Chest device for humanoid robot and humanoid robot

Abstract

This application relates to the field of robotics, specifically to a thoracic cavity device for a humanoid robot and the humanoid robot itself. The thoracic cavity device includes a skeleton structure, a control module, a drive joint assembly, and a shell structure. The control module is located inside the skeleton structure. The drive joint assembly includes a drive element and an output shaft, with the output shaft connected to the output end of the drive element. The drive element is located within a receiving space, and the output shaft extends from the receiving space to the outside of the skeleton structure. The control module and the shell structure are respectively located on the inner and outer sides of the receiving space. In this embodiment of the thoracic cavity device, multiple connection points on the skeleton structure are exposed to the shell structure. The docking load is borne by the skeleton structure, and the shell structure only needs to meet aesthetic and protective requirements. This structure helps reduce the overall weight of the thoracic cavity and ensures the relative relationship between the docking positions is maintained by the skeleton structure, thereby reducing the possibility of accumulated assembly deviations to a certain extent.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a thoracic device for a humanoid robot and the humanoid robot itself. Background Technology

[0002] The thoracic cavity of a humanoid robot is located in the middle of the entire robot. Its interior needs to centrally house control, power supply, communication, and audio modules, and it needs to interface with the head above, the arms on both sides, and the walking mechanism below. In existing designs, the main body of the thoracic cavity is often made of a single molded component or assembled from multiple panels, with a shell on the outside serving both aesthetic and protective functions. In this structure, the shell, besides providing aesthetics and protection, often also participates in load-bearing or connects to the internal functional modules. When maintenance, replacement, or adjustment of the thoracic cavity is required, it is usually necessary to process the connected components along with the shell, resulting in numerous maintenance steps. Furthermore, the single-molded or multi-panel assembled body requires high precision equipment and a large number of processes during processing and assembly. Its internal space is also difficult to adjust after molding, limiting its adaptability to different configurations. Summary of the Invention

[0003] In view of this, this application provides a thoracic cavity device for a humanoid robot and a humanoid robot, which solves the problem that the shell and internal functional modules of the thoracic cavity are interconnected and require overall disassembly and assembly during maintenance, resulting in inconvenience.

[0004] The first aspect of this application provides a thoracic device for a humanoid robot, comprising: The skeleton structure has an internal receiving space and multiple connection points. A control module is located within the accommodating space and connected to the skeleton structure; A drive joint assembly, disposed within the receiving space and connected to the skeleton structure, includes a drive element and an output shaft. The output shaft is connected to the output end of the drive element, and the drive element is located within the receiving space. The output shaft extends from the receiving space to the outside of the skeleton structure. The outer shell structure is connected to the skeleton structure and covers the outside of the skeleton structure; wherein the control module and the outer shell structure are respectively disposed on the inner and outer sides of the accommodating space, and the plurality of connection positions are exposed on the outer shell structure.

[0005] In one possible implementation, the thoracic device further includes a heat dissipation assembly comprising a fan disposed within the receiving space. The fan has an inlet side and an outlet side, with the outlet side facing the control module. An inlet and an outlet are provided on the housing structure, with the outlet located on the side of the control module opposite to the fan. The drive joint assembly is stacked with the fan along the height direction of the frame structure, and the drive element is located on the outlet side of the fan.

[0006] In one possible implementation, the plurality of connection positions include a first connection position, a second connection position, and a third connection position, wherein the first connection position, the second connection position, and the third connection position are respectively disposed at the top, the bottom, and opposite sides of the skeleton structure.

[0007] In one possible implementation, the output shaft extends out of the frame structure through one of the connection positions, and the connection position has a through hole for the output shaft to pass through.

[0008] In one possible implementation, the thoracic device further includes an acoustic component and an antenna. The acoustic component includes a first microphone array and a second microphone array, which are respectively disposed on both sides of the skeleton structure in the front-rear direction. The antenna is disposed between the skeleton structure and the outer shell structure, and the antenna is located above the first microphone array and the second microphone array in the height direction of the skeleton structure.

[0009] In one possible implementation, the thoracic device further includes a wiring harness fixing part and a wireless communication module. The wiring harness fixing part is disposed within the receiving space, and the cable of the control module is fixed to the wiring harness fixing part. The acoustic components and the wireless communication module are both connected to the control module via the cable.

[0010] In one possible implementation, the housing structure includes a first housing and a second housing that are detachably connected. The first housing has heat dissipation holes and a sound pickup hole, and the heat dissipation holes and the sound pickup hole are spaced apart.

[0011] In one possible implementation, the thoracic device further includes a wiring harness fixing part and a communication hub. The wiring harness fixing part includes a first fixing member and a second fixing member. The first fixing member and the second fixing member are respectively disposed on opposite sides of the skeleton structure, and both the first fixing member and the second fixing member are fixed to the skeleton structure and located within the receiving space. The communication hub is connected to the first fixing member. The second fixing member is provided with multiple peripheral interfaces, and the second housing is provided with peripheral ports corresponding to the multiple peripheral interfaces.

[0012] In one possible implementation, the control module further includes a power board, which is stacked with the drive joint assembly along the height direction of the skeleton structure. The power board is located below the drive joint assembly and is correspondingly positioned to the air outlet.

