Top loading bearing structure and quadruped robot

Abstract

An equipment cavity is formed in a machine body frame, a machine body opening communicating with the equipment cavity is formed in the upper portion of the equipment cavity, a supporting beam is installed in the equipment cavity and connected with the two opposite side walls on the machine body frame, and a back cover plate is arranged above the supporting beam; the back cover plate is connected with the upper portion of the machine body frame and covers the machine body opening, a connecting channel is formed in the back cover plate, and the top-mounted connecting assembly is installed on the back cover plate and fixedly connected with a supporting beam in the equipment cavity through the connecting channel. Therefore, the bearing capacity and the mounting strength of the upper part are greatly improved, the problems of upper part loosening, displacement and machine body structure deformation when the robot moves, is heavy-loaded or is impacted are solved, the working stability of upper part components is guaranteed, the overall service life of equipment is prolonged, and the heavy-load and reliable operation requirements under multiple scenes are met.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to an upper support structure and a quadruped robot. Background Technology

[0002] With the increasing application of quadruped robots in scientific research, industrial inspection, and emergency rescue, the requirements for the load-bearing reliability and installation stability of the superstructure on quadruped robots are becoming increasingly stringent. Currently, most quadruped robot superstructure components are directly fixed to the back shell of the robot body. However, the back shell is not designed for heavy-duty load-bearing scenarios and has limited structural load-bearing capacity, resulting in generally low load-bearing capacity and installation strength of the superstructure. When the robot moves through bumps, performs heavy-duty operations, or encounters external impacts, the superstructure connections are prone to loosening, displacement, and even deformation and damage to the back shell. This severely affects the operational stability of the superstructure components, shortens the overall service life of the equipment, and makes it difficult to meet the needs of high-load operation scenarios. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention discloses an upper load-bearing structure, comprising: The body frame has an internal equipment chamber and an opening at the top that communicates with the equipment chamber; Support beams are installed inside the equipment cavity and connected to the opposite side walls of the machine frame; A back cover plate is arranged above the support beam, connected to the upper part of the body frame and covering the opening of the body, and a connection channel is provided on the back cover plate; The upper connecting assembly is installed on the back cover plate and fixedly connected to the support beam inside the equipment cavity through the connecting channel.

[0004] Preferably, the connection channel is a through-slot structure opened in the back cover plate, and the bottom of the upper connecting assembly passes through the through-slot structure and connects to the upper part of the support beam.

[0005] Preferably, a sealing strip is arranged around the periphery of the through groove structure on the back cover plate.

[0006] Preferably, the through-slot structure includes a first slot wall, and the through-slot structure has an annular boss protruding inward along the periphery of the slot below the first slot wall, and a second slot wall is formed on the inner side of the boss; a groove is formed on the upper side of the annular boss along the direction of the first slot wall, and the sealing strip is embedded in the groove with a portion exposed outside the groove; the first slot wall surrounds to form a first through-slot, and the second slot wall surrounds to form a second through-slot.

[0007] Preferably, the upper connecting assembly includes a first connector, the first connector including a connecting portion and an abutting portion constructed on the periphery of the connecting portion, the bottom of the connecting portion passing through a through groove structure and connected to the upper part of the support beam, and the abutting portion abutting and connected to the back cover plate through the sealing strip.

[0008] Preferably, the upper side of the support beam is provided with a strip-shaped mounting seat corresponding to the through groove structure; the bottom of the connecting part passes through the second through groove and is connected to the strip-shaped mounting seat, the abutting part is embedded in the first through groove and the lower part of the abutting part is connected to the upper side of the annular protrusion through a sealing strip.

[0009] Preferably, the upper part of the first connector is provided with a first mounting structure that can be connected to different upper-mount devices; The upper body connection assembly further includes a second connector, which is detachably connected to the first connector via the first mounting structure. The upper part of the second connector is provided with a second mounting structure capable of mounting different upper body devices.

[0010] Preferably, the upper device can be fixed to the upper part of the back cover by connecting with the first mounting structure, or by connecting with the second mounting structure, wherein the first mounting structure and the second mounting structure are different.

