CN217597100U - Four-legged robot's fuselage and four-legged robot - Google Patents

Abstract

The utility model discloses a fuselage and four-footed robot. The robot body of the quadruped robot comprises an upper shell, a lower shell, a front end cover assembly and a rear end cover assembly, wherein the lower shell is provided with an opening which is arranged upwards, and a front end wall and a rear end wall which are arranged along the front-rear direction; the upper shell is covered at the opening of the lower shell; the front end cover assembly is detachably arranged at the front end of the lower shell and is used for covering the front end wall; the rear end cover assembly is detachably mounted at the rear end of the lower shell and used for covering the rear end wall. The utility model discloses a front end housing assembly and rear end cap subassembly cover the junction of casing and foreleg subassembly and back leg subassembly down for the outward appearance of four-footed robot is more pleasing to the eye, and when dismantling foreleg subassembly and back leg subassembly, only need to dismantle foreleg subassembly and rear end cap subassembly from the casing down earlier, expose the junction of foreleg subassembly and lower casing and/or the junction of back leg subassembly and lower casing, so that dismantle, it is more convenient to operate.

Description

Four-legged robot's fuselage and four-legged robot

Technical Field

The utility model relates to the technical field of robots, concretely relates to fuselage and four-footed robot of four-footed robot.

Background

With the development of artificial intelligence technology, intelligent robots are more and more widely applied to the lives of people. The robot dog not only can play voice, but also can carry out intelligent interaction with the user. But along with the diversification of machine dog function, the inside components and parts of machine dog are also more and more for the assembly process is very complicated, also can cause the volume of machine dog to be bigger and bigger simultaneously.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model aims to provide a fuselage and four-footed robot aims at solving traditional robot shell structure complicacy, causes the inconvenient problem of equipment.

In order to achieve the above object, the present invention provides a body of a foot robot, including:

a lower housing having an upwardly disposed opening, and having front and rear end walls disposed in a front-to-rear direction, the front end wall being for connection with a front leg assembly, the rear end wall being for connection with a rear leg assembly;

the upper shell is covered at the opening of the lower shell;

the front end cover assembly is detachably arranged at the front end of the lower shell and is used for covering the front end wall; and (c) a second step of,

and the rear end cover assembly is detachably arranged at the rear end of the lower shell and is used for covering the rear end wall.

In one embodiment, the front end wall is provided with a first mounting part for mounting the front leg assembly; the front end housing subassembly is including being the preceding upper end housing and the preceding lower extreme cover that can dismantle the connection, the preceding upper end housing with preceding lower extreme cover encloses jointly and closes to be formed with and is used for the confession the first via hole that preceding leg subassembly wore to establish.

In one embodiment, a second mounting portion for mounting the rear leg assembly is provided on the rear end wall; the rear end cap subassembly is including being the back upper end cover and the back lower end cover that can dismantle the connection, the back upper end cover with back lower end cover encloses jointly and closes to be formed with and is used for the confession the second via hole that the back leg subassembly worn to establish.

In one embodiment, the lower shell further has a left side wall and a right side wall which are oppositely arranged along the left-right direction; the height of the left side wall and the height of the right side wall are both smaller than the height of the front end wall and the height of the rear end wall, and transition positions among the front end wall, the left side wall, the rear end wall and the right side wall are arranged in a gradual change mode.

In one embodiment, the sealing device further comprises a sealing member, wherein the sealing member is arranged between the upper shell and the lower shell and used for sealing the opening of the lower shell.

In one embodiment, one of the upper housing and the lower housing is provided with a sealing surface, and the other one of the upper housing and the lower housing is provided with an abutting portion, the sealing surface is arranged around the opening, the sealing element is arranged on the sealing surface, and the abutting portion is used for pressing the sealing element on the sealing surface.

In one embodiment, the sealing element is provided with at least two clamping grooves, and when the sealing element is mounted on the sealing surface, the clamping grooves are clamped on two sides of the sealing surface.

In one embodiment, the seal is bonded to the sealing surface; and/or the presence of a gas in the gas,

the sealing element comprises a sealing ring which is annularly arranged, and the sealing ring is continuously arranged in a whole circle.

