Thoracic cavity main body structure and robot

Abstract

Provided in the present application are a thoracic cavity main body structure and a robot. The thoracic cavity main body structure comprises a thoracic cavity housing assembly, driving assemblies located in the thoracic cavity housing assembly and a mounting assembly for spanning and mounting the driving assemblies between two opposite sides of the thoracic cavity housing assembly. Each driving assembly comprises a first rotation driving part and a second rotation driving part which are connected in series. The mounting assembly comprises connecting brackets, and two first mounting parts and two second mounting parts mounted on the connecting brackets, the connecting brackets spanning and being mounted between the two opposite sides of the thoracic cavity housing assembly by means of the first mounting parts. The robot comprises a leg-shaped structure and the described thoracic cavity main body structure, and the leg-shaped structure is movably connected to the thoracic cavity main body structure. In the present application, the driving assemblies are suspended in the thoracic cavity housing assembly to form the core weight of the thoracic cavity main body structure, and other parts needing to be arranged in the thoracic cavity housing assembly can be arranged around the core, thus allowing for a reasonable structural layout, and effectively achieving miniaturization by means of layout design.

Description

A chest cavity main structure and robot

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on August 31, 2023, with application number 202311134014.8 and invention name “A Thoracic Main Structure and Robot”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application belongs to the field of robotics technology, and more specifically, relates to a chest cavity main structure and a robot. Background Art

[0003] As more and more service robots enter the public eye and serve ordinary households, robots are becoming increasingly popular. Humanoid robots, legged robots, and wheeled robots have all begun to be developed for ordinary consumers. While still meeting the requirements of robot service functions, the demand for robot miniaturization is increasing.

[0004] On the road of miniaturization research and development, the internal space of the robot will become cramped. How to reasonably arrange the key components required by the robot in the cramped space is a problem that must be solved. Since the robot requires many key components, the industry has not given a reasonable layout plan, which leads to insufficient miniaturization of the robot. Technical issues

[0005] The purpose of the embodiments of the present application is to provide a chest cavity main structure and a robot to solve the technical problem that the key components required by the robot are arranged irrationally inside the robot, thereby affecting the miniaturization development. Technical Solutions

[0006] To achieve the above-mentioned objectives, the technical solution adopted in the present application is: to provide a chest cavity main structure, including a chest cavity shell assembly, a drive assembly located in the chest cavity shell assembly, and an installation assembly that installs the drive assembly across the opposite sides of the chest cavity shell assembly; the drive assembly includes a first rotating drive member and a second rotating drive member connected in series, and the rotating part of the first rotating drive member is fixedly connected to the fixed part of the second rotating drive member; the installation assembly includes a connecting bracket, two first mounting members and a second mounting member installed on the connecting bracket, the two first mounting members are respectively fixedly connected to the opposite sides of the chest cavity shell assembly, the fixed part of the first rotating drive member is fixedly connected to the second mounting member, the rotating part of the second rotating drive member passes through one of the first mounting members, and the connecting bracket is installed across the opposite sides of the chest cavity shell assembly through the first mounting member.

[0007] Optionally, the rotating part of the first rotating driving member and the fixed part of the second rotating driving member are fixedly connected by a connecting member; the connecting member includes a first mounting portion mounted on the rotating part of the first rotating driving member and a second mounting portion extending from the outer periphery of the first mounting portion toward the fixed part of the second rotating driving member and wrapped around one end of the fixed part of the second rotating driving member, and one end of the rotating part of the second rotating driving member extends into the second mounting portion.

[0008] Optionally, there are two drive assemblies, and the two drive assemblies are arranged on an axis, the first rotating drive members in the two drive assemblies are close to each other, and the second rotating drive members in the two drive assemblies are away from each other, and the rotating parts of the two second rotating drive members pass through the two first mounting members respectively; there are two second mounting members, and the fixed parts of the two first rotating drive members are fixedly connected to the two second mounting members respectively.

[0009] Optionally, the connecting bracket is a long frame structure, and opposite ends of the connecting bracket are fixedly connected to two first mounting members respectively, and the two second mounting members are located between the two first mounting members.

[0010] Optionally, the connecting bracket is provided with a weight-reducing opening between the first mounting member and the adjacent second mounting member, and the connecting bracket is provided with two weight-reducing openings between two second mounting members.

[0011] Optionally, the connecting bracket includes a first portion connected between the two second mounting members and a second portion connected between the first mounting member and the second mounting member, and the first portion is closer to the rotation axis of the drive assembly than the second portion.

[0012] Optionally, there are multiple connecting brackets, and the multiple connecting brackets are arranged around the periphery of the driving assembly.

[0013] Optionally, a wire blocking member is provided between the second mounting member and the connecting member, and the wire blocking member is connected to the connecting bracket.

[0014] Optionally, the connecting member has a protruding structure; the first mounting member is provided with two limiting members, and when the connecting member rotates forward and reverse, the protruding structure can respectively abut against the two limiting members.

[0015] Optionally, a first homing hole is provided on the first mounting member, and a second homing hole is provided on the protruding structure. In the homing state, the axis of the first homing hole and the axis of the second homing hole are on the same straight line.

[0016] The present application also provides a robot, comprising a leg-shaped structure and the above-mentioned chest cavity main structure, wherein the leg-shaped structure is movably connected to the chest cavity main structure.

