Quadruped robot body and quadruped robot

Abstract

The quadruped robot body comprises a robot body main body with a containing cavity, an extending part arranged at the head end and / or the tail end of the robot body main body and an anti-collision part arranged at the head end and / or the tail end of the robot body main body, the extending part and the anti-collision part at least partially correspond to each other up and down, and the anti-collision part comprises a first part body extending in the length direction of the robot body main body. And the second part body obliquely extends from the first part body to the direction of the extension part. The utility model further discloses a quadruped robot. The extension part and the anti-collision part at least partially correspond to each other up and down, the first part of the anti-collision part is used for installing the visual identification unit, the second part of the anti-collision part can play an anti-collision protection role on the visual identification unit, and the second part forms the second hollowed area, so that the sight of the visual identification unit cannot be shielded; in addition, the second part can serve as a handle structure, and external force is conveniently applied to lift the quadruped robot; the overall weight of the anti-collision part is light, the first part body and the second part body are integrally connected, and the overall firmness is high.

Description

Technical Field

[0001] This utility model belongs to the field of quadruped robot technology, and in particular relates to a quadruped robot body and a quadruped robot. Background Technology

[0002] Quadruped robots can mimic the movements of quadruped animals to traverse terrains inaccessible to wheeled or tracked robots, enabling them to perform emergency response and engineering tasks in complex environments. A quadruped robot consists of a body and four legs. The body houses a power source and a vision system. In complex environments, the vision system's location is susceptible to collisions or obstruction, affecting the robot's normal operation. Utility Model Content

[0003] In order to overcome the shortcomings of the prior art, this utility model provides a quadruped robot body and a quadruped robot, which is provided with corresponding upper and lower extensions and anti-collision parts, providing space for the installation of the vision recognition unit and forming an anti-collision protection function for it, and the second part can be used as a handle to lift the quadruped robot.

[0004] The technical solution adopted by this utility model to solve its technical problem is: a quadruped robot body, including a main body with a receiving cavity, an extension at the front end and / or the rear end of the main body, and a collision protection part at the front end and / or the rear end of the main body. The extension and the collision protection part are at least partially vertically corresponding. The collision protection part includes a first part extending along the length direction of the main body, and a second part extending obliquely from the first part to the direction of the extension.

[0005] Furthermore, the second part forms a second excavated area.

[0006] Furthermore, the first part forms a first hollow area and a support area, and the main body of the machine forms a mounting groove into which the support area extends, the top surface and side surface of the mounting groove abutting against the support area.

[0007] Furthermore, there are two first excavated areas, and there is a support between adjacent first excavated areas, which is connected to the supporting area.

[0008] Furthermore, the extension forms a space for installing the visual recognition unit, with the front of the space corresponding to the second hollowed-out area and the lower part of the space corresponding to the support portion.

[0009] Furthermore, the supporting area is formed with a connecting post, through which fasteners pass and connect to the top surface of the mounting groove.

[0010] Furthermore, the second hollowed-out area extends throughout the second body; the second body forms a U-shaped handle structure.

[0011] Furthermore, the first part and the second part are integrally connected; the width of the second part gradually decreases from the first part to the extension.

[0012] Furthermore, the extension is detachably connected to the main body of the fuselage.

[0013] This utility model also discloses a quadruped robot, including the aforementioned body and four legs connected to the body.

[0014] The beneficial effects of this utility model are: 1) The extension and the anti-collision part are at least partially vertically aligned. The first part of the anti-collision part is used to install the visual recognition unit, and the second part can provide anti-collision protection for the visual recognition unit. The second part forms a second hollowed-out area and will not obstruct the line of sight of the visual recognition unit. In addition, the second part can serve as a handle structure, making it easy to apply external force to lift the quadruped robot; 2) The anti-collision part is equipped with a first hollowed-out area and a second hollowed-out area, making it lightweight. The first and second parts are integrally connected, resulting in high overall sturdiness; 3) The support part and the supporting area are integrally connected, thereby reducing the weight of the anti-collision part while increasing overall sturdiness; 4) The extension and the support part are positioned opposite each other to securely clamp and install the visual recognition unit, making the overall structure more stable and the operation of the visual recognition unit more stable. The structural design of the extension and the anti-collision part ensures that the line of sight of the visual recognition unit will not be obstructed; 5) The assembly and connection between the anti-collision part and the main body is simple and stable. Attached Figure Description

[0015] Figure 1 A three-dimensional view of the quadruped robot body provided for this utility model.

