Trunk structure for quadruped robot

Abstract

The invention relates to a trunk structure of a quadruped robot, and the trunk structure comprises a machine body assembly, an upper layer assembly and a lower layer assembly. The machine body assembly comprises an upper shell, a middle shell and a lower shell which are sequentially stacked from top to bottom, the upper shell and the middle shell are connected to form an upper-layer cavity, and the middle shell and the lower shell are connected to form a lower-layer cavity. And the upper-layer assembly is mounted in the upper-layer cavity. And the lower-layer assembly is mounted in the lower-layer cavity. When the upper shell is in an open state, the upper-layer cavity is communicated with the outside, and the upper-layer assembly is exposed to the outside. According to the trunk structure, the upper-layer assembly can be maintained or replaced only by opening the upper-layer cavity, when the upper-layer cavity is in the open state, the lower-layer cavity is in the closed state, and the lower-layer assembly cannot make direct contact with the outside, so that the maintenance difficulty and time cost are reduced, unnecessary damage to the lower-layer assembly is reduced, and the service life of the trunk structure is prolonged. The service life of the lower layer assembly is prolonged, and meanwhile the stability and reliability of the trunk structure can be improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of quadruped robots, and in particular to a trunk structure for a quadruped robot. Background Art

[0002] With the continuous development of science and technology, quadruped robots are increasingly used in industrial production, service fields, and operations in extreme environments. Their application not only effectively ensures the safety of operators and avoids potential casualties, but also significantly improves operational efficiency.

[0003] However, as the functions of quadruped robots continue to expand, the number of electronic components integrated inside them has increased significantly. In order to ensure the long-term stable operation of the robot, the maintenance and replacement of core components such as the main control circuit board has become a necessary link. In the existing technology, key components such as the main control circuit board, battery, speaker, motor, etc. are usually concentrated in the same internal cavity. In order to repair or replace the main control circuit board, it is necessary to frequently open the internal structure of the robot and perform multiple disassembly and reconnection. Such operations are not only likely to interfere with the normal operation of other internal components and reduce the overall stability and reliability of the system, but also make the maintenance process complicated and cumbersome, and often require the entire machine to be disassembled, which greatly increases the difficulty and time cost of maintenance.

[0004] Therefore, it is necessary to improve the existing technology to overcome the above-mentioned defects in the existing technology. Summary of the Invention

[0005] In order to solve the problems existing in the prior art, the present disclosure provides a torso structure for a quadruped robot.

[0006] According to a first aspect of the present disclosure, there is provided a trunk structure for a quadruped robot, comprising:

[0007] A fuselage assembly, the fuselage assembly comprising an upper shell, a middle shell, and a lower shell stacked sequentially from top to bottom, wherein the upper shell and the middle shell are connected to form an upper chamber, and the middle shell and the lower shell are connected to form a lower chamber;

[0008] an upper assembly installed in the upper chamber;

[0009] a lower layer component, the lower layer component being installed in the lower layer chamber;

[0010] When the upper shell is in an open state, the upper chamber is in communication with the outside world, and the upper components are exposed to the outside world.

[0011] In one embodiment of the present disclosure, the upper assembly includes a main circuit board, an air inlet fan, and an air outlet fan, and the main circuit board is installed in the middle of the upper chamber;

[0012] The air inlet duct of the air inlet fan is installed on one side of the main circuit board perpendicular to the stacking direction of the upper chamber and the lower chamber;

[0013] The air outlet fan is installed on the inner side wall of the middle shell away from the air inlet fan, and the air outlet duct of the air outlet fan is vertically arranged with respect to the air inlet duct of the air inlet fan.

[0014] In one embodiment of the present disclosure, the middle shell includes a carrying platform and a support wall, wherein the support wall surrounds the carrying platform and is configured to extend outward along the height direction of the carrying platform to form an upper installation cavity above the carrying platform and a lower installation cavity below the carrying platform;

[0015] The main circuit board is arranged in the upper mounting cavity, and the main circuit board, the supporting platform and the lower shell are respectively provided with a main circuit board air inlet hole, a supporting platform air inlet hole and a lower shell air inlet hole. The main circuit board air inlet hole, the supporting platform air inlet hole and the lower shell air inlet hole at least partially overlap with the air intake fan in the height direction, and form the air intake duct.

[0016] In one embodiment of the present disclosure, the support wall is provided with air outlet holes corresponding to the air outlet fans, and the supporting platform divides the air outlet holes into upper air outlet holes located in the upper cavity and lower air outlet holes located in the lower cavity.

[0017] In one embodiment of the present disclosure, the upper component also includes at least one heat sink, which is installed on the main circuit board along the air outlet direction of the upper air outlet. The airflow in the upper chamber flows through the heat sink and is discharged from the upper air outlet.

[0018] In one embodiment of the present disclosure, the lower layer component includes a battery component, and the battery component and the air inlet duct are staggered and arranged in the lower layer chamber, and at least part of the airflow in the lower layer chamber is discharged through the lower layer air outlet after flowing through the outer surface of the battery component.

[0019] In one embodiment of the present disclosure, the lower assembly includes a stopper and a pressure plate. The outer wall of the pressure plate is provided with at least one mounting groove. The outer wall of the stopper is provided with a column adapted to the mounting groove. The stopper and the pressure plate are connected to the mounting groove via the column to form a battery chamber 37 for accommodating the battery assembly.

