Body and quadruped robot

Abstract

The application relates to a fuselage main body and a quadruped robot, the fuselage main body comprising a fuselage frame, an elastic module, a battery module and a locking structure. The fuselage frame and the battery module are in plug-in connection, the battery module can be taken out from the fuselage frame by dragging the battery module, and the efficiency of assembling and disassembling the battery module is improved. Meanwhile, the fuselage main body further comprises a locking structure and an elastic module, the locking structure can lock the assembled battery module in the first accommodating cavity, and faults caused by loosening or falling of the battery module are avoided. Meanwhile, when the battery module is in an unlocked state, the battery module can be ejected from the first accommodating cavity under the driving action of the elastic module, and the problem that the battery module is locked again and is inconvenient to use because an operator does not take the battery module out from the fuselage main body in time in the process of repairing or replacing the battery module is avoided.

Description

Technical Field

[0001] This application relates to the field of quadruped robot technology, and more particularly to a body body and a quadruped robot having the body body. 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 robots to perform complex movements, overall structural stability is required to prevent parts from falling off during movement.

[0003] To prevent battery modules mounted on quadruped robots from loosening or falling off, relevant technologies typically employ a locking mechanism to secure the battery modules to the robot body. When the battery module needs repair or replacement, operators must unlock the locking mechanism to release the battery module from the locked state and remove it from the robot body. However, because the battery modules on quadruped robots are generally heavy, removal is difficult. Furthermore, if the operator does not remove the battery module from the robot body promptly after unlocking, the locking mechanism may reset under the action of a reset mechanism, potentially relocking the battery module and requiring unlocking again for removal. This leads to inconvenience in battery module repair or replacement. Utility Model Content

[0004] This application provides a main body and a quadruped robot, aiming to solve the problem of inconvenient maintenance or replacement of existing battery modules.

[0005] The first aspect of this application provides a fuselage body, including: a fuselage frame, an elastic module, a battery module, and a locking structure;

[0006] The fuselage frame is provided with a first accommodating cavity and a first mounting port communicating with the first accommodating cavity. The elastic module is disposed in the first accommodating cavity, and the battery module can be plugged into and detached from the first mounting port in the first accommodating cavity.

[0007] One of the fuselage frame and the battery module is provided with a locking groove, and the other of the fuselage frame and the battery module is provided with a locking cavity;

[0008] The locking structure is at least partially disposed within the lock cavity, and the locking structure includes a bolt having a first position extending out of the lock cavity and a second position received within the lock cavity;

[0009] When the battery module is located in the first accommodating cavity, the locking cavity is connected to the locking groove. When the locking tongue is in the first position, it is inserted into the locking groove so that the battery module is locked in the first accommodating cavity and the elastic module is compressed. When the locking tongue is switched from the first position to the second position, the battery module is in the unlocked state, and at least part of the battery module is ejected from the first accommodating cavity under the driving action of the elastic module.

[0010] In some embodiments, the locking structure further includes a drive mechanism, which includes a motor or a rotating assembly. The drive mechanism is driven to the latch and is used to drive the latch to switch between the first position and the second position.

[0011] And / or, the direction in which the latch switches between the first position and the second position is set at an angle to the insertion / removal direction of the battery module.

[0012] In some embodiments, the rotating assembly includes a rotating handle, which is rotatably disposed on the battery module. When the latch is in the first position, the rotating handle is attached to or embedded in a storage slot opened in the battery module.

[0013] When the latch is in the second position, the rotating handle rotates to at least partially leave the battery module and extends outside the battery module.

[0014] In some embodiments, the locking structure is symmetrically arranged at opposite ends of the battery module, and the rotating handle is provided with a lifting handle.

[0015] In some embodiments, the rotating assembly includes a rotating member, which includes a rotating handle and a driving part connected to each other. The rotating handle is disposed on the front panel of the battery module, the locking cavity is disposed within the front panel, and the driving part extends at least partially into the locking cavity, so that the rotating handle and the driving part drive the locking tongue to switch between the first position and the second position during rotation. In some embodiments, the body frame includes a rear side plate disposed opposite to the first mounting port; the elastic module is fixed to the rear side plate.

[0016] When the battery module is located in the first accommodating cavity, the elastic module abuts against the rear side plate and the battery module respectively.

