Shell device of a quadruped robot

Abstract

The utility model discloses a shell device of a quadruped robot, comprising: a cover body, having a head cover, a body cover, and a tail cover; a cavity body, which is open at the top, and the top opening is assembled with the cover body to form a containing cavity; a bracket, comprising a front bracket body connected to the head cover and the cavity body respectively, and a rear bracket body connected to the tail cover and the cavity body respectively; the front bracket body and the head cover cooperate to form a first installation space adapted to the front feet of the quadruped robot, and the rear bracket body and the tail cover cooperate to form a second installation space adapted to the rear feet of the quadruped robot. The front bracket body of the utility model is respectively assembled and connected with the head cover part and the cavity body of the cover body, and the rear bracket body is respectively assembled and connected with the tail cover part and the cavity body of the cover body, and the cavity body is assembled and connected with the lower surface of the cover body, so that a stable connection structure is formed between the cover body, the bracket, and the cavity, which can resist the impact force from the outside, and has higher safety protection performance.

Description

Technical Field

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

[0002] Quadruped robots have high requirements for safety protection. Chinese patent CN216707524U discloses "A quadruped robot protection device and quadruped robot", which uses an inflatable sleeve to cover the outer surface of the quadruped robot body, and an air pump is used to provide continuous airflow for the inflatable sleeve. It can effectively protect the quadruped robot body from excessive external impact and protect the internal parts of the quadruped robot, but it is relatively troublesome to use, and it needs to have a certain adaptability to the appearance of the quadruped robot, which will also have an adverse effect on the movement of the quadruped robot.

[0003] Chinese patent CN219555542U discloses "A quadruped robot body and a quadruped robot", in which a heat dissipation cover is provided on the body, and a guide piece for dissipating heat for the heat dissipation cover is provided between the heat dissipation cover and the heat dissipation fan. The above structure has a good heat dissipation effect on the quadruped robot body, but the open ends of the guide piece are fixedly assembled with the upper and lower surfaces of the heat dissipation cover respectively, and its ability to resist external impact is relatively weak. Utility Model Content

[0004] In order to overcome the deficiencies of the prior art, the utility model provides a shell device for a quadruped robot, which utilizes an assembly structure design of a cover body, a cavity and a bracket to ensure the stability of its structure and can resist greater external impact forces.

[0005] The technical solution adopted by the utility model to solve the technical problem is: a shell device of a quadruped robot, comprising:

[0006] The cover body has a head cover, a body cover, and a tail cover;

[0007] The cavity is open at the top, and the top opening is combined with the cover to form a containing cavity;

[0008] The support comprises a front support body connected to the head cover and the cavity respectively, and a rear support body connected to the tail cover and the cavity respectively;

[0009] The front support body and the head cover cooperate to form a first installation space adapted to the front feet of the quadruped robot, and the rear support body and the tail cover cooperate to form a second installation space adapted to the rear feet of the quadruped robot.

[0010] Furthermore, the front bracket body includes a first base plate, a first partition plate vertically connected to the first base plate, and a first mounting column vertically connected to the first base plate, the first partition plate and the first mounting column are connected, and the cover body has a first limiting protrusion vertically inserted into the first mounting column.

[0011] Furthermore, the head cover is bent toward the direction of the cavity to form a front cover body, the first bottom plate is connected to the front cover body, and the first partition is cut toward the end face of the front cover body to form an inclined end face.

[0012] Furthermore, at least two bifurcated portions are formed at the connection between the first partition plate and the first mounting column, and the bifurcated portions are connected to the outer wall of the first mounting column at intervals.

[0013] Furthermore, the first bottom plate has an I-shaped cross section, and its widened ends are respectively connected to the front cover body and the cavity in a limiting manner, and the first mounting column is located at the widened end of the first bottom plate.

[0014] Furthermore, the widened end of the first bottom plate is connected to the front cover body and the cavity in a limited position in the horizontal direction.

[0015] Furthermore, the rear bracket body includes a second base plate, a second partition plate vertically connected to the second base plate, and a second mounting column vertically connected to the second base plate, the second partition plate is connected to the second mounting column, and the cover body has a second limiting protrusion vertically inserted into the second mounting column.

[0016] Furthermore, the tail cover is bent toward the direction of the cavity to form a rear cover body, the second bottom plate is connected to the rear cover body, and the second partition forms a notch toward one side of the tail cover.

[0017] Furthermore, the second bottom plate includes a left body located at the same horizontal plane as the first bottom plate, and a right body extending obliquely, and the right body is connected to the rear cover body at an oblique angle upward.

[0018] Furthermore, the head cover, body cover and tail cover are integrally formed.

