A robot body and a robot

Abstract

The utility model provides a kind of robot body, comprising: shell, the shell includes: body support;Body front shell, the body front shell is fixedly connected with the body support, the body front shell is located the front of the body support;Body rear shell, the body rear shell is fixedly connected with the body support, the body rear shell is located the rear of the body support, the body front shell, the body rear shell and the body support are enclosed to form cavity;Head driver, the head driver is set in the top of the shell, the head driver is fixedly connected with the upper portion of the body support;Hand driver, compared with prior art, the robot body of the utility model as load-bearing main body, robot body effectively transmits and disperses the driver and load of robot head, robot hand, robot leg to entire shell structure, avoids stress concentration, to realize stable support and movement foundation.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robots, and more particularly to a robot body and a robot. Background Technology

[0002] In related technologies, humanoid robots include a robot head, robot hands, robot legs, and robot body. The robot head, robot hands, and robot legs are connected to the robot body, enabling the robot to perform grasping and walking actions.

[0003] However, there are still shortcomings. In related technologies, the robot body serves as the main support for the robot's head, hands, and legs, but its stability is poor. Utility Model Content

[0004] This utility model discloses a robot body and a robot. The robot body of this utility model serves as the main load-bearing body. The robot body effectively transmits and distributes the actuators and loads of the robot head, robot hands, and robot legs to the entire shell structure, avoiding stress concentration, thereby achieving stable support and a stable motion foundation.

[0005] A robot body includes: a shell, the shell comprising: a body support; a front shell fixedly connected to the body support and located in front of the body support; a rear shell fixedly connected to the body support and located behind the body support, the front shell, the rear shell, and the body support together forming a cavity; a head actuator disposed at the top of the shell and fixedly connected to the upper part of the body support; a hand actuator disposed on one side of the shell and fixedly connected to the side of the body support; and a leg actuator disposed at the bottom of the shell and fixedly connected to the lower part of the body support.

[0006] In some embodiments, the system further includes a circuit board and a cooling fan, the circuit board being disposed within the cavity, the cooling fan being disposed on the circuit board, and the rear shell of the body having a plurality of first exhaust vents.

[0007] In some embodiments, the system further includes a battery and a cover plate, the body support is fitted with the cover plate, the cover plate is provided with a plurality of second exhaust vents, the front shell of the body has a positioning groove, the body support is fixedly connected with a positioning sleeve, the front part of the battery engages with the positioning groove, and the middle part of the battery engages with the positioning sleeve.

[0008] In some embodiments, the front shell of the body is provided with a switch, which is disposed on the surface of the front shell of the body and is electrically connected to the circuit board to realize the start and stop control of the robot's power supply or functions.

[0009] In some embodiments, the top of the body frame is provided with a lifting ring for attaching or hoisting external loads, and the lifting ring is fixedly connected to the body frame.

[0010] In some embodiments, the front shell of the body is further provided with a speaker and a microphone for sensing and feeding back sound information.

[0011] In some embodiments, the body support has multiple pillars, the circuit board has multiple through holes, the through holes are clearance-fitted with the pillars, each pillar is threaded with multiple nuts, the circuit board is located between two adjacent nuts, the two adjacent nuts are threaded with the same pillar, and the circuit board is clamped and fixed between the two adjacent nuts.

[0012] In some embodiments, a gyroscope is also included, which is disposed on the left and right symmetrical center lines of the housing.

[0013] In some embodiments, the gyroscope is fixedly connected to the circuit board.

[0014] This utility model also provides a robot, including the aforementioned robot body, robot head, robot hand, and robot legs. The output end of the head driver is connected to the robot head via transmission, the output end of the hand driver is connected to the robot hand via transmission, and the output end of the leg driver is connected to the robot leg via transmission.

[0015] Beneficial effects: The head actuator is fixedly connected to the upper part of the body support, the hand actuator is fixedly connected to the side of the body support, and the leg actuator is fixedly connected to the lower part of the body support. In this way, the robot body effectively transmits and distributes the actuators and loads of the robot head, robot hand, and robot leg to the entire shell structure, avoiding stress concentration and thus achieving stable support and motion foundation. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is an exploded view of the casing, battery, and cover plate of this utility model; Figure 3 This is a schematic diagram showing the structural positions of the body support, head actuator, hand actuator, leg actuator, and battery of this utility model. Figure 4 This is a schematic diagram showing the structural positions of the body support, cover plate, circuit board, cooling fan, and battery of this utility model; Figure 5 This is a schematic diagram showing the structural positions of the circuit board, support column, nut, and gyroscope of this utility model.