[0016] Figure 2 The present invention provides a partial three-dimensional view of the quadruped robot body. Figure 1 .

[0017] Figure 3 The present invention provides a partial three-dimensional view of the quadruped robot body. Figure 2 .

[0018] Figure 4 This is a partial exploded structural diagram of the quadruped robot body provided by this utility model.

[0019] Figure 5 A perspective view of the anti-collision part provided for this utility model.

[0020] Among them, 1-body, 11-accommodating cavity, 12-mounting slot, 13-tray plate, 2-extension, 21-space, 3-anti-collision part, 31-first body, 311-first hollowed-out area, 312-supporting area, 313-connecting column, 32-second body, 33-second hollowed-out area, 34-support part, 4-visual recognition unit. Detailed Implementation

[0021] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort should fall within the scope of protection of the present invention.

[0022] like Figures 1-3 As shown, a quadruped robot body includes a main body 1 with a receiving cavity 11, an extension 2 disposed at the front end and / or the rear end of the main body 1, and a collision protection part 3 disposed at the front end and / or the rear end of the main body 1. The extension 2 and the collision protection part 3 are at least partially vertically corresponding.

[0023] In this embodiment, both the front and rear ends of the fuselage body 1 are provided with extensions 2 and anti-collision parts 3. The extensions 2 and anti-collision parts 3 at the front end of the fuselage body 1 are vertically aligned, and the extensions 2 and anti-collision parts 3 at the rear end of the fuselage body 1 are also vertically aligned. Of course, in other embodiments, the vertically aligned extensions 2 and anti-collision parts 3 may only be provided at the front end of the fuselage body 1, or only at the rear end of the fuselage body 1; there is no specific limitation.

[0024] The anti-collision part 3 includes a first part 31 extending along the length of the fuselage body 1, and a second part 32 extending obliquely from the first part 31 toward the direction of the extension part 2. Figure 2 Taking the direction shown as an example, the length direction of the fuselage body 1 is horizontal, the first part 31 extends horizontally, and the second part 32 extends from bottom to top and from right to left at an angle.

[0025] A second hollowed-out area 33 is formed in the second body 32, so that when the quadruped robot needs to be lifted, the second body 32 can be used as a point of leverage, that is, a hand or other object can be inserted into the second hollowed-out area 33, grasp the second body 32, and then lift the quadruped robot. At this time, the second body 32 acts as a handle structure. In this embodiment, the second hollowed-out area 33 extends the entire second body 32, so that the second body 32 forms a U-shaped handle structure with the opening facing downward, which facilitates the application of external force to lift the quadruped robot, and the overall weight of the anti-collision part 3 is reduced. On the other hand, the extension part 2 is usually used to install the visual recognition unit 4. The visual recognition unit 4 can be a lidar, or an existing visual recognition structure such as a structured light sensor, or a combination of multiple visual recognition structures, and there is no specific limitation. The second body 32 forms a second hollow area 33, which extends the entire second body 32. Thus, the second body 32 will not obstruct the visual recognition unit 4. At the same time, while serving as a handle, the second body 32 can also provide good protection for the visual recognition unit 4, preventing it from being subjected to too many external impacts when working in complex terrain.

[0026] Of course, in other embodiments, the second part 32 may only serve as an anti-collision function and may not necessarily form the second hollow area 33. In order not to obstruct the visual recognition unit 4, it may also be made of transparent material, or its top may be located below the visual recognition unit 4. There are no specific limitations.

[0027] like Figure 3 , Figure 4 As shown, the first part 31 forms a first hollowed-out area 311 and a supporting area 312, with a connecting post 313 formed in the supporting area 312. The fuselage body 1 forms a mounting groove 12 into which the supporting area 312 extends, with the top and side surfaces of the mounting groove 12 abutting against the supporting area 312. To achieve a stable assembly between the anti-collision part 3 and the fuselage body 1, a mounting groove 12 is formed in the lower part of the fuselage body 1. The sides and bottom of the mounting groove 12 are open, and a support plate 13 is detachably connected to the bottom. The end of the first part 31 is inserted into the mounting groove 12, abutting against the top and side surfaces of the mounting groove 12. The support plate 13 is then connected to the fuselage body 1, and fasteners (not shown in the figure) pass through the support plate 13 and the connecting post 313 and are then fixedly assembled and connected to the top surface of the mounting groove 12.