[0011] Preferably, the upper load-bearing structure further includes a handle assembly; Two sets of upper-mount connection components are arranged in parallel along the longitudinal direction of the body frame on the upper side of the back cover plate. Two corresponding connection channels are opened on the back cover plate, and each upper-mount connection component is fixedly connected to the support beam through the corresponding connection channel. The handle assembly includes a front handle and a rear handle. The two ends of the front handle are respectively connected to the front ends of two first connectors, and the two ends of the rear handle are respectively connected to the rear ends of two first connectors.

[0012] The present invention also discloses a quadruped robot, including an upper support structure as described above, leg components mounted on the body frame, and an upper device, wherein the upper device is mounted on the back cover plate via an upper connection component.

[0013] This invention discloses a superstructure bearing structure and a quadruped robot. By setting an equipment chamber inside the body frame and opening an opening above it that communicates with the equipment chamber, a support beam is installed inside the equipment chamber and connected to opposite side walls of the body frame. A back cover is placed above the support beam, connected to the upper part of the body frame, and covers the opening. A connecting channel is provided on the back cover, and the superstructure connecting assembly is installed on the back cover and fixedly connected to the support beam inside the equipment chamber through the connecting channel. This significantly improves the load-bearing capacity and installation strength of the superstructure, avoiding problems such as loosening, displacement, and deformation of the body structure when the robot moves, is under heavy load, or is impacted. It ensures the operational stability of the superstructure components, extends the overall service life of the equipment, and meets the heavy-load and reliable operation requirements in diverse scenarios. Attached Figure Description

[0014] 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 accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] 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.

[0016] Figure 1 This is a schematic diagram of the upper load-bearing structure disclosed in an embodiment of this application.

[0017] Figure 2 This is an exploded view of the superstructure load-bearing structure disclosed in one embodiment of this application.

[0018] Figure 3 This is a schematic diagram of the connection channel structure disclosed in an embodiment of this application.

[0019] Figure 4 This is a schematic diagram of the structure of the support beam and the upper connecting assembly disclosed in one embodiment of this application.

[0020] Figure 5 for Figure 3 The structural cross-sectional view of the section marked A in the figure.

[0021] Figure 6 This is a schematic diagram of the connection between the support beam and the upper assembly disclosed in an embodiment of this application.

[0022] Figure 7 This is a schematic diagram of the structure of the body frame disclosed in an embodiment of this application.

[0023] Figure 8This is a schematic diagram of the structure of a support beam disclosed in an embodiment of this application.

[0024] Figure 9 This is another structural schematic diagram of the support beam disclosed in one embodiment of this application.

[0025] Figure 10 This is an exploded view of the support beam disclosed in one embodiment of this application.

[0026] Figure 11 This is another exploded view of the support beam disclosed in one embodiment of this application. Detailed Implementation

[0027] 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.

[0028] 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.

[0029] The present invention discloses the following embodiments, specifically as follows: Figures 1-2 As shown, a superstructure bearing structure is disclosed, including a body frame 1, a support beam 2, a back cover plate 3, and a superstructure connecting assembly 4. The body frame 1 has an internal equipment chamber 11, with an opening 12 at the top communicating with the equipment chamber 11. The support beam 2 is installed within the equipment chamber 11 and connected to opposite side walls of the body frame 1. The back cover plate 3 is positioned above the support beam 2, connected to the upper part of the body frame 1, and covers the opening 12. A connecting channel is provided on the back cover plate 3. The superstructure connecting assembly 4 is installed on the back cover plate 3 and fixedly connected to the support beam 2 within the equipment chamber 11 via the connecting channel 31. By installing the support beam within the equipment chamber and connecting it to opposite side walls of the body frame, and then installing the superstructure connecting assembly on the back cover plate and directly fixing it to the support beam via the connecting channel, the superstructure bearing capacity and installation strength are significantly improved, avoiding problems such as loosening, displacement, and structural deformation of the superstructure when the robot moves, is under heavy load, or is subjected to impact.

[0030] In this embodiment, the connecting channels 31 and 31' are through-slot structures opened on the back cover plate 3. The bottoms of the upper connecting components 4 and 4' pass through the through-slot structures and connect to the upper part of the support beam 2. This allows the upper connecting components to connect directly to the support beam inside the machine frame through the through-slot structure instead of directly connecting to the back cover plate, avoiding the influence of the upper connecting components on the back cover plate and eliminating the need for the back cover plate to be affected by the squeezing of the upper equipment.

