Power supply structure and quadruped robot

Abstract

The application discloses a power supply structure and a quadruped robot, and belongs to the technical field of robots. The power supply structure comprises a battery pack, a shell and a cover plate assembly. The shell has a containing cavity and an opening communicating with the containing cavity, and the battery pack is arranged in the containing cavity. The cover plate assembly comprises a cover plate and a blocking piece. The cover plate is arranged in the opening and has a mounting surface facing the containing cavity. The blocking piece is movably connected to the mounting surface and can be switched between a first position and a second position. The cavity wall of the containing cavity is provided with a through hole penetrating through the cavity wall of the containing cavity and opposite to the position of the blocking piece. When the blocking piece is in the first position, the blocking piece penetrates through the through hole and part of the blocking piece protrudes out of the shell. When the blocking piece is in the second position, the blocking piece is retracted into the shell or the through hole.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, specifically relating to a power supply structure and a quadruped robot. Background Technology

[0002] With the advancement of technology, the use of quadruped robots is gradually increasing. Quadruped robots can transport goods and even carry people. Typically, quadruped robots have a mounting cavity where a power supply structure is installed. This power supply structure powers the quadruped robot, enabling it to walk or perform corresponding actions. However, in related technologies, installing the power supply structure in the mounting cavity is difficult, and removing the power supply structure from the mounting cavity is also difficult. Utility Model Content

[0003] This application aims to provide a power supply structure and a quadruped robot, which at least solves the problems of difficulty in installing the power supply structure in the mounting cavity or difficulty in removing the power supply structure from the mounting cavity.

[0004] To solve the above-mentioned technical problems, this application is implemented as follows: In a first aspect, embodiments of this application propose a power supply structure, which includes: a battery pack, a housing, and a cover plate assembly; The housing has a receiving cavity and an opening communicating with the receiving cavity, and the battery pack is disposed in the receiving cavity; The cover plate assembly includes a cover plate and a blocking member. The cover plate is disposed at the opening and has a mounting surface facing the receiving cavity. The blocking member is movably connected to the mounting surface and can be switched between a first position and a second position. The cavity wall of the receiving cavity is provided with a through hole that penetrates the cavity wall of the receiving cavity and is opposite to the blocking member. When the blocking member is in the first position, the blocking member passes through the through hole, and a portion of the blocking member extends out of the housing; when the blocking member is in the second position, the blocking member is retracted into the housing or the through hole.

[0005] Optionally, the cover assembly further includes a gripper; The cover plate is provided with a movable hole, and the movable hole penetrates the cover plate along the direction from the cover plate to the receiving cavity. At least a portion of the blocking member is located in the movable hole, and the size of the movable hole is larger than the size of the blocking member located in the movable hole. The grip is located on the side of the cover plate away from the receiving cavity, and the grip is connected to the blocking member. The grip is used to drive the blocking member to switch between the first position and the second position.

[0006] Optionally, the power supply structure further includes an elastic element; The first end of the elastic element is fixed to the mounting surface, and the second end of the elastic element is connected to the blocking element. The extension and retraction direction of the elastic element is the same as the movement direction of the blocking element.

[0007] Optionally, the mounting surface is provided with a fixing block, and the first end of the elastic element is fixed to the fixing block.

[0008] Optionally, the fixing block has a first surface and a second surface facing away from each other along the first direction, the number of elastic elements is two, and the number of blocking elements is two; One elastic element has its first end fixed to the first surface and its second end connected to one of the blocking elements; the other elastic element has its first end fixed to the second surface and its second end connected to the other blocking element. Both of the blocking members are connected to the gripping member.

[0009] Optionally, a first portion of the grip is connected to one of the blocking members, a second portion of the grip is connected to another blocking member, and the grip is deformable.

[0010] Optionally, the cover plate has a groove on the surface opposite to the mounting surface, the bottom of the groove has the movable hole, part of the gripping member is located in the groove, and the other part of the gripping member is located outside the groove.

[0011] Optionally, the blocking member includes a connected movable part and a blocking part, the blocking part being provided with a chamfered structure; When the blocking member is in the first position, the movable part passes through the through hole, and the blocking part extends out of the housing; when the blocking member is in the second position, the blocking part retracts into the housing or into the through hole.

