Body assembly and robot

Abstract

The application relates to the technical field of robots, in particular to a body assembly and a robot, to solve the problems of low integration and unreasonable layout of parts. In the body assembly, the shape of the first driving assembly comprises a column shape extending along a first direction, the first side of the first driving assembly and the second side of the first driving assembly are arranged opposite to each other along a second direction, and the working range of the mechanical arm comprises the first side of the first driving assembly; the first support of the chest support assembly is at least partially located on the first side, the second support is connected with the first support and is at least partially located on the second side, the first support and / or the second support is connected with the first driving assembly, and the connection position of the mechanical arm with the first support and / or the second support is at least located on the first side of the first driving assembly. More parts can be arranged on the chest support assembly, so that the integration of the robot is improved. Moreover, the parts can move synchronously with the chest support assembly and the mechanical arm, so that the wiring distance is shortened.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a body component and a robot. Background Technology

[0002] As application scenarios continue to expand and become more complex, robots with lifting capabilities need to possess more and more functions and perform increasingly precise movements. This leads to a greater demand for sensors, electrical modules, and other components, and a higher requirement for the overall integrated structure of the robot.

[0003] However, the low integration and unreasonable component layout of related robots have limited their development. Summary of the Invention

[0004] In view of this, embodiments of this application provide a body component and a robot to solve the problems of low robot integration and unreasonable component layout.

[0005] In a first aspect, one embodiment of this application provides a body assembly applied to a robot, the robot including at least one robotic arm, the body assembly including: a chest support assembly capable of connecting at least one of the robotic arms; a first drive assembly connected to the chest support assembly for driving the chest support assembly to reciprocate along a first direction, the first drive assembly having a cylindrical shape, the first drive assembly extending along the first direction, a first side and a second side of the first drive assembly being disposed opposite to each other along a second direction, the second direction being perpendicular to the first direction, the working area of ​​the robotic arm including the first side of the first drive assembly; wherein, the chest support assembly includes: a first support member, at least a portion of the structure of the first support member located on the first side of the first drive assembly; a second support member connected to the first support member, at least a portion of the structure of the second support member located on the second side of the first drive assembly, the first support member and / or the second support member being connected to the first drive assembly, at least one of the robotic arms being connected to the first support member and / or the second support member, the connection position of the robotic arm to the first support member and / or the second support member being at least located on the first side of the first drive assembly.

[0006] In some implementations, the body assembly further includes a control assembly disposed on the second support member, located on the second side of the first drive assembly, and capable of being electrically connected to at least one of the robotic arms.

[0007] In some implementations, the first support member and the second support member are arranged to form a first annular structure, which surrounds the first drive component.

[0008] In some implementations, the body assembly further includes: a body support assembly, wherein the first drive assembly is disposed on the body support assembly; and a first housing assembly disposed on the body support assembly, wherein the first housing assembly has a first accommodating space and at least one clearance opening, wherein the first accommodating space is used to accommodate the first drive assembly, and the clearance opening is capable of communicating with the first accommodating space and the outside, wherein the shape of the clearance opening includes an elongated shape, and the clearance opening extends along the first direction. Specifically, when the first support member is connected to the first drive assembly, the first support member extends into the first receiving space through the clearance opening and connects to the first drive assembly; when the second support member is connected to the first drive assembly, the second support member extends into the first receiving space through the clearance opening and connects to the first drive assembly.

[0009] In some implementations, the third side and the fourth side of the first drive component are disposed opposite to each other along a third direction, which is perpendicular to both the first direction and the second direction; at least one of the clearance openings is located on the third side of the first drive component and / or at least one of the clearance openings is located on the fourth side of the first drive component.

[0010] In some implementations, the first support member includes a first connecting portion and a second connecting portion that are spaced apart and connected along the second direction. The second connecting portion is located on a first side of the first drive assembly, and the first connecting portion is located on the side of the second connecting portion closer to the first drive assembly. The first connecting portion is connected to the first drive assembly, and the second connecting portion can be connected to at least one of the robotic arms. The first housing assembly includes a first housing, disposed in the body support assembly, located between the first connecting portion and the second connecting portion, and between the first drive assembly and the second connecting portion, and spaced apart from both the first connecting portion and the second connecting portion along the second direction.

[0011] In some implementations, the third side and the fourth side of the first drive component are arranged opposite to each other along a third direction, which is perpendicular to both the first direction and the second direction; the number of clearance openings is two, one clearance opening is located on the third side of the first drive component, and the other clearance opening is located on the fourth side of the first drive component. The first support member further includes two third connecting parts, which are arranged opposite to each other along the third direction. The two sides of the first connecting part along the third direction are respectively connected to the second connecting part through the third connecting part. The third connecting part extends out of the first receiving space through the clearance opening and connects to the second connecting part. The first connecting part, the second connecting part and the two third connecting parts form a second ring structure.

[0012] In some implementations, the body assembly further includes: a cable chain located in the first accommodating space and on the second side of the first drive assembly; the fixed end of the cable chain is connected to the body support assembly; the movable end of the cable chain is connected to the third connecting portion; the cable chain has a first wiring channel extending from the fixed end of the cable chain to the movable end of the cable chain; wherein the third connecting portion has a wiring groove, the opening of the wiring groove facing the second side of the first drive assembly; the wiring groove communicating with the first wiring channel; a portion of the opening of the wiring groove being located within the first accommodating space; and a portion of the opening of the wiring groove passing through the clearance opening and located outside the first accommodating space; the first wiring channel and the wiring groove are used for wiring.

[0013] In some implementations, the body assembly further includes: a wire tie post disposed in the wiring groove and extending along the first direction, so that a plurality of connecting wires in the wiring groove are sequentially tied to the wire tie post along the first direction.

[0014] In some implementations, along the second direction, the third connecting portion has the wiring groove on the side near the first accommodating space, and the side of the third connecting portion away from the first accommodating space is connected to the second support member; the second support member has a wiring through groove, which passes through the second support member along the direction from the side of the second support member near the first accommodating space to the side of the second support member away from the first accommodating space, and the wiring through groove communicates with the wiring groove.

[0015] In some implementations, the second support member includes a connected fourth connecting portion and at least one fifth connecting portion. The fourth connecting portion is located on the second side of the first drive assembly, and the fifth connecting portion connects the fourth connecting portion and the first support member. The fourth connecting portion and the first drive assembly are spaced apart along the second direction. The first housing assembly further includes a second housing, disposed on the body support assembly, located between the fourth connecting portion and the first drive assembly, and spaced apart from both the fourth connecting portion and the first drive assembly along the second direction. The first housing and the second housing form the first accommodating space and the clearance opening.

[0016] In some implementations, the body support assembly includes a support body extending along the first direction; the first drive assembly includes: a drive source disposed at a first end of the support body; a lead screw, the first end of which is throttle-connected to the output shaft of the drive source and rotates about a rotation axis parallel to the first direction under the action of the output shaft of the drive source, and the second end of the lead screw is rotatably connected to the second end of the support body about the rotation axis; and a nut screwed to the lead screw and reciprocating along the first direction under the drive of the lead screw, the nut being connected to the first connecting portion; wherein at least a portion of the structure of the support body, the lead screw, and the nut are located in the first receiving space.

