CN106514626B

CN106514626B - Body structure and robot with same

Info

Publication number: CN106514626B
Application number: CN201611208266.0A
Authority: CN
Inventors: 张国鹏; 王剑
Original assignee: Ninebot Beijing Technology Co Ltd
Current assignee: Ninebot Beijing Technology Co Ltd
Priority date: 2016-12-23
Filing date: 2016-12-23
Publication date: 2020-10-16
Anticipated expiration: 2036-12-23
Also published as: CN106514626A

Abstract

The invention provides a body structure and a robot with the same, wherein the body structure comprises a supporting beam, a body framework and a head connecting assembly which are connected, the supporting beam, the body framework and the head connecting assembly enclose an accommodating space together, and the body structure further comprises: and the obstacle detection part is arranged on the body framework to detect obstacles around the body structure.

Description

Body structure and robot with same

Technical Field

The invention relates to the technical field of robots, in particular to a body structure and a robot with the body structure.

Background

The body structure design of the robot needs to at least consider structural firmness and various functional requirements of the robot, and the robot is very diverse in functional requirements, such as collision resistance, obstacle avoidance function, following function, navigation function, man-machine interaction function and the like; therefore, the design of the robot body structure is a very complicated task. The invention aims to provide a body structure of a robot, which has certain collision resistance and has certain specific functions.

Disclosure of Invention

The invention mainly aims to provide a body structure which has certain collision resistance and has certain specific functions and a robot with the body structure.

In order to achieve the above object, according to an aspect of the present invention, there is provided a body structure including a support beam, a body frame, and a head connection assembly connected to each other, the support beam, the body frame, and the head connection assembly together enclosing an accommodation space, wherein the body structure further includes: and the obstacle detection part is arranged on the body framework to detect obstacles around the body structure.

Furthermore, the obstacle detecting part comprises an ultrasonic detecting device, and an installation axis of the ultrasonic detecting device is arranged along the horizontal direction to detect the obstacle in front of the body structure; or the installation axis of the ultrasonic detection device forms an included angle with the horizontal direction so as to detect the obstacle in front of the body structure.

Further, the obstacle detecting section includes an infrared detecting device whose installation axis is disposed obliquely downward to detect an obstacle located obliquely downward of the body structure.

Furthermore, the number of the infrared detection devices is at least two, the at least two infrared detection devices are respectively arranged on two sides of the longitudinal axis of the ultrasonic detection device, and the height of the ultrasonic detection device in the direction vertical to the ground is larger than that of the infrared detection device in the direction vertical to the ground.

Furthermore, the body structure further comprises a loudspeaker device, and the loudspeaker device is arranged on the body framework.

Further, the head connecting assembly comprises a first motor and a connecting piece in the direction away from the accommodating space, the first motor comprises a stator shell and a rotor at least partially arranged in the stator shell, and the connecting piece is connected with the rotor.

Further, the body structure further comprises an elastic buffer piece, and the elastic buffer piece is arranged at the joint of the connecting piece and the rotor.

Further, the surface of the elastic buffer part facing the connecting part is in a concave-convex structure shape, and/or the surface of the elastic buffer part facing the first motor is in a concave-convex structure shape.

Furthermore, a clamping groove structure is arranged on the stator shell, the first end of the supporting beam is connected with the stator shell in an inserting mode in the clamping groove structure, and the body framework is arranged on the periphery of the stator shell in a wrapping mode.

Further, the body structure still includes motor installation shell, second motor and first circuit board, and motor installation shell setting is connected in accommodation space and with the one end of keeping away from the connecting piece of first motor, and the second motor setting is in motor installation shell and drive first circuit board and rotate.

Further, the body structure further comprises a power supply structure electrically connected with a computer operation panel of the robot, and the power supply structure is arranged in the accommodating space and connected with the first motor.

Further, the body structure still includes the main control board, and the main control board setting is connected in accommodation space and with a supporting beam.

Further, the body structure further comprises a main connector structure connected to the support beam and located on a side of the support beam facing away from the receiving space.

Furthermore, the body structure further comprises a support beam support, and the second end of the support beam, which is far away from the body framework, is connected with the support beam support.