[0012] Optionally, the cover plate includes a cover plate body and a limiting ring; The cover plate body is disposed at the opening, and the cover plate body has the mounting surface. The limiting ring is disposed at the mounting surface, and the limiting ring has a notch. The blocking member passes through the notch, and the limiting ring abuts against the inner wall of the receiving cavity. The cover plate body is connected to the housing.

[0013] Secondly, embodiments of this application propose a quadruped robot, the quadruped robot including a mounting cavity and a power supply structure as described in any of the first aspects above; The cavity wall of the mounting cavity is provided with a limiting structure. The power supply structure is located in the mounting cavity, and the portion of the blocking member extending out of the housing cooperates with the limiting structure.

[0014] In this embodiment, since the battery pack is disposed in the receiving cavity and the cover plate is disposed in the opening, the cover plate and the receiving cavity can enclose a closed space to protect the battery pack. Furthermore, the cover plate has a mounting surface facing the receiving cavity, and a blocking member is movably connected to the mounting surface. Therefore, the blocking member can move relative to the mounting surface, thereby switching between a first position and a second position. Since the cavity wall of the receiving cavity has a through hole that penetrates the wall of the receiving cavity and is positioned opposite the blocking member, the position of the blocking member relative to the through hole can change during the movement of the blocking member. Specifically, when the blocking component is in the first position, it passes through the through hole, and part of it extends out of the housing. When the blocking component is in the second position, it retracts into the housing or the through hole. Therefore, when the power supply structure is applied to a quadruped robot, and it needs to be installed in the quadruped robot's mounting cavity, the blocking component can be positioned in the second position, retracting into the housing or the through hole. This prevents the blocking component from extending out of the mounting cavity, avoiding interference with the installation of the power supply structure and ensuring a smooth installation. When installed in the mounting cavity of the quadruped robot, the blocking component can be positioned in the first position, with part of the blocking component extending out of the shell. This part of the blocking component can then cooperate with the limiting structure of the mounting cavity to block the power supply structure, preventing the power supply structure from easily detaching from the mounting cavity. When it is necessary to remove the power supply structure from the mounting cavity, the blocking component can be positioned in the second position, retracting into the shell or through hole. The blocking component then separates from the limiting structure of the mounting cavity, so that the power supply structure is not interfered with by the blocking component, making it easy for the power supply structure to be removed from the mounting cavity.

[0015] In other words, in this embodiment, by providing a blocking member that is movably connected to the mounting surface of the cover plate, when the power supply structure needs to be installed in the mounting cavity of the quadruped robot, the blocking member is positioned in a second position, facilitating the installation of the power supply structure into the mounting cavity. When the power supply structure is installed in the mounting cavity, the blocking member is positioned in a first position, preventing the power supply structure from easily detaching from the mounting cavity. When it is necessary to remove the power supply structure, the blocking member can be positioned in a second position, facilitating its removal. Therefore, in this embodiment, not only is it convenient to install or remove the power supply structure from the mounting cavity of the quadruped robot, but it also ensures that the power supply structure is not easily detached from the mounting cavity when it is not needed. Attached Figure Description

[0016] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is an isometric view of a power supply structure provided in an embodiment of this application; Figure 2 This is a cross-sectional view of a power supply structure provided in an embodiment of this application; Figure 3 This diagram illustrates a cover plate assembly provided in an embodiment of this application. Figure 4 This shows a cross-sectional view at point AA in section 33; Figure 5 This is an isometric view of a cover plate assembly provided in an embodiment of this application; Figure 6 This diagram illustrates a quadruped robot provided in an embodiment of this application.

