Robot trunk structure

Abstract

The utility model provides a robot trunk structure. The robot trunk structure comprises a shank assembly, a thigh assembly and a thoracic cavity assembly. The shank assembly comprises a first trunk motor, the thigh assembly comprises a second trunk motor, and the chest assembly comprises a third trunk motor, a third trunk motor base, a fourth trunk motor and a fourth trunk motor base; in a plane formed by the first direction and the second direction, the first trunk motor drives the shank assembly to rotate around an output shaft of the first trunk motor relative to the robot chassis structure, and the second trunk motor drives the thigh assembly to rotate around an output shaft of the second trunk motor relative to the shank assembly. The third trunk motor drives the thoracic cavity assembly to rotate around an output shaft of the third trunk motor relative to the thigh assembly, and in a plane formed in the second direction and the third direction, the fourth trunk motor drives the thoracic cavity assembly to rotate around an output shaft of the fourth trunk motor relative to the thigh assembly. The robot trunk structure has multiple degrees of freedom, and can flexibly control the movement of each joint to make different actions.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot trunk structure. Background Art

[0002] With the advancement of computer technology, microelectronics technology, and network technology, robotics has also experienced rapid growth. Currently, robots are used not only in the industrial sector but also in areas closely related to human life, such as service robots, educational robots, and entertainment robots. These robots, which consist of a head, torso, and base, have brought convenience and enjoyment to human life. However, existing technologies often suffer from limited flexibility due to the limited direction and angle of the robot's torso structure. Furthermore, the overall torso structure is heavy, resulting in poor overall stability. Utility Model Content

[0003] The present application provides a robot torso structure that solves at least one problem in the above-mentioned prior art.

[0004] According to an embodiment of the present application, a robot torso structure is provided, comprising:

[0005] a shank assembly, the shank assembly comprising a first torso motor, the shank assembly being rotationally connected to the robot chassis structure via the first torso motor, wherein when the first torso motor is in operation, the first torso motor drives the shank assembly to rotate relative to the robot chassis structure about an output shaft of the first torso motor within a plane formed by a first direction and a second direction;

[0006] a thigh assembly, the thigh assembly including a second torso motor, the thigh assembly being rotationally connected to the calf assembly via the second torso motor, and when the second torso motor is in operation, the second torso motor drives the thigh assembly to rotate relative to the calf assembly about an output shaft of the second torso motor within a plane formed by the first direction and the second direction;

[0007] a chest assembly comprising a third torso motor, a third torso motor base, a fourth torso motor and a fourth torso motor base, wherein the third torso motor is disposed in the third torso motor base, and an output shaft of the third torso motor is rotationally connected to the thigh assembly, the fourth torso motor base is fixedly connected to an outer surface of the third torso motor base, the fourth torso motor is disposed on the fourth torso motor base, and an output shaft of the fourth torso motor is rotationally connected to the fourth torso motor base, the chest assembly is rotationally connected to the thigh assembly via the third torso motor and the fourth torso motor, when the third torso motor is operating, within a plane formed by the first direction and the second direction, the third torso motor drives the chest assembly to rotate relative to the thigh assembly around the output shaft of the third torso motor, when the fourth torso motor is operating, within a plane formed by the second direction and the third direction, the fourth torso motor drives the chest assembly to rotate relative to the thigh assembly around the output shaft of the fourth torso motor;

[0008] The first direction is a direction perpendicular to the ground, and the first direction, the second direction and the third direction are perpendicular to each other.

[0009] In some embodiments of the present application, the calf assembly also includes a first torso motor seat, a first torso bearing, a first torso bearing seat, a calf output connecting rod, a calf auxiliary connecting rod, a calf connecting support rod, a second torso motor seat and a calf housing; the first torso motor seat is provided with a plurality of mounting ears at one end close to the robot chassis structure, and each of the mounting ears extends in a direction away from the first torso motor seat within a plane formed by the second direction and the third direction, and the first torso motor seat is fixedly connected to the robot chassis structure by a plurality of the mounting ear bolts; the first torso motor is installed on the first torso motor seat, and the output shaft of the first torso motor extends along the third direction, and the output shaft of the first torso motor and the motor tail cover are It is passed through the outside of the first torso motor seat; the first torso bearing is arranged on the first torso motor seat through the first torso bearing seat, and is located at one end of the motor tail cover of the first torso motor; the first end of the calf output connecting rod is fixedly connected to the output shaft of the first torso motor, and the first end of the calf auxiliary connecting rod is rotatably connected to the first torso motor seat through the first torso bearing, and the second end of the calf output connecting rod and the second end of the calf auxiliary connecting rod are respectively fixedly connected to the two ends of the second torso motor seat; the two ends of the calf connecting support rod along the third direction are respectively fixedly connected to the calf output connecting rod and the calf auxiliary connecting rod; a calf shell is respectively provided on the outer side surface of the calf output connecting rod and the calf auxiliary connecting rod.

[0010] In some embodiments of the present application, the calf output connecting rod includes a first calf output part, a second calf output part and a calf output connecting part; the first calf output part is an annular plate structure, and the first calf output part is evenly provided with a plurality of first output mounting holes at equal distances along the circumferential direction, and the calf output connecting rod is fixedly connected to the output shaft bolt of the first torso motor through the plurality of first output mounting holes; the second calf output part is an annular cylindrical structure, and the second calf output part is provided with at least one output positioning groove on the annular end face close to the second torso motor seat, and the second torso motor seat is provided with at least one output positioning block on the annular end face close to the second calf output part, each Each of the output positioning blocks is provided in a one-to-one correspondence with each of the output positioning slots, the calf output connecting rod and the second torso motor seat are positioned and connected through the output positioning block and the output positioning slot, and the second calf output part and the second torso motor seat are fixedly connected with bolts; the two ends of the calf output connecting part along the first direction are respectively integrally connected with the first calf output part and the second calf output part, the calf output connecting part is provided with an output notch in the middle part along the first direction, and the calf output connecting part is provided with a calf output wire groove on the side away from the calf auxiliary connecting rod in the third direction, and the calf output wire groove is connected from the first calf output One end of the calf auxiliary part extends to one end of the second calf output part; the calf auxiliary connecting rod includes a first calf auxiliary part, a second calf auxiliary part and a calf auxiliary connecting part; the first calf auxiliary part includes a stepped circular ring part and an arc plate part, the stepped circular ring part is inserted in the first torso motor seat, and is rotatably connected to the first torso bearing seat through the first torso bearing, and the arc plate part is integrally connected with the end of the stepped circular ring part away from the first torso motor seat; the second calf auxiliary part is a stepped circular ring structure, the small diameter end of the second calf auxiliary part is inserted in the second torso motor seat, and the large diameter end of the second calf auxiliary part is arranged at the second torso motor seat away from the second calf The circular end surface of the leg output part is fixedly connected with the second torso motor seat by bolts; the two ends of the calf auxiliary connecting part along the first direction are respectively connected with the first calf auxiliary part and the second calf auxiliary part in one piece, and the calf auxiliary connecting part is symmetrically arranged with the calf output connecting part, and the middle part of the calf auxiliary connecting part along the first direction is provided with an auxiliary notch, and the calf auxiliary connecting part is provided with a calf auxiliary wire groove on the side away from the calf output connecting rod in the third direction, and the calf auxiliary wire groove extends from one end of the arc plate part to one end of the second calf auxiliary part; the calf connecting support rod includes a first connecting part, a second connecting part and a third connecting part;The two ends of the first connecting portion along the third direction are respectively integrally connected to the second connecting portion and the third connecting portion, and the second connecting portion and the third connecting portion are both arranged perpendicular to the first connecting portion, and the second connecting portion and the third connecting portion are respectively symmetrically arranged at the output notch and the auxiliary notch; the second connecting portion and the third connecting portion are respectively provided with at least one fixing block at both ends along the first direction, and the calf output connecting portion and the calf auxiliary connecting portion are respectively provided with a plurality of fixing grooves, each of the fixing grooves is respectively corresponding to a plurality of fixing blocks, and the calf connecting support rod is positioned and connected to the calf output connecting rod and the calf auxiliary connecting rod by the plurality of fixing blocks respectively clamped in each of the fixing grooves, and the calf connecting support rod is fixedly connected to the calf output connecting rod and the calf auxiliary connecting rod by the plurality of fixing blocks and the calf output connecting portion or the calf auxiliary connecting portion.

[0011] In some embodiments of the present application, the thigh assembly further includes a second torso bearing, a thigh output link, a thigh auxiliary link, a thigh connecting support rod and a thigh shell; the second torso motor is mounted on the second torso motor seat, the output shaft of the second torso motor extends along the third direction, and the output shaft and the motor tail cover of the second torso motor are both passed through the outside of the second torso motor seat; the second torso bearing is arranged in the second torso motor seat and is located at one end of the motor tail cover of the second torso motor; the first end of the thigh output link is fixedly connected to the output shaft of the second torso motor, the first end of the thigh auxiliary link is rotatably connected to the second torso motor seat through the second torso bearing, the second end of the thigh output link and the second end of the thigh auxiliary link are respectively rotatably connected to the thoracic assembly; the two ends of the thigh connecting support rod along the third direction are respectively fixedly connected to the thigh output link and the thigh auxiliary link; a thigh shell is respectively provided on the outer surface of the thigh output link and the thigh auxiliary link.

[0012] In some embodiments of the present application, the thigh output connecting rod includes a first thigh output portion, a second thigh output portion and a thigh output connecting portion; the first thigh output portion is an annular plate structure, and the first thigh output portion is evenly provided with a plurality of second output mounting holes at equal distances along the circumferential direction, and the thigh output connecting rod is fixedly connected to the output shaft bolt of the second torso motor through the plurality of second output mounting holes; the second thigh output portion is an annular plate structure, and the second thigh output portion is evenly provided with a plurality of third output mounting holes at equal distances along the circumferential direction, and the thigh output connecting rod is fixedly connected to the output shaft bolt of the third torso motor through the plurality of third output mounting holes. The thigh output connection part is fixedly connected with the first thigh output part and the second thigh output part at both ends along the first direction, and a thigh output wire groove is provided on the side of the thigh output connection part away from the thigh auxiliary connecting rod, and the thigh output wire groove extends from the end of the first thigh output part away from the thigh output connection part to the end of the second thigh output part away from the thigh output connection part; the thigh auxiliary connecting rod includes a first thigh auxiliary part, a second thigh auxiliary part and a thigh auxiliary connection part; the first thigh auxiliary part is a three-step circular ring structure, and the small diameter end and the middle diameter end of the first thigh auxiliary part are inserted into the The second torso motor seat is in the second torso motor seat and is rotatably connected to the second torso motor seat through the second torso bearing; the second thigh auxiliary part is a three-step circular ring structure, and the small diameter end and the middle diameter end of the second thigh auxiliary part are inserted into the third torso motor seat and are rotatably connected to the third torso motor seat through the third torso bearing; the two ends of the thigh auxiliary connecting part along the first direction are respectively integrally connected with the large diameter end of the first thigh auxiliary part and the large diameter end of the second thigh auxiliary part, and a thigh auxiliary wire groove is provided on the side of the thigh auxiliary connecting part away from the thigh output connecting rod, and the thigh auxiliary wire groove is extended from the first thigh auxiliary part away from the large diameter end One end of the leg auxiliary connection part extends to the end of the second thigh auxiliary part away from the thigh auxiliary connection part; the end of the first thigh output part away from the thigh output connection part, the end of the second thigh output part away from the thigh output connection part, the end of the first thigh auxiliary part away from the thigh auxiliary connection part, and the end of the second thigh auxiliary part away from the thigh auxiliary connection part are all provided with a thigh wiring gap; the thigh connecting support rod is a long rod structure, the thigh connecting support rod is extended along the third direction, and the two ends of the thigh connecting support rod are respectively fixedly connected with the middle bolts of the thigh output connection part and the thigh auxiliary connection part.