[0020] The battery chamber 37 is a multi-faceted opening structure. When the battery assembly is placed in the battery chamber 37 , at least part of the sidewall of the battery assembly is in direct contact with the lower chamber.

[0021] In one embodiment of the present disclosure, the battery assembly includes charging contacts, and the lower shell is provided with a charging hole at a position corresponding to the charging contact, and the charging contact is electrically connected to an external charging device through the charging hole.

[0022] In one embodiment of the present disclosure, at least one lower shell support bar is provided on the side wall of the lower shell and protrudes beyond the height of the lower shell side wall, and at least one middle shell support bar is provided on the side wall of the support wall and protrudes beyond the height of the support wall side wall, and the lower shell support bar and the middle shell support bar are staggered.

[0023] In one embodiment of the present disclosure, a mounting platform is provided on the top of the upper shell;

[0024] The fuselage assembly further includes an expansion bracket configured to be detachably connected to the mounting platform.

[0025] One beneficial effect of the present disclosure is that the trunk structure of the four groups of robots disclosed in the present disclosure includes an upper chamber and a lower chamber, wherein the upper component is located in the upper chamber, and the lower component is located in the lower chamber. When the upper component needs to be repaired or replaced, it is only necessary to open the upper chamber to repair or replace the upper component. During the process of opening the upper chamber to repair or replace the upper component, the lower chamber is always in a closed state, and the lower component located in the lower chamber will not be in contact with the outside world. Such a design can not only reduce the difficulty and time cost of maintaining the upper component, but also reduce unnecessary damage to the lower component during the maintenance of the upper component. It is beneficial to extend the service life of the lower component and improve the overall stability and reliability of the trunk structure.

[0026] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0028] Figure 1 is a schematic diagram of a torso structure provided by an embodiment of the present disclosure;

[0029] Figure 2 is a schematic diagram of a trunk structure provided by an embodiment of the present disclosure from another angle;

[0030] Figure 3 It is a partial exploded schematic diagram of a trunk structure provided by an embodiment of the present disclosure;

[0031] Figure 4Schematic diagram of a middle shell structure with an upper layer assembly installed, provided in one embodiment of the present disclosure;

[0032] Figure 5 is a schematic diagram of a middle shell structure with an upper layer component installed, provided by another embodiment of the present disclosure;

[0033] Figure 6 is a schematic diagram of an upper layer component provided by an embodiment of the present disclosure;

[0034] Figure 7 is a schematic diagram of an upper shell provided by an embodiment of the present disclosure;

[0035] Figure 8 is a schematic diagram of an upper shell provided by an embodiment of the present disclosure from another angle;

[0036] Figure 9 is a schematic diagram of a middle shell provided by an embodiment of the present disclosure;

[0037] Figure 10 is a schematic diagram of a middle shell provided by an embodiment of the present disclosure from another angle;

[0038] Figure 11 is a schematic diagram of a lower shell provided by an embodiment of the present disclosure;

[0039] Figure 12 is a schematic diagram of the lower housing provided by an embodiment of the present disclosure from another angle;

[0040] Figure 13 is a schematic diagram of a lower housing with lower components installed provided by an embodiment of the present disclosure;

[0041] Figure 14 is a schematic diagram of an extension bracket provided in one embodiment of the present disclosure;

[0042] Figure 15 is a structural schematic diagram of a cover plate provided in one embodiment of the present disclosure;

[0043] Figure 16 is a schematic diagram of a cover plate provided by an embodiment of the present disclosure from another angle;

[0044] Figure 17 It is a schematic diagram of an extension bracket provided by an embodiment of the present disclosure from another angle.

[0045] Figures 1 to 17 The one-to-one correspondence between the component names and the reference numerals is as follows:

[0046] 1. Upper shell; 11. Mounting platform; 12. Connection hole; 13. Docking piece; 14. Reinforcement rib; 15. Second support hole; 16. Docking hole;

[0047] 2. Middle shell; 21. Carrying platform; 211. Carrying platform air inlet; 212. Third through hole; 22. Support wall; 221. Air outlet; 222. Middle shell support bar;

[0048] 3. Lower shell; 31. Lower shell air inlet; 311. Audio hole; 312. First support base; 313. Second support base; 32. Charging port; 33. Lower shell support bar; 34. Mounting hole; 35. Limiting member; 351. Column; 352. Wiring trough; 353. Support member; 36. Pressing plate; 361. Mounting slot; 37. Battery chamber; 38. Support base;

[0049] 4. Upper component; 41. Main circuit board; 411. Main circuit board air inlet; 412. First support hole; 413. Second through hole; 42. Air inlet fan; 43. Air outlet fan; 44. Heat sink;

[0050] 5. Extension bracket; 51. Mounting slot; 52. Mounting hole; 53. Limit hole; 54. Docking column;

[0051] 6. Cover plate; 61. Magnetic parts. DETAILED DESCRIPTION

[0052] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure.

[0053] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0054] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0055] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0056] The specific embodiments of the present disclosure are described below with reference to the accompanying drawings.

[0057] In this document, “upper”, “lower”, “front”, “back”, “left”, “right”, etc. are only used to indicate the relative position relationship between related parts, rather than to limit the absolute positions of these related parts.

