Quadruped robot and battery lock device

Abstract

The utility model discloses a kind of four-legged robot and battery lock catch device, including battery assembly and lock catch component, battery assembly is connected by battery body and battery front cover snap connection, lock catch component includes lock cylinder, elastic reset piece, side baffle and pull belt symmetrically hinged in lock cylinder base, the wedge surface of lock cylinder and the square inclined surface groove of trunk shell are matched to form self-locking, pull belt inside rotation of lock cylinder is realized single-handed unlocking, elastic reset piece drives lock cylinder outside rotation reset.The device solves the problems of unreliable locking, complicated disassembly and redundant structure in the prior art, and is suitable for quick replacement of four-legged robot battery.

Description

Technical Field

[0001] This utility model relates to the field of robot battery technology, specifically a quadruped robot and a battery locking device. Background Technology

[0002] With the rapid development of robotics technology, quadruped robots are widely used in various fields such as industrial inspection, disaster relief, and scientific research due to their excellent terrain adaptability, strong load-bearing capacity, and flexible movement performance. To improve operational efficiency and system flexibility, quadruped robots typically adopt a modular design, especially in terms of energy supply, with most models equipped with replaceable battery modules to achieve rapid refueling.

[0003] In existing technologies, battery installation methods for quadruped robots can be broadly categorized into two types: one is an embedded structure, where the battery is installed inside the robot body via bolts or slide rails; the other is an external plug-in structure, where the battery is installed on the side or abdomen of the robot body and can be quickly replaced via mechanical locking mechanisms. In comparison, plug-in batteries are easier to replace in the field, offer greater task continuity and maintenance convenience, and are therefore gradually becoming the mainstream design approach.

[0004] However, most current plug-in battery latch structures have the following problems:

[0005] 1. Unreliable locking: Some structures use simple buckles or magnetic designs, which are prone to loosening or falling off under violent movement or vibration, posing a significant safety hazard;

[0006] 2. Inconvenient disassembly and assembly: Existing latches mostly rely on manual tools or multiple steps, making it difficult to achieve quick one-handed replacement, which reduces practicality and emergency response efficiency;

[0007] 3. Structural redundancy or low space utilization: Some designs are large in size and have complex wiring, which is not conducive to the development of lightweight and integrated quadruped robots.

[0008] Therefore, there is a need for a new type of quadruped robot battery locking device that is compact in structure, easy to operate, and reliable in locking, in order to meet the higher requirements for safety, maintenance efficiency, and intelligence in practical applications. Utility Model Content

[0009] The purpose of this invention is to provide a quadruped robot and a battery locking device to solve the problems mentioned in the background art.

[0010] To achieve the above objectives, this utility model provides the following technical solution:

[0011] A battery locking device for a quadruped robot is installed on the abdomen or side of the robot's torso, including a battery assembly and a locking assembly.

[0012] The battery assembly consists of the battery body and the battery front cover connected together;

[0013] The latch assembly includes a symmetrically arranged lock cylinder, a lock cylinder base, a resilient reset element, and side plates;

[0014] The lock cylinder and the lock cylinder base are rotatably connected, and the two ends of the elastic reset member abut against the lock cylinder and the lock cylinder base respectively;

[0015] The latch assembly also includes a set of pull straps positioned between the two lock cylinders, which extend through the battery front cover to the outside;

[0016] The side baffles are fixed to both sides of the battery front cover to limit the outward rotation angle of the lock cylinder.

[0017] As a further embodiment of this invention, the elastic reset element is configured as a compression spring or a torsion spring.

[0018] As a further embodiment of this invention, the pull strap is made of high-strength nylon webbing.

[0019] As a further embodiment of this utility model: the two ends of the pull strap pass through the through holes opened on the lock cylinder and are knotted and fixed, and the middle part is led out from the rectangular through groove opened on the front cover of the battery.

[0020] As a further embodiment of this utility model: the pull strap is clamped and fixed to the lock cylinder by the upper pressure block and the lower pressure block of the pull handle.

[0021] As a further improvement of this utility model: the locking end of the lock cylinder is a wedge-shaped structure, and the outer shell of the body is provided with a matching square inclined groove. When locked, the wedge-shaped surface contacts the lower surface of the square inclined groove.

[0022] A quadruped robot includes a quadruped robot body, a battery is installed inside the torso of the quadruped robot body, and a battery locking device is provided on the battery; a matching square inclined groove is provided on the outer shell of the torso of the quadruped robot body, and when locked, the wedge structure contacts the lower surface of the square inclined groove.

