Head of quadruped robot

Abstract

The utility model discloses a head of a quadruped robot, which comprises a head shell, a first accommodating cavity and a second accommodating cavity are formed in the head shell, and an electric appliance component is arranged in the first accommodating cavity; the cover plate is detachably connected to the first accommodating cavity so as to seal the electric appliance assembly in the first accommodating cavity; the image acquisition module at least comprises an image collector, the image collector is detachably connected to the second containing cavity in a sealed mode, and part of the electric appliance assembly extends out of the first containing cavity to the second containing cavity. The image collector is detachably connected to the head shell, when the image collector needs to be replaced, the whole head and the head cover plate do not need to be detached, the detaching mode is convenient and efficient, the time for replacing the camera module is shortened, and the efficiency of maintenance personnel is improved; the number of the image collectors can be increased or other devices can be added according to needs, only the image collection module needs to be changed independently, other structures of the head of the quadruped robot are kept unchanged, and the production and manufacturing cost can be effectively reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of quadruped robots, and particularly relates to a head of a quadruped robot. Background Art

[0002] A quadruped robot is a bionic robot that can move and walk on rough terrains and can reach special terrain areas that ordinary wheeled robots cannot access, opening up a wider application scenario for quadruped robots.

[0003] The application scenarios of quadruped robots are increasing day by day, so it will involve outdoor work scenarios. When working outdoors, due to the complex terrain, the robot is prone to bumping and causing damage to its structure. The head camera part facing the forward direction is particularly vulnerable to damage because of its weak structure and precise instruments.

[0004] However, at present, the structure of the head of a quadruped robot is mainly an integrated design. If there is a problem with the camera part due to bumping or falling, the entire head of the robot needs to be disassembled to repair the camera part. This disassembly process is inconvenient and cumbersome, and it will reduce the work efficiency of maintenance personnel. Since the screw structure is small, there is a problem that it may accidentally fall during the disassembly process and damage other devices on the head. At the same time, the camera is a precision device with high waterproof requirements, and the ordinary modular design is likely to cause the camera to come into contact with water and become scrapped.

[0005] Therefore, a modular mechanical structure design for the head of a quadruped robot with a waterproof function is needed to simplify the cumbersome head disassembly process, facilitate the repair and replacement of the camera, and improve work efficiency. Summary of the Utility Model

[0006] In order to overcome the deficiencies of the prior art, the utility model provides a head of a quadruped robot, which detachably connects an image acquisition module to the head shell, facilitating disassembly and replacement, and realizing the modular design of the head of the quadruped robot.

[0007] The technical solution adopted by the utility model to solve its technical problems is: a head of a quadruped robot, comprising:

[0008] A head shell, which internally forms a first accommodation cavity and a second accommodation cavity, and an electrical component is disposed in the first accommodation cavity;

[0009] A cover plate, detachably connected to the first accommodation cavity to seal the electrical component in the first accommodation cavity;

[0010] An image acquisition module, at least including an image acquirer, the image acquirer is detachably and hermetically connected to the second accommodation cavity, and a part of the electrical component extends from the first accommodation cavity to the second accommodation cavity.

[0011] The image acquisition module of the head of the quadruped robot of the present utility model is designed as a detachable modular structure, enabling maintenance personnel to directly repair and replace the image collector on the head without removing the entire head from the torso of the quadruped robot. This is convenient for operation and also avoids damage to other components during the disassembly process. The detachable image acquisition module facilitates subsequent expansion of the number of image collectors to adapt to different usage scenarios. The electrical components are arranged in the first accommodation cavity, and the image collector is detachably connected to the second accommodation cavity. A part of the electrical components extends from the first accommodation cavity to the second accommodation cavity, such that the output interfaces of the electrical components and the image collector are arranged in a region close to each other, or in other words, the electrical components and the image collector converge before output, eliminating the need to provide an output interface on the back of the cover plate. There will be no interference when this region is connected to the torso of the quadruped robot.

