Thoracic cavity structure and humanoid robot

Abstract

The invention discloses a thoracic cavity structure and a humanoid robot, and belongs to the technical field of humanoid robots. The thoracic cavity structure is used for the humanoid robot, the thoracic cavity structure comprises a shell, and a containing cavity is defined by the shell; the first battery pack is arranged in the accommodating cavity; the second battery pack is also arranged in the accommodating cavity, and the second battery pack and the first battery pack are arranged at an interval; wherein the first battery pack and the second battery pack are used for being connected to a power system of the humanoid robot in parallel so as to supply power to the humanoid robot at the same time or respectively.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, specifically relating to a thoracic cavity structure and a humanoid robot. Background Technology

[0002] Humanoid robots, also known as humanoid robots or biomimetic robots, are intelligent robots that mimic human appearance and behavior. A humanoid robot includes a battery pack, which powers the robot and enables it to perform corresponding actions.

[0003] In related technologies, since humanoid robots are equipped with only one battery pack, when the battery pack is depleted and needs to be replaced, the humanoid robot will lose power, affecting its normal use. Summary of the Invention

[0004] This application discloses a thoracic cavity structure and a humanoid robot to solve, or at least partially solve, the problem existing in the related technology that, since the humanoid robot is only equipped with one battery pack, when the battery pack is depleted and the battery pack is replaced, the humanoid robot will lose power, affecting the normal use of the humanoid robot.

[0005] To solve the above-mentioned technical problems, this application is implemented as follows:

[0006] In a first aspect, this application discloses a thoracic cavity structure for use in a humanoid robot. The thoracic cavity structure includes: a shell that encloses a receiving cavity; a first battery pack disposed within the receiving cavity; and a second battery pack also disposed within the receiving cavity and spaced apart from the first battery pack. The first battery pack and the second battery pack are connected in parallel to the power system of the humanoid robot to supply power to the humanoid robot simultaneously or separately.

[0007] In some embodiments, the first direction is the height direction of the thoracic cavity structure, and the second direction intersects the first direction; along the second direction, the accommodating cavity has a first opening and a second opening; the thoracic cavity structure further includes a sealing member detachably connected to the housing to close the first opening.

[0008] In some embodiments, the thoracic cavity structure further includes a reinforcing member disposed within the accommodating cavity and connected to the encapsulation member and the inner wall of the accommodating cavity.

[0009] In some embodiments, the reinforcing member includes a first reinforcing member and a second reinforcing member, the first reinforcing member and the second reinforcing member being disposed at a distance from each other in the accommodating cavity along the first direction, and both the first reinforcing member and the second reinforcing member being connected to the encapsulation member and the inner wall of the accommodating cavity, so as to divide the accommodating cavity into a first sub-accommodating cavity and a second sub-accommodating cavity.

[0010] In some embodiments, the first battery pack is disposed within the first sub-accommodating cavity, and the second battery pack is disposed within the second sub-accommodating cavity.

[0011] In some embodiments, the housing includes a first sidewall, the first sidewall including a first sub-sidewall and a second sub-sidewall connected to the first sub-sidewall, the second sub-sidewall having a first through hole, the first sub-sidewall extending along a first direction, the extension direction of the second sub-sidewall having a first angle α with the first direction, satisfying 10°≤α≤30°, the first direction being the height direction of the thoracic cavity structure; a first motion module, the first motion module being disposed in the first through hole and at least partially extending into the receiving cavity, the first motion module being used to connect to the first arm structure.

[0012] In some embodiments, the housing further includes a second sidewall, the second sidewall including a third sub-sidewall and a fourth sub-sidewall connected to the third sub-sidewall, the fourth sub-sidewall having a second through hole, the third sub-sidewall extending along the first direction, the extension direction of the fourth sub-sidewall having a second included angle β with the first direction, satisfying 10°≤β≤30°; and a second motion module disposed in the second through hole and at least partially extending into the accommodating cavity, the second motion module being used to connect to the second arm structure.

