Shell of quadruped robot

Abstract

The shell comprises a front end shell body connected with a front foot, a rear end shell body connected with a rear foot and a middle shell body, the interior of the middle shell body is hollow to form a containing cavity, an opening is formed in the top of the containing cavity, one side of the opening is rotationally connected with a cover body, and the side, connected with the middle shell body, of the cover body is provided with an inclined face. When the cover body rotates by an angle beta to be opened, the inclined plane abuts against the side wall of the containing cavity, the gravity center of the cover body is located at a point A when the cover body is closed, at the moment, the rotating connection axis of the cover body and the middle shell is a point O, the included angle between the connecting line of the point A and the point O and the horizontal plane is an angle alpha, and alpha + beta is larger than or equal to 90 degrees. The cover body can abut against the side wall of the containing cavity after being opened, it is guaranteed that the cover body can not be closed again due to the fact that the rotation angle is not matched with the position of the gravity center when the cover body is in a natural placing state after being opened, and a good limiting effect is achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of quadruped robots, in particular to a shell of a quadruped robot. Background Art

[0002] A quadruped robot is a bionic robot. It is different from traditional wheeled and tracked robots in that it moves by controlling the four legs to move forward, backward, left, right, up and down. The advantage of a quadruped robot over wheeled and tracked robots is that it can climb stairs and work in complex terrains that wheeled and tracked robots cannot work on.

[0003] The basic structure of a quadruped robot includes a trunk, four legs located in four directions of the trunk, and a shell outside the trunk. Different devices are installed on the top of the shell according to different needs, such as a pan-tilt, a mechanical arm, and other components.

[0004] The outer shell on the back of a quadruped robot is usually fixed to the outside of the torso by snapping or screwing. For a quadruped robot with a gimbal and other equipment installed on the back, the traditional outer shell setting method is very troublesome to disassemble during robot maintenance and repair, and requires carefulness. Once negligent, expensive equipment such as the gimbal on the outer shell will be damaged, and in more serious cases, related equipment will be damaged, causing huge losses. Moreover, it is easy to cause the loss of parts after the outer shell is disassembled. Utility Model Content

[0005] In order to overcome the deficiencies of the prior art, the utility model provides a shell of a quadruped robot which is convenient to open and close and will not automatically return to its original position after opening.

[0006] The technical solution adopted by the utility model to solve its technical problems is: a shell of a quadruped robot, including a front shell installed and connected with a front foot, a rear shell installed and connected with a hind foot, and an intermediate shell, the interior of the intermediate shell is hollow to form a accommodating cavity, the top of the accommodating cavity is open, one side of the opening is rotatably connected with a cover body, the side of the cover body connected to the intermediate shell has an inclined surface, when the cover body is rotated to an angle β to open, the inclined surface is against the side wall of the accommodating cavity, when the cover body is closed, its center of gravity is located at point A, at this time, the rotation connection axis of the cover body and the intermediate shell is point O, the angle between the line connecting point A and point O and the horizontal plane is angle α, then α+β≥90°.

[0007] The utility model utilizes the cooperation of the inclined surface of the cover body and the side wall of the accommodating cavity, as well as the setting of the angle α and the angle β, so that the cover body can abut against the side wall of the accommodating cavity after being opened, ensuring that the cover body will not be closed again due to the mismatch between the rotation angle and the position of the center of gravity when it is opened and naturally placed, thereby playing a good limiting role; the cover body and the intermediate shell are rotatably connected to avoid the cover body being completely disassembled from the intermediate shell to cause damage or loss, and the cover body and the intermediate shell are rotatably connected, so that no alignment step is required when closing the cover, and the closing operation is more convenient.

[0008] Furthermore, a rotation gap is formed between the inclined surface of the cover and the intermediate shell, and the setting of the rotation gap provides sufficient activity space for the rotation of the cover, thereby avoiding interference between the rotation of the cover and the intermediate shell.

[0009] Furthermore, the width of the rotation gap is L, and the lateral width of the top opening of the accommodating cavity is S, then L / S = 1-10%. The above numerical setting ensures that there is enough rotation space and the cover body can abut against the inclined surface to ensure that it is in an open state, and the rotation gap will not be too large.

[0010] Furthermore, the cross section of the cover body is a trapezoidal shape that is small at the top and large at the bottom. The trapezoidal cross section of the cover body not only increases the volume of the accommodating cavity, but also facilitates the setting of the inclined surface, and the overall appearance is more concise.

[0011] Furthermore, when the cover is rotated to open, the inclined surface abuts against the side wall of the accommodating cavity, and the angle between the plane where the inclined surface is located and the horizontal plane is θ, and 30°≤θ<90°, so as to keep the cover in the open state. The above angle value setting ensures that the cover will not automatically return to the closed state in the natural placement state after opening, and will not rotate excessively to cause the peripherals on the cover to touch other parts.

