Body structure and robot

Abstract

The utility model discloses a kind of fuselage structure and robot, it is related to robot technical field.The fuselage module in the fuselage structure is provided with battery mounting cavity, battery mounting cavity is provided with clamping interface;Battery cover plate in battery module is detachably connected in battery pack body, connecting mechanism includes pull belt and locking module, pull belt is movably arranged in battery cover plate;Guiding limiting plate in locking module is fixed in battery cover plate, locking member is connected in pull belt, and between guiding limiting plate and battery cover plate, and along A direction, locking member and guiding limiting plate and / or battery cover plate guide cooperation, the side of locking member away from pull belt is provided with the buckle part that can be clamped with clamping interface clamping cooperation, battery cover plate is provided with the avoidance mouth that allows buckle part to project, pulling pull belt can make buckle part from clamping interface disengage.The fuselage structure and robot reduce the probability that locking member is jammed on battery pack body, improve the dismounting efficiency of battery pack body, guarantee the operation continuity of robot.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a fuselage structure and a robot. Background Technology

[0002] As the application of robots in the industrial field continues to deepen, they are widely used in key scenarios such as security inspection, emergency rescue, and delivery of specific items. In these application scenarios, the robot's battery life is required to be high, and frequent disassembly and reassembly of the battery pack are necessary to ensure continuous operation. Therefore, the ease and reliability of battery disassembly and reassembly have become one of the core factors affecting the robot's practical performance.

[0003] Existing robot battery installation and removal solutions use snap-fit ​​components to lock and unlock the battery pack. However, during long-term use, the locking components are prone to shaking and displacement due to factors such as vibration and wear, which reduces the precision of their fit with the snap-fit ​​interface and may lead to the locking components getting stuck. When the locking components get stuck, it not only reduces the efficiency of battery pack installation and removal, but may even prevent the battery pack from being detached or installed smoothly, directly restricting the continuity of robot operations. Utility Model Content

[0004] The purpose of this utility model is to provide a body structure and robot that reduces the probability of locking parts on the battery pack body getting stuck, improves the efficiency of disassembling and assembling the battery pack body, and ensures the continuity of robot operation.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A fuselage structure, comprising:

[0007] A body module, wherein a battery mounting cavity is provided on the body module, and a card interface is provided on the inner wall of the opening end of the battery mounting cavity;

[0008] A battery module includes a battery pack body, a battery cover, and a connecting mechanism. The battery cover is detachably connected to the battery pack body, and the connecting mechanism includes a pull strap and at least one locking module. The pull strap is movably disposed on the battery cover.

[0009] The locking module includes a locking component, a guide limiting plate, and an elastic reset assembly. The guide limiting plate is fixed to the battery cover. The locking component is connected to the pull strap and located between the guide limiting plate and the battery cover. Along direction A, the locking component guides and cooperates with the guide limiting plate and / or the battery cover. The side of the locking component away from the pull strap is provided with a buckle portion that can engage with the card interface. The battery cover is provided with a clearance opening that allows the buckle portion to extend. Pulling the pull strap can disengage the buckle portion from the card interface.

[0010] As a further technical solution, one of the guide limiting plate and the lower end face of the locking member is provided with at least one first guide groove, and the other is provided with a corresponding first guide post. The first guide groove extends along the A direction, and the first guide post slides in cooperation with the corresponding first guide groove.

[0011] One of the upper end face of the locking member and the inner wall of the battery cover is provided with at least one second guide groove, and the other is provided with a corresponding second guide post. The second guide groove extends along direction A, and the second guide post slides in cooperation with the corresponding second guide groove.

[0012] As a further technical solution, along direction B, the inner wall of the battery cover is provided with two first limiting parts spaced apart from each other, and the locking member is located between the two first limiting parts.

[0013] As a further technical solution, the elastic reset assembly includes a tension spring, an auxiliary component, and a compression spring, and the locking component has a reset part on the side opposite to the pull strap;

[0014] The auxiliary component is disposed on the inner wall of the battery cover and is located between the corresponding clearance opening and the first limiting part. The two ends of the tension spring are respectively connected to the reset part and the auxiliary component, and the two ends of the compression spring are respectively connected to the auxiliary component and the corresponding first limiting part.

