Locking structure, fuselage body and quadruped robot

Abstract

The application relates to a locking structure, a fuselage main body and a quadruped robot. The locking structure provided by the embodiment of the application comprises a rotating assembly and a lock rod assembly, the lock rod assembly comprises a lock tongue matched with a locking groove, a rotating part of the rotating assembly drives the lock rod assembly to move linearly in a rotating process, so that the lock tongue is switched between a first position and a second position, and a plug-in module is switched between a locked state and an unlocked state. The locking or unlocking of the plug-in module can be realized by driving the rotating part to rotate, so that the locking and unlocking operation convenience of the plug-in module is improved, and the user experience is improved.

Description

Technical Field

[0001] This application relates to the field of electronic technology, and in particular to a locking structure, a body, and a quadruped robot. Background Technology

[0002] Quadruped robots can walk on uneven and complex terrain, such as rugged ground, stairs, and gravel roads. This makes them particularly suitable for environments that are difficult for humans to access or dangerous, such as disaster search and rescue, fire scene investigation, and forest patrol. Quadruped robots can perform a variety of locomotions, such as walking, running, jumping, and moving in confined spaces. This flexibility enables them to perform complex tasks in a variety of applications. For quadruped bionic robots to perform complex movements, the overall structure needs to be stable to prevent parts from falling off during movement.

[0003] In terms of battery installation, existing quadruped robots all use mechanical fixation, which requires a lot of manpower and resources for disassembly and assembly, resulting in high disassembly and assembly costs. They also lack the ability to quickly replace batteries and use them continuously, meaning they do not have the ability to quickly disassemble, charge, or replace batteries, leading to a poor user experience. Utility Model Content

[0004] This application provides a locking structure, a main body, and a quadruped robot, which helps improve the assembly efficiency of plug-in modules, thereby enhancing the user experience.

[0005] The first aspect of this application provides a locking structure for the main body of a robot. The main body includes a body frame and a plug-in module. The body frame has a first accommodating cavity and a first mounting port communicating with the first accommodating cavity. The plug-in module can be plugged into and detached from the first mounting port into the first accommodating cavity. The body frame has a locking groove communicating with the first accommodating cavity. The locking structure includes a rotating assembly and a locking rod assembly. The locking rod assembly includes a locking tongue that is adapted to the locking groove. The rotating assembly includes a rotating member that is rotatably connected to the insertion and removal module and can rotate relative to the insertion and removal module under external force. During the rotation, the rotating member drives the locking rod assembly to move linearly so that the locking tongue switches between a first position and a second position. When the locking tongue is in the first position, it is inserted into the locking groove to lock the insertion / removal module in the first receiving cavity; when the locking tongue is in the second position, the insertion / removal module is in an unlocked state so that the insertion / removal module can be pulled out from the first receiving cavity.

[0006] In some embodiments, the rotating member includes a rotating handle and a driving part connected to each other. The rotating handle is used to drive the driving part to rotate, and the driving part drives the locking rod assembly to move in a straight line during rotation.

[0007] In some embodiments, the locking rod assembly includes a locking rod member, the locking rod member includes the locking tongue, the locking rod member has a locking rod groove, at least a portion of the driving part is rotatably disposed in the locking rod groove, the driving part abuts against the wall of the locking rod groove during rotation, so as to drive the locking rod member located in the locking cavity to move linearly.

[0008] In some embodiments, when the latch is in the first position, there is a gap between the drive unit and the inner wall of the locking bar groove near the latch, and the width of the gap is greater than or equal to the moving distance of the latch when it switches from the first position to the second position.

[0009] In some embodiments, the locking lever assembly further includes a first reset member, which, when the locking lever assembly is not driven by an external force, maintains the bolt in the first position; And / or, the rotating assembly further includes a second reset member, which provides damping when the rotating member rotates relative to the plug-in module and returns the rotating member to its initial position when the rotating member is not driven by an external force.

[0010] In some embodiments, the plug-in module includes a plug-in housing and a battery module, the battery module being disposed within the plug-in housing; the plug-in housing includes a front panel adapted to the first mounting port, and when the plug-in module is located within the first accommodating cavity, the front panel is located at the first mounting port; And / or, the extension / retraction direction of the locking tongue is set at an angle to the insertion / removal direction of the insertion / removal module.

