Machine body structure and robot dog

Abstract

The utility model provides a machine body structure and a robot dog, and relates to the technical field of robot dogs. The machine body structure comprises a machine body shell and a first cooling fan, a containing space is formed in the machine body shell, a first ventilation structure communicated with the containing space is arranged at the front end of the machine body shell, a second ventilation structure communicated with the containing space is arranged at the rear end of the machine body shell, and a third ventilation structure communicated with the containing space is arranged on the machine body shell; the first cooling fan is arranged at the position, corresponding to the third ventilation structure, of the machine body shell, the first cooling fan is configured to exhaust gas in the containing space through the third ventilation structure, and the cooling performance is improved.

Description

Technical Field

[0001] This disclosure relates to the field of robot dog technology, and more specifically, to a body structure and a robot dog. Background Technology

[0002] With the development of science and technology, robot dogs have been widely used, especially in search and rescue missions in disaster areas. They can quickly search and rescue target areas in disaster areas, greatly improving search and rescue efficiency and reducing the pressure on rescue personnel.

[0003] However, due to performance limitations, some functional components of current robot dogs are prone to overheating during long-term operation, causing them to malfunction and preventing them from working stably and reliably for extended periods.

[0004] Therefore, a cooling system for the robot dog is needed to solve the problem of overheating of the components during operation.

[0005] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Utility Model Content

[0006] The purpose of this disclosure is to provide a body structure and a robot dog that improves heat dissipation performance.

[0007] According to one aspect of this disclosure, a fuselage structure is provided, the fuselage structure comprising:

[0008] The fuselage housing has a receiving space, a first ventilation structure communicating with the receiving space is provided at the front end of the fuselage housing, a second ventilation structure communicating with the receiving space is provided at the rear end of the fuselage housing, and a third ventilation structure communicating with the receiving space is provided on the fuselage housing.

[0009] A first cooling fan is located on the housing corresponding to the third ventilation structure, and the first cooling fan is configured to exhaust the gas in the containment space through the third ventilation structure.

[0010] In one exemplary embodiment of this disclosure, the fuselage housing includes:

[0011] The main fuselage shell has the accommodating space, and the front end of the main fuselage shell has a first open end, and the rear end has a second open end;

[0012] A first mounting base is disposed on the first open end of the main housing of the fuselage, and the first mounting base is provided with the first ventilation structure;

[0013] The second mounting base is located on the second open end of the main housing of the fuselage, and the second mounting base is provided with the second ventilation structure.

[0014] In one exemplary embodiment of this disclosure, the first mounting base is provided with the first ventilation structure at its top and bottom, and / or the second mounting base is provided with the second ventilation structure at its top and bottom.

[0015] In one exemplary embodiment of this disclosure, the fuselage structure further includes:

[0016] The first front leg motor assembly and the second front leg motor assembly are both provided with heat dissipation structures and are located on the first mounting base.

[0017] The first rear leg motor assembly and the second rear leg motor assembly are both provided with heat dissipation structures and are located on the second mounting base.

[0018] In one exemplary embodiment of this disclosure, both the first front leg motor assembly and the second front leg motor assembly include a first front leg motor and a second front leg motor. The stator of the first front leg motor is connected to the first mounting base, and the stator of the second front leg motor is connected to the rotor of the first front leg motor. The second front leg motor is located outside the fuselage housing and is provided with a heat dissipation structure; and / or,

[0019] Both the first rear leg motor assembly and the second rear leg motor assembly include a first rear leg motor and a second rear leg motor. The stator of the first rear leg motor is connected to the second mounting base, and the stator of the second rear leg motor is connected to the rotor of the first rear leg motor. The second rear leg motor is located outside the body housing and is provided with a heat dissipation structure.

[0020] In one exemplary embodiment of this disclosure, the first ventilation structure is located on the first mounting base between the first front leg motor assembly and the second front leg motor assembly; and / or,

[0021] The second ventilation structure is located on the second mounting base between the first rear leg motor assembly and the second rear leg motor assembly.

[0022] In one exemplary embodiment of this disclosure, the third ventilation structure is located between the front and rear ends of the bottom of the fuselage housing.

