Thoracic cavity module for humanoid robot

Abstract

The invention relates to the technical field of humanoid robots, in particular to a thoracic cavity module for a humanoid robot, which comprises a thoracic cavity shell and a thoracic cavity skeleton arranged in an inner cavity of the shell, the thoracic cavity shell is formed by splicing a thoracic cavity front shell and a thoracic cavity back shell, and edge grooves of the thoracic cavity front shell and the thoracic cavity back shell define a thoracic cavity upper opening, a thoracic cavity lower opening, a thoracic cavity left opening and a thoracic cavity right opening; the chest front shell and the back shell are fastened and connected through upper, lower, middle and corresponding studs to improve the structural stability; the thoracic cavity skeleton is installed in cooperation with the skeleton nut seat through the inner wall nut column, an isolation space is formed between the thoracic cavity skeleton and the inner wall of the shell to achieve collision protection, the interior of the skeleton is divided into double installation cavities through the supporting rib plates, and efficient heat dissipation and convenient operation and maintenance are achieved in cooperation with the multi-stage heat dissipation structure and the debugging window. The thoracic cavity module can effectively solve the problems that an existing thoracic cavity module is poor in collision protection, the shell is prone to deformation, heat dissipation is poor and operation and maintenance are tedious, the structural stability, electrical safety and use reliability of the thoracic cavity module are improved, and the thoracic cavity module is suitable for being assembled and used for various humanoid robot trunk modules.

Description

Technical Field

[0001] This invention relates to the field of humanoid robot technology, and more particularly to a thoracic cavity module for humanoid robots. Background Technology

[0002] Humanoid robots are a key research and development direction in the field of high-end intelligent equipment. The thoracic module, as the core torso component that connects the robot's head and neck mechanism, the shoulder and arm mechanisms on both sides, and the waist drive mechanism, directly determines the overall structural stability, component integration rationality, and operational reliability. It is also a key structural carrier for realizing biomimetic motion.

[0003] Currently, most conventional humanoid robot chest cavity modules in the industry adopt a structure in which the outer shell and the internal skeleton are directly attached and assembled. The whole structure lacks an independent rigid load-bearing frame, and the strength of the shell splicing structure is weak. After long-term use or external impact, the whole structure is prone to deformation, which will lead to the displacement of the size of the various functional openings in the chest cavity and interfere with the precise assembly of joints and drive components. At the same time, there is no isolation and buffer space between the skeleton and the shell. External impact force will be directly transmitted to the internal electrical and drive precision components, which can easily cause the components to loosen and be damaged. Furthermore, the internal space is not orderly partitioned, and the components are arranged in a messy manner, which not only affects the assembly efficiency, but also makes it difficult to meet the basic protection and heat dissipation requirements. The combination of various structural defects makes the existing chest cavity modules unable to meet the requirements of high stability, long endurance, and smooth bionic movement of humanoid robots.

[0004] Therefore, a new technical solution is urgently needed to solve the above-mentioned technical problems. Summary of the Invention

[0005] The purpose of this invention is to overcome the problems of the prior art and provide a thoracic cavity module for humanoid robots, which solves the technical problems of poor collision protection performance, easy deformation of shell splicing, low internal heat dissipation efficiency, inconvenient operation and maintenance, and easy interference of arm movement in existing thoracic cavity modules.

[0006] The above objectives are achieved through the following technical solutions: A thoracic cavity module for a humanoid robot includes a thoracic cavity shell composed of a front thoracic cavity shell and a back thoracic cavity shell, and a thoracic cavity skeleton disposed within the thoracic cavity cavity of the thoracic cavity shell. The edges of the front thoracic cavity shell and the back thoracic cavity shell are respectively joined to form a superior thoracic opening, a inferior thoracic opening, a left thoracic opening, and a right thoracic opening. The inner wall of the front thoracic cavity shell is provided with a plurality of thoracic cavity skeleton nut posts, and the thoracic cavity skeleton is provided with skeleton nut seats adapted to the thoracic cavity skeleton nut posts. The thoracic cavity skeleton and the thoracic cavity shell are detachably connected by skeleton screws, and an isolation space is provided between the thoracic cavity skeleton and the inner wall of the thoracic cavity cavity. The thoracic cavity skeleton includes a symmetrically arranged left side skeleton plate, a right side skeleton plate, a bottom skeleton plate, a front thoracic skeleton plate, a back skeleton plate, and a top skeleton plate. A supporting rib is provided between the front thoracic skeleton plate and the back skeleton plate, and the supporting rib divides the interior of the thoracic cavity skeleton into a first mounting cavity and a second mounting cavity.