[0013] In some embodiments of the present application, the thigh connecting support rod is located on one side of the thigh output connecting part and the thigh auxiliary connecting part; the side of the thigh output connecting part close to the thigh connecting support rod is tangent to the first thigh output part and the second thigh output part respectively, and the other side of the thigh output connecting part away from the thigh connecting support rod is provided with an output limiting part and an output groove, the output limiting part is tangent to the second thigh output part, and the output groove is located at the connection between the thigh output connecting part and the first thigh output part; the side of the thigh auxiliary connecting part close to the thigh connecting support rod is tangent to the first thigh auxiliary part and the second thigh auxiliary part respectively, and the other side of the thigh auxiliary connecting part away from the thigh connecting support rod is provided with an auxiliary limiting part and an auxiliary groove, the auxiliary limiting part is tangent to the second thigh auxiliary part, and the auxiliary groove is located at the connection between the thigh auxiliary connecting part and the first thigh auxiliary part.

[0014] In some embodiments of the present application, the chest assembly also includes a third torso bearing, a chest support, a left arm mounting base, a right arm mounting base, a host mounting bracket, a controller mounting bracket, a head mounting base and a chest shell; the third torso bearing is arranged in the third torso motor seat and is located at one end of the motor tail cover of the third torso motor, and the end of the thigh assembly close to the chest assembly is rotatably connected to the third torso motor seat through the third torso bearing and the third torso motor; one end of the chest support along the first direction is fixedly connected to the stator of the fourth torso motor; the head mounting base is arranged at the other end of the chest support along the first direction for mounting the robot head; the left arm mounting base and the right arm mounting base They are respectively arranged at both ends of the chest support along the third direction, and are both located at one end of the chest support along the first direction close to the head mounting base, the left arm mounting base is used to install the left robotic arm of the robot, and the right arm mounting base is used to install the right robotic arm of the robot; the host mounting frame and the controller mounting frame are both arranged in the middle of the chest support along the first direction, the host mounting frame is used to install the PC host, and the controller mounting frame is used to install the robot controller; the chest shell is fixedly connected to the chest support, and the fourth torso motor, the chest support, the left arm mounting base, the right arm mounting base, the host mounting frame, the controller mounting frame and the head mounting base are all placed in the chest shell.

[0015] In some embodiments of the present application, the chest support includes a chest base plate, a chest left rib plate, a chest right rib plate, a chest middle rib plate, multiple chest ribs and an outer shell support; the chest base plate includes a motor connecting part and a rib connecting part, the motor connecting part is a circular cylindrical structure, and the motor connecting part is evenly provided with multiple motor mounting holes at equal distances along the circumferential direction, the motor connecting part is sleeved on the fourth torso motor, and is fixedly connected to the stator of the fourth torso motor through multiple motor mounting holes, the rib connecting part is a hexagonal plate structure with two groups of parallel edges, and the two inclined sides of the rib connecting part are equal in length, and an arc notch is provided on one side of the longest side of the rib connecting part, and one end of the motor connecting part is provided on the arc notch. The rib plate is fixedly mounted on the left side of the chest wall, and the rib plate is fixedly mounted on the right side of the chest wall, and the rib plate is fixedly mounted on the right side of the chest wall. A vertical part and a right horizontal part, the right vertical part extends along the first direction, and one end of the right vertical part is fixedly connected to the end surface of the chest base plate away from the third torso motor, and is located at the edge of the other side adjacent to the longest side in the rib plate connecting part, the length of one end of the right vertical part is equal to the length of one side adjacent to the longest side in the rib plate connecting part, the other end of the right vertical part is integrally connected with one end of the right horizontal part, and the right vertical part and the right horizontal part are vertically arranged, and the right horizontal part extends along the second direction; the chest rib plate is a rectangular plate structure, a rectangular notch is provided in the middle of the chest rib plate, and one of the wide side ends of the chest rib plate is fixedly connected to the chest base plate. On the end surface away from the third torso motor, and located at the edge of one side parallel to the longest side in the rib connecting part, the length of the wide side of the chest rib is equal to the length of one side parallel to the longest side in the rib connecting part; a plurality of chest ribs are symmetrically arranged between the chest rib and the left chest rib and the right chest rib, one end of each chest rib is fixedly connected to the long side end of the chest rib, and the other end is fixedly connected to the left vertical part or the right vertical part; the head mounting base is a rectangular plate structure, and the two wide side ends of the head mounting base are respectively fixedly connected to the left horizontal part and the right horizontal part with bolts, and the robot head is mounted on the middle part of the head mounting base along the third direction;The left arm mounting base is fixedly connected to one end of the left vertical portion connected to the left horizontal portion by bolts; the right arm mounting base is fixedly connected to one end of the right vertical portion connected to the right horizontal portion by bolts; the mainframe mounting frame and the controller mounting frame are both fixedly connected to the chest middle rib plate by bolts, and in the first direction, the controller mounting frame is located between the mainframe mounting frame and the head mounting base; the chest shell is fixedly connected to the left chest rib plate, the right chest rib plate, and the head mounting base by bolts via the shell bracket.

[0016] In some embodiments of the present application, the shell bracket includes two first shell mounting brackets, two second shell mounting brackets, two third shell mounting brackets and two fourth shell mounting brackets; each of the first shell mounting brackets is a triangular plate structure, and one of the right-angled sides of the two first shell mounting brackets is integrally connected with the left vertical portion and the right vertical portion, and both are located at one end of the left vertical portion and the right vertical portion close to the rib connecting portion, and the other right-angled sides of the two first shell mounting brackets are away from the rib connecting portion and are arranged parallel to it, and the two first shell mounting brackets are respectively on the same horizontal plane with the left vertical portion and the right vertical portion. The first shell mounting bracket is provided with a first shell mounting hole and a second shell mounting hole in sequence along a right-angled side parallel to the rib connecting portion, and the first shell mounting hole is provided away from the left vertical portion or the right vertical portion; the two second shell mounting brackets are respectively provided on the outer side surfaces of the two first shell mounting brackets, and are both located at the oblique edges of the two first shell mounting brackets, the end surface of the second shell mounting bracket located at the oblique edge of the first shell mounting bracket is provided with a third shell mounting hole, and the end surface of the second shell mounting bracket close to the rib connecting portion is provided with a fourth shell mounting hole; each of the third shell mounting brackets includes a first bracket portion, a second The bracket portion and the third bracket portion, both ends of the second bracket portion are respectively vertically connected to one end of the first bracket portion and the third bracket portion, the first bracket portion and the third bracket portion are parallel to each other and extend in the same direction, and a bracket limiting groove is respectively provided on the outer surface of the left vertical portion and the right vertical portion, and the two bracket limiting grooves are both located below the left arm mounting base and the right arm mounting base along the first direction, the bracket limiting groove is n-shaped, the two first bracket portions are both inserted into the bracket limiting groove through the open end of the bracket limiting groove, and are fixedly connected with the left vertical portion or the right vertical portion by bolts, and the third bracket portion is arranged along the A fifth shell mounting hole and a sixth shell mounting hole are sequentially provided in the second direction, and the fifth shell mounting hole is provided away from the left vertical portion or the right vertical portion; each of the fourth shell mounting frames is a rectangular plate structure, and two of the fourth shell mounting frames are provided on the head mounting base and are respectively located on both sides of the robot head; at least one seventh shell mounting hole is provided on the side surface of the fourth shell mounting frame away from the robot head, and an eighth shell mounting hole is provided on the end surface of the fourth shell mounting frame away from the head mounting base; the chest cavity shell includes a front shoulder shell, a rear shoulder shell, a front chest shell, a rear chest shell, a front bottom shell and a rear bottom shell;Two first shell fixing brackets are provided in the front shoulder shell, and the two first shell fixing brackets are extended along the second direction, each of the first shell fixing brackets is provided with at least one first fixing hole, and the two first shell fixing brackets are respectively arranged in one-to-one correspondence with the two fourth shell mounting brackets, the first fixing holes are arranged corresponding to the seventh shell mounting holes, and the two first shell fixing brackets are respectively fitted with the side surface of one fourth shell mounting bracket and fixedly connected by bolts through the seventh shell mounting holes and the first fixing holes; two second fixing holes are provided on the rear shoulder shell, and the two second fixing holes are respectively arranged in one-to-one correspondence with the two eighth shell mounting holes, and the rear shoulder shell is fixedly connected by bolts through the first fixing holes. The second fixing hole and the eighth shell mounting hole are fixedly connected to the fourth shell mounting bracket by bolts; two second shell fixing brackets and two third shell fixing brackets are provided in the front chest shell, and the two second shell fixing brackets and the two third shell fixing brackets are extended along the second direction; each second shell fixing bracket is provided with a third fixing hole and a fourth fixing hole, and the two second shell fixing brackets are respectively arranged in a one-to-one correspondence with the two first shell mounting brackets, the third fixing hole is arranged corresponding to the first shell mounting hole, the fourth fixing hole is arranged corresponding to the second shell mounting hole, the two second shell fixing brackets are respectively fitted with the outer surface of one first shell mounting bracket, and the second shell fixing The bracket abuts against the end surface of the second shell mounting bracket away from the rib connecting portion, and the second shell fixing bracket is fixedly connected to the first shell mounting bracket through the first shell mounting hole and the third fixing hole bolt; each of the third shell fixing brackets is provided with a fifth fixing hole and a sixth fixing hole, and the two third shell fixing brackets are respectively arranged in a one-to-one correspondence with the two third shell mounting brackets, the fifth fixing hole is arranged correspondingly to the fifth shell mounting hole, and the sixth fixing hole is arranged correspondingly to the sixth shell mounting hole, and the two third shell fixing brackets are respectively fitted with one of the third bracket parts and fixedly connected through the fifth shell mounting hole and the fifth fixing hole bolt; two third shell fixing brackets are provided in the rear chest shell four outer shell fixing frames and two fifth outer shell fixing frames, the two fourth outer shell fixing frames and the two fifth outer shell fixing frames are all extended along the second direction and in a direction away from the rear chest outer shell; each of the fourth outer shell fixing frames is provided with a seventh fixing hole, and the two fourth outer shell fixing frames are respectively provided with a one-to-one correspondence with the two second outer shell fixing frames, the seventh fixing holes are respectively provided with corresponding to the fourth fixing holes, and the two fourth outer shell fixing frames are respectively provided in affixed relation with one second outer shell fixing frame, and bolts are sequentially passed through the seventh fixing holes, the fourth fixing holes and the second outer shell mounting holes and fixed, so that the fourth outer shell fixing frame, the second outer shell fixing frame and the first outer shell mounting frame are fixedly connected;Each of the fifth shell fixing frames is provided with an eighth fixing hole, and the two fifth shell fixing frames are respectively arranged in one-to-one correspondence with the two third shell fixing frames, the eighth fixing hole is respectively arranged in one-to-one correspondence with the sixth fixing hole, and the two fifth shell fixing frames are respectively fitted with one third shell fixing frame, and the eighth fixing hole, the sixth fixing hole and the sixth shell mounting hole are sequentially penetrated and fixed by bolts, and the fifth shell fixing frame, the third shell fixing frame and the third shell mounting frame are fixedly connected; two ninth fixing holes are provided on the front bottom shell, and the two ninth fixing holes are respectively arranged in one-to-one correspondence with the two fourth shell mounting holes, and the front bottom shell is fixedly connected to the second shell mounting frame by bolts of the ninth fixing hole and the fourth shell mounting hole; two tenth fixing holes are provided on the rear bottom shell, and the two tenth fixing holes are respectively arranged in one-to-one correspondence with the two third shell mounting holes, and the rear bottom shell is fixedly connected to the second shell mounting frame by bolts of the tenth fixing hole and the third shell mounting hole. On; a straight-mouth limit connection is formed between the front shoulder shell and the rear shoulder shell, between the front chest shell and the rear chest shell, between the front bottom shell and the rear bottom shell, between the front shoulder shell and the front chest shell, between the rear shoulder shell and the rear chest shell, between the front bottom shell and the front chest shell, and between the rear bottom shell and the rear chest shell, the front chest shell, the rear chest shell, the front shoulder shell, the rear shoulder shell, the front bottom shell and the rear bottom shell forming a relatively closed chest structure, the chest support, the left arm mounting base, the right arm mounting base, the mainframe mounting frame, the controller mounting frame, the head mounting base and the fourth torso motor are located in the chest structure, and a robot neck for passing the robot head is formed in the middle of the front shoulder shell and the rear shoulder shell along the third direction, a left arm hole for passing the robot's left arm is formed at one end close to the left arm mounting base along the third direction, and a right arm hole for passing the robot's right arm is formed at one end close to the right arm mounting base along the third direction. ;