[0023] In one exemplary embodiment of this disclosure, the fuselage structure further includes:

[0024] A battery, wherein the battery is disposed in the receiving space;

[0025] A wireless charging component, which is connected to the battery, is located in the accommodating space adjacent to the third ventilation structure.

[0026] In one exemplary embodiment of this disclosure, the fuselage structure further includes:

[0027] The second cooling fan is located above the first cooling fan, and the air intake direction of the second cooling fan is towards the front or rear end of the housing.

[0028] According to another aspect of this disclosure, a robot dog is provided, which includes the aforementioned body structure.

[0029] The fuselage structure disclosed herein forms a ventilation duct within the fuselage structure by incorporating a first ventilation structure, a second ventilation structure, and a third ventilation structure. A first cooling fan circulates the air within the ventilation duct. Air from the periphery of the fuselage structure enters from the front end through the first ventilation structure and from the rear end through the second ventilation structure. Driven by the first cooling fan, the air within the fuselage structure is then exhausted through the third ventilation structure. In other words, the air entering the fuselage structure through the first and second ventilation structures and exiting through the third ventilation structure facilitates heat exchange with the functional components within the fuselage structure, as well as those located at the front and rear ends, thereby removing heat generated by the target functional components and achieving the purpose of heat dissipation.

[0030] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0031] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0032] Figure 1 This is a schematic diagram of a robot dog provided in one embodiment of the present disclosure.

[0033] Figure 2 This is a schematic diagram of a fuselage structure provided for one embodiment of the present disclosure.

[0034] Figure 3 This is a schematic diagram of the fuselage structure from another perspective, provided as an embodiment of the present disclosure.

[0035] Figure 4 This is a schematic diagram of the bottom of the fuselage structure provided in one embodiment of the present disclosure.

[0036] Figure 5 An exploded view of the fuselage structure provided for one embodiment of this disclosure.

[0037] Figure 6 This is a schematic diagram of a vertical cross-section of a fuselage structure provided in one embodiment of the present disclosure.

[0038] Figure 7 This is a schematic diagram of a cross-sectional view of a fuselage structure provided in one embodiment of the present disclosure.

[0039] Figure 8 This is a schematic diagram of a first front leg motor assembly, a second front leg motor assembly, and a first mounting base provided in one embodiment of the present disclosure.

[0040] Figure 9 This is a schematic diagram from another perspective of a first front leg motor assembly, a second front leg motor assembly, and a first mounting base provided in one embodiment of the present disclosure.

[0041] Figure 10 A front view of a first front leg motor assembly, a second front leg motor assembly, and a first mounting base provided for one embodiment of this disclosure.

[0042] Figure 11 This is a schematic diagram of a first rear leg motor assembly, a second rear leg motor assembly, and a second mounting base provided in one embodiment of the present disclosure.

[0043] Figure 12 This is a schematic diagram from another perspective of a first rear leg motor assembly, a second rear leg motor assembly, and a second mounting base provided in one embodiment of the present disclosure.

[0044] Figure 13 A front view of a first rear leg motor assembly, a second rear leg motor assembly, and a second mounting base provided for one embodiment of this disclosure.

[0045] Figure 14 This is a schematic diagram of the fuselage structure with the fuselage housing opened, according to one embodiment of the present disclosure.

[0046] 10. Fuselage structure; 20. Mechanical legs; 30. Bionic dog head; 40. Bionic tail;

[0047] 110. Fuselage shell; 111. Main fuselage shell; 1111. Upper fuselage shell; 1112. Lower fuselage shell; 1113. Mounting plate; 1114. Fuselage cover plate; 112. First mounting base; 113. Second mounting base; 121. First ventilation structure; 122. Second ventilation structure; 123. Third ventilation structure; 131. First cooling fan; 132. Second cooling fan; 141. First front leg motor assembly; 142. Second front leg motor assembly; 143. First rear leg motor assembly; 144. Second rear leg motor assembly; 145. First front leg motor; 146. Second front leg motor; 147. First rear leg motor; 148. Second rear leg motor; 149. Heat dissipation structure; 151. Battery; 152. Wireless charging assembly; 1521. Charging coil; 1522. Charging cover plate; 160. Radar assembly; 161. Radar; 162. Mounting base;

[0048] 171. First hardware; 172. Second hardware; 173. Third hardware;

[0049] 210. Robot dog's front legs; 220. Robot dog's hind legs. Detailed Implementation

[0050] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.

