A mobile robot modular electric control assembly, body structure and mobile robot

Abstract

The application discloses a mobile robot modular electric control assembly, a body structure and a mobile robot, wherein the robot modular electric control assembly comprises a control box module, the control box module is capable of moving between two positions in the body by using a first electric connector installed outside the box body to realize connection and disconnection with internal components of the body, and synchronous completion of electrical connection and disconnection is realized by using the first electric connector when moving between the two positions in the body. When maintenance is needed, the control box module is moved to automatically disconnect, the step of plugging in and unplugging the wire harness connector one by one is saved, and the disassembly and assembly efficiency of the module is provided. Meanwhile, by canceling the traditional connecting wire harness, problems such as line damage, connector loosening and the like caused by body vibration and pulling are avoided, and electrical reliability is improved. In addition, by using an integrated sealing box body to uniformly arrange the electric interface, the space in the cabin is not occupied by the messy wire harness, the body cooling air duct arrangement is not disturbed, and meanwhile, the sealing shell can also protect the internal electric control board from dust and impact.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a modular electronic control component, body structure, and mobile robot for mobile robots. Background Technology

[0002] Currently, mobile robots typically use a separate wiring harness connection method for their control boxes to achieve electrical communication with internal components such as batteries. This means that the control box and internal electrical components rely on independent wires and connectors for connection. When inspecting or replacing control box modules, operators need to disconnect each wiring harness connector individually, a cumbersome process. Furthermore, the wiring harness connectors lack positioning and limiting structures, making quick alignment difficult during assembly, and blind insertion is challenging, significantly extending the time required for robot maintenance and module replacement. Simultaneously, the continuous vibration of the robot during movement can easily lead to loose exposed wiring harnesses, insulation damage, and connector detachment, resulting in poor equipment reliability. Secondly, the scattered wiring harnesses will occupy a lot of internal space, squeezing the area where structures such as the control box, battery module, and heat dissipation components are arranged inside the machine. They will also directly interfere with the planning and layout of core heat dissipation structures such as internal airflow ducts, heat dissipation fins, and air inlets and outlets. Furthermore, scattered and messy wiring harnesses or wiring harnesses that have been displaced by vibration will affect the airflow path inside the machine, increase the air resistance inside the ducts, and easily form local airflow turbulence, weakening the overall heat dissipation effect. If the heat dissipation structure layout is readjusted away from the wiring harnesses, it will increase the size of the machine and affect the miniaturization design of the robot body. Summary of the Invention

[0003] This invention addresses the shortcomings of existing technologies by providing a modular electronic control assembly for a mobile robot. The assembly includes a control box module detachably connected to the body of the mobile robot. The control box module comprises a sealed housing, a first electrical connector, and an electronic control board mounted within the sealed housing. The first electrical connector is mounted on the sealed housing, with its external portion exposed outside the housing. The terminal of the first electrical connector is electrically connected to the electronic control board. The control box module is movable between a first position and a second position within the body. In the first position, the sealed housing is fixed within the body, and the electronic control board is electrically connected to the body via the external portion of the first electrical connector. In the second position, the first electrical connector is separated from the body, and the electrical connection between the electronic control board and the body is disconnected.

[0004] Preferably, a heat dissipation assembly is installed on one side of the sealed box. The heat dissipation assembly includes heat dissipation fins and a vortex fan. The heat dissipation fins are longitudinally arranged along the bottom surface of the sealed box, and the vortex fan is installed on the bottom surface of the sealed box and close to the air inlet end of the heat dissipation fins.

[0005] Preferably, the width of the heat dissipation fins near the air inlet end of the vortex fan is greater than the width of the vortex fan; the air inlet end of the heat dissipation fins is constructed with a first fin inlet section facing the air outlet of the vortex fan and a second fin inlet section that is not blocked by the vortex fan.

[0006] Preferably, the first electrical connector is a POGO PIN connector, and the control box module can be electrically connected to the battery module arranged in the body through the first electrical connector when it enters the first position inside the body.