[0007] Furthermore, the anterior shell of the thoracic cavity includes an anterior shell body, a left side of the anterior shell, a right side of the anterior shell, an upper side of the anterior shell, and a lower side of the anterior shell, with corresponding grooves formed on each side; the posterior shell of the thoracic cavity is provided with corresponding grooves, and the grooves of the anterior and posterior shells together form a stable thoracic cavity opening structure.

[0008] Furthermore, the anterior shell and the posterior shell of the thoracic cavity are respectively provided with three sets of corresponding studs at the top, bottom and middle. After splicing, the studs abut against each other and are fastened with screws to improve the overall rigidity of the shell.

[0009] Furthermore, the frame side plate is divided into a longitudinal support part and a shoulder support part, with the included angle between the two set at 160°-170° to achieve arm movement avoidance.

[0010] Furthermore, the longitudinal support section is provided with a hollowed-out groove and support ribs, and the ribs are provided with coplanar nut columns, which takes into account both lightweight and installation accuracy.

[0011] Furthermore, the thoracic shell and the back shell are provided with multi-level heat dissipation holes, which, together with the fan in the second mounting cavity, form an active heat dissipation system.

[0012] Furthermore, the thoracic cavity back shell is equipped with an adjustment window and an adjustment cover plate to facilitate the adjustment and maintenance of internal components.

[0013] Furthermore, the frame nut seat is divided into three sections: upper, middle, and lower, to ensure that the frame is installed firmly and that the isolation space is uniform.

[0014] Furthermore, the shoulder support portion has drive through holes corresponding to the left and right openings of the chest cavity to achieve concealed wiring.

[0015] The present invention provides a thoracic cavity module for a humanoid robot, which effectively blocks external collision impacts and protects internal precision components through the isolated assembly of the shell and the skeleton; the symmetrical rigid skeleton and the partitioned layout of the supporting ribs ensure the overall structural stability of the thoracic cavity module and the orderly division of the internal space; and the shell encloses the opening and has a detachable connection structure, which enables precise assembly of joint components and convenient and efficient module assembly and maintenance. Attached Figure Description

[0016] Figure 1 This is a first-view structural diagram of a thoracic cavity module for a humanoid robot according to the present invention; Figure 2 This is a second-view structural diagram of a thoracic cavity module for a humanoid robot according to the present invention; Figure 3 This is an exploded view of a thoracic cavity module for a humanoid robot according to the present invention; Figure 4 This is a first-view structural schematic diagram of the anterior shell of the thoracic cavity in a thoracic cavity module for a humanoid robot according to the present invention; Figure 5 This is a second-view structural schematic diagram of the anterior shell of the thoracic cavity in a thoracic cavity module for a humanoid robot according to the present invention; Figure 6 This is a schematic diagram of the thoracic cavity back shell in the thoracic cavity module for a humanoid robot according to the present invention; Figure 7 This is a schematic diagram of the assembly of the anterior shell of the thoracic cavity and the thoracic skeleton in a thoracic cavity module for a humanoid robot according to the present invention. Figure 8 This is a first-view assembly diagram of the thoracic skeleton in the thoracic cavity module for a humanoid robot according to the present invention; Figure 9 This is a second-view assembly diagram of the thoracic skeleton in the thoracic cavity module for a humanoid robot according to the present invention; Figure 10 This is a schematic diagram of the thoracic skeleton of a thoracic module for a humanoid robot according to the present invention, in which electrical components are assembled.

