CN109866232B

CN109866232B - Chest skeleton texture and robot of robot

Info

Publication number: CN109866232B
Application number: CN201910157515.5A
Authority: CN
Inventors: 崔昊天; 闫巡戈; 黄晓庆; 罗程; 张育峰
Original assignee: Cloudminds Beijing Technologies Co Ltd; Innfos Drive Beijing Technologies Co Ltd
Current assignee: Cloudminds Beijing Technologies Co Ltd; Cloudminds Shanghai Robotics Co Ltd
Priority date: 2019-03-01
Filing date: 2019-03-01
Publication date: 2020-12-18
Anticipated expiration: 2039-03-01
Also published as: CN109866232A

Abstract

The utility model relates to a chest skeleton texture and robot of robot, chest skeleton texture include inner frame (10) and exoskeleton (20), exoskeleton (20) are injectd the thorax of robot, inner frame (10) set up in the thorax, inner frame (10) are used for the installation actuating mechanism of robot, exoskeleton (20) are used for supporting the outward appearance covering of the chest of robot, and exoskeleton (20) construct so that the chest has anthropomorphic appearance shape. Through the technical scheme, the inner framework is mainly used for installing the driving mechanism of the robot, the outer framework is mainly used for enabling the chest of the robot to construct an anthropomorphic appearance shape, the outer framework can play a role in protecting the inner framework and the driving mechanism and connecting the appearance skin, and when the appearance shape of the robot needs to be changed, the robot can have different appearances only by changing the appearance shapes of the outer framework and the appearance skin.

Description

Chest skeleton texture and robot of robot

Technical Field

The present disclosure relates to the field of robot production and manufacturing technologies, and in particular, to a chest skeleton structure of a robot and a robot using the chest skeleton structure.

Background

With the progress of science and technology, robots gradually appear in daily life of people. The robot as one automatic work executing machine may accept human command, run preset program and act according to the principle set with artificial intelligence technology to assist or replace human work. How to design the structure of a robot to have an anthropomorphic appearance and to be able to simulate human actions is one of the problems to be solved in the field of robot manufacturing.

In the prior art, a main body of a robot is mainly composed of skeletons of various parts, such as a head skeleton, a trunk skeleton, an arm skeleton, a leg skeleton and the like, a driving mechanism, a sensor, a circuit board and the like are arranged on the skeletons, and an appearance skin covers the skeletons, so that the appearance of the robot is more attractive. The outer skin is thin and easy to break, and if the outer skin is broken, the skeleton and the driving mechanism on the skeleton may be damaged. Moreover, since the shape of the exterior skin is designed to be adapted to the shape of the skeleton, if the skeleton does not have an anthropomorphic exterior shape, the robot will not have an anthropomorphic exterior shape, and if the robot needs to change its exterior shape, the shape of the entire skeleton needs to be changed.

Disclosure of Invention

The purpose of the present disclosure is to provide a chest skeleton structure of a robot and a robot using the chest skeleton structure, which can ensure that the robot has an anthropomorphic appearance shape and facilitate the change of the appearance shape of the robot.

In order to achieve the above object, the present disclosure provides a chest skeleton structure of a robot including an inner skeleton and an outer skeleton, the outer skeleton defining a chest cavity of the robot, the inner skeleton being disposed in the chest cavity, the inner skeleton being used to mount a driving mechanism of the robot, the outer skeleton being used to support an appearance skin of the chest of the robot, and the outer skeleton being configured such that the chest has an anthropomorphic appearance shape.

Optionally, actuating mechanism includes arm actuating mechanism and waist actuating mechanism, and this arm actuating mechanism is including being used for the drive the first arm actuating mechanism of the arm side-to-side motion of robot and being used for the drive the second arm actuating mechanism of arm seesaw, waist actuating mechanism is used for the drive chest skeleton texture side-to-side motion, both ends are used for setting respectively about the inner frame first arm actuating mechanism, be used for setting between the first arm actuating mechanism second arm actuating mechanism, the lower extreme of inner frame is used for setting up waist actuating mechanism.

Optionally, the exoskeleton includes a forebreast exoskeleton and a back exoskeleton, the forebreast exoskeleton is fixed to the front side of the inner frame, the back exoskeleton is fixed to the rear side of the inner frame, the rear side of the forebreast exoskeleton is attached to the front side of the back exoskeleton, and the exoskeleton is configured such that at least driving ends of the first arm driving mechanism and the waist driving mechanism are exposed.

Optionally, the front chest exoskeleton comprises a first front chest exoskeleton, the back exoskeleton comprises a first back exoskeleton, the first front chest exoskeleton and the first back exoskeleton are both secured to the inner frame,

the lower end of the first front chest outer frame is configured to cover the side of the lumbar drive mechanism at the front, and the lower end of the first back outer frame is configured to cover the side of the lumbar drive mechanism at the back.

Optionally, the forebreast exoskeleton further comprises a second forebreast exoskeleton, the back exoskeleton further comprises a second back exoskeleton, the second forebreast exoskeleton is fixed to the first forebreast exoskeleton at a rear side, the second back exoskeleton is fixed to the first back exoskeleton at a front side,

the second anterior chest exoskeleton and the second posterior back exoskeleton each have an outwardly convex arcuate outer side such that the form factor has undulations at the anterior and posterior sides.

