An optoelectronic pod mounting device for a quadruped robot

Abstract

This application provides a photoelectric pod mounting device for quadruped robots, including a pod mounting structure fixed to the robot's back and a photoelectric pod. The pod mounting structure includes a base, a protective cover, a sealing structure, and a vibration damping structure. The vibration damping structure consists of a metal grid and rubber damping balls, used to filter low-frequency high-amplitude and high-frequency low-amplitude vibrations, respectively. The sealing structure includes a U-shaped sealing ring and a multi-component limiting sealing strip to achieve waterproofing and dustproofing. The protective cover is quickly installed and removed using quick-release clamps. This invention effectively improves the vibration damping performance, sealing performance, and maintenance convenience of the photoelectric pod in complex environments, and is suitable for quadruped robot platforms in fields such as security and inspection.

Description

Technical Field

[0001] This utility model relates to the field of security equipment technology, and more specifically, to a photoelectric pod mounting device for a quadruped robot. Background Technology

[0002] In recent years, quadruped robots have shown great potential in patrol, inspection, and security operations, placing higher demands on the reconnaissance capabilities of unmanned equipment. Compared to drones, which are more commonly used in optoelectronic pods, security quadruped robots face higher requirements in terms of vibration resistance, waterproofing, dustproofing, and ease of use due to their different operating environments.

[0003] Compared to drones, quadruped robots face challenges not only on flat urban surfaces but also on rugged terrain like potholes and steep slopes. Therefore, their optoelectronic pods experience not only high-frequency, low-amplitude vibrations during smooth gait but also low-frequency, high-amplitude vibrations during jumping and running. Consequently, the commonly used rubber damping balls for vibration reduction are insufficient and require optimized design. Furthermore, quadruped robots operate in environments exposed to rain, moisture, dust, and mud, necessitating waterproof and dustproof protection for the optoelectronic pods. Additionally, greater demands are placed on the ease of use, maintenance, and reliable operation of the pod's protective cover.

[0004] Currently, the gimbals or optoelectronic pods used in quadruped robots are all fixed to the robot body. For example, the publication date is September 19, 2023, publication number is CN116774700A, entitled "A power inspection method for quadruped robots and quadruped robots and equipment". Its ability to cope with vibration environments is limited, and it is difficult to quickly remove malicious stains and other factors that hinder imaging effects when dealing with complex environments.

[0005] In the existing technology, when the optoelectronic pod is installed on the back of a quadruped robot during the use of security equipment, its sealing and shock absorption performance is poor. Therefore, we have made improvements and proposed an optoelectronic pod mounting device for quadruped robots. Utility Model Content

[0006] The purpose of this invention is to address the problem that current security equipment designs, when photoelectric pods are installed on the back of quadruped robots, have poor sealing and shock absorption performance.

[0007] To achieve the above-mentioned objectives, this utility model provides the following technical solution:

[0008] An optoelectronic pod mounting device for quadruped robots is proposed to improve the above-mentioned problems.

[0009] The application is as follows:

[0010] An optoelectronic pod installation device for a quadruped robot, comprising a pod installation structure fixed to the back of the quadruped robot and an optoelectronic pod: The pod installation structure includes a base, a protective cover is provided on the base, a sealing structure is provided between the protective cover and the base, and a vibration damping structure for filtering vibrations of different frequencies and amplitudes is further provided in the protective cover above the base, and the optoelectronic pod is installed at the upper end of the vibration damping structure.

[0011] Preferably, the vibration damping structure includes an inner support plate and rubber vibration damping balls provided above the base, and the rubber vibration damping balls are connected between the inner support plate and the installation part of the optoelectronic pod for filtering vibrations of different frequencies and amplitudes.

[0012] Preferably, the sealing structure includes a sealing ring provided between the base and the protective cover, and a sealing strip limited by the base, an outer support plate and an inner support plate together.

[0013] Preferably, it further includes a quick-release installation structure between the base and the outer support plate, and the quick-release installation structure includes at least one quick-installation pressing block provided on the side of the outer support plate.

