Quadruped robot

Abstract

Disclosed in the present invention is a quadruped robot, comprising a torso, legs, and a battery. The battery is connected to the torso by means of a battery attachment / detachment structure. The battery attachment / detachment structure comprises: telescopic assemblies, arranged on two sides of the battery and each comprising a telescopic snap member and an elastic member; an unlocking member, deformable under the action of an external force, wherein two sides of the unlocking member are respectively connected to the telescopic snap members; and locking portions, arranged on the quadruped robot and arranged corresponding to the telescopic snap members. When an external force is applied to pull the unlocking member, the unlocking member deforms, and the telescopic snap members on the two sides synchronously move to disengage from the locking portions, so as to detach the battery from the quadruped robot. The present invention utilizes the characteristic that the unlocking member is deformable under an external force, to simultaneously connect two ends of the unlocking member to two telescopic snap members. Thus, when an operator performs one pulling action with one hand, the telescopic snap members on the two sides synchronously move to disengage from the locking portions, so that the battery can be quickly detached from a battery compartment of the quadruped robot without the need for two-hand operation. Regardless of the battery size, one-hand operation can be achieved.

Description

A quadruped robot Technical Field

[0001] This invention belongs to the field of quadruped robot technology, and in particular relates to a quadruped robot. Background Technology

[0002] Quadruped robots, also known as legged robots, are a type of robot that mimics the leg movements of humans or animals for locomotion. Regarding the assembly and disassembly of quadruped robots, Chinese patent CN219575835U discloses a "Battery Pack Structure and Robot," which uses a locking component on the inner wall of the battery compartment. To unlock, the user moves the locking block inward by pushing a protrusion on the block, causing it to retract into the battery compartment through a first through-hole. This releases the locking block from the robot, allowing for quick unlocking and removal of the battery pack. To lock, the battery pack is placed inside the robot, and the locking block moves outward under the elastic force of an elastic element, extending through the first through-hole to the outside of the battery compartment. This engages with the robot, quickly locking the battery pack. Analysis shows that when the battery needs to be removed, the user needs to use one hand to simultaneously move the two side latches towards the center, and then use the other hand to remove the battery from the robot. However, the drawbacks of this method are obvious: it requires both hands to operate, and both hands need to operate on the battery simultaneously. Since the battery has a certain weight and there is considerable friction between the battery and the robot, if the robot is not secured, the battery may shift outward along with the robot during the process of pulling it out due to excessive friction, thus affecting the smooth removal of the battery. Summary of the Invention

[0003] To overcome the shortcomings of the prior art, the present invention provides a quadruped robot whose battery disassembly and assembly structure utilizes the deformable characteristics of the unlocking parts, making it convenient for the operator to pull out the battery with one hand, thus facilitating the installation and disassembly of the battery.

[0004] The technical solution adopted by this invention to solve its technical problem is: a quadruped robot, including a torso, legs movably connected to the torso, and a battery detachably connected to the torso. The battery is connected to the torso via a battery disassembly and assembly structure, which includes:

[0005] A telescopic assembly is located on both sides of the battery, and includes telescopic buckles and elastic members that abut against the telescopic buckles;

[0006] The unlocking component is flat and can deform under external force; its two sides are respectively connected to the telescopic buckle.

[0007] A locking part is provided on the quadruped robot and is configured correspondingly to the telescopic buckle;

[0008] When an external force is applied to pull the unlocking component and cause it to deform, the telescopic latches on both sides move synchronously to disengage from the locking part, thereby removing the battery from the quadruped robot.

[0009] Furthermore, the telescopic buckle can be translated along a first direction to enter or disengage from the locking part, and the battery can be translated along a second direction to detach from or install with the quadruped robot. An external force is applied to pull the unlocking part. During a first time period, the telescopic buckle translates along the first direction to disengage from the locking part, and during a second time period, the battery translates along the second direction to move away from the quadruped robot. The first time period and the second time period are continuous, or the first time period and the second time period overlap at least partially.

[0010] Furthermore, the first direction and the second direction are perpendicular to each other, and the pulling direction of the unlocking component is away from the quadruped robot.

[0011] Furthermore, the telescopic buckle includes a connecting part, a locking part, and a mounting part, and the unlocking component is connected to the connecting part by a fastener.

[0012] Furthermore, the end of the unlocking component is formed with a bent portion, and the fastener includes a first fastener and a second fastener. The first fastener passes through the connecting portion and the bent portion and is connected to the second fastener so that the connecting portion and the second fastener clamp the bent portion towards each other and form a pull gap between the battery and the unlocking component.