[0017] In some embodiments, the fuselage body includes a plurality of elastic modules, which are spaced apart along the length of the rear side plate;

[0018] Alternatively, the main body may include a plurality of elastic modules, which are spaced apart along the length of the battery module.

[0019] In some embodiments, the elastic module includes an elastic member and a retaining member, the elastic member abutting against the battery module via the retaining member, and the retaining member being movable along the insertion / removal direction of the battery module under the combined action of the battery module and the elastic member.

[0020] In some embodiments, the rear side plate is provided with a guide limiting cavity, and the abutment and the elastic member are at least partially located in the guide limiting cavity, which is used to limit the movement trajectory of the abutment.

[0021] In some embodiments, the abutment includes an abutment top, a abutment bottom, and an abutment side connecting the abutment top and the abutment bottom, the abutment top and the abutment side forming an elastic mounting cavity, the abutment bottom being disposed within the guide limiting cavity, and the guide limiting cavity limiting the movement trajectory of the abutment;

[0022] And / or, the elastic element includes a spring, the elastic module further includes a base, the base has a protrusion on one side facing the first accommodating cavity, the spring is sleeved on the protrusion and disposed between the protrusion and the inner wall of the abutment or the guide limiting cavity.

[0023] In some embodiments, the locking structure further includes a locking rod assembly, the locking rod assembly including a locking rod member, the locking rod member including the locking tongue, the locking rod member having a locking rod groove communicating with the lock cavity, at least a portion of the driving part being rotatably disposed within the locking rod groove, the driving part located within the locking rod groove abutting against the wall of the locking rod groove during rotation, thereby driving the locking rod member located within the lock cavity to move along the extension direction of the lock cavity.

[0024] A second aspect of this application provides a quadruped robot, the quadruped robot including the aforementioned main body.

[0025] The fuselage body provided in this embodiment includes a fuselage frame and a battery module. The fuselage frame and battery module are connected by a plug-in connection, allowing the battery module to be removed from the fuselage frame by dragging it, which improves the efficiency of battery module installation and removal. The fuselage body also includes a locking structure and a spring-loaded module. The locking structure can lock the assembled battery module securely within the first receiving cavity, preventing malfunctions caused by the battery module loosening or falling off. Furthermore, when the battery module is in the unlocked state, it can be ejected from the first receiving cavity under the driving action of the spring-loaded module. This helps prevent the battery module from being re-locked during maintenance or replacement due to operators not removing it from the fuselage body in time, thus avoiding inconvenience caused by the battery module being locked again.

[0026] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0027] 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.

[0028] 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.

[0029] Figure 1 A schematic diagram of the structure of one embodiment of the fuselage body of this application;

[0030] Figure 2 A schematic diagram of the structure of an embodiment of the fuselage frame of this application;

[0031] Figure 3 A three-dimensional assembly structure diagram of an embodiment of the front panel and locking structure of this application;

[0032] Figure 4 for Figure 3 Front view of the center front panel and locking structure;

[0033] Figure 5 for Figure 4 A schematic diagram of a partial cross-section at point MM;

[0034] Figure 6 for Figure 4 Schematic diagram of the cross section at point NN;

[0035] Figure 7This is a schematic diagram of one embodiment of the locking structure of this application;

[0036] Figure 8 for Figure 7 A schematic diagram of the locking structure from another perspective;

[0037] Figure 9 This is a partial structural diagram of another embodiment of the locking structure of this application;

[0038] Figure 10 A schematic diagram of an embodiment of the assembly structure of the rear side panel and the elastic module;

[0039] Figure 11 for Figure 10 Schematic diagram of the cross section at point LL;

[0040] Figure 12 This is a schematic diagram of the structure of one embodiment of the elastic module in this application;

[0041] Figure 13 for Figure 12 A structural schematic diagram of the flexible module from another perspective;

[0042] Figure 14 for Figure 13 A schematic diagram of the cross-section at EE.

[0043] Explanation of reference numerals in the attached figures:

[0044] 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; 191. Locking groove;

[0045] 200. Electrical control module;

[0046] 300. Battery module; 310. Battery casing; 311. Front panel; 3111. Lock cavity; 3112. Storage slot; 312. Pull-out handle;

[0047] 400, First Direction;

[0048] 500, Second Direction;

[0049] 600. Locking structure;

[0050] 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;

[0051] 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;

[0052] 630. Gap;

[0053] 640. Connecting rod;

[0054] 700, Elastic module; 710, Elastic element; 720, Supporting element; 721, Supporting top; 722, Supporting bottom; 723, Supporting side; 724, Elastic element mounting cavity; 730, Base; 731, Protruding post; 732, Groove.

