Head waterproof shell structure of quadruped robot

Abstract

The utility model relates to the technical field of robot waterproofing, in particular to a quadruped robot head waterproof shell structure which comprises a split type shell assembly, a functional device hole site is arranged on the split type shell assembly, and a protective sealing assembly is arranged at the functional device hole site. The split type shell assembly is waterproof through a buckle sealing structure. A main body waterproof effect is realized by matching the buckling connection of the head upper shell and the left and right lower shells with a sealing groove structure, the structural strength is ensured by adopting an integral processing shell of a laser welding process, and the optical waterproof effect is realized by arranging a high-light-transmittance glass sheet at a sensor hole site. The innovative split type design is combined with the heat dissipation breathable film technology, the problem of contradiction between waterproof and heat dissipation of the head of a traditional quadruped robot is solved, the rear cover is provided with an IP66-level waterproof breathable film, a display screen baffle is of a double-sealing structure, and a self-locking type waterproof buckle is arranged at a key joint.

Description

Technical Field

[0001] This utility model relates to the field of robot waterproofing technology, specifically a waterproof shell structure for the head of a quadruped robot. Background Technology

[0002] In recent years, with breakthroughs in artificial intelligence, sensors, and materials technology, special-purpose robots are evolving from "single-function" to "autonomous, collaborative, and human-machine integrated." Patrol quadruped robots, as a type of special-purpose robot, play a vital role in fields such as power, security, petrochemicals, rail, municipal engineering, public safety, and special environments.

[0003] Patrol quadruped robots are used in police work and possess multiple functions such as autonomous patrolling, panoramic monitoring, intelligent recognition, public awareness campaigns, law enforcement video recording, one-button alarm, and non-lethal response, playing an increasingly important role in daily life. With the rapid development of science and technology, police patrol quadruped robots are gradually transforming from "auxiliary equipment" to "essential police force."

[0004] As an important part of police patrols, patrol quadruped robots need to roam the streets and alleys, and during daily inspections, they need to be able to adapt to various harsh outdoor environments. In outdoor environments, the most fundamental and basic requirement is waterproofing, so that the patrol quadruped robots can carry out inspections normally in rainy weather; otherwise, it will damage their internal electronic components and affect the service life of the patrol quadruped robots.

[0005] Currently, patrol quadruped robot platforms employ a biomimetic leg structure. This quadruped structure primarily consists of articulated motors and mechanical mechanisms, coordinating the movement of the legs and torso through motion control to achieve overall body movement. The structure of quadruped robots is relatively complex, and components such as the articulated motors and electrical control boxes require heat dissipation, making it difficult to achieve overall waterproofing for patrol quadruped robots.

[0006] Existing waterproof shell structures cannot fully meet the waterproof requirements of quadruped robots for the electronic components inside the body. Some only waterproof the electronic components inside the body, while others only divert rainwater, failing to protect the exposed electronic components.

[0007] Therefore, in view of the above-mentioned problems, this technical solution provides a waterproof shell structure for the head of a quadruped robot. Utility Model Content

[0008] The purpose of this invention is to provide a waterproof shell structure for the head of a quadruped robot to solve the problems mentioned in the background art.

[0009] To achieve the above objectives, this utility model provides the following technical solution:

[0010] A waterproof shell structure for the head of a quadruped robot includes a split shell assembly, on which functional device holes are provided, and protective sealing components are provided at the functional device holes; the split shell assembly is waterproofed by a snap-fit ​​sealing structure.

[0011] The split-type housing assembly includes an upper head shell, a lower left head shell, a lower right head shell, a rear cover, a display screen baffle, and a front head shell. The lower left head shell is installed at the lower left position of the upper head shell, and the lower right head shell is installed at the lower right position of the upper head shell. The upper head shell is formed by CNC integral machining. The lower edge of the upper head shell has an irregularly shaped external buckle, and the upper edges of the lower left and lower right head shells have internal buckles. The irregularly shaped external buckles and the internal buckles form a labyrinth-like sealing structure.

[0012] The rear cover is installed at the rear end of the upper shell of the head, the display screen baffle is installed at the front end of the upper shell of the head, and a silicone sealing strip with a compression amount ≥1.5mm is provided at the joint between the rear cover and the upper shell of the head.

[0013] Specifically, the display screen bezel adopts a double-seal structure with double-layer UV-cured sealant and fluororubber gaskets.

[0014] Compared with the prior art, the beneficial effects of this utility model are:

[0015] With triple protection of split shell + buckle seal + waterproof and breathable membrane, it achieves IP66 protection level and can withstand water flow impact of 100L / min.

[0016] By increasing the heat dissipation area by 40% compared to the traditional structure, and combining it with a waterproof and breathable membrane, a heat transfer efficiency of 2.5 W / (m·K) is achieved.

[0017] With each sensor glass plate having a transmittance of ≥95% and a distortion rate of ≤0.3%, the requirements for multispectral imaging are met.

