A quadruped robot

Abstract

This utility model discloses a quadruped robot, which integrates at least one set of automatic rewinding strap devices within its body. The automatic rewinding strap device includes: a rewinding assembly comprising a rotating shaft and a strap wound around the rotating shaft; an elastic element linked to the rotating shaft; a strap head defined as the end of the strap furthest from the rotating shaft, extending outward from a first position on the robot body and connected to a connector; and a connecting structure on the robot body that mates with the connector. The elastic element is configured to accumulate potential energy when the strap is pulled out and drive the rotating shaft to rotate for automatic rewinding when the strap is released. The strap is configured to extend across the top of the robot body, and through a detachable connection between the connector and the connecting structure, it secures an object to the top of the robot body, utilizing the potential energy accumulated by the elastic element to generate a tightening force to maintain the secured state. The advantages of this utility model are: it eliminates the need for separate carrying and additional storage of the strap, simplifying the operation process and avoiding the risk of strap loss.

Description

Technical Field

[0001] This utility model relates to the field of robotics, specifically to a quadruped robot. Background Technology

[0002] Quadruped robots are widely used in material handling, field operations, and other scenarios due to their excellent terrain adaptability. Existing quadruped robots typically consist of a body and four independently movable legs. When moving objects, the objects need to be secured to the body, and the most common method is to use straps to tie the objects to the body.

[0003] However, in the existing technology, the straps used to fix objects are separate from the quadruped robot. The straps need to be carried separately when in use and stored separately when not in use. This not only increases the complexity of operation but also may result in the loss of the straps. At the same time, the tightness of the straps depends entirely on manual operation, making it difficult to maintain a stable binding force. During the robot's movement, objects are prone to loosening due to bumps, affecting the safety of handling. Utility Model Content

[0004] In view of the problems in the existing technology of quadruped robots where the straps are separate from the body, need to be carried and stored separately, and the strapping force is unstable and easily causes the object to loosen, this utility model provides a quadruped robot that integrates the straps, simplifies operation and improves the stability of the object fixation.

[0005] To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution:

[0006] A quadruped robot includes a body and four mechanical legs mounted on the body. The body integrates at least one set of automatic retractable strap devices, the automatic retractable strap devices comprising:

[0007] A winding assembly, comprising a spool and straps wound around the spool;

[0008] An elastic element is linked to the rotating shaft;

[0009] The end of the strap away from the pivot is defined as the strap head, and the strap head extends outward from the first position of the machine body and is connected to a connector.

[0010] The body is provided with a connection structure that mates with the connector;

[0011] in:

[0012] The elastic element is configured to store potential energy when the strap is pulled out and drive the pivot to rotate to automatically rewind the strap when the strap is released.

[0013] The strap is configured to extend across the top of the fuselage and is detachably connected to the connecting structure via a connector to secure the object to the top of the fuselage. It utilizes the potential energy stored in the elastic element to generate a tightening force to maintain the strapped state.

[0014] In the aforementioned quadruped robot, an opening is provided on the body for the head of the strap to pass through. The size of the connector in the direction perpendicular to the strap pulling out is larger than the size of the opening, so as to prevent the head of the strap from retracting completely into the body.

[0015] In the aforementioned quadruped robot, the connecting structure is located at a second position on the body, with the first position and the second position being opposite to each other.

[0016] In the aforementioned quadruped robot, one of the connectors and the connecting structure is a hook-shaped structure, and the other is provided with a hanging rod, the two ends of which protrude outwards; the hanging rod and the hook-shaped structure cooperate to achieve a fixed connection.

[0017] In the aforementioned quadruped robot, the direction in which the hanging rod protrudes is perpendicular to the direction in which the strap is wound.

[0018] In the aforementioned quadruped robot, the connector is provided with the hanging rod, and the hook-shaped structure includes two hooks spaced apart; the connector is also provided with an abutment portion; when the hanging rod is engaged with the hooks, along the winding direction of the strap, the abutment portion and the hanging rod are respectively located on both sides of the two hooks to prevent the connector from becoming loose from the connecting structure.