[0007] Preferably, when the control box module enters the first position inside the machine body, the control box module can be electrically connected to the battery module inside the machine body through the first electrical connector and clamped with the battery module to form a heat dissipation channel, and the heat dissipation component is located in the heat dissipation channel.

[0008] The present invention also discloses a mobile robot body structure, including a body and a mobile robot modular electronic control component as described in any of the foregoing descriptions; the body includes a frame and a battery module installed in the frame; the control box module is detachably connected to the frame and clamped with the battery module to form a heat dissipation channel; the heat dissipation fins are arranged longitudinally along the front and rear of the frame in the heat dissipation channel; The frame includes a main compartment for accommodating the control box module and the battery module, and two joint compartments connected to the front and rear ends of the main compartment respectively; the front and rear sides of the main compartment are respectively provided with a first air inlet and a first air outlet communicating with the airflow cooling channel.

[0009] Preferably, the frame further includes a head section and two leg mounting seats respectively installed at the front and rear of the main section, the two leg mounting seats clamping the front and rear sides of the main section to form two joint sections; the leg mounting seats include two leg clamps for installing two leg components respectively; a second air inlet is constructed between the two leg clamps of the first leg mounting seat in front of the main section, the area occupied by the second air inlet and the area occupied by the first air inlet overlap on the same projection plane perpendicular to the front and rear direction of the frame; the head section is arranged in front of the first joint section on the front side of the frame, the head section is formed by the head frame and the first leg mounting seats; a third air inlet is constructed on the head frame.

[0010] Preferably, the frame includes a back frame, a base frame, and two front-to-back partitions installed between the back frame and the base frame. The back frame, base frame, and two partitions surround to form a main compartment. The control box module is connected to the back frame, and the battery module is connected to the base frame. A first air inlet is constructed on the first partition on the front side, and a first air outlet is constructed on the second partition on the rear side. The first leg mounting base also includes a connecting plate connecting two leg clamps. The upper and lower sides of the connecting plate are respectively connected to the back frame and the base frame, and a second air inlet is provided on the connecting plate.

[0011] Preferably, the frame includes an airflow heat dissipation path that runs longitudinally through the entire body structure of the mobile robot along the front and rear of the frame, and the airflow heat dissipation path includes a first heat dissipation section, a second heat dissipation section, a third heat dissipation section, a fourth heat dissipation section and a fifth heat dissipation section that are interconnected. The first heat dissipation section is located inside the head compartment and has an airflow path from the third air inlet through the hip joint motor ends of the left and right front leg components to the second air inlet. The second heat dissipation section is located inside the first joint compartment and has an airflow path from the second air inlet through the side swing joint motors of the left and right front leg components or above them to the first air inlet. The third heat dissipation section is located inside the main compartment and has an airflow path from the first air inlet through the heat dissipation fins to the first air outlet. The fourth heat dissipation section is located inside the second joint compartment and has an airflow path from the first air outlet through the side swing joint motors of the left and right rear leg components or above them to the second air outlet. The fifth heat dissipation section is located in the tail section and has an airflow path from the second air outlet through the hip joint motor ends of the left and right rear leg components to the third air outlet.

[0012] The present invention also discloses a mobile robot, including a mobile robot body structure as described in any of the foregoing descriptions, and a mobile component mounted on the mobile robot body structure.

[0013] This invention discloses a modular electrical control component, body structure, and mobile robot. The modular electrical control component includes a control box module. This control box module can connect and disconnect with internal components by moving between two positions inside the body using a first electrical connector mounted on the outside of the box. Electrical connection and disconnection are synchronously completed by the first electrical connector when moving between the two positions inside the body. When maintenance is required, moving the control box module automatically disconnects the connection, eliminating the need to individually plug and unplug wire harness connectors and improving module assembly and disassembly efficiency. Simultaneously, by eliminating traditional connecting wire harnesses, problems such as wire damage and loose connectors caused by vibration and pulling are avoided, improving electrical reliability. Furthermore, the integrated sealed box uniformly arranges the electrical interfaces, eliminating messy wire harnesses that occupy internal space and do not interfere with the body's heat dissipation airflow layout. The sealed shell also protects the internal electrical control board from dust and impact.

