Thoracic cavity structure and humanoid robot

Abstract

The embodiment of the utility model provides a thoracic cavity structure and a humanoid robot, the thoracic cavity structure comprises a support frame, a plurality of components and an assembly frame, and an accommodating space is arranged in the support frame. The component comprises a battery pack which is used for supplying energy. The assembling frame is contained in the containing space and comprises a plurality of frame bodies, the frame bodies are detachably connected, at least one frame body is detachably connected to the supporting frame, an assembling space is defined by the frame bodies, the battery pack can be arranged in the assembling space in a matched mode, and mounting positions are arranged on the sides, back to the assembling space, of at least part of the frame bodies; and the mounting positions are used for mounting components. The thoracic cavity structure is high in integration level and convenient to repair and maintain, and cost is saved.

Description

Technical Field

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

[0002] In the field of robotics, the thoracic cavity is the primary location for installing various electrical systems, perception and navigation systems, and power systems. The electrical systems are mainly responsible for providing a motion control computing platform, collecting information from various sensors on the robot body, and driving the servo system to achieve walking algorithm control. The perception and navigation systems provide the robot with the ability to perceive its surrounding environment, enabling autonomous navigation. The power systems are used for power supply and distribution management for robots performing intelligent walking and autonomous mobile operations in complex environments.

[0003] To enable robots to be used in a wider range of applications, batteries with longer battery life are needed, but these batteries are typically large. This results in lower integration of internal components within the robot's thoracic cavity structure, making installation cumbersome, maintenance difficult, and increasing maintenance costs. Utility Model Content

[0004] This application provides a thoracic cavity structure and a humanoid robot. The thoracic cavity structure has a high degree of integration, making maintenance and repair more convenient and cost-effective.

[0005] In a first aspect, embodiments of this application provide a thoracic cavity structure, including a support frame, multiple components, and an assembly frame. The support frame has an internal accommodating space. The components include a battery pack for power supply. The assembly frame is housed within the accommodating space and includes multiple frame bodies that are detachably connected. At least one frame body is detachably connected to the support frame. An assembly space is formed between the multiple frame bodies, and the battery pack can be adapted to fit within the assembly space. At least some of the frame bodies have mounting positions on the side facing away from the assembly space for mounting components.

[0006] The thoracic cavity structure provided in this application embodiment comprises a frame composed of multiple detachably connected frame bodies, making the assembly frame easy to assemble and disassemble, thereby facilitating the maintenance and repair of the battery pack. Furthermore, the multiple frame bodies can be manufactured separately, increasing production efficiency. Additionally, the frame bodies of this application have mounting positions on the side facing away from the assembly space. These mounting positions can be used to install other components of the thoracic cavity structure, allowing these components to be integrated around the battery pack onto the assembly frame, improving integration and integrating more components and functions within a limited space. Moreover, since the mounting positions on the frame bodies are located on the side facing away from the assembly space, the components are separated from the battery pack by the frame bodies when installed at the mounting positions, preventing direct contact between the components and the battery pack and effectively limiting heat transfer between them. The detachable connection between the frame bodies in this application means that when a component on a particular frame needs maintenance, only the frame containing that component needs to be removed, without needing to assemble or disassemble the entire assembly frame or the component itself, making component maintenance and repair convenient.

[0007] In one possible implementation, the assembly frame includes a front frame, a rear frame, side frames, and a top frame. The front and rear frames are spaced apart along a first direction. There are two side frames, which are spaced apart along a second direction perpendicular to the first direction. One end of the front and rear frames is connected to the top frame, the top frame is connected to a support frame, and one end of the side frames is connected to the rear frame. An assembly space is formed between the front, rear, side, and top frames.

[0008] In one possible implementation, the support frame includes a first support member, a second support member, a top support member, a bottom adapter member, and a first lifting member. The first and second support members are spaced apart along a first direction, and the top support member and the bottom adapter member are spaced apart along a third direction. The two ends of the first support member are respectively connected to the top support member and the bottom adapter member, and the two ends of the second support member are respectively connected to the top support member and the bottom adapter member. The first lifting member is located between the first and second support members, and the two ends of the first lifting member are respectively connected to the first and second support members. The third direction is perpendicular to the first direction and perpendicular to the second direction.

[0009] In one possible implementation, the front frame is close to the first support member, and both ends of the front frame along the second direction are connected to the first support member; the rear frame is close to the second support member, and the end of the rear frame away from the top frame is connected to the bottom adapter; the end of the side frame away from the rear frame is connected to the first support member; the top frame is located between the top support member and the bottom adapter, and the top frame is connected to the first hoisting member.

[0010] In one possible implementation, the side frame is located between the first support member and the second support member, the two end faces of the battery pack along the first direction are respectively attached to the opposite end faces of the rear frame and the front frame, the two end faces of the battery pack along the third direction are respectively attached to the bottom adapter and the top frame, and the distance between the opposite end faces of the rear frame and the front frame is less than or equal to the distance between the opposite end faces of the first support member and the second support member.