[0014] Preferably, the vibration damping structure further includes an annular metal grille provided inside the inner support plate, and the metal grille has grille grooves arranged in an alternating annular pattern for filtering low-frequency high-amplitude vibrations;

[0015] The rubber vibration damping balls are used for filtering high-frequency low-amplitude vibrations.

[0016] Preferably, the sealing ring in the sealing structure is in a "convex" shape, and its lower protruding part is fixed between the base, the outer support plate and the inner support plate.

[0017] Preferably, the protective cover is detachably installed above the outer support plate and the inner support plate, and the protective cover is made of a light-transmitting material.

[0018] Preferably, the edge of the protective cover is provided with a depression and an elastic protrusion, the depression is used for passing through the quick-installation pressing block, and the elastic protrusion is in radial limiting cooperation with the quick-installation pressing block to achieve locking.

[0019] Compared with the prior art, the beneficial effects of the present utility model are:

[0020] In the solution of the present application:

[0021] Through the structure of the series connection of the metal grille and the rubber vibration damping balls, it effectively filters low-frequency high-amplitude vibrations (such as jumping and running) and high-frequency low-amplitude vibrations (such as gait movement) respectively, and improves the imaging stability of the optoelectronic pod under complex motion states;

[0022] Adopting a sealing structure with a "convex" shaped sealing ring and multi-component cooperation, combined with the concave-convex cooperation design between the protective cover and the base, it realizes reliable waterproof and dustproof protection and adapts to harsh environments such as rain and mud;

[0023] The quick-release clamping block engages with the grooves and protrusions along the edge of the protective cover, enabling quick installation and removal of the protective cover. This facilitates cleaning or replacement and prevents stains from affecting the imaging effect.

[0024] 4. Threaded connections and limiting structures are used to ensure a firm connection between the pod installation structure and the robot body, preventing loosening or displacement due to vibration. Attached Figure Description

[0025] Figure 1 A schematic diagram of the overall structure of an optoelectronic pod mounting device for a quadruped robot provided in this application;

[0026] Figure 2 An enlarged schematic diagram of the pod mounting structure of a photoelectric pod mounting device for a quadruped robot provided in this application;

[0027] Figure 3 This application provides an optoelectronic pod mounting device for a quadruped robot. Figure 2 Top view;

[0028] Figure 4 A schematic diagram of the internal structure of the protective cover of a photoelectric pod mounting device for a quadruped robot provided in this application;

[0029] Figure 5 A side sectional view of the protective cover of a photoelectric pod mounting device for a quadruped robot provided in this application;

[0030] Figure 6 This application provides an optoelectronic pod mounting device for a quadruped robot. Figure 5 A magnified structural diagram of A in the middle;

[0031] Figure 7 This is a cross-sectional top view of the optoelectronic pod structure of an optoelectronic pod mounting device for a quadruped robot provided in this application.

[0032] The image shows:

[0033] 1. Pod installation structure; 11. Base; 12. Outer support plate; 13. Sealing ring; 14. Inner support plate; 15. Rubber vibration damping ball; 16. Quick-release pressure block; 17. Protective cover; 2. Quadruped robot; 3. Photoelectric pod. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model.

[0035] Therefore, the following detailed description of the embodiments of this utility model is not intended to limit the scope of the claimed utility model, but merely illustrates some embodiments of the utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model. It should be noted that, unless otherwise specified, the embodiments, features, and technical solutions in the embodiments of this utility model can be combined with each other.

[0036] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0037] like Figures 1-7 As shown, this embodiment proposes a photoelectric pod mounting device for a quadruped robot, including a pod mounting structure 1 and a photoelectric pod 3 fixed to the back of the quadruped robot 2. The pod mounting structure 1 includes a base 11, a protective cover 17 is provided on the base 11, a sealing structure is provided between the protective cover 17 and the base 11, and a vibration damping structure is also provided inside the protective cover 17, located above the base 11, for filtering vibrations of different frequencies and amplitudes. The photoelectric pod 3 is mounted on the upper end of the vibration damping structure.

