CN112208666A - Trunk structure and quadruped robot - Google Patents
Trunk structure and quadruped robot Download PDFInfo
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- CN112208666A CN112208666A CN202010870852.1A CN202010870852A CN112208666A CN 112208666 A CN112208666 A CN 112208666A CN 202010870852 A CN202010870852 A CN 202010870852A CN 112208666 A CN112208666 A CN 112208666A
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- 230000007246 mechanism Effects 0.000 abstract description 27
- 230000008859 change Effects 0.000 description 4
- 241001465754 Metazoa Species 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 239000011664 nicotinic acid Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
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- Combustion & Propulsion (AREA)
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Abstract
The invention provides a trunk structure and a quadruped robot, wherein the trunk structure comprises a trunk frame, a battery pack detachably connected to the trunk frame, a master control box detachably connected to the trunk frame and a leg connecting structure fixed to the trunk frame, the trunk frame comprises a middle component and two end components, the two end components are respectively connected to two ends of the middle component, the two end components are both connected with the leg connecting structure, the middle component is provided with a battery cavity for accommodating the battery pack, and the master control box is detachably connected to the middle component. According to the trunk structure and the quadruped robot, the battery pack, the main control box and the leg mechanism are all arranged in a modularized mode, and replacement is convenient. Moreover, one end component, the middle component and the other end component which are connected in sequence are arranged, so that the trunk frame is simple in structure and light in weight, the power required by the quadruped robot is reduced, and the overall rigidity of the trunk frame is improved.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a trunk structure and a quadruped robot.
Background
The quadruped robot takes quadruped animals as bionic objects, has the potential capability of flexible movement like the quadruped animals, has better stability than the biped robot, has simple structure than the hexapod robot, and can be used in a plurality of fields such as disaster relief, exploration for surveying, security and inspection and the like. However, the trunk part of the conventional four-footed robot has large mass, a complex structure and low strength, and when the robot is applied to a hard environment, the robot has insufficient power and is easy to damage, and the main parts are not easy to replace after being damaged.
Disclosure of Invention
The embodiment of the invention aims to provide a trunk structure and a quadruped robot, and aims to solve the technical problems that the quadruped robot in the prior art is insufficient in power, easy to damage and difficult to replace parts.
In order to achieve the purpose, the invention adopts the technical scheme that: the utility model provides a trunk structure, including the trunk frame, can dismantle connect in the battery package of trunk frame, can dismantle connect in the main control case of trunk frame and be fixed in the shank connection structure of trunk frame, the trunk frame includes middle part component and two end members, two the end member connect respectively in the both ends of middle part component, two the end member all is connected with shank connection structure, the middle part component has and is used for holding the battery chamber of battery package, just the main control case can dismantle connect in the middle part component.
In one embodiment, the middle member comprises a box body with the battery cavity and a locking assembly for locking the battery pack, the battery cavity is provided with an access opening for placing and taking out the battery pack, and the locking assembly is arranged at the access opening.
In one embodiment, the box body comprises a box bottom wall facing the access opening and a box side wall connected to the box bottom wall, the box side wall extends in a direction back to the battery cavity to form an annular boss, and one side of the master control box extends into a space defined by the annular boss.
In one embodiment, the main control box is fixed to the annular boss through a screw, a first connecting hole is formed in the side wall of the annular boss, a second connecting hole is formed in the side wall of the main control box extending into the annular boss, and the screw penetrates through the first connecting hole and the second connecting hole.
In one embodiment, an avoiding opening is formed in the bottom wall of the main control box, and an electric interface of the main control box penetrates through the avoiding opening and is connected with the battery pack in an inserting mode.
In one embodiment, the locking assembly includes a locking seat fixed on one side of the box body close to the access opening, a sliding structure slidably connected in the locking seat, and a first elastic member elastically connected between the locking seat and the sliding structure, the sliding structure has a first lock catch, the first lock catch has a first guide inclined plane, a side surface of the battery pack is provided with a second lock catch used for locking with the first lock catch, and the second lock catch has a second guide inclined plane used for pushing the sliding structure in cooperation with the first guide inclined plane.