Optionally, the outer frame further comprises a front waist outer frame connected to the first front chest outer frame at the lower end of the second front chest outer frame and a rear waist outer frame connected to the first rear outer frame at the lower end of the second rear outer frame to at least partially cover the front and rear ends of the waist driving mechanism at the front and rear sides,

the front waist outer frame is provided with an arc outer side surface which protrudes outwards, the arc outer side surface is adjacent to and smoothly transits with the arc outer side surface of the second front chest outer frame,

the back waist outer frameworks are provided with arc outer side faces protruding outwards, and the arc outer side faces are adjacent to and in smooth transition with the arc outer side faces of the second back waist outer frameworks.

Optionally, the anterior and posterior exoskeleton are configured to avoid corresponding anteroposterior movement of the arms on both the left and right sides.

Optionally, the exoskeleton further comprises a first shoulder exoskeleton, the first shoulder exoskeleton is arranged to cover the side surface of the first arm driving mechanism, the first shoulder exoskeleton and the first arm driving mechanism are connected with the driving end of the second arm driving mechanism to drive the arm to move back and forth, and the driving end of the first arm driving mechanism is connected with the arm to drive the arm to move left and right.

Optionally, a support ring for supporting the first shoulder exoskeleton is further arranged on the inner frame, and the first shoulder exoskeleton penetrates through the support ring to be connected with the driving end of the second arm driving mechanism.

Optionally, the exoskeleton further comprises a second shoulder exoskeleton, the second shoulder exoskeleton is fixed to the first shoulder exoskeleton and is arranged in the left and right directions of the robot outside the support ring, and the second shoulder exoskeleton is close to one side of the support ring and the end face of the support ring is abutted.

Optionally, the exoskeleton further comprises a third shoulder exoskeleton, the third shoulder exoskeleton is fixed to the first shoulder exoskeleton and is arranged on the inner side of the support ring in the left-right direction of the robot, one side of the third shoulder exoskeleton, which is close to the support ring, extends into the support ring and abuts against the inner surface of the support ring so as to fill the space between the support ring and the first arm driving mechanism.

Optionally, the first shoulder exoskeleton is formed into a U-shaped structure with an opening facing the inner frame, and the second shoulder exoskeleton and the third shoulder exoskeleton are disposed on both sides of the first shoulder exoskeleton.

Optionally, a first positioning structure is configured between the first shoulder exoskeleton and the second arm drive mechanism to define the relative position of the first shoulder exoskeleton and the second arm drive mechanism,

the first positioning structure comprises a positioning pin and a positioning hole which are matched with each other, one of the positioning pin and the positioning hole is arranged on the first shoulder exoskeleton, and the other of the positioning pin and the positioning hole is arranged at the driving end of the second arm driving mechanism.

Optionally, the exoskeleton further comprises a wire protecting skeleton for protecting the wire, and the wire protecting skeleton covers the outer side of the third shoulder exoskeleton so that the wire is located between the wire protecting skeleton and the third shoulder exoskeleton.

Optionally, the exoskeleton further comprises a fourth shoulder exoskeleton, the fourth shoulder exoskeleton is arranged on the upper side and the lower side of the first shoulder exoskeleton and is located between the first arm driving mechanism and the forebreast exoskeleton and between the first arm driving mechanism and the back exoskeleton, and the outer side surface of the fourth shoulder exoskeleton is an outer convex cambered surface.

Optionally, a second positioning structure is configured between the fourth shoulder exoskeleton and the forebreast exoskeleton and/or the back exoskeleton,

the second positioning structure comprises a positioning groove and a positioning boss which are matched, one of the positioning groove and the positioning boss is arranged on the fourth shoulder exoskeleton, and the other of the positioning groove and the positioning boss is arranged on the forebreast exoskeleton and/or the back exoskeleton.

Optionally, the exoskeleton is at least partially configured as a truss structure.

Optionally, the inner skeleton is made of a metal material and the outer skeleton is made of a plastic material.

Through the technical scheme, in the chest skeleton structure of the robot provided by the disclosure, the inner skeleton is mainly used for installing the driving mechanism of the robot and providing an installation basis of the driving mechanism, the outer skeleton is mainly used for constructing the appearance shape of the chest of the robot, and the appearance skin of the chest of the robot covers the outer skeleton so as to enable the robot to have a smooth and flat appearance, and the shape of the appearance skin corresponds to the shape of the outer skeleton. Based on this, the outer frame not only can play the effect of protecting inner frame and the actuating mechanism on the inner frame, but also plays the effect of connecting the outward appearance covering. Based on this kind of inside and outside skeleton's that this disclosure provided chest skeleton texture, when the outward appearance shape of robot needs to change, need not to change the inside skeleton, only need change the outward appearance shape of outside skeleton, alright make the robot possess different appearances to be convenient for satisfy different demands, be of value to and reduce material cost, the human cost design degree of difficulty and implement the degree of difficulty.

According to another aspect of the present disclosure, a robot is provided, which includes the chest skeleton structure of the robot.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:

fig. 1 is a front view of a chest skeleton structure of a robot provided in an exemplary embodiment of the present disclosure;

fig. 2 is a rear view of a chest skeleton structure of a robot provided in an exemplary embodiment of the present disclosure;

fig. 3 is an exploded view of a chest skeleton structure of a robot provided in an exemplary embodiment of the present disclosure;

FIG. 4 is an exploded view of an exoskeleton provided by an exemplary embodiment of the present disclosure;

FIG. 5 is a front view of an endoskeleton provided by an exemplary embodiment of the present disclosure;

FIG. 6 is a partial schematic view of an endoskeleton provided by an exemplary embodiment of the present disclosure;

FIG. 7 is a perspective view of a first shoulder exoskeleton provided in an exemplary embodiment of the present disclosure;

FIG. 8 is a schematic front view of an assembly between an inner frame and second and third shoulder exoskeletons provided by an exemplary embodiment of the present disclosure;

FIG. 9 is a perspective view of an assembly between an inner frame and second and third shoulder exoskeletons provided in accordance with an exemplary embodiment of the present disclosure;

FIG. 10 is a perspective view of an assembly between an inner frame and a third shoulder outer frame provided by an exemplary embodiment of the present disclosure;

fig. 11 is an assembled schematic view of a fourth shoulder exoskeleton provided in an exemplary embodiment of the present disclosure.