[0031] In this embodiment, as Figures 3-4 As shown, a sealing strip 32 is arranged around the periphery of the through groove structure on the back cover plate 3. In addition, the upper connecting components 4 and 4' may respectively include first connecting members 41 and 41'. The first connecting member includes a connecting part 411 and an abutting part 412 constructed around the connecting part 411. The bottom of the connecting part 411 passes through the through groove structure and is connected to the upper part of the support beam 2. The abutting part 412 is abutted and connected to the back cover plate 3 through the sealing strip 32.

[0032] Specifically, the connecting part 411 passes through the through groove and connects to the support beam 2. As the abutting part 412 gradually adheres to the upper part of the back cover plate 3, it eventually forms a tight compression state with the sealing strip 32 on the periphery of the through groove. This causes the sealing strip 32 to undergo slight deformation and fill the gap between the abutting part 412 and the back cover plate 3, thus achieving gap sealing through deformation. This design effectively prevents dust, rainwater, mud, and other impurities in the field environment from entering the equipment chamber 11 of the machine frame 1 through the through groove structure, avoiding malfunctions of internal circuits and other components due to impurities, and improving the protective performance and service life of the device. At the same time, the tight abutting part 412 and the sealing strip 32 also enhance the stability of the first connecting part after installation, reduce vibration displacement during operation, and improve the overall sealing performance of the structure.

[0033] In this embodiment, as Figure 5 As shown, the through-slot structure includes a first slot wall 311. Below the first slot wall 311, the through-slot structure has an annular boss 312 that protrudes inward along the periphery of the slot. A second slot wall 313 is formed inside the annular boss 312. A groove 314 is formed on the upper side of the annular boss 312 along the direction of the first slot wall 311. The sealing strip 32 is embedded in the groove 314 and a portion of it is exposed outside the groove 314.

[0034] Furthermore, a strip-shaped mounting base 21 is constructed on the upper side of the support beam 2 corresponding to the through-slot structure. The first slot wall 311 can form a first through-slot 315, and the second slot wall 313 can form a second through-slot 316. The bottom of the connecting part 411 passes through the second through-slot 316 and connects to the strip-shaped mounting base 21. The abutting part 412 is embedded in the first through-slot 315, and the lower part of the abutting part 412 is connected to the upper side of the annular boss 312 via a sealing strip 32. Through the trapezoidal arrangement of the two first through-slots 315 and the second through-slot 316, and the sealing strip 32 arranged around the entire boss surface, the connection stability between the first connector and the strip-shaped mounting base is improved, while ensuring sufficient sealing of the through-slot in the back cover plate 3 for the first connector. This prevents solid impurities such as dust and liquid impurities such as rainwater from entering the equipment cavity through the through-slot structure and causing damage to the machine's circuitry.

[0035] In this embodiment, as Figure 6 As shown, the upper part of the first connector has a first mounting structure 413 that can be connected to different upper-mount devices. The upper-mount connection assembly also includes a second connector 42, which is detachably connected to the first connector via the first mounting structure 413. The upper part of the second connector 42 has a second mounting structure 422 that can be installed with different upper-mount devices.

[0036] Furthermore, the upper device can be fixed to the upper part of the back cover plate 3 by connecting with the first mounting structure 413; or it can be fixed to the upper part of the back cover plate 3 by connecting with the second mounting structure 422, wherein the first mounting structure 413 and the second mounting structure 422 are different.

[0037] Specifically, the bottom of the connecting portion 411 of the first connector 41 and 41' passes through the through-slot structure and connects to the upper part of the support beam 2. The upper side of the connecting portion 411 is connected to the lower side of the second connector 42 through the first mounting structure 413. That is, the second connector 42 and the first connector 41 are arranged stacked vertically. Since the first mounting structure 413 and the second mounting structure 422 are different, the corresponding connector can be selected according to the installation interface shape of the upper equipment. If the installation interface of the upper equipment is compatible with the first mounting structure 413, the second mounting structure 422 can be detached from the first mounting structure 413, and the upper equipment can be directly connected to the upper load-bearing structure through the first mounting structure 413. If the installation interface of the upper equipment is compatible with the second mounting structure 422, the second mounting structure 422 is not disassembled, and the upper equipment is directly connected to the second mounting structure 422, thereby connecting to the support beam through the second connector, the first connector, and the second connector. By installing two different connectors on the body to adapt to different upper-mount device mounting interfaces, the mobile robot can be compatible with a wider range of upper-mount devices with different interfaces, effectively providing it with the ability to perform diverse tasks. Furthermore, by detachably connecting the first and second connectors, it is possible to remove the second connector from the first connector as needed during use. This ensures the expandability of the connection structure on the body while avoiding the problems of cluttered back structure and interference between connectors caused by installing multiple different connectors in different locations on the body.