[0017] In some implementations, the robot further includes a chassis assembly, the body assembly being disposed on the chassis assembly, the fifth side and the sixth side of the first drive assembly being disposed opposite to each other along the first direction, and the chassis assembly being located on the fifth side of the first drive assembly; the first housing assembly further includes: a third housing, connected to the body support assembly, located on the side of the first housing and the second housing closer to the fifth side of the first drive assembly, wherein the first housing, the second housing, and the third housing enclose the first accommodating space, the first end and the second end of the third housing being disposed opposite to each other along the first direction, the first end of the third housing being connected to the first housing and the second housing, the second end of the third housing having a cylindrical shape, and the dimension of the second end of the third housing perpendicular to the first direction being greater than the sum of the dimension of the first housing perpendicular to the first direction and the dimension of the second housing perpendicular to the first direction.

[0018] In some implementations, the third housing is connected to the first end of the support body, and the second housing includes: a first housing portion connected to the first end of the third housing, located between the fourth connecting portion and the first driving assembly, and spaced apart from both the fourth connecting portion and the first driving assembly along the second direction, wherein the first housing and the first housing portion form the first accommodating space and the clearance opening; and a second housing portion connected to the first housing portion, located on the side of the first housing portion near the sixth side of the first driving assembly, and connected to the second end of the support body, cooperating with the first housing to close the side of the first accommodating space near the sixth side of the first driving assembly.

[0019] In some implementations, the drive source is located in the portion of the first accommodating space corresponding to the third housing; and / or, the first end of the third housing has at least two slots into which the first housing and the second housing are respectively inserted.

[0020] In some implementations, the body assembly further includes: a second housing assembly having a second receiving space, at least one first opening and at least one second opening, wherein at least one first opening and at least one second opening are capable of communicating the second receiving space with the outside, the second receiving space is used to receive the first support member and the second support member, the first support member and / or the second support member are connected to the first drive assembly through the first opening, and the first support member and / or the second support member are connected to the robotic arm through the second opening.

[0021] In some implementations, the robot further includes a chassis assembly, the body assembly being disposed on the chassis assembly, the fifth side and the sixth side of the first drive assembly being disposed opposite each other along the first direction, and the chassis assembly being located on the fifth side of the first drive assembly; the second shell assembly includes: an annular shell, a portion of the structure of the chest support assembly near the sixth side of the first drive assembly; a fourth shell, connected to the side of the annular shell near the fifth side of the first drive assembly, at least a portion of the structure of the third shell being located on the first side of the first drive assembly, the annular shell and the fourth shell being joined to form at least one second opening; a fifth shell, connected to the side of the annular shell near the fifth side of the first drive assembly and connected to the second side of the fourth shell near the first drive assembly, the fourth shell and the fifth shell being disposed on the portion of the structure of the chest support assembly near the fifth side of the first drive assembly, the annular shell, the fourth shell and the fifth shell forming a second receiving space, the annular shell, the fourth shell and the fifth shell being joined to form at least one first opening.

[0022] In some implementations, the second housing assembly further has a third opening located on a side of the second housing assembly away from the first drive assembly. The third opening connects the second receiving space to the outside. The annular housing and the fifth housing are joined together to form the third opening. The second housing assembly further includes a sixth housing detachably connected to a side of the annular housing and the fifth housing near the first drive assembly to open or close the third opening. When the sixth housing opens the third opening, at least a portion of the structure of the second support member is exposed to the outside.

[0023] Secondly, one embodiment of this application provides a robot, including: at least one robotic arm; a body assembly mentioned in any of the first aspects, wherein a chest support assembly of the body assembly is connected to at least one of the robotic arms.

[0024] The body assembly provided in this embodiment includes a robotic arm whose working area includes the first side of the first drive assembly. A chest support assembly for supporting and mounting the robotic arm includes a first support member and a second support member. The first support member is located on the first side of the first drive assembly, and the second support member is located on the second side of the first drive assembly. The second support member expands the mounting space on the second side of the first drive assembly, allowing for the installation of more sensors, electrical modules, and other components on the chest support assembly. This adapts to the development needs of robots and improves the robot's integration. Furthermore, these components that can be mounted on the chest support assembly can move synchronously with the chest support assembly and the robotic arm, which helps to shorten the connection distance between these components and the robotic arm, simplifying the connection structure and wiring. In addition, the first and second support members are located on opposite sides of the first drive assembly, forming a double-sided layout across the first drive assembly. This balances the cantilever overturning moment generated when the robotic arm operates on the first side, offsetting at least part of the forward shift of the center of gravity caused by the robotic arm and the object it operates. This reduces the risk of the robot overturning towards the first side of the first drive assembly, improves the stability of the entire robot's operation throughout its stroke, and helps to broaden the upper limit of the robotic arm's rated working load. Attached Figure Description

[0025] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0026] Figure 1 The diagram shown is a structural schematic of a robot provided in one embodiment of this application.

[0027] Figure 2 The diagram shown is a structural schematic of a body component provided in an embodiment of this application.

[0028] Figure 3 The diagram shown is a partial structural schematic of a body component provided in an embodiment of this application.

[0029] Figure 4 The image shown is a front view of a partial structure of a body component provided in an embodiment of this application.

[0030] Figure 5The diagram shown is a structural schematic of a chest support assembly provided in an embodiment of this application.

[0031] Figure 6 The diagram shown is a structural schematic of the first support member provided in an embodiment of this application.

[0032] Figure 7 The image shown is an exploded view of a first housing assembly provided in an embodiment of this application.

[0033] Figure 8 The diagram shown is a structural schematic of the second housing assembly provided in an embodiment of this application.

[0034] Figure 9 The image shown depicts an explosion of a second housing assembly provided in an embodiment of this application. Figure 1 .

[0035] Figure 10 The image shown depicts an explosion of a second housing assembly provided in an embodiment of this application. Figure 2 .

[0036] Figure 11 The diagram shown is a structural schematic of a cable chain provided in an embodiment of this application.

[0037] Figure 12 The diagram shown is a partial structural schematic of a body component provided in an embodiment of this application.

[0038] Figure 13 The diagram shown is a partial structural schematic of a body component provided in another embodiment of this application.

[0039] Figure label: 100. Body assembly; 11. Chest support assembly; 111. First support member; 1111. First connecting part; 1112. Second connecting part; 1113. Third connecting part; 1114. Cable routing groove; 110. Second annular structure; 112. Second support member; 1121. Fourth connecting part; 1122. Fifth connecting part; 1123. Cable routing through groove; 12. First drive assembly; 101. First side; 102. Second side; 103. Third side; 104. Fourth side; 105. Fifth side; 106. Sixth side; 121. Drive source; 122. Lead screw; 123. Nut; 13. Control assembly; 14. First annular structure; 15. Body support assembly; 151, Support body; 16, First shell assembly; 161, First shell; 162, Second shell; 1621, First shell section; 1622, Second shell section; 163, Third shell; 1631, Slot; 164, First receiving space; 165, Clearance opening; 17, Cable chain; 171, Fixed end; 172, Moving end; 173, First wiring channel; 18, Cable tie post; 19, Second shell assembly; 191, Annular shell; 192, Fourth shell; 193, Fifth shell; 194, Sixth shell; 195, Second receiving space; 196, First opening; 197, Second opening; 198, Third opening; 1000, Robot; 200, Robotic Arm; 300, Chassis Component; 400, Camera Component; X1, First Direction; X2, Second Direction; X3, Third Direction. Detailed Implementation