[0051] Although relative terms such as "up" and "down" are used in this specification to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples shown in the accompanying drawings. It is understood that if the device of the icon is flipped upside down, the component described as "up" will become the component described as "down." When a structure is "up" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.

[0052] The terms “a,” “one,” “the,” “the,” and “at least one” are used to indicate the presence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion and to mean that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first,” “second,” and “third,” etc., are used only as markers and are not a limitation on the number of objects.

[0053] Embodiments of this disclosure provide a robot dog, such as Figure 1 As shown, the robot dog can be a biomimetic robot dog, comprising: a body structure 10, multiple mechanical legs 20, a biomimetic dog head 30, and a biomimetic tail 40. The multiple mechanical legs 20 are connected to the body structure 10 and are used to drive the biomimetic robot dog to walk; the biomimetic dog head 30 is connected to the body structure 10, and the biomimetic tail 40 is connected to the tail of the body structure 10. By setting the biomimetic dog head 30 on the body structure 10 and connecting the multiple mechanical legs 20 below the body structure 10, the robot dog can walk by using the multiple mechanical legs 20. The robot dog achieves a biomimetic design, that is, the robot dog's walking method can be similar to that of a real dog, which can improve the flexibility of the biomimetic robot dog.

[0054] like Figure 1 As shown, the multiple mechanical legs 20 include front legs 210 and hind legs 220 of the robot dog. Two front legs 210 and two hind legs 220 can each be provided, meaning the robot dog can also be understood as a quadruped robot. It is understood that the robot dog may not include a bionic head 30 and / or a bionic tail 40, meaning the robot dog is not bionic in design. The mechanical legs 20 may include three, five, six, or more, and this disclosure does not impose any limitations on this.

[0055] The following description uses a quadruped robot as an example, specifically a robot dog comprising two front legs 210 and two hind legs 220, to illustrate the robot dog's body structure 10 in detail.

[0056] like Figures 2-7 As shown, the fuselage structure 10 includes: a fuselage housing 110 and a first cooling fan 131. The fuselage housing 110 forms an accommodating space. The front end of the fuselage housing 110 is provided with a first ventilation structure 121 communicating with the accommodating space. The rear end of the fuselage housing 110 is provided with a second ventilation structure 122 communicating with the accommodating space. The fuselage housing 110 is provided with a third ventilation structure 123 communicating with the accommodating space. The first cooling fan 131 is located on the fuselage housing 110 at a position corresponding to the third ventilation structure 123. The first cooling fan 131 is configured to exhaust the gas in the accommodating space through the third ventilation structure 123.

[0057] The fuselage structure 10 is equipped with a first ventilation structure 121, a second ventilation structure 122, and a third ventilation structure 123, forming a ventilation duct within the fuselage structure 10. A first cooling fan 131 circulates the air within the ventilation duct. Air from the outside of the fuselage structure 10 enters from the front end through the first ventilation structure 121 and from the rear end through the second ventilation structure 122. The first cooling fan 131 then exhausts the air from within the fuselage structure 10 through the third ventilation structure 123. In other words, the air entering the fuselage structure 10 through the first and second ventilation structures 121 and exiting through the third ventilation structure 123 facilitates heat exchange with the functional components within the fuselage structure 10, as well as those located at the front and rear ends, thereby removing heat generated by the target functional components and achieving the purpose of heat dissipation.

[0058] like Figures 2-7 As shown, the fuselage housing 110 includes: a main fuselage housing 111, a first mounting base 112, and a second mounting base 113. The main fuselage housing 111 forms an accommodating space. The front end of the main fuselage housing 111 forms a first open end, and the rear end forms a second open end. A third ventilation structure 123 is located between the front end and the rear end of the main fuselage housing 111. The first mounting base 112 is disposed on the first open end of the main fuselage housing 111, and the first ventilation structure 121 is provided on the first mounting base 112. The second mounting base 113 is disposed on the second open end of the main fuselage housing 111, and the second mounting base 113 is provided with a second ventilation structure 122.