[0013] In some embodiments, 15°≤α≤25° is satisfied; and / or 15°≤β≤25° is satisfied; and / or α=β is satisfied.

[0014] In some embodiments, the housing is a one-piece molded part.

[0015] Secondly, this application also discloses a humanoid robot, which includes the thoracic structure described in the first aspect.

[0016] This application discloses a thoracic cavity structure and a humanoid robot. The thoracic cavity structure is used in a humanoid robot and includes: a shell that encloses a cavity; a first battery pack disposed within the cavity; and a second battery pack also disposed within the cavity and spaced apart from the first battery pack. The first and second battery packs are connected in parallel to the power system of the humanoid robot to supply power to the humanoid robot simultaneously or separately.

[0017] In this application, the housing encloses a cavity, and the first and second battery packs are spaced apart within the cavity. The first and second battery packs are connected in parallel to the humanoid robot's power system to simultaneously or separately supply power to the robot. In other words, the first and second battery packs, connected in parallel to the humanoid robot's power system, can each supply power to the robot's power system, ensuring uninterrupted power supply when replacing battery packs.

[0018] Furthermore, when the humanoid robot is operating at low power, its power system can be powered by either the first battery pack or the second battery pack. When operating at high power, its power system can be powered by both the first and second battery packs simultaneously, thereby improving the reliability of the humanoid robot during operation.

[0019] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0021] Figure 1 This is a schematic diagram of the thoracic cavity structure described in the embodiments of this application;

[0022] Figure 2 This is an exploded view of the thoracic cavity structure described in the embodiments of this application;

[0023] Figure 3 This is a front view of the thoracic cavity structure described in the embodiments of this application;

[0024] Figure 4 This is a side view of the thoracic cavity structure described in the embodiments of this application;

[0025] Figure 5 This is a top view of the thoracic cavity structure described in the embodiments of this application.

[0026] Figure label:

[0027] 10: Housing; 11: Receiving cavity; 12: First sidewall; 121: First sub-sidewall; 122: Second sub-sidewall; 13: Second sidewall; 131: Third sub-sidewall; 132: Fourth sub-sidewall;

[0028] 20: First motion module;

[0029] 30: Second motion module;

[0030] 40: Package component;

[0031] 50: Reinforcing component; 51: First reinforcing component; 52: Second reinforcing component;

[0032] 60: First battery pack; 61: Second battery pack;

[0033] X: First direction; Y: Second direction. Detailed Implementation

[0034] Embodiments of the present invention will now be described in detail. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0035] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly include one or more of the features. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0036] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0037] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0038] Reference Figure 1 A schematic diagram of the thoracic cavity structure described in the embodiments of this application is shown; refer to Figure 2 An exploded view of the thoracic cavity structure described in an embodiment of this application is shown; refer to Figure 3 This shows a front view of the thoracic cavity structure described in an embodiment of this application; refer to Figure 4 A side view of the thoracic cavity structure described in an embodiment of this application is shown; refer to Figure 5 The image shows a top view of the thoracic cavity structure described in an embodiment of this application.

[0039] like Figure 2 As shown in the figure, this application discloses a thoracic cavity structure for use in a humanoid robot. The thoracic cavity structure includes a shell 10, which encloses a cavity 11. A first battery pack 60 and a second battery pack 61 are spaced apart within the cavity 11. The first battery pack 60 and the second battery pack 61 are connected in parallel to the power system of the humanoid robot to supply power to the humanoid robot simultaneously or separately.

[0040] In this embodiment, the housing 10 encloses a cavity 11. A first battery pack 60 and a second battery pack 61 are spaced apart within the cavity 11, and are connected in parallel to the humanoid robot's power system to simultaneously or separately supply power to the robot. In other words, the first battery pack 60 and the second battery pack 61, connected in parallel to the humanoid robot's power system, can supply power to the humanoid robot's power system separately, ensuring uninterrupted power supply when replacing battery packs.