[0014] Furthermore, the disclosed mobile robot's body structure utilizes the electronic control components and battery module to form a heat dissipation channel, eliminating the need for additional air duct structures. By placing heat dissipation fins within the air duct, the electronic control components and battery are cooled simultaneously, preventing the heat from accumulating and causing overheating. Moreover, the entire robot features a segmented airflow path running from front to back, utilizing a single air duct to simultaneously cool heat sources such as the electronic control components, battery, and joint motors, resulting in uniform heat dissipation throughout the entire robot.

[0015] In addition, by combining the heat dissipation fins with the fan, the fan can be used to drive airflow for heat dissipation at low speeds or when the robot is stationary. During robot movement, the oncoming airflow generated when the robot is moving at high speed can be used to achieve passive heat dissipation, thus achieving good heat dissipation efficiency under both high-speed and low-speed conditions. This can meet the heat dissipation needs of mobile robots operating under multiple conditions.

[0016] 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

[0017] 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.

[0018] 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.

[0019] Figure 1 This is a schematic diagram of the structure of a mobile robot body disclosed in an embodiment of this application.

[0020] Figure 2 This is an exploded view of the body structure of a mobile robot disclosed in an embodiment of this application.

[0021] Figure 3 This is a schematic diagram of the control box module disclosed in an embodiment of this application.

[0022] Figure 4 This is an exploded view of the control box module disclosed in an embodiment of this application.

[0023] Figure 5 This is another structural schematic diagram of the mobile robot body structure disclosed in one embodiment of this application.

[0024] Figure 6 This is a schematic diagram of the leg mounting base disclosed in one embodiment of this application.

[0025] Figure 7 This is a partial structural exploded view of the mobile robot body structure disclosed in an embodiment of this application.

[0026] Figure 8 This is another structural schematic diagram of the mobile robot body structure disclosed in one embodiment of this application.

[0027] Figure 9 This is a schematic diagram of the airflow heat dissipation path disclosed in an embodiment of this application.

[0028] Figure 10 This is a schematic diagram of a hollow frame structure disclosed in an embodiment of this application.

[0029] Figure 11 This is a schematic diagram of the structure of a mobile robot 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, the details of which are shown in the appendix. Figure 1-8As shown, a modular electronic control assembly for a mobile robot is disclosed, including a control box module 1 that can be detachably connected to the body of the mobile robot. The control box module 1 includes a sealed housing 11, a first electrical connector 15, and an electronic control board 12 installed inside the sealed housing 11. The first electrical connector 15 is mounted on the sealed housing 11, with its external portion exposed outside the sealed housing 11. The terminals of the first electrical connector 15 are electrically connected to the electronic control board 12. The control box module 1 can move between a first position and a second position within the body. In the first position, the sealed housing 11 is fixed within the body, and the electronic control board 12 is electrically connected to the body through the external portion of the first electrical connector 15. In the second position, the first electrical connector is separated from the body, and the electrical connection between the electronic control board 12 and the body is disconnected. This control box module can connect and disconnect with components inside the body by moving between the two positions inside the body using the first electrical connector mounted outside the housing, achieving synchronous electrical switching when moving between the two positions inside the 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.

[0035] 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.

[0036] 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 1411 facing the air outlet 1421 of the vortex fan 142 and a second fin inlet section 1412 that is not blocked by the vortex fan 142.

[0037] 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.

[0038] 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.

[0039] In this embodiment, the electrical interface assembly adopts a POGO PIN connector assembly. When the control box module 1 is inserted into the first position within the machine body, it can be electrically connected to the battery module 2 arranged within the machine body through the first electrical connector 15. Specifically, the POGO PIN is a spring-loaded pin connector, which relies on an internal spring structure to achieve elastic pressing contact. It can adapt to a certain range of axial installation tolerances and achieve reliable conduction without high-precision alignment, thereby enabling rapid blind-fit assembly of the control box module. The multi-pin parallel arrangement of the connector can simultaneously transmit high-current power signals and low-voltage control signals, with high integration, eliminating the need for separate sets of plug-in interfaces.

