A torso structure for a quadruped robot

Abstract

This disclosure relates to a torso structure for a quadruped robot, wherein the torso structure includes a body assembly, an upper assembly, and a lower assembly. The body assembly includes an upper shell, a middle shell, and a lower shell stacked sequentially from top to bottom. The upper shell and the middle shell are connected to form an upper chamber, and the middle shell and the lower shell are connected to form a lower chamber. The upper assembly is installed within the upper chamber. The lower assembly is installed within the lower chamber. When the upper shell is open, the upper chamber is in communication with the outside, and the upper assembly is exposed to the outside. This torso structure allows for maintenance or replacement of the upper assembly simply by opening the upper chamber. When the upper chamber is open, the lower chamber is closed, preventing direct contact between the lower assembly and the outside environment. This reduces maintenance difficulty and time costs, minimizes unnecessary damage to the lower assembly, extends the service life of the lower assembly, and improves the stability and reliability of the torso structure.

Description

Technical Field

[0001] This disclosure relates to the field of quadruped robot technology, and more particularly to a torso structure for a quadruped robot. Background Technology

[0002] With the continuous development of technology, quadruped robots are increasingly widely used in industrial production, service sectors, and extreme environment operations. Their application not only effectively ensures the safety of operators and avoids potential injuries and fatalities, but also significantly improves operational efficiency.

[0003] However, with the continuous expansion of quadruped robots' functions, the number of integrated electronic components has increased significantly. To ensure the long-term stable operation of the robot, the maintenance and replacement of core components such as the main control circuit board have become necessary. In existing technologies, key components such as the main control circuit board, battery, speaker, and motor are usually concentrated in the same internal cavity. To repair or replace the main control circuit board, the robot's internal structure needs to be frequently opened and disassembled and reconnected multiple times. Such operations not only easily interfere with the normal operation of other internal components, reducing the overall stability and reliability of the system, but also make the maintenance process complex and cumbersome, often requiring the disassembly of the entire machine, greatly increasing the difficulty and time cost of maintenance.

[0004] Therefore, it is necessary to improve the existing technology to overcome the aforementioned defects. Utility Model Content

[0005] This disclosure provides a torso structure for a quadruped robot in order to address the problems existing in the prior art.

[0006] According to a first aspect of this disclosure, a torso structure for a quadruped robot is provided, comprising:

[0007] The fuselage assembly includes an upper shell, a middle shell, and a lower shell stacked sequentially from top to bottom, wherein the upper shell and the middle shell are connected to form an upper chamber, and the middle shell and the lower shell are connected to form a lower chamber;

[0008] Upper component, the upper component being installed within the upper cavity;

[0009] Lower component, the lower component being installed within the lower cavity;

[0010] When the upper shell is open, the upper chamber is connected to the outside, and the upper components are exposed to the outside.

[0011] In one embodiment of this disclosure, the upper component includes a main circuit board, an intake fan, and an exhaust fan, wherein the main circuit board is mounted in the middle of the upper chamber;

[0012] The air intake duct of the air intake fan is installed on one side of the main circuit board perpendicular to the stacking direction of the upper and lower chambers;

[0013] The exhaust fan is installed on the inner side wall of the middle shell away from the intake fan, and the exhaust duct of the exhaust fan is perpendicular to the intake duct of the intake fan.

[0014] In one embodiment of this disclosure, the middle shell includes a support platform and a support wall, the support wall surrounding the support platform and configured to extend outward along the height direction of the support platform to form an upper mounting cavity above the support platform and a lower mounting cavity below the support platform;

[0015] The main circuit board is disposed in the upper mounting cavity. The main circuit board, the support platform, and the lower shell are respectively provided with air inlets for the main circuit board, the support platform, and the lower shell. The air inlets for the main circuit board, the support platform, and the lower shell overlap at least partially with the air intake fan in the height direction, forming the air intake duct.

[0016] In one embodiment of this disclosure, the support wall is provided with an air outlet corresponding to the air outlet fan, and the support platform divides the air outlet into an upper air outlet located in the upper chamber and a lower air outlet located in the lower chamber.

[0017] In one embodiment of this disclosure, the upper component further includes at least one heat sink, which is mounted on the main circuit board along the air outlet direction of the upper air outlet. The airflow in the upper chamber flows through the heat sink and is discharged from the upper air outlet.

[0018] In one embodiment of this disclosure, the lower component includes a battery assembly, which is offset from the air inlet duct in the lower chamber. At least a portion of the airflow in the lower chamber is discharged through the lower air outlet after passing over the outer surface of the battery assembly.

[0019] In one embodiment of this disclosure, the lower component includes a limiting member and a pressure plate member. The outer side wall of the pressure plate member is provided with at least one mounting groove, and the outer side wall of the limiting member is provided with a column adapted to the mounting groove. The limiting member and the pressure plate member are connected to the mounting groove through the column to form a battery chamber 37 for accommodating the battery assembly.

[0020] The battery chamber 37 has a multi-faceted opening structure. When the battery assembly is placed in the battery chamber 37, at least a portion of the sidewalls of the battery assembly are in direct contact with the lower chamber.

