Trunk assembly and robot

Abstract

The invention relates to the technical field of robots, in particular to a trunk assembly and a robot, and solves the problem of poor endurance performance of the robot caused by unreasonable layout of the trunk assembly. The trunk assembly comprises a supporting assembly, a control integration assembly and a plurality of battery assemblies, the supporting assembly is sequentially provided with a first containing space and a second containing space from top to bottom, the control integration assembly comprises a plurality of integrated control assemblies, and the control assemblies are contained in the first containing space; therefore, the trunk assembly is provided with more second accommodating spaces for accommodating a plurality of battery assemblies. When part of the battery assemblies are used up and need to be charged, the other part of the battery assemblies can continuously supply power to the robot, so that the multiple battery assemblies alternately supply power to the robot, the robot can continuously run, and the endurance performance of the robot is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and in particular to a torso assembly and a robot. BACKGROUND

[0002] With the continuous progress of humanoid robot related technologies, industrial automation technology is gradually changing from single repetitive tasks represented by industrial robots to complex and variable tasks represented by humanoid robots. The torso assembly of the humanoid robot is a key component connecting the four-limb assembly and the head assembly. In order to perform tasks, the torso assembly must have multiple control and mechanical systems to achieve collaborative work, and these systems all need power support.

[0003] However, the existing humanoid robots have poor endurance performance. SUMMARY

[0004] Therefore, the embodiments of the present application provide a torso assembly and a robot, which solve the problem of poor endurance performance of the robot.

[0005] In a first aspect, an embodiment of the present application provides a torso assembly, the torso assembly having an upper side and a lower side oppositely arranged along a first direction, and comprising: a support assembly having a first receiving space, a second receiving space and a first opening, the first receiving space being located on a side of the second receiving space facing the upper side, and the first opening being in communication with the second receiving space; a control integrated assembly comprising a plurality of integrated control assemblies, the control integrated assembly being received in the first receiving space and connected with the support assembly; and a plurality of battery assemblies received in the second receiving space, detachably connected with the support assembly, and capable of entering and exiting the second receiving space through the first opening.

[0006] In some embodiments, the torso assembly has a left side and a right side oppositely arranged along a second direction; the support assembly comprises: two first support members spaced apart along the second direction; a second support member connected with the two first support members; and a third support member located on a side of the second support member facing the lower side and spaced apart from the second support member, wherein the two first support members, the second support member and the third support member enclose the second receiving space and the first opening, and the first receiving space is located between the two first support members and on a side of the second support member facing the upper side.

[0007] In some embodiments, the control integrated assembly further comprises: at least one mounting plate connected with the two first support members and spaced apart from the second support member, at least one of the control assemblies being arranged on a side of the mounting plate facing the upper side, and at least another one of the control assemblies being arranged on a side of the mounting plate facing the lower side.

[0008] In some embodiments, the torso assembly has a front side and a back side oppositely arranged along a third direction; the mounting plate has two first ends oppositely arranged along the second direction; the first support has a first sliding groove on a side thereof facing the first receiving space, the first sliding groove has a lower groove wall, an upper groove wall, a bottom wall, and a back limiting surface, the bottom wall connects the lower groove wall, the upper groove wall, and the back limiting surface, the lower groove wall and the upper groove wall are configured to limit the displacement of the first ends in the first direction, the bottom wall of each of the two first supports is configured to limit the displacement of the first ends in the second direction, and the back limiting surface is configured to limit the displacement of the first ends in the third direction toward the back side, and the first ends extend into the first sliding groove in a direction toward the back side.

[0009] In some embodiments, an end of the first end facing the back side has an upper side surface, a back side surface, a guide surface, and a lower side surface arranged in sequence, the upper side surface faces the upper side, the back side surface faces the back side, the lower side surface faces the lower side, and the guide surface connects the back side surface and the lower side surface, wherein in a direction from the front side to the back side, the distance between the guide surface and a preset plane in the first direction gradually decreases, the preset plane is parallel to the second direction and the third direction, and is located on a side of the guide surface facing the upper side; the lower groove wall further comprises a positioning surface, the positioning surface connects the back limiting surface and is in contact with the guide surface; and / or, an end of each of the two first ends facing the front side is detachably connected with a corresponding first support.

[0010] In some embodiments, the torso assembly has a front side and a back side oppositely arranged along a third direction; the support assembly further comprises: two fourth supports spaced apart along the third direction, each of the fourth supports is connected with the two first supports; a fifth support connected with the two first supports and the two fourth supports, located on a side of the mounting plate facing the upper side, and spaced apart from the mounting plate, wherein the second support is further connected with the two fourth supports, and the two first supports, the two fourth supports, the second support, and the fifth support enclose the first receiving space; wherein each of the two first supports has a second opening in communication with the first receiving space; the torso assembly further comprises: two airflow driving assemblies arranged in the two first supports respectively, and in communication with the first receiving space through the second openings respectively, one of the airflow driving assemblies is configured to drive the gas in the first receiving space to flow out of the first receiving space through one of the second openings, and the other airflow driving assembly is configured to drive the gas outside the first receiving space to flow into the first receiving space through the other second opening.

[0011] In some embodiments, the fourth support located at the back side has an access hole, the access hole being in communication with the first receiving space; the torso assembly further comprises a sealing member configured to open or close the access hole.

[0012] In some embodiments, the torso assembly has a front side and a back side oppositely arranged along a third direction, the third direction being perpendicular to the second direction, the plurality of battery assemblies being arranged along the second direction, the battery assemblies being guided into or out of the second receiving space along the third direction; wherein a side of the second support facing a lower side has a plurality of first guide portions extending along the third direction, the plurality of first guide portions being arranged along the second direction at intervals, a side of the battery assembly facing the second support has at least one second guide portion extending along the third direction, the second guide portion being adapted to the first guide portion to guide the battery assembly in cooperation with the first guide portion; and / or a side of the third support facing an upper side has a plurality of third guide portions extending along the third direction, the plurality of third guide portions being arranged along the second direction at intervals, a side of the battery assembly facing the third support has at least one fourth guide portion extending along the third direction, the fourth guide portion being adapted to the third guide portion to guide the battery assembly in cooperation with the third guide portion.

[0013] In some embodiments, the support assembly has a plurality of limiting holes, a hole wall of the limiting hole being parallel to the first direction; the battery assembly comprises a lock tongue movable along the first direction, the lock tongue being capable of extending into the limiting hole to enable the battery assembly to be clamped with the support assembly and being capable of exiting the limiting hole to enable the battery assembly to be unclamped with the support assembly.

[0014] In some embodiments, the torso assembly has a front side and a back side oppositely arranged along a third direction, the support assembly further comprises a sixth support located at a side of the second support facing the front side, the sixth support being connected with one or more of the first support, the second support and the third support; a first elastic compression member being arranged at a side of the sixth support facing the second receiving space, the first elastic compression member being elastically connected with the sixth support and compressing the battery assembly so that the lock tongue compresses a hole wall of the limiting hole close to the back side; wherein the first opening is formed towards the back side.

[0015] In some embodiments, the support assembly comprises a plurality of mounting shafts; the torso assembly further comprises: a plurality of floating plug-in assemblies, each of which is arranged in one-to-one correspondence with a battery assembly; wherein the floating plug-in assembly comprises: a first plug-in head assembly comprising at least one mounting hole, the mounting hole being sleeved on the mounting shaft, the diameter of the mounting hole being greater than the diameter of the mounting shaft, a plurality of the first plug-in head assemblies and the support assembly surrounding the second accommodation space and the first opening, wherein the battery assembly comprises a second plug-in head assembly, the first plug-in head assembly being capable of plug-in cooperation with the second plug-in head assembly when the support assembly carries the battery assembly, the axial direction of the mounting hole being parallel to the plug-in direction of the plug-in cooperation; and an elastic assembly elastically connecting the first plug-in head assembly and the support assembly.

