Humanoid robot shell assembly

Abstract

The invention relates to the technical field of humanoid robots, in particular to a humanoid robot shell assembly which comprises a front side framework and a rear side framework which are mutually spliced and encircled, a complete thoracic cavity body cavity is formed after the front side framework and the rear side framework are spliced, and the front side framework and the rear side framework are correspondingly provided with positioning buckle structures and stud locking structures which are matched with each other. Assembling pre-positioning is achieved through the buckles, firm locking is achieved through cooperation of the studs, and loosening and deviation of the splicing parts are avoided. A multi-step type connecting table structure is arranged at an opening in the upper end defined by the framework and can be accurately matched with the neck connecting assembly and the thoracic cavity connecting component, the coaxiality and butt joint precision of the thoracic cavity framework and the upper connecting component are guaranteed, and the overall structural strength and stress uniformity are improved. According to the assembly, the assembly process can be effectively simplified, the cooperative adaptability of the framework and peripheral core components is enhanced, the structural rigidity, the operation stability and the assembly convenience are considered, and the long-term bionic dynamic operation requirement of the humanoid robot can be met.

Description

Technical Field

[0001] This invention relates to the field of humanoid robot technology, and more particularly to a humanoid robot shell assembly. Background Technology

[0002] The overall structural integrity and operational stability of a humanoid robot rely heavily on the coordinated adaptation of three core components: the thoracic shell, the head shell, and the neck joint. These three components not only require precise mechanical connections and power transmission but also need to consider biomimetic appearance, sealing and protection, and ease of assembly. The rationality of their connection structure directly determines the robot's motion coordination, environmental adaptability, and lifespan. However, in existing technologies, the connection design of the thoracic shell, head shell, and neck joint generally suffers from multi-dimensional structural defects, and an integrated collaborative solution has not yet been formed. This severely restricts the improvement of the overall performance of humanoid robots, with specific pain points as follows: First, the alignment accuracy of the three components is insufficient. The upper opening of the thoracic shell is simple and has poor compatibility with the neck connection components. Long-term dynamic operation can easily cause it to loosen and deform, which in turn leads to the displacement of the head shell position and damages the coaxiality of the three components. Secondly, the sealing and protection at the joints are weak, making it easy for dust and moisture to enter the interior. Furthermore, the assembly process lacks a unified pre-positioning benchmark, resulting in a cumbersome and inefficient process that makes it difficult to balance structural stability with ease of assembly.

[0003] These defects, when combined, severely affect the continuity of robot movements and its lifespan, necessitating a new technical solution to address these issues. Summary of the Invention

[0004] The purpose of this invention is to overcome the problems of the prior art and provide a humanoid robot shell assembly to solve the problems of poor compatibility and insufficient docking accuracy of the existing humanoid robot chest shell and neck connection components, easy loosening and displacement during long-term bionic operation, and difficulty in ensuring the coaxiality of the head shell, neck and chest. At the same time, it solves the technical defects of weak sealing protection at the connection point, lack of unified positioning benchmark for assembly, and inability to take into account both structural stability and ease of assembly.

[0005] The above objectives are achieved through the following technical solutions: A humanoid robot shell assembly includes a thoracic shell unit, a neck connection unit, and a thoracic support ring. The thoracic shell unit includes a front thoracic shell and a rear thoracic shell that are spliced ​​together to form a thoracic cavity. The neck connection unit includes an upper neck connector, a lower neck connector, and a flexible neck component that fixes the two together. After the front and rear thoracic shells are spliced ​​together, they form an upper thoracic opening, a lower thoracic opening, a left thoracic opening, and a right thoracic opening. The upper thoracic opening has a recessed first-step annular groove, a second-step annular groove, and a third-step annular groove extending towards the center. The third-step annular groove has a plurality of third-step annular groove screw holes evenly formed along the annular direction. The thoracic support ring includes an integrally formed support ring skirt and a... The lower neck connector supports a ring seat. The outer contour of the ring seat skirt is perfectly adapted to the third-step ring groove. The surface of the ring seat skirt has threaded holes that correspond one-to-one with the threaded holes of the third-step ring groove. After the ring seat skirt is inserted into the third-step ring groove, it forms a Z-shaped connecting seam. The ring seat screw passes through the threaded holes of the skirt and screws into the threaded holes of the third-step ring groove to achieve a tight connection between the thoracic seat ring and the upper opening of the thoracic cavity. The lower neck connector has a lower neck chest ring connecting part. The outer surface of the thoracic seat ring has a chest ring groove that is adapted to the lower neck chest ring connecting part. The lower neck chest ring connecting part is embedded in the chest ring groove for positioning. The upper neck connector is adapted to connect to the bottom ring of the head shell.

[0006] Furthermore, a protective ring is provided on the outer side of the connection between the upper opening of the thorax and the thorax seat ring. The protective ring is a split structure, including a front shell protective ring and a rear shell protective ring that are spliced ​​together. The rear shell protective ring has protective ring slots at both ends, and the front shell protective ring has protective ring feet that are adapted to be snapped together at both ends.

[0007] Furthermore, the bottom surface of the protective ring is provided with several locking feet, the second stepped ring groove is provided with locking slots corresponding to the locking feet, and the outer side of the seat ring skirt is provided with several through-type locking foot clearance slots corresponding to the locking slots. After the locking feet pass through the locking foot clearance slots, they are engaged and fixed with the locking slots.