In one embodiment, the box bottom wall of the box body is provided with a second elastic piece used for ejecting the battery pack from the taking and placing opening.
In one embodiment, the leg connecting structure comprises a steering engine frame, a first supporting plate and a second supporting plate, the first supporting plate is used for supporting one end of the steering engine frame, the second supporting plate is used for supporting the other end of the steering engine frame, two ends of the steering engine frame are respectively connected to the first supporting plate and the second supporting plate in a rotating mode, the first supporting plate is fixed to the end component, and the second supporting plate is fixed to the middle component.
In one embodiment, the trunk frame further comprises two protection plates respectively arranged on two sides of the middle member, the protection plates are fixed on the second support plate, and an accommodating cavity for accommodating the lateral steering engine is defined by the protection plates and the middle member.
The invention also provides a quadruped robot which comprises the trunk structure.
The trunk structure and the quadruped robot provided by the invention have the beneficial effects that: compared with the prior art, the trunk structure comprises the trunk frame, the battery pack, the main control box and the leg connecting structure, wherein the trunk frame comprises the middle component and the two end components, the battery pack and the main control box are detachably connected to the middle component, the battery pack and the main control box can be replaced more conveniently, legs are connected to the trunk structure through the leg connecting structure, and the leg mechanisms also become independent modules and can be replaced in time when one leg mechanism is damaged. Through setting up one of them tip component, middle part component and another tip component that connects gradually for the structure of truck frame is comparatively simple, the quality is lighter, reduces the required power of four-footed robot, on the basis that satisfies battery package, master control case and shank connection structure, the bulk rigidity of truck structure improves to some extent, reduces the possibility of four-footed robot damage.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a perspective view of a torso structure provided in accordance with an embodiment of the present invention;
FIG. 2 is an exploded view of a torso structure provided by an embodiment of the present invention;
FIG. 3 is an exploded view of the middle member, the battery pack and the console box according to an embodiment of the present invention;
FIG. 4 is a perspective view of a body according to an embodiment of the present invention;
FIG. 5 is an exploded view of a locking assembly provided by an embodiment of the present invention;
FIG. 6 is an enlarged view of a portion of FIG. 3;
FIG. 7 is a partial enlarged view of B in FIG. 3;
fig. 8 is a perspective view of a quadruped robot according to an embodiment of the present invention.
Wherein, in the figures, the respective reference numerals:
100-torso structure; 1-a torso frame; 11-a middle member; 111-a box body; 1111-bottom wall of the tank; 11110-dodge mouth; 1112-tank side walls; 1113-an annular boss; 11130-first connection hole; 112-a locking assembly; 1121-locking seat; 11210-sliding hole; 1122-a sliding structure; 1123-sliding rod; 11231 — first locking catch; 11232-first guide ramp; 11233-shaft portion; 1124-key seat; 11241-key section; 11242-sliding bar; 1113-an annular boss; 1114-a pick-and-place port; 12-an end member; 13-a protective plate; 2-a battery pack; 21-a second lock catch; 211-a second guiding ramp; 3-a master control box; 31-a second connection hole; 32-an electrical interface; 33-a boss; 4-a leg connection structure; 41-a first support plate; 42-a second support plate; 43-steering engine frame;
200-leg mechanism.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings, which is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and is therefore not to be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
A torso structure 100 provided by an embodiment of the present invention will now be described.