[0017] In some embodiments of the present application, an inclined opening is formed between the front chest shell and the rear chest shell, and the inclined opening is located on one side of the front bottom shell and the rear bottom shell; the front bottom shell includes a first front shell portion and a second front shell portion, the first front shell portion is a semi-cylindrical shell structure, and the end of the first front shell portion close to the front chest shell is an inclined end face, the second front shell portion is an inclined plate structure, and the second front shell portion is integrally connected to the inclined end face of the first front shell portion; the rear bottom shell includes a first rear shell portion and a second rear shell portion, the first rear shell portion is a semi-cylindrical shell structure, and the end of the first rear shell part close to the rear chest shell is an inclined end face, the second rear shell part is an inclined plate structure, and the second rear shell part is integrally formed with the inclined end face of the first rear shell part; the front bottom shell and the rear bottom shell are connected with a straight mouth limiter, the first front shell part and the first rear shell part jointly form a cylindrical shell structure, the cylindrical shell structure is sleeved on the fourth torso motor seat, the fourth torso motor is located in the cylindrical shell structure, the second front shell part and the second rear shell part jointly form an inclined plate structure for closing the inclined opening.

[0018] The beneficial effects of the embodiments of the present application are as follows: the robot torso structure has multiple degrees of freedom, can flexibly control the activities of each joint, and perform different actions, and the overall weight of the robot torso structure is light and the cost is low. At the same time, the robot torso structure adopts internal wiring of the shell, making the overall structure more beautiful. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without inventive work. It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in the subsequent drawings.

[0020] Figure 1 A schematic diagram of the structure of the robot torso provided in an embodiment of the present application;

[0021] Figure 2 A structural diagram of the robot torso structure provided in an embodiment of the present application without the torso shell installed;

[0022] Figure 3 A schematic structural diagram of the calf assembly in the robot torso structure provided in an embodiment of the present application;

[0023] Figure 4Schematic diagram of the structure of the calf output link in the robot torso structure provided by an embodiment of the present application, wherein (a) is an axonometric view of the calf output link from the inside, and (b) is an axonometric view of the calf output link from the outside;

[0024] Figure 5 Schematic diagram of the structure of the calf auxiliary link in the robot torso structure provided by an embodiment of the present application, wherein (a) is an axonometric view of the calf auxiliary link from the outside perspective, and (b) is an axonometric view of the calf auxiliary link from the inside perspective;

[0025] Figure 6 A schematic diagram of the structure of the calf connecting rod in the robot torso structure provided in an embodiment of the present application;

[0026] Figure 7 A schematic structural diagram of the second torso motor mount in the robot torso structure provided in an embodiment of the present application;

[0027] Figure 8 A schematic structural diagram of a thigh assembly in a robot torso structure provided in an embodiment of the present application;

[0028] Figure 9 Schematic diagram of the structure of the thigh output link in the robot torso structure provided by an embodiment of the present application, wherein (a) is an axonometric view of the thigh output link from the inner side, and (b) is an axonometric view of the thigh output link from the outer side;

[0029] Figure 10 Schematic diagram of the structure of the thigh auxiliary link in the robot torso structure provided by an embodiment of the present application, wherein (a) is an axonometric view of the thigh auxiliary link from the outside perspective, and (b) is an axonometric view of the thigh auxiliary link from the inside perspective;

[0030] Figure 11 This is an axonometric view from the rear side of the thoracic support in the robot torso structure provided in an embodiment of the present application;

[0031] Figure 12 This is an axonometric view from the front side of the chest support in the robot torso structure provided by an embodiment of the present application;

[0032] Figure 13 A schematic diagram of the structure of the thorax support of the robot torso structure provided in an embodiment of the present application, in which various mounting seats and mounting frames are installed;

[0033] Figure 14 A schematic diagram of the structure of the thorax support of the robot torso structure provided in an embodiment of the present application, in which various mounting seats, mounting frames and components are installed;

[0034] Figure 15 A schematic structural diagram of the thorax assembly in the robot torso structure provided in an embodiment of the present application;

[0035] Figure 16 This is an axonometric view from the rear side of the chest shell of the robot torso structure provided by an embodiment of the present application;

[0036] Figure 17 A schematic diagram of the assembly of the front shoulder shell in the robot torso structure provided in an embodiment of the present application;

[0037] Figure 18 A schematic diagram of the assembly of the front chest shell of the robot torso structure provided in an embodiment of the present application;

[0038] Figure 19 This is a schematic diagram of the assembly of the front and rear bottom shells of the robot torso structure provided in an embodiment of the present application;

[0039] Figure 20 A schematic diagram of the structure of the front and rear bottom shells of the robot torso structure provided in an embodiment of the present application;

[0040] Figure 21 This is a schematic structural diagram of the rear chest shell and front and rear bottom shells in the robot torso structure provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. It should be noted that the terms "including" and "having" in the embodiments of the present application and the drawings, as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a series of structures are included, which is not limited to the listed structures, but optionally also includes structures that are not listed, or optionally also includes other components inherent to these structures.

[0042] The present application discloses a robot trunk structure, which is described in detail below.

[0043] Figure 1 – Figure 21 FIG. 1 shows a robot trunk structure provided according to an embodiment of the present application. Figure 1 – Figure 21As shown, the robot torso structure includes: a calf component 1, a thigh component 2 and a thoracic component 3, wherein the calf component 1 is connected to the robot chassis structure and is connected to the thoracic component 3 through the thigh component 2, the robot head, the robot left arm, the robot right arm and various robot components (for example, the PC host 4, the robot controller 5, etc.) are all arranged on the thoracic component 3, and the thoracic component 3 is used to connect the remaining components of the robot. The calf component 1 and the thigh component 2 realize the multi-degree-of-freedom movement of the robot thoracic component 3.

[0044] Specifically, such as Figure 2 and Figure 3 As shown, the calf assembly 1 includes a first torso motor 11, and the calf assembly 1 is rotationally connected to the robot chassis structure through the first torso motor 11; the thigh assembly 2 includes a second torso motor 21, and the thigh assembly 2 is rotationally connected to the calf assembly 1 through the second torso motor 21; the thoracic assembly 3 includes a third torso motor 31, a third torso motor seat 311, a fourth torso motor 32 and a fourth torso motor seat 321, wherein the third torso motor 31 is arranged in the third torso motor seat 311, and the output shaft of the third torso motor 31 is rotationally connected to the thigh assembly 2, the fourth torso motor seat 321 is fixedly connected to the outer surface of the third torso motor seat 311, the fourth torso motor 32 is arranged on the fourth torso motor seat 321, and the output shaft of the fourth torso motor 32 is rotationally connected to the fourth torso motor seat 321, and the thoracic assembly 3 is rotationally connected to the thigh assembly 2 through the third torso motor 31 and the fourth torso motor 32. When the first torso motor 11 is working, within the plane formed by the first direction and the second direction, the first torso motor 11 drives the calf assembly 1 to rotate relative to the robot chassis structure around the output shaft of the first torso motor 11; when the second torso motor 21 is working, within the plane formed by the first direction and the second direction, the second torso motor 21 drives the thigh assembly 2 to rotate relative to the calf assembly 1 around the output shaft of the second torso motor 21; when the third torso motor 31 is working, within the plane formed by the first direction and the second direction, the third torso motor 31 drives the thoracic assembly 3 to rotate relative to the thigh assembly 2 around the output shaft of the third torso motor 31; when the fourth torso motor 32 is working, within the plane formed by the second direction and the third direction, the fourth torso motor 32 drives the thoracic assembly 3 to rotate relative to the thigh assembly 2 around the output shaft of the fourth torso motor 32. Thus, the robot torso structure realizes multi-part rotation within the plane formed by the first direction and the second direction through the first torso motor 11, the second torso motor 21 and the third torso motor 31, making the robot movement more flexible, and realizes the rotation of the chest cavity component 3 within the plane formed by the second direction and the third direction through the fourth torso motor 32, so that the robot can obtain a wider viewing angle.

[0045] It should be noted that the first direction in this application is perpendicular to the ground, and the first, second, and third directions are mutually perpendicular. However, the perpendicularity in this application is not absolutely perpendicular and can be 90°±10°. Similarly, the parallelism in this application is not absolutely perpendicular and can be 180°±10°.

[0046] In some embodiments, as Figure 1 – Figure 3As shown, the calf assembly 1 also includes a first torso motor base 12, a first torso bearing (not shown in the figure), a calf output link 13, a calf auxiliary link 14, a calf connecting rod 15, a second torso motor base 16 and a calf housing 17. In detail, the first torso motor base 12 is provided with a plurality of mounting ears 121 at one end close to the robot chassis structure. Each mounting ear 121 extends in a direction away from the first torso motor base 12 within a plane formed by the second direction and the third direction. Each mounting ear 121 is provided with a plurality of bolt mounting holes, and the first torso motor base 12 is fixedly connected to the robot chassis structure by bolts through the plurality of mounting ears 121. In a specific implementation, a mounting ear 121 can be provided on three sides or two opposite sides of the first torso motor base 12, so as to ensure the overall fixed installation stability of the robot torso structure while not interfering with the robot's kneeling movement. The first trunk motor 11 is installed on the first trunk motor seat 12, and the output shaft of the first trunk motor 11 is extended along the third direction, and the output shaft and the motor tail cover of the first trunk motor 11 are both passed through the outside of the first trunk motor seat 12. At the same time, the first trunk bearing seat 18 is fixedly provided at the motor tail cover of the first trunk motor seat 12, and the first trunk bearing is provided on the first trunk motor seat 12 through the first trunk bearing seat 18, and is located at one end of the motor tail cover of the first trunk motor 11. The first end of the calf output link 13 is fixedly connected to the output shaft of the first torso motor 11, and the first end of the calf auxiliary link 14 is rotatably connected to the first torso motor seat 12 through the first torso bearing. The second end of the calf output link 13 and the second end of the calf auxiliary link 14 are respectively fixedly connected to the two ends of the second torso motor seat 16, so that the first torso motor 11 realizes the bending action of the robot's calf by driving the calf output link 13 to rotate. The calf auxiliary link 14 assists the rotation of the calf output link 13, and by fixing the two ends of the calf connecting support rod 15 along the third direction with the calf output link 13 and the calf auxiliary link 14, the calf connecting support rod 15, the calf auxiliary link 14, and the calf output link 13 are connected, which further ensures the support strength and rotation stability of the calf and reduces the overall cost of the robot. Furthermore, during implementation, the materials of the calf connecting rod 15, the calf auxiliary link 14, and the calf output link 13 can be selected as needed, and can be the same or different. A calf housing 17 is provided on the outer surface of each of the calf output link 13 and the calf auxiliary link 14 to enhance the aesthetics of the robot's calf.