[0008] Furthermore, the rear shell protective ring has at least two protective ring screw holes corresponding to the skirt screw holes. The ring seat screw passes through the protective ring screw holes and the skirt screw holes from top to bottom and is screwed into the third step ring groove screw hole, thereby locking the protective ring, the thoracic seat ring and the thoracic shell unit simultaneously.

[0009] Furthermore, the locking foot is a right-angle locking foot, including a first right-angle locking foot extending vertically downward along the edge of the protective ring, and a second right-angle locking foot extending outward perpendicular to the first right-angle locking foot. The first right-angle locking foot is adapted to the depth of the locking foot clearance groove, and the second right-angle locking foot is adapted to the shape and depth of the groove.

[0010] Furthermore, the foot clearance grooves are evenly distributed along the annular direction of the seat ring skirt, and their number is consistent with that of the foot and corresponds one-to-one.

[0011] Furthermore, the width of the protective ring is not less than the sum of the widths of the second stepped ring groove and the skirt edge of the seat ring.

[0012] Furthermore, the width of the third stepped annular groove is greater than the width of the second stepped annular groove, and the width of the second stepped annular groove is greater than the width of the first stepped annular groove. The three-stage stepped annular groove descends gradually towards the center along the inner wall of the upper thoracic opening and the transition is smooth.

[0013] Furthermore, the opening edge of the anterior shell of the thoracic cavity is provided with a first locking groove, and the opening edge of the posterior shell of the thoracic cavity is provided with a second locking groove that is adapted to and latches the first locking groove of the anterior shell. After the anterior shell and the posterior shell of the thoracic cavity are pre-positioned by locking, they are locked by screwing the shell screws. The inner wall of the anterior shell of the thoracic cavity is provided with an upper stud, a middle stud, and a lower stud, and the ends of each stud are respectively provided with screw holes for the upper stud, the middle stud, and the lower stud. The inner wall of the posterior shell of the thoracic cavity is provided with corresponding abutting upper stud, middle stud, and lower stud, and the ends of each stud are respectively provided with screw holes for the upper stud, the middle stud, and the lower stud. The shell screws pass through the screw holes of the rear shell studs and the screw holes of the front shell studs in sequence to achieve fastening.

[0014] Furthermore, the left and right lateral walls of the thoracic cavity are respectively provided with a left shoulder ring seat and a right shoulder ring seat, and a left shoulder protective cover and a right shoulder protective cover made of soft rubber are respectively mounted on the left shoulder ring seat and the right shoulder ring seat.

[0015] Furthermore, the thoracic support ring, the anterior thoracic shell, the posterior thoracic shell, the upper neck connector, and the lower neck connector are all made of plastic or aluminum.

[0016] Furthermore, the number of locking feet is 6, of which 3 are located on the bottom surface of the front shell protective ring and 3 are located on the bottom surface of the rear shell protective ring.

[0017] The humanoid robot shell assembly provided by this invention, through the splicing and enclosing structure of the front and rear thoracic shells, regularly forms the upper opening of the thoracic cavity and various thoracic cavity openings, and arranges multi-level recessed stepped annular grooves to achieve precise alignment and fit between the thoracic cavity seat ring and the upper thoracic cavity opening; through the adapter snap-fit ​​and screw-through locking structure between the thoracic cavity seat ring and the third stepped annular groove, the connection between the two is firmly secured without loosening or displacement, ensuring the coaxiality of the thoracic cavity and the neck connection unit; through the split adapter positioning structure of the neck connection unit, a stable connection between the head shell and the thoracic cavity shell is achieved, and the basic sealing at the connection point is achieved by relying on the stepped annular groove hierarchical structure, which greatly improves the overall structural stability and assembly accuracy of the shell assembly. Attached Figure Description

[0018] Figure 1 This is a first-view structural diagram of a humanoid robot shell assembly according to the present invention; Figure 2 This is a second-view structural diagram of a humanoid robot shell assembly according to the present invention; Figure 3 This is a third-view structural diagram of a humanoid robot shell assembly according to the present invention; Figure 4 This is a schematic diagram of the assembly of the protective ring, thoracic seat ring, and upper thoracic opening in a humanoid robot shell assembly according to the present invention; Figure 5 This is a cross-sectional view of a humanoid robot shell assembly according to the present invention; Figure 6 This is a first-view assembly diagram of the neck connecting unit, head shell bottom ring, and thoracic seat ring in a humanoid robot shell assembly according to the present invention. Figure 7 This is a second-view assembly diagram of the neck connecting unit, head shell bottom ring, and thoracic seat ring in a humanoid robot shell assembly according to the present invention. Figure 8 This is a schematic diagram of the assembly of the neck connector and the bottom ring of the head shell in a humanoid robot shell assembly according to the present invention. Figure 9 This is a first-view assembly diagram of the neck connector and the thoracic seat ring in a humanoid robot shell assembly according to the present invention; Figure 10 This is a second-view assembly diagram of the neck connector and the thoracic seat ring in a humanoid robot shell assembly according to the present invention; Figure 11 This is a first-view assembly diagram of the anterior and posterior thoracic shells in a humanoid robot shell assembly according to the present invention. Figure 12 This is a second-view assembly diagram of the front and rear thoracic shells in a humanoid robot shell assembly according to the present invention.