Referring to fig. 1 and 2, in one embodiment of the present invention, the trunk structure 100 includes a trunk frame 1, a battery pack 2, a main control box 3, and a leg connection structure 4. The battery pack 2 powers the robot and the master box 3 can be used to control the leg mechanisms 200 in the robot. The battery pack 2, the main control box 3 and the leg connecting structure 4 are all connected to the trunk frame 1, the leg connecting structure 4 is used for connecting the leg mechanism 200, and the leg mechanism 200 is used for walking. When the torso structure 100 is applied to a four-legged robot, the number of leg mechanisms 200 is four. The torso frame 1 comprises a midsection member 11 and two end members 12, the two end members 12 being connected to the two ends of the midsection member 11, respectively, i.e. one of the end members 12, the midsection member 11 and the other end member 12 are connected in sequence. The leg connecting structure 4 is connected to the end member 12 and/or the middle member 11, and the battery pack 2 and the console box 3 are provided in the middle member 11. The number of the leg connecting structures 4 can be two, four, six, etc., each leg connecting structure 4 is used for connecting the leg mechanisms 200, the number of the leg connecting structures 4 is equal to that of the leg mechanisms 200, and the trunk structure 100 is suitable for the multi-legged robot. The main control box 3 and the battery pack 2 can be detachably connected to the middle component 11, so that the main control box 3 and the battery pack 2 can be more easily disassembled, assembled and replaced, and the trunk structure 100 is modularized. The middle member 11 has a battery cavity for accommodating the battery pack 2, and the middle member 11 protects the battery pack 2 to prevent the battery pack 2 from being damaged when the trunk structure 100 is impacted. Furthermore, in the multi-legged robot having the trunk structure 100, the leg mechanism 200 is detachably connected to the leg connection structure 4, so that when one of the leg mechanisms 200 is damaged, the leg mechanism 200 can be quickly replaced, and the multi-legged robot is suitable for a worse use scene.
Torso structure 100 in the above-mentioned embodiment, including torso frame 1, battery package 2, master control box 3 and shank connection structure 4, torso frame 1 includes middle part component 11 and two tip members 12, battery package 2 and master control box 3 can dismantle and connect in middle part component 11, change battery package 2 and master control box 3 that can be more convenient, and shank mechanism 200 all connects on torso structure 100 through shank connection structure 4, make shank mechanism 200 also become independent module, when one of them shank mechanism 200 damages, can in time change. Through setting up one of them end member 12, middle part component 11 and another end member 12 that connect gradually for truck frame 1's structure is comparatively simple, the quality is lighter, reduces the required power of four-footed robot, satisfies the basis of installing battery package 2, master control case 3 and shank connection structure 4, and truck structure 100's bulk rigidity improves to some extent, reduces the possibility of four-footed robot damage.
In one embodiment of the present invention, referring to fig. 2 and 3, the middle member 11 includes a box 111 and a locking assembly 112, and when the battery pack 2 is located in the battery cavity, the locking assembly 112 is used for locking the battery pack 2 to prevent the battery pack 2 from falling off. The box 111 has the above-mentioned battery cavity, and the battery cavity has the access opening 1114, and the battery pack 2 is put into the battery cavity from the access opening 1114, or the battery pack 2 is taken out from the access opening 1114. The locking assembly 112 is disposed at the access opening 1114 to prevent the battery pack 2 from falling out of the access opening 1114.
Optionally, referring to fig. 4, the box body 111 includes a box bottom wall 1111 and a box side wall 1112, the box side wall 1112 is connected to an edge of the box bottom wall 1111, and a side of the box side wall 1112 away from the box bottom wall 1111 is enclosed to form the access opening 1114. Case lateral wall 1112 extends towards the direction that is dorsad the battery chamber and forms annular boss 1113, and one side of master control case 3 stretches into the space that annular boss 1113 encloses, makes in the space that master control case 3 part embedding annular boss 1113 encloses, prevents that master control case 3 from rocking about. In this embodiment, the main control box 3 is fixed to the bottom of the box body 111, i.e., to the annular boss 1113, by screws. Specifically, the side wall of the annular boss 1113 is provided with a first connection hole 11130, the side wall of the part of the main control box 3 extending into the annular boss 1113 is provided with a second connection hole 31, and the screw passes through the first connection hole 11130 and the second connection hole 31, so that the main control box 3 is fixed on the box bottom wall 1111. When the battery pack 2 is square, the case 111 is a square case, the case side wall 1112 is enclosed by four side plates, the annular protrusion 1113 has four side walls, and at least two opposite side walls are provided with the first connecting hole 11130. Optionally, the main control box 3 has a protruding portion 33 extending into the annular boss 1113, and the structural size of the protruding portion 33 is matched with the inner wall size of the annular boss 1113, so that the length and width of the main control box 3 can be the same as those of the box body 111, and the appearance surface of the trunk structure 100 is smoother.
