Body and quadruped robot

Abstract

The first aspect of the present application provides a body main body and a quadruped robot, the body main body comprising a body frame, a battery module and a control module; the body frame is internally provided with a containing cavity, and a first mounting port and a second mounting port communicated with the containing cavity, the opening directions of the first mounting port and the second mounting port are different, the battery module is pluggably arranged in the containing cavity through the first mounting port, and the control module is pluggably arranged in the containing cavity through the second mounting port. In the body main body provided by the embodiment of the present application, the first mounting port and the second mounting port with different opening directions are arranged on the body main body, the battery module is pluggably arranged in the containing cavity through the first mounting port, and the control module is pluggably arranged in the containing cavity through the second mounting port, so that interference between the battery module and the control module in the plugging process is avoided, and the dismounting efficiency of the body main body is improved.

Description

Technical Field

[0001] This application relates to the field of quadruped robot technology, and more particularly to 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 reach or dangerous, such as disaster search and rescue, fire scene investigation, and forest patrol.

[0003] Because quadruped robots operate in complex environments, their battery and control modules require frequent maintenance or replacement. However, existing quadruped robots require disassembling the main frame before repairing or replacing these modules, resulting in inefficient assembly and disassembly. Utility Model Content

[0004] This application provides a body and a quadruped robot, aiming to solve at least one of the above-mentioned technical problems.

[0005] The first aspect of this application provides a fuselage body, which includes a fuselage frame, a battery module, and a control module. The fuselage frame has a receiving cavity and a first mounting port and a second mounting port communicating with the receiving cavity. The openings of the first mounting port and the second mounting port have different orientations. The battery module is inserted and removed into the receiving cavity through the first mounting port, and the control module is inserted and removed into the receiving cavity through the second mounting port.

[0006] In some embodiments, the first mounting port and the second mounting port are oriented in opposite directions; In some embodiments, the first mounting port and the second mounting port are offset along a second direction.

[0007] In some embodiments, the control module has a control insertion end and a control bottom end disposed opposite to each other along the insertion / removal direction, the control bottom end having a wiring area, and the control insertion end being inserted into the receiving cavity through the second mounting port.

[0008] In some embodiments, the battery module includes a large end and a small end, the small end being inserted into the receiving cavity through the first mounting port; In some embodiments, the battery module further includes a locking device for securing the battery module and / or the control module within the accommodating cavity.

[0009] In some embodiments, the accommodating cavity includes a first accommodating cavity and a second accommodating cavity, the first accommodating cavity being disposed below the second accommodating cavity, the battery module being disposed within the first accommodating cavity, and the control module being disposed within the second accommodating cavity.

[0010] In some embodiments, a friction-reducing component is provided on the inner wall surface of the first accommodating cavity, the friction-reducing component protruding toward the first accommodating cavity; when the battery module is inserted into or pulled out of the first accommodating cavity, the friction-reducing component abuts against the battery module and is used to reduce the friction between the battery module and the body frame.

[0011] In some embodiments, the friction-reducing component includes at least one of a plastic layer, a graphite layer, and a rolling element; And / or, the friction-reducing component extends along the insertion / removal direction of the battery module.

[0012] In some embodiments, one of the fuselage frame and the control module is provided with a sliding groove, and the other of the fuselage frame and the control module is provided with a sliding part adapted to the sliding groove. The control module and the fuselage frame are slidably connected through the sliding groove and the sliding part, so that the control module can be slidably inserted into the receiving cavity or slidably pulled out from the receiving cavity.

[0013] In some embodiments, the battery module further includes a locking device, the locking device including a first locking component, the first locking component being used to lock the control module within the accommodating cavity; The first locking component is disposed on the sliding portion, and the first locking component can be unfolded along the second direction so that the locking component and the sliding portion respectively abut against the opposite sides of the slide groove.

[0014] In some embodiments, the battery module further includes a locking device, the locking device further includes a second locking component, the second locking component is provided on one of the body frame and the battery module, and a locking groove is provided on the other; the second locking component is used to lock the battery module in the receiving cavity; The second locking assembly includes a rotating assembly and a locking rod assembly. The locking rod assembly includes a movably disposed locking rod member, which has a locking tongue and a locking rod groove. The locking tongue has a first position inserted into the locking groove and a second position disengaged from the locking groove. When the locking tongue switches from the first position to the second position, the battery module switches from a locked state to an unlocked state. The rotating assembly includes a rotating handle and a driving part, at least a portion of which is rotatably disposed within the locking bar groove to drive the locking tongue to switch between a first position and a second position.

[0015] A second aspect of this application provides a quadruped robot, the quadruped robot comprising the aforementioned frame or the aforementioned main body.

[0016] Beneficial effects: In the main body provided in this application embodiment, by providing a first mounting port and a second mounting port with different opening orientations on the main body, the battery module is inserted and removed into the accommodating cavity through the first mounting port, and the control module is inserted and removed into the accommodating cavity through the second mounting port. This helps to improve the loading and unloading efficiency of the battery module and the control module, and avoids interference between the battery module and the control module during the insertion and removal process.

