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. A joint assembly; the joint assembly is connected with the fuselage shell through the mounting assembly, and the mounting assembly is detachably connected with at least one of the fuselage shell and the joint assembly. According to the fuselage structure, the fuselage shell and the joint assembly are not directly connected, the connecting plate serves as a transfer connecting piece, the joint assembly and the connecting plate are connected, and the connecting plate and the fuselage shell are connected, so that the joint assembly and the fuselage shell can be rapidly separated after the connecting plate is detached. Therefore, when only the joint assembly or the four-limb structure needs to be maintained and replaced, as the joint assembly and the fuselage shell do not have a high coupling relation, the fuselage does not need to be disassembled, the maintenance difficulty is reduced, and quick disassembly and replacement of the joint assembly or the four-limb structure are achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, concretely relates to a fuselage structure and multi -leg robot. BACKGROUND

[0002] The robot is usually composed of multiple scattered parts, for example, a large four-legged robot includes a fuselage, four limbs, a joint assembly and the like. In the related art, the robot needs to separate the skeleton from the shell, resulting in a large number of parts and high cost; and the joint assembly is highly coupled with the fuselage, so that when only the joint assembly or the four limbs needs to be repaired, the fuselage needs to be disassembled, which is difficult to repair. SUMMARY

[0003] Therefore, the utility model provides a fuselage structure and multi -leg robot to solve the problem that the joint assembly of the robot is highly coupled with the fuselage, and the fuselage needs to be disassembled when only the joint assembly or the four limbs needs to be repaired.

[0004] In a first aspect, the utility model provides a fuselage structure, which comprises:

[0005] A fuselage shell;

[0006] A joint assembly; and

[0007] An installation assembly, the joint assembly is connected with the fuselage shell through the installation assembly, and the installation assembly is detachably connected with at least one of the fuselage shell and the joint assembly.

[0008] Advantages: the fuselage shell and the joint assembly are not directly connected, but are connected through the installation assembly as a transfer connecting piece, and the installation assembly is detachably connected with at least one of the fuselage shell and the joint assembly, so that when only the joint assembly or the four limb structure needs to be repaired and replaced, since the joint assembly and the fuselage shell are not highly coupled, at least one of the fuselage shell and the joint assembly can be disassembled from the installation assembly, so that the joint assembly and the fuselage shell can be quickly separated. The fuselage does not need to be disassembled, which greatly reduces the difficulty of repair and realizes quick disassembly and replacement of the joint assembly or the four limb structure.

[0009] In an optional embodiment, the installation assembly comprises:

[0010] A bottom connecting plate, the joint assembly is adapted to be detachably connected with the fuselage shell via the bottom connecting plate, and the joint assembly is detachably connected with the bottom connecting plate.

[0011] In an optional embodiment, the installation assembly comprises:

[0012] A top connecting plate is arranged in the height direction between the bottom connecting plate and the body shell, and the joint assembly is detachably connected to the body shell via the top connecting plate.

[0013] Beneficial effects: The installation assembly is detachably connected to the body shell and the joint assembly. By connecting the joint assembly to the installation assembly and connecting the installation assembly to the body shell, the joint assembly and the body shell can be quickly separated after the installation assembly is disassembled. Therefore, when only the joint assembly or the limb structure needs to be repaired and replaced, the joint assembly and the body shell are not highly coupled, and the body does not need to be disassembled, thereby greatly reducing the difficulty of repair and achieving quick disassembly and replacement of the joint assembly or the limb structure.

[0014] In an optional embodiment, the body shell is provided with a shell first connecting part, the bottom connecting plate is provided with a bottom first connecting part, and the shell first connecting part is detachably connected to the bottom first connecting part; the joint assembly is provided with a joint first connecting part, the bottom connecting plate is provided with a bottom second connecting part, and the joint first connecting part is detachably connected to the bottom second connecting part.

[0015] In an optional embodiment, the body shell is provided with a shell third connecting part, the top connecting plate is provided with a top first connecting part, and the shell third connecting part is detachably connected to the top first connecting part; the joint assembly is provided with a joint second connecting part, the top connecting plate is provided with a top second connecting part, and the joint second connecting part is detachably connected to the top second connecting part.

