A robotic thoracic device and robotic

Abstract

The utility model discloses a kind of robot thoracic cavity device and robot, it is related to robot structure design technical field, robot thoracic cavity device includes thoracic cavity frame body, battery module, control module, power supply system and interface module, thoracic cavity frame body includes bottom plate and the layer plate located above bottom plate, layer plate is used to separate the space in thoracic cavity frame body to form the first installation cavity between bottom plate and layer plate, and the second installation cavity between layer plate and thoracic cavity frame body top;Battery module is located in the first installation cavity, battery module includes the support plate fixed to the top of bottom plate, the battery movably connected in support plate, battery can be moved into and moved out the first installation cavity relative to support plate;Control module is connected to layer plate and located in second chamber;Power supply system is connected to thoracic cavity frame body and located in the left side of first installation cavity;Interface module is connected to thoracic cavity frame body and located in the right side of second installation cavity. Can effectively improve the problem that the space utilization of robot thoracic cavity is lower.

Description

Technical Field

[0001] This utility model relates to the field of robot structural design technology, and in particular to a robot thoracic cavity device and a robot. Background Technology

[0002] With the continuous development of artificial intelligence and robotics, humanoid robots have achieved rapid development. The chest cavity is an important component of humanoid robots. In the current technology, the planar arrangement of components in the chest cavity of humanoid robots results in a bulky size, which cannot adapt to the narrow chest cavity space of humanoid robots, resulting in low space utilization of the chest cavity.

[0003] Therefore, how to effectively improve the low space utilization rate of the robot's thoracic cavity is a technical problem that needs to be solved by those skilled in the art. Utility Model Content

[0004] The purpose of this invention is to provide a robotic thoracic cavity device and a robot, which effectively improves the problem of low space utilization in the robotic thoracic cavity.

[0005] To achieve the above objectives, this utility model provides a robotic thoracic cavity device, comprising:

[0006] A thoracic frame includes a base plate and a shelf above the base plate, the shelf serving to separate spaces within the thoracic frame to form a first mounting cavity between the base plate and the shelf, and a second mounting cavity between the shelf and the top of the thoracic frame;

[0007] The battery module is located in the first mounting cavity. The battery module includes a support plate fixed to the top of the base plate and a battery movably connected to the support plate. The battery can move into and out of the first mounting cavity relative to the support plate.

[0008] The control module is connected to the shelf and located in the second mounting cavity;

[0009] The power supply system is connected to the thoracic frame and located on the left side of the first mounting cavity;

[0010] The interface module is connected to the thoracic frame and located on the right side of the second mounting cavity.

[0011] In one possible implementation, the left side of the base plate is provided with a first mounting position and a second mounting position, and the right side of the base plate is provided with a third mounting position and a fourth mounting position. The first mounting position and the third mounting position are symmetrically arranged, and the second mounting position and the fourth mounting position are symmetrically arranged.

[0012] The thoracic frame includes a first vertical member installed at a first mounting position, a second vertical member installed at a second mounting position, a third vertical member installed at a third mounting position, a fourth vertical member installed at a fourth mounting position, a first transverse member connected to the first vertical member and the second vertical member, and a second transverse member connected to the third vertical member and the fourth vertical member.

[0013] The left side of the shelf is connected to the top of the first transverse member, and the right side of the shelf is connected to the top of the second transverse member, which is used to limit the relative movement of the first transverse member and the second transverse member.

[0014] In one possible implementation, a first slot is provided on the opposite side of the first vertical member and the third vertical member, and on the opposite side of the second vertical member and the fourth vertical member. The first slot is used to engage with the protrusion of the arm fixation member to prevent the arm fixation member from detaching from the thoracic frame.

[0015] In one possible implementation, the first vertical member and the second vertical member are both provided with a second slot adapted to the edge of the base plate, and the third vertical member and the fourth vertical member are provided with a third slot adapted to the edge of the base plate. The left side of the base plate can extend into the second slot and be fixed by the first fixing member, and the right side of the base plate can extend into the third slot and be fixed by the second fixing member.

