Modularized machine body structure of quadruped robot and quadruped robot

Abstract

The utility model discloses a modularized machine body structure of a quadruped robot and the quadruped robot. The modularized machine body structure of the quadruped robot comprises an upper shell, a lower shell, a left shell and a right shell, the upper shell, the lower shell, the left shell and the right shell are connected to form a cavity; the upper shell is provided with an upper shell top surface and an upper shell side surface which is vertically arranged by extending from the short edge end of the upper shell top surface, the lower shell is provided with a lower shell bottom surface and a lower shell side surface which is vertically arranged by extending from the short edge end of the lower shell bottom surface, and the upper shell and the lower shell are hermetically connected in a manner that the upper shell side surface is in contact with the lower shell side surface. According to the modularized machine body structure of the quadruped robot, the upper shell, the lower shell, the left shell and the right shell are fixedly connected through screws, so that the whole machine body structure is very firm. A user does not need to disassemble the whole quadruped robot, and only needs to pay attention to and replace a specific part. Therefore, the maintenance process is greatly simplified, and the labor intensity and the technical requirements are reduced.

Description

Technical Field

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

[0002] In the current electronic device manufacturing industry, with the rapid development of technology and the increasing diversification of consumer demands, the design, production, and post-maintenance of products all face huge challenges. The traditional quadruped robot has a complex structure, high part costs, and requires a large amount of manpower and material resources for disassembly and assembly, with high disassembly and assembly costs, and does not have the ability of rapid replacement and continuous use. There are obvious deficiencies in terms of flexibility, maintainability, upgradability, and resource utilization efficiency.

[0003] With the improvement of existing mold technologies and the maturity of technologies such as 3D printing, precision machining, and intelligent assembly, it has become more economical and efficient to manufacture high-precision and interchangeable modules. Therefore, there is an urgent need for a body structure with a modular design that is convenient for assembly and reduces maintenance costs. Summary of the Utility Model

[0004] In order to achieve the above object, the utility model adopts the following technical solutions:

[0005] A modular body structure of a quadruped robot, comprising an upper shell, a lower shell, a left shell, and a right shell; the upper shell, the lower shell, the left shell, and the right shell are connected to form a cavity;

[0006] The upper shell has an upper shell top surface and upper shell side surfaces vertically provided by extending from the short side ends of the upper shell top surface. Two first semi-circular grooves are provided at the bottom ends of the upper shell side surfaces, and the two first semi-circular grooves are symmetrically arranged along the axis of symmetry of the upper shell side surfaces;

[0007] The lower shell has a lower shell bottom surface and lower shell side surfaces vertically provided by extending from the short side ends of the lower shell bottom surface. Two second semi-circular grooves are provided at the bottom ends of the lower shell side surfaces, and the two second semi-circular grooves are symmetrically arranged along the axis of symmetry of the lower shell side surfaces;

[0008] The upper shell and the lower shell are hermetically connected in a manner that the upper shell side surfaces and the lower shell side surfaces are in contact, and the positions of the first semi-circular grooves correspond to the positions of the second semi-circular grooves to form circular holes;

[0009] One long side end of the upper shell top surface and one long side end of the lower shell bottom surface are respectively hermetically connected to the left shell, and the other long side end of the upper shell top surface and the other long side end of the lower shell bottom surface are respectively hermetically connected to the right shell.

[0010] As a further solution of the present utility model: protruding portions are respectively provided at the contact ends of the side surface of the upper shell with the left shell, the contact ends of the side surface of the upper shell with the right shell, the contact ends of the side surface of the lower shell with the left shell, and the contact ends of the side surface of the lower shell with the right shell. The shapes of the contact ends of the left shell with the side surfaces of the upper shell and the lower shell match the protruding portions and are hermetically connected. The shapes of the contact ends of the right shell with the side surfaces of the upper shell and the lower shell match the protruding portions and are hermetically connected.

[0011] As a further solution of the present utility model: a groove portion is provided at the contact portion of the protruding portion with the side surface of the upper shell. The shapes of the contact ends of the left shell with the side surfaces of the upper shell and the lower shell match the groove portion and are hermetically connected. The shapes of the contact ends of the right shell with the side surfaces of the upper shell and the lower shell match the groove portion and are hermetically connected.