In one embodiment, the sealing surface is formed by the mouth peripheral surface of the opening of the lower housing, and the shape of the sealing member is matched with the shape of the mouth peripheral surface of the opening.

The utility model also provides a four-footed robot, fuselage including four-footed robot, four-footed robot's fuselage includes:

the lower shell is provided with an upward opening, and a front end wall and a rear end wall which are arranged along the front-rear direction, wherein the front end wall is used for being connected with the front leg assembly, and the rear end wall is used for being connected with the rear leg assembly;

the upper shell is covered at the opening of the lower shell;

the front end cover assembly is detachably arranged at the front end of the lower shell and is used for covering the front end wall; and the number of the first and second groups,

and the rear end cover assembly is detachably arranged at the rear end of the lower shell and is used for covering the rear end wall.

The utility model provides an among the technical scheme, the fuselage is including last casing, lower casing, front end housing assembly and rear end cap subassembly, cover the junction of casing and foreleg subassembly and back leg subassembly down through front end cap subassembly and rear end cap subassembly, make the outward appearance of four-footed robot more pleasing to the eye, and front end cap subassembly and the equal detachable of back end cap subassembly install on lower casing, when dismantling foreleg subassembly and back leg subassembly, only need to dismantle foreleg subassembly and back end cap subassembly from lower casing earlier, expose the junction of foreleg subassembly and lower casing and/or back leg subassembly and the junction of casing down, so that can dismantle, the operation is more convenient, for traditional four-footed robot, foreleg subassembly and back leg subassembly all direct mount on the fuselage casing, or can't dismantle, or must operate the junction inside casing, the operation is comparatively troublesome, and the utility model discloses, when dismantling foreleg subassembly and back leg subassembly earlier, dismantle foreleg subassembly and back end cap subassembly from lower casing, make the junction of foreleg subassembly and lower casing or the connection of lower casing expose the foreleg subassembly and make the convenient leg subassembly and the back leg subassembly of lower casing more exposed.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an embodiment of a body of a quadruped robot provided by the present invention;

FIG. 2 is a schematic structural view of the body (with the handle structure separated from the upper housing) of the quadruped robot of FIG. 1;

FIG. 3 is an exploded view of the body of the quadruped robot of FIG. 1;

FIG. 4 is a schematic structural view of the lower housing of FIG. 1;

FIG. 5 is an exploded view of the upper housing and the lower housing of FIG. 1;

FIG. 6 is a schematic cross-sectional view of the body of the quadruped robot shown in FIG. 1;

FIG. 7 is an enlarged schematic view of detail A in FIG. 6;

FIG. 8 is a schematic structural view of the upper housing shown in FIG. 1

FIG. 9 is a schematic structural view of another perspective of the quadruped robot of FIG. 1;

FIG. 10 is another exploded view of the upper and lower housings of FIG. 1;

FIG. 11 is an exploded view of the circuit board and the lower housing of FIG. 1;

FIG. 12 is a structural view of the upper housing and the lower housing of FIG. 1 at corresponding lock reinforcement structures;

FIG. 13 is a schematic structural view of the handle body of FIG. 1;

fig. 14 is a schematic view of the structure of the handle trim of fig. 1.

The reference numbers illustrate:

the object of the present invention is to provide a novel and improved method, system and apparatus for carrying out the method, and a computer program product for carrying out the method.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that, if the present invention relates to a directional indication, the directional indication is only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture, and if the specific posture is changed, the directional indication is changed accordingly.

In addition, if there is a description relating to "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is 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 addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B" including either A or B or both A and B. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

The utility model provides a fuselage and four-footed robot, figure 1 to figure 14 do the utility model provides an embodiment of the fuselage of four-footed robot.

The utility model provides a quadruped robot can be for food delivery robot, cruise robot or bionic robot and so on, and is arranged in the comparatively common organic ware dog of family's service among the bionic robot. In this embodiment, this quadruped robot is including the fuselage, and the steerable robot of fuselage removes or is interactive with user's man-machine to have the main function of traditional machine dog, and the front end of fuselage can be connected with the head structure, and the rear end of fuselage can be connected with the afterbody structure. For convenience of description, the body 200200 of the quadruped robot will be described in detail by taking a robot dog as an example, and other types of robots can be referred to for implementation.

