Anti-seismic control cabin system for high-motion-intensity quadruped robot

Abstract

The anti-seismic control cabin system comprises a cabin body structure, a PCB integrated carrier and an external interface assembly, the cabin body structure comprises an upper cover plate and a lower cabin body matched with the upper cover plate, and four sets of flexible damping supporting columns are fixedly arranged at the bottom of the lower cabin body; each group of flexible damping pillars is composed of a metal inner core and a silicone rubber outer layer arranged on the outer side of the metal inner core, the PCB integrated carrier is arranged in the lower cabin body, and the external interface assembly is arranged on the side wall of the lower cabin body. According to the invention, four groups of flexible damping pillars comprising 6061-T6 aluminum alloy inner cores and methyl vinyl silicone rubber outer layers are matched with an annular damping groove and a double fixing structure, so that the 15 g impact acceleration attenuation rate can be ensured to be greater than or equal to 85%, the vibration transmission of a robot body can be effectively isolated, the loosening or contact failure of a board card and a module under high motion intensity is avoided, and the service life of the robot is prolonged. And the operation stability of the control cabin is greatly improved.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically referring to an anti-vibration control cabin system for quadruped robots with high motion intensity. Background Technology

[0002] Currently, in complex scenarios such as industrial exploration, disaster relief, and military reconnaissance, quadruped robots need to possess high-intensity operational capabilities, including running, jumping, and traversing rugged terrain. Their control cabin, as the core command and signal processing unit, directly determines the robot's operational reliability. The control cabin integrates key boards such as drive modules and communication modules, as well as numerous connecting cables, making it highly susceptible to multiple failure risks under high-vibration conditions.

[0003] Existing anti-vibration solutions for quadruped robots have the following shortcomings: First, existing anti-vibration technologies mainly focus on the overall anti-vibration design of the robot body, without addressing the integrated anti-vibration optimization of the control cabin's internal circuit boards and wiring. Furthermore, they lack IP65-level dust and water protection and aviation-grade connector solutions, failing to meet the sealing and interface reliability requirements in harsh environments. Second, most existing quadruped robots use external protective devices, still failing to solve core issues such as loose circuit boards and worn / entangled cables within the control cabin, and lacking dedicated circuit board integration and anti-vibration interface design. In addition, while some industrial control box anti-vibration solutions can achieve a certain buffering effect, they are bulky and heavy, unable to meet the lightweight and compact space requirements of quadruped robots.

[0004] In summary, existing technologies have not yet formed an integrated solution for quadruped robots with high motion intensity. They generally suffer from four major pain points: loose circuit boards, worn wiring, interface failure, and insufficient protection. These issues severely restrict the operational stability and service life of quadruped robots under complex and high-intensity working conditions. There is an urgent need for an integrated and highly reliable shock-resistant control cabin system to fill the technological gap. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of current quadruped robot control cabin systems, such as easy loosening of circuit boards, easy wear and tear of wiring, easy failure of interfaces, and insufficient protection, and to provide a shock-resistant control cabin system for quadruped robots with high motion intensity.

[0006] The objective of this invention is achieved through the following technical solution: a shock-resistant control cabin system for high-intensity quadruped robots, comprising a cabin structure, a PCB board integrated carrier, and external interface components. The cabin structure includes an upper cover and a matching lower cabin. Four sets of flexible damping struts are fixedly installed at the bottom of the lower cabin. Each set of flexible damping struts consists of a metal inner core and a silicone rubber outer layer disposed on the outside of the metal inner core. The PCB board integrated carrier is disposed inside the lower cabin, and the external interface components are disposed on the side wall of the lower cabin. The cabin structure, the PCB board integrated carrier, and the external interface components work together to achieve shock resistance and protection functions.

[0007] Furthermore, the PCB board integrated carrier consists of a PCB board and a number of drive modules and communication modules soldered on the PCB board. Wiring grooves are provided on the surface of the PCB board, and the cables between each drive module and each communication module are embedded in the wiring grooves and fixed by insulating clips.