[0040] When the control box module 1 enters the first position inside the machine body, the control box module 1 can be electrically connected to the battery module 2 inside the machine body through the first electrical connector 15 and clamped with the battery module 2 to form a heat dissipation channel 13, and the heat dissipation component 14 is located in the heat dissipation channel 13.

[0041] Furthermore, the present invention also discloses a mobile robot body structure applying the above-mentioned modular electronic control component for mobile robots. This mobile robot body structure can be used in various mobile robots, especially quadrupedal or wheeled robots. Specifically, the mobile robot body structure includes a frame 900, the aforementioned modular electronic control component for mobile robots, and a battery module 2 installed within the frame 900. The modular electronic control component for mobile robots includes a control box module 1. The battery module 2 includes a battery compartment shell 21 and a battery module 22 installed within the battery compartment shell 21. A second electrical connector is installed on the upper part of the battery compartment shell 21, and the second electrical connector is electrically connected to the battery module 22 via wires arranged on the battery compartment shell 21. The sealed box 11 and the battery compartment shell 21 are arranged vertically within the frame 900. The sealed box 11 can move vertically between a first position and a second position within the frame 900. 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 the sealed box 11 and the battery compartment shell 21 are clamped together to form a heat dissipation channel 13.

[0042] Specifically, the sealed housing can move up and down along the guide structure inside the frame. The first position is the working installation position. After the control box module is lowered into place, the upper and lower electrical connectors automatically connect and conduct. At the same time, the lower surface of the sealed housing and the upper surface of the battery compartment shell together form a closed airflow and heat dissipation channel, realizing one-step electrical connection and airflow duct formation without the need for additional airflow duct housing assembly. This also avoids the problems of increased wind resistance and reduced heat dissipation efficiency caused by misalignment of independent airflow duct assembly. The second position is the maintenance and disassembly position. After the control box module is lifted upward, the electrical connectors disconnect simultaneously, and the control box module can be directly removed from the top maintenance channel without manual plugging and unplugging of wiring harnesses, greatly simplifying the disassembly and assembly process. This method deeply couples the electrical connection structure with the heat dissipation airflow duct structure, making full use of the shells of the two modules themselves as the upper and lower walls of the airflow duct. There is no need to add additional independent airflow duct components, which saves installation space inside the compartment and avoids the structural strength reduction caused by opening airflow mounting holes in the frame load-bearing beam, achieving a balance between heat dissipation performance and structural strength.

[0043] In this embodiment, 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 and rear direction of the frame 900. The frame 900 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.

[0044] 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. Heat generated by the control board during operation is rapidly conducted to the heat dissipation fins via the sealed box 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 long-term high-load operation of the control board. 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 through it, forming a straight, longitudinally continuous heat dissipation path. Airflow is direct and uniform along the front-to-back direction of the unit, resulting in high flow efficiency. Two articulated sections are located at the front and rear of the main section, respectively, to house the leg-swinging joint motors. The air inlets and outlets of the main section are connected to the articulated sections, allowing airflow to carry away heat from the surfaces of the joint motors as it passes through the main section. This enables a single airflow path to simultaneously cool the core electronic control components and the leg movement components, improving airflow utilization. Furthermore, both the first air inlet and the first air outlet are located on the bulkheads at the front and rear of the main section, preserving the structural integrity of the longitudinal main load-bearing beams of the frame. This effectively avoids the structural strength reduction issues caused by openings in the traditional shell, balancing heat dissipation performance and the airframe's impact resistance.

[0045] 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 900 is greater than the width of the vortex fan 142.

[0046] 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.