[0019] In the aforementioned quadruped robot, the automatic rewinding strap device is provided in two sets, one set located at the front of the robot body and the other set located at the rear of the robot body.

[0020] In the aforementioned quadruped robot, two front leg drive motors are provided at the front of the body, each front leg drive motor driving one front mechanical leg; the automatic retractable strap device located at the front of the body is disposed between the two front leg drive motors; the strap passes around one of the adjacent front leg drive motors and extends out of the body from the first position.

[0021] In the aforementioned quadruped robot, two rear leg drive motors are provided at the rear of the robot body, each of which drives a corresponding rear mechanical leg; the automatic retractable strap device located at the rear of the robot body is disposed between the two rear leg drive motors; the strap passes around an adjacent rear leg drive motor and extends out of the robot body from the first position.

[0022] In the aforementioned quadruped robot, the top of the body is a flat surface used to support objects.

[0023] Compared with the prior art, the advantages of this utility model are:

[0024] By integrating an automatic rewinding strap device into the robot body, the problem of separate straps from the quadruped robot in existing technologies is solved. This eliminates the need for separate strap carrying and additional storage, simplifying the operation process and avoiding the risk of strap loss. Utilizing the potential energy accumulated by the elastic element when the strap is pulled out, the device drives the rotating shaft to automatically rewind after the strap is released, continuously generating tension to ensure the object is stably secured to the top of the robot body. Compared to existing straps that rely on manual operation, this method provides more stable tension, effectively preventing objects from loosening due to bumps during robot movement and improving handling safety. The detachable connection between the connector and the connecting structure, combined with the automatic rewinding function, makes object securing more convenient; simultaneously, the continuous tension generated by the elastic potential energy maintains the secured state for a long time, eliminating the need for repeated manual adjustments.

[0025] Furthermore, the device body has an opening for the head of the strap to pass through. The dimension of the connector perpendicular to the strap pulling direction is larger than the size of the opening to prevent the strap head from completely retracting into the device body. This ensures that the strap head is always in an operable state outside the device body, avoiding problems such as "not being able to find the strap head" or "needing to disassemble the device to remove the strap" caused by the strap being completely retracted. This significantly improves the convenience of using the strap. When users need to tie objects, they can directly and quickly grab the strap head and pull it out without any extra steps, further optimizing the practicality of the integrated strapping device.

[0026] Furthermore, the connecting structure is located at a second position on the body, with the first position and the second position being opposite each other. This ensures that after the strap extends from the first position on the body, it can naturally cross the top of the body and extend to the opposite second position to engage with the connecting structure. This relative arrangement makes the force direction of the strap more reasonable when binding an object, forming a symmetrical tightening force along opposite sides of the body, thereby pressing the object more evenly against the top of the body, reducing the risk of the object shifting or loosening due to uneven force, and further improving the stability of the binding.

[0027] Furthermore, one of the connectors and the connecting structure is a hook-shaped structure, and the other is equipped with a hanging rod, the two ends of which protrude outwards. The hanging rod cooperates with the hook-shaped structure to achieve a fixed connection. The cooperation between the hook-shaped structure and the hanging rod makes the docking and disengagement of the connector and the connecting structure intuitive and quick, without complicated operation steps, simplifying the connection process during bundling and further optimizing the user experience. The outward protrusion design of the hanging rod at both ends can form a more stable engagement with the hook-shaped structure. Compared with ordinary rod-shaped or plate-shaped connecting structures, it can reduce the risk of accidental disengagement caused by robot movement and ensure that the engagement between the connector and the connecting structure remains firm under the continuous tightening force of the elastic element, thereby ensuring the stability of the bundled object.