[0016] In some embodiments, the torso assembly is applied to a robot; wherein the robot comprises a neck assembly, the torso assembly further comprises: a shoulder part disposed on a side of the support assembly facing the upper side; a neck connecting part disposed on the shoulder part, the neck connecting part being used for connecting the neck assembly, an end of the neck connecting part used for connecting the neck assembly comprising a first annular part, an end surface of the first annular part having a first concave-convex structure, the neck assembly comprising a second annular part, an end surface of the second annular part having a second concave-convex structure, the first concave-convex structure being capable of cooperating with the second concave-convex structure, the first annular part and the second annular part being detachably connected through a first locking part, so that the first locking part locks the first annular part and the second annular part; and / or the robot further comprises at least one arm assembly, the torso assembly further comprises: at least one arm connecting part disposed on the support assembly, the arm connecting part being used for connecting the arm assembly, an end of the arm connecting part used for connecting the arm assembly comprising a third annular part, an end surface of the third annular part having a third concave-convex structure, the arm assembly comprising a fourth annular part, an end surface of the fourth annular part having a fourth concave-convex structure, the third concave-convex structure being capable of cooperating with the fourth concave-convex structure, the third annular part and the fourth annular part being detachably connected through a second locking part, so that the second locking part locks the third annular part and the fourth annular part; and / or the robot further comprises a waist assembly, the torso assembly further comprises: a waist connecting part disposed on a side of the support assembly facing the lower side, the waist connecting part being used for connecting the waist assembly, an end of the waist connecting part used for connecting the waist assembly comprising a fifth annular part, an end surface of the fifth annular part having a fifth concave-convex structure, the waist assembly comprising a sixth annular part, an end surface of the sixth annular part having a sixth concave-convex structure, the fifth concave-convex structure being capable of cooperating with the sixth concave-convex structure, the fifth annular part and the sixth annular part being detachably connected through a third locking part, so that the third locking part locks the fifth annular part and the sixth annular part.

[0017] In some embodiments, the support assembly further has a third receiving space located on a side of the first receiving space facing the upper side, for wiring; wherein the torso assembly further comprises: a shoulder part disposed on a side of the support assembly facing the upper side, the third receiving space being located between the two first support parts and on a side of the shoulder part facing the lower side, a side of the shoulder part facing the third receiving space comprising a protruding part protruding towards the third receiving space.

[0018] In some embodiments, the torso assembly has a front side and a back side oppositely arranged along a third direction; wherein the torso assembly further comprises: at least one antenna assembly configured to receive or transmit electromagnetic waves, the antenna assembly being arranged on a side of the two first supports facing the front side, and / or on a side of one of the first supports facing away from the other first support, and located at a portion of the first support corresponding to the second receiving space; and / or at least one charging interface arranged on a portion of the first support corresponding to the second receiving space, configured to electrically connect a power supply and the battery assembly; and / or a visual sensor arranged on a side of the support assembly facing the lower side and the front side, configured to acquire image information; and / or a handrail arranged on an upper portion of a side of the support assembly facing the back side, configured to externally support the torso assembly; and / or a spatial posture sensor arranged on a side of the third support facing the lower side, configured to acquire spatial posture information of the torso assembly.

[0019] In a second aspect, an embodiment of the present application provides a robot, comprising the torso assembly of the first aspect.

[0020] The torso assembly provided by the embodiment includes a support assembly, a control integrated assembly, and a plurality of battery assemblies. The support assembly is sequentially provided with a first receiving space and a second receiving space from top to bottom. The control integrated assembly includes a plurality of integrated control assemblies. The plurality of control assemblies are received in the first receiving space, so that the torso assembly has more second receiving spaces for receiving the plurality of battery assemblies. When some of the plurality of battery assemblies need to be charged due to low power, the other battery assemblies can continuously supply power to the robot, so that the plurality of battery assemblies alternately supply power to the robot, the robot can continuously run, and the endurance performance of the robot is improved. BRIEF DESCRIPTION OF DRAWINGS

[0021] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which:

[0022] Figure 1 Fig. 6 shows a back view of the torso assembly provided by an embodiment of the present application.

[0023] Figure 2 Fig. 7 shows a structural schematic diagram of the torso assembly provided by an embodiment of the present application, except for the control integrated assembly and the battery assembly.

[0024] Figure 3A rear view of a support assembly and a shoulder part is shown.

[0025] Figure 4 A structural schematic view of a control integrated assembly is shown.

[0026] Figure 5 A front view of a torso assembly is shown.

[0027] Figure 6 A structural schematic view of a torso assembly is shown.

[0028] Figure 7 A structural schematic view of a mounting plate is shown.

[0029] Figure 8 A structural schematic view of a support assembly and a shoulder part is shown.

[0030] Figure 9 A rear view of a torso assembly is shown. Figure 8 A partial enlarged view of the support assembly and the shoulder part in area A is shown.

[0031] Figure 10 A structural schematic view of a torso assembly without a control assembly is shown.

[0032] Figure 11 A front view of a torso assembly is shown. Figure 10 A partial enlarged view of the torso assembly without the control assembly in area B is shown.

[0033] Figure 12 A structural schematic view of a mounting plate and a limiting piece is shown.

[0034] Figure 13 A left view of a mounting plate and a limiting piece is shown.

[0035] Figure 14 A left view of a support assembly is shown. Figure 13 A partial enlarged view of the mounting plate and the limiting piece in area C is shown.

[0036] Figure 15 A left view of a support assembly is shown.

[0037] Figure 16 A structural schematic view of a support assembly and a shoulder part is shown.

[0038] Figure 17 A structural schematic view of a torso assembly is shown.

[0039] Figure 18 Fig. 2 shows a structural schematic view of a second supporting member and a second elastic compression member according to an embodiment of the present application.

[0040] Figure 19 Fig. 3 shows a structural schematic view of a battery assembly according to an embodiment of the present application.

[0041] Figure 20 Fig. 4 shows a structural schematic view of a battery assembly according to another embodiment of the present application.

[0042] Figure 21 Fig. 5 shows a back view of a torso assembly according to another embodiment of the present application.

[0043] Figure 22 Fig. 6 shows a partial enlarged view of the torso assembly. Figure 21 Fig. 7 shows a sectional view of the torso assembly in the direction of D-D.

[0044] Figure 23 Fig. 8 shows a partial enlarged view of the torso assembly in the area of E. Figure 22 Fig. 9 shows a partial enlarged view of the torso assembly in the area of F.

[0045] Figure 24 Fig. 10 shows a partial enlarged view of the torso assembly in the area of G. Figure 22 Fig. 11 shows a partial enlarged view of the torso assembly in the area of H.

[0046] Figure 25 Fig. 12 shows a structural schematic view of a torso assembly without a control integrated assembly according to an embodiment of the present application.

[0047] Figure 26 Fig. 13 shows a structural schematic view of a torso assembly without a control integrated assembly and a battery assembly according to an embodiment of the present application.

[0048] Figure 27 Fig. 14 shows a structural schematic view of a torso assembly without a control integrated assembly and a battery assembly according to another embodiment of the present application. Figure 26 Fig. 15 shows a structural schematic view of a torso assembly without a control integrated assembly and a battery assembly in the area of G.

[0049] Figure 28 Fig. 16 shows a structural schematic view of a torso assembly without a control integrated assembly and a battery assembly according to another embodiment of the present application.

[0050] Figure 29 Fig. 17 shows a structural schematic view of a battery assembly according to another embodiment of the present application.

[0051] Figure 30 Fig. 18 shows a front view of a floating plug-in assembly and a side bearing according to an embodiment of the present application.

[0052] Figure 31 Fig. 19 shows a sectional view of the floating plug-in assembly and the side bearing in the direction of H-H. Figure 30 Fig. 20 shows a sectional view of the floating plug-in assembly and the side bearing in the direction of H-H.

[0053] Figure 32 A partial enlarged view of the floating plug-in assembly and the side carrier in region I is shown. Figure 31 A partial enlarged view of the floating plug-in assembly and the side carrier in region I is shown.

[0054] Figure 33 A structural schematic diagram of a robot provided by an embodiment of the present application is shown.

[0055] Figure 34 A structural schematic diagram of a neck connecting piece and a neck assembly provided by an embodiment of the present application is shown.

[0056] Figure 35 A structural schematic diagram of an arm connecting piece and an arm assembly provided by an embodiment of the present application is shown.

[0057] Figure 36 A structural schematic diagram of a waist connecting piece and a waist assembly provided by an embodiment of the present application is shown.

[0058] Figure 37 A left view of a torso assembly provided by an embodiment of the present application is shown.