[0015] As a further technical solution, the elastic reset assembly further includes a second limiting part, which is disposed on the inner wall of the battery cover and located on the side of the auxiliary member away from the locking member. The second limiting part extends along the A direction and cooperates with the corresponding first limiting part and the corresponding reset part to form a limiting cavity for accommodating the tension spring and the compression spring.

[0016] As a further technical solution, the elastic reset assembly is provided in two sets along direction B, with the two sets of elastic reset assemblies being arranged at intervals on both sides of the locking member, and the locking member being provided with two reset parts respectively.

[0017] As a further technical solution, the locking member is provided with a first guide surface and / or a second guide surface at the end opposite to the pull strap;

[0018] The first guide surface is disposed on the side of the locking member close to the battery pack body. From the pull strap to the locking member, the first guide surface is inclined in the direction away from the battery pack body.

[0019] The second guide surface is disposed on the side of the locking member away from the battery pack body. From the pull strap to the locking member, the first guide surface is inclined towards the battery pack body.

[0020] As a further technical solution, the locking module is provided in two sets, and the two sets of locking modules are respectively connected to both ends of the pull strap, and the inner wall of the battery mounting cavity is provided with two card interfaces.

[0021] As a further technical solution, the inner wall of the battery mounting cavity is provided with a plurality of first locking parts, the plurality of first locking parts are arranged at intervals along the circumference of the battery mounting cavity and all extend along the depth direction of the battery mounting cavity, and the outer wall of the battery pack body is provided with a plurality of second locking parts corresponding one-to-one with the first locking parts.

[0022] The second locking part and the corresponding first locking part are configured as a limiting groove and the other as a limiting protrusion, and the limiting groove and the corresponding limiting protrusion are guided and limited to cooperate.

[0023] The robot includes multiple limbs and the aforementioned body structure, wherein the multiple limbs are arranged at intervals and are rotatably connected to the body structure.

[0024] Compared with the prior art, the technical advantages of the fuselage structure and robot provided by this utility model are as follows:

[0025] Because the locking component is connected to the pull strap and located between the guide limiting plate and the battery cover, the locking component, guide limiting plate, and battery cover are guided and engaged along direction A. This design, through the engagement of the guide limiting plate and battery cover, restricts the relative position of the locking component within the battery cover, while simultaneously increasing the overall rigidity of the locking module. This ensures the stability of the locking component's movement under high-frequency disassembly / assembly or vibration-induced operation scenarios, reducing the probability of locking component failure and guaranteeing the reliability of the battery pack during its long-term use. Simultaneously, the guiding engagement of the locking component with the guide limiting plate and battery cover along direction A limits the movement trajectory of the locking component in direction A, reducing the likelihood of wobbling or offset of the locking component in the depth direction of the battery cover and in direction A, thereby reducing the probability of jamming due to misalignment between the latch and the interface. These two aspects combined improve the efficiency of battery pack assembly and disassembly, ensuring the continuity of the robot's operations. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of this utility model and these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the fuselage structure provided in this embodiment of the utility model;

[0028] Figure 2 This is a schematic diagram of the fuselage module in the fuselage structure provided in this embodiment of the utility model;

[0029] Figure 3 This is a partial front view of the battery module in the fuselage structure provided in this embodiment of the utility model;

[0030] Figure 4 yes Figure 3 A magnified view of a section at point A in the middle;

[0031] Figure 5 The screenshot shows a portion of the battery module structure in the fuselage structure provided in this embodiment of the utility model.

[0032] Figure 6 This is a schematic diagram of the connecting mechanism in the fuselage structure provided in this embodiment of the utility model;

[0033] Figure 7 This is a schematic diagram of the guide limiting plate in the fuselage structure provided in this embodiment of the utility model;

[0034] Figure 8 This is a schematic diagram of the locking component in the fuselage structure provided in this embodiment of the utility model.