Description of the reference numerals

10 inner frame 11 support ring

20 outer frame 21 front chest outer frame

211 first anterior chest exoskeleton 212 second anterior chest exoskeleton

213 front chest outer frame positioning boss 22 back outer frame

221 first back exoskeleton 222 second back exoskeleton

223 front waist outer frame with positioning boss 23 of back outer frame

24 rear waist exoskeleton 25 first shoulder exoskeleton

251 positioning pin 26 second shoulder outer frame

27 third shoulder outer frame 28 protective line frame

29 fourth shoulder exoskeleton 291 locating groove

31 lumbar drive mechanism 32 first arm drive mechanism

33 second arm drive 331 drive end body

332 drive end wrap 333 pilot hole

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

In the present disclosure, unless otherwise stated, the terms "upper, lower, left, right, front, and rear" used in the orientation are generally defined based on the robot itself, and specifically, the direction toward the robot head is up, the direction toward the robot foot is down, the orientation in which the robot faces is front, and conversely, when the robot faces forward, the orientation in which the robot left hand is left, the orientation in which the robot right hand is right, and "inside and outside" refer to the inside and outside of the outline of the corresponding component or structure. The foregoing directional terms are used only to explain and illustrate the present disclosure, and are not to be construed as limiting the present disclosure. Furthermore, terms such as "first," "second," and the like, are used herein to distinguish one element from another, and are not necessarily sequential or significant. In addition, in the description with reference to the drawings, the same reference numerals in different drawings denote the same elements.

As shown in fig. 1 to 11, the present disclosure provides a chest skeleton structure of a robot, including an inner skeleton 10 and an outer skeleton 20, the outer skeleton 20 defining a chest cavity of the robot, the inner skeleton 10 being disposed in the chest cavity, the inner skeleton 10 for mounting a driving mechanism of the robot, the outer skeleton 20 for supporting an appearance skin of the chest of the robot, and the outer skeleton 20 being configured such that the chest of the robot has an anthropomorphic appearance shape.

With the above technical solution, in the chest skeleton structure of the robot provided by the present disclosure, the inner skeleton 10 is mainly used for installing the driving mechanism of the robot, providing an installation base of the driving mechanism, and the outer skeleton 20 is mainly used for constructing the appearance shape of the chest of the robot, the appearance skin of the chest of the robot covers the outer skeleton 20, so that the robot has a smooth and flat appearance, and the shape of the appearance skin corresponds to the shape of the outer skeleton 20. Based on this, the outer frame 20 may function not only to protect the inner frame 10 and the driving mechanism on the inner frame 10, but also to connect the exterior skin. Based on this kind of inside and outside skeleton's that this disclosure provided chest skeleton texture, when the outward appearance shape of robot needs to change, need not to change inside skeleton 10, only need change outside skeleton 20's outward appearance shape, alright make the robot possess different appearances to be convenient for satisfy different demands, be of value to and reduce material cost, the human cost design degree of difficulty and implement the degree of difficulty.

It should be noted that the rib cage defined by the exoskeleton 20 is a cavity structure defined by the exoskeleton 20, and the cavity structure is used for accommodating and mounting the inner frame 10. In addition, the chest cavity of the robot mentioned in the present application does not only refer to the chest cavity (cavity surrounded by thoracic vertebra and ribs) of the human body in the traditional sense, but also includes the abdominal cavity, and the chest skeleton structure mentioned in the present application does not only refer to the chest skeleton structure of the human body in the traditional sense, but also includes the skeleton structures of the back, waist and shoulders, i.e., the trunk skeleton structure without head, neck and limbs. The driving mechanism may include, but is not limited to, a driving mechanism for driving the robot arm to move, a driving mechanism for driving the robot neck to move, a driving mechanism for driving the robot waist to move, and the like.

In a specific embodiment provided by the present disclosure, referring to fig. 5, the driving mechanism may include an arm driving mechanism and a lumbar driving mechanism 31, the arm driving mechanism includes a first arm driving mechanism 32 for driving the arm of the robot to move left and right and a second arm driving mechanism 33 for driving the arm to move back and forth, the lumbar driving mechanism 31 is used for driving the whole chest skeleton structure to move left and right, i.e., the upper half of the robot to move left and right, the left and right ends of the inner skeleton 10 are respectively provided with the first arm driving mechanism 32, the second arm driving mechanism 33 is provided between the first arm driving mechanisms 32, and the lower end of the inner skeleton 10 is provided with the lumbar driving mechanism 31. Here, the drive mechanism may have one rotation axis or a plurality of rotation axes, for example, the first arm drive mechanism 32 may be a drive mechanism for swinging the robot arm to the left and right about the rotation axis thereof, the second arm drive mechanism 33 may be a drive mechanism for swinging the robot arm to the front and back about the rotation axis thereof, and the lumbar drive mechanism 31 may be a drive mechanism for swinging the chest skeleton structure of the robot to the left and right about the rotation axis thereof. Among them, the rotation axis of the first arm driving mechanism 32 may be parallel to the rotation axis of the lumbar driving mechanism 31, for example, extending in the front-rear direction, and the rotation axis of the second arm driving mechanism 33 may be perpendicular to the rotation axis of the first arm driving mechanism 32, for example, extending in the left-right direction obliquely inclined upward from the inside to the outside, as shown in fig. 5 and 6. In another embodiment provided by the present disclosure, the first arm drive mechanism may be a drive mechanism that translates the arm of the robot in the left-right direction, for example, in a transfer job. Similarly, the second arm drive mechanism may be a drive mechanism that translates the arm of the robot in the front-rear direction, and is used for, for example, a transportation operation. The lumbar drive mechanism 31 may be a drive mechanism that twists the chest skeleton structure of the robot right and left, that is, rotates the chest skeleton structure of the robot about a rotation axis extending in the up-down direction. The present disclosure is not limited to the above embodiments, and the arm driving mechanism and the lumbar driving mechanism may be configured according to actual requirements without departing from the inventive concept of the present disclosure.

