Joint module for quadruped robot

Abstract

The utility model discloses a kind of joint module for quadruped robot, joint module includes the first joint assembly and the second joint assembly of mutual sliding connection, one end of first joint assembly is inserted into second joint assembly and is equipped with driver, driver drives first joint assembly and slides along the axis direction of second joint assembly, the length adjustment of joint module is realized;Second joint assembly includes connecting shell, connector is slidably mounted in connecting shell along the central axis direction, connector is installed in the output end of driver, and coaxially installed with first joint module;First joint assembly and second joint assembly are respectively provided with connector at one end away from each other. By designing double joint sliding connection, to realize length dynamic adjustment to meet multi-scene reuse, without customizing special module for different needs, greatly reduce equipment investment cost;Meanwhile, the joint module is contracted to be convenient for storage, effectively improve the utilization of storage space, reduce storage and transportation cost.

Description

Technical Field

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

[0002] Traditional joint modules are mostly rigid designs with fixed lengths from the factory, making it impossible to dynamically adjust or adapt to different scenarios based on actual needs. For example, when industrial robots switch tasks, if the arm span needs to be adjusted, the entire joint module must be replaced. This not only increases equipment investment costs but also results in excessive storage volume, requiring larger packaging and transportation tools for transport, occupying more shelf space in warehousing, making it more cumbersome and costly to use. Utility Model Content

[0003] In view of this, the purpose of this utility model is to provide a joint module for quadruped robots to solve the technical problems mentioned in the prior art.

[0004] A joint module for a quadruped robot includes a first joint assembly and a second joint assembly that are slidably connected to each other. One end of the first joint assembly extends into the second joint assembly and is equipped with a driver. The driver drives the first joint assembly to slide along the axial direction of the second joint assembly, thereby adjusting the length of the joint module. The second joint assembly includes a connecting housing, within which a connector is slidably mounted along its central axis. The connector is mounted on the output end of the driver and is coaxially mounted with the first joint module. The first joint assembly and the second joint assembly are respectively provided with connectors at their ends that are far apart from each other. The connectors are connected to the hinge end of the robot or another set of the joint modules.

[0005] Optionally, the connector includes: Several sets of positioning plates are respectively installed on the inner side wall of the connecting shell, forming several guide grooves that are parallel to the central axis of the connecting shell. A connecting plate is disposed inside the connecting housing and is slidably connected to several sets of positioning plates. A guide plate adapted to the position and size of the guide groove is provided on the outer periphery of the connecting plate. The connecting plate is connected to the first joint assembly, and the guide plate or the connecting plate is installed at the output end of the driver.

[0006] Optionally, the connector is installed inside the connection housing and forms a sealed cavity on the side closer to the driver; The positioning plate is provided with a serpentine heat dissipation channel on the side away from the connecting plate. One end of the serpentine heat dissipation channel penetrates the outer peripheral wall of the connecting shell and is provided with a ventilation window. The other end of the serpentine heat dissipation channel penetrates the positioning plate and is provided with a plurality of heat exchange holes. The heat exchange holes are connected to the sealed cavity. When the connector is compressed inside the sealed cavity, the internal air is discharged from the ventilation window to the outside of the sealed cavity through the serpentine heat dissipation channel; When the connector is stretched inside the sealed cavity, external air is drawn into the sealed cavity through the heat exchange hole via the serpentine heat dissipation channel.

[0007] Optionally, the driver includes: A drive motor is embedded within the connecting housing; A lead screw, one end of which is connected to the output end of the drive motor, and the other end of which passes through the positioning plate and is rotatably connected to the end of the connecting housing. The lead screw is threadedly connected to the positioning plate.

[0008] Optionally, a control compartment is provided on the inner wall of the connecting housing away from its opening; The control compartment is equipped with a battery assembly and a microprocessor, and the battery assembly is electrically connected to the microprocessor and the driver. The outer periphery of the connecting housing is provided with a power interface and / or a communication interface, the power interface being connected to the battery assembly and the communication interface being connected to the microprocessor.

[0009] Optionally, a heat dissipation mesh can be detachably installed on the open side of the control compartment.

[0010] Optionally, an end cap may be detachably installed on the open side of the connecting housing, and the end cap may be sleeved on the first joint assembly.

[0011] Optionally, an O-ring seal is provided between the connector and the connecting housing.

[0012] The beneficial effects that this utility model can produce include: 1. The joint module for quadruped robots provided by this utility model is designed with a double joint sliding connection to achieve dynamic length adjustment to meet the needs of multiple scenarios. It eliminates the need to customize special modules for different needs, which greatly reduces the equipment investment cost. At the same time, the joint module is easy to store after shrinking, which effectively improves the utilization rate of warehouse space and reduces storage and transportation costs.

[0013] 2. In this utility model, the coaxiality of the dual-joint assembly during sliding is ensured by the structural adaptation between the positioning plate, guide groove, connecting plate and guide plate, avoiding offset; at the same time, servo motor and lead screw transmission are used to achieve precise control of length adjustment, improve joint movement accuracy, and thus ensure the gait stability and movement accuracy of the quadruped robot.