[0016] Beneficial effects: The body structure provided by the embodiment of the utility model installs the limb structure on the joint assembly, the joint assembly is connected to the connecting plate, and the connecting plate is connected to the body shell, so that the joint assembly and the body shell can be quickly separated after the connecting plate is disassembled. When only the joint assembly or the limb structure needs to be repaired and replaced, the joint assembly and the body shell are not highly coupled, and the joint assembly can be disassembled only by disassembling the screws between the joint assembly and the connecting plate, without disassembling the body, thereby greatly reducing the difficulty of repair and achieving quick disassembly and replacement of the joint assembly or the limb structure.

[0017] In an optional embodiment, the body structure further comprises:

[0018] The body structure further comprises:

[0019] A tail assembly is provided with a tail first connecting part, the bottom connecting plate is provided with a bottom third connecting part, and the bottom third connecting part is detachably connected to the tail first connecting part.

[0020] The head assembly is provided with a head first connecting part, the bottom connecting plate is provided with a bottom fourth connecting part, and the bottom fourth connecting part is detachably connected with the head first connecting part.

[0021] In an alternative embodiment, the fuselage structure further comprises:

[0022] The tail assembly is provided with a tail second connecting part, the top connecting plate is provided with a top third connecting part, and the top third connecting part is detachably connected with the tail second connecting part.

[0023] The head assembly is provided with a head second connecting part, the top connecting plate is provided with a top fourth connecting part, and the top fourth connecting part is detachably connected with the head second connecting part.

[0024] Beneficial effects: the fuselage structure provided by the embodiment of the utility model, the tail assembly and the head assembly can also be connected with the connecting plate (the bottom connecting plate and the top connecting plate), so that the connecting plate serves as the connecting transfer member of each component, so that the connecting plate serves as the framework and the shell, thereby reducing the parts and weight of the fuselage under the premise of ensuring the rigidity and strength.

[0025] In an alternative embodiment, the fuselage structure comprises a bottom connecting plate, a top connecting plate and a tail assembly, the fuselage shell, the bottom connecting plate, the tail assembly and the top connecting plate jointly enclose a joint accommodating cavity, and the joint assembly is at least partially arranged in the joint accommodating cavity.

[0026] In an alternative embodiment, the fuselage structure comprises a bottom connecting plate, a top connecting plate and a head assembly, the fuselage shell, the bottom connecting plate, the head assembly and the top connecting plate jointly enclose a joint accommodating cavity, and the joint assembly is at least partially arranged in the joint accommodating cavity.

[0027] Beneficial effects: the various structural components for enclosing the joint accommodating cavity are connected to form a closed loop, when the fuselage falls to the ground, the foot pad is first impacted, the force is transmitted to the joint assembly, and then the joint assembly is transmitted to the connecting plate, and the connecting plate is not directly connected with the electronic devices, the battery and other structures in the fuselage shell, the electronic devices, the battery and other structures in the fuselage shell are only affected by the vibration and the inertia, and are not affected by the impact force of the whole machine weight, thereby greatly improving the impact resistance of the electronic devices, the battery and other structures in the fuselage shell, and improving the service life.

[0028] In a second aspect, the utility model further provides a multi-legged robot, which comprises the fuselage structure.

[0029] Because the multi-legged robot comprises the fuselage structure, has the same effect as the fuselage structure, and will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the description of the specific embodiments or the prior art. Obviously, the drawings described below are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0031] Figure 1 It is a schematic diagram of the body structure of the present application.

[0032] Figure 2 It is an exploded schematic diagram of the body structure of the present application. Figure 1

[0033] Figure 3 It is an exploded schematic diagram of the body structure of the present application. Figure 2

[0034] Figure 4 It is a schematic diagram of the joint assembly in the disassembled state of the present application.

[0035] Figure 5 It is a schematic diagram of the body shell of the present application.

[0036] Figure 6 It is a schematic diagram of the internal structure of the body shell of the present application.