[0038] In this embodiment, the first mounting structure 413 further includes a first bearing surface 4131 constructed on the first connector, and a first hole group 4132 and a second hole group 4133 arranged on the first bearing surface 4131, wherein the first fastener 4134 located in the first hole group 4132 fixes the first connector to the body by screwing it to the strip mounting seat 21 on the support beam 2.

[0039] In this embodiment, the second connector 42 includes at least one quick-release guide rail 421 mounted on the first connector. The quick-release guide rail 421 includes, but is not limited to, Picatinny rails, Weaver rails, Anschütz rails, Freeland rails, or ISP rails. The second fastener 4211 of the quick-release guide rail 421 can be screwed into the second hole group 4133 to fix the second connector 42 to the first bearing surface 4131. Alternatively, the second fastener 4211 on the upper device can be directly screwed into the second hole group 4133 to fix the upper device to the first bearing surface 4131. In another specific embodiment, a connecting groove 4212 arranged along the length of the guide rail frame is also provided on the quick-release guide rail component 421. One connecting groove hole can correspond to one or more second hole groups 4133 located on the lower first connector. Connecting platforms protrude inward from both sides of the lower groove wall of the connecting groove 4212. After the fastener enters the connecting groove 4212, its head can rest on the connecting platform surface. The screw of the fastener passes through the connecting groove 4212 and connects to the lower second hole group 4133. Thus, the installation position of the quick-release guide rail component on the first bearing surface of the first connector can be adjusted through the connecting groove.

[0040] In this embodiment, the upper load-bearing structure also includes a handle assembly 5. Two sets of upper load-bearing connecting assemblies 4 and 4' are arranged longitudinally side by side along the upper side of the back cover plate 3 along the body frame 1. Two corresponding connecting channels 31 and 31' are provided on the back cover plate 3, and each upper load-bearing connecting assembly 4 and 4' is fixedly connected to the support beam 2 through the corresponding connecting channels 31 and 31'. The handle assembly 5 includes a front handle 51 and a rear handle 52. The two ends of the front handle 51 are respectively connected to the front ends of the two first connecting members 41 and 41', and the two ends of the rear handle 52 are respectively connected to the rear ends of the two first connecting members 41 and 41'.

[0041] The front handle 51 includes a lifting component and two handle mounting parts connected to both ends of the lifting component. The lifting component can be made of a soft material, and the handle mounting parts are connected to the front end of the first connecting component by fasteners. The rear handle 52 has the same structure as the front handle 51, and will not be described again here.

[0042] In this embodiment, as Figure 7 As shown, the support beam 2 can be arranged longitudinally and centrally along the body frame 1, with both ends of the support beam 2 connected to the upper part of the front side wall 13 and the upper part of the rear side wall 14 of the body frame 1, respectively. This effectively connects the support beam 2 and the body frame 1 into a whole, helping the support beam 2 to evenly distribute the pressure from the upper equipment to the entire body frame 1.

[0043] Furthermore, the device chamber 11 of the body frame 1 also includes a battery cavity structure 15 located at the bottom and an electronic control box structure 16 mounted on the battery cavity structure 15. The battery cavity structure 15 includes a first partition plate 151, a second partition plate 152, and a transverse partition plate 153. The first partition plate 151 and the second partition plate 152 are respectively arranged laterally at the front and rear of the body frame 1 and connected to the bottom wall of the body frame 1. The front and rear ends of the transverse partition plate 153 are respectively connected to the upper parts of the first partition plate 151 and the upper parts of the second partition plate 152. The electronic control box structure 16 includes an annular box wall 161 mounted on the upper side of the transverse partition plate 153. The annular box wall 161 and the transverse partition plate 153 surround to form an electronic control box cavity 162 for accommodating a control circuit board. An electronic control box opening 163 is constructed above the electronic control box cavity 162. The support beam 2 may include a beam body 22 and a cover plate 23 connected to the lower side of the middle part of the beam body 22. The cover plate 23 is connected to the upper end of the annular box wall 161 and covers the opening 163 of the electrical control box. This effectively transmits the pressure of the upper equipment carried by the support beam 2 to the annular box wall 161, and then evenly distributes it to the entire machine frame 1 through the annular box wall 161, thereby effectively improving the load-bearing capacity of the upper equipment on the support beam 2.