[0014] 3. In this utility model, by setting a sealed cavity and a serpentine heat dissipation channel, active heat dissipation is achieved during the operation of the joint module, effectively removing the heat from the driver, avoiding overheating failure, and ensuring stable operation of the joint module. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the joint module structure of this utility model; Figure 2 In this utility model Figure 1 Axial sectional view; Figure 3 In this utility model Figure 2 A partial sectional view; Figure 4 In this utility model Figure 2 Rear view of the positioning plate; In the diagram: 1. First joint assembly, 2. Second joint assembly, 3. Driver, 4. Connecting housing, 5. Connector, 6. Positioning plate, 7. Guide groove, 8. Connecting disc, 9. Guide plate, 10. Sealed cavity, 11. Serpentine heat dissipation channel, 12. Ventilation window, 13. Heat exchange hole, 14. Drive motor, 15. Lead screw, 16. Control compartment, 17. Heat dissipation plate mesh, 18. End cover. Detailed Implementation

[0016] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0017] Please see Figure 1 and Figure 2As shown, this utility model provides a joint module for a quadruped robot. The joint module includes a first joint component 1 and a second joint component 2 that are slidably connected to each other. One end of the first joint component 1 extends into the second joint component 2 and is equipped with a driver 3. The driver 3 drives the first joint component 1 to slide along the axis of the second joint component 2, thereby realizing the length adjustment of the joint module. This allows for dynamic adjustment or adaptation to different scenarios according to actual needs, eliminating the need to customize special modules for different needs and significantly reducing equipment investment costs. At the same time, the joint module is easy to store, effectively improving the utilization rate of storage space and reducing storage and transportation costs. The second joint component 2 includes a connecting shell 4. A connector is slidably installed in the connecting shell 4 along its central axis. The connector is installed at the output end of the driver 3 and is coaxially installed with the first joint module to ensure the coaxiality of the two joint components when sliding and avoid misalignment. The ends of the first joint component 1 and the second joint component 2 that are far apart from each other are respectively provided with connector heads 5. The connector heads 5 connect to the hinge end of the robot or another set of joint modules, and the number of customized joint modules can be selected according to the usage scenario.

[0018] Furthermore, such as Figure 2 and Figure 3 As shown, the connector includes several sets of positioning plates 6, connecting discs 8, and guide plates 9. The several sets of positioning plates 6 are respectively installed on the inner side wall of the connecting housing 4, forming several guide grooves 7 that are parallel to the central axis of the connecting housing 4. The connecting disc 8 is located inside the connecting housing 4 and is slidably connected to the several sets of positioning plates 6. The outer periphery of the connecting disc 8 is provided with guide plates 9 that are adapted to the position and size of the guide grooves 7. The connecting disc 8 is connected to the first joint assembly 1. The guide plates 9 or the connecting disc 8 are installed at the output end of the driver 3, thereby realizing the positioning and installation of the first joint assembly 1 through the connector, ensuring the coaxiality of the joint module during operation, and improving the accuracy of the robot.

[0019] In real-world environments, the driver 3 generates heat during prolonged operation. If heat dissipation is insufficient, overheating can easily occur, affecting the stable operation of the joint module and even the robot. Therefore, in this embodiment, as... Figure 2 and Figure 3 As shown, the connector is installed inside the connecting housing 4 and forms a sealed cavity 10 on the side near the driver 3; Figure 4As shown, a serpentine heat dissipation channel 11 is provided on the side of the positioning plate 6 away from the connecting plate 8. One end of the serpentine heat dissipation channel 11 penetrates the outer peripheral wall of the connecting shell 4 and is provided with a ventilation window 12, preferably a filter structure, to filter out dust in the air. The other end of the serpentine heat dissipation channel 11 penetrates the positioning plate 6 and is provided with several heat exchange holes 13, which are connected to the sealed cavity 10. When the connector is compressed in the sealed cavity 10, the internal air is discharged to the outside of the sealed cavity 10 through the ventilation window 12 via the serpentine heat dissipation channel 11. When the connector is stretched in the sealed cavity 10, the external air is drawn into the sealed cavity 10 through the heat exchange holes 13 via the serpentine heat dissipation channel 11, thereby improving the heat dissipation performance inside the joint module, avoiding overheating of the driver 3 and causing operational failure, and ensuring stable operation of the robot.

[0020] Furthermore, such as Figure 2 and Figure 3 As shown, the driver 3 includes a drive motor 14 and a lead screw 15. The drive motor 14 (preferably a servo motor) is embedded in the connecting housing 4. One end of the lead screw 15 is connected to the output end of the drive motor 14, and the other end passes through the positioning plate 6 and is rotatably connected to the end of the connecting housing 4. The lead screw 15 is threadedly connected to the positioning plate 6 through a lead screw 15 nut. Thus, the drive motor 14 drives the lead screw 15 to rotate forward and backward to control the extension and retraction adjustment of the joint module, realize precise control of length adjustment, improve the joint movement accuracy, and thus ensure the gait stability and movement accuracy of the quadruped robot.

