Spliced chest shell structure for humanoid robot

Abstract

The invention relates to the technical field of humanoid robots, in particular to a spliced thoracic cavity shell structure for a humanoid robot, which adopts an integral structure formed by splicing front and back split bodies, and a plurality of functional openings are formed by encircling corresponding grooves of shells on two sides, so that stable and accurate butt joint of a trunk, a neck, shoulders and lower limb parts is guaranteed, and the structure is simple and convenient to use. The overall connection strength of the shell is greatly improved by means of a double splicing and fixing structure, and the deformation problem of the functional opening is effectively avoided; meanwhile, a multi-stage stepped positioning and sealing structure is arranged at the neck butt joint part, an adapting part and a split type protection assembly are matched, the sealing performance and the assembly convenience of the joint part are optimized, a shoulder protection structure, a heat dissipation dustproof structure and a convenient maintenance structure are additionally arranged in a matched mode, the overall structure stability, the operation adaptability and the practical functionality are considered, and the practicability is high. And the use requirements of humanoid robot thoracic cavity core system packaging and multi-component cooperative butt joint can be met.

Description

Technical Field

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

[0002] The thoracic cavity region of a humanoid robot is the core area housing the electrical, sensing and navigation, and power systems. As the external encapsulation structure of this core, the thoracic shell must stably support the core moving parts of the neck, shoulders, and lower limbs, while also providing protection for the internal core systems. Its structural strength, opening regularity, and fit directly determine the robot's overall operational accuracy and motion coordination. Existing modular humanoid robot thoracic shells suffer from two prominent structural technical defects: Firstly, the shell splicing connection strength is insufficient. During long-term operation or dynamic operation of the robot, the upper opening of the thoracic cavity, the opening of the shoulder, and the docking opening of the lower limb are prone to deformation and displacement. This directly leads to the inability of the neck, shoulder, and lower limb parts to achieve precise docking and assembly with the thoracic shell, which greatly damages the overall motion continuity and operational stability of the robot. Secondly, the structural design of the connection between the chest cavity shell and the neck is too simple, without a suitable positioning seal and appearance optimization structure. The matching protective accessories are difficult to install and not secure due to limited assembly space and lack of reasonable avoidance positioning design. It cannot meet the dual requirements of flexible neck connection, overall sealing protection and neat appearance, thus restricting the improvement of the overall performance and practicality of the humanoid robot.

[0003] Therefore, a new technical solution is urgently needed to solve the above-mentioned technical problems. Summary of the Invention

[0004] The purpose of this invention is to overcome the problems of the prior art and provide a spliced ​​thoracic shell structure for humanoid robots. This invention addresses the technical problems of insufficient splicing strength of existing spliced ​​thoracic shells for humanoid robots, easy deformation and displacement of functional openings, poor component docking accuracy, and rudimentary structure, poor sealing and assembly compatibility of the neck connection.

[0005] The above objectives are achieved through the following technical solutions: A modular thoracic shell structure for a humanoid robot includes an anterior thoracic shell and a posterior thoracic shell that are spliced ​​together to form a thoracic cavity. The anterior thoracic shell has an upper edge groove and a lower edge groove on its upper and lower sides, respectively. Adjacent to the upper edge groove, the left and right edges of the anterior thoracic shell have a left edge groove and a right edge groove, respectively. The posterior thoracic shell has an upper edge groove and a lower edge groove on its upper and lower sides, respectively. Adjacent to the upper edge groove, the left and right edges of the posterior thoracic shell have a left edge groove and a right edge groove, respectively. After the anterior and posterior thoracic shells are spliced ​​together, the... The upper edge groove of the front shell and the upper edge groove of the rear shell together form the upper opening of the thoracic cavity; the lower edge groove of the front shell and the lower edge groove of the rear shell together form the lower opening of the thoracic cavity; the left edge groove of the front shell and the left edge groove of the rear shell together form the left opening of the thoracic cavity; the right edge groove of the front shell and the right edge groove of the rear shell together form the right opening of the thoracic cavity; the upper opening of the thoracic cavity is provided with a recessed first-step ring groove, a second-step ring groove and a third-step ring groove extending towards the center; the thoracic cavity seat ring is engaged with the third-step ring groove and the two are locked and fixed by screws; the thoracic cavity seat ring is adapted to connect to the lower neck connector; the interior of the thoracic cavity is provided with a thoracic skeleton.

[0006] Furthermore, the opening edge of the anterior shell of the thoracic cavity is provided with a first slot, and the opening edge of the posterior shell of the thoracic cavity is provided with a second slot that is adapted to and snaps into the first slot. The anterior shell and the posterior shell of the thoracic cavity are pre-assembled and positioned by snapping into the slots.

