A legged robot body structure

Abstract

This utility model discloses a legged robot body structure, including a torso frame, a connecting bracket, and joint supports. The connecting bracket is connected to the front or rear of the torso frame and is connected to a head assembly or a tail assembly via ribs. The joint supports are mounted on the connecting bracket and have a support portion for supporting the hip joint assembly on the corresponding side. This structure provides additional support to the hip joint assembly by adding joint supports to the connecting bracket, enhancing the connection strength of the joint components. This allows the joint supports to provide constant support to the joint during robot movement, reducing metal fatigue of the joint fixing screws and ensuring the safety and reliability of the joint.

Description

Technical Field

[0001] This utility model relates to the field of multi-legged robot body technology, and in particular to a legged robot body structure. Background Technology

[0002] With the rapid development of science and technology, legged robots, through biomimetic multi-legged locomotion, intelligent sensing, and multifunctional modular design, are changing the traditional patrol and security model, transforming from auxiliary equipment to essential police force. The body structure of a legged robot, as a crucial component, significantly impacts its reliability. Existing quadruped robots have joint mounting holes on both the front and rear sides of the body frame for connecting the front and rear hip joints. However, in current quadruped robot body structures, the hip joints are typically fixed to the body frame (which serves as the torso) using only screws. This can lead to screw fatigue and breakage after prolonged use, severely affecting the robot's normal movement. Utility Model Content

[0003] This utility model addresses the shortcomings of existing technologies by providing a legged robot body structure, including a torso frame, a connecting bracket, and a joint support. The connecting bracket is connected to the front or rear of the torso frame and is connected to a head assembly or a tail assembly via ribs. The joint support is mounted on the connecting bracket and has a support portion for supporting the hip joint assembly on the corresponding side.

[0004] Preferably, the joint support includes a first support portion and a second support portion. The first support portion is connected to the connecting bracket, and the second support portion is connected to the hip joint assembly. The side of the second support portion has a second arc-shaped support surface that matches the side of the hip joint assembly. The first support portion and the second support portion are arranged perpendicularly to each other and connected.

[0005] Preferably, the second support portion has a connecting hole extending through the hip joint assembly along its rotation axis.

[0006] Preferably, the joint support includes a third support portion and a fourth support portion, wherein the third support portion is connected to the bottom of the connecting bracket;

[0007] The fourth support portion has two parts, which are respectively located on both sides of the third support portion. The fourth support portion is provided with a support arm, which is used to support the hip joint assembly and is fixedly connected to the hip joint assembly. The upper end surface of the support arm has a fourth arc-shaped support surface that matches the side surface of the hip joint assembly.

[0008] Preferably, the third support portion has multiple sets of connecting holes arranged back and forth along the rotation axis of the hip joint assembly, and the third support portion is fixedly connected to the bottom of the connecting bracket through fasteners passing through the mounting holes; the width of the third support portion along the rotation axis is greater than the width of the fourth support portion.

[0009] Preferably, the joint support includes a fifth support portion and a sixth support portion, the fifth support portion being connected to the connecting bracket; the sixth support portion is connected to the fifth support portion and extends to one side, the sixth support portion being provided with a locking arm, the locking arm being used to lock the hip joint assembly and being fixedly connected to the hip joint assembly.

[0010] Preferably, the engaging arm has two abutment portions arranged at the upper and lower parts respectively, and the two abutment portions form an arc-shaped engaging groove that matches the side of the hip joint assembly, and the hip joint assembly engages in the engaging groove; each of the two abutment portions is provided with a mounting hole, and the upper and lower sides of the hip joint assembly are fixedly connected to the abutment portions by fasteners passing through the mounting holes.

[0011] Preferably, the connecting bracket includes a bracket body, a first connecting part, and a second connecting part;

[0012] The first connecting portion and the second connecting portion are located on both sides of the support body, the first connecting portion is connected to the head assembly or the tail assembly, and the second connecting portion is connected to the torso frame;

[0013] The main body of the bracket is provided with a wire passage groove, which extends along the length of the main body of the bracket and is used for the passage of conductive wires.