[0044] In this embodiment, as Figures 8-9 As shown, the cover plate 23 of the supporting beam 2 has a reinforcing flange 231 along its edge, with a thickness higher than that of the middle plate of the cover plate 23. The reinforcing flange 231 is matched with the annular box wall 161 and connected to the side wall 221 of the beam. An edge connecting seat is constructed on the outer side of the reinforcing flange 231, and a mounting post is constructed on the outer side of the annular box wall 161. The edge connecting seat is connected to the corresponding mounting post by fasteners, so that the reinforcing flange 231 is sealed to the upper end of the annular box wall 161. Furthermore, multiple connecting beams 222 are arranged laterally between the reinforcing flange 231 away from the beam 22 and the beam side wall 221 on the opposite side. By arranging a connecting beam 222 in the middle of the cover plate 23 and a reinforcing flange 231 on the edge of the cover plate 23, the strength and load-bearing capacity of the cover plate 23 are effectively improved. This allows the pressure of the upper equipment carried by the beam body 22 of the support beam 2 to be effectively transmitted to the annular box wall 161 and evenly distributed to the entire machine frame 1 through the annular box wall 161, thereby effectively improving the load-bearing capacity of the upper equipment of the support beam 2.

[0045] In this embodiment, an air guide channel 24 is constructed on the upper side of the support beam 2, arranged longitudinally along the beam body 22, and a heat sink 25 is arranged within the air guide channel 24. A first fan assembly 26 is also installed on the support beam 2, which has an air outlet 261 facing the air guide channel 24. The main control board arranged in the electrical control box structure 16 is connected to the support beam 2 via a heat-conducting block and can conduct heat to the heat sink 25. Then, the heat on the heat sink 25 can be efficiently carried away by the air flowing within the air guide channel 24.

[0046] Furthermore, the air guide channel 24 consists of two opposing air duct walls 241 and 241' installed on the upper part of the beam 22, forming an air guide channel 24 for airflow between the two air duct walls 241 and 241'. The heat dissipation component 25 is arranged between the two air duct walls 241 and 241'. The heat dissipation component 25 can be a plurality of heat-conducting fins arranged side by side along the direction of the air duct walls 241 and 241'. The first fan assembly 26 can drive air to flow along the surface of each heat-conducting fin in the air guide channel 24, thereby removing heat from the heat-conducting fins.

[0047] In this embodiment, the two air duct walls 241 and 241' of the air guide channel 24 are installed between two strip-shaped mounting seats 21 to minimize the impact of the through groove structure on the strip-shaped mounting seats 21 on the air guide channel 24.

[0048] In this embodiment, as Figures 10-11 As shown, the first pneumatic assembly 26 includes a turbine fan 262, which is installed at the front of the air guide channel 24 of the beam 22, and the air outlet 261 of the turbine fan 262 faces the inlet of the air guide channel 24.

[0049] In this embodiment, a second fan assembly 27 is also arranged on the support beam 2. The first fan assembly 26 and the second fan assembly 27 are respectively arranged in the inlet area 242 and the outlet area 243 of the air guide channel 24. The heat sink 25 is arranged between the first fan assembly 26 and the second fan assembly 27. The second fan assembly 27 can attract air passing through the heat sink 25 into the second fan assembly 27.

[0050] Specifically, the second fan assembly 27 and the first fan assembly 26 form a bidirectional power synergy, with the second fan assembly 27 optionally equipped with an axial fan. When the heat dissipation structure is activated, the turbine fan 262 of the first fan assembly 26 forcibly pushes cold air introduced from outside the machine through the air inlet or low-temperature air from inside the machine along the inlet of the air guide channel 24 to the heat sink 25 area; the flowing air fully contacts the heat sink 25 carrying the heat source to complete heat exchange; at the same time, the suction force generated by the axial fan of the second fan assembly 27 acts on the air after passing through the heat sink 25, forming a continuous suction force along the air guide channel 24, quickly drawing hot air into the second fan assembly 27 and guiding it to the outside of the machine for discharge. The second fan assembly 27 and the support beam 2 can be assembled securely using bolts or other methods, and are positioned at the outlet area 243 and inlet area 242 of the air guide channel 24, respectively, maximizing the rapid flow of air in the air guide channel 24.

