A robot body and legged robot

Abstract

The application discloses a kind of robot body and foot type robot, wherein robot body is by with rack as bearing matrix, be provided with hollow inner cavity in rack on line rack body;First interface part is arranged in the first position close to first function module in line rack body, and second interface part is arranged in the second position close to second function module;First wire connecting two function modules is arranged inside the hollow inner cavity of line rack body, and wire two ends are respectively connected with first, second interface part;Two ends of first wire can be connected with two function modules by corresponding interface part, and the plug-in connector of adaptation is realized detachable connection, and after being inserted in place, the electrical conduction between first function module and second function module can be completed.Thereby, the connecting wire between function modules is completely stored in the closed hollow inner cavity of line rack body, and the damage of wire harness in the process of robot movement is avoided.

Description

Technical Field

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

[0002] As legged robots are increasingly used in various scenarios, the number of integrated functional components within their bodies is becoming more and more abundant. Control units, battery modules, multi-joint drive motors, and various environmental sensors require numerous power and signal harnesses for power transmission and data interaction, resulting in a large number of harnesses within the robot. Currently, these harnesses are often scattered and simply bundled together within the robot's cabin, with no unified routing constraints and a chaotic distribution. This directly reduces the reliability of the wiring. During robot movement, these unconstrained harnesses are prone to continuous shaking and friction due to body vibration, leading to insulation wear, loose connections, and ultimately short circuits and signal transmission interruptions over time. Furthermore, the haphazard arrangement of harnesses lacks effective external protection, making them susceptible to pulling and scratching during robot assembly and module disassembly, further increasing the probability of damage. On the other hand, the randomly placed harnesses severely interfere with the layout and performance of the internal heat dissipation structure. The haphazardly bundled wiring harnesses significantly encroach on the internal space of the machine, making it difficult to design optimal cooling ducts. The duct layout must frequently avoid the messy wiring, resulting in bent airflow paths, increased airflow resistance, and an inability to form an efficient and orderly convection cooling path. Furthermore, the scattered wiring harnesses can easily obstruct core cooling components such as heat sink fins and air inlets / outlets, drastically reducing heat exchange efficiency. This prevents timely cooling of core heat-generating components such as the control unit, thus limiting the machine's continuous operation. Summary of the Invention

[0003] This invention addresses the shortcomings of existing technologies by providing a robot body structure, including a frame, a first functional module, and a second functional module mounted on the frame. The frame includes a cable guide with a hollow inner cavity. A first interface is installed on the cable guide at a first position near the first functional module, and a second interface is installed on the cable guide at a second position near the second functional module. A first wire connecting the first and second interface is arranged in the hollow inner cavity of the cable guide. A first end of the first wire is detachably connected to a first connector adapted to the first functional module via the first interface. A second end of the first wire is detachably connected to a second connector adapted to the second functional module via the second interface. When both ends of the first wire are connected to the corresponding first and second connectors via the first and second interface respectively, the first and second functional modules are electrically connected.

[0004] Preferably, the first functional module is a control box module, and the second functional module is a joint motor, sensor assembly, upper module, or battery module of the leg assembly.

[0005] Preferably, the robot body structure further includes a leg assembly mounted on the frame and a battery module inside the frame. The second functional module is the joint motor of the leg assembly. The control box module and the battery module are electrically connected. When the two ends of the first wire are connected to the first connector and the second connector through the first interface and the second interface respectively, the joint motor is electrically connected to the battery module through the control box module.

[0006] Preferably, the robot body structure further includes a second wire, and the wire guide body includes a first wire guide segment, a second wire guide segment and a third wire guide segment. The first wire guide segment is equipped with a first interface portion at a first position near the control box module, the second wire guide segment is equipped with a second interface portion at a second position near the joint motor of the front leg component, and the third wire guide segment is equipped with a third interface portion at a third position near the joint motor of the rear leg component. The first wire is laid in the first and second passing segments. The first end of the first wire passes through part or all of the first passing segment and is electrically connected to the control box module. The second end of the first wire can pass through the second interface part along the second passing segment and be electrically connected to the joint motor of the front leg assembly. The second wire is laid within the first and third passing segments. The first end of the second wire passes through part or all of the first passing segment and is electrically connected to the control box module. The second end of the second wire can pass along the third passing segment and be electrically connected to the joint motor of the rear leg assembly through the third interface.

[0007] Preferably, the first end of the first wire and the first end of the second wire are respectively electrically connected to the control box module through the first interface portion along the first wire segment; or The first end of the first wire is electrically connected to the control box module through the first interface section along the first wire segment, and the first end of the second wire is electrically connected to the control box module through the fourth interface section arranged on the first wire segment along the first wire segment.

[0008] Preferably, the frame includes a back frame, a base frame, and at least four frame columns, with the upper and lower ends of each frame column connected to the back frame and the base frame respectively. The back frame, the base frame, and the four frame columns enclose a first mounting frame. The control box module and the battery module are installed in the first mounting frame, and a cable tray is arranged on the first mounting frame.

[0009] Preferably, the control box module and the battery module are arranged vertically within the first mounting frame, the control box module is connected to the back frame, and the back frame has a first wire passage and a first interface portion. The two ends of the first wire segment are respectively connected to the second wire segment and the third wire segment. The first wire passes through the second wire segment from one end of the first wire segment and connects to the first interface part. The second wire passes through the third wire segment from the other end of the first wire segment and connects to the first interface part.

[0010] Preferably, a first through-line segment and a first interface portion are constructed on the frame column; The first through-line segment is connected to the second through-line segment and the third through-line segment. The first conductor is connected to the first interface portion along the second through-line segment and the first through-line segment. The second conductor is connected to the first interface portion along the third through-line segment and the first through-line segment.