[0037] Figure 7 It is an exploded schematic diagram of the battery, the computing unit and the body shell of the present application.

[0038] Figure 8 It is an exploded schematic diagram of the battery and the computing unit of the present application.

[0039] Figure 9 It is an exploded schematic diagram of the support frame and the computing unit of the present application.

[0040] Figure 10 It is a side view of the body structure of the present application.

[0041] Explanation of reference signs:

[0042] 1, body shell; 11, let go of the slot; 12, first shell; 13, second shell; 14, sealing element; 101, shell first connecting part; 102, shell second connecting part; 103, shell third connecting part;

[0043] ​​2, mounting assembly; 21, bottom connecting plate; 22, top connecting plate; 2101, bottom first connecting part; 2102, bottom second connecting part; 2103, bottom third connecting part; 2104, bottom fourth connecting part; 2201, top first connecting part; 2202, top second connecting part; 2203, top third connecting part; 2204, top fourth connecting part;

[0044] 3, joint assembly; 31, joint body; 32, joint mounting plate; 301, joint first connecting part; 302, joint second connecting part;

[0045] 41, tail assembly; 42, head assembly; 411, tail first connecting part; 412, tail second connecting part; 421, head first connecting part; 422, head second connecting part;

[0046] 5, battery; 6, support frame; 61, support column; 601, support frame connecting part;

[0047] 71, heat dissipation fin; 72, fan; 73, top cover plate; 74, heat dissipation plate;

[0048] 8, computing unit; 81, connecting column; 82, elastic piece; 90, joint accommodating cavity. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts fall within the scope of protection of the present application.

[0050] In the description of the present application, it should be noted that the directions or position relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like are based on the directions or position relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as limiting the devices or elements indicated to have a specific direction, to be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0051] In the description of the utility model, it is necessary to explain, unless another explicit provision and limitation, the term "installation", "connection", "connect" should be broad sense understanding, for example, can be fixed connection, also can be detachable connection, or integrally connected;Can be mechanical connection, also can be electrical connection;Can be directly connected, also can be indirectly connected through the intermediate medium, can be two elements inside the communication.For ordinary skilled in the art, the above-mentioned terms can be understood according to the specific meaning of the utility model.

[0052] In addition, the technical features involved in the different embodiments of the utility model described below can be combined with each other as long as there is no conflict.

[0053] The embodiments of the utility model are described below in combination with Figures 1 to 10

[0054] According to the embodiments of the utility model, on the one hand, a fuselage structure is provided, comprising:

[0055] The fuselage shell 1;

[0056] The joint assembly 3;And

[0057] The mounting assembly 2, the joint assembly 3 is connected with the fuselage shell 1 through the mounting assembly 2, and the mounting assembly 2 is detachably connected with at least one of the fuselage shell 1 and the joint assembly 3.

[0058] The fuselage shell 1 is the main part of the fuselage structure.

[0059] The joint assembly 3 is used to be connected with the limb structure.In the embodiment, the fuselage shell 1 and the joint assembly 3 are not directly connected, but are connected through the mounting assembly 2 as a transfer connecting piece, and the mounting assembly 2 is detachably connected with at least one of the fuselage shell 1 and the joint assembly 3, so that when only the joint assembly 3 or the limb structure needs to be repaired and replaced, since the joint assembly 3 and the fuselage shell 1 do not have a high coupling relationship, only the mounting assembly 2 needs to be detached from at least one of the fuselage shell 1 and the joint assembly 3, so that the joint assembly 3 and the fuselage shell 1 can be quickly separated.No need to disassemble the fuselage, greatly reducing the difficulty of maintenance, realizing the quick disassembly and replacement of the joint assembly 3 or the limb structure.

[0060] ​In the embodiment, the mounting assembly 2, the body shell 1 and the joint assembly 3 can be detachably connected by screwing or buckling.

[0061] In some embodiments, the mounting assembly 2 comprises:

[0062] The bottom connecting plate 21, the joint assembly 3 is adapted to be detachably connected with the body shell 1 via the bottom connecting plate 21, and the joint assembly 3 is detachably connected with the bottom connecting plate 21.

