Machine body frame, machine body, and robot

Abstract

The application relates to a fuselage frame, a fuselage main body and a robot, wherein the fuselage frame is internally provided with a first accommodating cavity, the fuselage frame is provided with a first mounting opening in communication with the first accommodating cavity, a battery module can be pluggably arranged in the first accommodating cavity from the first mounting opening, a friction-reducing component is arranged on the inner wall surface of the first accommodating cavity, the friction-reducing component protrudes towards the first accommodating cavity, when the battery module moves relative to the fuselage frame, the friction-reducing component is in contact with the battery module and is used for reducing the friction between the battery module and the fuselage frame. The fuselage frame can be pluggably connected with the battery module, the friction between the battery module and the fuselage frame is reduced through the friction-reducing component arranged in the fuselage frame, the maintenance convenience of the battery module is improved, and the problem that the battery module is prone to wear during plugging and unplugging is solved.

Description

Technical Field

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

[0002] Robots can navigate 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. Battery modules are installed in the robot's body to enable it to work outdoors for extended periods, but charging or battery module replacement is inevitable.

[0003] Because robots frequently need to perform tasks outdoors, they require long battery life. To improve battery life, they are typically equipped with large and heavy battery modules. Replacing the battery module requires disassembling the robot frame, making battery module maintenance inconvenient and prone to damage. Related technologies often incorporate sliders or rails within the battery compartment to facilitate battery module insertion and removal. However, because these sliders or rails occupy part of the battery compartment's volume, the battery module capacity is reduced for the same installation volume, making them unsuitable for scenarios with high battery life requirements. Utility Model Content

[0004] This application provides a fuselage frame, a fuselage body, and a robot, aiming to provide a fuselage frame that facilitates the installation and removal of battery modules without substantially reducing the battery module capacity.

[0005] The first aspect of this application provides a chassis frame for a robot, the robot including a battery module, a first accommodating cavity provided within the chassis frame, a first mounting port on the chassis frame communicating with the first accommodating cavity, the battery module being pluggable and detachable into the first accommodating cavity through the first mounting port; 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 to form a friction-reducing layer;

[0006] When the battery module moves relative to the fuselage frame, the friction-reducing component contacts the battery module and is used to reduce the friction between the battery module and the fuselage frame.

[0007] In some embodiments, the fuselage frame includes a first support plate and a second support plate disposed opposite to each other along a first direction, and a first side plate and a second side plate disposed opposite to each other along a second direction. The first support plate, the second support plate, the first side plate and the second side plate enclose the first accommodating cavity. At least one of the first support plate, the second support plate, the first side plate and the second side plate is provided with the friction-reducing component on the side facing the first accommodating cavity.

[0008] In some embodiments, the friction-reducing layer is a plastic layer or a graphite layer.

[0009] In some embodiments, when the battery module moves relative to the fuselage frame, the battery module located in the first accommodating cavity only contacts the friction-reducing layer.

[0010] In some embodiments, the frame includes a plurality of friction-reducing components, which are spaced apart along the length of the battery module; each friction-reducing component includes at least one friction-reducing part.

[0011] And / or, the friction-reducing component extends along the insertion / removal direction of the battery module.

[0012] In some embodiments, the friction-reducing component includes a plastic strip made of self-lubricating plastic that extends along the insertion / removal direction of the battery module, and the portion of the plastic strip protruding from the first accommodating cavity forms the friction-reducing layer.

[0013] In some embodiments, the plastic strip includes at least one of polytetrafluoroethylene (PTFE) plastic strip, nylon plastic strip, polyoxymethylene (POM) plastic strip, polyimide plastic strip, and ultra-high molecular weight polyethylene (UHMWPE) plastic strip.

[0014] In some embodiments, a groove is provided on the inner wall surface of the first accommodating cavity, the groove is in communication with the first accommodating cavity, and the plastic strip is embedded in the groove.

[0015] In some embodiments, the plastic strip is threaded into the groove.

[0016] In some embodiments, the plastic strip is provided with a first guide ramp for guiding the battery module into the first mounting port.

[0017] In some embodiments, the fuselage frame is provided with a second guide ramp for guiding the battery module into the first mounting port.

[0018] In some embodiments, the plastic strip has a first guide slope at one end near the first mounting port for guiding the battery module into the first mounting port, and the body frame has a second guide slope for guiding the battery module into the first mounting port. The first guide slope protrudes from the second guide slope in the direction toward the first accommodating cavity.