[0017] Illustration markings: 1-Anterior shell of the thoracic cavity, 101-Anterior shell body, 102-Left side of the anterior shell, 103-Right side of the anterior shell, 104-Upper side of the anterior shell, 105-Lower side of the anterior shell, 106-Upper edge groove of the anterior shell, 107-Lower edge groove of the anterior shell, 108-Left edge groove of the anterior shell, 109-Right edge groove of the anterior shell, 110-Upper stud of the anterior shell, 111-Middle stud of the anterior shell, 112-Lower stud of the anterior shell, 113-Screw hole of the upper stud of the anterior shell, 114-Screw hole of the middle stud of the anterior shell, 115-Screw hole of the lower stud of the anterior shell; 2-Back shell of the thoracic cavity, 201-Back shell body, 202-Left side of the back shell, 203-Right side of the back shell, 204-Upper side of the back shell, 205-Lower side of the back shell, 206-Upper edge groove of the back shell, 207-Lower edge groove of the back shell, 208-Left edge groove of the back shell, 209-Right edge groove of the back shell, 210-Upper stud of the rear shell, 211-Middle stud of the rear shell, 212-Lower stud of the rear shell, 213-Screw hole of the upper stud of the rear shell, 214-Screw hole of the middle stud of the rear shell, 215-Screw hole of the lower stud of the rear shell, 216-Heat dissipation hole of the back shell, 217-Adjustment window, 218-Adjustment cover plate; 3-Thoracic shell, 301-Thoracic cavity, 302-Upper opening of the thoracic cage, 303-Lower opening of the thoracic cavity, 304-Left opening of the thoracic cavity, 305-Right opening of the thoracic cavity, 306-Thoracic skeleton nut post, 307-Thoracic skeleton mounting position, 308-Thoracic cavity heat dissipation hole; 4-Bracket frame, 401-Frame nut seat, 402-Left side plate of the frame, 403-Right side plate of the frame, 404-Bracket base plate, 405-Front breast plate of the frame, 406-Back plate of the frame, 407-Rear connection of the top plate, 408-Front connection of the top plate, 409-Top plate of the frame, 410-Longitudinal support, 411-Shoulder support, 412-Support rib, 413-First mounting cavity, 414-Second mounting cavity, 415-First front breast plate, 416-Second front breast plate, 417-Heat dissipation vertical groove, 418-Front breast plate window, 419-First back plate, 420-Second back plate, 421-First back plate window, 422-Second back plate window, 423-Fan mounting bracket, 424-Fan, 425-Longitudinal support groove, 426-Longitudinal support hollow groove, 427-Support rib, 428-Nut post, 429-Shoulder support groove, 430-Shoulder drive component through hole, 431-Shoulder drive component connecting hole, 432-Top plate body, 433-Neck drive module mounting position, 434-Top plate inclined edge, 435-Inclined edge connecting edge, 436-Top plate rear connecting edge, 437-Shoulder baffle, 438-Thoracic drive component through hole, 439-Thoracic drive component connecting hole, 440-Thoracic skeleton screw, 441-Middle thoracic cavity connecting seat, 442-Upper thoracic cavity connecting seat, 443-Lower thoracic cavity connecting seat, 444-Connecting seat screw hole. Detailed Implementation

[0018] 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.

[0019] like Figures 1-3 As shown, this solution provides a thoracic cavity module for a humanoid robot. This module, as the core functional unit of the middle section of the humanoid robot's torso, mainly serves to connect the head and neck mechanism, the shoulder and arm mechanisms on both sides, and the waist drive mechanism. The whole consists of an externally protected and encapsulated thoracic cavity shell 3 and a thoracic skeleton 4 embedded inside the thoracic cavity shell 3. The thoracic cavity shell 3 is formed by splicing and enclosing the front thoracic cavity shell 1 and the back thoracic cavity shell 2. After splicing, a closed and regular thoracic cavity 301 is formed inside. The corresponding grooves on the edges of the front thoracic cavity shell 1 and the back thoracic cavity shell 2 cooperate with each other to form the upper thoracic cavity opening 302, the lower thoracic cavity opening 303, the left thoracic cavity opening 304, and the right thoracic cavity opening 305, which are adapted to the insertion and movement of various joint components. All kinds of openings conform to the biomimetic human thoracic cavity structure layout, which can not only meet the insertion requirements of drive components and wiring harnesses, but also reserve sufficient space for joint movement avoidance, thus avoiding movement interference from the root.