[0028] Furthermore, the protruding direction of the hanging rod is perpendicular to the winding direction of the strap. The winding direction of the strap is the direction of the tension generated when the elastic element drives the rotating shaft to wind the strap. The fact that the protruding direction of the hanging rod is perpendicular to this direction means that when the strap tightens and generates tension along the winding direction, the hanging rod can effectively resist the tension in the winding direction. The protruding part of the hanging rod can form a more stable locking relationship with the hook-like structure, preventing the hanging rod from slipping out of the hook-like structure under the action of tightening force, and avoiding accidental loosening of the connector and the connecting structure.

[0029] Furthermore, the connector is equipped with the hanging rod, and the hook-shaped structure includes two spaced hooks; the connector also has an abutment portion; when the hanging rod is engaged with the hooks, along the winding direction of the strap, the abutment portion and the hanging rod are located on both sides of the two hooks respectively, to prevent the connector from loosening from the connecting structure. The abutment portion can prevent the connector from moving excessively inward towards the hook along the winding direction, avoiding the hanging rod from slipping off the hook due to vibration or other factors, significantly improving the reliability of the connection, further ensuring the stability of the object's binding state, ensuring that the tightening force generated by the elastic element can continuously and effectively act on the object, and optimizing the overall binding structure's anti-loosening performance.

[0030] Furthermore, the automatic retractable strapping device is provided in two sets, one set located at the front of the machine body and the other set located at the rear of the machine body. By providing two sets of automatic retractable strapping devices, objects can be strapped from both the front and rear positions of the machine body. This dual-set layout makes the strapping force more evenly distributed along the front-to-back direction on the top of the machine body, which can adapt to objects of different sizes or shapes. Especially for long objects or objects with a shifted center of gravity, the coordinated tightening of the two sets of straps can more stably fix the object to the top of the machine body, reducing the problem of object tilting or excessive local stress that may be caused by fixing with a single strap. This further improves the reliability and applicability of strapping, and enhances the practicality of the quadruped robot in handling scenarios.

[0031] Furthermore, the front of the machine body is equipped with two front leg drive motors, each driving one front mechanical leg. The automatic rewinding strapping device located at the front of the machine body is positioned between the two front leg drive motors. The strapping extends from the machine body from the first position, bypassing one of the adjacent front leg drive motors. By positioning the automatic rewinding strapping device at the front of the machine body between the two front leg drive motors and allowing the strapping to bypass one of the adjacent front leg drive motors and extend from the first position, a reasonable layout of the automatic rewinding strapping device and the existing structure at the front of the machine body is achieved. This design makes full use of the internal space of the machine body, avoiding excessive additional space occupation due to the addition of the automatic rewinding strapping device. At the same time, through the path planning of "bypassing the front leg drive motors," the position where the strapping extends from the front of the machine body is more reasonable, better meeting the binding requirements of the strapping at the front of the machine body, ensuring that the strapping can smoothly extend across the top of the machine body after being pulled out, and cooperate with the corresponding connecting structure to achieve stable binding.

[0032] Furthermore, two rear leg drive motors are provided at the rear of the machine, each driving a corresponding rear mechanical leg. The automatic rewinding strapping device located at the rear of the machine is positioned between the two rear leg drive motors. The strapping extends from the machine body from the first position, bypassing an adjacent rear leg drive motor. By positioning the automatic rewinding strapping device at the rear of the machine between the two rear leg drive motors and allowing the strapping to bypass an adjacent rear leg drive motor and extend from the first position, efficient adaptation of the automatic rewinding strapping device to the existing structure at the rear of the machine is achieved. This design makes full use of the internal space at the rear of the machine, avoiding excessive space occupation due to the addition of the automatic rewinding strapping device. At the same time, the path planning of "bypassing the rear leg drive motors" makes the position where the strapping extends from the rear of the machine more reasonable, allowing it to smoothly extend across the top of the machine body and cooperate with the corresponding connecting structure to ensure the binding effect of the rear strapping.