[0019] A second aspect of this application provides a fuselage body, the fuselage body including a battery module and the fuselage frame, wherein the battery module is pluggable into the first accommodating cavity from the first mounting port.

[0020] A third aspect of this application provides a robot, the robot comprising the aforementioned frame or the aforementioned main body.

[0021] Beneficial effects:

[0022] In the fuselage frame provided in this application embodiment, by providing a first accommodating cavity and a first mounting port communicating with the first accommodating cavity on the fuselage frame, the battery module can be plugged into and detached from the first mounting port into the first accommodating cavity. This makes the fuselage frame and battery module of this application a pluggable design, which improves the assembly convenience of the battery module. Simultaneously, the inner wall of the first accommodating cavity is also provided with a friction-reducing component, including a plastic layer or a graphite layer. This friction-reducing component reduces the friction between the battery module and the fuselage frame, which helps to improve the problem of easy wear and tear of the battery module during insertion and removal, while almost eliminating the need for a small battery module size and capacity.

[0023] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0024] 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.

[0025] 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.

[0026] Figure 1 This is a schematic diagram of the structure of one embodiment of the fuselage body provided in this application;

[0027] Figure 2 yes Figure 1 A structural schematic diagram of the fuselage from another perspective;

[0028] Figure 3 This is a schematic diagram of the structure of one embodiment of the fuselage frame provided in this application;

[0029] Figure 4 for Figure 3 A structural diagram of the fuselage frame from another perspective;

[0030] Figure 5 for Figure 4 A magnified schematic diagram of the structure at point A in the middle.

[0031] Explanation of reference numerals in the attached figures:

[0032] 100. Body frame; 100a. Locking groove; 100b. Second guide slope; 110. First side plate; 120. Second side plate; 130. First bearing plate; 140. Second bearing plate; 150. First receiving cavity; 150a. Groove; 151. First mounting port; 160. Third side plate; 170. Fourth side plate; 180. Second receiving cavity; 181. Second mounting port; 190. Friction-reducing component; 190a. First guide slope; 191. Threaded hole;

[0033] 200. Electrical control module;

[0034] 300. Battery module; 310. Battery casing; 311. Front panel; 3111. Locking cavity; 312. Pull-out handle;

[0035] 400, First Direction;

[0036] 500, Second Direction;

[0037] 600. Locking structure. Detailed Implementation

[0038] 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.

[0039] Robots can navigate 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. The robot's body houses a battery module that provides power for outdoor operations; however, it is inevitable that the battery module will need to be charged or replaced.

[0040] Because robots frequently need to perform tasks outdoors, they require long battery life. To improve battery life, they are typically equipped with large and heavy battery modules. Replacing the battery module requires disassembling the robot frame, making battery module maintenance inconvenient and prone to damage. Related technologies often incorporate sliders or rails within the battery compartment to facilitate battery module insertion and removal. However, because these sliders or rails occupy part of the battery compartment's volume, the battery module capacity is reduced for the same installation volume, making them unsuitable for scenarios with high battery life requirements.

[0041] In view of this, embodiments of this application provide a fuselage frame, a main body having the fuselage frame, and a robot. The fuselage frame can be plugged into and connected to a battery module. By providing a friction-reducing component inside the fuselage frame, the friction-reducing component protrudes toward the first accommodating cavity to form a friction-reducing layer. This friction-reducing layer reduces the friction between the battery module and the fuselage frame, thereby improving the maintenance convenience of the battery module and helping to improve the problem of easy wear and tear of the battery module during plugging and unplugging. At the same time, it almost does not require the size and capacity of a small battery module.

[0042] Specifically, this application provides a robot, which, exemplarily, can be a quadruped robot or a humanoid robot. The robot 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, carries functional modules, etc. The leg components are key moving parts of the robot, enabling various movement modes such as walking, running, and jumping through flexible joints and actuators.

[0043] For example, please refer to Figures 1 to 5 The main body of the robot includes a frame 100, a battery module 300, and a locking structure 600. The battery module 300 provides power to the robot, the frame 100 provides support and installation space for the battery module 300, and the locking structure 600 secures the battery module 300 to the frame 100 after installation, preventing system malfunctions caused by the battery module 300 loosening or detaching during robot movement.

