A quadruped robot

Abstract

This utility model discloses a quadruped robot, belonging to the field of quadruped robots. It can effectively avoid the strong coupling problem between electrical hardware and mechanical structure in existing technologies, facilitating standardized production and rapid replacement during maintenance. The technical solution to this problem mainly includes a torso, a control box, a battery box that provides power, and four leg components movably set on the torso. The control box is configured to control the operation of the quadruped robot. The leg components are equipped with drive devices to drive the movement of the leg components. The control box includes a control box body fixed in the torso and a control motherboard installed in the control box body. The surface of the control box body is provided with a power interface, several motor interfaces, and several communication interfaces. The battery box supplies power to the control motherboard through the power interface. The drive devices are electrically connected to the control motherboard through the motor interfaces. The control motherboard outputs and receives signals through the communication interfaces.

Description

Technical Field

[0001] This utility model demonstrates a quadruped robot, 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 enable a quadruped robot to move, a control system is required. This system relies on various electrical circuit boards to perform different functions (such as power supply, communication, and drive). Current technology typically mounts all electrical circuit boards within the robot's body, resulting in multiple locations throughout the robot's structure. This disperses the space occupied by the circuit boards, complicates internal wiring, and hinders installation. More importantly, the strong coupling between the electrical hardware and the overall robot structure means that any problems require complete disassembly and repair, which is time-consuming, labor-intensive, and inefficient. Therefore, a separate control unit module is needed that allows for quick replacement and facilitates standardized production. Utility Model Content

[0004] The purpose of this invention is to solve the problem of low efficiency in disassembling and repairing the whole machine. To this end, a quadruped robot is provided, which effectively avoids the problem of strong coupling between electrical hardware and mechanical structure in the prior art, and facilitates standardized production and quick replacement during maintenance.

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

[0006] A quadruped robot includes a torso, a control box, a battery box for providing power, and four leg components movably mounted on the torso. The control box is configured to control the operation of the quadruped robot. The leg components are equipped with drive devices for driving the leg components to move. The control box includes a control box body fixed inside the torso and a control mainboard installed inside the control box body. The surface of the control box body is provided with a power interface, several motor interfaces, and several communication interfaces. The battery box supplies power to the control mainboard through the power interface. The drive devices are electrically connected to the control mainboard through the motor interfaces. The control mainboard outputs and receives signals through the communication interfaces.

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

[0008] The operation of the quadruped robot described in this invention is controlled by a control box, which is installed inside the quadruped robot's torso. The control box includes a control box body and a control motherboard. The surface of the control box body is provided with a power interface, a motor interface, and a communication interface. The control motherboard is electrically connected to the battery box through the power interface, thereby transmitting electrical energy from the battery box to various components of the quadruped robot. The drive devices of the leg components are electrically connected to the control motherboard through the motor interfaces. The control motherboard can control all drive devices, thereby controlling the movement of the quadruped robot. Furthermore, the control motherboard realizes remote control, debugging and maintenance, network communication, and other component control functions through the communication interface. The control board inside the box enables the overall control of the quadruped robot. Integrating the control box into a single unit allows for more centralized placement of electrical components, effectively improving the utilization of installation space. Other parts of the quadruped robot do not require dedicated space for the control board, reducing their overall size. Furthermore, the control box's placement on the torso has minimal impact on the torso's overall size. All control functions are integrated into the control box, allowing for direct inspection of the control box during maintenance. This enables technicians to quickly pinpoint the faulty component, and maintenance can be performed simply by removing the control box, significantly improving efficiency.

[0009] Preferably, the front and rear ends of the torso are movably connected to two leg components, with a portion of the motor interfaces formed on the side of the control box facing the front end of the torso, and the remaining motor interfaces formed on the side of the control box facing the rear end of the torso. By distributing the motor interfaces at both ends of the control box, the motor interfaces can be located close to the leg components at the front and rear ends of the torso, thereby shortening the connection line between the drive device and the control box and simplifying the wiring layout within the torso.