[0033] Furthermore, the top of the fuselage is a flat surface for supporting objects. This provides a stable base for placing objects, and the flat structure increases the contact area between the object and the top of the fuselage, allowing the object to be placed stably before strapping, reducing swaying or tilting caused by unevenness on the top of the fuselage, and facilitating subsequent strapping and securing. Attached Figure Description

[0034] Figure 1 This utility model relates to a three-dimensional quadruped robot. Figure 1 ;

[0035] Figure 2 This utility model relates to a three-dimensional quadruped robot. Figure 2 ;

[0036] Figure 3 The three-dimensional representation of the body of a quadruped robot after removing the outer shell according to this utility model. Figure 1 ;

[0037] Figure 4 The three-dimensional representation of the body of a quadruped robot after removing the outer shell according to this utility model. Figure 2 ;

[0038] Figure 5 for Figure 3 Enlarged view of a portion of point A in the middle;

[0039] Figure 6 for Figure 4 Enlarged view of a section at point B in the middle;

[0040] Figure 7 This is a schematic diagram of the internal structure of a quadruped robot after the battery has been removed. Figure 1 ;

[0041] Figure 8 This is a schematic diagram of the internal structure of a quadruped robot after the battery has been removed. Figure 2 ;

[0042] Figure 9 This is a perspective view of the automatic winding and binding device of this utility model;

[0043] Figure 10 This is a perspective view of the connecting structure in the utility model.

[0044] The attached figures are labeled as follows:

[0045] Body 100, connecting structure 110, hook 111, opening 120, front leg drive motor 130, rear leg drive motor 140, mechanical leg 200, automatic winding strapping device 300, rotating shaft 310, strapping 320, connecting piece 330, abutting part 331, hanging rod 340. Detailed Implementation

[0046] A quadruped robot includes a body 100 and four mechanical legs 200 mounted on the body 100. The body 100 integrates at least one set of automatic retractable strapping devices 300, the automatic retractable strapping devices 300 including:

[0047] The winding assembly includes a spool 310 and a strap 320 wound around the spool 310;

[0048] An elastic element is linked to the rotating shaft 310;

[0049] The end of the strap 320 away from the pivot 310 is defined as the strap head. The strap head extends outward from a first position on the body 100 and is connected to a connector 330. The body 100 is provided with a connection structure 110 that mates with the connector 330.

[0050] The elastic element is configured to store potential energy when the strap 320 is pulled out and drive the pivot 310 to rotate to automatically rewind the strap 320 when the strap 320 is released.

[0051] The strap 320 is configured to extend across the top of the fuselage 100 and to bind the object to the top of the fuselage 100 via a detachable connection between the connector 330 and the connecting structure 110. It also utilizes the potential energy stored in the elastic element to generate a tightening force to maintain the binding state.

[0052] By integrating an automatic rewinding strap device 300 into the body 100, the problem of the strap 320 being separated from the quadruped robot in existing technologies is solved. This eliminates the need for separate carrying and additional storage of the strap 320, simplifying the operation process and avoiding the risk of loss. Utilizing the potential energy accumulated by the elastic element when the strap 320 is pulled out, the rotating shaft 310 is automatically rewound after the strap 320 is released, continuously generating a tightening force to ensure the object is stably secured to the top of the body 100. Compared to existing technologies where the strap 320 relies on manual operation, its tightening force is more stable, effectively preventing the object from loosening due to bumps during robot movement and improving handling safety. The detachable connection between the connector 330 and the connecting structure 110, combined with the automatic rewinding function, makes object securing more convenient; simultaneously, the continuous tightening force generated by the elastic potential energy can maintain the secured state for a long time, eliminating the need for repeated manual adjustments.

[0053] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0054] 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", and "outer" 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.

[0055] Furthermore, the terms "first" and "second" 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, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0056] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0057] See Figures 1 to 10 This invention relates to an embodiment of a quadruped robot. The quadruped robot includes a body 100 and four mechanical legs 200 mounted on the body 100. The quadruped robot can be shaped like a dog. The four mechanical legs 200 have independent drive units, enabling the quadruped robot to maintain efficient and rapid movement. It is suitable for driving on various terrains and can also be used for object transport.