[0047] In a specific embodiment, Figure 2 – Figure 4 and Figure 7As shown, the calf output link 13 includes a first calf output portion 131, a second calf output portion 132, and a calf output connection portion 133. The first calf output portion 131 is an annular plate structure and has a plurality of first output mounting holes 134 evenly spaced along the circumference. The calf output link 13 is fixedly connected to the output shaft of the first torso motor 11 via bolts through the plurality of first output mounting holes 134. The second calf output part 132 is a circular cylindrical structure, and its shape and size are adapted to the shape and size of the second torso motor seat 16, and at least one output positioning groove 135 is provided on the circular end face of the second calf output part 132 close to the second torso motor seat 16. Correspondingly, at least one output positioning block 161 is provided on the circular end face of the second torso motor seat 16 close to the second calf output part 132, and each output positioning block 161 is arranged in a one-to-one correspondence with each output positioning groove 135. When the calf output connecting rod 13 and the second torso motor seat 16 are assembled, the positioning connection between the calf output connecting rod 13 and the second torso motor seat 16 is achieved by clamping each output positioning block 161 into the output positioning groove 135 that is uniquely corresponding to it, and then the second calf output part 132 and the second torso motor seat 16 are fixedly connected by bolts. During the specific implementation process, three output positioning grooves 135 can be set on one half-circular end face of the second calf output part 132, and the distance between adjacent output positioning grooves 135 is equal. An output positioning groove 135 is set in the middle of the other half-circular end face of the second calf output part 132, thereby playing a role in preventing misplacement installation. In addition, the two ends of the calf output connection part 133 along the first direction are respectively integrally connected with the first calf output part 131 and the second calf output part 132, and the calf output connection part 133 is provided with an output notch 136 in the middle part along the first direction to provide an installation position for the calf auxiliary link 14, so that the calf output connection part 133 and the calf auxiliary link 14 have a larger contact and fixed connection surface, and the calf output connection part 133 is provided with a calf output wire groove 137 on the side away from the calf auxiliary link 14 in the third direction. The calf output wire groove 137 extends from one end of the first calf output part 131 to one end of the second calf output part 132, and the calf shell 17 is provided on the outer surface of the calf output link 13, that is, the calf output wire groove 137 is located between the calf shell 17 and the calf output link 13, thereby realizing the internal routing of the calf component 1, making the overall appearance of the robot more tidy.

[0048] like Figure 2 、 Figure 3 and Figure 5As shown, the calf auxiliary link 14 includes a first calf auxiliary portion 141, a second calf auxiliary portion 142, and a calf auxiliary connecting portion 143. The first calf auxiliary portion 141 includes a stepped circular portion 1411 and an arcuate plate portion 1412. The stepped circular portion 1411 is inserted into the first torso motor seat 12 and is rotatably connected to the first torso bearing seat 18 via the first torso bearing. The arcuate plate portion 1412 is integrally connected to the end of the stepped circular portion 1411 away from the first torso motor seat 12. The arcuate plate portion 1412 is used to connect the first calf auxiliary portion 141 to the calf auxiliary connecting portion 143. The second calf auxiliary portion 142 is a stepped circular ring structure, including a small-diameter end 1421 and a large-diameter end 1422. The small-diameter end 1421 of the second calf auxiliary portion 142 is inserted into the second torso motor base 16, while the large-diameter end 1422 of the second calf auxiliary portion 142 is disposed on the circular end face of the second torso motor base 16 away from the second calf output portion 132. The second calf auxiliary portion 142 is bolted to the second torso motor base 16. The stepped circular ring structure of the second calf auxiliary portion 142 increases the contact surface between the calf auxiliary link 14 and the second torso motor base 16, thereby further stabilizing the connection between the two. Thus, with the second calf output portion 132 and the second calf auxiliary portion 142 respectively fixedly disposed at opposite ends of the second torso motor base 16, the second torso motor base 16 is secured to the end of the calf assembly 1, thereby achieving a rotational connection between the calf assembly 1 and the thigh assembly 2. In addition, the two ends of the calf auxiliary connection part 143 along the first direction are respectively integrally connected with the first calf auxiliary part 141 and the second calf auxiliary part 142, and the calf auxiliary connection part 143 is symmetrically arranged with the calf output connection part 133, and the calf auxiliary connection part 143 is provided with an auxiliary notch 144 in the middle part along the first direction to provide an installation position for the calf auxiliary link 14, so that the calf auxiliary connection part 143 and the calf auxiliary link 14 have a larger contact and fixed connection surface, and the calf auxiliary connection part 143 is provided with a calf auxiliary wire groove 145 on the side away from the calf output link 13 in the third direction. The calf auxiliary wire groove 145 extends from one end of the arc plate part 1412 to one end of the second calf auxiliary part 142, and the calf shell 17 is provided on the outer surface of the calf auxiliary link 14, that is, the calf auxiliary wire groove 145 is located between the calf shell 17 and the calf auxiliary link 14, thereby realizing the internal routing of the calf component 1, making the overall appearance of the robot more tidy.

[0049] like Figure 3 – Figure 6As shown, the calf connecting rod 15 includes a first connecting portion 151, a second connecting portion 152, and a third connecting portion 153. The first connecting portion 151 is integrally connected to the second connecting portion 152 and the third connecting portion 153 at both ends along the third direction. The second connecting portion 152 and the third connecting portion 153 are both perpendicularly disposed to the first connecting portion 151, and the second connecting portion 152 and the third connecting portion 153 extend in the same direction. The second connecting portion 152 and the third connecting portion 153 are symmetrically disposed at the output notch 136 and the auxiliary notch 144, respectively. In a specific implementation, the second connecting portion 152 and the third connecting portion 153 can be positioned and installed with positioning blocks and positioning groove structures between the output notch 136 and the auxiliary notch 144, respectively, to improve assembly efficiency and connection stability. Furthermore, at least one fixing block 154 is respectively provided at both ends of the second connecting portion 152 and the third connecting portion 153 along the first direction, and a plurality of fixing grooves 155 are respectively provided on the calf output connecting portion 133 and the calf auxiliary connecting portion 143. Each fixing groove 155 is respectively corresponding to a plurality of fixing blocks 154. The plurality of fixing blocks 154 are respectively clamped in each fixing groove 155, and the calf connecting support rod 15 is connected to the calf output connecting rod 13 and the calf auxiliary connecting rod 14. The calf connecting rod 15 is positioned and connected by bolts between the calf output connecting portion 133 or the calf auxiliary connecting portion 143, thereby fixing the connection between the calf connecting rod 15 and the calf output connecting rod 13 and the calf auxiliary connecting rod 14. In the specific implementation process, the shapes and sizes of the fixing blocks 154 provided at both ends of the second connecting portion 152 are different. Similarly, the shapes and sizes of the fixing blocks 154 provided at both ends of the third connecting portion 153 are different, thereby further preventing misalignment. In addition, the distance between the ends of the calf output connecting rod 13 and the calf auxiliary connecting rod 14 near the first torso motor 11 is greater than the distance between the ends near the second torso motor 21. The end of the calf output connecting portion 133 near the second torso motor 21 is a vertical rod, and the end of the calf output connecting portion 133 near the first torso motor 11 is an angled rod. The calf auxiliary connecting portion 143 is similarly configured to meet the installation requirements of each part and make the overall structure more beautiful.

[0050] In other embodiments, Figure 1 、 Figure 2 and Figure 8As shown, the thigh assembly 2 also includes a second trunk bearing (not shown), a thigh output connecting rod 22, a thigh auxiliary connecting rod 23, a thigh connecting rod 24, and a thigh housing 25. In detail, the second trunk motor 21 is mounted on the second trunk motor base 16, and the output shaft of the second trunk motor 21 extends along the third direction. The output shaft and the motor tail cover of the second trunk motor 21 are both inserted into the outside of the second trunk motor base 16. At the same time, the second trunk bearing is disposed in the second trunk motor base 16 and is located at one end of the motor tail cover of the second trunk motor 21. The first end of the thigh output link 22 is fixedly connected to the output shaft of the second torso motor 21. The first end of the thigh auxiliary link 23 is rotationally connected to the second torso motor base 16 via the second torso bearing. The second ends of the thigh output link 22 and the second ends of the thigh auxiliary link 23 are respectively rotationally connected to the thorax assembly 3. Thus, the second torso motor 21 drives the thigh output link 22 to rotate, thereby achieving bending of the robot's thigh. The thigh auxiliary link 23 assists the rotation of the thigh output link 22. By fixing the ends of the thigh connecting support rod 24 along the third direction to the thigh output link 22 and the thigh auxiliary link 23, respectively, the thigh auxiliary link 23 and the thigh output link 22 are indirectly fixed, further ensuring the support strength and rotational stability of the thigh and reducing the overall cost of the robot. In addition, a thigh housing 25 is provided on the outer surface of each thigh output link 22 and thigh auxiliary link 23 to enhance the aesthetics of the robot's thigh.

[0051] In a specific embodiment, Figure 2 、 Figure 8 and Figure 9As shown, the thigh output link 22 includes a first thigh output portion 221, a second thigh output portion 222, and a thigh output connection portion 223. The first thigh output portion 221 is an annular plate structure with multiple second output mounting holes 224 equidistantly spaced along the circumference. The thigh output link 22 is bolted to the output shaft of the second torso motor 21 via these multiple second output mounting holes 224. The second thigh output portion 222 is an annular plate structure with multiple third output mounting holes 225 equidistantly spaced along the circumference. The thigh output link 22 is bolted to the output shaft of the third torso motor 31 via these multiple third output mounting holes 225. Furthermore, the thigh output connection portion 223 is integrally connected to the first thigh output portion 221 and the second thigh output portion 222 at its ends along the first direction, forming the main rotating member of the second torso motor 21. In addition, a thigh output line groove 226 is provided on the side of the thigh output connection 223 away from the thigh auxiliary link 23. The thigh output line groove 226 extends from the end of the first thigh output portion 221 away from the thigh output connection 223 to the end of the second thigh output portion 222 away from the thigh output connection 223. The thigh housing 25 is provided on the outer surface of the thigh output link 22, that is, the thigh output line groove 226 is located between the thigh housing 25 and the thigh output link 22, thereby achieving internal wiring of the thigh assembly 2 and making the overall appearance of the robot more neat. Furthermore, a thigh housing positioning groove 227 can be provided on the thigh output link 22, and a positioning block can be provided on the thigh housing 25 to match the thigh housing positioning groove 227 to achieve a positioning connection between the thigh housing 25 and the thigh output link 22.

[0052] like Figure 2 、 Figure 8 and Figure 10As shown, the thigh auxiliary link 23 includes a first thigh auxiliary portion 231, a second thigh auxiliary portion 232, and a thigh auxiliary connecting portion 233. The first thigh auxiliary portion 231 is a three-step circular ring structure, comprising a small diameter end 2313, a middle diameter end 2312, and a large diameter end 2311. The small and middle diameter ends 2313 and 2312 of the first thigh auxiliary portion 231 are inserted into the second torso motor base 16 and are rotationally connected to the second torso motor base 16 via a second torso bearing. The second thigh auxiliary portion 232 is also a three-step circular ring structure, comprising a small diameter end 2323, a middle diameter end 2322, and a large diameter end 2321. The small and middle diameter ends 2323 and 2322 of the second thigh auxiliary portion 232 are inserted into the third torso motor base 311 and are rotationally connected to the third torso motor base 311 via a third torso bearing. At the same time, the two ends of the thigh auxiliary connection portion 233 along the first direction are integrally connected to the large-diameter end 2311 of the first thigh auxiliary portion 231 and the large-diameter end 2321 of the second thigh auxiliary portion 232, respectively, thereby forming an auxiliary rotating member for the second torso motor 21. Furthermore, a thigh auxiliary wire groove 234 is provided on the side of the thigh auxiliary connection portion 233 away from the thigh output link 22. The thigh auxiliary wire groove 234 extends from the end of the first thigh auxiliary portion 231 away from the thigh auxiliary connection portion 233 to the end of the second thigh auxiliary portion 232 away from the thigh auxiliary connection portion 233. The thigh housing 25 is provided on the outer surface of the thigh auxiliary link 23, that is, the thigh auxiliary wire groove 234 is located between the thigh housing 25 and the thigh auxiliary link 23, thereby achieving internal wiring of the thigh assembly 2 and making the overall appearance of the robot more neat. Furthermore, one end of the first thigh output part 221 away from the thigh output connection part 223, one end of the second thigh output part 222 away from the thigh output connection part 223, one end of the first thigh auxiliary part 231 away from the thigh auxiliary connection part 233, and one end of the second thigh auxiliary part 232 away from the thigh auxiliary connection part 233 are all provided with a thigh wiring gap 235, so that the internal wiring of the robot is further facilitated by the design of the thigh wiring gap 235.

