Lightweight mobile robot body and mobile robot

Abstract

The application discloses a kind of lightweight mobile robot bodies and mobile robots, wherein body is divided into frame shell and support beam two parts, in frame shell is reasonably distributed into battery cavity and electric control box structure by multiple partitions, then support beam is connected with the front and rear side walls of frame shell again, and the lower side of support beam is connected with transverse partition and two partition plates through electric control box structure;While independent functional cavities are formed by inner partition plate and transverse partition, support beam and frame shell are further used different material materials, wherein the structural strength of support beam material is greater than the structural strength of frame shell material, to solve the core contradiction that single material body of existing robot is difficult to consider lightweight, high strength and low cost, by the different material collocation of support beam and frame shell, the whole machine weight is greatly reduced under the premise of guaranteeing core bearing capacity.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a lightweight mobile robot body and a mobile robot. Background Technology

[0002] In practical applications of quadruped robots, the robot's structure must simultaneously meet the requirements of structural strength and lightweight design. It must bear the weight of external equipment and withstand impact loads during movement, while controlling the overall weight to ensure mobility and ease of transport. However, current quadruped robots typically employ a single-material, integrated frame shell design. Ensuring structural strength requires high-strength alloys, significantly increasing the overall weight, reducing mobility and endurance, and drastically raising material and manufacturing costs. Conversely, using lightweight polymers for weight reduction results in insufficient structural strength and load-bearing capacity, making the frame prone to deformation under complex conditions or after impacts or falls, affecting the reliability of internal components. Therefore, this single-material design struggles to balance the trade-offs between lightweight, high strength, and low cost, becoming a significant obstacle to the practical application and widespread adoption of quadruped robots. Summary of the Invention

[0003] This invention addresses the shortcomings of existing technologies by providing a lightweight mobile robot body, comprising:

[0004] A frame housing, wherein a first partition plate, a second partition plate, and a transverse partition plate are constructed inside the frame housing, the first partition plate and the second partition plate being arranged laterally at the front and rear of the frame housing, respectively; the front and rear ends of the transverse partition plate are connected to the upper parts of the first partition plate and the second partition plate, respectively, and the first partition plate, the second partition plate, the transverse partition plate, and the side wall of the frame housing surround to form a battery cavity; an electronic control box structure is installed on the upper part of the transverse partition plate;

[0005] A support beam is installed longitudinally within the frame housing. The front and rear ends of the support beam are connected to the front and rear side walls of the frame housing, respectively. The lower side of the support beam is connected to the transverse partition through an electrical control box structure. The support beam and the frame housing are made of different materials, and the structural strength of the support beam material is greater than that of the frame housing material.

[0006] Preferably, the support beam is made of high-strength alloy or metal material, and the frame shell is made of lightweight polymer or lightweight metal material.

[0007] Preferably, the support beams are respectively configured with a first connection position and a second connection position;

[0008] The first connection position is composed of a forward-protruding first edge portion and a downward-protruding first limiting portion constructed at the front end of the support beam. The lower side of the first edge portion is connected to the upper edge of the front sidewall, and the front side of the first limiting portion abuts against the inner side of the front sidewall.

[0009] The second connection position consists of a rearwardly protruding second edge portion and a downwardly protruding second limiting portion constructed at the rear end of the support beam. The lower side of the second edge portion is connected to the upper edge of the rear sidewall, and the rear side of the second limiting portion abuts against the inner side of the rear sidewall.

[0010] Preferably, the electrical control box structure includes an annular box wall mounted on the upper side of the transverse partition, the annular box wall and the transverse partition surrounding to form an electrical control box cavity for accommodating the control circuit board, and an opening is formed on the upper part of the electrical control box cavity;

[0011] The support beam includes a beam body and a cover plate connected to the lower side of the middle part of the beam body. The cover plate is connected to the upper end of the annular box wall and covers the opening.

[0012] Preferably, the first partition plate and the front sidewall of the frame housing surround to form a first joint cavity for accommodating the front leg side swing joint motor, and the second partition plate and the rear sidewall of the frame housing surround to form a second joint cavity for accommodating the rear leg swing motor.

[0013] Two front leg mounting channels are provided on the front sidewall. A first connecting plate is fixedly installed on the inner side of the front sidewall. Two front leg side swing joint motors can enter the first joint cavity through the corresponding front leg mounting channels and are fixed to the front sidewall through the first connecting plate.

[0014] Two rear leg mounting channels are provided on the rear side wall. A second connecting plate is fixedly installed on the inner side of the rear side wall. The two rear leg side swing joint motors can enter the second joint cavity through the corresponding rear leg mounting channels and are fixed to the rear side wall by the second connecting plate.

[0015] Preferably, a water guiding channel is arranged at the bottom of the frame shell of the first joint cavity and the second joint cavity.

[0016] Preferably, the electrical control box structure includes a sealing strip arranged along the upper edge of the annular box wall, and the upper edge of the annular box wall is connected to the lower surface of the transverse partition through the sealing strip.

[0017] Preferably, a first baffle is arranged longitudinally and centrally along the frame shell inside the first joint cavity, and the first baffle divides the first joint cavity into a first left joint chamber and a first right joint chamber.