[0059] Reference signs:

[0060] 1. Robot; 10. Body assembly; 1001. Upper side; 1002. Lower side; 1003. Left side; 1004. Right side; 1005. Front side; 1006. Back side; 100. Support assembly; 101. First receiving space; 102. Second receiving space; 103. First opening; 104. Limiting hole; 105. Third receiving space; 110. First support piece; 1110. Support main body; 1120. Limiting piece; 1101. First sliding groove; 1102. Second opening; 1111. Lower groove wall; 1011. Positioning surface; 1121. Upper groove wall; 1131. Bottom wall; 1141. Back limiting surface; 120. Second support piece; 1201. First guide part; 130. Third support piece; 1301. Third guide part; 140. Fourth support piece; 1401. Access hole; 150. Fifth support piece; 160. Sixth support piece; 170. First elastic compression piece; 180. Mounting shaft; 190. Side bearing piece; 1901. Through hole; 191. Second elastic compression piece; 200. Control integrated assembly; 210. Control assembly; 220. Mounting plate; 2201. First end part; 2211. Upper side surface; 2221. Back side surface; 2231. Guide surface; 2241. Lower side surface; 300. Battery assembly; 301. Second guide part; 302. Fourth guide part; 303. Projection; 310. Locking tongue; 320. Second plug assembly; 400. Airflow driving assembly; 500. Sealing piece; 600. Floating plug assembly; 610. First plug assembly; 6101. Mounting hole; 6110. Mounting piece; 6120. First plug; 700. Shoulder piece; 701. Protruding part; 800. Neck connecting piece; 801. First annular part; 8011. First concave-convex structure; 900. Arm connecting piece; 901. Third annular part; 9011. Third concave-convex structure; 1000. Waist connecting piece; 1010. Fifth annular part; 1012. Fifth concave-convex structure; 1100. Antenna assembly; 1200. Charging interface; 1300. Vision sensor; 1400. Handrail; 1500. Spatial posture sensor; X1. First direction; X2. Second direction; X3. Third direction; δ. Gap; 20. Neck assembly; 2010. Second annular part; 2011. Second concave-convex structure; 30. Arm assembly; 3010. Fourth annular part; 3011. Fourth concave-convex structure; 40. Waist assembly; 4010. Sixth annular part; 4011. Sixth concave-convex structure. DETAILED DESCRIPTION

[0061] With reference to the drawings and the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present application.

[0062] With the continuous progress of humanoid robot related technologies, industrial automation technology is gradually changing from single repetitive tasks represented by industrial robots to complex and variable tasks represented by humanoid robots. The trunk assembly of the humanoid robot is a key component connecting the four limb assemblies and the head assembly. In order to perform tasks, the trunk assembly must have multiple control and mechanical systems to achieve coordinated work, and these systems all need power support. In order to enable the humanoid robot to operate independently without external power connection and have a large operating range, a battery is usually installed on the humanoid robot to power the humanoid robot.

[0063] However, in the related art, the battery is usually arranged in the trunk assembly of the humanoid robot. Moreover, the structure of the trunk assembly of the humanoid robot is complex and the layout is unreasonable, so that only a single battery can be arranged in the trunk assembly. Since the capacity of the single battery is limited, the time for powering the humanoid robot is limited. When the battery is depleted and the battery is removed for charging, the humanoid robot is in a shutdown state, which leads to poor endurance performance of the existing humanoid robot.

[0064] Therefore, the embodiments of the present application provide a trunk assembly and a robot, which solve the problem of poor endurance performance of the robot.

[0065] Figure 1 Fig. 4 shows a rear view of the trunk assembly provided by an embodiment of the present application. Figure 2 Fig. 5 shows a structural schematic diagram of the trunk assembly provided by an embodiment of the present application, except for the control integrated assembly and the battery assembly. Figure 3 Fig. 6 shows a rear view of the support assembly and the shoulder part provided by an embodiment of the present application. Figure 4 Fig. 7 shows a structural schematic diagram of the control integrated assembly provided by an embodiment of the present application.

[0066] As shown in Fig. 1, the humanoid robot 1 provided by an embodiment of the present application comprises a trunk assembly 10, a head assembly 20, a left arm assembly 30, a right arm assembly 40, a left leg assembly 50 and a right leg assembly 60. Figures 1 to 4As shown, the trunk assembly 10 has an upper side 1001 and a lower side 1002 arranged opposite along a first direction X1, and the trunk assembly 10 comprises a support assembly 100, a control integrated assembly 200, and a plurality of battery assemblies 300. The support assembly 100 has a first receiving space 101, a second receiving space 102, and a first opening 103, the first receiving space 101 is located on a side of the second receiving space 102 facing the upper side 1001, and the first opening 103 communicates with the second receiving space 102. The control integrated assembly 200 comprises a plurality of integrated control assemblies 210, and the control integrated assembly 200 is received in the first receiving space 101 and connected with the support assembly 100. The plurality of battery assemblies 300 are received in the second receiving space 102, detachably connected with the support assembly 100, and capable of entering and exiting the second receiving space 102 through the first opening 103.

[0067] The trunk assembly 10 provided by the embodiment integrates the plurality of control assemblies 210 into the control integrated assembly 200, and receives the control integrated assembly 200 in the first receiving space 101, so that the trunk assembly 10 has more space to arrange the plurality of battery assemblies 300. Further, the plurality of battery assemblies 300 can be received in the second receiving space 102, detachably connected with the support assembly 100, and capable of entering and exiting the second receiving space 102 through the first opening 103, so as to facilitate the disassembly and assembly of the battery assemblies 300. When some of the plurality of battery assemblies 300 need to be charged due to low power, the other battery assemblies 300 can continuously supply power to the trunk assembly 10, so as to realize the alternation of the plurality of battery assemblies in supplying power to the trunk assembly 10, and to improve the endurance performance of the robot including the trunk assembly 10.

[0068] In addition, since the battery assemblies 300 are heavy, arranging the battery assemblies 300 on the side of the control integrated assembly 200 facing the lower side 1002 is beneficial to reduce the gravity center of the robot and make the robot run more stably.

[0069] For example, as shown in FIG. 1, Figures 1 to 3 The number of the battery assemblies 300 is two, and the two battery assemblies 300 are arranged adjacent along a second direction X2 perpendicular to the first direction X1. The alternation of the two battery assemblies 300 in supplying power to the trunk assembly 10 can reduce the number of the battery assemblies 300 as much as possible, avoid energy waste, simplify the structure of the trunk assembly 10, reduce the size of the trunk assembly 10 in the second direction X2, and reduce the weight of the trunk assembly 10.

[0070] In some embodiments, as shown in FIG. 1, Figures 1 to 3As shown, the trunk assembly 10 has a left side 1003 and a right side 1004 arranged oppositely along the second direction X2. The support assembly 100 includes two first supports 110, a second support 120, and a third support 130. The two first supports 110 are arranged spacedly along the second direction X2, the second support 120 is connected with the two first supports 110, and the third support 130 is located on a side of the second support 120 facing the lower side 1002 and is arranged spacedly with the second support 120. The two first supports 110, the second support 120, and the third support 130 enclose the second receiving space 102 and the first opening 103, and the first receiving space 101 is located between the two first supports 110 and on a side of the second support 120 facing the upper side 1001.

[0071] The support assembly 100 has a simple structure, which is conducive to simplifying the structure of the trunk assembly 10 and reducing the weight of the trunk assembly 10.

[0072] Exemplarily, the materials of the first support 110, the second support 120, and the third support 130 are metal materials, so as to enhance the mechanical strength of the support assembly 100 and improve the support stability of the support assembly 100. Exemplarily, the materials of the first support 110, the second support 120, and the third support 130 can be magnesium alloy, aluminum alloy, etc.

[0073] Exemplarily, the first support 110, the second support 120, and the third support 130 can all be provided with a hollow structure, so as to further reduce the weight of the trunk assembly 10 while ensuring that the mechanical strength of the support assembly 100 is high.

[0074] In some embodiments, as shown in Figure 4 and Figure 5 As shown, the control integrated assembly 200 further includes at least one mounting plate 220, the at least one mounting plate 220 being connected with the two first supports 110 and arranged spacedly with the second support 120. At least one control assembly 210 is arranged on a side of the mounting plate 220 facing the upper side 1001, and at least another control assembly 210 is arranged on a side of the mounting plate 220 facing the lower side 1002.

[0075] By arranging the mounting plate 220 spacedly above the second support 120 and arranging the control assembly 210 on the upper side and the lower side of the mounting plate 220, the position where the control assembly 210 can be arranged is increased, so that the trunk assembly 10 can integrate multiple control assemblies 210 on the mounting plate 220.

[0076] In addition, by integrating multiple control assemblies 210 on the mounting plate 220, the multiple control assemblies 210 can be disassembled and assembled simultaneously with the mounting plate 220, thereby improving the disassembly and assembly convenience of the control integrated assembly 200.

[0077] Exemplarily, the mounting plate 220 can be provided with a hollow structure to reduce the weight of the torso assembly 10.

