Battery quick-change structure of quadruped robot and quadruped robot

Abstract

This utility model discloses a quick-change battery structure for a quadruped robot and the quadruped robot itself, belonging to the field of quadruped robots. It solves the problem of battery boxes easily loosening during rapid battery replacement in robots subjected to severe vibrations. The technical solution mainly includes a frame and a battery box. The frame has a placement cavity for accommodating the battery box, and an installation port communicating with the placement cavity. A locking pin is located on the inner side of the installation port. A gripper is rotatably connected to the battery box. The gripper has a locking hook that engages with the locking pin. The gripper has a first position where the locking hook disengages from the locking pin, and a second position where the locking hook and locking pin are mutually locked. The locking hook and locking pin prevent the battery box from detaching from the placement cavity. The gripper swings between the first and second positions, with a rotational tendency to swing towards the second position. This utility model is mainly used to achieve rapid battery box replacement.

Description

Technical Field

[0001] This utility model demonstrates a quick-change battery structure for a quadruped robot and the quadruped robot itself, belonging to the field of quadruped robot technology. Background Technology

[0002] Quadruped robots are biomimetic robots inspired by the movement of animal limbs. They typically consist of four legs and are designed to move across a variety of terrains and environments, including flat ground, uneven terrain, stairs, narrow spaces, and hazardous environments. They can also be used to explore unknown areas, perform dangerous tasks, and conduct rescue operations.

[0003] To improve the battery life of quadruped robots, a larger battery box is needed. However, the four leg components of a quadruped robot are relatively small, making it impossible to effectively install the battery box. Therefore, the battery box is usually installed on the torso of the quadruped robot. In addition, because quadruped robots are used in complex environments and generate significant vibrations during operation, the battery box on the torso needs to be secured to prevent it from falling off. Existing quadruped robots typically use fasteners to fix the battery box. However, the battery box is a component with a relatively high maintenance frequency in quadruped robots. Using fasteners to fix the battery box increases the difficulty of disassembly and installation, thus significantly reducing the efficiency of battery replacement and maintenance. At the same time, due to the limited space in quadruped robots and the upper limit of battery capacity, if a quadruped robot is to work for a long time, it is inevitable to charge or replace the battery. In the charging state, the quadruped robot cannot work. Therefore, rapid battery replacement is an effective way to ensure that the robot can work continuously. However, the drawback of existing technical solutions is that the battery box, which allows for rapid battery replacement after severe shaking, is prone to loosening, causing the quadruped robot to lose power directly, which seriously affects work efficiency and may even damage the quadruped robot. Utility Model Content

[0004] The purpose of this invention is to solve the problem that the battery box of existing robots that can be quickly replaced during severe shaking is prone to loosening. To this end, a quick-change battery structure for a quadruped robot and a quadruped robot are provided. The battery box is locked and unlocked from the frame by the swing of the gripping parts, so as to achieve quick replacement of the battery box.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] The battery quick-change structure of the quadruped robot includes a frame and a battery box. The frame has a placement cavity for accommodating the battery box and an installation port communicating with the placement cavity. A locking post is provided on the inner side of the installation port. A gripper is rotatably connected to the battery box. The gripper has a locking hook that engages with the locking post. The gripper has a first position where the locking hook disengages from the locking post and a second position where the locking hook and the locking post are locked together. The locking hook and the locking post prevent the battery box from detaching from the placement cavity. The gripper swings between the first and second positions and has a rotational tendency to swing towards the second position.