[0017] Optionally, the leg-shaped structure includes a leg and a wheel; one end of the leg is connected to the second rotating drive member, and the other end of the leg is movably connected to the wheel. Beneficial effects

[0018] The beneficial effects of the chest cavity main structure and robot provided by the present application are: compared with the prior art, in the present application, the connecting bracket is installed across between the opposite sides of the chest cavity shell assembly through the first mounting member, the fixed part of the first rotating driving member of the driving assembly is connected to the connecting bracket through the second mounting member, and the fixed part of the first rotating driving member is relatively fixedly connected to the chest cavity shell assembly through the second mounting member and the connecting bracket. Because the second rotating driving member and the first rotating driving member are connected in series, the position of the second rotating driving member and the chest cavity shell assembly is also relatively fixed. In this way, the present application realizes the installation of the driving assembly across the chest cavity shell assembly through the mounting assembly, and the driving assembly is suspended in the chest cavity shell assembly. There is no need to set up an additional base to support the driving assembly, nor is there any need to set up an additional bearing between the first rotating driving member and the second rotating driving member. At the same time, the driving assembly is suspended in the chest cavity shell assembly, forming the core weight of the chest cavity main structure. Other components that need to be set in the chest cavity shell assembly can be set around this core, so that the structural layout is reasonable and miniaturization is effectively achieved through layout design. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0020] FIG1 is a schematic diagram of the exploded structure of the chest cavity main structure provided in an embodiment of the present application;

[0021] FIG2 is a schematic diagram of the three-dimensional structure of the left main shell of the thoracic cavity in the main structure of the thoracic cavity provided in an embodiment of the present application;

[0022] FIG3 is a schematic diagram of an exploded structure of the internal structure of the chest cavity main structure provided in an embodiment of the present application;

[0023] FIG4 is a schematic diagram of the first assembly structure of the internal structure of the chest cavity main structure provided in an embodiment of the present application;

[0024] FIG5 is a second schematic diagram of the assembly structure of the internal structure of the chest cavity main structure provided in an embodiment of the present application;

[0025] FIG6 is a third schematic diagram of the assembly structure of the internal structure of the chest cavity main structure provided in an embodiment of the present application;

[0026] FIG7 is a schematic diagram of a homing and limiting structure of a first rotating driving member in a chest cavity main structure provided by an embodiment of the present application;

[0027] FIG8 is a first schematic diagram of the function of the wire blocking member in the chest cavity main structure provided by an embodiment of the present application;

[0028] FIG9 is a second schematic diagram of the function of the wire blocking member in the chest cavity main structure provided by an embodiment of the present application;

[0029] FIG10 is a schematic structural diagram of a connecting member in a chest cavity main structure provided by an embodiment of the present application;

[0030] FIG11 is a schematic structural diagram of a connecting bracket in a chest cavity main structure provided by an embodiment of the present application;

[0031] FIG12 is a schematic diagram of the installation of the chest main structure and the leg-shaped structure in the chest main structure provided in an embodiment of the present application;

[0032] FIG13 is a first schematic diagram of the three-dimensional structure of the robot provided in an embodiment of the present application.

[0033] FIG14 is a second schematic diagram of the three-dimensional structure of the robot provided in an embodiment of the present application.

[0034] Among them, the reference numerals in the figure are: 1-chest cavity main structure; 2-leg structure; 21-thigh; 22-knee joint rocker; 101-chest cavity left main shell; 110-first hollow portion; 111-first inner frame; 112-first outer frame; 113-first rib; 114-first bending portion; 115-first inclined portion; 102-chest cavity right main shell; 103-chest cavity left cover; 104-chest cavity right cover; 105-support column; 200-chest cavity front panel; 201-first mounting hole; 202-second mounting hole; 300-chest cavity top cover; 301-first cover plate; 302-second cover plate; 321-cavity; 401-first mounting member; 411-limiting member; 412-first zeroing hole; 413-mounting connection hole; 402-connecting bracket; 421-First part; 422-Second part; 423-Weight reduction port; 403-Second mounting member; 404-Connecting member; 441-Protruding structure; 442-Second homing hole; 443-First mounting portion; 444-Second mounting portion; 405-Wire blocking member; 406-Related wiring harness; 461-Wiring harness rotation space; 462-Wiring harness fixing space; 407-Auxiliary homing pin; 500-Image sensing assembly; 501-RGBD assembly; 502-RGBD fixing member; 503-Mounting plate; 504-Binocular camera; 505-Binocular control board; 506-Copper stud; 600-Positioning and navigation assembly; 601-UWB antenna board; 602-UWB control board; 701-Battery; 702-Battery mounting bracket; 703-Battery pressing plate; 704-Hash board mounting bracket; 705-Hash board pressure strip; 706-Hash board; 707-Voice announcer; 708-Announcer mounting bracket; 709-Motherboard; 710-Motherboard mounting bracket; 711-Power board; 712-Power board mounting bracket; 713-IMU; 714-IMU data adapter cable; 715-IMU pressing plate; 716-IMU mounting bracket; 717-DC-DC module; 718-Ring microphone array control board; 800-First rotating drive component; 900-Second rotating drive component. Modes for Carrying Out the Invention

[0035] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0036] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0037] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position 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, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0038] Furthermore, 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 the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0039] As more and more service robots enter the public eye and serve ordinary households, robots are becoming increasingly popular. Humanoid robots, legged robots, and wheeled robots have begun to be developed for ordinary consumers. While still meeting service functions, the demand for miniaturization of robots is increasing.