[0035] In the picture:

[0036] 100. Body module; 110. Battery mounting cavity; 120. Card interface; 130. First locking part;

[0037] 200. Battery pack body; 210. Second locking part;

[0038] 300. Battery cover; 310. First limiting part;

[0039] 400. Connecting mechanism; 410. Pull strap; 411. Anti-slip part; 420. Locking module; 421. Locking element; 4211. Buckle part; 4212. First guide post; 4213. Reset part; 4214. First guide surface; 422. Guide limiting plate; 4221. First guide groove; 423. Elastic reset assembly; 4231. Tension spring; 4232. Auxiliary part; 4233. Compression spring; 4234. Second limiting part. Detailed Implementation

[0040] Before explaining any implementation of this application in detail, it should be understood that this application is not limited to its application to the structural details and component arrangements set forth in the following description or shown in the above drawings.

[0041] In this application, the terms "comprising," "including," "having," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0042] In this application, the term "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this application generally indicates that the preceding and following related objects have an "and / or" relationship.

[0043] In this application, the terms "connection," "combination," "coupling," and "installation" can refer to direct connection, combination, coupling, or installation, or indirect connection, combination, coupling, or installation. For example, a direct connection refers to two parts or components being connected together without the need for an intermediary, while an indirect connection refers to two parts or components each being connected to at least one intermediary, with the connection achieved through the intermediary. Furthermore, "connection" and "coupling" are not limited to physical or mechanical connections or couplings, but can also include electrical connections or couplings.

[0044] In this application, those skilled in the art will understand that relative terms (e.g., “about,” “approximately,” “basically,” etc.) used in conjunction with quantities or conditions are to include the values ​​and have the meaning indicated by the context. For example, such relative terms include at least the degree of error associated with the measurement of a particular value, tolerances associated with the particular value due to manufacturing, assembly, use, etc. Such terms should also be considered as disclosing a range defined by the absolute values ​​of the two endpoints. Relative terms may refer to a certain percentage (e.g., 1%, 5%, 10% or more) of the indicated value. Numerical values ​​that do not use relative terms should also be disclosed as specific values ​​with tolerances. Furthermore, “basically” when expressing relative angular relationships (e.g., substantially parallel, substantially perpendicular) may refer to a certain degree (e.g., 1 degree, 5 degrees, 10 degrees or more) added to or subtracted from the indicated angle.

[0045] In this application, those skilled in the art will understand that the function performed by a component can be performed by one component, multiple components, one part, or multiple parts. Similarly, the function performed by a part can also be performed by one part, one component, or a combination of multiple parts.

[0046] In this application, the directional terms "upper," "lower," "left," "right," "front," and "rear" are used to describe the orientation and positional relationships shown in the accompanying drawings and should not be construed as limiting the embodiments of this application. Furthermore, in the context, it should be understood that when an element is mentioned as being connected "upper" or "lower" to another element, it can be directly connected to the other element "upper" or "lower," or indirectly connected through an intermediate element. It should also be understood that directional terms such as upper side, lower side, left side, right side, front side, and rear side not only represent positive orientation but can also be understood as lateral orientation. For example, "below" can include directly below, lower left, lower right, lower front, and lower rear.

[0047] Combination Figures 1 to 8As shown, the body structure provided in this embodiment is applied to a robot. This body structure can reduce the probability of the locking member 421 on the battery pack body 200 getting stuck, improve the disassembly and assembly efficiency of the battery pack body 200, and ensure the continuity of robot operation. Specifically, the body structure includes a body module 100 and a battery module: the body module 100 is provided with a battery mounting cavity 110, and a card interface 120 is provided on the inner wall of the opening end of the battery mounting cavity 110; the battery module includes a battery pack body 200, a battery cover plate 300, and a connecting mechanism 400. The battery cover plate 300 is detachably connected to the battery pack body 200, and the connecting mechanism 400 includes a pull strap 410 and at least one set of locking modules 420. The pull strap 410 is movably disposed on the battery cover plate 300; wherein, the locking module 420 includes a locking member 421, a guide limiting plate 422, and a spring. The reset assembly 423 includes a guide limiting plate 422 fixed to the battery cover 300, a locking member 421 connected to the pull strap 410 and located between the guide limiting plate 422 and the battery cover 300, and along direction A, the locking member 421 guides and cooperates with the guide limiting plate 422 and / or the battery cover 300. The locking member 421 has a latching part 4211 on the side away from the pull strap 410 that can engage with the card interface 120. The battery cover 300 has a clearance opening that allows the latching part 4211 to extend. Pulling the pull strap 410 can disengage the latching part 4211 from the card interface 120.

