Modularized arc-shaped support device of quadruped robot and robot
Through the modularly designed four-legged robot bracket device, the rapid replacement and maintenance of components are achieved, and the problems of high maintenance costs and slow response caused by complex structures in the prior art are solved, thereby improving the flexibility and stability of the robot.
Patent Information
- Application Number
- CN202422072972.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-26
- Publication Date
- 2025-07-29
- Estimated Expiration
- 2034-08-26
AI Technical Summary
The existing four-legged bionic robot has a complex structure, which consumes a lot of manpower and material resources, has high maintenance costs, lacks a quick disassembly and quick replacement design, making it difficult to respond quickly in emergencies.
It adopts a modular design, the front and rear head racks are removable and connected, and are equipped with radar and vision components. Each component can be detached independently for quick replacement and maintenance.
Simplifies the manufacturing process, reduces maintenance costs, extends service life, and improves the robot's response speed in emergencies.
Smart Images
Figure CN223160940U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of machinery and equipment, and relates to a modular arc-shaped bracket device for a quadruped robot and a robot. Background Technique
[0002] The main problems faced by existing quadruped bionic robots include their complex structural design, which results in a large amount of manpower and material resources being consumed during disassembly and assembly. This structural complexity not only increases the maintenance cost of the robot but also limits its ability to quickly replace components and continuous use. In addition, these robots usually lack the design of quick disassembly, quick charging, and quick replacement, making it difficult to respond quickly in case of emergency. Content of the Utility Model
[0003] In order to solve the above problems, the utility model adopts the following technical solutions:
[0004] A modular arc-shaped bracket device for a quadruped robot, including a front head frame and a rear head frame, the front head frame and the rear head frame are respectively detachably connected to both sides of the fuselage; a radar component is installed on the front head frame, and vision components are installed on the front head frame and the rear head frame;
[0005] The front head frame includes a front upper head bracket and a front lower head bracket, the front upper head bracket and the front lower head bracket are detachably connected to the fuselage; the front upper head bracket and the front lower head bracket are semi-circular arc-shaped structures, the front upper head bracket and the front lower head bracket are arranged oppositely, and a through installation space is formed in the middle;
[0006] The rear head frame includes a rear head frame upper cover, a rear head frame upper shell and a rear head frame lower shell, the rear head frame upper shell and the rear head frame lower shell are detachably connected to the fuselage; the rear head frame upper cover covers the rear head frame upper shell, the rear head frame upper shell and the rear head frame lower shell are semi-circular arc-shaped structures, the rear head frame upper shell and the rear head frame lower shell are arranged oppositely, and a through installation space is formed in the middle.
[0007] Further, the front head frame further includes a first front shell and a second front shell, the first front shell and the second front shell are detachably connected; one side of the front upper head bracket and the front lower head bracket is detachably connected to the second front shell.
[0008] Further, the vision component includes a front RGBD bracket; the front RGBD bracket is detachably connected between the first front shell and the second front shell.
[0009] Furthermore, the radar assembly includes a radar base, a gimbal cover, a laser radar pillar and a radar cover; the radar base is installed on the upper front bracket, the gimbal cover is installed on one side of the upper surface of the radar base, the laser radar pillar is installed on the other side of the upper surface of the radar base, and the radar cover covers the laser radar pillar and is detachably connected to the laser radar pillar.
[0010] Furthermore, the visual component includes a row of lights and a lamp cover; the row of lights is fixed to the second front shell by screws; the lamp cover covers the row of lights and is fixed to the first front shell.
[0011] Furthermore, the visual component includes a Y-shaped camera bracket and a rear RGBD bracket, and the camera bracket and the rear RGBD bracket are snap-connected; a mounting groove is provided on the upper side of the rear head frame upper shell; the camera bracket and the rear RGBD bracket are fixed in the mounting groove of the rear head frame upper shell by screws.
[0012] Furthermore, the upper cover of the rear head frame is snapped into the mounting slot.
[0013] A robot comprises the quadruped robot modular arc-shaped support device described in any one of the above items.
[0014] Beneficial effects of the utility model:
[0015] A modular arc-shaped support system for a quadruped robot. The front and rear head frames are integrated into a single unit, ensuring structural stability while ensuring easy disassembly. Since each component can be replaced independently, overall maintenance costs are reduced and the robot's service life is extended. The manufacturing process is simplified, as standardized components reduce errors and speed up production. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 It is a schematic diagram of the structure of a robot;
[0017] Figure 2 It is a schematic diagram of the overall structure of the front head frame of a modular arc-shaped support device of a quadruped robot;
[0018] Figure 3 It is a schematic diagram of the overall structure of the rear head frame of a modular arc-shaped support device of a quadruped robot;
[0019] Figure 4 It is a schematic diagram of the structural breakdown of the front head frame of a modular arc-shaped support device for a quadruped robot;
[0020] Figure 5 The diagram is a structural decomposition diagram of the rear head frame of a modular arc-shaped support device of a quadruped robot.
