CN217456167U - Body assembly for foot type robot and foot type robot - Google Patents

Abstract

The utility model provides a body subassembly and sufficient robot for the body subassembly of sufficient robot includes the body and carries the article, carries the article and establishes on the body, carries to form between at least part and the body of article and carries the space. The utility model provides a body subassembly for sufficient robot has the transport of being convenient for, and the stable advantage in position of sufficient robot in the handling.

Description

Body assembly for foot type robot and foot type robot

Technical Field

The utility model relates to the technical field of robots, concretely relates to a body subassembly and sufficient robot for sufficient robot.

Background

Legged robots, also known as legged robots, typically include a torso assembly and leg assemblies that primarily allow for walking, running, jumping, and the like, via the leg assemblies. When a legged robot encounters an obstacle that cannot pass through, it is often necessary to manually carry the robot to the other side of the obstacle.

In the related art, the foot robot is generally carried in a manner of surrounding the body assembly of the foot robot, the stress point is poor, the carrying is inconvenient, the contact area between the foot robot and the human body is large in the carrying process, and the precise assembly on the foot robot is easily damaged due to pressure or scraping.

SUMMERY OF THE UTILITY MODEL

The present invention aims at solving one of the technical problems in the related art at least to a certain extent.

Therefore, the embodiment of the present invention provides a body assembly for a legged robot, which has the advantages of being convenient to carry and being stable in position of the legged robot during the carrying process.

An embodiment of another aspect of the present invention further provides a foot robot.

According to the utility model discloses a body subassembly for sufficient robot includes the body and carries and draws the piece, it establishes to carry draws the piece on the body, carry draw the piece at least partially with form between the body and carry and draw the space.

According to the utility model discloses a body subassembly for sufficient robot is through setting up on the body and carrying the piece to form between at least part and the body of carrying the piece and carry the space, make to carry at least part of drawing the piece and can be handed, and then can mention sufficient robot, realize the transport to sufficient robot from this. In addition, in the conveying process, the position of the foot type robot is stable, the parts of the foot type robot except the lifting piece basically cannot be scraped with the outside, and the damage probability of the foot type robot in the conveying process is effectively reduced.

In some embodiments, the pull member includes a connecting portion connected to the body and a pull portion spaced apart from the body, the pull space being formed between the pull portion and the body.

In some embodiments, the body is removably connected to the connecting portion.

In some embodiments, the connecting portion is provided with a connecting hole, the body is provided with a threaded hole, and the connecting portion is connected with the body through a bolt which penetrates through the connecting hole and is in threaded fit with the threaded hole.

In some embodiments, the lifting portion has a first end and a second end, the two connecting portions are connected to the first end and the second end of the lifting portion respectively.

In some embodiments, the body is integrally formed with the pull piece.

In some embodiments, the body assembly of the legged robot further includes a housing connected to the body, an inner wall surface of the housing and an outer wall surface of the body defining an inner cavity therebetween, the inner cavity having an opening, and the pull member being located within the inner cavity and adjacent to the opening.

In some embodiments, the opening comprises a first opening provided on the housing;

and/or the opening comprises a second opening formed between the housing and the body.

In some embodiments, the pull member is removably coupled to the housing.

In some embodiments, the pull tab is integrally formed with the housing.

In some embodiments, the housing is removably connected to the body.

In some embodiments, one of the body and the housing is provided with a slot, and the other of the body and the housing is provided with a protrusion, the housing is sleeved on the body, and the protrusion is fitted in the slot.

In some embodiments, the at least part of the pull-up is located above the body.

In some embodiments, a center of gravity of the legged robot is vertically spaced apart from a center of gravity of the pull.

In some embodiments, at least a portion of the pull is located laterally of the body, and the pull space is formed below the at least a portion of the pull.

In some embodiments, an accommodating groove is formed in an outer surface of the body, a limiting flange is formed in a notch of the accommodating groove in the body, the lifting piece is slidably fitted in the accommodating groove, the at least part of the lifting piece can protrude out of the body, and when the at least part of the lifting piece protrudes out of the body, the rest part of the lifting piece abuts against the limiting flange.

