Robot body assembly and robot

Abstract

The utility model provides a kind of robot fuselage assembly and robot, fuselage assembly includes fuselage main body and connecting component.Fuselage main body is structured as frame structure, the inside of fuselage main body is formed with the battery compartment for accommodating battery module, battery compartment is along first direction and passes through fuselage main body.Connecting component is connected to fuselage main body along second direction, and connecting component is used to connect the leg component of robot. Among them, first direction is perpendicular to second direction.The utility model fuselage assembly adopts lightweight design, is set as frame structure, removes redundant material under the condition that structural rigidity and structural strength are not lost, reduces the weight of fuselage assembly whole. Moreover, fuselage assembly adopts modular design, reduces the production assembly difficulty and later maintenance difficulty of robot whole.

Description

Technical Field

[0001] This utility model belongs to the field of legged robot technology, specifically relating to a robot body component and the robot itself. Background Technology

[0002] Legged robots are experiencing a surge in demand across numerous fields due to their adaptability to complex terrains. To ensure structural strength, existing legged robots typically employ heavy metal shells for their body components, resulting in a relatively large overall weight that severely impacts battery life and mobility. Furthermore, the numerous components integrated within the body components of existing legged robots generally make assembly cumbersome, and the inability to individually disassemble and replace these components increases maintenance complexity.

[0003] The information disclosed in this background section is intended only to enhance the understanding of the overall background of this utility model and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Utility Model Content

[0004] The purpose of this invention is to provide a robot body component that solves the problems of large weight, difficult assembly and maintenance of existing robot body components.

[0005] To achieve the above objectives, a specific embodiment of this utility model provides a robot body assembly, which includes a main body and connecting members. The main body is constructed as a frame structure, and a battery compartment for accommodating a battery module is formed inside the main body, the battery compartment extending through the main body along a first direction. The connecting members are connected to the main body along a second direction, and the connecting members are used to connect the robot's leg components. The first direction is perpendicular to the second direction.

[0006] In one or more embodiments of this utility model, at least two battery compartments arranged along a second direction are formed within the fuselage body, and a first compartment space is formed between two adjacent battery compartments. The first compartment space extends through the fuselage body along a first direction. The first compartment space can utilize the relatively low thermal conductivity of air to reduce the heat transfer efficiency between two adjacent battery compartments and increase the heat insulation effect.

[0007] In one or more embodiments of this utility model, second compartment spaces are formed on both sides of the fuselage body in a second direction, and the second compartment spaces extend through the fuselage body in a first direction. The second compartment spaces can reduce the heat transfer efficiency between the battery compartment and components outside the fuselage body.

[0008] In one or more embodiments of this utility model, the fuselage body has openings on both sides in a second direction. One end of the connecting member is inserted into the second compartment space through the opening. A first hole structure is formed on the fuselage body, extending from its outer surface to the opening. A third hole structure corresponding to the first hole structure is formed on the connecting member. The first hole structure and the third hole structure are fixedly connected by bolts. The fuselage body and the connecting member form an interlocking relationship in a local area, which can serve as an assembly positioning function, improve assembly accuracy, and simplify the assembly process. In addition, the connection between the fuselage body and the connecting member forms a mortise and tenon interlocking structure, which improves the rigidity and torsional resistance of the connection and reduces the displacement and shaking of the connecting member under stress.

[0009] In one or more embodiments of this utility model, the connecting member includes two plate structures spaced apart along a first direction. The fuselage body includes a connecting portion extending between the two plate structures. A second hole structure is formed on the connecting portion, which is disposed through the first direction. A fourth hole structure corresponding to the second hole structure is formed on the plate structure. The second hole structure and the fourth hole structure are fixedly connected by bolts. The connection between the connecting portion and the plate structure can further improve the connection stability between the fuselage body and the connecting member.

[0010] In one or more embodiments of this invention, the connecting member is constructed as a frame structure. The frame structure has a lower weight, allowing for a reduction in the weight of the connecting member without sacrificing structural stiffness and strength.

