Joint protection sleeve for quadruped robot

Abstract

The utility model discloses a joint protective sleeve for a quadruped robot, a joint is provided with a first shell and a second shell, and the joint protective sleeve comprises a main body part attached to the side surfaces of the first shell and the second shell; the extension part is attached to the surface of the first shell; the positioning part is positioned on the inner side of the main body part and can extend between the first shell and the second shell; the main body part, the extension part and the positioning part are integrally arranged. The main body part protects the side faces of the first shell and the second shell, the extension part protects the first shell facing the outer side, the positioning part achieves stable installation of the joint protection sleeve, the first shell and the second shell, a traditional gluing fixing mode is changed, disassembly, assembly and replacement of the joint protection sleeve are facilitated, and the joint protection sleeve is convenient to use. The joint protection sleeve can be repeatedly used; the joint protection sleeve is convenient to process and high in plasticity, and is tightly attached to the first shell and the second shell; the gap part is arranged, so that tools such as screws can conveniently penetrate into the first shell and the second shell to disassemble and assemble the first shell and the second shell, and the appearance is attractive.

Description

Technical Field

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

[0002] Quadruped robots are widely used in industrial, rescue, and other fields. Due to their complex operating environments, they often feature protective covers around the outside of their leg joints to provide collision protection and ensure effective joint movement. Existing products typically use adhesive covers, often made of materials like elastic rubber and silicone. This requires replacement after prolonged use in complex environments, requiring scraping away any remaining cover from the leg joints, a relatively cumbersome process. Utility Model Content

[0003] In order to overcome the deficiencies of the prior art, the utility model provides a joint protection cover for a quadruped robot, which provides good protection for the joints of the quadruped robot and is convenient to disassemble and replace.

[0004] The technical solution adopted by the present invention to solve the technical problem is: a joint protective cover for a quadruped robot, wherein the joint has a first shell and a second shell, and the joint protective cover includes:

[0005] A main body portion, which is attached to the side surfaces of the first shell and the second shell;

[0006] An extension portion, attached to a surface of the first shell;

[0007] a positioning portion, located inside the main body and capable of extending between the first shell and the second shell;

[0008] The main body, the extending portion and the positioning portion are integrally arranged.

[0009] The main body of the joint protective cover in the present invention provides good protection for the sides of the first shell and the second shell, the extension part provides good protection for the first shell facing outward, and the positioning part extends between the first shell and the second shell to achieve a stable installation of the joint protective cover and the first shell and the second shell, which changes the traditional gluing fixing method, facilitates the disassembly and replacement of the joint protective cover, and the joint protective cover can also be reused; the integrated arrangement of the main body, the extension part and the positioning part not only facilitates processing, but also increases the tightness of the fit between the joint protective cover and the first shell and the second shell, and provides better protection for the leg joints.

[0010] Furthermore, the first and second shells are connected by a first fastener after being assembled, and a notch is formed in the extension portion at a position corresponding to the first fastener. When the first and second shells need to be disassembled, the first fastener can be reached into the notch and loosened without first removing the joint protective cover, which is convenient to operate. When the first shell is separated from the second shell, the joint protective cover can also serve as a buffer and protection for the first shell.

[0011] Furthermore, the notch is a strip-shaped narrow slit structure, which avoids excessive exposure of the first fixing member, improves the appearance, and also facilitates the insertion of tools such as screws.

[0012] Furthermore, the positioning portion includes a positioning protrusion and a positioning mounting hole. The positioning protrusion extends between the first shell and the second shell. The second fastener passes through the second shell and the positioning mounting hole and is connected to the first shell. The second fastener passes through the positioning mounting hole to assemble the first shell and the second shell, so that the joint protective cover is assembled with the two shells and the joint protective cover will not fall off.

[0013] Furthermore, the first shell and / or the second shell form a mounting groove for the positioning protrusion to extend into.

[0014] Furthermore, the positioning protrusion and the positioning mounting hole are integrally connected, thereby increasing the structural stability of the positioning portion, so that the positioning portion generates an acting force with the first shell and the second shell at the positions of the positioning protrusion and the positioning mounting hole, thereby preventing the joint protective cover from being pulled and deformed due to excessive local force.