[0011] In one possible implementation, there are two first support members, which are spaced apart along a second direction. The opposite end faces of the two first support members are provided with first fixing parts. The front frame is located between the two first support members, and both ends of the front frame along the second direction are provided with front mounting parts, which are connected to the first fixing parts.

[0012] In one possible implementation, a second fixing part is provided at one end of the two first support members facing away from each other, and the end of the side frame away from the rear frame is connected to the second fixing part.

[0013] In one possible implementation, a protective frame is also included, comprising a first protective member and a second protective member. The first protective member is connected to the end of the first support member facing away from the second support member, and the second protective member is connected to the end of the second support member facing away from the first support member. A first protective space is formed between the first protective member and the first support member, and a second protective space is formed between the second protective member and the second support member.

[0014] In one possible implementation, a second lifting component is also included, which is connected to the end of the bottom adapter facing away from the top support.

[0015] Secondly, embodiments of this application also provide a humanoid robot, including a head, upper limbs, lower limbs, and the aforementioned thoracic cavity structure. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0017] Figure 1 Exploded view of the thoracic cavity structure provided for this application;

[0018] Figure 2 An exploded view of a portion of the thoracic cavity structure provided in this application;

[0019] Figure 3 Exploded view of the support frame and protective frame mounting structure provided in this application;

[0020] Figure 4 This is a structural schematic diagram of the assembly frame provided in this application;

[0021] Figure 5 A structural diagram illustrating the mounting structure of the support frame and assembly frame provided in this application;

[0022] Figure 6 for Figure 5 Sectional view of line AA in the middle;

[0023] Figure 7 Another structural diagram of the support frame and assembly frame mounting structure provided in this application;

[0024] Figure 8 A structural schematic diagram of the first support member provided in this application;

[0025] Figure 9 Another structural schematic diagram of the first support member provided in this application;

[0026] Figure 10 Another structural diagram of the support frame and assembly frame installation structure provided in this application;

[0027] Figure 11 A cross-sectional view of a portion of the thoracic cavity structure provided in this application;

[0028] Figure 12 Another sectional view of a portion of the thoracic cavity structure provided in this application;

[0029] Figure 13 Another exploded view of a portion of the thoracic cavity structure provided in this application;

[0030] Figure 14 Another exploded view of a portion of the thoracic cavity structure provided in this application.

[0031] Explanation of reference numerals in the attached figures:

[0032] 10. Outer casing;

[0033] 20. Support frame; 21. First support member; 211. First support body; 212. First mounting part; 213. First assembly part; 2131. First assembly slot; 214. First fixing part; 215. Second fixing part; 22. Second support member; 221. Second support body; 222. Second mounting part; 223. Second assembly part; 2231. Second assembly slot; 23. Top support member; 231. Top support body; 232. Top mounting end; 24. Bottom adapter; 241. Adapter body; 242. Adapter assembly part; 243. Connector; 2431. Connecting slot; 25. First lifting member; 251. Lifting ring; 252. Connecting part; 2521. Limiting part; 26. Second lifting member; 261. Insertion part; 27. First mounting member; 28. Second mounting member; 29. ​​Top mounting member;

[0034] 30. Assembly frame; 31. Top frame; 311. Fixing position; 32. Front frame; 321. Front mounting part; 33. Rear frame; 331. Rear mounting part; 34. Side frame; 341. Side mounting position;

[0035] 41. Battery pack; 42. Battery management system; 43. Power distribution system;

[0036] 51. Panel assembly; 52. Main control system; 53. Sensing system; 54. Camera system; 55. Relay; 56. Emergency stop switch; 57. Switch;

[0037] 60. Switch mounting bracket; 70. Camera mounting bracket; 80. Protective frame; 81. First protective component; 82. Second protective component.

[0038] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0039] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0040] As is known from the background art, the robotic thoracic cavity structure in related technologies suffers from low integration and difficulty in maintenance. This is primarily because, to ensure the integrity of the thoracic cavity structure, the skeleton and the mounting structure for the battery pack are designed as a single unit. This single-unit structure increases manufacturing costs, and once manufactured, the positions of the various parts cannot be changed, thus limiting the placement of mounting points. Furthermore, the single-unit design makes assembly and disassembly inconvenient and hinders the maintenance of individual components, increasing the difficulty and cost of maintenance.

[0041] Based on the aforementioned problems, this application provides a thoracic cavity structure. The components of this thoracic cavity structure are easy to assemble and disassemble, facilitating maintenance and repair. Furthermore, at least part of the thoracic cavity structure is detachable, allowing for individual manufacturing and simultaneous production, saving processing time, increasing efficiency, and ultimately reducing costs.

[0042] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0043] This application provides a thoracic cavity structure and a humanoid robot having the thoracic cavity structure. The humanoid robot includes a head, upper limbs, lower limbs, and the thoracic cavity structure of this application. The head, upper limbs, and lower limbs can be mounted on the thoracic cavity structure. It is understood that the thoracic cavity structure is not limited to humanoid robots, but can also be used on other robots, such as wheeled robots.

