Torso assembly and humanoid robot

Abstract

The utility model discloses a kind of trunk assembly and humanoid robot, trunk assembly includes base, mounting bracket, connecting seat, battery compartment;First mounting groove, second mounting groove are provided on mounting bracket, first motor is built-in first mounting groove, the shell of first motor is fixed with mounting bracket, output end rotates around first axis;Second motor is built-in second mounting groove, the shell of second motor is fixed with mounting bracket, output end rotates around second axis, second axis is perpendicular to first axis;Base is rotatably connected on mounting bracket and is fixed in the output end of first motor;Connecting seat is rotatably connected on mounting bracket and is fixed in the output end of second motor;Battery compartment is fixedly connected on connecting seat and located above mounting bracket, battery pack is installed in its inside.The utility model can arrange larger battery pack inside battery compartment, to improve the endurance of humanoid robot.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robot technology, specifically to a torso assembly and a humanoid robot. Background Technology

[0002] Humanoid robots, with their highly anthropomorphic form and ability to perform complex tasks, have garnered widespread attention. A typical humanoid robot comprises a head, torso, two upper limbs, and two lower limbs. The torso is relatively large, therefore, the battery pack powering the entire robot is usually housed within it. Joints for forward and lateral movement are located below the battery pack on the torso. However, the current torso structure of humanoid robots is not optimal, resulting in small drive motors for these joints. The output torque of these motors is insufficient to flexibly drive the large battery pack, thus limiting the installation of a large-capacity battery pack within the torso and restricting the robot's endurance. Utility Model Content

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the purpose of the present invention is to provide a torso assembly and a humanoid robot to solve the problem that it is impossible to arrange a large-capacity battery pack inside the torso in the prior art.

[0004] The objective of this utility model is achieved through the following technical solution:

[0005] The torso assembly is characterized by comprising a base, a mounting bracket, a connecting seat, and a battery compartment;

[0006] The mounting bracket is provided with a first mounting slot and a second mounting slot located above the first mounting slot. A first motor is embedded in the first mounting slot, and the housing of the first motor is fixedly connected to the mounting bracket. The output end of the first motor rotates around the first axis O1. A second motor is embedded in the second mounting slot, and the housing of the second motor is fixedly connected to the mounting bracket. The output end of the second motor rotates around the second axis O2, and the second axis O2 is perpendicular to the first axis O1.

[0007] The base is rotatably connected to the mounting bracket and fixed to the output end of the first motor. The axis of relative rotation between the base and the mounting bracket coincides with the first axis O1.

[0008] The connecting seat is rotatably connected to the mounting bracket and fixed to the output end of the second motor. The axis of relative rotation between the connecting seat and the mounting bracket coincides with the second axis O2.

[0009] The battery compartment is fixedly connected to the connector and located above the mounting bracket, and the battery pack is installed inside it.

[0010] According to the embodiment of this utility model, the torso assembly has a base and a connecting seat that are rotatably connected to the mounting frame, enabling the torso assembly to swing back and forth and laterally. The housing of the first motor is fixed to the mounting frame, and the output end is fixed to the base, so that the first motor drives the mounting frame to rotate relative to the base. Furthermore, the first motor and the second motor are staggered in the vertical direction. Within the limited lateral space, the first motor and the second motor can have a larger size, thereby enabling the first motor and the second motor to output a larger torque. In this way, a larger battery pack can be arranged inside the battery compartment installed in the connecting seat, thereby improving the endurance of the humanoid robot. In addition, the larger size of the first motor and the second motor can be equipped with a reduction mechanism and a precise control module, which is beneficial to improving the output torque of the first motor and the second motor, as well as accurately controlling the angle of the back-and-forth swing and lateral swing of the waist assembly.