[0048] Since the locking component 421 is connected to the pull strap 410 and located between the guide limiting plate 422 and the battery cover 300, the locking component 421, the guide limiting plate 422, and the battery cover 300 are guided and engaged in a direction A. This configuration, through the engagement of the guide limiting plate 422 and the battery cover 300, restricts the relative position of the locking component 421 within the battery cover 300, while simultaneously increasing the overall rigidity of the locking module 420. This ensures the stability of the locking component 421's movement under high-frequency disassembly and assembly or vibration-induced operation scenarios, reducing the probability of the locking component 421 malfunctioning and ensuring the reliability of the battery pack body 200 during its intended use. Simultaneously, by guiding and engaging the locking component 421, the guide limiting plate 422, and the battery cover 300 in a direction A, the movement trajectory of the locking component 421 is limited in the direction A, reducing the likelihood of the locking component 421 wobbling or shifting in the depth direction of the battery cover 300 and in the direction A. This reduces the probability of the latch 4211 and the latch interface 120 jamming due to misalignment. By combining these two aspects, the efficiency of disassembling and assembling the battery pack body 200 is improved, ensuring the continuity of robot operation.

[0049] In addition, in order to further improve the stability of battery module assembly and disassembly, in this embodiment, an anti-slip part 411 is provided on the side of the pull strap 410 away from the battery cover plate 300. The specific shape of the anti-slip part 411 can be adapted according to actual needs, and no specific limitation is made in this embodiment.

[0050] Preferably, one of the guide limiting plate 422 and the lower end face of the locking member 421 is provided with at least one first guide groove 4221, and the other is provided with a corresponding first guide post 4212. The first guide groove 4221 extends along the A direction, and the first guide post 4212 slides in cooperation with the corresponding first guide groove 4221.

[0051] Combination Figure 7 and Figure 8 As shown, in this embodiment, along direction B, the guide limiting plate 422 is provided with two first guide grooves 4221 spaced apart, and the two first guide grooves 4221 are symmetrically arranged about the center line of the guide limiting plate 422. Correspondingly, the lower end face of the locking member 421 is provided with two sets of guide post groups corresponding to the two first guide grooves 4221. Each guide post group includes two first guide posts 4212 spaced apart along direction A. With this arrangement, the movement path of the locking member 421 is guided by the first guide post 4212 and the corresponding first guide groove 4221, reducing the occurrence of shaking or deviation of the locking member 421 in direction A. At the same time, the maximum movement distance of the locking member 421 is limited by the cooperation of the two first guide posts 4212 in the same guide post group with the corresponding first guide groove 4221, avoiding the failure of the elastic reset component 423 due to excessive stretching of the pull strap 410, so as to ensure the use effect and service life of the locking module 420.

[0052] In other embodiments, at least one second guide groove is provided on one of the upper end face of the locking member 421 and the inner wall of the battery cover 300, and a corresponding second guide post is provided on the other. The second guide groove extends along direction A, and the second guide post slides in engagement with the corresponding second guide groove. The sliding engagement of the second guide post with the corresponding second guide groove guides the movement path of the locking member 421, reducing the occurrence of wobbling or deviation of the locking member 421 in direction A, and limiting the maximum movement distance of the locking member 421, thus ensuring the effectiveness and service life of the locking module 420. Alternatively, at least one second guide groove is provided on one of the upper end face of the locking member 421 and the inner wall of the battery cover 300, and a corresponding second guide post is provided on the other; simultaneously, at least one first guide groove 4221 is provided on one of the guide limiting plate 422 and the lower end face of the locking member 421, and a corresponding first guide post 4212 is provided on the other.