[0018] A second baffle is arranged longitudinally and centrally along the frame shell within the two joint cavities, dividing the second joint cavity into a second left joint chamber and a second right joint chamber.

[0019] Preferably, the frame shell further includes a cover, the front and rear ends of which are connected to the upper edge of the front side wall and the upper edge of the rear side wall, respectively; the cover is also connected to the support beam by fasteners.

[0020] The present invention also discloses a mobile robot, comprising a lightweight mobile robot body as described in any of the above descriptions, and a mobile component mounted on the mobile robot body.

[0021] This invention discloses a lightweight mobile robot body and the mobile robot itself. The body is divided into a frame shell and support beams. Within the frame shell, multiple partitions are used to rationally allocate battery compartments and electrical control boxes. The support beams are then connected to the front and rear side walls of the frame shell, and the lower side of the support beams is connected to transverse partitions and two additional partitions via the electrical control boxes. This ensures that the front, middle, and rear sections of the support beams are connected to the various structures on the frame shell, forming stable support and further improving structural rigidity and load-bearing capacity, while also considering ease of transport and adaptability to multiple scenarios. Simultaneously, the independent functional cavities formed by the internal partitions and transverse partitions optimize component layout and balance the center of gravity. Furthermore, the support beams and frame shell are made of different materials, with the structural strength of the support beam material exceeding that of the frame shell material. This solves the core contradiction of existing single-material robot bodies, which struggle to balance lightweight, high strength, and low cost, while also improving the problems of chaotic internal structural layout and insufficient structural stability. By combining different materials for the support beams and frame shell, the overall weight of the robot is significantly reduced while ensuring core load-bearing capacity.

[0022] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0024] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings. In the following description, the same reference numerals denote the same parts.

[0025] Figure 1-3 This is a schematic diagram of the structure of a lightweight mobile robot body disclosed in an embodiment of this application.

[0026] Figure 4-6 This is a schematic diagram of the structure of a support beam disclosed in an embodiment of this application.

[0027] Figure 7 This is a schematic diagram of the structure of the electrical control box disclosed in one embodiment of this application.

[0028] Figure 8 This is a schematic diagram of the structure of a control circuit board disclosed in an embodiment of this application.

[0029] Figure 9 This is another structural schematic diagram of the electrical control box structure disclosed in one embodiment of this application.

[0030] Figure 10 This is a schematic diagram of the structure of a sealing strip disclosed in an embodiment of this application.

[0031] Figure 11-13 This is another structural schematic diagram of the lightweight mobile robot body disclosed in one embodiment of this application.

[0032] Figure 14-15 This is an exploded structural diagram of a support beam disclosed in an embodiment of this application.

[0033] Figure 16 This is a schematic diagram of the structure of a heat sink disclosed in an embodiment of this application.

[0034] Figure 17 This is a schematic diagram of the structure of the first air guide shell disclosed in an embodiment of this application.

[0035] Figure 18 This is a side cross-sectional view of a lightweight mobile robot body disclosed in an embodiment of this application.

[0036] Figure 19 This is a schematic diagram of the upper surface of a lightweight mobile robot body disclosed in an embodiment of this application. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0038] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0039] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0040] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains. The terms “first,” “second,” and similar terms used in the specification and claims of this patent application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms “an” or “a” and similar terms do not indicate a limitation of quantity, but rather indicate the presence of at least one.

[0041] The present invention discloses the following embodiments, specifically as shown in the appendix. Figure 1-3 As shown, a lightweight mobile robot body is disclosed, including a frame shell 1 and a support beam 2. The frame shell 1 contains a first partition plate 11, a second partition plate 12, and a transverse partition plate 13. The first partition plate 11 and the second partition plate 12 are arranged laterally at the front and rear of the frame shell 1, respectively. The front and rear ends of the transverse partition plate 13 are connected to the upper parts of the first partition plate 11 and the second partition plate 12, respectively. The first partition plate 11, the second partition plate 12, the transverse partition plate 13, and the sidewalls of the frame shell 1 surround to form a battery cavity 14. An electrical control box structure 15 is installed on the upper side of the transverse partition plate 13. The support beam 2 is installed longitudinally within the frame shell 1. The front and rear ends of the support beam 2 are connected to the front sidewall 16 and the rear sidewall 17 of the frame shell 1, respectively. The lower side of the support beam 2 is connected to the transverse partition plate 13 through the electrical control box structure 15. The support beam 2 and the frame shell 1 are made of different materials, with the structural strength of the support beam material being greater than that of the frame shell 1 material.

[0042] Specifically, the transverse partition 13 can be horizontally mounted on the upper end of the first partition 11 and the second partition 12, together with the partition and the base plate, to enclose an independent battery cavity 14. During assembly, the battery can be stably placed inside the battery cavity 14. After the transverse partition 13 is closed, it seals the upper opening of the battery cavity 14, preventing the battery from contacting and interfering with other components. The electrical control box structure 15 installed on the transverse partition 13 provides dedicated installation space for the control circuit board 1521, forming a spatial layout in which the battery is accommodated in the lower center and the electrical control components are assembled in the upper center. This eliminates spatial overlap interference during assembly, and also makes the weight distribution of the torso frame more even, with the center of gravity concentrated in the central area, resulting in more stable robot movement posture during operation.