[0059] The first mounting base 112 and the second mounting base 113 are connected to the front and rear ends of the main body shell 111. Together with the main body shell 111, they form a biomimetic body structure 10, meaning the robot dog's shape and walking style are similar to those of a real dog, improving its agility. A first ventilation structure 121 is provided on the first mounting base 112, and a second ventilation structure 122 is provided on the second mounting base 113. Outside air can enter from the front and rear ends of the main body shell 111, allowing heat exchange between the functional components located at the first mounting base 112 and the second mounting base 113, thus achieving heat dissipation. A third ventilation structure 123 on the main body shell 111 allows the heat-exchanged gas to be discharged from the back of the shell, achieving heat dissipation for the target functional components within the shell.

[0060] like Figures 2-5As shown, the fuselage structure 10 also includes: a first front leg motor assembly 141, a second front leg motor assembly 142, a first rear leg motor assembly 143, and a second rear leg motor assembly 144. The first front leg motor assembly 141 and the second front leg motor assembly 142 are each provided with a heat dissipation structure 149, which is located on the first mounting base 112; the first rear leg motor assembly 143 and the second rear leg motor assembly 144 are each provided with a heat dissipation structure 149, which is located on the second mounting base 113.

[0061] The first front leg motor assembly 141 and the second front leg motor assembly 142 cooperate to control the two front legs 210 of the robot dog; the first hind leg motor assembly 143 and the second hind leg motor assembly 144 cooperate to control the two hind legs 220 of the robot dog, thereby achieving control of all four legs of the robot dog, so that the robot dog's walking method can be similar to that of a real dog. When the robot dog operates under high load for extended periods, the first front leg motor assembly 141, the second front leg motor assembly 142, the first rear leg motor assembly 143, and the second rear leg motor assembly 144 require prolonged high-intensity operation. This can easily lead to overheating of these motor assemblies, causing them to malfunction. The first ventilation structure 121 on the first mounting base 112 effectively dissipates heat from the first front leg motor assembly 145 and the second front leg motor assembly 142 mounted on it. Similarly, the second ventilation structure 122 on the second mounting base 113 effectively dissipates heat from the first rear leg motor assembly 147 and the second rear leg motor assembly 144 mounted on it. Therefore, this disclosure utilizes ventilation structures to effectively dissipate heat from each motor assembly, ensuring that during prolonged high-load operation, the motor assemblies remain within their normal operating temperature range, thus guaranteeing their reliability. In addition, when the robot dog is working in a high-temperature environment, the ventilation structure can effectively dissipate heat from each motor component, improving the stability of the robot dog when working in a high-temperature environment.

[0062] like Figures 8-10As shown, both the first front leg motor assembly 141 and the second front leg motor assembly 142 include a first front leg motor 145 and a second front leg motor 146. The stator of the first front leg motor 145 is connected to the first mounting base 112, and the stator of the second front leg motor 146 is connected to the rotor of the first front leg motor 145. The main body of the first front leg motor 145 is located inside the fuselage housing 110, and the second front leg motor 146 is located outside the fuselage housing 110. The shaft of the first front leg motor 145 can be parallel or substantially parallel to the front-rear axis of the robot dog, and the shaft of the second front leg motor 146 can be parallel or substantially parallel to the left-right axis of the robot dog. That is, the first front leg motor 145 can drive the second front leg motor 146 to rotate around the front-rear axis of the robot dog, and the second front leg motor 146 can drive the connected robot dog front legs 210 to rotate around the left-right axis of the robot dog. The first front leg motor assembly 141 and the second front leg motor assembly 142 enable the two robot dog front legs 210 to be adjusted around the front-rear axis and left-right axis of the robot dog, respectively. In some embodiments, both the first front leg motor assembly 141 and the second front leg motor assembly 142 may consist only of the second front leg motor 146, meaning the second front leg motor 146 drives the robot dog to move forward or backward. It should be noted that the aforementioned front-rear axis refers to the direction from the front end to the rear end or from the rear end to the front end of the body structure 10, i.e., the length direction of the robot dog; the aforementioned left-right axis refers to the direction from which the left and right sides of the body structure 10 point to each other, i.e., the width direction of the robot dog.