[0011] In some embodiments, the front panel has a locking cavity, the locking rod assembly is disposed in the locking cavity, the rotating member is rotatably connected to the front panel, the rotating handle is disposed on the side of the front panel opposite to the first receiving cavity, and the driving part extends at least partially into the locking cavity so that the driving part drives the locking rod assembly located in the locking cavity to move along the extension direction of the locking cavity during rotation.

[0012] In some embodiments, the rotating assembly further includes a rotating mounting member and a rotating shaft. The rotating mounting member is fixed to the front panel and forms a limiting groove and a clearance opening communicating with the limiting groove between the rotating assembly and the front panel. The rotating shaft is fixed in the limiting groove, and at least a portion of the rotating handle passes through the clearance opening and connects to the driving part.

[0013] In some embodiments, the locking structure further includes a connecting rod, the rotating member, the connecting rod, and the locking rod form a crank-connecting rod mechanism. During rotation, the rotating member drives the locking rod located in the lock cavity to move along the extension direction of the lock cavity via the connecting rod, so that the locking tongue switches between the first position and the second position.

[0014] A second aspect of this application provides a fuselage body, the fuselage body including a fuselage frame, a plug-in module and the locking structure, the fuselage body having a first accommodating cavity and a first mounting port communicating with the first accommodating cavity, the plug-in module being pluggable and detachable from the first mounting port into the first accommodating cavity, and the locking structure for locking the plug-in module in the first accommodating cavity.

[0015] A third aspect of this application provides a quadruped robot, the quadruped robot including the locking structure or the main body of the robot.

[0016] In the locking structure provided in this application embodiment, the rotating component is driven to rotate relative to the plug-in module. During the rotation, the rotating component drives the locking rod assembly to move in a straight line, thereby switching the locking tongue between the first position and the second position, so that the plug-in module can switch between the locked state and the unlocked state, thereby improving the convenience of locking and unlocking operations of the plug-in module and improving the user experience.

[0017] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0018] 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.

[0019] 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.

[0020] Figure 1 A schematic diagram of the structure of one embodiment of the fuselage body of this application; Figure 2 for Figure 1 A structural schematic diagram of the fuselage from another perspective; Figure 3 A schematic diagram of the structure of an embodiment of the fuselage frame of this application; Figure 4A three-dimensional assembly structure diagram of an embodiment of the front panel and locking structure of this application; Figure 5 for Figure 4 Front view of the center front panel and locking structure; Figure 6 for Figure 5 A schematic diagram of a partial cross-section at point MM; Figure 7 for Figure 5 Schematic diagram of the cross section at point NN; Figure 8 This is a schematic diagram of one embodiment of the locking structure of this application; Figure 9 for Figure 8 A schematic diagram of the locking structure from another perspective; Figure 10 This is a partial structural diagram of another embodiment of the locking structure of this application.

[0021] Explanation of reference numerals in the attached figures: 100. Fuselage frame; 110. First side plate; 120. Second side plate; 130. First support plate; 140. Second support plate; 150. First receiving cavity; 151. First mounting port; 160. Third side plate; 170. Fourth side plate; 180. Second receiving cavity; 181. Second mounting port; 190. Locking groove; 200. Electrical control module; 300. Plug-in module; 310. Plug-in housing; 311. Front panel; 3111. Locking cavity; 3112. Handle receiving slot; 312. Pull-out handle; 400, First Direction; 500, Second Direction; 600. Locking structure; 610. Rotating assembly; 611. Rotating component; 6111. Drive unit; 6112. Rotating handle; 612. Rotating shaft; 613. Second reset component; 614. Rotating mounting component; 615. Limiting groove; 616. Clearance opening; 620. Locking bar assembly; 621. Locking bar component; 6211. Lock tongue; 6212. Locking bar groove; 6213. First groove wall; 6214. Second groove wall; 6215. Locking bar limiting part; 622. First reset component; 630. Gap; 640. Connecting rod. Detailed Implementation

[0022] 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.

[0023] Quadruped robots can walk on uneven and complex terrain, such as rugged ground, stairs, and gravel roads. This makes them particularly suitable for environments that are difficult for humans to access or dangerous, such as disaster search and rescue, fire scene investigation, and forest patrol. Quadruped robots can perform a variety of locomotions, such as walking, running, jumping, and moving in confined spaces. This flexibility enables them to perform complex tasks in a variety of applications. For quadruped robots to perform complex movements, overall structural stability is required to prevent parts from falling off during movement.