[0043] The lower part of the support beam 2 can be screwed to the pre-set fastener holes on the electrical control box structure 15 by fasteners, while the electrical control box structure 15 itself can be fixed to the transverse partition 13 by welding, bolting or integral casting, thus achieving an indirect and stable connection between the support beam and the transverse partition 13; at the same time, the front and rear ends of the support beam will be connected to the front side wall 16 and the rear side wall 17 of the frame shell 1, respectively.

[0044] In this embodiment, the support beam 2 is made of high-strength alloy or metal material, and the frame shell 1 is made of lightweight polymer or lightweight metal material.

[0045] Specifically, the support beam, as the core load-bearing skeleton of the main frame, needs to bear the critical loads of the superstructure equipment. Therefore, high-strength alloy or metal materials are selected. These materials have high tensile strength and high bending stiffness, and can effectively resist deformation when bearing the above loads. The main function of the frame shell 1 is to enclose internal components and divide functional cavities. It does not need to directly bear large concentrated loads. Therefore, lightweight polymer or lightweight metals are selected, which can effectively reduce the weight of the frame shell 1 and meet the basic requirements of enclosure protection and space division. By using different materials for the support beam and the frame shell 1, that is, the support beam responsible for bearing the core superstructure load is made of high-strength material, the structural strength and load capacity of the whole machine are guaranteed. At the same time, the high-strength support beam is connected to various parts of the frame shell 1 through the front, middle and rear, respectively, providing effective structural support for the structure of the frame shell 1 and preventing deformation of the lower-strength frame shell 1 after impact, thus effectively supporting the structural stability of the frame shell 1. In addition, by using lightweight materials for the frame shell 1, the overall weight of the machine can be effectively reduced, which greatly reduces the overall weight while ensuring sufficient load capacity and structural strength, thereby improving the machine's passability and transportation convenience.

[0046] Furthermore, the edge of the partition plate 13 is pre-set with positioning grooves and bolt holes that match the upper ends of the first partition plate 11 and the second partition plate 12. The partition plate 13 is engaged with the top of the two partition plates through the positioning grooves, and then fixed by high-strength bolts passing through the bolt holes, so that the originally open upper battery cavity 14 becomes an independent space. The annular box wall 151 of the electronic control box structure 15 is fixed to the pre-set assembly area on the upper side of the partition plate 13.

[0047] In this embodiment, as shown in the appendix Figure 4-6 As shown, the support beam 2 is respectively constructed with a first connecting position 21 and a second connecting position 22. The first connecting position 21 is composed of a forward-protruding first edge portion 211 and a downward-protruding first limiting portion 212 constructed at the front end of the support beam 2. The lower side of the first edge portion 211 is connected to the upper edge of the front sidewall 16, and the front side of the first limiting portion 212 abuts against the inner side of the front sidewall 16. The second connecting position 22 is composed of a rearward-protruding second edge portion 221 and a downward-protruding second limiting portion 222 constructed at the rear end of the support beam. The lower side of the second edge portion 221 is connected to the upper edge of the rear sidewall 17, and the rear side of the second limiting portion 222 abuts against the inner side of the rear sidewall 17.

[0048] Specifically, the front and rear ends of the support beam 2 are fixedly connected to the upper edges of the front and rear side walls respectively by fasteners, so that the load on the support beam is evenly distributed on the front and rear side walls of the frame housing 1, ensuring the stable installation of the support beam relative to the frame housing 1. At the same time, the lower side of the support beam is connected to the transverse partition 13 through the electrical control box structure 15, and then connected to the entire frame housing 1 through the transverse partition 13, the first partition 11 and the second partition 12. Thus, the middle part of the support beam is also integrated with the entire frame housing 1 through the electrical control box structure 15 and the battery cavity 14. This effectively helps the support beam to share the weight of the external superstructure equipment installed on the support beam through the external superstructure connectors. The support beam connects all the structures on the frame housing 1 into a whole load-bearing structure, which can maximize the structural stability and load capacity of the entire machine.

[0049] In this embodiment, as shown in the appendix Figure 7-9 As shown, the electrical control box structure 15 includes an annular box wall 151 installed on the upper side of the transverse partition 13. The annular box wall 151 and the transverse partition 13 surround to form an electrical control box cavity 152 for accommodating a control circuit board 1521. An opening is constructed above the electrical control box cavity 152. The support beam 2 includes a beam body 23 and a cover plate 24 connected to the lower side of the middle part of the beam body. The cover plate 24 is connected to the upper end of the annular box wall 151 and covers the opening.

[0050] Specifically, a first channel 1511 is formed in the annular box wall 151, through which an external electrical component can connect to the mating surface of the first connector. The first connector can be an automotive connector interface, such as a MOLEX rectangular connector. Furthermore, a second connector can be arranged on the control circuit board 1521, and a second channel is also formed in the annular box wall 151, through which a corresponding external electrical component can connect to the mating surface of the second connector.