[0021] Furthermore, such as Figure 2 and Figure 3 As shown, a control compartment 16 is provided on the inner wall of the connecting housing away from its opening; a battery assembly and a microprocessor (which can be a single-chip microcomputer) are installed in the control compartment 16. The battery assembly is electrically connected to the microprocessor and the driver 3, which facilitates independent power supply to the joint module and enhances its adaptability; a power interface and / or a communication interface are provided on the outer periphery of the connecting housing. The power interface is connected to the battery assembly for charging or external power supply; the communication interface is connected to the microprocessor for data copying, program setting, and remote communication.

[0022] Furthermore, such as Figure 2 and Figure 3 As shown, a heat dissipation mesh 17 is detachably installed on the open side of the control compartment 16, which can enhance the installation stability of the battery assembly and microprocessor while ensuring heat dissipation performance.

[0023] Furthermore, such as Figure 1 As shown, an end cap 18 is detachably installed on the open side of the connecting housing 4. The end cap 18 is fitted onto the first joint assembly 1, facilitating the assembly and maintenance of the internal components of the second joint assembly 2. Simultaneously, an O-ring seal is provided between the connector and the connecting housing 4 to achieve dynamic sealing of the connector.

Claims

1. A joint module for a quadruped robot, characterized in that, The joint module includes a first joint assembly (1) and a second joint assembly (2) that are slidably connected to each other. One end of the first joint assembly (1) extends into the second joint assembly (2) and is equipped with a driver (3). The driver (3) drives the first joint assembly (1) to slide along the axial direction of the second joint assembly (2) to realize the length adjustment of the joint module. The second joint assembly (2) includes a connecting housing (4), in which a connector is slidably mounted along its central axis. The connector is mounted on the output end of the driver (3) and is coaxially mounted with the first joint assembly (1). The first joint assembly (1) and the second joint assembly (2) are respectively provided with connectors (5) at their ends that are far apart from each other. The connectors (5) are connected to the hinge end of the robot or another set of the joint modules.

2. A joint module for a quadruped robot according to claim 1, characterized in that, The connector includes: Several sets of positioning plates (6) are respectively installed on the inner side wall of the connecting shell (4) and form several guide grooves (7) that are parallel to the central axis of the connecting shell (4). A connecting plate (8) is located inside the connecting housing (4) and is slidably connected to several sets of positioning plates (6). A guide plate (9) is provided on the outer periphery of the connecting plate (8) to match the position and size of the guide groove (7). The connecting plate (8) is connected to the first joint assembly (1), and the guide plate (9) or the connecting plate (8) is installed at the output end of the driver (3).

3. A joint module for a quadruped robot according to claim 2, characterized in that, The connector is installed inside the connection housing (4) and forms a closed cavity (10) on the side near the driver (3). The positioning plate (6) is provided with a serpentine heat dissipation channel (11) on the side away from the connecting plate (8). One end of the serpentine heat dissipation channel (11) passes through the outer peripheral wall of the connecting shell (4) and is provided with a ventilation window (12). The other end of the serpentine heat dissipation channel (11) passes through the positioning plate (6) and is provided with a plurality of heat exchange holes (13). The heat exchange holes (13) are connected to the sealed cavity (10). When the connector is compressed inside the sealed cavity (10), the internal air is discharged from the sealed cavity (10) through the ventilation window (12) via the serpentine heat dissipation channel (11); When the connector is stretched inside the sealed cavity (10), external air is drawn into the sealed cavity (10) through the heat exchange hole (13) via the serpentine heat dissipation channel (11).

4. A joint module for a quadruped robot according to claim 2, characterized in that, The driver (3) includes: The drive motor (14) is embedded in the connecting housing (4); The lead screw (15) has one end connected to the output end of the drive motor (14), and the other end passes through the positioning plate (6) and is rotatably connected to the end of the connecting housing (4). The lead screw (15) is threadedly connected to the positioning plate (6).

5. A joint module for a quadruped robot according to claim 1, characterized in that, The inner wall of the connecting shell (4) is provided with a control compartment (16) away from its opening. The control compartment (16) is equipped with a battery assembly and a microprocessor, and the battery assembly is electrically connected to the microprocessor and the driver (3); The outer periphery of the connecting housing (4) is provided with a power interface and / or a communication interface, wherein the power interface is connected to the battery assembly and the communication interface is connected to the microprocessor.

6. A joint module for a quadruped robot according to claim 5, characterized in that, The control compartment (16) has a detachable heat dissipation mesh (17) installed on the open side.

7. A joint module for a quadruped robot according to claim 1, characterized in that, An end cap (18) is detachably installed on the opening side of the connecting housing (4), and the end cap (18) is sleeved on the first joint assembly (1).

8. A joint module for a quadruped robot according to claim 1, characterized in that, An "O" type oil seal is provided between the connector and the connecting housing (4).

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