[0008] The external interface component is an aviation plug with a self-locking structure, and the aviation plug is double-fixed to the lower cabin by threaded locking and anti-loosening nuts.

[0009] Both the upper cover and the lower compartment are made of lightweight, high-strength aluminum alloy or engineering plastic by CNC machining or molding. A sealing groove is provided at the joint surface of the upper cover and the lower compartment, and a sealing ring is embedded in the sealing groove.

[0010] As a preferred embodiment, the outer layer of the silicone rubber is methyl vinyl silicone rubber with a Shore hardness of 45 to 55A, an elongation at break of ≥500%, a tensile strength of ≥8MPa, a compression set of ≤15%, and a high and low temperature resistance range of -40℃ to 85℃.

[0011] The metal core is made of 6061-T6 aluminum alloy, and its surface is anodized. Its tensile strength is ≥310MPa and its yield strength is ≥276MPa.

[0012] The surface of the metal inner core is provided with a number of annular grooves, and the silicone rubber outer layer is embedded in the annular grooves during high-temperature vulcanization to form a dual fixation of mechanical interlocking and chemical adhesion, with a peel strength ≥3.5N / mm.

[0013] To achieve better impact acceleration attenuation, the outer layer of the silicone rubber is provided with more than three annular damping grooves, and the groove wall of each annular damping groove has an arc transition.

[0014] The PCB board is a 4-layer FR-4 epoxy fiberglass board. The wiring channel is divided into a signal wiring area and a power wiring area, and an insulating isolation strip is provided between the signal wiring area and the power wiring area to prevent electromagnetic interference.

[0015] The wiring channel is covered with a segmented silicone sealing strip, and the silicone sealing strip is fixed to the PCB board by adhesive backing.

[0016] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0017] (1) The present invention uses four sets of flexible damping pillars with “6061-T6 aluminum alloy inner core + methyl vinyl silicone rubber outer layer”, combined with annular damping groove and double fixing structure, to ensure that the attenuation rate of 15g impact acceleration is ≥85%, which can effectively isolate the vibration transmission of the robot body, avoid the loosening or contact failure of the board and module under high motion intensity, and greatly improve the stability of the control cabin operation.

[0018] (2) The PCB board of the present invention adopts a signal / power partitioned wiring channel design, combined with the middle insulation isolation strip to suppress electromagnetic interference, and the cable is embedded and fixed and protected by segmented silicone sealing strips. This not only solves the problem of cable wear and entanglement under high vibration, but also ensures the reliability of signal transmission and improves the utilization rate of cabin space.

[0019] (3) The joint surface between the upper cover plate and the lower compartment of the present invention is reinforced with sealing groove and sealing ring, and is equipped with aviation plug with self-locking structure (double fixing of threaded locking and anti-loosening nut), which not only meets the dust and water protection requirements in harsh environments, but also ensures that the external connection does not loosen under high vibration conditions.

[0020] (4) The upper cover and lower cabin of the present invention are made of lightweight high-strength aluminum alloy or engineering plastic. The silicone rubber outer layer is resistant to high and low temperatures ranging from -40℃ to 85℃. The metal inner core is anodized to resist corrosion. The overall structure takes into account both lightweight and durability, and is perfectly adapted to high-intensity outdoor operation scenarios such as quadruped robots running and jumping and moving on rugged terrain.

[0021] (5) The present invention has grid-like arc-shaped reinforcing ribs on the inner surfaces of the upper cover plate and the lower cabin, and annular radial arc-shaped ribs at the bottom of the lower cabin. When the quadruped robot is impacted, the above structure can quickly disperse the impact stress to the entire cabin structure, avoid the vibration from being concentrated at a certain point and causing the cabin to deform, so that the buffering effect of the flexible damping strut and the deformation resistance of the cabin work together to maximize the seismic stability of the control cabin. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0023] Figure 2 This is a schematic diagram of the PCB board integrated carrier of the present invention.