[0047] In addition, by making the width of the area occupied by the heat dissipation fins in the transverse direction of the frame greater than the width of the vortex fan, the shell structure of the vortex fan is prevented from completely blocking the air intake end face of the heat dissipation fins. This allows the air intake side of the heat dissipation fins to be outside the transverse projection range of the fan, reserving bypass air intake areas on both sides, thus realizing a dual-mode heat dissipation system that combines passive stamping heat dissipation and active forced heat dissipation. When the robot is moving at high speed, the oncoming airflow generated by its forward motion can directly flow into the heat exchange channels of the heat sink fins through the bypass air intake areas on both sides. This removes heat from the heat sink fins without relying entirely on the vortex fan. In this case, the vortex fan can reduce its operating speed or stop working according to the overall temperature control strategy, ensuring effective heat dissipation while reducing fan energy consumption and extending the overall battery life. When the robot is stationary or moving at low speed, the external oncoming airflow is insufficient to meet the heat dissipation requirements through the ram effect. In this case, the vortex fan starts and actively delivers air, forcing airflow through all the heat exchange channels of the heat sink fins, ensuring stable operating temperatures for the control box module and battery module under stationary and low-speed conditions. This achieves adaptive adaptation of the heat dissipation mode under different motion conditions, broadening the applicable range of the heat dissipation system and improving energy efficiency.

[0048] In this embodiment, the frame 900 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 900 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 900.

[0049] Specifically, the leg mounting base serves a dual function as both a leg mounting base and a compartment partition component. 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, ensuring the installation accuracy and load-bearing strength of the leg joints. The upper and lower ends of the leg mounting base are fixedly connected to the back frame and base frame, respectively, evenly distributing 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 from the joint compartment into the main compartment without turning, effectively reducing wind resistance and 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 and achieving synchronous heat dissipation of the side-swing joint motors. This eliminates the need for separate cooling devices for the motors, further improving the overall heat dissipation efficiency of the air duct.

[0050] In this embodiment, the frame 900 also includes a head section 300 located in front of the first joint section 201 at the front of the frame 900. The head section 300 is formed by a head frame 7 and a first leg mounting seat 6. A third air inlet 301 is constructed on the head frame 7.

[0051] Specifically, the head section is located at the very front of the overall cooling duct, with the third air inlet directly facing the robot's direction of travel. This fully utilizes the oncoming impact effect during high-speed movement of the wheeled robot, 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 mechanism. The air inlet is located in a hollow area of ​​the frame, eliminating the need for additional openings in the collision protection structure, thus balancing front-end collision protection and airflow functionality. After entering the head section from the third air inlet, the airflow first passes 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. It then flows rearward into the second air inlet, achieving synchronous cooling of the front hip joint motors. This ensures that all heat-generating components at the front are covered by the cooling duct, improving the overall cooling efficiency of the robot.

[0052] In this embodiment, the frame 900 includes a back frame 3, a base frame 4, and two front-to-back partition plates 52 installed between the back frame 3 and the base frame 4. The back frame 3, the base frame 4, and the two partition plates 52 surround to form a 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 plate located on the front side, and a first air outlet 102 is constructed on the second partition plate located on the rear side. The first leg mounting base 6 also 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 900 also includes two partition members 5, which are arranged longitudinally between the two leg mounting seats 6. The upper and lower ends of the partition members 5 are respectively connected to the lower side of the back frame 3 and the upper side of the base frame 4. Each partition member 5 includes two frame columns 51 and a bulkhead plate 52 connecting the two frame columns 51. Preferably, the base frame 4 may include bottom longitudinal beams 342, bottom transverse beams 341 and base plate members 343 located on both sides of the fuselage. The bottom longitudinal beams 342 and bottom transverse beams 341 form a bottom frame, and the base plate members 343 are installed within the bottom frame.