[0011] In a preferred embodiment, one end of the first mounting groove forms a first mounting wall, and the other end forms a first opening. The first motor passes through the first opening into the first mounting groove so that one end of the first motor housing abuts against the first mounting wall. One end of the first motor housing is fixedly connected to the first mounting wall by bolts. A lower sealing plate is detachably fixed on the mounting bracket to cover the first opening. The first mounting wall at one end of the first mounting groove can position the housing of the first motor and facilitate the assembly of the housing of the first motor with the mounting bracket. The lower sealing plate can cover the first opening of the first mounting groove 21, thus protecting the first motor.

[0012] In a preferred embodiment, the base includes a base plate located below the mounting bracket and two connecting side plates. The two connecting side plates are detachably fixed to the base plate and are respectively located at both ends of the first mounting groove. The output end of the first motor is fixed to one of the connecting side plates by bolts, and the other connecting side plate is pivotally connected to the lower cover plate. During assembly, the two connecting side plates are connected to the output end of the first motor and the lower cover plate respectively, and then the base plate is connected between the two connecting side plates. This ensures a stable fit between the base, the first motor, and the mounting bracket, while facilitating the assembly of the base with the first motor and the mounting bracket.

[0013] In a preferred embodiment, the outer side of the lower sealing plate is provided with an outwardly protruding first boss. A first shaft head is fixedly connected to the outer side of the first boss by bolts. The first shaft head passes through a first shaft hole provided on another connecting side plate, and a first bearing is provided between the first shaft head and the first shaft hole. The outer ring of the first bearing is tightly fitted with the inner wall of the first shaft hole, and the inner ring of the first bearing is clamped between the first shaft head and the first boss. During assembly, the first bearing is pressed into the first shaft hole, and the first shaft head passes through the inner ring of the first bearing from the outside. The first shaft head is then fixed to the first boss with bolts, and the bolts are tightened to make the first shaft head and the first boss engage to clamp the inner ring of the first bearing. In this way, the base and the mounting bracket can be rotatably connected together. The first bearing provides radial support for the mounting bracket, allowing the mounting bracket to rotate stably relative to the base.

[0014] In a preferred embodiment, one end of the second mounting groove forms a second mounting wall, and the other end forms a second opening. The second motor passes through the second opening into the second mounting groove so that one end of the second motor housing abuts against the second mounting wall. One end of the second motor housing is fixedly connected to the second mounting wall by bolts. A top sealing plate is detachably fixed to the mounting bracket to cover the second opening. The second mounting wall at one end of the second mounting groove can position the housing of the second motor and facilitate the assembly of the housing of the second motor with the mounting bracket. The top sealing plate can cover the second opening of the second mounting groove, thus protecting the second motor.

[0015] In a preferred embodiment, the connecting seat includes a top plate located above the mounting bracket and two connecting side walls. The two connecting side walls are detachably fixed to the top plate and are respectively located at both ends of the second mounting groove. The output end of the second motor is fixed to one of the connecting side walls by bolts, and the other connecting side wall is pivotally connected to the upper sealing plate. During assembly, the two connecting side walls are connected to the output end of the second motor and the upper sealing plate respectively, and then the top plate is connected between the two connecting side walls. In this way, the connecting seat is stably fitted with the second motor and the mounting bracket, while facilitating the assembly of the connecting seat with the second motor and the mounting bracket.

[0016] In a preferred embodiment, the outer side of the upper sealing plate is provided with an outwardly protruding second boss. A second shaft head is fixedly connected to the outer side of the second boss by bolts. The second shaft head passes through a second shaft hole provided on another connecting side wall, and a second bearing is provided between the second shaft head and the second shaft hole. The outer ring of the second bearing is tightly fitted with the inner wall of the second shaft hole, and the inner ring of the second bearing is clamped between the second shaft head and the second boss. During assembly, the second bearing is pressed into the second shaft hole, and after the second shaft head passes through the inner ring of the second bearing from the outside, the second shaft head and the second boss are fixed with bolts. Tightening the bolts clamps the inner ring of the second bearing between the second shaft head and the second boss. In this way, the connecting seat and the mounting bracket can be rotatably connected together. The second bearing provides radial support for the connecting seat, allowing the connecting seat to rotate stably relative to the mounting bracket.