[0063] The first front leg motor 145 may be equipped with a heat dissipation structure 149. This structure increases the heat exchange efficiency between the first front leg motor 145 and the surrounding air, thereby improving heat dissipation. The heat dissipation structure 149 may be heat dissipation fins or ribs on the motor housing of the first front leg motor 145, increasing the heat exchange area between the motor housing and the surrounding air, thus improving heat exchange efficiency. Simultaneously, the heat dissipation fins or ribs enhance the structural strength of the motor housing. Multiple heat dissipation fins or ribs may be distributed along the axial direction of the motor housing and extend along its length.

[0064] The second front leg motor 146 may be equipped with a heat dissipation structure 149. This structure increases the heat exchange efficiency between the second front leg motor 146 and the surrounding air, thereby improving heat dissipation. The heat dissipation structure 149 may be heat dissipation fins or ribs on the motor housing of the second front leg motor 146, increasing the heat exchange area between the motor housing and the surrounding air, thus improving heat exchange efficiency. Simultaneously, the heat dissipation fins or ribs enhance the structural strength of the motor housing. Multiple heat dissipation fins or ribs may be distributed along the axial direction of the motor housing and extend along its length. The heat dissipation structure 149 on the second front leg motor 146 may be the same as or different from the heat dissipation structure 149 on the first front leg motor 145; this disclosure does not impose any limitations in this regard.

[0065] like Figure 10 As shown, the first ventilation structure 121 is located on the first mounting base 112 between the first front leg motor assembly 141 and the second front leg motor assembly 142. By providing the first ventilation structure 121 between the first front leg motor assembly 141 and the second front leg motor assembly 142, the first ventilation structure 121 can simultaneously dissipate heat from both the first front leg motor assembly 141 and the second front leg motor assembly 142, improving heat dissipation efficiency. At the same time, the area between the first front leg motor assembly 141 and the second front leg motor assembly 142 is a high-temperature area, which can more effectively dissipate heat from the first front leg motor assembly 141 and the second front leg motor assembly 142, improving heat dissipation efficiency.

[0066] Among them, such as Figure 10 As shown, the first mounting base 112 is provided with a first ventilation structure 121 at its top and bottom. The first ventilation structures 121, positioned vertically, can simultaneously dissipate heat from the parts near the top and bottom of the body structure 10, improving heat dissipation efficiency. It is understood that the first ventilation structure 121 can be located at any other position on the first mounting base 112, as long as it does not affect the assembly of other functional components.

[0067] The first ventilation structure 121 may be formed by a plurality of ventilation holes formed on the first mounting base 112, and the plurality of ventilation holes may be arranged in an array or freely distributed. When the first mounting base 112 is provided with a plurality of first ventilation structures 121, the plurality of first ventilation structures 121 may be the same or different, that is, the number of ventilation holes may be different, and the shape of the distribution of the plurality of ventilation holes may also be different.

[0068] like Figures 11-12As shown, both the first rear leg motor assembly 143 and the second rear leg motor assembly 144 include a first rear leg motor 147 and a second rear leg motor 148. The stator of the first rear leg motor 147 is connected to the second mounting base 113, and the stator of the second rear leg motor 148 is connected to the rotor of the first rear leg motor 147. The main body of the first rear leg motor 147 is located inside the fuselage housing 110, and the second rear leg motor 148 is located outside the fuselage housing 110. The shaft of the first hind leg motor 147 can be parallel or substantially parallel to the front-rear axis of the robot dog, and the shaft of the second hind leg motor 148 can be parallel or substantially parallel to the left-right axis of the robot dog. That is, the first hind leg motor 147 can drive the second hind leg motor 148 to rotate around the front-rear axis of the robot dog, and the second hind leg motor 148 can drive the connected hind legs 220 of the robot dog to rotate around the left-right axis of the robot dog. The first hind leg motor assembly 143 and the second hind leg motor assembly 144 enable the adjustment of the two hind legs 220 around the front-rear axis and the left-right axis of the robot dog, respectively. In some embodiments, both the first hind leg motor assembly 143 and the second hind leg motor assembly 144 may consist only of the second hind leg motor 148, that is, the second hind leg motor 148 drives the robot dog to move forward or backward.