[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 This is a schematic diagram of the structure of one embodiment of the fuselage body provided in this application; Figure 2 yes Figure 1 A structural diagram of the fuselage from another perspective; Figure 3 This is a schematic diagram of the structure of one embodiment of the fuselage frame provided in this application; Figure 4 for Figure 3 A structural diagram of the fuselage frame from another perspective; Figure 5 for Figure 4 A magnified schematic diagram of the partial structure at point A in the middle; Figure 6 A schematic diagram of the structure of a control module provided in this application is shown in one embodiment. Figure 7 yes Figure 6 A magnified view of the structure at point B in the middle; Figure 8 A schematic diagram of the structure of an embodiment of the first locking component provided in this application; Figure 9 This is a partial structural schematic diagram of one embodiment of the battery module provided in this application; Figure 10 yes Figure 9 A schematic diagram of the battery module from another perspective; Figure 11 yes Figure 10 Schematic diagram of the cross section at point MM; Figure 12 yes Figure 11 Schematic diagram of the cross section at point N; Figure 13 This is a partial structural schematic diagram of one embodiment of the second locking component provided in this application; Figure 14 yes Figure 13 A schematic diagram of the second locking component from another perspective.

[0021] Explanation of reference numerals in the attached figures: 100. Body frame; 100a. Locking groove; 110. First side plate; 120. Second side plate; 130. First support plate; 140. Second support plate; 150. First receiving cavity; 150a. Groove; 151. First mounting port; 161. Third side plate; 162. Fourth side plate; 163. Rear side plate; 180. Second receiving cavity; 180a. Slide groove; 181. Second mounting port; 190. Friction-reducing component; 191. Threaded hole; 200, Control module; 200a, Control insertion end; 200b, Control bottom end; 201, Wiring area; 210, Sliding part; 211, Sliding insertion end; 211a, Sliding guide surface; 212, Storage slot; 300. Battery module; 310. Battery casing; 311. Front panel; 3111. Lock cavity; 3112. Handle receiving slot; 312. Pull-out handle; 400, First Direction; 500, Second Direction; 600. Second locking assembly; 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; 700, First locking assembly; 710, Supporting component; 720, Drive body; 721, First push block; 730, Drive component; 731, Drive rod; 732, Second push block; 7321, Third guide ramp. 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 reach or dangerous, such as disaster search and rescue, fire scene investigation, and forest patrol.

[0024] Because quadruped robots operate in complex environments, their battery and control modules require frequent maintenance or replacement. However, existing quadruped robots require disassembling the main frame before repairing or replacing these modules, resulting in inefficient assembly and disassembly.

[0025] Therefore, this application provides a main body and a quadruped robot. By incorporating a pluggable battery module and control module into the main body, the loading and unloading efficiency of the main body is improved. It should be noted that the quadruped robot is only one specific application scenario of the main body in this application; the main body can also be used in other similar scenarios, which are not limited here. The following description uses a quadruped robot with this main body as an example.

[0026] Specifically, this application provides a quadruped robot, which includes a main body and leg components (not shown in the figure) 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 14The fuselage body includes a fuselage frame 100, a battery module 300, and a control module 200. The fuselage frame 100 has a receiving cavity and an installation port communicating with the receiving cavity. The battery module 300 and the control module 200 are respectively inserted and removed into the receiving cavity through the installation port. In this embodiment, by having the battery module 300 and the control module 200 respectively inserted and removed into the receiving cavity through the installation port, the loading and unloading efficiency of the battery module 300 and the control module 200 is improved, thereby improving the loading and unloading efficiency of the fuselage body.

[0028] It should be noted that the battery module 300 being pluggable and detachable within the accommodating cavity can also be understood as the battery module 300 being pluggable and detachable connected to the fuselage frame 100. Similarly, the control module 200 being pluggable and detachable within the accommodating cavity can also be understood as the control module 200 being pluggable and detachable connected to the fuselage frame 100.

[0029] The battery module 300 is inserted and removed into the accommodating cavity via the mounting port. This means that by pushing or pulling the battery module 300, the battery module 300 located inside the accommodating cavity can be pulled out, or the battery module 300 located outside the accommodating cavity can be inserted into the accommodating cavity. Similarly, the control module 200 is inserted and removed into the accommodating cavity via the mounting port. This means that by pushing or pulling the control module 200, the control module 200 located inside the accommodating cavity can be pulled out, or the control module 200 located outside the accommodating cavity can be inserted into the accommodating cavity.

[0030] For ease of explanation, exemplarily, such as Figure 3 As shown, the first direction 400 is defined as the horizontal direction (that is, the length direction of the fuselage frame 100), the second direction 500 is defined as the vertical direction (that is, the height direction of the fuselage frame 100), and the third direction (that is, the depth direction of the first accommodating cavity 150, which can also be understood as the insertion and removal direction of the battery module 300 or the control module 200) are directions that are perpendicular to the first direction 400 and the second direction 500, respectively.

[0031] In some embodiments, please refer to Figure 6The control module 200 has a control insertion end 200a and a control bottom end 200b arranged opposite each other along its insertion / removal direction (e.g., a third direction, which can be understood as including two completely opposite directions, one being the insertion direction and the other the removal direction). The control bottom end 200b is provided with a wiring area 201, and the control insertion end 200a is inserted into the receiving cavity through the mounting port. Thus, the wiring area 201 on the control bottom end 200b of the control module 200, with centralized wiring through the wiring area 201, improves operational convenience. Simultaneously, during the insertion and removal of the control module 200, the control insertion end 200a, with minimal or no wiring, is inserted into the receiving cavity through the mounting port, which helps prevent the wire harness located in the wiring area 201 from being pressureled or pulled on the electrical connection parts, further improving the assembly efficiency of the control module 200 and enhancing the stability of the main body.