[0017] In a preferred embodiment, the connector is provided with an upwardly extending connecting plate, and each side of the connector has a snap-fit ​​interface located on one side of the connecting plate. A vertically extending mounting plate is fixedly connected to the battery compartment. The bottom of the mounting plate abuts against one side of the connecting plate and is fixed to the connecting plate with bolts. The bottom of the mounting plate has two downwardly extending snap-fit ​​flanges that are respectively embedded in the two snap-fit ​​interfaces. The battery compartment is fixed to the mounting plate, and the bottom of the mounting plate is fixed to the connecting plate on the connector by bolts. Furthermore, the bottom of the mounting plate is snapped into the snap-fit ​​interfaces by the snap-fit ​​flanges, avoiding excessive stress on the bolts connecting the mounting plate and the connector, ensuring the stability of the connection between the mounting plate and the connector, and facilitating the arrangement of larger battery packs inside the battery compartment.

[0018] In a preferred embodiment, a housing is also included, enclosing the mounting plate and the battery compartment. The housing comprises two opposing housing units, each detachably fixed to one side of the mounting plate. The housing provides protection for the battery compartment and the electronic components located within the torso assembly, and by setting the external shape of the housing to approximate the human torso, the realism of the humanoid robot is enhanced.

[0019] Humanoid robot, including the aforementioned torso assembly.

[0020] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of this utility model;

[0022] Figure 2 This is an installation diagram of the present invention;

[0023] Figure 3 for Figure 1 AA section view;

[0024] Figure 4 for Figure 1 BB section view;

[0025] Figure 5 for Figure 2 Installation diagram of the middle connector and battery compartment.

[0026] In the diagram: 10. Base; 11. Base plate; 12. Connecting side plate; 13. Connecting side plate; 131. First shaft hole; 20. Mounting bracket; 21. First mounting groove; 211. First mounting wall; 212. First opening; 22. Second mounting groove; 221. Second mounting wall; 222. Second opening; 23. Lower sealing plate; 231. First boss; 232. First shaft head; 233. First bearing; 24. Upper sealing plate; 241. Second boss; 24 2. Second shaft head; 243. Second bearing; 30. Connecting seat; 31. Top plate; 311. Connecting plate; 312. Snap-fit ​​interface; 32. Connecting side wall; 33. Connecting side wall; 331. Second shaft hole; 40. First motor; 41. Housing; 42. Output end; 50. Second motor; 51. Housing; 52. Output end; 60. Battery compartment; 70. Mounting plate; 71. Snap-fit ​​flange; 80. Outer shell; 81. Outer shell unit; 82. Outer shell unit. Detailed Implementation

[0027] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments. Unless otherwise specified, the materials and equipment used in this embodiment are all commercially available. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0028] In the description of this application, it should be understood that the terms "upper," "lower," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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, and therefore should not be construed as a limitation on this application. In the description of this application, "a plurality of" means two or more, unless otherwise precisely specified.

[0029] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "connected," "linked," and "connected" should be interpreted broadly. For example, they can refer to a fixed connection, a connection through an intermediary, or a connection within two elements or an interaction between two elements. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0030] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such process, method, product, or apparatus.

