CN215968853U

CN215968853U - Head structure and robot

Info

Publication number: CN215968853U
Application number: CN202120661171.4U
Authority: CN
Inventors: 祖光辉
Original assignee: Dreame Innovation Technology Suzhou Co Ltd
Current assignee: Beijing Xiaomi Mobile Software Co Ltd; Dreame Innovation Technology Suzhou Co Ltd
Priority date: 2021-03-31
Filing date: 2021-03-31
Publication date: 2022-03-08
Anticipated expiration: 2031-03-31

Abstract

The utility model discloses a head structure and a robot with the same, wherein the head structure comprises: the rear shell is detachably connected with the front shell, and a cavity for accommodating electronic components is formed between the front shell and the rear shell; the procapsid with back casing cooperation forms first connecting portion, first connecting portion are used for being connected with the fuselage of robot, just first connecting portion are provided with the intercommunication the cavity with the inside line passageway of walking of fuselage. Through setting the head structure to the form that can dismantle the procapsid and the back casing of connection, its structure is simpler, can install and remove installation electronic components conveniently after taking apart procapsid and back casing, in addition, the first connecting portion that forms through the cooperation of procapsid and back casing links to each other with the fuselage, can make the head structure more convenient, laborsaving with being connected of fuselage.

Description

Head structure and robot

[ technical field ] A method for producing a semiconductor device

The utility model relates to the technical field of robots, in particular to a head structure and a robot.

[ background of the utility model ]

The biomimetic robot can be formed in a variety of different configurations, for example the biomimetic robot can be formed in a dog-like configuration. The bionic robot generally comprises a robot body, a head and legs, wherein the head and the legs are connected to the robot body, the legs are used for supporting the robot body and driving the robot body to walk, the head is used for observing the environment and judging obstacles, so that the robot can determine the advancing direction or walking mode according to the positions of the obstacles, and the obstacle passing capacity and terrain adaptability of the robot are enhanced.

The head of the robot in the related art usually imitates the head shape of a biological dog, and has complex shape and structure and inconvenient assembly and disassembly, and moreover, the head in the related art has large weight due to large volume of a shell and usually extends to the upper part of a machine body, so that the gravity center of the robot is unstable, and the robot is not favorable for quick and stable movement.

Accordingly, there is a need for improvement in the related art to overcome the disadvantages of the related art.

[ Utility model ] content

The utility model aims to provide a head structure and a robot.

The purpose of the utility model is realized by the following technical scheme:

in one aspect, an embodiment of the present invention provides a head structure, including:

a front housing; and

the rear shell is detachably connected with the front shell, and a cavity for accommodating the electronic component is formed between the rear shell and the front shell;

the procapsid with back casing cooperation forms first connecting portion, first connecting portion are used for being connected with the fuselage of robot, just first connecting portion are provided with the intercommunication the cavity with the inside line passageway of walking of fuselage.

Further, the head structure further comprises a supporting shell connected between the rear shell and the machine body, the supporting shell is located below the first connecting portion, and a cavity is formed between the rear shell, the supporting shell and the machine body.

Further, the first connecting portion and/or the support housing are inserted into the body.

Further, a sealing strip is arranged between the front shell and the rear shell.

Furthermore, the head structure further comprises a tail sealing ring which is tightly abutted between the end face of the first connecting part and the machine body.

Further, the procapsid with back casing is the arc casing, back casing is than the procapsid is closer to the fuselage.

Further, the front shell is provided with one or more first threaded hole columns extending towards the rear shell, the rear shell is provided with one or more counter bores corresponding to the first threaded hole columns, and the front shell and the rear shell are connected through bolts matched and connected in the counter bores and the first threaded hole columns.

In another aspect, an embodiment of the present invention further provides a robot, which includes the head structure as described in any one of the above, and a body connected to the head structure.

Furthermore, the body is provided with a jack connected with the first connecting part in a matching mode, and the bottom surface of the jack is provided with a wiring hole communicated with the wiring channel and the inside of the body.

Furthermore, the machine body is further provided with a slot, and the support shell is inserted into the slot.

Compared with the related art, the utility model has the following beneficial effects: through setting the head structure to the form that can dismantle the procapsid and the back casing of connection, its structure is simpler, can install and remove installation electronic components conveniently after taking apart procapsid and back casing, in addition, the first connecting portion that forms through the cooperation of procapsid and back casing links to each other with the fuselage, can make the head structure more convenient, laborsaving with being connected of fuselage.

[ description of the drawings ]

FIG. 1 is a perspective view of a head structure in an embodiment of the utility model.

Fig. 2 is a cross-sectional view of a head structure in an embodiment of the utility model.

Fig. 3 is a perspective view of another view of a head structure in an embodiment of the utility model.