[0013] A second aspect of this application provides a humanoid robot, comprising: Functional components; and According to any of the foregoing claims, in the thoracic device for a humanoid robot, the functional component is connected to at least one of the plurality of connection positions.

[0014] Implementing the embodiments of this application has the following beneficial effects: In the thoracic device of this embodiment, the control module and the outer shell structure are respectively located on the inner and outer sides of the accommodating space. The mounting reference of both is concentrated on the skeleton structure. The control module can be exposed by removing the outer shell structure. During maintenance, there is no need to deal with the connecting parts between the outer shell structure and the internal module. This structure helps to reduce maintenance procedures and allows the module arrangement in the accommodating space to be adjusted without changing the outer shell structure.

[0015] In the thoracic device of this embodiment, multiple connection points on the skeleton structure are exposed to the outer shell structure. The docking load is borne by the skeleton structure, and the outer shell structure only needs to meet the requirements of appearance and protection. This structure helps to reduce the overall weight of the thoracic cavity and ensures the relative relationship between each docking position by the skeleton structure, thereby reducing the possibility of assembly deviation accumulation to a certain extent.

[0016] In the thoracic device of this embodiment, the drive element of the drive joint assembly is located in the receiving space, and its output shaft extends from the receiving space to the outside of the skeleton structure. The number of parts involved in the movement of the moving parts is reduced, and the inertia during movement is reduced accordingly. This structure helps to reduce the output burden of the drive element, thereby improving the timeliness of dynamic response and the stability of movement posture to a certain extent. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A perspective view of the thoracic cavity device in an embodiment of the present invention is shown; Figure 2 A schematic diagram of the internal structure of the thoracic cavity device in an embodiment of the present invention is shown; Figure 3 A perspective view of the thoracic apparatus in an embodiment of the present invention is shown; Figure 4 A schematic diagram of the internal structure of the thoracic cavity device in an embodiment of the present invention is shown; Figure 5 An explosion diagram of the thoracic cavity device in an embodiment of the present invention is shown.

[0019] Figure label: 10. Thoracic apparatus; 100. Skeleton structure; 110. Accommodation space; 121. First connection position; 122. Second connection position; 123. Third connection position; 130. First shell fixing seat; 140. Support component; 200. Control module; 210. First main control unit; 220. Second main control unit; 230. Channel; 240. Power board; 250. First clamping component; 260. Second clamping component; 270. Power amplifier board; 280. Peripheral interface; 290. Lighting effect control board; 300. Heat dissipation assembly; 310. Fan; 320. Fan mounting hardware; 400. Drive joint assembly; 410. Drive element; 420. Reducer; 430. Output shaft; 440. Shoulder motor mount; 500. Acoustic components; 510. First microphone array; 520. Second microphone array; 530. Pickup board; 540. Audio control board; 550. Speaker; 560. Acoustic cavity; 600. Wireless communication component; 610. Antenna; 620. Antenna mount; 630. Wireless communication module; 650. Communication hub; 660. Switch; 710. First fastener; 720. Second fastener; 800. Outer shell structure; 810. Air inlet; 820. Air outlet; 830. First housing; 831. First neck shell; 8321. Heat dissipation hole; 833. Sound pickup hole; 834. Speaker hole; 835. Front light-transmitting element; 840. Second housing; 841. Second neck shell; 842. External device port; 843. Rear light-transmitting element; 850. Sealing cover; 860. Light strip. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, 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, 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.

[0021] The thoracic cavity of a humanoid robot is located in the middle of the entire robot. Its interior needs to centrally house control, power supply, communication, and audio modules, and it needs to interface with the head above, the arms on both sides, and the walking mechanism below. In existing designs, the main body of the thoracic cavity is often made of a single molded component or assembled from multiple panels, with a shell on the outside serving both aesthetic and protective functions. In this structure, the shell, besides providing aesthetics and protection, often also participates in load-bearing or connects to the internal functional modules. When maintenance, replacement, or adjustment of the thoracic cavity is required, it is usually necessary to process the connected components along with the shell, resulting in numerous maintenance steps. Furthermore, the single-molded or multi-panel assembled body requires high precision equipment and a large number of processes during processing and assembly. Its internal space is also difficult to adjust after molding, limiting its adaptability to different configurations.

[0022] Based on this, see Figures 1 to 5 As shown, this embodiment of the invention provides a thoracic cavity device 10 for a humanoid robot, which includes a skeleton structure 100, a control module 200, a drive joint assembly 400, and a shell structure 800. The skeleton structure 100 has an internal accommodating space 110 and multiple connection points. The control module 200 is disposed within the accommodating space 110 and connected to the skeleton structure 100. The drive joint assembly 400 is disposed within the accommodating space 110 and connected to the skeleton structure 100. The 0 includes a drive element 410 and an output shaft 430. The output shaft 430 is connected to the output end of the drive element 410, and the drive element 410 is located inside the receiving space 110. The output shaft 430 extends from the receiving space 110 to the outside of the frame structure 100. The outer shell structure 800 is connected to the frame structure 100 and covers the outside of the frame structure 100. The control module 200 and the outer shell structure 800 are respectively located inside and outside the receiving space 110, and multiple connection positions are exposed outside the outer shell structure 800.