[0078] The number of mounting plates 220 can be set according to actual needs. Exemplarily, the number of mounting plates 220 can be one, one mounting plate 220 is connected with two first supports 110 respectively, and a plurality of control assemblies 210 are arranged on one side of the mounting plate 220 facing the upper side 1001 and one side of the mounting plate 220 facing the lower side 1002, so as to realize the integration of the plurality of control assemblies 210 on the mounting plate 220.

[0079] In some embodiments, as shown in Figure 6 The torso assembly 10 has a front side 1005 and a rear side 1006 arranged oppositely along a third direction X3. As shown in Figure 7 The mounting plate 220 has two first ends 2201 arranged oppositely along a second direction X2. As shown in Figure 8 、 Figure 9 and Figure 13 The first support 110 has a first sliding groove 1101 on the side facing the first receiving space 101. The first sliding groove 1101 has a lower groove wall 1111, an upper groove wall 1121, a bottom wall 1131, and a rear limiting surface 1141, and the bottom wall 1131 connects the lower groove wall 1111, the upper groove wall 1121, and the rear limiting surface 1141. As shown in Figures 10 to 13 The lower groove wall 1111 and the upper groove wall 1121 are configured to limit the displacement of the first end 2201 in the first direction X1, the bottom wall 1131 of each of the two first supports 110 is configured to limit the displacement of the first end 2201 in the second direction X2, and the rear limiting surface 1141 is configured to limit the displacement of the first end 2201 in the third direction X3 towards the rear side 1006, and the first end 2201 extends into the first sliding groove 1101 in the direction towards the rear side 1006.

[0080] Specifically, each side of the two first supports 110 facing the first receiving space 101 has a first sliding groove 1101, and the two first sliding grooves 1101 are arranged oppositely along the second direction X2. When the mounting plate 220 is mounted, the two first ends 2201 of the mounting plate 220 extend into the corresponding first sliding grooves 1101 respectively. The two first sliding grooves 1101 are used to limit the displacement of the two first ends 2201 in the first direction X1, the second direction X2, and the third direction X3 respectively, so as to determine the position of the two first ends 2201 of the mounting plate 220, and facilitate the mounting of the mounting plate 220.

[0081] In addition, the lower groove wall 1111 of the two first sliding grooves 1101 can also support the respective corresponding first end portion 2201, so as to realize that the two first sliding grooves 1101 support the mounting plate 220, and the stability of the installation of the mounting plate 220 is improved.

[0082] Exemplarily, the third direction X3 is perpendicular to the second direction X2 and the first direction X1 respectively.

[0083] Exemplarily, as shown in Figure 8 , Figure 9 , and Figure 12 and Figure 13 , the first support member 110 includes a support body 1110 and a limiting member 1120. The support body 1110 extends along the first direction X1 and is connected with the second support member 120 and the third support member 130 respectively. The limiting member 1120 is arranged on the side of the support body 1110 facing the first accommodating space 101 and is detachably connected with the support body 1110, so as to facilitate the replacement and maintenance of the limiting member 1120. The limiting member 1120 has a lower groove wall 1111, an upper groove wall 1121 and a rear limiting face 1141. The side of the support body 1110 facing the limiting member 1120 forms a bottom wall 1131.

[0084] In some embodiments, as shown in Figure 13 and Figure 14 , the end portion of the first end portion 2201 facing the rear side 1006 has an upper side face 2211, a rear side face 2221, a guide face 2231 and a lower side face 2241 arranged in sequence. The upper side face 2211 faces the upper side 1001, the rear side face 2221 faces the rear side 1006, the lower side face 2241 faces the lower side 1002, and the guide face 2231 connects the rear side face 2221 and the lower side face 2241. In the direction from the front side 1005 to the rear side 1006, the distance between the guide face 2231 and a preset plane in the first direction X1 gradually decreases. The preset plane is parallel to the second direction X2 and the third direction X3 and is located on the side of the guide face 2231 facing the upper side 1001. The lower groove wall 1111 further includes a positioning face 1011, which is connected with the rear limiting face 1141 and is in abutment with the guide face 2231.

[0085] The gradually decreasing distance between the guide face 2231 and the preset plane in the first direction X1 can facilitate the entry of the first end portion 2201 into the first sliding groove 1101 when the mounting plate 220 is installed, thereby facilitating the installation of the mounting plate 220.

[0086] Specifically, when installing the mounting plate 220, the guide surface 2231 can be first brought into contact with the lower groove wall 1111, and then, under the guidance of the guide surface 2231, the mounting plate 220 is installed in place, the upper side surface 2211 is attached to the upper groove wall 1121, the lower side surface 2241 is attached to the lower groove wall 1111, the positioning surface 1011 is attached to the guide surface 2231, and the rear side surface 2221 is attached to the rear limiting surface 1141, thereby achieving limiting of the first end portion 2201 in the first direction X1 and the third direction X3.

[0087] In some embodiments, as shown in Figure 6 , and Figure 7 , one end of the two first end portions 2201 facing the front side 1005 is respectively detachably connected with the two first support members 110.

[0088] The mounting plate 220 is supported and limited by the first sliding groove 1101, and one end of the mounting plate 220 facing the front side 1005 is respectively detachably connected with the two first support members 110. The structure for connecting and limiting the mounting plate 220 with the support assembly 100 is simple, which improves the mounting and dismounting efficiency of the mounting plate 220 and facilitates the dismounting and maintenance of the mounting plate 220.

[0089] In some embodiments, as shown in Figure 2 , Figure 3 , Figure 5 , Figure 8 , Figure 15 and Figure 16 , the support assembly 100 further comprises two fourth support members 140 and a fifth support member 150. The two fourth support members 140 are spaced apart along the third direction X3, and each fourth support member 140 is connected with the two first support members 110. The fifth support member 150 is connected with the two first support members 110 and the two fourth support members 140, is located on one side of the mounting plate 220 facing the upper side 1001, and is spaced apart from the mounting plate 220. The second support member 120 is further connected with the two fourth support members 140, and the two first support members 110, the two fourth support members 140, the second support member 120 and the fifth support member 150 enclose the first containing space 101. As shown in Figure 8 , the two first support members 110 each have a second opening 1102, which is in communication with the first containing space 101, so as to form a heat dissipation air duct.

[0090] As shown in Figure 2As shown, the torso assembly 10 further comprises two airflow driving assemblies 400, which are respectively arranged on the two first support members 110 and respectively communicate with the first receiving space 101 through the second openings 1102. One airflow driving assembly 400 is used to drive the gas in the first receiving space 101 to flow to the outside through one second opening 1102, and the other airflow driving assembly 400 is used to drive the outside gas to flow to the first receiving space 101 through the other second opening 1102, so as to facilitate air exchange and improve the heat dissipation rate of the control integrated assembly 200.

[0091] In addition, since the size of the torso assembly 10 along the second direction X2 can be set larger than the size of the torso assembly 10 along the third direction X3, arranging the two airflow driving assemblies 400 on the two first support members 110 can make the shape of the torso assembly 10 closer to the shape of the human torso, thereby improving the degree of profiling of the torso assembly 10.

[0092] Exemplarily, the material of the mounting plate 220 is a metal material, and in the case that the materials of the first support member 110, the second support member 120 and the third support member 130 are also metal materials, since the heat conduction performance of the metal material is good, the heat of the control integrated assembly 200 can be conveniently transmitted to the first support member 110 through the mounting plate 220, and then transmitted to the second support member 120 and the third support member 130 through the first support member 110, thereby further improving the heat dissipation rate of the control integrated assembly 200.

[0093] Exemplarily, the material of the mounting plate 220 can be aluminum alloy or magnesium alloy, etc.

[0094] In the case of the same volume, the weight of the magnesium alloy is smaller than that of the aluminum alloy, and therefore, the materials of the first support member 110, the second support member 120, the third support member 130 and the mounting plate 220 are preferably magnesium alloy, so as to further reduce the weight of the torso assembly 10.

[0095] In addition, wrapping or shielding the control integrated assembly 200 with the two fourth support members 140 can avoid the control integrated assembly 200 from being directly contacted with the ground or other structures and colliding to cause damage to the control integrated assembly 200 when the torso assembly 10 is tilted.

[0096] Exemplarily, the material of the fourth support member 140 can be a non-metal material, which can be a carbon fiber material, a mixed material of carbon fiber and nylon, etc.

[0097] Exemplarily, the fourth support member 140 can be provided with a hollow structure, so as to further reduce the weight of the torso assembly 10.