[0024] Taking the installation of electronic control modules or battery modules for quadruped robots as an example, existing quadruped robots all use mechanical fixation, which requires a lot of manpower and resources for disassembly and assembly, resulting in high disassembly and assembly costs. They do not have the ability to be quickly replaced or used continuously, meaning they do not have the ability to be quickly disassembled, charged, or replaced, leading to a poor user experience.

[0025] In view of this, the present application provides a locking structure that drives the locking rod assembly to move linearly through a rotating member, thereby switching the locking tongue of the locking rod assembly between a first position and a second position. When the locking tongue is in the first position, the plug-in module (e.g., a battery module) can be locked in the first accommodating cavity. When the locking tongue is in the second position, the plug-in module is in an unlocked state and can be pulled out of the first accommodating cavity, thereby improving the convenience of locking and unlocking operations of the plug-in module and enhancing the user experience.

[0026] This application provides a quadruped robot, which includes a main body and leg components (not shown) connected to the main body. The main body provides power to the leg components, controls the leg components to perform corresponding actions, and carries functional modules, etc. The leg components are key moving parts of the quadruped robot, enabling various movement modes such as walking, running, and jumping through flexible joints and actuators.

[0027] For example, please refer to Figures 1 to 10The main body of the robot includes a frame 100, a plug-in module 300, and a locking structure 600. The frame 100 provides support and mounting space for the plug-in module 300, while the locking structure 600 secures the plug-in module 300 to the frame 100, preventing system malfunctions caused by the plug-in module 300 loosening or detaching from the frame 100 during robot movement. The frame 100 generally needs to have high mechanical strength to bear the load. Of course, the frame 100 can also install and support electronic control modules, camera modules, motor modules, sensor components, etc., which are not limited here.

[0028] For example, the plug-in module 300 is a battery module used to provide power to the quadruped robot. Of course, in other embodiments of this application, the plug-in module 300 may also be an electronic control module or other functional modules; this is not limited here. The following description uses the plug-in module 300 as a battery module as an example. It should be noted that the main body of this application, besides being used in quadruped robots, can also be used in other devices where locking and unlocking the plug-in module 300 is highly convenient; this is not limited here.

[0029] Please refer to some embodiments of this application. Figure 1 and Figure 2 The housing frame 100 has a first accommodating cavity 150 and a first mounting port 151 communicating with the first accommodating cavity 150. The plug-in module 300 can be plugged into and detached from the first mounting port 151 within the first accommodating cavity 150. This allows for convenient installation of the plug-in module 300 into or removal of the plug-in module 300 from the first accommodating cavity 150.

[0030] For example, the first accommodating cavity 150 is adapted to the size and shape of the plug-in module 300, thus increasing the volume of the plug-in module 300 within a limited space. When the plug-in module 300 is a battery module, it is beneficial to increase the energy storage capacity of the battery module and the working time of the quadruped robot. Specifically, the first accommodating cavity 150 is generally cubic in shape, and correspondingly, the plug-in module is also cubic in shape. It should be noted that the shape of the first accommodating cavity 150 is not a major improvement of this application and is not limited thereto.

[0031] Please refer to some embodiments of this application. Figure 2 The body frame 100 is provided with a locking groove 190 that communicates with the first accommodating cavity 150; the locking tongue 6211 of the locking rod assembly can be inserted into the locking groove 190 so that the plug-in module 300 is locked in the first accommodating cavity 150.

[0032] Specifically, please combine Figures 4 to 5The insertion / removal module 300 has a locking cavity 3111 for mounting the locking structure 600. When the insertion / removal module 300 is located within the first receiving cavity 150, the locking cavity 3111 communicates with the locking groove 190. Thus, when it is necessary to lock the insertion / removal module 300 within the first receiving cavity 150, the locking tongue 6211 of the locking structure 600 can be driven to extend from the locking cavity 3111. Figure 3 and Figure 5 As shown, the locking tongue 6211 is extended from the locking cavity 3111 and inserted into the locking groove 190, which locks the plug-in module 300 in the first receiving cavity 150. For ease of understanding, the specific structure of the locking structure 600 will be further explained below.