[0023] In one possible implementation, the skeleton structure 100 constitutes the main support body of the thoracic device 10, and an accommodating space 110 is formed inside it along the height direction. The accommodating space 110 forms assembly openings on opposite sides of the skeleton structure 100 for the control module 200, the heat dissipation component 300, and the drive joint component 400 to enter and exit. The control module 200, the heat dissipation component 300, and the drive joint component 400 are respectively inserted into the accommodating space 110 through the assembly openings and locked to the inner side of the skeleton structure 100 facing the accommodating space 110, so that the installation position of each module is determined relative to the skeleton structure 100. The overall outline of the skeleton structure 100 provides a unified processing benchmark and inspection benchmark for the first connection position 121, the second connection position 122, and the third connection position 123. The three connection positions can be processed in the same clamping, and their relative positions are directly determined by the dimensional accuracy of the skeleton structure 100 itself, without the need for indirect transmission or compensation through the dimensional chain of the outer shell structure 800.

[0024] In this embodiment, the skeleton structure 100 is manufactured by cutting profile segments from the same profile. These segments are then drilled, tapped, and milled to form the first connecting position 121, the second connecting position 122, and the third connecting position 123 on their respective profile segments. The profile segments are then assembled by bolting, welding, or riveting to form the accommodating space 110. Because each profile segment is taken from the same profile, its cross-sectional shape, wall thickness, and material batch are consistent. The assembled skeleton structure 100 has relatively uniform mechanical properties, and the splicing surfaces between the profile segments fit well, thereby reducing internal stress and misalignment at the splicing points due to batch differences in the profiles. In one embodiment, the profile can be an extruded aluminum profile, which shortens the processing cycle of the skeleton structure 100. In some embodiments, the skeleton structure 100 can also be made of carbon fiber profiles or sheet metal bending parts, while the connection position arrangement remains unchanged.

[0025] In the thoracic device 10 of this embodiment, the control module 200 and the outer shell structure 800 are respectively disposed on the inner and outer sides of the accommodating space 110. The mounting reference of both is concentrated on the skeleton structure 100. The control module 200 can be exposed by removing the outer shell structure 800. During maintenance, there is no need to deal with the connecting parts between the outer shell structure 800 and the internal module. This structure helps to reduce maintenance procedures and allows the module arrangement in the accommodating space 110 to be adjusted without changing the outer shell structure 800.

[0026] In this embodiment, after the control module 200 is inserted into the receiving space 110 through the assembly opening, it is aligned and locked with the mounting features on the skeleton structure 100. Its wiring side is tapered towards the center of the receiving space 110, so that the cable routing path is kept on one side of the skeleton structure 100, without needing to extend to the inner wall of the outer shell structure 800 to form a hook point. Since the mounting references of the control module 200 and the outer shell structure 800 are both concentrated on the skeleton structure 100 and are independent of each other, the control module 200 can be exposed by removing the outer shell structure 800. During maintenance, there is no need to deal with the connecting parts between the internal module and the outer shell structure 800. The addition, removal and position adjustment of the module can be carried out within the receiving space 110. This structure helps to reduce maintenance procedures and allows the arrangement within the receiving space 110 to adapt to different module configurations.

[0027] In the thoracic device 10 of this embodiment, multiple connection points on the skeleton structure 100 are exposed to the outer shell structure 800. The docking load is borne by the skeleton structure 100, and the outer shell structure 800 only needs to meet the requirements of appearance and protection. This structure helps to reduce the overall weight of the thoracic cavity and ensures the relative relationship between each docking position by the skeleton structure 100, thereby reducing the possibility of assembly deviation accumulation to a certain extent.

[0028] In one embodiment, the head assembly, walking assembly, and arm assembly are directly attached and locked to their corresponding connection points during final assembly, reducing the number of intermediate transition parts. Since the docking load is transmitted through the skeleton structure 100, the outer shell structure 800 is located outside the load-bearing path and does not participate in load-bearing and installation. The constraints on its material, wall thickness, and molding process are reduced. This structure helps to reduce the overall weight of the thoracic cavity and allows the outer shell structure 800 to be replaced separately, thereby reducing the possibility of assembly deviations accumulating along the parts chain to a certain extent.

[0029] In the thoracic device 10 of this embodiment, the drive element 410 of the drive joint assembly 400 is located in the receiving space 110, and its output shaft 430 extends from the receiving space 110 to the outside of the skeleton structure 100. The number of parts involved in the movement of the moving parts is reduced, and the inertia during movement is reduced accordingly. This structure helps to reduce the output burden of the drive element 410, thereby improving the timeliness of dynamic response and the stability of movement posture to a certain extent.

[0030] Specifically, when the arm device is lifted, swung, and changes direction, the torque generated by the drive element 410 is transmitted to the third connection position 123 via the output shaft 430. The components involved in the movement are the output shaft 430 and the driven component that cooperates with the output shaft 430. The rotor mass of the drive element 410 itself and the mass of the reducer 420 no longer swing with the arm device, so that the moment of inertia distributed around the shoulder rotation axis is relatively reduced. The result of the reduced moment of inertia is that the required drive torque is reduced under the same angular acceleration requirement. The rotational speed of the output shaft 430 follows the control command and the process is accelerated accordingly. The vibration and overshoot during the movement are reduced. This structure helps to reduce the output burden of the drive element 410, thereby improving the timeliness of dynamic response and the stability of the movement posture to a certain extent.