[0007] Furthermore, the anterior shell of the thoracic cavity is symmetrically provided with an upper anterior shell stud, a middle anterior shell stud, and a lower anterior shell stud at the upper, middle, and lower positions on the inner wall, with each stud having a corresponding screw hole; the posterior shell of the thoracic cavity is symmetrically provided with a upper posterior shell stud, a middle posterior shell stud, and a lower posterior shell stud at the upper, middle, and lower positions on the inner wall, with each stud having a corresponding screw hole that can penetrate the posterior shell of the thoracic cavity; the upper anterior shell stud, the middle anterior shell stud, and the lower anterior shell stud can respectively abut against the upper posterior shell stud, the middle posterior shell stud, and the lower posterior shell stud, and are locked together by screws.

[0008] Furthermore, a left shoulder ring seat is provided on the outer wall of the left opening of the thoracic cavity, and a left shoulder protective cover made of soft rubber is installed above the left shoulder ring seat; a right shoulder ring seat is provided on the outer wall of the right opening of the thoracic cavity, and a right shoulder protective cover made of soft rubber is installed above the right shoulder ring seat.

[0009] Furthermore, several front shell heat dissipation holes are opened on the front shell of the thoracic cavity below the left and right openings of the thoracic cavity, and several rear shell heat dissipation holes are opened on the corresponding rear shell of the thoracic cavity. The outer sides of the front shell heat dissipation holes and the rear shell heat dissipation holes on the same side are fitted with dustproof and waterproof patches that do not obstruct heat dissipation.

[0010] Furthermore, the posterior shell of the thoracic cavity has symmetrically opened adjustment ports, and each adjustment port is snapped to a matching adjustment cover. The adjustment cover closes the adjustment port to achieve a seal of the thoracic cavity.

[0011] Furthermore, the thoracic seat ring includes an integrally formed seat ring skirt and a tapered, recessed neck connecting support ring seat, and the seat ring skirt and the third stepped ring groove are snapped together to form a Z-shaped connecting seam.

[0012] Furthermore, a protective ring is fitted at the connection between the thoracic seat ring and the upper opening of the thoracic cavity. The bottom surface of the protective ring is provided with several locking feet. The second stepped ring groove is provided with an adapter slot. The outer side of the seat ring skirt is provided with a locking foot avoidance groove corresponding to the slot position. The protective ring is fixed by locking feet and slot.

[0013] Furthermore, the protective ring is a split structure, including a front shell protective ring that adapts to the groove on the upper edge of the front shell and a rear shell protective ring that adapts to the groove on the upper edge of the rear shell. The rear shell protective ring has protective ring slots at both ends, and the front shell protective ring has protective ring feet at both ends that are adapted to snap into place.

[0014] Furthermore, the lower neck connector support ring seat is provided with a plurality of ring seat studs extending into the thoracic cavity, and the ring seat studs are provided with lower neck connector guide holes and guide hole through holes; the bottom surface of the lower neck connector is provided with a lower neck connector guide post adapted for insertion, and the bottom end of the lower neck connector guide post is provided with a guide post screw hole, and the lower neck connector and the thoracic support ring are screwed and fixed by the ring seat screw.

[0015] The present invention provides a splicing thoracic shell structure for humanoid robots. By splicing corresponding grooves of the front and rear shells of the thoracic cavity to form regular functional openings, the neck, shoulder and lower limb components are precisely connected to the thoracic shell. The three-stage sinking stepped annular groove of the upper thoracic opening and the matching locking structure of the thoracic seat ring improve the stability of the shell splicing, effectively avoid deformation and displacement of the functional openings, and ensure the overall operation coordination of the humanoid robot and the reliability of component docking. Attached Figure Description

[0016] Figure 1 This is a first-view structural schematic diagram of a spliced ​​thoracic shell structure for a humanoid robot according to the present invention; Figure 2 This is a second-view structural schematic diagram of a spliced ​​thoracic shell structure for a humanoid robot according to the present invention; Figure 3 This is a third-view structural diagram of a spliced ​​thoracic shell structure for a humanoid robot according to the present invention; Figure 4 This is a cross-sectional view of a spliced ​​thoracic shell structure for a humanoid robot according to the present invention; Figure 5 This is a first-view schematic diagram of the assembly of a spliced ​​thoracic shell structure for a humanoid robot according to the present invention; Figure 6 This is a second-view schematic diagram of the assembly of a spliced ​​thoracic shell structure for a humanoid robot according to the present invention; Figure 7 for Figure 3 Enlarged view of A in the middle; Figure 8 This is an assembly diagram of the upper thoracic opening, thoracic seat ring, and lower neck connector in a spliced ​​thoracic shell structure for a humanoid robot according to the present invention. Figure 9 This is a schematic diagram of the assembly of the lower neck connector and the thoracic seat ring in a spliced ​​thoracic shell structure for a humanoid robot according to the present invention.