[0044] See Figures 1 to 2 As shown, in some feasible embodiments, the thoracic cavity structure includes a support frame 20, multiple components, and an assembly frame 30. The support frame 20 is the main structure of the thoracic cavity, serving as the main support for the thoracic cavity structure and possessing a certain strength. In addition, the thoracic cavity structure also includes an outer shell 10 disposed outside the support frame 20. The outer shell 10 encloses the support frame 20 and forms the outer protective structure of the thoracic cavity structure.

[0045] Multiple components may include battery pack 41, or components included in the control system, such as panel assembly 51, control board and control circuits set on the control board. Components may also include components included in the sensing and camera system 54, such as lidar and camera, or components may also include relays 55, emergency stop switches 56 and switches 57. The robot achieves normal operation through the cooperation between these components.

[0046] The support frame 20 of this application has an internal accommodating space for accommodating the battery pack 41. The battery pack 41 is used to provide power to various components. In order to make the application scenarios of the robot more extensive, the battery pack 41 of this application needs to have a stronger endurance, so its size is also larger.

[0047] In this application, the assembly frame 30 can be accommodated within the receiving space of the support frame 20. The assembly frame 30 includes multiple frames that are detachably connected, and at least one frame is detachably connected to the support frame 20. It is understood that in some cases, when the assembly frame 30 can be fixed in the receiving space by connecting one frame to the support frame 20, only one frame can be detachably connected to the support frame 20. When multiple frames are required to be connected to the support frame 20 to achieve a relatively stable position for the assembly frame 30, then multiple frames need to be connected to the support frame 20. Therefore, this application does not limit the number of frames connected to the support frame; it is determined based on the actual situation.

[0048] The assembly frame 30 is used to assemble the battery pack 41 within the receiving space of the support frame 20. To confine the battery pack 41 within the receiving space, multiple frames are arranged to form an assembly space. The battery pack 41 is housed within the assembly space, and the shape and size of the assembly space are adapted to the external dimensions of the battery pack 41, so that the position of the battery pack 41 housed within the assembly space is restricted by the assembly frame 30. When the assembly frame 30 is located within the receiving space, and the frame of the assembly frame 30 is connected to the support frame 20, the assembly frame 30 is fixed relative to the support frame 20, and the battery pack 41 is fixed relative to the support frame 20, thereby realizing the assembly of the battery pack 41.

[0049] In addition, at least a portion of the assembly frame 30 of this application is provided with a mounting position on the side facing away from the assembly space. The mounting position is used to install components so that the components can be arranged around the outside of the battery pack 41.

[0050] The thoracic cavity structure of this application, by providing an accommodating space within the support frame 20 and by providing an assembly frame 30, forms an assembly space. The battery pack 41 can be adapted to the assembly space. By accommodating the assembly frame 30 within the accommodating space and connecting the frame to the support frame 20, the assembly frame 30 can be fixed relative to the support frame 20, thereby assembling the battery pack 41 within the support frame 20. The assembly frame 30 of this application is composed of multiple detachably connected frame bodies, making the assembly frame 30 easy to assemble and disassemble, thus facilitating the maintenance and repair of the battery pack 41. Furthermore, the multiple frame bodies can be manufactured and processed separately, increasing production efficiency. In addition, the side of the frame body facing away from the assembly space of this application also has a mounting position, which can be used to install other components of the thoracic cavity structure. This allows these components to be integrated around the battery pack 41 onto the assembly frame 30, improving integration and integrating more components and functions within a limited space. Furthermore, the mounting positions on the frame are located on the side of the frame facing away from the assembly space. This ensures that when components are installed in the mounting positions, they are separated from the battery pack 41 by the frame, preventing direct contact between the components and the battery pack 41 and effectively limiting heat transfer between them. The frames in this application are detachably connected. When a component on a particular frame needs repair, only the frame containing that component needs to be removed; there is no need to disassemble or reassemble the entire assembly frame 30, nor to install or remove the component directly from the frame, making component maintenance and repair easier.

[0051] See Figure 3 As shown, in some feasible ways, the support frame 20 is composed of multiple support members connected together. In this embodiment, these support members are detachably connected. By setting the support members as a structure in which multiple support members are detachably connected, multiple support members can be processed and manufactured simultaneously during the production of the support members, which can increase production efficiency. Moreover, the support frame 20 adopts a method of detachable connection of multiple support members, which is less difficult to process and less costly than the method of forming the support members as a whole. In addition, the support members of this application are provided with an accommodating space inside, and the battery pack 41 is set in the accommodating space through the assembly frame 30. Setting the support members as a detachable structure is conducive to the assembly and disassembly of the assembly frame 30, thereby facilitating the maintenance and repair of the battery pack 41 inside the assembly frame 30.