Optionally, referring to fig. 4, the bottom wall 1111 of the box is provided with an avoiding opening 11110, since the main control box 3 needs to be electrically connected to the battery pack 2, the battery pack 2 needs to provide power for the main control box 3, and the electrical interface 32 of the main control box 3 passes through the avoiding opening 11110 to enter the battery cavity, so that the electrical interface 32 can be plugged into the battery pack 2.
In one embodiment of the present invention, referring to fig. 5 to fig. 7, the locking assembly 112 includes a locking seat 1121, a sliding structure 1122 and a first elastic member, the locking seat 1121 is fixed to a side of the box 111 close to the access opening 1114, and specifically, the locking seat 1121 is fixed to a side of the box sidewall 1112 far from the box bottom wall 1111. The sliding structure 1122 is slidably connected to the locking seat 1121, and two ends of the first elastic element are respectively connected to the sliding structure 1122 and the locking seat 1121. The sliding structure 1122 has a first catch 11231, and the first catch 11231 has a first guide slope 11232. The side of the battery pack 2 is provided with a second locking catch 21, and the second locking catch 21 is used for locking with the first locking catch 11231, so that the battery pack 2 is locked in the battery cavity. The second locker 21 has a second guide slope 211, and the second guide slope 211 is adapted to cooperate with the first guide slope 11232. Specifically, when the battery pack 2 is loaded, the second guide slope 211 on the second locking catch 21 of the battery pack 2 is matched with the first guide slope 11232, the second guide slope 211 moves downward with the downward movement of the battery pack 2, the downward movement of the second guide slope 211 pushes the first guide slope 11232 on the first locking catch 11231 to move horizontally, the first locking catch 11231 moves horizontally, the horizontal movement of the first locking catch 11231 compresses the first elastic member, when the second guide slope 211 and the first guide slope 11232 move relatively to be staggered with each other, the second locking catch 21 is completely located below the first locking catch 11231, and the first locking catch 11231 springs back horizontally under the elastic force of the first elastic member, so that the first locking catch 11231 presses the second locking catch 21, and the battery pack 2 is prevented from falling from the access opening 1114 of the box 111. When the battery pack 2 is disassembled, the first locker 11231 is pushed to compress the first elastic member, and at this time, the first locker 11231 and the second locker 21 are misaligned with each other, and then the battery pack 2 is taken out.
Optionally, the bottom wall 1111 of the box 111 is provided with a second elastic member, and when the battery pack 2 is placed in the battery cavity, two ends of the second elastic member abut against the bottom wall 1111 and the battery pack 2, respectively. The setting of second elastic component can be when placing battery package 2, cushions battery package 2, and the setting of second elastic component can also be when dismantling battery package 2, and battery package 2 auto-eject. The number of the second elastic members is multiple, and the second elastic members can be selected from springs such as disc springs. Optionally, the first elastic member is also a spring.
Optionally, the number of the locking assemblies 112 is two, and the two locking assemblies are respectively disposed on two opposite sides of the case side wall 1112, so that both sides of the battery pack 2 are locked, and it is ensured that the battery pack 2 does not fall off when the robot works. The locking seat 1121 of each locking assembly 112 may be integrally formed as a frame-shaped seat that can be fastened to the tank sidewall 1112 by fasteners.
Optionally, the sliding structure 1122 includes a sliding rod 1123 and a key base 1124 fixed to the sliding rod 1123. The sliding rod 1123 comprises a rod portion 11233 and a first lock 11231 fixed at one end of the rod portion 11233, the lock holder 1121 is provided with a sliding hole 11210, the rod portion 11233 is slidably connected in the sliding hole 11210, one end of the first elastic member abuts against the bottom wall of the sliding hole 11210, and the other end of the first elastic member abuts against the end portion of the rod portion 11233. The key base 1124 and the sliding rod 1123 are separated, so that the sliding rod 1123 can be conveniently installed. The key base 1124 includes a key portion 11241 and a sliding bar 11242 connected to two sides of the key base 1124, respectively, and the sliding bar 11242 is also slidably connected to the locking base 1121. The key base 1124 is inclined away from the first elastic member and has an anti-slip portion for facilitating the horizontal movement of the key base 1124 when the hand pushes the key base 1124.