[0010] Preferably, the torso includes a main frame, with a head frame and a tail frame connected to the front and rear ends of the main frame, respectively. Two leg components are movably mounted on the head frame, and two other leg components are movably mounted on the tail frame. The control box is fixed inside the main frame.

[0011] Preferably, the driving device for the leg assembly includes three drive motors, and six motor interfaces are provided on both the front and rear sides of the control box, with each motor interface corresponding to one drive motor. By adopting the aforementioned technical solution, each drive motor corresponds to an independent motor interface, thus ensuring that the connection between each drive motor and the control box remains independent, achieving isolation between the drive motors. When one drive motor fails, the faulty drive motor can be quickly detected through the corresponding motor interface, making drive motor repair faster and more convenient, and improving drive motor repair efficiency.

[0012] Preferably, the drive motor is connected to the control box via a connecting cable. The drive motor is fixedly connected to a first cable clamp, and a second cable clamp is fixedly installed inside the body. One end of the connecting cable is clamped and positioned by the first cable clamp before connecting to the drive motor, and the other end is clamped and positioned by the second cable clamp before being plugged into the motor interface. Using the aforementioned technical solution, the first and second cable clamps secure the connecting cable near its end, thereby reducing the swaying amplitude of the connecting cable end and preventing damage caused by prolonged reciprocating twisting at the connection point due to the movement of the quadruped robot. The first and second cable clamps significantly improve the service life of the connecting cable.

[0013] Preferably, the torso is provided with a heat dissipation device, which is located near the drive device and is used to dissipate heat from the drive device. The heat dissipation device is electrically connected to the control motherboard through a communication interface.

[0014] Preferably, the control box includes an outer shell and a cover, with a mounting cavity formed between the outer shell and the cover for mounting the control motherboard. A sealing element is provided at the top of the outer shell, and the cover is fitted onto the top of the outer shell to keep the mounting cavity sealed. Using the aforementioned technical solution, the sealing element improves the sealing performance between the cover and the outer shell, ensuring a reliable seal for the mounting cavity inside the control box and preventing moisture from entering the control box. This gives the quadruped robot better wading performance, thereby expanding the applicability of the quadruped robot.

[0015] Preferably, the torso includes a main frame, a bracket is fixed inside the main frame, the bracket is provided with a battery compartment for installing a battery box, there is a receiving space between the battery compartment and the top of the main frame, and the top of the control box is fixedly connected to the main frame.

[0016] Preferably, the battery compartment has an installation opening on the side of the main frame, and a discharge port is provided on the side wall of the battery compartment opposite to the installation opening. After the battery box is installed in the battery compartment, the discharge end of the battery box is plugged into the discharge port, and the discharge port is electrically connected to the power interface of the control box. Using the aforementioned technical solution, the power interface of the control box and the discharge port of the battery compartment remain electrically connected. After the battery box is installed in the battery compartment, the discharge end of the battery box is plugged into the discharge port, thereby achieving electrical connection between the battery box and the control motherboard. Therefore, after replacing the battery box, completing the installation of the battery box completes the connection between the battery box and the control motherboard, eliminating the need for separate wiring. This makes battery box replacement more convenient and faster, significantly improving battery box replacement efficiency.

[0017] Preferably, the control motherboard integrates a power supply module, a motor control module, a fan control module, a remote control module, an emergency stop module, a network communication module, and a debugging module.

[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 structural schematic diagram of a quadruped robot according to the present invention;

[0021] Figure 2 is a schematic diagram of the torso structure of a quadruped robot according to this utility model;

[0022] Figure 3 is a schematic diagram of the main frame structure of a quadruped robot according to this utility model;

[0023] Figure 4 is a structural schematic diagram of the control box in a quadruped robot according to this utility model;

[0024] Figure 5 is an exploded view of the control box in a quadruped robot according to this utility model;

[0025] Figure 6 is a front view of the control box in a quadruped robot according to this utility model;

[0026] Figure 7 is a rear view of the control box in a quadruped robot according to this utility model.

