Body frame and quadruped robot

Abstract

The application relates to the technical field of robots, in particular to a body frame and a quadruped robot, the body frame being used for the quadruped robot, the body frame comprising a first side plate and a second side plate oppositely arranged along a first direction, and a first bearing plate and a second bearing plate oppositely arranged along a second direction; the first direction and the second direction are different directions; at least part of the first bearing plate and / or the second bearing plate is arranged between the first side plate and the second side plate, the first bearing plate is detachably connected with the first side plate and the second side plate respectively; the second bearing plate is detachably connected with the first side plate and the second side plate respectively; and the first side plate, the second side plate, the first bearing plate and the second bearing plate form a first accommodating cavity. In the application, the first accommodating cavity is used for accommodating an electric control module and / or a battery module; and the first bearing plate and / or the second bearing plate can be conveniently replaced, so that the shape of the first accommodating cavity can be adjusted within a certain range.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a fuselage frame and a quadruped robot. Background Technology

[0002] In existing robot structural designs, the internal space layout typically prioritizes ease of assembly and structural compactness, neglecting the physical isolation requirements of core functional modules. Specifically, core functional modules such as the electronic control module and battery module are often crammed together with other functional structures (such as sensors, actuators, and transmission components) within the same limited installation space. This highly integrated layout fails to effectively "separate" the core functional modules from their surrounding environment at the physical level. The inherent defects of this "unseparated" layout are mainly reflected in the following aspects: (1) The vibration and impact of the robot during operation can easily cause the core functional modules to collide and rub against adjacent structures, resulting in mechanical damage.

[0003] (2) Any electrical or mechanical faults in the surrounding structure of the core functional module can easily directly affect the core functional module, causing damage to the core functional module and thus resulting in greater losses.

[0004] (3) When core functional modules need to be repaired or replaced, technicians must operate in a crowded space with various structures and cables. This is not only inefficient, but also greatly increases the risk of accidentally damaging other functional structures in the vicinity during disassembly, resulting in high maintenance costs. Utility Model Content

[0005] This application provides a fuselage frame having a first side plate, a second side plate, a first support plate, and a second support plate, which together form a first accommodating cavity for accommodating an electronic control module and / or a battery module. The first support plate and the second support plate are detachable from each other, thereby at least partially solving the above-mentioned technical problems.

[0006] To achieve the above objectives, according to a first aspect of this application, a chassis frame is provided for a quadruped robot, the chassis frame including a first side plate and a second side plate disposed opposite to each other along a first direction, and a first support plate and a second support plate disposed opposite to each other along a second direction; the first direction and the second direction are different directions; At least a portion of the first support plate and / or the second support plate is disposed between the first side plate and the second side plate. The first support plate is detachably connected to the first side plate and the second side plate respectively. The second support plate is detachably connected to the first side plate and the second side plate respectively. The first side plate, the second side plate, the first support plate and the second support plate enclose a first accommodating cavity, which is used to install the robot's electronic control module and / or battery module.

[0007] Optionally, the two ends of the first bearing plate are respectively inserted and connected to the first side plate and the second side plate; And / or, the two ends of the second support plate are respectively inserted and connected to the first side plate and the second side plate.

[0008] Optionally, the first support plate has a first connector and a second connector at both ends, the first side plate has a first connector position, and the second side plate has a second connector position. The first connector is connected to the first connector position, and the second connector is connected to the second connector position; and / or, The first side plate is provided with a first connector, the second side plate is provided with a second connector, and the two ends of the first support plate are respectively provided with a first connector position and a second connector position. The first connector is plugged into the first connector position, and the second connector is plugged into the second connector position; and / or, The second bearing plate has a third connector and a fourth connector at each end, the first side plate has a third connector position, and the second side plate has a fourth connector position. The third connector is connected to the third connector position, and the fourth connector is connected to the fourth connector position; and / or, The first side plate is provided with a third plug-in body, the second side plate is provided with a fourth plug-in body, and the two ends of the second bearing plate are respectively provided with a third plug-in position and a fourth plug-in position. The third plug-in body is plugged into the third plug-in position, and the fourth plug-in body is plugged into the fourth plug-in position.

[0009] Optionally, both ends of the first bearing plate are screwed to the first side plate and the second side plate, respectively; and / or, The two ends of the second bearing plate are screwed to the first side plate and the second side plate, respectively.