[0051] Specifically, the first interface includes an interface housing 1541 and an electrical connector 1542 disposed within the interface housing 1541. The interface housing 1541 is snapped into the first channel 1511, and the tail end of the electrical connector 1542 passes through the tail of the interface housing 1541 and is electrically connected to the control circuit board 1521. Side connection slots 1543 are respectively provided on both sides of the interface housing 1541. The edges of the side walls 1544 on both sides of the first channel 1511 can be snapped into the corresponding side connection slots 1543 of the interface housing 1541 and connected to the interface housing 1541. A baffle plate 1545 is constructed below the first channel 1511 of the side wall 1544, and a slot 1546 is provided above the first channel 1511 of the side wall 1544 for the interface housing 1541 to enter; a bottom connecting groove 1547 is provided below the interface housing 1541, wherein the edges of the side walls 1544 on both sides of the first channel 1511 are engaged with the corresponding side connecting grooves 1543, and the baffle plate 1545 is engaged with the bottom connecting groove 1547.

[0052] In this embodiment, at least one reinforcing member capable of enhancing the tensile strength of the connected sidewall 1544 is constructed on the sidewalls 1544 on both sides of the first channel 1511; the reinforcing member is clamped and arranged between the cover plate and the base plate of the mounting seat. Specifically, a first reinforcing member 1548 and a second reinforcing member 1549 are installed on both sides of the first channel 1511, wherein the first reinforcing member 1548 is installed on the front surface of the sidewall on one side of the first channel 1511, and the second reinforcing member 1549 is installed on the front surface of the sidewall on the other side of the first channel 1511; a first mounting hole and a second mounting hole are respectively arranged on the first reinforcing member 1548 and the second reinforcing member 1549, and two fasteners arranged on the cover plate can fix the cover plate to the first reinforcing member and the second reinforcing member by screwing them into the first mounting hole and the second mounting hole respectively.

[0053] In this embodiment, the electrical control box structure 15 includes a sealing strip 153 arranged along the upper edge of the annular box wall 151, and the upper edge of the annular box wall 151 is connected to the lower surface of the support beam 2 through the sealing strip 153.

[0054] For details, see attached. Figure 10As shown, the sealing strip 153 includes a first sealing strip 1531 arranged along the upper edge of the side wall and a second sealing strip 1532 arranged along the edge of the first channel 1511. The second sealing strip 1532 is connected to the lower part of the first sealing strip 1531. The upper edge of the side wall 1544 is connected to the lower surface of the cover plate 3 through the first sealing strip 1531. The second sealing strip 1532 is sleeved on the bottom of the side connecting groove 1543 and the bottom connecting groove 1547. The edge of the side wall of the first channel 1511 abuts against the bottom of the side connecting groove 1543 through the corresponding part of the second sealing strip 1532. The barrier plate 1545 abuts against the bottom of the bottom connecting groove through the corresponding part of the second sealing strip 1532.

[0055] In this embodiment, as shown in the appendix Figure 11-12 As shown, the first partition plate 11 and the front sidewall 16 of the frame housing 1 surround each other to form a first joint cavity 18 for accommodating a front leg side swing joint motor, and the second partition plate 12 and the rear sidewall 17 of the frame housing 1 surround each other to form a second joint cavity 19 for accommodating a rear leg swing motor. Two front leg mounting channels 161 are provided on the front sidewall 16, and a first connecting plate 162 is fixedly installed on the inner side of the front sidewall 16. The two front leg side swing joint motors can enter the first joint cavity 18 through the corresponding front leg mounting channels 161 and are fixed to the front sidewall 16 by the first connecting plate 162. Two rear leg mounting channels 171 are provided on the rear sidewall 17, and a second connecting plate 172 is fixedly installed on the inner side of the rear sidewall. The two rear leg side swing joint motors can enter the second joint cavity 19 through the corresponding rear leg mounting channels 171 and are fixed to the rear sidewall 17 by the second connecting plate 172. Furthermore, water guiding channels are arranged at the bottom of the frame housing 1 of the first joint cavity 18 and the second joint cavity 19.

[0056] In this embodiment, a first baffle 181 is arranged longitudinally and centrally along the frame shell 1 within the first joint cavity 18, dividing the first joint cavity 18 into a first left joint chamber and a first right joint chamber; a second baffle 191 is arranged longitudinally and centrally along the frame shell 1 within the second joint cavity 19, dividing the second joint cavity 19 into a second left joint chamber and a second right joint chamber.