[0024] Figure 3This is a schematic diagram of the flexible damping strut of the present invention.

[0025] The reference numerals in the above figures are named as follows:

[0026] 1- Cabin structure, 2- PCB board integrated carrier, 3- External interface component, 4- Flexible damping support, 11- Upper cover plate, 12- Lower cabin, 21- PCB board, 22- Drive module, 23- Communication module, 24- Insulating isolation strip, 41- Metal inner core, 42- Silicone rubber outer layer, 43- Annular damping groove, 44- Annular groove. Detailed Implementation

[0027] The present invention will be further described in detail below with reference to embodiments, but the implementation of the present invention is not limited thereto.

[0028] Example

[0029] like Figure 1 As shown in the figure, the shock-resistant control cabin system for high-intensity quadruped robots described in this embodiment comprises three main parts: cabin structure 1, PCB board integrated carrier 2, and external interface components 3. The cabin structure 1, PCB board integrated carrier 2, and external interface components 3 work together to achieve shock resistance, wiring integration, and protection functions.

[0030] The cabin structure 1 serves as the basic framework and protective barrier for the control cabin, comprising an upper cover plate 11 and a matching lower cabin 12. Both the upper cover plate 11 and the lower cabin 12 are made of lightweight, high-strength aluminum alloy or engineering plastic, machined by CNC or molded. A sealing groove is provided at the joint surface of the upper cover plate 11 and the lower cabin 12, and a sealing ring is embedded in the sealing groove. This combination of the sealing groove and sealing ring of the upper cover plate 11 and the lower cabin 12 achieves IP65 dust and water resistance, isolating dust and moisture from harsh outdoor environments and protecting the internal core components.

[0031] To ensure good seismic resistance, this embodiment has four sets of flexible damping struts 4 fixedly installed at the bottom of the lower hull 12. Each set of flexible damping struts 4 consists of a metal inner core 41 and a silicone rubber outer layer 42 disposed outside the metal inner core 41, as shown in the figure. Figure 3 As shown. The four sets of flexible damping struts 4 mentioned above are located around the bottom of the lower hull 12.

[0032] To enhance and optimize the structural strength of the upper cover plate 11 and the lower compartment 12 and achieve the goal of lightweighting, this embodiment also uses finite element analysis (i.e., engineering simulation technology, which can simulate structural stress, vibration, strength and other working conditions) to provide grid-shaped arc-shaped reinforcing ribs with a thickness of 0.5 to 2 mm on the inner surface of the upper cover plate 11 and the lower compartment 12.

[0033] Meanwhile, at the bottom of the lower cabin 12, surrounding the four sets of flexible damping struts 4, annular radial arc-shaped ribs are also provided to adapt to the vibration transmission path. The aforementioned annular radial arc-shaped ribs refer to an annular reinforcing rib surrounding the four sets of flexible damping struts 4 at the bottom of the lower cabin 12, and three or more arc-shaped ribs connected to this annular reinforcing rib and radiating outwards. Through this structure, the annular radial arc-shaped ribs can quickly disperse the impact stress throughout the entire cabin structure 1, preventing vibration from concentrating at a single point and causing cabin deformation. This allows the buffering effect of the flexible damping struts 4 and the cabin's anti-deformation capability to work synergistically, maximizing the seismic stability of the control cabin.

[0034] The metal core 41 is made of 6061-T6 aluminum alloy and its surface is anodized. The tensile strength of the entire metal core 41 is ≥310MPa and the yield strength is ≥276MPa.