[0053] In some specific embodiments of the present application, a wiring harness fixing block structure can also be set between the thigh shell 25 and the thigh auxiliary link 23, and between the calf shell 17 and the calf auxiliary link 14 to ensure that multiple wiring harnesses are routed in the thigh auxiliary wire groove 234 or the calf auxiliary wire groove 145 to avoid leakage of the wiring harnesses.

[0054] like Figure 8 、 Figure 9 and Figure 10As shown, the thigh connecting support rod 24 is a long rod structure, and the thigh connecting support rod 24 is extended along the third direction, and the two ends of the thigh connecting support rod 24 are respectively fixedly connected with the middle bolts of the thigh output connecting part 223 and the thigh auxiliary connecting part 233, thereby realizing indirect fixation of the thigh output connecting rod 22 and the thigh auxiliary connecting rod 23, thereby improving the rotation reliability of the thigh component 2.

[0055] Further, such as Figure 2 、 Figure 8 、 Figure 9 and Figure 10 As shown, the thigh connecting rod 24 is located on one side of the thigh output connecting part 223 and the thigh auxiliary connecting part 233, and the side of the thigh output connecting part 223 close to the thigh connecting rod 24 is tangent to the first thigh output part 221 and the second thigh output part 222 respectively. The other side of the thigh output connecting part 223 away from the thigh connecting rod 24 is provided with an output limiting part 2231 and an output groove 2232. The output limiting part 2231 is tangent to the second thigh output part 222, and the output groove 2232 is located at the connection between the thigh output connecting part 223 and the first thigh output part 221. The output groove 2232 and the output limiting part 2231 are connected by a transition straight line. Similarly, the side of the thigh auxiliary connecting portion 233 near the thigh connecting support rod 24 is tangentially disposed with the first thigh auxiliary portion 231 and the second thigh auxiliary portion 232, respectively. The other side of the thigh auxiliary connecting portion 233 away from the thigh connecting support rod 24 is provided with an auxiliary limiting portion 2331 and an auxiliary groove 2332. The auxiliary limiting portion 2331 is tangentially disposed with the second thigh auxiliary portion 232, and the auxiliary groove 2332 is located at the junction between the thigh auxiliary connecting portion 233 and the first thigh auxiliary portion 231. A straight transition line connects the auxiliary groove 2332 to the auxiliary limiting portion 2331. Thus, when the second torso motor 21 is operating to drive the other components of the thigh assembly 2 to rotate, the thigh assembly 2 is limited in forward rotation by the thigh connecting support rod 24 abutting against the calf output link 13 and the calf auxiliary link 14. Furthermore, the output limiting portion 2231 and the auxiliary limiting portion 2331 abut against the calf connecting support rod 15, limiting the thigh assembly 2 in backward rotation.

[0056] In some embodiments, as Figure 1 、 Figure 2 、 Figure 11 – Figure 21As shown, the chest assembly 3 also includes a third torso bearing, a chest support 33, a left arm mounting base 34, a right arm mounting base 35, a host mounting frame 36, a controller mounting frame 37, a head mounting base 38 and a chest shell 39. In detail, the third torso bearing is arranged in the third torso motor base 311 and is located at one end of the motor tail cover of the third torso motor 31. The end of the thigh assembly 2 close to the chest assembly 3 is rotatably connected to the third torso motor base 311 through the third torso bearing and the third torso motor 31. At the same time, one end of the chest support 33 along the first direction is fixedly connected to the stator of the fourth torso motor 32, thereby realizing the connection between the thigh assembly 2 and the chest assembly 3. In addition, the head mounting base 38 is arranged at the other end of the chest support 33 along the first direction for mounting the robot head. The left arm mounting base 34 and the right arm mounting base 35 are respectively disposed at the ends of the chest support 33 along the third direction, and are both located at the end of the chest support 33 along the first direction, near the head mounting base 38. The left arm mounting base 34 is used to mount the robot's left arm, and the right arm mounting base 35 is used to mount the robot's right arm. The mainframe mounting bracket 36 and the controller mounting bracket 37 are both disposed in the middle of the chest support 33 along the first direction. The mainframe mounting bracket 36 is used to mount the PC host 4 and the torso radiator 6, and the controller mounting bracket 37 is used to mount the robot controller 5 and the main data interface 51 connected thereto. The chest shell 39 is fixedly connected to the chest support 33, and the fourth torso motor 32, chest support 33, left arm mounting base 34, right arm mounting base 35, main unit mounting frame 36, controller mounting frame 37 and head mounting base 38 are all placed in the chest shell 39. The fixed connection between the robot torso structure and other structures of the robot is achieved through the head mounting base 38, left arm mounting base 34, right arm mounting base 35, main unit mounting frame 36 and controller mounting frame 37.

[0057] In other embodiments, the chest assembly 3 also includes a third torso bearing, a chest support 33, a left arm mounting base 34, a right arm mounting base 35, multiple controller mounting frames 37, a head mounting base 38 and a chest shell 39. The difference from the previous embodiment is that the host mounting frame 36 is not provided in the chest assembly 3. The PC host 4 in this embodiment can be set in the robot chassis structure to move the center of gravity downward to make the overall structure of the robot more stable.

[0058] In a specific embodiment, Figure 2 and Figure 11 – Figure 14As shown, the chest support 33 includes a chest base 331, a chest left rib 332, a chest right rib 333, a chest middle rib 334, a plurality of chest ribs 335 and an outer shell support 336. The chest base 331 includes a motor connecting portion 3311 and a rib connecting portion 3312. The motor connecting portion 3311 is used for fixed connection between the chest support 33 and the fourth trunk motor 32, and the rib connecting portion 3312 is used for fixed connection of other components of the chest support 33. In detail, the motor connecting portion 3311 is a circular cylindrical structure. The motor connecting portion 3311 is evenly and equidistantly provided with a plurality of motor mounting holes 3313 along the circumferential direction. The motor connecting portion 3311 is sleeved on the fourth trunk motor 32 and is fixedly connected to the stator of the fourth trunk motor 32 through the plurality of motor mounting holes 3313. The rib connecting portion 3312 is a hexagonal plate structure with two sets of parallel sides, and the two inclined sides of the rib connecting portion 3312 are equal in length. A circular arc notch 3314 is provided on one side of the longest side of the rib connecting portion 3312. One end of the motor connecting portion 3311 is provided in the circular arc notch 3314 and is integrally connected to the rib connecting portion 3312. The other five sides of the rib connecting portion 3312 are respectively fixedly connected to other components of the chest support 33. The left chest rib 332 includes a left vertical portion 3321 and a left horizontal portion 3322. The left vertical portion 3321 extends along the first direction, and one end of the left vertical portion 3321 is fixedly connected to the end surface of the chest base 331 away from the third torso motor 31, and is located at the edge of one of the sides adjacent to the longest side in the rib connection portion 3312. The length of one end of the left vertical portion 3321 is equal to the length of one side adjacent to the longest side in the rib connection portion 3312. The other end of the left vertical portion 3321 is integrally connected to one end of the left horizontal portion 3322, and the left vertical portion 3321 and the left horizontal portion 3322 are vertically arranged, and the left horizontal portion 3322 extends along the second direction. At the same time, the right chest rib 333 and the left chest rib 332 are symmetrically arranged, that is, the right chest rib 333 includes a right vertical portion 3331 and a right horizontal portion 3332, and the right vertical portion 3331 extends along the first direction. One end of the right vertical portion 3331 is fixedly connected to the end surface of the chest base 331 away from the third torso motor 31, and is located at the edge of the other side adjacent to the longest side in the rib connection portion 3312. The length of one end of the right vertical portion 3331 is equal to the length of one side adjacent to the longest side in the rib connection portion 3312, and the other end of the right vertical portion 3331 is integrally connected to one end of the right horizontal portion 3332, and the right vertical portion 3331 and the right horizontal portion 3332 are vertically arranged, and the right horizontal portion 3332 extends along the second direction.The chest rib 334 is a rectangular plate structure, and a rectangular notch 3341 is provided in the middle of the chest rib 334 to reduce the overall weight of the robot torso structure. One of the wide sides of the chest rib 334 is fixedly connected to the end face of the chest base 331 away from the third torso motor 31, and is located at the edge of a side parallel to the longest side in the rib connecting part 3312. The length of the wide side of the chest rib 334 is equal to the length of a side parallel to the longest side in the rib connecting part 3312. Furthermore, multiple chest ribs 335 are symmetrically arranged between the middle chest rib 334 and the left and right chest ribs 332 and 333. Each chest rib 335 has one end fixedly connected to the long side of the middle chest rib 334 and the other end fixedly connected to the left vertical portion 3321 or the right vertical portion 3331. Two chest ribs 335 are fixed to the edges of the rib connecting portion 3312. Furthermore, the head mounting base 38 is a rectangular plate structure, with its two broadside ends bolted to the left horizontal portion 3322 and the right horizontal portion 3332, respectively. The robot head is mounted in the middle portion of the head mounting base 38 along the third direction. The left arm mounting base 34 is bolted to one end of the left vertical portion 3321 connecting to the left horizontal portion 3322, while the right arm mounting base 35 is bolted to one end of the right vertical portion 3331 connecting to the right horizontal portion 3332. The mainframe mounting frame 36 and the controller mounting frame 37 are both bolted to the chest center rib 334. In the first direction, the controller mounting frame 37 is located between the mainframe mounting frame 36 and the head mounting base 38. The chest shell 39 is bolted to the chest left rib 332, the chest right rib 333, and the head mounting base 38 via a shell bracket 336.