[0057] Specifically, the first baffle 181 can be vertically fixed inside the first joint cavity 18, with its lower end tightly connected to the bottom plate of the frame housing 1, and positioned at the center of the first joint cavity 18 along the longitudinal direction of the frame, thereby evenly dividing the originally single space of the first joint cavity 18 into two independent and symmetrical sub-cavities; the installation method of the second baffle 191 is exactly the same as that of the first baffle 181, also vertically connected to the upper and lower structures of the second joint cavity 19 and centered along the longitudinal direction, achieving symmetrical division of the second joint cavity 19. The left swing joint motor of the front leg can be individually embedded in the first left joint cavity, the right swing joint motor of the front leg is correspondingly embedded in the first right joint cavity, and the left and right swing joint motors of the rear leg are respectively installed in the second left joint cavity and the second right joint cavity. Each motor is in its own independent space, avoiding collisions caused by overlapping positions during motor installation, preventing the vibrations generated by the motors from affecting each other during operation, and the wiring of the motors can be neatly arranged in their respective cavities. The first and second baffles themselves act as internal reinforcing ribs of the joint cavity. When the side-swing joint motors operate at high speed and generate radial loads, or when the joint cavity is subjected to impacts during robot movement, the baffles can work together with the cavity sidewalls to bear the force, improving the load-bearing capacity of the entire joint cavity. In addition, combined with the first heat dissipation component 28 and the second heat dissipation component 29 installed on the support beam 2, the first baffle 181 can divide the airflow driven by the first heat dissipation component into left and right paths, which are guided to the first left joint cavity and the first right joint cavity respectively through the left and right air guide slots of the first air guide shell 282. Similarly, the second baffle 191 can achieve left and right splitting of the cold air from the second heat dissipation component, ensuring that each side-swing joint motor can be directly covered by cold air, avoiding heat dissipation dead zones caused by uneven distribution of cold air in a single cavity space.

[0058] In this embodiment, as shown in the appendix Figure 13 As shown, the front part of the support beam 2 is equipped with a first heat dissipation component 28 for dissipating heat from the first left joint chamber and the first right joint chamber; the rear part of the support beam 2 is equipped with a second heat dissipation component 29 for dissipating heat from the second left joint chamber and the second right joint chamber.

[0059] In this embodiment, as shown in the appendix Figure 14-18As shown, the first heat dissipation assembly 28 includes a first fan 281 and a first air guide shell 282; the first air guide shell 282 is connected to the lower front side of the support beam 2, and has a first left side wall 2821 and a first right side wall 2822 facing the first left joint chamber and the first right joint chamber respectively, with air guide grooves formed on both the first left side wall 2821 and the first right side wall 2822. The second heat dissipation assembly 29 includes a second fan 291 and a second air guide shell 292; the second air guide shell 292 is connected to the lower rear side of the support beam 2, and has a second left side wall 2921 and a second right side wall 2922 facing the second left joint chamber and the second right joint chamber respectively, with air guide grooves formed on both the second left side wall 2921 and the second right side wall 2922.

[0060] Specifically, the first fan 281 can be a vortex fan, installed in the fan mounting slot on the support beam at the top of the corresponding first air guide shell 282, with its air inlet fully connected to the hollow air guide cavity inside the first air guide shell 282; the first left side wall 2821 and the first right side wall 2822 are symmetrically inclined, adapted to the opening contours of the first left and right joint chambers, ensuring that the air guide slots can be aligned with the heating area of ​​the front leg side swing joint motor housing. When the quadruped robot starts, the side swing joint motor of the front leg assembly generates heat in the chamber, the first fan 281 draws air from the frame shell 1, the airflow is pressurized by the fan and enters the air guide cavity of the first air guide shell; and blows it directionally to the motor surface in the first left and right joint chambers through the air guide slots of the first left side wall 2821 and the first right side wall 2822 respectively, directly carrying away the heat from the motor. The structural design and assembly logic of the second heat dissipation component 29 are similar to those of the first heat dissipation component 28: the second fan 291 is fixed to the top of the second air guide shell 292; the second left side wall 2921 and the second right side wall 2922 of the second air guide shell 292 face the second left and right joint chambers, respectively. After the airflow is diverted through the air guide cavity of the second air guide shell 292, it is blown onto the surface of the rear leg motor through the air guide slots on both side walls, realizing active directional heat dissipation of the rear leg motor.

[0061] In this embodiment, the first air guide shell 282 is arranged above the first baffle 181, and the first left side wall 2821 and the first right side wall 2822 are respectively located on both sides of the first baffle 181; the second air guide shell 292 is arranged above the second baffle 191, and the second left side wall and the second right side wall are respectively located on both sides of the second baffle 191. Specifically, the first baffle 181, as a longitudinal partition structure of the first joint cavity 18, divides the cavity into independent first left and right joint chambers. The position design of the first air guide shell 282 forms a coordinated relationship with the first baffle 181, with the transverse centerline of the first air guide shell 282 coinciding with the longitudinal centerline of the first baffle 181. Furthermore, the distances from the first left side wall 2821 and the first right side wall 2822 to the first baffle 181 are equal, ensuring that the air guide slots on both sides can be directly aligned with the heating areas of the motors in the first left and right joint chambers, respectively, preventing cold air deviation due to positional misalignment. Since the first baffle 181 extends longitudinally to the lower side of the first air guide shell 282, it can prevent the left and right airflows in the air guide cavity from flowing between each other. The positional matching logic of the second air guide shell 292 and the second baffle 191 is completely consistent. Through alignment with the second baffle 191, the air guide slots of the second left side wall and the second right side wall can cover the rear leg motors in the second left and right joint chambers. The cold air generated by the second fan 291 is divided into left and right paths by the second baffle 191 after passing through the air guide cavity of the second air guide shell 292. The air is then blown to the left and right motors of the rear leg through the air guide slots of the second left side wall and the second right side wall, respectively, so as to achieve independent and efficient heat dissipation of the rear leg motors.