[0013] Furthermore, the locking part forms a cutting surface with a reduced width, and the cutting surface extends obliquely from the locking part toward the battery and from the outside to the inside.

[0014] Furthermore, the mounting portion has a positioning groove into which a portion of the elastic member extends, and an extension wall extending along the telescoping direction of the elastic member. The battery has an end cap with a shielding portion, and the extension wall can slide against the inner side of the shielding portion.

[0015] Furthermore, the end cap forms a limiting cavity for locking the elastic element, a notch, and a through hole for the telescopic buckle to pass through. The through hole is provided corresponding to the locking part. The unlocking element is connected to the telescopic buckle at the notch, and the notch limits the travel of the telescopic buckle.

[0016] Furthermore, the locking part has a locking step that abuts against the side wall of the through hole to prevent the telescopic buckle from disengaging.

[0017] Furthermore, one side wall of the notch is formed by the end face of the shielding portion.

[0018] Furthermore, the end cap forms a concave surface, which at least partially corresponds to the position of the unlocking member, so as to form a pulling gap between the concave surface and the inner side of the unlocking member, wherein the width of the concave surface is greater than or equal to the width of the unlocking member.

[0019] Furthermore, when not pulled by external force, the unlocking component is retracted parallel to the concave surface.

[0020] The beneficial effects of this invention are: 1) Utilizing the deformable characteristic of the unlocking component under external force, two telescopic latches are simultaneously connected to both ends of one unlocking component. With one hand, the operator performs a pulling motion, and the telescopic latches on both sides move synchronously to disengage from the locking part, allowing the battery to quickly detach from the quadruped robot's battery compartment without the need for two-handed operation. This allows for one-handed operation regardless of the battery's size; 2) Due to the design of the unlocking component, the action of the telescopic latches disengaging from the locking part and the action of removing the battery from the quadruped robot are continuous, without pause or requiring the operator to change their movements during the operation. The operation process is smooth and seamless, and the operation is effortless and convenient; 3) Whether installing the battery into the battery compartment of the quadruped robot or removing the battery from the battery compartment, the operator only needs to pull the unlocking part to deform it, which is simple to operate; 4) The setting of the pulling gap provides space for the operator's hand to reach in, making it easy for the operator to apply external force to the unlocking part; 5) The assembly structure of the unlocking part and the battery end cover is simple and stable, the telescopic buckle will not easily come off, and it can effectively ensure that the telescopic buckle moves horizontally and its movement trajectory will not deviate; 6) When not in use, the unlocking part is stored in the concave surface of the end cover, and the overall structure is simple. Attached Figure Description

[0021] Figure 1 is a perspective view of the battery disassembly and assembly structure and its assembly with the battery provided by the present invention.

[0022] Figure 2 is a perspective view of the battery disassembly and assembly structure and its assembly with the battery provided by the present invention.

[0023] Figure 3 is a front view of the battery disassembly and assembly structure provided by the present invention and its assembly with the battery.

[0024] Figure 4 is a partial perspective view of the battery disassembly and assembly structure and its assembly with the battery provided by the present invention.

[0025] Figure 5 is a partial perspective view of the battery disassembly and assembly structure and its assembly with the battery provided by the present invention.

[0026] Figure 6 is a cross-sectional view of the battery disassembly and assembly structure provided by the present invention and its assembly with the battery.

[0027] Figure 7 is an enlarged view of the structure at point A in Figure 6.

[0028] Figure 8 is a front view of the quadruped robot provided by the present invention.

[0029] Among them, 1-telescopic component, 11-telescopic buckle, 111-connecting part, 112-locking part, 113-mounting part, 114-cutting surface, 115-positioning step, 116-positioning groove, 117-extension wall, 12-elastic element, 2-battery, 21-end cap, 211-shielding part, 212-limiting cavity, 213-notch groove, 214-through hole, 215-concave surface, 3-unlocking element, 31-bending part, 4-locking part, 5-quadruped robot, 51-torso, 52-legs, 6-fastener, 61-first fastener, 62-second fastener, 7-pulling gap. Detailed Implementation

[0030] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0031] As shown in Figures 1-7, a quadruped robot includes a torso 51, legs 52 movably connected to the torso 51, and a battery 2 detachably connected to the torso 51. The battery 2 is connected to the torso 51 via a battery disassembly and assembly structure. The battery disassembly and assembly structure includes telescopic components 1 disposed on both sides of the battery 2, unlocking components 3, and locking parts (not shown in the figures) disposed on the torso of the quadruped robot 5. The locking parts are correspondingly disposed to the telescopic components 1. In this embodiment, there are two telescopic components 1, and similarly, there are also two locking parts.