[0020] like Figure 4 and Figure 5 As shown, in this embodiment, the anterior shell 1 of the thoracic cavity adopts an integral molding structure, specifically including the anterior shell body 101. The anterior shell body 101 serves as the core protection and main appearance of the anterior part of the thoracic cavity. Its left and right sides are connected by a smooth arc transition, with the left side 102 and the right side 103 of the anterior shell. The two sides are symmetrically arranged. The arc design can not only conform to the shape of the bionic human body, but also improve the overall structural strength of the shell and avoid damage to the edges under stress. The upper and lower sides of the anterior shell body 101 are also connected by an arc, with the upper side 104 and the lower side 105 of the anterior shell respectively. The arc design of the upper and lower sides can effectively distribute the stress on the shell and improve the overall deformation resistance. A groove 106 is formed on the upper side 104 of the front shell, a groove 107 is formed on the lower side 105 of the front shell, a groove 108 is formed on the left side 102 of the front shell, and a groove 109 is formed on the right side 103 of the front shell, which are used to cooperate with the corresponding grooves of the thoracic back shell 2 to form a standard opening.

[0021] like Figure 6 As shown, the thoracic back shell 2 is also a one-piece molded structure, including a back shell body 201. The left and right sides of the back shell body 201 are connected by arcs, with the left side 202 and the right side 203 of the back shell symmetrically arranged. The upper and lower sides are connected by arcs, with the upper side 204 and the lower side 205 of the back shell symmetrically arranged. The upper side 204 of the back shell has an upper edge groove 206, the lower side 205 of the back shell has a lower edge groove 207, the left side 202 of the back shell has a left edge groove 208, and the right side 203 of the back shell has a right edge groove 209. The dimensions of each groove on the back shell are perfectly matched with the corresponding groove on the front shell. After splicing, they are seamlessly enclosed, ensuring the regularity and sealing of each opening.

[0022] like Figures 4-6As shown, to strengthen the splicing of the anterior shell 1 and the posterior shell 2 of the thoracic cavity and to avoid problems such as shell cracking and opening deformation after long-term use or stress, three sets of positioning studs are symmetrically arranged on the inner wall of the anterior shell 1, namely the upper stud 110, the middle stud 111, and the lower stud 112 of the front shell. The three sets of studs are evenly distributed along the longitudinal direction of the shell, and each set of studs is symmetrically arranged from left to right. Each stud has a corresponding screw hole 113 for the upper stud 113, a screw hole 114 for the middle stud 114, and a screw hole 115 for the lower stud 115. Correspondingly, the inner wall of the posterior shell 2 is symmetrically arranged with the upper stud 210, the middle stud 211, and the lower stud 212 of the rear shell. Each stud has a screw hole 213, a screw hole 214, and a screw hole 215 that penetrates the back shell.

[0023] When the anterior shell 1 and the posterior shell 2 of the thoracic cavity are spliced ​​together, the corresponding stud end faces of the front and rear shells abut each other precisely to form a stable positioning support structure. Then, the shell screws are passed through the screw holes of the back shell and the screw holes of the front shell in sequence and tightened to fix them. The three sets of studs at the top, bottom and middle are subjected to force simultaneously, which can evenly distribute the splicing stress of the shells and completely prevent the upper opening, lower opening and left and right openings of the thoracic cavity from shifting and deforming, ensuring the assembly accuracy of the internal components, and improving the overall rigidity and stability of the thoracic cavity shell.

[0024] like Figure 5 As shown, several thoracic skeleton nut posts 306 are evenly distributed on the inner wall of the anterior shell 1 of the thoracic cavity. All the nut posts together form the thoracic skeleton mounting position 307. The nut posts protrude from the inner wall of the shell, providing a dedicated mounting base for the thoracic skeleton 4. Corresponding skeleton nut seats 401 are set at the corresponding positions of the thoracic skeleton 4. The nut seats and nut posts are precisely connected by skeleton screws to achieve a detachable and firm connection between the thoracic skeleton 4 and the thoracic shell 3. The core function of this connection method is that after the connection is completed, the thoracic skeleton 4 has no direct contact with the inner wall of the thoracic cavity 301. A uniform isolation space is formed between the two. This isolation space can play a buffering and protective role. When the thoracic shell 3 is subjected to external impact, the impact force cannot be directly transmitted to the thoracic skeleton 4 and various electrical and drive components installed on the skeleton, effectively avoiding loosening and damage of components due to impact, and improving the operational safety of internal core components. On the other hand, it can reserve sufficient airflow space to achieve rapid dissipation of internal heat in conjunction with the heat dissipation structure, avoiding local heat accumulation.