[0016] In one possible implementation, the control module includes:

[0017] A support frame is connected to a shelf. The support frame includes a first fixed plate and a second fixed plate extending vertically. The second fixed plate is spaced apart on the right side of the first fixed plate.

[0018] The first controller is connected to the left side of the first fixed plate via the first connector, and there is a first gap between the first controller and the first fixed plate;

[0019] The second controller is connected to the right side of the second fixed plate via a second connector, and there is a second gap between the second controller and the second fixed plate.

[0020] In one possible implementation, the second controller is provided with a first circuit board and a second circuit board spaced apart from each other, a heat sink is provided between the first circuit board and the second circuit board, and a heat dissipation channel is formed between the first circuit board and the second circuit board.

[0021] The shelf is equipped with a fan assembly located below the heat sink, and the air outlet of the fan assembly is connected to the heat dissipation channel for cooling the first circuit board, the heat sink and the second circuit board.

[0022] In one possible implementation, the first connector and the second connector are hexagonal isolation posts.

[0023] In one possible implementation, the top of the support plate is provided with pulleys;

[0024] The bottom of the battery is equipped with a guide rail adapted to the pulley, allowing the battery to move into and out of the first mounting cavity relative to the support plate along the extension direction of the guide rail.

[0025] In one possible implementation, the battery is provided with claws on both the left and right sides, and the claws are located at the front end in the direction in which the battery moves out of the first mounting cavity.

[0026] The thoracic frame is also provided with a fourth slot, which is used to engage with the claw after the battery is moved into the first mounting cavity.

[0027] Based on the above, this application also provides a robot, including the robotic thoracic device of any of the above.

[0028] Compared with the prior art, the technical solution provided by this utility model has at least the following beneficial effects: The thoracic frame is provided with a bottom plate and a shelf above the bottom plate, so that a first mounting cavity is formed between the bottom plate and the shelf, and a second mounting cavity is formed between the shelf and the top of the thoracic frame. The first and second mounting cavities are located at different heights of the thoracic frame. The power supply system is connected to the thoracic frame and is located on the left side of the first mounting cavity. The interface module is connected to the thoracic frame and is located on the right side of the second mounting cavity. The power supply system and the interface module are located at different heights on different sides of the thoracic frame, which can effectively avoid the bulky size of the thoracic frame. The battery module includes a support plate and a battery. The battery module is installed in the lower first mounting cavity, and the control module is installed in the upper second mounting cavity, so that the control module and the battery module are spaced apart in height, making full use of the internal space of the thoracic frame and effectively improving the problem of low space utilization of the robot's thoracic cavity. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the overall structure of the robotic thoracic cavity device provided in this embodiment of the utility model;

[0031] Figure 2 An exploded view of the robotic thoracic cavity device provided in an embodiment of this utility model;

[0032] Figure 3 This is a schematic diagram of the thoracic frame provided in an embodiment of the present invention;

[0033] Figure 4 An exploded view of the thoracic frame provided in an embodiment of this utility model;

[0034] Figure 5 This is a schematic diagram of the structure of the fan assembly and control module provided in the embodiment of this utility model;

[0035] Figure 6 This is a schematic diagram of the structure of the control module provided in an embodiment of the present utility model;

[0036] Figure 7 A schematic diagram of the fan assembly and control module provided in an embodiment of this utility model from another perspective;

[0037] Figure 8 This is a schematic diagram of the structure of the arm fixation member and the thoracic frame provided in the embodiment of the present utility model;

[0038] Figure 9 This is a schematic diagram of the battery structure provided in an embodiment of the present utility model;

[0039] Figure 10 This is a schematic diagram of the structure of the support plate provided in an embodiment of the present utility model;

[0040] Figure 11 This is a schematic diagram of the structure of the battery after it is assembled onto the support plate, according to an embodiment of the present invention.