[0058] In this article, "first", "second", etc. are only used to distinguish each other, and do not indicate the importance and order, or the prerequisite for each other's existence.

[0059] In this document, “equal”, “same”, etc. are not strictly limited in a mathematical and / or geometric sense, but also include errors that can be understood by those skilled in the art and are allowed in manufacturing or use.

[0060] For ease of understanding, refer to Figures 1 to 17 , the specific structure and working principle of the trunk structure for a quadruped robot disclosed in the present invention are explained in detail with reference to an embodiment.

[0061] refer to Figures 1 to 3 In one embodiment of the present disclosure, a trunk structure for a quadruped robot is provided, the trunk structure comprising a body assembly, an upper assembly 4, and a lower assembly. The body assembly comprises an upper shell 1, a middle shell 2, and a lower shell 3 stacked in sequence from top to bottom, wherein the upper shell 1 is connected to the middle shell 2 to form an upper chamber, and the middle shell 2 is connected to the lower shell 3 to form a lower chamber. The upper assembly 4 is installed in the upper chamber, and the lower assembly is installed in the lower chamber. When the upper shell 1 is in the open state, the upper chamber is connected to the outside world, and the upper assembly 4 is exposed to the outside world.

[0062] When the upper assembly needs to be repaired or replaced, the upper chamber only needs to be opened to expose the upper assembly 4 to the outside world for repair or replacement. Furthermore, while the upper chamber is opened to repair or replace the upper assembly 4, the lower chamber remains sealed, and the lower assembly within the lower chamber is protected from the outside world. This design not only reduces the difficulty and time cost of maintaining the upper assembly 4, but also minimizes unnecessary damage to the lower assembly during maintenance. This helps extend the service life of the lower assembly and improves the overall stability and reliability of the trunk structure.

[0063] In one embodiment of the present disclosure, in order to ensure the installation accuracy between the upper shell 1 and the middle shell 2 and improve the consistency and stability of the assembly, reference is made to Figure 7 The upper shell 1 is equipped with a docking piece 13 for positioning, while the middle shell 2 is provided with a docking groove that matches the docking piece 13. During assembly, simply inserting the docking piece 13 into the corresponding docking groove achieves precise alignment and a secure connection between the upper shell 1 and the middle shell 2. This structure simplifies assembly operations, improves overall assembly efficiency and reliability, and avoids problems such as poor cavity sealing or functional interference caused by misalignment.

[0064] In one embodiment of the present disclosure, referring to Figure 4 and Figure 5The upper assembly 4 includes a main circuit board 41, an inlet fan 42, and an outlet fan 43. The main circuit board 41 is mounted in the middle of the upper chamber. The inlet duct of the inlet fan 42 is mounted on one side of the main circuit board 41, perpendicular to the stacking direction of the upper and lower chambers. The outlet fan 43 is mounted on the inner side wall of the middle shell 2, away from the inlet fan 42. The outlet duct of the outlet fan 43 is perpendicular to the inlet duct of the inlet fan 42. This arrangement optimizes the air flow path within the upper chamber and enhances the heat dissipation effect of the heat dissipation airflow.

[0065] In this embodiment, the air inlet fan 42 can introduce external cold air into the inner cavity of the trunk structure. The cold air flowing into the upper chamber can absorb and remove the heat of the main circuit board 41. Under the action of the air outlet fan 43, the air flow in the upper chamber will flow through the main circuit board 41 and then be discharged from the upper chamber to achieve heat dissipation of the main circuit board 41. The air outlet fan 43 is arranged perpendicular to the air inlet fan 42, so that an efficient air flow path is formed in the upper chamber, which effectively avoids heat accumulation in local areas and is conducive to improving the heat exchange efficiency of the main circuit board 41. The vertical layout structure of the air inlet and outlet ducts of the air inlet fan 42 and the air outlet fan 43 effectively solves the problem of insufficient heat dissipation caused by poor heat dissipation paths and heat accumulation in traditional structures. It also has the effects of compact structure, efficient heat flow path, and reduced system heat dissipation power consumption.

[0066] In one embodiment of the present disclosure, referring to Figure 9 To improve the heat dissipation efficiency of the main circuit board 41 and optimize the air circulation path in the upper cavity, the middle shell 2 includes a carrier 21 and a support wall 22. The support wall 22 surrounds the carrier 21 and is configured to extend outward along the height direction of the carrier 21 to form an upper installation cavity above the carrier 21 and a lower installation cavity below the carrier 21. The main circuit board 41 is placed in the upper installation cavity. Figure 5 In order to form a stable and effective air inlet duct, the main circuit board 41, the supporting platform 21 and the lower shell 3 are respectively provided with a main circuit board air inlet hole 411, a supporting platform air inlet hole 211 and a lower shell air inlet hole 31. The main circuit board air inlet hole 411, the supporting platform air inlet hole 211 and the lower shell air inlet hole 31 at least partially overlap with the air inlet fan 42 in their height direction, thus forming an air inlet duct that passes through the lower cavity and the upper cavity from bottom to top.