[0040] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0041] Figure 1 The diagram shown is a structural schematic of a robot provided in one embodiment of this application. Figure 2 The diagram shown is a structural schematic of a body component provided in an embodiment of this application. Figure 3 The diagram shown is a partial structural schematic of a body component provided in an embodiment of this application. Figure 4 The image shown is a front view of a partial structure of a body component provided in an embodiment of this application. Figure 5 The diagram shown is a structural schematic of a chest support assembly provided in an embodiment of this application. Figure 6 The diagram shown is a structural schematic of the first support member provided in an embodiment of this application. Figure 7 The image shown is an exploded view of a first housing assembly provided in an embodiment of this application. Figure 8 The diagram shown is a structural schematic of the second housing assembly provided in an embodiment of this application. Figure 9 The image shown depicts an explosion of a second housing assembly provided in an embodiment of this application. Figure 1 . Figure 10 The image shown depicts an explosion of a second housing assembly provided in an embodiment of this application. Figure 2 . Figure 11 The diagram shown is a structural schematic of a cable chain provided in an embodiment of this application. Figure 12 The diagram shown is a partial structural schematic of a body component provided in an embodiment of this application. Figure 13 The diagram shown is a partial structural schematic of a body component provided in another embodiment of this application.

[0042] The specific structure of the body components and the robot is described below with reference to the accompanying drawings and specific embodiments.

[0043] like Figures 1 to 13 As shown, this application embodiment provides a body assembly 100 applied to a robot 1000, the robot 1000 including at least one robotic arm 200. The body assembly 100 includes a chest support assembly 11 and a first drive assembly 12. The chest support assembly 11 is capable of connecting to at least one robotic arm 200. The first drive assembly 12 is connected to the chest support assembly 11 and is used to drive the chest support assembly 11 to reciprocate along a first direction X1. The first drive assembly 12 has a cylindrical shape and extends along the first direction X1. A first side 101 and a second side 102 of the first drive assembly 12 are arranged opposite to each other along a second direction X2, the second direction X2 being perpendicular to the first direction X1. The working area of ​​the robotic arm 200 includes the first side 101 of the first drive assembly 12. The chest support assembly 11 includes a first support member 111 and a second support member 112. At least a portion of the structure of the first support member 111 is located on the first side 101 of the first drive assembly 12. The second support member 112 is connected to the first support member 111, and at least a portion of the structure of the second support member 112 is located on the second side 102 of the first drive assembly 12. The first support member 111 and / or the second support member 112 are connected to the first drive assembly 12. At least one robotic arm 200 is connected to the first support member 111 and / or the second support member 112. The connection point between the robotic arm 200 and the first support member 111 and / or the second support member 112 is at least located on the first side 101 of the first drive assembly 12.

[0044] In this embodiment, the body assembly 100 and the robotic arm 200 have an operating area including a first side 101 of a first drive assembly 12. A chest support assembly 11 for supporting and mounting the robotic arm 200 includes a first support member 111 and a second support member 112. The first support member 111 is located on the first side 101 of the first drive assembly 12, and the second support member 112 is located on the second side 102 of the first drive assembly 12. The second support member 112 can expand the mounting space on the second side 102 of the first drive assembly 12, allowing more sensors, electrical modules, and other components to be mounted on the chest support assembly 11. This adapts to the development needs of the robot 1000 and improves the integration of the robot 1000. Furthermore, these components that can be mounted on the chest support assembly 11 can move synchronously with the chest support assembly 11 and the robotic arm 200, which helps to shorten the connection distance between these components and the robotic arm 200, simplifying the connection structure and wiring. Furthermore, the first support member 111 and the second support member 112 can be located on both sides of the first drive assembly 12, that is, the second support member 112 and the first support member 111 form a double-sided layout across the first drive assembly 12, so as to balance the cantilever overturning moment generated by the robotic arm 200 when working on the first side 101, offset at least part of the forward shift of the center of gravity caused by the robotic arm 200 and the object operated by the robotic arm 200, reduce the risk of the robot 1000 overturning on the first side 101 of the first drive assembly 12, improve the stability of the whole machine's full-stroke operation, and help to broaden the upper limit of the rated working load of the robotic arm 200.

[0045] Exemplarily, the first support member 111 and the second support member 112 may be directly connected or indirectly connected through a structure such as the first drive assembly 12. Exemplarily, the first support member 111 and the second support member 112 may be integrally formed to form at least a portion of the structure of the chest support assembly 11. Exemplarily, both the first support member 111 and the second support member 112 may be formed by connecting multiple components.

[0046] Specifically, the first drive assembly 12 may be connected to only one of the first support member 111 and the second support member 112, or it may be connected to both of them simultaneously. At least one robotic arm 200 may be connected to only one of the first support member 111 and the second support member 112, or it may be connected to both of them simultaneously. The connection point between the robotic arm 200 and the first support member 111 and / or the second support member 112 is located on the first side 101 of the first drive assembly 12, that is, on the front of the robot 1000, which facilitates the robot 1000 to work in the work area via the robotic arm 200 and helps to reduce the length of the robotic arm 200.

[0047] In some embodiments, such as Figure 3 and Figure 5As shown, the body assembly 100 also includes a control assembly 13. The control assembly 13 is disposed on the second support member 112, located on the second side 102 of the first drive assembly 12, and is electrically connected to at least one robotic arm 200.

[0048] Since the robotic arm 200 and the chest support assembly 11 typically house numerous driving components (such as the motor module included in the robotic arm 200) and sensors (such as vision, tactile, and displacement sensors), placing the control assembly 13 on the chest support assembly 11, which is stationary relative to the chest support assembly 11 and the robotic arm 200, allows the aforementioned components to be directly electrically connected to the control assembly 13 (e.g., via wires). This is in contrast to placing the control assembly 13 on the first drive assembly 12 (e.g., its base), where the control assembly 13 moves relative to the robotic arm 200 and the chest support assembly 11, placing the connecting wires in the cable chain results in a thicker cable chain with a larger turning radius, making it prone to tilting and increasing the dimension of the body assembly 100 along the direction perpendicular to the first direction X1. Placing the control assembly 13 on the chest support assembly 11 not only shortens the connection distance between the control assembly 13 and the aforementioned components, allowing these components to be electrically connected to the control assembly 13 without a cable chain, but also reduces control latency and improves the robot 1000's rapid response capability due to the shorter connection distance.

[0049] In some embodiments, such as Figure 3 and Figure 5 As shown, the first support member 111 and the second support member 112 enclose each other to form a first annular structure 14, which surrounds the first drive assembly 12.

[0050] The first ring structure 14 formed by the first support member 111 and the second support member 112 can provide more space for setting up parts in more directions perpendicular to the first direction X1, thereby increasing the number of parts and the integration of the robot 1000.

[0051] For example, the first drive assembly 12 has a third side 103 and a fourth side 104 disposed opposite to each other along a third direction X3, the third direction X3 being perpendicular to both the first direction X1 and the second direction X2. At least one sensor is disposed on the first annular structure 14 and located on the third side 103 and / or the fourth side 104 of the first drive assembly 12, so as to facilitate the arrangement of at least one sensor on the third side 103 and / or the fourth side 104 of the first drive assembly 12, reducing the space occupied on the first side 101 and the second side 102 of the first drive assembly 12.