[0098] In some embodiments, as Figure 15 and Figure 17As shown, the fourth support 140 located at the rear side 1006 has an access hole 1401 which is in communication with the first receiving space 101. The torso assembly 10 further comprises a sealing member 500 which is configured to open or close the access hole 1401.

[0099] By providing the access hole 1401 on the fourth support 140 located at the rear side 1006 of the torso assembly 10, it is convenient for the operator to access the control integrated assembly 200 from the rear side 1006 of the torso assembly 10, and the maintenance efficiency of the control integrated assembly 200 is improved. In addition, it is also beneficial to maintain the consistency and integrity of the appearance of the front side 1005 of the torso assembly 10.

[0100] Exemplarily, the sealing member 500 is sealingly connected with the edge of the access hole 1401 of the fourth support 140. Exemplarily, the sealing member 500 can be provided on the fourth support 140 as the shell of the torso assembly 10, and the sealing member 500 can also serve as the appearance of the torso assembly 10 while closing the access hole 1401.

[0101] In some embodiments, as shown in Figure 1 , Figure 2 and Figure 17 , the third direction X3 is perpendicular to the second direction X2, and the plurality of battery assemblies 300 are arranged along the second direction X2, and the battery assemblies 300 are arranged along the third direction X3 to enter or exit the second receiving space 102.

[0102] As shown in Figure 18 , the side of the second support 120 facing the lower side 1002 has a plurality of first guide portions 1201 extending along the third direction X3, and the plurality of first guide portions 1201 are arranged along the second direction X2.

[0103] As shown in Figure 1 , Figure 2 , Figure 17 and Figure 19 , the side of the battery assembly 300 facing the second support 120 has at least one second guide portion 301 extending along the third direction X3. The second guide portion 301 is adapted to cooperate with the first guide portion 1201 to guide the battery assembly 300.

[0104] In addition, the cooperation of the first guide portion 1201 and the second guide portion 301 can also limit the movement of the battery assembly 300 in the second direction X2, avoiding the movement of the battery assembly 300 in the second direction X2, and improving the installation stability of the battery assembly 300.

[0105] Exemplarily, the first guide part 1201 is a guide bar, and the second guide part 301 is a first guide groove matched with the first guide part 1201. When the battery assembly 300 is installed, the guide bar extends into the first guide groove, and the guide bar and the first guide groove cooperate to guide the movement of the battery assembly 300 along the third direction X3, thereby improving the installation accuracy of the battery assembly 300.

[0106] Exemplarily, the two end portions of the guide bar in the third direction X3 have a dimension in the second direction X2 smaller than that of one end of the first guide groove close to the front side 1005 of the trunk assembly 10, so as to facilitate the extension of the guide bar into the first guide groove.

[0107] Exemplarily, the number of the first guide part 1201 is two, and each side of the battery assembly 300 facing the second support 120 has a second guide part 301 extending along the third direction X3. The second guide parts 301 of the two battery assemblies 300 respectively cooperate with the two first guide parts 1201 to guide.

[0108] In some embodiments, as shown in Figure 8 The side of the third support 130 facing the upper side 1001 has a plurality of third guide parts 1301 extending along the third direction X3, and the plurality of third guide parts 1301 are arranged at intervals along the second direction X2.

[0109] As shown in Figure 1 , Figure 2 , Figure 8 and Figure 20 The side of the battery assembly 300 facing the third support 130 has at least one fourth guide part 302 extending along the third direction X3. The fourth guide part 302 is matched with the third guide part 1301 to guide the battery assembly 300 in cooperation with the third guide part 1301.

[0110] In addition, the cooperation of the third guide part 1301 and the fourth guide part 302 can also limit the movement of the battery assembly 300 in the second direction X2, thereby avoiding the movement of the battery assembly 300 in the second direction X2, and further improving the installation stability of the battery assembly 300.

[0111] Exemplarily, the third guide part 1301 is a dovetail guide rail, and the fourth guide part 302 is a second guide groove matched with the dovetail guide rail. When the battery assembly 300 is installed, the dovetail guide rail extends into the second guide groove, and the dovetail guide rail and the second guide groove cooperate to guide the movement of the battery assembly 300 along the third direction X3, thereby improving the installation accuracy of the battery assembly 300.

[0112] Exemplarily, the number of the third guide portions 1301 is two, and each battery assembly 300 has one fourth guide portion 302 extending along the third direction X3 on the side facing the third support 130, and the fourth guide portions 302 of the two battery assemblies 300 are respectively matched with the two third guide portions 1301 for guiding.

[0113] Exemplarily, as shown in Figure 1 , Figure 2 and Figure 17 , the two battery assemblies 300 are arranged along the second direction X2, and the two battery assemblies 300 are respectively in and out of the second receiving space 102 along the third direction X3.

[0114] In some embodiments, as shown in Figure 19 , and Figures 21 to 23 , the support assembly 100 has a plurality of limiting holes 104, and the hole walls of the limiting holes 104 are parallel to the first direction X1. The battery assembly 300 comprises a lock tongue 310 movable along the first direction X1, and the lock tongue 310 can extend into the limiting hole 104 to enable the battery assembly 300 to be clamped with the support assembly 100. The lock tongue 310 can exit the limiting hole 104 to enable the battery assembly 300 to be unclamped with the support assembly 100.

[0115] The clamping of the battery assembly 300 and the support assembly 100 is realized by the cooperation of the lock tongue 310 and the limiting hole 104, which is simple in structure and facilitates the mounting and dismounting of the battery assembly 300.

[0116] Exemplarily, the side of the fourth support 140 facing the third support 130 on the rear side 1006 of the trunk assembly 10 has two limiting holes 104, and the two limiting holes 104 are arranged at intervals along the second direction X3. The two battery assemblies 300 each comprise a lock tongue 310, and the lock tongues 310 of the two battery assemblies 300 are respectively matched with the two limiting holes 104.

[0117] Exemplarily, when the battery assembly 300 is mounted, the lock tongue 310 is retracted along the first direction X1, and when the battery assembly 300 is mounted in place, the lock tongue 310 is extended into the limiting hole 104 along the first direction X1 to enable the battery assembly 300 to be clamped with the support assembly 100.

[0118] Exemplarily, when the battery assembly 300 is dismounted, the lock tongue 310 is retracted along the first direction X1 to facilitate the battery assembly 300 to exit the second receiving space 102 along the third direction X3 through the first opening 103.

[0119] In some embodiments, as shown in Figure 2 , Figure 15 , Figure 21 , Figure 23 and Figure 24As shown, the support assembly 100 further comprises a sixth support 160 and a first elastic compression member 170. The sixth support 160 is located on the side of the second support 120 facing the front side 1005, connected with one or more of the first support 110, the second support 120 and the third support 130, and the first opening 103 is opened towards the rear side 1006. The first elastic compression member 170 is arranged on the side of the sixth support 160 facing the second receiving space 102, elastically connected with the sixth support 160, and compresses the battery assembly 300, so that the locking tongue 310 compresses the hole wall of the limiting hole 104 close to the rear side 1006, to limit the movement of the battery assembly 300 in the third direction X3, avoiding the movement of the battery assembly 300 in the third direction X3, and improving the installation stability of the battery assembly 300.

[0120] In addition, the sixth support 160 is arranged on the side of the second support 120 facing the front side 1005, and the first opening 103 is opened towards the rear side 1006 of the torso assembly 10, so that the replacement of the battery assembly 300 is completed on the rear side 1006 of the torso assembly 10, which is beneficial to maintaining the consistency and integrity of the appearance of the front side 1005 of the torso assembly 10.

[0121] Exemplarily, the first elastic compression member 170 can be a plate-shaped compression member, and the first elastic compression member 170 is elastically connected with the sixth support 160 through a spring.

[0122] Exemplarily, as shown in Figure 8 and Figure 18 The support assembly 100 further comprises a plurality of second elastic compression members 191, which are arranged on the side of the second support 120 facing the second receiving space 102, for compressing the battery assembly 300 in the first direction X1 to limit the movement of the battery assembly 300 in the first direction X1, further improving the installation stability of the battery assembly 300.

[0123] Exemplarily, the second elastic compression member 191 can be a plate spring.

[0124] Exemplarily, as shown in Figure 18 and Figure 19 The side of the battery assembly 300 facing the upper side 1001 has a plurality of protrusions 303, which are arranged correspondingly with the plurality of second elastic compression members 191. By arranging the protrusions 303 on the side of the battery assembly 300 facing the upper side 1001, the contact area between the second elastic compression member 191 and the battery assembly 300 during the installation and removal of the battery assembly 300 is reduced, the friction is reduced, the appearance of the battery assembly 300 is kept good, and the dimensional accuracy of the battery assembly 300 in the first direction X1 is also facilitated.