[0053] The main frame is enclosed by the back frame, base frame, and two front and rear bulkheads, providing better bending and torsional resistance, effectively supporting the weight of internal modules and resisting external impact loads. The control box module is suspended and fixed inside the back frame, while the battery module is supported and fixed to the upper part of the base frame, improving the robot's motion stability. The bulkheads serve as the front and rear partitions of the main compartment, as well as the load-bearing base for the air inlets and outlets, and also bear the function of vertical load transfer. The two frame columns of the partition are the main vertical load-bearing components, connecting the back frame and base frame respectively, which can evenly transfer vertical loads and significantly improve the overall structural rigidity of the frame. The middle bulkhead separates the main compartment from the joint compartment and also acts as an airflow guide, restricting airflow to flow only along the preset air inlets and outlets, preventing airflow from being lost in turbulence within the compartment, and ensuring the directionality and heat dissipation efficiency of the cooling duct. The upper and lower ends of the connecting plate are connected to the back frame and the base frame respectively, forming the front and rear walls of the joint compartment. At the same time, it serves as the connecting base for the leg clamps, allowing the leg load to be directly transmitted to the upper and lower frames, with a continuous and smooth force transmission path.

[0054] Furthermore, 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.

[0055] In this embodiment, a second air outlet 64 is constructed between the two leg clamps 61 of the second leg mounting seat 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 900. The frame 900 also includes a tail section 400 located behind the second joint section 202 at the rear of the frame 900. The tail section 400 is formed by the tail frame 8 and the second leg mounting seat. A third air outlet 401 is constructed on the tail frame 8.

[0056] Specifically, the second air outlet is directly opposite the first air outlet at the rear of the main compartment, allowing hot air in the main compartment to be discharged in a straight line, reducing wind resistance and vortex losses caused by airflow turning. The rear compartment is the final exhaust section of the overall cooling air duct. The third air outlet is located at the rear of the fuselage, corresponding to the third air inlet at the front, forming a continuous air duct with air intake at the front and exhaust at the rear. The airflow is straight and smooth, with low overall wind resistance and high heat dissipation efficiency. After hot air flows into the rear compartment from the second air outlet, it flows past the ends of the two rear hip joint motors on the left and right sides, carrying away the working heat of the rear hip joint motors, achieving synchronous heat dissipation of the rear hip joint motors, so that all joint motors of the entire machine are included in the coverage of the cooling air duct. The third air outlet is integrated into the rear frame, which also serves as the rear anti-collision function, taking into account both exhaust and rear protection needs, without the need for additional openings that would damage the rear load-bearing structure.

[0057] In this embodiment, as shown in the appendix Figure 9As shown, the frame 900 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 ends of 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.

[0058] 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 generated during rapid movement, especially in wheeled robots. A single cooling channel simultaneously dissipates heat from multiple heat-generating components, including the head sensor, front and rear lateral joint motors, control box module, battery module, and tail equipment, eliminating the need for separate cooling systems for each component. This significantly simplifies the overall cooling structure and reduces 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 handling the cooling of 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.

[0059] In this embodiment, the frame, which is an integral body structure, may further include at least one section of a cable tray with a hollow inner cavity. A first interface portion is installed at a first position on the cable tray near the control box module, and a second interface portion is installed at a second position on the cable tray near the joint motor of the leg assembly. A first wire connecting the first interface portion and the second interface portion is arranged in the hollow inner cavity of the cable tray. The first end of the first wire can be detachably connected to a first connector adapted on the control box module through the first interface portion. The second end of the first wire can be detachably connected to a second connector adapted on the joint motor through the second interface portion. When the two ends of the first wire are connected to the first connector and the second connector respectively through the first interface portion and the second interface portion, the joint motor is electrically connected to the battery module through the control box module. By using the hollow inner cavity of the cable tray as a built-in wiring channel, the connecting wires are hidden inside the frame structure, which avoids wear and tear caused by exposed wires and makes the overall appearance of the machine simpler and cleaner. The wires are pre-arranged in the internal cavity of the wire guide frame, and both ends are connected to each module through standardized electrical interfaces to achieve modular rapid assembly.