[0017] Figure label: 100: Power supply structure; 10: Battery pack; 20: Housing; 201: Through hole; 30: Cover assembly; 31: Cover plate; 32: Blocking element; 33: Holding element; 311: Mounting surface; 312: Movable hole; 313: Fixing block; 314: Groove; 321: Movable part; 322: Blocking part; 323: Chamfered structure; 3101: Cover body; 3102: Limiting ring; 40: Elastic element. Detailed Implementation

[0018] The embodiments of this application will now be described in detail. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0019] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise stated, "multiple" means two or more. Furthermore, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0020] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0021] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0022] This application provides a power supply structure, such as... Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the power supply structure 100 includes: a battery pack 10, a housing 20, and a cover assembly 30; The housing 20 has a receiving cavity and an opening communicating with the receiving cavity, and the battery pack 10 is disposed in the receiving cavity; the cover assembly 30 includes a cover plate 31 and a blocking member 32. The cover plate 31 is disposed in the opening and has a mounting surface 311 facing the receiving cavity. The blocking member 32 is movably connected to the mounting surface 311 and can switch between a first position and a second position. The cavity wall of the receiving cavity is provided with a through hole 201, which penetrates the cavity wall of the receiving cavity and is positioned opposite to the blocking member 32. When the blocking member 32 is in the first position, the blocking member 32 passes through the through hole 201 and a portion of the blocking member 32 extends out of the housing 20; when the blocking member 32 is in the second position, the blocking member 32 is retracted into the housing 20 or into the through hole 201.

[0023] In this embodiment, since the battery pack 10 is disposed in the receiving cavity and the cover plate 31 is disposed in the opening, the cover plate 31 and the receiving cavity can enclose a closed space to protect the battery pack 10. Furthermore, the cover plate 31 has a mounting surface 311 facing the receiving cavity, and the blocking member 32 is movably connected to the mounting surface 311. Therefore, the blocking member 32 can move relative to the mounting surface 311, thereby switching between a first position and a second position. Since the cavity wall of the receiving cavity is provided with a through hole 201 that penetrates the wall of the receiving cavity and is positioned opposite to the blocking member 32, the position of the blocking member 32 relative to the through hole 201 can change during the movement of the blocking member 32. Specifically, when the blocking member 32 is in the first position, the blocking member 32 passes through the through hole 201, and part of the blocking member 32 extends out of the housing 20; when the blocking member 32 is in the second position, the blocking member 32 is retracted into the housing 20 or the through hole 201. Therefore, when the power supply structure 100 is applied to a quadruped robot, and when it is necessary to install the power supply structure 100 in the mounting cavity of the quadruped robot, the blocking member 32 can be positioned in the second position, thus retracting into the housing 20 or the through hole 201. That is, the blocking member 32 does not extend out of the mounting cavity, avoiding interference with the installation of the power supply structure 100 and preventing any impact on the installation of the power supply structure 100. When structure 100 is installed into the mounting cavity of the quadruped robot, the blocking member 32 can be positioned in the first position, so that part of the blocking member 32 extends out of the housing 20. This part of the blocking member 32 can cooperate with the limiting structure of the mounting cavity to block the power supply structure 100, preventing the power supply structure 100 from easily detaching from the mounting cavity. When it is necessary to remove the power supply structure 100 from the mounting cavity, the blocking member 32 can be positioned back in the second position, and the blocking member 32 retracts into the housing 20 or the through hole 201. The blocking member 32 then separates from the limiting structure of the mounting cavity, so that the power supply structure 100 is not interfered with by the blocking member 32, making it easy for the power supply structure 100 to be removed from the mounting cavity.

[0024] In other words, in this embodiment, by providing a blocking member 32, which is movably connected to the mounting surface 311 of the cover plate, when the power supply structure 100 needs to be installed in the mounting cavity of the quadruped robot, the blocking member 32 is positioned in a second position, facilitating the installation of the power supply structure 100 into the mounting cavity. When the power supply structure 100 is installed into the mounting cavity, the blocking member 32 is positioned in a first position, blocking the power supply structure 100 and preventing it from easily detaching from the mounting cavity. When it is necessary to remove the power supply structure 100, the blocking member 32 can be positioned in a second position, facilitating its removal. Therefore, in this embodiment, not only is it convenient to install or remove the power supply structure 100 from the mounting cavity of the quadruped robot, but it also ensures that the power supply structure 100 is not easily detached from the mounting cavity when it is not necessary to remove it.

[0025] It should be noted that, in this embodiment of the application, the inside of the housing 20 may be provided with a power supply structure 100 connected to the battery pack 10. When the power supply component is installed into the mounting cavity of the quadruped robot, the power supply structure 100 can transfer the electrical energy of the battery pack 10 to the quadruped robot.

[0026] In addition, the number of battery packs 10 can be set according to actual needs. The specific number of battery packs 10 is not limited in this embodiment.