[0125] Exemplarily, the support assembly 100 comprises four second elastic compression members 191 arranged in sequence along the second direction X2. Each battery assembly 300 has two protrusions 303 on the side facing the upper side 1001, which are respectively arranged corresponding to two second elastic compression members 191.

[0126] In some embodiments, as shown in Figures 25 to 32 The support assembly 100 comprises a plurality of mounting shafts 180, and the torso assembly 10 further comprises a plurality of floating plug-in assemblies 600, which are respectively arranged one-to-one corresponding to the plurality of battery assemblies 300.

[0127] The floating plug-in assembly 600 comprises a first plug-in head assembly 610 and an elastic assembly 620. The first plug-in head assembly 610 comprises at least one mounting hole 6101, which is sleeved on the mounting shaft 180, and the diameter of the mounting hole 6101 is greater than that of the mounting shaft 180. The plurality of first plug-in head assemblies 610 and the support assembly 100 enclose the second accommodation space 102 and the first opening 103. The battery assembly 300 comprises a second plug-in head assembly 320. When the support assembly 100 carries the battery assembly 300, the first plug-in head assembly 610 can be plug-in matched with the second plug-in head assembly 320, and the axial direction of the mounting hole 6101 is parallel to the plug-in matching direction. The elastic assembly 620 elastically connects the first plug-in head assembly 610 and the support assembly 100.

[0128] By floatingly connecting the first plug-in head assembly 610 and the second plug-in head assembly 320 of the battery assembly 300, the probability of plug-in failure of the first plug-in head assembly 610 and the second plug-in head assembly 320 can be reduced, and the situation that the battery assembly 300 cannot supply power to the robot can be avoided.

[0129] In some embodiments, as shown in Figures 25 to 32 The support assembly 100 further comprises a side carrier 190. The side carrier 190 is located on the side of the second support 120 facing the rear side 1006 or the front side 1005, and is connected with one or more of the first support 110, the second support 120 and the third support 130. The side carrier 190, the first plug-in head assembly 610, the two first supports 110, the second support 120 and the third support 130 enclose the second accommodation space 102 and the first opening 103. The side carrier 190 comprises a through hole 1901 penetrating through the side carrier 190 along the third direction X3, and the mounting shaft 180 is connected to the side of the side carrier 190 facing away from the second accommodation space 102, and the third direction X3 is parallel to the axial direction of the mounting shaft 180.

[0130] The first connector assembly 610 includes a mounting member 6110 and a first connector 6120. The mounting member 6110 includes a mounting hole 6101. The mounting member 6110 is disposed on a side of the side carrier 190 facing away from the second receiving space 102, and a gap δ is provided between the mounting member 6110 and the side of the side carrier 190 facing away from the second receiving space 102. The first connector 6120 is connected to the mounting member 6110, passes through the through hole 1901, and is connected to the second connector assembly 320.

[0131] Specifically, the side carrier 190 is located on a side of the second support member 120 facing the front side 1005, so that the battery assembly 300 enters the second receiving space 102 along the side directed from the rear side 1006 to the front side 1005.

[0132] Exemplarily, the sixth support member 160 can form the side carrier 190. Exemplarily, the side carrier 190 can form the sixth support member 160.

[0133] In some embodiments, as shown in Figure 1 、 Figure 33 and Figure 34 , the torso assembly 10 is applied to the robot 1. The robot 1 includes a neck assembly 20, and the torso assembly 10 further includes a shoulder member 700 and a neck connecting member 800. The shoulder member 700 is disposed on a side of the support assembly 100 facing the upper side 1001, and the neck connecting member 800 is disposed on the shoulder member 700 and is used to connect the neck assembly 20. An end of the neck connecting member 800 used to connect the neck assembly 20 includes a first annular portion 801, and an end surface of the first annular portion 801 has a first concave-convex structure 8011. The neck assembly 20 includes a second annular portion 2010, and an end surface of the second annular portion 2010 has a second concave-convex structure 2011. The first concave-convex structure 8011 is capable of cooperating with the second concave-convex structure 2011, and the first annular portion 801 and the second annular portion 2010 are detachably connected by a first locking member, so that the first locking member locks the first annular portion 801 and the second annular portion 2010.

[0134] By using the concave-convex cooperation of the first concave-convex structure 8011 and the second concave-convex structure 2011, the coaxiality of the torso assembly 10 and the neck assembly 20 is improved. In the case of concave-convex cooperation of the first concave-convex structure 8011 and the second concave-convex structure 2011, the first annular portion 801 and the second annular portion 2010 are locked by the first locking member, which realizes the quick assembly and disassembly of the torso assembly 10 and the neck assembly 20, and improves the assembly and disassembly efficiency and the maintenance efficiency of the robot 1.

[0135] Exemplarily, the robot 1 comprises a first locking member, which is a clamp structure generally composed of two semicircular parts, and the two objects to be connected are fastened together by bolts or other connecting members, so as to stably connect the torso assembly 10 and the neck assembly 20.

[0136] In some embodiments, as shown in Figure 33 and Figure 35 The robot 1 further comprises at least one arm assembly 30, and the torso assembly 10 further comprises at least one arm connecting member 900. The arm connecting member 900 is arranged on the support assembly 100 and is used to connect the arm assembly 30. One end of the arm connecting member 900 used to connect the arm assembly 30 comprises a third annular part 901, and the end face of the third annular part 901 has a third concave-convex structure 9011. The arm assembly 30 comprises a fourth annular part 3010, and the end face of the fourth annular part 3010 has a fourth concave-convex structure 3011. The third concave-convex structure 9011 can cooperate with the fourth concave-convex structure 3011, and the third annular part 901 and the fourth annular part 3010 are detachably connected by a second locking member, so that the second locking member locks the third annular part 901 and the fourth annular part 3010.

[0137] The third concave-convex structure 9011 and the fourth concave-convex structure 3011 are matched in concave-convex, so as to improve the coaxiality of the torso assembly 10 and the arm assembly 30. In the case that the third concave-convex structure 9011 and the fourth concave-convex structure 3011 are matched in concave-convex, the third annular part 901 and the fourth annular part 3010 are locked by the second locking member, so as to realize the quick assembly and disassembly of the torso assembly 10 and the arm assembly 30, and improve the assembly and disassembly efficiency and the maintenance efficiency of the robot 1.

[0138] Exemplarily, the robot 1 comprises a second locking member, which has the same structure as the first locking member and will not be described herein.

[0139] Exemplarily, as shown in Figure 33 The robot 1 comprises two arm assemblies 30, and the two arm assemblies 30 are oppositely arranged along the second direction X2. The torso assembly 10 further comprises two arm connecting members 900, and the two arm connecting members 900 are oppositely arranged along the second direction X2, are respectively connected to two sides of the support assembly 100 in the second direction X2, and are respectively connected to the two arm assemblies 30. By arranging the two arm assemblies 30, the appearance of the robot 1 can be closer to the human body, and the degree of profiling of the robot 1 is improved.

[0140] In some embodiments, as shown in Figure 33 and Figure 36As shown, the robot 1 further comprises a waist assembly 40, and the trunk assembly 10 further comprises a waist connecting piece 1000. The waist connecting piece 1000 is arranged on one side of the support assembly 100 facing the lower side 1002, and is used to connect the waist assembly 40. One end of the waist connecting piece 1000 used to connect the waist assembly 40 comprises a fifth annular portion 1010, and an end face of the fifth annular portion 1010 has a fifth concave-convex structure 1012. The waist assembly 40 comprises a sixth annular portion 4010, and an end face of the sixth annular portion 4010 has a sixth concave-convex structure 4011. The fifth concave-convex structure 1012 can cooperate with the sixth concave-convex structure 4011, and the fifth annular portion 1010 and the sixth annular portion 4010 are detachably connected by a third locking piece, so that the third locking piece locks the fifth annular portion 1010 and the sixth annular portion 4010.

[0141] By means of the concave-convex cooperation of the fifth concave-convex structure 1012 and the sixth concave-convex structure 4011, the coaxiality of the trunk assembly 10 and the waist assembly 40 is improved. In the case of the concave-convex cooperation of the fifth concave-convex structure 1012 and the sixth concave-convex structure 4011, the fifth annular portion 1010 and the sixth annular portion 4010 are locked by the third locking piece, so that the quick assembly and disassembly of the trunk assembly 10 and the waist assembly 40 is realized, and the assembly and disassembly efficiency and the maintenance efficiency of the robot 1 are improved.