[0032] In some embodiments, the insertion direction of the battery module 300 is different from that of the control module 200. It is understood that by setting the insertion direction of the battery module 300 to be different from that of the control module in this embodiment, it is beneficial to avoid the wiring harness on the control module 200 affecting the insertion of the battery module 300, further improving the loading and unloading efficiency of the main body.

[0033] In some embodiments, the pull-out direction of the battery module 300 is different from that of the control module 200. It is understood that by setting the pull-out direction of the battery module 300 to be different from that of the control module in this embodiment, it is beneficial to avoid the wiring harness on the control module 200 affecting the pull-out of the battery module 300, further improving the loading and unloading efficiency of the main body.

[0034] Specifically, the insertion direction of the battery module 300 is opposite to the insertion direction of the control module 200, and / or the removal direction of the battery module 300 is opposite to the removal direction of the control module 200. This helps to further avoid interference between the battery module 300 and the control module 200 during insertion or removal, and further improves the loading and unloading efficiency of the main body.

[0035] In some embodiments, along the insertion / removal direction of the battery module 300, the battery module 300 includes a large end (e.g., the end of the battery module 300 with a front panel 311) and a small end, the small end being inserted into the receiving cavity through the mounting port. This facilitates the insertion of the battery module 300 into the receiving cavity through the mounting port.

[0036] Specifically, such as Figure 1As shown, the battery module 300 has a front panel 311 (described in detail below) at one end, which is a larger end. The front panel 311 is used to cover or seal the mounting port (e.g., the first mounting port 151) of the battery module 300. The smaller end of the battery module 300 is inserted into the receiving cavity through the mounting port (e.g., the first mounting port 151) in the insertion direction. Figure 2 and Figure 3 As shown, the control module 200 is inserted into the accommodating cavity through the mounting port (e.g., the second mounting port 181) in a direction opposite to the insertion direction of the battery module 300. This allows the battery module 300 and the control module to be staggered, which helps improve the structural compactness of the main body.

[0037] In some embodiments, to avoid problems caused by the control module 200 or battery module 300 becoming loose or falling off within the accommodating cavity, the battery module 300 further includes a locking device for securing the battery module 300 and / or the control module 200 within the accommodating cavity.

[0038] In some embodiments, such as Figures 2 to 4 As shown, the accommodating cavity includes a first accommodating cavity 150 and a second accommodating cavity 180. The body frame 100 is provided with a first mounting port 151 communicating with the first accommodating cavity 150 and a second mounting port 181 communicating with the second accommodating cavity 180. The first accommodating cavity 150 is disposed below the second accommodating cavity 180, and the battery module 300 is disposed within the first accommodating cavity 150; the control module 200 is disposed within the second accommodating cavity 180. Furthermore, the battery module 300 and the control module 200 are stacked. This allows for the separation of the mounting areas of the control module 200 and the battery module 300, which helps to further avoid interference between the control module 200 and the battery module 300.

[0039] Understandably, the battery module is generally heavier than the control module 200. Placing the battery module 300 below the control module 200 can lower the center of gravity of the quadruped robot, which helps to improve the stability of the quadruped robot.

[0040] It should be noted that the main structural components of a quadruped robot are generally made of metal, and in order to increase its working time outdoors, it is generally necessary to configure a large battery module 300, which places high demands on the effective battery assembly volume provided by the body frame 100; at the same time, the body frame 100 needs to have high mechanical strength to bear the load.

[0041] For example, in addition to mounting the battery module 300 and the control module 200, the body frame 100 can also mount and support camera modules, motor modules, sensor components, etc., without limitation.

[0042] In some embodiments of this application, the shape of the outer contour of the battery module 300 is adapted to the shape of the first accommodating cavity 150, so that the battery module 300 can be conveniently inserted into or pulled out of the first accommodating cavity 150.

[0043] For example, taking the battery module 300 as having a generally cuboid structure, the first accommodating cavity 150 is also generally cuboid in shape.

[0044] Specifically, such as Figures 2 to 4 As shown, the fuselage frame 100 includes a first support plate 130 and a second support plate 140 disposed opposite each other along a first direction 400, and a first side plate 110 and a second side plate 120 disposed opposite each other along a second direction 500. The first support plate 130, the second support plate 140, the first side plate 110, the second side plate 120, and the rear side plate 163 enclose the first receiving cavity 150; the rear side plate 163 is disposed opposite to the first mounting port 151. At least one of the first support plate 130, the second support plate 140, the first side plate 110, and the second side plate 120 has the friction-reducing component 190 on the side facing the first receiving cavity 150. This simplifies the structure of the fuselage frame 100 and improves assembly efficiency.

[0045] For example, the first support plate 130 is inserted and connected to the first side plate 110 and the second side plate 120 at both ends along the first direction 400, 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.

[0046] For example, the second support plate 140 is inserted and connected to the first side plate 110 and the second side plate 120 at both ends along the first direction 400, 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.