[0031] Specifically, the thoracic device 10 also includes a heat dissipation assembly 300, which includes a fan 310. The fan 310 is located within the accommodating space 110 and has an air inlet side and an air outlet side. The air outlet side faces the control module 200. An air inlet 810 and an air outlet 820 are provided on the outer shell structure 800. The air outlet 820 is located on the side of the control module 200 away from the fan 310. The drive joint assembly 400 and the fan 310 are stacked together along the height direction of the skeleton structure 100, and the drive element 410 is located on the air outlet side of the fan 310.

[0032] In one possible implementation, the heat dissipation component 300 is inserted into the receiving space 110 through the assembly opening and locked to the frame structure 100. The fan 310 is fixed in such a way that its axis extends along the front-rear direction of the receiving space 110. The fan fixing member 320 can be a plate-shaped member with a mounting opening that matches the outer contour of the fan 310. The fan 310 is locked to the edge of the mounting opening by fasteners. The fan fixing member 320 is then detachably connected to the frame structure 100, so that the assembly position of the fan 310 is determined by the fit between the fan fixing member 320 and the frame structure 100. In one embodiment, the fan 310 can be configured as one or more. Multiple fans 310 are arranged at intervals along the back or side of the frame structure 100, with their air intake sides facing the same side, so that the airflow converges at the back or side of the frame structure 100 and flows in the same direction to the control module 200.

[0033] In this embodiment, external airflow enters the space between the outer shell structure 800 and the frame structure 100 through the air inlet 810, passes through the fan 310 and the control module 200 in sequence, and is then discharged outside the chest cavity device 10 through the air outlet 820. When the fan 310 is running, a pressure difference is formed between the air inlet side and the air outlet side. When the airflow passes over the surface of each functional module of the control module 200, it carries away heat through convection heat transfer. The airflow carrying heat is then discharged through the air outlet 820, so that the hot air around the control module 200 is constantly renewed. The drive joint assembly 400 and the fan 310 are stacked along the height direction of the frame structure 100, and the drive element 410 is located on the air outlet side of the fan 310, so that the drive joint assembly 400 and the control module 200 are in the same airflow path. The heat generated by the two can be carried away by the same airflow in sequence. The drive joint assembly 400 and the control module 200 share the same airflow path.

[0034] In one embodiment, the plurality of connection positions include a first connection position 121, a second connection position 122 and a third connection position 123, which are respectively disposed at the top, bottom and opposite sides of the skeleton structure 100.

[0035] In one possible implementation, the number of third connection positions 123 is at least two. Third connection positions 123 are formed on the left and right sides of the frame structure 100, respectively. The two third connection positions 123 are symmetrically arranged about the midline of the frame structure 100 in the left-right direction. Two drive joint assemblies 400 correspond to the two third connection positions 123 respectively, and their output shafts 430 extend to the corresponding third connection position 123, so that the left and right arm devices are driven by independent drive joint assemblies 400. Since the mounting reference of the two drive joint assemblies 400 is taken from the frame structure 100, the positional deviation of the rotation center on the left and right sides relative to the center plane of the frame structure 100 is determined by the machining accuracy of the frame structure 100 itself, thus ensuring the consistency of movement of the arm devices on both sides. In some embodiments, the number of third connection positions 123 can be more than two. For example, in addition to one third connection position 123 on each of the left and right sides, additional connection positions are provided on the upper or rear part of the frame structure 100, thereby enabling the same frame structure 100 to adapt to different arm configurations in the overall machine solution.

[0036] Specifically, the output shaft 430 extends out of the frame structure 100 through one of the connection positions, and a through hole is provided on the connection position for the output shaft 430 to pass through.

[0037] In one possible implementation, a via is formed on the wall of the frame structure 100 along the axial direction of the output shaft 430 and communicates with the receiving space 110. The diameter of the via is larger than the outer diameter of the output shaft 430, so that when the output shaft 430 passes through the via, there is a circumferential gap between its outer peripheral surface and the wall of the via. This gap prevents the output shaft 430 from contacting the frame structure 100 during rotation. The vibration of the drive element 410 and the sway of the output shaft 430 are directly transmitted to the frame structure 100 without passing through the wall of the via. At the same time, it provides adjustment margin for the installation position of the drive element 410 and relaxes the machining accuracy of the via and the assembly alignment requirements of the output shaft 430 accordingly.

[0038] In this embodiment, the drive joint assembly 400 further includes a reducer 420, which is coaxially arranged with the drive element 410. The output shaft of the drive element 410 extends into the input end of the reducer 420, and the output end of the reducer 420 directly forms the output shaft 430. When a coaxial direct connection is adopted, there is no need for intermediate transmission components such as timing belts, sprockets, or gear pairs between the drive element 410 and the reducer 420. The length of the transmission chain is shortened, and the transmission gap and elastic deformation links are correspondingly reduced, which facilitates the control of the rotation angle at the third connection position 123. In one embodiment, the reducer 420 can be a cycloidal pinwheel reducer or a planetary gear reducer. Its housing is docked with and locked into the housing of the drive element 410, so that the drive element 410 and the reducer 420 constitute an integral drive joint assembly 400. In one embodiment, the output shafts 430 of the two drive elements 410 extend in opposite directions along the same axis, so that the swing reference of the two arm devices is at the same height, which is beneficial to the kinematic symmetry of the whole machine in the left and right directions. In some embodiments, the two drive elements 410 can also be arranged with parallel and staggered axes to adapt to the whole machine scheme with different installation heights of the two arms.