[0033] For illustrative purposes, please refer to [the relevant documentation / reference]. Figure 1 and Figure 2 The first direction 400 is defined as the horizontal direction, the second direction 500 as the vertical direction, and the third direction as the direction perpendicular to the first direction 400 and the second direction 500, respectively. The fuselage frame 100 includes a first side plate 110 and a second side plate 120 disposed opposite to each other along the first direction 400, and a first support plate 130 and a second support plate 140 disposed opposite to each other along the second direction 500.

[0034] For example, the two ends of the first support plate 130 are respectively inserted into the first side plate 110 and the second side plate 120, 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. Of course, in other embodiments of this application, the two ends of the first support plate 130 may also be threaded or welded to the first side plate 110 and the second side plate 120, respectively, which is not limited here.

[0035] For example, 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 second support plate 140 can be more easily assembled and disassembled between the first side plate 110 and the second side plate 120. Of course, in other embodiments of this application, the two ends of the second support plate 140 may also be threaded or welded to the first side plate 110 and the second side plate 120, respectively, which is not limited here.

[0036] In this embodiment, the two ends of the first support plate 130 are respectively inserted and connected to the first side plate 110 and the second side plate 120, and 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 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. Alternatively, the first support plate 130 and the second support plate 140 may also employ 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.

[0037] 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 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.

[0038] In some embodiments, the two ends of the first support plate 130 are screwed and inserted 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 inserted into the first side plate 110 and the second side plate 120 respectively, which helps to further improve the stability of the fuselage frame 100.

[0039] In some embodiments, please continue reading Figure 2 The chassis frame 100 also includes a third side plate 160 disposed along the second direction 500. 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 can be used to install the robot's electronic control module 200. The electronic control module 200 can be disposed in the second accommodating cavity 180 through a second mounting port 181 communicating with the second accommodating cavity 180.

[0040] In some embodiments, the plug-in module 300 is a battery module, and the plug-in module 300 is disposed below the electronic control module 200. It is understood that the battery module is generally heavier than the electronic control module 200. Distributing the plug-in module 300 below the electronic control module 200 can lower the center of gravity of the quadruped robot, which is beneficial to improving the stability of the quadruped robot.

[0041] In some embodiments, please continue reading Figure 2The chassis frame 100 also includes a fourth side plate 170, which is disposed opposite to the third side plate 160 along a second direction 500. A first side plate 110 and a second side plate 120 are disposed between the third side plate 160 and the fourth side plate 170. The first side plate 110 is connected to both the third side plate 160 and the fourth side plate 170, and the second side plate 120 is connected to both the third side plate 160 and the fourth side plate 170. For example, the fourth side plate 170 and the third side plate 160 are carbon fiber composite plates, while the first side plate 110 and the second side plate 120 are metal plates. This allows the chassis frame 100 in this application to have strong rigidity and light weight, which helps to reduce the energy consumption of the quadruped robot in this application and increase its service life.

[0042] Please see Figure 5 , Figure 7 and Figure 8 The locking structure 600 includes a rotating assembly 610 and a locking lever assembly 620. The rotating assembly 610 includes a rotating member 611, which is rotatably connected to the insertion / removal module 300, meaning the rotating member 611 can rotate relative to the insertion / removal module 300. The locking lever assembly 620 includes a locking tongue 6211 adapted to the locking groove 190. During rotation, the rotating member 611 drives the locking lever assembly 620 to move linearly, allowing the locking tongue 6211 to switch between a first position and a second position. For example, the locking lever assembly 620 is disposed within the locking cavity 3111 and can move linearly along the extending direction of the locking cavity 3111 (i.e., the first direction 400), so that the locking tongue 6211 has a first position extending out of the locking cavity 3111 (e.g., ...). Figure 5 (as shown) and a second position (not shown) received in the locking cavity 3111; when the locking tongue 6211 is in the first position, it is inserted into the locking groove 190 so that the insertion / removal module 300 is locked in the first receiving cavity 150; when the locking tongue 6211 is in the second position, the insertion / removal module 300 is in an unlocked state so that the insertion / removal module 300 can be pulled out from the first receiving cavity 150; the rotating member 611 is fixed on the insertion / removal module 300 and can rotate relative to the insertion / removal module 300 under the drive of an external force. During the rotation, the rotating member 611 drives the locking rod 621 located in the locking cavity 3111 to move along the extension direction of the locking cavity 3111 so that the locking tongue 6211 switches between the first position and the second position.

