Quadruped robot

Abstract

The quadruped robot comprises a trunk, legs and a battery, the battery is connected with the trunk through a battery disassembling and assembling structure, and the battery disassembling and assembling structure comprises telescopic assemblies which are arranged on the two sides of the battery and comprise telescopic buckles and elastic pieces; the unlocking piece can deform under the action of external force, and the two sides of the unlocking piece are connected to the telescopic buckles respectively; the locking part is arranged on the quadruped robot and corresponds to the telescopic buckle; external force is applied to pull the unlocking piece and deform, and the telescopic buckles on the two sides synchronously move to be separated from the locking parts, so that the battery is detached from the quadruped robot. The characteristic that the unlocking piece can deform under the action of external force is utilized, the two ends of the unlocking piece are connected with the two telescopic buckles at the same time, an operator conducts a drawing action with one hand, the telescopic buckles on the two sides synchronously move to be separated from the locking parts, and therefore the battery can be rapidly separated from the battery bin of the quadruped robot, two-hand operation is not needed, and operation is convenient. No matter how large the size of the battery is, one-hand operation can be realized.

Description

Technical Field

[0001] The invention belongs to the technical field of quadruped robots, and in particular relates to a quadruped robot. Background Art

[0002] A quadruped robot, also known as a leg-foot robot, is a type of robot that imitates the leg movements of humans or animals to move. Regarding the disassembly and assembly of a quadruped robot, Chinese patent CN219575835U discloses a "battery pack structure and robot", which sets a card assembly on the inner wall of the battery box. When unlocking, the user moves the card block inward by toggling the protrusion on the card block, so that the card block retracts into the battery box through the first through hole. At this time, the card block releases the card action with the robot, and the battery pack is quickly unlocked. At this time, the battery pack can be taken out of the robot; when locking, the battery pack is placed in the robot, and the card block moves outward under the elastic force of the elastic member and extends out of the battery box through the first through hole. At this time, the card block engages with the robot to achieve rapid locking of the battery pack. After analysis, it can be seen that when the battery needs to be removed, the user needs to first use one hand to simultaneously move the blocks on both sides toward the middle, and then use the other hand to assist in removing the battery from the robot body; however, the disadvantages of this method of removing the battery are also obvious, that is, both hands are required to operate, and both hands need to operate the battery at the same time. Since the battery has a certain weight and there is a large friction between the battery and the robot, if the robot cannot be fixed, then the battery will be displaced outward together with the robot during the process of pulling the battery out, thereby affecting the smooth removal of the battery. Summary of the invention

[0003] In order to overcome the deficiencies of the prior art, the present invention provides a quadruped robot, whose battery disassembly and assembly structure utilizes the deformable characteristics of the unlocking piece to facilitate the operator to pull out the battery with one hand, thereby facilitating the installation and removal of the battery.

[0004] The technical solution adopted by the present invention to solve the technical problem is: a quadruped robot, comprising a trunk, legs movably connected to the trunk, and a battery detachably connected to the trunk, wherein the battery is connected to the trunk by a battery disassembly structure, and the battery disassembly structure comprises:

[0005] The telescopic assembly is arranged on both sides of the battery, and includes a telescopic buckle and an elastic member abutting against the telescopic buckle;

[0006] The unlocking piece is flat and can be deformed under the action of external force, and its two sides are respectively connected to the telescopic buckle;

[0007] A locking portion, provided on the quadruped robot, and corresponding to the telescopic buckle;

[0008] External force is applied to pull the unlocking piece and cause it to deform, and the telescopic buckles on both sides move synchronously to disengage from the locking portion, so that the battery can be removed from the quadruped robot.

[0009] Furthermore, the telescopic buckle can be translated along a first direction to enter or disengage from the locking portion, and the battery can be translated along a second direction to be removed from or installed with the quadruped robot. An external force is applied to pull the unlocking piece. Within a first time period, the telescopic buckle is translated along the first direction to disengage from the locking portion. Within a second time period, the battery is translated along the second direction away from the quadruped robot. The first time period and the second time period are continuous, or the first time period and the second time period overlap at least partially.