[0055] 192. Guide limiting cavity; 193. Guide surface; 194. Limiting surface; 195. Socket hole; Detailed Implementation

[0056] 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.

[0057] 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.

[0058] To prevent battery modules mounted on quadruped robots from loosening or falling off, relevant technologies typically employ a locking mechanism to secure the battery modules to the robot body. When the battery module needs repair or replacement, operators must unlock the locking mechanism to release the battery module from the locked state and remove it from the robot body. However, because the battery modules on quadruped robots are generally heavy, removal is difficult. Furthermore, if the operator does not remove the battery module from the robot body promptly after unlocking, the locking mechanism may reset under the action of a reset mechanism, potentially relocking the battery module and requiring unlocking again for removal. This leads to inconvenience in battery module repair or replacement.

[0059] Therefore, this application provides a main body and a quadruped robot. The main body provided in this application includes a frame and a battery module, which are pluggable. The battery module can be removed from the frame by dragging it, which improves the efficiency of loading and unloading the battery module. The main body also includes a locking structure and a spring-loaded module. The locking structure can lock the assembled battery module securely in the first receiving cavity, preventing malfunctions caused by the battery module loosening or falling off. Furthermore, when the battery module is in the unlocked state, it can be ejected from the first receiving cavity under the driving action of the spring-loaded module. This avoids the problem of the battery module being re-locked and inconvenient to use if the operator fails to remove it from the main body in time during maintenance or replacement.

[0060] 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.

[0061] For example, please refer to Figures 1 to 14 The main body of the robot includes a frame 100, a battery module 300, a locking structure 600, and a resilient module 700. The battery module 300 provides power to the quadruped robot, the frame 100 provides support and mounting space for the battery module 300, and the locking structure 600 secures the battery module 300 to the frame 100 to prevent it from loosening or detaching. The resilient module 700 ejects the battery module 300 from the first receiving cavity 150 when the battery module 300 is in the unlocked state.

[0062] For example, the chassis frame 100 generally needs to have high mechanical strength to bear the load. Of course, in this embodiment, in addition to mounting the battery module 300, the chassis frame 100 can also mount and support the electronic control module 200, camera module, motor module, sensor components, etc., without limitation. It should be noted that the chassis body in this application can be used not only for quadruped robots, but also for other devices that require high convenience in installing and removing the battery module 300, without limitation.

[0063] Please refer to Figure 1 and Figure 2The housing frame 100 has a first accommodating cavity 150 and a first mounting port 151 communicating with the first accommodating cavity 150. The battery 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 battery module 300 into or removal of the battery module 300 from the first accommodating cavity 150.

[0064] For example, the first accommodating cavity 150 is adapted to the size and shape of the battery module 300. This allows for more efficient use of the space within the first accommodating cavity 150, increasing the volume of the battery module 300 within a limited space. This, in turn, improves the energy storage capacity of the battery module 300 and the working time of the quadruped robot. Specifically, for ease of production and assembly, the first accommodating cavity 150 is generally cubic in shape, and correspondingly, the battery module 300 is also cubic in shape. It should be noted that the first accommodating cavity 150 and the battery module 300 can also have other shapes, such as both being cylindrical. The specific shapes of the first accommodating cavity 150 and the battery module 300 are not a major improvement of this application and are not limited thereto.

[0065] Please continue reading for more details. Figure 2 One of the fuselage frame 100 and the battery module 300 is provided with a locking groove 191, please refer to [link / reference]. Figure 4 and Figure 5 The other of the fuselage frame 100 and the battery module 300 is provided with a locking cavity 3111. For example, the battery module 300 is provided with a locking groove 191, and the fuselage frame 100 is provided with a locking cavity 3111. Also for example, the battery module 300 is provided with a locking cavity 3111, and the fuselage frame 100 is provided with a locking groove 191. Unless otherwise specified, the following description will use the example of the battery module 300 having a locking cavity 3111 and the fuselage frame 100 having a locking groove 191.