[0012] As a further solution of the present utility model: two first support walls are erected on the top surface of the upper shell in a direction parallel to the side surface of the upper shell. The two first support walls are symmetric about the central axis of the top surface of the upper shell. Two second support walls are erected on the bottom surface of the lower shell in a direction parallel to the side surface of the lower shell. The two second support walls are symmetric about the central axis of the bottom surface of the lower shell. The first support wall is hermetically connected to the second support wall.

[0013] As a further solution of the present utility model: an opening portion is provided on the left shell or the right shell, and the opening portion is used for placing a detachable battery component.

[0014] As a further solution of the present utility model: it further includes an upper cover plate. A first groove is provided on the top surface of the upper shell, and an IMU inertial measurement sensor is placed in the first groove. The upper cover plate covers the first groove.

[0015] As a further solution of the present utility model: it further includes a lower cover plate. A second groove is provided on the bottom surface of the lower shell, and a receiving coil is placed in the second groove. The lower cover plate covers the second groove.

[0016] As a further solution of the present utility model: a plurality of through holes are provided on the lower cover plate.

[0017] As a further solution of the present utility model: it further includes foot pads, and the foot pads are arranged at the four corners of the lower shell.

[0018] A quadruped robot includes a battery component, a host component, a joint module, and the modular fuselage structure of the quadruped robot described in any one of the above; the battery component and the host component are accommodated in the cavity, and the joint module is installed in the round hole.

[0019] The beneficial effects of the present utility model:

[0020] The upper shell, lower shell, left shell, and right shell of the modular fuselage structure of a quadruped robot are fixedly connected by screws, so the entire fuselage structure is very firm. This design can ensure the stability and durability of the quadruped robot in various complex environments, preventing damage to internal components caused by external impacts or vibrations. The fuselage structure can be disassembled and assembled by screws, which makes it very convenient to repair or replace internal components. Users do not need to disassemble the entire quadruped robot, but only need to focus on and replace specific parts. This greatly simplifies the maintenance process and reduces the labor intensity and technical requirements. Description of the Drawings

[0021] Figure 1 is a schematic diagram of the overall structure of the modular fuselage structure of a quadruped robot;

[0022] Figure 2 is a schematic diagram of the exploded structure of the modular fuselage structure of a quadruped robot;

[0023] Figure 3 is a schematic diagram of the structure of the upper shell of the present utility model;

[0024] Figure 4 is a schematic diagram of the structure of the lower shell of the present utility model;

[0025] Figure 5 is a schematic diagram of the structure of the left shell of the present utility model;

[0026] Figure 6 is a schematic diagram of the structure of the right shell of the present utility model;

[0027] Figure 7 is a schematic diagram of the structure of the upper cover plate of the present utility model;

[0028] Figure 8 is a schematic diagram of the structure of the lower cover plate of the present utility model;

[0029] Figure 9 is a schematic diagram of the structure of the foot pad of the present utility model.

[0030] As shown in the figure:

[0031] 1 - upper shell, 11 - top surface of the upper shell, 12 - side surface of the upper shell, 13 - first semi-circular groove, 14 - first support wall, 15 - first groove;

[0032] 2 - lower shell, 21 - bottom surface of the lower shell, 22 - side surface of the lower shell, 23 - second semi-circular groove, 24 - second support wall, 25 - second groove;

[0033] 3 - left shell, 4 - right shell, 5 - upper cover plate, 6 - lower cover plate, 61 - through hole, 7 - foot pad;

[0034] A - Round hole, B - Protrusion, C - Groove part, D - Opening part. Detailed implementation mode

[0035] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. It should be understood that the present application is not limited by the exemplary embodiments disclosed herein. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present application.

[0036] In the description of the present utility model, 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, and is only for the convenience of describing the present utility model 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 therefore cannot be understood as a limitation to the present utility model.

[0037] 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 indicating 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 utility model, the meaning of "a plurality" is two or more, unless otherwise specifically defined.

[0038] In the embodiments of the present utility model, unless otherwise clearly specified and limited, the terms "installation", "connection", "connection", "fixation", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of 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 utility model can be understood according to specific circumstances.

[0039] As Figures 1-6 shown, a modular body structure of a quadruped robot includes an upper shell 1, a lower shell 2, a left shell 3, and a right shell 4; the upper shell 1, the lower shell 2, the left shell 3, and the right shell 4 are connected to form a cavity.

