An artificial robot torso shell

Abstract

An artificial robot body shell is provided with a body chassis and a chest support, the chest support is arranged above the body chassis, and a body movement control mechanism is arranged between the body chassis and the chest support, a body bottom shell and a body upper chest shell are respectively arranged outside the body chassis and the chest support, an abdominal wing transition shell, a back spine shell group and two side wing scale shell assemblies are respectively arranged between the body bottom shell and the body upper chest shell, the abdominal wing transition shell is movably arranged on the body upper chest shell, the abdominal wing transition shell is arranged above the body bottom shell in an overlapping manner, and the two side wing scale shell assemblies are arranged on both sides of the back spine shell group in an overlapping manner, and the side wing scale shell assemblies are movably connected below both sides of the body upper chest shell. When the artificial robot body needs to be contracted, the shell can be naturally contracted, the overall state is not deformed, and no jamming failure occurs when clothes and artificial skin are sleeved on the shell.

Description

Technical Field

[0001] This utility model belongs to the technical field of robot shells, specifically relating to a simulated robot body shell. Background Technology

[0002] Humanoid robots, as intelligent products integrating cutting-edge technologies from multiple disciplines, are gradually changing people's lifestyles and work habits. Conceptually, they are a type of robot that uses advanced technology to simulate the form, behavior, actions, and even some emotions and thought patterns of humans or other organisms. Their design and manufacturing involve many fields such as mechanical engineering, electronic technology, computer science, materials science, and artificial intelligence, and are the crystallization of the high integration of modern technology.

[0003] In terms of locomotion, humanoid robots need to mimic a variety of human movements, including not only basic walking, running, and jumping, but also complex movements such as twisting and shrugging of the body. In terms of appearance, humanoid robots strive for a high degree of similarity to the object they are imitating, especially humanoid robots, whose body proportions, facial contours, skin texture, and even hair details are meticulously sculpted. However, when a humanoid robot performs various twisting and shrugging movements, its body needs to contract. Currently, there is no matching shell support that allows the shell to contract naturally during these movements, ensuring the humanoid robot maintains its overall shape without deformation, and preventing clothing and simulated skin from getting stuck or creating large wrinkles.

[0004] In the prior art, patent document CN205928618U discloses a shell structure for a robot and a torso support for covering the robot. The shell structure for the torso support includes a front shell, a rear cover, and a locking ring. Both the front shell and the rear cover include a body, arm mounting positions formed on the sides of the body, and several positioning pins extending from the inner wall of the body. During assembly, the front shell and the rear cover are respectively installed on the front and rear sides of the torso support. The corresponding positioning pins of the front shell and the rear cover are inserted and connected. The corresponding arm mounting positions of the front shell and the rear cover form a ring for assembling the arm. The locking ring is looped around the ring. The shell structure of the above solution can only satisfy the overall rotation of the torso and cannot meet the requirements for the use of a simulated robot shell. Utility Model Content

[0005] This invention addresses the shortcomings of existing technologies by proposing a simulated human body shell that is simple in structure, conforms to the form of a simulated human, and can naturally retract when the simulated robot's body needs to retract for movement, while maintaining its overall shape without deformation. Furthermore, it prevents malfunctions such as jamming when clothing and simulated skin are placed on the shell.

[0006] The specific technical solution is as follows:

[0007] A simulated robot's body shell includes a torso base and a thoracic support. The thoracic support is positioned above the torso base, and a body motion control mechanism is provided between the torso base and the thoracic support to control their relative movement. The body motion control mechanism may include a cross-shaped support member between the torso base and the thoracic support, and then control of its movement via a telescopic support rod. Various other methods of driving its movement exist, but these are not the focus of this discussion and will not be elaborated upon. A bottom body shell and an upper chest shell are respectively installed around the outer periphery of the torso base and the thoracic support. Between the bottom body shell and the upper chest shell are respectively provided a ventral wing transition shell, a spine shell assembly, and two side wing scale shell assemblies. The ventral wing transition shell is movably mounted on the upper chest shell, and is stacked on top of the bottom body shell. The two side wing scale shell assemblies are stacked on both sides of the spine shell assembly, and are movably connected to the lower sides of the upper chest shell.