[0015] Furthermore, the number of the positioning protrusions is multiple and spaced apart along the outer circumference of the joint protective cover; at least part of the cross-section of the positioning protrusion is U-shaped, with the two free ends of the U-shaped positioning protrusion fixedly connected to the inner wall of the main body, and the closed end located inside the first shell and the second shell, and the wall surface between adjacent installation grooves is inserted between the two free ends of the U-shaped positioning protrusion. The provision of multiple positioning protrusions ensures that the joint protective cover will not easily separate from the first shell and the second shell in a circumferential direction, thereby ensuring the installation stability of the joint protective cover; the cross-sectional shape of the positioning protrusion is set so that once assembly is completed, the positioning protrusion is blocked by the wall surface and will not separate from the first shell, thereby preventing the joint protective cover from easily peeling off between the first shell and the second shell.

[0016] Furthermore, the surface of the first shell includes a horizontal first surface and an inclined second surface, the extension is attached to the inclined second surface, the inclined second surface has a socket, and the extension has a limiting pin at the position corresponding to the socket, which is tightly inserted into the socket. The first shell surface has an inclined second surface, which increases the space inside the first and second shells after they are assembled. Compared with the first shell surface being a horizontal plane, the structure of the inclined second surface reduces the contact area between the leg joints of the quadruped robot and the external environment when they collide, thereby reducing the impact force on the joints and effectively protecting the joints. The limiting pin and the socket cooperate to increase the tightness of the fit between the extension and the surface of the first shell, and also prevent the extension from easily separating from the first shell.

[0017] Furthermore, the length of the first shell is L1, the length of the joint protection cover is L2, and L2 / L1 is 0.1-0.5.

[0018] Furthermore, the joint protection cover is made of elastic silicone material, which not only provides good buffer protection but also has high plasticity and fits more closely with the first shell and the second shell.

[0019] The beneficial effects of the present invention are as follows: the main body forms a protective effect on the sides of the first shell and the second shell, the extension part forms a protective effect on the first shell facing outward, the positioning part realizes the stable installation of the joint protection cover and the first shell and the second shell, changes the traditional gluing fixing method, facilitates the disassembly and replacement of the joint protection cover, and the joint protection cover can also be reused; the joint protection cover is easy to process, has high plasticity, and fits tightly with the first shell and the second shell; the setting of the notch part facilitates the insertion of screws and other tools to disassemble and assemble the first shell and the second shell, and ensures the beauty of the appearance; the design of the positioning part is reasonable to prevent the joint protection cover from being easily peeled off from between the first shell and the second shell; the extension part fits the inclined second surface of the first shell, and compared with the horizontal surface of the first shell, the inclined second surface structure is set so that when the leg joint of the quadruped robot collides with the external environment, the contact area between the two is reduced, thereby reducing the impact force on the joint, thereby effectively protecting the joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Schematic diagram of the matching structure of the joint protection cover and the joint of the quadruped robot Figure 1 .

[0021] Figure 2 Schematic diagram of the matching structure of the joint protection cover and the joint of the quadruped robot Figure 2 .

[0022] Figure 3Schematic diagram of the matching structure of the joint protection cover and the joint of the quadruped robot Figure 3 .

[0023] Figure 4 This is a simplified diagram of the joints of the quadruped robot in this utility model.

[0024] Figure 5 The three-dimensional joint protection cover of the utility model Figure 1 .

[0025] Figure 6 The three-dimensional joint protection cover of the utility model Figure 2 .

[0026] Figure 7 This is a front view of the joint protection cover of the utility model cooperating with the joint of the quadruped robot.

[0027] Figure 8 This is a schematic diagram of the matching structure of the joint protection cover and the second shell of the quadruped robot joint of the utility model.

[0028] Figure 9 This is a schematic diagram of the matching structure of the joint protection cover and the first shell of the quadruped robot joint of the utility model.

[0029] Among them, 1-joint, 11-first shell, 111-horizontal first surface, 112-inclined second surface, 12-second shell, 113-jack, 114-wall between adjacent mounting slots, 13-mounting slot, 2-main body, 3-extension portion, 31-notch portion, 32-limiting column, 4-positioning portion, 41-positioning protrusion, 411-free end, 412-closed end, 42-positioning mounting hole, 51-first mounting hole corresponding to the first fastener, 52-second mounting hole corresponding to the second fastener. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the present invention, the following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work should fall within the scope of protection of the present invention.

[0031] like Figure 1-Figure 4As shown, a joint protective cover for a quadruped robot. In this embodiment, taking the thigh joint of the quadruped robot as an example, the joint 1 includes at least a first shell 11 and a second shell 12. The first shell 11 and the second shell 12 are spliced ​​together to form the thigh. When the quadruped robot is normally active, the side facing outward is the first shell 11, and the side facing the inner side where the torso is located is the second shell 12. The first shell 11 has a side and a surface, and the second shell 12 has a side and a surface. Here, the side where the first shell 11 and the second shell 12 are spliced ​​together is defined as the side, and the side opposite to the first shell 11 and the second shell 12 is defined as the surface.