[0063] In some embodiments, the mounting assembly 2 comprises:

[0064] The top connecting plate 22, the top connecting plate 22 and the bottom connecting plate 21 are spaced apart along the height direction, the joint assembly 3 is adapted to be detachably connected with the body shell 1 via the top connecting plate 22, and the joint assembly 3 is detachably connected with the top connecting plate 22.

[0065] The mounting assembly 2 can specifically comprise the bottom connecting plate 21 and the top connecting plate 22. The mounting assembly 2 of the embodiment serves as a framework and a shell, thereby reducing the parts and weight of the body under the premise of ensuring the rigidity and strength, improving the movement ability of the robot and reducing the cost.

[0066] In the embodiment, the bottom connecting plate 21 and / or the top connecting plate 22 can be a metal plate or a carbon fiber plate.

[0067] In the embodiment, the detachable connection form of the joint assembly 3 with the bottom connecting plate 21 and the top connecting plate 22 can be screwing or buckling or magnetic connection and the like.

[0068] In the embodiment, the detachable connection form of the bottom connecting plate 21 and the top connecting plate 22 with the body shell 1 can be screwing or buckling or magnetic connection and the like.

[0069] In some embodiments, in combination with Figure 3As shown, the fuselage shell 1 is provided with a shell first connecting part 101, the bottom connecting plate 21 is provided with a bottom first connecting part 2101, and the shell first connecting part 101 and the bottom first connecting part 2101 are detachably connected; the joint assembly 3 is provided with a joint first connecting part 301, the bottom connecting plate 21 is provided with a bottom second connecting part 2102, and the joint first connecting part 301 and the bottom second connecting part 2102 are detachably connected. In this way, the fuselage shell 1 and the joint assembly 3 can be quickly separated by flexibly detaching the shell first connecting part 101 and the bottom first connecting part 2101 or detaching the joint first connecting part 301 and the bottom second connecting part 2102, which is simple, convenient and flexible.

[0070] In some embodiments, in combination with Figure 2 As shown, the fuselage shell 1 is provided with a shell third connecting part 103, the top connecting plate 22 is provided with a top first connecting part 2201, and the shell third connecting part 103 and the top first connecting part 2201 are detachably connected; the joint assembly 3 is provided with a joint second connecting part 302, the top connecting plate 22 is provided with a top second connecting part 2202, and the joint second connecting part 302 and the top second connecting part 2202 are detachably connected. In this way, the fuselage shell 1 and the joint assembly 3 can be quickly separated by flexibly detaching the shell third connecting part 103 and the top first connecting part 2201 or detaching the joint second connecting part 302 and the top second connecting part 2202, which is simple, convenient and flexible.

[0071] The shell first connecting part 101 can be a threaded hole opened at the bottom of the fuselage shell 1, the bottom first connecting part 2101 can be a through hole opened on the bottom connecting plate 21, and the shell first connecting part 101 and the bottom first connecting part 2101 can be connected by a screw. The joint first connecting part 301 can be a threaded hole opened at the bottom of the joint assembly 3, the bottom second connecting part 2102 can be a through hole opened on the bottom connecting plate 21, and the joint first connecting part 301 and the bottom second connecting part 2102 can be connected by a screw.

[0072] Similarly, the shell third connecting part 103 can be a threaded hole opened at the top of the fuselage shell 1, the top first connecting part 2201 can be a through hole opened on the top connecting plate 22, and the shell third connecting part 103 and the top first connecting part 2201 can be connected by a screw. The joint second connecting part 302 can be a threaded hole opened at the top of the joint assembly 3, the top second connecting part 2202 can be a through hole opened on the top connecting plate 22, and the joint second connecting part 302 and the top second connecting part 2202 can be connected by a screw.

[0073] The body structure provided by the embodiment of the utility model, limb structure is installed on joint assembly 3, joint assembly 3 is connected with mounting assembly 2, and mounting assembly 2 is connected with body shell 1, so that after mounting assembly 2 is disassembled, joint assembly 3 and body shell 1 can be quickly separated.

