dissipation of the first driving member 232.

[0098] With such an arrangement, the neck assembly 23 can drive the head assembly to move around two axes, realizing actions such as turning the head and nodding of the head assembly, improving the flexibility of the head assembly, and making the humanoid robot more anthropomorphic. The axis layout where 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 beneficial to realizing more functions in a limited space. And the perpendicular 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.

[0099] For reference Figure 3 and Figure 4 In one embodiment, the battery cabinet 11 includes a first side plate 111. The first side plate 111 is disposed opposite to the first opening in the first direction X. The torso device 100 further includes a protective cover 112. The protective cover 112 is fixedly connected to the first side plate 111, and the protective cover 112 and the first side plate 111 enclose a second receiving space. The torso device 100 includes a second electronic device 50. The second electronic device 50 is connected to the first side plate 111 and is received in the second receiving space.

[0100] The protective cover 112 can be made of a material with relatively high structural strength, specifically, it can be a metal material, a high-strength plastic, a ceramic, etc. The metal material can be, for example, aluminum, aluminum alloy, magnesium alloy, iron and iron alloy, etc. The connection manner between the protective cover 112 and the first side plate 111 can be screw connection, welding, snap connection, etc., without limitation.

[0101] Optionally, the second electronic device 50 includes a heat dissipation unit and a control unit. The heat dissipation unit can be integrated with the control unit, or can be spaced apart from the control unit in the second receiving space.

[0102] The heat dissipation unit can be an air-cooled radiator, including an axial fan, a centrifugal fan, a mixed-flow fan, etc., without limitation. The control unit can be a computer, a relay, and the control unit can include a core processing chip, a signal processing module, a power drive module, a communication interface, etc., without limitation.

[0103] Reference can be made to Figure 3 and Figure 4 In 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 oppositely arranged in the third direction Z. The torso device 100 further includes a third electronic device 60, and the third electronic device 60 is disposed on the surface of the second side plate 113 facing away from the third side plate or the surface of the third side plate facing away from the second side plate 113.

[0104] 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 distribute power ports and network ports to the whole humanoid robot, or, a power output and signal output component of the battery assembly 12, without limitation.

[0105] By providing the protective cover 112 to form a second receiving space, and the second electronic device 50 is received in the second receiving space, which helps to improve the integration and space utilization rate of the battery cabinet 11.

[0106] Reference can be made to Figure 4 In one embodiment, the first side plate 111 includes a first part 1111, a recessed part 1112, and a second part 1113 that are sequentially connected in the second direction Y. The recessed part 1112 has a receiving groove 1114, and the opening of the receiving groove 1114 faces away from the first opening. The second electronic device 50 is received in the receiving groove 1114;

[0107] The protective cover 112 includes a first plate 1121, a second plate 1122, and a third plate 1123 that are sequentially connected. One end of the first plate 1121 away from the second plate 1122 is connected to the first part 1111, 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 is spaced from the end face of the receiving groove 1114 in the first direction X.

[0108] The protective cover 112 can be an integral structure, that is, the first plate 1121, the second plate 1122, and the third plate 1123 are an integral structure made by an integral molding process. The integral molding process can specifically be stamping, casting, etc., without limitation. The protective cover 112 can also be a split structure, that is, the first plate 1121, the second plate 1122, and the third plate 1123 can be connected and fixed by welding, bonding, clamping, screwing, etc.

[0109] Optionally, the second electronic device 50 is fixedly connected to the bottom wall of the receiving groove 1114. The connection method can be welding, bonding, screwing, etc., without limitation.

[0110] 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 included angle between the second plate 1122 and the second direction Y. The magnitude of the included angle can be 5°-30°. Optionally, the included angle can be 5°, 10°, 15°, 20°, 25°, 30°, etc., without limitation.

[0111] Optionally, the second plate 1122 includes a first sub-plate 2121 and a second sub-plate 2122 connected in sequence. One end of the first sub-plate 2121 away from the second sub-plate 2122 is connected to the first plate 1121, and one end of the second sub-plate 2122 away from the first sub-plate 2121 is connected to the third plate 1123. Specifically, the second sub-plate 2122 can be composed of multiple plate members, and the first sub-plate 2121 is an integral structure. With such a setting, it is convenient for the installation of the protective cover 112.

[0112] 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, the volume limitation of the second electronic device 50 received in the second receiving space is small, and at the same time, the increase in the second receiving space makes the heat dissipation effect of the second electronic device 50 good.

[0113] 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.

[0114] The weight-reducing holes 1124 penetrate through the first plate 1121 and / or the second plate 1122 and / or the third plate 1123. The shape of the weight-reducing holes 1124 can be a circular hole, a rectangular hole, an oval hole, etc., without limitation.

[0115] With such a setting, it helps to improve the lightweight of the torso device 100. At the same time, the weight-reducing holes 1124 can also play a role in part of heat dissipation, which is beneficial to the long-term use of the second electronic device 50.

[0116] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present application.

[0117] The above-disclosed is only a preferred embodiment of the present application. Of course, it cannot be used to limit the scope of rights of the present application. Those of ordinary skill in the art can understand all or part of the processes of implementing the above embodiments, and the equivalent changes made according to the claims of the present application still fall 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), comprising 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; 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 is received in the first receiving space (30); The first electronic device (40) comprises a support member (41) and a circuit board (42); the support member (41) is connected and fixed to the battery cabinet (11); and the circuit board (42) is arranged on a surface of the support member (41) facing away from the battery cabinet (11).

2. The trunk device (100) according to claim 1, 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).

3. The trunk device (100) according to claim 2, 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).

4. The trunk device (100) according to claim 3, 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.

5. The trunk device (100) according to claim 4, 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).

6. The trunk device (100) according to claim 5, 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).

7. The trunk device (100) according to claim 6, 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).

8. The trunk device (100) according to claim 2, 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).

9. The trunk device (100) according to any one of claims 1 to 8, 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.

10. The trunk device (100) according to claim 9, 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).

11. The trunk device (100) according to claim 10, 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).

12. A humanoid robot, characterized in that: It comprises a waist component (200) and a trunk device (100) as claimed in any one of claims 1 to 11, 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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