[0053] To further limit the relative position of the locking member 421 with the battery cover 300 in the B direction and prevent the locking member 421 from shifting or moving along the B direction during movement, in this embodiment, two first limiting portions 310 are provided at intervals along the B direction on the inner wall of the battery cover 300, and the locking member 421 is located between the two first limiting portions 310, specifically as follows: Figure 4As shown. The distance between the two first limiting portions 310 is slightly greater than the width of the locking member 421 along the B direction. For example, when the width of the locking member 421 along the B direction is 2cm, the distance between the facing end faces of the two first limiting portions 310 is set to 2.2cm. In this way, while ensuring that the locking member 421 can move along the A direction, the situation of the locking member 421 getting stuck between the two first limiting portions 310 is avoided.

[0054] Preferably, the elastic reset assembly 423 includes a tension spring 4231, an auxiliary component 4232, and a compression spring 4233. The locking component 421 has a reset part 4213 on the side opposite to the pull strap 410. The auxiliary component 4232 is disposed on the inner wall of the battery cover 300 and is located between the corresponding clearance opening and the first limiting part 310. The two ends of the tension spring 4231 are respectively connected to the reset part 4213 and the auxiliary component 4232, and the two ends of the compression spring 4233 are respectively connected to the auxiliary component 4232 and the corresponding first limiting part 310.

[0055] Specific combination Figure 4 As shown, with this configuration, when the battery module needs to be removed from the battery mounting cavity 110, pulling the pull strap 410 moves the locking member 421 towards the center of the battery cover 300 and retracts it into the battery cover 300. At this time, the latch 4211 disengages from the latch interface 120, and the compression spring 4233 is compressed, while the tension spring 4231 is simultaneously stretched. After the battery module is removed from the battery mounting cavity 110, the pull strap 410 is no longer pulled. At this time, the locking member 421, the tension spring 4231, and the compression spring 4233 are no longer under tension. The compression spring 4233 rebounds on its own and returns to its original state, and the tension spring 4231 contracts on its own and returns to its original state. During the process of the two springs returning to their original state, the locking member 421 is pushed out of the clearance opening to the outside of the battery cover 300 to facilitate the next installation and use of the battery module. The cooperation of tension spring 4231 and compression spring 4233 enhances the reset capability of locking component 421, ensures the performance of battery module, and extends the service life of elastic reset component 423.

[0056] In some other embodiments, the auxiliary component 4232 may be omitted, and only a tension spring 4231 or a compression spring 4233 may be provided. One end of the tension spring 4231 or the compression spring 4233 is connected to the reset part 4213, and the other end is connected to the first limiting part 310. This embodiment is not the only one that can be described in this embodiment.

[0057] Furthermore, the elastic reset assembly 423 also includes a second limiting portion 4234. The second limiting portion 4234 is disposed on the inner wall of the battery cover 300 and located on the side of the auxiliary member 4232 opposite to the locking member 421. The second limiting portion 4234 extends along direction A and cooperates with the corresponding first limiting portion 310 and the corresponding reset portion 4213 to form a limiting cavity for accommodating the tension spring 4231 and the compression spring 4233. This arrangement can limit the extension and retraction path of the tension spring 4231 and the compression spring 4233 and prevent the tension spring 4231 and the compression spring 4233 from bending, thereby further improving the reset capability of the locking member 421.

[0058] During the process of the two springs returning to their original state to push the locking member 421 to reset, in order to prevent the locking member 421 from getting stuck at the clearance or between the two first limiting parts 310 due to asynchronous movement on both sides in the B direction, in this embodiment, two sets of elastic reset components 423 are provided. Along the B direction, the two sets of elastic reset components 423 are arranged relatively spaced on both sides of the locking member 421, and two reset parts 4213 are correspondingly provided on the locking member 421. The two sets of elastic reset components 423 are symmetrically arranged about the center line of the locking member 421.

[0059] Preferably, the locking member 421 has a first guide surface 4214 at the end opposite to the pull strap 410; the first guide surface 4214 is located on the side of the locking member 421 close to the battery pack body 200, and in the direction from the pull strap 410 to the locking member 421, the first guide surface 4214 is inclined in the direction opposite to the battery pack body 200.

[0060] Combination Figure 8 As shown, when the battery module is inserted into the battery mounting cavity 110, the first guide surface 4214 abuts against the open end of the battery mounting cavity 110, causing the locking member 421 to retract into the battery cover 300. Then, under the action of the elastic reset component 423, the locking member 421 extends out of the battery cover 300 and engages with the card interface 120. By setting the first guide surface 4214, the convenience of installing the battery module into the body module 100 is improved.