[0074] The joint assembly 3 can specifically include a joint body 31 and a joint mounting plate 32, and the joint body 31 can specifically include a driving motor.

[0075] In the embodiment, the joint first connecting part 301 and the joint second connecting part 302 are arranged on the joint mounting plate 32.

[0076] In some embodiments, as shown in Figure 2 、 Figure 3 , the body structure further includes:

[0077] The tail assembly 41 is provided with a tail first connecting part 411, the bottom connecting plate 21 is provided with a bottom third connecting part 2103, and the bottom third connecting part 2103 is detachably connected with the tail first connecting part 411.

[0078] The head assembly 42 is provided with a head first connecting part 421, the bottom connecting plate 21 is provided with a bottom fourth connecting part 2104, and the bottom fourth connecting part 2104 is detachably connected with the head first connecting part 421.

[0079] In some embodiments, as shown in Figure 2 、 Figure 3 , the body structure further includes:

[0080] The tail assembly 41 is provided with a tail second connecting part 412, the top connecting plate 22 is provided with a top third connecting part 2203, and the top third connecting part 2203 is detachably connected with the tail second connecting part 412.

[0081] The head assembly 42 is provided with a head second connecting part 422, and the top connecting plate 22 is provided with a top fourth connecting part 2204 which is detachably connected with the head second connecting part 422.

[0082] The tail assembly 41 and / or the head assembly 42 can be flexibly disassembled with the mounting assembly 2, and then the tail assembly 41 and / or the head assembly 42 can be flexibly disassembled with the fuselage shell 1.

[0083] In the embodiment, the fuselage structure can be a fuselage of a quadruped robot, and the quadruped robot can be an animal-imitating design, for example, a dog-shaped robot, a lion-shaped robot, etc. When the quadruped robot is an animal-imitating design, the quadruped robot can have a head and / or a tail.

[0084] The tail assembly 41 and the head assembly 42 can also be connected with the mounting assembly 2, so that the mounting assembly 2 serves as a connecting transfer member of each component, so that the mounting assembly 2 serves as a skeleton and a shell, thereby reducing the parts and weight of the fuselage while ensuring the rigidity and strength.

[0085] The tail first connecting part 411 can be a threaded hole formed on the tail assembly 41, the bottom third connecting part 2103 can be a through hole formed on the bottom connecting plate 21, and the tail first connecting part 411 and the bottom third connecting part 2103 can be connected by a screw.

[0086] The tail second connecting part 412 can be a threaded hole formed on the tail assembly 41, the top third connecting part 2203 can be a through hole formed on the top connecting plate 22, and the tail second connecting part 412 and the top third connecting part 2203 can be connected by a screw.

[0087] Similarly, the head first connecting part 421 can be a threaded hole formed on the head assembly 42, the bottom fourth connecting part 2104 can be a through hole formed on the bottom connecting plate 21, and the head first connecting part 421 and the bottom fourth connecting part 2104 can be connected by a screw.

[0088] The head second connecting part 422 can be a threaded hole formed on the head assembly 42, and the top fourth connecting part 2204 can be a through hole formed on the top connecting plate 22. The head second connecting part 422 and the top fourth connecting part 2204 can be connected by a screw.

[0089] In some embodiments, in combination with Figure 10As shown, the fuselage structure comprises a bottom connecting plate 21, a top connecting plate 22 and a tail assembly 41, the fuselage shell 1, the bottom connecting plate 21, the tail assembly 41 and the top connecting plate 22 jointly enclose a joint accommodating cavity 90, and the joint assembly 3 is at least partially arranged in the joint accommodating cavity 90.

[0090] In some embodiments, in combination with Figure 10 As shown, the fuselage structure comprises a bottom connecting plate 21, a top connecting plate 22 and a head assembly 42, the fuselage shell 1, the bottom connecting plate 21, the head assembly 42 and the top connecting plate 22 jointly enclose a joint accommodating cavity 90, and the joint assembly 3 is at least partially arranged in the joint accommodating cavity 90.