[0019] Illustration markings: 1-Anterior shell of the thoracic cavity, 101-Upper edge groove of the anterior shell, 102-Lower edge groove of the anterior shell, 103-Left edge groove of the anterior shell, 104-Right edge groove of the anterior shell, 105-First slot of the anterior shell, 106-Upper stud of the anterior shell, 107-Middle stud of the anterior shell, 108-Lower stud of the anterior shell, 109-Screw hole of the upper stud of the anterior shell, 110-Screw hole of the middle stud of the anterior shell, 111-Screw hole of the lower stud of the anterior shell; 2-Posterior shell of the thoracic cavity, 201-Upper edge groove of the posterior shell, 202-Lower edge groove of the posterior shell, 203-Left edge groove of the posterior shell, 204-Right edge groove of the posterior shell, 205-Second slot, 206-Upper stud of the posterior shell, 207-Middle stud of the posterior shell, 208-Lower stud of the posterior shell, 209-Screw hole of the upper stud of the posterior shell, 210-Screw hole of the middle stud of the posterior shell, 211-Screw hole of the lower stud of the posterior shell, 212-Adjustment port, 213-Adjustment cover; 3-Thoracic cavity, 301-Upper thoracic opening, 302-Lower thoracic opening, 303-Left thoracic opening, 304-Right thoracic opening, 305-Left shoulder ring seat, 306-Right shoulder ring seat, 307-Front shell heat dissipation hole, 308-Rear shell heat dissipation hole, 309-First stepped annular groove, 310-Second stepped annular groove, 311-Third stepped annular groove, 312-Third stepped annular groove screw hole, 313-Card slot; 4-Thoracic seat ring, 401-Seat ring skirt, 402-Neck connector support ring seat, 403-Skirt screw hole, 404-Foot clearance groove, 405-Thoracic ring groove, 406-Guide hole, 407-Guide hole through hole; 5-Head ring screw; 6-Pleural screws; 7-Soft rubber protective cover, 701-Left shoulder protective cover, 702-Right shoulder protective cover; 8-Applying cloth; 9-Protective ring, 901-Clamping foot, 902-Front shell protective ring, 903-Rear shell protective ring, 904-Protective ring slot, 905-Protective ring clamping foot, 906-Protective ring screw hole, 907-First right-angle clamping foot, 908-Second right-angle clamping foot; 10-Ring seat screw; 11-Neck connector, 1101-Neck head ring connector, 1102-Flexible upper connector, 1103-Head ring groove, 1104-Head ring stud, 1105-Head ring stud screw hole, 1106-First head ring retaining ring; 12-Lower neck connector, 1201-Lower flexible component connector, 1202-Lower neck and chest ring connector, 1203-Lower neck guide post, 1204-Guide post screw hole; 13-Neck flexible component, 1301-Upper end flange of flexible component, 1302-Lower end flange of flexible component; 14-Head shell bottom ring, 1401-Second head ring retaining ring, 1402-Head ring screw seat, 1403-Screw hole of screw seat; 15-Head shell. Detailed Implementation

[0020] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. The aim is to enable those skilled in the art to clearly understand the overall structure, assembly process, connection relationships, and technical effects without creative effort. Obviously, the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0021] like Figures 1-3 As shown, this solution provides a humanoid robot shell assembly that integrates a thoracic shell unit, a neck connection unit, and a thoracic seat ring 4 to achieve a unified design. The core optimization is the connection structure between the thoracic seat ring 4 and the upper opening 301 of the thoracic cavity. At the same time, the matching structure of the thoracic shell splicing studs and screw holes is improved, taking into account structural stability, sealing protection, and ease of assembly.

[0022] like Figure 5 , Figure 11 and Figure 12 As shown, the core of the thoracic shell unit includes an anterior thoracic shell 1 and a posterior thoracic shell 2. These two shells employ a symmetrical, precisely fitting structure. Corresponding grooves are formed on the side edges: an upper edge groove 101, a lower edge groove 102, a left edge groove 103, and a right edge groove 104 on the anterior shell; and corresponding grooves on the upper edge 201, lower edge 202, left edge 203, and right edge 204 on the posterior shell. After assembly, the upper edge groove 101 and the upper edge groove 201 of the anterior shell together form the upper opening 301 of the thoracic cavity; the lower edge groove 102 and the lower edge groove 202 of the anterior shell together form the lower opening 302 of the thoracic cavity; the left edge groove 103 and the left edge groove 203 of the anterior shell together form the left opening 303 of the thoracic cavity; and the right edge groove 104 and the right edge groove 204 of the anterior shell together form the right opening 304 of the thoracic cavity. Each opening has a regular outline, adapting to the docking requirements of different components.