[0021] In one embodiment of this disclosure, the battery assembly includes charging contacts, and the lower housing has a charging hole at a position corresponding to the charging contacts. The charging contacts pass through the charging hole and are electrically connected to an external charging device.

[0022] In one embodiment of this disclosure, at least one lower shell support strip protruding beyond the height of the lower shell sidewall is provided on the sidewall of the lower shell, and at least one middle shell support strip protruding beyond the height of the support wall sidewall is provided on the sidewall of the support wall, wherein the lower shell support strip and the middle shell support strip are offset from each other.

[0023] In one embodiment of this disclosure, the top of the upper shell is provided with an installation platform;

[0024] The fuselage assembly also includes an extension bracket configured to be detachably connected to the mounting platform.

[0025] One beneficial effect of this disclosure is that the torso structure of the four robot groups includes an upper chamber and a lower chamber, with the upper components located in the upper chamber and the lower components located in the lower chamber. When maintenance or replacement of the upper components is required, only the upper chamber needs to be opened to perform the maintenance or replacement. During the maintenance or replacement process, the lower chamber remains closed, and the lower components located within it are not exposed to the outside environment. This design not only reduces the difficulty and time cost of maintaining the upper components but also minimizes unnecessary damage to the lower components during maintenance. This helps extend the service life of the lower components and improves the overall stability and reliability of the torso structure.

[0026] Other features and advantages of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0027] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments of the present disclosure and, together with their description, serve to explain the principles of the present disclosure.

[0028] Figure 1 This is a schematic diagram of a torso structure provided in an embodiment of this disclosure;

[0029] Figure 2 This is a schematic diagram of the torso structure provided in one embodiment of the present disclosure from another angle;

[0030] Figure 3 This is a partial exploded view of the torso structure provided in one embodiment of the present disclosure;

[0031] Figure 4This is a schematic diagram of a middle shell structure with an upper component installed according to an embodiment of the present disclosure;

[0032] Figure 5 This is a schematic diagram of a middle shell structure with an upper component installed, provided in another embodiment of this disclosure;

[0033] Figure 6 This is a schematic diagram of an upper-layer component provided in an embodiment of this disclosure;

[0034] Figure 7 This is a schematic diagram of the upper shell provided in an embodiment of this disclosure;

[0035] Figure 8 This is a schematic diagram of the upper shell provided in one embodiment of the present disclosure from another angle;

[0036] Figure 9 This is a schematic diagram of the middle shell provided in an embodiment of this disclosure;

[0037] Figure 10 This is a schematic diagram of the middle shell provided in one embodiment of the present disclosure from another angle;

[0038] Figure 11 This is a schematic diagram of the lower shell provided in an embodiment of this disclosure;

[0039] Figure 12 This is a schematic diagram of the lower shell from another angle according to an embodiment of this disclosure;

[0040] Figure 13 This is a schematic diagram of a lower shell with an underlying component installed according to an embodiment of the present disclosure;

[0041] Figure 14 This is a schematic diagram of an extension bracket provided in one embodiment of the present disclosure;

[0042] Figure 15 This is a schematic diagram of the structure of a cover plate provided in one embodiment of this disclosure;

[0043] Figure 16 This is a schematic diagram of the cover plate provided in one embodiment of the present disclosure from another angle;

[0044] Figure 17 This is a schematic diagram from another angle of an embodiment of the extension bracket provided in this disclosure.

[0045] Figures 1 to 17 The one-to-one correspondence between the component names and the reference numerals in the figures is as follows:

[0046] 1. Top shell; 11. Mounting platform; 12. Connecting hole; 13. Connecting part; 14. Reinforcing rib; 15. Second support hole; 16. Connecting hole;

[0047] 2. Middle shell; 21. Support platform; 211. Air inlet of support platform; 212. Third through hole; 22. Support wall; 221. Air outlet; 222. Middle shell support bar;

[0048] 3. Lower shell; 31. Lower shell air inlet; 311. Speaker hole; 312. First support base; 313. Second support base; 32. Charging hole; 33. Lower shell support strip; 34. Mounting hole; 35. Limiting component; 351. Column; 352. Wiring channel; 353. Support component; 36. Pressure plate component; 361. Mounting slot; 37. Battery chamber; 38. Support base;

[0049] 4. Upper-layer components; 41. Main circuit board; 411. Main circuit board air inlet; 412. First support hole; 413. Second through hole; 42. Intake fan; 43. Exhaust fan; 44. Heat sink;

[0050] 5. Extension bracket; 51. Mounting slot; 52. Mounting hole; 53. Limiting hole; 54. Connecting column;

[0051] 6. Cover plate; 61. Magnetic suction component. Detailed Implementation

[0052] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0053] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0054] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0055] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0056] The specific embodiments of this disclosure are described below with reference to the accompanying drawings.

[0057] In this article, terms such as "up," "down," "front," "back," "left," and "right" are used only to indicate the relative positional relationship between related parts, rather than to define the absolute position of these related parts.

[0058] In this article, "first," "second," etc., are used only to distinguish one another, and not to indicate degree of importance, order, or prerequisite for each other.