[0040] The upper shell 1 has an upper shell top surface 11 and upper shell side surfaces 12 erected by extending from the short side ends of the upper shell top surface 11. Two first semi-circular grooves 13 are provided at the bottom ends of the upper shell side surfaces 12, and the two first semi-circular grooves 13 are symmetrically arranged along the axis of symmetry in the upper shell side surfaces 12.

[0041] The lower shell 2 has a lower shell bottom surface 21 and lower shell side surfaces 22 erected by extending from the short side ends of the lower shell bottom surface 21. Two second semi-circular grooves 23 are provided at the bottom ends of the lower shell side surfaces 22, and the two second semi-circular grooves 23 are symmetrically arranged along the axis of symmetry in the lower shell side surfaces 22.

[0042] The upper shell 1 and the lower shell 2 are hermetically connected in a way that the upper shell side surfaces 12 and the lower shell side surfaces 22 are in contact. The positions of the first semi-circular grooves 13 correspond to the positions of the second semi-circular grooves 23 to form a circular hole A.

[0043] One long side end of the upper shell top surface 11 and one long side end of the lower shell bottom surface 21 are respectively hermetically connected to the left shell 3, and the other long side end of the upper shell top surface 11 and the other long side end of the lower shell bottom surface 21 are respectively hermetically connected to the right shell 4.

[0044] A modular body structure of a quadruped robot is composed of four independent parts. The upper shell 1 and the lower shell 2 are spliced together to jointly form the upper, lower, front and rear four faces of the cavity. The left shell 3 and the right shell 4 are spliced with the corresponding edges of the upper shell 1 and the lower shell 2, thus supplementing the left and right side faces of the cavity to form a stable three-dimensional space. Among them, the upper shell 1 and the lower shell 2 are spliced, and the circular hole A formed by connecting the first semi-circular groove 13 and the second semi-circular groove 23 is used to connect the joint module. The joint module controls and drives the quadruped robot to realize its flexible and diverse motion actions, including walking, running, turning and adapting to complex terrains, etc.

[0045] The upper shell 1, the lower shell 2, the left shell 3 and the right shell 4 of a modular body structure of a quadruped robot are fixedly connected by screws, so the whole body structure is very firm. This design can ensure the stability and durability of the quadruped robot in various complex environments and prevent damage to internal accessories caused by external impact or vibration. The body structure is disassembled and assembled by screws, which makes it very convenient to repair or replace internal components. Users do not need to disassemble the whole quadruped robot, but only need to pay attention to and replace specific parts. This greatly simplifies the maintenance process and reduces the labor intensity and technical requirements.

[0046] The modular design of the fuselage structure facilitates future technological upgrades. For example, when new sensors or devices need to be added, they can be easily integrated within the existing fuselage structure without completely redesigning the entire device. Since each part is independent and detachable, a complex functional layout can be achieved without sacrificing compactness. For example, certain components can be installed in specific positions to optimize their performance or compatibility. This flexibility enables the quadruped robot to better adapt to different task requirements and working environments. When using the quadruped robot, users can quickly adjust the configuration of the internal components according to different task requirements. This rapid response ability greatly enhances the user experience and operational convenience. For example, when conducting environmental exploration or performing specific tasks, specific sensors or cameras can be quickly installed or removed as needed.

[0047] Furthermore, in this embodiment, as Figure 3 and 4 shown, on the contact end of the upper shell side 12 with the left shell 3, on the contact end of the upper shell side 12 with the right shell 4, on the contact end of the lower shell side 22 with the left shell 3, and on the contact end of the lower shell side 22 with the right shell 4, there are respectively provided protruding parts B. The shapes of the contact ends of the left shell 3 with the upper shell side 12 and the lower shell side 22 match the protruding part B and are hermetically connected, and the shapes of the contact ends of the right shell 4 with the upper shell side 12 and the lower shell side 22 match the protruding part B and are hermetically connected.