[0142] Exemplarily, the robot 1 comprises a third locking piece, which has the same structure as the first locking piece, and details are not repeated here.

[0143] Specifically, as shown in Figure 2 , the waist connecting piece 1000 is arranged on the third support piece 130 of the support assembly 100.

[0144] In some embodiments, as shown in Figure 2 , Figure 3 and Figure 33 , the support assembly 100 further has a third receiving space 105 located on one side of the first receiving space 101 facing the upper side 1001, and used for wiring. The third receiving space 105 is located between the two first support pieces 110 and on one side of the shoulder piece 700 facing the lower side 1002. The side of the shoulder piece 700 facing the third receiving space 105 comprises a protruding portion 701 protruding towards the third receiving space 105.

[0145] Specifically, as shown in Figure 2 and Figure 3 , the third receiving space 105 is located between the two first support pieces 110 and on one side of the fifth support piece 150 facing the upper side 1001. Specifically, the third receiving space 105 is formed by the two first support pieces 110, the fifth support piece 150 and the shoulder piece 700.

[0146] Specifically, as shown in Figure 2 The arm connecting member 900 is connected to the portion of the first support member 110 corresponding to the third receiving space 105.

[0147] Specifically, the end portions of the two first support members 110 facing the upper side 1001 are second end portions, and the shoulder member 700 is connected to the two second end portions and is located on the side of the fifth support member 150 facing the upper side 1001, spaced apart from the fifth support member 150.

[0148] The height integration of the plurality of control assemblies 210 allows the upper side of the first receiving space 101 to further be provided with a third receiving space 105 for wiring. Moreover, the portion of the first support member 110 corresponding to the third receiving space 105 can further be connected to the arm connecting member 900, so as to clearly show the overall distribution of the torso assembly 10 and make the structure of the torso assembly 10 compact.

[0149] In addition, compared with the shoulder member having a protruding portion facing the upper side 1001, the protruding portion 701 faces the side of the third receiving space 105, which can reduce the size of the torso assembly 10 in the first direction X1. In addition, experiments have verified that it can also reduce resonance, avoid damage to the shoulder member 700, and improve the mechanical strength of the torso assembly 10.

[0150] Exemplarily, the portion of the neck connecting member 800 is located in the third receiving space 105, compared with the neck connecting member 800 being located on the upper side of the shoulder member 700 as a whole, which further reduces the size of the torso assembly 10 in the first direction X1.

[0151] In some embodiments, as shown in Figure 2 and Figure 6 The torso assembly 10 further comprises at least one antenna assembly 1100 configured to receive or transmit electromagnetic waves. The antenna assembly 1100 is arranged on the side of the two first support members 110 facing the front side 1005; or the antenna assembly 1100 is arranged on the side of one first support member 110 facing away from the other first support member 110 and is located on the portion of the first support member 110 corresponding to the second receiving space 102; or the antenna assembly 1100 is arranged on the side of the two first support members 110 facing the front side 1005, and the antenna assembly 1100 is arranged on the side of one first support member 110 facing away from the other first support member 110 and is located on the portion of the first support member 110 corresponding to the second receiving space 102.

[0152] Exemplarily, the number of the antenna assemblies 1100 is multiple, and the multiple antenna assemblies 1100 are respectively arranged on the side of the two first support members 110 facing the front side 1005 and the side of the first support member 110 facing away from the other first support member 110 and located at the part of the first support member 110 corresponding to the second receiving space 102, so that the multiple antenna assemblies 1100 are dispersedly arranged and interference between the multiple antenna assemblies 1100 is avoided.

[0153] Exemplarily, the antenna assemblies 1100 can be used for 5G communication with the outside world and realize the emergency stop function.

[0154] In some embodiments, as shown in Figure 2 , Figure 5 and Figure 6 , the trunk assembly 10 further comprises at least one charging interface 1200, and the charging interface 1200 is arranged on the part of the first support member 110 corresponding to the second receiving space 102, and the charging interface 1200 is configured to electrically connect the power supply and the battery assembly 300.

[0155] Exemplarily, the charging interface 1200 is located on the left side 1003 or the right side 1004 or both the left side 1003 and the right side 1004 of the trunk assembly 10, instead of being located on the front side 1005 of the trunk assembly 10, so that the appearance of the front side 1005 of the trunk assembly 10 can be improved. The charging interface 1200 can be used for manual charging of the battery assembly 300 or for autonomous charging of the battery assembly 300 by the robot 1.

[0156] In some embodiments, as shown in Figure 5 and Figure 6 , the trunk assembly 10 further comprises a visual sensor 1300, and the visual sensor 1300 is arranged on the side of the support assembly 100 facing the lower side 1002 and the front side 1005, and the visual sensor 1300 is configured to acquire image information.

[0157] In some embodiments, as shown in Figure 15 , the trunk assembly 10 further comprises a spatial attitude sensor 1500, and the spatial attitude sensor 1500 is arranged on the side of the third support member 130 facing the lower side 1002, and the spatial attitude sensor 1500 is used to acquire spatial attitude information of the trunk assembly 10.

[0158] By reasonably arranging the installation positions of the visual sensor 1300 and the spatial attitude sensor 1500, the visual sensor 1300 and the spatial attitude sensor 1500 of the robot 1 can be cooperated to better acquire image information and spatial attitude information.

[0159] In some embodiments, as shown in Figure 37As shown, the trunk assembly 10 further comprises a handrail 1400 arranged at the upper portion of the side of the support assembly 100 facing the rear side 1006. By arranging the handrail 1400, the operator can hold the trunk assembly 10.

[0160] Figure 33 Fig. 1 shows a schematic diagram of a robot according to an embodiment of the present application. As shown, the robot 1 comprises a trunk assembly 10. Figure 33

[0161] Since the robot 1 comprises the trunk assembly 10, the robot 1 has all the technical features and effects of the trunk assembly 10, which will not be repeated here.

[0162] The block diagrams of the devices, apparatuses, equipment, systems involved in the present application are only illustrative examples and are not intended to require or imply that the connection, arrangement, configuration must be as shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, systems can be connected, arranged, configured in any manner. Words such as "include", "contain", "have", "possess", and the like are open-ended words that are intended to mean "including but not limited to", and are to be used interchangeably. The words "or" and "and" as used herein are intended to mean "and / or", and are to be used interchangeably. The word "such as" as used herein is intended to mean "such as but not limited to", and is to be used interchangeably.

[0163] It should also be noted that in the devices, apparatuses and methods of the present application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be considered as equivalent solutions of the present application.

[0164] In addition, the terms "first", "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features, so that the features limited by "first", "second" can be explicitly or implicitly included at least one of the features.

[0165] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other aspects without departing from the scope of the present application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0166] ​The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the application to the forms disclosed herein. Although various example aspects and embodiments have been discussed above, those of ordinary skill in the art will appreciate a variety of modifications, alternatives, permutations, additions, and sub-combinations, which fall within the scope of the application.

Claims

1. A torso assembly, characterized in that: The torso assembly has an upper side and a lower side disposed opposite each other along a first direction, and includes: a support assembly having a first receiving space, a second receiving space, and a first opening, wherein the first receiving space is located on a side of the second receiving space facing the upper side, and the first opening is connected to the second receiving space; a control integrated component, comprising a plurality of integrated control components, the control integrated component being housed in the first housing space and connected to the support component; A plurality of battery assemblies are accommodated in the second accommodation space, are detachably connected to the support assembly, and can enter and exit the second accommodation space through the first opening.

2. The torso assembly according to claim 1, wherein: The torso assembly has a left side and a right side arranged opposite to each other along a second direction; The support assembly comprises: Two first support members are spaced apart along the second direction; a second supporting member connected to the two first supporting members; The third support member is located on the side of the second support member facing the lower side and is spaced apart from the second support member, wherein the two first support members, the second support member and the third support member enclose the second receiving space and the first opening, and the first receiving space is located between the two first support members and on the side of the second support member facing the upper side.

3. The torso assembly according to claim 2, wherein: The control integration component also includes: At least one mounting plate is connected to the two first support members and is spaced apart from the second support member. At least one control component is arranged on the side of the mounting plate facing the upper side, and at least another control component is arranged on the side of the mounting plate facing the lower side.