[0027] Reference numerals: 1. Torso; 11. Main frame; 12. Head frame; 13. Tail frame; 14. Bracket; 15. Battery compartment; 151. Discharge interface; 2. Leg assembly; 21. Drive unit; 211. Drive motor; 22. Heat dissipation device; 3. Control box; 31. Outer shell; 311. Mounting cavity; 32. Cover; 33. Seal; 34. Motor interface; 35. Power interface; 36. Communication interface; 4. Battery box. Detailed Implementation

[0028] 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.

[0029] 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.

[0030] 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.

[0031] As shown in Figures 1 to 7, this embodiment illustrates a quadruped robot, including a torso 1, a control box, a battery box 4 that provides power, and four leg components 2 movably mounted on the torso 1. The control box is configured to control the operation of the quadruped robot. The leg components 2 are equipped with drive devices 21 that drive the leg components 2 to move. The control box includes a control box body 3 fixed inside the torso 1 and a control main board installed inside the control box body 3. The surface of the control box body 3 is provided with a power interface 35, several motor interfaces 34, and several communication interfaces 36. The battery box 4 supplies power to the control main board through the power interface 35. The drive devices 21 are electrically connected to the control main board through the motor interfaces 34. The control main board outputs and receives signals through the communication interfaces 36.

[0032] In this embodiment, the operation of the quadruped robot is controlled by a control box, which is installed inside the quadruped robot's torso 1. The control box includes a control box body 3 and a control motherboard. The surface of the control box body 3 is provided with a power interface 35, a motor interface 34, and a communication interface 36. The control motherboard is electrically connected to the battery box 4 through the power interface 35, thereby transmitting the power from the battery box 4 to various components of the quadruped robot. The drive device 21 of the leg assembly 2 is electrically connected to the control motherboard through the motor interface 34. The control motherboard can control all drive devices 21, thereby controlling the movement of the quadruped robot. Furthermore, the control motherboard realizes remote control, debugging and maintenance, network communication, and other component control functions through the communication interface 36. The quadruped robot is controlled by a main board within the control box 3. Integrating all electrical components required for the quadruped robot's motion control into a single control box allows for more concentrated component placement, effectively improving the utilization of installation space. Other parts of the quadruped robot do not require dedicated space for the main board, reducing their overall size. Furthermore, the control box's placement on the torso 1 has minimal impact on its overall size. All control functions are integrated into the control box, allowing for direct inspection of the control box during maintenance. This enables technicians to quickly pinpoint faulty components, and maintenance can be performed simply by removing the control box, significantly improving efficiency.

[0033] As shown in Figure 1, the quadruped robot in this embodiment includes a torso 1, which includes a main frame 11. The front end and rear end of the main frame 11 are respectively connected to a head frame 12 and a tail frame 13. Both the head frame 12 and the tail frame 13 are movably connected to two leg components 2. The leg components 2 include a thigh mechanism, a lower leg mechanism, a foot end piece, and a drive device 21. The lower leg mechanism is rotatably connected to the bottom end of the thigh mechanism, and the foot end piece is installed at the bottom end of the lower leg mechanism. The drive device 21 includes three drive motors 211, and the power supply and communication connector of each drive motor 211 is individually plugged into the control box.

[0034] As shown in Figures 2 and 3, the main frame 11 in this embodiment includes four crossbeams, which form a rectangular frame. A bracket 14 is provided inside the main frame 11. The top end of the bracket 14 is fixedly connected to two crossbeams at the top of the main frame 11, and the bottom end of the bracket 14 is fixedly connected to two crossbeams at the bottom of the main frame 11. The bracket 14 is provided with a battery compartment 15 for installing the battery box 4. There is an accommodating space between the battery compartment 15 and the top of the main frame 11. The control box is installed in the accommodating space. The control box includes a control box body 3, which is fixedly connected to two crossbeams at the top of the main frame 11.