[0039] In one embodiment, the thoracic device 10 further includes a shoulder motor mount 440, which is fixed inside the receiving space 110. The drive element 410 is fixed to the shoulder motor mount 440. The shoulder motor mount 440 forms a mounting surface on the side facing the middle of the receiving space 110. The housing of the drive element 410 is fitted, positioned, and locked to the shoulder motor mount 440 via the mounting surface. The reaction torque generated when the drive element 410 is running is transmitted to the frame structure 100 via the shoulder motor mount 440 and then distributed by the frame structure 100 to the third connection position 123 and other locations, so that the reaction torque does not directly act on other modules in the receiving space 110. In some embodiments, the shoulder motor mount 440 may be made of casting, machining or sheet metal bending, and its outer contour is adapted to the inner contour of the accommodating space 110; in other embodiments, the shoulder motor mount 440 may also be integrally formed with the frame structure 100, in which case the wall of the frame structure 100 also serves as the bottom wall of the shoulder motor mount 440, and the drive element 410 is directly locked to the wall of the frame structure 100.

[0040] Furthermore, the thoracic device 10 also includes an acoustic component 500 and an antenna 610. The acoustic component 500 includes a first microphone array 510 and a second microphone array 520. The first microphone array 510 and the second microphone array 520 are respectively disposed on both sides of the skeleton structure 100 along the front-back direction. The antenna 610 is disposed between the skeleton structure 100 and the outer shell structure 800, and the antenna 610 is located above the first microphone array 510 and the second microphone array 520 along the height direction of the skeleton structure 100.

[0041] In one possible implementation, the first microphone array 510 is positioned on the front side of the frame structure 100 with its pickup surface facing forward, and the second microphone array 520 is positioned on the rear side of the frame structure 100 with its pickup surface facing backward. The two microphone arrays are located on opposite sides of the frame structure 100, and the pickup holes 833 are opened on the outer shell structure 800 at positions opposite to the two microphone arrays, so that the pickup surface of each array and the corresponding pickup hole 833 form a sound transmission channel. Since the microphones are positioned on the front and rear sides of the frame structure 100, sound can be picked up by the corresponding microphone array from the front and rear directions of the body, and the pickup range is extended from the local area of ​​the body to the front and rear sides. This structure helps to reduce the blind spot of the pickup. In one embodiment, the first microphone array 510 and the second microphone array 520 may each include four microphones arranged at equal intervals along the horizontal direction, and the housing structure 800 shall have four pickup holes 833 respectively, and each pickup hole 833 shall be coaxially arranged with the corresponding microphone; in some embodiments, the pickup hole 833 may be a round hole, an oblong hole or a grid-like opening composed of multiple small holes.

[0042] In this embodiment, the antenna 610 is fixed to the side of the skeleton structure 100 facing the outer shell structure 800 via the antenna mounting bracket 620. The antenna mounting bracket 620 is fixed to the skeleton structure 100. The antenna 610 is connected to the wireless communication module 630 via a feed line, which is arranged along the surface of the skeleton structure 100 and fixed to the skeleton structure 100. Since the antenna 610 is located between the skeleton structure 100 and the outer shell structure 800, the antenna 610 does not protrude from the outer surface of the outer shell structure 800, and the robot's appearance remains continuous. In one embodiment, there are multiple antennas 610, with two antennas 610 respectively disposed on the top of the skeleton structure 100 and located on opposite sides. The two antennas 610 are positioned close to the third connection position 123, and the distance between them makes the signal fading characteristics of their respective locations independent of each other. The wireless communication module 630 can select or combine between the two antennas 610, thereby improving the quality of the received signal.

[0043] In one embodiment, the acoustic component 500 further includes a pickup board 530 and an audio control board 540. Each microphone is mounted on the pickup board 530 and interconnected via lines on the pickup board 530. The audio control board 540 is located within the accommodating space 110 and connected to the pickup board 530 via cables. The sound signals collected by each microphone are collected by the pickup board 530 and transmitted to the audio control board 540. The audio control board 540 synchronously collects and processes the signals output by each microphone. Since the wiring of each microphone is concentrated on the pickup board 530, the number of connecting lines between the microphone and the audio control board 540 is reduced, and the wiring within the accommodating space 110 is correspondingly simplified.