[0066] Please continue reading for more details. Figure 5The locking structure 600 is at least partially disposed within the lock cavity 3111. The locking structure 600 includes a latch 6211, which has a first position extending out of the lock cavity 3111 and a second position (not shown) received within the lock cavity 3111. Exemplarily, the latch 6211 can be switched between the first and second positions by an external force. For example, the locking structure 600 includes a rotating member 611 drivenly connected to the latch 6211, which can switch the latch 6211 between the first and second positions, as described below. As another example, the locking structure 600 includes a drive motor drivenly connected to the latch 6211, which drives the latch 6211 to switch between the first and second positions. Of course, the latch 6211 can also be switched between the first and second positions by other driving methods, which are not limited here.

[0067] When the battery module 300 is located within the first accommodating cavity 150, the locking cavity 3111 communicates with the locking groove 191, thereby allowing the locking tongue 6211 located within the locking cavity 3111 to be inserted into the locking groove 191. Please refer to... Figure 1 , Figure 2 and Figure 5 When the locking tongue 6211 is in the first position, it is inserted into the locking groove 191 to lock the battery module 300 within the first receiving cavity 150; at this time, the elastic module 700 is compressed. When the locking tongue 6211 switches from the first position to the second position, the battery module 300 switches from a locked state to an unlocked state, and the battery module 300 can be ejected from the first receiving cavity 150 under the driving action of the elastic module 700. Thus, in this embodiment, the locking structure 600 can fix the battery module 300 within the first receiving cavity 150, which helps to prevent the assembled battery module 300 from loosening or falling out of the first receiving cavity 150. Meanwhile, the main body of the device is also equipped with an elastic module 700. The elastic module 700 can quickly pop the battery module 300, which is in the unlocked state, out of the first accommodating cavity 150. This can effectively prevent the battery module 300 from being locked again due to the operator not removing it from the main body in time, which would cause inconvenience in use.

[0068] In summary, this embodiment provides a main body, which includes a main body frame 100, an elastic module 700, a battery module 300, and a locking structure 600. The main body frame 100 has a first accommodating cavity 150 and a first mounting port 151 communicating with the first accommodating cavity 150. The elastic module 700 is disposed in the first accommodating cavity 150, and the battery module 300 can be plugged into and detached from the first mounting port 151 in the first accommodating cavity 150. One of the main body frame 100 and the battery module 300 has a locking groove 191, and the other of the main body frame 100 and the battery module 300 has a locking cavity 3111. The locking structure 600 is at least partially disposed in the locking cavity 3111, and the locking structure 600 includes a locking tongue 6211, which has a first position extending out of the locking cavity 3111 and a second position received in the locking cavity 3111. When the battery module 300 is located in the first accommodating cavity 150, the locking cavity 3111 is connected to the locking groove 191. When the locking tongue 6211 is in the first position, it is inserted into the locking groove 191. This can also be understood as the first position being the position where the locking tongue 6211 is inserted into the locking groove 191, so that the battery module 300 is locked in the first accommodating cavity 150. At this time, the elastic module 700 is compressed. When the locking tongue 6211 is switched from the first position to the second position, the battery module 300 is switched from the locked state to the unlocked state. Under the driving action of the elastic module 700, the battery module 300 is ejected from the first accommodating cavity 150. In this embodiment, the main body of the fuselage is connected to the battery module 300 via a plug-in connection, which improves the efficiency of installing and removing the battery module 300. Simultaneously, the main body also includes a locking structure 600 and a spring-loaded module 700. The locking structure 600 can lock the assembled battery module 300 securely within the first receiving cavity 150, preventing malfunctions caused by the battery module 300 becoming loose or falling off. Furthermore, when the battery module 300 is in the unlocked state, it can be ejected from the first receiving cavity 150 under the driving action of the spring-loaded module 700. This helps prevent the battery module 300 from being re-locked during maintenance or replacement if the operator fails to remove it from the main body in time, thus avoiding inconvenience caused by the battery module 300 being locked again.

[0069] For example, for ease of explanation, 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. Please refer to [link / reference]. Figure 1 and Figure 2The fuselage frame 100 includes a first side plate 110 and a second side plate 120 disposed opposite to each other along a first direction 400, and a first support plate 130 and a second support plate 140 disposed opposite to each other along a second direction 500.

[0070] For example, 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, 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.