[0052] Specifically, the support frame 20 of this application includes a first support member 21, a second support member 22, a top support member 23, and a bottom adapter 24. The first support member 21, the second support member 22, the top support member 23, and the bottom adapter 24 are spliced ​​together to form an accommodating space, which requires setting the relative positions of the members.

[0053] For clarity, see [link to documentation]. Figure 2 or Figure 3 As shown, Figure 2and Figure 3 The X direction shown represents the first direction, the Y direction represents the second direction, and the Z direction represents the third direction. The first direction, the second direction, and the third direction are set perpendicular to each other.

[0054] The first support member 21 and the second support member 22 are spaced apart along the first direction, and the top support member 23 and the bottom adapter 24 are spaced apart along the third direction. The two ends of the first support member 21 are respectively connected to the top support member 23 and the bottom adapter 24, and the two ends of the second support member 22 are respectively connected to the top support member 23 and the bottom adapter 24. In this way, the first support member 21, the second support member 22, the top support member 23 and the bottom adapter 24 can be connected together to form the support frame 20.

[0055] It is understood that there is a gap between the first support member 21 and the second support member 22, and the gap forms openings in both the second direction and the third direction. The top support member 23 and the bottom adapter 24 are located between the first support member 21 and the second support member 22, blocking the third-direction openings of the first support member 21 and the second support member 22. Thus, there is an opening in the second direction between the first support member 21 and the second support member 22, so that the assembly frame 30 or the battery pack 41 can be placed into the accommodating space through the opening in the second direction.

[0056] In this embodiment, the support frame 20 further includes a first lifting member 25, which can be used to install the robot's upper limb structure. The first lifting member 25 is located between the first support member 21 and the second support member 22, and is positioned close to the top support member 23. Both ends of the first lifting member 25 are connected to the first support member 21 and the second support member 22, respectively. By connecting the top support member 23, the first lifting member 25, and the bottom adapter 24 between the first support member 21 and the second support member 22, the stability between the first support member 21 and the second support member 22 can be increased, making it less likely for the first support member 21 and the second support member 22 to shift relative to or away from each other.

[0057] See Figure 3 and Figure 4As shown, in some feasible implementations, the assembly frame 30 includes at least a front frame 32, a rear frame 33, side frames 34, and a top frame 31, with the front frame 32, rear frame 33, side frames 34, and top frame 31 forming an assembly space. Specifically, the front frame 32 and rear frame 33 are spaced apart along a first direction, two side frames 34 are provided, and the two side frames 34 are spaced apart along a second direction perpendicular to the first direction, with the top frame 31 located between the front frame 32 and rear frame 33. One end of each of the front frame 32 and rear frame 33 is connected to the top frame 31, and the front frame 32 and rear frame 33 are located on the same side of the top frame 31. The front frame 32 and the rear frame 33 are located between the two side frames 34 in the second direction, and one end of the two side frames 34 is connected to the rear frame 33. The two side frames 34 are located on the side of the rear frame 33 facing the front frame 32. Thus, the front frame 32, the rear frame 33, the top frame 31 and the two side frames 34 are connected to form a whole, and the space enclosed in the middle of the whole structure forms an assembly space.

[0058] In this application, when the assembly frame 30 is placed in the accommodating space, it can be connected to the support frame 20 through the top frame 31, or in order to stabilize the position of the assembly frame 30, parts of the front frame 32, the rear frame 33 and the side frame 34 can be connected to the support frame 20.

[0059] It should be noted that the connection between the front frame 32, the rear frame 33 and the top frame 31, and the connection between the side frame 34 and the rear frame 33 can be made by screws or rivets to achieve a detachable connection between the frames.

[0060] It should also be noted that the assembly space in this application is not only used to accommodate the battery pack 41, but also to restrict the position of the battery pack 41. Therefore, the shape and size of the assembly space need to be adapted to the shape and size of the battery pack 41. For example, if the battery pack 41 in this embodiment is a square battery, then the shape of the assembly space is square.

[0061] In some feasible implementations, the frame comprising the assembly frame 30 can be a plate-like structure, a hollow structure, or a combination of both. In this embodiment, the front frame 32, rear frame 33, top frame 31, and side frame 34 are all hollow structures. Specifically, each of these components consists of multiple support rods, which can be divided into multiple parallel horizontal rods and multiple parallel vertical rods. The horizontal and vertical rods are perpendicular and are connected together by bonding or welding to form a hollow structure. Alternatively, multiple perforations can be made in the plate-like structure to create a hollow structure. By setting the frame as a hollow structure, the material used can be reduced, manufacturing costs can be saved, and the weight of the frame can be reduced.

[0062] In this embodiment, the front frame 32 and the rear frame 33 are arranged in parallel, and the two side frames 34 are also arranged in parallel. The front frame 32 and the rear frame 33 are relatively perpendicular to the top frame 31, and the side frames 34 are relatively perpendicular to the front frame 32 and the rear frame 33. Thus, when the front frame 32 and the rear frame 33 are connected to the top frame 31, and the end of the side frame 34 is connected to the rear frame 33, a square space is formed between the front frame 32, the rear frame 33, the top frame 31, and the side frames 34.