[0023] To enhance splicing strength and prevent uneven locking force, a dual structure of pre-positioning with snap-fit ​​and locking with studs and screw holes is adopted: the opening edge of the anterior shell 1 of the thoracic cavity is provided with a first snap-fit ​​groove 105, and the posterior shell 2 of the thoracic cavity is provided with a corresponding second snap-fit ​​groove 205, ensuring no lateral or longitudinal offset after pre-positioning with snap-fit; the inner wall of the anterior shell 1 of the thoracic cavity is symmetrically arranged with upper studs 106, middle studs 107, and lower studs 108 along the vertical direction, with the three studs evenly spaced, and each stud end face has a matching screw hole coaxially opened, namely the upper stud screw hole 1 of the front shell. 09. Front shell middle stud hole 110, front shell lower stud hole 111; Corresponding positions on the inner wall of the posterior shell 2 of the thoracic cavity are arranged upper stud 206, middle stud 207, and lower stud 208 of the posterior shell. The end face of each stud is also coaxially opened with upper stud hole 209, middle stud hole 210, and lower stud hole 211 of the posterior shell. After the front and rear shells are spliced, the corresponding studs are tightly abutted, and the screw holes are coaxially aligned. The shell screws pass through the screw holes of the posterior shell and are screwed into the screw holes of the front shell, so that the force is even and balanced, and the problems of opening deformation and stud breakage are completely avoided.

[0024] like Figure 4 As shown, the core connection structure between the thoracic seat ring and the upper thoracic opening is as follows: The inner side of the upper thoracic opening 301 is provided with a descending first-step ring groove 309, a second-step ring groove 310, and a third-step ring groove 311 extending progressively towards the center of the thoracic cavity 3. These three-step ring grooves are continuously distributed along the annular direction of the upper thoracic opening 301, with distinct levels and smooth transitions, without sharp edges. The width of the third-step ring groove 311 is greater than the width of the second-step ring groove 310, and the width of the second-step ring groove 310 is greater than the width of the first-step ring groove 309. This gradient width design provides sufficient and stable support area for the thoracic seat ring 4, preventing the thoracic seat ring 4 from being suspended after assembly and prone to breakage under stress. Simultaneously, the three-step structure forms a multi-layered, tortuous sealing path, enhancing the overall sealing performance.

[0025] like Figure 4 , Figure 9 and Figure 10 As shown, the thoracic seat ring 4 is a one-piece molded structure, including the outer seat ring skirt 401 and the central conical recessed neck connecting support ring 402. The two are seamlessly connected, have consistent structural strength, and have no weak points at the joint. The outline of the seat ring skirt 401 is perfectly matched with the third-step ring groove 311, including the contour curvature, width, and thickness. During assembly, the seat ring skirt 401 can be directly inserted into the third-step ring groove 311. After the two are snapped together, they form a unique Z-shaped connection seam. This connection seam is a non-linear tortuous gap, which can effectively block the straight intrusion path of external dust and moisture, further improving the sealing effect.

[0026] The third-step annular groove 311 has several third-step annular groove screw holes 312 evenly distributed along its annular direction. Corresponding to the positions of the third-step annular groove screw holes 312, the surface of the seat ring skirt 401 has skirt screw holes 403. The diameter and thread specifications of the third-step annular groove screw holes 312 and the skirt screw holes 403 are completely identical, and they are coaxially aligned. The ring seat screw 10 can pass through the skirt screw hole 403 from top to bottom and then precisely screw into the third-step annular groove screw hole 312, achieving secondary fastening between the thoracic seat ring 4 and the upper opening 301 of the thoracic cavity. This prevents the thoracic seat ring 4 from shifting or loosening, ensuring that the neck connector support ring 402 can precisely align with the external neck connector, guaranteeing smooth and unbiased rotation of the robot's neck.

[0027] like Figures 6-10 As shown, the neck connection unit includes an upper neck connector 11, a lower neck connector 12, and a flexible neck connector 13 that flexibly connects the two. After the three are assembled, the overall shape matches the contour of a real person's neck. The upper neck connector 11 is a ring structure. The upper part is provided with a head ring connection part 1101, which is adapted to connect the head shell bottom ring 14. The lower part is provided with a flexible upper connection part 1102, which is a downwardly inclined ring slope structure that is adapted to the inclination angle of the inner wall of the upper port of the flexible neck connector 13. The lower neck connector 12 is a ring structure. The outer side is provided with a flexible lower connection part 1201, which is tightly fitted to the lower port of the flexible neck connector 13. The inner side is provided with a lower chest ring connection part 1202, which is embedded in the chest ring groove 405 of the thoracic seat ring 4 for positioning and fixation.

[0028] The flexible neck component 13 is made of a flexible polymer elastomer, possessing high tensile strength, high resilience, and fatigue resistance. It is fitted entirely onto the outside of the internal head drive module, achieving full-coverage concealment and protection. Simultaneously, it deforms synchronously with the movement of the drive module, without hindering head movement. Its upper end features a flexible upper port flange 1301, tightly covering the upper neck head ring connection 1101 and being pressed and fixed between the head shell bottom ring 14 and the upper neck connector 11. Its lower end features a flexible lower port flange 1302, tightly covering the bottom edge of the thoracic seat ring 4 and being pressed and fixed between the thoracic seat ring 4 and the flexible lower connection 1201, preventing slippage. The connection between the flexible component and the connector can be glued together to enhance the fixation effect.

[0029] A protective ring 9 is provided on the outer side of the connection between the upper opening 301 of the thorax and the seat ring 4 of the thorax. It adopts a split structure, including a front shell protective ring 902 and a rear shell protective ring 903. The rear shell protective ring 903 has protective ring slots 904 at both ends, and the front shell protective ring 902 has protective ring feet 905 at both ends, which are spliced ​​to form a complete ring. The bottom surface of the protective ring 9 has feet 901, and the second step ring groove 310 has an adapter slot 313. On the outer side of the seat ring skirt 401, corresponding to the slots 313, there are several transparent foot avoidance grooves 404. The foot avoidance grooves 404 are evenly distributed along the ring direction of the seat ring skirt 401, and their number is consistent with the foot 901 and they correspond one-to-one. The width and depth of the grooves are precisely matched with the size of the foot 901, allowing the foot 901 to pass through and achieve interference-free engagement, completely covering the connection gap.