[0007] The beneficial effects of using this utility model are:

[0008] In this invention, a locking post is provided in the mounting opening, and the battery box is provided with a gripping component. The gripping component has a locking hook and a first position and a second position. The gripping component swings between the first and second positions. When the battery box is installed into the placement cavity of the rack, swinging the gripping component to the second position will lock the locking hook of the gripping component with the locking post, thereby preventing the battery box from leaving the placement cavity and achieving a more stable and reliable connection between the battery box and the rack. When it is necessary to remove the battery box, swinging the gripping component to the first position will disengage the locking hook from the locking post, thereby unlocking the rack and the battery box. The user can then remove the battery box from the rack, achieving quick unlocking of the battery box and the rack. This invention achieves locking or unlocking of the locking hook and locking post through the swinging of the gripping component, without the need for fasteners. The horizontal connection makes the installation and removal of the battery box simpler and faster. Users lock and unlock the battery box by rotating the grip, and control the battery box during installation and removal using the grip as well. Therefore, during installation, after placing the battery box into the placement cavity, the user can rotate the grip to the second position to lock the battery box to the rack. Similarly, during removal, after rotating the grip to the first position, the user can pull the battery box out of the placement cavity using the grip to remove it. Furthermore, the grip has a tendency to swing towards the second position, preventing it from detaching from the second position and making the locking of the hook and locking pin more stable and reliable, preventing the battery box from unlocking arbitrarily, and making the locking of the battery box to the rack safer and more reliable.

[0009] Preferably, both ends of the grip have hinges, which are rotatably connected to the two sides of the battery box via pivots. The locking hook is located at one of the hinges, forming a locking groove between it and the hinge. When the grip is in the second position, the locking pin is embedded in the locking groove and contacts the groove wall. Using the aforementioned technical solution, when the locking hook and locking pin are locked, the locking pin is embedded in the locking groove and contacts the groove wall, positioning the locking pin between the locking hook and the grip. This prevents the battery box from shaking in the locked state, making the lock between the battery box and the frame tighter and more secure.

[0010] Preferably, the rotating shaft is elastically loaded with a torsion spring, which acts on the rotating shaft to give the gripping member a rotational tendency to swing towards the second position. By employing the aforementioned technical solution, the gripping member is elastically loaded by the torsion spring, reducing the possibility of the gripping member arbitrarily disengaging from the second position, thus making the locking of the hook and the locking pin more stable and reliable.

[0011] Preferably, the edge of the mounting port is provided with a clearance groove, into which the gripper in the second position is embedded. Using the aforementioned technical solution, when the battery box is locked to the frame, the gripper is embedded in the clearance groove, which provides hidden space for the gripper, preventing it from protruding from the frame surface. This effectively avoids the possibility of accidental unlocking due to accidental contact, thus improving the locking security of the battery box.

[0012] Preferably, one of the clearance groove and the gripping member is provided with a buckle, and the other with a slot. When the gripping member is in the second position, the buckle and the slot engage to increase the resistance when the gripping member is disengaged from the second position. By adopting the aforementioned technical solution, the gripping member can be effectively positioned in the second position through the cooperation of the buckle and the slot, so that the locking hook and the locking pin maintain a reliable locked state, reducing the possibility of the locking hook and the locking pin being unlocked at will, and making the locking of the battery box and the frame more stable and reliable.

[0013] Preferably, the battery box includes a box body and a working panel at the top of the box body. One side of the working panel forms a step with the top surface of the box body. The two ends of the grip are rotatably connected to the two sides of the working panel. The grip in the second position is placed on the step and is flush with the surface of the working panel.

[0014] Preferably, the stepped portion is provided with a magnetic attractor, and the gripping portion is provided with a metal component. The magnetic attractor attracts the metal component to position the gripping portion on the stepped portion. By adopting the aforementioned technical solution, the magnetic attractor's attraction of the gripping portion increases the external force required for the gripping portion to detach from the second position, further reducing the possibility of the gripping portion detaching from the second position, thereby ensuring that the battery box can maintain a reliable lock.

[0015] Preferably, the grip includes a handle with a first grip notch and a second grip notch. When the grip is in the second position, the first grip notch is located between the handle and the work panel, and the second grip notch is located between the housing and the handle. Using the aforementioned technical solution, the first and second grip notches allow the user's fingers to easily insert, enabling the user to grasp the handle and apply force to it to disengage the grip from the second position, thus reducing the difficulty for the user to grasp the handle.