[0059] In this document, terms such as “equal” and “same” are not strict mathematical and / or geometric limitations, but also include errors that are understandable to those skilled in the art and permissible in manufacturing or use.

[0060] For ease of understanding, please refer to the following: Figures 1 to 17 The specific structure and working principle of the torso structure for a quadruped robot disclosed herein will be described in detail with reference to one embodiment.

[0061] refer to Figures 1 to 3 One embodiment of this disclosure provides a torso structure for a quadruped robot, comprising a body assembly, an upper assembly 4, and a lower assembly. The body assembly includes an upper shell 1, a middle shell 2, and a lower shell 3 stacked sequentially from top to bottom. The upper shell 1 and the middle shell 2 are connected to form an upper chamber, and the middle shell 2 and the lower shell 3 are connected to form a lower chamber. The upper assembly 4 is installed within the upper chamber, and the lower assembly is installed within the lower chamber. When the upper shell 1 is open, the upper chamber communicates with the outside, and the upper assembly 4 is exposed to the outside.

[0062] When the upper-level components need repair or replacement, simply opening the upper chamber exposes the upper-level component 4 to the outside for repair or replacement. During this process, the lower chamber remains closed, preventing the lower-level components within it from contacting the outside. This design not only reduces the difficulty and time cost of maintaining the upper-level component 4 but also minimizes unnecessary damage to the lower-level components during maintenance. This contributes to extending the service life of the lower-level components and improving the overall stability and reliability of the trunk structure.

[0063] In one embodiment of this disclosure, to ensure the installation accuracy between the upper shell 1 and the middle shell 2, and to improve the consistency and stability of the assembly, reference is made to... Figure 7 The upper shell 1 has a positioning docking part 13, while the middle shell 2 has a docking groove that matches the docking part 13. During assembly, simply inserting the docking part 13 into the corresponding docking groove achieves precise alignment and a secure connection between the upper shell 1 and the middle shell 2. This structure simplifies assembly operations, improves the overall assembly efficiency and reliability, and avoids problems such as poor cavity sealing or functional interference caused by misalignment.

[0064] In one embodiment of this disclosure, reference is made to Figure 4 and Figure 5The upper component 4 includes a main circuit board 41, an intake fan 42, and an exhaust fan 43. The main circuit board 41 is installed in the middle of the upper chamber. The intake duct of the intake fan 42 is installed on one side of the main circuit board 41, perpendicular to the stacking direction of the upper and lower chambers. The exhaust fan 43 is installed on the inner wall of the middle shell 2 away from the intake fan 42, and the exhaust duct of the exhaust fan 43 is perpendicular to the intake duct of the intake fan 42. This arrangement optimizes the airflow path in the upper chamber and enhances the heat dissipation effect of the cooling airflow.

[0065] In this embodiment, the intake fan 42 introduces external cold air into the inner cavity of the body structure. The cold air flowing into the upper cavity absorbs and carries away the heat from the main circuit board 41. Under the action of the exhaust fan 43, the airflow in the upper cavity flows through the main circuit board 41 and then exits the upper cavity, thereby achieving heat dissipation for the main circuit board 41. The exhaust fan 43 and the intake fan 42 are arranged vertically, forming an efficient airflow path in the upper cavity, effectively preventing heat accumulation in local areas and improving the heat exchange efficiency of the main circuit board 41. The vertical layout of the intake and exhaust ducts of the intake fan 42 and the exhaust fan 43 effectively solves the problem of insufficient heat dissipation caused by poor heat dissipation paths and heat accumulation in traditional structures. It also has the effects of compact structure, efficient heat flow path, and reduced system heat dissipation power consumption.

[0066] In one embodiment of this disclosure, reference is made to Figure 9 To improve the heat dissipation efficiency of the main circuit board 41 and optimize the airflow path within the upper cavity, the middle shell 2 includes a support platform 21 and a support wall 22. The support wall 22 surrounds the support platform 21 and is configured to extend outward along the height direction of the support platform 21, forming an upper mounting cavity above the support platform 21 and a lower mounting cavity below the support platform 21. The main circuit board 41 is disposed in the upper mounting cavity. (See also...) Figure 5 To form a stable and effective air intake duct, the main circuit board 41, the support platform 21 and the lower shell 3 are respectively provided with air intake holes 411 for the main circuit board, 211 for the support platform and 31 for the lower shell. The air intake holes 411 for the main circuit board, 211 for the support platform and 31 for the lower shell are at least partially overlapped with the air intake fan 42 in its height direction, thus forming an air intake duct that runs from bottom to top through the lower chamber and the upper chamber.