[0040] Miniaturization will inevitably lead to cramped internal space for robots. In this cramped space, how to reasonably arrange the various components inside the robot is the focus of research and development in the industry. As the functions of robots increase, many key components are required. At present, a reasonable layout plan has not been found, which restricts the miniaturization development of robots.

[0041] The most important aspect of miniaturization of a robot lies in the miniaturization of the robot's chest cavity main structure. Please refer to Figure 1 for an explanation of the chest cavity main structure provided in an embodiment of the present application. The chest cavity main structure 1 includes a chest cavity shell assembly, a drive assembly located in the chest cavity shell assembly, and a mounting assembly for mounting the drive assembly across the opposite sides of the chest cavity shell assembly; the drive assembly includes a first rotating drive member 800 and a second rotating drive member 900 connected in series, the rotating portion of the first rotating drive member 800 is fixedly connected to the fixed portion of the second rotating drive member 900; the mounting assembly includes a connecting bracket 402, two first mounting members 401 and a second mounting member 403 mounted on the connecting bracket 402, the two first mounting members 401 are respectively fixedly connected to the opposite sides of the chest cavity shell assembly, the fixed portion of the first rotating drive member 800 is fixedly connected to the second mounting member 403, the rotating portion of the second rotating drive member 900 passes through one of the first mounting members 401, and the connecting bracket 402 is mounted across the opposite sides of the chest cavity shell assembly through the first mounting member 401.

[0042] Compared with the prior art, in this embodiment, the connecting bracket 402 is installed across the opposite sides of the chest shell assembly through the first mounting member 401, and the fixed portion of the first rotating driving member 800 of the driving assembly is connected to the connecting bracket 402 through the second mounting member 403. The fixed portion of the first rotating driving member 800 is relatively fixedly connected to the chest shell assembly through the second mounting member 403 and the connecting bracket 402. Because the second rotating driving member 900 and the first rotating driving member 800 are connected in series, the position of the second rotating driving member 900 and the chest shell assembly is relatively fixed. It is also relatively fixed. In this way, the present application realizes that the driving component is installed across the chest shell component through the installation component. The driving component is suspended in the chest shell component. There is no need to set up an additional seat to support the driving component, nor is there any need to set up an additional bearing between the first rotating driving component 800 and the second rotating driving component 900. At the same time, the driving component is suspended in the chest shell component to form the core weight of the chest main structure 1. Other components that need to be set in the chest shell component can be set around this core, so that the structural layout is reasonable and miniaturization is effectively achieved through layout design.

[0043] Specifically, referring to Figure 7 , the first mounting member 401 is provided with a mounting hole 413. The first mounting member 401 is connected to the chest shell assembly by inserting a bolt through the mounting hole 413. The second mounting member 403 is annular. The second mounting member 403 is perpendicular to each connecting bracket 402. The direction of the rotation axis of the first rotational drive member 800 coincides with the center of the ring of the second mounting member 403. The connecting member 404 is annular and perpendicular to each connecting bracket 402. The direction of the rotation axis of the second rotational drive member 900 coincides with the center of the ring of the connecting member 404.

[0044] In one embodiment of the present application, please refer to Figures 3, 4 and 10 together. The rotating part of the first rotating driving member 800 and the fixed part of the second rotating driving member 900 are fixedly connected by a connecting member 404; the connecting member 404 includes a first mounting portion 443 mounted on the rotating part of the first rotating driving member 800 and a second mounting portion 444 extending from the outer periphery of the first mounting portion 443 toward the fixed part of the second rotating driving member 900 and wrapped around one end of the fixed part of the second rotating driving member 900, and one end of the rotating part of the second rotating driving member 900 extends into the second mounting portion 444.

[0045] In this embodiment, the design of the connector 404 realizes the connection between the first rotating drive member 800 and the second rotating drive member 900. At the same time, the second mounting portion 444 wraps one end of the fixed portion of the second rotating drive member 900 and allows one end of the rotating portion of the second rotating drive member 900 to extend therein, so that the core driving structure of the thoracic main structure 1 occupies less space in the axial direction, making the thoracic main structure 1 smaller in thickness and more miniaturized. At the same time, the second mounting portion 444 can also play a positioning role in the installation of the second rotating drive member 900, ensuring that the rotation axis of the first rotating drive member 800 and the rotation axis of the second rotating drive member 900 are on the same straight line.

[0046] In one embodiment of the present application, please refer to Figure 3, there are two drive assemblies, the two drive assemblies are arranged on an axis, the first rotating drive members 800 in the two drive assemblies are close to each other, and the second rotating drive members 900 of the two drive assemblies are away from each other, and the rotating parts of the two second rotating drive members 900 respectively pass through the two first mounting members 401; there are two second mounting members 403, and the fixed parts of the two first rotating drive members 800 are respectively fixedly connected to the two second mounting members 403.

[0047] This embodiment utilizes two annular second mounting members 403 and a connecting member 404 to mount the first and second rotating drive members 800 and 900 within the mounting space formed by the connecting bracket 402, facilitating a lightweight design. The two first mounting members 401, the multiple connecting brackets 402 spanning between the two first mounting members 401, and the second mounting members 403 and connecting member 404 disposed between the two first mounting members 401 collectively form the core mounting components of the thoracic main structure 1. Each connecting bracket 402 utilizes a hollowed-out, lightweight design to reduce weight while maintaining structural mechanical properties.