[0010] Optionally, the first side panel includes a first plate body and a first disassembly part, the first disassembly part is connected to the first plate body, and a first disassembly position is formed between the first plate body and the first disassembly part; the second side panel includes a second plate body and a second disassembly part, the second disassembly part is connected to the second plate body, and a second disassembly position is formed between the second plate body and the second disassembly part; and the first disassembly part and the second disassembly part are arranged opposite to each other along a first direction. One end of the first support plate is disposed at the first disassembly position for detachable connection with the first disassembly part, and the other end of the first support plate is disposed at the second disassembly position for detachable connection with the second disassembly part; and / or, One end of the second support plate is disposed at the first disassembly position to be detachably connected to the first disassembly part, and the other end of the second support plate is disposed at the second disassembly position to be detachably connected to the second disassembly part.

[0011] Optionally, the body frame further includes a third side plate, to which both the first and second side plates are connected, and the first side plate, the second side plate, the third side plate and the first support plate enclose a second accommodating cavity, which is used to install the robot's electronic control module and / or battery module.

[0012] Optionally, the fuselage frame further includes a fourth side plate, which is disposed opposite to the third side plate along a second direction. At least a portion of the first side plate and / or the second side plate is disposed between the third side plate and the fourth side plate. The first side plate is connected to the third side plate and the fourth side plate respectively, and the second side plate is connected to the third side plate and the fourth side plate respectively.

[0013] Optionally, the first side plate is provided with a first sliding groove, and the second side plate is provided with a second sliding groove. The first sliding groove and the second sliding groove are located on opposite sides of the first accommodating cavity, for guiding the installation of the electronic control module and / or battery module in the first accommodating cavity; and / or, The first side plate is provided with a third sliding groove, and the second side plate is provided with a fourth sliding groove. The third sliding groove and the fourth sliding groove are located on opposite sides of the second accommodating cavity and are used to guide the installation of the electronic control module and / or battery module in the second accommodating cavity.

[0014] Optionally, the first accommodating cavity has a first mounting port for power control module and / or battery module to be installed into the first accommodating cavity, and the second accommodating cavity has a second mounting port for power control module and / or battery module to be installed into the second accommodating cavity, and the first mounting port and the second mounting port are arranged opposite to each other.

[0015] Optionally, the first side plate and / or the second side plate are metal plates; and / or, The third and / or fourth side panels are carbon fiber plates.

[0016] According to a second aspect of this application, a quadruped robot is provided, comprising the body frame described in the first aspect above.

[0017] In the fuselage frame of this application embodiment, the first side plate, the second side plate, the first bearing plate and the second bearing plate of the fuselage frame are combined and connected to form an integral frame structure.

[0018] First, the integrated frame structure design ensures that the fuselage frame itself has high structural strength and stability.

[0019] Secondly, the aforementioned plates collectively form a first accommodating cavity to house the electronic control module and / or battery module. When the chassis frame is mounted on the robot, this design achieves physical separation between the core functional module and other functions or physical structures of the robot. This separation effectively prevents collisions and friction between other structures and the core module caused by vibration, and also prevents the failure of other structures from affecting the core module. Furthermore, the independent accommodating cavity design facilitates the daily disassembly, assembly, and maintenance of the electronic control module and / or battery module.

[0020] Finally, since both the first and second load-bearing plates are detachably connected to the first and second side plates, this structure brings two significant advantages: firstly, it facilitates the replacement or maintenance of individual load-bearing plates, improving the maintainability of the frame; secondly, it allows for adjustment of the shape of the first accommodating cavity within a certain range (e.g., by replacing load-bearing plates of different sizes or shapes), thereby enhancing the applicability of the fuselage frame to core modules of different specifications and quantities.

[0021] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0023] Figure 1This is a schematic diagram of the structure of the fuselage frame, electronic control module and battery module provided in an exemplary embodiment of this disclosure.

[0024] Figure 2 This is a first-view structural schematic diagram of the fuselage frame provided in an exemplary embodiment of this disclosure.

[0025] Figure 3 yes Figure 2 The diagram shows a second-view structural schematic of the fuselage frame.

[0026] Figure 4 yes Figure 2 A schematic diagram of the structure of the first side plate of the fuselage frame shown.