[0067] refer to Figure 3 and Figure 5When the main structure is in operation, the intake fan 42 draws in external cold air, causing the airflow to sequentially pass through the lower shell air inlet 31, the lower chamber, the support platform air inlet 211, the upper chamber, and the main circuit board air inlet 411. Finally, under the action of the exhaust fan 43, the airflow flows through the exhaust duct to the outside of the upper chamber, effectively cooling the main circuit board 41. The air inlet duct, defined by the intake fan 42, the main circuit board air inlet 411, the support platform air inlet 211, and the lower shell air inlet 31, effectively solves the problem of insufficient heat dissipation caused by unclear duct paths, high air resistance, or heat retention in traditional devices. This allows cold air to concentrate on the core heat-generating parts of the main circuit board 41, achieving effective air cooling. This significantly improves the heat dissipation efficiency and operational stability of the main circuit board 41. The overlapping arrangement of the air inlets in the height direction ensures the continuity and flow efficiency of the airflow channel, improving heat dissipation performance. While maintaining good heat dissipation, the load on the intake fan 42 is reduced, thereby reducing overall energy consumption and system noise.

[0068] In some embodiments, the specific positions of the main circuit board air inlet 411, the support platform air inlet 211, and the lower shell air inlet 31 can be flexibly adjusted according to the actual application scenario, which is conducive to structural adaptation under different product forms.

[0069] In one specific embodiment of this disclosure, the lower-level component further includes an audio component for providing functions such as voice playback or sound effect output. However, due to the limited internal space of the lower-level cavity, in this embodiment, the audio component is positioned along the air outlet path of the exhaust fan 43, i.e., the audio component is installed on a path perpendicular to the direction of the exhaust air outlet. (See reference...) Figure 12 A speaker hole 311 is provided in the lower shell 3 at the corresponding position of the speaker component, allowing the sound from the speaker component to be effectively transmitted to the outside of the body structure through the speaker hole 311. To prevent airflow in the lower chamber from interfering with the performance of the speaker component, a sealing cover is provided on top of the speaker component after it is installed in the lower chamber, so as to partially seal and isolate the speaker component from the lower chamber. This sealing structure not only avoids airflow from disturbing the speaker diaphragm, but also reduces the contamination of the speaker cavity by dust, particles and other impurities, thereby improving the stability of the speaker component and the sound output quality.

[0070] It should be noted that because the speaker components are installed in the air intake duct and the speaker components and speaker holes are covered by a sealed structure, the airflow path of the original air intake duct may be partially blocked. To compensate for the airflow guiding capacity of the air intake duct, multiple lower shell air intake holes 31 are provided in the lower shell 3 around the speaker components. Although these lower shell air intake holes 31 are not completely perpendicular to the air intake duct, they can still cooperate with the air intake fan 42 to form an air intake duct, ensuring that external cold air can flow into the lower chamber when the air intake fan 42 is in operation, thereby maintaining the normal heat dissipation airflow circulation between the upper and lower chambers.

[0071] In one embodiment of this disclosure, reference is made to Figure 5 To further improve the heat dissipation efficiency of the lower chamber and reduce the overall heat dissipation power requirement, the support wall 22 and the exhaust fan 43 are respectively provided with air outlets 221. The support platform 21 divides the air outlets 221 into upper air outlets located in the upper chamber and lower air outlets located in the lower chamber. When the exhaust fan 43 is running, its airflow path covers the upper and lower parts of the air outlets 221. Air in the upper chamber can be discharged from the upper chamber through the upper air outlets, and air in the lower chamber can be discharged from the lower chamber through the lower air outlets, achieving simultaneous heat removal from the upper and lower chambers. By providing air outlets 221 that penetrate the upper and lower chambers on the support wall 22 and dividing them into upper and lower air outlets using the support platform 21, the heat dissipation efficiency of the lower chamber can be improved, the temperature of the lower chamber can be reduced, and overheating of the lower components can be avoided.

[0072] Furthermore, this layout reduces the need for additional heat dissipation devices in the lower chamber, resulting in a more compact overall structure. The combined upper and lower air outlets create an airflow channel that achieves dual-chamber air cooling without relying on multiple independent fans, improving heat dissipation efficiency while reducing power consumption. The division structure of the upper and lower air outlets can be flexibly designed according to the actual chamber height and airflow requirements, making it suitable for different models or functional combinations of equipment, thus contributing to a compact overall structure and high functional integration.

[0073] In one embodiment of this disclosure, reference is made to Figure 6 To further improve the heat dissipation efficiency of the main circuit board 41, the upper component 4 also includes at least one heat sink 44. The heat sink 44 is mounted on the main circuit board 41 along the air outlet direction of the upper air outlet. The airflow in the upper chamber flows through the heat sink 44 and is discharged from the upper air outlet. In order to reduce the load on the torso structure, the heat sink 44 is configured to be installed only on the main heat-generating components of the main circuit board 41.

[0074] In one embodiment of this disclosure, reference is made to Figure 6 and Figure 9At least one first support base 312 is provided on the side of the support platform 21 facing the main circuit board 41. The main circuit board 41 is provided with a first support hole 412 at the position corresponding to the first support base 312. Through the cooperation of the first support base 312 and the first support hole 412, the main circuit board 41 can be stably installed on the support platform 21 to ensure its positional stability and installation reliability during use.

