A body structure and robot

Abstract

The utility model discloses a torso structure and robot, torso structure includes: casing, forms V -shaped groove, V -shaped groove has the first side wall of slanting downward and the second side wall of slanting upward, imager is set up in first side wall, first speaker is set up in second side wall. Since first side wall slanting downward, then imager also slanting downward can obtain the image of the ground in front, is favorable to the perception object on the ground in front. Since second side wall slanting upward, then first speaker also slanting upward can send sound wave to the sky in front, is favorable to the sound propagation to human ear. Since first side wall slanting downward, then imager also slanting downward can obtain the image of the ground in front, is favorable to the perception object on the ground in front. Since second side wall slanting upward, then first speaker also slanting upward can send sound wave to the sky in front, is favorable to the sound propagation to human ear, thereby reasonable arrangement imager and first speaker.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a body structure and robot. Background Technology

[0002] The field of robotics has received considerable attention in recent years, with robots becoming increasingly capable. The functions of robots are primarily realized through electronic devices such as sensors. These functions include perception, interaction, decision-making, and movement.

[0003] In the existing technology, robots achieve corresponding functions through electronic devices. Electronic devices with different functions are usually independent of each other, and the placement of electronic devices with different functions is also separate. Therefore, the placement of electronic devices with different functions does not form a good combination, and the placement of electronic devices in robots needs to be further optimized.

[0004] Therefore, existing technologies still need to be improved and developed. Utility Model Content

[0005] The technical problem to be solved by this utility model is to provide a body structure and robot in view of the above-mentioned defects of the prior art, so as to solve the problem that the arrangement of electronic devices in the robot in the prior art needs to be further optimized.

[0006] The technical solution adopted by this utility model to solve the technical problem is as follows:

[0007] In a first aspect, the present invention provides a body structure, wherein it includes:

[0008] The housing has a V-shaped groove, the V-shaped groove having a first sidewall that is inclined downward and a second sidewall that is inclined upward;

[0009] An imager is disposed on the first sidewall;

[0010] The first speaker is located on the second side wall.

[0011] In other embodiments of this utility model, the second sidewall is formed with a first sound outlet hole, and the first speaker is located on the surface of the second sidewall facing the interior of the housing, corresponding to the position of the first sound outlet hole.

[0012] In other embodiments of this utility model, a through hole is provided on the first sidewall for the imager to pass through.

[0013] In other embodiments of this invention, the imager is a depth camera.

[0014] In other embodiments of this utility model, the body structure further includes:

[0015] The frame is located within the housing;

[0016] The controller is disposed on the frame and electrically connected to the depth camera and the first speaker.

[0017] In other embodiments of this utility model, a second sound outlet is formed on the left side of the shell, and the body structure further includes:

[0018] The second speaker is located inside the housing and corresponds to the position of the second sound outlet.

[0019] The second speaker is electrically connected to the controller.

[0020] In other embodiments of this utility model, a third sound outlet is formed on the right side of the shell, and the body structure further includes:

[0021] The third speaker is located inside the housing and corresponds to the position of the third sound outlet.

[0022] The third speaker is electrically connected to the controller.

[0023] In other embodiments of this utility model, the second speaker and the third speaker employ different channels.

[0024] In other embodiments of this utility model, a first clearance hole and a second clearance hole are formed on the frame, the first clearance hole being located at the position corresponding to the second speaker, and the second clearance hole being located at the position corresponding to the third speaker.

[0025] Secondly, the present invention provides a robot, which includes the body structure described in any of the preceding claims.

[0026] Beneficial effects: Because the first sidewall is tilted downwards, the imager is also tilted downwards, allowing it to acquire an image of the ground in front, which is beneficial for perceiving objects on the ground in front. Because the second sidewall is tilted upwards, the first speaker is also tilted upwards, allowing it to emit sound waves towards the sky in front, which is beneficial for sound to travel to the human ear, thus enabling a reasonable arrangement of the imager and the first speaker. Attached Figure Description

[0027] Figure 1 This is a perspective view of the body structure in an embodiment of this utility model.