[0069] The first rear leg motor 147 may be equipped with a heat dissipation structure 149. This structure increases the heat exchange efficiency between the first rear leg motor 147 and the surrounding air, thereby improving heat dissipation. The heat dissipation structure 149 may be heat dissipation fins or ribs on the motor housing of the first rear leg motor 147, increasing the heat exchange area between the motor housing and the surrounding air, thus improving heat exchange efficiency. Simultaneously, the heat dissipation fins or ribs enhance the structural strength of the motor housing. Multiple heat dissipation fins or ribs may be distributed along the axial direction of the motor housing and extend along its length.

[0070] The second rear leg motor 148 may be equipped with a heat dissipation structure 149. This structure increases the heat exchange efficiency between the second rear leg motor 148 and the surrounding air, thereby improving heat dissipation. The heat dissipation structure 149 may be heat dissipation fins or ribs on the motor housing of the second rear leg motor 148, increasing the heat exchange area between the motor housing and the surrounding air, thus improving heat exchange efficiency. Simultaneously, the heat dissipation fins or ribs enhance the structural strength of the motor housing. Multiple heat dissipation fins or ribs may be distributed along the axial direction of the motor housing and extend along its length. The heat dissipation structure 149 on the second rear leg motor 148 may be the same as or different from the heat dissipation structure 149 on the first rear leg motor 147; this disclosure does not impose any limitations on this.

[0071] The first front leg motor 145 and the first rear leg motor 147 may be the same or different, as may the second front leg motor 146 and the second rear leg motor 148. The heat dissipation structures 149 on the first front leg motor 145 and the first rear leg motor 147 may be the same or different, as may the heat dissipation structures 149 on the second front leg motor 146 and the second rear leg motor 148. Using identical first front leg motors 145 and 147, and identical second front leg motors 146 and 148, can reduce the hardware cost of the robot dog and facilitate the control of the front and rear leg motors.

[0072] like Figure 13 As shown, the second ventilation structure 122 is located on the second mounting base 113 between the second front leg motor assembly 142 and the second front leg motor assembly 142. By setting the second ventilation structure 122 between the two front leg motor assemblies 142, the second ventilation structure 122 can simultaneously dissipate heat from both the second front leg motor assembly 142 and the second front leg motor assembly 142, thereby improving heat dissipation efficiency. At the same time, the area between the two front leg motor assemblies 142 is a high-temperature area, which can more effectively dissipate heat from the two front leg motor assemblies 142 and the second front leg motor assembly 142, thereby improving heat dissipation efficiency.

[0073] Among them, such as Figure 13 As shown, the second mounting base 113 is provided with second ventilation structures 122 at its top and bottom, respectively. These upper and lower ventilation structures 122 simultaneously dissipate heat from the parts near the top and bottom of the fuselage structure 10, improving heat dissipation efficiency. It is understood that the second ventilation structures 122 can be located at any other position on the second mounting base 113, as long as it does not affect the assembly of other functional components.

[0074] The second ventilation structure 122 can be formed by multiple ventilation holes formed on the second mounting base 113. The multiple ventilation holes can be arranged in an array or freely distributed. When multiple second ventilation structures 122 are provided on the second mounting base 113, the multiple second ventilation structures 122 can be the same or different, that is, the number of ventilation holes included can be different, and the shape of the distribution of the multiple ventilation holes can also be different.

[0075] The first ventilation structure 121 and the second ventilation structure 122 may have the same or different shapes and sizes, and the number of the first ventilation structure 121 and the second ventilation structure 122 may be the same or different. This disclosure does not impose any restrictions on this.

[0076] like Figure 14As shown, the chassis structure 10 also includes a second cooling fan 132, which is located above the first cooling fan 131. The air intake direction of the second cooling fan 132 is towards the front or rear end of the chassis housing 110. By providing the second cooling fan 132, the gas in the chassis housing 110 can be diverted to the outlet of the first cooling fan 131, and the high-temperature gas can be discharged through the first cooling fan 131, thereby improving the heat exchange efficiency of the gas inside the chassis housing 110.

[0077] The second cooling fan 132 and the first cooling fan 131 can each be provided in twos, with the two second cooling fans 132 located one above each of the two first cooling fans 131, and the two first cooling fans 131 each corresponding to a third cooling structure 149. Of course, the second cooling fan 132 and the first cooling fan 131 can each be provided in one, three or more, and the number of the second cooling fan 132 and the first cooling fan 131 can be different. The second cooling fan 132 and the first cooling fan 131 can be the same or different cooling fans, and their positions can also not correspond. As long as the heat dissipation efficiency inside the casing 110 is improved, this disclosure does not impose any restrictions.