[0044] It should be noted that the main structural components of the robot are generally made of metal, and in order to increase its working time outdoors, a large battery module 300 is generally required, 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.

[0045] For example, in addition to mounting the battery module 300, the body frame 100 can also mount and support the electronic control module 200, camera module, motor module, sensor components, etc., without limitation.

[0046] Please refer to some embodiments of this application. Figures 3 to 5 The body frame 100 has a first accommodating cavity 150, and the body frame 100 has a first mounting port 151 communicating with the first accommodating cavity 150. The battery module 300 can be plugged into the first accommodating cavity 150 through the first mounting port 151. The inner wall surface of the first accommodating cavity 150 has a friction-reducing component 190. The friction-reducing component 190 protrudes toward the first accommodating cavity 150 to form a friction-reducing layer. When the battery module 300 moves relative to the body 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 layer of the friction-reducing component 190 contacts the battery module 300 (for example, 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 body frame 100. It can also be understood as reducing the friction between the battery module 300 and the inner wall surface of the first receiving cavity 150.

[0047] It is understood that the housing frame 100 is provided with a first receiving cavity 150 and a first mounting port 151 communicating with the first receiving cavity 150, and the battery module 300 can be plugged into and detached from the first mounting port 151 into the first receiving cavity 150. In this way, the battery module 300 can be conveniently installed into the first receiving cavity 150 or removed from the first receiving cavity 150.

[0048] Meanwhile, a friction-reducing component 190 is provided on the inner wall surface of the first accommodating cavity 150. When the battery module 300 is inserted into the first accommodating cavity 150 through the first mounting port 151 or pulled out of the first accommodating cavity 150, at least part of the friction-reducing component 190 is used to reduce the friction between the battery module 300 and the body frame 100. It can also be understood that the friction between the battery module 300 and the friction-reducing component 190 is lower than the friction between the battery module 300 and the inner wall surface of the first accommodating cavity 150.

[0049] Therefore, in the fuselage frame 100 provided in this application embodiment, by providing a first accommodating cavity 150 and a first mounting port 151 communicating with the first accommodating cavity 150 on the fuselage frame 100, the battery module 300 can be plugged into the first accommodating cavity 150 through the first mounting port 151. Thus, the fuselage frame 100 and the battery module 300 in this application are of a pluggable design, which is beneficial to improving the assembly convenience of the battery module 300. At the same time, a friction-reducing component 190 is also provided on the inner wall of the first accommodating cavity 150. The friction-reducing layer of the friction-reducing component 190 can reduce the friction between the battery module 300 and the fuselage frame 100, which is beneficial to improving the problem of easy wear of the battery module during insertion and removal.

[0050] 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. This avoids the friction-reducing component 190 from occupying too much space in the first accommodating cavity 150, which helps to increase the effective assembly volume of the battery module 300 in the chassis frame, thereby enabling the adaptation of larger capacity battery modules 300 and improving the robot's battery life.

[0051] 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 the 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.

[0052] To further reduce the friction between the battery module 300 and the fuselage frame 100, each inner wall surface of the first accommodating cavity 150 corresponding to the battery module 300 is provided with a friction-reducing component 190. The friction-reducing component 190 on each inner wall surface of the first accommodating cavity 150 protrudes towards the first accommodating cavity (150) to form a friction-reducing layer. This ensures that each side of the battery module 300 can contact the corresponding friction-reducing layer during insertion into the first accommodating cavity 150, thereby further reducing the friction between the battery module 300 and the fuselage frame 100. Furthermore, when the battery module 300 moves relative to the fuselage frame 100, the battery module 300 located within the first accommodating cavity 150 only contacts the friction-reducing layer.

[0053] 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.

[0054] For example, taking the battery module 300 as having a generally cuboid structure, the first accommodating cavity 150 is also generally cuboid in shape.

[0055] Specifically, 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, and the second side plate 120 enclose the first accommodating cavity 150. 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 its side facing the first accommodating cavity 150. This simplifies the structure of the fuselage frame 100 and improves assembly efficiency.

[0056] For illustrative purposes, the first direction 400 is defined as the horizontal direction (i.e., the length direction of the fuselage frame 100), the second direction 500 is defined as the vertical direction (i.e., the height direction of the fuselage frame 100), and the third direction (i.e., the insertion / removal direction of the battery module 300 or the depth direction of the first accommodating cavity 150) is defined as the direction perpendicular to the first direction 400 and the second direction 500, respectively. For illustrative purposes, 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, respectively, so that the first support plate 130 can be more easily installed and removed between the first side plate 110 and the second side plate 120.