[0047] In this embodiment, along the first direction 400, both 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 both 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 by means of insertion connection. In addition, the first support plate 130 and the second support plate 140 may also adopt other detachable connection methods, for example: both ends of the first support plate 130 are respectively snap-fitted or threaded to the first side plate 110 and the second side plate 120, which is not limited here.

[0048] In some embodiments, the fuselage frame 100 further includes a third side plate 161 disposed along a second direction 500. Exemplarily, the first side plate 110 and the second side plate 120 are both connected to the third side plate 161, and the first side plate 110, the second side plate 120, the third side plate 161 and the first support plate 130 enclose a second receiving cavity 180.

[0049] In some embodiments, the chassis frame 100 further includes a fourth side plate 162, which is disposed opposite to the third side plate 161 along a second direction 500. Exemplarily, a first side plate 110 and a second side plate 120 are disposed between the third side plate 161 and the fourth side plate 162, with the first side plate 110 connected to both the third side plate 161 and the fourth side plate 162, and the second side plate 120 connected to both the third side plate 161 and the fourth side plate 162. As another example, the fourth side plate 162 and the third side plate 161 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 in this application to have high rigidity and low mass, which helps to reduce the energy consumption of the quadruped robot in this application and increase its service life.

[0050] Please refer to some embodiments of this application. Figures 2 to 4 The fuselage frame 100 has a first receiving cavity 150, and a friction-reducing component 190 is provided on the inner wall surface of the first receiving cavity 150; the friction-reducing component 190 protrudes toward the first receiving cavity 150. When the battery module 300 moves relative to the fuselage frame 100, for example, when the battery module 300 is inserted into or pulled out of the first receiving cavity 150 through the first mounting port 151, the friction-reducing component 190 abuts against the battery module 300 and is used to reduce the friction between the battery module 300 and the fuselage frame 100, which can also be understood as reducing the friction between the battery module 300 and the inner wall surface of the first receiving cavity 150.

[0051] To further reduce the friction between the battery module 300 and the body frame 100, friction-reducing components 190 are provided, for example, on the inner wall surfaces of the first support plate 130, the second support plate 140, the first side plate 110, and the second side plate 120. Of course, in other embodiments of this application, friction-reducing components 190 may be provided only on the first support plate 130, or only on the first support plate 130 and the second support plate 140; this is not a limitation.

[0052] For example, the first support plate 130, the second support plate 140, the first side plate 110, and the second side plate 120 are all metal plates, which can also be understood as the first support plate 130, the second support plate 140, the first side plate 110, and the second side plate 120 being sheet metal parts. This helps to improve the overall rigidity of the fuselage frame 100. Of course, in other embodiments of this application, the first support plate 130, the second support plate 140, the first side plate 110, and the second side plate 120 may also be other structural components with high rigidity, such as engineering plastic plates or carbon fiber composite plates, which are not limited here.

[0053] For example, the friction-reducing component 190 can be a component made of self-lubricating material or a rolling element. When the battery module 300 moves relative to the friction-reducing component 190 or the body frame 100, the component made of self-lubricating material or the rolling element abuts against the battery module 300, thereby reducing the friction between the battery module 300 and the body frame 100.

[0054] For example, the top surface of the friction-reducing component 190 (i.e., the side facing the first accommodating cavity 150) may protrude slightly relative to its inner wall surface (e.g., the side of the first support plate 130 facing the first accommodating cavity 150, as described in detail below). For instance, the top surface of the friction-reducing component 190 may protrude 0.1 cm to 1 cm relative to the direction of its inner wall facing the center of the first accommodating cavity 150. In this way, the large size of the friction-reducing component 190 can be avoided from occupying space in the first accommodating cavity 150, which is beneficial to increasing the effective assembly volume of the battery module 300 in the body frame, thereby enabling the adaptation of a larger capacity battery module 300 and improving the battery life of the quadruped robot.

[0055] It is important to emphasize that in related technologies, the battery module 300 is assembled by setting one of the guide rails or sliders within the body frame 100 and the other of the guide rails or sliders on the battery module 300, with the guide rails and sliders engaging. Since the battery module 300 mounted on a quadruped robot is generally heavy, the corresponding guide rails are relatively large, resulting in a reduction in the effective volume for mounting the battery module 300. Improving the effective volume of the battery module 300 within the limited battery assembly space, while simultaneously ensuring easy disassembly and minimal damage during disassembly, has been a pressing problem for researchers. In this embodiment, by providing a friction-reducing component 190 on the inner wall of the first accommodating cavity 150, and the friction-reducing component 190 slightly protruding towards the first accommodating cavity 150, the effective volume of the battery module 300 is improved while mitigating wear during insertion and removal of the battery module.

[0056] To further reduce the friction between the battery module 300 and the body frame 100, friction-reducing components 190 are provided on the inner wall where the battery module 300 contacts the first accommodating cavity 150.

[0057] In some embodiments of this application, in order to further reduce the friction between the battery module 300 and the body frame 100, the body frame 100 includes a plurality of friction-reducing component groups, which are spaced apart along the length direction (i.e., the first direction 400) and / or the height direction (i.e., the second direction 500) of the battery module 300; each friction-reducing component group includes at least one friction-reducing component 190.