[0063] In this application, the ends of the front frame 32 and the rear frame 33 are both connected to the two ends of the top frame 31 in the first direction, and the ends of the side frame 34 are connected to the two ends of the rear frame 33 along the second direction.

[0064] For example, the overall shape of the front frame 32, rear frame 33, top frame 31 and side frame 34 of this application is square.

[0065] Combination Figure 5 , Figure 6 and Figure 7 As shown, in some possible implementations, when the assembly frame 30 is positioned in the accommodating space, the top frame 31 is located between the top support 23 and the bottom adapter 24, and the top frame 31 is close to the first lifting member 25. One end of the top frame 31 facing away from the bottom adapter 24 is connected to the first lifting member 25. The front frame 32 is close to the first support 21, and both ends of the front frame 32 along the second direction are connected to the first support 21. The rear frame 33 is close to the second support 22, and one end of the rear frame 33 away from the top frame 31 is connected to the bottom adapter 24. One end of the side frame 34 away from the rear frame 33 is connected to the first support 21.

[0066] Specifically, combined Figure 8 and Figure 9The first support member 21 is a columnar structure, and there are two first support members 21, which are spaced apart along the second direction. The length direction of the first support member 21 extends along the third direction. The opposite end faces of the two first support members 21 are provided with first fixing parts 214. The front frame 32 is located between the two first support members 21, and both ends of the front frame 32 along the second direction (the end faces of the front frame 32 opposite to the first support members 21) are provided with front mounting parts 321, which are connected to the first fixing parts 214.

[0067] For example, the first fixing part 214 can be a protrusion structure protruding from the first support member 21. The front mounting part 321 on the front frame 32 can be formed by the structure of the front frame 32 itself, or it can be a protrusion structure protruding from the front frame 32. During installation, the front mounting part 321 can be attached to the end face of the first fixing part 214 facing away from the second support member 22, and then the front mounting part 321 and the first fixing part 214 can be connected by screws.

[0068] In this application, a second fixing part 215 is provided at the opposite ends of the two first support members 21, and the end of the side frame 34 away from the rear frame 33 is connected to the second fixing part 215. The second fixing part 215 can be configured to protrude from the first support member 21 as the first fixing part 214, or as in the embodiment of this application, a groove structure is formed on the opposite end face of the two first support members 21, and the second fixing part 215 is formed by the groove structure. The end of the side frame 34 away from the rear frame 33 can overlap in the groove structure. Furthermore, both the end of the side frame 34 used to connect with the rear frame 33 and the end used to connect with the first support member 21 are provided with side mounting positions 341, and screw holes are provided on the side mounting positions 341. The side frame 34 can be fitted to the end face of the rear frame 33 and connected to the rear frame 33 by screws. The side mounting position 341 of the side frame 34 away from the rear frame 33 can be fitted to the second fixing part 215 and fixedly connected to the second fixing part 215 by screws. It should be noted that when the assembly frame 30 is set in the accommodating space, the side frame 34 is located between the first support member 21 and the second support member 22. The structure of the end of the first side frame 34 facing the second support member 22 can be fitted to the second support member 22. With the side frame 34 connected to the first support member 21, the movement of the side frame 34 in the first direction can be restricted, making the position of the side frame 34 in the first direction more stable.

[0069] Combined Figure 10 In addition, the rear frame 33 of this application can be connected to the bottom adapter 24 in addition to the top frame 31. Specifically, a rear mounting part 331 is provided at the end of the rear frame 33 away from the top frame 31. The rear mounting part 331 can fit against the end face of the bottom adapter 24 facing away from the first support member 21, and the two can be connected together by screws.

[0070] By connecting the front frame 32, side frame 34 and rear frame 33 to the first support member 21 and the bottom adapter 24, the overall stability of the assembly frame 30 within the support frame 20 is increased, which helps to prevent the battery pack 41 from moving within the support frame 20.

[0071] It is worth mentioning that the edge of the top frame 31 is also provided with a fixing position 311. When the assembly frame 30 is in the accommodating space, the fixing position 311 can be attached to the end face of the first lifting component 25 facing the bottom adapter 24, and the fixing position 311 can be connected to the first lifting component 25 by screws, thereby realizing the fixed connection between the top frame 31 and the first lifting component.

[0072] Reference Figure 11 and Figure 12 As shown, in some possible implementations, the side frame 34 is located between the first support member 21 and the second support member 22, and the battery pack 41 is adapted to the assembly space such that the two end faces of the battery pack 41 along the first direction are respectively attached to the opposite end faces of the rear frame 33 and the front frame 32, the two end faces of the battery pack 41 along the third direction are respectively attached to the bottom adapter 24 and the top frame 31, and the two end faces of the battery pack 41 along the second direction are respectively attached to the opposite end faces of the two side frames 34. In this way, the position of the battery pack 41 in the first direction, the second direction and the third direction can be restricted, so that the battery pack 41 is fixed in the support frame 20.