[0041] in:

[0042] 100-Thoracic frame, 110-Base plate, 120-Shelf, 121-First mounting cavity, 122-Second mounting cavity, 130-First vertical component, 131-Second slot, 140-Second vertical component, 150-Third vertical component, 151-Fourth slot, 160-Fourth vertical component, 170-First horizontal component, 180-Second horizontal component, 190-First slot;

[0043] 200-Battery module, 210-Support plate, 211-Pulley, 220-Battery, 221-Guide rail, 222-Claw;

[0044] 300-Control module, 310-Support frame, 311-First fixing plate, 312-Second fixing plate, 320-First controller, 330-Second controller, 331-First circuit board, 332-Second circuit board, 333-Heat sink, 340-Inter-board connector, 350-Isolation component;

[0045] 400-Power supply system;

[0046] 500-Interface Module;

[0047] 600-Fan Assembly;

[0048] 700 - Arm fixing component, 710 - Protrusion. Detailed Implementation

[0049] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0050] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0051] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left" and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the indicated position or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations of this utility model.

[0052] The purpose of this invention is to provide a robotic thoracic cavity device and a robot, which effectively improves the problem of low space utilization in the robotic thoracic cavity.

[0053] Please see Figure 1 and Figure 2To achieve the above objectives, this utility model provides a robotic thoracic cavity device, including a thoracic cavity frame 100, a battery module 200, a control module 300, a power supply system 400, and an interface module 500. The thoracic cavity frame 100 includes a base plate 110 and a shelf 120 located above the base plate 110. The shelf 120 is used to divide the space within the thoracic cavity frame 100 to form a first mounting cavity 121 located between the base plate 110 and the shelf 120, and a second mounting cavity 122 located between the shelf 120 and the top of the frame. The base plate 110 and the shelf 120 can be provided with weight-reducing holes to reduce the weight of the base plate 110 and the shelf 120, effectively reducing the overall weight of the robotic thoracic cavity device. The battery module 200 is located in the first mounting cavity 121, and the battery module 200 includes a support plate 210 fixed to the top of the base plate 110. A battery 220 is movably connected to a support plate 210. The battery 220 can move into and out of the first mounting cavity 121 relative to the support plate 210. The first mounting cavity 121 has an opening on one side in the direction of movement of the battery 220 for moving the battery 220 into and out of the first mounting cavity 121, and a protective plate on the other side in the direction of movement of the battery 220. The protective plate can prevent the battery 220 from moving excessively and can also protect the battery 220. A control module 300 is connected to the shelf 120 and is located in the second mounting cavity 122. A power supply system 400 is connected to the thoracic frame 100 and is located on the left side of the first mounting cavity 121. The power supply system 400 is a PMS module. An interface module 500 is connected to the thoracic frame 100 and is located on the right side of the second mounting cavity 122.

[0054] The thoracic frame 100 has a base plate 110 and a shelf 120 located above the base plate 110, forming a first mounting cavity 121 between the base plate 110 and the shelf 120, and a second mounting cavity 122 between the shelf 120 and the top of the thoracic frame 100. The first mounting cavity 121 and the second mounting cavity 122 are located at different heights of the thoracic frame 100. A power supply system 400 is connected to the thoracic frame 100 and located on the left side of the first mounting cavity 121, and an interface module 500 is connected to the thoracic frame 100 and located on the right side of the second mounting cavity 122. The system 400 and interface module 500 are located at different heights on different sides of the thoracic frame 100, which can effectively avoid the bulky size of the thoracic frame 100. The battery module 200 includes a support plate 210 and a battery 220. The battery module 200 is installed in the lower first mounting cavity 121, and the control module 300 is installed in the upper second mounting cavity 122, so that the control module 300 and the battery module 200 are spaced apart in height, making full use of the internal space of the thoracic frame 100 and effectively improving the problem of low space utilization of the robot's thoracic cavity.