[0011] In one or more embodiments of this utility model, one or more cavity structures are formed within the connecting member, extending through it in a second direction. The extending direction of the cavity structure can avoid forming a large-area opening at the connection between the connecting member and the leg assembly, reducing the difficulty of connecting the connecting member and the leg assembly.

[0012] In one or more embodiments of this utility model, a mounting space for mounting an actuator of the leg assembly is formed on the connecting member, and a lateral opening in the mounting space in a first direction allows the actuator to enter the mounting space. The mounting space and the lateral opening enable lateral assembly of the actuator, allowing for precise positioning and support of the actuator, thereby improving the stability and overall rigidity of the leg assembly.

[0013] In one or more embodiments of this invention, the connecting member further includes a wiring channel for accommodating the wiring harness of the leg assembly. The wiring channel communicates with the mounting space and is located on the side away from the lateral opening of the mounting space. The wiring channel can fix part of the actuator's wiring harness inside the connecting member, preventing the actuator's wiring harness from interfering with other components.

[0014] In one or more embodiments of this utility model, the fuselage assembly further includes a first housing that covers an opening through one side of the battery compartment, and a power board disposed inside or on the wall of the first housing. The power board is built into the first housing and installed on the side of the fuselage assembly, which enables rapid assembly of the power board.

[0015] In one or more embodiments of this utility model, the body assembly further includes a second housing disposed at the bottom of the main body, and a charging socket disposed inside or on the wall of the second housing. The charging socket is built into the second housing and installed at the bottom of the body assembly, which enables quick assembly of the charging socket.

[0016] In one or more embodiments of this utility model, the fuselage assembly further includes a third housing disposed on the top of the fuselage body, and a main control board disposed inside or on the wall of the third housing. The main control board is built into the third housing and installed on the top of the fuselage assembly, which enables rapid assembly of the main control board.

[0017] In one or more embodiments of this invention, the body assembly further includes a battery module disposed within the battery compartment. The battery module can power the entire robot, ensuring that the robot has sufficient battery life.

[0018] On the other hand, a specific embodiment of the present invention provides a robot that includes the aforementioned body components.

[0019] Compared with existing technologies, the main body of the robot body component of this utility model adopts a lightweight design and is set as a frame structure. Without sacrificing structural rigidity and strength, excess material is removed, reducing the overall weight of the body component. Furthermore, the body component adopts a modular design, reducing the difficulty of overall robot production, assembly, and subsequent maintenance. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a three-dimensional structural view of the fuselage component in one embodiment of the present invention;

[0022] Figure 2 This is an exploded structural view of the fuselage assembly in one embodiment of the present invention;

[0023] Figure 3This is a three-dimensional structural view of the fuselage body, connecting components, and battery module in one embodiment of the present utility model;

[0024] Figure 4 This is an exploded structural view of the fuselage body, connecting components, and battery module in one embodiment of the present invention;

[0025] Figure 5 This is a partial structural diagram of the fuselage body and connecting components in one embodiment of the present utility model;

[0026] Figure 6 This is a side view of the main body of the fuselage in one embodiment of the present invention;

[0027] Figure 7 This is a side view of the connecting member in one embodiment of the present invention;

[0028] Figure 8 This is an exploded structural view of the connecting member and leg assembly in one embodiment of the present invention.

[0029] Explanation of main reference numerals: 1. Main body, 101. Battery compartment, 102. Opening, 103. Connecting part, 104. Top plate, 105. Bottom plate, 106. Front baffle, 107. Rear baffle, 108. Middle baffle, 109. First hole structure, 110. Second hole structure, 111. First compartment space, 112. Second compartment space, 2. Connecting component, 201. Installation space, 202. Cable tray, 203. Plate structure, 204. Third hole structure, 205. Fourth hole structure, 3. Battery module, 4. First housing, 5. Power board, 6. Second housing, 7. Third housing, 8. Main control board, 9. Actuator, 10. Wiring harness. Detailed Implementation

[0030] To enable those skilled in the art to better understand the technical solutions in this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this disclosure.