Optionally, the top of battery package 2 is provided with the handle, and the handle rotates to be connected in the top of battery package 2, puts into or takes out when battery package 2 when needs, can rotate the handle to perpendicular with the top of battery package 2, conveniently gets and puts battery package 2.
In one embodiment of the present invention, referring to fig. 1 and 2, the leg connecting structure 4 includes a steering engine frame 43, a first support plate 41 and a second support plate 42. The steering engine frame 43 is used for installing a front swing steering engine for driving the leg mechanism 200 to swing forwards, the steering engine frame 43 is driven by a side steering engine, and the side steering engine can drive the steering engine frame 43 and the leg mechanism 200 to swing laterally together. The first support plate 41 is used for supporting one end of the steering engine frame 43, and the second support plate 42 is used for supporting the other end of the steering engine frame 43. More specifically, steering wheel frame 43 can rotate relative to first backup pad 41 and second backup pad 42, and the output of lateral part steering wheel is supported by second backup pad 42, and wherein one end of steering wheel frame 43 plays the supporting role in being equivalent to, and the other end of steering wheel frame 43 is then supported by first backup pad 41.
The first support plate 41 is fixed to the end member 12, and the second support plate 42 is fixed to the middle member 11, so that the steering engine frame 43 is erected on the side surface of the end member 12 and is further fixed to the trunk frame 1.
Alternatively, the number of the leg connecting structures 4 is equal to the number of the leg mechanisms 200, and each leg connecting structure 4 is connected with one leg mechanism 200. For example, when the number of the leg mechanisms 200 is four, the number of the leg connecting structures 4 is also four, two of the leg connecting structures 4 are respectively disposed on two opposite sides of one of the end members 12, and the other two leg connecting structures 4 are respectively disposed on two opposite sides of the other end member 12.
Optionally, the end member 12 is recessed towards the side of the steering engine frame 43, so that the front swing steering engine can extend into the recessed part, the overall size of the robot is reduced, and the strength of the trunk structure 100 cannot be damaged.
In one embodiment of the present invention, referring to fig. 1 and fig. 2, the trunk frame 1 includes a middle member 11 and an end member 12, and further includes two protection plates 13, the two protection plates 13 are respectively disposed on two sides of the middle member 11, and the protection plates 13 are used for protecting the side steering gears. More specifically, an accommodating cavity is formed between the protective plate 13 and the side face of the middle frame, and can accommodate a side steering engine and protect the side steering engine. When the side steering engine is cylindrical, the protection plate 13 can be an arc plate matched with the surface shape of the side steering engine. Correspondingly, the side of box 111 towards the side steering wheel is the concave arc setting for the side steering wheel more laminates with the side of box 111, has the positioning action to the side steering wheel.
The quadruped robot provided by the embodiment of the present invention will now be explained.
Referring to fig. 8, the present invention further provides a quadruped robot, which includes the trunk structure 100 in any of the embodiments, and further includes four leg mechanisms 200, the leg mechanisms 200 are used for walking, and the leg mechanisms 200 are connected to the corresponding leg connecting structures 4.
