Robotic trunk assembly, trunk kit, robot, and hexapod robot

Abstract

The application relates to the technical field of robots, and discloses a robot trunk assembly, a robot trunk kit, a robot and a hexapod robot. The robot trunk assembly comprises a first connecting beam, a first connecting piece, a second connecting piece and a third connecting piece. The first connecting piece is detachably mounted at one end of the first connecting beam. The second connecting piece is detachably mounted at the other end of the first connecting beam, so that the first connecting beam is located between the first connecting piece and the second connecting piece. The third connecting piece is mounted at the middle part of the first connecting beam. The third connecting piece, the second connecting piece and the first connecting piece are respectively used for mounting different leg parts of the robot. The robot trunk assembly has the advantages of high universality.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a robot torso assembly, a robot torso kit, and a robot. Background Technology

[0002] For multi-legged robots such as quadruped robots or hexapod robots, the torso is one of the main components, primarily used to mount the robot's legs.

[0003] In related technologies, multi-legged robots have different torsos depending on the number of legs, which results in poor torso versatility for multi-legged robots. Utility Model Content

[0004] This application provides a robot torso component, torso kit, robot, and hexapod robot to improve the technical problem of poor versatility of robot torso components.

[0005] In a first aspect, embodiments of this application provide a robot torso assembly, comprising:

[0006] First connecting beam;

[0007] A first connector is detachably mounted to one end of the first connecting beam;

[0008] A second connector, detachably mounted to the other end of the first connecting beam, such that the first connecting beam is positioned between the first connector and the second connector; and,

[0009] The third connector is installed in the middle of the first connecting beam. The third connector, the second connector, and the first connector are used to install different legs of the robot.

[0010] In some embodiments, the first connector and the second connector are spaced apart along a first direction;

[0011] The first connector has a first mounting position on each side along the second direction, the first mounting position being used to mount the leg, the second direction intersecting the first direction.

[0012] In some embodiments, the first connector has a first protrusion on the side opposite to the first connecting beam, and the first protrusion has the first mounting position on each side along the second direction.

[0013] In some embodiments, the first protrusion is further provided with at least two first structural holes for mounting, fixing or electrical connection of the leg, and each first mounting position is provided with the first structural hole.

[0014] In some embodiments, the first connector includes two first sidewalls, which are spaced apart along the second direction and extend along the second direction. The first protrusion is connected between the two first sidewalls and protrudes from the side of the first sidewalls away from the first connecting beam.

[0015] In some embodiments, there are multiple first connecting beams, with at least two first connecting beams connected to each first sidewall.

[0016] In some embodiments, the first connector and the second connector are spaced apart along a first direction;

[0017] The number of the third connectors is at least two, and the at least two third connectors are spaced apart along the second direction.

[0018] In some embodiments, the number of connecting beams is at least four;

[0019] The third connector is provided with the first connecting beam at each end along the third direction, and the third direction, the second direction, and the first direction intersect each other.

[0020] In some embodiments, the third connector includes:

[0021] The main body extends along the third direction and is sandwiched between two first connecting beams spaced apart along the third direction; and,

[0022] A positioning part protrudes from the main body part along the third direction and abuts against one side of the first connecting beam along the second direction for positioning.

[0023] In some embodiments, each of the third connectors is provided with a second mounting position for mounting the leg; wherein...

[0024] In the two third connectors spaced apart along the second direction, the second mounting positions of the two third connectors are oriented in opposite directions; and / or,

[0025] The second mounting position includes a mounting groove, and the third connector is further provided with at least two second structural holes. The mounting groove is provided with the second structural holes on each side along the third direction for mounting, fixing or electrical connection of the leg. The third direction, the second direction and the first direction intersect each other.

[0026] In some embodiments, the first connector and the second connector have the same shape but face opposite directions; and / or,

[0027] The shape of the first connector is different from the shape of the third connector; and / or,

[0028] The shape of the second connector is different from that of the third connector.