[0075] In this embodiment, at least one second support base 313 is also provided on the support platform 21, and the height of the second support base 313 is greater than that of the first support base 312, for connecting the upper shell 1. See also... Figure 8 The inner wall of the upper shell 1 facing the main circuit board 41 is provided with at least one second support hole 15 corresponding to the position of the second support seat 313. During the assembly process, the second support hole 15 is positioned opposite to the second support seat 313 on the carrier platform 21, and they are connected by mating to form the upper cavity.

[0076] To accommodate the through connection between the second support base 313 and the second support hole 15, a second through hole 413 is provided on the main circuit board 41 at the corresponding position. During assembly, the second support base 313 can pass through the second through hole 413 on the main circuit board 41 and be inserted into the second support hole 15 in the upper shell 1, thereby achieving coordinated positioning and stable connection between the upper shell 1, the middle shell 2 and the main circuit board 41.

[0077] The above structural design not only enhances the vertical support strength of the main circuit board 41, but also effectively mitigates the impact force transmitted to the main circuit board due to external impact on the upper shell 1 or the middle shell 2, which helps to improve the overall vibration resistance and reliability of the main circuit board and ensure the long-term stable operation of the device.

[0078] In one embodiment of this disclosure, to further enhance the structural strength of the upper chamber, reference is continued... Figure 8 At least one reinforcing rib 14 is provided on the side wall of the upper shell 1. The reinforcing rib 14 is configured to extend outward along the side wall of the upper shell 1 until the bottom of the reinforcing rib 14 protrudes downward from the side wall of the upper shell 1, and after being assembled with the middle shell 2, extends to the side wall of the middle shell 2 to form a local structural reinforcement support point. (See also...) Figure 9 At least one shell support strip 222 is provided on the side wall of the upper mounting cavity of the shell 2. The shell support strip 222 is configured to extend outward along the support wall 22 until its top protrudes beyond the height range of the upper mounting cavity. The reinforcing ribs 14 are staggered with the shell support strip 222 in the horizontal direction.

[0079] When the upper shell 1 and the middle shell 2 are assembled to form the upper chamber, the staggered reinforcing ribs 14 and the middle shell support strips 222 can provide support to the upper chamber from different directions. When the upper chamber is subjected to external impact or vibration, the reinforcing ribs 14 and the middle shell support strips 222 can jointly bear and disperse the external force, effectively offsetting the impact of localized concentrated stress on the upper chamber, and improving the overall impact resistance and mechanical strength of the upper chamber.

[0080] For the same purpose, in another embodiment, reference is made to... Figure 11 and Figure 12 To enhance the structural strength of the lower chamber, at least one lower shell support strip 33 protruding beyond the height of the lower shell 3's sidewall is provided on the sidewall of the lower shell 3, and at least one middle shell support strip 222 protruding beyond the height of the support wall 22's sidewall is provided on the sidewall of the support wall 22. The lower shell support strip 33 and the middle shell support strip 222 are staggered. Specifically, at least one lower shell support strip 33 is provided on the sidewall of the lower shell 3, protruding inward from the inner wall of the lower shell 3, and its height is higher than the conventional structural surface of the lower shell sidewall. Similarly, at least one middle shell support strip 222 is also provided on the inner sidewall of the support wall 22 located in the lower mounting cavity, and its height is also higher than the reference height of the sidewall. The lower shell support strip 33 and the middle shell support strip 222 are also staggered in the horizontal direction. When the lower chamber is subjected to external impact, the staggered support strip structure can disperse the load transmission path, reduce local stress concentration, and effectively improve the deformation resistance and structural stability of the lower chamber.

[0081] By setting reinforcing ribs and support strips on the inner sides of multiple components such as the upper shell 1, middle shell 2 and lower shell 3, and adopting a staggered fit for structural arrangement, the strength of the driving structure is significantly improved within a limited space, giving it the beneficial effects of good impact resistance, high reliability and strong assembly stability.

[0082] In one embodiment of this disclosure, the lower-level component includes a battery assembly, which is offset from the air inlet duct in the lower-level chamber. At least a portion of the airflow in the lower-level chamber flows over the outer surface of the battery assembly and is then discharged through the lower-level air outlet. Specifically, the battery assembly is not directly located on the main airflow path of the air inlet duct, but is positioned laterally or on a non-linear path of the airflow duct. This allows a portion of the airflow entering the lower-level chamber to flow over the outer surface of the battery assembly, while the remaining portion continues to flow along the direction of the air inlet duct to the upper-level chamber.

[0083] This design allows at least a portion of the airflow flowing into the lower chamber to be discharged through the lower air outlet after passing over the outer surface of the battery assembly, thereby dissipating heat from the battery assembly. This helps to reduce the operating temperature of the battery assembly, extend its service life, and improve the safety and stability of the main structure.