[0030] The rear shell protective ring 903 has at least two protective ring screw holes 906, which are coaxially aligned with the skirt screw hole 403 and the third-step ring groove screw hole 312. The ring seat screw 10 can pass through the three in sequence to achieve synchronous locking of the protective ring 9, the thoracic seat ring 4, and the thoracic cavity shell unit. The outer walls of the left thoracic cavity opening 303 and the right thoracic cavity opening 304 are respectively provided with a left shoulder ring seat 305 and a right shoulder ring seat 306, and are respectively equipped with a soft rubber left shoulder protective cover 701 and a right shoulder protective cover 702. The front shell heat dissipation hole 307 and the rear shell heat dissipation hole 308 are provided below the opening, and the outer side is covered with a dustproof, waterproof, and breathable patch 8. The rear shell 2 of the thoracic cavity is provided with an adjustment port 212 and a snap-on adjustment cover 213 for easy maintenance in the future. Figure 12 As shown.

[0031] The upper neck connector 11 is screwed and fixed to the bottom ring of the head shell 14 by the head ring screw 5, and the lower neck connector 12 is screwed and fixed to the thoracic seat ring 4 from below by the thoracic screw 6 to ensure a firm connection.

[0032] like Figures 6-8As shown, specifically, a first head ring retainer 1106 is integrally formed on the upper surface of the neck head ring connecting part 1101. The first head ring retainer 1106 is a closed annular boss, the height of which is no higher than the top height of the head ring stud 1104. After the top of each head ring stud 1104 extends out of the upper surface of the neck head ring connecting part 1101, there is a gap between it and the inner side of the first head ring retainer 1106, forming a closed annular head ring groove 1103. The head shell bottom ring 14 serves as a dedicated transition connector between the neck and the head shell 15. It is made of the same material as the neck connecting part 11, and its shape and size are completely consistent with the neck head ring connecting part 1101, ensuring a smooth and continuous appearance after assembly. A second head ring retainer 1401 is integrally formed on the bottom surface. The second head ring retainer 1401 is a closed annular boss, and its outer diameter and height are precisely matched with the head ring groove 1103. During assembly, an interference fit is used to secure it. The second head ring retainer 1401 is fully pressed into the head ring retainer groove 1103, achieving initial fixation between the neck connector 11 and the head shell bottom ring 14. After the retainer is engaged, there is no relative rotation or axial movement between the two. The inner wall of the head shell bottom ring 14 corresponds to the position of the head ring stud 1104, and four head ring screw seats 1402 are integrally formed. The thickness of the screw seat matches that of the head ring stud 1104. Each head ring screw seat 1402 has a screw hole 1403 that penetrates the screw seat body. The screw hole diameter and thread specification are completely consistent with the head ring stud screw hole 1105, and the two are coaxially aligned. After the retainer is engaged, the head ring screw 5 is passed through the screw hole 1403 from the inside of the head shell 15 and screwed into the head ring stud screw hole 1105. The screw is tightened step by step to achieve rigid locking. After locking, the connecting surfaces of the two are completely fitted together without gaps or looseness. It can withstand the radial and axial tension generated by the high-frequency swing of the head and will not fall off or shift during long-term use.

[0033] like Figure 9 and Figure 10 As shown, a plurality of lower neck guide posts 1203 are provided on the bottom surface of the lower neck connector 12, and guide post screw holes 1204 are provided along the air end; the lower neck connector support ring seat 402 of the thoracic seat ring 4 is provided with guide holes 406 adapted to the lower neck guide posts 1203, and guide hole screw holes 407 are provided on the bottom wall of the guide holes 406; when the lower neck guide posts 1203 are fitted with the guide holes 406, the thoracic screw 6 is screwed from below through the guide hole screw holes 407 and the guide post screw holes 1204. This locking method is operated from the bottom of the thoracic cavity, without exposing the screws, ensuring the overall appearance integrity.

[0034] The head shell bottom ring 14 is used to connect with the head shell 15.

[0035] As a specific embodiment of this solution, the components in this embodiment are described as follows: The anterior shell 1 and posterior shell 2 of the thoracic cavity are integrally injection molded from high-strength glass fiber reinforced engineering plastic, combining lightweight and high rigidity. The upper and lower side edges of the anterior shell 1 are integrally formed with an upper edge groove 101 and a lower edge groove 102, respectively. The left and right side edges adjacent to the upper edge groove 101 are integrally formed with a left edge groove 103 and a right edge groove 104, respectively. The opening edge is integrally provided with a first retaining groove 105. The upper stud 106, middle stud 107, and lower stud 108 of the front shell are symmetrically arranged at the upper, middle, and lower positions of the inner wall, respectively. The end face of each stud is integrally and coaxially injection molded with a corresponding screw hole, namely the upper stud screw hole 109 and the middle stud screw hole 110. The front shell has a lower stud hole 111; the upper and lower sides of the thoracic cavity rear shell 2 are integrally formed with a rear shell upper edge groove 201 and a rear shell lower edge groove 202, respectively; the left and right sides adjacent to the rear shell upper edge groove 201 are integrally formed with a rear shell left edge groove 203 and a rear shell right edge groove 204, respectively; a second slot 205 is integrally set at the opening edge; the rear shell upper stud 206, rear shell middle stud 207, and rear shell lower stud 208 are symmetrically arranged at the upper, middle, and lower positions of the inner wall, respectively; the end face of each stud is integrally and coaxially injection molded with a rear shell upper stud hole 209, rear shell middle stud hole 210, and rear shell lower stud hole 211; the middle part has a symmetrically opened adjustment port 212, and a matching adjustment cover 213 is connected by a buckle.