In an exemplary embodiment provided by the present disclosure, as shown in fig. 3 and 4, the outer frame 20 includes a front chest outer frame 21 and a back outer frame 22, the front chest outer frame 21 is fixed to the front side of the inner frame 10, the back outer frame 22 is fixed to the back side of the inner frame 10, and the back side of the front chest outer frame 21 is attached to the front side of the back outer frame 22, so that the front chest outer frame 21 and the back outer frame 22 surround the chest cavity of the robot from the front and back sides. The back side of the front outer frame 21 and the front side of the back outer frame 22 can be surface-to-surface fitted, so that the front outer frame 21 and the back outer frame 22 are in surface-to-surface contact, and if force exists between the front outer frame 21 and the back outer frame 22, the phenomenon of stress concentration can be avoided, and therefore the relative position of the front outer frame and the back outer frame can be maintained beneficially. As shown in fig. 1 and 2, the exoskeleton 20 is configured such that at least the driving end of each of the first arm driving mechanism 32 and the lumbar driving mechanism 31 is exposed, that is, at least the driving end of each of the first arm driving mechanism 32 and the lumbar driving mechanism 31 is exposed from a chest cavity enclosed by the front chest exoskeleton 21 and the back exoskeleton 22, so that the driving end of the first arm driving mechanism 32 is connected to the arms of the robot and the driving end of the lumbar driving mechanism 31 is connected to the lower limbs of the robot.

Further, the chest portion exoskeleton 21 and the back portion exoskeleton 22 are configured to avoid back-and-forth movement of the corresponding arms on both left and right sides, so as to avoid mechanical interference with the left and right sides of the chest portion exoskeleton 21 and the back portion exoskeleton 22 during back-and-forth movement of the arms, for example, back-and-forth swinging, and prevent the chest portion exoskeleton 21 and the back portion exoskeleton 22 from affecting back-and-forth swinging of the arms. For example, as shown in fig. 1 and 2, the exoskeleton 20 (specifically, the front chest exoskeleton 21 and the back exoskeleton 22) may be configured in an inverted triangle structure, have an anthropomorphic body shape with wide shoulders and thin waist, and not only can avoid interference with arm movements, but also can improve the aesthetic appearance.

As shown in fig. 3 and 4, the front chest exoskeleton 21 may include a first front chest exoskeleton 211, the back exoskeleton 22 includes a first back exoskeleton 221, the first front chest exoskeleton 211 and the first back exoskeleton 221 are both fixed to the inner frame 10, a lower end of the first front chest exoskeleton 211 is configured to cover a side of the lumbar drive mechanism 31 in front, and a lower end of the first back exoskeleton 221 is configured to cover a side of the lumbar drive mechanism 31 in back. It should be explained here that the use of the directional word "side" refers to the circumferential surface of the lumbar drive mechanism 31 (which can be understood as a circumferential surface around the axis of rotation of the lumbar). The lower end of the first front chest exoskeleton 211 and the lower end of the first back exoskeleton 221 cover the side of the lumbar drive mechanism 31 to protect the lumbar drive mechanism 31, and to facilitate the connection of the lower limbs of the robot to the lower ends of the front chest exoskeleton 21 and the back exoskeleton 22, i.e., to the lumbar region of the robot.

In addition, the chest exoskeleton 21 further comprises a second chest exoskeleton 212, the back exoskeleton 22 further comprises a second back exoskeleton 222, the second chest exoskeleton 212 is fixed to the first front exoskeleton 211 at the back side, the second back exoskeleton 222 is fixed to the first back exoskeleton 221 at the front side, that is, the first front exoskeleton 211 is located between the inner frame 10 and the second front exoskeleton 212, the first back exoskeleton 221 is located between the inner frame 10 and the second back exoskeleton 222, and the second front exoskeleton 212 and the second back exoskeleton 222 both have outward convex arc-shaped outer sides, so that the appearance of the chest of the robot has undulation at the front side and the back side to simulate the undulation of the chest and the back of the human body, and the appearance of the chest of the robot is more humanoid. Here, the shape of the first front chest exoskeleton 211 and the first back exoskeleton 221 may be adapted to the shape of the inner frame 10 to protect the inner frame 10 and cover the side of the lumbar drive mechanism 31, and the second front chest exoskeleton 212 and the second back exoskeleton 222 may be configured to give the chest of the robot an appearance shape of a human figure and support the appearance skin, so that the first front chest exoskeleton 211 and the first back exoskeleton 221 may protect the inner frame 10 and the drive mechanism located therebetween even if the second front chest exoskeleton 212 and the second back exoskeleton 222 are damaged by bending.