[0055] Please see Figure 3 and Figure 4In one possible implementation, the base plate 110 has a first mounting position and a second mounting position on its left side, and a third mounting position and a fourth mounting position on its right side. The first and third mounting positions are symmetrically arranged, as are the second and fourth mounting positions. The thoracic frame 100 includes a first vertical member 130 mounted at the first mounting position, a second vertical member 140 mounted at the second mounting position, a third vertical member 150 mounted at the third mounting position, a fourth vertical member 160 mounted at the fourth mounting position, a first horizontal member 170 connecting the first vertical member 130 and the second vertical member 140, and a second horizontal member 180 connecting the third vertical member 150 and the fourth vertical member 160. The power supply system 400 is connected via a first branch... The support body is connected to the first vertical member 130 and the second vertical member 140. The first support body can be, but is not limited to, a hexagonal isolation column. The interface module 500 is connected to the third vertical member 150 and the fourth vertical member 160 through the second support body. The second support body can be a sheet metal part, which is vertically arranged. The bottom of the interface module 500 is connected to the right side of the sheet metal part by bolts, so that the position of the interface module 500 is fixed. The left side of the shelf 120 is connected to the top of the first horizontal member 170, and the right side of the shelf 120 is connected to the top of the second horizontal member 180. It is used to limit the relative movement of the first horizontal member 170 and the second horizontal member 180. The shelf 120 can be used for the installation of the control module 300 and to reinforce the thoracic frame 100. The first vertical component 130, the second vertical component 140, the third vertical component 150, the fourth vertical component 160, the first horizontal component 170, and the second horizontal component 180 can also be provided with weight-reducing holes to reduce the overall weight of the robot's thoracic cavity device and improve the robot's motion efficiency.

[0056] Please see Figure 8 In one possible implementation, a first slot 190 is provided on the side where the first vertical member 130 and the third vertical member 150 face each other, and on the side where the second vertical member 140 and the fourth vertical member 160 face each other. The first slot 190 is used to engage with the protrusion 710 of the arm fixation member 700 to restrict the arm fixation member 700 from detaching from the thoracic frame 100. Specifically, both the left and right ends of the arm fixation member 700 are provided with protrusions 710. The first slot 190 of the first vertical member 130 is engaged with the protrusion 710 on the left end of one arm fixation member 700, and the first slot 190 of the third vertical member 150 is engaged with the protrusion 710 on the right end of the same arm fixation member 700, thereby fixing the arm fixation member 700. The first slot 190 of the second vertical member 140 is engaged with the protrusion 710 on the left end of another arm fixation member 700, and the first slot 190 of the fourth vertical member 160 is engaged with the protrusion 710 on the right end of the same arm fixation member 700, thereby fixing the other arm fixation member 700. The engagement of the first slot 190 and the protrusion 710 can both be achieved by bolts.

[0057] In one possible implementation, both the first vertical member 130 and the second vertical member 140 are provided with a second slot 131 adapted to the edge of the base plate 110, and the third vertical member 150 and the fourth vertical member 160 are provided with a third slot adapted to the edge of the base plate 110. The left side of the base plate 110 can extend into the second slot 131 and be fixed by the first fixing member, and the right side of the base plate 110 can extend into the third slot and be fixed by the second fixing member. The position where the base plate 110 mates with the second slot 131 of the first vertical member 130 is the aforementioned first mounting position. The base plate 110 and the second vertical member 140 are respectively provided with a second slot 131 adapted to the edge of the base plate 110. The position where the second slot 131 of component 140 mates is the second mounting position mentioned above. The position where the base plate 110 mates with the third slot of the third vertical component 150 is the third mounting position mentioned above. The position where the base plate 110 mates with the third slot of the fourth vertical component 160 is the fourth mounting position mentioned above. After the left side of the base plate 110 extends into the second slot 131 and the right side of the base plate 110 extends into the third slot, the first and second fixing components are installed for fixation. The first and second fixing components can be, but are not limited to, bolts. The overall structural strength of the thoracic frame 100 is improved by using a combination of plug-in and bolt fixing.

[0058] Please see Figure 5 , Figure 6 and Figure 7 In one possible implementation, the control module 300 includes a support frame 310, a first controller 320, and a second controller 330. The first controller 320 may be a high-computing-power controller, and the second controller 330 may be a low-computing-power controller. The support frame 310 is connected to the shelf 120 and includes a vertically extending first fixing plate 311 and a second fixing plate 312. The second fixing plate 312 is spaced apart on the right side of the first fixing plate 311. The first controller 320 is connected to the left side of the first fixing plate 311 via a first connector, and there is a first gap between the first controller 320 and the first fixing plate 311. The second controller 330 is connected to the right side of the second fixing plate 312 via a second connector, and there is a second gap between the second controller 330 and the second fixing plate 312. The first connector and the second connector may be, but are not limited to, hexagonal isolation posts. Flexible cables can be arranged using the gaps between the first gap, the second gap, and the second controller 330 itself, and fixed with wire clips to avoid wasting space.