[0048] Specifically, the fixed portion of the first rotating drive member 800 is assembled with the second mounting member 403 by screws; one side of the connecting member 404 is connected to the rotating portion of the first rotating drive member 800 by screws, and the other side of the connecting member 404 is connected to the threaded hole of the fixed portion of the second rotating drive member 900 by screws. Through the above connection, the power of the first rotating drive member 800 can be transmitted to the fixed portion of the second rotating drive member 900, thereby realizing the movement of the thigh part of the leg-shaped structure driven by the inner first rotating drive member 800. The power distribution of the entire chest cavity main structure 1 is symmetrical on the left and right, and all related parts are symmetrical and universal. The power connection and fixation on the left and right sides are completed by assembling the four connecting brackets 402 with the second mounting members 403 on the left and right sides by screws. Then, the first mounting members 401 on both sides are respectively assembled to the corresponding holes of the four connecting brackets 402 by screws to realize the core structural support of the chest cavity main structure 1.

[0049] In one embodiment of the present application, referring to FIG. 3 , the connecting bracket 402 is a long frame structure, the opposite ends of the connecting bracket 402 are respectively fixedly connected to the two first mounting members 401 , and the two second mounting members 403 are located between the two first mounting members 401 .

[0050] Specifically, please refer to Figure 11. The connecting bracket 402 is a hollow long frame structure, and a plurality of weight-reducing openings 423 are provided on the long frame structure. The size and number of the weight-reducing openings 423 can be set on the basis of the connecting bracket 402 meeting the structural mechanical strength. The connecting bracket 402 adopts a hollow long frame structure, which is conducive to meeting the design requirements of lightweight overall structure.

[0051] For example, the connecting bracket 402 has a weight-reducing opening 423 defined between the first mounting member 401 and its adjacent second mounting member 403. The connecting bracket 402 also has two weight-reducing openings 423 defined between the two second mounting members 403. The frame bars of the frame structure of the connecting bracket 402 can have uniform or unequal widths. It is understood that, while meeting structural strength requirements, the width of the frame bars can be as narrow as possible. The narrower the width, the lighter the connecting bracket 402.

[0052] In one embodiment of the present application, please refer to Figure 11. The connecting bracket 402 includes a first part 421 connected between the two second mounting members 403 and a second part 422 connected between the first mounting member 401 and the second mounting member 403. The first part 421 is closer to the rotation axis of the drive assembly than the second part 422.

[0053] In this embodiment, the first portion 421 of the connecting bracket 402 is closer to the rotation axis of the driving assembly than the second portion 422, which can make the connecting bracket 402 and the driving assembly more compact, save space, and facilitate the miniaturization design of the overall structure.

[0054] Specifically, the first part 421 and the second part 422 of the connecting bracket 402 are arranged in a stepped shape, that is, the first part 421 of the connecting bracket 402 is sunken relative to the second part 422, and other components are arranged in the sunken part, which can effectively free up more installation space.

[0055] There are multiple connecting brackets 402 , and the multiple connecting brackets 402 are arranged around the periphery of the driving component.

[0056] In one embodiment of the present application, the functional components include a battery assembly, a mainboard assembly, a hashboard assembly, and a power board assembly; the battery assembly, the mainboard assembly, the hashboard assembly, and the power board assembly are respectively mounted on respective connection brackets 402 and are located outside the space; wherein the battery assembly and the power board assembly are arranged relative to each other, and the hashboard assembly and the mainboard assembly are arranged relative to each other.

[0057] Specifically, the mounting assembly includes four connecting brackets 402, and the four connecting brackets are respectively located at the front, rear, top and bottom of the mounting assembly; wherein, the power board assembly and the battery assembly are respectively mounted on the connecting brackets 402 located at the top and bottom of the mounting assembly; the computing board assembly and the mainboard assembly are respectively mounted on the connecting brackets 402 located at the front and rear of the mounting assembly.

[0058] The chest cavity shell assembly includes two chest cavity shells that are docked to form a accommodating cavity. In this embodiment, please refer to Figures 1 and 2. The two chest cavity shells are a left chest cavity main shell 101 and a right chest cavity main shell 102; the left chest cavity main shell 101 is provided with a plurality of first hollow portions 110; the right chest cavity main shell 102 is provided with a plurality of second hollow portions.

[0059] In one embodiment of the present application, referring to FIG1 , the chest shell assembly further includes two chest side covers, which are detachably connected to the two chest shells, and the two chest side covers respectively cover the hollow portions on the two chest shells.

[0060] In this embodiment, the two chest cavity side covers are respectively the left chest cavity cover 103 and the right chest cavity cover 104; the left chest cavity cover 103 is detachably connected to the left chest cavity main shell 101 so that the left chest cavity cover 103 covers the first hollow portion 110; the right chest cavity cover 104 is detachably connected to the right chest cavity main shell 102 so that the right chest cavity cover 104 covers the second hollow portion.

[0061] In one embodiment of the present application, referring to FIG1 , two chest shells are docked to seal the bottom of the chest shell assembly, the front, rear and top of the chest shell assembly are hollowed out, and a support column 105 is provided at the hollowed-out position between the two chest shells.

[0062] The support column 105 can be set in the front hollow part of the chest shell assembly, or in the rear hollow part of the chest shell assembly, or in the top hollow part of the chest shell assembly, or even in all or part of these parts.

