A handle structure and carrying mechanism for a quadruped robot

Abstract

The utility model relates to four -legged robot technical field, concretely is a kind of handle structure and carrying mechanism for four -legged robot carrying, including rubber coating, flexible band inlayed in rubber coating, and with the quick-release type fixing assembly and four groups of leg unit connected to leg unit, handle unit, four groups of leg unit are symmetrically arranged in the head and tail two sides of four -legged robot by pivot. Handle structure and carrying mechanism of the application, in the carrying process, handle can realize load self-adapting adjustment and reduce the structural volume of four -legged robot carrying state with four -legged robot leg structure form, convenient for operator to carry, and realize long-distance transfer.

Description

Technical Field

[0001] This utility model relates to the field of quadruped robot technology, specifically a handle structure and handling mechanism for quadruped robot handling. Background Technology

[0002] Since quadruped robots are currently an emerging technology field, their application in industry and military has not yet been widely adopted. Therefore, there is no clear requirement for the transfer (long-distance transport, loading and unloading) methods of quadruped robots with large loads. In the event of power failure or malfunction, quadruped robots are mostly transferred by two people carrying them from front to back. However, for long distances and situations with large height differences, the structural form of quadruped robots makes it difficult to carry them over long distances by using two people carrying them from front to back.

[0003] Existing heavy-load quadruped robot handling handles mostly use rigid handles, fixed at the head and tail. Since quadruped robots have a leg-driven structure with many degrees of freedom and are typically unlocked, using fixed handles at the head and tail not only occupies space on the robot's back panel, but also prevents the legs from retracting during handling. This results in the legs being unrestrained, drooping naturally, and posing a risk of collision with the handler. Furthermore, the legs are prone to touching the ground, making long-distance handling inconvenient and inconsistent with ergonomic design. Figure 1 As shown, in the existing quadruped robot handling handle layout, the head handle 11 and the head handle 12 are respectively arranged at the head and tail. During the handling process, the force is in the direction indicated by Figures 31 and 32. With this handle layout, the legs naturally droop during the handling process, resulting in an increase in the overall space volume of the robot.

[0004] Therefore, in view of the above-mentioned problems, this technical solution proposes a handle structure and a handling mechanism for quadruped robots to handle objects. Utility Model Content

[0005] The purpose of this invention is to provide a handle structure and a handling mechanism for quadruped robots to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a handle structure for handling by a quadruped robot, comprising: a rubber coating, a flexible strip embedded in the rubber coating, and a quick-release fixing component connected to the leg unit;

[0007] The flexible strip forms a flexible load-bearing skeleton with a longitudinal tensile strength ≥200kgf;

[0008] The quick-release fixing assembly has guide grooves for accommodating the overlay and flexible belt, and adopts a split snap-fit ​​structure to achieve quick installation with the leg unit and quadruped robot.

[0009] Preferably, the coating is made of highly elastic silicone material with anti-slip texture on its surface.

[0010] Preferably, the flexible belt is made of woven belt, carbon fiber, or plastic material.

[0011] A quadruped robot handling mechanism based on a leg handle structure for handling quadruped robots includes: four sets of leg units and handle units. The leg units are arranged on both sides of the quadruped robot via a pivot. Each set of leg units includes leg I, leg II, leg III, and leg IV, which are formed by hinged thighs and calves. Handle units are provided on the leg units at the head and / or tail ends on both sides of the quadruped robot. That is, the handle units are installed on both sides of the thigh pivot of the leg unit to form leg handle I, leg handle II, leg handle III, and leg handle IV. The center of gravity G' of the quadruped robot is collinear with the axis of the pivot, forming a static balance system.

[0012] Preferably, a handle unit is provided at the head and / or tail end of the top of the quadruped robot, that is, a head handle and a tail handle are selectively provided at the top of both the head and tail of the quadruped robot.

[0013] Compared with the prior art, the beneficial effects of this utility model are: by fixing the handles of the quadruped robot legs to both sides of the thigh pivot through the handle fixing parts, the thigh handles move together with the thigh around the thigh pivot. Under the action of gravity, the center of gravity falls on the pivot, the handles are located on both sides of the pivot, and the handle reaction force is located above the center of gravity of the legs, which makes it easier for the operator to carry the load, thereby improving the ergonomics of the quadruped robot's transfer process. Attached Figure Description

[0014] Figure 1 A schematic diagram of the existing quadruped robot's handling handle layout.