[0027] Figure 5 yes Figure 2 A schematic diagram of the structure of the second side plate of the fuselage frame shown.

[0028] Figure 6 yes Figure 2 A schematic diagram of the structure of the first load-bearing plate of the fuselage frame shown.

[0029] Figure 7 yes Figure 2 A schematic diagram of the structure of the second load-bearing plate of the fuselage frame shown.

[0030] Explanation of reference numerals in the attached figures: 100. Fuselage frame; 110. First side plate; 111. First insertion position; 112. Third insertion position; 113. First slide groove; 114. Third slide groove; 115. First plate; 116. First disassembly / assembly part; 117. First disassembly / assembly position; 120. Second side plate; 121. Second insertion position; 122. Fourth insertion position; 123. Second slide groove; 124. Fourth slide groove; 125. Second plate; 126. Second disassembly / assembly part; 127. Second disassembly / assembly position; 130. First bearing plate; 131. First connector; 132. Second connector; 140. Second bearing plate; 141. Third connector; 142. Fourth connector; 150. First receiving cavity; 151. First mounting port; 160. Third side panel; 170. Fourth side panel; 180. Second receiving cavity; 181. Second mounting port; 200. Electrical control module; 300. Battery module; 400, First Direction; 500, Second Direction. Detailed Implementation

[0031] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0032] In existing robot structural designs, the internal space layout typically prioritizes ease of assembly and structural compactness, neglecting the physical isolation requirements of core functional modules. Specifically, core functional modules such as the electronic control module and battery module are often mixed with other functional structures (such as sensors, actuators, and transmission components) within the same limited installation space. This highly integrated layout results in the core functional modules failing to achieve effective physical separation from their surrounding environment.

[0033] In this application, a first accommodating cavity is formed by the first side plate, the second side plate, the first support plate, and the second support plate. The first accommodating cavity houses the core modules of the robot, namely the electronic control module and / or the battery module, thereby achieving physical separation between the core functional modules and other functions or physical structures of the robot. Furthermore, the first support plate and the second support plate are detachably connected to the first side plate and the second side plate, respectively, making the body frame detachable. This improves the ease of maintenance and processing of the body frame in this application, and enhances the applicability of the body frame. According to the first aspect of this application, in conjunction with Figure 1-3 It is understood that a body frame 100 is provided for a quadruped robot. The body frame 100 includes a first side plate 110 and a second side plate 120 arranged opposite to each other along a first direction 400, and a first support plate 130 and a second support plate 140 arranged opposite to each other along a second direction 500; the first direction 400 and the second direction 500 are different directions. At least a portion of the first support plate 130 and / or the second support plate 140 are disposed between the first side plate 110 and the second side plate 120. The first support plate 130 is detachably connected to the first side plate 110 and the second side plate 120 respectively. The second support plate 140 is detachably connected to the first side plate 110 and the second side plate 120 respectively. The first side plate 110, the second side plate 120, the first support plate 130 and the second support plate 140 enclose a first accommodating cavity 150, which is used to install the robot's electronic control module 200 and / or battery module 300.

[0034] The first side plate 110, the second side plate 120, the first support plate 130, and the second support plate 140 of the fuselage frame are combined and connected to form an integral frame structure.

[0035] First, the unibody frame design ensures that the fuselage frame itself has high structural strength and stability.

[0036] Secondly, the aforementioned plates collectively form a first accommodating cavity 150 to house the electronic control module 200 and / or the battery module 300. When the chassis frame is mounted on the robot, this design achieves physical separation between the core functional module and other functions or physical structures of the robot. This separation effectively avoids collisions and friction between other structures and the core module caused by vibration, and also prevents the failure of other structures from affecting the core module. Furthermore, the independent accommodating cavity design facilitates the daily disassembly, assembly, and maintenance of the electronic control module 200 and / or the battery module 300.

[0037] Finally, since both the first support plate 130 and the second support plate 140 are detachably connected to the first side plate 110 and the second side plate 120, this structure brings two significant advantages: first, it facilitates the replacement or maintenance of individual support plates, improving the maintainability of the frame; second, it allows for adjustments to the shape of the second support plate 140 within a certain range (e.g., by replacing support plates of different sizes or shapes), thereby enhancing the applicability of the fuselage frame to core modules of different specifications and quantities.