[0067] refer to Figure 3 and Figure 5When the trunk structure is in operation, the air intake fan 42 draws in external cold air, causing the airflow to flow sequentially through the lower shell air inlet 31, the lower chamber, the support platform air inlet 211, the upper chamber, and the main circuit board air inlet 411. Finally, under the action of the air outlet fan 43, it flows from the outlet duct to the outside of the upper chamber, effectively cooling the main circuit board 41. The air intake duct defined by the air intake fan 42, the main circuit board air inlet 411, the support platform air inlet 211, and the lower shell air inlet 31 effectively solves the problem of insufficient heat dissipation caused by unclear air duct paths, high wind resistance, or heat retention in traditional devices. It helps cold air concentrate on the core heat-generating parts of the main circuit board 41, thereby achieving air cooling of the main circuit board 41. This significantly improves the heat dissipation efficiency and operational stability of the main circuit board 41. The overlapping arrangement of the air intakes in the height direction ensures the continuity and flow efficiency of the air flow channel, improving heat dissipation performance. While maintaining a good heat dissipation effect, the load of the air intake fan 42 is reduced, thereby reducing overall energy consumption and system noise.

[0068] In some embodiments, the specific positions of the main circuit board air inlet 411, the support platform air inlet 211 and the lower shell air inlet 31 can be flexibly adjusted according to the actual application scenario, which is conducive to structural adaptation under different product forms.

[0069] In a specific embodiment of the present disclosure, the lower layer assembly also includes an audio assembly, which is used to provide functions such as voice playback or sound effect output. However, due to the limited space inside the lower layer chamber, in this embodiment, the audio assembly is set on the air outlet path of the air outlet fan 43, that is, the installation position of the audio assembly is located on a path perpendicular to the direction of the air outlet duct. Figure 12 The lower housing 3 has an acoustic hole 311 at the location corresponding to the speaker assembly, allowing the sound from the speaker assembly to be effectively transmitted through the hole 311 to the exterior of the trunk structure. To prevent airflow within the lower chamber from interfering with the performance of the speaker assembly, a sealing cover is installed on top of the lower chamber after the speaker assembly is installed in the lower chamber, partially sealing and isolating the speaker assembly from the lower chamber. This sealing structure not only prevents air flow from disturbing the speaker diaphragm, but also reduces contamination of the speaker cavity by impurities such as dust and particles, thereby improving the stability of the speaker assembly and the quality of its sound output.

[0070] It should be noted that the placement of the audio component within the air inlet duct, along with the use of a sealed structure to enclose the audio component and the audio hole, may obstruct the original airflow path of the air inlet duct. To compensate for the airflow-guiding capability of the air inlet duct, multiple lower-shell air inlet holes 31 are provided in the lower shell 3 surrounding the audio component. Although these lower-shell air inlet holes 31 are not arranged completely perpendicular to the air inlet duct, they still cooperate with the air inlet fan 42 to form an air inlet duct, ensuring that external cold air can flow into the lower chamber when the air inlet fan 42 is operating, thereby maintaining normal heat dissipation airflow circulation between the upper and lower chambers.

[0071] In one embodiment of the present disclosure, referring to Figure 5 To further improve the heat dissipation efficiency of the lower chamber and reduce the heat dissipation power requirement of the entire machine, the support wall 22 is provided with an air outlet 221 corresponding to the air outlet fan 43. The carrier 21 divides the air outlet 221 into an upper air outlet located in the upper chamber and a lower air outlet located in the lower chamber. When the air outlet fan 43 is in operation, its air outlet path covers the upper and lower parts of the air outlet 221. The air in the upper chamber can be discharged from the upper chamber through the upper air outlet, and the air in the lower chamber can be discharged from the lower chamber through the lower air outlet, thereby achieving simultaneous heat dissipation from the upper and lower chambers. By providing the air outlet 221 that passes through the upper and lower chambers on the support wall 22 and dividing it into the upper and lower air outlets using the carrier 21, the heat dissipation efficiency of the lower chamber can be improved, the temperature of the lower chamber can be reduced, and overheating of the lower components can be avoided.

[0072] Furthermore, this layout reduces the need for additional heat sinks within the lower chamber, making the overall trunk structure more compact. The upper and lower air ducts, formed by the coordinated operation of the upper and lower air outlets, achieve dual-chamber cooling without relying on multiple independent fans, improving heat dissipation efficiency while reducing power consumption. The division of the upper and lower air outlets can be flexibly designed based on the actual chamber height and air volume requirements, making it suitable for equipment of different models or functional combinations, and contributing to a compact overall structure and highly integrated functions.

[0073] In one embodiment of the present disclosure, referring to Figure 6 To further improve heat dissipation efficiency for the main circuit board 41, the upper assembly 4 also includes at least one heat sink 44. This heat sink 44 is mounted on the main circuit board 41 along the airflow path of the upper air outlet. Airflow within the upper chamber flows through the heat sink 44 before being discharged through the upper air outlet. To reduce the load on the trunk structure, the heat sink 44 is located only on the main heat-generating components of the main circuit board 41.

[0074] In one embodiment of the present disclosure, referring to Figure 6 and Figure 9At least one first support seat 312 is provided on the side of the carrier 21 facing the main circuit board 41, and a first support hole 412 is opened at a position corresponding to the main circuit board 41 and the first support seat 312. Through the cooperation between the first support seat 312 and the first support hole 412, the main circuit board 41 can be firmly installed on the carrier 21, ensuring its position stability and installation reliability during use.

