Body structure and multi-legged robot

Abstract

The utility model relates to the technical field of robots, and discloses a machine body structure and a multi-legged robot. The supporting frame is arranged in the machine body shell; the calculation unit is arranged in the machine body shell; the calculation unit is located between the machine body shell and the supporting frame; the computing unit is connected with the supporting frame through the elastic assembly, and the elastic assembly is suitable for applying jacking force to the computing unit so that the computing unit can abut against the inner wall face of the machine body shell. According to the machine body structure provided by the utility model, the battery and the calculation unit are protected, and meanwhile, the calculation unit is propped against the inner wall surface of the machine body shell, so that heat generated when the calculation unit works is conveniently transferred to the machine body shell, and the heat dissipation efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a body structure and a multi-legged robot. Background Art

[0002] A robot typically contains a battery and a control module. To ensure stable operation, these batteries and computing units need to be protected to prevent damage from collisions. In related technologies, these batteries and computing units are typically placed inside a housing for protection.

[0003] However, the computing unit generates a large amount of heat during operation. Although the shell plays a protective role, it also limits the good heat dissipation of the computing unit. Utility Model Content

[0004] In view of this, the present invention provides a body structure and a multi-legged robot to solve the problem of how to balance the protection and heat dissipation of the computing unit.

[0005] In a first aspect, the present invention provides a fuselage structure, comprising:

[0006] fuselage shell;

[0007] A battery is disposed inside the body shell;

[0008] A support frame is arranged inside the fuselage shell;

[0009] The computing unit is disposed inside the fuselage shell; and the computing unit is located between the fuselage shell and the support frame;

[0010] The computing unit is connected to the support frame via the elastic component, and the elastic component is suitable for applying a thrust toward the computing unit so that the computing unit abuts against the inner wall surface of the fuselage shell.

[0011] Beneficial Effects: The fuselage structure provided by the embodiment of the present invention disposes the computing unit inside the fuselage shell, thereby protecting the computing unit. Furthermore, by connecting the computing unit to a support frame, and further connecting an elastic component between the computing unit and the support frame, the elastic component is adapted to apply a thrust toward the computing unit, thereby facilitating contact between the computing unit and the inner wall surface of the fuselage shell. This facilitates the transfer of heat generated by the computing unit during operation to the fuselage shell, thereby improving heat dissipation efficiency. Furthermore, because the elastic component is elastically connected between the computing unit and the support frame, the computing unit and the support frame are non-rigidly connected, reducing the impact of impact forces on the computing unit.

[0012] In an optional embodiment, the elastic component includes:

[0013] A support column is provided on the support frame;

[0014] A connecting column is provided through the computing unit and connected to the supporting column;

[0015] The elastic member is sleeved on the supporting column and / or the connecting column, and the elastic member is abutted and arranged between the supporting frame and the computing unit.

[0016] Beneficial Effects: The connecting column constrains the computing unit from moving away from the support frame. Furthermore, the elastic member is positioned between the support frame and the computing unit, ensuring that the elastic component exerts a thrust on the computing unit while maintaining an elastic connection between the support frame and the computing unit, thereby reducing the impact of impact forces on the computing unit.

[0017] In an optional embodiment, the support frame is provided with a support frame connecting portion, and a shell connecting portion is provided inside the fuselage shell, and the support frame connecting portion and the shell connecting portion are detachably connected.

[0018] Beneficial effect: By detachably connecting the support frame to the body shell, the computing unit can be easily disassembled and repaired.

[0019] In an optional embodiment, the fuselage structure further includes:

[0020] A heat sink is provided in close contact with the computing unit and is located on a side of the computing unit away from the support frame;

[0021] The side surface of the heat dissipation plate away from the computing unit is also suitable for fitting with the first wall surface of the body shell.

[0022] Beneficial Effects: The computing unit generates heat during operation. By providing a heat sink on the side of the computing unit away from the support frame, the heat from the computing unit can be transferred to the heat sink. The surface of the heat sink away from the computing unit is also suitable for contact with the first wall of the body shell. Because the elastic component applies a thrust force to the computing unit away from the support frame, the heat sink is ensured to be in close contact with the first wall of the body shell, and the heat from the computing unit is transferred to the body shell, thereby improving the heat dissipation efficiency of the computing unit.