In addition, the outer frame 20 may further include a front waist outer frame 23 and a rear waist outer frame 24, the front waist outer frame 23 is connected to the first front chest outer frame 211 and located at a lower end of the second front chest outer frame 212, and the rear waist outer frame 24 is connected to the first rear outer frame 221 and located at a lower end of the second rear outer frame 222 to at least partially cover front and rear ends of the waist driving mechanism 31 at front and rear sides to construct a waist curve of the robot. Gaps may exist between the front and rear waist

outer frames

23 and 24 and the front and rear ends of the waist driving mechanism 31 to avoid the front and rear waist

outer frames

23 and 24 from interfering with the operation of the waist driving mechanism 31. Further, the front waist outer frame 23 has an outwardly convex arc-shaped outer side surface which is adjacent to and smoothly transits to the arc-shaped outer side surface of the second front chest outer frame 212, and the rear waist outer frames 24 have outwardly convex arc-shaped outer side surfaces which are adjacent to and smoothly transits to the arc-shaped outer side surface of the second rear outer frame 222, so that the appearance of the robot is more attractive and humanoid.

In one embodiment provided by the present disclosure, the first front chest exoskeleton 211 has a first left side and a first right side that are bilaterally symmetric along a central axis of the robot, the first back exoskeleton 221 has a second left side and a second right side that are bilaterally symmetric along the central axis, the first left side and the second left side are adjoined and smoothly transitioned to form the left side of the robot, and the first right side is adjoined and smoothly transitioned to form the right side of the robot. The second front chest outer frame 212 is configured with a front main surface of the robot, the second back outer frame 222 is configured with a back main surface of the robot, the left side surface and the right side surface are adjacent between the front main surface and the back main surface, adjacent ones of the front main surface, the back main surface, the left side surface and the right side surface are smoothly transitioned between the front main surface and the back main surface, an upper end surface of the first front chest outer frame 211 and an upper end surface of the first back outer frame 221 are sandwiched between an upper end of the front main surface and an upper end of the back main surface, and a lower end of the front main surface and a lower end of the back main surface are connected with outer side surfaces of the front waist outer frame 23 and the back waist outer frame 24.

Furthermore, in one embodiment provided by the present disclosure, as shown in fig. 3, 4 and 7, the exoskeleton 20 further comprises a first shoulder exoskeleton 25, and the first shoulder exoskeleton 25 is configured and adapted to cover a side surface of the first arm driving mechanism 32 to protect the first arm driving mechanism 32, where the side surface of the first arm driving mechanism 32 refers to a circumferential surface of the first arm driving mechanism 32. The first shoulder exoskeleton 25 and the first arm driving mechanism 32 are connected to the driving end of the second arm driving mechanism 33 to drive the arm to move forward and backward, the driving end of the first arm driving mechanism 32 is connected to the arm to drive the arm to move left and right, in other words, when the driving end of the second arm driving mechanism 33 rotates, the second arm driving mechanism 33 drives the first arm driving mechanism 32 and the first shoulder exoskeleton 25 to rotate, thereby driving the robot arm to swing forward and backward, and when the driving end of the first arm driving mechanism 32 rotates, the driving end of the first arm driving mechanism 32 drives the robot arm to swing left and right.

To facilitate positioning of the first shoulder exoskeleton 25 on the drive end of the second arm drive mechanism 33, a first positioning structure is configured between the first shoulder exoskeleton 25 and the second arm drive mechanism 33 to define the relative position of the two. In one embodiment provided by the present disclosure, as shown in fig. 6 and 7, the first positioning structure includes a positioning pin 251 and a positioning hole 333, which are matched, the positioning pin 251 is formed at one end of the first shoulder exoskeleton 25 near the second arm driving mechanism 33, and the positioning hole 333 is formed at the driving end of the second arm driving mechanism 33. Specifically, the driving end of the second arm driving mechanism 33 may include a driving end body 331 and a driving end wrapping piece 332 fixed to the driving end body 331, the driving end wrapping piece 332 rotates synchronously with the driving end body, and a positioning hole 333 may be formed in the driving end wrapping piece 332 so that the driving end wrapping piece 332 may function to protect the driving end body 331 and connect the first shoulder exoskeleton 25. When the first shoulder exoskeleton 25 is mounted, the positioning pin 251 is inserted into the positioning hole 333, so that the first shoulder exoskeleton 25 can be positioned on the driving end of the second arm driving mechanism 33. Of course, in another embodiment provided by the present disclosure, a positioning pin may be formed on the driving end of the second arm driving mechanism 33, and a positioning hole 333 engaged with the positioning pin may be formed on the first shoulder exoskeleton 25. Further, in other embodiments provided by the present disclosure, other positioning structures, such as a positioning boss and a groove, may be configured between the second arm driving mechanism 33 and the first shoulder exoskeleton 25, and the present disclosure is not particularly limited thereto.

As shown in fig. 5 to 6 and 8 to 10, the inner frame 10 may further be provided with a support ring 11 for supporting the first shoulder exoskeleton 25, and the first shoulder exoskeleton 25 passes through the support ring 11 and is connected to the driving end of the second arm driving mechanism 33. Specifically, the support ring 11 is fixed relative to the second arm driving mechanism 33, and the support ring 11 is located between the first arm driving mechanism 32 and the second arm driving mechanism 33, a step structure is formed on the first shoulder exoskeleton 25, and the step structure stops and is supported on the support ring 11, and the support ring 11 can play a role of assisting in supporting the first shoulder exoskeleton 25, so as to prevent the joint of the first shoulder exoskeleton 25 and the second arm driving mechanism 33 from being broken.