[0038] It is worth noting that in the description of this application, "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / ", unless otherwise specified, generally indicates that the related objects before and after it are in an "or" relationship. For example, the phrase "at least a portion of the first support plate 130 and / or the second support plate 140 is disposed between the first side plate 110 and the second side plate 120" should be understood to include the three cases of "at least a portion of the first support plate 130 is disposed between the first side plate 110 and the second side plate 120", "at least a portion of the second support plate 140 is disposed between the first side plate 110 and the second side plate 120", and "at least a portion of the first support plate 130 and the second support plate 140 is disposed between the first side plate 110 and the second side plate 120".

[0039] For example, the first direction 400 is the X-axis direction, and the second direction 500 is the Z-axis direction.

[0040] In some embodiments, combined with Figure 4-7It can be seen that the two ends of the first bearing plate 130 are respectively inserted and connected to the first side plate 110 and the second side plate 120, so that the first bearing plate 130 can be more easily disassembled and assembled between the first side plate 110 and the second side plate 120. And / or, the two ends of the second support plate 140 are respectively inserted and connected to the first side plate 110 and the second side plate 120, so that the second support plate 140 can be more easily disassembled and assembled between the first side plate 110 and the second side plate 120.

[0041] In this embodiment, the two ends of the first support plate 130 are respectively inserted into the first side plate 110 and the second side plate 120, and the two ends of the second support plate 140 are respectively inserted into the first side plate 110 and the second side plate 120, so that the first support plate 130 and the second support plate 140 are detachably disposed between the first side plate 110 and the second side plate 120 by means of insertion connection. In addition, the first support plate 130 and the second support plate 140 also adopt other detachable connection methods, for example: the two ends of the first support plate 130 are respectively snapped into the first side plate 110 and the second side plate 120, and the two ends of the second support plate 140 are respectively snapped into the first side plate 110 and the second side plate 120, so that the first support plate 130 and the second support plate 140 are detachably disposed between the first side plate 110 and the second side plate 120 by means of snap-fit ​​connection.

[0042] In some embodiments, a first connector 131 and a second connector 132 are respectively provided at both ends of the first support plate 130. A first connector 111 is provided on the first side plate 110, and a second connector 121 is provided on the second side plate 120. The first connector 131 is connected to the first connector 111, and the second connector 132 is connected to the second connector 121. When the first support plate 130 is installed between the first side plate 110 and the second side plate 120, the first connector 131 and the second connector 132 at both ends are aligned with the first connector 111 and the second connector 121 respectively, and then the first connector 131 and the second connector 132 are inserted into the first connector 111 and the second connector 121 respectively. This installation method is not only more convenient, but also ensures the accuracy of the installation position of the first support plate 130; and / or, The first side plate 110 is provided with a first plug-in body 131, and the second side plate 120 is provided with a second plug-in body 132. The two ends of the first support plate 130 are respectively provided with a first plug-in position 111 and a second plug-in position 121. The first plug-in body 131 is plugged into the first plug-in position 111, and the second plug-in body 132 is plugged into the second plug-in position 121. When the first support plate 130 is installed between the first side plate 110 and the second side plate 120, the first plug-in positions 111 and 121 at both ends are aligned with the first plug-in bodies 131 and 132, respectively, and then the first plug-in bodies 131 and 132 are inserted into the first plug-in positions 111 and 121, respectively. This installation method is not only more convenient but also ensures the accuracy of the installation position of the first support plate 130; and / or, The second support plate 140 has a third connector 141 and a fourth connector 142 at both ends, a third connector 112 on the first side plate 110, and a fourth connector 122 on the second side plate 120. The third connector 141 is connected to the third connector 112, and the fourth connector 142 is connected to the fourth connector 122. When the second support plate 140 is installed between the first side plate 110 and the second side plate 120, the third connector 141 and the fourth connector 142 at both ends are aligned with the third connector 112 and the fourth connector 122, respectively, and then the third connector 141 and the fourth connector 142 are inserted into the third connector 112 and the fourth connector 122, respectively. This installation method is not only more convenient, but also ensures the accuracy of the installation position of the second support plate 140; and / or, The first side plate 110 is provided with a third connector 141, and the second side plate 120 is provided with a fourth connector 142. The two ends of the second support plate 140 are respectively provided with a third connector 112 and a fourth connector 122. The third connector 141 is connected to the third connector 112, and the fourth connector 142 is connected to the fourth connector 122. When the second support plate 140 is installed between the first side plate 110 and the second side plate 120, the third connector 141 and the fourth connector 142 at both ends are aligned with the third connector 141 and the fourth connector 142 respectively, and then the third connector 141 and the fourth connector 142 are inserted into the third connector 112 and the fourth connector 122 respectively. This installation method is not only more convenient, but also ensures the accuracy of the installation position of the second support plate 140.