The legged robot according to an embodiment of the second aspect of the present invention includes a body assembly and a plurality of leg assemblies, wherein the body assembly is the body assembly for the legged robot according to any of the above embodiments, and the leg assemblies are connected to the body in the body assembly to support the body assembly.

The technical advantages of the legged robot according to the embodiments of the present invention are the same as the technical advantages of the above-mentioned body assembly for the legged robot, and are not repeated herein.

Drawings

Fig. 1 is a schematic view of a body assembly for a legged robot, wherein the housing is not included, according to an embodiment of the present invention.

Fig. 2 is a schematic view of a legged robot according to a first embodiment of the present invention.

Fig. 3 is another schematic view of a legged robot according to a first embodiment of the present invention.

Fig. 4 is a front view of a legged robot according to a first embodiment of the present invention.

Fig. 5 is a plan view of a legged robot according to a first embodiment of the present invention.

Fig. 6 is a plan view of a legged robot according to a second embodiment of the present invention.

Reference numerals:

the foot-type robot 100 is provided with,

a torso assembly 10, a leg assembly 20,

the body 1, the card slot 101,

a pulling member 2, a connecting portion 201, a pulling portion 202, a pulling space 203,

a housing 3, a first opening 301, and a second opening 302.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

A body assembly 10 for a legged robot according to an embodiment of the present invention is described below with reference to fig. 1-6.

As shown in fig. 1 to 6, a body assembly 10 for a legged robot according to an embodiment of the present invention includes a body 1 and a lifting piece 2. The pulling piece 2 is arranged on the body 1, and a pulling space 203 is formed between at least part of the pulling piece 2 and the body 1.

According to the utility model discloses a body subassembly 10 for sufficient robot is through setting up on body 1 and carrying and drawing piece 2 to form between at least part of carrying and drawing piece 2 and body 1 and carry and draw space 203, make and carry at least part of drawing piece 2 and can be handed, and then can mention sufficient robot 100, realize the transport to sufficient robot 100 from this. Moreover, during the transportation process, the position of the legged robot 100 is stable, and the parts of the legged robot 100 except the lifting piece 2 are basically not scraped with the outside, thereby effectively reducing the probability of damage of the legged robot 100 during the transportation process.

In any state of the legged robot 100, the pulling space 203 may be formed between the body 1 and at least the part of the pulling piece 2, or the pulling space 203 may be formed by an external action only in the transportation state. If the pulling member 2 has a certain elasticity or is movably connected with the body 1, the pulling space 203 is formed between the at least part of the pulling member 2 and the body 1 when the pulling member 2 is pulled, and the at least part of the pulling member 2 is attached to the body 1 when the pulling member 2 is not pulled.

For ease of understanding, arrow a in fig. 1 indicates the front-rear direction of the body assembly 10 for the legged robot, arrow B in fig. 1 indicates the left-right direction of the body assembly 10 for the legged robot, and arrow C in fig. 1 indicates the up-down direction of the body assembly 10 for the legged robot.

In some embodiments, the pulling member 2 includes a connection portion 201 and a pulling portion 202, the connection portion 201 is connected to the body 1, the pulling portion 202 is spaced apart from the body 1, and a pulling space 203 is formed between the pulling portion 202 and the body 1. That is, a pulling space 203 into which a finger can be inserted is formed between the pulling portion 202 and the outer surface of the body 1.

As shown in fig. 1, the pulling portion 202 is generally in the shape of a long strip plate, and after the pulling portion 202 is connected to the body 1 through the connecting portion 201, the pulling portion 202 and the body 1 are kept relatively fixed. Taking the case that the lifting portion 202 is located above the body 1, the lower surface of the lifting portion 202 is parallel to the upper surface of the body 1, and the widths of the lifting space 203 at each position in the length direction of the lifting portion 202 (i.e. the distance between the upper surface of the lifting portion 202 and the upper surface of the body 1) are the same, so that the comfort level when people hold the lifting portion 202 by hands is improved, and the position stability of the foot robot 100 during transportation is further ensured.