[0031] Please refer to Figure 1-5 As shown, this utility model discloses a torso assembly, particularly a torso assembly for a humanoid robot. It includes a base 10, a mounting frame 20, a connecting seat 30, and a battery compartment 60. The mounting frame 20 has a first mounting groove 21 and a second mounting groove 22. The first mounting groove 21 extends in the left-right direction, and the second mounting groove 22 is located above the first mounting groove 21 and extends in the front-back direction. A first motor 40 is embedded in the first mounting groove 21, and the housing 41 of the first motor 40 is fixedly connected to the mounting frame 20. The output end 42 of the first motor 40 rotates around a first axis O1, which is aligned with the left-right direction. A second motor 50 is embedded in the second mounting groove 22, and the housing 51 of the second motor 50 is fixedly connected to the mounting frame 20. The output end 52 of the second motor 50 rotates around a second axis O2, which is aligned with the front-back direction, i.e., the second axis O2 is perpendicular to the first axis O1. The base 10 is rotatably connected to the mounting frame 20, and the base 10 is fixed to the output end 42 of the first motor 40. The axis of relative rotation between the base 10 and the mounting frame 20 coincides with the first axis O1. The connecting seat 30 is rotatably connected to the mounting frame 20, and the connecting seat 30 is fixed to the output end 52 of the second motor 50. The axis of relative rotation between the connecting seat 30 and the mounting frame 20 coincides with the second axis O2. The battery compartment 60 is fixedly connected to the connecting seat 30 and is located above the mounting frame 20. A battery pack for powering the humanoid robot is installed inside the battery compartment 60. The base 10 is located below the mounting frame 20, and the mounting frame 20 is connected to the waist assembly of the humanoid robot using the base 10. The connecting seat 30 is located above the mounting frame 20.

[0032] In this invention, the base 10 and the connecting seat 30 are rotatably connected to the mounting frame 20, enabling the torso assembly to swing back and forth and to the left and right. The housing 41 of the first motor 40 is fixed on the mounting frame 20, and the output end 42 is fixed on the base 10, so that the first motor 40 drives the mounting frame 20 to rotate relative to the base 10. Furthermore, the first motor 40 and the second motor 50 are staggered in the vertical direction. Within the limited lateral space, the first motor 40 and the second motor 50 can have larger sizes, thereby enabling the first motor 40 and the second motor 50 to output larger torques. In this way, a larger battery pack can be arranged inside the battery compartment 60 installed on the connecting seat 30, thereby improving the endurance of the humanoid robot. In addition, the larger size of the first motor 40 and the second motor 50 can be equipped with a reduction mechanism and a precise control module, which is beneficial to improving the output torque of the first motor 40 and the second motor 50, as well as accurately controlling the angle of the waist assembly's back-and-forth swing and lateral swing.

[0033] In a preferred embodiment, a first mounting wall 211 is formed at the right end of the first mounting groove 21, and a first opening 212 is formed at the left end. The diameter of the first opening 212 is larger than the maximum outer diameter of the housing 41 of the first motor 40, so that the first motor 40 can be inserted into the first mounting groove 21 through the first opening 212. The right end of the housing 41 of the first motor 40 is placed against the first mounting wall 211, and a bolt is used to pass through the first mounting wall 211 from the outside to the inside and screwed onto the right end of the housing 41 of the first motor 40, thereby fixing the housing 41 of the first motor 40 to the first mounting wall 211 together. A lower sealing plate 23 covering the first opening 212 is detachably fixed on the mounting bracket 20, and the first motor 40 is sealed inside the first mounting groove 21 by the lower sealing plate 23. A first mounting wall 211 is provided at one end of the first mounting groove 21, which can position the housing 41 of the first motor 40 and facilitate the assembly of the housing 41 of the first motor 40 with the mounting bracket 20. The lower sealing plate 23 can cover the first opening 212 of the first mounting groove 21, thus protecting the first motor 40.

[0034] The base 10 has a U-shaped structure and is located below the mounting bracket 20. Specifically, the base 10 includes a base plate 11, a connecting side plate 12, and a connecting side plate 13 located below the mounting bracket 20. The connecting side plate 12 and the connecting side plate 13 are located at both ends of the base plate 11, and are detachably fixed together with the base plate 11 and extend upward to the outer sides of both ends of the first mounting groove 21. Specifically, the connecting side plate 12 is located on the outer side of the first mounting wall 211, and the connecting side plate 13 is located on the outer side of the lower sealing plate 23. The output end 42 of the first motor 40 passes through a pre-set hole on the first mounting wall 211 and is connected to the connecting side plate 12 by bolts. The connecting side plate 13 is pivotally connected to the lower sealing plate 23. During assembly, the connecting side plate 12 and connecting side plate 13 are connected to the output end 42 of the first motor 40 and the lower sealing plate 23 respectively. Then, the base plate 11 is connected between the connecting side plate 12 and connecting side plate 13. In this way, the base 10 is stably matched with the first motor 40 and the mounting bracket 20, and the assembly of the base 10 with the first motor 40 and the mounting bracket 20 is convenient.