[0010] Furthermore, the first direction and the second direction are perpendicular to each other, and the pulling direction of the unlocking member is a direction away from the quadruped robot.

[0011] Furthermore, the telescopic buckle includes a connecting portion, a locking portion, and a mounting portion, and the unlocking piece is connected to the connecting portion via a fastener.

[0012] Furthermore, a bending portion is formed at the end of the unlocking member, and the fastener includes a first fastening body and a second fastening body, and the first fastening body passes through the connecting portion and the bending portion and is connected to the second fastening body, so that the connecting portion and the second fastening body clamp the bending portion toward each other and form a pulling gap between the battery and the unlocking member.

[0013] Furthermore, the locking portion forms a cutting surface with a reduced width, and the cutting surface extends obliquely from the locking portion toward the battery and from the outside to the inside.

[0014] Furthermore, the mounting portion has a positioning groove for partially extending the elastic member, and an extension wall extending along the extension direction of the elastic member. The battery has an end cover, which is provided with a shielding portion, and the extension wall can slide against the inner side of the shielding portion.

[0015] Furthermore, the end cover forms a limiting cavity for clamping the elastic member, a notch groove, and a through hole for the telescopic buckle to pass through, the through hole is arranged corresponding to the locking part, the unlocking member is connected to the telescopic buckle at the notch groove, and the notch groove limits the movable stroke of the telescopic buckle.

[0016] Furthermore, the locking portion has a locking step, which can abut against the side wall of the through hole to prevent the telescopic buckle from detaching.

[0017] Furthermore, a side wall of the notch groove is formed by an end surface of the shielding portion.

[0018] Furthermore, the end cover forms an inner concave surface, which at least partially corresponds to the position of the unlocking member to form a pulling gap between the inner concave surface and the inner side surface of the unlocking member, and the width of the inner concave surface is greater than or equal to the width of the unlocking member.

[0019] Furthermore, when the unlocking member is not pulled by an external force, it is received parallel to the inner concave surface.

[0020] The beneficial effects of the present invention are as follows: 1) utilizing the deformable characteristic of the unlocking piece under the action of an external force, the two ends of an unlocking piece are simultaneously connected to two telescopic buckles, and the operator performs a pulling action with one hand, and the telescopic buckles on both sides move synchronously to disengage from the locking part, so that the battery can be quickly disengaged from the battery compartment of the quadruped robot, without the need for two-handed operation, and single-handed operation can be achieved regardless of the size of the battery; 2) due to the setting of the unlocking piece, the action of the telescopic buckle disengaging from the locking part and the action of the battery being removed from the quadruped robot are continuous, without any pause in between, and the operator does not need to change the action during the operation, and the entire operation is completed. The operation process is coherent and smooth, and the operation is labor-saving and convenient; 3) Whether installing the battery into the battery compartment of the quadruped robot or removing the battery from the battery compartment, the operator only needs to pull the unlocking piece to deform it, which is easy to operate; 4) The setting of the pulling gap provides space for the operator's hand to reach in, which is convenient for the operator to apply external force to the unlocking piece; 5) The assembly structure of the unlocking piece and the battery end cover is simple and stable, the telescopic buckle will not detach easily, and it can effectively ensure the translation of the telescopic buckle, and its motion trajectory will not deviate; 6) When not in use, the unlocking piece is stored in the concave surface of the end cover, and the overall structure is simple. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 The battery disassembly and assembly structure provided by the present invention cooperates with the battery Figure 1 .

[0022] Figure 2 The battery disassembly and assembly structure provided by the present invention cooperates with the battery Figure 2 .

[0023] Figure 3 This is a front view of the battery disassembly and assembly structure provided by the present invention and the battery in cooperation.

[0024] Figure 4 The battery disassembly and assembly structure provided by the present invention cooperates with the battery in a local three-dimensional Figure 1 .