[0028] Figure 2 This is a front view of the body structure in an embodiment of this utility model.

[0029] Figure 3 yes Figure 2 A sectional view along line A.

[0030] Figure 4 This is a top view of the body structure in an embodiment of this utility model.

[0031] Figure 5 yes Figure 4 Sectional view along line B.

[0032] Figure 6 This is an exploded view of the body structure in an embodiment of this utility model.

[0033] Explanation of reference numerals in the attached figures:

[0034] 10. Housing; 11. V-groove; 111. First sidewall; 112. Second sidewall; 113. First sound outlet; 114. Through hole; 12. Second sound outlet; 13. Third sound outlet;

[0035] 20. Imager;

[0036] 30. First loudspeaker;

[0037] 40. Frame; 41. First clearance hole; 42. Second clearance hole;

[0038] 50. Controller;

[0039] 61. Second speaker; 62. Third speaker. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this utility model clearer and more explicit, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0041] Please also refer to Figures 1-6 This utility model provides some preferred embodiments of a body structure.

[0042] like Figure 1 and Figure 2 As shown, the body structure of this utility model includes a shell 10. The body structure refers to a structure that mimics the human body excluding the head and limbs. The shell 10 is shaped like a human torso, specifically an inverted trapezoid. A V-shaped groove 11 is formed at the front of the shell 10, and the cross-section of the V-shaped groove 11 is V-shaped (see...). Figure 3The V-shaped groove 11 has a first sidewall 111 and a second sidewall 112. The outer surface of the first sidewall 111 is inclined downwards, specifically facing the ground in front, while the outer surface of the second sidewall 112 is inclined upwards, specifically facing the sky in front. The body structure includes an imager 20. The imager 20 is used to acquire images, for example, a depth camera or other visual sensor may be used. The imager 20 is mounted on the first sidewall 111. Since the first sidewall 111 is inclined downwards, the imager 20 is also inclined downwards, which can acquire images of the ground in front, which is beneficial for perceiving objects on the ground in front, thereby performing obstacle avoidance, moving objects, planning movement paths, etc. A through hole 114 is formed in the first sidewall 111 for the imager 20 to pass through.

[0043] like Figure 3 As shown, the body structure also includes a first speaker 30. The first speaker 30 is used to emit sound. The first speaker 30 is mounted on the second sidewall 112. Since the second sidewall 112 is tilted upwards, the first speaker 30 is also tilted upwards, allowing it to emit sound waves towards the sky, which is beneficial for sound to reach the human ear. Especially when the body structure is relatively low, or the robot is relatively short, the first speaker 30 tilting upwards can point towards the human head, which is beneficial for the sound to travel quickly to the human ear, thus allowing for a reasonable arrangement of the imager 20 and the first speaker 30. The angle between the first sidewall 111 and the second sidewall 112 is an obtuse angle. The V-shaped groove 11 is recessed into the surface of the housing 10, which helps to protect the imager 20 and the first speaker 30. A first sound outlet 113 is formed on the second sidewall 112, and there are multiple first sound outlets 113. The first speaker 30 faces the first sound outlet 113, and the sound waves emitted by the first speaker 30 can pass through the first sound outlet 113. The first speaker 30 is located on the surface of the second sidewall 112 facing the interior of the housing 10 (i.e., the inner surface of the second sidewall 112). A limiting frame is formed on the inner surface of the second sidewall 112 to limit the first speaker 30 and to enable its installation. A mounting groove is formed on the surface of the first sidewall 111 facing the interior of the housing 10 (i.e., the inner surface of the first sidewall 111), and the imager 20 is located in the mounting groove. The through hole 114 serves as the opening of the mounting groove.

[0044] like Figure 3 Dutch Figure 4 As shown, the body structure also includes a frame 40. The frame 40 is located inside and connected to the housing 10. The frame 40 provides support for the housing 10, allowing the housing 10 to maintain its body shape. The frame 40 is a multi-layered frame 40 used to mount different devices. The body structure also includes a controller 50, which is mounted on the frame 40 and located at the corresponding position of the V-groove 11, facilitating electrical connection between the imager 20 and the first speaker 30.