[0008] Preferably, the lateral scale shell assembly consists of at least two arc-shaped scale shells stacked from top to bottom, with the upper arc-shaped scale shell located outside the lower arc-shaped scale shell, the lowest arc-shaped scale shell located outside the bottom shell of the body, and the uppermost arc-shaped scale shell located inside the upper chest shell of the body. The top of the uppermost arc-shaped scale shell is provided with a hinge seat, which is rotatably connected to the inside of the upper chest shell of the body. At least two connecting posts are also provided in the middle of the arc-shaped scale shell, and a spring structure is fixedly connected to the connecting posts. All arc-shaped scale shells are connected to each other and the lowest arc-shaped scale shell is connected to the inside of the bottom shell of the body through the spring structure. The spring structure can be a helical spring, a spring sheet, or other types.

[0009] Preferably, the side wing scale shell assembly consists of two arc-shaped scale shells, with two connecting posts in the middle of the arc-shaped scale shells. The two connecting posts are arranged horizontally, and the connecting posts on the lower arc-shaped scale shell are fixedly connected to two spring structures. The other ends of the two spring structures are fixedly connected to the inner side of the bottom shell of the body and the connecting posts on the upper arc-shaped scale shell, respectively.

[0010] Preferably, the dorsal shell assembly consists of a middle ridge shell and an upper ridge shell. The bottom of the middle ridge shell is stacked on top of the bottom shell of the body. The middle ridge shell has a convex ridge and two side plane mounting parts. The two side plane mounting parts are located on both sides of the convex ridge. The side plane mounting parts are provided with mounting holes for fixed connection with the rear side of the thoracic support. The upper chest shell of the body and the lateral wing scale shell assembly are partially stacked on top of the side plane mounting parts.

[0011] The upper ridge shell has a bayonet seat on the inner side of both sides for locking onto the edge of the upper thoracic shell, and a movable limiting hook is provided on the inner side of the lower part of the upper ridge shell for locking into the groove on the inner side of the convex ridge of the middle ridge shell.

[0012] Preferably, the upper chest shell consists of a front chest shell, a side rib shell, and two side back shells. The front chest shell is provided with a mounting bracket assembly on its inner side. The front chest shell is fixedly mounted on the thoracic support through the mounting bracket assembly. The side rib shell and the two side back shells are all mounted on the mounting bracket assembly. One side of the two side back shells is spliced ​​with the two sides of the side rib shell. The upper edge of the other side of the two side back shells is inclined inward and overlapped and locked in the slot seat of the upper ridge shell. The lower edge of the other side of the two side back shells is fixedly connected to the side plane mounting part of the middle ridge shell.

[0013] Preferably, the two sides of the ventral wing transition shell are triangular, and a transition recessed bridge is provided on the front abdomen of the side rib shell. The two sides of the transition recessed bridge of the side rib shell are opposite inverted triangular slots. The ventral wing transition shell is movably installed on the transition recessed bridge, and the two sides of the ventral wing transition shell are clearance-fitted with the two opposite inverted triangular slots.

[0014] Preferably, the upper chest shell of the body is further provided with an openable or detachable shelter cover assembly at the front chest position, and the inner side of the shelter cover assembly has a control display screen mounting cavity and / or a data interface group mounting cavity.

[0015] The beneficial effects of this utility model are: simple structure, conforms to the form of a simulated human body, the outer shell can retract naturally when the simulated robot body needs to retract, and maintains the overall state without deformation, and there will be no malfunctions such as jamming when clothing and simulated skin are put on the outer shell. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the outer shell of this utility model.

[0017] Figure 2 This is a schematic diagram of the internal structure of the spine shell assembly after the entire structure of this utility model has been disassembled.

[0018] Figure 3 This is a schematic diagram of the installation structure of the spine shell assembly in this utility model.

[0019] Figure 4 This is a schematic diagram of the installation structure of the side wing scale shell assembly in this utility model.