[0058] Specifically, taking the friction-reducing component 190 as a plastic strip as an example, multiple plastic strips are provided on the first support plate 130 and / or the second support plate 140. Each plastic strip extends along the insertion / removal direction of the battery module 300 (i.e., the third direction). The top surface of each plastic strip abuts against the corresponding surface on the battery module 300. One or more plastic strips extending along the insertion / removal direction of the battery module 300 constitute a friction-reducing component group. Multiple friction-reducing component groups located on the first support plate 130 or the second support plate 140 are spaced apart along the length direction of the battery module 300 (i.e., the first direction 400). In this way, the contact area between the friction-reducing component 190 and the battery module 300 can be increased, further reducing the friction between the battery module 300 and the body frame 100.

[0059] For example, the first side plate 110 and / or the second side plate 120 are provided with a plurality of plastic strips, each of which extends along the insertion and removal direction of the battery module 300 (i.e., the third direction), and the top surface of each plastic strip abuts against the corresponding surface on the battery module 300. One or more plastic strips extending along the insertion and removal direction of the battery module 300 constitute a friction-reducing component group. The plurality of friction-reducing component groups on the first side plate 110 and / or the second side plate 120 are spaced apart along the height direction of the battery module (i.e., the second direction 500). In this way, the contact area between the friction-reducing component 190 and the battery module 300 can be increased, and the friction between the battery module 300 and the body frame 100 can be further reduced.

[0060] In some embodiments, the friction-reducing component 190 is a friction-reducing component 190 made of a self-lubricating material. It is understood that the friction-reducing component 190 made of a self-lubricating material has good lubrication properties. When the battery module 300 abuts against and moves relative to the friction-reducing component 190 fixed to the inner wall of the first accommodating cavity 150, the friction between the friction-reducing component 190 and the battery module 300 can be reduced due to the good self-lubricating properties of the friction-reducing component 190.

[0061] For example, the friction-reducing component 190 is a self-lubricating plastic strip. Further, the self-lubricating plastic strip includes at least one of polytetrafluoroethylene (PTFE), nylon, polyoxymethylene (POM), polyimide, and ultra-high molecular weight polyethylene (UHMWPE). It is understood that PTFE, nylon, POM, polyimide, and UHMWPE all have good self-lubricating effects, which helps reduce the friction between the battery module 300 and the inner wall of the first accommodating cavity 150. Simultaneously, the self-lubricating plastic strip also has a certain degree of elasticity, which improves its adaptability to the battery module 300, increases its applicability, and maximizes the effective assembly volume of the battery module 300 within a limited space.

[0062] Furthermore, to facilitate the installation of the plastic protrusion on the frame 100 and improve its stability, the inner wall of the first accommodating cavity 150 is provided with a groove 150a that matches the plastic protrusion. The groove 150a communicates with the first accommodating cavity 150, and the plastic protrusion is embedded in the groove 150a. Specifically, the inner walls of the first bearing plate 130, the second bearing plate 140, the first side plate 110, and the second side plate 120 are all provided with grooves 150a, and the plastic protrusion is embedded in the corresponding groove 150a.

[0063] In some embodiments, the inner wall surface of the first accommodating cavity 150 is provided with a groove 150a adapted to the plastic protrusion, and the plastic protrusion is fixed in the groove 150a. Exemplarily, the plastic protrusion is provided with a threaded hole 191, through which the plastic protrusion is fixed in the groove 150a. Another exemplary embodiment is that the plastic protrusion is fixed in the groove 150a by an adhesive layer. Of course, the plastic protrusion can also be fixed in the groove 150a by other fixing methods, which are not limited here.

[0064] In some embodiments, the friction-reducing component 190 may also be a graphite material layer. Taking the friction-reducing component 190 as a graphite layer as an example, the graphite layer can be obtained by mechanical exfoliation or chemical vapor deposition, and then the graphite layer is disposed on the inner wall surface of the first accommodating cavity 150. It is understood that the high mechanical strength and good chemical stability of the graphite layer enable it to be used for a long time under high load conditions without significant wear, which helps to reduce the friction between the battery module 300 and the inner wall of the first accommodating cavity 150, improve the stability of the body frame 100, and maximize the effective assembly volume of the battery module 300 within a limited space.

[0065] In some embodiments, the friction-reducing component 190 is a rolling component that can roll relative to the inner wall surface under external force. Exemplarily, the rolling component is a ball or roller, and is rotatably fixed to the inner wall surface. During the process of the battery module 300 being inserted into or removed from the first receiving cavity 150 through the first mounting port 151, the battery module 300 abuts against the rolling component and drives the rolling component to roll, thereby reducing the friction between the battery module 300 and the body frame 100.

[0066] Specifically, the inner wall surface of the first support plate 130 is provided with a groove 150a, and the ball is rotatably disposed in the corresponding groove 150a, with the top surface of the ball slightly protruding from the inner surface of the first support plate 130. Similarly, the inner surfaces of the second support plate 140, the first side plate 110, and the second side plate 120 may also be provided with balls, which is not limited here.

[0067] In some embodiments, please combine Figure 3 , Figure 4 and Figure 6One of the fuselage frame 100 and the control module 200 is provided with a sliding groove 180a, and the other of the fuselage frame 100 and the control module 200 is provided with a sliding part 210 adapted to the sliding groove 180a. The control module 200 and the fuselage frame 100 are slidably connected through the sliding groove 180a and the sliding part 210, so that the control module 200 can be slidably inserted into or slidably pulled out of the receiving cavity. In this way, the control module 200 can be easily pulled out of or inserted into the corresponding receiving cavity.