[0014] Preferably, the torso frame is provided with a wire-binding hole, which is located between the wire-passing groove and the receiving groove, and connects the wire-passing groove and the receiving groove in the torso frame; the wire-binding hole is used for the conductive wire to pass through.

[0015] Preferably, the legged robot body structure further includes a wire pressing component; the wire pressing component is arranged relative to the wire passage groove and installed on the support body; the wire pressing component is used to press the conductive wire located in the wire passage groove; there are multiple wire pressing components, and the multiple wire pressing components are arranged sequentially along the length direction of the support body and press against different positions of the conductive wire.

[0016] This utility model discloses a legged robot body structure, including a torso frame, a connecting bracket, and joint supports. The connecting bracket is connected to the front or rear of the torso frame and is connected to a head assembly or a tail assembly via ribs. The joint supports are mounted on the connecting bracket and have a support portion for supporting the hip joint assembly on the corresponding side. This structure provides additional support to the hip joint assembly by adding joint supports to the connecting bracket, enhancing the connection strength of the joint components. This allows the joint supports to provide a constant supporting force to the joint during robot movement, reducing metal fatigue of the joint fixing screws and ensuring the safety and reliability of the joint. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings. In the following description, the same reference numerals denote the same parts.

[0019] Figure 1 A schematic diagram of the body structure of a legged robot according to an embodiment of this application is shown.

[0020] Figure 2 A schematic diagram of the connection between the torso frame and the connecting bracket is shown in one embodiment of this application.

[0021] Figure 3 A schematic diagram of a connection bracket according to an embodiment of this application is shown.

[0022] Figure 4 A schematic diagram of another state of the connecting bracket according to an embodiment of this application is shown.

[0023] Figure 5 and 6 A connection diagram of a joint support member according to another embodiment of this application is shown.

[0024] Figure 7 and 8 A connection diagram of a joint support member according to another embodiment of this application is shown.

[0025] Attached Figure

[0026] 100. Legged robot body structure;

[0027] 10. Torso frame; 10a. Receiving slot; 10b. Cable harness hole;

[0028] 20. Header components;

[0029] 30. Connecting bracket; 31. Bracket body; 31a. Cable tray; 31b. Positioning hole; 311. Wire fixing connection; 32. First connecting part; 3. Rib plate; 33. Second connecting part; 34. Transition connecting part;

[0030] 40. Wire clamping components;

[0031] 50. Hip joint components;

[0032] 60. Joint support; 61. First support part; 62. Second support part; 63. Third support part; 64. Fourth support part; 641. Support arm; 65. Fifth support part; 66. Sixth support part; 661. Engaging arm; 661a. Engaging groove; 661b. Mounting hole;

[0033] 70. Tail assembly. Detailed Implementation

[0034] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0035] Please refer to the attached document. Figures 1-8 This application provides a legged robot body structure 100, including a torso frame 10, a connecting bracket 30, and a joint support 60. The connecting bracket 30 is connected to the front or rear of the torso frame 10, and is connected to a head assembly 20 or a tail assembly 70 via ribs 3. The joint support 60, mounted on the connecting bracket 30, has a support portion for supporting the hip joint assembly 50 on the corresponding side. This structure provides additional support to the hip joint assembly by adding a joint support to the connecting bracket, enhancing the connection strength of the hip joint assembly. This allows the joint support to provide a constant supporting force to the joint during robot movement, reducing metal fatigue of the joint fixing screws and ensuring the safety and reliability of the joint.