[0084] In one embodiment of this disclosure, reference is made to Figure 13 To protect the battery pack, the lower assembly includes a limiting member 35 and a pressure plate 36. The pressure plate 36 has at least one mounting groove 361 on its outer side wall, and the limiting member 35 has a column 351 adapted to the mounting groove 361 on its outer side wall. The limiting member 35 and the pressure plate 36 are connected via the column and mounting groove 361 to form a battery chamber 37 for accommodating the battery pack. The column 352 is a support pillar extending along the height of the limiting member 35. The battery chamber 37 has a multi-faceted open structure; that is, except for the limiting member 35 and mounting groove 361 used for support and connection, multiple other sides of the battery chamber 37 are open. This allows airflow within the lower chamber to pass through the side walls of the battery pack, improving heat dissipation. When the battery assembly is placed inside the battery chamber 37, at least a portion of its sidewalls can directly contact the lower chamber, allowing some airflow from the lower chamber to pass through the battery assembly and carry away some of its heat, thus dissipating heat from the battery assembly. By designing the battery chamber 37, the installation stability of the battery assembly is improved, while also aiding in heat dissipation during operation.

[0085] In one embodiment of this disclosure, reference is made to Figure 11 and Figure 12 The limiting member 35 also includes a support member 353 installed at the bottom of the lower shell 3. The support member 353 consists of multiple interconnected support walls, which form a grid-like distribution of support members 353 at the bottom of the lower shell 3. The support members 353 are arranged regularly to enhance the overall support strength of the lower shell 3. When the battery assembly is installed in the battery chamber 37, its bottom is supported by the support member 353.

[0086] In one embodiment of this disclosure, the battery assembly includes charging contacts, and the lower housing 3 has a charging hole 32 at a position corresponding to the charging contacts of the battery assembly. The charging contacts pass through the charging hole 32 and are electrically connected to an external charging device. By providing a charging hole, the battery assembly can be charged without disassembly after being installed in the battery chamber 37, improving ease of use and integration.

[0087] In another embodiment of this disclosure, reference continues to be made to... Figure 12 The bottom of the lower shell 3 is also provided with a mounting hole 34, which is located within the mounting space formed between the support member 353 and the lower shell 3. The mounting hole 34 and the mounting space are used to reserve areas for installing other functional components. For example, it can be used to install a video camera so that the torso structure can interface with an external charging device through the video camera when charging, thereby further improving the device's expandability and functional integrity. Of course, other functional components, such as wireless charging modules, temperature sensors, positioning devices, etc., can also be installed, and this disclosure does not impose too many restrictions on this.

[0088] In another embodiment of this disclosure, to achieve orderly arrangement of the connecting lines, the limiting member 35 is also provided with a cable routing groove 352. (Continuing to refer to...) Figure 12 The support member 353 has multiple grid-like support walls with routing channels 352 for placing connecting wires. The connecting wires of the battery assembly or functional components located in the installation space can extend out of the battery chamber 37 through the routing channels 352. This structural design helps to improve the standardization of internal wiring, reduce the risk of wire bending and wear, thereby improving the stability and reliability of electrical connections.

[0089] In another embodiment of this disclosure, reference is made to Figure 9 and Figure 10 To reduce the load on the torso structure and to optimize the spatial layout of its internal cavities, the edge region of the support platform 21 is provided with multiple third through holes 212. Connection lines for battery modules or functional components located in the lower cavity can extend through these third through holes 212 to the upper cavity and connect to the main circuit board 41. This penetrating arrangement between the upper and lower cavities enables efficient use of space resources and improves the compactness and functional integration of the torso structure's internal cavities.

[0090] In one embodiment of this disclosure, such as Figure 2 As shown, a support base 38 is provided at the bottom of the lower shell 3. The support base 38 is spaced at both ends of the outer wall of the lower shell 3 to provide auxiliary support when the quadruped robot's torso structure is in contact with the ground, preventing the lower shell 3 from directly rubbing or colliding with the ground, thus effectively preventing wear or damage to the lower shell 3 and extending the service life of the torso structure. The support base 38 also helps control the quadruped robot's posture stability during standby or charging, providing safe clearance for functional components located at the bottom (such as charging contacts, visual cameras, sensor modules, etc.), preventing accidental contact or damage to functional components due to improper robot placement. Furthermore, the support base 38 can also provide effective structural support for the torso structure when the quadruped robot is in a prone position (i.e., legs folded up and torso close to the ground), thereby supporting the weight of the torso structure without using leg support, reducing the long-term load pressure on the leg drive mechanism, and extending the service life of the leg motors and their transmission system.

[0091] In one embodiment of this disclosure, such as Figure 7 As shown, the top of the upper shell 1 is provided with a mounting platform 11 for mounting external expansion components. The mounting platform 11 is preferably a recessed structure located on the top of the upper shell 1, facilitating functional expansion without increasing the overall height of the torso structure. (See also...) Figure 14The body assembly also includes an expansion bracket 5, which is configured to be detachably connected to the mounting platform 11. Users can connect external expansion components with different functions to the expansion bracket 5 according to their actual needs, so that it can be connected to the mounting platform 11. The external expansion components can be sensor modules, camera equipment, or other auxiliary devices, and the expansion bracket 5 enables the functional expansion and flexible configuration of the body structure.