[0068] Unless otherwise specified, the following explanation will be based on the example of a machine body with a sliding groove and a control module with a sliding part.

[0069] For example, the control module 200 has a sliding part 210, and the body frame 100 is provided with a sliding groove 180a. The sliding groove 180a is disposed in a third direction on the inner wall of the second receiving cavity 180 (for example, on the inner wall surface of the first side plate 110 and the second side plate 120 near the end of the third side plate 161). The sliding part 210 can slide along the sliding groove 180a so that the control module 200 can be slidably inserted into or pulled out of the second receiving cavity 180.

[0070] Specifically, sliding portions 210 are formed at the edges of both ends of the control module 200 along its longitudinal direction, which helps to improve the structural compactness of the control module 200.

[0071] In some embodiments, please refer to Figures 6 to 8 The locking device includes a first locking component 700, which is used to lock the control module 200 within the second accommodating cavity 180. Exemplarily, the first locking component 700 is disposed on the sliding portion 210, and the first locking component 700 is deployable along a second direction 500, so that the first locking component 700 and / or the sliding portion 210 respectively abut against opposite sides of the slide groove 180a.

[0072] Specifically, after the control module 200 is inserted and installed in the second accommodating cavity 180 along the third direction, the first locking component 700 is unfolded along the second direction 500. At this time, the first locking component 700 and the sliding part 210 respectively abut against the opposite sides of the slide groove 180a. At this time, the control module 200 is locked and fixed, thereby effectively preventing the control module 200 from loosening, shifting or falling off during use.

[0073] In some embodiments, please refer to Figure 6 and Figure 7The sliding portion 210 is provided with a receiving groove 212, and a first locking component 700 is disposed within the receiving groove 212. The first locking component 700 can be unfolded along the second direction 500 to extend out of the receiving groove 212 and abut against one side of the sliding groove 180a. This helps to further improve the structural compactness of the control module 200. At the same time, the first locking component 700 is disposed within the receiving groove 212, which can protect the first locking component 700 within it, thus improving the stability of the control module 200. In addition, the design of the receiving groove 212 ensures that the first locking component 700 does not protrude from the sliding portion 210 before unfolding, thereby allowing for a tighter fit between the sliding groove 180a and the sliding portion 210, which better guides the control module 200 during installation in the second receiving cavity 180 along the third direction.

[0074] In some embodiments, the control module 200 is further provided with a control hole extending into the receiving groove 212. The control hole is used by an external driving component to drive the first locking assembly 700 to unfold along the second direction 500. The external driving component can extend into the receiving groove 212 through the control hole and control the first locking assembly 700 in the receiving groove 212 to unfold along the second direction 500 to extend out of the receiving groove 212, or to retract along the second direction 500 to retract into the receiving groove 212.

[0075] In some embodiments, please refer to Figure 7 and Figure 8 The first locking assembly 700 includes a supporting member 710, a driving body 720, and a driving member 730. The driving body 720 is connected to the sliding part 210, and the driving member 730 is movably connected to the driving body 720. The driving member 730 can move along the driving body 720 under the drive of an external force, and can drive the supporting member 710 to move along the second direction 500 to move away from the driving body 720, thereby causing the first locking assembly 700 to unfold along the second direction 500.

[0076] For example, a first pushing block 721 is provided on the drive body 720, and the drive member 730 includes a drive rod 731 and a second pushing block 732. The drive rod 731 is movably disposed at one end of the drive body 720, and the second pushing block 732 is sleeved on the drive rod 731. The first pushing block 721 is located at the other end of the drive body 720, and the abutment member 710 is at least partially located between the first pushing block 721 and the second pushing block 732, with both ends of the abutment member 710 abutting against the first pushing block 721 and the second pushing block 732, respectively. When the drive rod 731 moves on the drive body 720, it can drive the first pushing block 721 to move toward the abutment member 710. Through the cooperation of the first pushing block 721 and the second pushing block 732, the abutment member 710 is driven to move along the second direction 500 away from the drive body 720, causing the first locking assembly 700 to unfold along the second direction 500.

[0077] This embodiment uses the first pushing block 721 and the second pushing block 732 to press against both ends of the abutment 710, so as to drive it to move more stably along the second direction 500 away from the driving body 720 and fit against one side of the slide groove 180a.

[0078] In some embodiments, the drive rod 731 can be a threaded structure such as a screw or bolt to be threadedly connected to the drive body 720. When the drive rod 731 rotates in one direction, it can drive the first push block 721 to move toward the abutment 710. At this time, through the cooperation of the first push block 721 and the second push block 732, the abutment 710 can be driven to move along the second direction 500 away from the drive body 720. When the drive rod 731 rotates in another direction, it can drive the first push block 721 to move away from the abutment 710, thereby realizing the first locking assembly 700 unfolding along the second direction 500.

[0079] In some embodiments, please refer to Figures 9 to 14 The locking device further includes a second locking component 600. The second locking component 600 is provided on one of the fuselage frame 100 and the battery module 300, and a locking groove 100a is provided on the other of the fuselage frame 100 and the battery module 300. The second locking component 600 is used to lock the battery module 300 within the first accommodating cavity 150. Unless otherwise specified, the following description uses an example where the fuselage frame 100 has a locking groove 100a and the battery module 300 has a second locking component 600.