[0091] The various structural components for enclosing the joint accommodating cavity 90 are connected to form a closed loop. When the fuselage falls to the ground, the foot pad is first impacted, the force is transmitted to the joint assembly 3, and then the joint assembly 3 transmits the force to the mounting assembly 2. The mounting assembly 2 is not directly connected to the electronic devices, batteries and other structures inside the fuselage shell 1. The electronic devices, batteries and other structures inside the fuselage shell 1 are only affected by vibration and their own inertia, and are not affected by the impact force of the whole machine weight landing on the ground. Therefore, the impact resistance of the electronic devices, batteries and other structures inside the fuselage shell 1 is greatly improved, and the service life is improved.

[0092] By enclosing the joint accommodating cavity 90, the arrangement of the joint assembly 3 can be facilitated, and the compactness of the overall structure can be ensured.

[0093] In some embodiments, in combination with Figure 6 、 Figure 7 As shown, the fuselage structure further comprises:

[0094] The battery 5 is arranged inside the fuselage shell 1.

[0095] The support frame 6 is arranged inside the fuselage shell 1, and the support frame 6 is provided with a support frame connecting portion 601. The fuselage shell 1 is provided with a shell second connecting portion 102, and the support frame connecting portion 601 is directly or indirectly connected to the shell second connecting portion 102.

[0096] The support frame 6 and the fuselage shell 1 jointly enclose a battery accommodating cavity suitable for accommodating the battery 5.

[0097] The support frame 6 forms a semi-enclosed structure, and the support frame 6 and the fuselage shell 1 jointly 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 constrained to avoid dislocation.

[0098] In order to reduce the weight of the whole machine, the support frame 6 is provided with a plurality of weight reduction holes.

[0099] In addition, a plurality of buffer pads can be arranged around the battery 5 to reduce the impact of the impact force on the battery 5.

[0100] In some embodiments, in combination with Figure 8 As shown, the fuselage structure further comprises:

[0101] The computing unit 8 is arranged inside the fuselage shell 1, and the computing unit 8 and the battery 5 are arranged on the two sides of the support frame 6, respectively.

[0102] The computing unit 8 is connected to the support frame 6 via the support assembly, and the support assembly is adapted to apply a pushing force to the computing unit 8 in a direction away from the battery 5, so that the computing unit 8 directly or indirectly abuts the inner wall surface of the fuselage shell 1.

[0103] In this embodiment, the support frame 6 plays a role of restraining the battery 5 and supporting the computing unit 8.

[0104] By connecting the computing unit 8 and the support frame 6, and further connecting the support assembly between the computing unit 8 and the support frame 6, the support assembly is adapted to apply a pushing force to the computing unit 8 in a direction away from the battery 5, so that the computing unit 8 directly or indirectly abuts the inner wall surface of the fuselage shell 1, and the heat generated by the computing unit 8 during operation is conveniently transferred to the fuselage shell 1, improving the heat dissipation efficiency.

[0105] At the same time, the support assembly is elastically connected between the computing unit 8 and the support frame 6, so that the computing unit 8 and the support frame 6 are non-rigidly connected, reducing the impact of the impact force on the computing unit 8.

[0106] In some embodiments, in combination with Figure 9 As shown, the support assembly comprises:

[0107] The support column 61 is arranged in the support frame 6.

[0108] The connecting column 81 is arranged in the computing unit 8 and connected to the support column 61.

[0109] The elastic member 82 is sleeved on the support column 61 and / or the connecting column 81, and is arranged between the support frame 6 and the computing unit 8.

[0110] The connecting column 81 plays a role of restraining the movement of the computing unit 8 in a direction away from the support frame 6. And the elastic member 82 is arranged between the support frame 6 and the computing unit 8, so as to ensure that the support assembly applies a pushing force to the computing unit 8 in a direction away from the battery 5, and also ensure that the support frame 6 and the computing unit 8 are elastically connected, reducing the impact of the impact force on the computing unit 8.

[0111] In this embodiment, the elastic member 82 can be a spring, and as a deformation, the elastic member 82 can also be a buffer pad, a spring piece, etc.