[0029] Secondly, embodiments of this application also provide a robot, including the torso component as described above.

[0030] Thirdly, embodiments of this application also provide a hexapod robot, characterized in that it includes:

[0031] A torso assembly, the torso assembly including a first connecting beam, a first connector, a second connector and a third connector, the first connector being detachably mounted to one end of the first connecting beam along a first direction, the second connector being detachably mounted to the other end of the first connecting beam along the first direction, such that the first connecting beam is located between the first connector and the second connector, and the third connector being mounted in the middle of the first connecting beam;

[0032] Two first legs are spaced apart along a second direction and mounted on the first connector, the second direction intersecting the first direction;

[0033] Two second legs, spaced apart along the second direction and mounted on the second connector; and,

[0034] Two third legs (the two third legs are spaced apart along the second direction) and installed on the third connector.

[0035] Fourthly, embodiments of this application also provide a robot torso kit, including a first connector, a second connector, a third connector, a first connecting beam, and a second connecting beam;

[0036] The third connector, the second connector, and the first connector are respectively used to install different legs of the robot;

[0037] The lengths of the first connecting beam and the second connecting beam are different. The first connecting beam is used to connect the first connecting member, the third connecting member and the second connecting member in sequence to form a first type of torso unit. The second connecting beam is used to connect the first connecting member and the second connecting member to form a second type of torso unit.

[0038] The beneficial effects of the embodiments of this application are as follows:

[0039] The first connecting beam can serve as the skeleton of the torso assembly. Therefore, the first and second connectors, connected to different ends of the first connecting beam, can respectively serve as the front and rear ends of the torso assembly. This allows the torso assembly to attach legs via the first, second, and third connectors to form a multi-legged robot. Furthermore, since both the first and second connectors are detachably mounted to the first connecting beam, they can be installed on connecting beams of other sizes to form torso units of different sizes. This makes the front and rear sections of different torso units interchangeable and universal, ultimately improving the technical problem of poor versatility of the robot's torso assembly. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0042] Figure 1 This is a schematic diagram of the first structure of the robot's torso component provided in the embodiments of this application.

[0043] Figure 2 yes Figure 1 The exploded view of the torso assembly is shown.

[0044] Figure 3 This is a schematic diagram of a second structure of the robot's torso assembly provided in an embodiment of this application.

[0045] Figure 4 yes Figure 3 The exploded view of the torso assembly is shown.

[0046] Figure 5 yes Figure 1 A schematic diagram of the structure of the first connector of the torso assembly shown.

[0047] Figure 6 yes Figure 1 A schematic diagram of the structure of the second connector of the torso assembly shown.

[0048] Figure 7 yes Figure 1 The diagram shows the structure of the third connector of the torso assembly.

[0049] Figure 8This is a schematic diagram of the structure of a hexapod robot provided in an embodiment of this application.

[0050] Explanation of reference numerals in the attached figures:

[0051] 100. First connecting beam;

[0052] 200. First connector; 21. First mounting position; 22. First protrusion; 23. First sidewall; 24. First structural hole;

[0053] 300. Second connector; 31. Third mounting position; 32. Second protrusion; 33. Second sidewall; 34. Third structural hole;

[0054] 400. Third connector; 41. Main body; 42. Positioning part; 43. Second mounting position; 44. Second structural hole;

[0055] 500. Second connecting beam;

[0056] 600. First leg;

[0057] 700. Second leg;

[0058] 800, Third leg;

[0059] H1, First direction; H2, Second direction; H3, Third direction. Detailed Implementation

[0060] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0061] For multi-legged robots such as quadruped robots or hexapod robots, the torso is one of the main components, primarily used to mount the robot's legs.

[0062] In related technologies, multi-legged robots have different torsos depending on the number of legs, which results in poor torso versatility for multi-legged robots.