[0075] In this embodiment, at least one second support seat 313 is further provided on the carrier platform 21, and the height of the second support seat 313 is greater than that of the first support seat 312, and is used to connect to the upper shell 1. Figure 8 At least one second support hole 15 is provided on the inner wall of the upper shell 1 facing the main circuit board 41, corresponding to the position of the second support seat 313. During assembly, the second support hole 15 is arranged opposite to the second support seat 313 on the carrier 21, and the upper chamber is formed by mating.

[0076] To accommodate the through-connection between the second support base 313 and the second support hole 15, a second through hole 413 is provided at a corresponding position on the main circuit board 41. During assembly, the second support base 313 can pass through the second through hole 413 on the main circuit board 41 and plug into the second support hole 15 in the upper shell 1, thereby achieving coordinated positioning and a secure connection between the upper shell 1, the middle shell 2, and the main circuit board 41.

[0077] Through the above-mentioned structural design, not only the supporting strength of the main circuit board 41 in the vertical direction is enhanced, but also the impact force transmitted to the main circuit board due to the impact of external force on the upper shell 1 or the middle shell 2 is effectively alleviated, which helps to improve the overall vibration resistance and reliability of the main circuit board, and ensure the long-term stable operation of the device.

[0078] In one embodiment of the present disclosure, in order to further enhance the structural strength of the upper chamber, continue to refer to Figure 8 At least one reinforcing rib 14 is provided on the side wall of the upper shell 1. The reinforcing rib 14 is configured to extend outward along the side wall of the upper shell 1 until the bottom of the reinforcing rib 14 protrudes downward from the side wall of the upper shell 1 and, after being assembled with the middle shell 2, extends to the side wall of the middle shell 2 to form a local structural reinforcement fulcrum. Figure 9 At least one middle shell support bar 222 is provided on the sidewall of the upper mounting cavity of the middle shell 2. The middle shell support bar 222 extends outward along the support wall 22 until its top protrudes above the height of the upper mounting cavity. The reinforcing ribs 14 are horizontally staggered with the middle shell support bar 222.

[0079] When the upper shell 1 and the middle shell 2 are assembled to form the upper chamber, the staggered reinforcement ribs 14 and the middle shell support bars 222 support the upper chamber from different directions. When the upper chamber is subjected to external impact or vibration, the reinforcement ribs 14 and the middle shell support bars 222 work together to absorb and disperse the external force, effectively offsetting the impact of localized concentrated stress on the upper chamber and enhancing the upper chamber's overall impact resistance and mechanical strength.

[0080] Based on the same purpose, in another embodiment, reference Figure 11 and Figure 12 To enhance the structural strength of the lower chamber, at least one lower shell support bar 33 is provided on the sidewall of the lower shell 3, protruding above the height of the lower shell 3 sidewall. At least one middle shell support bar 222 is provided on the sidewall of the support wall 22, protruding above the height of the support wall 22 sidewall. The lower shell support bar 33 and the middle shell support bar 222 are staggered. Specifically, at least one lower shell support bar 33 is provided on the sidewall of the lower shell 3, protruding inward from the inner wall of the lower shell 3 and extending above the conventional structural surface of the lower shell sidewall. Similarly, at least one middle shell support bar 222 is provided on the inner sidewall of the support wall 22, located within the lower installation cavity, and also extends above the base height of the sidewall. The lower shell support bar 33 and the middle shell support bar 222 are also staggered horizontally. When the lower chamber is subjected to external impact, the staggered support bar structure disperses the load transfer path, reduces local stress concentration, and effectively enhances the lower chamber's deformation resistance and structural stability.

[0081] By arranging reinforcing ribs and support bars on the inner sides of multiple components of the upper shell 1, the middle shell 2 and the lower shell 3, and adopting a staggered matching method for structural arrangement, the strength of the driving structure is significantly improved within a limited space, making it have the beneficial effects of good impact resistance, high reliability and strong assembly stability.

[0082] In one embodiment of the present disclosure, the lower assembly includes a battery assembly, which is arranged in the lower chamber, offset from the air inlet duct. At least a portion of the airflow within the lower chamber flows through the outer surface of the battery assembly and is then discharged through the lower air outlet. Specifically, the battery assembly is not directly located in the main airflow path of the air inlet duct, but is instead located in a lateral or non-linear path of the airflow channel. This allows the airflow, after entering the lower chamber, to be diverted to flow through the outer surface of the battery assembly, while the remaining portion continues to flow along the direction of the air inlet duct to the upper chamber.

[0083] Such a configuration allows at least part of the airflow flowing into the lower chamber to be discharged from the lower air outlet after passing through the outer surface of the battery assembly to dissipate heat from the battery assembly, thereby helping to reduce the operating temperature of the battery assembly, extend the service life of the battery assembly, and improve the safety and stability of the trunk structure.