[0043] For example, one end of the first support plate 130 may simultaneously have multiple first plug-in bodies 131 and multiple first plug-in positions 111, and the multiple first plug-in bodies 131 and multiple first plug-in positions 111 are arranged alternately at one end of the first support plate 130; the first side plate 110 may simultaneously have multiple first plug-in bodies 131 and multiple first plug-in positions 111, and the multiple first plug-in bodies 131 and multiple first plug-in positions 111 are arranged alternately at the first side plate 110; the multiple first plug-in bodies 131 at one end of the first support plate 130 are plugged into and connected to the multiple first plug-in positions 111 of the first side plate 110, and the multiple first plug-in positions 111 at one end of the first support plate 130 are plugged into and connected to the multiple first plug-in bodies 131 of the first side plate 110; The other end of the first support plate 130 may simultaneously have multiple second plug-in bodies 132 and multiple second plug-in positions 121, and the multiple second plug-in bodies 132 and multiple second plug-in positions 121 are arranged alternately at the other end of the first support plate 130; the second side plate 120 may simultaneously have multiple second plug-in bodies 132 and multiple second plug-in positions 121, and the multiple second plug-in bodies 132 and multiple second plug-in positions 121 are arranged alternately at the second side plate 120; the multiple second plug-in bodies 132 at the other end of the first support plate 130 are plugged into and connected to the multiple second plug-in positions 121 of the second side plate 120, and the multiple second plug-in positions 121 at the other end of the second support plate 140 are plugged into and connected to the multiple second plug-in bodies 132 of the second side plate 120; One end of the second receiving plate may simultaneously have multiple third plug-in bodies 141 and multiple third plug-in positions 112, and the multiple third plug-in bodies 141 and multiple third plug-in positions 112 are arranged alternately at one end of the second receiving plate; the third side plate 160 may simultaneously have multiple third plug-in bodies 141 and multiple third plug-in positions 112, and the multiple third plug-in bodies 141 and multiple third plug-in positions 112 are arranged alternately on the third side plate 160; the multiple third plug-in bodies 141 at one end of the second receiving plate are plugged into and connected to the multiple third plug-in positions 112 of the third side plate 160, and the multiple third plug-in positions 112 at one end of the second receiving plate are plugged into and connected to the multiple third plug-in bodies 141 of the third side plate 160; The other end of the second receiving plate may simultaneously have multiple fourth plug-in bodies 142 and multiple fourth plug-in positions 122, and the multiple fourth plug-in bodies 142 and multiple fourth plug-in positions 122 are arranged alternately at the other end of the second receiving plate; the fourth side plate 170 may simultaneously have multiple fourth plug-in bodies 142 and multiple fourth plug-in positions 122, and the multiple fourth plug-in bodies 142 and multiple fourth plug-in positions 122 are arranged alternately on the fourth side plate 170; the multiple fourth plug-in bodies 142 at the other end of the second receiving plate are plugged into and connected to the multiple fourth plug-in positions 122 of the fourth side plate 170, and the multiple fourth plug-in positions 122 at the other end of the fourth bearing plate are plugged into and connected to the multiple fourth plug-in bodies 142 of the fourth side plate 170.

[0044] In some embodiments, the first insertion position 111 is a hole or slot; and / or, The second insertion position 121 is a hole or slot; and / or, The third insertion position 112 is a hole or slot; and / or, The fourth insertion position 122 is a hole or slot.

[0045] In some embodiments, the two ends of the first support plate 130 are screwed to the first side plate 110 and the second side plate 120 respectively, so that the first support plate 130 can be more easily assembled and disassembled between the first side plate 110 and the second side plate 120, and the stability of the first support plate 130 after installation is better; and / or, The two ends of the second support plate 140 are screwed to the first side plate 110 and the second side plate 120 respectively, so that the first support plate 130 can be more easily disassembled and assembled between the first side plate 110 and the second side plate 120, and the stability of the first support plate 130 after installation is better.