[0018] Explanation of main labels: 1. Housing; 11. Body support; 111. Lifting ring; 112. Positioning sleeve; 113. Support column; 114. Nut; 12. Front shell of the body; 121. Switch; 122. Positioning groove; 13. Rear shell of the body; 131. First exhaust vent; 2. Head actuator; 3. Hand actuator; 4. Leg actuator; 5. Circuit board; 51. Through hole; 6. Cooling fan; 7. Battery; 8. Cover plate; 81. Second exhaust vent; 9. Gyroscope. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0020] Furthermore, the following descriptions of various embodiments are based on the accompanying illustrations and are used to illustrate specific embodiments that can be implemented in this application. Directional terms used in this application, such as "up," "down," "front," "back," "left," "right," "inner," "outer," and "side," are merely for reference to the accompanying illustrations. Therefore, the directional terms used are for better and clearer explanation and understanding of this application, and are not intended to indicate or imply that the referred device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0021] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installed," "connected," "linked," and "set on" 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 mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and 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 application based on the specific circumstances.

[0022] The terms "first," "second," and "third" used in the embodiments of this application are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0023] Combination Figures 1 to 5 As shown, a robot body includes a shell 1, a head actuator 2, a hand actuator 3, and a leg actuator 4.

[0024] The shell 1 is a frame structure, which serves as the main support for the robot's head, hands, and legs.

[0025] The shell 1 includes a body support 11, a front shell 12, and a rear shell 13.

[0026] The body support 11 is frame-shaped or U-shaped, with a hollow structure, and is located between the front shell 12 and the rear shell 13 of the body. Specifically, the body support 11 has two side plates, a top plate, and a bottom plate. The two side plates are formed by bending upwards from both ends of the bottom plate, and are perpendicular to the bottom plate, forming an "L" shape. Optionally, the top plate is welded to the two side plates. Optionally, both side plates have bent portions, which are connected to the top plate by screws, thereby fixing the top plate and the side plates together.

[0027] The front shell 12 of the body is a frame structure, which is located in front of the body support 11.

[0028] The front shell 12 of the body is fixedly connected to the body support 11. Optionally, the front shell 12 of the body has a plurality of connecting parts, each having a threaded hole, and the connecting parts are connected to the body support 11 by screws.

[0029] The rear shell 13 of the body is a frame structure, located behind the body support 11.

[0030] The rear shell 13 of the body is fixedly connected to the body support 11. Optionally, the rear shell 13 of the body and the body support 11 can be fixed together by means of clips or screws.

[0031] The front shell 12, the rear shell 13, and the body support 11 together enclose and form a cavity.

[0032] The head actuator 2 is disposed on the top of the housing 1 and is fixedly connected to the upper part of the body support 11. Optionally, the head actuator 2 is fixedly connected to the top plate of the body support 11 by screws.

[0033] The hand actuator 3 is disposed on one side of the housing 1 and is fixedly connected to the side of the body support 11; optionally, there are two hand actuators 3, and the two hand actuators 3 are respectively fixed on the two side plates of the body support 11, and the hand actuators 3 are fixedly connected to the side plates of the body support 11 by screws.

[0034] The leg actuator 4 is disposed at the bottom of the housing 1 and is fixedly connected to the lower part of the body support 11. Optionally, there are two leg actuators 4, which are respectively fixed on both sides of the bottom plate of the body support 11 and are fixedly connected to the bottom plate of the body support 11 by screws.

[0035] The head actuator 2 is fixedly connected to the upper part of the body support 11, the hand actuator 3 is fixedly connected to the side of the body support 11, and the leg actuator 4 is fixedly connected to the lower part of the body support 11. In this way, the robot body effectively transmits and distributes the actuators and loads of the robot head, robot hand, and robot leg to the entire shell structure, avoiding stress concentration and thus achieving stable support and motion foundation.

[0036] In some embodiments, combined with Figure 2 and Figure 4 As shown, it also includes circuit board 5 and cooling fan 6.

[0037] The circuit board 5 is disposed within the cavity, and the cooling fan 6 is disposed on the circuit board 5 for heat dissipation. The rear shell 13 of the body is provided with multiple first exhaust vents 131 for exhaust. Optionally, the cooling fan 6 is aligned with the main heat-generating components (such as the main control chip and motor drive chip) on the circuit board 5 to achieve directional air cooling and improve heat dissipation effect. Optionally, the multiple first exhaust vents 131 correspond to the position of the cooling fan 6, and the first exhaust vents 131 are in the form of a grille or an array of round holes, which can ensure ventilation efficiency while reducing the entry of external foreign objects. Optionally, the circuit board 5 is rectangular, and the main control chip, motor drive circuit, communication interface (such as USB / Bluetooth) and power supply circuit are integrated by SMT surface mount / plug-in soldering, and electrically connected to the head driver 2, hand driver 3 and leg driver 4 respectively by wires to realize signal processing and power control.