[0043] In this embodiment, the rotating component 611 is driven to rotate relative to the insertion / removal module. During rotation, the rotating component 611 drives the locking rod 621 to move along the extension direction of the locking cavity 3111, thereby switching the locking tongue between a first position and a second position. In the first position, the locking tongue 6211 locks the insertion / removal module within the first receiving cavity 150. At this time, the locking tongue 6211 interferes with the inner wall surface of the locking groove 190, preventing the insertion / removal module from being pulled out of the first receiving cavity 150. In the second position, the locking tongue 6211 releases the interference from the inner wall surface of the locking groove 190, the insertion / removal module is in an unlocked state, and can be pulled out of the first receiving cavity 150, thereby improving the convenience of locking and unlocking operations and enhancing the user experience.

[0044] In some embodiments of this application, the locking lever assembly 620 includes a locking lever 621, which includes the locking tongue 6211. During rotation, the rotating member 611 drives the locking lever 621 to move linearly within the locking cavity 3111, thereby switching the locking tongue 6211 between a first position and a second position. This simplifies the locking structure 600, makes it easier to operate, reduces manufacturing costs, and improves stability.

[0045] In some embodiments of this application, the extension / retraction direction of the latch 6211 is set at an angle to the insertion / retraction direction of the insertion / retraction module 300. The extension / retraction direction of the latch 6211 refers to the direction in which the latch 6211 extends out of the lock cavity 3111 or the direction in which the latch 6211 retracts back into the lock cavity 3111. The insertion / retraction direction of the insertion / retraction module 300 refers to the direction in which the insertion / retraction module 300 is inserted into the first receiving cavity 150 or the direction in which the insertion / retraction module 300 is pulled out of the first receiving cavity 150.

[0046] For example, the extension or retraction direction of the latch 6211 is perpendicular to the insertion / removal direction of the insertion / removal module 300. Specifically, the latch 6211 extends out of the locking cavity 3111 along a first direction 400 to switch the latch 6211 from a second position to a first position, or the latch 6211 retracts into the locking cavity 3111 along the first direction 400 to switch from the first position to the second position. Further, the insertion / removal module 300 is inserted into the first receiving cavity 150 along a third direction.

[0047] Thus, by setting the extension and retraction direction of the locking tongue 6211 at an angle to the insertion and removal direction of the insertion and removal module 300, the locking tongue 6211 can prevent the insertion and removal module 300 from moving along the insertion and removal direction when inserted into the locking groove 190. This helps to further simplify the locking structure 600, improve operational convenience, and further improve the stability of the insertion and removal module 300 within the first receiving cavity 150. Of course, in some other embodiments of this application, the extension or retraction direction of the locking tongue 6211 may also form other angles with the insertion and removal direction of the insertion and removal module 300 (i.e., the extension or retraction direction of the locking tongue 6211 is not perpendicular to the insertion and removal direction of the insertion and removal module 300). The locking tongue 6211 located in the locking groove 190 interferes with the wall surface of the locking groove 190, thereby limiting the movement of the insertion and removal module 300 along the insertion and removal direction. This is not limited here.

[0048] In some embodiments of this application, the plug-in module 300 includes a plug-in housing 310 and a battery module, the battery module being disposed within the plug-in housing 310. The plug-in housing 310 includes a front panel 311 adapted to the first mounting port 151. When the plug-in module 300 is located within the first accommodating cavity 150, the front panel 311 is located at the first mounting port 151. Exemplarily, when the plug-in module 300 is located within the first accommodating cavity 150, the front panel 311 blocks or seals the first mounting port 151. Thus, the battery module located within the plug-in housing 310 can be protected, which is beneficial for improving the stability of the battery module. Simultaneously, the shape and size of the front panel 311 are adapted to the first mounting port 151, allowing the front panel 311 to block or seal the first mounting port 151, which is beneficial for improving the aesthetics of the main body and preventing foreign objects from entering the first accommodating cavity 150 through the first mounting port 151 and causing malfunctions.

[0049] In some embodiments of this application, the plug-in module 300 further includes a pull handle 312, which is fixed to the side of the front panel 311 opposite to the first receiving cavity 150. That is, the rotating handle 6112 and the pull handle 312 are located on the same side of the front panel 311. Exemplarily, the pull handle 312 is located near the center of the front panel 311. Thus, when the plug-in module 300 is in the unlocked state, the plug-in module 300 can be easily pulled out of the first receiving cavity 150 by pulling the pull handle 312 outward.