[0112] In some embodiments, in combination with Figure 5 、 Figure 6 as shown in the figure, the fuselage structure further comprises:

[0113] The heat dissipation plate 74 is arranged in close contact with the computing unit 8, and the heat dissipation plate 74 is located on the side of the computing unit 8 away from the battery 5.

[0114] The side surface of the heat dissipation plate 74 away from the computing unit 8 is also adapted to be in close contact with the first wall surface of the fuselage shell 1.

[0115] The computing unit 8 generates heat during operation. By arranging the heat dissipation plate 74 on the side of the computing unit 8 away from the battery 5, and the side surface of the heat dissipation plate 74 away from the computing unit 8 is also adapted to be in close contact with the first wall surface of the fuselage shell 1. Since the support assembly exerts a pushing force on the computing unit 8 away from the battery 5, it can ensure that the heat dissipation plate 74 is in close contact with the first wall surface of the fuselage shell 1, and the heat of the computing unit 8 is conducted to the fuselage shell 1, thereby improving the heat dissipation efficiency of the computing unit 8.

[0116] In some embodiments, in combination with Figure 5 as shown in the figure, the fuselage structure further comprises:

[0117] The heat dissipation fins 71 are arranged outside the fuselage shell 1 and in close 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 towards the first wall surface at least partially overlaps the heat dissipation plate 74.

[0118] By arranging the heat dissipation fins 71, the heat dissipation area of the fuselage shell 1 can be increased. The heat dissipation fins 71 are arranged outside the fuselage shell 1 and in close 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 towards the first wall surface at least partially overlaps the heat dissipation plate 74, so that the heat of the heat dissipation plate 74 can be conveniently conducted to the fuselage shell 1 and further to the heat dissipation fins 71, thereby improving the heat dissipation efficiency of the computing unit 8.

[0119] In some embodiments, in combination with Figure 5 as shown in the figure, the fuselage structure further comprises:

[0120] The fan 72 is adapted to blow air towards the heat dissipation fins 71.

[0121] The heat dissipation fins 71 can increase the heat dissipation area of the fuselage shell 1, and further improve the heat dissipation efficiency under the blowing of the fan 72.

[0122] Meanwhile, the heat dissipation fins 71 and the heat dissipation plate 74 are arranged on both sides of the first wall surface respectively, and the projection of the heat dissipation fins 71 towards the first wall surface at least partially overlaps with the heat dissipation plate 74, so that the heat transfer effect can be ensured.

[0123] In some embodiments, in combination with Figure 5 As shown, the body shell 1 is partially recessed to form a clearance slot 11; the heat dissipation fins 71 are arranged in the clearance slot 11, and the heat dissipation fins 71 do not exceed the opening edge of the clearance slot 11.

[0124] And / or, the fan 72 is arranged in the clearance slot 11, and the fan 72 does not exceed the opening edge of the clearance slot 11.

[0125] By arranging the clearance slot 11, the heat dissipation fins 71 and / or the fan 72 can be constrained and protected, and at the same time, the space occupation outside the body shell 1 can be reduced, and the space utilization rate can be improved.

[0126] In some embodiments, the region between the heat dissipation fins 71 and the heat dissipation plate 74 of the body shell 1 is made of a heat-conducting material.

[0127] By making the region between the heat dissipation fins 71 and the heat dissipation plate 74 of the body shell 1 be made of a heat-conducting material, the heat transfer efficiency of the region between the heat dissipation fins 71 and the heat dissipation plate 74 can be improved.

[0128] In this embodiment, the body shell 1 can be made of a metal material, such as aluminum or aluminum alloy.

[0129] The heat dissipation fins 71 and the heat dissipation plate 74 can also be made of a metal material, such as aluminum or aluminum alloy.

[0130] In addition, the body shell 1 is additionally covered with a top cover plate 73, and the top cover plate 73 is adapted to cover the clearance slot 11, so as to ensure the integrity of the overall appearance of the body shell 1.

[0131] In some embodiments, in combination with Figure 6 As shown, the body shell 1 includes a first shell 12 and a second shell 13, and the first shell 12 and the second shell 13 are engaged.

[0132] A sealing member 14 is arranged at the contact area of the first shell 12 and the second shell 13.