In some embodiments, the body 1 is detachably connected to the connection portion 201. This facilitates repair and replacement of the lifting element 2 in the event of damage to the lifting element 2.

In some embodiments, the connecting portion 201 is provided with a connecting hole, the body 1 is provided with a threaded hole, and the connecting portion 201 is connected to the body 1 through a bolt passing through the connecting hole and in threaded fit with the threaded hole. Through adopting bolted connection, carry the dismouting of drawing piece 2 simple and convenient. Moreover, the body 1 in the related art does not need to be greatly modified, and only the threaded hole connected with the connecting part 201 needs to be processed on the body 1, so that the modification difficulty is low, and the applicability is high.

It should be noted that a countersunk hole connected to the connection hole may be further disposed on the upper surface of the connection portion 201, the bolt is a hexagon socket head cap screw, and after the assembly is completed, a nut of the bolt is hidden in the countersunk hole. Therefore, the situation that the nut of the bolt protrudes out of the lifting piece 2 to cause looseness easily caused by external force interference is avoided, and meanwhile, the appearance attractiveness of the foot type robot 100 is improved.

In some embodiments, the pulling portion 202 has a first end and a second end, the connecting portions 201 are two, and the two connecting portions 201 are connected to the first end and the second end of the pulling portion 202, respectively.

As shown in fig. 1, the first end and the second end of the pulling portion 202 are the left end and the right end of the pulling portion 202, respectively, and in this case, the two connecting portions 201 connected to the left end and the right end of the pulling portion 202, respectively, are symmetrically disposed with respect to the center line of the pulling portion 202 in the front-rear direction. After the two connecting parts 201 are connected with the body 1, the lifting space 203 is formed by the lifting part 202, the body 1 and the two connecting parts 201 in a surrounding mode, namely the left side and the right side of the lifting space 203 are sealed by the connecting parts 201, when people hold the lifting part 202, loosening is not prone to occurring, and therefore the foot type robot 100 is more convenient and labor-saving to carry.

It should be noted that, when there is only one connecting portion 201, the connecting portion 201 and the pulling portion 202 need to be kept relatively fixed, that is, the connecting portion 201 and the pulling portion 202 are not deformed by force, so as to ensure the relative fixation between the pulling portion 202 and the body 1. When the number of the connecting portions 201 is two, the pulling portion 202 may be made of a wider variety of materials, such as rubber having a better tactile feeling.

In some embodiments, the body 1 is integrally formed with the pull piece 2. Therefore, the connection strength between the body 1 and the pulling piece 2 is higher, the pulling piece 2 is less prone to damage, and the service life is longer.

In some embodiments, the torso assembly of the legged robot 100 also includes a housing 3. Casing 3 links to each other with body 1, constitutes the inner chamber between the internal wall face of casing 3 and the outer wall face of body 1, and the inner chamber has the opening, and pull-up 2 is located the inner chamber and is close to the opening. That is, the shell 3 can hide the lifting piece 2 and hide the connection between the lifting piece 2 and the body 1, thereby effectively preventing the lifting piece 2 from colliding with external people or objects to influence the stability of the connection between the lifting piece 2 and the body 1, and also improving the appearance beauty of the body assembly 10 for the foot robot.

Specifically, as shown in fig. 2 to 5, the size of the opening in the length direction of the pulling member 2 is equal to or greater than the length of the pulling member 2, and the width of the opening is ensured to allow a hand of a person to pass through. The direction of the opening can be consistent with the direction of the lifting space 203 or form an angle, and only a hand of a person can penetrate through the lifting space 203 and hold the lifting part 202 after extending into the inner cavity from the opening.

In some embodiments, the opening comprises a first opening 301 provided on the housing 3, and/or the opening comprises a second opening 302 formed between the housing 3 and the body 1.