[0084] In one embodiment of the present disclosure, referring to Figure 13 To protect the battery assembly, the lower assembly includes a retaining member 35 and a pressure plate 36. The outer wall of the pressure plate 36 is provided with at least one mounting groove 361. A column 351 that matches the mounting groove 361 is provided on the outer wall of the retaining member 35. The retaining member 35 and the pressure plate 36 are connected through the column and the mounting groove 361 to form a battery chamber 37 for accommodating the battery assembly. The column 352 is a pillar of a certain height extending along the height direction of the retaining member 35. The battery chamber 37 has a multi-sided open structure. That is, except for the retaining member 35 and the mounting groove 361 used for supporting the connection, the other multiple sides of the battery chamber 37 are open. This allows airflow in the lower chamber to flow through the side walls of the battery assembly, thereby improving the heat dissipation effect of the battery assembly. When the battery assembly is placed in battery chamber 37, at least a portion of its sidewalls can be in direct contact with the lower chamber, allowing some of the airflow in the lower chamber to flow through the battery assembly and remove some of the heat from the battery assembly, thereby dissipating heat from the battery assembly. The provision of battery chamber 37 not only improves the stability of the battery assembly installation, but also facilitates heat dissipation during operation.

[0085] In one embodiment of the present disclosure, referring to Figure 11 and Figure 12 The limiting member 35 also includes a support member 353 mounted on the bottom of the lower housing 3. The support member 353 comprises a plurality of interconnected support walls that form a grid of support members 353 on the bottom of the lower housing 3. The support members 353 are arranged in a regular pattern to enhance the overall support strength of the lower housing 3. When the battery assembly is installed in the battery chamber 37, its bottom is supported by the support member 353.

[0086] In one embodiment of the present disclosure, the battery assembly includes charging contacts. Lower housing 3 has charging holes 32 at locations corresponding to the battery assembly charging contacts. The charging contacts pass through charging holes 32 to electrically connect to an external charging device. The provision of charging holes allows the battery assembly to be charged after installation within battery chamber 37 without removal, improving ease of use and integration.

[0087] In another embodiment of the present disclosure, continue to refer to Figure 12 The bottom of the lower housing 3 is also provided with a mounting hole 34, which is located within the mounting space formed between the support member 353 and the lower housing 3. The mounting hole 34 and the mounting space are used to reserve an area for installing other functional components. For example, it can be used to install a visual camera, so that the torso structure can be connected to an external charging device through the visual camera during charging, thereby further enhancing the device's expansion capabilities and functional integrity. Of course, other functional components can also be installed, such as a wireless charging module, a temperature sensor, a positioning device, etc., and this disclosure does not impose too many restrictions on this.

[0088] In another embodiment of the present disclosure, in order to realize the orderly arrangement of the connecting wires, the limiting member 35 is further provided with a wiring groove 352. Figure 12 The multiple grid-like support walls of the support member 353 are provided with wiring grooves 352 for accommodating connecting wires. The connecting wires of the battery assembly or functional components installed in the installation space can pass through these wiring grooves 352 and extend out of the battery chamber 37. This structural design helps to improve the standardization of internal wiring, reduce the risk of wire bending and wear, and thus enhance the stability and reliability of the electrical connection.

[0089] In another embodiment of the present disclosure, referring to Figure 9 and Figure 10 To reduce the load on the trunk structure and rationalize the spatial layout of the trunk cavity, multiple third through-holes 212 are provided at the edge of the support platform 21. Cables connecting the battery pack or functional components in the lower chamber can pass through these third through-holes 212 into the upper chamber and connect to the main circuit board 41. This penetrating arrangement between the upper and lower chambers enables efficient use of space resources, improving the compactness and functional integration of the trunk cavity.

[0090] In one embodiment of the present disclosure, Figure 2 As shown, a support seat 38 is provided at the bottom of the lower shell 3. The support seat 38 is spaced apart at both ends of the outer wall of the lower shell 3 to provide auxiliary support when the trunk structure of the quadruped robot contacts the ground, thereby preventing the lower shell 3 from directly rubbing or colliding with the ground, thereby effectively preventing the lower shell 3 from being worn or damaged, and improving the service life of the trunk structure. The provision of the support seat 38 also helps to control the posture stability of the quadruped robot when it is on standby or charging, and reserves a safety gap for the functional components provided at the bottom (such as charging contacts, visual cameras, sensor modules, etc.), thereby avoiding accidental contact or damage to the functional components due to improper placement of the robot. In addition, the support seat 38 can also provide effective structural support to the trunk structure when the quadruped robot is in a prone position (i.e., the legs are folded and the trunk is close to the ground), thereby supporting the weight of the trunk structure without using leg support, reducing the long-term load-bearing pressure of the leg drive mechanism, and extending the service life of the leg motor and its transmission system.

[0091] In one embodiment of the present disclosure, Figure 7 As shown, the top of the upper shell 1 is provided with a mounting platform 11 for mounting external expansion components. The mounting platform 11 is preferably a groove structure provided on the top of the upper shell 1, so as to facilitate functional expansion without increasing the overall height of the trunk structure. Figure 14The body assembly also includes an expansion bracket 5, which is configured to be detachably connected to the mounting platform 11. Users can connect external expansion components with different functions to the expansion bracket 5 according to actual needs, thereby connecting them to the mounting platform 11. The external expansion components can be sensor modules, cameras, or other auxiliary devices. The expansion bracket 5 enables functional expansion and flexible configuration of the torso structure.