[0044] In one embodiment, the acoustic component 500 further includes a speaker 550 and a sound cavity 560. The speaker 550 and the sound cavity 560 are fixed to the front side of the frame structure 100 and located below the acoustic component 500. There are multiple speakers 550, and each speaker 550 is connected to and sealed to the sound cavity 560, so that the sound cavity 560 forms a closed rear cavity on the back side of the speaker 550. The sound waves on the back side of the speaker 550 diaphragm are confined within the sound cavity 560, and the phenomenon of sound waves canceling each other on the front and back sides of the diaphragm is correspondingly reduced, thus improving the output efficiency of the speaker 550 in the mid-to-low frequency range. Since the first microphone array 510 and the second microphone array 520 are positioned vertically and vertically with the speaker 550 along the height direction of the frame structure 100, the sound pressure generated when the speaker 550 emits sound mainly radiates forward, and the path of its sound waves to reach the first microphone array 510 is relatively long, thus reducing the interference of the sound from the speaker 550 on the sound collected by the microphone array.

[0045] In one embodiment, the thoracic device 10 further includes a wiring harness fixing part and a wireless communication module 630. The wiring harness fixing part is disposed in the receiving space 110, and the cable of the control module 200 is fixed to the wiring harness fixing part. The acoustic component 500 and the wireless communication module 630 are both connected to the control module 200 via cables.

[0046] In one possible implementation, the wiring harness fixing part is located inside the frame structure 100 facing the receiving space 110 and within the receiving space 110. The cable of the control module 200 is fixed to the wiring harness fixing part, and the signal cables of the acoustic component 500 and the wireless communication component 600 are also constrained within the receiving space 110. Since the cable of the control module 200 is constrained inside the frame structure 100 by the wiring harness fixing part, the cable remains in its original position when the housing structure 800 is removed and does not need to be unplugged from the module. After the housing structure 800 is reinstalled, the cable routing and fixing status do not change. This structure helps to reduce the number of plug-in insertions and removals during maintenance and reduces the possibility of the cable being pulled or bent during repeated disassembly and reassembly. In one embodiment, the wireless communication component 600 further includes a communication hub 650 and a switch 660. The communication hub 650 and the switch 660 are respectively disposed in the accommodating space 110 and fixed to the skeleton structure 100. The communication hub 650 is used to expand one communication interface into multiple interfaces, and the switch 660 is used to forward data between multiple modules. The wiring of the two is also constrained to the inside of the accommodating space 110.

[0047] Specifically, the outer shell structure 800 includes a first shell 830 and a second shell 840 that can be detachably connected. The first shell 830 has a plurality of heat dissipation holes 8321 and a sound pickup hole 833, and the heat dissipation holes 8321 and the sound pickup hole 833 are spaced apart.

[0048] In one possible implementation, a first housing 830 covers the front of the frame structure 100 and the assembly opening on one side of the receiving space 110, while a second housing 840 covers the rear of the frame structure 100. The two housings fit together at their mating edges, with their inner surfaces spaced apart from the functional modules within the receiving space 110, allowing airflow between the inner surfaces and the functional modules. The first housing 830 is detachably connected to the frame structure 100 via a first housing fixing seat 130, which is fixed to the frame structure 100 and has a mounting bracket facing the first housing. The first housing 830 has an open mating surface, and the inner side of the first housing 830 is provided with an overlapping part corresponding to the mating surface. During assembly, the first housing 830 is first attached to the first housing fixing seat 130 and the overlapping part is made to abut against the mating surface to complete the pre-positioning. Then, the fastener is screwed into the first housing fixing seat 130 through the through hole on the first housing 830, so that the weight of the first housing 830 itself and the external load are transferred to the frame structure 100 through the first housing fixing seat 130. This makes it easy to remove the first housing 830 separately during subsequent maintenance to operate the module in the accommodating space 110.

[0049] In this embodiment, the first housing 830 is provided with a plurality of heat dissipation holes 8321. The heat dissipation holes 8321 penetrate the first housing 830 along the thickness direction of the first housing 830 and are arranged in an array. The hole diameter and opening area can be determined according to the required airflow. The sound pickup hole 833 is provided on the first housing 830 and is spaced apart from the heat dissipation holes 8321, so that the sound pickup hole 833 and the heat dissipation hole 8321 are located in different areas of the first housing 830, avoiding mutual interference between the opening for airflow and the opening for sound transmission. In one embodiment, the outer shell structure 800 also includes a first neck shell 831 and a second neck shell 841. The first neck shell 831 is connected to the first housing 830, and the second neck shell 841 is connected to the second housing 840. The first neck shell 831 and the second neck shell 841 fit together at the mating edge of the first housing 830 and the second housing 840, and a gap is left in the middle for the first connection position 121 to be exposed.

[0050] In this embodiment, the second housing 840 has an external access port 842. The thoracic cavity device 10 also includes a sealing cover 850 covering the external access port 842. The sealing cover 850 is detachably connected to the second housing 840. The external access port 842 penetrates the second housing 840 along the thickness direction. Its opening position on the second housing 840 is opposite to the external interface 280 on the second fixing member 720 along the thickness direction. The outer contour of the sealing cover 850 is adapted to the contour of the external access port 842 and has a stepped surface on the side facing the second housing 840. After the sealing cover 850 is closed, it is flush with the outer surface of the second housing 840. When foreign objects and liquids flow along the outer surface of the second housing 840, they are blocked by the stepped surface and are not easy to enter the receiving space 110. Thus, the external interface 280 is protected in a state that allows it to be accessed from the outside.