[0060] Furthermore, the integrated body structure also includes a second wire. The wire guide includes a first wire guide segment, a second wire guide segment, and a third wire guide segment. The first wire guide segment has a first interface portion installed at a first position near the control box module. The second wire guide segment has a second interface portion installed at a second position near the joint motor of the front leg component. The third wire guide segment has a third interface portion installed at a third position near the joint motor of the rear leg component. The first wire is laid within the first and second wire guide segments. The first end of the first wire passes through part or all of the first wire guide segment and is electrically connected to the control box module. The second end of the first wire can be electrically connected to the joint motor of the front leg component through the second interface portion along the second wire guide segment. The second wire is laid within the first and third wire guide segments. The first end of the second wire passes through part or all of the first wire guide segment and is electrically connected to the control box module. The second end of the second wire can be electrically connected to the joint motor of the rear leg component through the third interface portion along the third wire guide segment.

[0061] Furthermore, 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 through-segment; or the first end of the first wire can be electrically connected to the control box module through the first interface portion along the first through-segment, and the first end of the second wire can be electrically connected to the control box module through the fourth interface portion arranged on the first through-segment along the first through-segment.

[0062] Specifically, a back frame, a bottom frame, and four frame columns enclose a first mounting frame. The control box module and battery box module are installed within the first mounting frame, and a cable tray is arranged on the first mounting frame. Preferably, the control box module and battery module are arranged vertically within the first mounting frame. The control box module is connected to the back frame, which has a first cable tray and a first interface portion. The two ends of the first cable tray are respectively connected to a second cable tray and a third cable tray. The first wire passes through the second cable tray from one end of the first cable tray and connects to the first interface portion; the second wire passes through the third cable tray from the other end of the first cable tray and connects to the first interface portion. Alternatively, the first cable tray and the first interface portion can be constructed on the frame columns; the first cable tray communicates with the second and third cable trays, and the first wire connects to the first interface portion along the second and first cable trays; the second wire connects to the first interface portion along the third and first cable trays.

[0063] In this embodiment, as Figure 10 As shown, the cable guide frame includes a load-bearing member 601 and a cover member 602. A cable guide groove 603 for accommodating wires is formed on the load-bearing member. The cover member 602 is detachably connected to the load-bearing member 601 and covers the opening of the cable guide groove 603. The wall of the cable guide groove on the load-bearing member and the inner side of the cover member surround each other to form a cable guide space. The cable guide frame shown in this figure is positioned on the head frame; this specific openwork structure can also be used for cable guide frames in other locations.

[0064] The load-bearing components are integral parts of the airframe's load-bearing structure. Cable trays are located along the length of the load-bearing components on their inner, non-load-bearing surfaces. This design satisfies cable routing space requirements without weakening the overall structural strength of the load-bearing components, ensuring the frame's load-bearing and impact resistance are unaffected by the cable routing. The cover can be made of lightweight sheet metal and is detachably connected to the load-bearing components using screws. During assembly, the wires are first laid and secured within the cable trays, then the cover is fastened to form a closed cable routing space. This closed space provides comprehensive protection for the internal wires, preventing insulation damage and short circuits caused by long-term vibration and friction between the wires and metal components. It also prevents dust and moisture from entering the cable trays, improving insulation reliability and extending the lifespan of the wiring. By fully integrating all wires within the load-bearing components of the airframe, there is no need for separate cable trays or exposed wire bundles in the main compartment. This saves valuable installation space within the compartment and avoids problems such as scratches and pulling caused by exposed wires.

[0065] In another embodiment, as shown in the appendix Figure 11As shown, a mobile robot is also disclosed, including a mobile robot body structure 500 as disclosed in any of the foregoing embodiments and a mobile component 200 mounted on the mobile robot body structure. The mobile robot can be a quadrupedal robot or a wheeled robot, such as the wheeled robot in this figure, where the mobile component can be a leg component with a wheel structure 600 mounted on it.

[0066] 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.

[0067] 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 modular electronic control component for a mobile robot, characterized in that: The control box module (1) is detachably connected to the body of the mobile robot. The control box module (1) includes a sealed box (11), a first electrical connector (15), and an electrical control board (12) installed in the sealed box (11). The first electrical connector (15) is installed on the sealed box (11), and the outer part of the first electrical connector (15) is exposed outside the sealed box (11). The wiring terminal of the first electrical connector (15) is electrically connected to the electrical control board (12). The control box module (1) is movable between a first position and a second position inside the machine body. In the first position, the sealed box body (11) is fixed inside the machine body and the electronic control board (12) is electrically connected to the machine body through the external part 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 electronic control board (12) and the machine body is disconnected.