[0011] Preferably, the cable guide frame includes a load-bearing member and a cover member. A cable guide groove for accommodating wires is provided on the load-bearing member. The cover member is detachably connected to the load-bearing member and covers the opening of the cable guide groove. The wall of the cable guide groove on the load-bearing member and the inner side of the cover member clamp and surround each other to form a cable guide space.

[0012] The present invention also discloses a legged robot, comprising a robot body as described in any of the foregoing claims and a leg assembly mounted on the robot body, the leg assembly being electrically connected to a control box module.

[0013] This invention discloses a robot body and a legged robot. The robot body uses a frame as a supporting base, on which a wire guide frame with a hollow inner cavity is installed. A first interface is located at a first position near a first functional module, and a second interface is located at a second position near a second functional module. A first wire connecting the two functional modules is laid inside the hollow inner cavity of the wire guide frame, with its two ends respectively connected to the first and second interface portions. The two ends of the first wire can be detachably connected to the corresponding connectors on the two functional modules through the corresponding interface portions, thus establishing electrical conduction between the first and second functional modules. This completely houses the connecting wires between the functional modules within the closed hollow inner cavity of the wire guide frame, replacing the traditional method of scattered and simply bundled wiring harnesses. This avoids the wire harnesses rubbing, pulling, and shaking due to vibration during robot movement, effectively reducing insulation wear and loosening of connectors. In addition, the cable tray provides unified constraints and centralized storage for the wiring paths, making the wiring harnesses inside the machine neat and orderly. This eliminates the disorderly occupation of internal space by the messy stacking of wiring harnesses, and reserves complete space for the planning and design of heat dissipation ducts and heat dissipation components.

[0014] 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

[0015] 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.

[0016] 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.

[0017] Figure 1 This is a schematic diagram of the structure of a robot body disclosed in one embodiment of this application.

[0018] Figure 2 This is a schematic diagram of the control box module disclosed in an embodiment of this application.

[0019] Figure 3 This is a schematic diagram of the structure of a legged robot disclosed in one embodiment of this application.

[0020] Figure 4 This is a schematic diagram of the back frame structure disclosed in one embodiment of this application.

[0021] Figure 5 This is a schematic diagram of the structure of a cable tray disclosed in an embodiment of this application.

[0022] Figure 6 This is a cross-sectional schematic diagram of the robot body structure disclosed in an embodiment of this application.

[0023] Figure 7 This is an exploded view of the rack disclosed in one embodiment of this application.

[0024] Figure 8 This is a schematic diagram of another part of the structure disclosed in one embodiment of this application.

[0025] Figure 9 This is an exploded view of the control box module disclosed in an embodiment of this application.

[0026] Figure 10 This is another structural schematic diagram of the robot body structure disclosed in one embodiment of this application.

[0027] Figure 11 and 12 This is a schematic diagram of the structure of each air inlet and air outlet disclosed in an embodiment of this application.

[0028] Figure 13 This is a schematic diagram of the leg mounting base disclosed in one embodiment of this application.

[0029] Figure 14 This is a schematic diagram of the location of the airflow heat dissipation path disclosed in an embodiment of this application. Detailed Implementation

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] The present invention discloses the following embodiments, specifically as shown in the appendix. Figure 1-4As shown, a robot body structure is disclosed, including a frame 900, a first functional module and a second functional module mounted on the frame 900. The frame 900 includes a cable guide body 910 with a hollow inner cavity 904. A first interface portion 901 is installed on the cable guide body 910 at a first position near the first functional module, and a second interface portion 902 is installed on the cable guide body 910 at a second position near the second functional module. A first wire connecting the first interface portion 901 and the second interface portion 902 is arranged in the hollow inner cavity 904 of the cable guide body 910. The first end of the first wire can be detachably connected to a first connector 16 adapted to the first functional module through the first interface portion 901. The second end of the first wire can be detachably connected to a second connector adapted to the second functional module through the second interface portion 902. When the two ends of the first wire are connected to the first connector 16 and the second connector respectively through the first interface portion 901 and the second interface portion 902, the first functional module and the second functional module are electrically connected.

[0035] Specifically, rack 900, as the load-bearing base of the machine structure, bears the load of all functional modules and leg components. The cable tray integrates the dual functions of cable routing channels and mounting bases. In certain areas of rack 900, cable trays with enclosed or semi-enclosed hollow cavities are constructed. Enclosed hollow cavities are preferred, with interface sections only located at the wire exit points for installing connector plugs. Alternatively, wires can extend directly from these interface sections, which serve only to constrain the wires and seal the exit points, preventing external water or dust from entering the cable tray cavity. By reserving sufficient space for cable laying inside the cavity, external dust and impact abrasion can be isolated, providing physical protection for the wire harness. The interface sections can be standard socket bases pre-embedded and fixed to the side wall of the cable tray. The connectors can correspond to the matching male terminals of the functional modules; quick plug-and-play connection is achieved by matching the two. During the production and assembly phase, the wires can be fully inserted into the hollow cavity first. After crimping terminals to both ends of the wires, they are fixedly assembled into the corresponding interface section, forming a pre-assembled integrated component with the interface section. During the final assembly of the entire machine, only the connectors of the two functional modules need to be aligned and connected to the corresponding interface sections. Compared to the existing solution of externally bundling wire harnesses and separate wiring for the robot body, this structure houses the wires within the cavity of the wire guide frame, avoiding scratches and pulls caused by exposed cables and reducing the probability of wire breakage and short circuits.