[0012] Furthermore, at least the position corresponding to the rotation gap is coated with a protective layer on the outside of the intermediate housing. The protective layer can be a waterproof layer made of soft material, which prevents impurities, rainwater, etc. from entering the intermediate housing through the rotation gap.

[0013] Furthermore, a hinge hole is provided on the inner side of the top opening of the accommodating cavity, and a hinge shaft is provided on the corresponding position of the cover body, or a hinge shaft is provided on the inner side of the top opening of the accommodating cavity, and a hinge hole is provided on the corresponding position of the cover body; the intermediate shell and the cover body are connected in rotation through the hinge shaft and the hinge hole. The rotation connection structure between the intermediate shell and the cover body is simple and effective, and is easy to disassemble and assemble later; relative to the removal of the cover body as a whole from the intermediate shell, this structure will not damage the peripherals on the cover body.

[0014] Furthermore, a mounting surface is formed on the other side of the opening, and a plurality of mounting holes are formed on the mounting surface, and connection holes are formed on the cover body at positions corresponding to the mounting holes. Fasteners pass through the mounting holes and the connection holes to achieve fixed assembly of the cover body and the intermediate shell, and the assembly structure is simple, the assembly process is easy to operate, and the assembled structure is relatively stable and will not become loose after the quadruped robot moves for a long time.

[0015] Furthermore, the mounting surface is tilted from bottom to top and from outside to inside; or, the mounting surface is vertically arranged. The tilted or vertical mounting surface can effectively prevent rainwater from penetrating, has good waterproof performance, and ensures that the accommodating cavity is as dry as possible.

[0016] Furthermore, the top surface of the cover is equipped with peripherals, and different peripherals can be connected to different covers, while different covers can be adapted to the same quadruped robot, which makes the use more flexible.

[0017] The beneficial effects of the utility model are as follows: the cover body can abut against the side wall of the accommodating cavity after being opened, ensuring that the cover body will not be closed again due to the mismatch between the rotation angle and the position of the center of gravity when it is opened and naturally placed, thereby playing a good limiting role; the cover body and the intermediate shell are rotatably connected, avoiding the cover body from being completely disassembled from the intermediate shell to cause damage or loss, and the covering operation is more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional diagram of the cover body of the utility model in the closed state.

[0019] Figure 2 It is a three-dimensional diagram of the cover body of the utility model in an open state.

[0020] Figure 3 This is a simplified diagram of the cover body rotation process of the utility model.

[0021] Figure 4 This is a side view of the utility model with the cover body opened Figure 1 .

[0022] Figure 5 for Figure 4 BB section view in.

[0023] Figure 6 for Figure 5 Enlarged view of the structure at position C in the figure.

[0024] Figure 7 This is a side view of the utility model with the cover body opened Figure 2 . DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the solution of the utility model, the following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the utility model.

[0026] like Figure 1-Figure 7 As shown, a shell of a quadruped robot includes a front shell 1 connected to a front foot 11, a rear shell 2 connected to a rear foot 21, and an intermediate shell 3. The intermediate shell 3 is hollow inside to form a receiving chamber 31. The top of the receiving chamber 31 has an opening 32. One side of the opening 32 is rotatably connected to a cover 4. The side of the cover 4 connected to the intermediate shell 3 has an inclined surface 41. The inclined surface 41 can be a plane or a curved surface, as long as it has a tendency to tilt. When the cover 4 is rotated to open, the inclined surface 41 abuts against the side wall 30 of the receiving chamber 31, so that the cover 4 will not automatically reset to close, that is, it remains in the open state, and the force applied when closing does not need to be too large.

[0027] To ensure that the cover body 4 is in an open state after opening and does not automatically return to the closed state, when the inclined surface 41 abuts against the side wall 30 of the accommodating cavity 31, the angle between the plane where the inclined surface 41 is located and the horizontal plane is θ, and 30°≤θ<90°.

[0028] like Figure 3 As shown, assuming that the center of gravity of the cover body 4 is located at point A when it is closed, the axis of rotation connection between the cover body 4 and the intermediate shell 3 is point O, and the angle between the line connecting point A and point O and the horizontal plane is angle α; when the cover body 4 is rotated to open, the inclined surface 41 abuts against the side wall 30 of the accommodating cavity 31, and the relative rotation angle of the cover body 4 is angle β, then α+β≥90°.

[0029] In order to ensure that the cover 4 is not interfered with in its rotation and to provide enough space for the cover 4 to rotate at an angle of β, a rotation gap 5 is formed between the inclined surface 41 of the cover 4 and the intermediate housing 3. The width of the rotation gap 5 is defined as L, and the lateral width of the top opening 32 of the accommodating cavity 31 is defined as S, then L / S = 1-10%. Under the premise of ensuring that there is enough rotation space and that the cover 4 can abut against the inclined surface 41 to ensure that it is in an open state when opened, the rotation gap 5 will not be too large.