[0023] Compared with the prior art, the beneficial effects of this utility model are: the lock cylinder wedge-shaped surface forms full contact with the 15° inclined groove of the body shell, and the elastic reset part continuously presses it, resulting in strong vibration resistance.

[0024] The pull strap allows for one-handed operation, eliminating the need for tools and reducing disassembly time.

[0025] It can be installed on the robot's abdomen (fixed at the top) or side to reduce space occupation and improve the robot's lightweightness. Attached Figure Description

[0026] Figure 1This is a schematic diagram of the battery locking device for a quadruped robot in one state.

[0027] Figure 2 This is a schematic diagram of the structure of a battery locking device for a quadruped robot in state two.

[0028] Figure 3 This is a schematic diagram of the locked state of a battery locking device for a quadruped robot.

[0029] Figure 4 This is a schematic diagram of the battery locking device of a quadruped robot in a loosened state.

[0030] Figure 5 This is a schematic diagram of the lock core structure in a battery locking device for a quadruped robot when a compression spring is used.

[0031] Figure 6 This is a schematic diagram of the lock core structure in a battery locking device for a quadruped robot when a torsion spring is used.

[0032] The components include: battery assembly 00, latch assembly 01, battery body 1, lock cylinder base 5, lock cylinder 6, pull strap 9, compression spring 10, battery front cover 15, side baffle 16, body shell 20, torsion spring 21, handle lower pressing block 22, and handle upper pressing block 23. Detailed Implementation

[0033] It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0034] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0035] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0036] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0037] Please see Figures 1-4 A battery locking device for a quadruped robot includes a battery assembly 00 and a locking assembly 01;

[0038] The battery assembly 00 includes a battery body 1 and a battery front cover 15, and the battery body 1 and the battery front cover 15 are fixedly connected by snaps and screws to form an integral structure.

[0039] The latch assembly 01 includes a symmetrically distributed lock cylinder 6, a lock cylinder base 5, an elastic reset member, and a side baffle 16;

[0040] The two sets of lock cylinders 6 are identical and are respectively hinged to the lock cylinder base 5 by stainless steel pins to achieve independent rotation;

[0041] The elastic reset element includes a compression spring 10 or a torsion spring 21;

[0042] like Figure 5 As shown, the compression spring 10 is vertically installed between the lock cylinder 6 and the lock cylinder base 5, and normally pushes the lock cylinder 6 to rotate outward;

[0043] The side baffle 16 is fixed to both sides of the battery front cover 15 by M3 screws, limiting the outward rotation angle of the lock cylinder 6 to ≤45° to prevent overtravel;

[0044] Preferably, the side baffle 16 adopts an L-shaped structure.

[0045] In one embodiment of the present invention, a quadruped robot includes a quadruped robot body, a battery is provided inside the torso of the quadruped robot body, the locking device is applied to the battery, and a matching square inclined groove is provided on the outer shell 20 of the torso of the quadruped robot body. The locking end of the locking cylinder 6 is set as a wedge structure, and when locked, the wedge structure contacts the lower surface of the square inclined groove.

[0046] The latch assembly 01 also includes a pull strap 9, which is made of high-strength nylon webbing. Its two ends pass through the through holes opened on the lock cylinder 6 and are knotted and fixed, and its middle part is led out from the rectangular through slot opened on the battery front cover 15.

[0047] The pull strap 9 is used to achieve: unlocking drive: accepting external unidirectional pulling force, synchronously pulling the lock cylinders 6 on both sides to rotate inward, releasing the lock cylinders 6 from the body shell 20;

[0048] State Reset: After the tension is released, the rebound force of the elastic reset component (compression spring 10 / torsion spring 21) is passively transmitted, causing the lock cylinder 6 to rotate outward and reset to the locking state.

[0049] like Figure 6 As shown, the lock cylinder 6 is provided with a handle lower pressure block 22 and a handle upper pressure block 23 on both sides. The end of the pull strap 9 is placed between the two pressure blocks and is fastened by two M2 screws to form a rigid clamp.

[0050] The handle lower pressure block 22 and handle upper pressure block 23 are made of aluminum alloy.

[0051] As a preferred embodiment of the present invention, such as Figure 5 As shown, the compression spring 10 is replaced by a torsion spring 21. The torsion spring 21 is sleeved on the rotating pin of the lock cylinder 6. Its two torsion arms press against the groove on the back of the lock cylinder 6 and the protrusion on the lock cylinder base 5, respectively. Under normal conditions, the torsion spring 21 provides a torque of 0.5 N·m, driving the lock cylinder 6 to rotate outward to the limiting surface of the side baffle 16. The advantage of the torsion spring 21 is that it can reduce the axial space occupation and is suitable for ultra-thin battery compartments with a thickness of ≤20mm.