2. The modular electronic control assembly for a mobile robot according to claim 1, characterized in that: 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 arranged longitudinally along the bottom surface of the sealed box (11). 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).

3. The modular electronic control assembly for a mobile robot according to claim 2, characterized in that: The width of the heat dissipation fins (141) near the air inlet end of the vortex fan (142) is greater than the width of the vortex fan (142); The heat dissipation fins (141) have 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).

4. The modular electronic control assembly for a mobile robot according to claim 2, characterized in that: The first electrical connector (15) adopts a POGO PIN connector, and the control box module (1) can be electrically connected to the battery module (2) arranged in the body through the first electrical connector (15) when it enters the first position of the body.

5. The modular electronic control assembly for a mobile robot according to claim 3, characterized in that: When the control box module (1) enters the first position inside the machine body, the control box module (1) can be electrically connected to the battery module (2) inside the machine body through the first electrical connector (15) and clamped with the battery module (2) to form a heat dissipation channel (13), and the heat dissipation component (14) is located in the heat dissipation channel (13).

6. A mobile robot body structure, characterized by: The system includes a body and a modular electronic control assembly for a mobile robot as described in any one of claims 2-5; the body includes a frame and a battery module (2) installed in the frame; the control box module (1) is detachably connected to the frame and clamped with the battery module (2) to form a heat dissipation channel (13); the heat dissipation fins (141) are arranged longitudinally along the front and rear of the frame in the heat dissipation channel (13). The frame includes a main compartment (100) for accommodating the control box module (1) and the battery module (2), and two joint compartments 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).

7. The mobile robot body structure according to claim 6, characterized in that: The frame also includes a head section (300) and two leg mounts (6) respectively installed at the front and rear of the main section (100), the two leg mounts (6) clamping the front and rear sides of the main section (100) to form two joint sections; The leg mounting base (6) includes two leg clamps (61) for mounting two leg components respectively; a second air inlet (62) is constructed between the two leg clamps (61) of the first leg mounting base in front of the main compartment (100), and 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; The head section (300) is located at the front of the first joint section (201) on the front side of the frame. The head section (300) is formed by a head frame (7) and a first leg mount. A third air inlet (301) is constructed on the head frame (7).

8. The mobile robot body structure according to claim 7, characterized in that: The frame includes a back frame (3), a base frame (4), and 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 a 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) on the front side, and a first air outlet (102) is constructed on the second partition (52) on the rear side. The first leg mounting base also includes a connecting plate (611) that connects 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).

9. The mobile robot body structure according to claim 8, characterized in that: The frame includes an airflow heat dissipation path that runs longitudinally through the entire body structure of the mobile robot along the front and rear of the frame. The airflow heat dissipation path includes a first heat dissipation section (501), a second heat dissipation section (502), a third heat dissipation section (503), a fourth heat dissipation section (504), and a fifth heat dissipation section (505) that are interconnected. The first heat dissipation section (501) is located inside the head compartment section (300) and has an airflow path from the third air inlet (301) through the hip joint motor ends of the left and right front leg components to the second air inlet (62). The second heat dissipation section (502) is located inside the first joint compartment section (201) and has an airflow path from the second air inlet (62) through the side swing joint motors of the left and right front leg components or above them to the first air inlet (101). The third heat dissipation section (503) is located inside the main compartment section (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 inside the second joint compartment section (202) and has an airflow path from the first air outlet (102) through the side swing joint motors of the left and right rear leg components or above them, to the second air outlet (64). The fifth heat dissipation section (505) is located within the tail section (400) and has an airflow path from the second air outlet (64) through the hip joint motor ends of the left and right rear leg components to the third air outlet (401).

10. A mobile robot, characterized by: It includes the mobile robot body structure as described in any one of claims 6-9, and the mobile components mounted on the mobile robot body structure.

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