Fig. 4 is a schematic view of a head structure attached to a fuselage in accordance with an embodiment of the present invention.

Fig. 5 is a schematic structural diagram of the body according to an embodiment of the present invention.

Fig. 6 is a sectional view of a connection portion of the first connection portion and the body according to an embodiment of the present invention.

Fig. 7 is a schematic structural diagram of a rear housing according to an embodiment of the utility model.

Fig. 8 is an exploded view of a header structure in accordance with an embodiment of the present invention.

Fig. 9 is an enlarged view of a portion I in fig. 2.

Fig. 10 is a split view of the front housing and the rear housing in an embodiment of the utility model.

[ detailed description ] embodiments

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terms "comprising" and "having," as well as any variations thereof, in this application are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

As shown in fig. 1 to 10, the header structure according to an embodiment of the present invention includes a housing 39, the housing 39 includes a front housing 390 and a rear housing 391 detachably connected to the front housing 390, and a cavity 392 for accommodating electronic components is formed between the front housing 390 and the rear housing 391. The front housing 390 and the rear housing 391 are further cooperatively formed with a first connecting portion 393, the first connecting portion 393 is connected to the main body 200 of the robot, and a routing channel 3930 is formed on the first connecting portion 393 to communicate the cavity 392 with the interior of the main body 200, so that a cable connected to an electronic component can enter the main body 200 through the routing channel 3930.

By providing the housing 39 of the header structure in a form in which the front housing 390 and the rear housing 391 are connected, it is possible to mount electronic components in the cavity 392 when the front housing 390 and the rear housing 391 are in a split state, and then connect the front housing 390 and the rear housing 391 to form the complete housing 39. Meanwhile, the front case 390 and the rear case 391 cooperate to form the first connecting portion 393, and the first connecting portion 393 is connected to the main body 200, so that the housing 39 and the main body 200 can be more conveniently disassembled and assembled, and the reliability of connection between the front case 390 and the rear case 391 is further enhanced.

In order to enhance the connection strength between the head structure and the fuselage 200, the head structure further comprises a support housing 396 connected between the rear housing 391 and the fuselage 200, the first connection portion 393 is connected at a position close to the upper side of the fuselage 200, and the support housing 396 is connected at a position close to the lower side of the fuselage 200, so that a cavity 3913 (the reference numeral is shown in fig. 4) is formed between the rear housing 391, the support housing 396 and the fuselage 200, and thus, the connection strength between the head structure and the fuselage 200 can be better through the structure that the first connection portion 393 is matched with the support housing 396 up and down, and the head structure forms a hollow structure, so that the overall weight of the head structure can be greatly reduced, and the robot can move quickly and stably. Because the head structure forms hollow out construction, and the support casing that adopts the first connecting portion of upside and downside is connected with the fuselage, can be so that the weight of head structure distributes in the direction of perpendicular to fuselage and balances, improves the focus stability of robot, is favorable to the stationary motion of robot.

As an exemplary embodiment, the first connecting portion 393 is inserted into the body 200 to facilitate the detachable connection of the first connecting portion 393 to the body 200. As shown in fig. 5 and 6, an end of the body 200 facing the housing 39 is provided with an inwardly recessed insertion hole 3940, the insertion hole 3940 is adapted to the first connecting portion 393, the first connecting portion 393 can be inserted into the insertion hole 3940, and then the first connecting portion 393 is fixed to the body 200 by means of, for example, bolt connection. It can be understood that, by means of the insertion and fitting, the connection strength and the rigidity between the first connecting portion 393 and the body 200 can be effectively improved, and meanwhile, the sealing performance of the connection between the first connecting portion 393 and the body 200 can also be improved.

As an exemplary embodiment, the support housing 396 is inserted into the main body 200 to facilitate the connection of the support housing 396 to the main body 200. As shown in fig. 5, a slot 3943 is opened at an end of the body 200 facing the housing 39, the support housing 396 is adapted to the slot 3943 and can be inserted into the slot 3943, and then the support housing 396 is fixed to the body 200 by, for example, bolting. It can be understood that, by means of the form of the plug-in fitting, the connection strength and rigidity between the support housing 396 and the fuselage 200 can be effectively improved.