[0025] Figure 5 The battery disassembly and assembly structure provided by the present invention cooperates with the battery in a local three-dimensional Figure 2 .

[0026] Figure 6 A cross-sectional view of the battery disassembly and assembly structure provided by the present invention in cooperation with the battery.

[0027] Figure 7 for Figure 6 A magnified view of the structure in Figure 2.

[0028] Figure 8 This is a front view of the quadruped robot provided by the present invention.

[0029] Among them, 1-telescopic assembly, 11-telescopic buckle, 111-connecting part, 112-locking part, 113-installing part, 114-cutting surface, 115-positioning step, 116-positioning groove, 117-extension wall, 12-elastic member, 2-battery, 21-end cover, 211-shielding part, 212-limiting cavity, 213-notch groove, 214-through hole, 215-concave surface, 3-unlocking member, 31-bending part, 4-locking part, 5-quadruped robot, 51-torso, 52-leg, 6-fastener, 61-first fastener, 62-second fastener, 7-pulling gap. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0031] like Figure 1-Figure 7 As shown, a quadruped robot includes a trunk 51, legs 52 movably connected to the trunk 51, and a battery 2 detachably connected to the trunk 51, the battery 2 is connected to the trunk 51 by a battery disassembly structure, the battery disassembly structure includes a telescopic assembly 1 arranged on both sides of the battery 2, an unlocking member 3, and a locking portion (not shown in the figure) arranged on the trunk of the quadruped robot 5, the locking portion is arranged corresponding to the telescopic assembly 1. In this embodiment, the number of the telescopic assemblies 1 is two, and similarly, the number of the locking portions is also two.

[0032] A single telescopic assembly 1 includes a telescopic buckle 11 and an elastic member 12 that abuts against the telescopic buckle 11. Specifically, the locking portion is arranged corresponding to the telescopic buckle 11, and the two sides of the unlocking member 3 are respectively connected to the telescopic buckles 11 of the two telescopic assemblies 1, and the unlocking member 3 can be deformed under the action of an external force, so that an external force is applied to pull the unlocking member 3, and the telescopic buckles 11 on both sides move synchronously to disengage from the locking portion, thereby removing the battery 2 from the trunk 51 of the quadruped robot 5. In this embodiment, the unlocking member 3 can be made of elastic rubber or other materials.

[0033] Specifically, the telescopic buckle 11 can be translated along the first direction to achieve the purpose of entering or disengaging from the locking portion, and the battery 2 can be translated along the second direction to achieve removal or installation from the trunk 51 of the quadruped robot 5. When an external force is applied to pull the unlocking member 3, within a first time period, the telescopic buckle 11 is translated along the first direction to disengage from the locking portion, and within a second time period, the battery 2 is translated along the second direction away from the trunk 51 of the quadruped robot 5. The above-mentioned first time period and second time period are continuous. In other words, the second time period follows the first time period, and enters the second time period without pause after the end of the first time period; or, the above-mentioned first time period and second time period overlap at least partially, in other words, the second time period has already begun before the end of the first time period.

[0034] The present invention utilizes the deformable property of the unlocking piece 3 under the action of external force to simultaneously connect the two ends of an unlocking piece 3 to two telescopic buckles 11, so that when the operator performs a pulling action with one hand, specifically, when an external force is applied to pull the unlocking piece 3 in a direction away from the quadruped robot 5, the telescopic buckles 11 on both sides can simultaneously translate in a direction close to each other, and the telescopic buckles 11 on both sides move synchronously to disengage from the locking portion, so that the battery 2 can quickly detach from the battery compartment of the trunk 51 of the quadruped robot 5, without the need for two-handed operation, and one-handed operation can be achieved no matter how large the battery 2 is; due to the setting of the unlocking piece 3, the action of the telescopic buckle 11 detaching from the locking portion and the action of removing the battery 2 from the trunk 51 of the quadruped robot 5 are continuous, without any pause in between, and the operator does not need to change the action during the operation, and the entire operation process is coherent and smooth, and the operation is labor-saving and convenient.