[0038] In some embodiments, combined with Figure 2 and Figure 3 As shown, the system also includes a battery 7 and a cover plate 8. The battery 7 is embedded in the body support 11 and is used to power the robot. The body support 11 is closed with the cover plate 8, which has multiple second exhaust vents 81. Optionally, the second exhaust vents 81 cooperate with the cooling fan 6 to form an air duct. When the battery 7 is charging and discharging, especially during high-current discharge, it generates heat. The air duct formed by the second exhaust vents 81 and the cooling fan 6 can remove the heat in time, preventing the battery 7 from overheating and causing performance degradation (capacity reduction), reduced charging efficiency, or even thermal runaway risk, thereby improving the battery life and extending the battery 7's service life. Optionally, the plurality of second exhaust vents 81 correspond to the positions of the cooling fan 6. The second exhaust vents 81 are in the form of a grille or an array of round holes, which can ensure ventilation efficiency while reducing the entry of external foreign objects. Optionally, the front shell 12 of the body has a positioning groove 122, and the body support 11 is fixedly connected to the positioning sleeve 112. The front part of the battery 7 cooperates with the positioning groove 122, and the middle part of the battery 7 cooperates with the positioning sleeve 112. The positioning sleeve 112 and the positioning groove 122 provide dual positioning for the battery 7, avoiding shaking or loosening of the battery 7 due to robot movement. Optionally, the cover plate 8 is closed to the body support 11 by buckles or screws to fix and protect the battery 7. Optionally, the positive and negative terminals of the battery 7 are soldered to the power supply interface of the circuit board 5 through wires to provide power to the robot as a whole.

[0039] In some embodiments, combined with Figure 1As shown, the front shell 12 of the body is equipped with a switch 121, which is disposed on the surface of the front shell 12. The switch 121 is electrically connected to the circuit board 5 to realize the start and stop control of the robot's power supply or functions. Optionally, the switch 121 is connected to the control chip on the circuit board 5 through a wire or a flexible circuit board 5 (FPC) to realize low-level signal triggering, thereby controlling the power supply of the robot or the switching of the working mode.

[0040] In some embodiments, combined with Figure 1 and Figure 3 As shown, the top of the body support 11 is provided with a lifting ring 111 for attaching or hoisting external loads. The lifting ring 111 is fixedly connected to the body support 11. Optionally, there are two lifting rings 111, respectively installed on both sides of the top of the body support 11. During the production, packaging, testing, or demonstration of the robot, the robot can be easily lifted, moved, and fixed using tools such as hooks and ropes through the lifting rings 111. This avoids structural damage or surface scratches that may be caused by directly grasping the robot body, greatly improving the safety and efficiency of the handling process. Optionally, the lifting ring 111 is fixedly connected to the body support 11 by means of threads or buckles.

[0041] In some embodiments, the front shell 12 is further equipped with a speaker and a microphone for sensing and responding to sound information. All key human-machine interaction components, such as the switch 121, speaker, and microphone, are located on the front shell 12 to conform to the natural habit of users interacting face-to-face with the robot. The switch 121 serves as a hardware control interface, the speaker as a sound output device, and the microphone as a sound input device; these three complement each other, forming a complete basic interaction module. Furthermore, integrating the three major interaction components—switch 121, speaker, and microphone—into the front shell 12 facilitates interaction between the robot and the user; specifically, ambient sound or user voice is collected by the microphone on the front shell, converted into electrical signals, and transmitted to the main control chip on the circuit board 5 for recognition and processing.

[0042] In some embodiments, combined with Figure 4 and Figure 5 As shown, the body support 11 has multiple supports 113, and the circuit board 5 is fixedly connected to the supports 113. Optionally, a fixing plate is fixedly connected to the rear of the body support 11, and the fixing plate is threadedly connected to the supports 113. The circuit board 5 has multiple through holes 51, which are clearance-fitted with the supports 113. Each support 113 is threadedly connected to multiple nuts 114, and the circuit board 5 is located between two adjacent nuts 114. The two adjacent nuts 114 are threadedly connected to the same support 113, and the circuit board 5 is clamped and fixed between the two adjacent nuts 114, making it easy to install and remove.

[0043] In some embodiments, a gyroscope 9 is also included, which is disposed on the left and right symmetrical center lines of the housing 1. The measurement points on the symmetrical center lines of the housing 1 can most realistically reflect the overall tilt, rotation and other posture changes of the robot body, avoiding measurement errors caused by the bias of the gyroscope 9, and improving the accuracy of posture perception data. Therefore, it can provide high-quality input for all control algorithms that rely on accurate posture data, which is a prerequisite for achieving stable balance and coordinated movement. Its working principle is as follows: the gyroscope 9 detects the angular velocity of the robot body around the X, Y and Z axes in real time. The angular velocity data is sent to the main control chip. Through integration and combined with data from other sensors such as the accelerometer (for sensor fusion algorithm processing), the precise pitch angle, roll angle and yaw angle (i.e., three-dimensional spatial posture) of the robot are calculated. The main control chip compares the calculated real-time posture with the preset ideal posture or motion trajectory. Once a deviation is detected (such as the start of forward tilting), a control command is immediately generated to adjust the output angle and torque of the corresponding joint servo motor, generating a restoring torque so that the robot can restore or maintain balance and accurately complete the predetermined action.