As shown in fig. 2, when the lift tab 2 is provided above the vehicle body, the first opening 301 is provided on the upper surface of the housing 3, the orientation of the first opening 301 and the orientation of the lift space 203 are perpendicular to each other, and the orientation of the second opening 302 and the orientation of the lift space 203 are aligned. Wherein the first opening 301 and the second opening 302 are adjacent to the pulling member 2, and whether only the first opening 301 or only the second opening 302 is provided, the pulling portion 202 of the pulling member 2 can be passed through the first opening 301/the second opening 302 and held.

In this embodiment, the first opening 301 and the second opening 302 are preferably provided at the same time, and the hand of the person first extends into the inner cavity from the second opening 302 and passes through the lifting space 203, and finally extends from the first opening 301, thereby realizing the holding of the lifting portion 202.

In some embodiments, the pull 2 is detachably connected to the housing 3, whereby the foot robot 100 can be transported by holding the pull 2 also after the housing 3 is connected to the body 1.

Specifically, the lifting piece 2 may be provided separately from the body 1, the lifting piece 2 is connected to the body 1 through the housing 3, and when the lifting piece 2 is held to lift the legged robot 100, a tensile force at a connection between the housing 3 and the body 1 is substantially the gravity of the body 1. The pulling force at the connection between the pull-up member 2 and the housing 3 is substantially the sum of the gravity forces of the body 1 and the housing 3.

In some embodiments, the pull 2 is integrally formed with the housing 3.

It is understood that the housing 3 itself forms a lifting portion 202 spaced apart from the body 1, and that the foot robot 100 can be carried by holding the lifting portion 202 on the housing 3 after the housing 3 is connected to the body 1. Moreover, the arrangement does not need to modify the body 1, and only the shell 3 needs to be redesigned, so that the modification cost is lower.

In some embodiments, the housing 3 is removably connected to the body 1. Therefore, the lifting piece 2 is convenient to disassemble, assemble and replace no matter the lifting piece 2 is connected with the body 1 or the shell 3.

In some embodiments, one of the body 1 and the housing 3 is provided with a slot 101, the other of the body 1 and the housing 3 is provided with a protrusion, the housing 3 is sleeved on the body 1, and the protrusion is fitted in the slot 101.

As shown in fig. 1, the left side surface and the right side surface of the body 1 are both provided with two card slots 101, and the two card slots 101 on the same side are spaced apart in the front-rear direction. Four bulges are correspondingly arranged on the inner wall surface of the shell 3, the shell 3 is sleeved on the body 1 from top to bottom and reaches the set position, and the four bulges are just matched in the corresponding four clamping grooves 101, so that the shell 3 and the body 1 are relatively fixed. Therefore, auxiliary tools are not needed for installing and detaching the shell 3 on the body 1, and the installation is convenient and quick.

In some embodiments, at least part of the pull 2 is located above the body 1. Thus, after the legged robot 100 is lifted up by gripping the lifting portion 202 of the lifting piece 2, the suspended legged robot 100 is kept in a substantially standing posture, and the legged robot 100 does not need to be turned over before and after transportation, and the transportation efficiency is high.

In some embodiments, the center of gravity of the legged robot 100 is spaced apart from the center of gravity of the lift 2 in the up-down direction.

Therefore, when the legged robot 100 is lifted and the legged robot 100 is placed on a flat floor, the legged robot 100 does not substantially swing left and right with respect to the lifting member 2, and the position and posture of the legged robot 100 during the transportation process are more stable.

In some embodiments, at least part of the pull piece 2 is located to the side of the body 1, and the pull space 203 is formed below at least part of the pull piece 2.

As shown in fig. 6, the lifting members 2 are disposed on the side surface of the body 1 and at least partially protrude from the side surface of the body 1, the number of the lifting members 2 may be two, and if the lifting members 2 are two and are separately disposed on the left side and the right side of the body 1, when the legged robot 1 needs to be carried, at least part of the two lifting members 2 can be held by two hands, so that the legged robot 1 can be lifted.