[0052] For example, the first direction X1 can be aligned with the height direction of robot 1000, the fifth side 105 can be the bottom side of robot 1000, and the sixth side 106 can be the top side of robot 1000. The second direction X2 can be aligned with the front-back direction of robot 1000, the first side 101 is the front side of robot 1000, and the second side 102 is the back side of robot 1000. The third direction X3 can be aligned with the left-right direction of robot 1000, the third side 103 is the left side of robot 1000, and the fourth side 104 is the right side of robot 1000.

[0053] In some embodiments, such as Figure 1 , Figure 2 , Figure 3 and Figure 12 As shown, the body assembly 100 also includes a body support assembly 15 and a first housing assembly 16. A first drive assembly 12 is disposed on the body support assembly 15. The first housing assembly 16 is disposed on the body support assembly 15, and has a first receiving space 164 and at least one clearance opening 165. The first receiving space 164 is used to receive the first drive assembly 12, and the clearance opening 165 connects the first receiving space 164 to the outside. The clearance opening 165 has an elongated shape and extends along a first direction X1. When the first support member 111 is connected to the first drive assembly 12, the first support member 111 extends into the first receiving space 164 and connects to the first drive assembly 12 through the clearance opening 165. When the second support member 112 is connected to the first drive assembly 12, the second support member 112 extends into the first receiving space 164 and connects to the first drive assembly 12 through the clearance opening 165.

[0054] The first housing assembly 16 houses the first drive assembly 12, reducing its exposure and improving the aesthetics of the robot 1000. Furthermore, the clearance opening 165 allows support members (first support member 111 or second support member 112) connected to the first drive assembly 12 to extend from the first receiving space 164 and connect with other components (e.g., the robotic arm 200), enabling these components to be mounted outside the first receiving space 164 and move along the first direction X1.

[0055] Specifically, the clearance opening 165 facilitates the connection between the first support member 111 or the second support member 112 and the first drive assembly 12, and provides movement clearance space for the first support member 111 or the second support member 112, so that the first support member 111 and the second support member 112 can reciprocate along the first direction X1 under the drive of the first drive assembly 12, and do not interfere with the first housing assembly 16 during the movement, ensuring smooth movement.

[0056] In some embodiments, the third side 103 and the fourth side 104 of the first drive assembly 12 are disposed opposite to each other along a third direction X3, which is perpendicular to both the first direction X1 and the second direction X2. At least one clearance opening 165 is located on the third side 103 of the first drive assembly 12 and / or at least one clearance opening 165 is located on the fourth side 104 of the first drive assembly 12.

[0057] The clearance opening 165 is located on the third side 103 or the fourth side 104 of the first drive assembly 12. These two sides are usually the left and right sides of the robot 1000, rather than the front or back. On the one hand, this position is relatively concealed and not easily observed by the user, which can effectively prevent the clearance opening 165 from disrupting the overall appearance of the robot 1000 and improve its simplicity and aesthetics. On the other hand, it can reduce the entry of dust and debris into the first accommodating space 164 from the front or back, which is beneficial to protecting the components in the first accommodating space 164. At the same time, it does not occupy the arrangement space on the front and back sides of the robot 1000, which facilitates the continuous layout of the working area on the front of the robot 1000 and the complete arrangement of the protective structure (such as the second shell 162 below) on the back.

[0058] For example, the clearance opening 165 may be located on only one side of the third side 103 and the fourth side 104 of the first drive assembly 12, or the clearance opening 165 may be located on both the third side 103 and the fourth side 104 of the first drive assembly 12.

[0059] In some embodiments, such as Figures 3 to 6 As shown, the first support member 111 includes a first connecting portion 1111 and a second connecting portion 1112 that are spaced apart and connected along a second direction X2. The second connecting portion 1112 is located on the first side 101 of the first drive assembly 12 and can be connected to at least one robotic arm 200. The first connecting portion 1111 is located on the side of the second connecting portion 1112 closer to the first drive assembly 12 and is connected to the first drive assembly 12. The first housing assembly 16 includes a first housing 161, which is disposed on the body support assembly 15, located between the first connecting portion 1111 and the second connecting portion 1112, and between the first drive assembly 12 and the second connecting portion 1112, and is spaced apart from both the first connecting portion 1111 and the second connecting portion 1112 along the second direction X2.

[0060] The first connecting portion 1111 and the second connecting portion 1112, which are spaced apart, facilitate the placement of the first housing 161 between the first connecting portion 1111 and the second connecting portion 1112, so as to simultaneously cover the first side 101 of the first drive assembly 12 and the first connecting portion 1111 connected to the first drive assembly 12, which helps to improve the aesthetics of the front of the robot 1000 (the first side 101 of the first drive assembly 12).

[0061] For example, the first connecting part 1111 and the second connecting part 1112 can be directly connected or indirectly connected through other structures.

[0062] For example, at least a portion of the structure of the first connecting portion 1111 and at least a portion of the structure of the second connecting portion 1112 may both be located on the first side 101 of the first driving component 12. In some embodiments, the first connecting portion may be located on the second side 102 of the first driving component 12, and the second connecting portion may be located on the first side 101 of the first driving component 12.

[0063] In some embodiments, the third side 103 and the fourth side 104 of the first drive assembly 12 are arranged opposite to each other along a third direction X3, which is perpendicular to both the first direction X1 and the second direction X2. There are two clearance openings 165, one located on the third side 103 of the first drive assembly 12 and the other on the fourth side 104. The first support member 111 also includes two third connecting portions 1113, which are arranged opposite to each other along the third direction X3. The two sides of the first connecting portion 1111 along the third direction X3 are respectively connected to the second connecting portion 1112 via the third connecting portion 1113. The third connecting portion 1113 extends from the first receiving space 164 through the clearance opening 165 and connects to the second connecting portion 1112. The first connecting portion 1111, the second connecting portion 1112, and the two third connecting portions 1113 form a second annular structure 110.

[0064] By placing the clearance opening 165 on the third side 103 and fourth side 104 of the first drive assembly 12 (typically the left and right sides of the robot 1000), instead of the first side 101 or second side 102 of the first drive assembly 12 (typically the front and rear sides of the robot 1000), that is, in front of or behind the torso assembly, the impact of the clearance opening 165 on the front or rear appearance of the robot 1000 can be reduced, improving the aesthetics of the robot 1000. Furthermore, the second annular structure 110 formed by the first connecting portion 1111, the second connecting portion 1112, and the two third connecting portions 1113 has higher rigidity than a U-shaped structure, providing stable support for components such as the robotic arm 200.

[0065] For example, the first connecting portion 1111, the second connecting portion 1112, and the third connecting portion 1113 are fixedly connected or detachably connected to form a first support member 111. For example, the first connecting portion 1111, the second connecting portion 1112, and the third connecting portion 1113 are integrally formed into the first support member 111.

[0066] For example, the size of the clearance opening 165 along the second direction X2 can be set based on the size of the third connecting portion 1113 along the second direction X2. Specifically, the size of the clearance opening 165 along the second direction X2 is larger than a preset value of the size of the third connecting portion 1113 along the second direction X2, so that there is no contact interference between the third connecting portion 1113 and the first housing assembly 16.