[0016] Preferably, the mounting port has an avoidance notch at its edge, which corresponds to the second grip notch at the edge of the mounting port, so that the second grip notch is exposed to the avoidance notch. Using the aforementioned technical solution, the corresponding cooperation between the second grip notch and the avoidance notch provides more space for fingers to enter the second grip notch, further reducing the difficulty for users to grip the handle.

[0017] This utility model also demonstrates a quadruped robot, including a torso and four leg assemblies rotatably connected to the torso, the torso being configured with a battery quick-change structure for the quadruped robot as described in any of the preceding claims.

[0018] Other features and advantages of this utility model will be disclosed in detail in the following specific embodiments and accompanying drawings. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings:

[0020] Figure 1 is a schematic diagram of the battery quick-change structure of the quadruped robot of this utility model;

[0021] Figure 2 is a side view of the quick-change battery structure of the quadruped robot of this utility model;

[0022] Figure 3 is a cross-sectional view of the quick-change battery structure of the quadruped robot of this utility model;

[0023] Figure 4 is a schematic diagram of the internal structure of the quick-change battery structure of the quadruped robot of this utility model;

[0024] Figure 5 is a schematic diagram of the structure of part A in Figure 4;

[0025] Figure 6 is an internal schematic diagram of the battery box when it is unlocked in the quick-change battery structure of the quadruped robot of this utility model;

[0026] Figure 7 is a schematic diagram of the battery quick-change structure of the quadruped robot of this utility model when the gripping part is in the second position;

[0027] Figure 8 is a schematic diagram of the structure of the quick-change battery structure of the quadruped robot of this utility model when the gripping part is in the first position;

[0028] Figure 9 is a structural schematic diagram of the quadruped robot of this utility model.

[0029] Reference numerals: 10. Torso; 1. Frame; 11. Locking post; 12. Clearance groove; 13. Clearance notch; 14. Placement cavity; 2. Battery box; 21. Grip; 211. Handle; 212. Hinge; 213. First grip notch; 214. Second grip notch; 215. Locking hook; 216. Locking groove; 22. Box body; 23. Working panel; 24. Stepped surface; 3. Leg assembly. Detailed Implementation

[0030] The technical solutions of the present utility model will be explained and described below with reference to the accompanying drawings. However, the following embodiments are only preferred embodiments of the present utility model and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments in the implementation methods without creative effort are all within the protection scope of the present utility model.

[0031] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They 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. Therefore, they should not be construed as limitations on this utility model.

[0032] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., 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 according to the specific circumstances.

[0033] Example 1:

[0034] As shown in Figures 1 to 8, this embodiment demonstrates a quick-change battery structure for a quadruped robot, including a frame 1 and a battery box 2. The frame 1 has a placement cavity 14 for accommodating the battery box 2, and the frame 1 has an installation port communicating with the placement cavity 14. A locking post 11 is provided on the inner side of the installation port. The battery box 2 is rotatably connected to a gripper 21. The gripper 21 has a locking hook 215 that locks into the locking post 11. The gripper 21 has a first position where the locking hook 215 is disengaged from the locking post 11, and a second position where the locking hook 215 and the locking post 11 are locked together. The locking hook 215 and the locking post 11 lock together to prevent the battery box 2 from disengaging from the placement cavity 14. The gripper 21 swings between the first position and the second position, and the gripper 21 has a rotational tendency to swing towards the second position.