[0050] In some embodiments of this application, the rotating assembly 610 includes a rotating member 611. The rotating member 611 includes a rotating handle 6112 and a driving part 6111 connected to each other. The rotating handle 6112 is disposed on the side of the front panel 311 opposite to the first receiving cavity 150. The locking cavity 3111 is disposed within the front panel 311. The driving part 6111 extends at least partially into the locking cavity 3111, so that the driving part 6111 drives the locking rod 621 located within the locking cavity 3111 to move along the extension direction of the locking cavity 3111 during rotation. In this way, the rotating handle 6112 can be driven to rotate more conveniently. The rotating handle 6112 drives the driving part 6111 to rotate, thereby causing the driving part 6111 to drive the locking rod 621 located within the locking cavity 3111 to move along the extension direction of the locking cavity 3111 during rotation, thereby realizing the switching of the locking tongue 6211 between the first position and the second position.

[0051] Specifically, such as Figure 5 As shown, the driving part 6111 is a cam, and the second groove wall 6214 of the locking rod groove 6212 is circular. Taking the rotation of the handle 6112 driving the cam to rotate clockwise as an example, during the rotation of the cam, the radius of the cam's axis of rotation (i.e., the distance from the cam's axis of rotation to the surface) gradually increases, thereby pushing the locking rod 621 to move to the right through the second groove wall 6214 that abuts against it. The locking rod 621 and the locking tongue 6211 move to the right under the driving action of the cam, and the locking tongue 6211 switches from the first position extending out of the locking cavity 3111 to the second position received in the locking cavity 3111, thereby unlocking the insertion and removal module 300. When the external force is removed, the rotating handle 6112, the cam, the locking tongue 6211, and the locking rod 621 can return to their initial positions under the driving action of the return member. It should be noted that the above process is only an example in this application and is not limited here.

[0052] In some embodiments of this application, please participate Figure 3 The front panel 311 is also provided with a handle receiving groove 3112, and the rotating handle 6112 can be rotatably received within the handle receiving groove 3112. For example, when the locking tongue 6211 is in the second position, the rotating handle 6112 is received within the handle receiving groove 3112. In this way, the rotating handle 6112 is protected by the handle receiving groove 3112, which helps to prevent the plug-in module from being unlocked due to accidental contact with the rotating handle 6112.

[0053] In some embodiments of this application, the locking rod assembly 620 includes a locking rod member 621, the locking rod member 621 includes a locking tongue 6211, the locking rod member 621 has a locking rod groove 6212, the locking rod groove 6212 communicates with the lock cavity 3111, at least a portion of the driving part 6111 is rotatably disposed in the locking rod groove 6212, the driving part 6111 located in the locking rod groove 6212 abuts against the wall of the locking rod groove 6212 during rotation, so as to drive the locking rod member located in the lock cavity 3111 to move along the extension direction of the lock cavity 3111. In this embodiment, a locking rod groove 6212 is provided in the locking rod member 621, and at least a portion of the driving part 6111 extends into the locking rod groove 6212. During rotation, the driving part 6111 located in the locking rod groove 6212 abuts against the wall of the locking rod groove 6212, thereby driving the locking rod member located in the locking cavity 3111 to move along the extension direction of the locking cavity 3111, thereby realizing the switching of the locking tongue 6211 between the first position and the second position. This is beneficial to improving the compactness and stability of the locking structure 600 and reducing the volume of the locking structure 600.

[0054] Please refer to some embodiments of this application. Figure 5 The locking rod 621 further includes a locking rod limiting part 6215, which is disposed opposite to the locking tongue 6211. The locking rod groove 6212 is disposed between the locking rod limiting part 6215 and the locking tongue 6211. The locking rod limiting part 6215 can be used to engage with the wall surface of the locking cavity 3111 opposite to it to limit the travel of the locking rod 621 and the rotation angle range of the rotating handle 6112. When the locking tongue 6211 is in the first position or the second position, there is a gap 630 between the driving part 6111 and the inner wall (i.e., the first groove wall 6213) of the locking rod groove 6212 near the locking tongue 6211. Further, along the first direction, the width of the gap 630 is greater than or equal to the distance the locking tongue 6211 moves when switching from the first position to the second position.