[0067] In some embodiments, such as Figures 2 to 6 , Figure 11 As shown, the body assembly 100 also includes a cable chain 17, which is located in the first receiving space 164 and on the second side 102 of the first drive assembly 12. The fixed end 171 of the cable chain 17 is connected to the body support assembly 15, and the moving end 172 of the cable chain 17 is connected to the third connecting portion 1113. The cable chain 17 has a first wiring channel 173 that extends from the fixed end 171 of the cable chain 17 to the moving end 172 of the cable chain 17. The third connecting part 1113 has a wiring groove 1114. The opening of the wiring groove 1114 faces the second side 102 of the first driving assembly 12. The wiring groove 1114 is connected to the first wiring channel 173. A portion of the opening of the wiring groove 1114 is located inside the first receiving space 164, and a portion of the opening of the wiring groove 1114 passes through the clearance opening 165 and is located outside the first receiving space 164. The first wiring channel 173 and the wiring groove 1114 are used for wiring.

[0068] The above design allows the connecting wires for electrical connections between components on the chest support assembly 11 (e.g., control assembly 13) and components on the body support assembly 15 (e.g., chassis hereinafter referred to as such) to be routed via the cable chain 17 and the third connecting part 1113. The connecting wires can pass through the first wiring channel 173, the wiring groove 1114, the first receiving space 164, and the clearance opening 165 to the outside. Since the opening of the wiring groove 1114 faces the second side 102 of the first drive assembly 12, and the wiring groove 1114 is recessed towards the first side 101 of the first drive assembly 12, the connecting wires can utilize the space within the wiring groove 1114 for routing, preventing the connecting wires from touching or rubbing against the first housing assembly 16. This also helps to reduce the size of the clearance opening 165 along the second direction X2, reducing the exposure of components in the first receiving space 164 and improving aesthetics.

[0069] For example, the bottom of the wiring groove 1114 has a hollowed-out portion, which extends through the third connecting portion 1113 along the second direction X2. The connecting wire of the robotic arm 200 passes through the hollowed-out portion and enters the wiring groove 1114.

[0070] like Figure 6 As shown, in some embodiments, the body assembly 100 further includes a tie post 18 disposed in the wiring groove 1114 and extending along a first direction X1, so that a plurality of connecting wires in the wiring groove 1114 are sequentially tied to the tie post 18 along the first direction X1.

[0071] Further, by setting cable tie posts 18 in the cable tray 1114, multiple connecting wires passing through the cable tray 1114 can be arranged sequentially along the first direction X1, which helps to reduce the depth of the cable tray 1114 (parallel to the second direction X2) and reduce the size of the clearance opening 165 along the second direction X2.

[0072] For example, the tie post 18 is disposed near the cutout portion to bind and fix multiple connecting wires passing through the cutout portion to the tie post 18 nearby. For example, tie posts 18 are disposed on both sides of the cutout portion along the third direction X3 (i.e., the third side 103 and the fourth side 104) to increase the number of connecting wires that can be bound.

[0073] In some embodiments, along the second direction X2, the side of the third connecting portion 1113 near the first receiving space 164 has a wiring groove 1114, and the side of the third connecting portion 1113 away from the first receiving space 164 is connected to the second support member 112. The second support member 112 has a wiring through groove 1123, which extends through the second support member 112 from the side of the second support member 112 near the first receiving space 164 to the side of the second support member 112 away from the first receiving space 164, and the wiring through groove 1114 communicates with the wiring groove 1114.

[0074] The side of the second support member 112 away from the first receiving space 164 is used for wiring (the connecting wire can pass through the first wiring channel 173, the wiring groove 1114, the first receiving space 164, the clearance opening 165, and the wiring through groove 1123 to the side of the second support member 112 away from the first receiving space 164). This avoids the connecting wire touching or rubbing against the first housing assembly 16, which would hinder the movement of the chest support assembly 11, and also avoids the connecting wire occupying the space between the chest support assembly 11 and the first housing assembly 16, thus reducing the size of the chest support assembly 11.

[0075] like Figure 2 , Figure 5 and Figure 6As shown, in some embodiments, the second support member 112 includes a connected fourth connecting portion 1121 and at least one fifth connecting portion 1122. The fourth connecting portion 1121 is located on the second side 102 of the first drive assembly 12, and is spaced apart from the first drive assembly 12 along a second direction X2. The fifth connecting portion 1122 connects the fourth connecting portion 1121 and the first support member 111. The first housing assembly 16 also includes a second housing 162, which is disposed on the body support assembly 15, located between the fourth connecting portion 1121 and the first drive assembly 12, and is spaced apart from both the fourth connecting portion 1121 and the first drive assembly 12 along the second direction X2. A first receiving space 164 and a clearance opening 165 are formed between the first housing 161 and the second housing 162.

[0076] The fourth connecting portion 1121 and at least one fifth connecting portion 1122 are further provided, such that the fourth connecting portion 1121 and the first drive assembly 12 are spaced apart along the second direction X2. This facilitates the placement of the second housing 162 between the fourth connecting portion 1121 and the first drive assembly 12, thereby shielding the second side 102 of the first drive assembly 12 and reducing the exposure of the first drive assembly 12. The first housing 161 and the second housing 162 form a first receiving space 164 and a clearance opening 165, improving the overall integrity and aesthetics of the body assembly 100.

[0077] For example, the fifth connecting portion 1122 is provided with a wiring through groove 1123, which extends along the first direction X1. For example, there are two fifth connecting portions 1122, located on the third side 103 and the fourth side 104 of the first drive assembly 12 along the third direction X3, respectively, to connect the side of the fourth connecting portion 1121 near the third side 103 and the side of the first support member 111 near the third side 103, and to connect the side of the fourth connecting portion 1121 near the fourth side 104 and the side of the first support member 111 near the fourth side 104, thereby enhancing the connection stability between the fourth connecting portion 1121 and the first support member 111.

[0078] Specifically, the fifth connecting portion 1122 is connected to the third connecting portion 1113. The fourth connecting portion 1121 and the first connecting portion 1111 are spaced apart along the second direction X2. The second housing 162 is located between the fourth connecting portion 1121 and the first connecting portion 1111, and is also spaced apart from both the fourth connecting portion 1121 and the first connecting portion 1111 along the second direction X2. For example, the control component 13 is disposed on the fourth connecting portion 1121 to achieve a fixed connection; for example, the control component 13 is either fixedly connected or detachably connected to the fourth connecting portion 1121.

[0079] Specifically, the first housing 161 and the second housing 162 are spaced apart along the second direction X2, and the gap between the first housing 161 and the second housing 162 forms a clearance opening 165. For example, both the first housing 161 and the second housing 162 extend along the first direction X1.

[0080] For example, during assembly, the first drive assembly 12 is mounted on the body support assembly 15, the first drive assembly 12 and the chest support assembly 11 (first support member 111, second support member 112) are connected, and finally the first housing assembly 16 is connected to the body support assembly 15.

[0081] like Figures 2 to 4 , Figure 13 As shown, in some embodiments, the body support assembly 15 includes a support body 151 extending along a first direction X1. The first drive assembly 12 includes a drive source 121, a lead screw, and a nut 123. The drive source 121 is disposed at a first end of the support body 151. The first end of the lead screw is throttlely connected to the output shaft of the drive source 121 and rotates about a rotation axis parallel to the first direction X1 under the action of the output shaft. The second end of the lead screw is rotatably connected to the second end of the support body 151 about the rotation axis. The nut 123 is screwed to the lead screw and reciprocates along the first direction X1 under the drive of the lead screw. The nut 123 is connected to a first connecting portion 1111. At least a portion of the structure of the support body 151, the lead screw, and the nut 123 are located in a first receiving space 164.