[0058] In this embodiment, at least one set of automatic rewinding strap devices 300 is integrated within the body 100 of the quadruped robot. The automatic rewinding strap device 300 includes a rewinding assembly, an elastic element, and a rewinding frame. The rewinding assembly includes a rotating shaft 310 and a strap 320 wound around the rotating shaft 310. The rotating shaft 310 is rotatably connected to the rewinding frame. The elastic element is linked to the rotating shaft 310. When the strap 320 is pulled out, it drives the rotating shaft 310 to rotate. The rotation of the rotating shaft 310 allows the elastic element to accumulate elastic potential energy. When the strap 320 is released, the elastic element can drive the rotating shaft 310 to rotate in the opposite direction, thus achieving automatic rewinding of the strap 320. To achieve the above objective, the elastic element can be a torsion spring or a sheet spring. The installation and connection method of the torsion spring or sheet spring to the rotating shaft 310 can refer to existing technologies.

[0059] The end of the strap 320 furthest from the pivot 310 is defined as the strap head, and the end of the strap 320 closest to the pivot 310 is defined as the strap tail. The strap tail is generally wrapped around the pivot 310. The strap head extends outward from a first position on the body 100 and is connected to a connector 330. The first position can be any position on the body 100, as long as the extension of the strap 320 does not interfere with the normal operation of the quadruped robot. In this embodiment, because the side length of the body 100 is relatively long, there is enough space to arrange for the strap head to extend. Therefore, this embodiment takes the first position located on the left side of the body 100 as an example, that is, the strap head extends from the left side of the body 100.

[0060] The fuselage 100 is also provided with a connecting structure 110 that cooperates with the connector 330. The fuselage 100 generally includes a frame and an outer shell covering the frame. The connecting structure 110 is actually fixed to the frame to ensure the firmness of the connection between the connecting structure 110 and the fuselage 100. When binding an object, the strap 320 extends across the top of the fuselage 100 and binds the object to the top of the fuselage 100 through the detachable connection between the connector 330 and the connecting structure 110. The elastic potential energy of the elastic element generates a tightening force to maintain the binding state.

[0061] Therefore, when users use the automatic retractable strapping device 300 to strap objects to the body 100 of the quadruped robot, they only need to pull out the strap 320, hang the connector 330 on the connecting structure 110, and use the elastic potential energy of the elastic element to provide tightening force to complete the strapping. Compared with the existing technology where the strap 320 relies on manual operation, its tightening force is more stable, which can effectively prevent objects from loosening due to bumps during robot movement, improve the safety of handling, and make the object strapping operation more convenient. At the same time, the continuous tightening force generated by the elastic potential energy can maintain the strapping state for a long time without the need for repeated manual adjustments.

[0062] Furthermore, such as Figure 3 , Figure 5 , Figure 9 As shown, an opening 120 is provided on the body 100 for the head of the strap to pass through. The dimension of the connector 330 in the direction perpendicular to the pull-out direction of the strap 320 is larger than the dimension of the opening 120 to prevent the head of the strap from completely retracting into the body 100. In this embodiment, the cross-section of the opening 120 is rectangular. The connector 330 only needs to have a projection on the opening 120 that is larger than the cross-sectional dimension of the opening 120. This can be either a greater length or a greater width than the opening 120. The head of the strap can be clamped to the connector 330 using a clamp or fixed to the connector 330 using screws or other fasteners. Because the size of the connector 330 is larger than that of the opening 120, it ensures that the head of the strap is always in an operable state outside the body 100, avoiding problems such as "not being able to find the head of the strap" or "needing to disassemble the body 100 to remove the strap 320" caused by the strap 320 being completely retracted. This significantly improves the ease of use of the strap 320. When users need to tie objects, they can directly and quickly grab the head of the strap and pull it out without any additional steps.