[0059] Further, such as Figure 2 and Figure 11 – Figure 21As shown, the chest shell 39 includes a front shoulder shell 391, a rear shoulder shell 392, a front chest shell 393, a rear chest shell 394, a front bottom shell 395 and a rear bottom shell 396. Correspondingly, the shell bracket 336 includes two first shell mounting frames 3361, two second shell mounting frames 3362, two third shell mounting frames 3363 and two fourth shell mounting frames 3364. Among them, each first shell mounting bracket 3361 is a triangular plate structure, and one of the right-angled sides of the two first shell mounting brackets 3361 is integrally connected with the left vertical part 3321 and the right vertical part 3331 respectively, and is located at one end of the left vertical part 3321 and the right vertical part 3331 close to the rib connecting part 3312. The other right-angled sides of the two first shell mounting brackets 3361 are away from the rib connecting part 3312 and are arranged parallel to it, and the two first shell mounting brackets 3361 are respectively on the same horizontal plane with the left vertical part 3321 and the right vertical part 3331. The first shell mounting bracket 3361 is sequentially provided with a first shell mounting hole 33611 and a second shell mounting hole 33612 along the right-angled side parallel to the rib connecting part 3312, and the first shell mounting hole 33611 is arranged away from the left vertical part 3321 or the right vertical part 3331. At the same time, each third shell mounting frame 3363 includes a first bracket portion 33631, a second bracket portion 33632 and a third bracket portion 33633, the two ends of the second bracket portion 33632 are respectively vertically connected to one end of the first bracket portion 33631 and the third bracket portion 33633, the first bracket portion 33631 and the third bracket portion 33633 are parallel to each other and extend in the same direction, and a bracket limiting groove 33634 is respectively provided on the outer surface of the left vertical portion 3321 and the right vertical portion 3331, and the two bracket limiting grooves 33634 are both located below the left arm mounting base 34 and the right arm mounting base 35 along the first direction, and the bracket limiting groove 33634 is n-shaped The two first bracket portions 33631 are inserted into the bracket limiting slots 33634 through the open ends of the bracket limiting slots 33634 and fixedly connected to the left vertical portion 3321 or the right vertical portion 3331 with bolts. The bracket limiting slots 33634 thereby position the third outer shell mounting bracket 3363 and enhance the stability of the third outer shell mounting bracket 3363 on the left and right chest ribs 332 and 333. The third bracket portion 33633 is sequentially provided with a fifth outer shell mounting hole 33635 and a sixth outer shell mounting hole 33636 along the second direction. The fifth outer shell mounting hole 33635 is located away from the left vertical portion 3321 or the right vertical portion 3331. Thus, the two first outer shell mounting brackets 3361 and the two third outer shell mounting brackets 3363 achieve a fixed connection between the front chest shell 393 and the rear chest shell 394.In addition, the two second shell mounting frames 3362 are respectively arranged on the outer surfaces of the two first shell mounting frames 3361, and are both located at the oblique edges of the two first shell mounting frames 3361. The second shell mounting frame 3362 is provided with a third shell mounting hole 33621 on the end face of the second shell mounting frame 3362 located at the oblique edge of the first shell mounting frame 3361, and the second shell mounting frame 3362 is provided with a fourth shell mounting hole 33622 on the end face close to the rib connecting part 3312, thereby realizing the fixed connection of the front bottom shell 395 and the rear bottom shell 396 through the two second shell mounting frames 3362. Each fourth shell mounting frame 3364 is a rectangular plate structure. The two fourth shell mounting frames 3364 are both arranged on the head mounting base 38 and are respectively located on both sides of the robot head. At least one seventh shell mounting hole 33641 is provided on the side surface of the fourth shell mounting frame 3364 away from the robot head, and an eighth shell mounting hole 33642 is provided on the end surface of the fourth shell mounting frame 3364 away from the head mounting base 38, so as to realize the fixed connection of the front shoulder shell 391 and the rear shoulder shell 392 through the two fourth shell mounting frames 3364. Specifically, two first shell fixing frames 3911 are provided in the front shoulder shell 391, and the two first shell fixing frames 3911 are both extended along the second direction. Each first shell fixing frame 3911 is provided with at least one first fixing hole 39111, and the two first shell fixing frames 3911 are respectively corresponding to the two fourth shell mounting frames 3364, and the first fixing holes 39111 are respectively corresponding to the seventh shell mounting holes 33641. The two first shell fixing frames 3911 are respectively fitted with the side surfaces of a fourth shell mounting frame 3364, and are fixedly connected by bolts through the seventh shell mounting holes 33641 and the first fixing holes 39111, thereby fixing the front shoulder shell 391 on the chest support 33. Two second fixing holes 3921 are provided on the rear shoulder shell 392, and the two second fixing holes 3921 are respectively arranged in one-to-one correspondence with the two eighth shell mounting holes 33642. The rear shoulder shell 392 is fixedly connected to the fourth shell mounting frame 3364 through the second fixing holes 3921 and the eighth shell mounting holes 33642 bolts. In the specific implementation process, the front shoulder shell 391 is first fixedly connected to the chest support 33, and then the rear shoulder shell 392 is assembled and installed on the chest support 33, so that only the second fixing holes 3921 on the rear shoulder shell 392 are exposed on the outer surface of the chest shell 39, thereby minimizing the exposure of the mounting bolts.Two second shell fixing frames 3931 and two third shell fixing frames 3932 are provided in the front chest shell 393. The two second shell fixing frames 3931 and the two third shell fixing frames 3932 are all extended along the second direction. Each second shell fixing frame 3931 is provided with a third fixing hole 39311 and a fourth fixing hole 39312. The two second shell fixing frames 3931 are respectively arranged in a one-to-one correspondence with the two first shell mounting frames 3361. The third fixing hole 39311 is arranged corresponding to the first shell mounting hole 33611, and the fourth fixing hole 39312 is arranged corresponding to the second shell mounting hole 33612. The two second shell fixing frames 3931 are respectively arranged in contact with the outer surface of one first shell mounting frame 3361, and the second shell fixing frame 3931 abuts against the second shell mounting frame 3362. On the end surface away from the rib connecting portion 3312, the second shell fixing frame 3931 is fixedly connected to the first shell mounting frame 3361 by bolts through the first shell mounting hole 33611 and the third fixing hole 39311. Similarly, each third shell fixing frame 3932 is provided with a fifth fixing hole 39321 and a sixth fixing hole 39322, and the two third shell fixing frames 3932 are respectively arranged in a one-to-one correspondence with the two third shell mounting frames 3363, the fifth fixing hole 39321 is arranged correspondingly to the fifth shell mounting hole 33635, and the sixth fixing hole 39322 is arranged correspondingly to the sixth shell mounting hole 33636. The two third shell fixing frames 3932 are respectively fitted with a third bracket portion 33633 and fixedly connected by bolts through the fifth shell mounting hole 33635 and the fifth fixing hole 39321.In addition, two fourth shell fixing frames 3941 and two fifth shell fixing frames 3942 are provided in the rear chest shell 394, and the two fourth shell fixing frames 3941 and the two fifth shell fixing frames 3942 are extended along the second direction and in the direction away from the rear chest shell 394, and each fourth shell fixing frame 3941 is provided with a seventh fixing hole 39411, and the two fourth shell fixing frames 3941 are respectively arranged in a one-to-one correspondence with the two second shell fixing frames 3931, and the seventh fixing hole 39411 is arranged corresponding to the fourth fixing hole 39312, and the two fourth shell fixing frames 3941 are respectively fitted with one second shell fixing frame 3931, and the seventh fixing hole 39411, the fourth fixing hole 39312 and the second shell mounting hole 33612 are sequentially penetrated by bolts and fixed. The fourth shell fixing frame 3941, the second shell fixing frame 3931 and the first shell mounting frame 3361 are fixedly connected. Similarly, each fifth shell fixing frame 3942 is provided with an eighth fixing hole 39421, and the two fifth shell fixing frames 3942 are respectively arranged in a one-to-one correspondence with the two third shell fixing frames 3932, and the eighth fixing hole 39421 is arranged corresponding to the sixth fixing hole 39322. The two fifth shell fixing frames 3942 are respectively fitted with one third shell fixing frame 3932, and bolts are sequentially passed through the eighth fixing hole 39421, the sixth fixing hole 39322 and the sixth shell mounting hole 33636 and fixed. The fifth shell fixing frame 3942, the third shell fixing frame 3932 and the third shell mounting frame 3363 are fixedly connected. Thus, the fourth shell fixing frame 3941 and the fifth shell fixing frame 3942 are respectively covered on the second shell fixing frame 3931 and the third shell fixing frame 3932, so that only four mounting holes are exposed during the assembly of the front chest shell 393 and the rear chest shell 394. In addition, two ninth fixing holes 39521 are provided on the front bottom shell 395, and the two ninth fixing holes 39521 are respectively arranged in one-to-one correspondence with the two fourth shell mounting holes 33622. The front bottom shell 395 is fixedly connected to the second shell mounting bracket 3362 by the ninth fixing holes 39521 and the fourth shell mounting holes 33622. At the same time, two tenth fixing holes 39621 are provided on the rear bottom shell 396, and the two tenth fixing holes 39621 are respectively arranged in one-to-one correspondence with the two third shell mounting holes 33621. The rear bottom shell 396 is fixedly connected to the second shell mounting bracket 3362 by the tenth fixing holes 39621 and the third shell mounting holes 33621, thereby realizing the fixed connection between the front bottom shell 395 and the rear bottom shell 396.

[0060] In addition, a USB interface (not shown in the figure) and a power interface (not shown in the figure) can be set on the rear shoulder shell 392 to connect to the robot controller 5 in the chest assembly 3 through the USB interface and the power interface to realize power supply and data transmission functions.

[0061] In the embodiments of this application, Figure 1 and Figure 11 – Figure 21 As shown, the front shoulder shell 391 and the rear shoulder shell 392, the front chest shell 393 and the rear chest shell 394, the front bottom shell 395 and the rear bottom shell 396, the front shoulder shell 391 and the front chest shell 393, the rear shoulder shell 392 and the rear chest shell 394, the front bottom shell 395 and the front chest shell 393, and the rear bottom shell 396 and the rear chest shell 394 are connected by straight limit connections to ensure the connection between each adjacent shell, thereby ensuring the connection between the front chest shell 393, the rear chest shell 394, the front shoulder shell 391, the rear shoulder shell 392, the front bottom shell 395 and the rear bottom shell 39 6 form a relatively closed chest structure, the chest support 33, the left arm mounting base 34, the right arm mounting base 35, the main unit mounting frame 36, the controller mounting frame 37, the head mounting base 38 and the fourth torso motor 32 are located in the chest structure, and the front shoulder shell 391 and the rear shoulder shell 392 form a robot neck for passing the robot head in the middle along the third direction, a left arm hole for passing the robot's left arm is formed at one end close to the left arm mounting base 34 along the third direction, and a right arm hole for passing the robot's right arm is formed at one end close to the right arm mounting base 35 along the third direction.

[0062] In addition, in the specific implementation process, such as Figure 15 and Figure 18 – Figure 20As shown, an inclined opening is formed between the front chest shell 393 and the rear chest shell 394, and the inclined opening is located on one side of the front bottom shell 395 and the rear bottom shell 396. In detail, the front bottom shell 395 includes a first front shell portion 3951 and a second front shell portion 3952. The first front shell portion 3951 is a semi-cylindrical shell structure, and the end of the first front shell portion 3951 close to the front chest shell 393 is an inclined end surface. The second front shell portion 3952 is an inclined plate structure. The second front shell portion 3952 is integrally connected to the inclined end surface of the first front shell portion 3951. The ninth fixing hole 39521 is provided on the second front shell portion 3952. Similarly, the rear bottom shell 396 includes a first rear shell portion 3961 and a second rear shell portion 3962. The first rear shell portion 3961 is a semi-cylindrical shell structure, with an inclined end surface at its end near the rear chest shell 394. The second rear shell portion 3962 is an inclined plate structure. The second rear shell portion 3962 is integrally connected to the inclined end surface of the first rear shell portion 3961, and the tenth fixing hole 39621 is provided in the second rear shell portion 3962. The front bottom shell 395 and the rear bottom shell 396 are connected by a straight stop. The first front shell portion 3951 and the first rear shell portion 3961 together form a cylindrical shell structure, which is sleeved on the fourth torso motor base 321. The fourth torso motor 32 is located within the cylindrical shell structure. The second front shell portion 3952 and the second rear shell portion 3962 together form an inclined plate structure for closing the inclined opening. Furthermore, heat dissipation holes are provided on the second front shell portion 3952 and the second rear shell portion 3962. At the same time, heat dissipation holes are also provided on the end face of the rear shoulder shell 392 away from the rear chest shell 394, thereby forming a straight heat dissipation channel from top to bottom to prevent the internal components of the chest cavity assembly 3 from overheating during operation.

[0063] It should be noted that the bearing model and the structural size of each component in this application can be selected and set accordingly according to the overall structural stability and strength of the robot to ensure the stability of the overall structure of the robot and the structural stability of the robot during movement, and there is no restriction on this.

[0064] To sum up, the present application discloses a robot torso structure with multiple degrees of freedom, which can flexibly control the activities of each joint and perform different actions. The overall weight of the robot torso structure is light and the cost is low. At the same time, the robot torso structure adopts internal wiring of the shell, making the overall structure more beautiful.