[0031] In the description of this utility model, it should be understood that the terms "top", "bottom", "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0032] Furthermore, the "first direction" can be referenced. Figure 2 The X-axis direction in the diagram; the "second direction" can be referenced. Figure 2 The Y-axis direction in the figure, the "third direction" can be referred to Figure 2 In the Z-axis direction, the "first direction," "second direction," and "third direction" are mutually perpendicular. Generally, the "first direction" represents the width direction of the fuselage component, the "second direction" represents the length direction of the fuselage component, and the "third direction" represents the height or thickness direction of the fuselage component.

[0033] Furthermore, the term "first" is used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined as "second" or "first" may explicitly or implicitly include one or more of the stated features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0034] In one embodiment, reference is made to Figures 1 to 4 As shown, this application provides a body assembly with a modular design, specifically including a detachably connected body body 1 and a connecting member 2. The body body 1 is generally constructed as a frame structure and adopts a lightweight design, removing excess material and reducing the overall weight of the body assembly without sacrificing structural rigidity and strength. A battery compartment 101 is formed inside the body body 1, which houses the robot's battery module 3, which powers the entire robot. The battery compartment 101 extends through the body body 1 along a first direction, with both sides of the body body 1 constructed as openings, allowing the battery module 3 to be inserted into the battery compartment 101 along one side. The connecting member 2 is disposed on the outer surface of the body body 1 along a second direction, and is used to connect robot leg components or sensors, etc. Battery module 3 occupies most of the space inside the body assembly. The internal cavity of the body assembly is mainly used to house battery module 3, while other functional components of the robot are mainly installed on connecting component 2. This greatly simplifies the internal structure and structural complexity of the body assembly, which is conducive to realizing the modular design of the robot and reducing the overall production, assembly and maintenance difficulty of the robot.

[0035] In one embodiment, reference is made to Figure 6 As shown, the main body 1 includes a top plate 104, a bottom plate 105, a front baffle 106, and a rear baffle 107, which together form a rectangular frame structure. The main body 1 is made of aluminum alloy and can be manufactured by extruding aluminum profiles or welding.

[0036] Furthermore, the fuselage body 1 also includes one or more intermediate baffles 108 disposed between the front baffle 106 and the rear baffle 107. The intermediate baffles 108 divide the internal cavity of the fuselage body 1 along the second direction, forming at least two battery compartments 101 arranged along the second direction inside the fuselage body 1, thereby separating different battery modules 3 from each other and isolating heat transfer between the battery modules 3. In addition, when a battery module 3 experiences problems such as short circuit, leakage, or abnormal temperature rise, the impact of the battery module 3 can be limited to the battery compartment 101 where it is located, preventing it from affecting other battery modules 3 and preventing the fault from escalating further.

[0037] Furthermore, two spaced intermediate baffles 108 can be simultaneously installed between two adjacent battery compartments 101. The cavity between these two intermediate baffles 108 forms a first compartment space 111 that runs through the main body 1 along the first direction. Utilizing the relatively low thermal conductivity of air, the heat transfer efficiency between the two adjacent battery compartments 101 can be further reduced, resulting in better heat insulation. Moreover, the installation of the first compartment space 111 increases the number of intermediate baffles 108, improving the overall structural strength of the main body 1. In addition, the cavity between the two intermediate baffles 108 can also be used to install some functional components, such as sensors and circuit boards.

[0038] In one embodiment, reference is made to Figure 6 As shown, the main body 1 includes two front baffles 106 and two rear baffles 107. The two front baffles 106 are spaced apart, and the cavity between the two front baffles 106 forms a second compartment space 112 that runs through the main body 1 in a first direction. The cavity between the two rear baffles 107 also forms a second compartment space 112 that runs through the main body 1 in a first direction, thereby reducing the heat transfer efficiency between the battery compartment 101 and the components outside the main body 1 and achieving a relatively better heat insulation effect.