[0063] In addition, such as Figure 1 , Figure 2As shown, the connecting structure 110 is located at the second position of the body 100, with the first position and the second position positioned opposite each other. For example, in this embodiment, the first position is located on the left side of the body 100, and the corresponding second position is located on the right side of the body 100. Thus, when binding an object, the strap 320 extends from the first position of the body 100, naturally crossing the top of the body 100 and extending to the opposite second position to engage with the connecting structure 110. This relative arrangement makes the force direction of the strap 320 more reasonable when binding the object, forming a symmetrical tightening force along the opposite sides of the body 100, thereby more evenly pressing the object against the top of the body 100, reducing the risk of the object shifting or loosening due to uneven force, and further improving the stability of the binding.

[0064] Based on the above embodiments, such as Figure 9 , Figure 10 As shown, one of the connector 330 and the connecting structure 110 is a hook-shaped structure, and the other is equipped with a hanging rod 340. The two ends of the hanging rod 340 protrude outwards, and the hanging rod 340 and the hook-shaped structure cooperate to achieve a fixed connection. The cooperation between the hook-shaped structure and the hanging rod 340 makes the docking and disengagement of the connector 330 and the connecting structure 110 intuitive and quick, without complicated operation steps, thus simplifying the connection process during bundling.

[0065] Specifically, taking the example of a connector 330 with a hanging rod 340 and a hook-shaped connecting structure 110, the configuration remains the same even if the connector 330 and connecting structure 110 are interchanged. The hook-shaped structure includes two spaced hooks 111. Both ends of the hanging rod 340 protrude from the connector 330, and the distance between the two hooks 111 is equal to the width of the connector 330. That is, when the hooks 111 are hooked onto the ends of the hanging rod 340, a portion of the connector 330 is located between the two hooks 111. This prevents the connector 330 from moving along the axis of the two structures relative to the hanging rod 340 after they are hooked onto each other, thus providing a certain degree of restraint.

[0066] In this embodiment, the protruding direction of the hanging rod 340 is perpendicular to the winding direction of the strap 320, further enhancing the stability of the engagement between the connector 330 and the connecting structure 110. The winding direction of the strap 320 is the direction of the tension generated when the elastic element drives the rotating shaft 310 to wind the strap 320. The protruding direction of the hanging rod 340 is perpendicular to this direction, meaning that when the strap 320 tightens and generates tension along the winding direction, the protruding part of the hanging rod 340 can form a more stable engagement with the hook structure. The vertical protrusion can effectively resist the tension in the winding direction, preventing the hanging rod 340 from slipping out of the hook structure under the tightening force, and avoiding accidental loosening of the connector 330 and the connecting structure 110.

[0067] Furthermore, the connector 330 is also provided with an abutment portion 331, which is spaced apart from the hanging rod 340. The distance between the two is just enough to accommodate the hook 111. When the hanging rod 340 is engaged with the hook 111, along the winding direction of the strap 320, the abutment portion 331 and the hanging rod 340 are respectively located on both sides of the two hooks 111 to prevent the connector 330 from becoming loose from the connecting structure 110. The hanging rod 340 and the abutment portion 331 form a double limiting structure with the hook 111 in the winding direction of the strap 320. This design effectively prevents the connector 330 from detaching from the connecting structure 110 under the winding force of the strap 320 or during robot movement and vibration: the abutment part 331 can prevent the connector 330 from moving excessively inward towards the hook 111 along the winding direction, while the hanging rod 340 is restricted between the two hooks 111, avoiding the hanging rod 340 from slipping off the hook 111 due to vibration and other factors, significantly improving the reliability of the connection, further ensuring the stability of the object's binding state, ensuring that the tightening force generated by the elastic element can continue to act effectively on the object, and optimizing the anti-loosening performance of the overall binding structure.

[0068] In addition to the connector 330 and the connecting structure 110 described above, both can also use a hook 111 structure to hook each other to achieve a fixed connection of the strap 320, or a buckle structure or other forms can be used to achieve a fixed connection between the two.