[0082] At least some of the structure of the supporting body 151, the lead screw and nut 123 of the first drive assembly 12, and other moving parts are also located in the first accommodating space 164, which can provide better protection for these structures, prevent the external environment from disturbing the operation of these moving parts, reduce operational interference, and also reduce dust.

[0083] It should be noted that the first end of the support body 151 and the first end of the lead screw are located near the fifth side 105 of the first drive assembly 12, that is, near the bottom of the robot 1000. The second end of the support body 151 and the second end of the lead screw are located near the sixth side 106 of the first drive assembly 12, that is, near the top of the robot 1000.

[0084] For example, the drive source 121 is a motor, which can rotate in both the forward and reverse directions, thereby driving the lead screw 122 to rotate in either the forward or reverse direction. This causes the nut 123 on the lead screw 122 to reciprocate along the first direction X1, and further drives the first connecting part 1111 (first support member 111, and second support member 112 connected to the first support member 111, robotic arm 200, etc.) connected to the nut 123 to reciprocate along the first direction X1.

[0085] For example, the body assembly 100 is disposed on the chassis assembly 300 of the robot 1000, the first end of the support body 151 is located on the side close to the chassis assembly 300, and the second end of the support body 151 is located on the side away from the chassis assembly 300, thereby enabling the drive source 121 to be disposed closer to the chassis assembly 300, thereby increasing the overall stability.

[0086] For example, the support body 151 is completely located within the first receiving space 164, and along the third direction X3, the support body 151 and the clearance notch are stacked, with the orthographic projection of the clearance notch within the first receiving space 164 falling entirely on the support body 151. Thus, the support body 151 blocks the clearance notch, so when looking into the first receiving space 164 from the clearance notch, only the support body 151 is visible, and other internal components are not, thereby increasing aesthetics and reducing exposed components.

[0087] like Figures 1 to 3 As shown, in some embodiments, the robot 1000 further includes a chassis assembly 300, on which the body assembly 100 can be disposed. The fifth side 105 and the sixth side 106 of the first drive assembly 12 are disposed opposite to each other along a first direction X1, and the chassis assembly 300 is located on the fifth side 105 of the first drive assembly 12. The first housing assembly 16 further includes a third housing 163, which is connected to the body support assembly 15 and is located on the side of the first housing 161 and the second housing 162 near the fifth side 105 of the first drive assembly 12. The first housing 161, the second housing 162, and the third housing 163 form a first accommodating space 164. The first end and the second end of the third housing 163 are arranged opposite to each other along the first direction X1. The first end of the third housing 163 is connected to the first housing 161 and the second housing 162. The shape of the second end of the third housing 163 includes a cylindrical shape. The dimension of the second end of the third housing 163 along the first direction X1 is greater than the sum of the dimensions of the first housing 161 and the second housing 162 along the first direction X1.

[0088] Since the body assembly 100 is typically mounted on the chassis assembly 300 and rotates relative to the chassis assembly 300, the chassis assembly 300's housing usually has a chassis opening. The body assembly 100 extends into the chassis assembly 300's housing through the chassis opening and connects to the chassis. Therefore, in this embodiment, by dividing the first housing assembly 16 into a third housing 163 corresponding segment along the first direction X1 and a first housing 161 and a second housing 162 corresponding segment, the third housing 163 can function as a rotatable fit with the chassis opening, and the dimensions of the first housing 161 and the second housing 162 portion perpendicular to the first direction X1 can be set to be smaller, resulting in a more slender and aesthetically pleasing overall appearance of the body assembly 100.

[0089] It should be noted that the first end of the third housing 163 is the end near the fifth side 105 of the first drive assembly 12, that is, the side near the bottom of the robot 1000. The second end of the third housing 163 is the end near the sixth side 106 of the first drive assembly 12, that is, the side near the top of the robot 1000.

[0090] For example, the third housing 163 includes a first sub-housing and a second sub-housing that are interconnected and arranged along a second direction X2. The first sub-housing and the first housing 161 are connected, and the second sub-housing and the second housing 162 are connected.

[0091] Specifically, the size of the clearance opening 165 along the first direction X1 is greater than or equal to the sum of the stroke and size of the first support member 111 along the first direction X1, so as to avoid the movement of the first support member 111 along the first direction X1.

[0092] In some embodiments, the third housing 163 is connected to the first end of the support body 151. The second housing 162 includes a first housing portion 1621 and a second housing portion 1622. The first housing portion 1621 is connected to the first end of the third housing 163, located between the fourth connecting portion 1121 and the first drive assembly 12, and is spaced apart from both the fourth connecting portion 1121 and the first drive assembly 12 along the second direction X2. A first receiving space 164 and a clearance opening 165 are formed between the first housing 161 and the first housing portion 1621. The second housing portion 1622 is connected to the first housing portion 1621, located on the side of the first housing portion 1621 near the sixth side 106 of the first drive assembly 12, and is connected to the second end of the support body 151. It cooperates with the first housing 161 to close the side of the first receiving space 164 near the sixth side 106 of the first drive assembly 12.

[0093] The second housing portion 1622 of the second housing 162 can also seal the sixth side 106 of the first accommodating space 164 near the first drive assembly 12, further increasing the sealing of the first accommodating space 164, reducing dust from falling into the first accommodating space 164, and improving aesthetics.

[0094] In some embodiments, the drive source 121 is located in the portion of the first receiving space 164 corresponding to the third housing 163. This allows the drive source 121 to also be protected by the first housing assembly 16, and the drive source 121 is located on the side of the first receiving space 164 near the chassis assembly 300, causing the center of gravity of the body assembly 100 to shift downward, increasing the stability of the robot 1000 during operation.

[0095] like Figure 7 As shown, in some embodiments, the first end of the third housing 163 has at least two slots 1631, into which the first housing 161 and the second housing 162 are respectively inserted. This allows the first housing 161 and the second housing 162 to be inserted and fixed to the third housing 163, eliminating the need for additional connecting structures, simplifying the connection, and facilitating assembly and disassembly.

[0096] Specifically, the first end of the first sub-shell has a first slot 1631, the first end of the second sub-shell has a second slot 1631, the first shell 161 is inserted into the first slot 1631, and the second shell 162 is inserted into the second slot 1631.

[0097] like Figures 8 to 10 As shown, in some embodiments, the body assembly 100 further includes a second housing assembly 19 having a second receiving space 195, at least one first opening 196, and at least one second opening 197. The at least one first opening 196 and at least one second opening 197 communicate with the second receiving space 195 to the outside. The second receiving space 195 is used to receive a first support member 111 and a second support member 112. The first support member 111 and / or the second support member 112 are connected to the first drive assembly 12 through the first opening 196. The first support member 111 and / or the second support member 112 are connected to the robotic arm 200 through the second opening 197.

[0098] The placement of the second housing assembly 19 does not affect the connection between the support member and the first drive assembly 12 and the robotic arm 200. The first support member 111 and the second support member 112 are accommodated within the second accommodating space 195 of the second housing assembly 19, thereby protecting the support member and its components through the second housing assembly 19, further reducing the exposure of the structure and components, and improving aesthetics.