[0036] In this embodiment, the torso frame 10 may have two connecting brackets 30 at the front and rear; the torso frame 10 has a receiving groove 10a inside, which is used to receive electronic control components; the front and rear parts of the torso frame are respectively provided with joint mounting holes for mounting the hip joint assembly 50. The two connecting brackets 30 are respectively connected to the front and rear parts of the torso frame 10, wherein the front connecting bracket is connected to the head assembly 20 through a front rib plate, and the rear connecting bracket is connected to the tail assembly 70 through a rear rib plate; the connecting bracket is provided with a wire passage groove 31a, which communicates with the receiving groove 10a. Joint supports 60 are respectively mounted on the corresponding connecting brackets 30, and each joint support 60 has a support portion for supporting the hip joint assembly on the corresponding side. This facilitates the constraint of the conductive wires on the inner wall of the wire groove 31a, ensuring the neatness of the conductive wires and avoiding the messiness and disorder of multiple conductive wires within the legged robot body structure 100. At the same time, it prevents the conductive wires arranged within the legged robot body structure from experiencing wire pulling failures during movement.

[0037] The head assembly 20 includes various electronic components and is located on the front side of the torso frame 10, supporting each electronic component. A connecting bracket 30 is located between the torso frame 10 and the head assembly 20, connecting the torso frame 10 and the head assembly 20. The connecting bracket 30 is provided with a wire passage groove 31a. The wire passage groove 31a connects to the receiving groove 10a. The conductive wires that are electrically connected to the electronic components pass through the head assembly and through the wire passage groove 31a to enter the receiving groove 10a, so that the conductive wires are electrically connected to the electronic control components and the electronic components. This allows the wire passage groove 31a to guide the conductive wires, thereby facilitating the inner wall of the wire passage groove 31a to constrain the conductive wires and ensure the neatness of the conductive wires.

[0038] Please refer to the attached document. Figures 1-8 In this embodiment of the application, the torso frame 10 is provided with a receiving groove 10a, which serves as the internal space of the torso frame 10. The receiving groove 10a is used to receive electronic control components, so that the torso frame 10 can store the electronic control components through the space of the receiving groove 10a, thereby facilitating the full utilization of the space of the receiving groove 10a by the electronic control components.

[0039] The head assembly is located on the front side of the torso frame 10 to facilitate its fixation to the front of the torso frame 10. The head assembly carries various electronic components, ensuring their proper positioning. Optionally, the electronic components can be configured as cameras, lidar, etc., according to mission requirements.

[0040] In this embodiment, the connecting bracket 30 is disposed between the torso frame 10 and the head assembly, and connects the torso frame 10 and the head assembly, so that the head assembly can be connected to the torso frame 10 through the connecting bracket 30; the connecting bracket 30 is provided with a wire passage groove 31a; the wire passage groove 31a is connected to the receiving groove 10a; the conductive wires that are electrically connected to the electronic components pass through the head assembly and through the wire passage groove 31a to enter the receiving groove 10a, so that the conductive wires are electrically connected to the electronic control components and the electronic components, so that the wire passage groove 31a can guide the conductive wires, thereby facilitating the inner sidewall of the wire passage groove 31a to constrain the conductive wires, ensuring the neatness of the conductive wires, avoiding the messiness and disorder of multiple conductive wires in the legged robot body structure, and preventing the conductive wires in the legged robot body structure from being pulled during movement.

[0041] Please refer to the attached document. Figures 1-4 In this embodiment, the connecting bracket 30 includes a bracket body 31, a first connecting part 32, and a second connecting part 33. The bracket body 31 is arranged along the front-rear direction, and the first connecting part 32 and the second connecting part 33 are located on the front and rear sides of the bracket body 31, respectively. The first connecting part 32 connects to the head assembly, and the second connecting part 33 connects to the torso frame 10, so that the head assembly and the torso frame 10 can be connected to the bracket body 31 through the first connecting part 32 and the second connecting part 33, respectively. The bracket body 31 is provided with a wire passage groove 31a, which extends along the length of the bracket body 31 and is used for the passage of conductive wires. This allows the bracket body 31 to guide the conductive wires through the wire passage groove 31a, thereby facilitating the constraint of the conductive wires by the inner sidewall of the wire passage groove 31a, ensuring the neatness of the conductive wires, and avoiding the messy and disordered state of multiple conductive wires in the legged robot body structure 100, as well as the wire pulling failure of the internal conductive wires during movement.

[0042] The support body 31 is also provided with a positioning hole 31b, which is used as a robot zero-point fixing hole for calibrating the robot's initial pose.