[0046] For example, the two ends of the first support plate 130 are screwed and plugged into the first side plate 110 and the second side plate 120 respectively; the two ends of the second support plate 140 are screwed and plugged into the first side plate 110 and the second side plate 120 respectively.

[0047] In some embodiments, the first side panel 110 includes a first plate body 115 and a first disassembly part 116, the first disassembly part 116 is connected to the first plate body 115, and a first disassembly position 117 is formed between the first plate body 115 and the first disassembly part 116; the second side panel 120 includes a second plate body 125 and a second disassembly part 126, the second disassembly part 126 is connected to the second plate body 125, and a second disassembly position 127 is formed between the second plate body 125 and the second disassembly part 126; and the first disassembly part 116 and the second disassembly part 126 are disposed opposite to each other along a first direction. One end of the first support plate 130 is disposed at the first disassembly position 117 for detachable connection with the first disassembly part 116, and the other end of the first support plate 130 is disposed at the second disassembly position 127 for detachable connection with the second disassembly part 126. Both ends of the first support plate 130 can be positioned and installed via the first disassembly part 116 and the second disassembly position 127, making the installation of the first support plate 130 more convenient and further enhancing the connection stability between the first side plate 110, the second side plate 120, and the first support plate 130; and / or, One end of the second support plate 140 is located at the first disassembly position 117 for detachable connection with the first disassembly part 116, and the other end of the second support plate 140 is located at the second disassembly position 127 for detachable connection with the second disassembly part 126. Both ends of the second support plate 140 can be positioned and installed through the first disassembly part 116 and the second disassembly position 127, making the installation of the second support plate 140 more convenient and helping to further enhance the connection stability between the first side plate 110, the second side plate 120 and the second support plate 140.

[0048] For example, one end of the second support plate 140 is disposed at the first disassembly position 117 to be detachably connected to the first disassembly part 116, and the other end of the second support plate 140 is disposed at the second disassembly position 127 to be inserted into and screwed into the second disassembly part 126; both ends of the first support plate 130 are respectively inserted into and screwed into the first plate body 115 and the second plate body 125.

[0049] In some embodiments, the body frame 100 further includes a third side plate 160, the first side plate 110 and the second side plate 120 are both connected to the third side plate 160, and the first side plate 110, the second side plate 120, the third side plate 160 and the first support plate 130 enclose a second accommodating cavity 180, the second accommodating cavity 180 is used to install the robot's electronic control module 200 and / or battery module 300.

[0050] The body frame 100 can accommodate more electronic control modules 200 and / or battery modules 300 through the first accommodating cavity 150 and the second accommodating cavity 180. The first accommodating cavity 150 and the second accommodating cavity 180 are physically isolated by the first carrier plate 130, so that the devices in the first accommodating cavity 150 and the devices in the second accommodating cavity 180 achieve risk isolation, functional independence and minimize thermal interference, thereby significantly improving the overall performance and safety of the quadruped robot.

[0051] In some embodiments, the fuselage frame 100 further includes a fourth side plate 170, which is disposed opposite to the third side plate 160 along a second direction 500. At least a portion of the first side plate 110 and / or the second side plate 120 is disposed between the third side plate 160 and the fourth side plate 170. The first side plate 110 is connected to the third side plate 160 and the fourth side plate 170 respectively, and the second side plate 120 is connected to the third side plate 160 and the fourth side plate 170 respectively.

[0052] The connection and cooperation of the first side plate 110, the second side plate 120, the third side plate 160, and the fourth side plate 170 enable them to support each other, greatly improving the overall rigidity of the fuselage frame 100. Furthermore, when the fuselage frame 100 is under stress, the load can be distributed across the first side plate 110, the second side plate 120, the third side plate 160, and the fourth side plate 170, avoiding stress concentration and thus improving the reliability and durability of the fuselage frame 100.

[0053] For example, the third side plate 160 and the fourth side plate 170 are both screwed to the first side plate 110, and the third side plate 160 and the fourth side plate 170 are screwed to the second side plate 120.