[0133] The sealing member 14 can be a waterproof adhesive tape.

[0134] So as to ensure the overall sealing performance and waterproof performance of the body shell 1 enclosed by the engagement of the first shell 12 and the second shell 13.

[0135] According to the embodiment of the utility model, on the other hand, still provide a kind of multi-legged robot, comprising: the fuselage structure as described above.

[0136] Obviously, the above embodiments are only examples for clearly illustrating, and not limit the embodiments. Although the embodiments of the utility model are described in conjunction with the drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the utility model, and such modifications and variations all fall within the scope defined by the utility model.

Claims

1. A fuselage structure, characterized by The body shell (1) is provided with a shell first connecting part (101), the bottom connecting plate (21) is provided with a bottom first connecting part (2101), and the shell first connecting part (101) and the bottom first connecting part (2101) are detachably connected; the joint assembly (3) is provided with a joint first connecting part (301), the bottom connecting plate (21) is provided with a bottom second connecting part (2102), and the joint first connecting part (301) and the bottom second connecting part (2102) are detachably connected. The body shell (1) is provided with a shell third connecting part (103), the top connecting plate (22) is provided with a top first connecting part (2201), and the shell third connecting part (103) and the top first connecting part (2201) are detachably connected; the joint assembly (3) is provided with a joint second connecting part (302), the top connecting plate (22) is provided with a top second connecting part (2202), and the joint second connecting part (302) and the top second connecting part (2202) are detachably connected. The body structure further comprises: a tail assembly (41), the tail assembly (41) is provided with a tail first connecting part (411), the bottom connecting plate (21) is provided with a bottom third connecting part (2103), and the bottom third connecting part (2103) and the tail first connecting part (411) are detachably connected; a head assembly (42), the head assembly (42) is provided with a head first connecting part (421), the bottom connecting plate (21) is provided with a bottom fourth connecting part (2104), and the bottom fourth connecting part (2104) and the head first connecting part (421) are detachably connected. The body structure further comprises:

2. The fuselage structure of claim 1, wherein a tail assembly (41), the tail assembly (41) is provided with a tail second connecting part (412), the top connecting plate (22) is provided with a top third connecting part (2203), and the top third connecting part (2203) and the tail second connecting part (412) are detachably connected; a head assembly (42), the head assembly (42) is provided with a head second connecting part (422), the top connecting plate (22) is provided with a top fourth connecting part (2204), and the top fourth connecting part (2204) and the head second connecting part (422) are detachably connected.

3. The fuselage structure of claim 1, wherein ​ 4. The fuselage structure of Claim 2, wherein ​ 5. The fuselage structure of claim 1, wherein ​ ​ ​ 6. The fuselage structure of claim 2, wherein ​ ​ A head assembly (42) is provided with a head second connecting part (422), the top connecting plate (22) is provided with a top fourth connecting part (2204), and the top fourth connecting part (2204) is detachably connected with the head second connecting part (422).

7. The fuselage structure of claim 2, wherein The fuselage structure comprises a bottom connecting plate (21), a top connecting plate (22) and a tail assembly (41), the fuselage shell (1), the bottom connecting plate (21), the tail assembly (41) and the top connecting plate (22) jointly enclose a joint accommodating cavity (90), and the joint assembly (3) is at least partially arranged in the joint accommodating cavity (90).

8. The fuselage structure of Claim 2, wherein, The fuselage structure comprises a bottom connecting plate (21), a top connecting plate (22) and a head assembly (42), the fuselage shell (1), the bottom connecting plate (21), the head assembly (42) and the top connecting plate (22) jointly enclose a joint accommodating cavity (90), and the joint assembly (3) is at least partially arranged in the joint accommodating cavity (90).

9. A multi-legged robot, characterized by, The fuselage structure comprises a bottom connecting plate (21), a top connecting plate (22) and a tail assembly (41), the fuselage shell (1), the bottom connecting plate (21), the tail assembly (41) and the top connecting plate (22) jointly enclose a joint accommodating cavity (90), and the joint assembly (3) is at least partially arranged in the joint accommodating cavity (90).

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