[0035] The outer silicone rubber layer 42 is preferably made of methyl vinyl silicone rubber, with a Shore hardness of 45-55A, an elongation at break ≥500%, a tensile strength ≥8MPa, a compression set ≤15%, and a high and low temperature resistance range of -40℃ to 85℃. Simultaneously, three or more annular damping grooves 43 are provided on the surface of the outer silicone rubber layer 42, each with an arc-shaped transition wall. The specific structure is as follows... Figure 3 As shown. Through the flexible damping strut 4 of the above structure, when installed on a quadruped robot, even under an impact intensity of 15 times gravity generated by the quadruped robot running, jumping, or falling, the impact acceleration transmitted to the control cabin will be reduced by more than 85%, ultimately transmitting only ≤15% of the impact to the PCB board integrated carrier 2. This effectively prevents damage to core components due to strong impacts. In other words, the 15g impact acceleration attenuation rate of the flexible damping strut 4 in this embodiment is ≥85%.

[0036] To ensure adhesion between the metal core 41 and the silicone rubber outer layer 42, this embodiment employs a vulcanization bonding process to achieve the bonding between the metal core 41 and the silicone rubber outer layer 42. In practice, a number of annular grooves 44 are uniformly arranged on the surface of the metal core 41. During high-temperature vulcanization, the silicone rubber outer layer 42 is embedded within the annular grooves 44, forming a dual fixation of mechanical interlocking and chemical adhesion, while simultaneously ensuring a peel strength ≥3.5 N / mm between the silicone rubber outer layer 42 and the metal core 41.

[0037] The structure of the PCB board integrated carrier 2 is as follows: Figure 2As shown, it is located inside the lower compartment 12 and is mainly used to achieve module integration and simplified installation. The PCB board integration carrier 2 consists of a PCB board 21 and a number of control modules such as drive modules 22 and communication modules 23 soldered onto the PCB board 21. The surface of the PCB board 21 has tree-shaped wiring grooves. The cables between the drive modules 22 and the communication modules 23 are embedded in these wiring grooves and fixed with insulating clips. The cables between the drive modules 22 and the communication modules 23 include, but are not limited to, the connecting cables between the drive modules 22, between the communication modules 23, and between the drive modules 22 and the communication modules 23. All relevant connecting cables are embedded in the wiring grooves and fixed with insulating clips, thereby achieving module integration and simplified installation and preventing cables from falling off when the quadruped robot is subjected to impact.

[0038] To achieve a good layout and prevent electromagnetic interference, the PCB board 21 is preferably made of 4-layer FR-4 epoxy fiberglass board. The wiring channel is divided into a signal wiring area and a power wiring area, with an insulating isolation strip 24 between the two areas to prevent electromagnetic interference. The cables between the communication modules 23 are preferably embedded in the power wiring area, while the cables between the drive modules 22 are preferably embedded in the signal wiring area. The connecting cables between the communication modules 23 and the drive modules 22 can be arbitrarily embedded in either the signal wiring area or the power wiring area according to layout requirements. The wiring channel is also covered with segmented silicone sealing strips, which are fixed to the PCB board 21 with adhesive backing.

[0039] In this embodiment, the PCB board integrated carrier 2 integrates several core components such as drive modules 22 and communication modules 23 onto a 4-layer FR-4 epoxy fiberglass board. This replaces distributed board installation, effectively reducing the number of connection interfaces and lowering the risk of board detachment under high vibration. Simultaneously, the PCB board integrated carrier 2 also constructs an orderly wiring and anti-wear system, ensuring that cables are embedded and arranged in an orderly manner to avoid wear and tangling. Combined with segmented silicone sealing strips for protection, this further improves cable lifespan and signal transmission reliability.

[0040] The external interface component 3 serves as a bridge for signal and power transmission. It acts as a connection channel between the control cabin, the robot body, and external devices, enabling bidirectional transmission of drive signals, communication signals, and power to ensure the execution of commands and data feedback of the quadruped robot.

[0041] The external interface component 3 preferably adopts an aviation plug with a self-locking structure. The aviation plug is locked to the lower compartment 12 by threads and a locking nut to achieve double fixation, so as to completely solve the problem of interface loosening under high-intensity working conditions and ensure connection stability. At the same time, since the aviation plug supports quick plugging and unplugging, the interface can be disassembled and replaced without complicated tools, improving the efficiency of later maintenance and adapting to the rapid maintenance needs of industrial scenarios.