[0038] It also includes a quick-release mounting structure located between the base 11 and the outer support plate 12. The quick-release mounting structure includes at least one quick-release pressure block 16 disposed on the side of the outer support plate 12. The edge of the protective cover 17 is provided with a recess and an elastic protrusion. The recess is used to pass through the quick-release pressure block 16, and the elastic protrusion cooperates with the radial restraint of the quick-release pressure block 16 to achieve locking.

[0039] Specifically, such as Figures 1-5 As shown, in a preferred embodiment, based on the above method, the pod mounting structure 1 and the quadruped robot 2 are further connected by threaded fasteners and threaded cylinders, and the pod mounting structure 1 is connected to the photoelectric pod 3; the threaded fasteners are hand-tight screws, which are conducive to the stability after installation and will not loosen or shift due to the movement and vibration of the quadruped robot 2.

[0040] The pod installation structure 1 includes a base 11, an outer support plate 12, a sealing ring 13, an inner support plate 14, rubber vibration damping balls 15, a quick-release pressure block 16, and a protective cover 17.

[0041] Specifically, by Figure 6 It can be seen that the base 11 is connected to the outer support plate 12 and the inner support plate 14 respectively, and the sealing strip is restricted and fixed by the cooperation of the base 11, the outer support plate 12 and the inner support plate 14; the inner support plate 14 is connected to the rubber damping ball 15, and the rubber damping ball 15 is connected to the bracket of the photoelectric pod 3; the two quick-installation pressure blocks 16 are connected to the side of the outer support plate 12.

[0042] Specifically, by Figure 3 Thus, the protective cover 17 is positioned by the outer support plate 12, the inner support plate 14 and two quick-release pressure blocks 16. The recesses on the edge of the protective cover 17 pass through the quick-release pressure blocks 16 and are locked by the elastic protrusions on the side edge of the protective cover 17 and the radial restriction of the quick-release pressure blocks 16.

[0043] like Figures 4-5 and Figure 7 As shown, in a preferred embodiment, based on the above method, the vibration damping structure further includes an inner support plate 14 and rubber damping balls 15 disposed above the base 11. The rubber damping balls 15 are connected between the inner support plate 14 and the mounting component of the photoelectric pod 3, and are used to filter vibrations of different frequencies and amplitudes. The vibration damping structure also includes an annular metal grid disposed inside the inner support plate 14. The metal grid has alternating annular grid grooves, which are used to filter low-frequency high-amplitude vibrations. The rubber damping balls 15 are used to filter high-frequency low-amplitude vibrations.

[0044] Specifically, such as Figure 4 As shown, the annular grid inside the inner support plate 14 and the rubber damping balls 15 filter low-frequency and high-amplitude vibration interference and high-frequency and low-amplitude vibration interference in three directions of space, respectively, through metal and rubber. Specifically, the filtering of low-frequency and high-amplitude vibration interference is achieved by adjusting the parameters of the metal grid, such as the size of the annular groove, the shape of the metal strip, and the thickness of the metal grid. Figure 7 As shown, the grid grooves are arranged in an alternating ring shape with a grid groove layout angle of 60 degrees. The rubber damping ball 15 uses the rubber ball material and the inner cavity curve of the ball as parameters to filter "high frequency" and "low amplitude" vibration interference.

[0045] in:

[0046] (a) Adjusting the parameters of the metal grid to filter "low-frequency" and "high-amplitude" vibration interference:

[0047] (1) The metal grid is a ring structure set inside the inner support plate 14, with alternating ring grid grooves. Its working principle is mainly based on the rigidity of metal and structural deformation to absorb and dissipate a large amount of energy.