[0092] In one embodiment of the present disclosure, referring to Figure 17 The mounting platform 11 is provided with a plurality of docking holes 16. The bottom of the extension bracket 5 is provided with docking posts 54 at positions corresponding to the docking holes 16. The docking posts 54 are fixedly connected to the corresponding docking holes 16 via bolts, thereby achieving a stable installation of the extension bracket 5 and the mounting platform 11. In this embodiment, the height of the docking posts 54 matches the depth of the groove structure on the mounting platform 11. This allows the lower surface of the extension bracket 5 to abut against the upper surface of the upper shell 1 after the extension bracket 5 is installed. This not only helps to improve the installation stability of the extension bracket 5, but also effectively supports the extension bracket 5 to a certain extent, enhancing the firmness and reliability of the upper shell 1 and the extension bracket 5.

[0093] In one embodiment of the present disclosure, continue to refer to Figure 14 The extension bracket 5 includes a mounting groove 51 provided thereon, and the mounting groove 51 is used to achieve a fixed connection with the upper shell 1 to ensure that the extension bracket 5 is firmly installed on the mounting platform 11 on the top of the upper shell. The upper shell 1 and the extension bracket 5 are fixedly connected through multiple points to further improve the assembly stability between the two.

[0094] In one embodiment of the present disclosure, the expansion bracket 5 is further provided with a plurality of mounting holes 52 and retaining holes 53, facilitating a variety of external expansion component fixing methods. The expansion bracket 5 not only enhances the functional expandability and modularity of the trunk structure, but also improves the flexibility and convenience of installation, allowing users to quickly replace or upgrade external expansion components according to actual needs.

[0095] In an optional installation method for the external expansion component, the external expansion component can be connected to the expansion bracket 5 using a strap. Specifically, the strap is passed through the mounting hole 52 and the retaining hole 53 on the expansion bracket 5, and then fixedly connected to the external expansion component to achieve installation. This installation method is simple in structure and easy to install and remove, making it suitable for a variety of auxiliary devices. In addition to strap fixation, external components can also be installed using other fixing methods such as screws, clips, adhesives, or magnetic connections. This disclosure does not limit these methods to accommodate different usage requirements and environmental conditions.

[0096] In one embodiment of the present disclosure, referring to Figure 7The upper shell 1 is also provided with a plurality of connection holes 12, which are used to realize electrical or signal connection with the external expansion components on the expansion bracket 5. Specifically, the connection holes 12 may include functional structures such as power interface, network interface, signal line interface, Type-C interface, etc. The external expansion components are effectively connected to the internal circuit of the trunk structure through the connection holes 12. Figure 14 The extension bracket 5 also has a connection port extending through the extension bracket 5 at a position corresponding to the connection hole 12. With this arrangement, once the external extension component is installed and secured to the extension bracket 5, the electrical contacts or signal contacts provided thereon can directly establish electrical or signal connection with the connection device within the trunk structure (e.g., the main circuit board 41 within the upper chamber) through the connection port on the extension bracket 5 and the connection hole 12 on the upper shell 1. This structural design effectively simplifies the connection path between the external extension component and the main circuit board 41, improving assembly efficiency and system integration, while also offering excellent expandability and ease of maintenance.

[0097] In one embodiment of the present disclosure, referring to Figure 14 and Figure 17 To reduce the overall weight of the trunk structure after the expansion bracket 5 is installed, the expansion bracket 5 is provided with multiple mounting holes 52 and stop holes 53 while maintaining its own structural strength. The design of mounting holes 52 and stop holes 53 comprehensively considers the force distribution of the expansion bracket 5 and the structural strength of the connection between the two after connection with the external expansion components. This ensures that the expansion bracket 5's own weight is effectively reduced without affecting its load-bearing and connection performance, thus contributing to the lightweight design of the entire device.

[0098] In this embodiment, the provision of mounting holes 52 and limiting holes 53 not only reduces the weight of the expansion bracket 5 itself but also enhances the compatibility and flexibility between the expansion bracket 5 and external expansion components. Specifically, mounting holes 52 and limiting holes 53 can serve as auxiliary mounting locations or reserved interfaces, supporting a variety of connection methods, facilitating the implementation of different expansion component installation solutions based on actual application requirements, and enhancing the modularity and scalability of the system.

[0099] In one embodiment of the present disclosure, the external expansion component can be directly connected to the mounting platform 11 without the need for the expansion bracket 5. The specific connection method can be flexibly configured based on factors such as the functional requirements, size specifications, and installation location of the external expansion component. Those skilled in the art can adjust and optimize the installation method of the external expansion component based on specific application scenarios, and this disclosure does not impose any excessive restrictions on this.

[0100] In another embodiment of the present disclosure, when referring to Figure 15When the expansion bracket 5 is not required, the installation platform 11 can be sealed by installing the cover plate 6. The cover plate 6 can be fixed to the installation platform 11, which can not only prevent the installation platform 11 from being exposed and affecting the neat appearance, but also effectively prevent foreign matter such as dust and water vapor from entering the upper chamber, thereby improving the sealing performance and environmental adaptability of the upper chamber.

[0101] In a specific embodiment, at least one magnetic member 61 is provided at the bottom of the cover 6, and the magnetic member 61 cooperates with the adsorption member at the corresponding position of the upper shell 1 to realize the magnetic connection between the cover 6 and the upper shell 1. Through this magnetic structure, the cover 6 can be firmly adsorbed on the upper shell 1, while being easy for the user to remove and install at any time, thereby improving the convenience of use and maintenance efficiency. Figure 7 An open groove is provided at the connection between the upper shell 1 and the cover 6. This groove is located on or near the side of the magnetic element 61. Once the cover 6 is connected to the upper shell 1, the user can apply prying force with their fingernails or tools through the groove to easily pry and remove the cover 6, achieving non-destructive and quick disassembly. The combination of the magnetic element 61 and the groove ensures that the cover 6 is firmly fixed and meets the needs of convenient disassembly, improving the overall user experience and maintenance convenience of the device.