[0027] Additionally, in some embodiments, such as Figure 3 , Figure 4 and Figure 5 As shown, the cover plate assembly 30 also includes a gripper 33; the cover plate 31 is provided with a movable hole 312, and the movable hole 312 extends through the cover plate 31 in the direction from the cover plate 31 to the receiving cavity, at least a portion of the blocking member 32 is located in the movable hole 312, and the size of the movable hole 312 is larger than the size of the blocking member 32 located in the movable hole 312; the gripper 33 is located on the side of the cover plate away from the receiving cavity, and the gripper 33 is connected to the blocking member 32, and the gripper 33 is used to drive the blocking member 32 to switch between a first position and a second position.

[0028] Since the cover plate 31 is provided with a movable hole 312, and the movable hole 312 extends through the cover plate 31 in the direction from the cover plate 31 to the receiving cavity, at least a portion of the blocking member 32 can be located in the movable hole 312. Since the size of the movable hole 312 is larger than the size of the blocking member 32 located in the movable hole 312, a force can be applied to the portion of the blocking member 32 located in the movable hole 312, causing the blocking member 32 to move relative to the mounting surface 311. This allows the blocking member 32 to switch between a first position and a second position. Furthermore, the gripper 33 is located on the side of the cover plate away from the receiving cavity, and the gripper 33 is connected to the blocking member 32. Therefore, when the power supply structure 100 is installed in the mounting cavity of the quadruped robot, the operator can apply force to the gripper 33 by gripping it, thereby applying force to the blocking member 32. That is, the gripper 33 drives the blocking member 32 to switch between a first position and a second position, so that the blocking member 32 extends out of the housing 20 or retracts into the housing 20. This facilitates the operator in installing the power supply structure 100 in the quadruped robot and in removing the power supply structure 100 from the mounting cavity of the quadruped robot. In other words, by providing the gripper 33, it is convenient for the operator to install the power supply structure 100 or to remove the power supply structure 100 from the mounting cavity of the quadruped robot.

[0029] In addition, in this embodiment, the mounting surface 311 may be provided with a sliding groove, and a portion of the blocking member 32 is embedded in the sliding groove. When the operator moves the blocking member 32 relative to the mounting surface 311 by holding the gripping member 33, the blocking member 32 can slide along the sliding groove, thereby switching the blocking member 32 between a first position and a second position. Furthermore, after the power supply component is installed into the mounting cavity of the quadruped robot, the operator can apply force to the gripping member 33, causing the gripping member 33 to move the blocking member 32 to the first position, so that a portion of the blocking member 32 extends out of the housing 20 and engages with the limiting structure in the mounting cavity.

[0030] Of course, in this embodiment, the mounting surface 311 can also be provided with a driving component, which is connected to the blocking component 32. The driving component is used to drive the blocking component 32 to move, so that the blocking component 32 switches between a first position and a second position. The driving component can be a motor. In this case, the output end of the motor is connected to a lead screw, and the lead screw is connected to a slider. The blocking component 32 is connected to the slider. When the motor is running, the motor drives the lead screw to rotate, thereby causing the slider to move along the axial direction of the lead screw, which in turn drives the blocking component 32 to move, thus switching the blocking component 32 between the first position and the second position. That is, by utilizing the principle of the lead screw and nut, the rotational motion of the lead screw is converted into the linear motion of the slider, allowing the blocking component 32 to switch between the first position and the second position.

[0031] Additionally, in some embodiments, such as Figure 2 and Figure 4 As shown, the power supply structure 100 also includes an elastic element 40; the first end of the elastic element 40 is fixed to the mounting surface 311, and the second end of the elastic element 40 is connected to the blocking element 32. The extension and retraction direction of the elastic element 40 is the same as the movement direction of the blocking element 32. With this configuration, when the power supply structure 100 needs to be installed into the mounting cavity of the quadruped robot, force can be applied to the gripper 33 by holding the gripper 33, causing the gripper 33 to move the blocking element to the second position. At this time, the elastic element 40 can be compressed, and the blocking element 32 extends into the housing 20, making it easy to install the power supply structure 100 into the mounting cavity of the quadruped robot. Once the power supply structure 100 is installed into the mounting cavity, the force applied to the gripper 33 can be stopped, and the elastic element 40 can return to its initial state, that is, the elastic element 40 applies force to the blocking element 32, causing the blocking element 32 to move to the first position, so that part of the blocking element 32 extends out of the housing 20 and cooperates with the limiting structure of the mounting cavity, effectively preventing the power supply structure 100 from easily detaching from the mounting cavity. By setting the elastic element 40, after the power supply structure 100 is installed into the mounting cavity of the quadruped robot, the elastic element 40 can drive the blocking element 32 to move to the first position, thus preventing the operator from applying force to the gripping element 33 to cause the gripping element 33 to drive the blocking element 32 to move to the first position. This reduces the operator's workload and facilitates the movement of the blocking element 32 to the first position.