[0019] The beneficial effects of the utility model are as follows: 1) the front bracket body is respectively assembled and connected with the head cover part and the cavity of the cover body, the rear bracket body is respectively assembled and connected with the tail cover part and the cavity of the cover body, and the cavity is assembled and connected with the lower surface of the cover body, so that a stable connection structure is formed between the cover body, the bracket and the cavity, which can resist the impact force from the outside and has higher safety protection performance; 2) the front bracket body includes a first bottom plate and a first partition plate arranged vertically, which increases the first installation space while enhancing the firmness of the front bracket body, and the first installation column and the first limiting protrusion of the cover body are connected inside and outside, and the assembly connection between the cover body and the front bracket body is realized in the vertical direction, and the stability of the overall structure is further improved; 3) the design of the front cover body increases the structural firmness of the cover body, realizes the assembly connection between the head cover and the first bottom plate in the horizontal direction, and enhances the ability to resist external forces. The setting of the inclined end surface on the first partition further increases the first installation space and will not interfere with the front foot of the quadruped robot; 4) the setting of the fork of the first partition The design increases the connection area between the first partition and the first mounting column, thereby increasing the connection stability between the two; 5) The cross-section of the first bottom plate and the projection of the second bottom plate are I-shaped, which increases the assembly connection area of ​​the front bracket body, the rear bracket body, the cover body, and the cavity body, and also reduces the overall weight; 6) The first bottom plate, the front cover body, and the lower part of the cavity are limitedly connected in the horizontal direction, and part of the second bottom plate is located on the same horizontal plane as the first bottom plate, and then combined with the first mounting column and the second mounting column to achieve stable assembly of the cover body and the bracket in the vertical direction, it is ensured that the shell device forms a stable support and installation structure in both horizontal and vertical directions, so that the impact resistance of the shell device is greatly enhanced; 7) The inclined end face design of the first partition and the notch design of the second partition ensure that the front and rear feet of the quadruped robot will not interfere with the bracket during the activity, thereby ensuring the flexibility of the quadruped robot; 8) The structural design of the front bracket body and the rear bracket body provides convenience for the support and installation of the front and rear feet of the quadruped robot, and its own structure is stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a three-dimensional diagram of the quadruped robot of the present utility model.

[0021] Figure 2 It is a three-dimensional diagram of the housing device of the present utility model.

[0022] Figure 3 It is a three-dimensional diagram of the cavity in the utility model.

[0023] Figure 4 The utility model is a three-dimensional assembly of the cover body and the bracket Figure 1 .

[0024] Figure 5 The assembly stereogram of the cover and the bracket in the utility model Figure 2 .

[0025] Figure 6 This is the assembly front view of the cover body and the bracket in the utility model.

[0026] Figure 7 The three-dimensional cover of the utility model Figure 1 .

[0027] Figure 8 It is the front view of the cover body in the utility model.

[0028] Fig. 9 The three-dimensional cover of the utility model Figure 2 .

[0029] Fig.10 It is a three-dimensional diagram of the front bracket body in the utility model.

[0030] Fig.11 It is a three-dimensional diagram of the rear bracket body of the utility model.

[0031] Among them, 1-cover body, 11-head cover, 111-front cover body, 12-torso cover, 13-tail cover, 131-rear cover body, 141-first limiting protrusion, 142-second limiting protrusion, 2-cavity, 21-top opening, 22-containing cavity, 23-first mounting hole, 24-second mounting hole, 25-mounting slot, 26-mounting hole, 3-front bracket body, 31-first bottom plate, 311-widened end, 32-first partition, 321-inclined end face, 322-fork, 33-first mounting column, 4-rear bracket body, 41-second bottom plate, 411-left body, 412-right body, 42-second partition, 421-notch, 43-second mounting column, 51-first mounting space, 52-second mounting space, 61-quadruped robot front foot, 62-quadruped robot hind foot. DETAILED DESCRIPTION

[0032] 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.

[0033] like Figure 1-Figure 6As shown, a housing device of a quadruped robot includes a cover body 1, a cavity 2 connected to the cover body 1, and a bracket. The cover body 1 has a head cover 11, a body cover 12, and a tail cover 13, and the head cover 11, the body cover 12, and the tail cover 13 are integrally formed. There may not be a very clear boundary between the head cover 11, the body cover 12, and the tail cover 13. The part corresponding to the cavity 2 is defined as the body cover 12, and the head cover 11 and the tail cover 13 are on both sides of the body cover 12.

[0034] like Figure 3 As shown, the top of the cavity 2 is open, and the top opening 21 is combined with the lower surface of the cover 1 to form a cavity 22, which is used to place motors, batteries, etc. The front side wall of the cavity 2 is provided with a first mounting hole 23 for connecting the front foot 61 of the quadruped robot, and the rear side wall of the cavity 2 is provided with a second mounting hole 24 for connecting the rear foot 62 of the quadruped robot.