[0051] In one embodiment, the thoracic device 10 further includes a light strip 860, a front light-transmitting element 835, and a rear light-transmitting element 843. The light strip 860 is disposed on the frame structure 100, the front light-transmitting element 835 is disposed on the first housing 830, and the rear light-transmitting element 843 is disposed on the second housing 840. At least a portion of the front light-transmitting element 835 is disposed corresponding to the light strip 860, and at least a portion of the rear light-transmitting element 843 is disposed corresponding to the light strip 860. The thoracic device 10 also includes a lighting effect control board 290, which is disposed within the accommodating space 110 and fixed to the frame structure 100. Its control end is connected to the light strip 860. Since the light strip 860 is mounted on the frame structure 100, its light-emitting surface is opposite to the front light-transmitting element 835 and the rear light-transmitting element 843 on the inner side of the outer shell structure 800. The light emitted by the light strip 860 is transmitted outward through the front light-transmitting element 835 and the rear light-transmitting element 843. Both the light strip 860 and the lighting effect control board 290 are mounted on the frame structure 100. When the outer shell structure 800 is disassembled and assembled, the installation status and wiring of the two remain unchanged. This structure helps to ensure that the lighting effect area maintains its original alignment after maintenance.

[0052] In one embodiment, the outer shell structure 800 is further provided with a horn hole 834, which is correspondingly provided with the sound outlet side of the sound cavity 560, so that the sound is transmitted outward from the sound cavity 560 through the horn hole 834.

[0053] In one embodiment, the thoracic device 10 further includes a wire harness fixing part and a communication hub 650. The wire harness fixing part includes a first fixing member 710 and a second fixing member 720. The first fixing member 710 and the second fixing member 720 are respectively disposed on opposite sides of the skeleton structure 100, and both the first fixing member 710 and the second fixing member 720 are fixed to the skeleton structure 100 and located in the receiving space 110. The communication hub 650 is connected to the first fixing member 710. The second fixing member 720 is provided with a plurality of peripheral interfaces 280. The second housing 840 is provided with peripheral ports 842 corresponding to the plurality of peripheral interfaces 280.

[0054] In one possible implementation, the wiring harness fixing part includes a first fixing member 710 and a second fixing member 720. The first fixing member 710 and the second fixing member 720 are respectively disposed on opposite sides of the skeleton structure 100 and located within the receiving space 110. The communication hub 650 is connected to the first fixing member 710 and fixed to the skeleton structure 100 along with the first fixing member 710. The second fixing member 720 is provided with multiple peripheral interfaces 280. The peripheral port 842 on the second housing 840 corresponds to the multiple peripheral interfaces 280, so that the connectors of external devices can be directly plugged into the peripheral interfaces 280 through the peripheral port 842. Since the communication hub 650 and the peripheral interfaces 280 are fixed to the skeleton structure 100 by the first fixing member 710 and the second fixing member 720 respectively, their wiring is concentrated inside the receiving space 110. When removing the housing structure 800, it is not necessary to deal with the above connection relationship. This structure helps to keep the wiring of the peripheral area and the wiring of the control module 200 stable.

[0055] Specifically, the control module 200 also includes a power board 240, which is stacked with the drive joint assembly 400 along the height direction of the skeleton structure 100. The power board 240 is located below the drive joint assembly 400 and is correspondingly arranged with the air outlet 820.

[0056] In one possible implementation, the control module 200 further includes a first main control unit 210, a second main control unit 220, and a power amplifier board 270. The first main control unit 210 and the second main control unit 220 are arranged opposite to each other and spaced apart, forming a channel 230 between their surfaces for airflow. The power supply board 240 and the drive joint assembly 400 are stacked along the height direction of the frame structure 100. The power supply board 240 is located below the drive joint assembly 400 and is correspondingly arranged with the air outlet 820, so that the airflow continues to flow over the surfaces of the power supply board 240 and the power amplifier board 270 after flowing through the control module 200, and is then discharged from the air outlet 820. Since the allowable operating temperature of the power supply board 240 and the power amplifier board 270 is relatively high, arranging them in the middle and rear sections of the airflow path allows the relatively cool airflow to preferentially flow over the temperature-sensitive first main control unit 210 and the second main control unit 220.

[0057] In one embodiment, the first clamping member 250 and the second clamping member 260 are respectively clamped on opposite sides of the power board 240 and locked to the frame structure 100 by fasteners, so that the power board 240 is clamped between the first clamping member 250 and the second clamping member 260; the clamping force is transmitted to the first clamping member 250 and the second clamping member 260 through the plate surface of the power board 240, and the power board 240 is not easy to move relative to the frame structure 100 during the operation and transportation of the whole machine; in one embodiment, the first clamping member 250 and the second clamping member 260 can be sheet metal parts respectively, and the plate surface of the sheet metal parts is attached to the surface of the power board 240, so that the heat of the power board 240 can be conducted to the frame structure 100 through the sheet metal parts and carried away by the airflow flowing over the surface of the sheet metal parts.