[0063] Specifically, through the inventors' innovative research, it was discovered that the torso assembly includes a housing and a cover. The front and rear ends of the housing are used to mount the robot's front and rear legs, respectively, and a space is formed between the housing and the cover for mounting electrical components. In related technologies, to improve the strength of the torso assembly, the housing is either made of a single piece or welded in various locations, allowing maintenance of the electrical components through an openable cover. However, the single-piece or welded structure results in poor versatility of the torso assembly for robots with different numbers of legs.

[0064] Based on this, please refer to Figure 1 and Figure 2 This application provides a robot torso assembly, including a first connecting beam 100, a first connecting member 200, a second connecting member 300, and a third connecting member 400.

[0065] The first connector 200 is detachably mounted to one end of the first connecting beam 100. The second connector 300 is detachably mounted to the other end of the first connecting beam 100, such that the first connecting beam 100 is located between the first connector 200 and the second connector 300. The third connector 400 is mounted in the middle of the first connecting beam 100. The third connector 400, the second connector 300, and the first connector 200 are used to mount different legs of the robot.

[0066] The first connecting beam 100 can serve as the skeleton of the torso assembly. Therefore, the first connector 200 and the second connector 300, connected to different ends of the first connecting beam 100, can respectively serve as the front and rear ends of the torso assembly. This allows the torso assembly to have legs attached via the first connector 200, the second connector 300, and the third connector 400 to form a multi-legged robot. Furthermore, since both the first connector 200 and the second connector 300 are detachably mounted to the first connecting beam 100, they can be mounted to connecting beams of other sizes to form torso units of different sizes. This allows for the interchangeability and commonality of the front and rear sections of different torso units, ultimately improving the technical problem of poor versatility in robot torso components.

[0067] For example, please continue to combine Figure 3 and Figure 4 The first connecting beam 100 can sequentially connect the first connecting member 200, the third connecting member 400, and the second connecting member 300 to form a first type of body unit. The first connecting member 200 and the second connecting member 300 can also be connected by a second connecting beam 500 to form a second type of body unit.

[0068] The length of the first connecting beam 100 is different from the length of the second connecting beam 500.

[0069] For example, the length of the first connecting beam 100 is greater than the length of the second connecting beam 500. The first type of torso unit is provided with a third connecting member 400 so that it can be used for a six-legged robot, while the second type of torso unit is not provided with a third connecting member 400 so that it can be used for a quadruped robot.

[0070] Optionally, the length of the first connecting beam 100 is less than the length of the second connecting beam 500. The first type of torso unit can be used for a six-legged robot, and the second type of torso unit can be used for an eight-legged robot or even a ten-legged robot. This application does not limit this.

[0071] It should be noted that the first connecting beam 100 and the first connecting member 200 can be detachably connected by means of snap-fit, screw-fit, plug-in connection, etc., and this application embodiment does not limit this.

[0072] For the specific connection structure between the second connecting beam 500 and the first connecting member 200, please refer to the connection structure between the second connecting beam 500 and the first connecting member 200. The specific connection structure will not be described in detail in this embodiment.

[0073] It should also be noted that the first connecting beam 100 and the second connecting member 300 can be detachably connected by means of snap-fit, screw-fit, plug-in connection, etc., and this application embodiment does not limit this.

[0074] For the specific connection structure between the second connecting beam 500 and the second connecting member 300, please refer to the connection structure between the second connecting beam 500 and the second connecting member 300. The specific connection structure will not be described in detail in this embodiment.

[0075] The above is an overall introduction to the technical solutions of the embodiments of this application. The technical solutions of the embodiments of this application will be introduced in conjunction with the first connector 200 below.

[0076] Please combine them together Figure 1 and Figure 5 In some embodiments, the first connector 200 and the second connector 300 are spaced apart along a first direction H1.

[0077] The first connector 200 has a first mounting position 21 on each side along the second direction H2. The first mounting position 21 is used to mount the leg. The second direction H2 intersects the first direction H1.