In some embodiments, the outer surface of the body 1 is provided with a receiving groove, the body 1 is provided with a limiting flange at a notch of the receiving groove, the lifting member 2 is slidably fitted in the receiving groove, and at least a portion of the lifting member 2 can protrude out of the body 1. When at least part of the lifting piece 2 protrudes out of the body 1, the rest part of the lifting piece 2 stops against the limiting flange.

Thus, the lifter 2 can be hidden in the storage tank when the legged robot 100 does not need to be transported, and at least a part of the lifter 2 can be pulled out when the legged robot 100 needs to be transported. By adopting the drawing mode, the hand-free drawing piece 2 protrudes out of the body 1 when the foot type robot 100 works and collides with external people or objects, and the appearance attractiveness of the foot type robot 100 is improved.

The legged robot 100 according to an embodiment of the second aspect of the present invention includes a body component and a plurality of leg components 20, the body component is the body component 10 for the legged robot of any of the above embodiments, and the plurality of leg components 20 are connected to the body 1 in the body component to support the body component.

The technical advantages of the foot robot 100 according to the embodiment of the present invention are the same as the technical advantages of the body assembly 10 for the foot robot, and are not described herein again.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description of the present invention and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present 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 at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the present disclosure, the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.

Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.

Claims (16)

1. A torso assembly for a legged robot, comprising:

a body; the lifting piece is arranged on the body, and a lifting space is formed between at least part of the lifting piece and the body; and

the shell is connected with the body, an inner cavity is formed between the inner wall surface of the shell and the outer wall surface of the body, the inner cavity is provided with an opening, and the lifting piece is located in the inner cavity and is adjacent to the opening.

2. The torso assembly for a legged robot as claimed in claim 1, wherein the pull member includes a connecting portion connected with the body and a pull portion spaced apart from the body, the pull space being formed between the pull portion and the body.

3. The torso assembly for a legged robot according to claim 2, wherein the body is removably connected with the connecting portion.

4. The torso assembly of claim 3, wherein the connecting portion has a connecting hole, the body has a threaded hole, and the connecting portion is connected to the body by a bolt passing through the connecting hole and threadedly engaged with the threaded hole.

5. The torso assembly of claim 4, wherein the lifting portion has a first end and a second end, and wherein there are two connecting portions, and wherein the two connecting portions are connected to the first end and the second end of the lifting portion, respectively.

6. The torso assembly for a legged robot according to claim 1 or 2, characterized in that the body is integrally formed with the lift.

7. The torso assembly for a legged robot according to claim 1,

the opening comprises a first opening arranged on the shell;

and/or the opening comprises a second opening formed between the housing and the body.

8. The torso assembly for a legged robot according to claim 1, wherein the pull member is removably connected with the housing.

9. The torso assembly for a legged robot according to claim 1, wherein the pull member is integrally formed with the housing.

10. The torso assembly for a legged robot according to claim 1, wherein the housing is removably connected with the body.

11. The torso assembly of claim 10, wherein one of the body and the shell is provided with a slot, and the other of the body and the shell is provided with a protrusion, the shell is sleeved on the body, and the protrusion is fitted in the slot.

12. The torso assembly for a legged robot according to claim 1, wherein the at least part of the lift is located above the body.

13. The torso assembly for a legged robot according to claim 12, wherein the center of gravity of the legged robot is vertically spaced from the center of gravity of the lift.

14. The torso assembly for a legged robot according to claim 1, wherein at least a portion of said pull member is located laterally of said body, said pull space being formed below said at least a portion of said pull member.

15. The torso assembly of claim 1, wherein an accommodating groove is formed on an outer surface of the body, the body has a position-limiting flange at a notch of the accommodating groove, the lifting member is slidably fitted in the accommodating groove, the at least part of the lifting member is capable of protruding out of the body, and when the at least part of the lifting member protrudes out of the body, the remaining part of the lifting member abuts against the position-limiting flange.

16. A legged robot comprising a torso assembly according to any of claims 1 to 15 for a legged robot, and a plurality of leg assemblies attached to a body in the torso assembly to support the torso assembly.

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