[0041] Furthermore, when the humanoid robot is operating at low power, its power system can be powered by either the first battery pack 60 or the second battery pack 61. When operating at high power, its power system can be powered by both the first battery pack 60 and the second battery pack 61 simultaneously, thereby improving the reliability of the humanoid robot during operation.

[0042] In some embodiments, the housing 10 includes a first sidewall 12, the first sidewall 12 includes a first sub-sidewall 121 and a second sub-sidewall 122 connected to the first sub-sidewall 121, the second sub-sidewall 122 is provided with a first through hole, the first sub-sidewall 121 extends along a first direction X, and the extension direction of the second sub-sidewall 122 has a first included angle α with the first direction X, satisfying 10°≤α≤30°; a first motion module 20 is disposed in the first through hole and at least partially extends into the receiving cavity 11, the first motion module 20 is used to connect the first arm structure.

[0043] This application discloses a thoracic cavity structure that can be used in a humanoid robot. The thoracic cavity structure includes a receiving cavity that can accommodate various key functional components of the humanoid robot. This thoracic cavity structure can connect to the arm and leg structures of the humanoid robot to support them. In this application embodiment, no excessive limitations are placed on the specific application of the thoracic cavity structure; in practical applications, those skilled in the art can configure it as needed.

[0044] The following will be the structure appended Figures 1 to 5 This application provides a detailed description of the thoracic cavity structure disclosed herein.

[0045] like Figures 1 to 5 As shown in the illustration, the thoracic cavity structure disclosed in this application includes a shell 10, which encloses a receiving cavity 11. The receiving cavity 11 can accommodate various key functional components of the humanoid robot. Exemplarily, the key functional components accommodated in the receiving cavity 11 include, but are not limited to, a battery pack.

[0046] In this embodiment of the application, the height direction of the thoracic cavity structure is set as the first direction X, and the second direction Y intersects the first direction X.

[0047] The following description will use the example of the second direction Y being perpendicular to the first direction X to illustrate the thoracic cavity structure disclosed in this application. That is, the first direction X is the height direction of the thoracic cavity structure, and the second direction Y is the thickness direction of the thoracic cavity structure.

[0048] like Figure 3 As shown, the housing 10 includes a first sidewall 12 and a second sidewall 13 spaced apart along the width direction of the thoracic cavity structure. The first sidewall 12 includes a first sub-sidewall 121 and a second sub-sidewall 122 connected to the first sub-sidewall 121. The first sub-sidewall 121 extends along a first direction X, that is, it extends along the height direction of the thoracic cavity structure, and the second sub-sidewall 122 is connected to the first sub-sidewall 121.

[0049] The second sub-sidewall 122 has a first through hole, and a first motion module 20 is disposed within the first through hole. The first arm structure is connected to the first motion module 20. In other words, the first arm structure is connected to the first through hole of the second sub-sidewall 122 through the first motion module 20.

[0050] It should be noted that, in this embodiment, the extension direction of the second sub-sidewall 122 has a first included angle α with the first direction X. That is, the extension direction of the second sub-sidewall 122 has a first included angle α with the extension direction of the first sub-sidewall 121. The first included angle α is greater than or equal to 10° and less than or equal to 30°. By setting the first included angle α to be greater than or equal to 10° and less than or equal to 30°, the design of the thoracic cavity structure is optimized, resulting in a larger range of motion and higher flexibility for the first arm structure.

[0051] For example, the first included angle α between the extension direction of the second sub-sidewall 122 and the extension direction of the first sub-sidewall 121 can be set to 10°, 12°, 15°, 17°, 20°, 22°, 25°, 27°, 30°, etc.

[0052] In this embodiment, the first sidewall 12 of the housing 10 includes a first sub-sidewall 121 and a second sub-sidewall 122 connected to the first sub-sidewall 121. The first sub-sidewall 121 extends along a first direction X, and the extension direction of the second sub-sidewall 122 has a first included angle α with the first direction X. A first through hole is provided on the second sub-sidewall 122, and a first motion module 20 is disposed in the first through hole and at least partially extends into the accommodating cavity 11 formed by the housing 10. A first arm structure is connected to the first motion module 20. By setting the first included angle α to be greater than or equal to 10° and less than or equal to 30°, the design of the thoracic cavity structure is optimized, resulting in a larger range of motion and higher flexibility of the first arm structure.