[0055] It is understood that when the locking tongue 6211 is in the second position, the locking tongue 6211 retracts and is accommodated in the locking cavity 3111. This allows the plug-in module to be pushed into the first accommodating cavity 150 during the process of the locking tongue 6211 switching from the first position to the second position. During the process of the locking rod 621 moving from left to right, the locking rod 621 will not interfere with the driving part 6111 located in the locking rod groove 6212. In other words, the plug-in module 300 can be inserted into the first accommodating cavity 150 without driving the rotating handle 6112 to rotate, which is beneficial to further improve the assembly convenience of the plug-in module 300.

[0056] In some embodiments of this application, the locking lever assembly 620 further includes a first reset member 622, which abuts against the locking lever member 621 to maintain the latch 6211 in the first position when the locking lever member 621 is not driven by an external force. In this embodiment, by providing the first reset member 622 in the locking structure 600, the latch 6211 is driven from the second position to the first position by the first reset member 622 when the locking lever member 621 is not driven by an external force, which improves the ease of use of the locking structure 600.

[0057] For example, such as Figure 7 As shown, the first reset member 622 can be a compression spring. Along the height direction of the locking rod member 621 (i.e., the second direction 500), the locking rod member 621 has a locking rod limiting part 6215 at one end, and each part has a stepped part. Each stepped part has a compression spring. One end of the compression spring faces the locking tongue 6211 and abuts against the corresponding stepped surface. The other end of the compression spring abuts against the inner wall surface of the locking cavity 3111.

[0058] Please refer to some embodiments of this application. Figures 6 to 8 The rotating assembly 610 further includes a rotating shaft 612, which is fixed to the front panel 311. The rotating component 611 is rotatably connected to the rotating shaft 612. In this embodiment, the rotatable connection between the rotating component 611 and the front panel 311 is achieved by fixing the rotating shaft 612 to the front panel 311 and sleeved on the rotating shaft 612, allowing the rotating component 611 to rotate relative to the rotating shaft 612.

[0059] Specifically, the rotating assembly 610 further includes a rotating mounting member 614, which is fixed to the front panel 311 and forms a limiting groove 615 and a clearance opening 616 communicating with the limiting groove 615 between the rotating assembly 610 and the front panel 311. The rotating shaft 612 is fixed within the limiting groove 615, and at least a portion of the rotating handle 6112 passes through the clearance opening 616 and connects to the driving part 6111. In this way, the rotation angle of the rotating handle 6112 can be limited by the rotating mounting member 614, which helps to further improve the structural compactness of the locking structure 600.

[0060] In some embodiments of this application, the rotating assembly 610 further includes a second reset member 613, which provides damping when the rotating member 611 rotates relative to the plug-in module 300, and returns the rotating member 611 to its initial position when it is not driven by an external force. For example, as... Figure 5 As shown, the initial position of the rotating component 611 is such that the plane of the rotating handle 6112 is roughly parallel to and in contact with the front panel 311.

[0061] Specifically, the second reset member 613 is an elastic reset member, with its two ends elastically abutting against the rotating member 611 and the front panel 311, respectively. Further, when the rotating member 611 is not subjected to external force, the second reset member 613 drives the rotating member 611 to return to its position within the handle receiving groove 3112. Exemplarily, the second reset member 613 is a torsion spring, with its two ends abutting against the front panel 311 and the rotating member 611, respectively. The torsion spring provides damping when the rotating member 611 rotates relative to the front panel 311, and when the rotating member 611 is not subjected to external force, the torsion spring drives the rotating member 611 to return to its position within the handle receiving groove 3112. In this embodiment, by providing a second reset member 613 within the rotating assembly 610, and by using the second reset member 613 to provide damping, the rotating member 611 can reset under the driving action of the second reset member 613 after the external force is removed, which is beneficial for improving the user experience.

[0062] Please refer to some embodiments of this application. Figure 10 The locking structure 600 further includes a connecting rod 640. The rotating member 611, the connecting rod 640, and the locking rod 621 form a crank-slider mechanism. During rotation, the rotating member 611 drives the locking rod 621 located in the locking cavity 3111 to move along the extension direction of the locking cavity 3111 via the connecting rod 640 and the crank (not shown in the figure), thereby switching the locking tongue 6211 between the first position and the second position. In this embodiment, the rotating member 611, the connecting rod 640, and the locking rod 621 form a crank-connecting rod mechanism. The rotation of the rotating member 611 can be converted into the movement of the locking rod 621 in a linear direction, thereby realizing the switching of the locking tongue 6211 between the first position and the second position.