[0036] The thoracic seat ring 4, upper neck connector 11, lower neck connector 12, and head shell bottom ring 14 are integrally molded from plastic or aluminum alloy. The thoracic seat ring 4 includes an integrally molded stepped seat ring skirt 401 and a lower neck connector support ring seat 402. The lower neck connector support ring seat 402 is recessed relative to the seat ring skirt 401, and its surface forms a chest ring groove 405 between it and the inner side of the seat ring skirt 401. The surface of the seat ring skirt 401 is provided with a skirt screw hole 403, and a foot clearance groove 404 is provided on the outer side corresponding to the position of the slot 313. The upper neck connector 11 includes an upper neck head ring connecting part 1101 and an upper flexible part connecting part 1102. The lower neck connector 12 includes a lower flexible part connecting part 1201 and a lower neck chest ring connecting part 1202.

[0037] The flexible component 13 in the neck is made of silicone, thermoplastic elastomer or composite elastic fabric. The upper end of the integrally formed flexible component has an upper port flange 1301, and the lower end of the integrally formed flexible component has a lower port flange 1302. The protective ring 9 is integrally formed of engineering plastic of the same color as the shell and includes a front shell protective ring 902 and a rear shell protective ring 903. The rear shell protective ring 903 has protective ring slots 904 at both ends. The front shell protective ring 902 has protective ring feet 905 at both ends. The bottom surface of the protective ring 9 has feet 901, which includes a first right-angle foot 907 and a second right-angle foot 908. The rear shell protective ring 903 has protective ring screw holes 906.

[0038] The head ring screw 5, chest cavity screw 6, and ring seat screw 10 are made of metal threaded parts of appropriate specifications; the patch 8 is made of PTFE microporous dustproof, waterproof and breathable material; the soft rubber protective cover 7 includes a left shoulder protective cover 701 and a right shoulder protective cover 702, which are integrally molded from soft rubber material; the outer walls of the left chest cavity opening 303 and the right chest cavity opening 304 are respectively integrally molded with left shoulder ring seat 305 and right shoulder ring seat 306, and the front shell heat dissipation hole 307 and the rear shell heat dissipation hole 308 are respectively opened below the opening.

[0039] In this embodiment, the thoracic cavity shell unit is assembled as follows: Step 1: Precisely align the anterior shell 1 and posterior shell 2 of the thoracic cavity, aligning the first slot 105 and the second slot 205 of the anterior shell. Press to achieve pre-positioning of the buckle, ensuring that there is no lateral or longitudinal offset between the anterior and posterior shells. At this time, the upper edge groove 101 of the anterior shell is precisely aligned with the upper edge groove 201 of the posterior shell, the lower edge groove 102 of the anterior shell is precisely aligned with the lower edge groove 202 of the posterior shell, the left edge groove 103 of the anterior shell is precisely aligned with the left edge groove 203 of the posterior shell, and the right edge groove 104 of the anterior shell is precisely aligned with the right edge groove 204 of the posterior shell. At the same time, each stud of the anterior shell is tightly abutted against the corresponding stud of the posterior shell, and the screw holes are coaxially aligned. Step 2: Insert the shell screws from the outside of the posterior shell 2 of the thoracic cavity into the upper stud hole 209, the middle stud hole 210, and the lower stud hole 211 of the posterior shell, and screw them in step by step and evenly into the upper stud hole 109, the middle stud hole 110, and the lower stud hole 111 of the front shell corresponding to the anterior shell 1 of the thoracic cavity, to form a closed thoracic cavity chamber 3, which at the same time encloses and forms the upper opening 301 of the thoracic cavity, the lower opening 302 of the thoracic cavity, the left opening 303 of the thoracic cavity, and the right opening 304 of the thoracic cavity; Step 3: Install the left shoulder guard 701 and the right shoulder guard 702 on the left shoulder ring seat 305 on the outside of the left opening 303 of the thoracic cavity and the right shoulder ring seat 306 on the outside of the right opening 304 of the thoracic cavity, respectively. Attach the patch 8 to the outside of the front shell heat dissipation hole 307 and the rear shell heat dissipation hole 308 below the left and right openings, respectively, to complete the basic assembly of the thoracic cavity shell unit. Step 4: Check the compatibility between the debugging port 212 and the debugging cover 213, and snap the debugging cover 213 onto the debugging port 212 to achieve a seal in the thoracic cavity 3.