[0036] The first functional module can be any one or more functional modules that need to be electrically connected to each other, such as the control box module 1, the joint motor 210 of the leg assembly 200, the sensor assembly, the upper body module, or the battery module 2. For example, the first functional module is the control box module 1, and the second functional module is one or more of the joint motor 210 of the leg assembly 200, the sensor assembly, the upper body module, or the battery module 2 that need to be electrically connected to the control box module 1. The sensor assembly can include environmental perception sensors such as vision cameras, lidar, force sensors, or attitude sensors, used to transmit analog or digital signals of environmental perception. The upper body module can be an extended operation module of the robot, such as a robotic arm, inspection equipment, or a transport container, which needs to be connected to the robot's power supply and interact with the control box module.

[0037] In this embodiment, the robot's body structure also includes a leg assembly 200 mounted on a frame 900 and a battery module 2 within the frame 900. The second functional module is the joint motor 210 of the leg assembly. The control box module 1 and the battery module 2 are electrically connected. When the two ends of the first wire are connected to the first connector 16 and the second connector respectively through the first interface 901 and the second interface 902, the joint motor 210 is electrically connected to the battery module 2 through the control box module 1. The control box module 1 and the battery module 2 are pre-connected through a dedicated power supply harness, or a detachable connection is made using a quick-connect connector such as a POGO PIN connector. When the two ends of the first wire are plugged in, a complete power supply and signal circuit is achieved. Current is output from the battery module and enters the power circuit of the control box, then is transmitted to the joint motor through the first interface, the first wire, and the second interface. At the same time, the feedback signal of the motor encoder is transmitted back to the control box along the same wire.

[0038] In this embodiment, as shown in the appendix Figure 5 As shown in the attached diagram, a cable guide frame 910 is installed on the head frame at the front or the tail frame at the rear of the frame 900. This cable guide frame is used to route the data cables of the sensor assemblies mounted on the head or tail frame that need to connect to the control box module within its hollow interior. The cable guide frame 910 may include a load-bearing member 601 and a cover member 602. The load-bearing member 601 has a cable passage groove 603 for accommodating the wires. The cover member 602 is detachably connected to the load-bearing member 601 and covers the opening of the cable passage groove 603. The wall of the cable passage groove 603 on the load-bearing member 601 and the inner side of the cover member 602 clamp and surround each other to form a cable passage space. Of course, cable guide frames on other machine structures can also adopt the same structure of load-bearing member and cover member.

[0039] The cable trays can be designed as U-shaped through-channels or other structures. The tray width is pre-spaced according to the outer diameter of the cable harness to facilitate the parallel laying of multiple data cables and to make it easy to pull out and replace cables later. The cover can be locked to the side of the load-bearing component using spring clips or miniature quick-release screws. The tray walls serve as bottom and side supports. After the cover is fastened, it closes the tray opening, and the two together form a closed, elongated cable tray space, completely enclosing the internal data cables. The sensor cables at the head and tail, the motor cables in the middle of the body, and the battery cables at the back can all use this split cable tray structure. When inspecting sensor circuits, all data cables can be exposed by simply removing the cover of the corresponding area without disassembling the entire cable tray frame. In addition, rubber sealing strips can be added to the cover to achieve dust and water resistance, making it suitable for complex usage scenarios such as outdoor inspections and industrial humidity.

[0040] As attached Figure 6 As shown, the robot's body structure may also include a second wire. The wire guide frame 910 includes a first wire guide segment 911, a second wire guide segment 912, and a third wire guide segment 913. The first wire guide segment 911 is equipped with a first interface portion 901 at a first position near the control box module 1. The second wire guide segment 912 is equipped with a second interface portion 902 at a second position near the front leg component joint motor 210. The third wire guide segment 913 is equipped with a third interface portion 903 at a third position near the rear leg component joint motor 210. The first wire is laid within the first through-segment 911 and the second through-segment 912. The first end of the first wire passes through part or all of the first through-segment 911 and is electrically connected to the control box module 1. The second end of the first wire can be electrically connected to the joint motor 210 of the front leg assembly through the second interface 902 along the second through-segment 912. The second wire is laid within the first through-segment 911 and the third through-segment 913. The first end of the second wire passes through part or all of the first through-segment 911 and is electrically connected to the control box module 1. The second end of the second wire can be electrically connected to the joint motor 210 of the rear leg assembly through the third interface 903 along the third through-segment 913.

[0041] The first cable routing segment serves as the convergence point for the main wiring harness, located near the control box in the middle of the robot body, and functions as a common wiring channel. The second cable routing segment branches forward to the mounting position on the robot's front leg, and the third cable routing segment branches backward to the mounting position on the rear leg. These three segments are interconnected to form a single, branched cable tray. The cable laying can be configured differently depending on the available space. Cables can either run through the entire first cable routing segment, completely concealing the cable within the cavity with no exposed sections, or they can pass only through a portion of the first cable routing segment, with a short exposed section directly connecting to the interface. The front and rear leg motors transmit power and signals via separate first and second cable routing lines, respectively.

[0042] In this embodiment, the first end of the first wire and the first end of the second wire are electrically connected to the control box module 1 via the first interface portion 901 through the first through-segment 911. Specifically, this is a single-interface multi-channel integrated plug-in connection. The first interface portion adopts a multi-channel integrated socket, and two sets of independent conductive terminals are set inside, corresponding to the ends of the first wire and the second wire, respectively. During assembly, one end of the two wires is gathered together to the same side of the first through-segment and simultaneously inserted into the integrated first interface portion. The connection between the front and rear motor wiring harnesses and the control box can be completed simultaneously through only one plug-in. This structure allows the control box to reserve only one plug-in position, simplifying the opening layout of the control box housing.