[0032] Each telescopic component 1 includes a telescopic buckle 11 and an elastic member 12 that abuts against the telescopic buckle 11. Specifically, a locking part is provided corresponding to the telescopic buckle 11, and the two sides of the unlocking member 3 are respectively connected to the telescopic buckles 11 of the two telescopic components 1. The unlocking member 3 can deform under the action of external force, thereby applying an external force to pull the unlocking member 3. The telescopic buckles 11 on both sides move synchronously to disengage from the locking part, thereby removing the battery 2 from the torso 51 of the quadruped robot 5. In this embodiment, the unlocking member 3 can be made of materials such as elastic rubber.

[0033] Specifically, the telescopic buckle 11 can be translated along the first direction to achieve the purpose of entering or disengaging from the locking part, and the battery 2 can be translated along the second direction to achieve the purpose of disassembling or installing with the quadruped robot 5 torso 51. When an external force is applied to pull the unlocking part 3, during the first time period, the telescopic buckle 11 is translated along the first direction to disengage from the locking part, and during the second time period, the battery 2 is translated along the second direction to move away from the quadruped robot 5 torso 51. The first time period and the second time period are continuous. In other words, the second time period follows the first time period immediately, and the second time period begins immediately after the first time period ends; or, the first time period and the second time period overlap at least partially. In other words, the second time period begins before the first time period ends.

[0034] This invention utilizes the deformable property of the unlocking component 3 under external force. Two telescopic latches 11 are connected to both ends of the unlocking component 3 simultaneously. When the operator performs a pulling action with one hand, specifically by applying external force to pull the unlocking component 3 away from the quadruped robot 5, the telescopic latches 11 on both sides can simultaneously move towards each other. The telescopic latches 11 on both sides move synchronously to disengage from the locking part, thereby allowing the battery 2 to quickly detach from the battery compartment of the quadruped robot 5's body 51 without the need for two-handed operation. Regardless of the size of the battery 2, one-handed operation is possible. Due to the design of the unlocking component 3, the action of the telescopic latches 11 disengaging from the locking part and the action of the battery 2 being removed from the quadruped robot 5's body 51 are continuous without any interruption. The operator does not need to change their actions during the operation. The entire operation process is smooth and seamless, saving effort and making it convenient.

[0035] In this embodiment, the first direction and the second direction are perpendicular. Specifically, as shown in Figure 1, the first direction is the width direction of the battery, and the second direction is the depth direction of the battery.

[0036] As shown in Figures 4-7, the telescopic buckle 11 includes a connecting part 111, a locking part 112, and a mounting part 113. The connecting part 111, locking part 112, and mounting part 113 are integrally formed and are approximately in the same plane. The locking part 112 forms a cutting surface 114 with a reduced width. This cutting surface 114 extends obliquely from the locking part toward the battery 2 and from the outside to the inside. Here, the side of the battery 2 closest to the outside of the quadruped robot 5 is defined as the outside. Taking the direction shown in Figure 7 as an example, the cutting surface 114 extends obliquely from left to right and from bottom to top. Thus, when the battery 2 is inserted into the battery compartment of the quadruped robot 5, the cutting surface 114 can slide against the quadruped robot 5, causing the telescopic buckle 11 to gradually retract to the inside of the battery 2.

[0037] The mounting portion 113 has a positioning groove 116 into which a portion of the elastic member 12 extends, and an extension wall 117 extending along the telescoping direction of the elastic member 12. The end of the elastic member 12 is inserted into the positioning groove 116, which can position the installation of the elastic member 12 and prevent the elastic member 12 from falling off. The extension wall 117 positions the elastic member 12 in the length direction of the elastic member 12 and prevents the elastic member 12 from shifting.

[0038] The battery 2 has an end cap 21 on its outward-facing side. This end cap 21 has a shielding part 211 located at the corresponding position of the unlocking member 3. The shielding part 211 is used to shield the internal component structure of the end cap 21, making the end cap's shape simpler. The outer side of the extension arm 117 can abut against the inner side of the shielding part 211, so that the extension arm 117 slides against the inner side of the shielding part 211, ensuring the translation of the telescopic buckle 11 and preventing the sliding trajectory of the telescopic buckle 11 from deviating.