[0015] Figure 2 This is a handle structure for a quadruped robot and a layout diagram of the four handles on the legs of the handling mechanism.

[0016] Figure 3 This is a diagram showing the handle structure for a quadruped robot and the weight distribution layout of the legs in the handling mechanism.

[0017] Figure 4 This is a diagram of a handle structure for a quadruped robot and the leg handle structure in the handling mechanism.

[0018] Among them: head handle 11, tail handle 12, quadruped robot 2, leg handle I 41, leg handle II 42, leg handle III 43, leg handle IV 44, rubber coating 5, flexible belt 6, quick-release fixing component 7, leg I 81, leg II 82, leg III 83, leg IV 84. Detailed Implementation

[0019] It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0020] 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.

[0021] 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.

[0022] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0023] Please see Figures 1-4 A handle structure for handling quadruped robots includes a rubber coating 5, a flexible strip 6 embedded in the rubber coating 5, and a quick-release fixing component 7 connected to the leg unit; the flexible strip 6 forms a flexible load-bearing skeleton with a longitudinal tensile strength ≥200kgf; the quick-release fixing component 7 is provided with a guide groove for accommodating the rubber coating 5 and the flexible strip 6, and adopts a split snap-fit ​​structure to achieve quick installation with the leg unit and quadruped robot 2.

[0024] Specifically, the rubber coating 5 is made of highly elastic silicone material with anti-slip texture on its surface. The rubber coating 5 can not only alleviate the problem of force concentration, but also keep the leg handle aligned with the thigh when there is no force.

[0025] The flexible belt 6 is made of woven belt, carbon fiber, or plastic material, etc.

[0026] As a preferred embodiment of the present invention, a quadruped robot handling mechanism based on a leg handle structure for handling quadruped robots includes: four sets of leg units and handle units. The leg units are arranged on both sides of the quadruped robot 2 via pivots. Each set of leg units includes leg I 81, leg II 82, leg III 83, and leg IV 84, which are formed by hinged thighs and calves. Handle units are provided on the leg units at the head and / or tail ends on both sides of the quadruped robot 2. That is, the handle units are installed on both sides of the thigh pivot of the leg units to form leg handles I 41, leg handles II 42, leg handles III 43, and leg handles IV 44. Among them, 2-4 leg handles I 41, leg handles II 42, leg handles III 43, and leg handles IV 44 can be installed as needed, and the installation positions can be placed at both ends of the quadruped robot 2.

[0027] The center of gravity G' of the quadruped robot 2 is collinear with the axis of rotation, forming a static balance system.

[0028] In a preferred embodiment of the present invention, a handle unit is provided at the head end and / or tail end of the quadruped robot 2, that is, a head handle 11 and a tail handle 12 are selectively provided at the top of both the head and tail of the quadruped robot 2.

[0029] 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 handle structure for handling by a quadruped robot, characterized in that, Includes: a rubber coating (5), a flexible strip embedded in the rubber coating (6), and a quick-release fastening assembly (7); The quick-release fixing component (7) is provided with a guide groove for accommodating the rubber coating (5) and the flexible strip (6), and adopts a split buckle structure to achieve quick installation with the leg unit and the quadruped robot (2).

2. The handle structure for handling by a quadruped robot according to claim 1, characterized in that, The flexible strip (6) forms a flexible load-bearing skeleton with a longitudinal tensile strength ≥200kgf.

3. The handle structure for handling by a quadruped robot according to claim 1, characterized in that, The coating (5) is made of high-elasticity silicone material, and its surface is provided with anti-slip texture.

4. The handle structure for handling by a quadruped robot according to claim 1, characterized in that, The flexible strip (6) is made of woven strip, carbon fiber, or plastic material.

5. A quadruped robot handling mechanism using the handle structure described in any one of claims 1-4, comprising a quadruped robot (2), wherein the quadruped robot (2) has leg units on both its head and tail sides, characterized in that, The quadruped robot (2) has handle units on the leg units at the head and / or tail ends on both sides.

6. The quadruped robot handling mechanism according to claim 5, characterized in that, The quadruped robot (2) has a handle unit at the head and / or tail end of its top.

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