[0045] like Figure 5As shown, a second sound outlet 12 is formed on the left side of the housing 10, specifically located below the left armpit of the housing 10 and close to the controller 50. The body structure also includes a second speaker 61, which faces the second sound outlet 12, and the sound waves emitted by the second speaker 61 pass through the second sound outlet 12. The second speaker 61 is electrically connected to the controller 50. A third sound outlet 13 is formed on the right side of the housing 10, specifically located below the right armpit of the housing 10 and close to the controller 50. The body structure also includes a third speaker 62, which faces the third sound outlet 13, and the sound waves emitted by the third speaker 62 pass through the third sound outlet 13. The third speaker 62 is electrically connected to the controller 50. The second speaker 61 and the third speaker 62 use different channels; for example, the second speaker 61 uses the left channel and the third speaker 62 uses the right channel, thus creating a stereo sound effect. A first clearance hole 41 is formed on the frame 40 to avoid obstructing the second speaker 61. A second clearance hole 42 is formed on the frame 40 to avoid obstructing the third speaker 62. The second speaker 61 and the third speaker 62 are mounted on the inner surface of the housing 10. When the housing 10 deforms, causing the second speaker 61 or the third speaker 62 to move towards the frame 40, the second speaker 61 can be inserted into the first clearance hole 41, and the third speaker 62 can be inserted into the second clearance hole 42, thereby preventing the frame 40 from damaging the second speaker 61 and the third speaker 62.

[0046] like Figure 6 As shown, the housing 10 is divided into a front shell and a rear shell, which are connected to each other to enclose the frame 40. The frame 40 can be a three-layer frame 40, consisting of an upper plate, a middle plate, and a lower plate. The controller 50 is located on the middle plate, the lower plate can be connected to the legs, and the upper plate can be connected to the head. The frame 40 has side plates that connect the upper, middle, and lower plates. There are two side plates: a left side plate and a right side plate. A first clearance hole 41 is located on the left side plate, and a second clearance hole 42 is located on the right side plate. The left side plate can be connected to the left arm, and the right side plate can be connected to the right arm.

[0047] Based on the body structure of any of the above embodiments, this utility model also provides a robot, including the body structure described in any of the above embodiments, as specifically as described above.

[0048] The robot provided by this utility model has all the above-mentioned beneficial effects because it is equipped with the body structure described in any of the above technical solutions, which will not be repeated here.

[0049] It should be understood that the application of this utility model is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A body structure, characterized in that, It includes: The housing has a V-shaped groove, the V-shaped groove having a first sidewall that is inclined downward and a second sidewall that is inclined upward; An imager is disposed on the first sidewall; The first speaker is located on the second side wall.

2. The body structure according to claim 1, characterized in that, The second sidewall has a first sound outlet, and the first speaker is located on the surface of the second sidewall facing the interior of the housing, corresponding to the position of the first sound outlet.

3. The body structure according to claim 1, characterized in that, The first sidewall has a through hole for the imager to pass through.

4. The body structure according to claim 3, characterized in that, The imager is a depth camera.

5. The body structure according to claim 4, characterized in that, The body structure also includes: The frame is located within the housing; The controller is disposed on the frame and electrically connected to the depth camera and the first speaker.

6. The body structure according to claim 5, characterized in that, A second sound outlet is formed on the left side of the shell, and the body structure also includes: The second speaker is located inside the housing and corresponds to the position of the second sound outlet. The second speaker is electrically connected to the controller.

7. The body structure according to claim 6, characterized in that, A third sound outlet is formed on the right side of the shell, and the body structure also includes: The third speaker is located inside the housing and corresponds to the position of the third sound outlet. The third speaker is electrically connected to the controller.

8. The body structure according to claim 7, characterized in that, The second speaker and the third speaker each use different channels.

9. The body structure according to claim 7, characterized in that, The frame has a first clearance hole and a second clearance hole, the first clearance hole being located at the position corresponding to the second speaker, and the second clearance hole being located at the position corresponding to the third speaker.

10. A robot, characterized in that, It includes the body structure as described in any one of claims 1 to 9.

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