[0017] 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-Ring seat stud, 404-Neck connector guide hole, 405-Guide hole through hole, 406-Skirt threaded hole, 407-Allowing groove; 5-Lower neck connector, 501-Lower neck connector guide post, 502-Guide post screw hole; 6-Left shoulder protector, 7-Right shoulder protector, 8-Pattern; 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; 10 - Thoracic screw, 11 - Ring seat screw. 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 1-4 As shown, this solution provides a modular thoracic shell structure for humanoid robots. The overall design employs a biomimetic configuration with separate front and rear sections, perfectly conforming to the torso proportions of a life-size humanoid robot. This ensures both biomimetic appearance and maximizes internal encapsulation space and external docking precision. The core components are the front thoracic shell 1 and the rear thoracic shell 2, both integrally injection molded from high-strength glass fiber reinforced engineering plastic. This material differs from traditional engineering plastics; it is a modified reinforced material with both lightweight and high rigidity. Its moderate weight does not increase the robot's overall load, avoiding issues such as center of gravity shift and increased energy consumption due to excessive shell weight. Furthermore, it possesses excellent physical properties, exhibiting outstanding resistance to deformation, impact, and long-term vibration. It can withstand continuous vibration and external impacts during robot dynamic walking, limb swinging, and operational processes. This solidifies the shell's structural stability from the base material level, completely avoiding the defects of traditional thin-shell plastic materials such as easy deformation, low strength, and aging and cracking after long-term use. This lays a core foundation for the overall structural robustness and durability. The anterior thoracic shell 1 and the posterior thoracic shell 2 are precisely spliced ​​together to form a closed and regular thoracic cavity 3. The internal spatial layout of this cavity has been optimized with no unnecessary dead corners. Its volume is fully adapted to the installation and fixing requirements of the electrical system, perception and navigation system and energy power system. At the same time, it provides stable external support, all-round protection and precise positioning support for the internal skeleton of the thoracic cavity. It realizes the dual core functions of sealing and encapsulating internal core components and precisely docking external limb components. It completely breaks the limitations of traditional shell encapsulation and docking, making the thoracic shell the core load-bearing and connection hub of the robot's torso.

[0020] The anterior shell 1 and posterior shell 2 of the thoracic cavity adopt a symmetrical and precise fitting structure, with the curvature conforming to the biomimetic curve of the human thoracic cavity. At the same time, high-precision contour grooves are opened on the side edge of the shells to form four core functional openings. The contours of each opening are regular, and the coaxiality and symmetry meet the standards of robot precision assembly. From the structural design level, the problems of eccentricity, skewness and dimensional deviation of the openings of traditional spliced ​​shells are eliminated. The accuracy of the docking of each component is guaranteed from the source, and assembly jamming and docking misalignment caused by opening deformation are avoided. The anterior shell 1 of the thoracic cavity has a groove 101 on its upper edge, and the posterior shell 2 has a corresponding groove 201 on its upper edge. These two are precisely joined to form the upper opening 301 of the thoracic cavity. This opening serves as a dedicated docking port for the flexible neck connection mechanism, with its specifications and curvature perfectly matching the neck adapter components. This ensures a stable and smooth connection between the torso and neck, preventing jamming or friction during neck rotation. The anterior shell 1 has a groove 102 on its lower edge, and the posterior shell 2 has a corresponding groove 202 on its lower edge. These two are joined to form the lower opening 302 of the thoracic cavity. This opening is widened and thickened to ensure stable docking between the thoracic skeleton inside the thoracic cavity 3 and the core components of the lower limbs. This guarantees the connection strength of the lower limb transmission structure and withstands the longitudinal forces generated by walking and swinging of the lower limbs. The front shell 1 has a left edge groove 103 near the top on the left side, and the rear shell 2 has a corresponding left edge groove 203 on the left side. The two are joined together to form the left opening 303 of the thoracic cavity. The front shell 1 has a right edge groove 104 near the top on the right side, and the rear shell 2 has a corresponding right edge groove 204 on the right side. The two are joined together to form the right opening 304 of the thoracic cavity. Both openings of the thoracic cavity adopt a circular contour design with thickened and reinforced edges, allowing the left and right shoulder components to pass smoothly and accurately connect with the internal skeleton of the thoracic cavity. This ensures that the shoulder components swing smoothly without jamming or friction. At the same time, the thickened edges can effectively resist the repeated stress caused by shoulder swing, preventing the openings from warping or deforming after long-term use.