As an exemplary embodiment, the first connecting portion 393 and the support housing 396 are in inserting fit with the main body 200 in the same inserting direction, i.e. the extending directions of the plug 3940 and the slot 3943 are the same, so that the head structure can be installed and then integrally inserted into the main body 200, the head structure can be removed from the main body 200 during disassembly, the disassembly and assembly are easier and more labor-saving,

since electronic components need to be mounted in the housing 39, the housing 39 needs to have better sealing performance, and in this embodiment, as shown in fig. 8 and 9, a sealing strip 395 is provided between the front housing 390 and the rear housing 391. Specifically, front housing 390 is provided with a first outer edge 3907 that interfaces with rear housing 391, and, correspondingly, rear housing 391 is provided with a second outer edge 3914 that interfaces with first outer edge 3907. First outer edge 3907 is provided with first sealing surface 3903 and first sealing land 3904 that protrudes from first sealing surface 3903, second outer edge 3914 is provided with second sealing surface 3911 and second sealing land 3912 that protrudes from second sealing surface 3911, first sealing land 3904 and second sealing surface 3911 are in abutment, and sealing strip 395 is provided between first sealing surface 3903 and second sealing land 3912 to provide a reliable seal between the abutting first outer edge 3907 and second outer edge 3914. In order to make the appearance of the housing 39 more beautiful, the first sealing boss 3904 is located outside the first sealing surface 3903, so that the sealing strip 395 cannot be observed from the outside, the appearance is more beautiful, and the sealing strip 395 is arranged inside, so that a better protection effect can be achieved on the sealing strip 395, and the service life of the sealing strip is prolonged.

To further improve the sealing between the casing 39 and the fuselage 200, as shown in fig. 6 and 8, a tail seal 3932 is disposed on an end face 3931 of the first connecting portion 393 facing the fuselage 200, and the tail seal 3932 abuts against the fuselage 200 at the same time, and more specifically, against a bottom surface 3941 of the insertion hole 3940, so as to prevent liquid from entering the fuselage 200 or the casing 39 from between the first connecting portion 393 and the insertion hole 3940.

Referring to fig. 4, in the present embodiment, the front case 390 and the rear case 391 are both arc-shaped cases, wherein the rear case 391 is closer to the main body 200 than the front case 390, and the front case 390 and the rear case 391 are both gradually bent forward and downward from the main body 200, so that the outer shell 39 is not higher than the main body 200, the center of gravity is lower, and the stability of the robot during movement is better.

In this embodiment, front housing 390 and rear housing 391 are connected by bolts, and specifically, as shown in fig. 10, front housing 390 is provided with a first threaded hole 3900 extending toward rear housing 391, rear housing 391 is provided with a counter bore 3910 corresponding to first threaded hole 3900, and front housing 390 and rear housing 391 can be locked to each other by bolts passing through counter bore 3910 and screwed with first threaded hole 3900. Through bolted connection's mode, the dismouting between realization procapsid 390 and the back casing 391 that can be convenient, simultaneously, the bolt penetrates the back casing 391 from being close to fuselage 200 side and links to each other with procapsid 390, can make the surface that shell 39 is easily observed not appear naked bolt, and is more pleasing to the eye, and water-proof effects is also better. It will be appreciated that the number of first threaded bore posts 3900 and counterbores 3910 are not limited as long as front housing 390 and rear housing 391 can be securely coupled.

In this embodiment, the support housing 396 and the rear housing 391 are connected by bolts, specifically, as shown in fig. 7 and 8, the rear housing 391 is formed with an adapter groove 3916 adapted to an end of the support housing 396, one end of the support housing 396 is inserted into the adapter groove 3916, and the other end is connected to the main body 200. The rear housing 391 is further provided with a plurality of through holes 3917 communicating with the adaptor slots 3916, and the support housing 396 is screwed to the rear housing 391 by bolts passing through the through holes 3917. Since the bolts are not exposed to the outside of the housing 39, the connection structure there has a better aesthetic appearance and waterproofness.

When assembling the head structure, the support housing 396 may be first connected to the rear housing 391 by bolts, and then the rear housing 391 and the front housing 390 are connected by bolts, or the front housing 390 and the rear housing 391 may be connected first, and then the support housing 396 and the rear housing 391 are connected; when the head structure is disassembled, the bolt connected between the front case 390 and the rear case 391 can be disassembled, that is, the front case 390 and the rear case 391 can be separated, the internal electronic components are exposed, and the assembly and disassembly are very convenient. In addition, after the front shell 390 and the rear shell 391 are separated, a large opening can be formed, a sufficient operation space is provided for dismounting and mounting the internal electronic components, and the convenience of dismounting, mounting, maintaining and debugging is greatly improved.

The embodiment of the utility model at least has the following advantages:

1. through setting the head structure to the form that can dismantle the procapsid and the back casing of connection, its structure is simpler, can install and remove installation electronic components conveniently after taking apart procapsid and back casing, in addition, the first connecting portion that forms through the cooperation of procapsid and back casing links to each other with the fuselage, can make the head structure more convenient, laborsaving with being connected of fuselage.

2. Through setting up the support casing of connecting between back casing and fuselage, can improve the fastness that head structure and fuselage are connected greatly, simultaneously, the vacuole formation between back casing, support casing and the fuselage can alleviate head structure's weight to make the weight distribution of head structure in the direction of perpendicular to fuselage balanced, be favorable to quick, the steady motion of robot.