[0020] In the diagram: 1. Body base frame; 2. Thoracic support frame; 3. Bottom shell of the body; 4. Upper thorax shell of the body; 5. Transitional shell of the ventral wings; 6. Back shell assembly; 7. Lateral wing scale carapace assembly;

[0021] 71. Arc-shaped scale shell; 72. Hinge seat; 73. Connecting post; 74. Spring structure;

[0022] Middle ridge shell 61; Upper ridge shell 62; Bayonet seat 63; Movable limiting hook 64;

[0023] Front chest shell 41; side rib shell 42; side back shell 43; mounting bracket assembly 44; shelter cover assembly 45; screen mounting cavity 46; data interface assembly mounting cavity 47. Detailed Implementation

[0024] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the scope of protection of the present invention.

[0025] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" 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 device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0026] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or a connection through an intermediate medium; or they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0027] Example:

[0028] like Figure 1 , Figure 2 , Figure 3 and Figure 4As shown: A simulated robot body shell is provided, which includes a body base frame 1 and a thoracic support frame 2. The thoracic support frame 2 is located above the body base frame 1, and a body motion control mechanism is provided between the body base frame 1 and the thoracic support frame 2 to control the relative movement between the thoracic support frame 2 and the body base frame 1. A bottom body shell 3 and an upper body chest shell 4 are respectively installed around the outer sides of the body base frame 1 and the upper body chest shell 4. An abdominal wing transition shell 5, a spine shell group 6, and two side wing scale shell assemblies 7 are respectively provided between the bottom body shell 3 and the upper body chest shell 4. The abdominal wing transition shell 5 is movably installed on the upper body chest shell 4, and the abdominal wing transition shell 5 is stacked on top of the bottom body shell 3. The two side wing scale shell assemblies 7 are stacked on both sides of the spine shell group 6. Here, stacking means that they are partially overlapping or staggered with a certain gap. The side wing scale shell assemblies 7 are movably connected to the lower sides of the upper body chest shell 4. When the control thoracic support 2 and the body base 1 of the simulated robot body move relative to each other, the waist and abdomen can bend forward and backward or to the sides. The shell can naturally shrink due to the staggered stacking of the upper and lower layers. The two side wing scale shell components 7 are stacked on both sides of the spine shell group 6, avoiding interference and jamming between the shells. This ensures that the shell can always maintain its overall state without deformation. No malfunctions such as jamming will occur when clothing and simulated skin are put on the shell.

[0029] The aforementioned lateral scale shell assembly 7 consists of two arc-shaped scale shells 71. Alternatively, it can consist of three arc-shaped scale shells 71, but the number of arc-shaped scale shells 71 should be limited to avoid excessive stacking thickness and potential jamming. The arc-shaped scale shells 71 are stacked from top to bottom, with the uppermost arc-shaped scale shell 71 located outside the lowermost one. The lowest arc-shaped scale shell 71 is located outside the bottom shell 3 of the body, and the highest arc-shaped scale shell 71 is located inside the upper chest shell 4 of the body. A hinge seat 72 is provided at the top of the highest arc-shaped scale shell 71, which is rotatably connected to the inside of the upper chest shell 4. Two connecting posts 73 are also provided in the middle of the arc-shaped scale shell 71; three connecting posts can also be provided. Similarly, to avoid interference between adjacent posts, the number of connecting posts 73 should not be excessive. Two connecting posts 73 are arranged horizontally, and spring structures 74 are fixedly connected to the connecting posts 73. All the arc-shaped scale shells 71 are connected to each other, as well as the bottom arc-shaped scale shell 71 and the inner side of the bottom shell 3 of the body, through these spring structures 74. The connecting posts 73 on the bottom arc-shaped scale shell 71 are fixedly connected to two spring structures 74. The other ends of the two spring structures 74 are fixedly connected to the inner side of the bottom shell 3 of the body and the connecting posts 73 on the top arc-shaped scale shell 71, respectively. The two spring structures 74 can also be connected to different connecting posts 73, but the range of motion is limited, and exceeding the limit can easily cause jamming or even failure to reset. Therefore, the number of arc-shaped scale shells 71 is appropriate, and it is easy to design them to conform to the shape and structure of the human body. The arc-shaped scale shells 71 are stacked from top to bottom, with the upper arc-shaped scale shell 71 located outside the lower arc-shaped scale shell 71, which conforms to the aesthetic shape of the waist of the simulated human.