[0021] like Figures 4-6As shown, to fundamentally address the core technical defects of insufficient shell splicing strength and deformation and displacement of functional openings after long-term use, a splicing and fixing structure of pre-positioning with snap-fit ​​and double locking with multi-stage studs is adopted. This breaks through the strength shortcomings of traditional single screw locking or single snap-fit ​​connection, achieving a high-strength seamless connection between the front shell 1 and the rear shell 2 of the thoracic cavity, comprehensively improving the overall robustness of the shell and adapting to the stringent requirements of long-term dynamic operation of robots. First, at the overall opening edge of the front shell 1, an integrally formed embedded first snap-fit ​​groove 105 is formed, with a barbed anti-detachment structure inside the groove. The overall opening edge of the rear shell 2 corresponds to an integrally formed matching second snap-fit ​​groove 205. Both sets of grooves are embedded anti-detachment snap-fit ​​structures. During assembly, the two sets of grooves are precisely aligned and pressed. The sound of the snap-fit ​​is heard, indicating that the rapid pre-splitting and positioning is completed. After pre-fixation, there is no displacement of the front and rear shells in the lateral, longitudinal, and rotational directions. No manual assistance is required, which greatly reduces the assembly difficulty, improves the assembly efficiency of mass production, and ensures the stability of the subsequent locking process. After pre-positioning, three sets of locking studs are symmetrically arranged vertically on the inner wall of the anterior shell 1 of the thoracic cavity: upper stud 106, middle stud 107, and lower stud 108. These three sets of studs are evenly distributed along the vertical direction of the shell, corresponding to the upper, middle, and lower core stress areas of the thoracic cavity, respectively. Each set of studs is thickened and reinforced, with matching locking screw holes inside. The inner wall of the screw holes is tapped to ensure the firmness of the screw connection. At the corresponding positions on the inner wall of the posterior shell 2 of the thoracic cavity, upper stud 206, middle stud 207, and lower stud 208 are simultaneously arranged. Each set of studs is precisely designed with a coaxial axis. After pre-assembly, the end faces of the corresponding studs of the front and rear shells are completely fitted and tightened without gaps or misalignment. Then, shell screws are inserted into the screw holes from the outside of the posterior shell 2 of the thoracic cavity and tightened evenly step by step to achieve secondary locking. During the locking process, the force is evenly distributed to avoid local stress concentration that could cause the shell to crack. The core advantage of this double-locking structure lies in its pre-positioning buckle, which enables rapid alignment and is suitable for industrial mass production. The multi-stage studs distribute the stress evenly, dispersing the stress generated by the robot's dynamic operation throughout the entire shell, rather than concentrating it at a single splicing point. This not only prevents cracking and damage during shell locking but also comprehensively strengthens the splicing firmness. It ensures that during long-term dynamic operation, swinging work, and heavy-load operation of the robot, the upper thoracic opening 301, lower thoracic opening 302, left thoracic opening 303, and right thoracic opening 304 remain free from warping, deformation, and displacement. This continuously guarantees the docking accuracy of each component and the coordination of the overall machine's movements, completely solving the core problems of easy deformation of the shell opening and poor docking accuracy in traditional splicing shells.

[0022] like Figures 7-9As shown, addressing the core pain points of the rudimentary structure, poor sealing and aesthetics, and limited space for protective accessories at the connection between the thoracic shell and the neck, a special structural optimization was performed on the upper thoracic opening 301. A three-stage recessed stepped annular groove sealing and positioning structure was adopted. This structure is not a single planar groove, but rather a first stepped annular groove 309, a second stepped annular groove 310, and a third stepped annular groove 311 that gradually contract and sink inward along the inner side of the upper thoracic opening 301 toward the center of the thoracic cavity 3. The three-stage stepped structure is clearly defined and has three core functions: precise positioning, multiple sealing, and structural reinforcement, completely changing the rudimentary single-planar structure of the traditional neck connection. A matching, integrally injection-molded thoracic seat ring 4 is provided. This seat ring serves as the core connecting component for the neck joint. It is made entirely of the same fiberglass-reinforced engineering plastic as the shell, ensuring consistent structural strength and eliminating any weak connection issues caused by material differences. The entire structure includes an outer seat ring skirt 401 and a centrally tapered, recessed neck support ring 402. The dimensions and contour of the seat ring skirt 401 perfectly match the third-step ring groove 311. During assembly, the seat ring skirt 401 directly snaps into the third-step ring groove 311, forming a unique Z-shape after engagement. The shaped sealing joint has a tortuous structure rather than a straight gap. This effectively prevents external dust, moisture, and debris from entering the thoracic cavity 3, achieving a highly efficient seal at the neck joint. It also further strengthens the splicing strength of the front shell 1 and the rear shell 2 of the thoracic cavity through snap-fit ​​engagement, preventing the upper opening 301 of the thoracic cavity from deforming under stress alone. After the snap-fit ​​is aligned, multiple sets of evenly distributed thoracic cavity screws 10 are used to lock and fix the seat ring skirt 401 and the third step ring groove 311, ensuring that the thoracic cavity seat ring 4 is assembled in a centered position without offset or loosening, and there is no displacement during long-term use. The lower neck connector support ring seat 402 is specifically designed to adapt and connect the lower neck connector 5, achieving a flexible and stable connection of the neck. The support ring seat has multiple sets of ring seat studs 403 evenly distributed along the circumference, extending into the thoracic cavity 3. The multiple sets of studs are symmetrically distributed and evenly stressed. Each set of ring seat studs has a lower neck connector guide hole 404 and a guide hole through hole 405. The bottom surface of the lower neck connector 5 is equipped with lower neck connector guide posts 501 of completely matching specifications and quantity. The guide posts and guide holes adopt an adaptive clearance fit design. During assembly, the guide posts and guide holes are precisely inserted to achieve rapid positioning, eliminating connection deviations and eliminating the need for repeated adjustment and alignment. Then, the ring seat screws 11 are passed through the guide holes and tightened to ensure a firm connection between the lower neck connector 5 and the thoracic seat ring 4. This ensures both the flexibility of the neck's rotation and the stability of the shell structure, achieving a perfect fit between the two.