[0039] Furthermore, openings are formed on both the outer front baffle 106 and the outer rear baffle 107, thus forming an opening 102 on the outer surface of the fuselage body 1 in the second direction. One end of the connecting member 2 is inserted into the corresponding second compartment space 112 through the opening 102, and the fuselage body 1 and the connecting member 2 form an interlocking relationship in a local area. When assembling the fuselage body 1 and the connecting member 2, the interlocking relationship between the two can play a role in assembly positioning, improving assembly accuracy and simplifying the assembly process. In addition, after the fuselage body 1 and the connecting member 2 are assembled together, the interlocking connection between the two can also form a mortise and tenon interlocking structure at the connection point, significantly improving the rigidity and torsional resistance of the connection point, reducing the displacement and shaking of the connecting member 2 under stress, and making the overall structure of the fuselage body 1 more stable.

[0040] Furthermore, a first hole structure 109 is formed on the fuselage body 1, extending from its outer surface to the opening 102. A third hole structure 204 is formed at one end of the connecting member 2. When this end of the connecting member 2 is inserted into the opening 102, the first hole structure 109 faces the third hole structure 204, and the first hole structure 109 and the third hole structure 204 are coaxially arranged. Bolts are installed in the first hole structure 109 and the third hole structure 204, and the fuselage body 1 and the connecting member 2 can be stably connected together by the bolts.

[0041] Preferably, a plurality of first hole structures 109 are formed on the fuselage body 1, and these first hole structures 109 are respectively opened on the top outer surface and the bottom outer surface of the fuselage body 1 and extend to the opening 102.

[0042] Furthermore, the fuselage body 1 includes a connecting portion 103 extending toward the connecting member 2. The connecting member 2 includes two plate structures 203 spaced apart along a first direction, and the connecting portion 103 of the fuselage body 1 is located between the two plate structures 203. A second hole structure 110 is formed on the connecting portion 103, which extends through along the first direction. Each plate structure 203 has a fourth hole structure 205 coaxially arranged with the second hole structure 110. Bolts are also installed in the second hole structure 110 and the fourth hole structure 205, further improving the connection stability between the fuselage body 1 and the connecting member 2.

[0043] It is understandable that the walls of the first hole structure 109, the second hole structure 110, the third hole structure 204, and the fourth hole structure 205 can be set as smooth hole walls, and the bolts installed inside are generally fitted with nuts. In addition, the above four hole structures can also be set as threaded holes, with internal threads formed on their hole walls, and the internal threads and the external threads on the bolts forming a threaded connection.

[0044] In one embodiment, reference is made to Figure 7 As shown, the connecting member 2 is roughly constructed as a frame structure, with multiple through-cavity structures forming inside. The connecting member 2 adopts a lightweight design, removing excess material without sacrificing structural rigidity and strength, which can further reduce the overall weight of the fuselage components.

[0045] Furthermore, considering that the connecting member 2 generally needs to connect to the robot's leg assembly, and the leg assembly is generally connected to the side of the connecting member 2 along the first direction, in order to facilitate the connection of the leg assembly, the cavity structure inside the connecting member 2 extends through the connecting member 2 along the second direction, so as to avoid forming a large area of ​​opening at the connection between the connecting member 2 and the leg assembly, which would hinder the normal connection between the connecting member 2 and the leg assembly.

[0046] In other embodiments, the connecting member 2 may also have only a cavity structure inside, which can also reduce the weight of the connecting member 2, thereby reducing the overall weight of the fuselage assembly.

[0047] In one embodiment, reference is made to Figure 7 and Figure 8 As shown, a mounting space 201 recessed along a first direction is formed on the connecting member 2, and a lateral opening facing the first direction is formed on the connecting member 2. The actuator 9 of the leg assembly can be installed into the mounting space 201 through the lateral opening, so that the connecting member 2 can be mated and assembled with the actuator 9 of the leg assembly. A portion of the cavity wall of the mounting space 201 has an arcuate portion, which can fit against the peripheral wall of the circular actuator 9, reducing the gap between the mounting space 201 and the actuator 9 and preventing the actuator 9 from shaking during robot movement.