[0092] In one embodiment of this disclosure, reference is made to Figure 17 The mounting platform 11 has multiple docking holes 16. The bottom of the expansion bracket 5 has docking posts 54 at positions corresponding to the docking holes 16. The docking posts 54 are fixedly connected to the corresponding docking holes 16 by bolts, thus achieving a stable installation of the expansion bracket 5 and the mounting platform 11. In this embodiment, the height of the docking posts 54 is adapted to the depth of the groove structure on the mounting platform 11, allowing the lower surface of the expansion bracket 5 to abut against the upper surface of the upper shell 1 after installation. This not only helps improve the installation stability of the expansion bracket 5 but also provides effective support for the expansion bracket 5 to a certain extent, enhancing the robustness and reliability of the upper shell 1 and the expansion bracket 5.

[0093] In one embodiment of this disclosure, reference continues to be made to... Figure 14 The expansion bracket 5 includes a mounting groove 51 thereon, which is used to fix the expansion bracket 5 to the upper shell 1, ensuring that the expansion bracket 5 is firmly installed on the mounting platform 11 on the top of the upper shell. The upper shell 1 and the expansion bracket 5 are fixedly connected at multiple points to further improve the assembly stability between the two.

[0094] In one embodiment of this disclosure, the expansion bracket 5 is further provided with multiple mounting holes 52 and limiting holes 53 to facilitate diverse fixing methods for external expansion components. The expansion bracket 5 not only enhances the functional expandability and modularity of the torso structure, but also improves the flexibility and convenience of installation, allowing users to quickly replace or upgrade external expansion components according to actual needs.

[0095] In one optional installation method for the external expansion component, the external expansion component can be connected to the expansion bracket 5 by means of a strap. Specifically, the strap is passed through the mounting hole 52 and the limiting hole 53 on the expansion bracket 5, and then fixedly connected to the external expansion component, thereby realizing the installation of the external expansion component. This installation method has a simple structure, is easy to install and disassemble, and is suitable for various types of auxiliary equipment. In addition to strap fixing, the external component can also be installed using other fixing methods, such as screws, clips, adhesives, or magnetic connections, etc. This disclosure does not limit the method, in order to adapt to different usage requirements and environmental conditions.

[0096] In one embodiment of this disclosure, reference is made to Figure 7The upper shell 1 is also provided with multiple connection holes 12, which are used to realize electrical or signal connections with external expansion components on the expansion bracket 5. Specifically, the connection holes 12 may include functional structures such as power interfaces, network ports, signal cable interfaces, and Type-C interfaces. External expansion components achieve effective connection with the internal circuitry of the torso structure through the connection holes 12. (See also...) Figure 14 The expansion bracket 5 also has a connection port corresponding to the connection hole 12, allowing it to pass through. With this configuration, after the external expansion component is installed and fixed on the expansion bracket 5, its electrical or signal contacts can be directly connected to the connecting device within the torso structure cavity (e.g., the main circuit board 41 in the upper cavity) through the connection port on the expansion bracket 5 and the connection hole 12 on the upper shell 1. This structural design effectively simplifies the connection path between the external expansion component and the main circuit board 41, improves assembly efficiency and system integration, and provides good expandability and ease of maintenance.

[0097] In one embodiment of this disclosure, reference is made to Figure 14 and Figure 17 To reduce the overall weight of the torso structure after the extension bracket 5 is installed, the extension bracket 5 is provided with multiple mounting holes 52 and limiting holes 53 while ensuring its own structural strength. The mounting holes 52 and limiting holes 53 are designed with comprehensive consideration of the stress distribution of the extension bracket 5 and the structural strength of the connection between the two after connecting with external extension components. This ensures that its own weight is effectively reduced without affecting its load-bearing capacity and connection performance, thereby contributing to the lightweight design of the overall equipment.

[0098] In this embodiment, the mounting hole 52 and the limiting hole 53 not only reduce the weight of the expansion bracket 5 itself, but also improve the compatibility and flexibility between the expansion bracket 5 and external expansion components. Specifically, the mounting hole 52 and the limiting hole 53 can serve as auxiliary mounting positions or reserved interfaces, supporting various connection methods, facilitating different expansion component installation schemes according to actual application needs, and enhancing the modularity and expandability of the system.

[0099] In one embodiment of this disclosure, the external expansion component can also be connected directly to the mounting platform 11 without the need for the expansion bracket 5. The specific connection method can be flexibly configured according to factors such as the functional requirements, size specifications, and installation location of the external expansion component. Those skilled in the art can adjust and optimize the installation method of the external expansion component according to specific application scenarios, and this disclosure does not impose excessive limitations in this regard.

[0100] In another embodiment of this disclosure, when referring to Figure 15When the expansion bracket 5 is not required, the mounting platform 11 can be sealed by the mounting cover 6. The cover 6 can be fixed in place with the mounting platform 11, which can not only prevent the mounting platform 11 from being exposed and affecting the appearance, but also effectively prevent dust, moisture and other foreign objects from entering the upper chamber, thereby improving the sealing performance and environmental adaptability of the upper chamber.