[0099] For example, the first support member 111 is connected to the first drive assembly 12 through the first opening 196. The first support member 111 is connected to the robotic arm 200 through the second opening 197. For example, there are two robotic arms 200, and the second openings 197 are spaced apart along a third direction X3. The two robotic arms 200 are respectively connected to the first support member 111 through the two second openings 197.

[0100] In some embodiments, the robot 1000 further includes a chassis assembly 300, on which the body assembly 100 can be disposed. The fifth side 105 and the sixth side 106 of the first drive assembly 12 are disposed opposite to each other along a first direction X1, and the chassis assembly 300 is located on the fifth side 105 of the first drive assembly 12. The second housing assembly 19 includes an annular housing 191, a fourth housing 192, and a fifth housing 193. The annular housing 191 is fitted onto a portion of the chest support assembly 11 near the sixth side 106 of the first drive assembly 12. The fourth housing 192 is connected to the side of the annular housing 191 near the fifth side 105 of the first drive assembly 12, and at least a portion of the fourth housing 192 is located on the first side 101 of the first drive assembly 12. The annular housing 191 and the fourth housing 192 are joined to form at least one second opening 197. The fifth housing 193 is connected to the fifth side 105 of the annular housing 191 near the first drive assembly 12, and is connected to the second side 102 of the fourth housing 192 near the first drive assembly 12. The fourth housing 192 and the fifth housing 193 are fitted onto the portion of the chest support assembly 11 near the fifth side 105 of the first drive assembly 12. The annular housing 191, the fourth housing 192 and the fifth housing 193 form a second receiving space 195. The annular housing 191, the fourth housing 192 and the fifth housing 193 are joined together to form at least one first opening 196.

[0101] By configuring the second housing assembly 19 into a split structure including an annular housing 191, a fourth housing 192, and a fifth housing 193, it is easier to manufacture and assemble, and allows for styling design for different areas.

[0102] For example, during assembly, the annular housing 191 is fitted onto the outside of the first housing assembly 16 along the side of the first housing assembly 16 near the sixth side 106; the fourth housing 192 is fitted onto the outside of the first housing assembly 16 along the side of the first housing assembly 16 near the first side 101 towards the side of the first housing assembly 16 near the second side 102, and connected to the side of the annular housing 191 near the fifth side 105; the fifth housing 193 is fitted onto the outside of the first housing assembly 16 along the side of the first housing assembly 16 near the second side 102 towards the side of the first housing assembly 16 near the first side 101, and connected to the side of the annular housing 191 near the fifth side 105 and the side of the fourth housing 192 near the second side 102.

[0103] For example, the body assembly 100 is rotatably mounted on the chassis assembly 300. The robot 1000 also includes a second drive assembly, which is connected to the body assembly 100 for driving the body assembly 100 to rotate relative to the chassis assembly 300 to adjust the circumferential orientation of the body assembly 100.

[0104] like Figures 8 to 10 As shown, in some embodiments, the second housing assembly 19 further has a third opening 198 located on the side of the second housing assembly 19 away from the first side 101 of the first drive assembly 12. The third opening 198 connects the second receiving space 195 to the outside. The annular housing 191 and the fifth housing 193 are joined together to form the third opening 198. The second housing assembly 19 also includes a sixth housing 194, which is detachably connected to the side of the annular housing 191 and the fifth housing 193 near the second side 102 of the first drive assembly 12 to open or close the third opening 198. When the sixth housing 194 opens the third opening 198, at least a portion of the structure of the second support member 112 can be exposed to the outside.

[0105] The second support member 112 is usually provided with components such as sensors and electrical modules (e.g., control component 13) on the side 102 near the first drive assembly 12. By providing a sixth housing 194, it is convenient to open the third opening 198 through the sixth housing 194 to view, maintain and repair these internal components. The sixth housing 194 closes the third opening 198 to enclose and protect the internal components, reduce exposure and at the same time play a role in dust prevention.

[0106] For example, the sixth housing 194 is connected and fixed to the annular housing 191 and the fifth housing 193 by means of threaded connection, snap-fit ​​or other means.

[0107] On the other hand, this application also provides a robot 1000, including at least one robotic arm 200 and a body assembly 100 mentioned in any of the above embodiments. The chest support assembly 11 of the body assembly 100 is connected to at least one robotic arm 200.

[0108] Since the robot 1000 includes a body component 100, the robot 1000 has the same technical effects as the body component 100, as detailed above, and will not be repeated here.

[0109] like Figures 1 to 3 As shown, in some embodiments, the robot 1000 further includes a camera assembly 400, which is connected to the chest support assembly 11. The camera assembly 400 is located on the side of the robotic arm 200 along the first direction X1 near the sixth side 106. The camera assembly 400 includes a camera bracket and at least one camera mounted on the camera bracket, and the camera bracket and the chest support assembly 11 are fixedly connected.

[0110] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “featuring,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0111] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0112] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, the features that define "first" and "second" may explicitly or implicitly include at least one of those features.

[0113] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0114] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A body component, characterized in that, Applied to a robot, the robot including at least one robotic arm, the body assembly including: A chest support assembly capable of connecting at least one of the robotic arms; A first drive assembly is connected to the chest support assembly and is used to drive the chest support assembly to reciprocate along a first direction. The shape of the first drive assembly includes a cylindrical shape. The first drive assembly extends along the first direction. A first side and a second side of the first drive assembly are arranged opposite to each other along a second direction. The second direction is perpendicular to the first direction. The working area of ​​the robotic arm includes the first side of the first drive assembly. The chest support assembly includes: A first support member, at least a portion of the structure of which is located on a first side of the first drive assembly; A second support member is connected to the first support member, at least a portion of the structure of the second support member is located on a second side of the first drive assembly, the first support member and / or the second support member is connected to the first drive assembly, at least one of the robotic arms is connected to the first support member and / or the second support member, and the connection position of the robotic arm to the first support member and / or the second support member is at least located on a first side of the first drive assembly.

2. The body assembly according to claim 1, characterized in that, Also includes: A control component is disposed on the second support member, located on the second side of the first drive component, and is electrically connected to at least one of the robotic arms.

3. The body assembly according to claim 1, characterized in that, The first support member and the second support member are arranged to form a first ring structure, and the first ring structure is arranged around the first drive component.

4. The body assembly according to any one of claims 1 to 3, characterized in that, Also includes: A body support assembly, wherein the first drive assembly is disposed on the body support assembly; A first housing assembly is disposed on the body support assembly. The first housing assembly has a first receiving space and at least one clearance opening. The first receiving space is used to receive the first drive assembly. The clearance opening can connect the first receiving space to the outside. The shape of the clearance opening includes an elongated shape. The clearance opening extends along the first direction. Wherein, when the first support member is connected to the first drive assembly, the first support member extends into the first receiving space through the clearance opening and connects to the first drive assembly; When the second support member is connected to the first drive assembly, the second support member extends into the first receiving space through the clearance opening and connects to the first drive assembly.

5. The body assembly according to claim 4, characterized in that, The third side and the fourth side of the first driving component are arranged opposite to each other along a third direction, which is perpendicular to both the first direction and the second direction; At least one of the clearance openings is located on the third side of the first drive assembly and / or at least one of the clearance openings is located on the fourth side of the first drive assembly.