[0057] 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.

[0058] 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 through an insertion connection. Alternatively, the first support plate 130 and the second support plate 140 may also employ other detachable connection methods, for example: both ends of the first support plate 130 are respectively snapped into the first side plate 110 and the second side plate 120, and both 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 through a snap-fit ​​connection.

[0059] In some embodiments, along the first direction 400, 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.

[0060] In some embodiments, along the first direction 400, 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.

[0061] In some embodiments, along the first direction 400, 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.

[0062] 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, and the first support plate 130 enclose a second receiving cavity 180. The second receiving cavity 180 can be used to install the robot's electronic control module 200. The electronic control module 200 can be disposed within the second receiving cavity 180 through a second mounting port 181 communicating with the second receiving cavity 180.

[0063] 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; placing the battery module 300 below the electronic control module 200 lowers the robot's center of gravity, thus improving the robot's stability.

[0064] 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 robot and increase its service life.

[0065] 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 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 some 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 limited here.

[0066] 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.

[0067] 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 components, 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 includes at least one friction-reducing part 190.

[0068] Specifically, taking the friction-reducing component 190 as a plastic strip made of self-lubricating material as an example, the first support plate 130 and / or the second support plate 140 are provided with a plurality of plastic strips made of self-lubricating material. Each plastic strip extends along the insertion and removal direction of the battery module 300 (i.e., the third direction). The top surface of each plastic strip contacts or 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. The plurality of friction-reducing components 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, and the friction between the battery module 300 and the body frame 100 can be further reduced.

[0069] 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. The plurality of friction-reducing components 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.

[0070] 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.

[0071] For example, the friction-reducing component 190 is a plastic strip made of self-lubricating plastic. 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 compatibility with the battery module 300, increases its applicability, and maximizes the effective assembly volume of the battery module 300 within a limited space.

[0072] Furthermore, to facilitate the installation of the plastic protrusion on the body frame 100 and improve the stability of the plastic strip on the body frame 100, the inner wall surface of the first receiving cavity 150 is provided with a groove 150a adapted to the plastic strip. The groove 150a communicates with the first receiving cavity 150, and the plastic strip is embedded in the groove 150a. Specifically, 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 are all provided with grooves 150a, and the plastic strip is embedded in the corresponding grooves 150a.

[0073] In some embodiments, the inner wall surface of the first accommodating cavity 150 is provided with a groove 150a adapted to the plastic strip, and the plastic strip is fixed in the groove 150a. Exemplarily, the plastic strip is provided with a threaded hole 191, through which the plastic strip is fixed in the groove 150a. Another exemplary embodiment is that the plastic strip is fixed in the groove 150a by an adhesive layer. Of course, the plastic strip can also be fixed in the groove 150a by other fixing methods, which are not limited here.

[0074] In some embodiments, please continue reading Figure 4 and Figure 5The plastic strip has a first guide slope 190a for guiding the battery module 300 into the first accommodating cavity (150). This helps to further improve the assembly efficiency of the battery module 300, and the plastic strip has a certain cushioning effect, which helps to avoid deformation or damage caused by friction or collision between the insertion end of the battery module 300 (i.e., the end away from the front panel 311) and the mounting end of the body frame 100 (i.e., the end with the first mounting port).

[0075] In some embodiments, the fuselage frame 100 is provided with a second guide ramp 100b for guiding the battery module 300 into the first accommodating cavity 150. In this embodiment, by providing the second guide ramp 100b at one end of the fuselage frame 100 near the first mounting port 151, the battery module 300 can be inserted into the first accommodating cavity 150 along the second guide ramp 100b, which helps to improve the assembly efficiency between the battery module 300 and the fuselage frame 100.

[0076] Specifically, in order to further improve the stability of the fuselage frame 100 and the assembly efficiency of the battery module 300 and the fuselage frame 100, the end of the plastic strip near the first mounting port 151 is provided with a first guide slope 190a for guiding the battery module 300 into the first mounting port 151, and the fuselage frame 100 is provided with a second guide slope 100b for guiding the battery module 300 into the first mounting port 151. Along the direction toward the first accommodating cavity 150, the first guide slope 190a protrudes from the second guide slope 100b.