According to another aspect of the present invention, there is provided a robot comprising a head structure, a body structure and a walking structure connected in series, the head structure being connected to a connecting member of the body structure, the walking structure being pivotally connected to a support beam support of the body structure, the body structure being as described above.

By applying the technical scheme of the invention, the robot with the body structure has certain collision resistance and has certain specific functions. Through set up obstacle detection portion on body structure's body skeleton, like this, when body structure moves along with the robot, obstacle detection portion can detect barrier and pot hole around the robot effectively, and the robot of being convenient for dodges and opens barrier or pot hole, has improved the motion reliability of robot.

Because the obstacle detection part comprises the ultrasonic detection device, the ultrasonic device can effectively detect the large obstacle positioned at a far distance in front of the robot and reliably calculate the distance between the large obstacle and the robot, so that the robot has enough time to avoid the movement of the large obstacle.

Because the obstacle detection portion includes infrared detection device, infrared detection device can detect out the small-size obstacle and the pothole that are located the robot foot effectively to make the robot avoid pressing the small-size obstacle and tumble or drop the pothole and take place the operation accident, thereby make the robot can select flat route motion, and then improved the stability of robot motion. The infrared detection device can make up the obstacle detection blind area of the ultrasonic detection device, so that the robot can detect the obstacle more accurately and efficiently.

Moreover, the form that uses ultrasonic detection device and infrared detection device to combine can also utilize infrared detection device's circuit simple structure, be convenient for manufacturing and characteristics with low costs and reduce the overall cost of robot, improve the use economic nature of robot, strengthened the market competition of robot.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 illustrates a schematic representation of the structure of a torso structure in accordance with an alternative embodiment of the present invention;

FIG. 2 shows a front view of the body structure of FIG. 1;

FIG. 3 shows a front cross-sectional view of the body structure of FIG. 1;

fig. 4 shows a left side view of the body structure of fig. 1.

Wherein the figures include the following reference numerals:

2. a body structure; 10. a support beam; 11. an accommodating space; 12. a first end; 13. a second end; 20. a body skeleton; 30. a head connection assembly; 31. a first motor; 311. a stator housing; 312. a rotor; 313. a slot structure; 32. a connecting member; 40. an obstacle detection unit; 41. an ultrasonic detection device; 42. an infrared detection device; 50. a speaker device; 60. an elastic buffer member; 70. a motor mounting case; 80. a first circuit board; 90. a main control board; 100. a main connector structure; 110. a support beam support; 120. a power supply structure.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.

The embodiment of the invention provides a body structure and a robot with the body structure, wherein the robot comprises a head structure, the body structure 2 and a walking structure which are sequentially connected, the head structure is connected with a connecting piece 32 of the body structure 2, the walking structure is pivotally connected with a supporting beam support 110 of the body structure 2, and the body structure 2 is the following body structure.

It should be noted that the robot in the embodiment of the present invention may have a variety of different types, and the embodiment of the present invention is not limited thereto, and any robot that is applicable to the body structure in the embodiment of the present invention in practical applications should belong to the protection scope of the embodiment of the present invention. For example: the walking structure of the robot provided by the embodiment of the invention can be a moving chassis of a balance car, and even can be a flying wing and the like. For example, a robot moving on the ground may have a driving state (or riding state) and a non-driving state, and the robot in the non-driving state may move autonomously or may be remotely controlled.

As shown in fig. 1 to 4, the body structure includes a support beam 10, a body frame 20, and a head connection assembly 30 connected to each other, the support beam 10, the body frame 20, and the head connection assembly 30 together enclose an accommodation space 11, wherein the body structure 2 further includes an obstacle detecting portion 40, and the obstacle detecting portion 40 is disposed on the body frame 20 to detect obstacles around the body structure 2.

By applying the technical scheme of the embodiment of the invention, the obstacle detection part 40 is arranged on the body framework 20 of the body structure, so that when the body structure moves along with the robot, the obstacle detection part 40 can effectively detect obstacles and pot holes around the robot, the robot can conveniently avoid the obstacles or pot holes, and the movement reliability of the robot is improved.

Optionally, the obstacle detecting section 40 includes an ultrasonic detecting device 41.