[0054] In some embodiments, the first side plate 110 is provided with a first sliding groove 113, and the second side plate 120 is provided with a second sliding groove 123. The first sliding groove 113 and the second sliding groove 123 are located on opposite sides of the first receiving cavity 150, and are used to guide the installation of the electronic control module 200 and / or the battery module 300 in the first receiving cavity 150. The sides of the electronic control module 200 and / or the battery module 300 can slide along the first sliding groove 113 and the second sliding groove 123 respectively, so that the electronic control module 200 and / or the battery module 300 can be more stably installed into the first receiving cavity 150; and / or, The first side plate 110 is provided with a third slide groove 114, and the second side plate 120 is provided with a fourth slide groove 124. The third slide groove 114 and the fourth slide groove 124 are located on opposite sides of the second accommodating cavity 180 and are used to guide the installation of the electronic control module 200 and / or the battery module 300 in the second accommodating cavity 180. The sides of the electronic control module 200 and / or the battery module 300 can slide along the third slide groove 114 and the fourth slide groove 124 respectively, so that the electronic control module 200 and / or the battery module 300 can be more stably installed into the second accommodating cavity 180.

[0055] In some embodiments, the first accommodating cavity 150 has a first mounting port 151 for power control module 200 and / or battery module 300 to be installed into the first accommodating cavity 150, and the second accommodating cavity 180 has a second mounting port 181 for power control module 200 and / or battery module 300 to be installed into the second accommodating cavity 180, and the first mounting port 151 and the second mounting port 181 are arranged opposite to each other.

[0056] The first mounting port 151 and the second mounting port 181 are arranged opposite to each other, so that the direction in which the electronic control module 200 and / or battery module 300 is installed in the first accommodating cavity 150 and the direction in which the electronic control module 200 and / or battery module 300 is installed in the second accommodating cavity 180 are opposite to each other, so as to avoid interference between the electronic control module 200 and / or battery module 300 in the first accommodating cavity 150 and the electronic control module 200 and / or battery module 300 in the second accommodating cavity 180.

[0057] In some embodiments, the first side plate 110 and / or the second side plate 120 are metal plates to ensure reliable connection with the first support plate 130 and the second support plate 140, and also have the advantages of easy processing, good toughness, and lower cost; and / or, The third side plate 160 and / or the fourth side plate 170 are made of carbon fiber, which has advantages such as extreme lightweight, extremely high rigidity and excellent fatigue resistance.

[0058] According to a second aspect of this application, a quadruped robot is provided, including the body frame 100 of any of the above embodiments.

[0059] In a quadruped robot, the first side plate 110, the second side plate 120, the first support plate 130, and the second support plate 140 of its body frame are combined and connected to form an integral frame structure.

[0060] First, the integrated frame structure design ensures that the fuselage frame itself has high structural strength and stability.

[0061] Secondly, the aforementioned plates collectively form a first accommodating cavity 150 to house the electronic control module 200 and / or the battery module 300. This design achieves physical separation between the core functional module and other functions or physical structures of the robot. This separation effectively avoids collisions and friction between other structures and the core module caused by vibration, and also prevents the failure of other structures from affecting the core module. Furthermore, the independent accommodating cavity design facilitates the daily disassembly, assembly, and maintenance of the electronic control module 200 and / or the battery module 300.

[0062] Finally, since both the first support plate 130 and the second support plate 140 are detachably connected to the first side plate 110 and the second side plate 120, this structure brings two significant advantages: firstly, it facilitates the replacement or maintenance of individual support plates, improving the maintainability of the frame; secondly, it allows for adjustments to the shape of the second support plate 140 within a certain range (e.g., by replacing support plates of different sizes or shapes), thereby enhancing the applicability of the body frame to core modules of different specifications and quantities, and effectively improving the quadruped robot's ability to upgrade hardware and update configurations.

[0063] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0064] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0065] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0066] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A frame for a quadruped robot, characterized in that, The fuselage frame includes a first side plate and a second side plate arranged opposite to each other along a first direction, and a first support plate and a second support plate arranged opposite to each other along a second direction; the first direction and the second direction are different directions; At least a portion of the first support plate and / or the second support plate is disposed between the first side plate and the second side plate. The first support plate is detachably connected to the first side plate and the second side plate respectively. The second support plate is detachably connected to the first side plate and the second side plate respectively. The first side plate, the second side plate, the first support plate and the second support plate enclose a first accommodating cavity, which is used to install the robot's electronic control module and / or battery module.