[0071] For example, the two ends of the second support plate 140 are respectively inserted and connected to the first side plate 110 and the second side plate 120, so that the second support plate 140 can be more easily disassembled and assembled between the first side plate 110 and the second side plate 120.

[0072] In this embodiment, the two ends of the first support plate 130 are respectively inserted into the first side plate 110 and the second side plate 120, and the two ends of the second support plate 140 are respectively inserted into the first side plate 110 and the second side plate 120, so that the first support plate 130 and the second support plate 140 are detachably disposed between the first side plate 110 and the second side plate 120 by means of insertion connection. In addition, the first support plate 130 and the second support plate 140 also adopt other detachable connection methods, for example: the two ends of the first support plate 130 are respectively snapped into the first side plate 110 and the second side plate 120, and the two ends of the second support plate 140 are respectively snapped into the first side plate 110 and the second side plate 120, so that the first support plate 130 and the second support plate 140 are detachably disposed between the first side plate 110 and the second side plate 120 by means of snap-fit ​​connection.

[0073] 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.

[0074] In some embodiments, the two ends of the second support plate 140 are screwed to the first side plate 110 and the second side plate 120 respectively, so that the first support plate 130 can be more easily disassembled and assembled between the first side plate 110 and the second side plate 120, and the stability of the first support plate 130 after installation is better.

[0075] 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.

[0076] In some embodiments, the chassis frame 100 further includes a third side plate 160 disposed along a 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, the rear side plate, 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, which can be disposed within the second accommodating cavity 180 through a second mounting port communicating with the second accommodating cavity 180.

[0077] In some embodiments, the battery 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 battery module 300 below the electronic control module 200 lowers the quadruped robot's center of gravity, thus improving its stability.

[0078] In some embodiments, the chassis frame 100 further 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. Exemplarily, 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 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.

[0079] In some embodiments, the locking structure 600 further includes a driving mechanism, which includes a drive motor or a rotating assembly 610. The driving mechanism is drivenly connected to the latch 6211 and is used to drive the latch 6211 to switch between the first position and the second position. Thus, by driving the latch 6211 to switch between the first position and the second position, the switching of the latch 6211 between the first position and the second position can be achieved relatively easily. Of course, in other embodiments, the latch 6211 can also be a magnetic component, driven by an electromagnetic drive module to switch between the first and second positions; this is not limited here.

[0080] In some embodiments of this application, please refer to Figure 2 and Figure 10The fuselage frame 100 includes a rear side plate disposed opposite to the first mounting port 151; the elastic module 700 is fixed to the rear side plate; when the battery module 300 is located within the first accommodating cavity 150, the elastic module 700 abuts against the rear side plate and the battery module 300 respectively. This simplifies the structure of the fuselage body, and the elastic module 700 can directly abut against the battery module 300, which improves the driving force and response efficiency, allowing the battery module 300 in the unlocked state to pop out from the first mounting port 151 more quickly. Understandably, when the elastic module 700 is fixed to the rear side plate opposite to the first mounting port 151, during the process of the battery module 300 being pushed from the first mounting port 151 towards the rear side plate into the first receiving cavity 150, after the battery module 300 is installed in place, the bottom end of the battery module 300 (i.e., the insertion end of the battery module 300 or the end facing the rear side plate) can directly compress the elastic module 700. The elastic module 700 is compressed and deformed, storing elastic potential energy. The force exerted by the compressed elastic module 700 on the battery module 300 is directed towards the first mounting port 151. When the external force is removed and the locking tongue 6211 is in the second position, the compressed elastic module 700 ejects the battery module 300 from the first mounting port 151.

[0081] Please continue reading. Figure 10 To further accelerate the ejection speed and stability of the battery module 300 from the first mounting port 151, the main body includes a plurality of elastic modules 700. These elastic modules 700 are spaced apart along the length of the rear side panel, or, more specifically, spaced apart along the length of the battery module 300. For example, the main body includes two elastic modules 700, which are spaced apart along a first direction 400 on the rear side panel and are symmetrically arranged. This increases the contact area between the elastic modules 700 and the battery module 300, thereby improving the driving force of the battery module 300.

[0082] For example, along the second direction 500, both ends of the rear side plate are fixedly connected to the first support plate 130 and the second support plate 140, respectively, as described in detail below. Specifically, both ends of the rear side plate along the second direction are threadedly connected to the first support plate 130 and the second support plate 140, respectively.