[0023] like Figure 1 , Figure 5 and Figure 6As shown, to further optimize the sealing and aesthetics of the neck joint, and to completely solve the industry problem of limited assembly space and high installation difficulty of protective accessories, a split protective ring 9 is designed at the connection between the thoracic seat ring 4 and the upper thoracic opening 301. The protective ring 9 is made of engineering plastic material of the same color as the shell, with a uniform and beautiful appearance. Multiple sets of reinforcing feet 901 are evenly distributed on the bottom surface. The feet are designed with elastic buckles, ensuring a firm connection that will not loosen. The second step ring groove 310 is provided with a corresponding matching groove 313. The outer side of the seat ring skirt 401 is specially provided with a foot avoidance groove 407 corresponding to the groove position. The avoidance groove is a through groove structure, and its width and depth are fully adapted to the size of the foot, completely avoiding the foot assembly path. This design eliminates assembly interference and completely solves the problem that traditional integrated protective rings cannot be fitted and installed due to limited assembly space. This significantly reduces the installation difficulty, and ordinary assembly personnel can quickly complete the operation. The protective ring 9 adopts a split splicing structure, specifically divided into a front shell protective ring 902 that adapts to the upper edge groove 101 of the front shell and a rear shell protective ring 903 that adapts to the upper edge groove 201 of the rear shell. The rear shell protective ring 903 has protective ring slots 904 at both ends, and the front shell protective ring 902 has matching protective ring feet 905 at both ends. The split design can adapt to the narrow assembly space of the upper opening 301 of the thorax. It can be assembled in two parts without the need for the whole body to be inserted. After splicing, it forms a complete ring structure. It is fixed by the feet and slots, completely covering the splicing gaps and connection gaps of the upper opening 301 of the thorax. This not only improves the overall sealing performance and prevents dust and moisture from entering, but also optimizes the appearance of the whole machine, making the neck connection part smooth and neat without exposed gaps. Moreover, the protective ring can be disassembled and installed separately without disassembling the whole shell, which facilitates the maintenance and repair of the thorax seat ring 4 and the lower neck connector 5 in the later stage, greatly improving the convenience of later maintenance.

[0024] In addition, this invention incorporates several practical and optimized structures to further improve the overall performance of the shell, adapting to the actual needs of robots operating in multiple scenarios and maintaining long-term stable operation. These features complement the core structure, comprehensively enhancing the practicality and durability of the shell. For example... Figure 1 and Figure 2 As shown, a thickened and widened left shoulder ring seat 305 is integrally molded on the outer wall of the left opening of the thoracic cavity 303, and a thickened and widened right shoulder ring seat 306 is integrally molded on the outer wall of the right opening of the thoracic cavity 304. The shoulder ring seats are seamlessly injection molded with the shell body, without splicing gaps, and have strong load-bearing capacity, which can withstand the repeated swing load of the shoulder components. The left shoulder guard 6 and right shoulder guard 7 made of wear-resistant soft rubber are respectively installed on the top of the two sets of shoulder ring seats through a snap-fit ​​nesting method. The soft rubber material is wear-resistant, elastic, and aging-resistant. It can not only completely cover the joint gap between the shoulder components and the shell and prevent dust and debris from entering, but also effectively buffer the hard collision between the shoulder components and the shell when swinging, reduce component wear and shell impact damage, and extend the service life of the shell and shoulder components.

[0025] like Figures 1-3As shown, multiple rows of array-type front shell heat dissipation holes 307 are opened on the front shell 1 of the thoracic cavity below the left opening 303 and the right opening 304 of the thoracic cavity, and array-type rear shell heat dissipation holes 308 are opened at the corresponding positions on the rear shell 2 of the thoracic cavity. The heat dissipation holes adopt an oblique opening design, which can ensure that the heat generated by the operation of the internal electrical system can be quickly dissipated by convection to avoid the core components from overheating and shutting down, and can also prevent large particles of debris and water droplets from falling directly into the cavity. A special dustproof, waterproof and breathable patch 8 is attached to the outside of each heat dissipation hole. This material is breathable but not waterproof, dustproof and not windproof, breaking the contradiction of traditional shell heat dissipation without dustproof and dustproof without heat dissipation. It takes into account the dual needs of heat dissipation and dustproof and waterproof of the internal core components, and is suitable for indoor and outdoor operation in multiple scenarios. A symmetrical debugging port 212 is opened in the middle of the posterior shell 2 of the thoracic cavity. Each debugging port 212 has an embedded sealing groove on its edge and is fitted with a debugging cover 213 of the same material. The edge of the debugging cover has an elastic buckle to achieve a sealed buckle connection with the debugging port. When testing, debugging, parameter calibration, and circuit maintenance of the internal electrical and sensing systems, it is not necessary to disassemble the posterior shell 1 and posterior shell 2 of the thoracic cavity as a whole. Only the debugging cover 213 needs to be removed to quickly operate through the debugging port 212. After debugging, the debugging cover can be fastened to restore the chamber to a sealed state, which greatly shortens the maintenance time and reduces the maintenance difficulty, solving the pain point of traditional shells requiring overall disassembly and cumbersome and time-consuming maintenance.