[0042] As described above, the present invention can be well implemented.

Claims

1. A shock-resistant control cabin system for high-intensity quadruped robots, characterized in that, The device includes a cabin structure (1), a PCB board integrated carrier (2), and an external interface component (3). The cabin structure (1) includes an upper cover plate (11) and a matching lower cabin (12). Four sets of flexible damping struts (4) are fixedly installed at the bottom of the lower cabin (12). Each set of flexible damping struts (4) consists of a metal inner core (41) and a silicone rubber outer layer (42) disposed on the outside of the metal inner core (41). The PCB board integrated carrier (2) is disposed inside the lower cabin (12), and the external interface component (3) is disposed on the side wall of the lower cabin (12). The cabin structure (1), the PCB board integrated carrier (2), and the external interface component (3) work together to achieve the functions of earthquake resistance and protection.

2. The shock-resistant control cabin system for a high-intensity quadruped robot according to claim 1, characterized in that, The PCB board integrated carrier (2) consists of a PCB board (21) and a number of drive modules (22) and communication modules (23) soldered on the PCB board (21). Wiring grooves are provided on the surface of the PCB board (21), and the cables between each drive module (22) and each communication module (23) are embedded in the wiring grooves and fixed by insulating buckles.

3. The shock-resistant control cabin system for a high-intensity quadruped robot according to claim 2, characterized in that, The external interface component (3) is an aviation plug with a self-locking structure, and the aviation plug is locked to the lower cabin (12) by threads and a locking nut to achieve double fixation.

4. A shock-resistant control cabin system for high-intensity quadruped robots according to any one of claims 1 to 3, characterized in that, The upper cover plate (11) and the lower compartment (12) are both made of lightweight and high-strength aluminum alloy or engineering plastic by CNC machining or mold forming. A sealing groove is provided at the joint surface of the upper cover plate (11) and the lower compartment (12), and a sealing ring is embedded in the sealing groove.

5. The shock-resistant control cabin system for a high-intensity quadruped robot according to claim 4, characterized in that, The outer layer (42) of the silicone rubber is methyl vinyl silicone rubber with a Shore hardness of 45 to 55A, an elongation at break of ≥500%, a tensile strength of ≥8MPa, a compression set of ≤15%, and a high and low temperature resistance range of -40℃ to 85℃.

6. The shock-resistant control cabin system for a high-intensity quadruped robot according to claim 5, characterized in that, The metal core (41) is made of 6061-T6 aluminum alloy, and its surface is anodized. Its tensile strength is ≥310MPa and its yield strength is ≥276MPa.

7. The shock-resistant control cabin system for a high-intensity quadruped robot according to claim 4, characterized in that, The surface of the metal inner core (41) is provided with a number of annular grooves (44), and the silicone rubber outer layer (42) is embedded in the annular grooves (44) during high-temperature vulcanization to form a dual fixation of mechanical interlocking and chemical bonding, with a peel strength ≥3.5N / mm.

8. A shock-resistant control cabin system for a high-intensity quadruped robot according to claim 7, characterized in that, The outer layer (42) of the silicone rubber is provided with more than three annular damping grooves (43), and the groove wall of each annular damping groove is arc-shaped.

9. A shock-resistant control cabin system for a high-intensity quadruped robot according to claim 2, characterized in that, The PCB board (21) is a 4-layer FR-4 epoxy fiberglass board. The wiring groove is divided into a signal wiring area and a power wiring area, and an insulating isolation strip (24) is provided between the signal wiring area and the power wiring area to prevent electromagnetic interference.

10. A shock-resistant control cabin system for a high-intensity quadruped robot according to claim 9, characterized in that, The wiring channel is covered with a segmented silicone sealing strip, and the silicone sealing strip is fixed to the PCB board by adhesive backing.

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