[0043] In another embodiment, the first end of the first wire can also be electrically connected to the control box module 1 via the first interface 901 along the first pass segment 911, and the first end of the second wire can be electrically connected to the control box module 1 via the fourth interface provided on the first pass segment 911 along the first pass segment 911. Specifically, this method is a dual-interface separate plug-in connection configuration, with two independent sockets, the first interface and the fourth interface, arranged at intervals along the length direction on the side wall of the first pass segment, and the ends of the two wires are plugged in respectively.

[0044] In this embodiment, as shown in the appendix Figure 7 As shown, the frame includes a back frame 3, a base frame 4, and at least four frame columns 51. The upper and lower ends of each frame column 51 are connected to the back frame 3 and the base frame 4, respectively. The back frame 3, the base frame 4, and the four frame columns 51 enclose a first mounting frame 36. The control box module 1 and the battery module 2 are installed in the first mounting frame 36, and a cable tray 910 is arranged on the first mounting frame 36.

[0045] Specifically, the back frame is a load-bearing crossbeam at the top of the machine body, used to fix the upper module and the cable tray at the back. The base frame is a load-bearing base at the bottom of the machine body. Four frame columns are evenly distributed at the four corners of the machine body, vertically connecting the back frame and the base frame. The whole assembly forms a rectangular closed first mounting frame. The frame forms an independent mounting cavity, which can isolate external impacts and protect the internal electronic control and battery components. The cable tray is directly fixed to the frame columns of the first mounting frame or the side wall of the back frame, and is integrated with the load-bearing frame, eliminating the need for additional independent brackets and reducing the overall weight and number of parts. The control box and battery are centrally located inside the frame. All motor and sensor wiring harnesses can be led out through the cable tray on the frame. The internal wiring is neat and tidy, with no messy wiring harnesses occupying the mounting cavity space, facilitating quick disassembly and replacement of the battery and control box. The cable tray is integrated into the side wall of the frame, and the wiring harnesses are led out from inside the frame, effectively improving the overall integrity of the machine's wiring protection.

[0046] In this embodiment, the control box module 1 and the battery module 2 are arranged vertically within the first mounting frame 36. The control box module 1 is connected to the back frame 3, and a first wire passage segment 911 and a first interface portion 901 are constructed on the back frame 3. The two ends of the first wire passage segment 911 are respectively connected to the second wire passage segment 912 and the third wire passage segment 913. The first wire passes through the second wire passage segment 912 from one end of the first wire passage segment 911 and connects to the first interface portion 901. The second wire passes through the third wire passage segment 913 from the other end of the first wire passage segment 911 and connects to the first interface portion 901.

[0047] Specifically, the control box module is mounted via a top back frame, with the battery module positioned below it. This layered layout provides ventilation gaps, allowing heat generated by the battery to dissipate downwards, ensuring the stability of the electronic control components. The left and right ends of the first wiring segment connect to the wiring segments of the front and rear branches, respectively. Two wires converge from opposite ends into the common first wiring segment and then connect to the first interface on the back frame. The one-piece molded wiring channel of the back frame has no seams, providing excellent dust and water resistance, suitable for outdoor robot operations. With the main control module fixed to the back frame, efficient connection of all motor wiring harnesses to the main control interface is achieved.

[0048] In one embodiment, a first through-line segment 911 and a first interface portion 901 are constructed on the frame column 51; the first through-line segment 911 communicates with a second through-line segment 912 and a third through-line segment 913, and the first conductor is connected to the first interface portion 901 along the second through-line segment 912 and the first through-line segment 911; the second conductor is connected to the first interface portion 901 along the third through-line segment 913 and the first through-line segment 911.

[0049] Specifically, the first wiring section can be integrally die-cast from two frame columns on one side of the frame column. The column itself serves as both a load-bearing support and a wiring harness channel, making full use of the original structural space of the frame without occupying the mounting cavity in the middle of the body, thus leaving more installation space for the battery and control box. The wires are arranged vertically along the side frame columns, passing upwards from the bottom leg motor through the wiring section of the column, converging at the first interface in the middle of the column, and then horizontally connecting to the control box. In another possible wiring method, each of the four frame columns can also be equipped with an independent wiring section, achieving completely independent separate wiring for the four legs, with the four wiring harnesses physically completely separated. Furthermore, in another possible wiring method, the wiring sections on the beam of the back frame can be combined with the wiring sections on the frame columns, with the wires connecting to the control box module after passing through the wiring sections laid on the frame columns and beams.

[0050] Furthermore, in this embodiment, as shown in the appendix Figure 8-10As shown, the control box module 1 includes a sealed box body 11, a first electrical connector 15, and an electrical control board 12 installed inside the sealed box body 11. The first electrical connector 15 is mounted on the sealed box body 11, with its external portion exposed outside the sealed box body 11. The terminals of the first electrical connector 15 are electrically connected to the electrical control board 12. The control box module 1 can move between a first position and a second position within the machine body. In the first position, the sealed box body 11 is fixed within the machine body, and the electrical control board 12 is electrically connected to the machine body through the external portion of the first electrical connector 15. In the second position, the first electrical connector is separated from the machine body, and the electrical connection between the electrical control board 12 and the machine body is disconnected. This control box module can connect and disconnect with components inside the machine body by moving the first electrical connector (installed outside the box body) between two positions within the machine body, achieving synchronous electrical switching when moving between the two positions within the machine body. When maintenance is required, the control box module can be moved to automatically disconnect, eliminating the need to plug and unplug each wiring harness connector and improving module assembly and disassembly efficiency. Simultaneously, by eliminating traditional wiring harnesses, issues such as wire damage and loose connectors caused by vibration and pulling are avoided, improving electrical reliability. Furthermore, the integrated sealed housing provides a unified arrangement of electrical interfaces, eliminating messy wiring that occupies internal space and does not interfere with the airflow design. The sealed housing also protects the internal control board from dust and impact.