[0078] like Figure 5 As shown, the body structure 10 also includes a battery 151 and a wireless charging component 152. The battery 151 is located in the housing space, and the wireless charging component 152 is connected to the battery 151. The wireless charging component 152 is located in the housing space adjacent to the third ventilation structure 123, which makes the air flow speed around the wireless charging component 152 faster, which can improve the heat dissipation effect of the wireless charging component 152, thereby reducing the temperature of the wireless charging component 152 during charging and increasing the charging speed.

[0079] The second cooling fan 132 is arranged adjacent to the battery 151. The second cooling fan 132 can increase the airflow around the battery 151, thereby achieving effective heat dissipation of the battery 151.

[0080] The wireless charging component 152 is disposed on the outside of the housing 110. A mounting slot for assembling the wireless charging component 152 is provided on the housing 110. A charging cover 1522 is provided on the mounting slot, sealing the charging coil 1521 of the wireless charging component 152 within the mounting slot. The charging cover 1522 is flush with the surface of the housing 110, thus preventing the charging cover 1522 from being lifted up by foreign objects and improving the reliability of the wireless charging component 152.

[0081] The charging cover 1522 and the housing 110 can be detachably connected, such as by snap-fit ​​or threaded connection. Removing the charging cover 1522 facilitates the assembly and maintenance of the charging coil 1521.

[0082] The cover plate can be made of carbon fiber, which is lightweight, high-strength, and will not interfere with wireless charging. Alternatively, the cover plate can be made of plastic or other materials that will not interfere with wireless charging. It is understood that the wireless charging component 152 can also be housed within the casing 110; in this case, the material of the casing 110 corresponding to the charging coil 1521 must not affect wireless charging.

[0083] The battery 151 can be detachably installed on the body structure 10, meaning it can be manually removed from the body structure 10 to replace a fully charged battery when continuous operation of the robot dog is required. The battery 151 can be provided with a quick-release structure on the body housing 110 for easy installation and removal. This disclosure does not limit the opening and closing structure of the battery 151 on the body housing 110.

[0084] like Figure 5 As shown, a first hardware component 171 is provided between the battery 151 and the second cooling fan 132, a second hardware component 172 is provided on the right side of the battery 151, and a third hardware component 173 is provided on the rear side of the battery 151. Target functional devices can be respectively installed on the first hardware component 171, the second hardware component 172, and the third hardware component 173 to realize corresponding preset functions. For example, a processing module, a communication module, a detection module, etc., can be integrated on the first hardware component 171, the second hardware component 172, and the third hardware component 173.

[0085] Ventilation holes can be provided on the first hardware 171, the second hardware 172, and the third hardware 173 to improve the heat dissipation effect on the first hardware 171, the second hardware 172, and the third hardware 173.

[0086] like Figure 5 As shown, the housing 110 is composed of an upper housing 1111 and a lower housing 1112, which facilitates the assembly of various components within the housing 110 and also facilitates future maintenance. A third ventilation structure 123 is formed on the lower housing 1112, and a wireless charging component 152 is disposed on the lower housing 1112, specifically at the abdomen of the robot dog, so that the robot dog can dock with the charging component when it is standing or lying down.

[0087] Among them, such as Figure 5As shown, the upper shell 1111 is also equipped with a radar component 160. The radar component 160 detects one or more objects in the robot dog's driving path. The robot dog can respond by controlling the robot dog's front legs 210 and hind legs 220 through the motor component, such as obstacles, steps, walls, and pits, through the objects detected by the radar component 160. For example, it can cross obstacles.

[0088] Among them, such as Figure 5 As shown, the radar assembly 160 includes a radar 161 and a mounting base 162. The radar 161 can be a lidar 161, and it is mounted on the fuselage housing 110 via the mounting base 162. The fuselage housing 1111 is provided with a mounting plate 1113, which is connected to the fuselage housing 1111. The mounting base 162 is fixed to the mounting plate 1113, thereby achieving fixed assembly of the radar 161. A circuit board can be mounted on the mounting plate 1113 to process the data acquired by the radar 161.