[0101] In one specific embodiment, at least one magnetic element 61 is provided at the bottom of the cover plate 6. The magnetic element 61 cooperates with the adsorption element at the corresponding position of the upper shell 1 to achieve a magnetic connection between the cover plate 6 and the upper shell 1. Through this magnetic structure, the cover plate 6 can be firmly adsorbed onto the upper shell 1, while also facilitating easy disassembly and installation by the user, improving ease of use and maintenance efficiency. Further, refer to... Figure 7 An opening groove is provided at the connection between the upper shell 1 and the cover plate 6. This groove is located on or near the side of the magnetic component 61. After the cover plate 6 is connected to the upper shell 1, the user can easily pry up and remove the cover plate 6 by applying prying force with a fingernail or tool through the groove, achieving non-destructive and quick disassembly and assembly. The combination of the magnetic component 61 and the groove ensures both the stable fixation of the cover plate 6 and meets the need for convenient disassembly, improving the overall user experience and maintenance convenience of the equipment.

[0102] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of this disclosure is defined by the appended claims.

Claims

1. A torso structure for a quadruped robot, characterized in that, include: The fuselage assembly includes an upper shell (1), a middle shell (2) and a lower shell (3) stacked from top to bottom, wherein the upper shell (1) and the middle shell (2) are connected to form an upper chamber, and the middle shell (2) and the lower shell (3) are connected to form a lower chamber. Upper component (4), the upper component (4) being installed in the upper cavity; Lower component, the lower component being installed within the lower cavity; When the upper shell (1) is in the open state, the upper chamber is connected to the outside, and the upper component (4) is exposed to the outside.

2. The torso structure for a quadruped robot according to claim 1, characterized in that, The upper component (4) includes a main circuit board (41), an intake fan (42) and an exhaust fan (43), wherein the main circuit board (41) is installed in the middle of the upper chamber; The air intake duct of the air intake fan (42) is installed on one side of the main circuit board (41) perpendicular to the stacking direction of the upper chamber and the lower chamber; The exhaust fan (43) is installed on the inner wall of the middle shell (2) away from the intake fan (42), and the exhaust duct of the exhaust fan (43) is perpendicular to the intake duct of the intake fan (42).

3. The torso structure for a quadruped robot according to claim 2, characterized in that, The middle shell (2) includes a support platform (21) and a support wall (22), the support wall (22) surrounding the support platform (21) and configured to extend outward along the height direction of the support platform (21) to form an upper mounting cavity above the support platform (21) and a lower mounting cavity below the support platform (21); The main circuit board (41) is disposed in the upper mounting cavity. The main circuit board (41), the support platform (21) and the lower shell (3) are respectively provided with a main circuit board air inlet (411), a support platform air inlet (211) and a lower shell air inlet (31). The main circuit board air inlet (411), the support platform air inlet (211) and the lower shell air inlet (31) are at least partially overlapped with the air intake fan (42) in the height direction and form the air intake duct.

4. The torso structure for a quadruped robot according to claim 3, characterized in that, The support wall (22) is provided with an air outlet (221) corresponding to the air outlet fan (43), and the support platform (21) divides the air outlet (221) into an upper air outlet located in the upper chamber and a lower air outlet located in the lower chamber.

5. The torso structure for a quadruped robot according to claim 4, characterized in that, The upper component (4) further includes at least one heat sink (44), which is mounted on the main circuit board (41) along the air outlet direction of the upper air outlet. The airflow in the upper chamber flows through the heat sink (44) and is discharged from the upper air outlet.

6. The torso structure for a quadruped robot according to claim 4, characterized in that, The lower-level component includes a battery assembly, which is offset from the air inlet duct in the lower-level chamber. At least part of the airflow in the lower-level chamber is discharged through the lower-level air outlet after flowing over the outer surface of the battery assembly.

7. The torso structure for a quadruped robot according to claim 6, characterized in that, The lower component includes a limiting member (35) and a pressure plate member (36). The outer side wall of the pressure plate member (36) is provided with at least one mounting groove (361). The outer side wall of the limiting member (35) is provided with a column (351) adapted to the mounting groove (361). The limiting member (35) and the pressure plate member (36) are connected to the mounting groove (361) through the column to form a battery chamber 37 (37) for accommodating the battery assembly. The battery chamber 37 (37) has a multi-faceted opening structure. When the battery assembly is placed in the battery chamber 37 (37), at least a portion of the sidewall of the battery assembly is in direct contact with the lower chamber.

8. The torso structure for a quadruped robot according to claim 6, characterized in that, The battery assembly includes charging contacts, and the lower shell (3) has a charging hole (32) at a position corresponding to the charging contacts. The charging contacts pass through the charging hole (32) and are electrically connected to an external charging device.

9. The torso structure for a quadruped robot according to claim 3, characterized in that, The lower shell (3) has at least one lower shell support strip (33) protruding beyond the height of the lower shell (3) side wall, and the support wall (22) has at least one middle shell support strip (222) protruding beyond the height of the support wall (22) side wall, and the lower shell support strip (33) and the middle shell support strip (222) are offset from each other.

10. The torso structure for a quadruped robot according to claim 1, characterized in that, The top of the upper shell (1) is provided with an installation platform (11); The fuselage assembly also includes an extension bracket (6) configured to be detachably connected to the mounting platform (11).

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