[0069] Based on the above embodiments, the automatic retractable strapping device 300 in this embodiment has two sets, one set located at the front of the body 100 and the other set located at the rear of the body 100. By setting two sets of automatic retractable strapping devices 300, objects can be strapped from both the front and rear positions of the body 100. This dual-set layout makes the strapping force more evenly distributed along the front-to-back direction on the top of the body 100, which can adapt to objects of different sizes or shapes. Especially for long objects or objects with a shifted center of gravity, the coordinated tightening of the two sets of straps 320 can more stably fix the object to the top of the body 100, reducing the problem of object tilting or excessive local force that may be caused by fixing with a single strap 320. This further improves the reliability and applicability of strapping and enhances the practicality of the quadruped robot in handling scenarios.

[0070] Specifically, such as Figure 7 , Figure 8As shown, the front of the machine body 100 is equipped with two front leg drive motors 130, each driving one front mechanical leg. An automatic winding strapping device 300 is positioned between the two front leg drive motors 130 at the front of the machine body 100. A strapping strap 320 extends from the machine body 100 from a first position, bypassing an adjacent front leg drive motor 130. The rear of the machine body 100 is equipped with two rear leg drive motors 140, each driving one rear mechanical leg. The automatic winding strapping device 300 is positioned between the two rear leg drive motors 140 at the rear of the machine body 100. The strapping strap 320 extends from the machine body 100 from a first position, bypassing an adjacent rear leg drive motor 140. By positioning the automatic winding strapping device 300 between the two drive motors and allowing the strapping strap 320 to extend from the machine body 100 from a first position, a reasonable layout of the automatic winding strapping device 300 and the existing internal structure of the machine body 100 is achieved. This design makes full use of the internal space of the body 100, avoiding the need for excessive additional space due to the addition of the automatic winding strapping device 300. At the same time, through the path planning of "bypassing the drive motor", the position of the strapping 320 extending from the body 100 is more reasonable, which can better meet the binding needs of the strapping 320. It ensures that the strapping 320 can smoothly extend across the top of the body 100 after being pulled out, and cooperate with the corresponding connecting structure 110 to achieve stable binding.

[0071] To ensure stable placement of objects on the fuselage 100, the top of the fuselage 100 is a flat surface for supporting the objects, providing a stable base for placement. The flat structure increases the contact area between the object and the top of the fuselage 100, allowing the object to be placed stably before strapping, reducing wobbling or tilting caused by unevenness on the top of the fuselage 100, and facilitating subsequent strapping and securing with straps 320.

[0072] In use, place the object on top of the machine body 100, grasp the connector 330 from the left side of the machine body 100 and pull out the strap 320. As the strap 320 is pulled out, it drives the rotating shaft 310 to rotate, causing the elastic element to deform and generate elastic potential energy. The pulled-out strap 320 binds the object to the machine body 100. Then, the connector 330 is engaged and locked with the connecting mechanism on the right side of the machine body 100. Under the tightening force generated by the elastic element, the strap 320 is prevented from loosening. After the object is transported to the position, release the engagement between the connector 330 and the connecting structure 110. The elastic element drives the rotating shaft 310 to rotate, retracting the strap 320, leaving only the connector 330 hanging on the side of the machine body 100 for easy binding and retrieval next time. This quadruped robot design integrates at least one set of automatic retractable strap devices 300 within the body 100, achieving integrated strap 320 configuration. This eliminates the need for separate carrying and storage of the strap 320, avoiding the risk of loss. Furthermore, the elastic element utilizes the potential energy accumulated when the strap 320 is pulled out to generate a continuous tightening force, maintaining a stable binding state. This solves the problems of cumbersome operation and unstable tightening force associated with traditional separate straps 320. The opening 120 on the body 100 for the strap head to pass through is sized to match the connector 330, preventing the strap head from completely retracting and improving ease of use. The connection structure 110, with the first and second positions positioned opposite each other, ensures more even force distribution on the strap 320, reducing object displacement. The connector 330 and the connecting joint... The quadruped robot 110 employs a hook-like structure that engages with a hook 340 with a protruding end. The protruding direction of the hook 340 is perpendicular to the winding direction of the strap 320, and the abutment part 331 and the two sides of the hook 111 provide effective protection against loosening, enhancing connection reliability. Two sets of automatic rewinding strap devices 300, located at the front and rear of the robot body 100 respectively, can adapt to objects of different sizes, improving the applicability of strapping. The front mechanism is positioned between the two front leg drive motors 130, allowing the strap 320 to extend around the adjacent motors. The rear mechanism has a similar layout to the rear leg drive motors 140, making full use of the space in the robot body 100 and optimizing the structure. The flat design at the top of the robot body 100 provides a stable load-bearing foundation, and the tightening force of the strap 320 ensures that objects are placed stably. These designs work together to comprehensively improve the quadruped robot's practicality, ease of operation, and strapping stability in handling scenarios.