[0025] like Figure 8 and Figure 9As shown, in this embodiment, the thoracic skeleton 4 serves as the core load-bearing base of the entire module. It adopts a symmetrical frame structure design, specifically including a left side plate 402 and a right side plate 403 symmetrically arranged on the left and right sides. The structure and specifications of the two side plates are consistent, ensuring that the overall skeleton is subjected to balanced forces from left to right. The bottom edges of both side plates are vertically and fixedly connected to the bottom plate 404 of the skeleton. This vertical connection maximizes the bottom support stiffness, bearing the load of all upper structures and components, and preventing the bottom of the skeleton from collapsing or deforming. The front edges of the left side plate 402, the right side plate 403, and the bottom plate 404 are all fixedly connected to the front chest plate 405 of the skeleton, and the rear edges are all fixedly connected to the back plate 406 of the skeleton. The front and rear plates, along with the side plates and the bottom plate, form a closed frame body, improving the overall torsional and compressive resistance.

[0026] The top of the frame back plate 406 extends upward, exceeding the height of the left side plate 402 and the right side plate 403 of the frame, forming the rear connection part 407 of the top plate; the top height of the frame front chest plate 405 does not exceed the height of the two side plates, and the corresponding position of its inner wall is provided with the front connection part 408 of the top plate; the front and rear sides of the frame top plate 409 are fixedly connected to the front connection part 408 and the rear connection part 407 of the top plate, respectively; and the frame top plate 409 is suspended relative to the left side plate 402 and the right side plate 403 of the frame. The suspended design can completely avoid the shoulder movement trajectory, prevent the top plate from interfering with the shoulder drive component and the arm mechanism, and ensure smooth and unobstructed shoulder movement.

[0027] like Figure 8 and Figure 9As shown, the left side plate 402 and the right side plate 403 of the skeleton adopt a segmented optimized design, each divided into two parts: a longitudinal support part 410 and a shoulder support part 411. The bottom of the longitudinal support part 410 is vertically connected to the bottom plate 404 of the skeleton, which bears the core support role of the vertical load of the torso. The shoulder support part 411 is integrally formed and connected to the top of the longitudinal support part 410. The included angle between the two is controlled in the range of 160°-170°. This angle is perfectly adapted to the natural downward and swinging motion trajectory of the humanoid robot arm, avoiding collisions and interference between the arm and the shell and skeleton during the movement from the structural source, and ensuring that the robot's movements are smooth and natural. The longitudinal support section 410 has a longitudinal support groove 425 on its surface, and multiple sets of longitudinal support hollow grooves 426 are formed on the bottom wall of the groove. Complete support ribs 427 are reserved between adjacent hollow grooves. The hollow groove design can significantly reduce the weight of the skeleton, achieve lightweight optimization, reduce the overall load of the robot, and improve motion response speed and endurance. The support ribs retain the core load-bearing rigidity to prevent the longitudinal support section from bending or deforming under stress, thus meeting the dual requirements of lightweight and structural strength. Several nut posts 428 are evenly distributed on the inner and outer sides of the support ribs 427. All nut posts on the same side have a common plane at their ends. This design can ensure that the electrical components and control modules installed later fit flatly, without warping or tilting, and are installed firmly and with good contact, avoiding problems such as poor contact, loosening and falling off of components due to uneven installation.

[0028] A shoulder support groove 429 is formed on the surface of the shoulder support part 411, and a shoulder drive component through hole 430 is formed on the bottom wall of the groove. The position of the through hole corresponds precisely to the left opening 304 and the right opening 305 of the thoracic cavity. Shoulder drive component connecting holes 431 are evenly distributed around the through hole. The groove is used for the embedded installation of the shoulder drive component to achieve the hidden layout of the drive component. The through hole is used for the drive component wiring harness to pass through, so as to achieve neat and hidden wiring of the wiring harness and avoid the exposed wear and tangling of the wiring harness. The connecting hole is used for the precise fixation of the drive component to ensure accurate installation and positioning of the drive component and stable transmission efficiency.