[0032] like Figure 1-Figure 5 As shown, the joint protective cover includes a main body 2, an extension part 3, and a positioning part 4. The main body 2 is attached to the side surfaces of the first shell 11 and the second shell 12, the extension part 3 is attached to the surface of the first shell 11, and the positioning part 4 is located on the inner side of the main body 2 and can extend between the first shell 11 and the second shell 12. In addition, the main body 2, the extension part 3 and the positioning part 4 are arranged as one body. Specifically, they can be made of elastic silicone or rubber with a certain elasticity by integral injection molding.

[0033] Specifically, such as Figure 3 As shown, the main body 2 fits over the entire thickness-wise side surface of the first shell 11, while the main body 2 fits over a portion of the thickness-wise side surface of the second shell 12. The surface of the first shell 11 includes a horizontal first surface 111 and an inclined second surface 112. The inclined second surface 112 extends from the joint position of the first and second shells 11, 12, toward the horizontal first surface 11, extending from the outside to the inside. This increases the space within the first and second shells 11, 12 after they are joined. The extension 3 fits outside the inclined second surface 112. In other words, the horizontal first surface 111 is not covered by the joint protector.

[0034] Compared with the first shell 11 whose surface is all horizontal, the structure of the inclined second surface 112 reduces the contact area between the leg joints of the quadruped robot and the external environment when they collide, thereby reducing the impact force on the joints and effectively protecting the joints.

[0035] In order to increase the tightness of the surface fit between the extension portion 3 and the first shell 11, as shown in FIG. Figure 4 、 Figure 5 As shown, a socket 113 is provided on the inclined second surface 112 , and a limiting pin 32 is provided at a position corresponding to the socket 113 of the extension part 3 . The limiting pin 32 can be tightly inserted into the socket 113 , thereby preventing the extension part 3 from being easily peeled off from the inclined second surface 112 .

[0036] In order to increase the stability of the connection between the joint protector and the joint, such as Figure 5As shown, the positioning portion 4 includes a positioning protrusion 41 and a positioning mounting hole 42. The positioning protrusion 41 extends between the first shell 11 and the second shell 12. The second fastener (not shown in the figure) passes through the second mounting hole 52 and the positioning mounting hole 42 of the second shell 12 and is connected to the first shell 11, so that the joint protection cover is firmly clamped between the first shell 11 and the second shell 12.

[0037] The positioning holes 42 may be formed in the positioning protrusions 41, or they may be independently provided relative to the positioning protrusions 41. In this embodiment, there are multiple positioning protrusions 41, which are spaced apart along the periphery of the joint protective cover. Some positioning protrusions 41 do not have positioning holes 42, while the positioning protrusions 41 at the ends of the joint protective cover are provided with positioning holes 42, and the two are integrally connected.

[0038] A mounting groove 13 is formed on the first shell 11, or on the second shell 12, or the mounting groove 13 is formed by combining the first shell 11 and the second shell 12, and the positioning protrusion 41 extends into the first shell 11 and the second shell 12 through the mounting groove 13, facilitating the assembly and connection of the first shell 11, the second shell 12 and the joint protective cover. Figure 4 As shown, mounting grooves 13 are formed on the first shell 11 , and a plurality of mounting grooves 13 are arranged at intervals.

[0039] In order to prevent the joint protective cover from being easily peeled off from between the first shell 11 and the second shell 12, or in other words, to prevent the positioning protrusion 41 from being easily separated from the installation groove 13, as shown in FIG. Figure 9 As shown, at least part of the cross-section of the positioning protrusion 41 is U-shaped, so that the two free ends 411 of the U-shaped positioning protrusion 41 are fixedly connected to the inner wall of the main body 2, and its closed end 412 is located inside the first shell 11 and the second shell 12. The joint of the first shell 11 and the second shell 12, that is, the wall surface 114 between adjacent mounting grooves 13, is inserted between the two free ends 411 of the U-shaped positioning protrusion 41. Once the assembly is completed, the positioning protrusion 41 is blocked by the wall surface 114 and will not be separated from the first shell 11. The above-mentioned wall surface 114 can belong to the first shell 11, or to the second shell 12, or can belong partially to the first shell 11 and partially to the second shell 12. In this embodiment, since the mounting groove 13 is provided in the first shell 11, the above-mentioned wall surface 114 also belongs to the first shell 11.