[0078] Taking the first direction H1 as the robot's front-back direction and the second direction H2 as the robot's left-right direction as an example, the leg installed at the first mounting position 21 on the left can serve as the robot's left front foot, and the leg installed at the first mounting position 21 on the right can serve as the robot's right front foot, so as to realize the installation of the two legs at the front of the robot.

[0079] For example, the first connector 200 has a first protrusion 22 protruding on the side opposite to the first connecting beam 100, and the first protrusion 22 has a first mounting position 21 on each side along the second direction H2.

[0080] Furthermore, the two legs connected to the first connector 200 can move closer to the center of the torso assembly along the second direction H2, so that the overall size of the torso assembly and the legs in the second direction H2 is smaller, which is beneficial to the miniaturization design of the robot.

[0081] The first protrusion 22 can be a hollow structure, which can reduce the weight of the first connector 200 to facilitate the lightweight design of the robot, and the space inside the first protrusion 22 can be used to install some electrical components of the robot, thereby making the robot's structure more compact.

[0082] Optionally, the first protrusion 22 may also be a solid structure, thereby making the first connector 200 stronger. This application embodiment does not limit this.

[0083] The first protrusion 22 is also provided with at least two first structural holes 24 for mounting and fixing the leg or for electrical connection, and each first mounting position 21 is provided with a first structural hole 24.

[0084] That is to say, the first structural hole 24 can be a screw hole for screwing the leg to the first mounting position 21, or the first structural hole 24 can be a wiring hole for wiring between the electrical components inside the torso and the corresponding leg to achieve electrical connection.

[0085] In some embodiments, the first connector 200 includes two first sidewalls 23, which are spaced apart along a second direction H2 and extend along the second direction H2. A first protrusion 22 is connected between the two first sidewalls 23 and protrudes from the side of the first sidewall 23 away from the first connecting beam 100.

[0086] Furthermore, on the one hand, the first sidewall 23 can form an installation space for electrical components along the side facing the first connecting beam 100; on the other hand, the first sidewall 23, which is bent and connected to the first protrusion 22, can improve the overall strength of the first connector 200 and increase the connection area between the first connector 200 and other parts of the torso assembly, thereby improving the overall structural strength of the torso assembly.

[0087] In some embodiments, there are multiple first connecting beams 100. Thus, by connecting multiple first connecting beams 100 and first connecting members 200, the overall strength of the torso can be improved.

[0088] For example, each first sidewall 23 is connected to at least two first connecting beams 100, thereby making the connection of the torso assembly at each first mounting position 21 more stable and reliable.

[0089] The technical solutions of the embodiments of this application will now be described in conjunction with the second connector 300.

[0090] Please combine them together Figure 1 and Figure 6 In some embodiments, the first connector 200 and the second connector 300 have the same shape but face opposite directions. This allows the first connector 200 and the second connector 300 of the torso assembly to be interchangeable, further improving the versatility of the torso assembly.

[0091] The second connector 300 is provided with a third mounting position 31 on each side along the second direction H2. The third mounting position 31 is used to mount the leg. The second direction H2 intersects with the first direction H1.

[0092] Taking the first direction H1 as the robot's front-back direction and the second direction H2 as the robot's left-right direction as an example, the leg installed at the third mounting position 31 on the left can serve as the robot's left hind foot, and the leg installed at the third mounting position 31 on the right can serve as the robot's right hind foot, so as to realize the installation of the two legs at the rear of the robot.

[0093] For example, the second connector 300 has a second protrusion 32 protruding from the side opposite to the first connecting beam 100, and the second protrusion 32 has a third mounting position 31 on each side along the second direction H2.

[0094] Furthermore, the two legs connected to the second connector 300 can move closer to the center of the torso assembly along the second direction H2, so that the overall size of the torso assembly and the legs in the second direction H2 is smaller, which is beneficial to the miniaturization design of the robot.