The four-footed robot in the above-mentioned embodiment, the foretell trunk structure 100 has been adopted, trunk structure 100 includes trunk frame 1, battery package 2, master control case 3 and shank connection structure 4, trunk frame 1 includes middle part component 11 and two tip members 12, battery package 2 and master control case 3 can dismantle and connect in middle part component 11, change battery package 2 and master control case 3 that can be more convenient, and shank mechanism 200 all connects on trunk structure 100 through shank connection structure 4, make shank mechanism 200 also become independent module, when one of them shank mechanism 200 damages, can in time change. Through setting up one of them end member 12, middle part component 11 and another end member 12 that connect gradually for truck frame 1's structure is comparatively simple, the quality is lighter, reduces the required power of four-footed robot, satisfies the basis of installing battery package 2, master control case 3 and shank connection structure 4, and truck structure 100's bulk rigidity improves to some extent, reduces the possibility of four-footed robot damage.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A torso structure, characterized by: including the truck frame, can dismantle connect in the battery package of truck frame, can dismantle connect in the master control case of truck frame and be fixed in the shank connection structure of truck frame, the truck frame includes middle part component and two end member, two the end member connect respectively in the both ends of middle part component, two the end member all is connected with shank connection structure, the middle part component has and is used for holding the battery chamber of battery package, just the master control case can dismantle connect in the middle part component.
2. The torso structure of claim 1, wherein: the middle component comprises a box body with a battery cavity and a locking assembly for locking the battery pack, the battery cavity is provided with a taking and placing opening for taking the battery pack in and out, and the locking assembly is arranged at the taking and placing opening.
3. The torso structure of claim 2, wherein: the box body comprises a box bottom wall right facing the taking and placing opening and a box side wall connected to the box bottom wall, the box side wall extends in a direction back to the battery cavity to form an annular boss, and one side of the main control box extends into a space surrounded by the annular boss.
4. The torso structure of claim 3, wherein: the main control box is fixed in the annular boss through a threaded part, a first connecting hole is formed in the side wall of the annular boss, the main control box stretches into a second connecting hole formed in the side wall in the annular boss, and the threaded part penetrates through the first connecting hole and the second connecting hole.
5. The torso structure of claim 3, wherein: and an avoiding opening for the electric interface of the main control box to penetrate through and be connected with the battery pack in an inserting mode is formed in the bottom wall of the box.
6. The torso structure of claim 2, wherein: the locking assembly comprises a locking seat fixed on one side of the box body close to the taking and placing port, a sliding structure and an elastic piece, wherein the sliding structure is connected to the locking seat, the sliding structure is connected to the first elastic piece between the locking seat and the sliding structure in an elastic mode, the sliding structure is provided with a first lock catch, the first lock catch is provided with a first guide inclined plane, the side face of the battery pack is provided with a second lock catch used for being locked by the first lock catch, and the second lock catch is provided with a second guide inclined plane used for being matched with the first guide inclined plane to push the sliding structure.
7. The torso structure of claim 6, wherein: and a second elastic piece for ejecting the battery pack from the taking and placing opening is arranged on the bottom wall of the box body.
8. The torso structure of claim 1, wherein: the leg connecting structure comprises a steering engine frame, a first supporting plate and a second supporting plate, the first supporting plate is used for supporting one end of the steering engine frame, the second supporting plate is used for supporting the other end of the steering engine frame, two ends of the steering engine frame are respectively connected with the first supporting plate and the second supporting plate in a rotating mode, the first supporting plate is fixed on the end part component, and the second supporting plate is fixed on the middle part component.
9. The torso structure of claim 8, wherein: the trunk frame further comprises two protection plates which are arranged on two sides of the middle component respectively, the protection plates are fixed on the second supporting plate, and the protection plates and the middle component form a containing cavity for containing a lateral steering engine in a surrounding mode.
10. A quadruped robot, characterized in that: comprising a torso structure as claimed in any of claims 1 to 9.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010870852.1A CN112208666A (en) | 2020-08-26 | 2020-08-26 | Trunk structure and quadruped robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010870852.1A CN112208666A (en) | 2020-08-26 | 2020-08-26 | Trunk structure and quadruped robot |
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| CN112208666A true CN112208666A (en) | 2021-01-12 |
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| CN202010870852.1A Pending CN112208666A (en) | 2020-08-26 | 2020-08-26 | Trunk structure and quadruped robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112720533A (en) * | 2021-01-19 | 2021-04-30 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Robot body and quadruped robot |
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| CN112720533A (en) * | 2021-01-19 | 2021-04-30 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Robot body and quadruped robot |
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Application publication date: 20210112 |