[0035] As shown in Figures 4 and 5, the control box 3 in this embodiment includes an outer shell 31 and a cover 32. The outer shell 31 is recessed inward to form a mounting cavity 311. The cover 32 is fitted onto the top of the outer shell 31 to seal the top of the outer shell 31. In addition, a sealing element 33 is laid on the edge of the top of the outer shell 31. The cover 32 is fitted onto the top of the outer shell 31 to press against the sealing element 33 to keep the mounting cavity 311 sealed. The sealing element 33 can improve the sealing performance between the cover 32 and the outer shell 31, so that the mounting cavity 311 inside the control box 3 maintains reliable sealing performance and prevents water vapor from entering the control box 3, so that the quadruped robot has better water wading performance and can improve the applicability of the quadruped robot.

[0036] As shown in Figures 6 and 7, in this embodiment, the side of the control box 3 facing the head frame 12 is the front end of the control box 3, and the side of the control box 3 facing the tail frame 13 is the rear end of the control box 3. The front end of the control box 3 is provided with a power interface 35, several motor interfaces 34, and several communication interfaces 36, and the rear end of the control box 3 is provided with several motor interfaces 34 and several communication interfaces 36. Specifically, in this embodiment, both the front and rear ends of the control box 3 are provided with six motor interfaces 34. The six motor interfaces 34 at the front end of the control box 3 are connected to the six drive motors 211 of the two leg components 2 in the head frame 12, and the six motor interfaces 34 at the rear end of the control box 3 are connected to the six drive motors 211 of the two leg components 2 in the tail frame 13. The motor 211 has its motor interface 34 distributed at both ends of the control box 3, allowing the motor interface 34 to be close to the leg components 2 at the front and rear ends of the torso 1, respectively. This shortens the connection line between the drive device 21 and the control box 3, making the wiring inside the torso 1 simpler and neater. In addition, each drive motor 211 has an independent motor interface 34, ensuring that the connection between each drive motor 211 and the control box 3 is independent, thus isolating the drive motors 211 from each other. When one drive motor 211 fails, the faulty drive motor 211 can be quickly detected through the corresponding motor interface 34, making the maintenance of the drive motor 211 faster and more convenient, and helping to improve the maintenance efficiency of the drive motor 211.

[0037] In this embodiment, the drive motor 211 is connected to the control box 3 via a connecting cable. The drive motor 211 is fixedly connected to a first clamp, and a second clamp is fixedly installed inside the body 1. One end of the connecting cable is clamped and positioned by the first clamp and then connected to the drive motor 211. The other end is clamped and positioned by the second clamp and then plugged into the motor interface 34. The first and second clamps clamp and fix the part of the connecting cable near the end, thereby reducing the shaking amplitude of the end of the connecting cable and preventing damage caused by long-term reciprocating twisting of the connection position of the connecting cable due to the movement of the quadruped robot. The first and second clamps can significantly improve the service life of the connecting cable.

[0038] As shown in Figure 2, in this embodiment, the battery compartment 15 forms an installation port on the side of the main frame 11. A discharge interface 151 is provided on the side wall of the battery compartment 15 opposite to the installation port. After the battery box 4 is installed in the battery compartment 15, the discharge end of the battery box 4 is plugged into the discharge interface 151. The discharge interface 151 is electrically connected to the power interface 35 of the control box 3. The power interface 35 of the control box 3 and the discharge interface 151 of the battery compartment 15 remain electrically connected. After the battery box 4 is installed in the battery compartment 15, the discharge end of the battery box 4 is plugged into the discharge interface 151, thereby achieving an electrical connection between the battery box 4 and the control motherboard. Therefore, after replacing the battery box 4, completing the installation of the battery box 4 completes the connection between the battery box 4 and the control motherboard, eliminating the need for separate wiring. This makes replacing the battery box 4 more convenient and faster, and can significantly improve the replacement efficiency of the battery box 4.