[0095] The second protrusion 32 can be a hollow structure, which can reduce the weight of the second connector 300 to facilitate the lightweight design of the robot, and the space inside the second protrusion 32 can be used to install some electrical components of the robot, thereby making the robot's structure more compact.

[0096] Optionally, the second protrusion 32 may also be a solid structure, thereby making the second connector 300 stronger. This application embodiment does not limit this.

[0097] The second protrusion 32 is also provided with at least two third structural holes 34 for mounting or electrical connection of the leg, and each third mounting position 31 is provided with a third structural hole 34.

[0098] That is to say, the third structural hole 34 can be a screw hole for screwing the leg to the third mounting position 31, or the third structural hole 34 can be a wiring hole for wiring the electrical components inside the torso and the corresponding leg to achieve electrical connection.

[0099] In some embodiments, the second connector 300 includes two second sidewalls 33, which are spaced apart along a second direction H2 and extend along the second direction H2. A second protrusion 32 is connected between the two second sidewalls 33 and protrudes from the side of the second sidewalls 33 away from the first connecting beam 100.

[0100] Furthermore, on the one hand, the second sidewall 33 can form an installation space for electrical components along the side facing the first connecting beam 100; on the other hand, the second sidewall 33, which is bent and connected to the second protrusion 32, can also improve the overall strength of the second connector 300 and increase the connection area between the second connector 300 and other parts of the torso assembly, thereby improving the overall structural strength of the torso assembly.

[0101] In some embodiments, each second sidewall 33 is connected to at least two first connecting beams 100, thereby enabling the torso assembly to be connected more stably and reliably at each third mounting position 31.

[0102] The technical solutions of the embodiments of this application will now be described in conjunction with the third connector 400.

[0103] Please combine them together Figure 1 and Figure 7 In some embodiments, the shape of the first connector 200 is different from the shape of the third connector 400; and / or, the shape of the second connector 300 is different from the shape of the third connector 400.

[0104] It should be noted that in this application, "and / or" describes the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / ", unless otherwise specified, generally indicates that the related objects before and after it are in an "or" relationship.

[0105] In some embodiments, the number of third connectors 400 is at least two, and the at least two third connectors 400 are spaced apart along the second direction H2.

[0106] Continuing with the example of the first direction H1 being the robot's front-back direction and the second direction H2 being the robot's left-right direction, the leg installed on the third connector 400 on the left side can serve as the robot's left middle leg, and the leg installed on the third connector 400 on the left side can serve as the robot's right middle leg, thus realizing the installation of two legs on the robot.

[0107] In some embodiments, the number of connecting beams is at least four. The third connector 400 is provided with a first connecting beam 100 at each end along the third direction H3, and the third direction H3, the second direction H2 and the first direction H1 intersect each other.

[0108] For example, if the third direction H3 is the height direction of the robot, then two connecting beams can be set on each of the left and right sides of the robot's torso assembly to make the connection strength of the torso assembly higher.

[0109] Correspondingly, on the left side of the torso assembly, a first connecting beam 100 is connected to each of the upper and lower ends of the third connector 400; on the right side of the torso assembly, a first connecting beam 100 is also connected to each of the upper and lower ends of the third connector 400; thus, the installation of the third connectors 400 on the left and right sides of the torso assembly can be more stable, and the third connector 400 can also be reused as a support beam for the first connecting beam 100 to avoid bending and breakage in the middle of the first connecting beam 100.

[0110] In some embodiments, the third connector 400 includes a main body 41 and a positioning part 42. The main body 41 extends along a third direction H3 and is sandwiched between two first connecting beams 100 spaced apart along the third direction H3. The positioning part 42 protrudes from the main body 41 along the third direction H3 and abuts against one side of the first connecting beam 100 along a second direction H2 for positioning.

[0111] Furthermore, the main body 41 can be used to position the third connector 400 in the height direction, and the positioning part 42 can be used to position the third connector 400 in the left and right directions. This allows for both rapid and accurate positioning of the third connector 400 during installation and higher installation accuracy of the legs connected to the third connector 400.