[0051] In this embodiment, the cover plate 23 of the supporting beam 2 includes a first cover portion 232 and a second cover portion 233 arranged at the bottom of the beam body 22. The first cover portion 232 is fixedly connected to both sides of the beam body 22, and the second cover portion 233 is detachably connected to the beam body 22. A heat sink 25 is installed on the upper side of the second cover portion 233, and the lower side contacts the main control board through a heat-conducting block. An installation slot 223 is formed at the bottom between the two air duct walls 241 and 241' of the beam body 22. The second cover portion 233 is connected to the beam body 22, and the heat sink 25 passes through the installation slot 223 into the air guide channel 24.

[0052] Specifically, the first cover 232 and the support beam 2 can be integrally molded to provide a stable structural foundation for the cover plate 23 and ensure the integrity of the connection between the support beam 2 and the electrical control box structure. The second cover 233 is assembled with the beam 22 via a bolt-on detachable structure, ensuring both connection stability and reserving operating space for future maintenance. When the main control board generates heat during operation, the heat is quickly transferred to the second cover 233 through the tightly fitted heat-conducting block. The second cover 233 acts as a heat conduction intermediary, further transferring the heat to the heat sink 25 mounted on its upper side. Since the heat sink 25 extends directly into the air duct 24 through the mounting slot 223, no additional conduction path is required, and the heat can be directly diffused to each heat dissipation unit of the heat sink 25. At this time, the airflow in the air duct 24 is in full contact with the heat sink 25, quickly carrying away the heat.

[0053] In this embodiment, the first pneumatic assembly 26 further includes a first air guide member 263, which is connected to the lower front side of the beam 22. The upper end of the first air guide member 263 has a first opening 2631 facing the air inlet of the turbine fan 262 of the first pneumatic assembly 26. The lower part of the first air guide member 263 also has a first sidewall 2632, on which a first air guide groove 2633 is arranged. The second pneumatic assembly 27 further includes a second air guide member 271, which is connected to the lower rear side of the beam 22. The upper end of the second air guide member 271 has a second opening 2711 facing the air outlet 261 of the axial fan of the second pneumatic assembly 27. The lower part of the second air guide member 271 also has a second sidewall 2712, on which a second air guide groove 2713 is arranged.

[0054] Furthermore, the two first sidewalls 2632 arranged opposite each other at the lower part of the first air guide member 263 are arranged in a V-shape. Each first sidewall 2632 faces the side swing joint motor arranged on the corresponding side of the front part of the body frame 1. Air near the side swing joint motor on the corresponding side can be drawn into the air guide groove of the first sidewall 2632 by the turbine fan 262, and then ejected by the air outlet 261 of the turbine fan 262 and enter the air guide channel 24 and move rearward along the air guide channel 24. The two second sidewalls 2712 arranged opposite each other at the lower part of the second air guide member 271 are also arranged in a V-shape. Each second sidewall 2712 faces the side swing joint motor arranged on the corresponding side of the rear part of the body frame 1. Air from the air guide channel 24 can be drawn by the axial fan and blown from the air guide groove of the second sidewall 2712 towards the side swing joint motor on the corresponding side.

[0055] Specifically, the two first sidewalls 2632 of the first air guide component 263 are arranged in a V-shape to fit the mounting areas of the side-swing joint motors on both sides of the front of the body frame 1. When the turbine fan 262 of the first fan assembly 26 starts, it generates a continuous negative pressure, which not only draws in low-temperature air from outside the machine through the air duct, but also draws in the heat generated by the front side-swing joint motor along with the air into the air guide slot of the first sidewall 2632. After the airflow is guided and regulated by the air guide slot, it smoothly enters the air guide channel 24 through the first opening 2631, which not only replenishes the air guide channel 24 with sufficient air, but also carries away the heat dissipated around the front side-swing joint motor, achieving initial cooling of the front side-swing joint motor. The two second sidewalls 2712 of the second air guide component 271 are also arranged in a V-shape, with the angle matching the position of the side-swing joint motors on both sides of the rear of the body frame 1, forming a directional airflow path. After heat exchange with the heat sink 25 within the air duct 24, the hot air flows to the second air guide component 271 under the drive of the axial fan of the second fan assembly 27. Entering the component through the second opening 2711, the air is then directed towards the corresponding rear side-swing joint motor via the air guide grooves on the second side wall 2712. As the hot air flows over the surface of the side-swing joint motor, it quickly carries away the heat generated by the motor's operation. The air is then discharged through the round hole on the rear side of the housing, achieving direct cooling of the rear side-swing joint motor. The V-shaped angle of the side wall is optimized to ensure that the air guide grooves are precisely aligned with the corresponding side-swing joint motor, avoiding airflow deviation.