[0032] It should be noted that in the embodiments of this application, the elastic element 40 can be a spring. Of course, the elastic element 40 can also be other types, such as a sheet. The specific type of the elastic element 40 is not limited in the embodiments of this application.

[0033] Additionally, in some embodiments, such as Figure 4 As shown, a fixing block 313 is provided on the mounting surface 311, and the first end of the elastic member 40 is fixed to the fixing block 313. With this arrangement, it is easy to fix the first end of the elastic member 40 to the mounting surface 311, and the first end of the elastic member 40 can be fixed to the first surface by the fixing block 313.

[0034] It should be noted that the fixing block 313 can be welded to the mounting surface 311, so that the fixing block 313 is fixed to the mounting surface 311. Of course, the fixing block 313 and the cover plate can also be integrally formed. Alternatively, the fixing block 313 can be connected to the mounting surface 311 by bolts. In this embodiment, the present application does not limit the specifics.

[0035] In addition, in this embodiment, the fixing block 313 may be provided with weight-reducing holes, which is beneficial to reducing the weight of the power supply structure 100.

[0036] In addition, the fixing block 313 may be provided with a slot, the first end of the elastic member 40 is embedded in the slot, and the elastic member 40 is welded to the slot wall or the slot bottom.

[0037] Additionally, in some embodiments, such as Figure 4 As shown, the fixing block 313 has a first surface and a second surface facing away from each other along the first direction X. There are two elastic elements 40 and two blocking elements 32. The first end of one elastic element 40 is fixed to the first surface, and the second end of the elastic element 40 is connected to one blocking element 32. The first end of the other elastic element 40 is fixed to the second surface, and the second end of the elastic element 40 is connected to the other blocking element 32. Both blocking elements 32 are connected to the gripping element 33. This arrangement is equivalent to having elastic elements 40 and blocking elements 32 on opposite sides of the fixing block 313 in the first direction X. Therefore, when the power supply structure 100 is installed into the mounting cavity of the quadruped robot, the blocking elements 32 on opposite sides of the fixing block 313 in the first direction X move to the first position under the action of their respective corresponding elastic elements 40. This allows the blocking elements 32 on opposite sides of the fixing block 313 to cooperate with the limiting structure in the mounting cavity, thus limiting the power supply structure 100 on both sides in the first direction X, effectively ensuring that the power supply structure 100 is not easily detached from the mounting cavity.

[0038] Additionally, in some embodiments, such as Figure 4 As shown, the first part of the grip 33 is connected to a blocking member 32, and the second part of the grip 33 is connected to another blocking member 32. The grip 33 is deformable. With this configuration, when an operator applies force to the grip 33, the operator can apply force by gripping the middle part of the grip 33, causing the grip 33 to deform. This allows the first part of the grip 33 to apply force to the connected blocking member 32, and the second part of the grip 33 to apply force to the connected blocking member 32, causing both blocking members 32 to move simultaneously. The middle part of the grip 33 is located between the first and second parts. In other words, by making the grip 33 deformable, it is convenient for the operator to apply force to the grip 33 to move both blocking members 32 simultaneously.

[0039] It should be noted that the first part of the gripper 33 and the blocking member 32 can be connected by bolts. Of course, the first part of the gripper 33 and the blocking member 32 can also be connected by pins. This embodiment of the application does not limit the connection in this respect. Similarly, the second part of the gripper 33 and the blocking member 32 can be connected by bolts. Of course, the second part of the gripper 33 and the blocking member 32 can also be connected by pins. This embodiment of the application does not limit the connection in this respect.