3. Through the sealing strip that sets up between procapsid and the back casing and the afterbody sealing washer that is located between first connecting portion and the fuselage for the head structure has good leakproofness, has formed good protection to inside electronic components, is favorable to guaranteeing the reliability of robot work.

An embodiment of the present invention further provides a robot, as shown in fig. 4, the robot includes a body 200 and the head structure described above, and the head structure is connected to the body 200.

Further, as shown in fig. 4 to fig. 6, the first connecting portion 393 and the support housing 396 are both plugged into the main body 200, that is, the main body 200 is provided with a plug hole 3940 adapted to the first connecting portion 393, and a hole bottom 3941 of the plug hole 3940 is provided with a wire routing channel 3930 and a wire routing hole 3942 inside the main body 200, so that the cable inside the housing 39 can pass through the wire routing channel 3930 and the wire routing hole 3942 and then enter the main body 200. At a position where the rear housing 391 forms the first connecting portion 393, the rear housing 391 is provided with a second screw hole post 3915 extending toward the front housing 390, and the first connecting portion 393 is fixed to the main body 200 by connecting the second screw hole post 3915 with a bolt passing through the main body 200.

Further, the body 200 further defines a slot 3943 for inserting into the supporting housing 396. The insertion groove 3943 is communicated with the lower surface of the main body 200 to reduce the requirement for the positional accuracy between the first connecting portion 393 and the support housing 396, and the support housing 396 is fastened to the main body 200 by bolts passing through the support housing 396 from the lower side to the upper side.

When the head structure is mounted to the body 200, the connection can be completed only by inserting the head structure into the body 200 and then locking the bolt. When disassembling, the bolt connected between the body 200 and the head structure is disassembled first, and then the head structure is drawn out, so that the disassembly and the assembly between the head structure and the body 200 are very convenient.

As an exemplary embodiment, the robot is a quadruped robot.

The embodiment of the utility model at least has the following advantages:

2. The supporting shell connected between the back shell and the machine body can greatly improve the firmness of the connection of the head structure and the machine body, meanwhile, a cavity is formed among the back shell, the supporting shell and the machine body, the weight of the head structure can be reduced, the weight distribution of the head structure in the direction perpendicular to the machine body is balanced, and the robot can move quickly and stably.

The above is only one embodiment of the present invention, and any other modifications based on the concept of the present invention are considered as the protection scope of the present invention.

Claims

1. A head structure, comprising:

a front housing (390); and

a rear housing (391) detachably connected to the front housing (390) and forming a cavity (392) therebetween for accommodating an electronic component;

the front shell (390) and the rear shell (391) are matched to form a first connecting part (393), the first connecting part (393) is used for being connected with a machine body (200) of the robot, and the first connecting part (393) is provided with a wiring channel (3930) which is communicated with the cavity (392) and the interior of the machine body (200).

2. The header structure according to claim 1, further comprising a support housing (396) connected between the rear housing (391) and the fuselage (200), the support housing (396) being located below the first connecting portion (393), a cavity (3913) being formed between the rear housing (391), the support housing (396) and the fuselage (200).

3. The header structure according to claim 2, characterized in that the first connecting portion (393) and/or the support shell (396) are interposed in the fuselage (200).

4. A header structure according to any one of claims 1 to 3, wherein a sealing strip (395) is provided between the front housing (390) and the rear housing (391).

5. Head structure according to any one of claims 1 to 3, characterized in that it further comprises a tail seal (3932) abutting between an end face (3931) of said first connecting portion (393) and said fuselage (200).

6. A head structure as claimed in any one of claims 1 to 3, wherein: the front case (390) and the rear case (391) are both arc-shaped cases, and the rear case (391) is closer to the main body (200) than the front case (390).

7. The header structure of claim 6, wherein the front housing (390) is provided with one or more first threaded bore posts (3900) extending toward the rear housing (391), the rear housing (391) being provided with one or more counter bores (3910) corresponding to the first threaded bore posts (3900), the front housing (390) and the rear housing (391) being connected by bolts that fit within the counter bores (3910) and the first threaded bore posts (3900).

8. A robot, characterized in that it comprises a head structure according to any of claims 1 to 7 and a fuselage (200) connected to the head structure.

9. The robot as claimed in claim 8, wherein the body (200) defines a plug hole (3940) coupled to the first connecting portion (393), and a bottom surface (3941) of the plug hole (3940) defines a wire routing hole (3942) communicating the wire routing channel (3930) with an interior of the body (200).

10. The robot according to claim 8, characterized in that the fuselage (200) further defines a slot (3943), the support housing (396) being inserted into the slot (3943).