[0059] The second controller 330 includes a first circuit board 331 and a second circuit board 332 spaced apart from each other. The first circuit board 331 and the second circuit board 332 are separated by an isolator 350, which may be, but is not limited to, a hexagonal isolator post. The second circuit board 332 is connected to the main body of the second controller 330 via an inter-board connector 340. The first circuit board 331 and the second circuit board 332 are equipped with heat-generating devices. A heat sink 333 connected to the heat-generating devices is provided between the first circuit board 331 and the second circuit board 332, and a heat dissipation channel is formed between the first circuit board 331 and the second circuit board 332. A fan assembly 600 is installed on the shelf 120. The fan assembly 600 is located below the heat sink 333. The air outlet of the fan assembly 600 is connected to the heat dissipation channel, and the air outlet direction of the fan assembly 600 is directed towards the heat-generating devices on the first circuit board 331 and the second circuit board 332. The fins of the heat sink 333 are aligned with the airflow direction of the fan assembly 600, which is used to cool the first circuit board 331, the heat sink 333, and the second circuit board 332. When the control module 300 detects that the temperature is too high during the heating process, it activates the fan assembly 600. The airflow carries away the heat from the heat sink 333, thereby reducing the temperature of the heat-generating device and improving the operational stability of the control module 300. This solves the problem of heat dissipation in the control module 300 in the prior art. The fan in the fan assembly 600 can be a high-volume fan.

[0060] Please see Figure 9 , Figure 10 and Figure 11 In one possible implementation, the top of the support plate 210 is provided with a pulley 211; the bottom of the battery 220 is provided with a guide rail 221 adapted to the pulley 211, and the battery 220 can move into and out of the first mounting cavity 121 relative to the support plate 210 along the extending direction of the guide rail 221, enabling quick loading and unloading of the battery 220. An opening is formed between the first vertical member 130 and the third vertical frame for the battery 220 to move into and out of the first mounting cavity 121. The left and right sides are provided with claws 222, and the claws 222 are located at the front end in the direction in which the battery 220 moves out of the first mounting cavity 121; the chest frame 100 is also provided with a fourth slot 151, which is used to engage with the claws 222 after the battery 220 moves into the first mounting cavity 121. The fourth slot 151 can be set on the first vertical member 130 and the third vertical member 150, and is used to engage with the claws 222 after the battery 220 moves into place to fix the battery 220.

[0061] Based on the above, this application also provides a robot including the aforementioned robotic thoracic cavity device. The robot also possesses all the beneficial effects of the aforementioned robotic thoracic cavity device. The remaining structure of the robot can be referred to the prior art, and will not be described in detail here.

[0062] It should be noted that in this specification, relational terms such as first and second are used only to distinguish one entity from several other entities, and do not necessarily require or imply any such actual relationship or order between these entities.

[0063] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0064] This article uses specific examples to illustrate the principles and implementation methods of this utility model. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made to this utility model without departing from the principles of this utility model, and these improvements and modifications also fall within the protection scope of this utility model.

Claims

1. A robotic thoracic cavity device, characterized in that, include: A thoracic frame (100) includes a base plate (110) and a shelf (120) located above the base plate (110), the shelf (120) being used to separate the space within the thoracic frame (100) to form a first mounting cavity (121) located between the base plate (110) and the shelf (120), and a second mounting cavity (122) located between the shelf (120) and the top of the thoracic frame (100); A battery module (200) is located in the first mounting cavity (121). The battery module (200) includes a support plate (210) fixed to the top of the base plate (110) and a battery (220) movably connected to the support plate (210). The battery (220) can move into and out of the first mounting cavity (121) relative to the support plate (210). A control module (300) is connected to the shelf (120) and located in the second mounting cavity (122); A power supply system (400) is connected to the thoracic frame (100) and located on the left side of the first mounting cavity (121); An interface module (500) is connected to the thoracic frame (100) and located on the right side of the second mounting cavity (122).