[0063] In this embodiment, the support column 105 is provided to further stabilize the assembly structure of the left thorax main shell 101 and the right thorax main shell 102, thereby reducing the extrusion and deformation of the left thorax main shell 101 or the right thorax main shell 102 caused by external forces. Specifically, the opposite ends of the support column 105 can be connected to the left thorax main shell 101 and the right thorax main shell 102 respectively by fixing members (screws, bolts, etc.).

[0064] In one embodiment of the present application, referring to FIG1 , the chest shell assembly further includes a chest front panel 200 and a chest top cover plate 300. The chest front panel 200 is detachably mounted between the two chest shells and covers the front of the chest shell assembly. The chest top cover plate 300 is detachably mounted between the two chest shells and covers the top and rear of the chest shell assembly.

[0065] Specifically, at the front of the accommodating chamber, opposite sides of the chest cavity front panel 200 are detachably connected to the left and right chest cavity main shells 101 and 102, respectively. At the top of the accommodating chamber, opposite sides of the chest cavity top cover 300 are detachably connected to the left and right chest cavity main shells 101 and 102, respectively. Together, the left chest cavity main shell 101, the right chest cavity main shell 102, the left chest cavity cover 103, the right chest cavity cover 104, the chest cavity front panel 200, and the chest cavity top cover 300 form a closed enclosure whose internal structure is invisible.

[0066] It is understandable that the functional components are installed in the accommodating cavity. When a functional component near the chest cavity front panel 200 is damaged, it is only necessary to remove the chest cavity front panel 200, the front end of the accommodating cavity is opened, and the functional component can be plugged in, unplugged, replaced, etc. by reaching in. When a functional component near the chest cavity top cover plate 300 is damaged, it is only necessary to remove the chest cavity top cover plate 300, the top end of the accommodating cavity is opened, and the functional component can be plugged in, unplugged, replaced, etc. by reaching in. When a functional component near the chest cavity left side cover 103 is damaged, it is only necessary to remove the chest cavity left side cover 103, the left side of the accommodating cavity is opened, and the functional component can be plugged in, unplugged, replaced, etc. by reaching in through the first hollow portion 110. When a functional component near the chest cavity right side cover 104 is damaged, it is only necessary to remove the chest cavity right side cover 104, the right side of the accommodating cavity is opened, and the functional component can be plugged in, unplugged, replaced, etc. by reaching in through the second hollow portion. In this way, the maintenance of functional devices in the chest cavity becomes so simple and easy to operate. It is not only convenient for professionals to repair, but also more friendly for non-professionals (ordinary consumers) when repairing. The robot is more adapted to the needs of mass consumers and improves the product competitiveness of the robot.

[0067] In this embodiment, the chest left main shell 101, the chest right main shell 102, the chest left cover 103, the chest right cover 104, the chest front panel 200 and the chest top cover 300 can be connected by fixing parts (screws, bolts, etc.) to achieve detachable connection between the various components.

[0068] Please refer to Figure 2. The left main shell of the thorax 101 includes a first inner frame 111, a first outer frame 112, and a plurality of first ribs 113 connecting the first inner frame 111 and the first outer frame 112. A first hollow portion 110 is formed between the first inner frame 111, the first outer frame 112 and two adjacent first ribs 113.

[0069] In this embodiment, the structure of the right main shell 102 of the chest cavity is similar to that of the left main shell 101 of the chest cavity, and is a symmetrical structure. The right main shell 102 of the chest cavity includes a second inner frame, a second outer frame, and a plurality of second ribs connecting the second inner frame and the second outer frame. A second hollow portion is formed between the second inner frame, the second outer frame and two adjacent second ribs.

[0070] In one embodiment of the present application, please refer to 2, the bottom and rear side of the first outer frame 112 have a first bending portion 114; the bottom and rear side of the second outer frame have a second bending portion; the first bending portion 114 and the second bending portion are connected by fixing members (screws, bolts, etc.).

[0071] Furthermore, the first outer frame 112 has a first inclined portion 115 at the corner of the top; the second outer frame has a second inclined portion at the corner of the top; please refer to Figure 13, the chest cavity top cover plate 300 includes a first cover plate 301 and a second cover plate 302 that are bent and connected, and the opposite sides of the first cover plate 301 are respectively connected to the first inclined portion 115 and the second inclined portion.

[0072] In this embodiment, by setting the first inclined portion 115 and the second inclined portion, the first cover plate 301 is installed correspondingly, and a display screen can be installed on the first cover plate 301 to facilitate observation by the user. It can be understood that if the display screen is installed on the chest front panel 200, the user needs to bend down to see the display screen. If the display screen is installed on the second cover plate 302, the user needs to lower his head to see the display screen. Therefore, it is the best choice to install the display screen on the inclined first cover plate 301.

[0073] In one embodiment of the present application, a handle is provided on the second cover plate 302 , and the provision of the handle facilitates the transportation and carrying of the chest shell assembly 11 .

[0074] In one embodiment of the present application, referring to Figures 3 and 4 , the hashboard assembly includes a hashboard mounting member 704, a hashboard pressure strip 705, and a hashboard 706. The hashboard mounting member 704 is connected to the hashboard pressure strip 705, and the hashboard 706 is clamped between the hashboard mounting member 704 and the hashboard pressure strip 705. The hashboard mounting member 704 is connected to the connecting bracket 402 at the front of the mounting assembly.