[0021] As shown in the figure:
[0022] 1-front head frame, 11-front upper head bracket, 12-front lower head bracket, 13-first front shell, 14-second front shell, 15-front RGBD bracket,
[0023] 2- rear head frame, 21- rear head frame upper cover, 22- rear head frame upper shell, 23- rear head frame lower shell, 24- Y-shaped camera bracket, 25- rear RGBD bracket,
[0024] 3- Radar assembly, 31- Radar base, 32- Gimbal cover, 33- Laser radar support, 34- Radar cover, 41- Row of lights, 42- Lamp cover. DETAILED DESCRIPTION
[0025] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. It should be understood that this application is not limited to the example embodiments disclosed herein. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.
[0026] like Figure 1-5 As shown, a modular arc-shaped support device for a quadruped robot includes a front head frame 1 and a rear head frame 2, which are detachably connected to both sides of the fuselage; the front head frame 1 is equipped with a radar component 3, and the front head frame 1 and the rear head frame 2 are equipped with a visual component.
[0027] The front head frame 1 includes an upper front bracket 11 and a lower front bracket 12, which are detachably connected to the fuselage; the upper front bracket 11 and the lower front bracket 12 are semicircular arc structures, and the upper front bracket 11 and the lower front bracket 12 are arranged opposite to each other, forming a through installation space in the middle.
[0028] The rear head frame 2 includes a rear head frame upper cover 21, a rear head frame upper shell 22 and a rear head frame lower shell 23, which are detachably connected to the fuselage; the rear head frame upper cover 21 is covered on the rear head frame upper shell 22, and the rear head frame upper shell 22 and the rear head frame lower shell 23 are semicircular structures. The rear head frame upper shell 22 and the rear head frame lower shell 23 are arranged opposite to each other, and a through installation space is formed in the middle.
[0029] Specifically, the front support 1 and the rear support 2 are integrated respectively. While adopting a detachable structure, the stability of the robot structure is ensured. The vision component is used for fixedly installing status lights, cameras, depth cameras RGBD, etc. Since each component can be replaced independently, the overall maintenance cost is reduced and the service life of the robot is extended. The manufacturing process is simplified because standardized components can reduce errors in the production process and speed up the production speed.
[0030] Furthermore, in this embodiment, as Figure 1 and 2 shown, the front support 1 further includes a first front shell 13 and a second front shell 14, and the first front shell 13 and the second front shell 14 are detachably connected; on one side of the front upper support 11 and the front lower support 12, the second front shell 14 is detachably connected.
[0031] Specifically, the second front shell 14 is connected to the front upper support 11 and the front lower support 12, and the first front shell 13 is connected to the second front shell 14. The first front shell 13 is the outer surface of the robot, which improves the aesthetics of the robot while increasing the strength of the front support 1.
[0032] Furthermore, in this embodiment, as Figure 1 and 2 shown, the vision component includes a front RGBD support 15; the front RGBD support 15 is detachably connected between the first front shell 13 and the second front shell 14. As Figure 1 、 3 and 5 shown, the vision component includes a Y-shaped camera support 24 and a rear RGBD support 25, and the camera support and the rear RGBD support 25 are snap-connected; an installation groove is provided on the upper side of the rear support upper shell 22; the camera support and the rear RGBD support 25 are fixed in the installation groove of the rear support upper shell 22 by screws. The rear support upper cover 21 is snapped into the installation groove.
[0033] Specifically, various accessories can be placed in the cavity between the first front shell 13 and the second front shell 14, including RGBD. The rear support 2 is equipped with RGBD and cameras in the installation groove of the rear support upper shell 22. The front RGBD support 15 and the rear RGBD support 25 are used to stably fix the RGBD, and the camera support and the Y-shaped camera support 24 are used to stably fix the camera.
[0034] As technology advances, new sensors and devices continue to emerge, and different devices require different brackets. The bracket structure is designed to facilitate future technology upgrades. When exploring an environment or performing specific tasks, specific sensors or cameras can be quickly installed or removed as needed. Modules with new functions can be easily added or replaced without completely redesigning the entire device. Because these components are detachable and connectable, they can be quickly operated without disassembling the entire robot. This not only saves time but also reduces labor intensity and technical requirements.
[0035] Furthermore, in this embodiment, if Figure 1 、 2 As shown in Figure 4, the radar assembly 3 includes a radar base 31, a gimbal cover 32, a laser radar pillar 33 and a radar cover 34; the radar base 31 is installed on the front upper bracket 11, the gimbal cover 32 is installed on one side of the upper surface of the radar base 31, the laser radar pillar 33 is installed on the other side of the upper surface of the radar base 31, and the radar cover 34 covers the laser radar pillar 33 and is detachably connected to the laser radar pillar 33.