[0012] Further, the first accommodation cavity and the second accommodation cavity are connected through a slot hole, and a part of the electrical components passes through the slot hole and enters the second accommodation cavity. The slot hole can gather the wiring harness of the electrical components in the first accommodation cavity, preventing it from being scattered, and reducing the probability of debris and the like entering the first accommodation cavity through the second accommodation cavity. The first accommodation cavity is connected to the second accommodation cavity through the slot hole, enabling the communication wire to pass through the slot hole and enter the second accommodation cavity and then be connected to the outside through a sealed adapter, enhancing the sealing and waterproof performance of the first accommodation cavity.

[0013] Further, the first accommodation cavity and the second accommodation cavity are separated by a partition plate, the slot hole is opened on the partition plate, and the central axis of the slot hole is arranged at an angle with the partition plate. The inclined arrangement of the slot hole facilitates its machining and opening, and also enables the communication wire to extend along the slot hole, avoiding excessive bending regions of the communication wire due to restrictions on the extension direction and ensuring the long-term effective use of the communication wire.

[0014] Further, the angle is 40 - 80°. This angle setting not only facilitates machining but also ensures that the bending amplitude of the communication wire is not too large, providing protection for the communication wire.

[0015] Further, the first accommodation cavity has an open port, and the cover plate is detachably and sealingly connected to the open port; the second accommodation cavity has an opening, and the image collector is detachably and sealingly connected to the opening; the open port and the opening face in opposite directions. The open port and the opening not facing the same side enable the back of the head shell to be mainly connected to the torso of the quadruped robot, and the front of the head shell can be connected to devices such as an image collector and a lidar. The spatial layout is reasonable and there will be no interference.

[0016] Furthermore, the image acquisition module further includes a communication wire, and a part of the communication wire of the electrical component converges and is communicatively connected in the second accommodation cavity. The second accommodation cavity is not only used to accommodate the communication wire of the image acquisition module, but also used to accommodate the communication wire extending from the electrical component, avoiding different communication wires extending from different areas and connecting to the outside. The overall structural design is more concise, avoiding excessive communication wires being exposed to the outside, and thus avoiding damage caused by friction between the communication wires and the outside.

[0017] Furthermore, a sealing adapter is provided on a side of the second accommodation cavity away from the opening, and the electrical component is connected to the outside through the sealing adapter. The sealing adapter is arranged on the back of the second accommodation cavity, which is convenient for the sealing adapter to cooperate with the torso of the quadruped robot. The spatial layout is reasonable, and the routing distance of the communication wires of the electrical component and the image collector will not be too long.

[0018] Furthermore, an installation surface is formed on an outer wall of the head shell away from the opening, and a lidar is connected to the installation surface.

[0019] Furthermore, the installation surface includes a first installation surface and a second installation surface arranged at an angle. The first installation surface and the second installation surface are both connected with a lidar, and the scanning surfaces of the lidars diverge outward. The first installation surface and the second installation surface are at an angle, and the connection part between the two protrudes outward, so that the field of view of the lidar will not be blocked, and the fields of view captured by the lidars are obliquely above, obliquely below and in front of the quadruped robot. The field of view is wide and effective; the first installation surface is inclined outward, which also increases the volume of the first accommodation cavity and is convenient for the installation of electrical components.

[0020] Furthermore, a waterproof seal is provided between the opening and the cover plate, and a waterproof seal is provided between the opening and the image collector. The waterproof seal has a good waterproof and sealing effect, and seals and waterproofs the communication wires of the electrical component and the image acquisition module.

[0021] The beneficial effects of the present utility model are as follows: The image collector is detachably connected to the head shell. When the image collector needs to be replaced, there is no need to disassemble the entire head and the head cover plate. The disassembly method is convenient and efficient, shortening the time for replacing the camera module and improving the efficiency of maintenance personnel; The number of image collectors can be increased or other devices can be added according to needs. Only the image acquisition module needs to be changed separately, while keeping other structures of the head of the quadruped robot unchanged, which can effectively reduce the production and manufacturing cost; For the waterproof modular design of the head of the quadruped robot, the first accommodation cavity is relatively independent. On the premise of effectively protecting the internal electrical components, it is convenient for maintenance personnel to quickly disassemble and replace the internal electronic devices, and it is also convenient to quickly disassemble the image collector. Description of the Drawings

[0022] Figure 1This is a perspective view of the present utility model, with a lidar connected at this time.