[0040] like Figure 4 、 Figure 6As shown, the first shell 11 and the second shell 12 are connected by a first fastener (not shown in the figure) after being assembled. Specifically, the first fastener is connected to the second shell 12 after passing through the first mounting hole 51. A notch portion 31 is formed at the position of the extension portion 3 corresponding to the first fastener or the first mounting hole 51. The notch portion 31 is a strip-shaped narrow slit structure. The extension portion 3 shields the first mounting hole 51 and the first fastener, preventing them from being exposed to the outside world. Not only is the aesthetics better, but it also prevents the first fastener from loosening. In addition, the setting of the notch portion 31 provides space for the tool to pass through the joint protective cover to remove the first fastener, thereby facilitating the disassembly and assembly between the first shell 11 and the second shell 12.

[0041] like Figure 7 As shown, the vertical length of the first shell 11 is L1, and the vertical length of the joint protection cover is L2, then L2 / L1 is 0.1-0.5. Preferably, L2 / L1 is 1 / 3. If the ratio of the two is too large, the length of the joint protection cover is too large, which will not only increase the volume of the quadruped robot's thigh and increase the manufacturing cost, but also affect the flexibility of the quadruped robot's leg movements; if the ratio of the two is too small, the length of the joint protection cover cannot completely cover the position of the joint, and cannot provide good protection for the joint; within the above ratio range, the processing cost, protection of the joint and flexibility of the legs can be taken into account.

[0042] The above specific implementation methods are used to illustrate the present invention rather than to limit the present invention. Any modifications and changes 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 joint protective cover for a quadruped robot, wherein the joint (1) has a first shell (11) and a second shell (12), characterized in that: The joint protection cover comprises: The main body (2) is attached to the side surfaces of the first shell (11) and the second shell (12); The extension portion (3) is attached to the surface of the first shell (11); A positioning portion (4) is located inside the main body (2) and can extend between the first shell (11) and the second shell (12); The main body (2), the extension portion (3) and the positioning portion (4) are integrally arranged.

2. The joint protection cover for a quadruped robot according to claim 1, characterized in that: The first shell (11) and the second shell (12) are connected via a first fastener after being assembled, and a notch (31) is formed on the extension portion (3) at a position corresponding to the first fastener.

3. The joint protection cover for a quadruped robot according to claim 2, characterized in that: The notch portion (31) is a strip-shaped narrow slit structure.

4. The joint protection cover for a quadruped robot according to claim 1, characterized in that: The positioning portion (4) comprises a positioning protrusion (41) and a positioning mounting hole (42); the positioning protrusion (41) extends between the first shell (11) and the second shell (12); and the second fastener passes through the second shell (12) and the positioning mounting hole (42) and is connected to the first shell (11).

5. The joint protection cover for a quadruped robot according to claim 4, characterized in that: The first shell (11) and / or the second shell (12) form a mounting groove (13) for the positioning protrusion (41) to extend into.

6. The joint protection cover for a quadruped robot according to claim 4, characterized in that: The positioning protrusion (41) and the positioning mounting hole (42) are integrally connected.

7. The joint protection cover for a quadruped robot according to claim 5, characterized in that: The number of the positioning protrusions (41) is multiple and they are arranged at intervals along the outer periphery of the joint protective sleeve; at least part of the cross section of the positioning protrusion (41) is U-shaped, the two free ends (411) of the U-shaped positioning protrusion (41) are fixedly connected to the inner wall of the main body (2), the closed end (412) is located inside the first shell (11) and the second shell (12), and the wall surface (114) between adjacent mounting grooves (13) is inserted between the two free ends (411) of the U-shaped positioning protrusion (41).

8. The joint protection cover for a quadruped robot according to claim 1, characterized in that: The surface of the first shell (11) comprises a horizontal first surface (111) and an inclined second surface (112); the extension portion (3) is fitted on the inclined second surface (112); the inclined second surface (112) has a socket (113); the extension portion (3) has a limiting plug (32) at a position corresponding to the socket (113); the limiting plug (32) is tightly fitted and inserted into the socket (113).

9. The joint protection cover for a quadruped robot according to claim 1, characterized in that: The length of the first shell (11) is L1, the length of the joint protection sleeve is L2, and L2 / L1 is 0.1-0.

5.

10. The joint protection cover for a quadruped robot according to claim 1, characterized in that: The joint protection cover is made of elastic silicone material.

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