[0026] like Figure 5 and Figure 6As shown in the figure, as a specific embodiment of this solution, the spliced ​​thoracic shell structure is adapted to a humanoid robot of life-size. The core adopts a front and rear split splicing biomimetic configuration. The main load-bearing components are the front thoracic shell 1 and the rear thoracic shell 2. Both are made of high-strength glass fiber reinforced engineering plastic and are integrally injection molded. This material has the characteristics of being lightweight and highly rigid. Its weight is moderate and will not add extra load to the robot. At the same time, it has excellent resistance to deformation and impact resistance. It can stably withstand the continuous vibration and external impact during the robot's dynamic walking, limb swinging and operation. It strengthens the overall structural stability of the shell from the base material level and effectively avoids the defects of traditional thin-shell plastic materials, such as easy deformation, insufficient structural strength and easy aging and damage after long-term use. The anterior shell 1 of the thoracic cavity serves as the main body of the front side of the shell. Its upper and lower side edges 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 slot 105 of the front shell. The upper, middle, and lower studs of the front shell are symmetrically arranged on the upper, middle, and lower positions of the inner wall, respectively. The upper stud 106, middle stud 107, and lower stud 108 of the front shell are respectively provided in the inner wall. The upper stud hole 109, middle stud hole 110, and lower stud hole 111 of the front shell are respectively provided in the inner wall of each stud. The inner wall of the screw hole is tapped to ensure the screw is locked firmly. The posterior shell 2 of the thoracic cavity serves as the main body of the rear side of the shell. Its upper and lower side edges are integrally formed with an upper edge groove 201 and a lower edge groove 202, respectively. The left and right sides of the rear shell are integrally formed with the left edge groove 203 and the right edge groove 204, respectively, adjacent to the upper edge groove 201 of the rear shell. The opening edge is integrally set with a second groove 205 that is adapted to the first groove 105 of the front shell. The upper, middle and lower rear shell studs 206, the middle rear shell studs 207 and the lower rear shell studs 208 are symmetrically arranged at the upper, middle and lower positions of the inner wall. The upper rear shell stud hole 209, the middle rear shell stud hole 210 and the lower rear shell stud hole 211 are respectively opened inside the studs. The adjustment port 212 is symmetrically opened in the middle of the rear shell 2 of the thoracic cavity. Each adjustment port 212 is equipped with a matching adjustment cover 213 that is connected by a buckle. The adjustment cover 213 can close the adjustment port 212 to seal the thoracic cavity chamber 3, which is convenient for later internal system inspection and adjustment.

[0027] During assembly, the anterior shell 1 and posterior shell 2 of the thoracic cavity are precisely aligned. The pre-assembly and positioning are completed by the locking action of the first slot 105 and the second slot 205 of the anterior shell. After pre-positioning, there is no lateral or longitudinal displacement between the anterior and posterior shells, and subsequent locking operations can be carried out without manual assistance. The two shells are assembled to form a closed and regular thoracic cavity 3. At the same time, the corresponding grooves fit together to form four core functional openings: the upper edge groove 101 of the anterior shell and the upper edge groove 201 of the posterior shell form the upper thoracic opening 301; the lower edge groove 102 of the anterior shell and the lower edge groove 202 of the posterior shell form the lower thoracic opening 302; the left edge groove 103 of the anterior shell and the left edge groove 203 of the posterior shell form the left thoracic opening 303; and the right edge groove 104 of the anterior shell and the right edge groove 204 of the posterior shell form the right thoracic opening 304. The contours of each opening are regular and the stress is even, and there is no unilateral deformation or displacement after long-term use. The left shoulder ring seat 305 is integrally formed on the outer wall of the left opening 303 of the thoracic cavity, and the right shoulder ring seat 306 is integrally formed on the outer wall of the right opening 304 of the thoracic cavity. A soft rubber left shoulder protective cover 6 is installed above the left shoulder ring seat 305, and a soft rubber right shoulder protective cover 7 is installed above the right shoulder ring seat 306. The soft rubber protective cover can buffer the hard impact between the shoulder parts and the shell, and at the same time seal the joint gap to prevent dust. Several front shell heat dissipation holes 307 are evenly opened on the front shell 1 of the thoracic cavity below the left opening 303 and the right opening 304 of the thoracic cavity, and several rear shell heat dissipation holes 308 are evenly opened on the rear shell 2 of the thoracic cavity at the corresponding position. The outer side of the heat dissipation holes on the same side is equipped with a dustproof and waterproof patch 8 that does not hinder heat dissipation, taking into account both internal heat dissipation and external protection needs. The inner side of the upper opening of the thorax 301 is provided with a recessed first-step annular groove 309, a second-step annular groove 310 and a third-step annular groove 311 extending towards the center of the thoracic cavity 3. The three steps are clearly defined. The third-step annular groove 311 has a screw hole 312 inside, and the second-step annular groove 310 has an adapter slot 313 on its surface, providing a positioning and locking basis for the subsequent assembly of the neck connection components.