[0048] (2) Its working principle is as follows: Low-frequency high-amplitude vibration (such as the slow swaying of the vehicle, pitch caused by starting / braking) is characterized by high energy and long period. To filter this type of vibration, a structure that can undergo large and controllable elastic deformation to absorb energy is needed, while not being permanently damaged or generating resonance. The metal strips (or "spokes") between each annular grid slot can be regarded as a small cantilever beam with specific stiffness. When subjected to strong impact or large low-frequency vibration, these metal strips will bend and deform. The vibration energy is converted into the elastic potential energy (storage) and internal friction heat energy (dissipation) of the metal material. Through the friction between the metal lattice, a large amount of mechanical energy is consumed, thereby avoiding the transmission of large vibration to the photoelectric pod 3 above. In addition, the grid slot layout angle is 60 degrees, which ensures that consistent and uniform stiffness and damping characteristics can be provided in all directions of 360 degrees horizontally. No matter which direction the vibration comes from, it can be effectively filtered, providing isotropic vibration reduction performance.

[0049] (3) During the specific parameter changes:

[0050] ① The effect of the size of the annular groove on the filtration effect:

[0051] Larger / deeper slots mean longer effective length of metal strips. Longer metal strips have lower stiffness (more "softer"), are more prone to bending and deformation, and allow for greater displacement. This makes them more suitable for dealing with lower frequency vibrations with larger amplitude, but their natural frequency will be lower.

[0052] The smaller / shallower the slot: the shorter the metal strip, the higher the stiffness (the "harder"), the smaller the deformation, and the more suitable it is for dealing with vibrations with slightly smaller amplitude but slightly higher frequency.

[0053] In addition, by changing the size of the slot, the stiffness and natural frequency of the vibration reduction system can be adjusted to ensure that the natural frequency of the system is much lower than the low-frequency interference frequency that mainly needs to be filtered, thus avoiding resonance and ensuring sufficient stroke to absorb high-amplitude vibrations.

[0054] ② The effect of the shape of the metal strip on the filtration effect:

[0055] The cross-sectional shape of a metal strip (such as rectangular, circular, I-shaped, etc.) determines its bending section modulus;

[0056] Robust shapes (such as rectangles and I-beams): strong bending resistance, high rigidity, and can withstand greater forces, but with smaller deformation.

[0057] Slender shapes (such as circles or thin sheets): are easier to bend, have low stiffness, and can provide a greater deformation range to absorb impact.

[0058] ③ The effect of metal grid thickness on filtration efficiency:

[0059] Increased thickness significantly improves the overall stiffness and strength of the structure, enabling it to withstand greater loads and more severe impacts, but reduces deformation. At the same time, the greater thickness results in a larger mass, which also affects the system's inertia.

[0060] Reduced thickness leads to decreased stiffness and greater susceptibility to deformation, but also reduces strength and load-bearing capacity.

[0061] Heavier pods require thicker, stronger grids for support and to provide adequate stiffness; and for environments where extremely strong vibrations are expected, thicker grids are also needed to ensure structural integrity.

[0062] In practical applications, those skilled in the art and assembly engineers can absorb and dissipate large amounts of energy through the controllable elastic deformation of the metal grid by finely adjusting the size of the annular groove, the shape of the metal strip, and the overall thickness.

[0063] (II) Parameter filtering of rubber damping ball 15 for "high frequency" and "low amplitude" vibration interference:

[0064] (1) Its working principle is mainly based on the viscoelastic damping unique to rubber materials;

[0065] High-frequency, low-amplitude vibrations (such as engine noise, transmission gear friction, and airflow disturbances) are characterized by high frequency, low energy, and easy transmission. Rubber is an ideal damping material, and its molecular chains generate huge internal friction when they undergo alternating deformation. When high-frequency vibrations attempt to pass through the rubber ball, their energy is quickly converted into heat by the internal friction of the rubber molecules and dissipated, thus preventing the vibration from being transmitted upward. The softness (low stiffness) of rubber also forms a "soft connection" between the pod and the base 11, which plays a role in isolating vibrations.

[0066] (2) During the specific parameter changes:

[0067] ① Rubber ball material:

[0068] The formulation of rubber (such as natural rubber, nitrile rubber, silicone rubber, etc.) determines its elastic modulus (hardness), damping coefficient, and temperature and oil resistance.