[0056] In another embodiment, a quadruped robot is also disclosed, which includes any of the superstructure support structures disclosed in the foregoing embodiments, leg components mounted on the body frame 1, and a superstructure device, wherein the superstructure device is mounted on the back cover plate via a superstructure connecting assembly. The specific structure and function of the superstructure support structure can be found in the descriptions of the foregoing embodiments.

[0057] 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.

[0058] 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 superstructure bearing structure, characterized in that, include: The body frame has an internal equipment chamber and an opening at the top that communicates with the equipment chamber; Support beams are installed inside the equipment cavity and connected to the opposite side walls of the machine frame; A back cover plate is arranged above the support beam, connected to the upper part of the body frame and covering the opening of the body, and a connection channel is provided on the back cover plate; The upper connecting assembly is installed on the back cover plate and fixedly connected to the support beam inside the equipment cavity through the connecting channel.

2. The upper load-bearing structure according to claim 1, characterized in that: The connection channel is a through-slot structure opened in the back cover plate, and the bottom of the upper connecting assembly passes through the through-slot structure and connects to the upper part of the support beam.

3. The upper load-bearing structure according to claim 2, characterized in that: A sealing strip is arranged around the periphery of the through-slot structure on the back cover plate.

4. The upper load-bearing structure according to claim 3, characterized in that: The through-slot structure includes a first slot wall, and an annular boss protruding inward along the periphery of the slot is constructed below the first slot wall. A second slot wall is formed on the inner side of the boss. A groove is constructed on the upper side of the annular boss along the direction of the first slot wall. The sealing strip is embedded in the groove and a portion of it is exposed outside the groove. The first slot wall surrounds to form a first through-slot, and the second slot wall surrounds to form a second through-slot.

5. The upper load-bearing structure according to claim 4, characterized in that: The upper connecting assembly includes a first connector, which includes a connecting part and an abutting part constructed around the connecting part. The bottom of the connecting part passes through a through groove structure and is connected to the upper part of the support beam. The abutting part is abutted against the back cover plate through the sealing strip.

6. The upper load-bearing structure according to claim 4, characterized in that: The upper side of the support beam is equipped with a strip-shaped mounting seat corresponding to the through groove structure. The bottom of the connecting part passes through the second through groove and is connected to the strip-shaped mounting base. The abutting part is embedded in the first through groove and the lower part of the abutting part is connected to the upper side of the annular boss through a sealing strip.

7. The upper load-bearing structure according to claim 5, characterized in that: The upper part of the first connector has a first mounting structure that can be connected to different upper-mount devices; The upper body connection assembly further includes a second connector, which is detachably connected to the first connector via the first mounting structure. The upper part of the second connector is provided with a second mounting structure capable of mounting different upper body devices.

8. The superstructure bearing structure according to claim 6, characterized in that: The upper device can be fixed to the upper part of the back cover by connecting with the first mounting structure, or by connecting with the second mounting structure, wherein the first mounting structure and the second mounting structure are different.

9. The upper load-bearing structure according to claim 7, characterized in that, It also includes a handle assembly; Two sets of upper-mount connection components are arranged in parallel along the longitudinal direction of the body frame on the upper side of the back cover plate. Two corresponding connection channels are opened on the back cover plate, and each upper-mount connection component is fixedly connected to the support beam through the corresponding connection channel. The handle assembly includes a front handle and a rear handle. The two ends of the front handle are respectively connected to the front ends of two first connectors, and the two ends of the rear handle are respectively connected to the rear ends of two first connectors.

10. A quadruped robot, characterized in that, It includes the superstructure bearing structure as described in any one of claims 1-9, the leg assembly mounted on the body frame, and the superstructure equipment, the superstructure equipment being mounted on the back cover plate via a superstructure connecting assembly.

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