[0035] A first protruding boss 231 is provided on the outer side of the lower sealing plate 23. A first shaft head 232 is fixedly connected to the outer side of the first boss 231 by bolts. The first shaft head 232 passes through a first shaft hole 131 provided on the connecting side plate 13. A first bearing 233 is provided between the first shaft head 232 and the first shaft hole 131. The first bearing 233 pivotally engages the first shaft head 232 and the inner wall of the first shaft hole 131. The outer ring of the first bearing 233 is tightly engaged with the inner wall of the first shaft hole 131, and the inner ring of the first bearing 233 is clamped between the first shaft head 232 and the first protruding boss 231. Between the base 10 and the mounting bracket 20; during assembly, the first bearing 233 is pressed into the first shaft hole 131, and the first shaft head 232 passes through the inner ring of the first bearing 233 from the outside of the first bearing 233. The first shaft head 232 is then fixed to the first boss 231 with bolts. The bolts are tightened so that the first shaft head 232 and the first boss 231 cooperate to clamp the inner ring of the first bearing 233. In this way, the base 10 and the mounting bracket 20 can be rotatably connected together. The first bearing 233 provides radial support for the mounting bracket 20, so that the mounting bracket 20 can rotate stably relative to the base 10.

[0036] The front end of the second mounting groove 22 forms a second mounting wall 221, and the rear end forms a second opening 222, which is the same as the installation method of the first motor 40 in the first mounting groove 21. The second motor 50 passes through the second opening 222 from back to front and extends into the second mounting groove 22, so that the front end of the housing 51 of the second motor 50 is against the second mounting wall 221. Bolts are used to pass through the second mounting wall 221 from the outside to the inside and screwed onto the front end of the housing 51 of the second motor 50, fixing the housing 51 of the second motor 50 to the second mounting wall 221 together. An upper sealing plate 24 is detachably fixed on the mounting bracket 20, and the upper sealing plate 24 covers the second opening 222. The second mounting wall 221 is provided at one end of the second mounting groove 22, which can position the housing 51 of the second motor 50 and facilitate the assembly of the housing 51 of the second motor 50 with the mounting bracket 20. The upper sealing plate 24 can cover the second opening 222 of the second mounting groove 22, thus protecting the second motor 50.

[0037] The connecting seat 30 has an inverted U-shaped structure, including a top plate 31, a connecting side wall 32, and a connecting side wall 33. The connecting side wall 32 and the connecting side wall 33 are located at both ends of the top plate 31, and are detachably fixed to the top plate 31 and extend downward from both ends of the top plate 31. The top plate 31 is located above the mounting bracket 20. The connecting side wall 32 and the connecting side wall 33 are located on the outer sides of both ends of the second mounting groove 22. The connecting side wall 32 is located on the outer side of the second mounting wall 221. The output end 52 of the second motor 50 passes through the hole on the second mounting wall 221 and is connected to the connecting side wall 32 by bolts. The connecting side wall 33 is located on the outer side of the upper sealing plate 24 and is pivotally connected to the upper sealing plate 24. During assembly, the connecting sidewalls 32 and 33 are connected to the output end 52 of the second motor 50 and the upper sealing plate 24, respectively. Then, the top plate 31 is connected between the connecting sidewalls 32 and 33. In this way, the connecting seat 30 is stably matched with the second motor 50 and the mounting bracket 20, and the connecting seat 30 is conveniently assembled with the second motor 50 and the mounting bracket 20.