[0023] Figure 2 This is a partial perspective view of the present utility model Figure 1 .

[0024] Figure 3 This is a partial perspective view of the present utility model Figure 2 .

[0025] Figure 4 This is a partial perspective view of the present utility model Figure 3 .

[0026] Figure 5 This is the front view of the present utility model.

[0027] Figure 6 It is Figure 5 the A-A cross-sectional view in

[0028] Figure 7 It is Figure 5 the B-B cross-sectional view in

[0029] Wherein, 1 - head shell, 11 - mounting surface, 111 - first mounting surface, 112 - second mounting surface, 21 - first accommodation cavity, 211 - opening, 22 - second accommodation cavity, 221 - opening, 3 - cover plate, 4 - image acquisition module, 41 - image acquirer, 5 - slot, 51 - partition, 61 - sealed adapter, 7 - lidar, 8 - waterproof seal. Detailed implementation manners

[0030] In order to enable those skilled in the art to better understand the solution of the present utility model, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0031] As Figures 1 - 4 shown, the head of a quadruped robot includes a head shell 1, a cover plate 3, and an image acquisition module 4. A first accommodation cavity 21 and a second accommodation cavity 22 are formed inside the head shell 1. An electrical component is disposed inside the first accommodation cavity 21, and the cover plate 3 is detachably connected to the first accommodation cavity 21, thereby sealing the electrical component inside the first accommodation cavity 21. The image acquisition module 4 includes at least an image acquirer 41, and the image acquirer 41 is detachably and hermetically connected to the second accommodation cavity 22, and a part of the electrical component extends from the first accommodation cavity 21 to the second accommodation cavity 22.

[0032] AsFigure 4 As shown, the first accommodation cavity 21 has an opening 211, and the cover plate 3 is detachably and sealingly connected to the opening 211. As Figure 2 shown, the second accommodation cavity 22 has an opening 221, and the image collector 41 is detachably and sealingly connected to the opening 221. Specifically, two bolt holes are provided above and below the image collector 41, and the fasteners pass through the bolt holes and are connected to the threaded holes of the head shell 1 to fix the image collector 41. More specifically, the image collector 41 is an existing camera. The above-mentioned opening 211 is located on the back of the head shell 1, and the opening 221 is located on the front of the head shell 1, that is, the opening 211 and the opening 221 face in opposite directions. To ensure effective sealing, a waterproof seal 8 is provided between the opening 211 and the cover plate 3, and a waterproof seal 8 is also provided between the opening 221 and the image collector 41.

[0033] As Figure 2 shown, the first accommodation cavity 21 communicates with the second accommodation cavity 22 through a slot hole 5, and a part of the electrical component passes through the slot hole 5 and enters the second accommodation cavity 22. The image acquisition module 4 further includes a communication wire, and the communication wire converges with a part of the electrical component in the second accommodation cavity 22 and is communicatively connected. A sealing adapter 61 is provided on the side of the second accommodation cavity 22 away from the opening 221, and the electrical component is connected to the outside through the sealing adapter 61. Specifically, it can be that a part of the electrical component converges and is communicatively connected with the communication wire of the image acquisition module 4, and then is connected to the outside through the sealing adapter 61, or a part of the electrical component is connected to the outside through the sealing adapter 61, and the communication wire of the image acquisition module 4 is connected to the outside through the sealing adapter 61. In this embodiment, the sealing adapter 61 is a gland.