[0062] In another embodiment, an air guide channel 25 is also arranged on the support beam 2, with a first heat dissipation component and a second heat dissipation component respectively arranged at both ends of the air guide channel. A heat dissipation element 26 is also arranged inside the air guide channel. The first heat dissipation component can absorb air from the first joint cavity and blow it into the air guide channel, driving the air to move along the air guide channel 25 and pass through the heat dissipation element 26; the second heat dissipation component can attract air from the air guide channel and blow it towards the second joint cavity. In this embodiment, the first fan of the first heat dissipation component is a vortex fan, and the air inlet of the vortex fan corresponds to the upper opening of the first air guide shell. The second fan of the second heat dissipation component is an axial fan, and the air inlet of the vortex fan corresponds to the outlet of the air guide channel and the air inlet corresponds to the upper opening of the second air guide shell.

[0063] Specifically, the support beam 2 has two opposing air duct walls 27 and 27', forming an airflow channel 25 between the two air duct walls. The heat dissipation component 26 includes a plurality of heat-conducting fins 261 arranged side by side between the two air duct walls along the direction of the air duct walls, and the first fan assembly can drive air to flow along the surface of each heat-conducting fin 261 in the airflow channel.

[0064] The two opposing air duct walls 27 and 27' form a regular and well-sealed air guide channel 25, which effectively constrains the airflow direction, prevents the airflow from diffusing to both sides during the flow, and ensures that the airflow is concentrated on the heat sink 26. When heat sources inside the machine, such as the control circuit board 1521 and the drive module, generate heat, the heat will be quickly transferred to the support beam 2 through thermal conduction because the support beam 2 is located close to the heat source, and then conducted to the heat sink 26 installed between the two air duct walls 27 and 27'. At the same time, after the first heat dissipation component 28 is activated, its air outlet facing the air guide channel 25 will generate a directional airflow driving force, drawing air from inside the machine or external cold air introduced from the air inlet into the air guide channel 25. Under the limiting guidance of the air duct walls 27 and 27', the airflow flows steadily along the air guide channel 25, passing completely through the surface and surrounding area of ​​the heat sink 26. At this time, the heat carried on the heat sink 26 is quickly absorbed by the cold air. The hot air that has absorbed the heat will continue to move along the air guide channel 25 and eventually be discharged from the machine, forming a complete heat dissipation cycle. By constraining the airflow through the air duct walls 27 and 27', and by forcing the heat sink to contact the airflow, the efficiency and targeting of heat exchange are greatly improved. This effectively prevents heat from lingering and accumulating around the heat source, ensuring that the heat source is always within a safe operating temperature range and guaranteeing the stable operation of the core components.

[0065] The design of multiple heat-conducting fins 261 arranged side-by-side along the air duct walls 27 and 27' greatly expands the heat dissipation contact area. When the heat generated by the heat source inside the machine is transferred to the heat-conducting fins 261 through the support beam 2, each fin will quickly absorb the heat and form a uniform high-temperature heat dissipation surface. After the first heat dissipation component 28 is activated, the directional driving force it generates will guide the airflow to flow smoothly along the air guide channel 25. Since the heat-conducting fins 261 are aligned with the direction of the air guide channel 25 and are evenly distributed, the airflow can flow unimpeded through the surface of each heat-conducting fin 261 and the gaps between the fins, effectively absorbing the heat on each heat-conducting fin.

[0066] In this embodiment, the first heat dissipation component 28 and the second heat dissipation component 29 are respectively arranged in the inlet area and outlet area of ​​the air guide channel 25, and the heat dissipation element 26 is arranged between the first heat dissipation component 28 and the second heat dissipation component 29; the second heat dissipation component 29 can attract air passing through the heat dissipation element 26 into the second heat dissipation component 29.

[0067] Specifically, the second heat dissipation component 29 and the first heat dissipation component 28 form a bidirectional power synergy, with the second heat dissipation component 29 optionally equipped with an axial flow fan. When the heat dissipation structure is activated, the turbine fan of the first heat dissipation component 28 forcibly pushes the cold air introduced from outside the machine through the air inlet or the low-temperature air inside the machine along the inlet of the air guide channel 25 to the heat dissipation component 26 area; the cold air comes into full contact with the heat dissipation component 26 carrying the heat source, and after completing heat exchange, it becomes hot air; at the same time, the axial flow fan of the second heat dissipation component 29 starts synchronously, and the directional suction force it generates directly acts on the hot air after passing through the heat dissipation component 26, forming a continuous pull along the axial direction of the air guide channel 25, quickly drawing the hot air into the second heat dissipation component 29 and guiding it to the outside of the machine for discharge. The second heat dissipation component 29 and the support beam 2 are assembled using a stable method such as bolt fixing, and are positioned in the outlet area and inlet area of ​​the air guide channel 25, respectively, to maximize the rapid movement of the driven air in the air guide channel for heat dissipation.