[0040] In this embodiment, the thoracic support ring is assembled with the upper opening of the thoracic cavity as follows: Step 1: Clean the first stepped ring groove 309, the second stepped ring groove 310, and the third stepped ring groove 311 on the inner wall of the upper opening of the thorax 301 to ensure that there are no impurities in the grooves. Align the seat ring skirt 401 of the thorax seat ring 4 with the third stepped ring groove 311 and slowly push it in along the axial direction so that the seat ring skirt 401 is completely inserted into the third stepped ring groove 311 and the two fit tightly together to form a Z-shaped connection seam. Step 2: Rotate the thoracic seat ring 4 circumferentially to adjust its position so that the skirt screw hole 403 on the seat ring skirt 401 and the third step ring groove screw hole 312 on the third step ring groove 311 are coaxially aligned. Step 3: Insert the ring seat screw 10 from top to bottom through the skirt screw hole 403, screw it into the third step ring groove screw hole 312 and tighten it evenly step by step to achieve a firm fixation between the thoracic seat ring 4 and the upper opening of the thoracic cavity 301. At this time, the neck connecting piece support ring seat 402 is in a horizontal and centered state. Step 4: Inspect the chest ring groove 405 of the thoracic seat ring 4 to ensure that its outline is complete and free of burrs, in order to prepare for the assembly of the lower neck connector 12.

[0041] In this embodiment, the neck connection unit is assembled as follows: Step 1: Apply special adhesive evenly to the outer side of the upper connecting part 1102 of the flexible part of the upper neck connector 11 and the outer side of the lower connecting part 1201 of the flexible part of the lower neck connector 12. Fit the upper end of the flexible part 13 in the middle neck onto the upper connecting part 1102 of the flexible part and the lower end onto the lower connecting part 1201 of the flexible part. Press and adhere them together and let them stand until the adhesive cures to achieve initial fixation. Step 2: Lay the upper port flange 1301 of the flexible part 13 of the neck on the surface of the neck head ring connection 1101 of the neck connector 11. Align the head shell bottom ring 14 with the neck head ring connection 1101, and lock it in place by screwing on the head ring screw 5. This will press and fix the upper port flange 1301 of the flexible part between the head shell bottom ring 14 and the neck connector 11, without wrinkles or looseness. Step 3: Align the lower neck connector 1202 of the lower neck connector 12 with the chest ring groove 405 of the thoracic seat ring 4, insert it to achieve pre-positioning, and fix the lower neck connector 12 and the thoracic seat ring 4 from below by screwing the thoracic screw 6. Step 4: Tightly wrap the lower end flange 1302 of the flexible part 13 around the bottom edge of the lower neck connector 12. Fix the lower end flange 1302 of the flexible part with the clamping force between the lower neck connector 12 and the thoracic seat ring 4 to prevent slippage.

[0042] In this embodiment, the protective ring is assembled as follows: Step 1: Pick up the front shell protective ring 902, align the three locking feet 901 on its bottom surface with the locking foot relief groove 404 of the seat ring skirt 401, so that the first right-angle locking foot 907 passes through the relief groove, and the second right-angle locking foot 908 is aligned with the locking groove 313 of the second stepped ring groove 310, and press to achieve locking. Step 2: Pick up the rear protective ring 903, and similarly pass the three clips 901 on its bottom surface through the corresponding clip clearance grooves 404 and clips them into the grooves 313. At the same time, make the protective ring grooves 904 at both ends of the rear protective ring 903 precisely align with the protective ring clips 905 at both ends of the front protective ring 902, press to splice, and form a complete ring protective ring 9. Step 3: Insert the ring seat screw 10 from top to bottom through the protective ring screw hole 906 of the rear shell protective ring 903 and the skirt screw hole 403 of the seat ring skirt 401, and screw and lock it with the third step ring groove screw hole 312 of the third step ring groove 311, so as to realize the synchronous fixation of the protective ring 9, the thoracic seat ring 4 and the thoracic shell unit. At this time, the protective ring 9 completely covers the connection gap between the upper opening of the thoracic cavity 301 and the thoracic seat ring 4.

[0043] After assembly, check the firmness of each component connection: pull the head shell bottom ring 14 to ensure that the flexible part 13 in the neck can drive the head shell 15 to swing freely up and down and left and right without jamming or abnormal noise; check that the protective ring 9 does not interfere with the surrounding components, and that the locking foot 901 is firmly engaged without loosening or displacement; check that the left shoulder protective cover 701 and the right shoulder protective cover 702 are properly assembled without loosening; test the ventilation of the heat dissipation holes to ensure that the internal heat can be dissipated smoothly; switch the adjustment cover 213 to ensure that its buckle is smooth, the seal is reliable, and the overall performance meets the design requirements.