[0048] Specifically, the protruding part B is provided, such that the width of the upper shell side 12 is significantly greater than the width of the upper shell top surface 11. Similarly, the width of the lower shell side 22 is correspondingly greater than the width of the lower shell bottom surface 21. The left shell 3 and the right shell 4 have arcs at the edges where they are connected to the upper shell top surface 11 and the lower shell bottom surface 21, which fit the protruding part B. The design of the protruding part B enhances the overall stability and aesthetics of the fuselage. At the same time, the edges of the fuselage are not sharp, ensuring the safety of use.

[0049] Furthermore, in this embodiment, as Figure 3 and 4 shown, the protruding part B is provided with a groove part C at the contact part with the upper shell side 12. The shapes of the contact ends of the left shell 3 with the upper shell side 12 and the lower shell side 22 match the groove part C and are hermetically connected, and the shapes of the contact ends of the right shell 4 with the upper shell side 12 and the lower shell side 22 match the groove part C and are hermetically connected.

[0050] Specifically, the left shell 3 and the right shell 4 have arcs at the edges where they are connected to the upper shell side 12 and the lower shell side 22, which fit the groove part C, further enhancing the overall stability and aesthetics of the fuselage and ensuring the safety of use.

[0051] Furthermore, in this embodiment, as Figure 3 and 4 ​As shown, two first support walls 14 are erected on the top surface 11 of the upper shell in a direction parallel to the side surface 12 of the upper shell, and the two first support walls 14 are symmetric about the central axis of the top surface 11 of the upper shell; two second support walls 24 are erected on the bottom surface 21 of the lower shell in a direction parallel to the side surface 22 of the lower shell, and the two second support walls 24 are symmetric about the central axis of the bottom surface 21 of the lower shell; the first support wall 14 is hermetically connected to the second support wall 24.

[0052] Specifically, after the first support wall 14 is connected to the second support wall 24, the cavity is divided into three parts. The two side parts accommodate the joint modules, and the middle part forms a separate sealed cavity for accommodating accessories of the quadruped robot such as battery components and host components, further ensuring that key components such as battery components and host components are placed in the sealed cavity and are not contaminated by dust or water.

[0053] Furthermore, in this embodiment, as Figure 4 and 6 shown, the left shell 3 or the right shell 4 is provided with an opening D for placing a detachable battery component.

[0054] Specifically, the battery component is of a detachable structure. To facilitate plugging and unplugging, an opening D is provided in the left shell 3 or the right shell 4. The battery component fits the opening D at the position where it is connected to the opening D to ensure the overall airtightness of the fuselage. A charging hole is provided on the surface of the left shell 3 or the right shell 4 where the opening D is not provided to facilitate charging of the battery component. Heat dissipation holes are provided on the surfaces of the left shell 3 and the right shell 4 to facilitate heat dissipation of the host component and the fan.

[0055] Furthermore, in this embodiment, as Figure 7 and 8 shown, it further includes an upper cover plate 5. The top surface 11 of the upper shell is provided with a first groove 15 for placing an IMU inertial measurement sensor, and the upper cover plate 5 covers the first groove 15. It further includes a lower cover plate 6. The bottom surface 21 of the lower shell is provided with a second groove 25 for placing a receiving coil, and the lower cover plate 6 covers the second groove 25.

[0056] Specifically, both the IMU inertial measurement sensor and the receiving coil are of an independent module design. Among them, the IMU module adopts a waterproof module design to improve the service life of the device and increase the waterproof performance. It can be selected and replaced according to actual needs. Due to the position layout of the IMU inertial measurement sensor and the receiving coil on the fuselage and for convenient installation, a groove structure is separately provided for positioning and installation. Among them, the lower cover plate 6 is provided with a plurality of through holes 61 for heat dissipation.

[0057] Furthermore, in this embodiment, as Figure 9 shown, it further includes feet pads 7, and the feet pads 7 are provided at the four corners of the lower shell 2.

[0058] Specifically, the foot pads 7 are fixed to the four feet on the bottom surface of the lower shell 21 by screws. When the quadruped robot is not moving, they support the quadruped robot and reduce the torque required for the mechanical dog to stand.

[0059] Furthermore, in this embodiment, a sealing ring is also included. Sealing rings are provided at the joints between any two of the upper shell 1, the lower shell 2, the left shell 3, and the right shell 4.

[0060] The present invention also provides a quadruped robot, which includes a battery component, a main body component, a joint module, and the modular body structure of the quadruped robot according to any one of the above. The battery component and the main body box are accommodated in the cavity, and the joint module is installed in the circular hole A.