[0023] In an optional embodiment, the fuselage structure further includes:

[0024] The heat dissipation fins are arranged on the outside of the body shell and are in contact with the first wall surface. The heat dissipation fins and the heat dissipation plate are respectively arranged on opposite sides of the first wall surface, and the projection of the heat dissipation fins toward the first wall surface at least partially overlaps with the heat dissipation plate.

[0025] Beneficial effect: By arranging the heat dissipation fins, the heat dissipation area of ​​the body shell can be increased, and the heat dissipation fins are arranged on the outside of the body shell and are in contact with the first wall surface; the heat dissipation fins and the heat dissipation plate are respectively arranged on both sides of the first wall surface, and the projection of the heat dissipation fins toward the first wall surface at least partially overlaps with the heat dissipation plate, so that the heat of the heat dissipation plate can be conveniently conducted to the body shell, and further conducted to the heat dissipation fins, thereby improving the heat dissipation efficiency of the computing unit.

[0026] In an optional embodiment, the fuselage structure further includes:

[0027] The fan is connected to the outer side wall of the body shell and is suitable for blowing air toward the heat dissipation fins.

[0028] Beneficial effect: The heat dissipation fins can increase the heat dissipation area of ​​the body shell and further improve the heat dissipation efficiency under the blowing of the fan.

[0029] In an optional embodiment, the body shell is partially recessed to form a clearance groove; the heat dissipation fin is arranged in the clearance groove, and the heat dissipation fin does not exceed the opening edge of the clearance groove;

[0030] And / or, the fan is arranged in the clearance groove, and the fan does not exceed the opening edge of the clearance groove.

[0031] Beneficial effect: By providing the clearance groove, the heat dissipation fins and / or fans can be restrained and protected, while the space occupied outside the body shell can be reduced, thereby improving space utilization.

[0032] In an optional embodiment, the fuselage structure further includes a battery, which is disposed inside the fuselage shell and is located on a side of the support frame facing away from the computing unit.

[0033] Beneficial effect: The battery and the computing unit are located on opposite sides of the support frame to achieve isolation, ensuring that there is no heat dissipation overlap between the two, avoiding overheating, and also facilitating heat dissipation of the entire fuselage structure.

[0034] In an optional embodiment, the body shell includes: a first shell and a second shell, the first shell and the second shell are interlocked and enclosed to form an installation cavity, and the support frame and the computing unit are both arranged in the installation cavity;

[0035] The sealing member is arranged in the contact area between the first shell and the second shell.

[0036] Beneficial effect: thereby ensuring the overall sealing and waterproof performance of the body shell formed by the first shell and the second shell.

[0037] In a second aspect, the present invention further provides a multi-legged robot, comprising: the body structure as described above.

[0038] Because the multi-legged robot includes a fuselage structure and has the same effect as the fuselage structure, it will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0040] Figure 1 It is a schematic diagram of the fuselage shell of the utility model;

[0041] Figure 2 This is a schematic diagram of the internal structure of the fuselage shell of the utility model;

[0042] Figure 3 This is an exploded schematic diagram of the battery, computing unit, and body shell of the utility model;

[0043] Figure 4 This is an exploded schematic diagram of the battery and computing unit of the utility model;

[0044] Figure 5 This is an exploded schematic diagram of the support frame and computing unit of the utility model;

[0045] Description of reference numerals:

[0046] 1. Body shell; 11. Relief groove; 12. First shell; 13. Second shell; 14. Sealing member; 102. Shell connection portion;

[0047] 5. Battery; 6. Support frame; 61. Support column; 601. Support frame connection part;

[0048] 71. Radiating fins; 72. Fan; 73. Top cover; 74. Radiating plate;

[0049] 8. Calculation unit; 81. Connecting column; 82. Elastic member. DETAILED DESCRIPTION

[0050] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0051] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of this utility model and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0052] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0053] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0054] The following combination Figures 1 to 5 , describing the embodiments of the present utility model.

[0055] According to an embodiment of the present invention, on the one hand, a fuselage structure is provided, comprising:

[0056] Body shell 1;

[0057] The support frame 6 is arranged inside the fuselage shell 1;

[0058] The computing unit 8 is disposed inside the body shell 1; and the computing unit 8 is located between the body shell 1 and the support frame 6;

[0059] The computing unit 8 is connected to the support frame 6 via the elastic component, and the elastic component is suitable for applying a thrust toward the computing unit 8 so that the computing unit 8 abuts against the inner wall surface of the fuselage shell 1 .