[0035] In this embodiment, a locking post 11 is provided in the mounting opening, and the battery box 2 is provided with a grip 21. The grip 21 is provided with a locking hook 215. The grip 21 has a first position and a second position, and the grip 21 swings between the first position and the second position. When the battery box 2 is installed into the placement cavity 14 of the frame 1, after the grip 21 is swung to the second position, the locking hook 215 of the grip 21 will lock with the locking post 11, thereby preventing the battery box 2 from leaving the placement cavity 14, so as to achieve the locking of the battery box 2 and the frame 1, making the connection between the battery box 2 and the frame 1 more stable and reliable. When it is necessary to remove the battery box 2, swinging the grip 21 to the first position will cause the locking hook 215 to disengage from the locking post 11, thereby unlocking the frame 1 and the battery box 2. The user can then remove the battery box 2 from the frame 1, achieving quick unlocking of the battery box 2 and the frame 1. In this embodiment, the locking or unlocking of the locking hook 215 and the locking post 11 is achieved by swinging the grip 21. The absence of fasteners for connection makes the installation and removal of battery box 2 simpler and faster. Furthermore, the user locks and unlocks battery box 2 by rotating the grip 21. During installation and removal, the user also controls battery box 2 using the grip 21. Therefore, during installation, after placing battery box 2 into placement cavity 14, the user can simultaneously rotate the grip 21 to the second position to lock battery box 2 to the frame 1. Similarly, during removal, after rotating the grip 21 to the first position, the user can simultaneously pull battery box 2 out of placement cavity 14 using the grip 21 to remove battery box 2. Secondly, the grip 21 has a rotational tendency to swing towards the second position, preventing it from arbitrarily disengaging from the second position. This makes the locking of hook 215 and locking pin 11 more stable and reliable, preventing battery box 2 from unlocking arbitrarily and making the locking of battery box 2 to frame 1 more secure and reliable.

[0036] As shown in Figures 1 and 2, the frame 1 has an internal cavity 14 for accommodating the battery box 2. The side of the frame 1 has an installation port communicating with the cavity 14. The battery box 2 is inserted into or removed from the cavity 14 through the installation port to realize the installation and removal of the battery box 2. The battery box 2 includes a box body 22 and a working panel 23. The working panel 23 is fixed to the top of the battery box 2. The grip 21 includes a handle 211 and hinge parts 212 at both ends of the handle 211. The two hinge parts 212 are rotatably connected to both sides of the working panel 23 through a rotating shaft. When the battery box 2 is installed in the frame 1, the working panel 23 of the battery box 2 is located at the installation port. The working panel 23 is provided with several interfaces and a display unit so that the user can directly charge the battery box 2 or understand the operating status of the battery box 2.

[0037] As shown in Figures 4 and 5, in this embodiment, a locking pin 11 is provided on the inner side of the mounting port, and a locking hook 215 is provided on one side of the grip 21. A locking groove 216 is formed between the locking hook 215 and the grip 21. When the grip 21 rotates to the second position, the locking hook 215 is embedded in the locking groove 216 and contacts the groove wall of the locking groove 216. When the grip 21 rotates to the first position, the locking hook 215 and the locking pin 11 separate from each other. When the locking hook 215 and the locking pin 11 are locked, the locking pin 11 is embedded in the locking groove 216 and contacts the groove wall of the locking groove 216, so that the locking pin 11 is positioned between the locking hook 215 and the grip 21, preventing the battery box 2 from shaking in the locked state, and making the locking of the battery box 2 and the frame 1 more tight and secure.

[0038] As shown in Figures 4 and 6, the edge of the mounting port in this embodiment is provided with a clearance groove 12. When the battery box 2 is installed into the placement cavity 14, the clearance groove 12 is formed on the outer periphery of the working panel 23. When the grip 21 is in the first position, the entire grip 21 is located on the front side of the working panel 23, so that the user can grasp the grip 21 and control the battery box 2 to enter or leave the placement cavity 14. When the grip 21 is rotated to the second position, the grip 21 is embedded in the clearance groove 12, and the surface of the grip 21 is flush with the front side of the working panel 23. At this time, the grip 21 is locked with the locking pin 11 through the locking hook 215. At the same time, the grip 21 is hidden in the clearance groove 12, which can effectively prevent the grip 21 from protruding from the surface of the frame 1, thereby effectively avoiding the possibility of the grip 21 being accidentally touched and unlocked, which helps to improve the locking security of the battery box 2.