[0035] In this embodiment, the first direction and the second direction are perpendicular to each other. Specifically, Figure 1 As shown, the first direction is the width direction of the battery, and the second direction is the depth direction of the battery.

[0036] like Figure 4-Figure 7 As shown, the telescopic buckle 11 includes a connecting portion 111, a locking portion 112, and a mounting portion 113. The connecting portion 111, the locking portion 112, and the mounting portion 113 are integrally arranged, and the three are close to being in the same plane. The locking portion 112 forms a cutting surface 114 with a reduced width, and the cutting surface 114 extends obliquely from the locking portion to the battery 2 and from the outside to the inside. Here, the side of the battery 2 close to the outside of the quadruped robot 5 is defined as the outside. Figure 7 Taking the direction shown as an example, the cutting surface 114 extends obliquely from left to right and from bottom to top. Therefore, when the battery 2 is inserted into the battery compartment of the quadruped robot 5, the cutting surface 114 can slide against the quadruped robot 5, so that the telescopic buckle 11 gradually retracts to the inside of the battery 2.

[0037] The mounting portion 113 has a positioning groove 116 for a portion of the elastic member 12 to extend into, and an extension wall 117 extending along the extension and contraction direction of the elastic member 12. The end of the elastic member 12 is inserted into the positioning groove 116. The positioning groove 116 can position the elastic member 12 during installation to prevent the elastic member 12 from falling off, while the extension wall 117 positions the elastic member 12 in the length direction of the elastic member 12 to prevent the elastic member 12 from shifting.

[0038] The battery 2 has an end cover 21 on the outward side, and the end cover 21 is provided with a shielding portion 211, which is located at a corresponding position of the unlocking member 3. The shielding portion 211 is used to shield the component structure inside the end cover 21, making the end cover appearance more concise. The outer side surface of the extension arm 117 can abut against the inner side surface of the shielding portion 211, so that the extension wall 117 slides against the inner side surface of the shielding portion 211, ensuring the translation of the telescopic buckle 11 and preventing the sliding track of the telescopic buckle 11 from being offset.

[0039] The end cap 21 forms a limiting cavity 212 for clamping the elastic member 12, so that one end of the elastic member 12 abuts against the inner bottom surface of the positioning groove 116, and the other end abuts against the end surface of the limiting cavity 212. The end cap 21 also forms a notch groove 213 and a through hole 214 for the telescopic buckle 11 to pass through, and the through hole 214 is arranged corresponding to the locking portion 4, that is, the through hole 214 is located at the side position where the battery 2 fits the quadruped robot 5. Specifically, the locking portion 4 can be a slot structure with an opening facing the through hole 214, as long as it can prevent the telescopic buckle 11 from detaching from the quadruped robot 5 trunk 51 in the depth direction of the battery 2, and the specific structure is not limited.

[0040] The notch groove 213 refers to the hollow portion between the end face of the shielding portion 211 and the side wall of the through hole 214 on the end cover 21. In other words, one side wall of the notch groove 213 is formed by the end face of the shielding portion 211. The unlocking member 3 is connected to the telescopic buckle 11 at the notch groove 213, so that the bending portion 31 and the fastener 6 can move in the notch groove 213. The notch groove 213 limits the movable stroke of the telescopic buckle 11, preventing the telescopic buckle 11 from moving excessively toward the inside of the battery 2, and also preventing the unlocking key 3 from being excessively deformed under external force.

[0041] The locking portion 112 has a positioning step 115, which can abut against the side wall of the through hole 214, thereby preventing the telescopic buckle 11 from excessively moving toward the outside of the battery 2 and causing it to detach from the battery 2. Figure 6 As shown, the portion of the notch groove 213, specifically the distance L1 between the end face of the shielding portion 211 and the end face of the bending portion 31, needs to be smaller than the length L2 between the end of the telescopic buckle 11 and the locking step 115, that is, L1<L2, to ensure that the telescopic buckle 11 will not detach from the notch groove 213 during the translation process.