4. The torso assembly according to claim 3, wherein: The torso assembly has a front side and a rear side disposed opposite each other along a third direction; The mounting plate has two first end portions arranged opposite to each other along the second direction; The first support member has a first slide groove on the side facing the first receiving space, and the first slide groove has a lower groove wall, an upper groove wall, a bottom wall and a rear limit surface, the bottom wall connects the lower groove wall, the upper groove wall and the rear limit surface, the lower groove wall and the upper groove wall are configured to limit the displacement of the first end portion in the first direction, the bottom wall of each of the two first support members is configured to limit the displacement of the first end portion in the second direction, and the rear limit surface is configured to limit the displacement of the first end portion along the third direction toward the rear side, and the first end portion extends into the first slide groove along the direction toward the rear side.

5. The torso assembly according to claim 4, wherein: The end portion of the first end portion facing the rear side comprises an upper side surface, a rear side surface, a guide surface and a lower side surface which are sequentially arranged, the upper side surface facing the upper side, the rear side surface facing the rear side, the lower side surface facing the lower side, and the guide surface connecting the rear side surface and the lower side surface, wherein, along the direction from the front side to the rear side, the distance between the guide surface and the preset plane in the first direction gradually decreases, the preset plane is parallel to the second direction and the third direction, and is located on the side of the guide surface facing the upper side; the lower groove wall further comprises a positioning surface, the positioning surface is connected to the rear limit surface, and is in contact with the guide surface; and / or, One end of the two first end portions facing the front side is detachably connected to the two first support members respectively.

6. The torso assembly according to claim 3, wherein: The torso assembly has a front side and a rear side disposed opposite each other along a third direction; The support assembly further comprises: two fourth support members, spaced apart along the third direction, each of the fourth support members being connected to two of the first support members; a fifth support member connected to the two first support members and the two fourth support members, located on a side of the mounting plate facing the upper side and spaced apart from the mounting plate, wherein the second support member is also connected to the two fourth support members, and the two first support members, the two fourth support members, the second support member, and the fifth support member enclose the first receiving space; Wherein, both of the two first supporting members have a second opening, and the second opening is communicated with the first receiving space; The torso assembly further comprises: Two airflow driving components are respectively arranged on the two first support members and are respectively connected to the first receiving space through the second openings. One airflow driving component is used to drive the gas in the first receiving space to flow from one second opening to the outside world, and the other airflow driving component is used to drive the outside gas to flow from the other second opening to the first receiving space.

7. The torso assembly according to claim 6, wherein: The fourth support member located at the rear side has an inspection port, and the inspection port is connected to the first receiving space; The torso assembly further comprises: A seal is configured to open or close the access opening.

8. The torso assembly according to claim 2, wherein: The trunk assembly has a front side and a rear side arranged opposite to each other along a third direction, the third direction being perpendicular to the second direction, the plurality of battery assemblies being arranged along the second direction, and the battery assemblies entering and exiting the second receiving space along the third direction; in, The second support member has a plurality of first guide portions extending along the third direction on a side facing downward, the plurality of first guide portions are arranged at intervals along the second direction, and the battery assembly has at least one second guide portion extending along the third direction on a side facing the second support member, the second guide portion being adapted to the first guide portion to cooperate with the first guide portion to guide the battery assembly; and / or, The side of the third support member facing upward has a plurality of third guide portions extending along the third direction, and the plurality of third guide portions are arranged at intervals along the second direction. The side of the battery assembly facing the third support member has at least one fourth guide portion extending along the third direction, and the fourth guide portion is adapted to the third guide portion to cooperate with the third guide portion to guide the battery assembly.

9. The torso assembly according to claim 2, wherein: The support assembly has a plurality of limiting holes, and the hole walls of the limiting holes are parallel to the first direction; The battery assembly includes a locking tongue movable along the first direction. The locking tongue can extend into the limiting hole to enable the battery assembly to be engaged with the support assembly, and can exit the limiting hole to release the battery assembly from the support assembly.

10. The torso assembly according to claim 9, wherein: The trunk assembly has a front side and a rear side disposed opposite to each other along a third direction, and the support assembly further comprises: a sixth support member, located on a side of the second support member facing the front side, and connected to one or more of the first support member, the second support member, and the third support member; a first elastic pressing member, disposed on a side of the sixth supporting member facing the second receiving space, elastically connected to the sixth supporting member, and pressing the battery assembly so that the locking tongue presses against the hole wall of the limiting hole close to the rear side; Wherein, the first opening is opened toward the rear side.

11. The torso assembly according to claim 1, wherein: The support assembly includes a plurality of mounting shafts; The torso assembly further comprises: A plurality of floating plug-in assemblies are respectively arranged in one-to-one correspondence with the plurality of battery assemblies; Wherein, the floating plug assembly includes: a first plug connector assembly including at least one mounting hole, the mounting hole being sleeved on the mounting shaft, the mounting hole having a diameter larger than that of the mounting shaft, a plurality of the first plug connector assemblies and the support assembly enclosing the second receiving space and the first opening, wherein the battery assembly includes a second plug connector assembly, and when the support assembly carries the battery assembly, the first plug connector assembly can be plugged and mated with the second plug connector assembly, and the axial direction of the mounting hole is parallel to the plugging direction of the plug-fitting; An elastic component elastically connects the first plug connector component and the supporting component.

12. The torso assembly according to any one of claims 1 to 11, characterized in that Application to robots; in, The robot includes a neck assembly, and the torso assembly further includes: a shoulder component, disposed on a side of the support assembly facing the upper side; a neck connector, provided on the shoulder component, the neck connector being used to connect to a neck assembly, the neck connector having one end for connection to the neck assembly comprising a first annular portion, the end surface of the first annular portion having a first concave-convex structure, the neck assembly comprising a second annular portion, the end surface of the second annular portion having a second concave-convex structure, the first concave-convex structure being capable of cooperating with the second concave-convex structure, the first annular portion and the second annular portion being detachably connected via a first locking member so that the first locking member locks the first annular portion and the second annular portion; and / or, The robot further comprises at least one arm assembly, and the torso assembly further comprises: at least one arm connector, provided on the support assembly, the arm connector being used to connect to the arm assembly, one end of the arm connector for connecting to the arm assembly comprising a third annular portion, an end surface of the third annular portion having a third concave-convex structure, the arm assembly comprising a fourth annular portion, an end surface of the fourth annular portion having a fourth concave-convex structure, the third concave-convex structure being capable of cooperating with the fourth concave-convex structure, the third annular portion and the fourth annular portion being detachably connected via a second locking member, so that the second locking member locks the third annular portion and the fourth annular portion; and / or, The robot further comprises a waist component, and the torso component further comprises: A waist connector, the waist connector is arranged on the side of the support component facing the lower side, the waist connector is used to connect the waist component, the end of the waist connector for connecting to the waist component includes a fifth annular portion, the end surface of the fifth annular portion has a fifth concave-convex structure, the waist component includes a sixth annular portion, the end surface of the sixth annular portion has a sixth concave-convex structure, the fifth concave-convex structure can cooperate with the sixth concave-convex structure, the fifth annular portion and the sixth annular portion are detachably connected by a third locking member, so that the third locking member locks the fifth annular portion and the sixth annular portion.

13. The torso assembly according to any one of claims 2 to 11, characterized in that The support assembly further has a third receiving space, which is located on a side of the first receiving space facing the upper side and is used for wiring; Wherein, the torso component further includes: The shoulder component is arranged on the side of the support assembly facing the upper side, the third receiving space is located between the two first support components and on the side of the shoulder component facing the lower side, and the side of the shoulder component facing the third receiving space includes a protrusion protruding toward the third receiving space.

14. A torso assembly according to any one of claims 2 to 11, characterized in that The torso assembly has a front side and a rear side disposed opposite each other along a third direction; Wherein, the torso component further includes: at least one antenna assembly configured to receive or transmit electromagnetic waves, the antenna assembly being disposed on a side of the two first support members facing the front side, and / or on a side of one first support member facing away from the other first support member, and located at a portion of the first support member corresponding to the second receiving space; and / or, at least one charging port, disposed on a portion of the first support member corresponding to the second receiving space, and configured to electrically connect a power source to the battery assembly; and / or, a visual sensor, disposed on a side of the support assembly facing the lower side and the front side, and configured to acquire image information; and / or, an armrest, provided on an upper portion of a side of the support assembly facing the rear side; and / or, A spatial posture sensor is provided on a side of the third support member facing the lower side, and is used to obtain spatial posture information of the torso component.

15. A robot, characterized in that: include: A torso assembly as claimed in any one of claims 1 to 14.

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