[0035] The bracket includes a front bracket body 3 and a rear bracket body 4, wherein the front bracket body 3 is respectively fixedly assembled and connected with the head cover 11 and the cavity 2, and the rear bracket body 4 is respectively fixedly assembled and connected with the tail cover 13 and the cavity 2. Thus, the front bracket body 3 and the head cover 11 cooperate to form a first installation space 51 adapted to the front foot 61 of the quadruped robot, and the rear bracket body 4 and the tail cover 13 cooperate to form a second installation space 52 adapted to the rear foot 62 of the quadruped robot.

[0036] Specifically, Figure 4 , Figure 5 , Fig.10 As shown, the front bracket body 3 includes a first bottom plate 31, a first partition plate 32 vertically connected to the first bottom plate 31, and a first mounting column 33 vertically connected to the first bottom plate 31, and the first partition plate 32 is connected to the first mounting column 33. The first bottom plate 31 not only forms a stable support for the shell device in the horizontal direction, but also can realize the lateral support and fixation of the front foot 61 of the quadruped robot, and the first partition plate 32 provides vertical support and fixation for the front foot 61 of the quadruped robot, which is convenient for the installation of the front foot 61 of the quadruped robot and increases the stability of the front bracket body 3.

[0037] In order to increase the connection stability between the first partition 32 and the first mounting column 33, at least two forked portions 322 are formed on the first partition 32 and at the connection between the first partition 32 and the first mounting column 33. In the present embodiment, there are three forked portions 322, wherein the middle forked portion 322 extends integrally along the length direction of the first partition 32, and the forked portions 322 on both sides extend outward from the two side surfaces of the first partition 32, and the three forked portions 322 are connected to the outer wall of the first mounting column 33 at intervals.

[0038] like Fig.10As shown, the cross section of the first bottom plate 31 is I-shaped, that is, it has two front and rear widened ends 311, the two widened ends 311 are respectively connected to the head cover 11 and the cavity 2, and the first mounting column 33 is vertically arranged on the widened ends 311 of the first bottom plate 31. The design of the widened ends 311 increases the connection area between the first bottom plate 31 and the head cover 11 and the cavity 2, and the thinning of the structure between the two widened ends 311 makes the overall weight relatively light.

[0039] More specifically, Figure 5 , Figure 7 , Figure 8 As shown, the head cover 11 is first bent downward and then bent toward the direction of the cavity 2 to form the front cover body 111. In other words, at least part of the longitudinal section of the head cover 11 is U-shaped, and the opening is toward the direction of the cavity 2. The widened end 311 of the first bottom plate 31 is fixedly assembled and connected to the front cover body 111.

[0040] The widened end 311 of the first bottom plate 31 is respectively connected to the front cover body 111 and the cavity 2, specifically, a mounting slot 25 adapted to the width of the widened end 311 is formed on the lower surface of the front cover body 111 and the lower surface of the cavity 2, so as to achieve fixed assembly of the widened end, avoid its deviation, and facilitate positioning during installation. Figure 6 Taking the direction shown as an example, the first bottom plate 31 extends in the horizontal direction, that is, the widened end 311 of the first bottom plate 31 is connected with the front cover body 111 and the cavity 2 in a horizontal direction, and after the fixed assembly is completed, the three are located on the same horizontal plane. The front cover body 111, the first bottom plate 31 and the lower part of the cavity 2 are roughly on the same horizontal plane, so that they can jointly withstand greater external impact force, and the overall structural firmness is higher.

[0041] In order to increase the first installation space 51, an inclined end surface 321 is formed by cutting the end surface of the first partition plate 32 facing the front cover body 111 so as to Figure 6 Taking the direction shown as an example, the inclined end surface 321 extends obliquely from bottom to top, from the direction of the front cover body 111 to the direction of the cavity 2.

[0042] like Figure 4 , Figure 5 , Fig.11 As shown, the rear bracket body 4 includes a second bottom plate 41, a second partition plate 42 vertically connected to the second bottom plate 41, and a second mounting column 43 vertically connected to the second bottom plate 41, and the second partition plate 42 and the second mounting column 43 are connected.

[0043] Of course, the first mounting column 33 and the second mounting column 43 are also designed with mounting holes 26 that can be fixedly assembled with the cavity 2, so that the connection between the bracket and the cavity 2 is more stable.

[0044] The second bottom plate 41 includes a left body 411 and a right body 412. The left body 411 extends horizontally and is located at the same horizontal plane as the first bottom plate 31. The right body 412 extends obliquely to Figure 6 The direction shown is taken as an example, and it extends from bottom to top and backward from the direction where the cavity 2 is located.

[0045] Similarly, the tail cover 13 is first bent downward and then bent toward the cavity 2 to form the rear cover body 131. In other words, at least part of the longitudinal section of the tail cover 13 is U-shaped, and the opening is toward the cavity 2. The right body 412 of the second bottom plate 41 is tilted upward and fixedly assembled with the rear cover body 131.