[0043] Optionally, the first connecting part 32 and the second connecting part 33 are fixedly connected to the head assembly and the torso frame 10 by screws. The first connecting part 32 is connected to the rib plate 3, and the head assembly is connected to the rib plate 3, so that the torso frame 10 and the head assembly form an integral frame, ensuring the overall strength of the legged robot body structure 100.

[0044] Please refer to the attached document. Figures 1-2In this embodiment of the application, the torso frame 10 is provided with a wire harness hole 10b, which is located between the wire passage groove 31a and the receiving groove 10a and connects the wire passage groove 31a and the receiving groove 10a; the wire harness hole 10b is used for conductive wires to pass through, so that the conductive wires of the receiving groove 10a can extend to the wire passage groove 31a through the wire harness hole 10b, thereby facilitating the inner sidewall of the wire harness hole 10b to restrict the range of motion of the conductive wires.

[0045] Please refer to the attached document. Figures 1-2 In this embodiment, the legged robot body structure 100 further includes a wire pressing member 40. The wire pressing member 40 is arranged relative to the wire channel 31a and installed on the support body 31. The wire pressing member 40 is used to press against the conductive wire in the wire channel 31a, so that the wire pressing member 40 and the support body 31 cooperate to restrict the different movement directions of the conductive wire and prevent the conductive wire from leaving the wire channel 31a. There are multiple wire pressing members 40, which are arranged sequentially along the length of the support body 31 and press against different positions of the conductive wire. By arranging multiple wire pressing members 40, the pressing effect of the wire pressing member 40 relative to the conductive wire is increased, avoiding the loss of the pressing effect on the conductive wire due to the failure of one wire pressing member 40.

[0046] Please refer to the attached document. Figures 1-4 In this embodiment, the connecting bracket 30 is provided with a transition connection portion 34, which is located between the first connecting portion 32 and the second connecting portion 33, and connects the first connecting portion 32 and the second connecting portion 33. This facilitates the connection between the first connecting portion 32 and the second connecting portion 33 through the transition connection portion 34, thereby increasing the strength between the first connecting portion 32 and the second connecting portion 33 and ensuring the connection strength of the first connecting portion 32 and the second connecting portion 33 relative to the torso frame 10 and the head assembly. The bracket body 31, the first connecting portion 32, the transition connection portion 34, the second connecting portion 33, and the bracket body 31 are arranged in a ring and connected sequentially to strengthen the connection strength of the connecting bracket 30, effectively disperse external loads, avoid single-point stress concentration, and exhibit significantly better performance than the open chain structure in terms of torsional and lateral bending resistance.

[0047] Please refer to the attached document. Figures 1-2 In this embodiment of the application, the legged robot body structure 100 further includes multiple hip joint components 50 and corresponding joint support members 60. The multiple hip joint components 50 are connected to the same torso frame 10 and distributed at different positions of the torso frame 10. The joint support members 60 are connected to the connecting bracket 30 and support the corresponding hip joint components 50. The corresponding hip joint components 50 are connected to the connecting bracket 30 through the joint support members 60. The multiple hip joint components 50 can move relative to the torso frame 10 so that the multiple hip joint components 50 can walk relative to the ground.

[0048] Please refer to the attached document. Figures 1-2 In this embodiment, the joint support 60 includes a first support portion 61 and a second support portion 62. The first support portion 61 is connected to the connecting bracket 30, and the second support portion 62 is connected to the hip joint assembly 50. The side of the second support portion 62 has a second arc-shaped support surface that matches the side of the hip joint assembly. The first support portion and the second support portion are arranged perpendicularly to each other and connected. Specifically, the first support portion and the second support portion can be arranged in an L-shape. The L-shaped arrangement ensures that the connecting bracket 30 and the hip joint assembly 50 face the same direction. The L-shaped corner naturally decomposes into axial force and bending moment, preventing the hip joint assembly 50 from experiencing uneven wear due to multi-directional forces, reducing metal fatigue of the fixing screws of the hip joint assembly 50, and ensuring the safety and reliability of the hip joint assembly 50.