[0077] In some embodiments, the friction-reducing component 190 may also be a graphite 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.

[0078] Specifically, the inner wall surface of the first support plate 130 is provided with grooves 150a, and the balls are rotatably disposed in the corresponding grooves 150a, with the top surface of the balls 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.

[0079] In some embodiments, 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. Exemplarily, the pull-out handle 312 is positioned 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 outwards.

[0080] In some embodiments, the housing frame 100 is provided with a locking groove 100a communicating with the first receiving cavity 150; the battery module 300 is provided with a locking structure 600. When the battery module 300 is installed in place, the locking tongue of the locking structure 600 is inserted into the locking groove 100a, locking the battery module 300 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 locking structure 600 is disengaged from the locking groove 100a, and the battery module 300 is unlocked. At this time, the battery module 300 can be pulled so that it can be removed from the first receiving cavity 150. It should be noted that the specific structure of the locking structure 600 is not a major improvement point of this application. As long as it can lock the installed battery module 300 in the first receiving cavity 150, its specific structure is not limited.

[0081] 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.

[0082] 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.

[0083] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0084] 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 frame for a robot, the robot including a battery module, characterized in that, The body frame has a first accommodating cavity, and the body frame has a first mounting port communicating with the first accommodating cavity. The battery module can be plugged into the first accommodating cavity through the first mounting port. The inner wall of the first accommodating cavity has a friction-reducing component, which protrudes toward the first accommodating cavity to form a friction-reducing layer. When the battery module moves relative to the fuselage frame, the friction-reducing layer contacts the battery module and is used to reduce the friction between the battery module and the fuselage frame.

2. The fuselage frame as described in claim 1, characterized in that, The fuselage frame includes a first support plate and a second support plate arranged opposite to each other along a first direction, and a first side plate and a second side plate arranged opposite to each other along a second direction. The first support plate, the second support plate, the first side plate and the second side plate enclose the first accommodating cavity. At least one of the first support plate, the second support plate, the first side plate and the second side plate is provided with the friction-reducing component on the side facing the first accommodating cavity. And / or, the friction-reducing layer is a plastic layer or a graphite layer.

3. The fuselage frame as described in claim 1, characterized in that, When the battery module moves relative to the fuselage frame, the battery module located in the first accommodating cavity only contacts the friction-reducing layer.

4. The fuselage frame as described in claim 2, characterized in that, The fuselage frame includes multiple friction-reducing components, which are spaced apart along the length and / or height of the battery module; each friction-reducing component includes at least one friction-reducing part. And / or, the friction-reducing component extends along the insertion / removal direction of the battery module.

5. The fuselage frame as described in any one of claims 2 to 4, characterized in that, The friction-reducing component includes a plastic strip made of self-lubricating plastic, which extends along the insertion / removal direction of the battery module, and the portion of the plastic strip protruding from the first accommodating cavity forms the friction-reducing layer.

6. The fuselage frame as described in claim 5, characterized in that, The plastic strip includes at least one of polytetrafluoroethylene (PTFE) plastic strip, nylon plastic strip, polyoxymethylene (POM) plastic strip, polyimide plastic strip, and ultra-high molecular weight polyethylene (UHMWPE) plastic strip.

7. The fuselage frame as described in claim 5, characterized in that, The inner wall of the first accommodating cavity is provided with a groove, the groove is connected to the first accommodating cavity, and the plastic strip is embedded in the groove.

8. The fuselage frame as described in claim 7, characterized in that, The plastic strip is threaded and fixed in the groove; Alternatively, the plastic strip may have a first guide slope for guiding the battery module into the first accommodating cavity; Alternatively, the fuselage frame is provided with a second guide ramp for guiding the battery module into the first accommodating cavity; Alternatively, the plastic strip may have a first guide slope at one end near the first mounting port for guiding the battery module into the first accommodating cavity, and the body frame may have a second guide slope for guiding the battery module into the first accommodating cavity, with the first guide slope protruding from the second guide slope in the direction toward the first accommodating cavity.

9. A fuselage body, characterized in that, The main body of the fuselage includes a battery module and a fuselage frame as described in any one of claims 1 to 8, wherein the battery module is pluggable into the first accommodating cavity from the first mounting port.

10. A robot, characterized in that, The robot includes the body frame as described in any one of claims 1 to 8 or the body body as described in claim 9.

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