[0034] The first accommodation cavity 21 and the second accommodation cavity 22 are separated by a partition 51, the slot hole 5 is opened in the partition 51, and the central axis of the slot hole 5 is arranged at an angle with the partition 51. As Figure 7 shown, the central axis of the slot hole 5 is L, and the partition 51 extends in the vertical direction, so that the angle between the central axis of the slot hole 5 and the partition 51 is α, and this α is 40-80°, preferably, α is 60°. And taking Figure 7 the direction shown as an example, the inclination direction of the slot hole 5 is from the direction where the opening 211 of the first accommodation cavity 21 is located to the direction where the opening 221 of the second accommodation cavity 22 is located, that is Figure 7 it inclines from bottom to top.

[0035] As Figure 1 、 Figure 2As shown in the figure, an installation surface 11 is formed on the outer wall of the head shell 1 facing away from the opening 211, and a lidar 7 is connected to the installation surface 11. In this embodiment, the number of installation surfaces 11 is two, including a first installation surface 111 and a second installation surface 112 arranged at an angle. The first installation surface 111 and the second installation surface 112 are both connected to the lidar 7, and the scanning surfaces of the lidar 7 diverge outward. In other words, an angle is formed at the connection of the first installation surface 111 and the second installation surface 112, and this angle protrudes outward.

[0036] The above specific embodiments are used to explain the present invention, rather than to limit the present invention. Any modifications and changes made to the present invention within the spirit and scope of the claims of the present invention fall within the protection scope of the present invention.

Claims

1. A head of a quadruped robot, characterized in that: include: A head shell (1) is formed with a first accommodating cavity (21) and a second accommodating cavity (22) inside, and the first accommodating cavity (21) contains an electrical component; A cover plate (3) detachably connected to the first accommodating cavity (21) to seal the electrical component in the first accommodating cavity (21); The image acquisition module (4) comprises at least an image acquisition device (41), wherein the image acquisition device (41) is detachably sealed and connected to the second accommodating cavity (22), and a portion of the electrical component extends from the first accommodating cavity (21) to the second accommodating cavity (22).

2. The head of the quadruped robot according to claim 1, characterized in that: The first accommodating chamber (21) is connected to the second accommodating chamber (22) via a slot hole (5), and part of the electrical component passes through the slot hole (5) and enters the second accommodating chamber (22).

3. The head of the quadruped robot according to claim 2, characterized in that: The first accommodating chamber (21) and the second accommodating chamber (22) are separated by a partition (51), the slot hole (5) is opened in the partition (51), and the central axis of the slot hole (5) is arranged at an angle with the partition (51).

4. The head of the quadruped robot according to claim 3, characterized in that: The angle is 40-80°.

5. The head of the quadruped robot according to claim 1, characterized in that: The first accommodating cavity (21) has an open mouth (211), and the cover plate (3) is detachably and sealably connected to the open mouth (211); the second accommodating cavity (22) has an opening (221), and the image collector (41) is detachably and sealably connected to the opening (221); the open mouth (211) and the opening (221) face in opposite directions.

6. The head of the quadruped robot according to claim 1, characterized in that: The image acquisition module (4) also includes a communication wire, which is joined with a portion of the electrical component in the second accommodating cavity (22) and is communicatively connected.

7. The head of the quadruped robot according to claim 5, characterized in that: A sealing adapter (61) is provided on the side of the second accommodating cavity (22) facing away from the outlet (221), and the electrical component is connected to the outside world via the sealing adapter (61).

8. The head of the quadruped robot according to claim 5, characterized in that: The outer wall of the head shell (1) facing away from the release opening (211) forms a mounting surface (11), and the mounting surface (11) is connected to a laser radar (7).

9. The head of the quadruped robot according to claim 8, characterized in that: The mounting surface (11) comprises a first mounting surface (111) and a second mounting surface (112) which are arranged at an angle, the first mounting surface (111) and the second mounting surface (112) are both connected to a laser radar (7), and the scanning surface of the laser radar (7) diverges outwards.

10. The head of the quadruped robot according to claim 5, characterized in that: A waterproof seal (8) is provided between the opening (211) and the cover plate (3), and a waterproof seal (8) is provided between the opening (221) and the image collector (41).

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