[0049] In this embodiment, a connecting hole is provided on the side of the second support portion along the rotation axis of the hip joint assembly. The joint support can be fixed to the corresponding hip joint assembly by screws passing through the connecting hole. This provides multi-point support for the hip joint, reducing fatigue of the fixing screws between the hip joint assembly and the torso frame, and ensuring the safety of the robot.

[0050] The connecting bracket 30 is provided in two parts, which are respectively arranged on the front and rear sides of the torso frame 10. The legged robot body structure 100 also includes a tail assembly 70, which is connected to the rear side of the torso frame 10 through the connecting bracket 30 so that the connecting bracket 30 can constrain the conductive wires of the tail assembly 70.

[0051] Please refer to the attached document. Figures 5-6 In another specific embodiment, the joint support 60 may further include a third support portion 63 and a fourth support portion 64, wherein the third support portion is connected to the bottom of the connecting bracket. Specifically, the third support portion 63 may be connected to the transition connection portion 34 of the connecting bracket 30. There are two fourth support portions 64, located on either side of the third support portion 63. Each fourth support portion 64 is provided with a support arm 641, which supports the hip joint assembly 50 and is fixedly connected to it. The upper end face of the support arm has a fourth arc-shaped support surface that matches the side surface of the hip joint assembly. The two hip joint assemblies 50 are connected to the transition connection portion 34 of the connecting bracket 30 via the two fourth support portions 64, thus enabling one joint support 60 to support two hip joint assemblies 50, reducing material costs.

[0052] Specifically, the third support portion 63 can be arranged with multiple sets of connecting holes along the rotation axis of the hip joint assembly. The third support portion 63 is fixedly connected to the bottom of the connecting bracket through fasteners passing through the mounting holes. The width of the third support portion along the rotation axis is greater than the width of the fourth support portion. This ensures that the joint support has sufficient torsional strength, guaranteeing the safety and reliability of the hip joint assembly.

[0053] Please refer to the attached document. Figures 7-8 In another embodiment, the joint support 60 may further include a fifth support portion 65 and a sixth support portion 66. The fifth support portion 65 is connected to the connecting bracket 30. The sixth support portion 66 is connected to the fifth support portion 65 and extends to one side. The sixth support portion 66 is provided with a locking arm 661, which is used to lock the hip joint assembly 50 and is fixedly connected to the hip joint assembly 50 so that the hip joint assembly 50 can be connected to the connecting bracket 30 through the fifth support portion and the sixth support portion 66. Optionally, the fifth support portion 65 and the sixth support portion 66 are arranged in an L-shape.

[0054] The locking arm 661 is provided with a locking groove 661a, and the hip joint assembly 50 is locked in the locking groove 661a. The locking arm 661 is provided with two mounting holes 661b, and two bolts are respectively passed through the two mounting holes 661b to press against the upper and lower positions of the hip joint assembly 50, so as to ensure the locking effect between the hip joint assembly 50 and the locking arm 661.

[0055] Specifically, the locking arm 661 has two abutment parts arranged at the upper and lower parts respectively. The two abutment parts surround and form an arc-shaped locking groove 661a that matches the side of the hip joint assembly. The hip joint assembly is locked into the locking groove. The two abutment parts are respectively provided with mounting holes 661b. The upper and lower sides of the hip joint assembly are fixedly connected to the abutment parts through the mounting holes by fasteners.

[0056] The legged robot body structure disclosed in the above embodiments solves the problem of messy and disorganized arrangement of a large number of conductive wires in the legged robot body structure by using the inner sidewall of the wire channel to constrain the conductive wires and ensuring the neatness of the conductive wires. In addition, by adding joint support components to the connecting bracket to provide additional support force to the hip joint assembly, the connection strength of the joint components is enhanced. This allows the joint support components to provide a support force to the joint at all times during robot movement, reducing metal fatigue of the joint fixing screws and ensuring the safety and reliability of the joint.