[0112] In some embodiments, each third connector 400 is provided with a second mounting position 43 for mounting a leg.

[0113] In the two third connectors 400 spaced apart along the second direction H2, the second mounting positions 43 of the two third connectors 400 face opposite directions, thereby enabling the mounting of the left and right legs of the torso assembly.

[0114] The second mounting position 43 may include a mounting groove, and the third connector 400 is also provided with at least two second structural holes 44. The mounting groove is provided with second structural holes 44 on each side along the third direction H3 for mounting, fixing or electrical connection of the leg.

[0115] That is to say, the second structural hole 44 can be a screw hole for screwing the leg to the second mounting position 43, or the second structural hole 44 can be a wiring hole for wiring the electrical components inside the torso and the corresponding leg to achieve electrical connection.

[0116] This application also provides a robot having the torso component described above.

[0117] Since the robot has the aforementioned torso components, it also possesses all the technical effects of those components, which will not be elaborated upon in the embodiments of this application.

[0118] Please continue to refer to this. Figure 8 This application also provides a hexapod robot, including a torso assembly, two first legs 600, two second legs 700, and two third legs 800. The torso assembly includes a first connecting beam 100, a first connector 200, a second connector 300, and a third connector 400. The first connector 200 is detachably mounted to one end of the first connecting beam 100 along a first direction H1, and the second connector 300 is detachably mounted to the other end of the first connecting beam 100 along the first direction H1, such that the first connecting beam 100 is located between the first connector 200 and the second connector 300, and the third connector 400 is mounted in the middle of the first connecting beam 100. The two first legs 600 are spaced apart along a second direction H2 and mounted on the first connector 200, the second direction H2 intersecting the first direction H1. The two second legs 700 are spaced apart along the second direction H2 and mounted on the second connector 300. Two third legs 800 are spaced apart along the second direction H2 and installed on the third connector 400.

[0119] In practical use, the two first legs 600 can serve as the left and right forelegs of the hexapod robot, respectively; the two second legs 700 can serve as the left and right hindlegs of the hexapod robot, respectively; and the two third legs 800 can serve as the left and right middle legs of the hexapod robot, respectively. Furthermore, since the first connector 200 and the second connector 300 are detachably mounted to the first connecting beam 100, they can be installed onto connecting beams of other sizes to form torso units of different sizes. This allows for the interchangeability and commonality of the front and rear sections of different torso units, ultimately improving the technical problem of poor versatility of the robot's torso components.

[0120] In some embodiments, the specific structure of the torso component can be referred to the specific structure of the torso component described above, and will not be repeated here in the embodiments of this application.

[0121] This application also provides a robot torso kit, including a first connector 200, a second connector 300, a third connector 400, a first connecting beam 100, and a second connecting beam 500. The third connector 400, the second connector 300, and the first connector 200 are respectively used to mount different legs of the robot. The lengths of the first connecting beam 100 and the second connecting beam 500 are different. The first connecting beam 100 is used to sequentially connect the first connector 200, the third connector 400, and the second connector 300 to form a first type of torso unit, and the second connecting beam 500 is used to connect to the first connector 200 and the second connector 300 to form a second type of torso unit.

[0122] Furthermore, the first connector 200 and the second connector 300 can be reused for two different sizes of torso units, thereby improving the versatility of parts in the robot's torso.

[0123] In some embodiments, the specific structures of the first connector 200, the second connector 300, the third connector 400, the first connecting beam 100, and the second connecting beam 500 can be referred to the specific structures of the first connector 200, the second connector 300, the third connector 400, the first connecting beam 100, and the second connecting beam 500 described above, and will not be repeated in the embodiments of this application.