[0048] Furthermore, a wiring groove 202 is formed on the cavity wall of the mounting space 201. The wiring groove 202 passes through the connecting member 2 along the second direction and is used to accommodate the exposed wire harness 10 on the leg assembly. The wiring groove 202 is located approximately on the side away from the lateral opening of the mounting space 201, that is, the mounting space 201 and the wiring groove 202 are arranged approximately along the first direction. A portion of the groove wall of the wiring groove 202 also has a curved portion to facilitate the fitting of the wiring groove 202 with the wire harness 10 of the leg assembly and reduce the gap between the wiring groove 202 and the wire harness 10.

[0049] Furthermore, two oppositely arranged mounting spaces 201 are formed on the connecting member 2 so that the connecting member 2 can connect the left and right leg components at the same time.

[0050] In one embodiment, reference is made to Figures 1 to 4 As shown, the fuselage assembly includes two connecting members 2, which are disposed on both sides of the fuselage body 1 along the second direction. One connecting member 2 is mainly responsible for connecting the two leg assemblies at the front, and the other connecting member 2 is mainly responsible for connecting the two leg assemblies at the rear.

[0051] In one embodiment, reference is made to Figures 1 to 4 As shown, the body assembly also includes a battery module 3, which powers the entire robot. The number of battery modules 3 is the same as the number of battery compartments 101, and each battery module 3 is inserted into the battery compartment 101 in a one-to-one correspondence.

[0052] In one embodiment, reference is made to Figure 2As shown, the fuselage assembly also includes a first housing 4 and a power board 5. The first housing 4 is installed at an opening on one side of the fuselage assembly by means of bolts or clips, etc., to cover the battery compartment 101 from that side of the fuselage assembly and protect the battery module 3 inside the battery compartment 101. The power board 5 is located inside the first housing 4 or on the shell wall of the first housing 4.

[0053] The power board 5 is the core component for robot power distribution and management. It is generally electrically connected to the battery module 3 and functional components (such as leg components, vision components, radar components, etc.) to provide appropriate voltage input to each component. Furthermore, the power board 5 also has functions such as charge / discharge management, charging management, discharge protection, short-circuit protection, and overcurrent protection. It is equipped with functional circuits and circuit elements corresponding to these functions. The specific structure, quantity, and control logic of these functional circuits and circuit elements are readily known to those skilled in the art of robotics and will not be elaborated upon in this application.

[0054] In one embodiment, reference is made to Figure 2 As shown, the body assembly also includes a second housing 6 and a charging dock (not shown). The second housing 6 is installed at the bottom of the main body 1 by bolts or clips. The charging dock is electrically connected to the battery module 3 and is used to assist the battery module 3 in replenishing its power. The charging methods for the battery module 3 mainly include wired charging and wireless charging. When using wired charging, the charging dock generally needs to be connected to an external plug, so the charging dock needs to be installed through the shell wall of the second housing 6. When using wireless charging, the charging dock generally does not need to be connected to an external plug, so the charging dock can be completely installed inside the second housing 6 and not in contact with the external environment.

[0055] In one embodiment, reference is made to Figure 2 As shown, the fuselage assembly also includes a third housing 7 and a main control board. The third housing 7 is installed on the top of the fuselage body 1 by means of bolts or clips, etc., and the main control board is located inside the third housing 7 or on the shell wall of the third housing 7.

[0056] The main control board is the computing and control element of the robot. It has the functions of information processing, decision making, issuing instructions and communication transmission. The main control board is equipped with functional circuits and circuit elements corresponding to the above functions. The specific structure, quantity and control logic of the functional circuits and circuit elements are easily known to those skilled in the art of robotics, and will not be described in detail in this application.