Further, as shown in fig. 3, 8, and 9, the outer frame 20 further includes a second shoulder outer frame 26, the second shoulder outer frame 26 is fixed on the first shoulder outer frame 25 and is disposed outside the support ring 11 in the left-right direction of the robot, and one side of the second shoulder outer frame 26 close to the support ring 11 abuts against the end surface of the support ring 11, so that the first shoulder outer frame 25 can rotate along the circumferential direction of the support ring 11 when rotating, that is, because the second shoulder outer frame 26 abuts against the end surface of the support ring 11, the second shoulder outer frame 26 can guide the first shoulder outer frame 25 to rotate along the inner circumference of the support ring 11, so that the rotation process of the first shoulder outer frame 25 is more stable and reliable, and deflection and shaking are not easy to occur.

In addition, as shown in fig. 3, 8, 9, 10, the exoskeleton further comprises a third shoulder exoskeleton 27, the third shoulder exoskeleton 27 is fixed to the first shoulder exoskeleton 25, and is arranged at the inner side of the support ring 11 in the left-right direction of the robot, one side of the third shoulder exoskeleton 27 close to the support ring 11 extends into the support ring 11 and is abutted against the inner surface of the support ring 11, to fill the space between the support ring 11 and the first arm drive mechanism 32, to prevent the first arm drive mechanism 32 and the first shoulder exoskeleton 25 from wobbling and shifting within the support ring 11, i.e., to avoid the first arm drive mechanism 32 and the first shoulder exoskeleton 25 from being able to rotate, the robot arm swings in the direction perpendicular to the rotation axis thereof (the front-back direction of the robot), so that the rotation process of the first shoulder exoskeleton 25 and the first arm driving mechanism 32 is more stable and reliable, and the front-back swing of the robot arm is further stable and reliable. Optionally, one end of the third shoulder exoskeleton 27 extending into the support ring 11 may extend toward the second shoulder exoskeleton 26 and be connected to the second shoulder exoskeleton 26 to improve the connection tightness between the second shoulder exoskeleton 26 and the third shoulder exoskeleton 27, so that the whole shoulder exoskeleton is more stable and reliable.

Alternatively, the outer side surfaces of the second shoulder exoskeleton 26 and the third shoulder exoskeleton 27 can be formed into convex cambered surfaces so as to be matched with the shape of the support ring 11, so that the second shoulder exoskeleton 26 can be supported on the end surface of the support ring 11, and the outer surface of the third shoulder exoskeleton 27 can be attached to the inner surface of the support ring 11.

Further, in an embodiment provided by the present disclosure, the first shoulder exoskeleton 25 is formed in a U-shaped structure with an opening facing the inner frame 10 to cover a side surface of the first arm driving mechanism 32 and expose at least a driving end of the first arm driving mechanism 32, so that the driving end of the first arm driving mechanism 32 can be connected to an arm, the second shoulder exoskeleton 26 and the third shoulder exoskeleton 27 are disposed on both front and rear sides of the first shoulder exoskeleton 25, that is, the second shoulder exoskeleton 26 is mounted on both front and rear sides of the first shoulder exoskeleton 25, and similarly, the third shoulder exoskeleton 27 is also mounted on both front and rear sides of the first shoulder exoskeleton 25 to cover both front and rear sides of the first arm driving mechanism 32 and protect the first arm driving mechanism 32. The second shoulder exoskeleton 26 can be configured to expose the drive end of the first arm drive mechanism 32 to facilitate connection of the arm of the robot to the drive end of the first arm drive mechanism 32. .

In addition, since the third shoulder exoskeleton 27 has a wire passing through it, the exoskeleton 20 may further include a wire protection exoskeleton 28 for protecting the wire, and the wire protection exoskeleton 28 covers the outer side of the third shoulder exoskeleton 27, so that the wire is located between the wire protection exoskeleton 28 and the third shoulder exoskeleton 27 to prevent the wire from being damaged.

In addition, in an embodiment provided by the present disclosure, as shown in fig. 11, the exoskeleton 20 further includes a fourth shoulder exoskeleton 29, the fourth shoulder exoskeleton 29 is disposed on both upper and lower sides of the first shoulder exoskeleton 25 and between the first arm driving mechanism 32 and the forebreast exoskeleton 21 and the back exoskeleton 22 to expose at least the driving end of the first arm driving mechanism 32, and an outer side surface of the fourth shoulder exoskeleton 29 is an outward convex arc surface to simulate a curve of a human shoulder appearance, so that the shoulder appearance of the robot is more humanoid. Alternatively, the height of the fourth shoulder exoskeleton 29 is gradually reduced from the front chest exoskeleton 21 and the back exoskeleton 22 toward the first arm drive mechanism 32 to simulate the shoulder curve of a human body, making the appearance of the robot more humanoid.

Further, a second positioning structure is configured between the fourth shoulder exoskeleton 29 and the forebreast exoskeleton 21 and/or the back exoskeleton 22 to define a relative position between the fourth shoulder exoskeleton 29 and the forebreast exoskeleton 21 and/or the back exoskeleton 22.