[0044] The above description is merely illustrative of the embodiments of the present invention and is not intended to limit the present invention. For those skilled in the art, any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A humanoid robot shell assembly, characterized in that, It includes a thoracic shell unit, a neck connecting unit and a thoracic seat ring (4). The thoracic shell unit includes an anterior thoracic shell (1) and a posterior thoracic shell (2) that are spliced ​​together to form a thoracic cavity (3). The neck connecting unit includes an upper neck connector (11), a lower neck connector (12) and a flexible neck member (13) that fixes the two together. After the anterior shell (1) and posterior shell (2) of the thoracic cavity are spliced ​​together, they form the upper opening (301), lower opening (302), left opening (303) and right opening (304) of the thoracic cavity. The upper opening (301) of the thoracic cavity is provided with a sunken first stepped annular groove (309), a second stepped annular groove (310) and a third stepped annular groove (311) extending towards the center. The third stepped annular groove (311) is provided with a plurality of third stepped annular groove screw holes (312) evenly opened along the annular direction. The thoracic seat ring (4) includes an integrally formed seat ring skirt (401) and a neck connecting support ring seat (402). The outer contour of the seat ring skirt (401) is completely adapted to the third stepped ring groove (311). The surface of the seat ring skirt (401) is provided with skirt screw holes (403) that correspond one-to-one with the screw holes (312) of the third stepped ring groove. After the seat ring skirt (401) is inserted into the third stepped ring groove (311), a Z-shaped connecting seam is formed. The ring seat screw (10) passes through the skirt screw hole (403) and screws into the screw hole (312) of the third stepped ring groove, thereby realizing the fastening of the thoracic seat ring (4) to the upper opening of the thoracic cavity (301). The lower neck connector (12) is provided with a lower neck chest ring connection part (1202). The outer surface of the thoracic seat ring (4) is provided with a chest ring groove (405) that is adapted to the lower neck chest ring connection part (1202). The lower neck chest ring connection part (1202) is embedded in the chest ring groove (405) to achieve positioning. The upper neck connector (11) is adapted to connect the head shell bottom ring (14). The head shell bottom ring (14) is used to connect the head shell (15).

2. The humanoid robot shell assembly according to claim 1, characterized in that, A protective ring (9) is provided on the outer side of the connection between the upper opening of the thorax (301) and the thorax seat ring (4). The protective ring (9) is a split structure, including a front shell protective ring (902) and a rear shell protective ring (903) that are spliced ​​together. The rear shell protective ring (903) has protective ring slots (904) at both ends, and the front shell protective ring (902) has protective ring feet (905) that are adapted to be snapped together at both ends.

3. The humanoid robot shell assembly according to claim 2, characterized in that, The bottom surface of the protective ring (9) is provided with a number of locking feet (901), and the second stepped ring groove (310) is provided with a locking groove (313) corresponding to the locking feet (901). The outer side of the seat ring skirt (401) is provided with a number of through-type locking foot clearance grooves (404) corresponding to the locking grooves (313). After the locking feet (901) pass through the locking foot clearance grooves (404), they are locked and fixed with the locking grooves (313).

4. A humanoid robot shell assembly according to claim 3, characterized in that, The rear shell protective ring (903) has at least two protective ring screw holes (906) corresponding to the skirt screw hole (403). The ring seat screw (10) passes through the protective ring screw hole (906) and the skirt screw hole (403) from top to bottom and is screwed into the third step ring groove screw hole (312) to lock the protective ring (9), the thoracic seat ring (4) and the thoracic shell unit simultaneously.

5. A humanoid robot shell assembly according to claim 3, characterized in that, The locking foot (901) is a right-angle locking foot, including a first right-angle locking foot (907) extending vertically downward along the edge of the protective ring (9), and a second right-angle locking foot (908) extending outward perpendicular to the first right-angle locking foot (907). The first right-angle locking foot (907) is adapted to the depth of the locking foot relief groove (404), and the second right-angle locking foot (908) is adapted to the shape and depth of the locking groove (313).

6. A humanoid robot shell assembly according to claim 3, characterized in that, The foot relief grooves (404) are evenly distributed along the annular direction of the seat ring skirt (401), and their number is consistent with that of the foot (901) and corresponds one-to-one.

7. A humanoid robot shell assembly according to claim 3, characterized in that, The width of the protective ring (9) is not less than the sum of the widths of the second stepped ring groove (310) and the seat ring skirt (401).

8. A humanoid robot shell assembly according to claim 1, characterized in that, The width of the third stepped annular groove (311) is greater than the width of the second stepped annular groove (310), and the width of the second stepped annular groove (310) is greater than the width of the first stepped annular groove (309). The three-level stepped annular grooves descend gradually towards the center along the inner wall of the upper thoracic opening (301) and the transition is smooth.

9. A humanoid robot shell assembly according to claim 1, characterized in that, The opening edge of the anterior shell of the thoracic cavity (1) is provided with a first front shell groove (105), and the opening edge of the posterior shell of the thoracic cavity (2) is provided with a second groove (205) that is adapted to and snaps into the first front shell groove (105). After the anterior shell of the thoracic cavity (1) and the posterior shell of the thoracic cavity (2) are snapped into place, they are locked by screwing the shell screws. The inner wall of the anterior shell of the thoracic cavity (1) is provided with an upper front shell stud (106), a middle front shell stud (107), and a lower front shell stud (108), and the ends of each stud are respectively provided with corresponding openings. The front shell has an upper stud hole (109), a middle stud hole (110), and a lower stud hole (111). The inner wall of the thoracic cavity rear shell (2) is provided with corresponding abutting upper studs (206), middle studs (207), and lower studs (208). The ends of each stud are respectively provided with upper stud holes (209), middle stud holes (210), and lower stud holes (211). The shell screws pass through the stud holes of the rear shell and the front shell to achieve fastening.

10. A humanoid robot shell assembly according to claim 1, characterized in that, The left thoracic cavity opening (303) and the right thoracic cavity opening (304) are respectively provided with a left shoulder ring seat (305) and a right shoulder ring seat (306). The left shoulder ring seat (305) and the right shoulder ring seat (306) are respectively equipped with a left shoulder protective cover (701) and a right shoulder protective cover (702) made of soft rubber.

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