[0051] In this embodiment, a heat dissipation assembly 14 is installed on one side of the sealed box 11. The heat dissipation assembly 14 includes heat dissipation fins 141 and a vortex fan 142. The heat dissipation fins 141 are longitudinally arranged along the bottom surface of the sealed box 11, and the vortex fan is installed on the bottom surface of the sealed box 11 and close to the air inlet end of the heat dissipation fins 141.

[0052] The width of the heat dissipation fin 141 near the air inlet end of the vortex fan 142 is greater than the width of the vortex fan 142; the air inlet end of the heat dissipation fin 141 is constructed with a first fin inlet section facing the air outlet of the vortex fan 142 and a second fin inlet section that is not blocked by the vortex fan 142.

[0053] The upper surface of the heat sink fins is tightly fitted to the lower surface of the sealed housing or directly sealed within the mounting notch in the lower part of the housing, allowing direct contact with the circuitry inside the control box. Heat generated by the control board during operation is rapidly conducted to the heat sink fins via the sealed housing or directly through heat-conducting components on the control board. The heat is then carried away by airflow through the gaps between the fins, significantly improving the heat exchange efficiency of the control box module and ensuring temperature stability during prolonged high-load operation of the control board. The heat sink fins are arranged longitudinally, aligning with the airflow direction, reducing wind resistance caused by airflow deflection and increasing airflow speed.

[0054] The heat dissipation fins are arranged longitudinally, aligning with the airflow direction of the heat dissipation channels, which are themselves arranged longitudinally along the robot's body. This allows for more air to enter the heat dissipation channels during robot movement, thereby improving heat dissipation efficiency. A vortex fan drives the airflow within the heat dissipation channels, creating forced convection cooling. This significantly enhances heat dissipation capacity, ensuring that the control box module can effectively drive airflow within the heat dissipation channels even under high load conditions and when it becomes difficult for external air to naturally enter the channels during robot stationary or forward / backward movement, thus maintaining effective heat dissipation efficiency.

[0055] In this embodiment, the electrical interface component adopts a POGO PIN connector component. When the control box module 1 is in its first position inside the machine body, it can be electrically connected to the battery module 2 arranged inside the machine body through the first electrical connector 15. Specifically, when the control box module 1 is in its first position inside the machine body, it can be electrically connected to the battery module 2 inside the machine body through the first electrical connector 15, and together with the battery module 2, they form a heat dissipation channel 13. The heat dissipation component 14 is located within the heat dissipation channel 13.

[0056] In this embodiment, the battery module 2 in the robot's body structure includes a battery compartment shell 21 and a battery module 22 installed inside the battery compartment shell 21. The second electrical connector is installed on the upper part of the battery compartment shell 21 and is electrically connected to the battery module 22 through a wire arranged on the battery compartment shell 21. The sealed box 11 and the battery compartment shell 21 are arranged vertically within the frame. The sealed box 11 can move vertically between a first position and a second position within the frame. In the second position, the first electrical connector and the second electrical connector are separated and not connected. In the first position, the first electrical connector and the second electrical connector are in contact and connected, and a heat dissipation channel 13 is formed between the sealed box 11 and the battery compartment shell 21.

[0057] In this embodiment, as shown in the appendix Figure 11-13 As shown, a heat dissipation assembly 14 is installed in the heat dissipation channel 13 at the lower part of the sealed box 11. The heat dissipation assembly 14 includes heat dissipation fins 141 arranged longitudinally along the front-rear direction of the frame. The frame includes a main compartment 100 for accommodating the control box module 1 and the battery module 2, and two joint compartments 201 and 202 respectively connected to the front and rear ends of the main compartment 100. The front and rear sides of the main compartment 100 are respectively provided with a first air inlet 101 and a first air outlet 102 communicating with the heat dissipation channel 13.

[0058] The upper surface of the heat dissipation fins is tightly fitted to the lower surface of the sealed box or directly sealed within an installation notch in the lower part of the sealed box, allowing direct contact with the circuitry inside the control box. The heat dissipation fins are arranged longitudinally, aligning with the airflow direction, reducing wind resistance caused by airflow deflection and increasing airflow speed. The main compartment houses the core electrical components, with a first air inlet and outlet running longitudinally, forming a straight, longitudinally continuous heat dissipation path. Airflow flows directly along the front-to-back direction of the machine, resulting in high efficiency. Two joint compartments are located on the front and rear sides of the main compartment, housing the leg side-swing joint motors. The air inlets and outlets of the main compartment are connected to the joint compartments. Airflow passing through the main compartment carries away heat from the joint motor surfaces, allowing a single airflow to simultaneously cool both the core electrical control components and the leg movement components, improving airflow utilization. In addition, both the first air inlet and the first air outlet are located on the bulkheads at the front and rear of the main compartment, which does not damage the structural integrity of the longitudinal main load-bearing beam of the frame. This effectively avoids the structural strength reduction problem caused by openings in the traditional shell, and balances heat dissipation performance and the impact resistance rigidity of the airframe.

[0059] In this embodiment, the air inlet of the vortex fan 142 of the heat dissipation assembly 14 faces the direction of the battery module 22, and the air outlet faces the heat dissipation fins 141; the width of the area occupied by the heat dissipation fins 141 along the transverse direction of the frame is greater than the width of the vortex fan 142.