Since the obstacle detecting unit 40 includes the ultrasonic detecting device 41, the ultrasonic detecting device 41 can effectively detect a large obstacle located at a relatively long distance in front of the robot, and reliably calculate the distance between the large obstacle and the robot, so that the robot has enough time to avoid the movement of the large obstacle.

Optionally, the obstacle detecting section 40 includes an infrared detecting device 42.

Alternatively, the mounting axis of the ultrasonic detection device 41 is arranged in a horizontal direction to detect obstacles located in front of the body structure 2; or the mounting axis of the ultrasonic detecting device 41 is arranged at an angle (e.g., 10 degrees, 15 degrees, 20 degrees, 60 degrees, etc.) with respect to the horizontal direction to detect obstacles located in front of the body structure 2.

It should be noted that the ultrasonic detection device 41 of the embodiment of the present invention can effectively emit the ultrasonic wave with the oscillation frequency of 20KHz, and the emitted ultrasonic wave has the characteristics of high frequency, short wavelength, small diffraction phenomenon, good directivity, and directional propagation capable of becoming a ray, and the ultrasonic wave emitted by the ultrasonic detection device 41 of the embodiment of the present invention can immediately generate an echo after encountering a hole wall of an obstacle or a hole, and after receiving the echo, the ultrasonic detection device 41 can rapidly convert the echo into an electrical signal and analyze the electrical signal to obtain information such as a specific position and a size of the obstacle or the hole, and a distance between the robot and the robot of the embodiment of the present invention, so that the robot can rapidly react in the shortest time to avoid the obstacle or the hole, and further, the intelligent walking of the robot can be realized.

In an alternative embodiment of the invention shown in figures 1 to 4, the mounting axis of the ultrasonic detection device 41 is arranged in a horizontal direction to detect obstacles located in front of the body structure 2; thus, the ultrasonic wave emitted from the ultrasonic probe 41 continues to propagate into the space in front of the robot with the installation axis as the center line.

Naturally, in order to ensure that the robot can reliably detect a direction having a specific angle with the horizontal direction when the robot is operating in a special environment, the installation axis of the ultrasonic detection device 41 is arranged at an angle with the horizontal direction to detect an obstacle in front of the body structure 2.

In an alternative embodiment of the present invention, not shown, the ultrasonic detection device 41 is rotatably disposed on the body frame 20 in order to improve the multi-directional detection capability of the ultrasonic detection device 41 and ensure that the ultrasonic detection device 41 can accurately detect obstacles or potholes at various positions in the environment in front of the movement of the robot. Preferably, the ultrasound probe 41 is hinged to the body frame 20.

Because the obstacle detection part 40 comprises the infrared detection device 42, the infrared detection device 42 can effectively detect small obstacles and pot holes under the feet of the robot (especially when the ground moving chassis is used as a walking structure, the infrared detection device 42 can effectively detect the obstacles, the pot holes and the like in front of the wheels), so that the robot can avoid operating accidents caused by the fact that the small obstacles fall down or fall down the pot holes, the robot can select a flat path to move, and the motion stability of the robot is improved.

By using the combination of the ultrasonic detection device 41 and the infrared detection device 42, the overall cost of the robot can be reduced by utilizing the characteristics of simple circuit structure, convenience in processing and manufacturing and low cost of the infrared detection device 42, the use economy of the robot is improved, and the market competitiveness of the robot is enhanced.

Alternatively, in an alternative embodiment of the invention shown in fig. 1 to 4, the mounting axis of the infrared detection means 42 is arranged obliquely downwards to detect obstacles located obliquely downwards of the body structure 2. Therefore, the situation that the obstacle which is positioned near the oblique lower side of the robot is missed due to the fact that the robot moves too fast is effectively avoided, the robot is guaranteed to normally move in the advancing direction of the robot, the situation that when the robot is in a riding mode, a user standing on a walking structure of the robot falls off from the robot and is hurt is also prevented, and the use safety of the robot is improved.

Optionally, there are at least two infrared detection devices 42, at least two infrared detection devices 42 are respectively disposed on two sides of the longitudinal axis of the ultrasonic detection device 41, and the height of the ultrasonic detection device 41 in the direction perpendicular to the ground is greater than the height of the infrared detection device 42 in the direction perpendicular to the ground. In this way, the two infrared detection devices 42 respectively detect the obstacles on the two sides under the feet of the robot, so that the robot can fully detect the space obliquely below the robot in the advancing direction, and the stability of the movement of the robot is further ensured.