[0061] Specifically, the battery component, the main body component, and the joint module are all independent components and can be selected and replaced according to actual needs.

[0062] It should also be noted that in this article, 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 including 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 "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0063] The above 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 obvious 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 fuselage structure of a quadruped robot, characterized in that, It includes an upper shell, a lower shell, a left shell and a right shell; the upper shell, the lower shell, the left shell and the right shell are connected to form a cavity; The upper shell has an upper shell top surface and upper shell side surfaces vertically extending from the short side ends of the upper shell top surface. Two first semi-circular grooves are provided at the bottom ends of the upper shell side surfaces, and the two first semi-circular grooves are symmetrically arranged along the axis of symmetry of the upper shell side surfaces; The lower shell has a lower shell bottom surface and lower shell side surfaces vertically extending from the short side ends of the lower shell bottom surface. Two second semi-circular grooves are provided at the bottom ends of the lower shell side surfaces, and the two second semi-circular grooves are symmetrically arranged along the axis of symmetry of the lower shell side surfaces; The upper shell and the lower shell are hermetically connected in a way that the upper shell side surfaces and the lower shell side surfaces are in contact. The positions of the first semi-circular grooves correspond to the positions of the second semi-circular grooves to form round holes; One long side end of the upper shell top surface and one long side end of the lower shell bottom surface are respectively hermetically connected to the left shell, and the other long side end of the upper shell top surface and the other long side end of the lower shell bottom surface are respectively hermetically connected to the right shell.

2. The modular fuselage structure of the quadruped robot according to claim 1, characterized in that, Protrusions are respectively provided at the contact ends of the upper shell side surfaces with the left shell, the contact ends of the upper shell side surfaces with the right shell, the contact ends of the lower shell side surfaces with the left shell, and the contact ends of the lower shell side surfaces with the right shell. The shapes of the contact ends of the left shell with the upper shell side surfaces and the lower shell side surfaces match the protrusions and are hermetically connected, and the shapes of the contact ends of the right shell with the upper shell side surfaces and the lower shell side surfaces match the protrusions and are hermetically connected.

3. The modular fuselage structure of the quadruped robot according to claim 2, characterized in that, A groove portion is provided at the place where the protrusion contacts the upper shell side surface. The shapes of the contact ends of the left shell with the upper shell side surfaces and the lower shell side surfaces match the groove portion and are hermetically connected, and the shapes of the contact ends of the right shell with the upper shell side surfaces and the lower shell side surfaces match the groove portion and are hermetically connected.

4. The modular body structure of the quadruped robot according to claim 3, characterized in that, Two first support walls are vertically provided on the upper shell top surface in a direction parallel to the upper shell side surfaces, and the two first support walls are symmetrically arranged along the central axis of the upper shell top surface; two second support walls are vertically provided on the lower shell bottom surface in a direction parallel to the lower shell side surfaces, and the two second support walls are symmetrically arranged along the central axis of the lower shell bottom surface; the first support walls and the second support walls are hermetically connected.

5. The modular fuselage structure of the quadruped robot according to claim 1, characterized in that, An opening is provided on the left shell or the right shell, and the opening is used to place a detachable battery component.

6. The modular body structure of the quadruped robot according to claim 1, characterized in that, It further includes an upper cover plate. A first groove is provided on the upper shell top surface, and an IMU inertial measurement sensor is placed in the first groove, and the upper cover plate covers the first groove.

7. The modular body structure of the quadruped robot according to claim 1, characterized in that, It further includes a lower cover plate. A second groove is provided on the lower shell bottom surface, and a receiving coil is placed in the second groove, and the lower cover plate covers the second groove.

8. The modular fuselage structure of the quadruped robot according to claim 7, characterized in that, A number of through holes are provided on the lower cover plate.

9. The modular body structure of the quadruped robot according to claim 1, characterized in that, It further includes foot pads, and the foot pads are provided at the four corners of the lower shell.

10. A quadruped robot, characterized in that, It includes a battery component, a host component, a joint module and a modular body structure of a quadruped robot as described in any one of claims 1-9; the battery component and the host component are accommodated in the cavity, and the joint module is installed in the round hole.

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