[0124] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0125] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0126] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0127] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A torso assembly for a robot, characterized in that, include: First connecting beam; A first connector is detachably mounted to one end of the first connecting beam; A second connector, detachably mounted to the other end of the first connecting beam, such that the first connecting beam is positioned between the first connector and the second connector; and, The third connector is installed in the middle of the first connecting beam. The third connector, the second connector, and the first connector are used to install different legs of the robot.

2. The torso assembly according to claim 1, characterized in that, The first connector and the second connector are spaced apart along a first direction; The first connector has a first mounting position on each side along the second direction, the first mounting position being used to mount the leg, the second direction intersecting the first direction.

3. The torso assembly according to claim 2, characterized in that, The first connector has a first protrusion on the side opposite to the first connecting beam, and the first protrusion has a first mounting position on each side along the second direction.

4. The torso assembly according to claim 3, characterized in that, The first protrusion is also provided with at least two first structural holes for mounting, fixing or electrical connection of the leg, and each first mounting position is provided with the first structural hole.

5. The torso assembly according to claim 3, characterized in that, The first connector includes two first sidewalls, which are spaced apart along the second direction and extend along the second direction. The first protrusion is connected between the two first sidewalls and protrudes from the side of the first sidewall away from the first connecting beam.

6. The torso assembly according to claim 5, characterized in that, The number of the first connecting beams is multiple, and each of the first sidewalls is connected to at least two of the first connecting beams.

7. The torso assembly according to claim 1, characterized in that, The first connector and the second connector are spaced apart along a first direction; The number of the third connectors is at least two, and the at least two third connectors are spaced apart along the second direction.

8. The torso assembly according to claim 7, characterized in that, The number of connecting beams is at least four; The third connector is provided with the first connecting beam at each end along the third direction, and the third direction, the second direction, and the first direction intersect each other.

9. The torso assembly according to claim 8, characterized in that, The third connector includes: The main body extends along the third direction and is sandwiched between two first connecting beams spaced apart along the third direction; and, A positioning part protrudes from the main body part along the third direction and abuts against one side of the first connecting beam along the second direction for positioning.

10. The torso assembly according to claim 7, characterized in that, Each of the third connectors is provided with a second mounting position for mounting the leg; wherein... In the two third connectors spaced apart along the second direction, the second mounting positions of the two third connectors are oriented in opposite directions; and / or, The second mounting position includes a mounting groove, and the third connector is further provided with at least two second structural holes. The mounting groove is provided with the second structural holes on each side along the third direction for mounting, fixing or electrical connection of the leg. The third direction, the second direction and the first direction intersect each other.

11. The torso assembly according to any one of claims 1 to 10, characterized in that, The first connector has the same shape as the second connector but faces opposite directions; and / or, The shape of the first connector is different from the shape of the third connector; and / or, The shape of the second connector is different from that of the third connector.

12. A robot, characterized in that, Includes the torso component as described in any one of claims 1 to 11.

13. A hexapod robot, characterized in that, include: A torso assembly, the torso assembly including a first connecting beam, a first connector, a second connector and a third connector, the first connector being detachably mounted to one end of the first connecting beam along a first direction, the second connector being detachably mounted to the other end of the first connecting beam along the first direction, such that the first connecting beam is located between the first connector and the second connector, and the third connector being mounted in the middle of the first connecting beam; Two first legs are spaced apart along a second direction and mounted on the first connector, the second direction intersecting the first direction; Two second legs are spaced apart along the second direction and mounted on the second connector; and, Two third legs are spaced apart along the second direction and mounted on the third connector.

14. A robot torso kit, characterized in that, It includes a first connector, a second connector, a third connector, a first connecting beam, and a second connecting beam; The third connector, the second connector, and the first connector are respectively used to install different legs of the robot; The lengths of the first connecting beam and the second connecting beam are different. The first connecting beam is used to connect the first connecting member, the third connecting member and the second connecting member in sequence to form a first type of torso unit. The second connecting beam is used to connect the first connecting member and the second connecting member to form a second type of torso unit.

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