[0073] In this application, the distance between the opposite end faces of the rear frame 33 and the front frame 32 is less than or equal to the distance between the opposite end faces of the first support member 21 and the second support member 22, and the distance between the two ends of the side frame 34 in the third direction is less than or equal to the distance between the opposite end faces of the top frame 31 and the bottom adapter 24. When the side frame 34 is connected to the rear frame 33 and the first support member 21, it can block the opening in the second direction between the first support member 21 and the second support member 22 to prevent the battery pack 41 from detaching from the opening. The side frame 34 is detachably connected to the rear frame 33 and the first support member 21. Therefore, when it is necessary to remove the battery pack 41, it is only necessary to remove the side frame 34 from the rear frame 33 and the first support member 21 to remove the blocking member between the openings of the first support member 21 and the second support member 22. This allows the battery pack 41 to be removed from the opening in the second direction of the first support member 21 and the second support member 22, facilitating the replacement of the battery pack 41 and the maintenance of the battery pack 41.

[0074] Continue to refer to Figure 3 and Figure 5As shown, in some feasible embodiments, both the second support member 22 and the top support member 23 are columnar structures, and there are two of each. The two second support members 22 are spaced apart along a second direction, and the two top support members 23 are spaced apart along a first direction. The two top support members 23 are respectively connected to the two first support members 21 and the two second support members 22. The first lifting member 25 is located between the two top support members 23, and there are two first lifting members 25 arranged along the second direction.

[0075] Specifically, the first support member 21 includes a first support body 211 and a first mounting portion 212 and a first assembly portion 213 disposed at both ends of the first support body 211; the second support member 22 includes a second support body 221 and a second mounting portion 222 and a second assembly portion 223 disposed at both ends of the second support body 221; and the top support member 23 includes a top support body 231 and a top mounting end 232 disposed at both ends of the top support body 231.

[0076] When assembling the support frame 20, the top mounting ends 232 at both ends of one of the top support members 23 correspond to the first mounting portions 212 of the two first support members 21, and the top mounting ends 232 and the corresponding first mounting portions 212 are fixedly connected by screws. The top mounting ends 232 at both ends of the other top support member 23 correspond to the second mounting portions 222 of the two second support members 22, and the top mounting ends 232 and the corresponding second mounting portions 222 are fixedly connected by screws.

[0077] The first lifting member 25 has connecting portions 252 at its ends near both the first support member 21 and the second support member 22. During assembly, a portion of the connecting portion 252 of the first lifting member 25 near the first support member 21 can fit into the first mounting portion 212 and be connected together by screws. Another portion of the connecting portion 252 at that end of the first lifting member 25 can also fit into the top mounting end 232 connected to the first mounting portion 212 and be connected together by screws. Similarly, a portion of the connecting portion 252 of the first lifting member 25 near the second support member 22 can fit into the second mounting portion 222 and be connected together by screws. Another portion of the connecting portion 252 at that end of the first lifting member 25 can also fit into the top mounting end 232 connected to the second mounting portion 222 and be connected together by screws. In this way, one end of the first lifting component 25 can be connected to the first mounting part 212 and the top mounting end 232 connected to the first mounting part 212 at the same time, and the other end of the first lifting component 25 can be connected to the second mounting part 222 and the top mounting end 232 connected to the second mounting part 222 at the same time, making the support frame 20 more stable.

[0078] It should be noted that the second support 221 can be configured as a middle bending structure. When the second support 221 and the top support 231 are connected, the two second supports 221 bend in opposite directions along the second direction. This not only increases the distance between the two second supports 221, but also increases the bending strength of the second support 221 and the overall strength of the support frame 20.

[0079] For example, the first lifting component 25 is also provided with a lifting ring 251.

[0080] For example, the connecting portion 252 of the first lifting member 25 is also provided with a limiting portion 2521. When the first mounting portion 212 and the top mounting end 232 are connected together, there is a gap between them. When the second mounting portion 222 and the top mounting end 232 are connected together, there is also a gap between them. When assembling the first lifting member 25, the limiting portion 2521 can be inserted into the gap between the first mounting portion 212 and the top mounting end 232, and the gap between the second mounting portion 222 and the top mounting end 232, respectively, to limit the first lifting portion. This allows the connection positions between the connecting portion 252 and the first mounting portion 212, the second mounting portion 222, and the top mounting end 232 to be aligned, facilitating installation.

[0081] It is worth mentioning that multiple screw holes can be provided on the first mounting part 212, the second mounting part 222, and the top mounting end 232. These screw holes can be arranged in a matrix, which can increase the connection position between the first mounting part 212 and the top mounting end 232, as well as between the second mounting part 222 and the top mounting end 232. This facilitates the adjustment of the distance between the two first support members 21, the distance between the two second support members 22, and the distance between the first support member 21 and the second support member 22.