[0068] In this embodiment, a first installation area and a second installation area are respectively arranged at the front and rear ends of the support beam 2. Multiple first air inlet channels connecting the upper and lower sides of the support beam bottom plate in the first installation area are arranged there, and multiple second air inlet channels connecting the upper and lower sides of the support beam bottom plate in the second installation area are arranged there. The height of the beam bottom plate in the first installation area is lower than the height of the beam bottom plate area where the heat sink is located, and a slope is constructed on the beam bottom plate in the first installation area near the heat sink. A turbine fan is installed in the first installation area with its outlet facing the slope and connected to the upper part of the beam bottom plate, and the turbine fan inlet covers each of the first air inlet channels. A first air guide shell is connected to the lower part of the beam bottom plate, and its upper opening covers each of the first air inlet channels from below. Under the suction of the turbine fan, air inside the first air guide shell enters the turbine fan inlet through the first air inlet channels from the upper opening of the first air guide shell, then exits from the turbine fan outlet, passes through the slope, and enters the heat sink area within the air guide channels. The ramp section allows the air blown out by the turbo fan to be compressed and concentrated before entering the heat dissipation area in a more concentrated manner.

[0069] Additionally, an axial fan is installed at the lower part of the second mounting area and connected to the lower part of the beam bottom plate. The air inlet of the axial fan covers the lower side of each of the second air inlet channels. The second air guide shell is also connected to the lower part of the beam bottom plate, so that the axial fan is sandwiched between the lower side of the beam bottom plate of the second mounting area and the upper opening of the second air guide shell. Under the suction of the axial fan, the air coming out of the heat dissipation area in the air guide channel is drawn through the second air inlet channel into the inlet of the axial fan, and then ejected from the outlet of the axial fan into the second air guide shell. Then, it blows through the two side walls of the second air guide shell to the swing joint motors of the rear leg assembly arranged on the corresponding side of the rear joint cavity, dissipating the airflow from the swing joint motors of the rear leg assembly. Finally, the air passing through the swing joint motors of the rear leg assembly is directionally discharged from the robot body through the air vents on the rear side of the robot shell.

[0070] In this embodiment, the cover plate 24 is connected to the upper part of the electrical control box structure 15 and covers the opening. Specifically, the cover plate 24 of the support beam 2 is connected to the upper part of the electrical control box structure 15, realizing the structural connection between the support beam 2 and the electrical control box structure 15. When the control circuit board 1521 continuously operates and generates heat, the heat first accumulates inside the electrical control box structure 15, and then quickly permeates upward through the upper opening, directly transferring to the cover plate 24 that is tightly attached to it; the cover plate 24, as a component of the support beam 2, is made of a material with high thermal conductivity, which can quickly receive heat and distribute it to the entire support beam 2, and then conduct it to the heat sink 26 installed on the support beam 2, preparing for subsequent airflow heat exchange.

[0071] In this embodiment, the cover plate 24 includes a first cover portion 241 and a second cover portion 242 disposed at the bottom of the support beam 2. The first cover portion 241 is fixedly connected to the support beam 2, and the second cover portion 242 is detachably connected to the support beam 2. A heat sink 26 is mounted on the upper side of the second cover portion 242, and the lower side contacts the control circuit board 1521 through a heat-conducting block 201. An installation slot 202 is provided at the bottom of the support beam 2, and the second cover portion 242 is connected to the support beam 2, with the heat sink 26 passing through the installation slot 202 into the air guide channel 25.

[0072] Specifically, the first cover 241 and the support beam 2 are integrally molded and fixedly connected, providing a stable structural foundation for the cover plate 24 and ensuring the integrity of the connection between the support beam 2 and the electrical control box structure 15. The second cover 242 is assembled with the support beam 2 through a bolt-removable structure, ensuring both connection stability and reserving operating space for future maintenance. When the control circuit board 1521 generates heat during operation, the heat is quickly transferred to the second cover 242 through the tightly fitted heat-conducting block 201. The second cover 242 acts as a heat conduction intermediary, further transferring the heat to the heat sink 26 mounted on its upper side. Since the heat sink 26 extends directly into the air duct 25 through the mounting slot 202, no additional conduction path is required, and the heat can be directly diffused to each heat dissipation unit of the heat sink 26. At this time, the airflow in the air duct 25 is in full contact with the heat sink 26, quickly carrying away the heat.

[0073] In this embodiment, the frame housing 1 also includes a cover 3. The lower side of the cover is connected to the upper part of the frame housing 1, covering the upper opening of the entire frame housing 1, thereby sealing the entire cavity inside the frame housing 1. In addition, the lower side of the cover is installed on the upper side of the support beam, covering the top of the air guide channel. Furthermore, the lower side of the cover, the two side walls of the air guide channel, and the bottom plate of the beam under the air guide channel form a cuboid channel with four side walls, which prevents the air flowing in the air guide channel from diffusing outward from the upper side of the channel, thereby improving the air flow speed and air guiding efficiency in the air guide channel, and further improving the heat dissipation effect of the air guide channel.