[0044] In some embodiments, combined with Figure 5 As shown, the gyroscope 9 is fixedly connected to the circuit board 5. By directly fixing the gyroscope 9 to the circuit board 5, a high degree of integration between the gyroscope 9 and the control system is achieved, significantly improving signal transmission quality and structural compactness. Optionally, the gyroscope 9 is soldered to the circuit board 5 using surface mount technology (SMT) or through-hole mounting. Because the signal path is extremely short and it is encapsulated inside the circuit board 5, problems such as signal attenuation, electromagnetic interference, and poor contact that may be introduced by long-distance wire connections are effectively avoided.

[0045] This utility model also provides a robot including the robot body, robot head, robot hand and robot leg as described above, wherein the output end of the head driver 2 is connected to the robot head, the output end of the hand driver 3 is connected to the robot hand, and the output end of the leg driver 4 is connected to the robot leg.

[0046] The above description is only a part of the embodiments of this application and does not limit the scope of protection of this application. Any equivalent device or equivalent process transformation made based on the content of this application specification and drawings, or directly or indirectly used in other related technical fields, are similarly included in the patent protection scope of this application.

Claims

1. A robot body, characterized in that, include: Housing (1), the housing (1) comprising: Body support (11); The front shell (12) of the body is fixedly connected to the body support (11), and the front shell (12) of the body is located in front of the body support (11); The rear shell (13) of the body is fixedly connected to the body support (11). The rear shell (13) of the body is located behind the body support (11). The front shell (12), the rear shell (13) of the body and the body support (11) together enclose and form a cavity. Head driver (2), the head driver (2) is disposed on the top of the housing (1), and the head driver (2) is fixedly connected to the upper part of the body support (11); A hand actuator (3), wherein the hand actuator (3) is disposed on one side of the housing (1), and the hand actuator (3) is fixedly connected to the side of the body support (11); and Leg actuator (4) is disposed at the bottom of the housing (1) and is fixedly connected to the lower part of the body support (11).

2. The robot body according to claim 1, characterized in that, It also includes a circuit board (5) and a cooling fan (6), the circuit board (5) being disposed in the cavity, the cooling fan (6) being disposed on the circuit board (5), and the rear shell (13) of the body being provided with a plurality of first exhaust vents (131).

3. A robot body according to claim 2, characterized in that, It also includes a battery (7) and a cover plate (8). The body support (11) covers the cover plate (8). The cover plate (8) is provided with multiple second air vents (81). The front shell (12) of the body has a positioning groove (122). The body support (11) is fixedly connected to a positioning sleeve (112). The front part of the battery (7) cooperates with the positioning groove (122), and the middle part of the battery (7) cooperates with the positioning sleeve (112).

4. A robot body according to claim 2, characterized in that, The front shell (12) of the body is provided with a switch (121), which is located on the surface of the front shell (12). The switch (121) is electrically connected to the circuit board (5) to realize the start and stop control of the robot's power supply or function.

5. A robot body according to claim 1, characterized in that, The top of the body support (11) is provided with a lifting ring (111) for attaching or hoisting external loads, and the lifting ring (111) is fixedly connected to the body support (11).

6. A robot body according to claim 4, characterized in that, The front shell (12) of the body is also equipped with a speaker and a microphone for sensing and feeding back sound information.

7. A robot body according to claim 3, characterized in that, The body support (11) is provided with multiple pillars (113), and the circuit board (5) is provided with multiple through holes (51). The through holes (51) are clearance-fitted with the pillars (113). Each pillar (113) is threaded with multiple nuts (114). The circuit board (5) is located between two adjacent nuts (114). Two adjacent nuts (114) are threadedly connected to the same pillar (113). The circuit board (5) is clamped and fixed between two adjacent nuts (114).

8. A robot body according to claim 2, characterized in that, It also includes a gyroscope (9), which is arranged on the left and right symmetrical center lines of the housing (1).

9. A robot body according to claim 8, characterized in that, The gyroscope (9) is fixedly connected to the circuit board (5).

10. A robot, characterized in that, The robot includes the robot body, robot head, robot hand and robot leg as described in any one of claims 1 to 9, wherein the output end of the head driver (2) is connected to the robot head, the output end of the hand driver (3) is connected to the robot hand, and the output end of the leg driver (4) is connected to the robot leg.

Images