[0036] Specifically, because the radar base 31, pan / tilt cover 32, and lidar support 33 are all independent and detachable, repair or replacement of certain components can be performed quickly and easily. There's no need to disassemble the entire robot; only specific parts need to be replaced, significantly simplifying maintenance and reducing costs.
[0037] Furthermore, in this embodiment, if Figure 1 、 2 As shown in FIG4 , the visual component includes a light row 41 and a light cover 42 ; the light row 41 is fixed to the second front shell 14 by screws; the light cover 42 covers the light row 41 and is fixed to the first front shell 13 .
[0038] Specifically, the lamp cover 42 provides physical protection for the light bank 41, preventing damage from environmental factors such as dust and moisture. This protection is crucial for ensuring the long-term stable operation of the status lights. Because the light bank 41 and lamp cover 42 are independent components, they can be replaced or upgraded as needed. If you need to replace a bulb or add additional lighting functions, you only need to remove the corresponding light bank 41 or lamp cover 42, without having to disassemble the entire head structure.
[0039] A robot, including the quadruped robot modular arc-shaped bracket device of any one of the above. The quadruped robot modular arc-shaped bracket device is connected to the fuselage of the robot. The front head upper bracket 11 and the front head lower bracket 12 form a through installation space, and the rear head upper shell 22 and the rear head lower shell 23 form a through installation space for installing a drive module, that is, a wheel. The other technical effects of the robot correspond to those of the quadruped robot modular arc-shaped bracket device, which will not be elaborated here.
[0040] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present invention.
[0041] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, the meaning of "a plurality" is two or more, unless otherwise specifically defined.
[0042] In the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", "connection", "fixation", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0043] It should also be noted that, in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising said element.
[0044] The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A modular arc-shaped support device for a quadruped robot, characterized in that: It includes a front headrest and a rear headrest, and the front headrest and the rear headrest are respectively detachably connected to both sides of the fuselage; the front headrest is equipped with a radar component, and the front headrest and the rear headrest are equipped with vision components; The front headrest includes a front upper headrest bracket and a front lower headrest bracket, and the front upper headrest bracket and the front lower headrest bracket are detachably connected to the fuselage; the front upper headrest bracket and the front lower headrest bracket are in a semi-circular arc structure, the front upper headrest bracket and the front lower headrest bracket are arranged oppositely, and a through installation space is formed in the middle; The rear headrest includes a rear headrest upper cover, a rear headrest upper shell and a rear headrest lower shell, and the rear headrest upper shell and the rear headrest lower shell are detachably connected to the fuselage; the rear headrest upper cover covers the rear headrest upper shell, the rear headrest upper shell and the rear headrest lower shell are in a semi-circular arc structure, the rear headrest upper shell and the rear headrest lower shell are arranged oppositely, and a through installation space is formed in the middle.
2. The modular arc-shaped bracket device of a quadruped robot according to claim 1, wherein The front headrest further includes a first front shell and a second front shell, and the first front shell and the second front shell are detachably connected; on one side of the front upper headrest bracket and the front lower headrest bracket, the second front shell is detachably connected.
3. The modular arc-shaped bracket device for a quadruped robot according to claim 2, characterized in that: The vision component includes a front RGBD bracket; the front RGBD bracket is detachably connected between the first front shell and the second front shell.
4. The modular arc-shaped bracket device for a quadruped robot according to claim 1, characterized in that: The radar component includes a radar base, a pan-tilt cover, a lidar support column and a radar cover; the radar base is installed on the front upper headrest bracket, the pan-tilt cover is installed on one side of the upper surface of the radar base, the lidar support column is installed on the other side of the upper surface of the radar base, and the radar cover covers the lidar support column and is detachably connected to the lidar support column.
5. A modular arc-shaped bracket device for a quadruped robot according to claim 2, characterized in that, The vision component includes a row of lights and a lamp cover; the row of lights is fixed to the second front shell by screws; the lamp cover covers the row of lights and is fixed to the first front shell.
6. A modular arc-shaped bracket device for a quadruped robot according to claim 1, characterized in that, The vision component includes a Y-shaped camera bracket and a rear RGBD bracket, and the camera bracket and the rear RGBD bracket are snap-connected; an installation groove is provided on the upper side of the rear headrest upper shell; the camera bracket and the rear RGBD bracket are fixed in the installation groove of the rear headrest upper shell by screws.
7. The modular arc-shaped bracket device for a quadruped robot according to claim 6, characterized in that: The rear headrest upper cover is snapped into the installation groove.
8. A robot, characterized in that: It includes the quadruped robot modular arc-shaped bracket device according to any one of claims 1-7.