[0042] like Figure 1-Figure 3 As shown, an inner concave surface 215 is formed on the outward side of the end cover 21, and the inner concave surface 215 at least partially corresponds to the position of the unlocking member 3. Here, the inner concave surface 215 refers to the fact that it is concave inward relative to the vertical plane corresponding to the unlocking member 3, and the width of the inner concave surface 215 is greater than or equal to the width of the unlocking member 3, thereby forming a pulling gap 7 between the inner concave surface 215 and the inner side surface of the unlocking member 3, and the operator can extend his hand into the pulling gap 7 to pull the unlocking member 3 outward to unlock.

[0043] The unlocking member 3 is flat. When the battery 2 is locked in the trunk 51 of the quadruped robot 5 and the unlocking member 3 is not pulled by an external force, the unlocking member 3 is stored in parallel in the inner concave surface 215. The parallel here refers to parallel to the first direction, that is, the unlocking member 3 is extended to a flat state under the pull of the telescopic buckles 11 on both sides, so that the unlocking member 3 will not protrude from the surface of the end cover 21, and the overall structure is simpler.

[0044] Regarding the fixed assembly of the unlocking member 3 and the battery 2, as shown in FIG. Figure 5-Figure 7 As shown, the unlocking member 3 is connected to the connecting portion 111 through the fastener 6. Specifically, the end of the unlocking member 3 forms a bent portion 31. The fastener 6 includes a first fastener 61 and a second fastener 62. The first fastener 61 passes through the connecting portion 111 and the bent portion 31 and is connected to the second fastener 62, so that the connecting portion 111 and the second fastener 62 clamp the bent portion 31 towards each other, and a pulling gap 7 is formed between the battery 2 and the unlocking member 3. The pulling gap 7 is located between the inner side of the unlocking member 3 and the outer side of the shielding portion 211. The thickness of the second fastener 62 also contributes to the pulling gap 7, thereby providing enough space for the operator to insert his hand into the pulling gap 7 to pull the unlocking member 3 outward to unlock.

[0045] When the battery 2 needs to be removed from the trunk 51 of the quadruped robot 5, an external force is applied to pull the unlocking member 3 outward. Specifically, the operator can pull the unlocking member 3 in the middle area with one hand. The unlocking member 3 has elastic force and can be deformed. The deformation causes the middle of the unlocking member 3 to bulge outward, and the two sides of the unlocking member 3 move toward each other, thereby driving the telescopic buckles 11 on both sides to synchronously translate toward each other, that is, the two telescopic buckles 11 synchronously translate toward each other along the first direction. Once the telescopic buckle 11 is completely disengaged from the locking portion, or the telescopic buckle 11 is close to being completely disengaged from the locking portion, then under the pulling action of the unlocking member 3, the battery 2 as a whole moves in the direction of detachment from the quadruped robot 5, that is, the battery 2 translates along the second direction with the telescopic assembly 1 as a whole, so that the battery 2 can quickly detach from the trunk 51 of the quadruped robot 5. The whole action is fast and smooth, and the operator does not need to change the action.

[0046] When the battery 2 needs to be installed into the battery compartment of the trunk 51 of the quadruped robot 5, the unlocking piece 3 can also be used to lift the battery 2. At this time, not only the battery 2 is lifted, but the telescopic buckles 11 on both sides are also retracted toward the inside of the battery 2 under the pulling of the unlocking piece 3, that is, one action realizes the transfer of the battery 2 and the inward pulling of the telescopic buckles 11, thereby facilitating the placement of the battery 2 into the battery compartment of the trunk 51 of the quadruped robot 5.

[0047] The above specific implementation modes are used to explain the present invention rather than to limit the present invention. Any modification and change made to the present invention within the spirit of the present invention and the protection scope of the claims shall fall within the protection scope of the present invention.