[0052] The working principle of this utility model is as follows: In the idle position of this device, all the aforementioned driving components (representing power elements, electrical devices, and compatible power supplies) are connected via wires. The electrical connections are completed in sequence between the working components. The detailed connection methods are well-known in the field. The following mainly describes the working principle and process, without further explanation of the electrical control.

[0053] Firstly, the locking process:

[0054] The battery assembly 00 is pushed in along the guide rail of the body shell 20, and the wedge-shaped surface of the lock cylinder 6 contacts the inclined surface of the square groove.

[0055] The inclined plane compresses the lock cylinder 6, causing it to rotate inward and compress the compression spring 10 or the torsion spring 21.

[0056] When the battery reaches the locked position, the spring 10 releases its elastic force to push the lock cylinder 6 outward, and the wedge-shaped surface slides into the bottom of the square groove to complete the locking.

[0057] Secondly, the unlocking process:

[0058] Pull the strap 9 downwards with one hand, applying a force of ≥30N;

[0059] The pull strap 9 pulls the lock cylinders 6 on both sides to rotate inward synchronously, and the wedge-shaped surface disengages from the bottom of the square groove;

[0060] Simply pull the battery assembly 00 out while maintaining the tension to complete the disassembly.

[0061] In a preferred embodiment of the present invention, when this device is installed on the abdomen of the robot's torso:

[0062] The top of the battery front cover 15 has four M4 mounting holes, which are then fixed to the robot's abdominal frame with screws. Meanwhile, the square slot of the torso shell 20 is opened on the inside of the abdominal hatch to ensure that it does not interfere with the movement trajectory of the legs.

[0063] When this device is installed on the side of the robot's torso:

[0064] Heat dissipation fins are added to the side of the battery front cover 15, and the locking assembly 01 is rotated 90° for installation.

[0065] The square slots are created in the rib wall of the robot, and the disassembly direction is parallel to the robot's standing surface.

[0066] It should be understood that in this application, all rotating, sliding, meshing, belt-driven and other moving parts are well lubricated and not prone to slippage or wear, and each part is provided with a corresponding protective shell. However, in the accompanying drawings of this application, the connection state of each moving part is not shown. It should also be understood that all parts in this application are made of metal or plastic materials with suitable strength in the relevant field to ensure that their structural rigidity meets the actual requirements.

[0067] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A battery locking device for a quadruped robot, characterized in that, Includes a battery assembly (00) and a latch assembly (01); The battery assembly (00) is composed of a battery body (1) and a battery front cover (15) connected together; The latch assembly (01) includes a symmetrically arranged lock cylinder (6), a lock cylinder base (5), an elastic reset member, and a side baffle (16) that restricts the outward rotation of the lock cylinder (6). The lock cylinder (6) is rotatably connected to the lock cylinder base (5), and the two ends of the elastic reset member abut against the lock cylinder (6) and the lock cylinder base (5) respectively. The latch assembly also includes a set of pull straps (9) disposed between the two lock cylinders (6), the pull straps (9) extending through the battery front cover (15) to the outside.

2. The battery locking device for a quadruped robot according to claim 1, characterized in that, The elastic reset element is configured as a compression spring (10) or a torsion spring (21).

3. The battery locking device for a quadruped robot according to claim 1, characterized in that, The pull strap (9) is made of high-strength nylon webbing. Its two ends pass through the through holes opened on the lock cylinder (6) and are knotted and fixed. The middle part is led out from the rectangular through slot opened on the battery front cover (15).

4. A battery locking device for a quadruped robot according to claim 3, characterized in that, The pull strap (9) is clamped and fixed to the lock cylinder (6) by the pull handle upper pressure block (23) and the pull handle lower pressure block (22).

5. A battery locking device for a quadruped robot according to claim 1, characterized in that, The locking end of the lock cylinder (6) has a wedge-shaped structure.

6. A quadruped robot, characterized in that, The device includes a quadruped robot body, a battery inside the torso of the quadruped robot body, and a quadruped robot battery locking device as described in any one of claims 1-5 on the battery; the torso shell (20) of the quadruped robot body is provided with a matching square inclined groove, and the wedge structure contacts the lower surface of the square inclined groove when locked.

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