[0083] Please refer to some embodiments of this application. Figures 11 to 14 The elastic module 700 includes an elastic element 710 and a supporting element 720. The elastic element 710 abuts against the battery module 300 through the supporting element 720, and the supporting element 720 can move along the insertion and removal direction of the battery module 300 under the combined action of the battery module 300 and the elastic element 710.

[0084] For example, during the insertion of the battery module 300 into the first receiving cavity 150, the force exerted by the battery module 300 on the supporting member 720 is greater than the force exerted by the elastic member 710 on the supporting member 720. The elastic member 710 is continuously compressed, and the battery module 300 and the supporting member 720 move towards the rear side plate until the battery module 300 moves to the preset installation position. When the external force is removed, the force exerted by the elastic member 710 on the supporting member 720 is greater than the force exerted by the battery module 300 on the supporting member 720. Under the driving action of the elastic member 710, the supporting member 720 and the battery module 300 move towards the first mounting port 151, and the battery module 300 pops out from the first mounting port 151. This helps to improve the stability of the elastic module 700.

[0085] Please continue reading. Figure 11 and Figure 12 To ensure that the abutment 720 always moves along the insertion / removal direction of the battery module 300 and to improve the movement accuracy of the abutment 720, in some embodiments, a guide limiting cavity 192 is provided on the rear side plate. The abutment 720 and the elastic member 710 are at least partially located within the guide limiting cavity 192, which is used to limit the movement trajectory of the abutment 720. Exemplarily, the guide limiting cavity 192 includes a guide surface 193 extending along the insertion / removal direction of the battery module 300 and a limiting surface 194 located in front of the guide surface 193. The abutment 720 can move along the guide surface 193 within the guide limiting cavity 192, and when it reaches the limiting surface 194, it is blocked by the limiting surface 194 to limit its movement stroke.

[0086] Specifically, the abutment member 720 includes an abutment top 721 and an abutment bottom 722 disposed opposite to each other along its moving direction, and an abutment side 723 connecting the abutment top 721 and the abutment bottom 722. The abutment top 721 and the abutment side 723 enclose an elastic element mounting cavity 724. The abutment bottom 722 is disposed within the guide limiting cavity 192, and the guide limiting cavity 192 limits the movement trajectory of the abutment bottom 722. This helps to further improve the stability and control accuracy of the elastic module 700. For example, the outer edge of the abutment bottom 722 is adapted to the guide surface 193 and can slide along the guide surface 193.

[0087] Specifically, the elastic element 710 includes a spring, and the elastic module 700 further includes a base 730. The base 730 has a protrusion 731 on one side facing the first receiving cavity 150. The spring is sleeved on the protrusion 731 and is disposed between the protrusion 731 and the inner wall of the abutment 720 or the guide limiting cavity 192. Exemplarily, the spring is disposed between the outer surface of the protrusion 731 and the inner surface of the protrusion 731 (e.g., the inner wall of the elastic element mounting cavity 724). This allows the spring to be compressed or extended along the insertion / removal direction of the battery module 300, which helps to further improve the stability of the elastic module 700.

[0088] For example, the base 730 is threadedly connected to the rear side plate.

[0089] Further, please refer to Figure 14 A portion of the surface of the base 730 is recessed in the direction away from the first accommodating cavity 150 to form a groove 732, and a protrusion 731 is disposed on the bottom surface of the groove 732. This helps to further improve the stability and structural compactness of the elastic module 700.

[0090] Please refer to some embodiments of this application. Figure 10 The rear panel is also provided with a socket hole 195, through which an external charging device can charge the battery module 300 in the first accommodating cavity 150.

[0091] Please refer to some embodiments of this application. Figure 2 The fuselage frame 100 is provided with a locking groove 191 that communicates with the first accommodating cavity 150; please refer to Figures 4 to 5 The battery module 300 has a locking cavity 3111 for mounting the locking structure 600. When the battery module 300 is located within the first accommodating cavity 150, the locking cavity 3111 communicates with the locking groove 191. Thus, when it is necessary to lock the battery module 300 within the first accommodating 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 In this configuration, the locking tongue 6211 extends out of the locking cavity 3111 and is inserted into the locking groove 191, thus locking the battery module 300 within the first receiving cavity 150. For ease of understanding, the specific structure of the locking structure 600 will be further explained below.