[0029] like Figure 8 and Figure 9As shown, the top plate 409 of the frame adopts a one-piece molding process, with no splicing gaps in the overall structure, resulting in stronger rigidity and better protective performance. Specifically, it includes a top plate body 432 that is parallel to the bottom plate 404 of the frame. The parallel design ensures the symmetry of the upper and lower structures of the frame and the uniform force distribution. A neck drive module mounting position 433 is set at the axial position of the top plate body 432. This mounting position corresponds precisely to the upper opening of the thoracic cavity 302 and is used for the positioning and installation of the neck drive module, ensuring that the neck mechanism and the thoracic cavity module are coaxially connected, improving the accuracy and stability of neck rotation. The front side of the top plate body 432 extends integrally with a top plate inclined edge 434. The front end of the inclined edge is bent downward to form an inclined edge connecting edge 435, which is used to fit and fix with the front connecting part 408 of the top plate. The inclined design further avoids neck movement space. The rear side of the top plate body 432 has an integrally set rear connecting edge 436, which is used to fix and connect with the rear connecting part 407 of the top plate, ensuring that the top plate is firmly installed. The top plate body 432 extends outward symmetrically from the left and right sides to form shoulder baffles 437. The shoulder baffles cover the shoulder support part 411. On the one hand, they can protect the shoulder drive component and shoulder structure and prevent external debris from entering. On the other hand, they can support the upper part of the chest cavity shell, distribute the force on the upper part of the shell, and prevent the shell from denting and deforming.

[0030] A through hole 438 for the thoracic drive component is opened at the axial position of the frame base plate 404. The through hole corresponds precisely to the lower opening 303 of the thoracic cavity. A circumferential connection hole 439 for the thoracic drive component is arranged on the outside of the through hole for the installation and fixation of the lumbar drive component of the thoracic cavity, so as to achieve precise docking between the lumbar drive mechanism and the thoracic module. The wiring harness is hidden through the through hole to avoid interference.

[0031] like Figure 8 and Figure 9As shown, a support rib 412 is horizontally fixed between the front chest plate 405 and the back plate 406 of the skeleton. The support rib 412 is parallel to the bottom plate 404 of the skeleton. On the one hand, it can horizontally reinforce the entire thoracic skeleton frame, improve the frame's resistance to torsion and deformation, and prevent the front and rear plates from expanding outward under stress. On the other hand, it can regularly divide the internal space of the thoracic skeleton 4 into two independent cavities, namely the first mounting cavity 413 and the second mounting cavity 414, to realize the partitioned integrated layout of core components. The first mounting cavity 413 is located in the lower part and is used to install large and heavy components such as batteries and main control modules. The downward shift of the center of gravity can improve the stability of the robot's standing and movement. The second mounting cavity 414 is located in the upper part and is used to install precision components such as shoulder drives and neck drives. The partitioned layout can completely avoid interference between different components, and at the same time facilitate classified wiring, heat dissipation and maintenance. The front breast plate 405 of the frame is further divided into a first front breast plate 415 corresponding to the longitudinal support portion 410 and a second front breast plate 416 corresponding to the shoulder support portion 411. The surface of the first front breast plate 415 has multiple vertically arranged heat dissipation grooves 417 for passive heat dissipation of the first mounting cavity 413 and to accelerate the dissipation of internal heat. The surface of the second front breast plate 416 has a front breast plate window 418, which communicates with the second mounting cavity 414 and serves as both a component assembly channel and a heat dissipation vent. The back plate 406 of the frame is divided into a first back plate 419 corresponding to the longitudinal support portion 410 and a second back plate 420 corresponding to the shoulder support portion 411. The first back plate 419 has a first back plate window 421, which communicates with the first mounting cavity 413 to assist in heat dissipation of the lower cavity. The second back plate 420 has a second back plate window 422, which communicates with the second mounting cavity 414. Fan mounting brackets 423 are fixedly installed on the outer sides of the front panel window 418 and the second back panel window 422. Fans 424 are installed on the fan mounting brackets, and the fans face the inside of the second mounting cavity 414, forming an active forced heat dissipation structure. This effectively cools down the upper precision drive components, prevents the components from overheating and failing due to long-term operation, and ensures the continuous and stable operation of the system.