Claims

1. A quadruped robot, comprising a trunk (51), legs (52) movably connected to the trunk (51), and a battery (2) detachably connected to the trunk (51), characterized in that: The battery (2) is connected to the trunk (51) by means of a battery disassembly structure, wherein the battery disassembly structure comprises: A telescopic assembly (1) is arranged on both sides of the battery (2), and comprises a telescopic buckle (11) and an elastic member (12) abutting against the telescopic buckle (11); The unlocking member (3) is flat and can be deformed under the action of external force, and its two sides are respectively connected to the telescopic buckle (11); A locking portion, arranged on the trunk of the quadruped robot (5), and arranged corresponding to the telescopic buckle (11); External force is applied to pull the unlocking member (3) and cause deformation, and the telescopic buckles (11) on both sides move synchronously to disengage from the locking portion, so that the battery (2) can be removed from the quadruped robot (5).

2. The quadruped robot according to claim 1, characterized in that: The telescopic buckle (11) can be translated along a first direction to enter or disengage from the locking portion, and the battery (2) can be translated along a second direction to be removed from or installed on the trunk of the quadruped robot (5). An external force is applied to pull the unlocking member (3). Within a first time period, the telescopic buckle (11) is translated along the first direction to disengage from the locking portion. Within a second time period, the battery (2) is translated along the second direction away from the quadruped robot (5). The first time period and the second time period are continuous, or the first time period and the second time period overlap at least partially.

3. The quadruped robot according to claim 2, characterized in that: The first direction and the second direction are perpendicular to each other, and the pulling direction of the unlocking member (3) is a direction away from the quadruped robot (5).

4. The quadruped robot according to claim 1, characterized in that: The telescopic buckle (11) comprises a connecting portion (111), a locking portion (112), and a mounting portion (113); the unlocking member (3) is connected to the connecting portion (111) via a fastener (6).

5. The quadruped robot according to claim 4, characterized in that: The end of the unlocking member (3) forms a bent portion (31), and the fastener (6) comprises a first fastening body (61) and a second fastening body (62), wherein the first fastening body (61) passes through the connecting portion (111) and the bent portion (31) and is connected to the second fastening body (62), so that the connecting portion (111) and the second fastening body (62) clamp the bent portion (31) towards each other and form a pulling gap (7) between the battery (2) and the unlocking member (3).

6. The quadruped robot according to claim 4, characterized in that: The locking portion (112) forms a cutting surface (114) with a reduced width, and the cutting surface (114) extends obliquely from the locking portion toward the battery (2) and from the outside to the inside.

7. The quadruped robot according to claim 4, characterized in that: The mounting portion (113) has a positioning groove (116) for a portion of the elastic member (12) to extend into, and an extension wall (117) extending along the extension direction of the elastic member (12); the battery (2) has an end cover (21), the end cover (21) is provided with a shielding portion (211), and the extension wall (117) can slide against the inner side surface of the shielding portion (211).

8. The quadruped robot according to claim 7, characterized in that: The end cover (21) is formed with a limiting cavity (212) for clamping the elastic member (12), a notch groove (213), and a through hole (214) for the telescopic buckle (11) to pass through, the through hole (214) is arranged corresponding to the locking portion (4), the unlocking member (3) is connected to the telescopic buckle (11) at the notch groove (213), and the notch groove (213) limits the movable stroke of the telescopic buckle (11).

9. The quadruped robot according to claim 8, characterized in that: The locking portion (112) has a locking step (115), and the locking step (115) can abut against the side wall of the through hole (214) to prevent the telescopic buckle (11) from detaching.

10. The quadruped robot according to claim 8, characterized in that: One side wall of the notch groove (213) is formed by the end surface of the shielding portion (211).

11. The quadruped robot according to claim 8, characterized in that: The end cover (21) forms an inner concave surface (215), and the inner concave surface (215) at least partially corresponds to the position of the unlocking member (3), so as to form a pulling gap (7) between the inner concave surface (215) and the inner side surface of the unlocking member (3), and the width of the inner concave surface (215) is greater than or equal to the width of the unlocking member (3).

12. The quadruped robot according to claim 11, characterized in that: When the unlocking member (3) is not pulled by an external force, it is received parallel to the inner concave surface (215).

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