[0080] For example, the body frame 100 is provided with a locking groove 100a communicating with the first receiving cavity 150; the battery module 300 is provided with a second locking component 600. When the battery module 300 is installed in place, by driving the locking tongue of the second locking component 600 into the locking groove 100a, the battery module 300 is locked in the first receiving cavity 150, that is, the battery module 300 is in a locked state and cannot move relative to the first receiving cavity 150. When it is necessary to remove the battery module 300 from the first receiving cavity 150, the locking tongue of the second locking component 600 is driven to disengage from the locking groove 100a, the battery module 300 is unlocked, and at this time the battery module 300 can be pulled so that it can be removed from the first receiving cavity 150.

[0081] The second locking assembly 600 includes a rotating assembly 610 and a locking rod assembly 620. The rotating assembly 610 includes a rotating member 611, and the locking rod assembly 620 includes a locking rod member 621. The locking rod member 621 includes a locking tongue 6211 adapted to the locking groove 100a. The locking rod assembly 620 is disposed within the locking cavity 3111 and is movable 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 (shown) and a second position (not shown) received in the lock cavity 3111; when the latch 6211 is in the first position, it is inserted into the locking groove 100a so that the battery module 300 is locked in the first receiving cavity 150; when the latch 6211 is in the second position, the battery module 300 is in an unlocked state so that the battery module 300 can be pulled out from the first receiving cavity 150; the rotating member 611 is fixed on the battery module 300 and can rotate relative to the battery module 300 under the drive of external force. During the rotation, the rotating member 611 drives the locking rod 621 located in the lock cavity 3111 to move along the extension direction of the lock cavity 3111 so that the latch 6211 switches between the first position and the second position.

[0082] In this embodiment, the rotating component 611 is driven to rotate relative to the battery module 300. 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 battery module 300 within the first receiving cavity 150. At this time, the locking tongue 6211 interferes with the inner wall surface of the locking groove 100a, preventing the battery module 300 from being pulled out of the first receiving cavity 150. In the second position, the locking tongue 6211 releases the interference with the inner wall surface of the locking groove 100a, and the battery module 300 is in an unlocked state, allowing it to be pulled out of the first receiving cavity 150. This improves the convenience of locking and unlocking the battery module 300 and enhances the user experience.

[0083] In some embodiments of this application, the rotating member 611 drives the locking rod member 621 to move linearly within the locking cavity 3111 during rotation, thereby switching the locking tongue 6211 between a first position and a second position. This simplifies the second locking assembly 600, makes it easier to operate, reduces manufacturing costs, and improves stability.

[0084] In some embodiments of this application, the extension / retraction direction of the latch 6211 is set at an angle to the insertion / removal direction of the battery module 300. Specifically, 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 from the lock cavity 3111. The insertion / removal direction of the battery module 300 refers to the direction in which the battery module 300 is inserted into the first receiving cavity 150 or the direction in which the battery module 300 is pulled out of the first receiving cavity 150. Exemplarily, the extension or retraction direction of the latch 6211 is perpendicular to the insertion / removal direction of the battery module 300. Specifically, the latch 6211 extends out of the lock cavity 3111 along a first direction 400 to switch from a second position to a first position, or the latch 6211 retracts into the lock cavity 3111 along the first direction 400 to switch from a first position to a second position. Furthermore, the battery module 300 is inserted into the first accommodating cavity 150 along a third direction.

[0085] Thus, by setting the extension and retraction direction of the locking tongue 6211 at an angle to the insertion and removal direction of the battery module 300, the locking tongue 6211 can prevent the battery module 300 from moving along the insertion and removal direction when inserted into the locking groove 100a. This simplifies the second locking assembly 600, improves operational convenience, and further enhances the stability of the battery module 300 within the first receiving cavity 150. Of course, in 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 battery 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 battery module 300). The locking tongue located within the locking groove 100a interferes with the wall of the locking groove 100a, thereby limiting the movement of the battery module 300 along the insertion and removal direction. This is not limited here.

[0086] In some embodiments of this application, the battery module 300 includes a battery housing 310 and a battery module, the battery module being disposed within the battery housing 310. The battery housing 310 includes a front panel 311 adapted to the first mounting port 151. When the battery 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 battery 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 battery housing 310 can be protected, which helps improve 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 helps improve the integrity of the main body and prevents foreign objects from entering the first accommodating cavity 150 through the first opening and causing malfunctions.

[0087] In some embodiments of this application, the battery module 300 further includes a pull-out 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-out handle 312 are located on the same side of the front panel 311. Exemplarily, the pull-out handle 312 is located near the center of the front panel 311. Thus, when the battery module 300 is in the unlocked state, the battery module 300 can be easily pulled out of the first receiving cavity 150 by pulling the pull-out handle 312 outward.

[0088] 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 located within the locking cavity 3111 to move along the extending 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 located within the locking cavity 3111 to move along the extending 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.