[0073] The above description is only a specific embodiment of the present utility model, but the technical features of the present utility model are not limited thereto. Any changes or modifications made by those skilled in the art within the scope of the present utility model are covered by the patent scope of the present utility model.

Claims

1. A quadruped robot, comprising a body and four mechanical legs mounted on the body, characterized in that: The machine body integrates at least one set of automatic winding and binding devices, the automatic winding and binding devices including: A winding assembly, comprising a spool and straps wound around the spool; An elastic element is linked to the rotating shaft; The end of the strap away from the pivot is defined as the strap head, and the strap head extends outward from the first position of the machine body and is connected to a connector. The body is provided with a connection structure that mates with the connector; in: The elastic element is configured to store potential energy when the strap is pulled out and drive the pivot to rotate to automatically rewind the strap when the strap is released. The strap is configured to extend across the top of the fuselage and is detachably connected to the connecting structure via a connector to secure the object to the top of the fuselage. It utilizes the potential energy stored in the elastic element to generate a tightening force to maintain the strapped state.

2. A quadruped robot as described in claim 1, characterized in that, The machine body has an opening for the head of the strap to pass through. The size of the connector in the direction perpendicular to the strap pulling out is larger than the size of the opening, so as to prevent the head of the strap from retracting completely into the machine body.

3. A quadruped robot as described in claim 1, characterized in that, The connecting structure is located at a second position on the fuselage, with the first position and the second position being opposite to each other.

4. A quadruped robot as described in claim 3, characterized in that, One of the connectors and the connecting structure is a hook-shaped structure, and the other is provided with a hanging rod, the two ends of which protrude outwards; The hanging rod and the hook-shaped structure work together to achieve a fixed connection.

5. A quadruped robot as described in claim 4, characterized in that, The direction in which the hanging rod protrudes is perpendicular to the direction in which the strap is rolled up.

6. A quadruped robot as described in claim 4, characterized in that, The connector is provided with the hanging rod, and the hook-shaped structure includes two hooks spaced apart; the connector is also provided with an abutment part; when the hanging rod is engaged with the hooks, along the winding direction of the strap, the abutment part and the hanging rod are respectively located on both sides of the two hooks to prevent the connector from becoming loose from the connecting structure.

7. A quadruped robot as described in any one of claims 1 to 6, characterized in that, The automatic winding and binding device is provided in two sets, one set located at the front of the machine body and the other set located at the rear of the machine body.

8. A quadruped robot as described in claim 7, characterized in that, The front of the machine body is provided with two front leg drive motors, each of which drives one front mechanical leg; the automatic winding strap device located at the front of the machine body is disposed between the two front leg drive motors; the strap passes around one of the adjacent front leg drive motors and extends out of the machine body from the first position.

9. A quadruped robot as described in claim 7, characterized in that, The rear of the machine body is provided with two rear leg drive motors, each of which drives a corresponding rear mechanical leg; the automatic winding strap device located at the rear of the machine body is disposed between the two rear leg drive motors; the strap passes around one of the adjacent rear leg drive motors and extends out of the machine body from the first position.

10. A quadruped robot as described in claim 1, characterized in that, The top of the fuselage is a flat surface used to support objects.

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