[0030] In order to prevent debris from entering the accommodating chamber 31, a protective layer (not shown in the figure) is coated on the outside of the intermediate housing 3 at least at a position corresponding to the rotation gap 5. The protective layer can be a waterproof layer made of a soft material. In order to facilitate the opening and closing of the cover body 4, one end of the protective layer can be sealed and fixed to the outer wall of the intermediate housing 3, and the other end can be sealed and fixed to the upper surface of the cover body 4.

[0031] In this embodiment, the cross section of the cover body 4 is a trapezoidal structure with a small top and a large bottom. The top surface of the cover body 4 is installed with an external device 6, specifically the top horizontal part of the cover body 4, and the external device 6 can be a pan / tilt head, a mechanical arm, etc.

[0032] In order to realize the rotational connection between the cover body 4 and the intermediate housing 3, a hinge hole 311 is provided on the inner side of the top opening 32 of the accommodating cavity 31, and a hinge shaft 42 is provided on the corresponding position of the edge of the cover body 4; or a hinge shaft is provided on the inner side of the top opening of the accommodating cavity 31, and a hinge hole is provided on the corresponding position of the edge of the cover body 4. The rotational connection between the intermediate housing 3 and the cover body 4 is realized by inserting the hinge shaft 42 into the hinge hole 3111.

[0033] A mounting surface 33 is formed on the other side of the top opening 32 of the accommodating cavity 31, and a plurality of mounting holes 331 are opened on the mounting surface 33. Connecting holes 43 are formed on the cover body 4 at positions corresponding to the mounting holes 331. Fasteners are passed through the mounting holes 331 and the connecting holes 43 to achieve fixed assembly between the cover body 4 and the intermediate shell 3.

[0034] In this embodiment, the mounting surface 33 is tilted from bottom to top and from outside to inside, and the cover body 4 is also formed with a flange 44 tilted from bottom to top and from outside to inside, and the above-mentioned connecting hole 43 is formed on the flange 44, so the fastener is also tilted, and rainwater is not easy to penetrate into the intermediate shell 3 from the mounting hole 331 and the connecting hole 43. Of course, the mounting surface 33 can also be set vertically, in which case rainwater is not easy to penetrate into the intermediate shell 3.

[0035] 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 shell of a quadruped robot, comprising a front shell (1) mounted and connected to a front leg (11), a rear shell (2) mounted and connected to a rear leg (21), and an intermediate shell (3), wherein the intermediate shell (3) is hollow inside to form a receiving chamber (31), characterized in that: The accommodating cavity (31) has an opening (32) at the top, and a cover body (4) is rotatably connected to one side of the opening (32). The cover body (4) has an inclined surface (41) on the side connected to the intermediate shell (3). When the cover body (4) is rotated at an angle β to open, the inclined surface (41) abuts against the side wall of the accommodating cavity (31). When the cover body (4) is closed, its center of gravity is located at point A. At this time, the rotational connection axis of the cover body (4) and the intermediate shell (3) is point O. The angle between the line connecting point A and point O and the horizontal plane is angle α, and α+β≥90°.

2. The housing of the quadruped robot according to claim 1, characterized in that: A rotation gap (5) is formed between the inclined surface (41) of the cover body (4) and the intermediate shell (3).

3. The shell of the quadruped robot according to claim 2, characterized in that: The width of the rotation gap (5) is L, and the transverse width of the top opening (32) of the accommodating cavity (31) is S, then L / S=1-10%.

4. The housing of the quadruped robot according to claim 1, characterized in that: The cross section of the cover body (4) is a trapezoid that is smaller at the top and larger at the bottom.

5. The housing of the quadruped robot according to claim 1, characterized in that: When the cover (4) is rotated to open, the angle between the plane where the inclined surface (41) is located and the horizontal plane is θ, and 30°≤θ<90°, so as to keep the cover (4) in the open state.

6. The housing of the quadruped robot according to claim 2, characterized in that: The outside of the intermediate housing (3) is coated with a protective layer at least at a position corresponding to the rotation gap (5).

7. The housing of the quadruped robot according to claim 1, characterized in that: A hinge hole (311) is provided on the inner side of the top opening (32) of the accommodating cavity (31), and a hinge shaft (42) is provided on the corresponding position of the cover body (4); or a hinge shaft is provided on the inner side of the top opening (32) of the accommodating cavity (31), and a hinge hole is provided on the corresponding position of the cover body (4); the intermediate shell (3) and the cover body (4) are connected in rotation by the hinge shaft (42) and the hinge hole (311).

8. The housing of the quadruped robot according to claim 1, characterized in that: The other side of the opening (32) forms a mounting surface (33), a plurality of mounting holes (331) are provided on the mounting surface (33), and connection holes (43) are formed on the cover body (4) at positions corresponding to the mounting holes (331).

9. The housing of the quadruped robot according to claim 8, characterized in that: The installation surface (33) is arranged to be inclined from bottom to top and from outside to inside; or, the installation surface (33) is arranged vertically.

10. The housing of the quadruped robot according to claim 1, characterized in that: The top surface of the cover body (4) is equipped with an external device (6).

Images