[0028] There are two first hollowed-out areas 311. There is a support part 34 between adjacent first hollowed-out areas 311. The support part 34 extends along the length of the main body 1 and its end is connected to the support area 312. In this embodiment, the support part 34 and the support area 312 are integrally connected, thereby reducing the weight of the anti-collision part 3 while ensuring that the first body 31 has sufficient strength and the overall firmness is higher.

[0029] A space 21 for mounting the visual recognition unit 4 is formed in the extension 2, and a second hollowed-out area 33 is formed in the second body 32. The front part of the space 21 is provided corresponding to the second hollowed-out area 33, and the lower part of the space 21 is provided corresponding to the support part 34. Thus, the visual recognition unit 4 can be fixedly mounted on the support part 34. The extension 2 and the support part 34 face each other and securely clamp the visual recognition unit 4, making the overall structure more stable and the operation of the visual recognition unit 4 more stable.

[0030] In this embodiment, the first part 31 and the second part 32 are integrally connected. The width of the second part 32 gradually decreases from the first part 31 towards the extension 2, thus giving the first part 31 sufficient width. Consequently, the first part 31 can be provided with a sufficiently large support part 34 to provide sufficient installation space for the visual recognition unit 4. The first part 31 can also be provided with a sufficiently large supporting area 312 to ensure a large connection area and a relatively stable connection with the main body 1. At the same time, the connection strength between the second part 32 and the first part 31 is high, and it will not obstruct the line of sight of the visual recognition unit 4, especially not its side view.

[0031] In this embodiment, the extension 2 is detachably connected to the main body 1. Of course, in other embodiments, it can also be integrally connected to the main body 1. The second part 32 extends obliquely from the first part 31 toward the extension 2, so that the second part 32 is located at the lower front of the extension 2. When the visual recognition unit 4 is provided with two visual structures, the end of the second part 32 is located in the middle of the two visual structures, avoiding obstruction.

[0032] In this embodiment, at least part of the cross-section of the space 21 of the extension 2 is trapezoidal with a smaller top and a larger bottom, which is consistent with the partial outline of the second part 32. This not only provides sufficient space for the installation of the visual recognition unit 4 and improves the stability of the overall structure, but also cooperates with the second part 32 without obstructing the visual recognition unit 4.

[0033] A quadruped robot includes a body with the above-described structure and four legs (not shown in the figure) connected to the body. The leg structure can be a structure in the prior art, and will not be described in detail. The legs are located on both sides of the main body 1.

[0034] The above specific embodiments are used to explain and illustrate the present utility model, and are not intended to limit the present utility model. Any modifications and changes made to the present utility model within the spirit and scope of the claims shall fall within the protection scope of the present utility model.

Claims

1. A quadruped robot body, characterized by: The fuselage body (1) includes a receiving cavity (11), an extension (2) provided at the front and / or rear ends of the fuselage body (1), and a collision protection part (3) provided at the front and / or rear ends of the fuselage body (1). The extension (2) and the collision protection part (3) are at least partially vertically corresponding. The collision protection part (3) includes a first part (31) extending along the length direction of the fuselage body (1) and a second part (32) extending obliquely from the first part (31) toward the direction where the extension (2) is located.

2. The quadruped robot body of claim 1, wherein: The second part (32) forms the second hollow area (33).

3. The quadruped robot body of claim 2, wherein: The first part (31) forms a first hollow area (311) and a support area (312), and the main body (1) forms a mounting groove (12) into which the support area (312) extends, the top surface and the side surface of the mounting groove (12) abutting against the support area (312).

4. The quadruped robot body of claim 3, wherein: There are two first excavated areas (311), and there is a support (34) between adjacent first excavated areas (311), which is connected to the supporting area (312).

5. The quadruped robot body of claim 4, wherein: The extension (2) forms a space (21) for installing the visual recognition unit (4). The front of the space (21) corresponds to the second hollow area (33), and the lower part of the space (21) corresponds to the support part (34).

6. The quadruped robot body of claim 3, wherein: The supporting area (312) is formed with a connecting post (313), and the fastener passes through the connecting post (313) and is connected to the top surface of the mounting groove (12).

7. The quadruped robot body according to claim 2, characterized in that: The second hollowed-out area (33) extends the entire second body (32); the second body (32) forms a U-shaped handle structure.

8. The quadruped robot body of claim 1, wherein: The first part (31) and the second part (32) are integrally connected; the width of the second part (32) gradually decreases from the first part (31) to the extension (2).

9. The quadruped robot body of claim 1, wherein: The extension (2) is detachably connected to the main body (1).

10. A quadruped robot, comprising a body as described in any one of claims 1-9, and four legs connected to the body.

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