[0060] The fuselage shell 1 serves as the main body of the fuselage structure. In this embodiment, the fuselage structure may be the fuselage of a quadruped robot, and the quadruped robot may be designed to imitate an animal, such as a dog-shaped robot or a lion-shaped robot.

[0061] In order to reduce the weight of the entire machine, the support frame 6 is provided with a number of weight-reducing holes.

[0062] The fuselage structure provided by the embodiment of the present invention disposes the computing unit 8 inside the fuselage shell 1, thereby protecting the computing unit 8. Furthermore, by connecting the computing unit 8 to the support frame 6, and further connecting an elastic component between the computing unit 8 and the support frame 6, the elastic component is suitable for applying a thrust force to the computing unit 8, thereby facilitating the abutment of the computing unit 8 against the inner wall surface of the fuselage shell 1, facilitating the transfer of heat generated by the computing unit 8 during operation to the fuselage shell 1, and improving heat dissipation efficiency. At the same time, because the elastic component is elastically connected between the computing unit 8 and the support frame 6, the computing unit 8 and the support frame 6 are non-rigidly connected, reducing the impact of impact forces on the computing unit 8.

[0063] In some embodiments, combined Figure 5 As shown, the elastic component includes:

[0064] Support column 61, provided on support frame 6;

[0065] A connecting column 81 is provided through the computing unit 8 and connected to the supporting column 61;

[0066] The elastic member 82 is sleeved on the supporting column 61 and / or the connecting column 81 , and the elastic member 82 is disposed between the supporting frame 6 and the computing unit 8 .

[0067] The connecting column 81 restrains the computing unit 8 from moving away from the support frame 6. Furthermore, the elastic member 82 is disposed between the support frame 6 and the computing unit 8, thereby ensuring that the elastic component exerts a thrust on the computing unit 8 and that the support frame 6 and the computing unit 8 are elastically connected, thereby reducing the impact of impact forces on the computing unit 8.

[0068] In this embodiment, the elastic member 82 may be a spring. As a deformation, the elastic member 82 may also be a buffer pad, a spring sheet, or other structures.

[0069] In some embodiments, the fuselage structure further includes a battery 5 , which is disposed inside the fuselage shell 1 , and the battery 5 is located on a side of the support frame 6 facing away from the computing unit 8 .

[0070] The support frame 6 forms a semi-enclosed structure. The support frame 6 and the body shell 1 together enclose a battery accommodating cavity suitable for accommodating the battery 5. By placing the battery 5 in the battery accommodating cavity, the battery 5 can be restrained to prevent the battery 5 from being misplaced and moved.

[0071] Additionally, a number of buffer pads may be provided around the battery 5 to reduce the impact of the impact force on the battery 5 .

[0072] In this embodiment, the support frame 6 serves to constrain the battery 5 and support the computing unit 8 .

[0073] The body structure provided by the embodiment of the present invention disposes both the battery 5 and the computing unit 8 inside the body shell 1, thereby protecting the battery 5 and the computing unit 8. Furthermore, by providing a support frame 6, the support frame 6 and the body shell 1 together enclose a battery accommodating cavity suitable for accommodating the battery 5, thereby limiting the movement of the battery 5 and constraining the battery 5 to prevent the battery 5 from being displaced. Furthermore, by connecting the computing unit 8 to the support frame 6, and further connecting an elastic component between the computing unit 8 and the support frame 6, the elastic component is adapted to apply a thrust force to the computing unit 8 in a direction away from the battery 5, thereby facilitating contact between the computing unit 8 and the inner wall surface of the body shell 1, facilitating the transfer of heat generated by the computing unit 8 during operation to the body shell 1, and improving heat dissipation efficiency. Furthermore, because the elastic component is elastically connected between the computing unit 8 and the support frame 6, the computing unit 8 and the support frame 6 are non-rigidly connected, reducing the impact of impact forces on the computing unit 8.

[0074] In addition, in this embodiment, the battery 5 and the computing unit 8 are located on opposite sides of the support frame 6 to achieve isolation, ensuring that there is no heat dissipation overlap between the two, avoiding overheating, and also facilitating heat dissipation of the entire fuselage structure.

[0075] In some embodiments, combined Figure 3 As shown, the support frame 6 is provided with a support frame connecting portion 601, and a shell connecting portion 102 is provided inside the fuselage shell 1. The support frame connecting portion 601 and the shell connecting portion 102 are detachably connected.