[0057] It should be noted that all directional indicators such as up, down, left, right, front, and back in the embodiments of this utility model are only used to explain the relative positional relationship and movement of each component in a specific posture. If the specific posture changes, the directional indicator will also change accordingly.

[0058] It should also be noted that when a component is referred to as "fixed to" or "set on" another component, it can be directly on the other component or may be connected to an intermediary component. When a component is referred to as "connected to" another component, it can be directly connected to the other component or indirectly connected to the other component through an intermediary component.

[0059] Furthermore, the use of terms such as "first" and "second" in this utility model is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this utility model.

[0060] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A legged robot body structure, characterized in that, include: Torso frame; A connecting bracket is connected to the front or rear of the torso frame, and the connecting bracket is connected to the head assembly or tail assembly via ribs. The joint support, mounted on the connecting bracket, has a support portion for supporting the hip joint assembly on the corresponding side.

2. The legged robot body structure according to claim 1, characterized in that: The joint support includes a first support portion and a second support portion. The first support portion is connected to the connecting bracket, and the second support portion is connected to the hip joint assembly. The side of the second support portion has a second arc-shaped support surface that matches the side of the hip joint assembly. The first support portion and the second support portion are arranged perpendicularly to each other and connected.

3. The legged robot body structure according to claim 2, characterized in that: The second support portion has a connecting hole extending through the hip joint assembly along its rotation axis.

4. The legged robot body structure according to claim 1, characterized in that: The joint support includes a third support portion and a fourth support portion, wherein the third support portion is connected to the bottom of the connecting bracket; The fourth support portion has two parts, which are respectively located on both sides of the third support portion. The fourth support portion is provided with a support arm, which is used to support the hip joint assembly and is fixedly connected to the hip joint assembly. The upper end surface of the support arm has a fourth arc-shaped support surface that matches the side surface of the hip joint assembly.

5. The legged robot body structure according to claim 4, characterized in that: The third support part has multiple sets of connecting holes arranged back and forth along the rotation axis of the hip joint assembly. The third support part is fixedly connected to the bottom of the connecting bracket through fasteners passing through the mounting holes. The width of the third support part along the rotation axis is greater than the width of the fourth support part.

6. The legged robot body structure according to claim 1, characterized in that: The joint support includes a fifth support portion and a sixth support portion. The fifth support portion is connected to the connecting bracket. The sixth support portion is connected to the fifth support portion and extends to one side. The sixth support portion is provided with a locking arm, which is used to lock the hip joint assembly and is fixedly connected to the hip joint assembly.

7. The legged robot body structure according to claim 6, characterized in that: The locking arm has two abutment parts arranged at the upper and lower parts respectively. The two abutment parts form an arc-shaped locking groove that matches the side of the hip joint assembly. The hip joint assembly is locked into the locking groove. The two abutment parts are respectively provided with mounting holes. The upper and lower sides of the hip joint assembly are fixedly connected to the abutment parts through the mounting holes by fasteners.

8. The legged robot body structure according to any one of claims 1-7, characterized in that: The connecting bracket is provided with a bracket body, a first connecting part and a second connecting part; The first connecting portion and the second connecting portion are located on both sides of the support body, the first connecting portion is connected to the head assembly or the tail assembly, and the second connecting portion is connected to the torso frame; The main body of the bracket is provided with a wire passage groove, which extends along the length of the main body of the bracket and is used for the passage of conductive wires.

9. The legged robot body structure according to claim 8, characterized in that: The torso frame is provided with a wire-binding hole, which is located between the wire-passing groove and the receiving groove in the torso frame, and connects the wire-passing groove and the receiving groove; the wire-binding hole is used for the conductive wire to pass through.

10. The legged robot body structure according to claim 9, characterized in that: It also includes wire pressing components; the wire pressing components are arranged relative to the wire guide groove and installed on the bracket body; the wire pressing components are used to press the conductive wire located in the wire guide groove; there are multiple wire pressing components, and the multiple wire pressing components are arranged sequentially along the length direction of the bracket body and press against different positions of the conductive wire.

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