[0082] Reference Figure 3 and Figure 5 As shown, in some possible implementations, during assembly, the first mounting portion 213 of the first support member 21 is connected to the bottom adapter 24, and the second mounting portion 223 of the second support member 22 is connected to the bottom adapter 24.

[0083] Specifically, the bottom adapter 24 has a plate-like structure, including an adapter body 241. The peripheral wall of the adapter body 241 is provided with adapter assembly parts 242 at positions corresponding to the first assembly part 213 and the second assembly part 223. The adapter assembly parts 242 protrude toward the first assembly part 213 and the second assembly part 223. The end face of the first assembly part 213 toward the adapter assembly part 242 is provided with a first assembly groove 2131, and the end face of the second assembly part 223 toward the adapter assembly part 242 is provided with a second assembly groove 2231. The adapter assembly parts 242 can be inserted into the corresponding first assembly groove 2131 and the corresponding second assembly groove 2231, and then the adapter assembly parts 242 and the corresponding first assembly part 213 and the second assembly part 223 are connected together by screws.

[0084] By providing the first adapter slot and the second assembly slot 2231, the adapter assembly part 242 is inserted into the corresponding assembly slot, preventing the adapter assembly part 242 from moving relative to the first support member 21 and the second support member 22 in a direction perpendicular to the insertion direction. For example, if the first assembly slot 2131 and the second assembly slot 2231 of this application are opened in the first direction, then the adapter assembly part 242 is inserted into the assembly slot along the first direction, thus preventing the adapter assembly part 242 from moving relative to the first support member 21 and the second support member 22 in a third direction, thereby increasing the connection strength between the bottom adapter part 24 and the first support member 21 and the second support member 22.

[0085] It should be noted that, in order to ensure that the adapter assembly is not easily moved in the second direction when it is inserted into the first assembly slot 2131 and the second assembly slot 2231, a positioning structure can be protruded in the first assembly slot 2131 and the second assembly slot 2231, and an insertion opening can be opened at the position of the positioning structure corresponding to the adapter assembly part 242. When the adapter assembly part 242 is inserted into the first assembly slot 2131 and the second assembly slot 2231, the positioning structure is inserted and adapted to the insertion opening. This can ensure that the bottom adapter 24 is not easily offset relative to the first support member 21 and the second support member 22 in the second direction.

[0086] See Figure 13 and Figure 14 As shown in this application, the front frame 32, rear frame 33, and side frame 34 are all provided with mounting positions for mounting components required for robot operation. Specifically, the components required for robot operation include, but are not limited to, panel assembly 51, main control system 52, sensing system 53, camera system 54, relay 55, emergency stop switch 56, and switch 57. The switch 57 is divided into lower limb switch 57 and upper limb switch 57. In addition, in order to distribute the power of battery pack 41 to various components, an energy module is also included. The energy module includes battery management system 42 and power distribution system 43.

[0087] The lower limb switch 57, upper limb switch 57, emergency stop switch 56 and sensing system 53 can be installed on the front frame 32. The lidar can be directly connected to the front frame 32 by screws or by adhesive. Two switch mounting brackets 60 can also be set on the front frame 32, and the upper limb switch 57 and lower limb switch 57 are respectively connected to the two switch mounting brackets 60.

[0088] The power distribution system 43 and the battery management system 42 can be connected to the two side frames 34 respectively. The main control system 52, relays 55, and panel assembly 51 can be mounted on the rear frame 33. A camera mount 70 can also be provided on the front frame 32 for fixing the camera system 54, or the camera mount can also be mounted on the top support 23.

[0089] Combined Figure 12 In some feasible implementations, the thoracic cavity structure also includes a protective frame 80, which has compressive strength and is used to protect components mounted on the front frame 32 and the rear frame 33. Specifically, the protective frame 80 includes a first protective member 81 and a second protective member 82. The first protective member 81 is connected to the end of the first support member 21 facing away from the second support member 22, and the second protective member 82 is connected to the end of the second support member 22 facing away from the first support member 21. A first protective space is formed between the first protective member 81 and the first support member 21, and the components mounted on the front frame 32 are located within the first protective space. A second protective space is formed between the second protective member 82 and the second support member 22, and the components mounted on the rear frame 33 are located within the second protective space. The first protective member 81 and the second protective member 82 have through holes corresponding to the positions where wiring is required, such as the panel assembly 51 or the main control system 52, to expose the insertion structure and facilitate wiring.

[0090] See Figure 3 and Figure 5 As shown, in some feasible embodiments, the thoracic cavity structure further includes a second lifting member 26, which can be used to connect to the lower limb. The second lifting member 26 is connected to the end of the bottom adapter 24 facing away from the top support 23. The end of the bottom adapter 24 facing away from the top support 23 is provided with a connector 243. The second lifting member 26 is provided with a plug-in portion 261, and the connector 243 has a connecting groove 2431. The plug-in portion 261 can be inserted into the connecting groove 2431, and then the plug-in portion 261 is connected to the connector 243 by screws to fix the second lifting member 26 to the bottom adapter 24. This application provides two second lifting members 26, which are arranged at intervals along a second direction.