[0092] In some embodiments, the rotating assembly 610 includes a rotating handle 6112, which is rotatably disposed in the battery module 300. When the latch 6211 is in a first position, the rotating handle 6112 is attached to or embedded in the storage slot 3112 of the battery module 300. When the latch 6211 is in a second position, the rotating handle 6112 rotates to at least partially leave the battery module 300 and extends out of the battery module 300. In this embodiment, a rotating handle 6112 is rotatably connected to the battery module 300. When the battery module 300 is locked, the rotating handle 6112 is attached to or embedded in the storage slot 3112 of the battery module 300. When the battery module 300 is unlocked, the rotating handle 6112 rotates to at least partially disengage from the battery module 300. This allows for easy pulling of the battery module 300, further improving the convenience of inserting and removing the battery module 300. Furthermore, when it is not necessary to replace the battery module 300, the rotating handle 6112 can be attached to or embedded in the storage slot 3112 of the battery module 300, which helps to improve the structural compactness of the main body.

[0093] In some embodiments, the locking structure 600 is provided at both ends of the battery module 300 along its length, and the rotating handle 6112 is provided with a lifting handle. Specifically, each end of the battery module 300 is provided with a locking structure 600, and the two locking structures 600 are symmetrically arranged. This helps to provide a locking force for the battery module 300 and improves the stability of the main body. At the same time, the lifting handle on the rotating handle 6112 allows for easy pulling and pulling of the battery module 300, further improving the assembly efficiency of the battery module 300.

[0094] In some embodiments, the locking structure 600 includes a rotating assembly 610, which 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 front panel 311 of the battery module 300, and 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 bolt 6211 to switch between the first position and the second position during rotation. Thus, the bolt 6211 can be switched between the first position and the second position simply by driving the rotating handle 6112, which further improves operational convenience.

[0095] Specifically, please refer to Figure 5 , Figure 7and Figure 8 The locking structure 600 includes a rotating assembly 610 and a locking rod assembly 620. The locking rod assembly 620 includes a locking tongue 6211 adapted to the locking groove 191. 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 191 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.

[0096] 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 191, preventing the battery module 300 from being pulled out of the first receiving cavity 150. In the second position, the locking tongue 6211 releases interference from the inner wall surface of the locking groove 191, 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.

[0097] In some embodiments of this application, the rotating member 611 drives the locking rod 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 locking structure 600, makes it easier to operate, reduces manufacturing costs, and improves stability.

[0098] 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.

[0099] 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 191. This helps to further simplify the locking structure 600, improve operational convenience, and further improve the stability of the battery module 300 within the first accommodating 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 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 in the locking groove 191 interferes with the wall surface of the locking groove 191, thereby limiting the movement of the battery module 300 along the insertion and removal direction. This is not limited here.

[0100] 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.

[0101] 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.

[0102] For example, the battery casing 310 includes

[0103] 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 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.

[0104] 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.

[0105] In some embodiments of this application, please participate Figure 3The front panel 311 also has a handle storage groove 3112, which allows the rotating handle 6112 to be rotated and housed within the handle storage groove 3112. For example, when the latch 6211 is in the second position, the rotating handle 6112 is housed within the handle storage groove 3112. Thus, the handle storage groove 3112 protects the rotating handle 6112, helping to prevent accidental contact that could unlock the battery module 300.

[0106] 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 locking 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 621 located in the locking cavity 3111 to move along the extension direction of the locking cavity 3111. In this embodiment, a locking rod groove 6212 is provided in the locking rod member 621, and at least part of the driving part 6111 extends into 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, 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, which is beneficial to improving the compactness and stability of the locking structure 600 and reducing the volume of the locking structure 600.

[0107] 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.

[0108] 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.

[0109] 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.

[0110] 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 (that is, the second direction 500), the locking rod member 621 has a locking rod limiting part 6215 at one end, and each of them 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.

[0111] 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.

[0112] 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.

[0113] 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.

[0114] 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 receiving slot 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 drives the rotating member 611 to return to its position within the receiving slot 3112 when the rotating member 611 is not subjected to external force. 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.

[0115] Please refer to some embodiments of this application. Figure 9 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.

[0116] 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.

[0117] 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.