[0040] Additionally, in some embodiments, such as Figure 4 and Figure 5As shown, a groove 314 is provided on the surface of the cover plate 31 opposite to the mounting surface 311. An movable hole 312 is provided at the bottom of the groove 314. Part of the gripping member 33 is located within the groove 314, while the other part is located outside the groove 314. This arrangement reduces the weight of the cover plate 31, thus reducing the weight of the power supply structure 100. Furthermore, the location of the gripping member 33 within and outside the groove 314 makes the power supply structure 100 more compact, resulting in less additional space occupied by the power supply structure 100 when installed in the quadruped robot.

[0041] Additionally, in some embodiments, such as Figure 4 As shown, the blocking member 32 includes a connected movable part 321 and a blocking part 322, and the blocking part 322 is provided with a chamfered structure 323. When the blocking member 32 is in the first position, the movable part 321 passes through the through hole 201, and the blocking part 322 extends out of the housing 20. When the blocking member 32 is in the second position, the blocking part 322 is retracted into the housing 20 or into the through hole 201.

[0042] Since the blocking member 32 includes a connected movable part 321 and a blocking part 322, and the blocking part 322 is provided with a chamfered structure 323, the position of the blocking part 322 relative to the through hole 201 can change during the movement of the blocking member 32. Specifically, when the blocking member 32 is in the first position, the movable part 321 passes through the through hole 201, and the blocking part 322 extends out of the housing 20. Therefore, when the power supply structure 100 is installed into the mounting cavity of the quadruped robot, a portion of the power supply structure 100 can be embedded in the mounting cavity. Then, force is applied to the cover plate assembly 30, and the blocking part 322 extends out of the housing 20. However, the blocking part 322 has a chamfer, which facilitates its retraction into the housing 20 after contact with the cavity wall. Furthermore, during the installation of the power supply structure 100, if the blocking part 322 contacts the limiting structure of the mounting cavity, the chamfered structure 323 further facilitates its retraction into the housing 20, allowing the blocking part 322 to move to the second position. In other words, by providing the chamfered structure 323 on the blocking part 322, it is easier for the blocking part 322 to retract into the housing 20 or through hole 201.

[0043] In addition, when the power supply assembly includes an elastic member 40 and the elastic member 40 is connected to the blocking member 32, the elastic member 40 is connected to the movable part 321.

[0044] Additionally, in some embodiments, such as Figure 4 and Figure 5As shown, the cover plate 31 includes a cover plate body 3101 and a limiting ring 3102; the cover plate body 3101 is disposed at the opening and has a mounting surface 311, the limiting ring 3102 is disposed at the mounting surface 311, the limiting ring 3102 is provided with a notch, the blocking member 32 passes through the notch, and the limiting ring 3102 abuts against the inner wall of the receiving cavity; wherein, the cover plate body 3101 is connected to the housing 20.

[0045] Since the limiting ring 3102 is located on the mounting surface 311, when the cover plate body 3101 is positioned in the opening of the housing 20, the limiting ring 3102 can abut against the inner wall of the receiving cavity of the housing 20. This allows the limiting ring 3102 to limit the position of the cover plate body 3101, preventing it from easily wobbling relative to the housing 20, and facilitating the connection between the cover plate body 3101 and the housing 20. Furthermore, the limiting ring 3102 has a notch through which the blocking member 32 passes, ensuring that the limiting ring 3102 does not affect the movement of the blocking member 32, thus allowing the blocking member 32 to move relative to the cover plate body 3101.

[0046] It should be noted that the cover plate body 3101 and the housing 20 can be connected by bolts; of course, the cover plate body 3101 and the housing 20 can also be welded. This embodiment of the application does not limit this. Additionally, the limiting ring 3102 and the cover plate body 3101 can be an integral structure; of course, the limiting ring 3102 can also be welded to the mounting surface 311 of the cover plate body 3101. This embodiment of the application does not limit this.

[0047] This application also provides a quadruped robot, such as... Figure 6 As shown, the quadruped robot includes a mounting cavity and a power supply structure 100 as described in any of the above embodiments; the cavity wall of the mounting cavity is provided with a limiting structure, the power supply structure 100 is located in the mounting cavity, and the part of the blocking member 32 extending out of the shell 20 cooperates with the limiting structure.