[0058] In one embodiment, the thoracic device 10 further includes a plurality of support members 140, which are connected to the skeleton structure 100 and extend along the height direction of the skeleton structure 100. The plurality of functional modules included in the control module 200 are arranged in layers within the accommodating space 110 via the support members 140. An interlayer gap is formed between two adjacent layers of functional modules to allow airflow to pass through. When the airflow flows through the corresponding layer, it can pass through the interlayer gap. In one embodiment, the support member 140 can be a copper column. One end of the copper column abuts against and is locked to the inner wall of the skeleton structure 100 facing the accommodating space 110, and the other end is provided with a connecting part for locking the functional modules. In addition to being carried away by the airflow, the heat of the functional modules can also be conducted to the skeleton structure 100 via the copper column.

[0059] The present invention also provides a humanoid robot, which includes functional components and the thoracic device 10 in any of the above embodiments; the functional components are connected to at least one of a plurality of connection positions.

[0060] In one possible implementation, the functional components include at least one of a head unit, an arm unit, and a walking unit. The head unit can be connected to a first connection position 121, the walking unit can be connected to a second connection position 122, and the arm unit can be connected to a third connection position 123. The connecting flange of the head unit is attached to the upper end face of the first connection position 121. The column or chassis transition piece of the walking unit is attached to the lower end face of the second connection position 122 and together they bear the weight of the entire machine and the impact load during walking. The shoulder adapter of the arm unit is attached to the outer side of the third connection position 123 and arranged in pairs on the left and right sides, so that the three components form their own load-bearing paths with three independent connection positions on the frame structure 100. The loads converge inside the frame structure 100 and are then transmitted downward to the walking unit. The outer shell structure 800 is located outside the load-bearing path and does not need to bear the above loads. Since the three connection positions are all exposed outside the outer shell structure 800, the assembly and disassembly of the above functional components can be carried out while the outer shell structure 800 is in the installed state, thereby facilitating flexible arrangement of the assembly sequence at different assembly stages.

[0061] In the description of the embodiments of this application, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0062] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0063] In the embodiments of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0064] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A thoracic cavity device for a humanoid robot, characterized in that, include: The skeleton structure has an internal receiving space and multiple connection points. A control module is located within the accommodating space and connected to the skeleton structure; A drive joint assembly is disposed within the receiving space and connected to the skeleton structure. The drive joint assembly includes a drive element and an output shaft. The output shaft is connected to the output end of the drive element, and the drive element is located within the receiving space. The output shaft extends from the receiving space to the outside of the skeleton structure. A heat dissipation assembly includes a fan disposed within the receiving space, the fan having an air inlet side and an air outlet side, the air outlet side facing the control module; The drive joint assembly and the fan are stacked together along the height direction of the frame structure, and the drive element is located on the air outlet side of the fan; The acoustic component includes a first microphone array and a second microphone array, wherein the first microphone array and the second microphone array are respectively disposed on both sides of the skeleton structure along the front-back direction; The outer shell structure is connected to the frame structure and covers the outside of the frame structure; wherein, the control module and the outer shell structure are respectively disposed on the inner and outer sides of the accommodating space, and multiple connection positions are exposed on the outer shell structure. The outer shell structure is provided with an air inlet and an air outlet, and the air outlet is located on the side of the control module away from the fan. An antenna is disposed between the frame structure and the outer shell structure, and the antenna is located above the first microphone array and the second microphone array along the height direction of the frame structure; and The system includes a wire harness fixing part and a wireless communication module. The wire harness fixing part is disposed within the accommodating space. The cable of the control module is fixed to the wire harness fixing part. The acoustic component and the wireless communication module are both connected to the control module via the cable.

2. The thoracic cavity device for a humanoid robot according to claim 1, characterized in that, The plurality of connection positions include a first connection position, a second connection position, and a third connection position, wherein the first connection position, the second connection position, and the third connection position are respectively disposed at the top, the bottom, and the opposite sides of the skeleton structure.

3. The thoracic cavity device for a humanoid robot according to claim 1, characterized in that, The output shaft extends out of the frame structure through one of the connection positions, and the connection position has a through hole for the output shaft to pass through.

4. The thoracic cavity device for a humanoid robot according to claim 1, characterized in that, The outer shell structure includes a first shell and a second shell that can be detachably connected. The first shell has heat dissipation holes and a sound pickup hole, and the heat dissipation holes and the sound pickup hole are spaced apart.

5. The thoracic cavity device for a humanoid robot according to claim 4, characterized in that, The thoracic device further includes a wire harness fixing part and a communication hub. The wire harness fixing part includes a first fixing member and a second fixing member. The first fixing member and the second fixing member are respectively disposed on opposite sides of the skeleton structure, and both the first fixing member and the second fixing member are fixed to the skeleton structure and located within the accommodating space. The communication hub is connected to the first fixing member. The second fixing member is provided with multiple peripheral interfaces, and the second housing is provided with peripheral ports corresponding to the multiple peripheral interfaces.

6. The thoracic cavity device for a humanoid robot according to claim 1, characterized in that, The control module also includes a power board, which is stacked with the drive joint assembly along the height direction of the skeleton structure. The power board is located below the drive joint assembly and is correspondingly arranged with the air outlet.

7. A humanoid robot, characterized in that, include: Functional components; as well as The thoracic device for a humanoid robot according to any one of claims 1 to 6, wherein the functional component is connected to at least one of the plurality of connection positions.

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