[0046] Similarly, the projection of the second bottom plate 41 is also I-shaped, that is, it has two front and rear widened ends, which are respectively connected to the tail cover 13 and the cavity 2 in a limiting manner, and the second mounting column 43 is vertically arranged on the widened end of the second bottom plate 41.

[0047] In order to increase the second installation space 52, a notch 421 is cut on the top surface of the second partition plate 42 facing the tail cover 13. The notch 421 also prevents the rear foot 62 of the quadruped robot from interfering with the second partition plate 42 during movement.

[0048] In order to realize the assembly connection between the cover body 1 and the front bracket body 3 and the rear bracket body 4, the lower surface of the cover body 1 is provided with a first limiting protrusion 141 which can be vertically inserted into the first mounting column 33, and a second limiting protrusion 142 which can be vertically inserted into the second mounting column 43. In other words, the cover body 1 realizes a firm assembly connection in the horizontal direction through the first bottom plate 31 of the front bracket body 3 and the second bottom plate 41 of the rear bracket body 4. At the same time, the front bracket body 3 and the rear bracket body 4 realize a firm assembly connection with the cavity 2 in the horizontal direction. The cover body 1 realizes a firm assembly connection with the front bracket body 3 and the rear bracket body 4 in the vertical direction through the first mounting column 33 and the second mounting column 43, respectively, so that the overall structure of the shell device of the quadruped robot is stable, can resist the impact force from the outside, and has better safety performance.

[0049] 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 device for a quadruped robot, characterized in that: include: The cover body (1) comprises a head cover (11), a body cover (12), and a tail cover (13); The cavity (2) is open at the top, and the top opening (21) is assembled with the cover (1) to form a containing cavity (22); The support comprises a front support body (3) connected to the head cover (11) and the cavity (2) respectively, and a rear support body (4) connected to the tail cover (13) and the cavity (2) respectively; The front support body (3) and the head cover (11) cooperate to form a first installation space (51) adapted for the front feet (61) of the quadruped robot, and the rear support body (4) and the tail cover (13) cooperate to form a second installation space (52) adapted for the rear feet (62) of the quadruped robot.

2. The housing device of the quadruped robot according to claim 1, characterized in that: The front bracket body (3) includes a first base plate (31), a first partition plate (32) vertically connected to the first base plate (31), and a first mounting column (33) vertically connected to the first base plate (31), the first partition plate (32) and the first mounting column (33) are connected, and the cover body (1) has a first limiting protrusion (141) vertically inserted into the first mounting column (33).

3. The housing device of the quadruped robot according to claim 2, characterized in that: The head cover (11) is bent in the direction of the cavity (2) to form a front cover body (111), the first bottom plate (31) is connected to the front cover body (111), and the first partition plate (32) is cut toward the end face of the front cover body (111) to form an inclined end face (321).

4. The housing device of the quadruped robot according to claim 2, characterized in that: At least two bifurcated portions (322) are formed at the connection between the first partition plate (32) and the first mounting column (33), and the bifurcated portions (322) are connected to the outer wall of the first mounting column (33) at intervals.

5. The housing device of the quadruped robot according to claim 3, characterized in that: The first bottom plate (31) has an I-shaped cross section, and its widened end (311) is respectively connected to the front cover body (111) and the cavity (2) in a limiting manner, and the first mounting column (33) is located at the widened end (311) of the first bottom plate (31).

6. The housing device of the quadruped robot according to claim 5, characterized in that: The widened end portion (311) of the first bottom plate (31) is connected to the front cover portion (111) and the cavity (2) in a horizontally limited manner.

7. The housing device of the quadruped robot according to claim 1, characterized in that: The rear bracket body (4) includes a second base plate (41), a second partition plate (42) vertically connected to the second base plate (41), and a second mounting column (43) vertically connected to the second base plate (41), the second partition plate (42) and the second mounting column (43) are connected, and the cover body (1) has a second limiting protrusion (142) vertically inserted into the second mounting column (43).

8. The housing device of the quadruped robot according to claim 7, characterized in that: The tail cover (13) is bent in the direction of the cavity (2) to form a rear cover body (131), the second bottom plate (41) is connected to the rear cover body (131), and the second partition plate (42) forms a notch (421) on one side of the tail cover (13).

9. The housing device of the quadruped robot according to claim 8, characterized in that: The second bottom plate (41) comprises a left body (411) located on the same horizontal plane as the first bottom plate (31), and a right body (412) extending obliquely, wherein the right body (412) is connected to the rear cover body (131) in an obliquely upward direction.

10. The housing device of the quadruped robot according to claim 1, characterized in that: The head cover (11), the body cover (12) and the tail cover (13) are integrally formed.

Images