[0060] The heat dissipation fins are arranged longitudinally, aligning with the airflow direction of the heat dissipation channels, which are themselves arranged longitudinally along the robot's body. This allows for more air to enter the heat dissipation channels during robot movement, thereby improving heat dissipation efficiency. A vortex fan drives the airflow within the heat dissipation channels, creating forced convection cooling. This significantly enhances heat dissipation capacity, ensuring that the control box module can effectively drive airflow within the heat dissipation channels even under high load conditions and when it becomes difficult for external air to naturally enter the channels during robot stationary or forward / backward movement, thus maintaining effective heat dissipation efficiency.

[0061] Furthermore, by ensuring that the width of the area occupied by the heat dissipation fins along the transverse direction of the frame is greater than the width of the vortex fan, the shell structure of the vortex fan is prevented from completely blocking the air inlet surface of the heat dissipation fins. This allows for bypass air inlet areas on both sides outside the transverse projection range of the fan, achieving a dual-mode cooling system that combines passive ram air cooling and active forced air cooling. When the robot is in high-speed movement mode, the oncoming ram airflow generated by the forward movement of the robot body can directly flow into the heat exchange channels of the heat dissipation fins through the bypass air inlet areas on both sides. It can remove the heat on the heat exchange fins without relying entirely on the drive of the vortex fan. At this time, the vortex fan can reduce its operating speed or stop working according to the overall temperature control strategy, reducing fan energy consumption while ensuring the heat dissipation effect and extending the overall battery life. When the robot is stationary or moving at low speed, the external oncoming airflow is insufficient. At this time, the vortex fan starts and actively delivers air, forcing the airflow through all the heat exchange channels of the heat dissipation fins, ensuring the stable operating temperature of the control box module and battery module under stationary and low-speed conditions. This enables adaptive adaptation of heat dissipation modes under different operating conditions, broadens the applicable range of the heat dissipation system, and improves energy utilization efficiency.

[0062] In this embodiment, the frame further includes two leg mounting seats 6 respectively installed at the front and rear of the main compartment 100. The two leg mounting seats 6 clamp the front and rear sides of the main compartment 100 to form two joint compartments. The leg components can be connected to the frame through the leg mounting seats 6, and the side swing joint motor of each leg component is installed in the corresponding joint compartment. The leg mounting seat 6 includes two leg clamps 61 for installing the two leg components. A second air inlet 62 is constructed between the two leg clamps 61 of the first leg mounting seat 6 in front of the main compartment 100. The area occupied by the second air inlet 62 and the area occupied by the first air inlet 101 overlap on the same projection plane perpendicular to the front and rear direction of the frame.

[0063] Two leg clamps correspond to the side-swing joint mounting positions of the left and right leg components, respectively. The clamps are equipped with flange mounting surfaces and bearing holes adapted to the corresponding joint motors. The upper and lower ends of the leg mounting bases are fixedly connected to the back frame and base frame, respectively, which can evenly transfer the impact load generated by leg movement to the entire frame, avoiding localized stress concentration. A second air inlet is located on the connecting plate between the two leg clamps, directly opposite and overlapping with the first air inlet on the front side of the main compartment. This allows airflow to flow straight through from the joint compartment into the main compartment without turning, improving air intake efficiency. As the airflow moves from the second air inlet to the first air inlet, it passes over the upper surfaces of the left and right side-swing joint motors, carrying away the heat generated by the motors. This achieves synchronous heat dissipation of the side-swing joint motors, eliminating the need for separate cooling devices for the motors and further improving the overall heat dissipation efficiency of the air duct.

[0064] In this embodiment, the frame further includes a head section 300 located in front of the first joint section 201 at the front of the frame. The head section 300 is formed by a head frame 7 and a first leg mounting base 6. A third air inlet 301 is constructed on the head frame 7. Specifically, the head section is located at the foremost end of the overall cooling airflow, and the third air inlet directly faces the robot's direction of travel. This fully utilizes the oncoming impact effect when the wheeled robot travels at high speed, increasing the overall airflow and enhancing passive cooling. The third air inlet is integrated into the head frame, which also serves as a front-end collision protection function. The air inlet is located in the hollow area of ​​the frame, eliminating the need for additional openings in the collision protection structure, thus balancing front-end collision protection performance and airflow function. After the airflow enters the head section from the third air inlet, it first flows through the end structures of the two front hip joint motors on the left and right sides, carrying away the heat generated by the hip joint motors. Then it flows backward into the second air inlet, achieving synchronous heat dissipation of the front hip joint motors. This ensures that all front-end heat-generating components are included in the heat dissipation airflow coverage, improving the overall heat dissipation of the machine.

[0065] In this embodiment, the frame further includes two front-to-back partitions 52 installed between the back frame 3 and the base frame 4. The back frame 3, the base frame 4, and the two partitions 52 surround to form the main compartment 100. The control box module 1 is connected to the back frame 3, and the battery module 2 is connected to the base frame 4. A first air inlet 101 is constructed on the first partition 52 located on the front side, and a first air outlet 102 is constructed on the second partition 52 located on the rear side. The first leg mounting base 6 further includes a connecting plate 611 connecting two leg clamps 61. The upper and lower sides of the connecting plate 611 are connected to the back frame 3 and the base frame 4, respectively. A second air inlet 62 is provided on the connecting plate 611. The frame also includes two partition components 5, which are arranged longitudinally between the two leg mounting seats 6. The upper and lower ends of the partition components 5 are connected to the lower side of the back frame 3 and the upper side of the base frame 4, respectively. Each partition component 5 includes two frame columns 51 and a bulkhead 52 connecting the two frame columns 51. The two frame columns of the partition component are the main vertical load-bearing components, connecting the back frame and the base frame respectively, which can evenly transfer the vertical load and greatly improve the overall structural rigidity of the frame. The bulkhead in the middle separates the main compartment and the joint compartment, and also serves as an airflow guide, restricting the airflow to flow only along the preset air inlets and outlets, avoiding turbulent airflow loss in the compartment, and ensuring the directionality and heat dissipation efficiency of the heat dissipation duct.