[0039] Additionally, it should be noted that in this embodiment, the mounting port is located on the side of the frame 1. When the battery box 2 is installed into the placement cavity 14, the battery box 2 is placed horizontally. When the grip 21 is rotated to the first position, the grip 21 is also placed horizontally. When the user applies force to the grip 21, the grip 21 can pull the battery box 2 away from the placement cavity 14. The horizontal placement of the grip 21 makes the sliding of the battery box 2 smoother and makes the disassembly of the battery box 2 simpler and faster. When the grip 21 rotates downward from the first position to the second position, the grip 21 is placed vertically. Therefore, when the user releases the grip 21, the grip 21 can rotate to the second position under its own weight. Furthermore, when the grip 21 is in the second position, it is not easy to disengage from the second position, making the locking of the hook 215 and the locking pin 11 more stable and reliable, reducing the possibility of the hook 215 and the locking pin 11 being unlocked at will, and making the locking of the battery box 2 and the frame 1 more stable and reliable.

[0040] Of course, in this embodiment, the rotating shaft is elastically loaded with a torsion spring. The torsion spring acts on the rotating shaft to make the grip 21 have a rotational tendency to swing towards the second position. By elastically loading the grip 21 with the torsion spring, the possibility of the grip 21 arbitrarily disengaging from the second position is reduced, making the locking of the locking hook 215 and the locking pin 11 more stable and reliable.

[0041] As shown in Figures 7 and 8, in this embodiment, one side of the working panel 23 forms a step with the top surface of the box 22. When the battery box 2 is inserted into the placement cavity 14, the step is located below the working panel 23. After the grip 21 is rotated to the second position, the handle 211 is placed on the step, and the surface of the handle 211 is flush with the surface of the working panel 23. The step is provided with a magnetic suction component, and the grip 21 is provided with a metal component. The magnetic suction component attracts the metal component to position the grip 21 on the step. By attracting the grip 21 with the magnetic suction component, the external force required for the grip 21 to leave the second position can be increased, further reducing the possibility of the grip 21 leaving the second position, so that the battery box 2 can be reliably locked.

[0042] It is understandable that in other embodiments, the avoidance groove 12 and the grip 21 can also increase the resistance of the grip 21 to disengage from the second position through the cooperation of the buckle and the slot. The buckle can be set in the avoidance groove 12 and the slot can be set in the grip 21 accordingly; of course, the buckle can also be set in the grip 21 and the slot can be set in the avoidance groove 12 accordingly.

[0043] Secondly, in this embodiment, after the battery box 2 and the frame 1 are locked, the length direction of the gripper 21 is parallel to the forward direction of the quadruped robot. The vibration generated by the quadruped robot during operation is mainly in the forward direction of the quadruped robot, while the swing direction of the gripper 21 is intersected with the vibration direction. Therefore, the vibration of the quadruped robot has little impact on the gripper 21, and the gripper 21 is not easy to swing randomly due to the vibration of the quadruped robot, making the locking of the gripper 21 more stable and reliable, and enabling the battery box 2 to maintain a reliable lock.

[0044] As shown in Figures 1 and 2, the grip 211 in this embodiment has a first grip notch 213 and a second grip notch 214 in the middle. When the grip 21 is in the second position, the first grip notch 213 is located between the grip 211 and the work panel 23, and the second grip notch 214 is located between the housing 22 and the grip 211. The edge of the mounting opening has an avoidance notch 13, which corresponds to the second grip notch 214 at the edge of the mounting opening, so that the second grip notch 214 is exposed to the avoidance notch 13. The first grip notch 213 and the second grip notch 214 can facilitate the user's fingers to insert, so that the user can grasp the grip 211 and apply force to the grip 211 to make the grip 21 disengage from the second position, which helps to reduce the difficulty for the user to grasp the grip 211. In addition, the second grip notch 214 and the avoidance notch 13 correspond to each other, which can provide more space for the fingers to insert into the second grip notch 214, further reducing the difficulty for the user to grasp the grip 211.