[0053] In some embodiments, such as Figure 3 As shown, the housing 10 also includes a second sidewall 13, which includes a third sub-sidewall 131 and a fourth sub-sidewall 132 connected to the third sub-sidewall 131. The fourth sub-sidewall 132 is provided with a second through hole. The third sub-sidewall 131 extends along the first direction X, and the extension direction of the fourth sub-sidewall 132 has a second included angle β with the first direction X, satisfying 10°≤β≤30°. The second motion module 30 is disposed in the second through hole and at least partially extends into the accommodating cavity 11. The second motion module 30 is used to connect the second arm structure.

[0054] like Figure 3As shown, the second sidewall 13 of the housing 10 is spaced apart from the first sidewall 12 along the width direction of the thoracic cavity structure. The second sidewall 13 includes a third sub-sidewall 131 and a fourth sub-sidewall 132 connected to the third sub-sidewall 131. The third sub-sidewall 131 extends along a first direction X, that is, it extends along the height direction of the thoracic cavity structure, and the fourth sub-sidewall 132 is connected to the third sub-sidewall 131.

[0055] The fourth sub-sidewall 132 is provided with a second through hole, and a second motion module 30 is provided in the second through hole. The second arm structure is connected to the second motion module 30. That is, the second arm structure is connected to the second through hole of the fourth sub-sidewall 132 through the second motion module 30.

[0056] It should be noted that, in this embodiment, the extension direction of the fourth sub-sidewall 132 has a second included angle β with the first direction X. That is, the extension direction of the fourth sub-sidewall 132 has a second included angle β with the extension direction of the third sub-sidewall 131. The second included angle β is greater than or equal to 10° and less than or equal to 30°. By setting the second included angle β to be greater than or equal to 10° and less than or equal to 30°, the design of the thoracic cavity structure is optimized, resulting in a larger range of motion and greater flexibility for the second arm structure.

[0057] For example, the second included angle β between the extension direction of the fourth sub-sidewall 132 and the extension direction of the third sub-sidewall 131 can be set to 10°, 12°, 15°, 17°, 20°, 22°, 25°, 27°, 30°, etc.

[0058] In this embodiment, the second sidewall 13 of the housing 10 includes a third sub-sidewall 131 and a fourth sub-sidewall 132 connected to the third sub-sidewall 131. The third sub-sidewall 131 extends along a first direction X, and the extension direction of the fourth sub-sidewall 132 has a second included angle β with the first direction X. A second through hole is provided on the fourth sub-sidewall 132, and the second motion module 30 is disposed in the second through hole and at least partially extends into the accommodating cavity 11 formed by the housing 10. The second arm structure is connected to the second motion module 30. By setting the second included angle β to be greater than or equal to 10° and less than or equal to 30°, the design of the thoracic cavity structure is optimized, resulting in a larger range of motion and higher flexibility for the second arm structure.

[0059] In some embodiments, 15°≤α≤25° is satisfied.

[0060] In this embodiment of the application, by setting the first included angle α to be greater than or equal to 15° and less than or equal to 25°, the design of the thoracic cavity structure is further optimized, so that the range of motion of the first arm structure is better and the flexibility of the first arm structure is higher.

[0061] For example, the first included angle α between the extension direction of the second sub-sidewall 122 and the extension direction of the first sub-sidewall 121 can be set to 15°, 17°, 19°, 20°, 21°, 22°, 23°, 24°, 25°, etc.

[0062] In some embodiments, 15°≤β≤25°.

[0063] In this embodiment of the application, by setting the second included angle β to be greater than or equal to 15° and less than or equal to 25°, the design of the thoracic cavity structure is further optimized, so that the range of motion of the second arm structure is better and the flexibility of the second arm structure is higher.