[0102] The embodiments of the present disclosure have been described above. The above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terms used herein are selected to best explain the principles of the embodiments, their practical applications, or technical improvements in the marketplace, or to enable other persons skilled in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims

1. A trunk structure for a quadruped robot, characterized in that: include: A fuselage assembly, comprising an upper shell (1), a middle shell (2), and a lower shell (3) stacked in sequence from top to bottom, wherein the upper shell (1) and the middle shell (2) are connected to form an upper chamber, and the middle shell (2) and the lower shell (3) are connected to form a lower chamber; an upper layer assembly (4), the upper layer assembly (4) being installed in the upper layer chamber; a lower layer component, the lower layer component being installed in the lower layer chamber; When the upper shell (1) is in an open state, the upper chamber is in communication with the outside world, and the upper component (4) is exposed to the outside world.

2. The trunk structure for a quadruped robot according to claim 1, characterized in that: The upper layer assembly (4) comprises a main circuit board (41), an air inlet fan (42) and an air outlet fan (43), wherein the main circuit board (41) is installed in the middle of the upper layer chamber; The air inlet duct of the air inlet fan (42) is installed on one side of the main circuit board (41) perpendicular to the stacking direction of the upper chamber and the lower chamber; The air outlet fan (43) is installed on the inner side wall of the middle shell (2) away from the air inlet fan (42), and the air outlet duct of the air outlet fan (43) is arranged perpendicular to the air inlet duct of the air inlet fan (42).

3. The trunk structure for a quadruped robot according to claim 2, characterized in that: The middle shell (2) includes a bearing platform (21) and a support wall (22), wherein the support wall (22) surrounds the bearing platform (21) and is configured to extend outward along the height direction of the bearing platform (21) to form an upper installation cavity above the bearing platform (21) and a lower installation cavity below the bearing platform (21); The main circuit board (41) is arranged in the upper installation cavity, and the main circuit board (41), the bearing platform (21) and the lower shell (3) are respectively provided with a main circuit board air inlet hole (411), a bearing platform air inlet hole (211) and a lower shell air inlet hole (31); the main circuit board air inlet hole (411), the bearing platform air inlet hole (211) and the lower shell air inlet hole (31) at least partially overlap with the air inlet fan (42) in the height direction, and form the air inlet duct.

4. The trunk structure for a quadruped robot according to claim 3, characterized in that: The support wall (22) is provided with air outlet holes (221) corresponding to the air outlet fan (43), and the supporting platform (21) divides the air outlet holes (221) into upper air outlet holes located in the upper chamber and lower air outlet holes located in the lower chamber.

5. The trunk structure for a quadruped robot according to claim 4, characterized in that: The upper layer component (4) further comprises at least one heat sink (44), the heat sink (44) being mounted on the main circuit board (41) along the air outlet direction of the upper layer air outlet hole, and the air flow in the upper layer chamber flows through the heat sink (44) and is discharged from the upper layer air outlet hole.

6. The trunk structure for a quadruped robot according to claim 4, characterized in that: The lower layer component includes a battery component, and the battery component and the air inlet duct are staggered and arranged in the lower layer cavity. At least part of the airflow in the lower layer cavity is discharged through the lower layer air outlet after flowing through the outer surface of the battery component.

7. The trunk structure for a quadruped robot according to claim 6, characterized in that: The lower layer assembly includes a limiting member (35) and a pressing plate member (36), at least one mounting groove (361) is provided on the outer side wall of the pressing plate member (36), a column (351) adapted to the mounting groove (361) is provided on the outer side wall of the limiting member (35), and the limiting member (35) and the pressing plate member (36) are connected to each other through the column and the mounting groove (361) to form a battery chamber 37 (37) for accommodating the battery assembly; The battery chamber 37 (37) is a multi-faceted opening structure. When the battery assembly is placed in the battery chamber 37 (37), at least part of the side wall of the battery assembly is in direct contact with the lower chamber.

8. The trunk structure for a quadruped robot according to claim 6, characterized in that: The battery assembly includes a charging contact, the lower shell (3) is provided with a charging hole (32) at a position corresponding to the charging contact, and the charging contact passes through the charging hole (32) to be electrically connected to an external charging device.

9. The trunk structure for a quadruped robot according to claim 3, characterized in that: At least one lower shell support bar (33) is provided on the side wall of the lower shell (3) and protrudes above the height of the side wall of the lower shell (3); at least one middle shell support bar (222) is provided on the side wall of the support wall (22) and protrudes above the height of the side wall of the support wall (22); the lower shell support bar (33) and the middle shell support bar (222) are staggered.

10. The trunk structure for a quadruped robot according to claim 1, characterized in that: A mounting platform (11) is provided on the top of the upper shell (1); The fuselage assembly further comprises an extension bracket (6), and the extension bracket (6) is configured to be detachably connected to the mounting platform (11).

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