[0028] like Figure 4 As shown, in the overall locking process of the shell, after pre-assembly, the upper stud 106, middle stud 107, and lower stud 108 of the front shell 1 of the thoracic cavity are completely fitted and tightened against the end faces of the upper stud 206, middle stud 207, and lower stud 208 of the rear shell 2 of the thoracic cavity. Each set of studs is coaxially arranged, and then the matching screws are inserted into the corresponding screw holes in sequence and tightened step by step to achieve a firm locking of the front and rear shells in all directions. The force is evenly distributed without local stress concentration, which completely avoids deformation and displacement of the upper opening 301, lower opening 302, left opening 303, and right opening 304 of the thoracic cavity. This ensures the precise docking of the neck, shoulder, and lower limb components with the shell and meets the stability requirements of the robot during long-term dynamic operation.

[0029] like Figures 7-9As shown, the neck connection module is the core optimized structure, with the core components being the thoracic seat ring 4 and the lower neck connector 5. The thoracic seat ring 4 is integrally injection molded and includes an outer seat ring skirt 401 and a centrally tapered lower neck connector support ring 402. The seat ring skirt 401 has a skirt screw hole 406 inside and a locking foot clearance groove 407 on the outer side corresponding to the locking groove 313. During assembly, the seat ring skirt 401 is snapped into the third stepped ring groove 311, and the thoracic screw 10 is inserted into the skirt screw hole 406 and the third stepped ring groove screw hole 312 to lock and fix the thoracic seat ring 4 to the upper thoracic opening 301. After snapping, the two form a Z-shaped sealed connection seam. To improve the sealing of the connection, the lower neck connector support ring seat 402 is provided with several ring seat studs 403 extending into the thoracic cavity 3. The ring seat studs 403 have lower neck connector guide holes 404 and guide hole through holes 405 inside. The bottom surface of the lower neck connector 5 is provided with a lower neck connector guide post 501 that is adapted for insertion. The bottom end of the guide post has a guide post screw hole 502. During assembly, the lower neck connector guide post 501 is inserted into the lower neck connector guide hole 404 to complete the precise positioning. Then, the ring seat screw 11 is inserted into the guide hole through hole 405 and the guide post screw hole 502 to achieve a stable screw connection between the lower neck connector 5 and the thoracic seat ring 4, ensuring flexible rotation of the neck without loosening or displacement.

[0030] like Figure 1 , Figures 4-6 As shown, to further optimize the sealing and appearance of the neck joint, a protective ring 9 is installed at the connection between the thoracic seat ring 4 and the upper thoracic opening 301. The bottom surface of the protective ring 9 has several locking feet 901. The whole structure adopts a split structure, including a front shell protective ring 902 that adapts to the upper edge groove 101 of the front shell and a rear shell protective ring 903 that adapts to the upper edge groove 201 of the rear shell. The rear shell protective ring 903 has protective ring slots 904 at both ends, and the front shell protective ring 902 has protective ring locking feet 905 at both ends for engagement. The protective ring 9 has a surface... A protective ring screw hole 906 is made at the corresponding position; during assembly, the retaining foot 901 of the protective ring 9 is passed through the retaining foot relief groove 407 and engaged with the retaining groove 313 of the second step ring groove 310. Then, the front shell protective ring 902 and the rear shell protective ring 903 are spliced ​​together to form a complete ring through the protective ring retaining groove 904 and the protective ring retaining foot 905, which completely covers the splicing gap of the upper opening 301 of the chest, which not only improves the sealing and protection performance, but also optimizes the appearance of the whole machine. Moreover, the split design can be adapted to small assembly spaces, and the disassembly and assembly are convenient without disassembling the whole shell.

[0031] 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 modular thoracic shell structure for humanoid robots, characterized in that, The thoracic cavity includes an anterior shell (1) and a posterior shell (2) that are spliced ​​together to form a thoracic cavity chamber (3). The anterior shell (1) has an upper edge groove (101) and a lower edge groove (102) on its upper and lower sides, respectively. The anterior shell (1) has a left edge groove (103) and a right edge groove (104) on its left and right sides, respectively, adjacent to the upper edge groove (101). The posterior shell (2) has an upper edge groove (201) and a lower edge groove (202) on its upper and lower sides, respectively. The posterior shell (2) has a left edge groove (203) and a right edge groove (204) on its left and right sides, respectively, adjacent to the upper edge groove (201). After the anterior shell (1) and posterior shell (2) of the thoracic cavity are joined, the upper edge groove (101) of the anterior shell and the upper edge groove (201) of the posterior shell together form the upper opening (301) of the thoracic cavity; the lower edge groove (102) of the anterior shell and the lower edge groove (202) of the posterior shell together form the lower opening (302) of the thoracic cavity; the left edge groove (103) of the anterior shell and the left edge groove (203) of the posterior shell together form the left opening (303) of the thoracic cavity; and the right edge groove of the anterior shell... The right edge groove (104) and the right edge groove (204) of the rear shell together form the right opening (304) of the thoracic cavity; the upper opening (301) of the thoracic cavity is provided with a sunken first step ring groove (309), a second step ring groove (310) and a third step ring groove (311) extending towards the center. The thoracic cavity seat ring (4) is engaged with the third step ring groove (311) and the two are locked and fixed by screws. The thoracic cavity seat ring (4) is adapted to connect the lower neck connector (5).