[0039] The end cap 21 forms a limiting cavity 212 for engaging the elastic member 12, such that one end of the elastic member 12 abuts against the inner bottom surface of the positioning groove 116, and the other end abuts against the end face of the limiting cavity 212. The end cap 21 also forms a notch 213 and a through hole 214 for the telescopic buckle 11 to pass through. The through hole 214 is provided corresponding to the locking part 4, that is, the through hole 214 is located on the side of the battery 2 that is attached to the quadruped robot 5. Specifically, the locking part 4 can be a slot structure with the opening facing the through hole 214, as long as it can prevent the telescopic buckle 11 from detaching from the quadruped robot 5 body 51 in the longitudinal direction of the battery 2. The specific structure is not limited.

[0040] The notch 213 refers to the hollow portion between the end face of the shield 211 and the side wall of the through hole 214 on the end cover 21. In other words, one side wall of the notch 213 is formed by the end face of the shield 211. The unlocking member 3 is connected to the telescopic buckle 11 at the notch 213, so that the bending part 31 and the fastener 6 can move in the notch 213. The notch 213 limits the travel of the telescopic buckle 11, preventing the telescopic buckle 11 from moving excessively into the battery 2, and also preventing the unlocking button 3 from being excessively deformed under external force.

[0041] The locking part 112 has a locking step 115, which can abut against the side wall of the through hole 214, thereby preventing the telescopic buckle 11 from moving excessively outward of the battery 2 and causing it to detach from the battery 2. As shown in Figure 6, the distance L1 between the end face of the notch 213 and the end face of the bend 31 needs to be less than the length L2 between the end of the telescopic buckle 11 and the locking step 115, i.e., L1 < L2, to ensure that the telescopic buckle 11 will not detach from the notch 213 during translation.

[0042] As shown in Figures 1-3, the end cap 21 has a concave surface 215 on its outward side. This concave surface 215 at least partially corresponds to the position of the unlocking member 3. Here, the concave surface 215 means that it is recessed inward relative to the vertical plane corresponding to the unlocking member 3. Moreover, the width of the concave surface 215 is greater than or equal to the width of the unlocking member 3, thereby forming a pulling gap 7 between the concave surface 215 and the inner side of the unlocking member 3. The operator can put his hand into the pulling gap 7 to pull the unlocking member 3 outward to unlock it.

[0043] The unlocking component 3 is flat. When the battery 2 is locked inside the body 51 of the quadruped robot 5, and the unlocking component 3 is not pulled by external force, the unlocking component 3 is parallel to the concave surface 215. Here, parallel means parallel to the first direction. That is, the unlocking component 3 is stretched to a flat state under the pull of the telescopic buckles 11 on both sides, so that the unlocking component 3 will not protrude from the surface of the end cap 21, and the overall structure is simpler.

[0044] As shown in Figures 5-7, regarding the fixed assembly of the unlocking component 3 and the battery 2, the unlocking component 3 is connected to the connecting part 111 via fastener 6. Specifically, the end of the unlocking component 3 forms a bent portion 31. The fastener 6 includes a first fastener 61 and a second fastener 62. The first fastener 61 passes through the connecting part 111 and the bent portion 31 and is connected to the second fastener 62, thereby causing the connecting part 111 and the second fastener 62 to clamp the bent portion 31 towards each other, forming a pull gap 7 between the battery 2 and the unlocking component 3. The pull gap 7 is located between the inner side of the unlocking component 3 and the outer side of the blocking part 211. The thickness of the second fastener 62 also contributes to the pull gap 7, thereby providing sufficient space for the operator to insert their hand into the pull gap 7 to perform an outward pulling action to unlock the unlocking component 3.

[0045] When it is necessary to remove battery 2 from the torso 51 of quadruped robot 5, an external force is applied to pull the unlocking component 3 outward. Specifically, the operator can pull the unlocking component 3 in the middle area with one hand. The unlocking component 3 is elastic and can deform. This deformation causes the middle of the unlocking component 3 to bulge outward, and the two sides of the unlocking component 3 to move towards each other. This, in turn, causes the telescopic latches 11 on both sides to move towards each other in a synchronized manner. That is, the two telescopic latches 11 move towards each other in a synchronized manner along the first direction. Once the telescopic latches 11 are completely disengaged from the locking part, or in other words, the telescopic latches 11 are close to being completely disengaged from the locking part, the battery 2 moves as a whole in the direction of detachment from quadruped robot 5 under the pulling action of the unlocking component 3. That is, the battery 2, along with the telescopic component 1, moves as a whole along the second direction, so that the battery 2 can quickly detach from the torso 51 of quadruped robot 5. The whole action is fast and smooth, and the operator does not need to change his or her actions.