[0038] The outer side of the upper sealing plate 24 is provided with an outwardly protruding second boss 241. The outer side of the second boss 241 is fixedly connected to a second shaft head 242 by bolts. The second shaft head 242 passes through a second shaft hole 331 provided on the connecting side wall 33. A second bearing 243 is provided between the second shaft head 242 and the inner wall of the second shaft hole 331. The second bearing 243 causes the second shaft head 242 to pivotally engage with the inner wall of the second shaft hole 331. The outer ring of the second bearing 243 is tightly engaged with the inner wall of the second shaft hole 331, and the inner ring of the second bearing 243 is clamped between the second shaft head 242 and the second boss 241. During assembly, the second bearing 243 is pressed into the second shaft hole 331. The second shaft head 242 passes through the inner ring of the second bearing 243 from the outside. The second shaft head 242 is then fixed to the second boss 241 with bolts. Tightening the bolts clamps the inner ring of the second bearing 243 with the second shaft head 242 and the second boss 241. In this way, the connecting seat 30 and the mounting bracket 20 can be rotatably connected together. The second bearing 243 provides radial support for the connecting seat 30, allowing the connecting seat 30 to rotate stably relative to the mounting bracket 20.

[0039] The connector 30 is provided with an upwardly extending connector plate 311. Specifically, the connector plate 311 is formed by extending upward from the upper surface of the top plate 31 of the connector 30. On both sides of the top plate 31, there are respectively a snap-fit ​​interface 312 located on the rear side of the connector plate 311. The battery compartment 60 is fixed to the rear side of the vertically extending mounting plate 70. The bottom of the mounting plate 70 is abutted against the rear side of the connector plate 311, and the bottom of the mounting plate 70 is fixed to the connector plate 311 by multiple bolts passing through the mounting plate 70 and the connector plate 311. The bottom of the mounting plate 70 is provided with two downwardly extending snap-fit ​​flanges 71, and the two snap-fit ​​flanges 71 are respectively embedded in the two snap-fit ​​interfaces 312. The battery compartment 60 is fixed to the mounting plate 70. The bottom of the mounting plate 70 is fixed to the connecting plate 311 on the connecting seat 30 by bolts. The bottom of the mounting plate 70 is also engaged in the snap-fit ​​interface 312 by the snap-fit ​​flange 71. This avoids the bolts connecting the mounting plate 70 and the connecting seat 30 from being subjected to large stress, ensuring the stability of the connection between the mounting plate 70 and the connecting seat 30. This is beneficial for arranging a large battery pack inside the battery compartment 60.

[0040] The torso assembly of this invention also includes a shell 80 that surrounds the mounting plate 70 and the battery compartment 60. The shell 80 is a split structure, comprising shell units 81 and 82 facing each other. Shell units 81 and 82 are detachably fixed to both sides of the mounting plate 70, forming an inner cavity between them to accommodate the battery compartment 60 and the mounting plate 70. The shell 80 provides protection for the battery compartment 60 and the electronic components located inside the torso assembly, and by setting the external shape of the shell 80 to approximate the shape of a human torso, the realism of the humanoid robot can be improved.

[0041] The humanoid robot of this utility model includes the torso assembly described above. The other structures of the humanoid robot are the same as those in the prior art and will not be described in detail here.

[0042] Although only certain components and embodiments of this application have been illustrated and described, many modifications and alterations will be apparent to those skilled in the art without actually departing from the scope and spirit of the claims, such as variations in the size, dimensions, structure, shape and proportion of the various elements, installation arrangement, material use, color, orientation, etc.

[0043] The above embodiments are merely preferred embodiments of the present utility model and should not be construed as limiting the scope of protection of the present utility model. Any non-substantial changes and substitutions made by those skilled in the art based on the present utility model shall fall within the scope of protection claimed by the present utility model.