Claims

1. A robot trunk structure, characterized in that: include: a shank assembly, the shank assembly comprising a first torso motor, the shank assembly being rotationally connected to the robot chassis structure via the first torso motor, wherein when the first torso motor is in operation, the first torso motor drives the shank assembly to rotate relative to the robot chassis structure about an output shaft of the first torso motor within a plane formed by a first direction and a second direction; a thigh assembly, the thigh assembly including a second torso motor, the thigh assembly being rotationally connected to the calf assembly via the second torso motor, and when the second torso motor is in operation, the second torso motor drives the thigh assembly to rotate relative to the calf assembly about an output shaft of the second torso motor within a plane formed by the first direction and the second direction; a chest assembly comprising a third torso motor, a third torso motor base, a fourth torso motor and a fourth torso motor base, wherein the third torso motor is disposed in the third torso motor base, and an output shaft of the third torso motor is rotationally connected to the thigh assembly, the fourth torso motor base is fixedly connected to an outer surface of the third torso motor base, the fourth torso motor is disposed on the fourth torso motor base, and an output shaft of the fourth torso motor is rotationally connected to the fourth torso motor base, the chest assembly is rotationally connected to the thigh assembly via the third torso motor and the fourth torso motor, when the third torso motor is operating, within a plane formed by the first direction and the second direction, the third torso motor drives the chest assembly to rotate relative to the thigh assembly around the output shaft of the third torso motor, when the fourth torso motor is operating, within a plane formed by the second direction and the third direction, the fourth torso motor drives the chest assembly to rotate relative to the thigh assembly around the output shaft of the fourth torso motor; The first direction is a direction perpendicular to the ground, and the first direction, the second direction and the third direction are perpendicular to each other.

2. The robot trunk structure according to claim 1, characterized in that: The calf assembly further includes a first trunk motor mount, a first trunk bearing, a first trunk bearing mount, a calf output connecting rod, a calf auxiliary connecting rod, a calf connecting support rod, a second trunk motor mount, and a calf housing; A plurality of mounting ears are provided at one end of the first torso motor seat close to the robot chassis structure, and each of the mounting ears extends in a direction away from the first torso motor seat within a plane formed by the second direction and the third direction, and the first torso motor seat is fixedly connected to the robot chassis structure by a plurality of the mounting ear bolts; the first torso motor is mounted on the first torso motor seat, the output shaft of the first torso motor extends along the third direction, and the output shaft and the motor tail cover of the first torso motor are both passed through the outside of the first torso motor seat; the first torso bearing is provided on the first torso bearing seat through the first torso bearing seat. on a trunk motor seat, and located at one end of the motor tail cover of the first trunk motor; the first end of the calf output connecting rod is fixedly connected to the output shaft of the first trunk motor, the first end of the calf auxiliary connecting rod is rotatably connected to the first trunk motor seat through the first trunk bearing, the second end of the calf output connecting rod and the second end of the calf auxiliary connecting rod are respectively fixedly connected to the two ends of the second trunk motor seat; the two ends of the calf connecting support rod along the third direction are respectively fixedly connected to the calf output connecting rod and the calf auxiliary connecting rod; a calf shell is respectively provided on the outer surface of the calf output connecting rod and the calf auxiliary connecting rod.

3. The robot trunk structure according to claim 2, characterized in that: The calf output connecting rod includes a first calf output part, a second calf output part and a calf output connecting part; the first calf output part is an annular plate structure, and the first calf output part is evenly provided with a plurality of first output mounting holes at equal distances along the circumferential direction, and the calf output connecting rod is fixedly connected to the output shaft bolt of the first torso motor through the plurality of first output mounting holes; the second calf output part is an annular cylindrical structure, and the second calf output part is provided with at least one output positioning groove on the annular end surface close to the second torso motor seat, and the second torso motor seat is provided with at least one output positioning block on the annular end surface close to the second calf output part, and each of the output positioning blocks is connected to each of the output The positioning grooves are arranged in a one-to-one correspondence, and the calf output connecting rod and the second torso motor seat are positioned and connected by the output positioning block and the output positioning groove, and the second calf output part and the second torso motor seat are fixedly connected with bolts; the two ends of the calf output connecting part along the first direction are respectively integrally connected with the first calf output part and the second calf output part, and the middle part of the calf output connecting part along the first direction is provided with an output notch, and the calf output connecting part is provided with a calf output wire groove on the side away from the calf auxiliary connecting rod in the third direction, and the calf output wire groove extends from one end of the first calf output part to one end of the second calf output part; The calf auxiliary connecting rod includes a first calf auxiliary part, a second calf auxiliary part and a calf auxiliary connecting part; the first calf auxiliary part includes a stepped circular ring part and an arc plate part, the stepped circular ring part is inserted in the first torso motor seat, and is rotatably connected to the first torso bearing seat through the first torso bearing, and the arc plate part is integrally connected with the end of the stepped circular ring part away from the first torso motor seat; the second calf auxiliary part is a stepped circular ring structure, the small diameter end of the second calf auxiliary part is inserted in the second torso motor seat, and the large diameter end of the second calf auxiliary part is arranged at a position away from the second torso motor seat The circular end surface of the second calf output part is fixedly connected to the second torso motor seat with bolts; the two ends of the calf auxiliary connecting part along the first direction are respectively integrally connected with the first calf auxiliary part and the second calf auxiliary part, and the calf auxiliary connecting part is symmetrically arranged with the calf output connecting part, and the middle part of the calf auxiliary connecting part along the first direction is provided with an auxiliary notch, and the side of the calf auxiliary connecting part away from the calf output connecting rod in the third direction is provided with a calf auxiliary wire groove, and the calf auxiliary wire groove extends from one end of the arc plate part to one end of the second calf auxiliary part; The calf connecting rod includes a first connecting portion, a second connecting portion and a third connecting portion; the first connecting portion is integrally connected to the second connecting portion and the third connecting portion at both ends along the third direction, and the second connecting portion and the third connecting portion are both arranged perpendicular to the first connecting portion, and the second connecting portion and the third connecting portion are symmetrically arranged at the output notch and the auxiliary notch respectively; the second connecting portion and the third connecting portion are respectively provided with at least one fixing block at both ends along the first direction, and the calf output connecting portion and the calf auxiliary connecting portion are respectively provided with a plurality of fixing grooves, each of the fixing grooves is respectively corresponding to a plurality of fixing blocks, and the calf connecting rod is positioned and connected to the calf output connecting rod and the calf auxiliary connecting rod by the plurality of fixing blocks respectively being fixed in each of the fixing grooves, and the calf connecting rod is fixed to the calf output connecting rod and the calf auxiliary connecting rod by the plurality of fixing blocks, and is fixedly connected to the calf output connecting rod or the calf auxiliary connecting portion by bolts.

4. The robot trunk structure according to claim 3, characterized in that: The thigh assembly also includes a second torso bearing, a thigh output link, a thigh auxiliary link, a thigh connecting rod and a thigh housing; The second torso motor is mounted on the second torso motor seat, and the output shaft of the second torso motor extends along the third direction, and the output shaft and the motor tail cover of the second torso motor are both passed through the outside of the second torso motor seat; the second torso bearing is arranged in the second torso motor seat, and is located at one end of the motor tail cover of the second torso motor; the first end of the thigh output connecting rod is fixedly connected to the output shaft of the second torso motor, and the first end of the thigh auxiliary connecting rod is rotatably connected to the second torso motor seat through the second torso bearing, and the second end of the thigh output connecting rod and the second end of the thigh auxiliary connecting rod are respectively rotatably connected to the chest assembly; the two ends of the thigh connecting support rod along the third direction are respectively fixedly connected to the thigh output connecting rod and the thigh auxiliary connecting rod; a thigh shell is respectively provided on the outer surface of the thigh output connecting rod and the thigh auxiliary connecting rod.

5. The robot trunk structure according to claim 4, characterized in that: The thigh output connecting rod includes a first thigh output part, a second thigh output part and a thigh output connecting part; the first thigh output part is an annular plate structure, and the first thigh output part is evenly provided with a plurality of second output mounting holes at equal distances along the circumferential direction, and the thigh output connecting rod is fixedly connected to the output shaft bolt of the second torso motor through the plurality of second output mounting holes; the second thigh output part is an annular plate structure, and the second thigh output part is evenly provided with a plurality of third output mounting holes at equal distances along the circumferential direction, and the thigh output connecting rod is fixedly connected to the output shaft bolt of the third torso motor through the plurality of third output mounting holes; the two ends of the thigh output connecting part along the first direction are respectively integrally connected with the first thigh output part and the second thigh output part, and a thigh output wire groove is provided on the side of the thigh output connecting part away from the thigh auxiliary connecting rod, and the thigh output wire groove extends from one end of the first thigh output part away from the thigh output connecting part to one end of the second thigh output part away from the thigh output connecting part; The thigh auxiliary connecting rod includes a first thigh auxiliary part, a second thigh auxiliary part and a thigh auxiliary connecting part; the first thigh auxiliary part is a three-step circular ring structure, the small diameter end and the middle diameter end of the first thigh auxiliary part are inserted in the second torso motor seat, and are rotatably connected to the second torso motor seat through the second torso bearing; the second thigh auxiliary part is a three-step circular ring structure, the small diameter end and the middle diameter end of the second thigh auxiliary part are inserted in the third torso motor seat, and are rotatably connected to the third torso motor seat through the third torso bearing; the two ends of the thigh auxiliary connecting part along the first direction are respectively connected to the large diameter end, the middle diameter end and the middle diameter end of the first thigh auxiliary part The large-diameter end of the second thigh auxiliary part is integrally formed and connected, and a thigh auxiliary wire groove is provided on the side of the thigh auxiliary connection part away from the thigh output connecting rod, and the thigh auxiliary wire groove extends from the end of the first thigh auxiliary part away from the thigh auxiliary connection part to the end of the second thigh auxiliary part away from the thigh auxiliary connection part; the end of the first thigh output part away from the thigh output connection part, the end of the second thigh output part away from the thigh output connection part, the end of the first thigh auxiliary part away from the thigh auxiliary connection part, and the end of the second thigh auxiliary part away from the thigh auxiliary connection part are all provided with thigh wiring notches; The thigh connecting rod is a long rod structure, and the thigh connecting rod is extended along the third direction. The two ends of the thigh connecting rod are respectively fixedly connected with the middle bolts of the thigh output connecting part and the thigh auxiliary connecting part.

6. The robot trunk structure according to claim 5, characterized in that: The thigh connecting support rod is located on one side of the thigh output connecting part and the thigh auxiliary connecting part; the side of the thigh output connecting part close to the thigh connecting support rod is tangent to the first thigh output part and the second thigh output part respectively, and the other side of the thigh output connecting part away from the thigh connecting support rod is provided with an output limiting part and an output groove, the output limiting part is tangent to the second thigh output part, and the output groove is located at the connection between the thigh output connecting part and the first thigh output part; the side of the thigh auxiliary connecting part close to the thigh connecting support rod is tangent to the first thigh auxiliary part and the second thigh auxiliary part respectively, and the other side of the thigh auxiliary connecting part away from the thigh connecting support rod is provided with an auxiliary limiting part and an auxiliary groove, the auxiliary limiting part is tangent to the second thigh auxiliary, and the auxiliary groove is located at the connection between the thigh auxiliary connecting part and the first thigh auxiliary.

7. The robot trunk structure according to claim 1, characterized in that: The chest assembly also includes a third torso bearing, a chest bracket, a left arm mounting base, a right arm mounting base, a host mounting frame, a controller mounting frame, a head mounting base and a chest shell; The third torso bearing is arranged in the third torso motor seat and is located at one end of the motor tail cover of the third torso motor. The end of the thigh component close to the chest component is rotatably connected to the third torso motor seat through the third torso bearing and the third torso motor; one end of the chest support along the first direction is fixedly connected to the stator of the fourth torso motor; the head mounting base is arranged at the other end of the chest support along the first direction for mounting the robot head; the left arm mounting base and the right arm mounting base are respectively arranged at both ends of the chest support along the third direction, and are both located at the chest support along the first direction. The left arm mounting base is close to one end of the head mounting base, the left arm mounting base is used to mount the left robotic arm of the robot, and the right arm mounting base is used to mount the right robotic arm of the robot; the host mounting frame and the controller mounting frame are both arranged in the middle of the chest support along the first direction, the host mounting frame is used to mount the PC host, and the controller mounting frame is used to mount the robot controller; the chest shell is fixedly connected to the chest support, and the fourth torso motor, the chest support, the left arm mounting base, the right arm mounting base, the host mounting frame, the controller mounting frame and the head mounting base are all placed in the chest shell.