[0046] When it is necessary to install battery 2 into the battery compartment of the quadruped robot 5 body 51, battery 2 can also be lifted up using unlocking component 3. At this time, not only is battery 2 lifted up, but the telescopic buckles 11 on both sides also retract into the inside of battery 2 under the pull of unlocking component 3. That is, one action realizes the transfer of battery 2 and the inward pull of telescopic buckles 11, thus making it convenient to put battery 2 into the battery compartment of the quadruped robot 5 body 51.

[0047] The above specific embodiments are used to explain and illustrate the present invention, but not to limit the present invention. Any modifications and changes made to the present invention within the spirit and scope of the claims shall fall within the protection scope of the present invention.

Claims

1. A quadruped robot comprising a trunk (51), leg portions (52) movably connected to the trunk (51), and a battery (2) detachably connected to the trunk (51), characterized in that, The battery (2) is connected with the trunk (51) by a battery dismounting structure, which comprises: a telescopic assembly (1) arranged on both sides of the battery (2) and comprising a telescopic buckle (11) and an elastic member (12) abutting against the telescopic buckle (11); an unlocking member (3) in a flat shape and capable of deforming under external force, and both sides of the unlocking member (3) are connected to the telescopic buckle (11); a locking portion arranged on the trunk of the quadruped robot (5) and corresponding to the telescopic buckle (11); external force is applied to pull the unlocking member (3) and make it deform, and both sides of the telescopic buckle (11) move synchronously to disengage from the locking portion, so as to dismount the battery (2) from the quadruped robot (5).

2. The quadruped robot of claim 1, wherein: The telescopic buckle (11) can move along a first direction to enter or disengage from the locking portion, and the battery (2) can move along a second direction to be dismounted or mounted on the trunk of the quadruped robot (5), external force is applied to pull the unlocking member (3), in a first time period, the telescopic buckle (11) moves along the first direction to disengage from the locking portion, in a second time period, the battery (2) moves along the second direction to move away from the quadruped robot (5), the first time period and the second time period are continuous, or the first time period and the second time period at least partially overlap.

3. The quadruped robot of claim 2, wherein: The first direction and the second direction are perpendicular, and the pulling direction of the unlocking member (3) is away from the quadruped robot (5).

4. The quadruped robot of claim 1, wherein: The telescopic buckle (11) comprises a connecting portion (111), a locking portion (112) and a mounting portion (113), and the unlocking member (3) is connected to the connecting portion (111) by a fastener (6).

5. The quadruped robot of claim 4, wherein: The end of the unlocking member (3) forms a bending portion (31), the fastener (6) comprises a first fastener body (61) and a second fastener body (62), the first fastener body (61) passes through the connecting portion (111) and the bending portion (31) and is connected to the second fastener body (62), so that the connecting portion (111) and the second fastener body (62) clamp the bending portion (31) and form a pulling gap (7) between the battery (2) and the unlocking member (3).

6. The quadruped robot of claim 4, wherein: The locking portion (112) forms a cutting surface (114) with a decreasing width, and the cutting surface (114) extends from the locking portion to the battery (2) and is inclined from outside to inside.

7. The quadruped robot of claim 4, wherein: The mounting portion (113) has a positioning groove (116) for the elastic member (12) to extend into and an extension wall (117) extending along the telescopic direction of the elastic member (12), the battery (2) has an end cover (21) provided with a shielding portion (211), and the extension wall (117) can slide against the inner side surface of the shielding portion (211).

8. The quadruped robot of claim 7, wherein: The end cover (21) forms a limiting cavity (212) for clamping the elastic member (12), a notch groove (213) and a through hole (214) for the telescopic buckle (11) to pass through, the through hole (214) corresponds to the locking portion (4), the unlocking member (3) is connected to the telescopic buckle (11) at the notch groove (213), and the notch groove (213) limits the movement stroke of the telescopic buckle (11).

9. The quadruped robot of claim 8, wherein: The locking part (112) has a locking step (115) which can abut against the side wall of the through hole (214) to prevent the telescopic buckle (11) from being separated.

10. The quadruped robot of claim 8, wherein: One side wall of the notch groove (213) is formed by the end face of the shielding part (211).

11. The quadruped robot of claim 8, wherein: The end cover (21) forms an inner concave surface (215) which at least partially corresponds to the position of the unlocking part (3) to form a pulling gap (7) between the inner concave surface (215) and the inner side surface of the unlocking part (3), and the width of the inner concave surface (215) is greater than or equal to the width of the unlocking part (3).

12. The quadruped robot of claim 11, wherein: The unlocking part (3) is parallelly accommodated in the inner concave surface (215) when it is not pulled by external force.

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