[0018] The modular design reduces sensor replacement time to one-third of that of conventional structures, and the snap-fit ​​structure supports more than 200 disassembly and assembly cycles. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of a waterproof shell structure for the head of a quadruped robot placed on the quadruped robot.

[0020] Figure 2 This is a schematic diagram of the overall structure of a waterproof shell for the head of a quadruped robot.

[0021] Figure 3 This is a schematic diagram of the upper shell of the head in a waterproof shell structure for a quadruped robot.

[0022] Figure 4This is a schematic diagram of the lower left and lower right shell structures of a waterproof head shell for a quadruped robot.

[0023] Figure 5 This is a schematic diagram of the rear shell of the head in a waterproof shell structure for a quadruped robot.

[0024] Figure 6 This is a schematic diagram of the display screen baffle structure in a waterproof shell structure for the head of a quadruped robot.

[0025] Figure 7 This is a schematic diagram of the speaker mounting holes in a waterproof shell structure for the head of a quadruped robot.

[0026] Figure 8 This is a schematic diagram of the glass sheet structure in the waterproof shell structure of a quadruped robot's head.

[0027] The components include: 1. Head upper shell; 2. Head lower left shell; 3. Head lower right shell; 4. Rear cover; 5. Display screen baffle; 6. Head front shell; 7. Head bracket; 8. LiDAR mounting hole; 9. Speaker mounting hole; 10. Display screen mounting hole; 11. Thermal imaging camera hole; 12. Depth camera hole; 13. Surround view camera hole; 14. Thermal imaging camera glass plate; 15. Depth camera glass plate; 16. Surround view camera glass plate; 17. Bolt hole; 18. Binocular camera mounting hole; 19. Sealing groove; 20. Ventilation hole; 21. Waterproof and breathable membrane; 22. Display screen mounting slot; 23. Outer buckle; 24. Inner buckle; 25. Laser range sensor hole. Detailed Implementation

[0028] It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0029] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0030] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0031] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0032] Please see Figures 1-8 A waterproof shell structure for the head of a quadruped robot includes a split shell assembly, on which functional device holes are provided, and a protective sealing assembly is provided at the functional device holes; the split shell assembly is waterproofed by a snap-fit ​​sealing structure.

[0033] The split-type housing assembly includes an upper head shell 1, a lower left head shell 2, a lower right head shell 3, a rear cover 4, a display screen baffle 5, and a front head shell 6. The lower left head shell 2 is installed at the lower left position of the upper head shell 1, and the lower right head shell 3 is installed at the lower right position of the upper head shell 1. The upper head shell 1 is formed by CNC integral machining process. The lower edge of the upper head shell 1 is provided with an irregularly shaped external buckle 23, and the upper edges of the lower left head shell 2 and the lower right head shell 3 are provided with internal buckles. The irregularly shaped external buckles and the internal buckles 24 form a labyrinth-type sealing structure.

[0034] The rear cover 4 is installed at the rear end of the head shell 1, the display screen baffle 5 is installed at the front end of the head shell 1, and a silicone sealing strip with a compression amount ≥1.5mm is provided at the joint between the rear cover 4 and the head shell 1.

[0035] Specifically, the display screen baffle 5 adopts a double-seal structure with double-layer UV-cured sealant and fluororubber gaskets.

[0036] As a preferred embodiment of the present invention, the back cover 4 integrates a waterproof and breathable component, including an ePTFE waterproof and breathable membrane 21 with a pore size ≤ 0.2μm, a spiral water guide groove is provided around the breathable membrane, and the breathable holes 20 are arranged at a downward inclination of 30°.

[0037] Specifically, the head shell 1 is mounted on the head bracket 7 with screws. The top of the head shell 1 is provided with a laser radar mounting hole 8 and an integrated water guide channel. The rear is provided with a speaker mounting hole 9. The front is provided with a display screen mounting hole 10. The lower part of the front is provided with a thermal imaging camera hole 11 and a depth camera hole 12. The left and right sides and the lower part of the front are provided with surround view camera holes 13.

[0038] Specifically, a thermal imaging camera glass plate 14 is set at the front end of the thermal imaging camera hole 11, a depth camera glass plate 15 is set at the front end of the depth camera hole 12, and a surround camera glass plate 16 is set at the front end of the surround camera hole 13. The thermal camera glass plate 14, the depth camera glass plate 15, and the surround camera glass plate 16 are all bonded to the head upper shell 1.

[0039] Specifically, the lower left shell 2 and the lower right shell 3 of the head are symmetrical structures; multiple bolt holes 17 are provided on both the lower left shell 2 and the lower right shell 3 of the head, and a binocular camera mounting hole 18 is provided at the front end. The lower left shell 2 and the lower right shell of the head are both mounted on the head bracket 7 by screws.

[0040] The back cover 4 is installed at the rear end of the head shell 1 by screws. The rear end of the head shell 1 is provided with a sealing groove 19. The back cover 4 is provided with a vent hole 20. The back cover 4 is bonded with a waterproof and breathable membrane 21.