6. The body assembly according to claim 4, characterized in that, The first support member includes a first connecting portion and a second connecting portion that are spaced apart and connected along the second direction. The second connecting portion is located on a first side of the first drive assembly, and the first connecting portion is located on the side of the second connecting portion closer to the first drive assembly. The first connecting portion is connected to the first drive assembly, and the second connecting portion can be connected to at least one of the robotic arms. The first housing assembly includes: The first housing is disposed on the body support assembly, located between the first connecting portion and the second connecting portion, and between the first driving assembly and the second connecting portion, and is spaced apart from the first connecting portion and the second connecting portion along the second direction.

7. The body assembly according to claim 6, characterized in that, The third side and the fourth side of the first driving component are arranged opposite to each other along a third direction, which is perpendicular to both the first direction and the second direction; The number of clearance openings is two, one clearance opening is located on the third side of the first drive component, and the other clearance opening is located on the fourth side of the first drive component; The first support member further includes two third connecting parts, which are arranged opposite to each other along the third direction. The two sides of the first connecting part along the third direction are respectively connected to the second connecting part through the third connecting part. The third connecting part extends out of the first receiving space through the clearance opening and connects to the second connecting part. The first connecting part, the second connecting part and the two third connecting parts form a second ring structure.

8. The body assembly according to claim 7, characterized in that, Also includes: A cable chain is located in the first accommodating space and on the second side of the first drive assembly. The fixed end of the cable chain is connected to the body support assembly, and the moving end of the cable chain is connected to the third connecting part. The cable chain has a first cable routing channel that extends from the fixed end of the cable chain to the moving end of the cable chain. The third connecting part has a wiring groove, the opening of the wiring groove faces the second side of the first driving component, the wiring groove is connected to the first wiring channel, a portion of the opening of the wiring groove is located within the first accommodating space, and a portion of the opening of the wiring groove passes through the clearance opening and is located outside the first accommodating space. The first wiring channel and the wiring groove are used for wiring.

9. The body assembly according to claim 8, characterized in that, Also includes: A wire tie post is disposed in the cable tray and extends along the first direction, so that multiple connecting wires in the cable tray are sequentially tied to the wire tie post along the first direction.

10. The body assembly according to claim 8, characterized in that, Along the second direction, the third connecting part has the wiring groove on the side near the first receiving space, and the side of the third connecting part away from the first receiving space is connected to the second support member; The second support member has a wiring through groove, which runs through the second support member from the side of the second support member closest to the first accommodating space to the side of the second support member furthest from the first accommodating space, and the wiring through groove is connected to the wiring groove.

11. The body assembly according to claim 6, characterized in that, The second support member includes a connected fourth connecting portion and at least one fifth connecting portion. The fourth connecting portion is located on the second side of the first drive assembly, and the fifth connecting portion connects the fourth connecting portion and the first support member. The fourth connecting portion and the first drive assembly are spaced apart along the second direction. The first housing assembly further includes: The second housing is disposed on the body support assembly, located between the fourth connecting portion and the first driving assembly, and is spaced apart from both the fourth connecting portion and the first driving assembly along the second direction. The first accommodating space and the avoidance opening are formed between the first housing and the second housing.

12. The body assembly according to claim 11, characterized in that, The body support assembly includes a support body that extends along the first direction; The first driving component includes: The driving source is located at the first end of the supporting body; A lead screw, the first end of which is connected to the output shaft of the drive source and rotates around a rotation axis under the action of the output shaft of the drive source. The rotation axis is parallel to the first direction. The second end of the lead screw is rotatably connected to the second end of the support body around the rotation axis. A nut is screwed to the lead screw and reciprocates along the first direction under the drive of the lead screw; the nut is connected to the first connecting part. At least a portion of the structure of the support body, the lead screw, and the nut are located in the first accommodating space.

13. The body assembly according to claim 12, characterized in that, The robot also includes a chassis assembly, the body assembly can be disposed on the chassis assembly, the fifth side and the sixth side of the first drive assembly are disposed opposite to each other along the first direction, and the chassis assembly is located on the fifth side of the first drive assembly. The first housing assembly further includes: A third housing, connected to the body support assembly, is located on the fifth side of the first housing and the second housing, near the first drive assembly. The first housing, the second housing, and the third housing enclose the first receiving space. The first end and the second end of the third housing are disposed opposite each other along the first direction. The first end of the third housing is connected to the first housing and the second housing. The shape of the second end of the third housing includes a cylindrical shape. The dimension of the second end of the third housing perpendicular to the first direction is greater than the sum of the dimensions of the first housing perpendicular to the first direction and the dimensions of the second housing perpendicular to the first direction.

14. The body assembly according to claim 13, characterized in that, The third housing is connected to the first end of the supporting body, and the second housing includes: The first housing portion is connected to the first end of the third housing, located between the fourth connecting portion and the first driving assembly, and is spaced apart from both the fourth connecting portion and the first driving assembly along the second direction. The first accommodating space and the clearance opening are formed between the first housing and the first housing portion. The second housing portion is connected to the first housing portion, located on the sixth side of the first housing portion near the first drive assembly, and connected to the second end of the support body. It cooperates with the first housing portion to close the sixth side of the first accommodating space near the first drive assembly.

15. The body assembly according to claim 13, characterized in that, The drive source is located in the portion of the first accommodating space corresponding to the third housing; And / or, The first end of the third housing has at least two slots, into which the first housing and the second housing are respectively inserted.

16. The body assembly according to any one of claims 1 to 3, characterized in that, Also includes: The second housing assembly has a second receiving space, at least one first opening and at least one second opening, wherein at least one first opening and at least one second opening are capable of communicating the second receiving space with the outside. The second receiving space is used to receive the first support member and the second support member. The first support member and / or the second support member are connected to the first drive assembly through the first opening, and the first support member and / or the second support member are connected to the robotic arm through the second opening.

17. The body assembly according to claim 16, characterized in that, The robot also includes a chassis assembly, the body assembly can be disposed on the chassis assembly, the fifth side and the sixth side of the first drive assembly are disposed opposite to each other along the first direction, and the chassis assembly is located on the fifth side of the first drive assembly. The second housing assembly includes: An annular housing is fitted onto the sixth side of the chest support assembly near the first drive assembly. A fourth housing is connected to the fifth side of the annular housing near the first drive assembly, at least a portion of the structure of the third housing is located on the first side of the first drive assembly, and the annular housing and the fourth housing are joined to form at least one second opening; The fifth housing is connected to the fifth side of the annular housing near the first drive assembly and to the second side of the fourth housing near the first drive assembly. The fourth housing and the fifth housing are sleeved on the portion of the chest support assembly near the fifth side of the first drive assembly. The annular housing, the fourth housing, and the fifth housing form the second receiving space. The annular housing, the fourth housing, and the fifth housing are joined together to form at least one of the first openings.

18. The body assembly according to claim 17, characterized in that, The second housing assembly also has a third opening located on the side of the second housing assembly away from the first drive assembly. The third opening connects the second receiving space to the outside. The annular housing and the fifth housing are joined together to form the third opening. The second housing assembly also includes: The sixth housing is detachably connected to the second side of the annular housing and the fifth housing near the first drive assembly to open or close the third opening, such that when the sixth housing opens the third opening, at least a portion of the structure of the second support member can be exposed to the outside.

19. A robot, characterized in that, include: At least one robotic arm; The body assembly according to any one of claims 1 to 18, wherein the chest support assembly of the body assembly is connected to at least one of the robotic arms.

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