[0076] By detachably connecting the support frame 6 to the body shell 1, the computing unit can be easily disassembled and repaired, and the battery 5 can be easily assembled, thereby restraining the battery 5. The support frame 6 also divides the interior of the body shell 1 into two areas, facilitating the layout of the battery 5 and computing unit 8. The two are independent and do not interfere with each other, avoiding heat dissipation overlap and overheating.

[0077] In some embodiments, combined Figure 3 、 Figure 4 As shown, the fuselage structure also includes:

[0078] The heat sink 74 is provided in close contact with the computing unit 8 and is located on a side of the computing unit 8 that is far from the support frame 6;

[0079] The side surface of the heat dissipation plate 74 away from the computing unit 8 is also suitable for fitting with the first wall surface of the body shell 1.

[0080] The computing unit 8 generates heat during operation. By providing a heat sink 74 on the side of the computing unit 8 away from the battery 5, the heat from the computing unit 8 can be transferred to the heat sink 74. Furthermore, the surface of the heat sink 74 on the side away from the computing unit 8 is also adapted to conform to the first wall of the housing 1. Because the elastic component applies a thrust force to the computing unit 8 away from the battery 5, the heat sink 74 maintains close contact with the first wall of the housing 1, directing the heat from the computing unit 8 to the housing 1, thereby improving the heat dissipation efficiency of the computing unit 8.

[0081] In some embodiments, combined Figure 2 As shown, the fuselage structure also includes:

[0082] The heat dissipation fins 71 are arranged on the outside of the body shell 1 and are in contact with the first wall surface; the heat dissipation fins 71 and the heat dissipation plate 74 are respectively arranged on opposite sides of the first wall surface, and the projection of the heat dissipation fins 71 toward the first wall surface at least partially overlaps with the heat dissipation plate 74.

[0083] By arranging the heat dissipation fins 71, the heat dissipation area of ​​the body shell 1 can be increased, and the heat dissipation fins 71 are arranged on the outside of the body shell 1 and are in contact with the first wall surface; the heat dissipation fins 71 and the heat dissipation plate 74 are respectively arranged on both sides of the first wall surface, and the projection of the heat dissipation fins 71 toward the first wall surface at least partially overlaps with the heat dissipation plate 74, so that the heat of the heat dissipation plate 74 can be conveniently conducted to the body shell 1, and further conducted to the heat dissipation fins 71, thereby improving the heat dissipation efficiency of the computing unit 8.

[0084] In some embodiments, combined Figure 2 As shown, the fuselage structure also includes:

[0085] The fan 72 is connected to the outer wall of the body shell 1 and is suitable for blowing air toward the heat dissipation fins 71.

[0086] The heat dissipation fins 71 can increase the heat dissipation area of ​​the body shell 1 and further improve the heat dissipation efficiency under the blowing of the fan 72.

[0087] At the same time, the heat dissipation fins 71 and the heat dissipation plate 74 are respectively arranged on both sides of the first wall surface, and the projection of the heat dissipation fins 71 toward the first wall surface at least partially overlaps with the heat dissipation plate 74, thereby ensuring the heat transfer effect.

[0088] In some embodiments, combined Figure 2 As shown, the body shell 1 is partially recessed to form a clearance groove 11; the heat dissipation fin 71 is arranged in the clearance groove 11, and the heat dissipation fin 71 does not exceed the opening edge of the clearance groove 11;

[0089] And / or, the fan 72 is disposed in the clearance slot 11 , and the fan 72 does not exceed the opening edge of the clearance slot 11 .

[0090] By providing the clearance groove 11, the heat dissipation fins 71 and / or the fan 72 can be restrained and protected, and at the same time, the space occupied outside the body shell 1 can be reduced, thereby improving space utilization.

[0091] In some embodiments, at least the area of ​​the housing 1 between the heat dissipation fins 71 and the heat dissipation plate 74 is made of a heat-conductive material.

[0092] By making at least the area between the heat dissipating fins 71 and the heat dissipating plate 74 of heat-conductive material, the heat transfer efficiency of the area between the heat dissipating fins 71 and the heat dissipating plate 74 is improved.

[0093] In this embodiment, the body shell 1 can be made entirely of metal material, such as aluminum or aluminum alloy.

[0094] The heat dissipation fins 71 and the heat dissipation plate 74 can also be made of metal materials, such as aluminum or aluminum alloy.