[0030] The aforementioned dorsal shell assembly 6 consists of a middle dorsal shell 61 and an upper dorsal shell 62. The bottom of the middle dorsal shell 61 overlaps above the bottom shell 3 of the body, and the middle rear side of the bottom shell 3 presents a tail vertebra shape, thus forming a complete dorsal shape. The gap between the middle rear side of the bottom shell 3 and the bottom of the middle dorsal shell 61 allows for movement space when leaning back. The middle dorsal shell 61 has a convex ridge and two side plane mounting parts. The two side plane mounting parts are located on both sides of the convex ridge. The side plane mounting parts are provided with mounting holes for fixed connection with the rear side of the thoracic support 2. The upper thoracic shell 4 and the lateral wing scale shell assembly 7 are partially overlapped and set above the side plane mounting parts, thus avoiding movement interference with the lateral wing scale shell assembly 7.

[0031] The upper spine shell 62 has a locking seat 63 on the inner side of both sides for locking onto the edge of the upper chest shell 4. The lower inner side of the upper spine shell 62 has a movable limiting hook 64 for locking into the groove on the inner side of the convex ridge of the middle spine shell 61, thus limiting the installation position of the upper spine shell 62. At the same time, the middle spine shell 61 moves as the chest support 2 tilts back and forth, and the middle spine shell 61 drives the upper spine shell 62 to move. While having free space for movement, the spine shell assembly 6 is always a whole, without any splitting. It will not cause malfunctions such as jamming when clothing and simulated skin are put on. Compared with the overlapping method used in other parts to avoid the splitting of moving parts, this method of the upper spine shell 62 following the movement will not produce a sense of overlapping layers, making it easier to show the shape of the overall spine, conforming to the state of the human spine, and more aesthetically pleasing.

[0032] The upper chest shell 4 is composed of an anterior chest shell 41, a lateral rib shell 42, and two side back shells 43. An installation bracket assembly 44 is provided on the inner side of the anterior chest shell 41. The anterior chest shell 41 is fixedly installed on the thoracic support 2 through the installation bracket assembly 44. The lateral rib shell 42 and the two side back shells 43 are all installed on the installation bracket assembly 44. One side of the two side back shells 43 is spliced ​​with the two sides of the lateral rib shell 42. The upper edge of the other side of the two side back shells 43 is inclined inward and overlapped and locked in the slot seat 63 of the upper ridge shell 62. The grooves generated by the inward inclination part also conform to the state of the two sides of the spine. The lower edge of the other side of the two side back shells 43 is fixedly connected to the side plane mounting part of the middle ridge shell 61.

[0033] The two sides of the ventral wing transition shell 5 are triangular. A transition recessed bridge is provided on the front abdomen of the side rib shell 42. The two sides of the transition recessed bridge of the side rib shell 42 are opposite inverted triangular slots. The ventral wing transition shell 5 is movably installed on the transition recessed bridge. The two sides of the ventral wing transition shell 5 are fitted with the two opposite inverted triangular slots with a gap of about 2-8mm, thereby providing space for the front abdomen to shrink and deliver goods, and avoiding the overlapping layered grooves on the front side.

[0034] The upper chest shell 4 is also provided with an openable or detachable cover assembly 45 at the front chest position. The inside of the cover assembly 45 has a control display screen mounting cavity 46 and / or a data interface group mounting cavity 47, which are used to install the control display screen and the data interface group, respectively. When not in use, the cover assembly 45 can cover it.

[0035] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims.

Claims

1. An artificial robot body shell, characterized by: It includes a torso base frame (1) and a thoracic support frame (2). The thoracic support frame (2) is located above the torso base frame (1), and a torso motion control mechanism is provided between the torso base frame (1) and the thoracic support frame (2) to control the relative movement between the thoracic support frame (2) and the torso base frame (1). A torso bottom shell (3) and an upper torso chest shell (4) are respectively installed around the outer sides of the torso base frame (1) and the upper torso chest shell (4). Between the shells (4), there are respectively a ventral wing transition shell (5), a dorsal shell group (6) and two side wing scale shell components (7). The ventral wing transition shell (5) is movably installed on the upper chest shell (4) of the body, and the ventral wing transition shell (5) is stacked on the upper body bottom shell (3). The two side wing scale shell components (7) are stacked on both sides of the dorsal shell group (6), and the side wing scale shell components (7) are movably connected to the lower sides of both sides of the upper chest shell (4).