In one embodiment provided by the present disclosure, the second positioning structure includes a positioning groove 291 and

positioning bosses

213, 223 that are engaged with each other, the positioning groove 291 is formed on the fourth shoulder exoskeleton 29, the positioning bosses 213 are formed on the left and right sides (see fig. 4) of the front chest exoskeleton 21, and the positioning bosses 223 are formed on the left and right sides (see fig. 4) of the rear back exoskeleton 22, and when mounted, the

positioning bosses

213, 223 are inserted into the positioning groove 291 so that the fourth shoulder exoskeleton 29 can be quickly positioned to its mounting position. Specifically, the second forebreast exoskeleton 212 has a third left side and a third right side that are bilaterally symmetric along the central axis of the robot, the second back exoskeleton 222 has a fourth left side and a fourth right side that are bilaterally symmetric along the central axis, the first left side, the second left side, the third left side, and the fourth left side form the left side of the robot, the first right side, the second right side, the third right side, and the fourth right side form the right side of the robot, the positioning bosses 213 of the forebreast exoskeleton are formed on the third left side and the third right side, and the positioning bosses 223 of the back exoskeleton are formed on the fourth left side and the fourth right side to facilitate installation with the fourth shoulder exoskeleton 29. In one embodiment, the

positioning bosses

213, 223 may be

trapezoidal positioning bosses

213, 223 and the positioning groove 291 may be trapezoidal positioning groove 291. In other embodiments, the

positioning bosses

213 and 223 and the positioning groove 291 may have a rectangular parallelepiped shape, a square shape, a triangular shape, or the like.

In another embodiment provided by the present disclosure, the positioning grooves 291 may be formed on the left and right sides of the front and

rear back exoskeletons

21 and 22, and the

positioning bosses

213 and 223 may be formed on the fourth shoulder exoskeletons 29. In other embodiments provided by the present disclosure, other positioning structures, such as a positioning shaft and a positioning hole, may be configured between the fourth shoulder exoskeleton 29 and the chest exoskeleton 21 and/or the back exoskeleton 22, and the present disclosure is not particularly limited thereto.

In order to reduce the weight of the chest skeleton structure of the robot and improve the endurance of the robot, in one embodiment provided by the present disclosure, the exoskeleton 20 is at least partially constructed as a truss structure, that is, at least a part of the exoskeleton 20 is formed with a hollow structure or lightening holes, lightening grooves, etc. to reduce the weight of the exoskeleton 20, and thus reduce the weight of the entire robot, thereby achieving the purpose of improving the endurance of the robot.

As described above, since the inner frame 10 and the outer frame 20 have different functions, the driving mechanism is mounted on the inner frame 10, and the arms, the head, and the lower limbs of the robot can also be mounted on the inner frame 10, so that the inner frame 10 is a main stressed frame, and the outer frame 20 is mainly used for constructing the appearance shape of the anthropomorphic robot, in an embodiment provided by the present disclosure, the inner frame 10 may be made of a metal material, so that the inner frame 10 has sufficient structural strength, and the outer frame 20 may be made of a plastic material, so that the manufacturing cost of the robot may be reduced, the overall weight of the robot may be reduced, and the cruising ability of the robot may be improved.

According to another aspect of the present disclosure, there is provided a robot including the chest skeleton structure of the robot described above.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims

1. A chest skeleton structure of a robot, comprising an inner skeleton (10) and an outer skeleton (20), the outer skeleton (20) defining a chest cavity of the robot, the inner skeleton (10) being disposed within the chest cavity, the inner skeleton (10) being for mounting a driving mechanism of the robot, the outer skeleton (20) being for supporting an appearance skin of the chest of the robot, and the outer skeleton (20) being configured such that the chest has an anthropomorphic appearance shape;

the outer framework (20) is at least partially constructed into a truss structure, the outer framework (20) comprises a front chest outer framework (21) and a back outer framework (22), the front chest outer framework (21) is fixed on the front side of the inner framework (10), the back outer framework (22) is fixed on the back side of the inner framework (10), and the back side of the front chest outer framework (21) is attached to the front side of the back outer framework (22);

the front chest exoskeleton (21) comprises a first front chest exoskeleton (211) and a second front chest exoskeleton (212), the back exoskeleton (22) comprises a first back exoskeleton (221) and a second back exoskeleton (222), the shapes of the first front chest exoskeleton (211) and the first back exoskeleton (221) are matched with the shape of the inner frame (10), the first front chest exoskeleton (211) and the first back exoskeleton (221) are both fixed on the inner frame (10), the second front chest exoskeleton (212) is fixed on the back side of the first front chest exoskeleton (211), the second back exoskeleton (222) is fixed on the front side of the first back exoskeleton (221), the second front chest exoskeleton (212) and the second back exoskeleton (222) are both provided with an arc outer side surface protruding outwards, so that the apparent shape has undulations on the front and back sides.

2. The chest skeleton structure of the robot according to claim 1, wherein the driving mechanism comprises an arm driving mechanism and a waist driving mechanism (31), the arm driving mechanism comprises a first arm driving mechanism (32) for driving the arm of the robot to move left and right and a second arm driving mechanism (33) for driving the arm to move back and forth, the waist driving mechanism (31) is used for driving the chest skeleton structure to move left and right, the left and right ends of the inner skeleton (10) are respectively used for arranging the first arm driving mechanism (32), the second arm driving mechanism (33) is arranged between the first arm driving mechanisms (32), and the lower end of the inner skeleton (10) is used for arranging the waist driving mechanism (31).

3. The robot chest skeleton structure of claim 2 wherein the exoskeleton (20) is configured such that at least the drive end of each of the first arm drive mechanism (32) and lumbar drive mechanism (31) is exposed.