[0048] It should be noted that the limiting structure can be a limiting boss. In this case, the blocking member 32 is located on one side of the limiting boss, so that the limiting boss blocks the blocking member 32, thereby preventing the power supply structure 100 from easily detaching from the mounting cavity. Of course, the limiting structure can also be other types. For example, the limiting structure is a limiting groove. In this case, the part of the blocking member 32 extending out of the housing 20 is embedded in the limiting groove, and the limiting groove blocks the blocking member 32, preventing the power supply structure 100 from easily detaching from the mounting cavity.

[0049] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0050] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

[0051] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0052] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A power supply structure, characterized in that, The power supply structure includes: a battery pack, a housing, and a cover plate assembly; The housing has a receiving cavity and an opening communicating with the receiving cavity, and the battery pack is disposed in the receiving cavity; The cover plate assembly includes a cover plate and a blocking member. The cover plate is disposed at the opening and has a mounting surface facing the receiving cavity. The blocking member is movably connected to the mounting surface and can be switched between a first position and a second position. The cavity wall of the receiving cavity is provided with a through hole that penetrates the cavity wall of the receiving cavity and is opposite to the blocking member. When the blocking member is in the first position, the blocking member passes through the through hole, and a portion of the blocking member extends out of the housing; when the blocking member is in the second position, the blocking member is retracted into the housing or the through hole.

2. The power supply structure according to claim 1, characterized in that, The cover plate assembly also includes a gripping element; The cover plate is provided with a movable hole, and the movable hole penetrates the cover plate along the direction from the cover plate to the receiving cavity. At least a portion of the blocking member is located in the movable hole, and the size of the movable hole is larger than the size of the blocking member located in the movable hole. The grip is located on the side of the cover plate away from the receiving cavity, and the grip is connected to the blocking member. The grip is used to drive the blocking member to switch between the first position and the second position.

3. The power supply structure according to claim 2, characterized in that, The power supply structure also includes an elastic element; The first end of the elastic element is fixed to the mounting surface, and the second end of the elastic element is connected to the blocking element. The extension and retraction direction of the elastic element is the same as the movement direction of the blocking element.

4. The power supply structure according to claim 3, characterized in that, The mounting surface is provided with a fixing block, and the first end of the elastic element is fixed to the fixing block.

5. The power supply structure according to claim 4, characterized in that, The fixing block has a first surface and a second surface facing away from each other along a first direction; the number of elastic elements is two; the number of blocking elements is two. One elastic element has its first end fixed to the first surface and its second end connected to one of the blocking elements; the other elastic element has its first end fixed to the second surface and its second end connected to the other blocking element. Both of the blocking members are connected to the gripping member.

6. The power supply structure according to claim 5, characterized in that, The first part of the grip is connected to one of the blocking members, the second part of the grip is connected to another blocking member, and the grip is deformable.

7. The power supply structure according to claim 2, characterized in that, The cover plate has a groove on the surface opposite to the mounting surface. The bottom of the groove has the movable hole. Part of the gripping member is located in the groove, and the other part of the gripping member is located outside the groove.

8. The power supply structure according to any one of claims 1-7, characterized in that, The blocking member includes a connected movable part and a blocking part, and the blocking part is provided with a chamfered structure; When the blocking member is in the first position, the movable part passes through the through hole, and the blocking part extends out of the housing; When the blocking member is in the second position, the blocking part is retracted into the housing or the through hole.

9. The power supply structure according to any one of claims 1-7, characterized in that, The cover plate includes a cover plate body and a limiting ring; The cover plate body is disposed at the opening, and the cover plate body has the mounting surface. The limiting ring is disposed at the mounting surface, and the limiting ring has a notch. The blocking member passes through the notch, and the limiting ring abuts against the inner wall of the receiving cavity. The cover plate body is connected to the housing.

10. A quadruped robot, characterized in that, The quadruped robot includes a mounting cavity and a power supply structure as described in any one of claims 1-9; The cavity wall of the mounting cavity is provided with a limiting structure. The power supply structure is located in the mounting cavity, and the portion of the blocking member extending out of the housing cooperates with the limiting structure.

Images