[0066] In this embodiment, the opening height of the first air inlet 101 and the first air outlet 102 on the corresponding partition plate 52 is above the battery compartment shell 21, and the width of the first air inlet 101 and the first air outlet 102 is greater than the width of the heat dissipation fins 141. Preferably, the width of the first air inlet 101 and the first air outlet 102 can be close to the width of the sealed box 11, so as to bring as much airflow as possible to the heat conduction channel while avoiding corrosion of the side wall of the battery compartment shell.

[0067] Furthermore, a second air outlet 64 is constructed between the two leg clamps 61 of the second leg mounting seat 6 behind the main section 100. The area occupied by the second air outlet 64 overlaps with the area occupied by the first air outlet 102 on the same projection plane perpendicular to the front-rear direction of the frame. The frame also includes a tail section 400 located behind the second joint section 202 at the rear of the frame. The tail section 400 is formed by the tail frame 8 and the second leg mounting seat 6. A third air outlet 401 is constructed on the tail frame 8. After hot air flows into the tail section from the second air outlet, it flows through the ends of the left and right rear hip joint motors, carrying away the working heat of the rear hip joint motors, realizing synchronous heat dissipation of the rear hip joint motors, so that all joint motors of the whole machine are included in the coverage of the heat dissipation air duct.

[0068] In this embodiment, as shown in the appendix Figure 14 As shown, the frame includes an airflow cooling path that runs longitudinally through the entire mobile robot body structure. This airflow cooling path includes interconnected first cooling section 501, second cooling section 502, third cooling section 503, fourth cooling section 504, and fifth cooling section 505. The first cooling section 501 is located within the head compartment 300 and has an airflow path from the third air inlet 301 through the ends of the hip joint motors 211 of the left and right front leg components to the second air inlet 62. The second cooling section 502 is located within the first joint compartment 201 and has an airflow path from the second air inlet 62 through the space between or above the side-swing joint motors 212 of the left and right front leg components. The third heat dissipation section 503 is located within the main compartment 100 and has an airflow path from the first air inlet 101 through the heat dissipation fins 141 to the first air outlet 102; the fourth heat dissipation section 504 is located within the second joint compartment 202 and has an airflow path from the first air outlet 102 through the space between or above the side swing joint motors 213 of the left and right rear leg components to the second air outlet 64; the fifth heat dissipation section 505 is located within the tail compartment 400 and has an airflow path from the second air outlet 64 through the ends of the hip joint motors 214 of the left and right rear leg components to the third air outlet 401.

[0069] Specifically, the airflow cooling path employs a five-segment series structure, running longitudinally through the entire frame to form a complete cooling airflow path from front to back. This structure utilizes the high-speed airflow during rapid movement of legged robots, especially wheeled robots. Multiple heat-generating components, including the head sensor, front and rear lateral joint motors, control box module, battery module, and tail equipment, are simultaneously cooled through a single cooling channel. This eliminates the need for separate cooling systems for each component, significantly simplifying the overall cooling structure and reducing weight and cost. The airflow areas of each cooling segment cover the main heat sources within each compartment, ensuring effective cooling for every heat-generating component. The third cooling segment is the core cooling segment, flowing through the heat dissipation fin area and primarily responsible for cooling the control box module and battery module. The remaining segments assist in cooling the joint motors and end effectors, achieving rapid heat dissipation during robot movement.

[0070] In this embodiment, the frame is a frame-type load-bearing structure. The back frame 3 defines the upper anti-collision surface of the first mounting frame 36, and the base frame 4 defines the lower anti-collision surface of the first mounting frame 36. Multiple frame columns 51 located on the same side, the exterior of the back frame 3 on the corresponding side, and the exterior of the base frame 4 on the corresponding side jointly define the side anti-collision surface of the first mounting frame 36 on the corresponding side. The battery module 2 and the control box module 1 are both installed within the upper anti-collision surface, the lower anti-collision surface, and the side anti-collision surfaces on both sides. The back frame 3 includes back longitudinal beams located on both sides of the body, and the base frame 4 includes bottom longitudinal beams 342, bottom crossbeams 341, and base plate components 343 located on both sides of the body. The bottom longitudinal beams 342 and bottom crossbeams 341 surround to form a bottom frame, and the base plate components 343 are installed within the bottom frame. Each frame column 51 is divided into at least two groups and arranged along the front and rear direction of the body; the back longitudinal beam is connected to the bottom longitudinal beam through at least two front and rear frame columns 51; the back longitudinal beam, the bottom longitudinal beam and the frame column 51 on the same side define the side impact protection surface of the first mounting frame 36 on the corresponding side.

[0071] In this embodiment, the frame also includes a head frame 31 and a tail frame 32; the upper and lower ends of the head frame 31 are respectively connected to the front of the back frame 3 and the front of the base frame 4, and the upper and lower ends of the tail frame 32 are respectively connected to the rear of the back frame 3 and the rear of the base frame 4; the head frame 31 defines the front anti-collision surface of the frame 900, and the tail frame 32 defines the rear anti-collision surface of the frame 900.