Referring to fig. 1, 2, 9 and 10, in the present embodiment, a main body 200 of a quadruped robot includes a main body housing 210, an adapter circuit board, a main circuit board 220 and a battery pack assembly 250, wherein a mounting cavity is formed in the main body housing 210, a battery compartment 206 with an outward compartment opening is formed at the bottom of the main body housing 210, and the battery compartment 206 is concavely disposed in the mounting cavity; the adapter circuit board comprises a first adapter plate 231 and a second adapter plate 232, the first adapter plate 231 is located at one end of the mounting cavity, the second adapter plate 232 is located at the other end of the mounting cavity, and the first adapter plate 231 and the second adapter plate 232 can be respectively used for being electrically connected with an electric device in the head structure and an electric device in the tail structure; the main circuit board 220 is arranged in the mounting cavity and close to the first adapter plate 231, the main circuit board 220 is electrically connected with the first adapter plate 231 and the second adapter plate 232, the main circuit board 220 is used for controlling the whole quadruped robot, and the head structure and the tail structure can be controlled to operate respectively through the first adapter plate 231 and the second adapter plate 232, for example, the head can be controlled to swing, but the head can be electrically connected with a detection device 285 in the head structure, an object in front of the quadruped robot can be detected through the detection device 285 in the head structure, or the tail structure can be controlled to swing, or a signal indicator lamp in the tail structure can be controlled to indicate; a battery pack assembly 250 is disposed in the battery compartment 206 for supplying power to the main circuit board 220 or the adaptor circuit board.

The utility model provides an among the technical scheme, through be provided with switching circuit board and main circuit board 220 in fuselage casing 210, main circuit board 220 is used for the control of four-footed robot complete machine, switching circuit board is including first keysets 231 and second keysets 232, main circuit board 220 is located between first keysets 231 and second keysets 232, with better and first keysets 231 and second keysets 232 electric connection, first keysets 231 and second keysets 232 are located the both ends of installation cavity respectively, can be used to respectively with the electric part in the head structure of four-footed robot and the circuit part electric connection in the afterbody structure, in order to control the head and the afterbody of four-footed robot; and be provided with battery compartment 206 on fuselage casing 210 for battery package subassembly 250 places, battery package subassembly 250 can be for supplying power with electrical apparatus in fuselage casing 210, and locate the installation intracavity with battery compartment 206 is concave moreover for the structure of whole fuselage is compacter, and the outward appearance is also more pleasing to the eye.

As shown in fig. 4 and 5, the main body housing 210 includes an upper housing 211, a lower housing 212, a front cover assembly 213 and a rear cover assembly 214, the lower housing 212 has an upward opening and front and rear end walls 2121 and 2122 arranged in the front-rear direction, the front end wall 2121 is used for connecting with the front leg assembly, the rear end wall 2122 is used for connecting with the rear leg assembly, and the main circuit board 220 and the adaptor circuit board are installed in the lower housing 212 from the opening; the upper shell 211 covers the opening of the lower shell 212 to seal the opening; the front end cover assembly 213 is detachably mounted at the front end of the lower shell 212 and is used for covering the front end wall 2121 to seal the joint of the lower shell 212 and the front leg assembly, so that the appearance of the quadruped robot is more attractive; the rear end cover component 214 is detachably mounted at the rear end of the lower shell 212 and is used for covering the rear end wall 2122 and sealing the joint of the lower shell 212 and the rear leg component, so that the appearance of the quadruped robot is more attractive, the front end cover component 213 and the rear end cover component 214 can be detached from the lower shell 212, when the front leg component and the rear leg component are detached, the front end cover component 213 and the rear end cover component 214 can be detached from the lower shell 212 firstly, so that the joint of the lower shell 212 and the front leg component and the joint of the lower shell 212 and the rear leg component are exposed, the front leg component and the rear leg component are conveniently detached, and when the body is assembled, the assembly can be completed firstly, and then the forward-backward component or the rear leg component is mounted, so that the body is more convenient to assemble.