[0075] In one embodiment of the present application, please refer to Figures 3 and 5 together. The functional device also includes a voice announcer 707 and an announcer mounting member 708. The voice announcer 707 is installed on the announcer mounting member 708, and the announcer mounting member 708 is connected to the computing board mounting member 704.

[0076] Specifically, the voice announcer 707 is mounted to the announcer mounting member 708 using screws, which are then screwed to the computing board mounting member 704. The computing board pressure strip 705 and the computing board mounting member 704 are screwed to press the computing board 706 together, and finally, the computing board mounting member 704 is screwed to the front connecting bracket 402, thereby fixing the computing board 706 and the voice announcer 707 in the spatial position within the chest cavity assembly 700.

[0077] The installation direction of the computing board pressure strip 705 is consistent with the installation direction of the chest front panel 200. When the chest front panel 200 is removed, the staff can extend their hands from the front of the chest shell assembly into the interior of the chest main structure 1 to remove the computing board pressure strip 705 from the computing board mounting member 704. The removal positions of the computing board pressure strip 705 are all facing the front of the chest shell assembly. The staff can intuitively see these removal positions, which is convenient for disassembly. At the same time, after the computing board pressure strip 705 is removed, it can be taken out from the front of the chest shell assembly, which is more conducive to maintenance.

[0078] In one embodiment of the present application, please refer to Figures 3 and 6 together. The motherboard assembly includes a motherboard 709 and a motherboard mounting member 710; the motherboard 709 is mounted on the motherboard mounting member 710; the motherboard mounting member 710 is connected to the connecting bracket 402 at the rear of the mounting assembly.

[0079] Specifically, the motherboard 709 can be an X86 board, which is fixed to the motherboard mounting member 710 by screws, and then the motherboard mounting member 710 is fixed to the rear connecting bracket 402 by screws, so as to fix the spatial position of the X86 board in the accommodating cavity.

[0080] The installation direction of the main board 709 and the main board mounting part 710 is consistent with the installation direction of the rear end of the chest cavity top cover plate 300. When the chest cavity top cover plate 300 is removed, the staff's hands can be extended from the rear of the chest cavity shell assembly into the interior of the chest cavity main structure 1 to remove the main board 709 from the main board mounting part 710. The disassembly positions of the main board 709 are all facing the rear of the chest cavity shell assembly. The staff can see these disassembly positions intuitively, which is convenient for disassembly. At the same time, after the main board 709 is disassembled, it can be taken out from the rear of the chest cavity shell assembly, which is more conducive to maintenance.

[0081] In one embodiment of the present application, at least one of the battery assembly and the power board assembly includes a support bracket installed on the corresponding connecting bracket 402 and a binding member installed on the support bracket for binding the corresponding functional device to the support bracket, the binding member faces the front of the chest shell assembly, and the functional device on the support bracket is disassembled and assembled from the front of the chest shell assembly.

[0082] In one embodiment of the present application, please refer to Figures 3 and 4 together. The power board assembly includes a power board 711 and a power board mounting member 712; the power board 711 is installed on the upper part of the power board mounting member 712, and the power board mounting member 712 is connected to the connecting bracket 402 on the upper part of the mounting assembly.

[0083] The installation direction of the power board 711 and the power board mounting part 712 is consistent with the installation direction of the upper end of the chest top cover plate 300. When the chest top cover plate 300 is removed, the staff's hand can be extended from the upper part of the chest shell assembly into the interior of the chest main structure 1 to remove the power board 711 from the power board mounting part 712. The disassembly positions of the power board 711 are all facing the upper part of the chest shell assembly. The staff can see these disassembly positions intuitively, which is convenient for disassembly. At the same time, after the power board 711 is disassembled, it can be taken out from the upper part of the chest shell assembly, which is more conducive to maintenance.

[0084] In one embodiment of the present application, please refer to FIG. 3 and FIG. 5 , the power board assembly further includes an IMU 713 , and the IMU 713 is mounted on a connecting bracket 402 on the upper portion of the mounting assembly.

[0085] The installation direction of IMU713 is consistent with the installation direction of the upper end of the chest cavity top cover plate 300. When the chest cavity top cover plate 300 is removed, the staff's hand can be extended from the upper part of the chest cavity shell assembly into the interior of the chest cavity main structure 1 to remove the IMU713 from the connecting bracket 402 on the upper part of the installation assembly. The disassembly positions of IMU713 are all facing the upper part of the chest cavity shell assembly. The staff can see these disassembly positions intuitively, which is convenient for disassembly. At the same time, after disassembly, IMU713 can be taken out from the upper part of the chest cavity shell assembly, which is more conducive to maintenance.

[0086] In one embodiment of the present application, please refer to Figures 3 and 5 together. The power board assembly also includes an IMU data adapter cable 714, an IMU pressure plate 715 and an IMU mounting member 716. The IMU pressure plate 715 and the IMU mounting member 716 are connected. The IMU data adapter cable 714 is clamped between the IMU pressure plate 715 and the IMU mounting member 716. The IMU mounting member 716 is connected to the bottom of the power board mounting member 712.

[0087] The installation direction of the IMU pressing plate 715 is consistent with the installation direction of the chest cavity top cover plate 300. When the chest cavity top cover plate 300 is removed, the staff's hand can be extended from the upper part of the chest cavity outer shell assembly to the interior of the chest cavity main structure 1 to remove the IMU pressing plate 715 from the IMU mounting part 716. The disassembly positions of the IMU pressing plate 715 are all facing the upper part of the chest cavity outer shell assembly. The staff can see these disassembly positions intuitively, which is convenient for disassembly. At the same time, after the IMU pressing plate 715 is disassembled, it can be taken out from the upper part of the chest cavity outer shell assembly, which is more conducive to maintenance.