[0064] For example, the second included angle β between the extension direction of the fourth sub-sidewall 132 and the extension direction of the third sub-sidewall 131 can be set to 15°, 17°, 19°, 20°, 21°, 22°, 23°, 24°, 25°, etc.

[0065] In some embodiments, α = β is satisfied.

[0066] In this embodiment, by setting the first included angle α to be equal to the second included angle β, the range of motion of the first arm structure and the range of motion of the second arm structure are made comparable, thereby making the humanoid robot's movements more coordinated and its balance better.

[0067] Furthermore, by setting the first included angle α to be equal to the second included angle β, the first sidewall 12 and the second sidewall 13 of the thoracic cavity structure can also be made symmetrical, thereby optimizing the appearance of the thoracic cavity structure and making the thoracic cavity structure more aesthetically pleasing.

[0068] In some embodiments, such as Figure 2 As shown, the housing 10 is a one-piece molded part.

[0069] like Figure 2 As shown, the housing 10 in this embodiment is a one-piece molded part. By setting the housing 10 as a one-piece molded part, the strength of the housing 10 is enhanced, so that the housing 10 can better protect the various key functional components set in the accommodating cavity 11.

[0070] For example, when the cavity 11 contains a battery pack, the housing 10 is made into a one-piece molded part, which makes the housing 10 stronger. This allows the housing 10 to protect the battery pack from impacts, preventing damage to the battery pack and affecting the normal use of the humanoid robot.

[0071] In some embodiments, such as Figure 2As shown, along the second direction Y, the accommodating cavity 11 has a first opening and a second opening, and the second direction Y intersects with the first direction X; the thoracic cavity structure also includes a sealing member 40, which is detachably connected to the housing 10 to close the first opening.

[0072] like Figure 2 As shown, along the second direction Y, i.e., along the thickness direction of the thoracic cavity structure, the accommodating cavity 11 has a first opening and a second opening disposed opposite to each other. The encapsulation member 40 is detachably connected to the housing 10 to close the first opening. Detachably connecting the encapsulation member 40 to the housing 10 to close the first opening of the accommodating cavity 11 can prevent various key functional components inside the accommodating cavity 11 from falling out of the accommodating cavity 11.

[0073] In some embodiments, the thoracic cavity structure further includes a second encapsulation member detachably connected to the housing 10 to close the second opening. That is, by detachably connecting the second encapsulation member to the housing 10, the second opening of the receiving cavity 11 can be closed, thereby preventing various key functional components within the receiving cavity 11 from falling out of the receiving cavity 11.

[0074] In some embodiments, such as Figure 2 As shown, the thoracic cavity structure also includes a reinforcing member 50, which is disposed within the accommodating cavity 11 and connected to the encapsulation member 40 and the inner wall of the accommodating cavity 11.

[0075] like Figure 2 As shown, a reinforcing member 50 is provided in the accommodating cavity 11, and the reinforcing member 50 is connected to the inner wall of the encapsulation member 40 and the accommodating cavity 11. The reinforcing member 50 further enhances the strength of the housing 10, making the housing 10 more reliable.

[0076] It should be noted that the reinforcing member 50 in this embodiment can be a reinforcing plate, which is disposed within the accommodating cavity 11 and connected to the inner wall of the encapsulation member 40 and the accommodating cavity 11. There may be only one reinforcing member 50, two reinforcing members 50, or multiple reinforcing members 50.

[0077] In this embodiment, no excessive restrictions are placed on the specific structure and quantity of the reinforcing member 50. In practical applications, technicians can configure it as needed.

[0078] In some embodiments, such as Figure 2 As shown, the reinforcing member 50 includes a first reinforcing member 51 and a second reinforcing member 52. The first reinforcing member 51 and the second reinforcing member 52 are spaced apart in the accommodating cavity 11 along the first direction X. The first reinforcing member 51 and the second reinforcing member 52 are both connected to the inner wall of the encapsulation member 40 and the accommodating cavity 11 to divide the accommodating cavity 11 into a first sub-accommodating cavity and a second sub-accommodating cavity.