[0057] In one embodiment, the fuselage assembly also includes a decorative cover and sensors (not shown) mounted on the fuselage body 1. The decorative cover is mainly used to cover the opening on the fuselage body 1 and isolate the internal space of the fuselage body 1 from the external environment. The types of sensors include, but are not limited to, temperature sensors, humidity sensors, gas sensors and speed sensors.

[0058] In one embodiment, this application provides a robot that includes the body components of any of the above embodiments, as well as other necessary components for achieving walking motion, environmental perception, and human-computer interaction.

[0059] It will be apparent to those skilled in the art that this disclosure is not limited to the details of the exemplary embodiments described above, and that this disclosure can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of this disclosure is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this disclosure. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0060] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A robot body component, characterized in that, The fuselage components include: The fuselage body (1) is constructed as a frame structure, and a battery compartment (101) for accommodating the battery module (3) is formed inside the fuselage body (1). The battery compartment (101) extends through the fuselage body (1) in a first direction. A connecting member (2) is connected to the main body (1) along a second direction, the connecting member (2) being used to connect the robot's leg assembly; Wherein, the first direction is perpendicular to the second direction.

2. The fuselage assembly according to claim 1, characterized in that, The fuselage body (1) has at least two battery compartments (101) arranged in a second direction, and a first compartment space (111) is formed between two adjacent battery compartments (101). The first compartment space (111) extends through the fuselage body (1) in a first direction.

3. The fuselage assembly according to claim 1, characterized in that, The fuselage body (1) has a second compartment space (112) formed on both sides in the second direction, and the second compartment space (112) extends through the fuselage body (1) in the first direction.

4. The fuselage assembly according to claim 3, characterized in that, The fuselage body (1) has openings (102) on both sides in the second direction. One end of the connecting member (2) is inserted into the second compartment space (112) through the openings (102). The fuselage body (1) has a first hole structure (109) extending from its outer surface to the openings (102). The connecting member (2) has a third hole structure (204) corresponding to the first hole structure (109). The first hole structure (109) and the third hole structure (204) are fixedly connected by bolts. The connecting member (2) includes two plate structures (203) arranged at intervals along a first direction. The fuselage body (1) includes a connecting part (103) extending between the two plate structures (203). A second hole structure (110) is formed on the connecting part (103) and is provided through along the first direction. A fourth hole structure (205) corresponding to the second hole structure (110) is formed on the plate structure (203). The second hole structure (110) and the fourth hole structure (205) are fixedly connected by bolts.

5. The fuselage assembly according to claim 1, characterized in that, The connecting member (2) is constructed as a frame structure.

6. The fuselage assembly according to claim 5, characterized in that, The connecting member (2) has one or more cavity structures that extend through it in the second direction.

7. The fuselage assembly according to claim 1, characterized in that, The connecting member (2) has a mounting space (201) for mounting an actuator (9) of the leg assembly, and the mounting space (201) has a lateral opening in a first direction for the actuator (9) to enter the mounting space (201).

8. The fuselage assembly according to claim 7, characterized in that, The connecting member (2) also includes a wiring channel (202) for accommodating the wiring harness (10) of the leg assembly, the wiring channel (202) communicating with the mounting space (201) and located on the side away from the lateral opening of the mounting space (201).

9. The fuselage assembly according to claim 1, characterized in that, The fuselage assembly also includes a first housing (4) with a through opening on one side of the battery compartment (101), and a power board (5) disposed inside or on the wall of the first housing (4); and / or, The fuselage assembly further includes a second housing (6) disposed at the bottom of the fuselage body (1), and a charging socket disposed inside or on the wall of the second housing (6); and / or, The fuselage assembly also includes a third housing (7) located on top of the fuselage body (1), and a main control board (8) located inside or on the wall of the third housing (7); and / or, The fuselage assembly also includes a battery module (3) located in the battery compartment (101).

10. A robot, characterized in that, The robot includes the body assembly as described in any one of claims 1 to 9.

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