[0072] In this embodiment, the frame further includes a first upper cover plate 41 and two side cover plates 42; the back longitudinal beam, the bottom longitudinal beam and the two frame columns 51 located on the same side enclose an independent side hollow frame opening; the back frame also includes two blocking beams arranged transversely between the two back longitudinal beams, the two blocking beams and the two back longitudinal beams enclose an independent first back hollow frame opening; the first upper cover plate 41 is detachably connected to the back frame 3 and seals the first back hollow frame opening; the two side cover plates 42 respectively seal the side hollow frame openings on the corresponding sides and do not cover the exposed side wall surfaces of the back longitudinal beam 331, the bottom longitudinal beam 342 and the frame column 51.

[0073] By completely housing the battery compartment and control box within a first mounting frame surrounded by anti-collision surfaces, the outer contour does not exceed the anti-collision protection range. When the robot experiences falls, collisions, rollovers, or scrapes, the anti-collision surfaces in the corresponding directions first absorb the impact load, which is then evenly distributed outwards along the overall closed frame structure. The internal core electrical components remain within the protection range of the anti-collision contour and are not directly impacted by external forces, effectively preventing malfunctions such as battery casing deformation and damage to electronic control components.

[0074] In another embodiment, a legged robot is also disclosed, comprising a robot body as described in the above embodiments and leg components mounted on the robot body, the leg components being electrically connected to a control box module. The legged robot may be a quadruped robot, a wheeled robot, a humanoid robot, or other mobile robot.

[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 robot body structure, comprising a frame, a first functional module and a second functional module mounted on the frame, characterized in that: The frame includes a cable tray with a hollow inner cavity. A first interface is installed at a first position of the cable tray near the first functional module, and a second interface is installed at a second position of the cable tray near the second functional module. A first wire connecting the first interface and the second interface is arranged in the hollow inner cavity of the cable tray. The first end of the first wire can be detachably connected to the first connector adapted on the first functional module through the first interface; the second end of the first wire can be detachably connected to the second connector adapted on the second functional module through the second interface. When the two ends of the first wire are connected to the corresponding first connector and second connector through the first interface and the second interface, respectively, the first functional module and the second functional module are electrically connected.

2. The robot body structure according to claim 1, characterized in that: The first functional module is a control box module, and the second functional module is a joint motor, sensor assembly, upper module or battery module of the leg assembly.

3. The robot body structure according to claim 2, characterized in that: It also includes a leg assembly mounted on a rack and a battery module inside the rack, the second functional module being the joint motor of the leg assembly, and the control box module and the battery module being electrically connected; When the two ends of the first wire are connected to the first connector and the second connector respectively through the first interface and the second interface, the joint motor is electrically connected to the battery module through the control box module.

4. The robot body structure according to claim 3, characterized in that: It also includes a second wire. The wire guide body includes a first wire guide segment, a second wire guide segment and a third wire guide segment. The first wire guide segment is equipped with a first interface part at a first position near the control box module. The second wire guide segment is equipped with a second interface part at a second position near the front leg component joint motor. The third wire guide segment is equipped with a third interface part at a third position near the rear leg component joint motor. The first wire is laid in the first and second passing segments. The first end of the first wire passes through part or all of the first passing segment and is electrically connected to the control box module. The second end of the first wire can pass through the second interface part along the second passing segment and be electrically connected to the joint motor of the front leg assembly. The second wire is laid within the first and third passing segments. The first end of the second wire passes through part or all of the first passing segment and is electrically connected to the control box module. The second end of the second wire can pass along the third passing segment and be electrically connected to the joint motor of the rear leg assembly through the third interface.

5. The robot body structure according to claim 4, characterized in that: The first end of the first wire and the first end of the second wire are respectively electrically connected to the control box module through the first interface section along the first wire segment; or The first end of the first wire is electrically connected to the control box module through the first interface section along the first wire segment, and the first end of the second wire is electrically connected to the control box module through the fourth interface section arranged on the first wire segment along the first wire segment.

6. The robot body according to any one of claims 1-5, characterized in that: The frame includes a back frame, a base frame, and at least four frame columns. The upper and lower ends of each frame column are connected to the back frame and the base frame, respectively. The back frame, the base frame, and the four frame columns enclose a first mounting frame. The control box module and the battery module are installed in the first mounting frame, and a cable tray is arranged on the first mounting frame.

7. The robot body according to claim 6, characterized in that: The control box module and the battery module are arranged vertically within the first mounting frame. The control box module is connected to the back frame, and a first wire passage and a first interface are constructed on the back frame. The two ends of the first wire segment are respectively connected to the second wire segment and the third wire segment. The first wire passes through the second wire segment from one end of the first wire segment and connects to the first interface part. The second wire passes through the third wire segment from the other end of the first wire segment and connects to the first interface part.

8. The robot body according to claim 7, characterized in that: A first through-line segment and a first interface portion are constructed on the frame column; The first through-line segment is connected to the second through-line segment and the third through-line segment, and the first wire is connected to the first interface portion along the second through-line segment and the first through-line segment; The second conductor is connected to the first interface section along the third and first overpass segments.

9. The robot body according to any one of claims 1-8, characterized in that: The cable guide frame includes a load-bearing component and a cover component. A cable guide groove for accommodating wires is provided on the load-bearing component. The cover component is detachably connected to the load-bearing component and covers the opening of the cable guide groove. The wall of the cable guide groove on the load-bearing component and the inner side of the cover component clamp and surround each other to form a cable guide space.

10. A legged robot, characterized in that: It includes a robot body as described in any one of claims 1-9 and a leg assembly mounted on the robot body, the leg assembly being electrically connected to a control box module.

Images