The connection mode of the upper shell 211 and the lower shell 212 is simple, and the detachable connection mode is applicable. Specifically, a through hole is formed in the lower housing 212, and a screw hole corresponding to the through hole is formed in the upper housing 211; the body 200 of the quadruped robot further comprises a screw connector, wherein the screw connector penetrates through the through hole and the screw hole and is used for connecting the upper shell 211 with the lower shell 212. The screw connecting piece can be a screw and is reliable in connection.

Moreover, in order to ensure a more beautiful appearance of the body 200 of the quadruped robot, the screw connection should be prevented from being exposed to the outside of the body. Specifically, the through-hole runs through along the upper and lower direction and establishes, fuselage casing 210 still includes inferior valve decoration 2120, inferior valve decoration 2120 lid is located the bottom of casing 212 down, and is the cover the through-hole setting. The junction of the upper and lower cases 211 and 212 is decorated by the lower case decoration 2120, so that the appearance of the robot dog is more beautiful.

In this embodiment, the front end wall 2121 is provided with a first mounting portion for mounting the front leg assembly, and the first mounting portion may be a detachable connection structure such as a stud, a screw hole, or a clamping structure, which is not limited herein; the front end cover assembly 213 comprises a front upper end cover 2131 and a front lower end cover 2132 which are detachably connected, the front upper end cover 2131 and the front lower end cover 2132 together enclose and form a first through hole 2133 for the front leg assembly to penetrate through, after the front leg assembly is mounted on the front end wall 2121, the front upper end cover 2131 and the front lower end cover 2132 are respectively clamped on the outer side of the front leg assembly from the up-down direction and are covered on the front end wall 2121, so that the joint of the front leg assembly is sealed between the front end cover assembly 213 and the front end wall 2121, and the appearance is more attractive.

Specifically, referring to fig. 3, the first via hole 2133 includes a first groove 2133a and a second groove 2133b, where the notches are disposed oppositely, the first groove 2133a is disposed at the bottom of the front upper end cover 2131, the notches are disposed downward, the second groove 2133b is disposed at the top of the front lower end cover 2132, the notches are disposed upward, the first groove 2133a and the second groove 2133b are butted with each other to form a first via hole 2133 for the front leg to penetrate through, and when the front leg is provided with a plurality of holes, the first via hole 2133 is correspondingly provided with a plurality of holes.

Further, both the front upper end cap 2131 and the front lower end cap 2132 are detachably mounted on the front end wall 2121, and in order to ensure that the front upper end cap 2131 and the front lower end cap 2132 are aligned accurately, one of the front upper end cap 2131 and the front lower end cap 2132 is provided with a first protrusion 21215, and the other one of the front upper end cap 2131 and the front lower end cap 2132 is provided with a first locking groove 27221 matching with the first protrusion 21215, and when the first protrusion 21215 and the first locking groove 27221 are locked, a notch of the first groove 2133a and a notch of the second groove 2133b are opposite to each other. The first clamping protrusion 21215 and the second clamping protrusion are clamped with each other to ensure that the notch of the first groove 2133a and the notch of the second groove 2133b are accurately aligned.

Accordingly, the rear endcap assembly 214 is provided in the same manner as the front endcap assembly 213. Referring to fig. 3, a second mounting portion for mounting the rear leg assembly is disposed on the rear end wall 2122, and the second mounting portion may be a detachable connection structure such as a stud, a screw hole, or a clamping structure, which is not limited herein; rear end cap subassembly 214 is including being the back upper end cap 2141 and the back lower end cap 2142 that can dismantle the connection, back upper end cap 2141 with back lower end cap 2142 encloses jointly to close and is formed with and is used for the confession the second via hole 2143 that the back leg subassembly worn to establish, with back leg subassembly back on back end wall 2122, will back upper end cap 2141 and back lower end cap 2142 locate the outside of back leg subassembly from upper and lower direction card respectively again, and the lid locates back end wall 2122 department for the junction of back leg subassembly seals between back end cap subassembly 214 and back end wall 2122, and the outward appearance is more pleasing to the eye.