2. The spliced ​​thoracic shell structure for a humanoid robot according to claim 1, characterized in that, The opening edge of the anterior shell of the thoracic cavity (1) is provided with a first slot (105), and the opening edge of the posterior shell of the thoracic cavity (2) is provided with a second slot (205) that is adapted to and snaps into the first slot (105) of the anterior shell. The anterior shell of the thoracic cavity (1) and the posterior shell of the thoracic cavity (2) are pre-assembled and positioned by snapping into the slots.

3. The spliced ​​thoracic shell structure for a humanoid robot according to claim 1, characterized in that, The anterior shell of the thoracic cavity (1) is symmetrically provided with an upper stud (106), a middle stud (107), and a lower stud (108) at the upper, middle, and lower positions of the inner wall, and each stud has a corresponding screw hole; the posterior shell of the thoracic cavity (2) is symmetrically provided with an upper stud (206), a middle stud (207), and a lower stud (208) at the upper, middle, and lower positions of the inner wall, and each stud has a corresponding screw hole that can penetrate the posterior shell of the thoracic cavity (2); the upper stud (106), the middle stud (107), and the lower stud (108) of the front shell can abut against the upper stud (206), the middle stud (207), and the lower stud (208) of the rear shell, respectively, and are locked by screwing the shell screws.

4. The spliced ​​thoracic shell structure for a humanoid robot according to claim 1, characterized in that, The left shoulder ring seat (305) is provided on the outer wall of the left opening (303) of the thoracic cavity, and a left shoulder protective cover (6) made of soft rubber is installed above the left shoulder ring seat (305); the right shoulder ring seat (306) is provided on the outer wall of the right opening (304) of the thoracic cavity, and a right shoulder protective cover (7) made of soft rubber is installed above the right shoulder ring seat (306).

5. A spliced ​​thoracic shell structure for a humanoid robot according to claim 1, characterized in that, The left opening (303) and the right opening (304) of the thoracic cavity have several front shell heat dissipation holes (307) below them. The corresponding rear shell (2) of the thoracic cavity has several rear shell heat dissipation holes (308). The front shell heat dissipation holes (307) and the rear shell heat dissipation holes (308) on the same side are fitted with dustproof and waterproof patches (8) that do not obstruct heat dissipation.

6. The spliced ​​thoracic shell structure for a humanoid robot according to claim 1, characterized in that, The posterior shell of the thoracic cavity (2) has symmetrically opened adjustment ports (212), and each adjustment port (212) is snapped to a matching adjustment cover (213). The adjustment cover (213) closes the adjustment port (212) to achieve the sealing of the thoracic cavity (3).

7. A spliced ​​thoracic shell structure for a humanoid robot according to claim 1, characterized in that, The thoracic seat ring (4) includes an integrally formed seat ring skirt (401) and a tapered, recessed neck connector support ring seat (402). The seat ring skirt (401) and the third stepped ring groove (311) are snapped together to form a Z-shaped connecting seam.

8. A spliced ​​thoracic shell structure for a humanoid robot according to claim 7, characterized in that, A protective ring (9) is fitted at the connection between the thoracic seat ring (4) and the upper opening of the thoracic cavity (301). The bottom surface of the protective ring (9) is provided with several locking feet (901). The second stepped ring groove (310) is provided with a matching locking groove (313). The outer side of the seat ring skirt (401) is provided with a locking foot clearance groove (407) corresponding to the locking groove (313). The protective ring (9) is fixed by locking feet (901) and locking groove (313).

9. A spliced ​​thoracic shell structure for a humanoid robot according to claim 8, characterized in that, The protective ring (9) is a split structure, including a front shell protective ring (902) adapted to the upper edge groove (101) of the front shell and a rear shell protective ring (903) adapted to the upper edge groove (201) of the rear shell. 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) adapted to snap into place at both ends.

10. A spliced ​​thoracic shell structure for a humanoid robot according to claim 7, characterized in that, The lower neck connector support ring seat (402) is provided with a plurality of ring seat studs (403) extending into the thoracic cavity (3). The ring seat studs (403) are provided with a lower neck connector guide hole (404) and a guide hole through hole (405). The lower neck connector (5) is provided with a lower neck connector guide post (501) adapted for insertion. The lower neck connector guide post (501) is provided with a guide post screw hole (502) at the bottom end. The lower neck connector (5) and the thoracic seat ring (4) are screwed and fixed by the ring seat screw (11).

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