4. The robot chest skeleton structure of claim 3, wherein the lower end of the first front chest exoskeleton (211) is configured to cover the side of the lumbar drive mechanism (31) in the front, and the lower end of the first back exoskeleton (221) is configured to cover the side of the lumbar drive mechanism (31) in the rear.

5. The robot chest skeleton structure of claim 1, wherein said outer skeleton (20) further comprises a front waist outer skeleton (23) and a rear waist outer skeleton (24), said front waist outer skeleton (23) being connected to said first front chest outer skeleton (211) at a lower end of said second front chest outer skeleton (212), said rear waist outer skeleton (24) being connected to said first back outer skeleton (221) at a lower end of said second back outer skeleton (222) to at least partially cover front and rear ends of said lumbar drive mechanism (31) at front and rear sides,

the front waist outer frame (23) is provided with an arc-shaped outer side surface which protrudes outwards and is adjacent to and smoothly transited with the arc-shaped outer side surface of the second front chest outer frame (212),

the back waist exoskeleton (24) has an outwardly convex arcuate outer side surface that abuts and smoothly transitions with the arcuate outer side surface of the second back outer armature (222).

6. The robot chest skeleton structure of claim 3, wherein the front chest exoskeleton (21) and the back exoskeleton (22) are configured to avoid back and forth movement of the corresponding arms on both left and right sides.

7. The robot chest skeleton structure of claim 3, wherein the exoskeleton (20) further comprises a first shoulder exoskeleton (25), the first shoulder exoskeleton (25) is configured and adapted to cover the side of the first arm driving mechanism (32), the first shoulder exoskeleton (25) and the first arm driving mechanism (32) are connected with the driving end of the second arm driving mechanism (33) to drive the arm to move back and forth, and the driving end of the first arm driving mechanism (32) is connected with the arm to drive the arm to move left and right.

8. The chest skeleton structure of robot according to claim 7, characterized in that the inner skeleton (10) is further provided with a support ring (11) for supporting the first shoulder outer skeleton (25), and the first shoulder outer skeleton (25) is connected with the driving end of the second arm driving mechanism (33) through the support ring (11).

9. The chest skeleton structure of robot of claim 8, characterized in that, the exoskeleton (20) further comprises a second shoulder exoskeleton (26), the second shoulder exoskeleton (26) is fixed on the first shoulder exoskeleton (25) and is disposed outside the support ring (11) in the left-right direction of the robot, and one side of the second shoulder exoskeleton (26) close to the support ring (11) abuts against the end surface of the support ring (11).

10. The chest skeleton structure of robot of claim 9, characterized in that, the exoskeleton further comprises a third shoulder exoskeleton (27), the third shoulder exoskeleton (27) is fixed on the first shoulder exoskeleton (25) and is disposed at the inner side of the support ring (11) in the left-right direction of the robot, one side of the third shoulder exoskeleton (27) close to the support ring (11) extends into the support ring (11) and abuts against the inner surface of the support ring (11) to fill the space between the support ring (11) and the first arm driving mechanism (32).

11. The chest skeleton structure of a robot according to claim 10, wherein the first shoulder exoskeleton (25) is formed in a U-shaped structure opened toward the inner skeleton (10), and the second shoulder exoskeleton (26) and the third shoulder exoskeleton (27) are provided at both front and rear sides of the first shoulder exoskeleton (25).

12. The robot chest skeleton arrangement of claim 7, wherein a first positioning structure is configured between the first shoulder exoskeleton (25) and the second arm drive mechanism (33) to define the relative positions of the two,

the first positioning structure comprises a positioning pin (251) and a positioning hole (333) which are matched, one of the positioning pin (251) and the positioning hole (333) is arranged on the first shoulder exoskeleton (25), and the other of the positioning pin (251) and the positioning hole (333) is arranged on the driving end of the second arm driving mechanism (33).

13. The chest skeleton structure of robot of claim 10, characterized in that, the exoskeleton (20) further comprises a wire protection skeleton (28) for protecting the wire, the wire protection skeleton (28) is covered outside the third shoulder exoskeleton (27) so that the wire is located between the wire protection skeleton (28) and the third shoulder exoskeleton (27).

14. The chest skeleton structure of robot according to claim 7, wherein the exoskeleton (20) further comprises a fourth shoulder exoskeleton (29), the fourth shoulder exoskeleton (29) is disposed on the upper and lower sides of the first shoulder exoskeleton (25) and is located between the first arm driving mechanism (32) and the front chest exoskeleton (21) and the back exoskeleton (22), and the outer side surface of the fourth shoulder exoskeleton (29) is a convex arc surface.

15. The chest skeleton arrangement of a robot of claim 14, wherein a second positioning structure is configured between the fourth shoulder exoskeleton (29) and the front chest exoskeleton (21) and/or the back exoskeleton (22),

the second positioning structure comprises a positioning groove (291) and positioning bosses (213 and 223) which are matched with each other, one of the positioning groove (291) and the positioning bosses (213 and 223) is arranged on the fourth shoulder exoskeleton (29), and the other of the positioning groove (291) and the positioning bosses (213 and 223) is arranged on the chest exoskeleton (21) and/or the back exoskeleton (22).

16. The robot chest skeleton arrangement according to any one of claims 1-15, characterized in that the inner skeleton (10) is made of a metal material and the outer skeleton (20) is made of a plastic material.

17. A robot, characterized by comprising a chest skeleton structure of a robot according to any of claims 1-16.