[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 locking structure for a robot's body, the body comprising a frame and a plug-in module, the frame having a first accommodating cavity and a first mounting port communicating with the first accommodating cavity, the plug-in module being pluggable and detachable from the first mounting port into the first accommodating cavity, characterized in that, The fuselage frame is provided with a locking groove that communicates with the first accommodating cavity; The locking structure includes a rotating assembly and a locking rod assembly. The locking rod assembly includes a locking tongue that is adapted to the locking groove. The rotating assembly includes a rotating member that is rotatably connected to the insertion and removal module and can rotate relative to the insertion and removal module under external force. During the rotation, the rotating member drives the locking rod assembly to move linearly so that the locking tongue switches between a first position and a second position. When the locking tongue is in the first position, it is inserted into the locking groove to lock the insertion / removal module in the first receiving cavity; when the locking tongue is in the second position, the insertion / removal module is in an unlocked state so that the insertion / removal module can be pulled out from the first receiving cavity.

2. The locking structure as described in claim 1, characterized in that, The rotating component includes a rotating handle and a driving part connected to each other. The rotating handle is used to drive the driving part to rotate, and the driving part drives the locking rod assembly to move in a straight line during the rotation.

3. The locking structure as described in claim 2, characterized in that, The locking rod assembly includes a locking rod member, the locking rod member includes the locking tongue, the locking rod member has a locking rod groove, at least part of the driving part is rotatably disposed in the locking rod groove, the driving part abuts against the wall of the locking rod groove during rotation, so as to drive the locking rod member located in the lock cavity to move linearly.

4. The locking structure as described in claim 3, characterized in that, When the latch is in the first position, there is a gap between the drive unit and the inner wall of the lock bar groove near the latch, and the width of the gap is greater than or equal to the moving distance of the latch when it switches from the first position to the second position.

5. The locking structure as described in any one of claims 1 to 4, characterized in that, The locking rod assembly further includes a first reset member, which keeps the locking tongue in the first position when the locking rod assembly is not driven by an external force; And / or, the rotating assembly further includes a second reset member, which provides damping when the rotating member rotates relative to the plug-in module and returns the rotating member to its initial position when the rotating member is not driven by an external force.

6. The locking structure as described in any one of claims 2 to 4, characterized in that, The plug-in module includes a plug-in housing and a battery module, the battery module being disposed within the plug-in housing; the plug-in housing includes a front panel adapted to the first mounting port, and when the plug-in module is located within the first accommodating cavity, the front panel is located at the first mounting port; And / or, the extension / retraction direction of the locking tongue is set at an angle to the insertion / removal direction of the insertion / removal module.

7. The locking structure as described in claim 6, characterized in that, The front panel has a locking cavity, the locking rod assembly is disposed in the locking cavity, the rotating member is rotatably connected to the front panel, the rotating handle is disposed on the side of the front panel opposite to the first accommodating cavity, and the driving part extends at least partially into the locking cavity so that the driving part drives the locking rod assembly located in the locking cavity to move along the extension direction of the locking cavity during rotation.

8. The locking structure as described in claim 7, characterized in that, The rotating assembly further includes a rotating mounting component and a rotating shaft. The rotating mounting component is fixed to the front panel and forms a limiting groove and a clearance opening communicating with the limiting groove between the rotating component and the front panel. The rotating shaft is fixed in the limiting groove, and at least part of the rotating handle passes through the clearance opening and connects to the driving part.

9. The locking structure as described in claim 1, characterized in that, The locking structure also includes a connecting rod. The rotating member, the connecting rod, and the locking rod form a crank-connecting rod mechanism. During rotation, the rotating member drives the locking rod located in the lock cavity to move along the extension direction of the lock cavity through the connecting rod, so that the locking tongue switches between the first position and the second position.

10. A fuselage body, characterized in that, The main body includes a frame, a plug-in module, and a locking structure as described in any one of claims 1 to 9. The main body is provided with a first accommodating cavity and a first mounting port communicating with the first accommodating cavity. The plug-in module can be plugged into and detached from the first mounting port and disposed in the first accommodating cavity. The locking structure is used to lock the plug-in module in the first accommodating cavity.

11. A quadruped robot, characterized in that, The quadruped robot includes the locking structure as described in any one of claims 1 to 9 or the body body as described in claim 10.

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