[0118] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0119] 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, This includes the fuselage frame, flexible modules, battery modules, and locking structure; The fuselage frame is provided with a first accommodating cavity and a first mounting port communicating with the first accommodating cavity. The elastic module is disposed in the first accommodating cavity, and the battery module can be plugged into and detached from the first mounting port in the first accommodating cavity. One of the fuselage frame and the battery module is provided with a locking groove, and the other of the fuselage frame and the battery module is provided with a locking cavity; The locking structure is at least partially disposed within the lock cavity, and the locking structure includes a bolt having a first position extending out of the lock cavity and a second position received within the lock cavity; When the battery module is located in the first accommodating cavity, the locking cavity is connected to the locking groove. When the locking tongue is in the first position, it is inserted into the locking groove so that the battery module is locked in the first accommodating cavity and the elastic module is compressed. When the locking tongue is switched from the first position to the second position, the battery module is in the unlocked state, and at least part of the battery module is ejected from the first accommodating cavity under the driving action of the elastic module.

2. The fuselage body as described in claim 1, characterized in that, The locking structure further includes a drive mechanism, which includes a motor or a rotating component. The drive mechanism is driven to connect with the bolt and is used to drive the bolt to switch between the first position and the second position. And / or, the direction in which the latch switches between the first position and the second position is set at an angle to the insertion / removal direction of the battery module.

3. The fuselage body as described in claim 2, characterized in that, The rotating assembly includes a rotating handle, which is rotatably mounted on the battery module. When the latch is in the first position, the rotating handle is attached to or embedded in the storage slot of the battery module. When the latch is in the second position, the rotating handle rotates to at least partially leave the battery module and extends outside the battery module.

4. The fuselage body as described in claim 3, characterized in that, The locking structure is provided at both ends of the battery module, and the rotating handle is provided with a lifting handle.

5. The fuselage body as described in claim 3, characterized in that, The rotating assembly includes a rotating component, which includes a rotating handle and a driving part connected to each other. The rotating handle is disposed on the front panel of the battery module, and the locking cavity is disposed within the front panel. The driving part extends at least partially into the locking cavity so that the rotating handle and the driving part drive the locking tongue to switch between the first position and the second position during rotation.

6. The fuselage body as described in any one of claims 1 to 5, characterized in that, The fuselage frame includes a rear side plate disposed opposite to the first mounting port; the elastic module is fixed to the rear side plate; When the battery module is located in the first accommodating cavity, the elastic module abuts against the rear side plate and the battery module respectively.

7. The fuselage body as described in claim 6, characterized in that, The main body of the fuselage includes a plurality of elastic modules, which are spaced apart along the length of the rear side plate; Alternatively, the main body may include a plurality of elastic modules, which are spaced apart along the length of the battery module.

8. The fuselage body as described in claim 6, characterized in that, The elastic module includes an elastic element and a supporting element. The elastic element abuts against the battery module through the supporting element, and the supporting element can move along the insertion / removal direction of the battery module under the combined action of the battery module and the elastic element.

9. The fuselage body as described in claim 8, characterized in that, The rear side plate is provided with a guide limiting cavity, and the abutment and the elastic member are at least partially located in the guide limiting cavity. The guide limiting cavity is used to limit the movement trajectory of the abutment.

10. The fuselage body as described in claim 9, characterized in that, The abutment includes an abutment top, a abutment bottom, and an abutment side connecting the abutment top and the abutment bottom. The abutment top and the abutment side enclose a spring mounting cavity. The abutment bottom is disposed within the guide limiting cavity, and the guide limiting cavity limits the movement trajectory of the abutment. And / or, the elastic element includes a spring, the elastic module further includes a base, the base has a protrusion on one side facing the first accommodating cavity, the spring is sleeved on the protrusion and disposed between the protrusion and the inner wall of the abutment or the guide limiting cavity.

11. The fuselage body as described in claim 5, characterized in that, The locking structure further includes a locking rod assembly, which includes a locking rod member, a locking bolt, and a locking rod groove. The locking rod groove communicates with the lock cavity, and at least a portion of the driving part is rotatably disposed within the locking rod groove. During rotation, the driving part located within the locking rod groove abuts against the wall of the locking rod groove to drive the locking rod member located within the lock cavity to move along the extension direction of the lock cavity.

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

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