[0079] like Figure 2 As shown in the embodiment of this application, the first reinforcing member 51 and the second reinforcing member 52 are both disposed in the accommodating cavity 11. The first reinforcing member 51 and the second reinforcing member 52 are spaced apart along the first direction X. The first reinforcing member 51 and the second reinforcing member 52 are both connected to the inner wall of the encapsulation member 40 and the accommodating cavity 11, so as to enhance the strength of the shell 10 through the first reinforcing member 51 and the second reinforcing member 52, and make the reliability of the shell 10 better.

[0080] Furthermore, the first reinforcing member 51 and the second reinforcing member 52 can further divide the accommodating cavity 11 into a first sub-accommodating cavity and a second sub-accommodating cavity, so as to accommodate different key functional components through the first sub-accommodating cavity and the second accommodating cavity.

[0081] For example, the first battery pack 60 can be accommodated in the first sub-cavity and the second battery pack 61 can be accommodated in the second sub-cavity, so that the first battery pack 60 and the second battery pack 61 are located in different sub-cavities.

[0082] Of course, the above are merely individual examples of the specific uses of the first and second sub-receiving cavities and are not intended to limit this application. In practical applications, those skilled in the art can place different key functional components in the first and second sub-receiving cavities as needed.

[0083] In some embodiments, the first battery pack 60 is disposed in the first sub-accommodating cavity, and the second battery pack 61 is disposed in the second sub-accommodating cavity.

[0084] like Figure 2 As shown, the thoracic cavity structure in this embodiment includes two battery packs: a first battery pack 60 and a second battery pack 61. The first battery pack 60 is disposed within a first sub-accommodating cavity, and the second battery pack 61 is disposed within a second sub-accommodating cavity. Furthermore, both the first battery pack 60 and the second battery pack 61 are connected in parallel with the power system of the humanoid robot, so that both can simultaneously supply power to the humanoid robot's power system, or the first battery pack 60 and the second battery pack 61 can each supply power to the humanoid robot's power system, ensuring uninterrupted power supply during battery swapping.

[0085] In this embodiment, by connecting the first battery pack 60 and the second battery pack 61 in parallel to the humanoid robot's power system, and supplying power to the humanoid robot's power system simultaneously or separately, power outages during battery swapping can be avoided. Furthermore, the first battery pack 60 and the second battery pack 61 will not make the humanoid robot too heavy, thus preventing inconvenience in its movement.

[0086] In some embodiments, such as Figure 3As shown, the thoracic cavity structure also includes a first control member and a second control member, the first control member being connected to the first side wall 12 and the second control member being connected to the second side wall 13.

[0087] like Figure 3 As shown, the first control component is connected to the first side wall, and the second control component is connected to the second side wall. This allows the first and second control components to be connected to the outside of the thoracic cavity structure, and thus fixed via the thoracic cavity structure. In other words, it is no longer necessary to house the first and second control components within the thoracic cavity structure, thus reserving sufficient space for the installation of the first battery pack 60 and the second battery pack 61.

[0088] This application discloses a thoracic cavity structure for use in a humanoid robot. The thoracic cavity structure includes: a shell forming a receiving cavity; a first battery pack disposed within the receiving cavity; and a second battery pack also disposed within the receiving cavity and spaced apart from the first battery pack. The first and second battery packs are connected in parallel to the power system of the humanoid robot to simultaneously or separately supply power to the humanoid robot.

[0089] In this embodiment, the housing encloses a cavity, and the first and second battery packs are spaced apart within the cavity. The first and second battery packs are connected in parallel to the humanoid robot's power system to simultaneously or separately power the robot. In other words, the first and second battery packs, connected in parallel to the humanoid robot's power system, can each power the robot's power system independently, ensuring uninterrupted power supply when replacing battery packs.

[0090] Furthermore, when the humanoid robot is operating at low power, its power system can be powered by either the first battery pack or the second battery pack. When operating at high power, its power system can be powered by both the first and second battery packs simultaneously, thereby improving the reliability of the humanoid robot during operation.