8. The robot trunk structure according to claim 7, characterized in that: The chest support comprises a chest base, a left chest rib, a right chest rib, a middle chest rib, a plurality of chest ribs and an outer shell support; The chest cavity base plate includes a motor connecting part and a rib connecting part, the motor connecting part is a circular cylindrical structure, and the motor connecting part is evenly provided with a plurality of motor mounting holes at equal distances along the circumferential direction, the motor connecting part is sleeved on the fourth torso motor, and is fixedly connected to the stator of the fourth torso motor through the plurality of motor mounting holes, the rib connecting part is a hexagonal plate structure with two sets of parallel sides, and the two inclined sides of the rib connecting part are equal in length, and an arc notch is provided on one side of the longest side of the rib connecting part, one end of the motor connecting part is provided in the arc notch, and is integrally connected to the rib connecting part; The left rib plate of the chest cavity includes a left vertical portion and a left horizontal portion, the left vertical portion extends along the first direction, and one end of the left vertical portion is fixedly connected to the end surface of the chest cavity base plate away from the third torso motor, and is located at the edge of one of the sides adjacent to the longest side of the rib plate connecting portion, the length of one end of the left vertical portion is equal to the length of the side adjacent to the longest side of the rib plate connecting portion, the other end of the left vertical portion is integrally connected with one end of the left horizontal portion, and the left vertical portion and the left horizontal portion are perpendicularly arranged, and the left horizontal portion extends along the second direction; The right rib plate of the chest cavity is symmetrically arranged with respect to the left rib plate of the chest cavity, and the right rib plate of the chest cavity comprises a right vertical portion and a right horizontal portion, the right vertical portion is extended along the first direction, and one end of the right vertical portion is fixedly connected to the end surface of the chest cavity base plate away from the third torso motor, and is located at the edge of the other side adjacent to the longest side in the rib plate connecting portion, the length of one end of the right vertical portion is equal to the length of one side adjacent to the longest side in the rib plate connecting portion, the other end of the right vertical portion is integrally connected with one end of the right horizontal portion, and the right vertical portion and the right horizontal portion are perpendicularly arranged, and the right horizontal portion is extended along the second direction; The thoracic rib plate is a rectangular plate structure, a rectangular notch is provided in the middle of the thoracic rib plate, one wide side end of the thoracic rib plate is fixedly connected to the end surface of the thoracic base plate away from the third torso motor, and is located at the edge of a side of the rib plate connecting portion that is parallel to the longest side, and the length of the wide side of the thoracic rib plate is equal to the length of the side of the rib plate connecting portion that is parallel to the longest side; The plurality of chest ribs are symmetrically arranged between the middle chest rib plate and the left chest rib plate and the right chest rib plate, and one end of each chest rib is fixedly connected to the long side end of the middle chest rib plate, and the other end is fixedly connected to the left vertical portion or the right vertical portion; The head mounting base is a rectangular plate structure, and the two wide side ends of the head mounting base are respectively fixedly connected to the left horizontal part and the right horizontal part with bolts, and the robot head is installed in the middle part of the head mounting base along the third direction; the left arm mounting base is fixedly connected to the left vertical part at one end of the left horizontal part with bolts; the right arm mounting base is fixedly connected to the right vertical part at one end of the right horizontal part with bolts; the main mounting frame and the controller mounting frame are both fixedly connected to the middle rib plate of the chest cavity with bolts, and in the first direction, the controller mounting frame is located between the main mounting frame and the head mounting base; the chest cavity shell is fixedly connected to the left chest cavity rib plate, the right chest cavity rib plate and the head mounting base with bolts through the shell bracket.

9. The robot trunk structure according to claim 8, characterized in that: The shell bracket includes two first shell mounting brackets, two second shell mounting brackets, two third shell mounting brackets and two fourth shell mounting brackets; each of the first shell mounting brackets is a triangular plate structure, one of the right angles of the two first shell mounting brackets is respectively connected to the left vertical portion and the right vertical portion as a whole, and both are located at one end of the left vertical portion and the right vertical portion close to the rib connecting portion, the other right angles of the two first shell mounting brackets are away from the rib connecting portion and are arranged parallel to it, and the two first shell mounting brackets are respectively on the same horizontal plane as the left vertical portion and the right vertical portion. The first shell mounting bracket is provided with a first shell mounting hole and a second shell mounting hole in sequence along a right-angled side parallel to the rib connecting portion, and the first shell mounting hole is provided away from the left vertical portion or the right vertical portion; the two second shell mounting brackets are respectively provided on the outer side surfaces of the two first shell mounting brackets, and are both located at the oblique edges of the two first shell mounting brackets, the end surface of the second shell mounting bracket located at the oblique edge of the first shell mounting bracket is provided with a third shell mounting hole, and the end surface of the second shell mounting bracket close to the rib connecting portion is provided with a fourth shell mounting hole; each of the third shell mounting brackets Each comprises a first bracket portion, a second bracket portion and a third bracket portion, two ends of the second bracket portion are respectively vertically connected to one end of the first bracket portion and the third bracket portion, the first bracket portion and the third bracket portion are parallel to each other and extend in the same direction, a bracket limiting groove is respectively provided on the outer surface of the left vertical portion and the right vertical portion, and the two bracket limiting grooves are both located below the left arm mounting base and the right arm mounting base along the first direction, the bracket limiting groove is n-shaped, the two first bracket portions are both inserted into the bracket limiting groove through the open end of the bracket limiting groove, and are connected to the left vertical portion or the right vertical portion is fixedly connected by bolts, the third bracket portion is sequentially provided with a fifth shell mounting hole and a sixth shell mounting hole along the second direction, the fifth shell mounting hole is provided away from the left vertical portion or the right vertical portion; each of the fourth shell mounting brackets is a rectangular plate structure, two of the fourth shell mounting brackets are provided on the head mounting base, and are respectively located on both sides of the robot head, at least one seventh shell mounting hole is provided on the side surface of the fourth shell mounting bracket away from the robot head, and an eighth shell mounting hole is provided on the end surface of the fourth shell mounting bracket away from the head mounting base; The chest shell includes a front shoulder shell, a rear shoulder shell, a front chest shell, a rear chest shell, a front bottom shell and a rear bottom shell; two first shell fixing brackets are provided in the front shoulder shell, and the two first shell fixing brackets are both extended along the second direction, each of the first shell fixing brackets is provided with at least one first fixing hole, and the two first shell fixing brackets are respectively arranged in a one-to-one correspondence with the two fourth shell mounting brackets, the first fixing hole is corresponding to the seventh shell mounting hole, and the two first shell fixing brackets are respectively fitted with the side surface of one fourth shell mounting bracket and fixedly connected by bolts through the seventh shell mounting hole and the first fixing hole; two second fixing holes are provided on the rear shoulder shell, and the two second fixing holes are respectively arranged in a one-to-one correspondence with the two eighth shell mounting holes, and the rear shoulder shell is fixedly connected to the fourth shell mounting bracket by bolts through the second fixing holes and the eighth shell mounting holes; two second shell fixing brackets and two third shell fixing brackets are provided in the front chest shell, and the two second shell fixing brackets and the two third shell fixing brackets are both extended along the second direction; each second shell fixing bracket is provided with a third fixing hole and a fourth fixing hole, and the two second shell fixing brackets are respectively and a bracket having a first end and a second end, and a second end, and a third end, and a fourth end, and a fifth end, and a fifth end, and a fifth end, and a fifth end, and a fifth end, respectively.Each of the fourth housing fixing frames is provided with a seventh fixing hole, and the two fourth housing fixing frames are respectively arranged in one-to-one correspondence with the two second housing fixing frames, the seventh fixing hole is arranged corresponding to the fourth fixing hole, and the two fourth housing fixing frames are respectively fitted with one second housing fixing frame, and the seventh fixing hole, the fourth fixing hole and the second housing mounting hole are sequentially penetrated and fixed by bolts, and the fourth housing fixing frame, the second housing fixing frame and the first housing mounting frame are fixedly connected; each of the fifth housing fixing frames is provided with an eighth fixing hole, and the two fifth housing fixing frames are respectively fitted with the two third housing fixing frames. The fixing frames are arranged in a one-to-one correspondence, the eighth fixing hole is arranged in correspondence with the sixth fixing hole, the two fifth shell fixing frames are respectively fitted with one third shell fixing frame, and the eighth fixing hole, the sixth fixing hole and the sixth shell mounting hole are sequentially penetrated and fixed by bolts, and the fifth shell fixing frame, the third shell fixing frame and the third shell mounting frame are fixedly connected; two ninth fixing holes are provided on the front bottom shell, and the two ninth fixing holes are respectively arranged in a one-to-one correspondence with the two fourth shell mounting holes, and the front bottom shell is fixedly connected to the second shell mounting frame through the ninth fixing hole and the fourth shell mounting hole bolts. On; two tenth fixing holes are provided on the rear bottom shell, and the two tenth fixing holes are respectively arranged in one-to-one correspondence with the two third shell mounting holes, and the rear bottom shell is fixedly connected to the second shell mounting bracket by bolts through the tenth fixing holes and the third shell mounting holes; the front shoulder shell and the rear shoulder shell, the front chest shell and the rear chest shell, the front bottom shell and the rear bottom shell, the front shoulder shell and the front chest shell, the rear shoulder shell and the rear chest shell, the front bottom shell and the front chest shell, and the rear bottom shell and the rear chest shell are straight-mouth limit connections, the front chest shell, the rear chest shell, The front shoulder shell, the rear shoulder shell, the front bottom shell, and the rear bottom shell form a relatively closed chest structure. The chest support, the left arm mounting base, the right arm mounting base, the main unit mounting frame, the controller mounting frame, the head mounting base, and the fourth torso motor are located within the chest structure. A robot neck for receiving the robot head is formed at the middle portion of the front shoulder shell and the rear shoulder shell along the third direction. A left arm hole for receiving the robot's left arm is formed at one end along the third direction near the left arm mounting base, and a right arm hole for receiving the robot's right arm is formed at one end along the third direction near the right arm mounting base.

10. The robot trunk structure according to claim 9, characterized in that: An inclined opening is formed between the front chest shell and the rear chest shell, and the inclined opening is located on one side of the front bottom shell and the rear bottom shell; the front bottom shell includes a first front shell portion and a second front shell portion, the first front shell portion is a semi-cylindrical shell structure, and the end of the first front shell portion close to the front chest shell is an inclined end face, the second front shell portion is an inclined plate structure, the second front shell portion is integrally connected to the inclined end face of the first front shell portion, and the ninth fixing hole is provided on the second front shell portion; the rear bottom shell includes a first rear shell portion and a second rear shell portion, the first rear shell portion is a semi-cylindrical shell structure, and the One end of the first rear shell part close to the rear chest shell is an inclined end face, the second rear shell part is an inclined plate structure, the second rear shell part is integrally connected with the inclined end face of the first rear shell part, and the tenth fixing hole is provided on the second rear shell part; the front bottom shell and the rear bottom shell are connected with a straight mouth limiter, the first front shell part and the first rear shell part jointly form a cylindrical shell structure, the cylindrical shell structure is sleeved on the fourth torso motor seat, the fourth torso motor is located in the cylindrical shell structure, the second front shell part and the second rear shell part jointly form an inclined plate structure for closing the inclined opening.

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