[0069] Softer rubber with a higher damping coefficient: It is easier to deform, can dissipate high-frequency energy more effectively, and provides better vibration isolation, but the static deformation will be greater;

[0070] Harder rubber with a lower damping coefficient has better load-bearing capacity, but its high-frequency vibration isolation effect is slightly worse.

[0071] ② Inner cavity curve of the sphere: The inner cavity curve determines the deformation mode and stiffness characteristics of the rubber under pressure.

[0072] In the design of the cavity, most rubber vibration dampers have an internal cavity. This is not to save materials, but to precisely adjust the performance.

[0073] ③ Variable stiffness effect: When subjected to slight vibration, the thin rubber wall is easy to deform, exhibiting low stiffness and effectively isolating high-frequency micro-vibrations. When subjected to a large impact (such as the residual large impact that the metal grid has not completely filtered out), the rubber wall will contact the bottom or be compressed into the solid part. At this time, the stiffness increases sharply (nonlinear stiffness), thereby providing strong support and protection and preventing the pod from having a "hard collision" with the base 11.

[0074] In specific environmental applications, those skilled in the art and assembly engineers can utilize the internal friction damping of the rubber damping ball 15 to dissipate high-frequency vibration energy. By selecting different rubber materials, its basic damping and stiffness characteristics can be adjusted. Furthermore, through the designed internal cavity curve of the ball, it is endowed with intelligent nonlinear stiffness, enabling it to have excellent filtering and protection capabilities against both high-frequency low-amplitude vibrations and unexpected high-amplitude impacts.

[0075] In actual use, the metal grid and rubber damping balls of this application constitute a series and graded vibration reduction structure. The metal grid first addresses and absorbs the worst low-frequency, high-amplitude vibrations and impacts, and then the rubber damping balls 15 further filter out the residual and inherent high-frequency, low-amplitude vibrations.

[0076] like Figure 2 As shown, the protective cover 17 is further detachably mounted above the outer support plate 12 and the inner support plate 14, and the protective cover 17 is made of a light-transmitting material.

[0077] The sealing structure includes a sealing ring 13 disposed between the base 11 and the protective cover 17, and a sealing strip that is limited by the base 11, the outer support plate 12 and the inner support plate 14. The sealing ring 13 in the sealing structure is convex, and its lower protrusion is fixed between the base 11 and the outer support plate 12 and the inner support plate 14.

[0078] The design between the protective cover 17 and the sealing ring 13 enables waterproof and dustproof protection between the device and the outside world, and further waterproof and dustproof protection is provided by the waterproof boss, so as to fix the sealing ring 13 after the protective cover 17 is removed;

[0079] Specifically: the concave-convex structure formed by the lower surface of the protective cover 17 and the upper surface of the inner support plate 14 serves as a water-blocking function. The upper surface of the sealing ring 13 is pressed against the lower surface of the protective cover 17, and the outer support plate 12 and the inner support plate 14 cooperate with the protective cover 17 to control the amount of pressure, thereby completing the upper sealing structure. The concave-convex structure of the lower surface of the outer support plate 12 and the upper surface of the base 11 serves as a water-blocking function. The lower surface of the sealing ring 13 is pressed against the upper surface of the base 11, and the outer support plate 12 and the inner support plate 14 cooperate with the base 11 to control the amount of pressure, thus achieving the functions of waterproofing and dustproofing.

[0080] The protective cover 17 is made of PMMA engineering plastic through grinding, making it suitable for use in visible light and laser signal applications. During installation, the protective cover 17 employs a quick-release installation structure for easy replacement in harsh environments, preventing severe contamination from affecting the imaging performance of the optical equipment. The installation steps are as follows:

[0081] Step 1: Align the groove on the side of the protective cover 17 with the quick-release pressure block 16 and drop it vertically;

[0082] Step 2: The inner support plate 14 is axially attached to the inner support plate 14, and the outer support plate 12 restricts the radial direction.