[0088] In one embodiment of the present application, please refer to FIG. 3 and FIG. 6 together, the functional device further includes a DC-DC module 717 , and the DC-DC module 717 is mounted on a side of the power board mounting member 712 .

[0089] In one embodiment of the present application, please refer to FIG. 3 and FIG. 6 together, the functional device further includes a ring-shaped microphone array control board 718 , and the ring-shaped microphone array control board 718 is installed at the rear of the power board mounting member 712 .

[0090] Specifically, the IMU 713 is fixed to the upper connection bracket 402 by screws. The IMU data adapter cable 714 is screwed onto the IMU mounting member 716 through two IMU pressing plates 715, and the IMU mounting member 716 is then fixed to the bottom of the power board mounting member 712 by screw connection. The DC-DC module 717 is fixed to the side of the power board mounting member 712 by screws, the power board 711 is fixed to the upper part of the power board mounting member 712 by screws, the annular microphone array control board 718 is fixed to the rear part of the power board mounting member 712 by screws, and finally the power board mounting member 712 is fixed to the upper connection bracket 402 by screw connection, thereby fixing the spatial position of the IMU data adapter cable 714, the power board 711, and the annular microphone array control board 718 in the accommodating cavity.

[0091] In one embodiment of the present application, please refer to Figures 3 and 6 together. The battery assembly includes a battery compartment and a battery 701 disposed in the battery compartment. The battery compartment is mounted on a connecting bracket 402 at the lower portion of the mounting assembly.

[0092] Specifically, please refer to Figures 3 and 5. The battery compartment includes a battery mounting member 702 and a battery pressing plate 703. The battery 701 is positioned by the battery mounting member 702, and then the battery pressing plate 703 is screwed to the battery mounting member 702 to compress the battery 701. Finally, the battery mounting member 702 is screwed to the lower connecting bracket 402 to complete the position fixation of the battery 701 in the chest internal assembly 700. The installation direction of the battery pressing plate 703 is consistent with the installation direction of the chest front panel 200. When the chest front panel 200 is removed, the staff can extend their hands from the front of the chest shell assembly into the accommodating cavity to remove the battery pressing plate 703 from the battery mounting member 702. The removal positions of the battery pressing plate 703 all face the front of the chest shell assembly. The staff can intuitively see these removal positions, which is convenient for removal. At the same time, after the battery pressing plate 703 is removed, it can be taken out from the front of the chest shell assembly, which is more conducive to maintenance.

[0093] In one embodiment of the present application, referring to FIG1 , the functional device further includes an image sensing component 500, a positioning navigation component 600, and a microphone component; the image sensing component 500 is installed on the inner front of the chest shell component, and the positioning navigation component 600 and the microphone component are installed on the inner top of the chest shell component.

[0094] In one embodiment of the present application, please refer to FIG. 8 and FIG. 9 , a wire blocking member 405 is provided between the second mounting member 403 and the connecting member 404 , and the wire blocking member 405 is connected to the connecting bracket 402 .

[0095] Specifically, two wire blocking members 405 are provided on each of the left and right sides. The two wire blocking members 405 on the same side are symmetrically arranged on the connecting bracket 402, and the two wire blocking members 405 are respectively installed and fixed on the upper and lower connecting brackets 402.

[0096] It is understandable that because the fixed portion of the second rotating drive member 900 is directly connected to the rotating portion of the first rotating drive member 800 via the second mounting member 403, the second rotating drive member 900 can be driven to rotate by the rotating portion of the first rotating drive member 800. The power cord, CAN communication cable, etc. of the second rotating drive member 900 are all plugged into the fixed portion of the second rotating drive member 900. This causes the power cord and CAN communication cable of the second rotating drive member 900 to rotate synchronously with the second rotating drive member 900. The power cord and CAN communication cable of the first rotating drive member 800 and the second rotating drive member 900 are connected in series. This makes it difficult for the associated wiring harness 406 to rotate smoothly within the confined space enclosed by the connector 404, the connecting bracket 402, and the second mounting member 403. This can cause the associated wiring harness 406 to become tangled as it rotates with the second rotating drive member 900, thereby affecting overall performance. For this purpose, a wire retaining member 405 is specially provided. The two wire retaining members 405 on the same side are respectively fixed to the upper and lower connecting brackets 402 and are located between the connecting member 404 and the second mounting member 403, dividing the space into a wire harness rotation space 461 and a wire harness fixing space 462. The spatial allocation of the wire retaining members 405 can perfectly solve the problem of wire harness tangling during movement.

[0097] In one embodiment of the present application, please refer to Figures 7 and 10 together. The connecting member 404 has a protruding structure 441; two limiting members 411 are provided on the first mounting member 401. When the connecting member 404 rotates forward and reverse, the protruding structure 441 can respectively abut against the two limiting members 411.

[0098] Specifically, the limiting member 411 can be installed to the corresponding hole position of the first mounting member 401 through a threaded connection using a limiting stud, so as to limit the rotation range of the first rotating driving member 800.