[0089] Among them, such as Figure 5 As shown, the upper shell 1111 also has a body cover 1114, which is connected to the upper shell 1111 to form an enclosure for the radar component 160 and the mounting plate 1113. The body cover 1114 has through holes through which the radar 161 can extend to detect the surrounding environment during the robot dog's movement. After the body cover 1114 is connected to the upper shell 1111, its flat surface is flush with the surface of the upper shell 1111, preventing the body cover 1114 from being lifted up by foreign objects and improving the biomimetic nature of the body structure 10.

[0090] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

Claims

1. A fuselage structure, characterized in that, include: The fuselage housing (110) has a receiving space, the front end of the fuselage housing (110) is provided with a first ventilation structure (121) communicating with the receiving space, the rear end of the fuselage housing (110) is provided with a second ventilation structure (122) communicating with the receiving space, and the fuselage housing (110) is provided with a third ventilation structure (123) communicating with the receiving space; A first cooling fan (131) is located on the housing (110) at a position corresponding to the third ventilation structure (123). The first cooling fan (131) is configured to exhaust the gas in the containment space through the third ventilation structure (123).

2. The fuselage structure according to claim 1, characterized in that, The fuselage housing (110) includes: The fuselage main shell (111) has the accommodating space, and the front end of the fuselage main shell (111) has a first open end and the rear end has a second open end. The first mounting base (112) is disposed on the first open end of the main housing (111) of the fuselage, and the first ventilation structure (121) is provided on the first mounting base (112); The second mounting base (113) is located on the second open end of the main housing (111) of the fuselage, and the second mounting base (113) is provided with the second ventilation structure (122).

3. The fuselage structure according to claim 2, characterized in that, The first mounting base (112) is provided with the first ventilation structure (121) at the top and bottom respectively, and / or the second mounting base (113) is provided with the second ventilation structure (122) at the top and bottom respectively.

4. The fuselage structure according to claim 2, characterized in that, The fuselage structure (10) also includes: The first front leg motor assembly (141) and the second front leg motor assembly (142) are provided with heat dissipation structures (149) and are located on the first mounting base (112). The first rear leg motor assembly (143) and the second rear leg motor assembly (144) are provided with heat dissipation structures (149) and are located on the second mounting base (113).

5. The fuselage structure according to claim 4, characterized in that, Both the first front leg motor assembly (141) and the second front leg motor assembly (142) include a first front leg motor (145) and a second front leg motor (146). The stator of the first front leg motor (145) is connected to the first mounting base (112), and the stator of the second front leg motor (146) is connected to the rotor of the first front leg motor (145). The second front leg motor (146) is located outside the fuselage housing (110). At least one of the first front leg motor (145) and the second front leg motor (146) is provided with the heat dissipation structure (149); and / or, Both the first rear leg motor assembly (143) and the second rear leg motor assembly (144) include a first rear leg motor (147) and a second rear leg motor (148). The stator of the first rear leg motor (147) is connected to the second mounting base (113), and the stator of the second rear leg motor (148) is connected to the rotor of the first rear leg motor (147). The second rear leg motor (148) is located outside the fuselage housing (110). At least one of the first rear leg motor (147) and the second rear leg motor (148) is provided with the heat dissipation structure (149).

6. The fuselage structure according to claim 4, characterized in that, The first ventilation structure (121) is located on the first mounting base (112) between the first front leg motor assembly (141) and the second front leg motor assembly (142); and / or, The second ventilation structure (122) is located on the second mounting base (113) between the first rear leg motor assembly (143) and the second rear leg motor assembly (144).

7. The fuselage structure according to claim 1, characterized in that, The third ventilation structure (123) is located between the front and rear ends of the bottom of the fuselage housing (110).

8. The fuselage structure according to claim 1, characterized in that, The fuselage structure (10) also includes: A battery (151) is disposed in the receiving space; A wireless charging component (152) is connected to the battery (151) and is located in the accommodating space adjacent to the third ventilation structure (123).

9. The fuselage structure according to claim 1, characterized in that, The fuselage structure (10) also includes: The second cooling fan (132) is located above the first cooling fan (131), and the air intake direction of the second cooling fan (132) is towards the front or rear end of the housing (110).

10. A robotic dog, characterized in that, Includes the fuselage structure (10) as described in any one of claims 1 to 9.

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