2. The robotic thoracic cavity device according to claim 1, characterized in that, The base plate (110) has a first mounting position and a second mounting position on its left side, and a third mounting position and a fourth mounting position on its right side. The first mounting position and the third mounting position are symmetrically arranged, and the second mounting position and the fourth mounting position are symmetrically arranged. The thoracic frame (100) includes a first vertical member (130) installed at the first mounting position, a second vertical member (140) installed at the second mounting position, a third vertical member (150) installed at the third mounting position, a fourth vertical member (160) installed at the fourth mounting position, a first horizontal member (170) connected to the first vertical member (130) and the second vertical member (140), and a second horizontal member (180) connected to the third vertical member (150) and the fourth vertical member (160). The left side of the shelf (120) is connected to the top of the first transverse member (170), and the right side of the shelf (120) is connected to the top of the second transverse member (180), for limiting the relative movement of the first transverse member (170) and the second transverse member (180).

3. The robotic thoracic cavity device according to claim 2, characterized in that, The first vertical member (130) and the third vertical member (150) facing each other, and the second vertical member (140) and the fourth vertical member (160) facing each other, are provided with a first slot (190). The first slot (190) is used to cooperate with the protrusion (710) of the arm fixation member (700) to restrict the arm fixation member (700) from detaching from the thoracic frame (100).

4. The robotic thoracic cavity device according to claim 2, characterized in that, The first vertical member (130) and the second vertical member (140) are each provided with a second slot (131) adapted to the edge of the base plate (110), and the third vertical member (150) and the fourth vertical member (160) are each provided with a third slot adapted to the edge of the base plate (110). The left side of the base plate (110) can extend into the second slot (131) and be fixed by the first fixing member, and the right side of the base plate (110) can extend into the third slot and be fixed by the second fixing member.

5. The robotic thoracic cavity device according to claim 1, characterized in that, The control module (300) includes: A support frame (310) is connected to the shelf (120). The support frame (310) includes a first fixing plate (311) and a second fixing plate (312) extending vertically. The second fixing plate (312) is spaced apart on the right side of the first fixing plate (311). The first controller (320) is connected to the left side of the first fixed plate (311) via the first connector, and there is a first gap between the first controller (320) and the first fixed plate (311); The second controller (330) is connected to the right side of the second fixing plate (312) via the second connector, and there is a second gap between the second controller (330) and the second fixing plate (312).

6. The robotic thoracic cavity device according to claim 5, characterized in that, The second controller (330) is provided with a first circuit board (331) and a second circuit board (332) spaced apart from each other. A heat sink (333) is provided between the first circuit board (331) and the second circuit board (332), and a heat dissipation channel is formed between the first circuit board (331) and the second circuit board (332). The shelf (120) is equipped with a fan assembly (600), which is located below the heat sink (333) and the air outlet of the fan assembly (600) is connected to the heat dissipation channel for cooling the first circuit board (331), the heat sink (333) and the second circuit board (332).

7. The robotic thoracic cavity device according to claim 5, characterized in that, The first connector and the second connector are hexagonal isolation posts.

8. The robotic thoracic cavity device according to any one of claims 1-7, characterized in that, The top of the support plate (210) is provided with a pulley (211). The bottom of the battery (220) is provided with a guide rail (221) adapted to the pulley (211), and the battery (220) can move into and out of the first mounting cavity (121) relative to the support plate (210) along the extension direction of the guide rail (221).

9. The robotic thoracic cavity device according to any one of claims 1-7, characterized in that, The battery (220) is provided with claws (222) on the left and right sides, and the claws (222) are located at the front end of the battery (220) in the direction of moving out of the first mounting cavity (121); The thoracic frame (100) is also provided with a fourth slot (151), which is used to engage with the claw (222) after the battery (220) is moved into the first mounting cavity (121).

10. A robot, characterized in that, Includes the robotic thoracic device according to any one of claims 1-9.

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