As shown in fig. 1 and 2, the body structure 2 further includes a speaker device 50, and the speaker device 50 is provided on the body frame 20.

Alternatively, in order to enhance the sound emitted from the speakers 50 to be effectively spread and propagated in all directions of the space around the robot, two speakers 50 are provided, and the two speakers 50 are symmetrically disposed on both sides of the body frame 20.

As shown in fig. 1 to 4, the head connecting assembly 30 includes a first motor 31 and a connecting member 32 in a direction away from the accommodating space 11, the first motor 31 includes a stator housing 311 and a rotor 312 at least partially disposed in the stator housing 311, wherein the connecting member 32 is connected to the rotor 312. Thus, the rotor 312 can rotate relative to the stator housing 311, the head structure of the robot is connected to the connecting member 32, and when the rotor 312 rotates, the rotor 312 drives the connecting member 32 to rotate so as to drive the head structure to twist relative to the body structure, so as to adapt to the switching between the robot mode and the riding mode.

Alternatively, the first motor 31 is a brushless motor.

It should be noted that, the first motor 31 is disposed inside the accommodating space 11, the connecting member 32 is extended from the accommodating space 11 to be fixedly connected with the head structure, and the rotor 312 and the driving connecting member 32 in the stator housing 311 rotate with the driving head structure, so that the accommodating space 11 is fully utilized, the overall volume of the body structure is reduced, the structural compactness of the robot is improved, the portability and the practicability of the robot are increased, the connection stability between the head structure and the body structure is ensured, and the head structure is prevented from being separated from the body structure under the condition of external load.

As shown in fig. 3, the body structure 2 further includes an elastic buffer member 60, and the elastic buffer member 60 is disposed at the junction of the connecting member 32 and the rotor 312. Because the junction of connecting piece 32 and rotor 312 is provided with elastic buffer 60, can drive connecting piece 32 and rotor 312 to collide when the head structure receives external load's the circumstances, elastic buffer 60 has played the effect that makes connecting piece 32 and rotor 312 flexible coupling, can absorb the impact energy between connecting piece 32 and the rotor 312 effectively, elastic buffer 60's deformation can increase the contact time that collides between connecting piece 32 and the rotor 312, the contact momentum of connecting piece 32 and rotor 312 has been reduced, connecting piece 32 or rotor 312 has been avoided colliding with the damage, also avoided the long-time back of using of robot, the phenomenon that leads to taking place to be connected between head structure and the body structure to be not hard up because of the friction collision between connecting piece 32 and the rotor 312 takes place.

Optionally, the elastomeric damper 60 is one of rubber, silicone, foam, or sponge.

Preferably, the elastomeric damper 60 is vulcanized rubber.

As shown in fig. 3, a surface of the elastic buffer 60 facing the connection element 32 is in a concave-convex structure shape, and/or a surface of the elastic buffer 60 facing the first motor 31 is in a concave-convex structure shape.

Because the surface of the elastic buffer member 60 facing the connecting member 32 is in a concave-convex structure shape, the contact surface area of the elastic buffer member 60 and the connecting member 32 is further increased, and the buffering effect on the movement of the connecting member 32 is improved.

Similarly, since the surface of the elastic buffer 60 facing the first motor 31 is in a concave-convex structure, the contact surface area between the elastic buffer 60 and the rotor 312 can be further increased, the buffer effect on the movement between the rotor 312 and the connecting member 32 is improved, and the first motor 31 is effectively protected.

Note that, in order to improve the fitting tightness of the elastic buffer 60 between the link 32 and the rotor 312, the concave-convex structure is shaped like a saw-tooth.

As shown in fig. 3, a slot structure 313 is disposed on the stator housing 311, the first end 12 of the support beam 10 is inserted into the slot structure 313 and connected to the stator housing 311, and the body frame 20 is disposed to cover the outer circumference of the stator housing 311. The arrangement of the slot structure 313 not only enables the first end 12 of the support beam 10 to be stably connected with the first motor 31, but also enables the support beam 10 and the first motor 31 to be detachably arranged, thereby facilitating the maintenance and replacement of the support beam 10 or the first motor 31.