[0061] Alternatively, a second guide surface may be provided at the end of the locking member 421 facing away from the pull strap 410. This second guide surface is located on the side of the locking member 421 facing away from the battery pack body 200. From the pull strap 410 to the locking member 421, the first guide surface 4214 is inclined towards the battery pack body 200. Similarly, when the battery module needs to be removed from the battery mounting cavity 110, the second guide surface engages with the card interface 120, improving the ease of disassembly of the battery module.

[0062] In this embodiment, the tilt angle of the first guide surface 4214 and the second guide surface is not specifically limited.

[0063] Preferably, there are two sets of locking modules 420, which are respectively connected to both ends of the pull strap 410, and two card interfaces 120 are correspondingly provided on the inner wall of the battery mounting cavity 110.

[0064] Combination Figures 1 to 3 and Figure 5 and Figure 6 As shown, by setting two sets of locking modules 420 that are arranged opposite to each other, the installation stability and installation strength of the battery module when it is installed on the body module 100 are improved, and the battery module is prevented from detaching from the battery mounting cavity 110 or from shaking.

[0065] Preferably, the inner wall of the battery mounting cavity 110 is provided with a plurality of first locking portions 130, which are spaced apart circumferentially in the battery mounting cavity 110 and extend along the depth direction of the battery mounting cavity 110. The outer wall of the battery pack body 200 is provided with a plurality of second locking portions 210 corresponding to the plurality of first locking portions 130. One of the second locking portions 210 and the corresponding first locking portions 130 is configured as a limiting groove and the other is configured as a limiting protrusion. The limiting groove and the corresponding limiting protrusion guide and limit the engagement.

[0066] Combination Figure 1 and Figure 2 As shown, in this embodiment, the first locking part 130 is configured as a limiting protrusion, and multiple limiting protrusions are spaced apart along the circumference of the battery mounting cavity 110 on the inner wall of the battery mounting cavity 110; the second locking part 210 is correspondingly configured as a limiting groove, and multiple limiting grooves are configured one-to-one with multiple limiting protrusions. When the battery module is installed on the body module 100, the limiting groove and the corresponding limiting protrusion guide and limit the relative position of the battery module and the battery mounting cavity 110 in directions A and B, so as to avoid the battery module shaking or shifting within the battery mounting cavity 110, and further improve the installation stability and installation strength of the battery module.

[0067] In some other embodiments, one part of the plurality of first locking parts 130 is configured as a limiting protrusion and the other part is configured as a limiting groove, and the plurality of second locking parts 210 are configured accordingly, which is not limited to this embodiment.

[0068] This utility model also provides a robot, including multiple limbs and the aforementioned body structure. The multiple limbs are rotatably connected to the body structure at intervals. The rotatable connection of the multiple limbs to the body structure allows for independent adjustment of the swing trajectory and support angle of each limb, reducing the risk of overload on a single limb. It also adapts to gait switching in various scenarios such as walking, climbing, and obstacle crossing, reducing motion interference between limbs and improving the robot's stability in complex terrain. Each limb can be independently assembled and disassembled; therefore, when a single limb malfunctions, it can be repaired or replaced without disassembling the entire body structure, shortening the maintenance cycle and reducing operating costs. In this embodiment, four limbs are provided, each rotatably connected to the body structure at intervals and cooperating with the body structure to form a quadruped robot. In other embodiments, the number of limbs can be adaptively increased or decreased according to actual needs, and is not limited to four in this embodiment.

[0069] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A fuselage structure, characterized by include: A body module (100) is provided with a battery mounting cavity (110), and a card interface (120) is provided on the inner wall of the opening end of the battery mounting cavity (110). The battery module includes a battery pack body (200), a battery cover (300), and a connecting mechanism (400). The battery cover (300) is detachably connected to the battery pack body (200). The connecting mechanism (400) includes a pull strap (410) and at least one locking module (420). The pull strap (410) is movably disposed on the battery cover (300). The locking module (420) includes a locking member (421), a guide limiting plate (422), and an elastic reset component (423). The guide limiting plate (422) is fixed to the battery cover (300). The locking member (421) is connected to the pull strap (410) and is located between the guide limiting plate (422) and the battery cover (300). Along direction A, the locking member (421) guides and cooperates with the guide limiting plate (422) and / or the battery cover (300). The locking member (421) has a buckle (4211) on the side away from the pull strap (410) that can engage with the card interface (120). The battery cover (300) has a clearance opening that allows the buckle (4211) to extend. Pulling the pull strap (410) can disengage the buckle (4211) from the card interface (120).