2. The simulated robotic torso housing of claim 1, wherein: The lateral scale shell assembly (7) consists of at least two arc-shaped scale shells (71), which are stacked from top to bottom. The upper arc-shaped scale shell (71) is located outside the lower arc-shaped scale shell (71), the lowermost arc-shaped scale shell (71) is located outside the bottom shell (3) of the body, and the uppermost arc-shaped scale shell (71) is located inside the upper chest shell (4) of the body. 1) A hinge seat (72) is provided at the top, which is rotatably connected to the inner side of the upper chest shell (4). At least two connecting posts (73) are also provided in the middle of the arc-shaped scale shell (71). A spring structure (74) is fixedly connected to the connecting post (73). All the arc-shaped scale shells (71) are connected to each other and the inner side of the bottom arc-shaped scale shell (71) is connected to the bottom shell (3) of the body through the spring structure (74).

3. The simulated robotic body shell of claim 2, wherein: The side wing scale shell assembly (7) consists of two arc-shaped scale shells (71). Two connecting posts (73) are provided in the middle of the arc-shaped scale shells (71). The two connecting posts (73) are arranged horizontally. Two spring structures (74) are fixedly connected to the connecting posts (73) on the lower arc-shaped scale shells (71). The other ends of the two spring structures (74) are fixedly connected to the inner side of the bottom shell (3) of the body and the connecting posts (73) on the upper arc-shaped scale shells (71), respectively.

4. A simulated robotic body shell according to any one of claims 1 to 3, wherein: The dorsal shell assembly (6) consists of a middle ridge shell (61) and an upper ridge shell (62). The bottom of the middle ridge shell (61) is superimposed on the bottom shell (3) of the body. The middle ridge shell (61) has a convex ridge and two side plane mounting parts. The two side plane mounting parts are located on both sides of the convex ridge. The side plane mounting parts are provided with mounting holes for fixed connection with the rear side of the thoracic support (2). The upper chest shell (4) of the body and the lateral wing scale shell assembly (7) are partially superimposed on the side plane mounting parts. The upper ridge shell (62) has a bayonet seat (63) on the inner side of both sides for locking onto the edge of the upper chest shell (4), and a movable limiting hook (64) is provided on the inner side of the lower part of the upper ridge shell (62) for locking into the groove on the inner side of the convex ridge of the middle ridge shell (61).

5. The simulated robotic body shell of claim 4, wherein: The upper chest shell (4) is composed of an anterior chest shell (41), a side rib shell (42), and two side back shells (43). An installation bracket group (44) is provided on the inner side of the anterior chest shell (41). The anterior chest shell (41) is fixedly installed on the thoracic support (2) through the installation bracket group (44). The side rib shell (42) and the two side back shells (43) are all installed on the installation bracket group (44). One side of the two side back shells (43) is spliced ​​with the two sides of the side rib shell (42). The upper edge of the other side of the two side back shells (43) is inclined inward and overlapped and locked in the slot seat (63) of the upper ridge shell (62). The lower edge of the other side of the two side back shells (43) is fixedly connected to the side plane mounting part of the middle ridge shell (61).

6. The simulated robotic body shell of claim 5, wherein: The two sides of the ventral wing transition shell (5) are triangular. A transition recessed bridge is provided on the front abdomen of the side rib shell (42). The two sides of the transition recessed bridge of the side rib shell (42) are opposite inverted triangular slots. The ventral wing transition shell (5) is movably installed on the transition recessed bridge. The two sides of the ventral wing transition shell (5) are gap-fitted with the two opposite inverted triangular slots.

7. The simulated robotic body shell of any of claims 1-3, 5, or 6, wherein: The upper chest shell (4) of the body is also provided with an openable or detachable cover assembly (45) at the front chest position. The cover assembly (45) has a control display screen mounting cavity (46) and / or a data interface group mounting cavity (47) on the inside.

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