2. The fuselage frame according to claim 1, characterized in that, The two ends of the first bearing plate are respectively inserted and connected to the first side plate and the second side plate; And / or, the two ends of the second support plate are respectively inserted and connected to the first side plate and the second side plate.

3. The fuselage frame according to claim 2, characterized in that, The first bearing plate has a first connector and a second connector at each end, the first side plate has a first connector position, and the second side plate has a second connector position. The first connector is connected to the first connector position, and the second connector is connected to the second connector position; and / or, The first side plate is provided with a first connector, the second side plate is provided with a second connector, and the two ends of the first support plate are respectively provided with a first connector position and a second connector position. The first connector is plugged into the first connector position, and the second connector is plugged into the second connector position; and / or, The second bearing plate has a third connector and a fourth connector at each end, the first side plate has a third connector position, and the second side plate has a fourth connector position. The third connector is connected to the third connector position, and the fourth connector is connected to the fourth connector position; and / or, The first side plate is provided with a third plug-in body, the second side plate is provided with a fourth plug-in body, and the two ends of the second bearing plate are respectively provided with a third plug-in position and a fourth plug-in position. The third plug-in body is plugged into the third plug-in position, and the fourth plug-in body is plugged into the fourth plug-in position.

4. The fuselage frame according to claim 1, characterized in that, The two ends of the first bearing plate are respectively screwed to the first side plate and the second side plate; and / or, The two ends of the second bearing plate are screwed to the first side plate and the second side plate, respectively.

5. The fuselage frame according to any one of claims 1-4, characterized in that, The first side panel includes a first plate body and a first disassembly part. The first disassembly part is connected to the first plate body, and a first disassembly position is formed between the first plate body and the first disassembly part. The second side panel includes a second plate body and a second disassembly part. The second disassembly part is connected to the second plate body, and a second disassembly position is formed between the second plate body and the second disassembly part. The first disassembly part and the second disassembly part are arranged opposite to each other along a first direction. One end of the first support plate is disposed at the first disassembly position for detachable connection with the first disassembly part, and the other end of the first support plate is disposed at the second disassembly position for detachable connection with the second disassembly part; and / or, One end of the second support plate is disposed at the first disassembly position to be detachably connected to the first disassembly part, and the other end of the second support plate is disposed at the second disassembly position to be detachably connected to the second disassembly part.

6. The fuselage frame according to any one of claims 1-4, characterized in that, The body frame also includes a third side plate, to which both the first and second side plates are connected. The first side plate, the second side plate, the third side plate, and the first support plate together form a second accommodating cavity, which is used to install the robot's electronic control module and / or battery module.

7. The fuselage frame according to claim 6, characterized in that, The fuselage frame also includes a fourth side plate, which is disposed opposite to the third side plate along a second direction. At least a portion of the first side plate and / or the second side plate is disposed between the third side plate and the fourth side plate. The first side plate is connected to the third side plate and the fourth side plate respectively, and the second side plate is connected to the third side plate and the fourth side plate respectively.

8. The fuselage frame according to claim 6, characterized in that, The first side plate is provided with a first sliding groove, and the second side plate is provided with a second sliding groove. The first sliding groove and the second sliding groove are located on opposite sides of the first accommodating cavity, and are used to guide the installation of the electronic control module and / or battery module in the first accommodating cavity; and / or, The first side plate is provided with a third sliding groove, and the second side plate is provided with a fourth sliding groove. The third sliding groove and the fourth sliding groove are located on opposite sides of the second accommodating cavity and are used to guide the installation of the electronic control module and / or battery module in the second accommodating cavity.

9. The fuselage frame according to claim 6, characterized in that, The first accommodating cavity has a first mounting port for power control module and / or battery module to be installed into the first accommodating cavity. The second accommodating cavity has a second mounting port for power control module and / or battery module to be installed into the second accommodating cavity. The first mounting port and the second mounting port are arranged opposite to each other.

10. The fuselage frame according to claim 6, characterized in that, The first side plate and / or the second side plate are metal plates; and / or, The third and / or fourth side panels are carbon fiber plates.

11. A quadruped robot, characterized in that, Includes the fuselage frame as described in any one of claims 1-10.

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