[0045] Example 2:

[0046] As shown in Figure 9, this embodiment illustrates a quadruped robot, including a torso 10 and four leg components 3 rotatably connected to the torso 10. The torso 10 has a placement cavity 14 for accommodating a battery box 2 inside. The side of the frame 1 has an installation port communicating with the placement cavity 14. The battery box 2 is inserted into or removed from the placement cavity 14 through the installation port to realize the installation and removal of the battery box 2. The torso 10 is configured with a battery quick-change structure for the quadruped robot as described in Embodiment 1.

[0047] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Those skilled in the art should understand that this utility model includes, but is not limited to, the content described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of this utility model will be included within the scope of the claims.

Claims

1. A quick-change battery structure for a quadruped robot, comprising a frame and a battery compartment, wherein the frame has a cavity for accommodating the battery compartment, and the frame has an mounting port communicating with the cavity, characterized in that, The inner side of the mounting port is provided with a locking post, and the battery box is rotatably connected to a gripping member. The gripping member is provided with a locking hook that engages with the locking post. The gripping member has a first position in which the locking hook disengages from the locking post, and a second position in which the locking hook and the locking post are locked together. The locking hook and the locking post are locked together to prevent the battery box from disengaging from the placement cavity. The gripping member swings between the first position and the second position, and the gripping member has a rotational tendency to swing towards the second position.

2. The battery quick-change structure for the quadruped robot according to claim 1, characterized in that, Both ends of the grip have hinges, and the two hinges are rotatably connected to the two sides of the battery box via a pivot. The locking hook is provided on the hinge, and a locking groove is formed between the locking hook and the hinge. When the grip is in the second position, the locking pin is embedded in the locking groove and contacts the groove wall.

3. The battery quick-change structure for the quadruped robot according to claim 2, characterized in that, The rotating shaft is elastically loaded with a torsion spring, which acts on the rotating shaft to give the gripping member a rotational tendency to swing toward the second position.

4. The battery quick-change structure for the quadruped robot according to claim 1, characterized in that, The edge of the mounting port is provided with a clearance groove, and the gripping member in the second position is embedded in the clearance groove.

5. The battery quick-change structure for the quadruped robot according to claim 4, characterized in that, One of the clearance groove and the gripping member is provided with a buckle, and the other is provided with a slot. When the gripping member is in the second position, the buckle engages with the slot to increase the resistance of the gripping member disengaging from the second position.

6. The battery quick-change structure for the quadruped robot according to claim 1, characterized in that, The battery box includes a box body and a working panel at the top of the box body. One side of the working panel forms a step with the top surface of the box body. The two ends of the grip are rotatably connected to the two sides of the working panel. The grip in the second position is placed on the step and is flush with the surface of the working panel.

7. The battery quick-change structure for the quadruped robot according to claim 6, characterized in that, The step portion is provided with a magnetic attraction component, and the gripping component is provided with a metal component. The magnetic attraction component attracts the metal component to position the gripping component on the step portion.

8. The battery quick-change structure for the quadruped robot according to claim 6, characterized in that, The grip includes a handle, which has a first grip notch and a second grip notch. When the grip is in the second position, the first grip notch is located between the handle and the work panel, and the second grip notch is located between the box body and the handle.

9. The battery quick-change structure for the quadruped robot according to claim 8, characterized in that, The mounting port has an avoidance notch at its edge, and the position of the avoidance notch at the edge of the mounting port corresponds to the second grip notch, so that the second grip notch is exposed to the avoidance notch.

10. A quadruped robot, comprising a torso and four leg assemblies rotatably connected to the torso, characterized in that, The torso is equipped with a battery quick-change structure for the quadruped robot as described in any one of claims 1 to 9.

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