[0091] This application also discloses a humanoid robot, which includes the thoracic cavity structure described in the above embodiments.

[0092] It should be noted that the thoracic cavity structure of the humanoid robot disclosed in this application is the same as that described in the above embodiments, and its beneficial effects are also the same or similar. Further details will not be repeated here.

[0093] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0094] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A thoracic cavity structure, characterized in that, The thoracic cavity structure is used in a humanoid robot, and the thoracic cavity structure includes: The housing (10) encloses and forms a receiving cavity (11); A first battery pack (60) is disposed within the accommodating cavity (11); The second battery pack (61) is also disposed in the accommodating cavity (11) and is spaced apart from the first battery pack (60); The first battery pack (60) and the second battery pack (61) are connected in parallel to the power system of the humanoid robot to supply power to the humanoid robot simultaneously or separately.

2. The thoracic cavity structure according to claim 1, characterized in that, The first direction (X) is the height direction of the thoracic cavity structure, and the second direction (Y) intersects the first direction (X); Along the second direction (Y), the accommodating cavity (11) has a first opening and a second opening; The thoracic cavity structure also includes a sealing element (40), which is detachably connected to the housing (10) to close the first opening.

3. The thoracic cavity structure according to claim 2, characterized in that, The thoracic cavity structure also includes a reinforcing member (50). The reinforcing member (50) is disposed in the accommodating cavity (11) and is connected to the encapsulation member (40) and the inner wall of the accommodating cavity (11).

4. The thoracic cavity structure according to claim 3, characterized in that, The reinforcing member (50) includes a first reinforcing member (51) and a second reinforcing member (52). The first reinforcing member (51) and the second reinforcing member (52) are spaced apart in the accommodating cavity (11) along the first direction (X), and the first reinforcing member (51) and the second reinforcing member (52) are both connected to the encapsulation member (40) and the inner wall of the accommodating cavity (11) to divide the accommodating cavity (11) into a first sub-accommodating cavity and a second sub-accommodating cavity.

5. The thoracic cavity structure according to claim 4, characterized in that, The first battery pack (60) is disposed in the first sub-accommodating cavity, and the second battery pack (61) is disposed in the second sub-accommodating cavity.

6. The thoracic cavity structure according to claim 1, characterized in that, The housing (10) includes a first sidewall (12), the first sidewall (12) includes a first sub-sidewall (121) and a second sub-sidewall (122) connected to the first sub-sidewall (121). The second sub-sidewall (122) is provided with a first through hole. The first sub-sidewall (121) extends along a first direction (X). The extension direction of the second sub-sidewall (122) has a first angle α with the first direction (X), satisfying 10°≤α≤30°. The first direction (X) is the height direction of the thoracic cavity structure. A first motion module (20) is disposed in the first through hole and extends at least partially into the accommodating cavity (11). The first motion module (20) is used to connect the first arm structure.

7. The thoracic cavity structure according to claim 6, characterized in that, The housing (10) further includes a second sidewall (13), the second sidewall (13) includes a third sub-sidewall (131) and a fourth sub-sidewall (132) connected to the third sub-sidewall (131), the fourth sub-sidewall (132) is provided with a second through hole, the third sub-sidewall (131) extends along the first direction (X), and the extension direction of the fourth sub-sidewall (132) has a second included angle β with the first direction (X), satisfying 10°≤β≤30°; The second motion module (30) is disposed in the second through hole and extends at least partially into the receiving cavity (11). The second motion module (30) is used to connect the second arm structure.

8. The thoracic cavity structure according to claim 7, characterized in that, The following conditions must be met: 15°≤α≤25°; And / or, 15°≤β≤25°; And / or, satisfying α = β.

9. The thoracic cavity structure according to claim 1, characterized in that, The housing (10) is a one-piece molded part.

10. A humanoid robot, characterized in that, Includes the thoracic structure as described in any one of claims 1-9.

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