Optionally, in order to further improve the connection stability between the card slot structure 313 and the stator housing 311, the structure of the first motor 31 is reasonably set, so that the first motor 31 has the installation characteristic that the rotor 312 and the stator housing 311 are detachably assembled, and the card slot structure 313 and the stator housing 311 are integrated.

As shown in fig. 1 to 3, the body structure 2 further includes a motor mounting shell 70, a second motor and a first circuit board 80, the motor mounting shell 70 is disposed in the accommodating space 11 and connected to an end of the first motor 31 far away from the connecting member 32, and the second motor is disposed in the motor mounting shell 70 and drives the first circuit board 80 to rotate. The first circuit board 80 may be a circuit board based on remote sensing, that is, the first circuit board 80 can be driven by the second motor to rotate when an external remote control is provided. The first circuit board 80 may also be a circuit board based on wireless carrier communication, and if the first circuit board 80 may be a circuit board integrated with a UWB antenna, the first circuit board 80 serves as an anchor node end of the UWB communication, and can track a beacon (tag) end serving as the UWB communication, so that the first circuit board 80 can perform corresponding rotation angle adjustment (the first circuit board 80 is driven to rotate by the second motor) based on a position change of the beacon end, and thus, the robot can track the beacon end.

Because the second motor sets up in accommodation space 11 and is connected with the one end of keeping away from connecting piece 32 of first motor 31, has not only utilized accommodation space 11 rationally like this, under the prerequisite that satisfies the robot and have functional diversity, has reduced the whole volume of robot, has improved user's use convenience, has improved the installation compactness of the electrical apparatus part of robot moreover, has realized the modular design of robot.

When first circuit board 80 is as remote controller response circuit board, because first circuit board 80 of second motor drive rotates, like this, be favorable to first circuit board 80 all-round to being located the outside remote controller of robot and scan and track, seek the position of finding the remote controller and go to the position department of remote controller rapidly to the person of facilitating the use realizes the motion control to the robot or realizes the automatic function of charging of robot through the remote controller.

In order to satisfy the functional diversity of the robot and ensure the integrity of the robot structure, the body structure 2 further includes a power supply structure 120 electrically connected to the computer operation panel of the robot, and the power supply structure 120 is disposed in the accommodating space 11 and connected to the first motor 31. Therefore, the connection stability between the power structure 120 and the first motor 31 is improved, the volume of the accommodating space 11 is reasonably utilized, the power structure 120 can also provide stable energy output for the second motor, the movement reliability of the second motor is ensured, and the power structure 120 can also provide power for a computer operation panel on the robot head structure.

As shown in fig. 1 to 3, the body structure 2 further includes a main control panel 90, and the main control panel 90 is disposed in the accommodating space 11 and connected to the support beam 10. The main control board 90 realizes the analysis and control of various functional actions of the robot, and realizes the work intellectualization of the robot. And the heat that main control board 90 department produced can also pass through supporting beam 10 and steadily transmit outside accommodation space 11, has improved main control board 90's radiating effect, has guaranteed that the robot can work for a long time steadily.

As shown in fig. 1 to 3, the body structure 2 further includes a main connector structure 100, and the main connector structure 100 is connected to the support beam 10 and is located on a side of the support beam 10 away from the receiving space 11. The main connector structure 100 can electrically or signally connect the robot to an external structure (e.g., a robot arm) to facilitate data transmission, control of the robot arm, or charge the robot.

Optionally, the main connector structure 100 is an expansion slot, through which the robot can be connected to various external functional devices, and the expansion slot has pogopin contacts to provide communication and power supply functions for the robot after the circuit is connected.

As shown in fig. 1 to 4, the body structure 2 further comprises a support beam support 110, and the second end 13 of the support beam 10 remote from the body frame 20 is connected to the support beam support 110. The support beam support 110 plays a role in supporting the support beam 10 and strengthening the structure of the support beam 10, and the support beam support 110 is detachably connected with the support beam 10, so that the support beam support 110 or the support beam 10 can be conveniently repaired or replaced, the maintenance cost of the robot is reduced, and the market competitiveness of the robot is improved.