Claims

1. A torso assembly, characterized in that, Includes base, mounting bracket, connector, and battery compartment; The mounting bracket is provided with a first mounting slot and a second mounting slot located above the first mounting slot. A first motor is embedded in the first mounting slot, and the housing of the first motor is fixedly connected to the mounting bracket. The output end of the first motor rotates around the first axis O1. A second motor is embedded in the second mounting slot, and the housing of the second motor is fixedly connected to the mounting bracket. The output end of the second motor rotates around the second axis O2, and the second axis O2 is perpendicular to the first axis O1. The base is rotatably connected to the mounting bracket and fixed to the output end of the first motor. The axis of relative rotation between the base and the mounting bracket coincides with the first axis O1. The connecting seat is rotatably connected to the mounting bracket and fixed to the output end of the second motor. The axis of relative rotation between the connecting seat and the mounting bracket coincides with the second axis O2. The battery compartment is fixedly connected to the connector and located above the mounting bracket, and the battery pack is installed inside it.

2. The torso assembly as claimed in claim 1, characterized in that, One end of the first mounting groove forms a first mounting wall, and the other end forms a first opening. The first motor passes through the first opening into the first mounting groove so that one end of the first motor housing is attached to the first mounting wall. One end of the first motor housing is fixedly connected to the first mounting wall by bolts. A lower sealing plate with a cover at the first opening is detachably fixed on the mounting bracket.

3. The torso assembly as described in claim 2, characterized in that, The base includes a base plate located below the mounting bracket and two connecting side plates. The two connecting side plates are detachably fixed to the base plate and are located at both ends of the first mounting groove. The output end of the first motor is fixed to one of the connecting side plates by bolts, and the other connecting side plate is pivotally connected to the lower sealing plate.

4. The torso assembly as described in claim 3, characterized in that, The outer side of the lower sealing plate is provided with a first protruding boss. The outer side of the first boss is fixedly connected to a first shaft head by bolts. The first shaft head passes through a first shaft hole provided on another connecting side plate. A first bearing is provided between the first shaft head and the first shaft hole. The outer ring of the first bearing is tightly fitted with the inner wall of the first shaft hole, and the inner ring of the first bearing is clamped between the first shaft head and the first boss.

5. The torso assembly as claimed in claim 1, characterized in that, One end of the second mounting groove forms a second mounting wall, and the other end forms a second opening. The second motor passes through the second opening into the second mounting groove so that one end of the second motor housing is attached to the second mounting wall. One end of the second motor housing is fixedly connected to the second mounting wall by bolts. A top sealing plate with a cover at the second opening is detachably fixed on the mounting bracket.

6. The torso assembly as claimed in claim 5, characterized in that, The connecting seat includes a top plate located above the mounting bracket and two connecting side walls. The two connecting side walls are detachably fixed to the top plate and are located at both ends of the second mounting groove. The output end of the second motor is fixed to one of the connecting side walls by bolts, and the other connecting side wall is pivotally connected to the upper sealing plate.

7. The torso assembly as claimed in claim 6, characterized in that, The outer side of the upper sealing plate is provided with a second protruding boss. The outer side of the second boss is fixedly connected to a second shaft head by bolts. The second shaft head passes through a second shaft hole provided on another connecting side wall. A second bearing is provided between the second shaft head and the second shaft hole. The outer ring of the second bearing is tightly fitted with the inner wall of the second shaft hole. The inner ring of the second bearing is clamped between the second shaft head and the second boss.

8. The torso assembly as claimed in claim 1, characterized in that, The connector is provided with an upwardly extending connector plate. On both sides of the connector, there are card interfaces located on one side of the connector plate. A vertically extending mounting plate is fixedly connected to the battery compartment. The bottom of the mounting plate is attached to one side of the connector plate and fixed to the connector plate with bolts. The bottom of the mounting plate is provided with two downwardly extending card flanges that are respectively embedded in the two card interfaces.

9. The torso assembly as claimed in claim 8, characterized in that, It also includes an outer casing that surrounds the mounting plate and battery compartment. The outer casing consists of two opposing outer casing units, which are detachably fixed to both sides of the mounting plate.

10. A humanoid robot, characterized in that, Includes the torso assembly as described in any one of claims 1-9.

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