[0083] Step 3: Rotate the protective cover 17 so that its side protrusions press against the quick-release pressure block 16 until it reaches the radial limit, thus completing the locking.

[0084] Specifically:

[0085] (1) Installation steps: Align the two grooves of the flange structure on the side of the protective cover 17 with the two quick-release pressure plates and drop it vertically. It should be axially pressed against the inner support plate 14 and radially restricted by the annular protrusion of the outer support plate 12. Then rotate the protective cover 17 and press it against the quick-release pressure block 16 by the side protrusion until the radial limit is reached. At this time, the quick-release pressure block 16 will deform and return to its original position, which will restrict the radial movement of the protective cover 17 and play a locking role, thus completing the installation work.

[0086] (2) Removal step: This process is the reverse of the installation step. The protective cover 17 is rotated radially to squeeze the quick-release block 16 to deform and unlock. Continue to rotate until the groove of the protective cover 17 matches the quick-release block 16, then remove the protective cover 17 to complete the removal process.

[0087] The above embodiments are only used to illustrate the present utility model and are not intended to limit the technical solutions described in the present utility model. Although the present utility model has been described in detail with reference to the above embodiments, the present utility model is not limited to the specific embodiments described above. Therefore, any modifications or equivalent substitutions to the present utility model, and all technical solutions and improvements that do not depart from the spirit and scope of the utility model, are covered within the scope of the claims of the present utility model.

Claims

1. A photoelectric pod mounting device for a quadruped robot, characterized in that, Includes a pod mounting structure (1) fixed to the back of the quadruped robot (2) and an optoelectronic pod (3): the pod mounting structure (1) includes a base (11), a protective cover (17) is provided on the base (11), a sealing structure is provided between the protective cover (17) and the base (11), and a vibration damping structure located above the base (11) and used to filter vibrations of different frequencies and amplitudes is provided inside the protective cover (17), and the optoelectronic pod (3) is installed on the upper end of the vibration damping structure.

2. The photoelectric pod mounting device for a quadruped robot according to claim 1, characterized in that, The vibration damping structure includes an inner support plate (14) and a rubber damping ball (15) disposed above the base (11). The rubber damping ball (15) is connected between the inner support plate (14) and the mounting component of the photoelectric pod (3) to filter vibrations of different frequencies and amplitudes.

3. The photoelectric pod mounting device for a quadruped robot according to claim 2, characterized in that, The sealing structure includes a sealing ring (13) disposed between the base (11) and the protective cover (17), and a sealing strip that is limited by the base (11), the outer support plate (12) and the inner support plate (14).

4. The photoelectric pod mounting device for a quadruped robot according to claim 3, characterized in that, It also includes a quick-release mounting structure located between the base (11) and the outer support plate (12), the quick-release mounting structure including at least one quick-release pressure block (16) disposed on the side of the outer support plate (12).

5. The photoelectric pod mounting device for a quadruped robot according to claim 4, characterized in that, The vibration damping structure also includes: An annular metal grid is disposed inside the inner support plate (14), the metal grid having alternating annular grid grooves for filtering low-frequency high-amplitude vibrations; The rubber damping ball (15) is used to filter high-frequency, low-amplitude vibrations.

6. The photoelectric pod mounting device for a quadruped robot according to claim 4, characterized in that, The sealing ring (13) in the sealing structure is convex, and its lower protrusion is fixed between the base (11) and the outer support plate (12) and the inner support plate (14).

7. The photoelectric pod mounting device for a quadruped robot according to claim 3, characterized in that, The protective cover (17) is detachably mounted above the outer support plate (12) and the inner support plate (14), and the protective cover (17) is made of a light-transmitting material.

8. The photoelectric pod mounting device for a quadruped robot according to claim 4, characterized in that, The edge of the protective cover (17) is provided with a recess and an elastic protrusion. The recess is used to pass through the quick-release pressure block (16), and the elastic protrusion cooperates with the radial restraint of the quick-release pressure block (16) to achieve locking.

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