[0091] In this embodiment, a top mounting member 29 is also provided at one end of the top support member 23 facing away from the bottom adapter member 24. The top mounting member 29 is used to connect the head of the robot.

[0092] In this embodiment, a first mounting member 27 and a second mounting member 28 are also included. The first mounting member 27 is connected to the end of the first support member 21 facing away from the second support member 22, or the first connecting member 243 can also be simultaneously connected to the first lifting member 25. The second mounting member 28 is connected to the first support member 21, specifically to the first fixing part 214 of the first support member 21. The outer shell 10 of this application consists of multiple independent shells, including a shell covering the front end of the front frame 32 and the first protective member 81, and a side shell covering the side frame 34 and the components connected to the side frame 34. The first mounting member 27 is used to connect the front shell, and the second mounting member 28 is used to connect the side shell.

[0093] Finally, it should be noted that other embodiments of this utility model will readily occur to those skilled in the art upon consideration of the specification and practice of the utility model disclosed herein. This utility model is intended to cover any variations, uses, or adaptations of this utility model that follow the general principles of this utility model and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this utility model is limited only by the appended claims.

Claims

1. A thoracic cavity structure, characterized in that, include: A support frame, wherein the interior of the support frame is provided with an accommodating space; Multiple components, including a battery pack, which is used for power supply; as well as An assembly frame is housed within the accommodating space. The assembly frame includes multiple frames that are detachably connected to each other, and at least one frame is detachably connected to the support frame. An assembly space is formed between the multiple frames, and the battery pack can be adapted to the assembly space. At least some of the frames have mounting positions on the side facing away from the assembly space, and the mounting positions are used to install the components.

2. The thoracic cavity structure according to claim 1, characterized in that, The assembly frame includes a front frame, a rear frame, side frames, and a top frame. The front frame and the rear frame are spaced apart along a first direction. There are two side frames, which are spaced apart along a second direction perpendicular to the first direction. One end of the front frame and the rear frame are connected to the top frame, and the top frame is connected to the support frame. One end of the side frame is connected to the rear frame. The front frame, the rear frame, the side frames, and the top frame enclose the assembly space.

3. The thoracic cavity structure according to claim 2, characterized in that, The support frame includes a first support member, a second support member, a top support member, a bottom adapter member, and a first hoisting member. The first support member and the second support member are spaced apart along the first direction, and the top support member and the bottom adapter member are spaced apart along a third direction. The two ends of the first support member are respectively connected to the top support member and the bottom adapter member, and the two ends of the second support member are respectively connected to the top support member and the bottom adapter member. The first hoisting member is located between the first support member and the second support member, and the two ends of the first hoisting member are respectively connected to the first support member and the second support member. The third direction is perpendicular to the first direction and also perpendicular to the second direction.

4. The thoracic cavity structure according to claim 3, characterized in that, The front frame is close to the first support member, and both ends of the front frame along the second direction are connected to the first support member. The rear frame is close to the second support member, and one end of the rear frame away from the top frame is connected to the bottom adapter. One end of the side frame away from the rear frame is connected to the first support member. The top frame is located between the top support member and the bottom adapter, and the top frame is connected to the first hoisting member.

5. The thoracic cavity structure according to claim 4, characterized in that, The side frame is located between the first support member and the second support member. The two end faces of the battery pack along the first direction are respectively attached to the opposite end faces of the rear frame and the front frame. The two end faces of the battery pack along the third direction are respectively attached to the bottom adapter and the top frame. The distance between the opposite end faces of the rear frame and the front frame is less than or equal to the distance between the opposite end faces of the first support member and the second support member.

6. The thoracic cavity structure according to any one of claims 3-5, characterized in that, There are two first support members, which are spaced apart along the second direction. The opposite end faces of the two first support members are provided with first fixing parts. The front frame is located between the two first support members, and both ends of the front frame along the second direction are provided with front mounting parts, which are connected to the first fixing parts.

7. The thoracic cavity structure according to any one of claims 3-5, characterized in that, A second fixing part is provided at one end of each of the two first support members facing away from each other, and the end of the side frame away from the rear frame is connected to the second fixing part.

8. The thoracic cavity structure according to claim 3, characterized in that, It also includes a protective frame, which includes a first protective member and a second protective member. The first protective member is connected to the end of the first support member facing away from the second support member, and the second protective member is connected to the end of the second support member facing away from the first support member. A first protective space is formed between the first protective member and the first support member, and a second protective space is formed between the second protective member and the second support member.

9. The thoracic cavity structure according to claim 3, characterized in that, It also includes a second lifting component, which is connected to the end of the bottom adapter facing away from the top support.

10. A humanoid robot, characterized in that, Includes the head, upper limbs, lower limbs, and the thoracic structure as described in any one of claims 1-9.

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