[0099] In one embodiment of the present application, referring to Figures 7 and 10, a first homing hole 412 is provided on the first mounting member 401, and a second homing hole 442 is provided on the protruding structure 441. In the homing state, the axis of the first homing hole 412 and the axis of the second homing hole 442 are on the same straight line.

[0100] This embodiment provides a method for homing a servo. Homing a servo means providing a coordinate origin of a rotating coordinate system for each servo, facilitating motion reference for subsequent motion control. During installation and debugging, a homing auxiliary pin 407 is inserted through the first homing hole 412 and the second homing hole 442, respectively, to achieve coaxiality between the two holes. This position is used as the current servo position zero point. The current position is collected upon power-up to achieve servo homing. Simultaneously, when the first rotating drive member 800 rotates, the protruding structure 441 collides with the limiting member 411 fixed to the first mounting member 401, thereby limiting the range of motion of the rotating portion of the first rotating drive member 800.

[0101] The present application also provides a robot, please refer to Figures 13 and 14 together. The robot includes a leg-shaped structure 2 and the above-mentioned chest cavity main structure 1, and the leg-shaped structure 2 is movably connected to the chest cavity main structure 1.

[0102] In one embodiment of the present application, the leg-shaped structure 2 includes a leg portion and a wheel portion; one end of the leg portion is connected to the second rotating drive member 900, and the other end of the leg portion is movably connected to the wheel portion.

[0103] Specifically, referring to Figure 12 , the leg includes a thigh 21 and a knee rocker 22; the fixed portion of the second rotational drive member 900 is connected to the thigh 21 to achieve hip joint drive. The rotating portion of the second rotational drive member 900 is connected to the knee rocker 22 to achieve knee joint drive. This connection method is used when using a series leg configuration. Similarly, when using a parallel leg configuration, different components of the parallel leg are connected to the fixed portion and the rotating portion of the second rotational drive member 900 to achieve leg power transmission.

[0104] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A chest cavity main structure, characterized in that: The chest main structure includes a chest shell component, a driving component located in the chest shell component, and an installation component that installs the driving component across two opposite sides of the chest shell component; the driving component includes a first rotating driving member and a second rotating driving member connected in series, and the rotating part of the first rotating driving member is fixedly connected to the fixed part of the second rotating driving member; the installation component includes a connecting bracket, two first mounting members and a second mounting member installed on the connecting bracket, the two first mounting members are respectively fixedly connected to the opposite sides of the chest shell component, the fixed part of the first rotating driving member is fixedly connected to the second mounting member, the rotating part of the second rotating driving member passes through one of the first mounting members, and the connecting bracket is installed across two opposite sides of the chest shell component through the first mounting member.

2. The main chest cavity structure according to claim 1, characterized in that: The rotating part of the first rotating driving member and the fixed part of the second rotating driving member are fixedly connected by a connecting member; the connecting member includes a first mounting part mounted on the rotating part of the first rotating driving member and a second mounting part extending from the outer periphery of the first mounting part toward the fixed part of the second rotating driving member and wrapped around one end of the fixed part of the second rotating driving member, and one end of the rotating part of the second rotating driving member extends into the second mounting part.

3. The main chest cavity structure according to claim 1, characterized in that: There are two driving assemblies, and the two driving assemblies are arranged on an axis. The first rotating driving members in the two driving assemblies are close to each other, and the second rotating driving members in the two driving assemblies are away from each other, and the rotating parts of the two second rotating driving members pass through the two first mounting members respectively; there are two second mounting members, and the fixed parts of the two first rotating driving members are fixedly connected to the two second mounting members respectively.

4. The main chest cavity structure according to claim 3, characterized in that: The connecting bracket is a long frame structure, and opposite ends of the connecting bracket are respectively fixedly connected to the two first mounting members, and the two second mounting members are located between the two first mounting members.

5. The chest cavity main structure according to claim 4, characterized in that: The connecting bracket has a weight-reducing opening between the first mounting member and the second mounting member adjacent thereto, and the connecting bracket has two weight-reducing openings between two of the second mounting members.

6. The chest cavity main structure according to claim 1, characterized in that: The connecting bracket includes a first portion connected between two second mounting members and a second portion connected between the first mounting member and the second mounting member, wherein the first portion is closer to the rotation axis of the driving assembly than the second portion.

7. The main chest cavity structure according to any one of claims 1 to 6, characterized in that: There are multiple connecting brackets, and the multiple connecting brackets are arranged around the outer periphery of the driving component.

8. The chest cavity main structure according to claim 2, characterized in that: A wire blocking member is provided between the second mounting member and the connecting member, and the wire blocking member is connected to the connecting bracket.

9. The main chest structure according to claim 2, characterized in that: The connecting member has a protruding structure; the first mounting member is provided with two limiting members, and when the connecting member rotates forward and reversely, the protruding structure can respectively abut against the two limiting members.

10. The chest cavity main structure according to claim 9, characterized in that: The first mounting member is provided with a first homing hole, and the protruding structure is provided with a second homing hole. In the homing state, the axis of the first homing hole and the axis of the second homing hole are on the same straight line.

11. A robot, characterized in that: include: The thoracic main structure according to any one of claims 1 to 10, and A leg-shaped structure is movably connected to the chest cavity main structure.

12. The robot according to claim 11, characterized in that The leg-shaped structure includes a leg portion and a wheel portion; one end of the leg portion is connected to the second rotating driving member, and the other end of the leg portion is movably connected to the wheel portion.

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