[0041] Specifically, the display screen baffle 5 is bonded to the display screen mounting hole 10. The display screen baffle 5 is provided with a display screen mounting slot 22 and bolt holes 17 for mounting the display screen. The display screen mounting slot 22 adopts an anti-loosening design, including a three-dimensional limiting structure and a conductive rubber electromagnetic shielding strip. The installation gap is controlled within 0.1-0.15mm.

[0042] The front shell 6 is located at the front end of the lower left shell 2 and the lower right shell 3 of the head. The front shell 6 is provided with a laser rangefinder sensor hole 25 and is mounted on the head bracket 7. A laser rangefinder sensor anti-fog device is installed on the laser rangefinder sensor hole 25, including an active defogging system that links a semiconductor cooling chip and a humidity sensor.

[0043] As a preferred embodiment of the present invention, the protective sealing assembly includes an aluminum nitride ceramic glass sheet (thermal imaging camera glass sheet 14), a sapphire glass sheet (depth camera glass sheet 15), and a composite antireflective film glass sheet (surround view camera glass sheet 16) bonded together by optical adhesive, and each glass sheet has a nano-hydrophobic coating on its outer surface.

[0044] The working principle of this utility model is as follows: In the idle position of this device, all the aforementioned driving components, which refer to power elements, electrical components, and compatible power supplies, are connected by wires. The electrical connections between the electrical components are completed in sequence. The detailed connection methods are well-known in the field. The following mainly describes the working principle and process, without explaining the electrical control:

[0045] During installation, first fix the head bracket 7 to the robot skeleton, and install the upper head shell 1 with M4 stainless steel countersunk screws. The installation of the lower left head shell 2 and the lower right head shell 3 is guided by positioning pins. First align the inclined guide surfaces of the inner buckle 24 and the outer buckle 23, and apply a torque of 5-8 N·m to tighten the screw 17. The thermal imaging camera glass plate 14, the depth camera glass plate 15, and the panoramic camera glass plate 16 are bonded with UV curing adhesive in a dust-free environment. After curing, a 0.1 mm adhesive layer is formed.

[0046] During installation, the rear cover 4 is first fitted with a compression sealing strip. The breathable membrane 21 is installed using a hot-pressing process. During operation, rainwater is diverted along the housing's guide channel. The double-stop structure of the snap-fit ​​structure prevents water penetration, and the breathable membrane maintains the pressure difference balance between the inside and outside. When the sensor is working, the hydrophobic coating on the glass plate ensures a water droplet contact angle >150°, which, combined with the guide channel, allows for rapid liquid drainage. When the temperature rises, the porosity of the breathable membrane automatically adjusts to ensure heat dissipation efficiency. In extreme environments, panel deformation is absorbed by the elastic deformation of the irregularly shaped snap-fit, ensuring continuous sealing.

[0047] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A waterproof shell structure for the head of a quadruped robot, characterized in that, It includes a split-type housing assembly, which has holes for functional components, and protective sealing components are provided at the holes for functional components; the split-type housing assembly is waterproofed by a snap-fit ​​sealing structure; The split shell assembly includes a head upper shell (1), a head lower left shell (2), and a head lower right shell (3); the head lower left shell (2) is installed at the lower left position of the head upper shell (1), and the head lower right shell (3) is installed at the lower right position of the head upper shell (1); the head upper shell (1) is formed by integral processing. The split-type housing assembly also includes a rear cover (4), a display screen baffle (5), and a head front shell (6); the rear cover (4) is installed at the rear end of the head upper shell (1), and the display screen baffle (5) is installed at the front end of the head upper shell (1); The back cover (4) integrates a waterproof and breathable component, which includes an ePTFE waterproof and breathable membrane (21) with a pore size ≤0.2μm. The protective sealing assembly includes a glass sheet bonded together with optical adhesive, and the outer surface of the glass sheet is provided with a nano-hydrophobic coating.

2. The waterproof shell structure for the head of a quadruped robot according to claim 1, characterized in that, The lower edge of the upper shell (1) of the head is provided with an irregularly shaped outer buckle (23), and the upper edges of the lower left shell (2) and the lower right shell (3) of the head are provided with inner buckles. The irregularly shaped outer buckle and the inner buckle (24) form a labyrinth-like sealing structure.

3. The waterproof shell structure for the head of a quadruped robot according to claim 2, characterized in that, A silicone sealing strip is provided at the joint between the rear cover (4) and the head shell (1).

4. The waterproof shell structure for the head of a quadruped robot according to claim 3, characterized in that, The display screen baffle (5) adopts a double-seal structure with double-layer UV-cured sealant and fluororubber gasket.

5. The waterproof shell structure for the head of a quadruped robot according to claim 4, characterized in that, The waterproof and breathable membrane (21) is provided with a spiral water guide groove on its periphery, and the air vents (20) are arranged at a downward angle of 30°.

6. The waterproof shell structure for the head of a quadruped robot according to claim 5, characterized in that, The front shell (6) of the head has a built-in laser rangefinder anti-fog device, which includes an active defogging system that links a semiconductor cooling chip and a humidity sensor.

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