[0089] Specifically, such as Figure 5 As shown, the driving part 6111 is a cam, and the second groove wall 6214 of the locking bar 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 gradually increases, thereby pushing the locking bar 621 to move to the right through the second groove wall 6214 that abuts against it. The locking bar 621 and the latch 6211 move to the right under the driving action of the cam, and the latch 6211 switches from the first position extending out of the lock cavity 3111 to the second position received in the lock cavity 3111, thereby unlocking the battery module 300. When the external force is removed, the rotating handle 6112, the cam, the latch 6211, and the locking bar 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 thereto.

[0090] In some embodiments of this application, please participate Figure 3 The front panel 311 also has 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 battery module 300 from being unlocked due to accidental contact with the rotating handle 6112.

[0091] 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 second locking assembly 600 and reducing the volume of the second locking assembly 600.

[0092] 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. 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 on the side near the locking tongue 6211.

[0093] 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 battery module 300 to be pushed into the first accommodating cavity 150, that is, during the process of the locking tongue 6211 switching from the first position to the second position, and 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. In other words, it is not necessary to drive the rotating handle 6112 to rotate so that the battery module 300 can be inserted into the first accommodating cavity 150, which is conducive to further improving the assembly convenience of the battery module 300.

[0094] In some embodiments of this application, the locking lever assembly 620 further includes a first reset member 622, which abuts against the locking lever 621 to maintain the latch 6211 in the first position when the locking lever 621 is not driven by an external force. In this embodiment, by providing the first reset member 622 in the second locking assembly 600, the latch 6211 is driven from the second position to the first position by the first reset member 622 when the locking lever 621 is not driven by an external force, which improves the ease of use of the second locking assembly 600.

[0095] 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.

[0096] 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.

[0097] 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 drive unit 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 second locking assembly 600.

[0098] In some embodiments of this application, the rotating assembly 610 further includes a second reset member 613, which is used to return the rotating member 611 to its initial position. Exemplarily, when the rotating member 611 is not subjected to external force, the second reset member 613 returns the rotating member 611 to its initial position.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0103] 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 fuselage body, characterized in that, The main body of the fuselage includes a fuselage frame, a battery module, and a control module; The housing frame has a receiving cavity and a first mounting port and a second mounting port communicating with the receiving cavity. The openings of the first mounting port and the second mounting port have different orientations. The battery module is inserted and removed into the receiving cavity through the first mounting port, and the control module is inserted and removed into the receiving cavity through the second mounting port.

2. The fuselage body as described in claim 1, characterized in that, The first mounting port and the second mounting port face opposite directions; And / or, the first mounting port and the second mounting port are offset along the second direction.

3. The fuselage body as described in claim 1, characterized in that, The control module has a control insertion end and a control bottom end that are arranged opposite to each other along the insertion and removal direction. The control bottom end is provided with a wiring area. The control insertion end is inserted into the receiving cavity through the second mounting port.

4. The fuselage body as described in any one of claims 1 to 3, characterized in that, The battery module includes a large end and a small end, and the small end is inserted into the receiving cavity through the first mounting port; And / or, the battery module further includes a locking device for securing the battery module and / or the control module within the accommodating cavity.

5. The fuselage body as described in claim 4, characterized in that, The accommodating cavity includes a first accommodating cavity and a second accommodating cavity, the first accommodating cavity being disposed below the second accommodating cavity, the battery module being disposed within the first accommodating cavity, and the control module being disposed within the second accommodating cavity.

6. The fuselage body as described in claim 5, characterized in that, The inner wall of the first accommodating cavity is provided with a friction-reducing component, which protrudes toward the first accommodating cavity. When the battery module is inserted into or pulled out of the first accommodating cavity, the friction-reducing component abuts against the battery module and is used to reduce the friction between the battery module and the body frame.

7. The fuselage body as described in claim 6, characterized in that, The friction-reducing component includes at least one of a plastic layer, a graphite layer, and a rolling element; And / or, the friction-reducing component extends along the insertion / removal direction of the battery module.

8. The fuselage body as described in claim 1, characterized in that, One of the fuselage frame and the control module is provided with a sliding groove, and the other of the fuselage frame and the control module is provided with a sliding part adapted to the sliding groove. The control module and the fuselage frame are slidably connected through the sliding groove and the sliding part, so that the control module can be slidably inserted into the receiving cavity or slidably pulled out of the receiving cavity.

9. The fuselage body as described in claim 8, characterized in that, The battery module further includes a locking device, which includes a first locking component for locking the control module within the accommodating cavity; The first locking component is disposed on the sliding portion, and the first locking component can be unfolded along the second direction so that the locking component and / or the sliding portion respectively abut against the opposite sides of the slide groove.

10. The fuselage body as described in claim 3, characterized in that, The battery module further includes a locking device, which in turn includes a second locking component. The second locking component is provided on one of the body frame and the battery module, and a locking groove is provided on the other. The second locking component is used to lock the battery module in the accommodating cavity. The second locking assembly includes a rotating assembly and a locking rod assembly. The locking rod assembly includes a movably disposed locking rod member, which has a locking tongue and a locking rod groove. The locking tongue has a first position inserted into the locking groove and a second position disengaged from the locking groove. When the locking tongue switches from the first position to the second position, the battery module switches from a locked state to an unlocked state. The rotating assembly includes a rotating handle and a driving part, at least a portion of which is rotatably disposed within the locking bar groove to drive the locking tongue to switch between a first position and a second position.

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

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