It should be noted that the body structure 2 is pivotally connected to the walking structure through the supporting beam support 110, when the robot is in the riding mode, the body structure 2 can be used as a leg control lever, specifically, the user stands on the walking structure, the user controls the robot to realize the steering function by controlling the size applied to the body structure 2 by the leg, and the robot at this time is used as a balance car with the walking function.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise, and it should be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of features, steps, operations, devices, components, and/or combinations thereof.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a body structure, its characterized in that, including supporting beam (10), body skeleton (20) and head coupling assembling (30) that are connected, supporting beam (10) body skeleton (20) with head coupling assembling (30) enclose into accommodation space (11) jointly, wherein, body structure (2) still includes:

an obstacle detecting section (40), the obstacle detecting section (40) being provided on the body frame (20) to detect an obstacle around the body structure (2);

the head connecting assembly (30) comprises a first motor (31) and a connecting piece (32) along a direction far away from the accommodating space (11), the first motor (31) comprises a stator housing (311) and a rotor (312) at least partially arranged in the stator housing (311), wherein the connecting piece (32) is connected with the rotor (312);

the body structure (2) further comprises an elastic buffer member (60), the elastic buffer member (60) is arranged at the joint of the connecting piece (32) and the rotor (312), the surface of the elastic buffer member (60) facing the connecting piece (32) is in a concave-convex structure shape, and/or the surface of the elastic buffer member (60) facing the first motor (31) is in a concave-convex structure shape;

a clamping groove structure (313) is arranged on the stator shell (311), the first end (12) of the supporting beam (10) is inserted into the clamping groove structure (313) and connected with the stator shell (311), and the body framework (20) covers the periphery of the stator shell (311).

2. Body structure according to claim 1, characterized in that said obstacle detecting portion (40) comprises ultrasonic detecting means (41),

the installation axis of the ultrasonic detection device (41) is arranged along the horizontal direction to detect an obstacle in front of the body structure (2); or

The installation axis of the ultrasonic detection device (41) and the horizontal direction form an included angle to detect the obstacle in front of the body structure (2).

3. The body structure according to claim 2, characterized in that the obstacle detecting section (40) comprises an infrared detecting device (42), and an installation axis of the infrared detecting device (42) is disposed obliquely downward to detect an obstacle located obliquely downward of the body structure (2).

4. The body structure according to claim 3, characterized in that said infrared detection means (42) are at least two, at least two of said infrared detection means (42) being arranged on each side of the longitudinal axis of said ultrasonic detection means (41), and the height of said ultrasonic detection means (41) in the direction perpendicular to the ground being greater than or equal to the height of said infrared detection means (42) in the direction perpendicular to the ground.

5. The body structure according to claim 4, wherein said body structure (2) further comprises speaker means (50), said speaker means (50) being arranged on said body armature (20).

6. The body structure according to claim 1, wherein the body structure (2) further comprises a motor mounting housing (70), a second motor and a first circuit board (80), the motor mounting housing (70) is arranged in the accommodating space (11) and is connected with one end of the first motor (31) far away from the connecting piece (32), and the second motor is arranged in the motor mounting housing (70) and drives the first circuit board (80) to rotate.

7. The body structure according to claim 1, wherein said body structure (2) further comprises a power supply structure (120) electrically connected to a computer operating panel of the robot, said power supply structure (120) being arranged in said housing space (11) and connected to said first motor (31).

8. The body structure according to claim 1, characterized in that the body structure (2) further comprises a main control panel (90), the main control panel (90) being arranged in the accommodation space (11) and being connected to the support beam (10).

9. Body structure according to claim 1, characterized in that the body structure (2) further comprises a main connector structure (100), which main connector structure (100) is connected to the support beam (10) and is located on the side of the support beam (10) facing away from the receiving space (11).

10. A body structure according to claim 1, characterized in that the body structure (2) further comprises a support beam support (110), and that the second end (13) of the support beam (10) remote from the body armature (20) is connected to the support beam support (110).

11. A robot, characterized in that it comprises a head structure, a body structure (2) and a walking structure connected in sequence, said head structure being connected to a connecting element (32) of said body structure (2), said walking structure being pivotally connected to a supporting beam support (110) of said body structure (2), said body structure (2) being as claimed in any one of claims 1 to 10.