[0095] Additionally, a top cover plate 73 is provided on the outside of the fuselage shell 1 . The top cover plate 73 is suitable for covering the clearance slot 11 , thereby ensuring the integrity of the overall appearance of the fuselage shell 1 .

[0096] In some embodiments, combined Figure 2 As shown, the body shell 1 includes: a first shell 12 and a second shell 13, the first shell 12 and the second shell 13 are locked together to form a mounting cavity, and the support frame 6 and the computing unit 8 are both arranged in the mounting cavity;

[0097] The sealing member 14 is disposed in the contact area between the first shell 12 and the second shell 13 .

[0098] The sealing member 14 may specifically be a waterproof rubber strip.

[0099] By providing a sealing member 14 between the first shell 12 and the second shell 13 , the overall sealing and waterproof performance of the body shell 1 formed by the first shell 12 and the second shell 13 is ensured.

[0100] According to an embodiment of the present invention, on the other hand, a multi-legged robot is provided, comprising: the body structure as described above.

[0101] Obviously, the above embodiments are merely examples for the purpose of clarity of explanation and are not intended to limit the implementation methods. Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the present invention.

Claims

1. A fuselage structure, characterized in that: include: Body shell (1); A support frame (6) is arranged inside the fuselage shell (1); A computing unit (8) is arranged inside the body shell (1); and the computing unit (8) is located between the body shell (1) and the support frame (6); An elastic component, wherein the computing unit (8) is connected to the support frame (6) via the elastic component, and the elastic component is suitable for applying a thrust force toward the computing unit (8) so that the computing unit (8) abuts against the inner wall surface of the fuselage shell (1).

2. The fuselage structure according to claim 1, characterized in that: The elastic component comprises: A support column (61) is provided on the support frame (6); A connecting column (81) is provided through the computing unit (8) and is connected to the supporting column (61); The elastic member (82) is sleeved on the support column (61) and / or the connecting column (81), and the elastic member (82) is abutted and arranged between the support frame (6) and the computing unit (8).

3. The fuselage structure according to claim 1, wherein: The support frame (6) is provided with a support frame connection portion (601), and a shell connection portion (102) is provided inside the fuselage shell (1), and the support frame connection portion (601) and the shell connection portion (102) are detachably connected.

4. The fuselage structure according to claim 1, wherein: The fuselage structure further comprises: a heat dissipation plate (74) arranged in close contact with the computing unit (8), and the heat dissipation plate (74) is located on a side of the computing unit (8) away from the support frame (6); The side surface of the heat dissipation plate (74) away from the computing unit (8) is also suitable for fitting with the first wall surface of the body shell (1).

5. The fuselage structure according to claim 4, characterized in that: The fuselage structure further comprises: A heat dissipation fin (71) is arranged outside the body shell (1) and is in contact with the first wall surface; the heat dissipation fin (71) and the heat dissipation plate (74) are respectively arranged on opposite sides of the first wall surface, and the projection of the heat dissipation fin (71) toward the first wall surface at least partially overlaps with the heat dissipation plate (74).

6. The fuselage structure according to claim 5, characterized in that: The fuselage structure further comprises: A fan (72) is connected to the outer side wall of the body shell (1), and the fan (72) is suitable for blowing air toward the heat dissipation fins (71).

7. The fuselage structure according to claim 6, characterized in that: The body shell (1) is partially recessed to form a clearance groove (11); the heat dissipation fin (71) is arranged in the clearance groove (11), and the heat dissipation fin (71) does not exceed the opening edge of the clearance groove (11); And / or, the fan (72) is arranged in the clearance groove (11), and the fan (72) does not exceed the opening edge of the clearance groove (11).

8. The fuselage structure according to claim 1, wherein: The fuselage structure further comprises a battery (5), wherein the battery (5) is arranged inside the fuselage shell (1), and the battery (5) is located on a side of the support frame (6) facing away from the computing unit (8).

9. The fuselage structure according to any one of claims 1 to 8, characterized in that: The body shell (1) comprises: a first shell (12) and a second shell (13); the first shell (12) and the second shell (13) are interlocked and enclosed to form a mounting cavity; the support frame (6) and the computing unit (8) are both arranged in the mounting cavity; A sealing member (14) is provided in a contact area between the first shell (12) and the second shell (13).

10. A multi-legged robot, characterized in that: It comprises the fuselage structure according to any one of claims 1 to 9 above.

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