[0074] In another embodiment, a mobile robot is also disclosed, comprising a lightweight mobile robot body as disclosed in any of the foregoing embodiments, and a mobility component mounted on the mobile robot body. The mobility component may be a leg component, a wheeled component, a tracked component, etc.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

[0076] In summary, the above description is only a preferred embodiment of the present invention. All equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the present invention.

Claims

1. A lightweight mobile robot body, characterized in that, include: A frame housing, wherein a first partition plate, a second partition plate, and a transverse partition plate are constructed inside the frame housing, the first partition plate and the second partition plate being arranged laterally at the front and rear of the frame housing, respectively; the front and rear ends of the transverse partition plate are connected to the upper parts of the first partition plate and the second partition plate, respectively, and the first partition plate, the second partition plate, the transverse partition plate, and the side wall of the frame housing surround to form a battery cavity; an electronic control box structure is installed on the upper part of the transverse partition plate; The first partition plate and the front sidewall of the frame housing surround each other to form a first joint cavity for accommodating the front leg side swing joint motor, and the second partition plate and the rear sidewall of the frame housing surround each other to form a second joint cavity for accommodating the rear leg swing motor. A support beam is installed longitudinally within the frame housing. The front and rear ends of the support beam are connected to the front and rear side walls of the frame housing, respectively. The lower side of the support beam is connected to the transverse partition through an electrical control box structure. The support beam and the frame housing are made of different materials, and the structural strength of the support beam material is greater than that of the frame housing material. The support beam is also equipped with an air guide channel, and a first heat dissipation component and a second heat dissipation component are installed on the support beam. The first heat dissipation component and the second heat dissipation component are respectively arranged at both ends of the air guide channel. A heat dissipation component is also arranged in the air guide channel. The heat dissipation component contacts the control circuit board in the electrical control box structure through a heat-conducting block connected to the bottom of the support beam. The first heat dissipation component can absorb air from the first joint cavity and blow it into the air guide channel, driving the air to move along the air guide channel and pass through the heat dissipation component. The second heat dissipation component can attract air in the air guide channel and blow it towards the second joint cavity.

2. The lightweight mobile robot body according to claim 1, characterized in that: The supporting beam is made of high-strength alloy or metal material, and the frame shell is made of lightweight polymer or lightweight metal material.

3. The lightweight mobile robot body according to claim 2, characterized in that: The support beams are respectively configured with a first connection position and a second connection position; The first connection position is composed of a forward-protruding first edge portion and a downward-protruding first limiting portion constructed at the front end of the support beam. The lower side of the first edge portion is connected to the upper edge of the front sidewall, and the front side of the first limiting portion abuts against the inner side of the front sidewall. The second connection position consists of a rearwardly protruding second edge portion constructed at the rear end of the support beam and a downwardly protruding second limiting portion. The lower side of the second edge portion is connected to the upper edge of the rear sidewall, and the rear side of the second limiting portion abuts against the inner side of the rear sidewall.

4. The lightweight mobile robot body according to claim 3, characterized in that: The electrical control box structure includes an annular box wall mounted on the upper side of the transverse partition, the annular box wall and the transverse partition surrounding each other to form an electrical control box cavity for accommodating the control circuit board, and an opening is formed above the electrical control box cavity; The support beam includes a beam body and a cover plate connected to the lower side of the middle part of the beam body. The cover plate is connected to the upper end of the annular box wall and covers the opening.

5. The lightweight mobile robot body according to claim 4, characterized in that: Two front leg mounting channels are provided on the front sidewall. A first connecting plate is fixedly installed on the inner side of the front sidewall. Two front leg side swing joint motors can enter the first joint cavity through the corresponding front leg mounting channels and are fixed to the front sidewall through the first connecting plate. Two rear leg mounting channels are provided on the rear side wall. A second connecting plate is fixedly installed on the inner side of the rear side wall. The two rear leg side swing joint motors can enter the second joint cavity through the corresponding rear leg mounting channels and are fixed to the rear side wall by the second connecting plate.

6. The lightweight mobile robot body according to claim 5, characterized in that: Water guiding channels are arranged at the bottom of the frame shell of the first joint cavity and the second joint cavity.

7. The lightweight mobile robot body according to claim 5, characterized in that: The electrical control box structure includes a sealing strip arranged along the upper edge of the annular box wall, and the upper edge of the annular box wall is connected to the lower surface of the support beam through the sealing strip.

8. The lightweight mobile robot body according to claim 5, characterized in that: A first baffle is arranged longitudinally and centrally along the frame shell inside the first joint cavity, and the first baffle divides the first joint cavity into a first left joint cavity and a first right joint cavity. A second baffle is arranged longitudinally and centrally along the frame shell within the two joint cavities, dividing the second joint cavity into a second left joint chamber and a second right joint chamber.

9. The lightweight mobile robot body according to claim 5, characterized in that: The frame shell also includes a cover, the front and rear ends of which are connected to the upper edge of the front side wall and the upper edge of the rear side wall, respectively; the cover is also connected to the support beam by fasteners.

10. A mobile robot, characterized in that: It includes a lightweight mobile robot body as described in any one of claims 1-9, and a mobile component mounted on the mobile robot body.

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