2. The fuselage structure of claim 1, wherein One of the lower end faces of the guide limiting plate (422) and the locking member (421) is provided with at least one first guide groove (4221), and the other is provided with a first guide post (4212). The first guide groove (4221) extends along the A direction, and the first guide post (4212) slides in cooperation with the corresponding first guide groove (4221). One of the upper end face of the locking member (421) and the inner wall of the battery cover (300) is provided with at least one second guide groove, and the other is provided with a corresponding second guide post. The second guide groove extends along the A direction, and the second guide post slides in cooperation with the corresponding second guide groove.

3. The fuselage structure of claim 1, wherein Along direction B, the inner wall of the battery cover (300) is provided with two first limiting parts (310) spaced apart from each other, and the locking member (421) is located between the two first limiting parts (310).

4. The fuselage structure according to claim 3, characterized in that, The elastic reset assembly (423) includes a tension spring (4231), an auxiliary component (4232) and a compression spring (4233), and the locking component (421) has a reset part (4213) on the side opposite to the pull strap (410). The auxiliary component (4232) is disposed on the inner wall of the battery cover (300) and located between the corresponding clearance opening and the first limiting part (310). The two ends of the tension spring (4231) are respectively connected to the reset part (4213) and the auxiliary component (4232), and the two ends of the compression spring (4233) are respectively connected to the auxiliary component (4232) and the corresponding first limiting part (310).

5. The fuselage structure of claim 4, wherein The elastic reset assembly (423) further includes a second limiting part (4234), which is disposed on the inner wall of the battery cover (300) and located on the side of the auxiliary member (4232) away from the locking member (421). The second limiting part (4234) extends along the A direction and cooperates with the corresponding first limiting part (310) and the corresponding reset part (4213) to form a limiting cavity for accommodating the tension spring (4231) and the compression spring (4233).

6. The fuselage structure of claim 5, wherein The elastic reset component (423) is provided in two sets. Along the B direction, the two sets of elastic reset components (423) are arranged at intervals on both sides of the locking member (421). The locking member (421) is provided with two reset parts (4213).

7. The fuselage structure of claim 1, wherein The locking member (421) is provided with a first guide surface (4214) and / or a second guide surface at the end opposite to the pull strap (410); The first guide surface (4214) is disposed on the side of the locking member (421) close to the battery pack body (200). From the pull strap (410) to the locking member (421), the first guide surface (4214) is inclined in a direction away from the battery pack body (200). The second guide surface is disposed on the side of the locking member (421) away from the battery pack body (200). From the pull strap (410) to the locking member (421), the first guide surface (4214) is inclined toward the battery pack body (200).

8. The fuselage structure according to claim 1, characterized in that, The locking module (420) is provided in two sets, and the two sets of locking modules (420) are respectively connected to the two ends of the pull strap (410). The inner wall of the battery mounting cavity (110) is provided with two card interfaces (120).

9. The fuselage structure of claim 1, wherein The inner wall of the battery mounting cavity (110) is provided with a plurality of first locking parts (130). The plurality of first locking parts (130) are arranged at intervals along the circumference of the battery mounting cavity (110) and all extend along the depth direction of the battery mounting cavity (110). The outer wall of the battery pack body (200) is provided with second locking parts (210) that correspond one-to-one with the plurality of first locking parts (130). The second locking part (210) and the corresponding first locking part (130) are configured as a limiting groove and the other is configured as a limiting protrusion. The limiting groove and the corresponding limiting protrusion guide and limit each other.

10. A robot, characterized in that, It includes multiple limbs and the fuselage structure as described in any one of claims 1-9, wherein the multiple limbs are arranged at intervals and are all rotatably connected to the fuselage structure.

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