[0039] In addition, the control motherboard in this embodiment integrates a power supply module, a motor control module, a fan control module, a remote control module, an emergency stop module, a network communication module, and a debugging module. The power supply module is connected to the power interface 35 of the control box 3, receiving power from the battery box 4 and transmitting it to other components of the quadruped robot. The motor control module is connected to the motor interface 34 of the control box 3, and the control motherboard controls the drive motor 211 through the motor control module to achieve the movement and stopping of the quadruped robot. Furthermore, the torso 1 is equipped with a heat dissipation device 22, which is located near the drive device 21 and used to dissipate heat from the drive device 21. The fan control module is connected to part of the communication interface 36 of the control box 3, and the heat dissipation device 22... The communication interface 36 is electrically connected to the control motherboard; the remote control module can receive wireless signals, enabling users to remotely operate the quadruped robot wirelessly via a remote control or other wireless controller; the emergency stop module can shut down the quadruped robot in an emergency, reducing the possibility of damage due to loss of control and making the quadruped robot safer and more reliable; the network communication module enables the quadruped robot to achieve network communication, making user control of the quadruped robot simpler and more convenient, and effectively improving the intelligence of the quadruped robot; the debugging module is connected to some of the communication interfaces 36 of the control box 3, and when the control box 3 needs to be tested and debugged, the control motherboard can be tested and debugged by connecting the corresponding communication interface 36.

[0040] 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 quadruped robot, comprising a torso, a control box, a battery box for providing power, and four leg components movably disposed on the torso, wherein the control box is configured to control the operation of the quadruped robot, and the leg components are provided with drive devices for driving the movement of the leg components, characterized in that, The control box includes a control box body fixed inside the torso and a control main board installed inside the control box body. The surface of the control box body is provided with a power interface, several motor interfaces and several communication interfaces. The battery box supplies power to the control main board through the power interface. The drive device is electrically connected to the control main board through the motor interface. The control main board outputs and receives signals through the communication interface.

2. A quadruped robot according to claim 1, characterized in that, The front and rear ends of the torso are respectively movably connected to two leg components, with a portion of the motor interfaces formed on the side of the control box facing the front end of the torso, and the remaining motor interfaces formed on the side of the control box facing the rear end of the torso.

3. A quadruped robot according to claim 2, characterized in that, The torso includes a main frame, with a head frame and a tail frame connected to the front and rear ends of the main frame, respectively. Two leg components are movably mounted on the head frame, and two other leg components are movably mounted on the tail frame. The control box is fixed inside the main frame.

4. A quadruped robot according to claim 2, characterized in that, The driving device for the leg assembly includes three drive motors, and the front and rear sides of the control box are provided with six motor interfaces, each motor interface corresponding to a drive motor.

5. A quadruped robot according to claim 4, characterized in that, The drive motor is connected to the control box via a connecting wire. The drive motor is fixedly connected to a first wire clamp, and a second wire clamp is fixedly installed inside the body. One end of the connecting wire is clamped and positioned by the first wire clamp and then connected to the drive motor, and the other end is clamped and positioned by the second wire clamp and then plugged into the motor interface.

6. A quadruped robot according to claim 1, characterized in that, The torso is equipped with a heat dissipation device, which is located near the drive device and is used to dissipate heat from the drive device. The heat dissipation device is electrically connected to the control motherboard through a communication interface.

7. A quadruped robot according to claim 1, characterized in that, The control box includes an outer shell and a cover, with a mounting cavity formed between the outer shell and the cover for mounting the control motherboard. A sealing element is provided on the top of the outer shell, and the cover is fitted onto the top of the outer shell to keep the mounting cavity sealed.

8. A quadruped robot according to claim 1, characterized in that, The torso includes a main frame, a bracket is fixed inside the main frame, the bracket has a battery compartment for installing the battery box, there is a receiving space between the battery compartment and the top of the main frame, and the top of the control box is fixedly connected to the main frame.

9. A quadruped robot according to claim 8, characterized in that, The battery compartment has an installation opening on the side of the main frame. A discharge interface is provided on the side wall of the battery compartment opposite to the installation opening. After the battery box is installed in the battery compartment, the discharge end of the battery box is plugged into the discharge interface, and the discharge interface is electrically connected to the power interface of the control box.

10. A quadruped robot according to claim 1, characterized in that, The control motherboard integrates a power supply module, a motor control module, a fan control module, a remote control module, an emergency stop module, a network communication module, and a debugging module.

Images