[0032] like Figure 7 As shown, to further improve the installation firmness of the thoracic skeleton 4 and ensure the uniform and stable isolation space, the skeleton nut seat 401 adopts a three-section symmetrical layout design, specifically including a middle section thoracic cavity connecting seat 441 symmetrically arranged on the left side plate 402 and the right side plate 403 of the skeleton, an upper section thoracic cavity connecting seat 442 symmetrically arranged on the outer side of the shoulder baffles 437 on both sides, and a lower section thoracic cavity connecting seat 443 symmetrically arranged on both sides of the bottom edge of the skeleton base plate 404. Each connecting seat has a connecting seat screw hole 444, which is respectively connected to the thoracic skeleton nut column 306 at the corresponding position on the inner wall of the thoracic cavity front shell 1. The three points of symmetrical fixation at the upper, middle and lower points make the skeleton bear the force evenly and prevent the loosening and displacement problems caused by single-point fixation.

[0033] Thoracic cavity heat dissipation holes 308 are opened at corresponding positions on the left and right sides of the thoracic cavity shell 3 to realize air convection between the inner cavity of the thoracic cavity and the outside, and assist in internal heat dissipation; thoracic cavity back shell 2 is opened at the position corresponding to the second mounting cavity 414 to further accelerate the heat dissipation of the upper cavity and form an all-round multi-level heat dissipation system.

[0034] In addition, such as Figure 2 and 3 As shown, symmetrical debugging windows 217 are opened on the surface of the thoracic cavity back shell 2. The debugging windows 217 are connected to the thoracic cavity 301. A detachable debugging cover plate 218 is provided on the outside of the window. During daily use, the cover plate closes the window to prevent dust. During later debugging and maintenance, it is not necessary to disassemble the entire thoracic cavity shell. Just open the debugging cover plate to directly test and debug the internal electrical components and drive components, which greatly simplifies the operation and maintenance process and reduces maintenance costs.

[0035] The left side plate 402, right side plate 403, bottom plate 404, front chest plate 405, back plate 406, and supporting rib plate 412 of the skeleton are all detachably connected by thoracic skeleton screws 440. The fully modular assembly design facilitates production assembly, later maintenance and replacement of parts, and improves production and operation efficiency.

[0036] 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 thoracic cavity module for a humanoid robot, characterized in that, The thoracic cavity includes a thoracic shell (3) formed by splicing together an anterior thoracic shell (1) and a thoracic back shell (2), and a thoracic skeleton (4) disposed in the thoracic cavity cavity (301) of the thoracic shell (3); the anterior thoracic shell (1) and the thoracic back shell (2) are respectively enclosed by their edges to form the upper thoracic opening (302), the lower thoracic opening (303), the left thoracic opening (304), and the right thoracic opening (305); the inner wall of the anterior thoracic shell (1) is provided with a plurality of thoracic skeleton nut columns (306), and the thoracic skeleton (4) is provided with skeleton nut seats (401) adapted to the thoracic skeleton nut columns (306); the thoracic skeleton (4) and the thoracic back shell (2) are respectively enclosed by their edges to form the upper thoracic opening (302), the lower thoracic opening (303), the left thoracic opening (304), and the right thoracic opening (305). The thoracic shell (3) is detachably connected by the skeleton screws, and an isolation space is provided between the thoracic skeleton (4) and the inner wall of the thoracic cavity (301); the thoracic skeleton (4) includes a symmetrically arranged left side plate (402), a right side plate (403), a bottom plate (404), an anterior thoracic plate (405), a back plate (406), and a top plate (409). A supporting rib (412) is provided between the anterior thoracic plate (405) and the back plate (406), and the supporting rib (412) divides the interior of the thoracic skeleton (4) into a first mounting cavity (413) and a second mounting cavity (414).

2. The thoracic cavity module for a humanoid robot according to claim 1, characterized in that, The anterior shell of the thoracic cavity (1) includes an anterior shell body (101), an anterior shell left side (102), an anterior shell right side (103), an anterior shell upper side (104), and an anterior shell lower side (105). The anterior shell upper side (104), the anterior shell lower side (105), the anterior shell left side (102), and the anterior shell right side (103) are respectively provided with an anterior shell upper edge groove (106), an anterior shell lower edge groove (107), an anterior shell left edge groove (108), and an anterior shell right edge groove (109). The thoracic cavity dorsal shell (2) includes a dorsal shell body (201), a dorsal shell left side (202), a dorsal shell right side (203), a dorsal shell upper side (204), and a dorsal shell lower side (205). The dorsal shell upper side (204), the dorsal shell lower side (105), the dorsal shell lower side (105), the dorsal shell lower side (106 ... The lower side (205), the left side (202) of the back shell, and the right side (203) of the back shell are respectively provided with the upper edge groove (206), the lower edge groove (207), the left edge groove (208), and the right edge groove (209) of the back shell; the upper edge groove (106) of the front shell and the upper edge groove (206) of the back shell together form the upper opening of the thoracic cavity (302), the lower edge groove (107) of the front shell and the lower edge groove (207) of the back shell together form the lower opening of the thoracic cavity (303), the left edge groove (108) of the front shell and the left edge groove (208) of the back shell together form the left opening of the thoracic cavity (304), and the right edge groove (109) of the front shell and the right edge groove (209) of the back shell together form the right opening of the thoracic cavity (305).

3. A thoracic cavity module for a humanoid robot according to claim 1, characterized in that, The inner wall of the anterior shell (1) of the thoracic cavity is symmetrically provided with an upper stud (110), a middle stud (111), and a lower stud (112). The inner wall of the posterior shell (2) of the thoracic cavity is symmetrically provided with an upper stud (210), a middle stud (211), and a lower stud (212). After the anterior shell (1) of the thoracic cavity and the posterior shell (2) of the thoracic cavity are spliced ​​together, the corresponding upper studs and lower studs abut against each other and are fixed by tightening the shell screws.

4. A thoracic cavity module for a humanoid robot according to claim 1, characterized in that, Both the left side plate (402) and the right side plate (403) of the skeleton include a longitudinal support (410) and a shoulder support (411). The longitudinal support (410) is vertically connected to the bottom plate (404) of the skeleton, and the shoulder support (411) is connected at an angle to the top of the longitudinal support (410). The included angle between the longitudinal support (410) and the shoulder support (411) is set to 160°-170°.

5. A thoracic cavity module for a humanoid robot according to claim 4, characterized in that, The longitudinal support part (410) has a longitudinal support part groove (425), and the bottom wall of the longitudinal support part groove (425) has a plurality of longitudinal support part hollow grooves (426). Support ribs (427) are formed between adjacent longitudinal support part hollow grooves (426), and the support ribs (427) are provided with a plurality of nut posts (428) with coplanar ends.

6. A thoracic cavity module for a humanoid robot according to claim 4, characterized in that, The shoulder support part (411) is provided with a shoulder support part groove (429), and the bottom wall of the shoulder support part groove (429) is provided with a shoulder drive component through hole (430) corresponding to the left opening (304) and right opening (305) of the thoracic cavity. The shoulder drive component through hole (430) is provided with a shoulder drive component connecting hole (431) in the circumferential direction.

7. A thoracic cavity module for a humanoid robot according to claim 1, characterized in that, The left and right sides of the thoracic cavity shell (3) are provided with thoracic cavity heat dissipation holes (308), the thoracic cavity back shell (2) is provided with back shell heat dissipation holes (216) corresponding to the position of the second mounting cavity (414), and the front chest plate (405) of the skeleton is provided with several heat dissipation vertical grooves (417).

8. A thoracic cavity module for a humanoid robot according to claim 1, characterized in that, The thoracic back shell (2) is symmetrically provided with debugging windows (217) that connect to the thoracic cavity (301), and a matching debugging cover plate (218) is provided on the outside of the debugging window (217).

9. A thoracic cavity module for a humanoid robot according to claim 1, characterized in that, The skeleton nut seat (401) includes a middle thoracic cavity connecting seat (441) symmetrically arranged on the left side plate (402) and the right side plate (403) of the skeleton, an upper thoracic cavity connecting seat (442) symmetrically arranged on the outside of the shoulder baffle (437), and a lower thoracic cavity connecting seat (443) symmetrically arranged on the bottom edge of the skeleton base plate (404). The upper thoracic cavity connecting seat (442), the middle thoracic cavity connecting seat (441) and the lower thoracic cavity connecting seat (443) are all provided with connecting seat screw holes (444).

10. A thoracic cavity module for a humanoid robot according to claim 1, characterized in that, The front breast plate (405) of the skeleton has a front breast plate window (418), and the back plate (406) of the skeleton has a second back plate window (422). A fan mounting bracket (423) is provided on the outside of both the front breast plate window (418) and the second back plate window (422). A fan (424) for cooling the second mounting cavity (414) is installed on the fan mounting bracket (423).

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