The second via hole 2143 includes that the notch is relative third recess 2143a and the fourth recess 2143b that sets up, third recess 2143a locates back upper end lid 2141's bottom, and the notch sets up downwards, fourth recess 2143b locates back lower extreme lid 2142's top, and the notch sets up, through third recess 2143a and fourth recess 2143 b's mutual butt joint in order to form the second via hole 2143 that supplies the back leg to wear to establish, when the back leg is provided with a plurality ofly, correspondingly, second via hole 2143 also corresponds and is provided with a plurality ofly.

And back upper end cap 2141 with back lower end cap 2142 all is detachable install in back end wall 2122, in order to guarantee that back upper end cap 2141 and back lower end cap 2142 counterpoint accurate, back upper end cap 2141 with one of them is equipped with the protruding 21215 of second card, and wherein another be equipped with the protruding 21215 matched with second draw-in groove 27221 of second card, work as the protruding 21215 of second card with when the second draw-in groove 27221 looks joint, the notch of third recess 2143a with the notch of fourth recess 2143b is relative. The third locking protrusion 21215 and the fourth locking clip are locked together to ensure that the notch of the third groove 2143a and the notch of the fourth groove 2143b are aligned correctly.

In the present embodiment, the lower housing 212 is hollow with an open top to form a main chamber, and the lower housing 212 further has a left side wall 2123 and a right side wall 2124 oppositely disposed in the left-right direction; the front end wall 2121, the left side wall 2123, the rear end wall 2122 and the right side wall 2124 are sequentially abutted to form a main cavity, and the height of the left side wall 2123 and the height of the right side wall 2124 are both smaller than the height of the front end wall 2121 and the height of the rear end wall 2122, so that when an assembler assembles, parts, such as the main circuit board 220, the adapter plate and the like, can be loaded into the lower shell 212 from a lower side, and the opening degree of the lower shell 212 is larger, so that the loading of the parts is more convenient; the transition positions among the front end wall 2121, the left side wall 2123, the rear end wall 2122 and the right side wall 2124 are gradually arranged, and the connection positions among the front end wall 2121, the left side wall 2123, the rear end wall 2122 and the right side wall 2124 are all arranged in an arc shape, so that sharp corners are avoided from scratching assembly personnel.

Moreover, when the main body is long, the left side wall 2123 and the right side wall 2124 are located at the long side, and the height of the long side is lower, so that the installation is more convenient.

In this embodiment, referring to fig. 6 to 8, since the main body housing 210 has more electrical components, a sealing member 283 is further disposed at the junction between the upper housing 211 and the lower housing 212 to ensure the sealing requirement of the quadruped robot.

Specifically, one of the upper housing 211 and the lower housing 212 is provided with a sealing surface, the other is provided with an abutting portion 2113, the sealing surface is arranged around the opening, the sealing member 283 is arranged on the sealing surface, the abutting portion 2113 is used for pressing the sealing member 283 on the sealing surface, and the sealing member 283 is pressed between the upper housing 211 and the lower housing 212 by pressing the upper housing 212 and the lower housing 212, so that the sealing effect is better.

The seal 283 is fixed to the seal surface mainly by adhesion, and is reliably attached.

Of course, it may also be fixed by the abutting portion 2113 being pressed against the surface of the seal 283 supplementarily, and specifically, the abutting portion may be provided as an abutting rib 2113a provided protruding inside the upper case.

Specifically, the sealing member 283 includes a sealing ring disposed annularly, and preferably, the sealing surface is disposed in a continuous whole circle, so that the sealing ring is more reliably bonded on the sealing surface, has no broken rubber surface, and is not easy to be deployed.

In order to prevent the seal 283 from being displaced when it is mounted on the seal surface, referring to fig. 7, at least two clamping grooves 2831 are provided in the seal 283, and when the seal 283 is mounted on the seal surface, the clamping grooves 2831 are clamped on both sides of the seal surface, so that the alignment is more accurate. The plurality of clamping grooves 2831 may be continuous and integral grooves, or may be a plurality of spaced clamping grooves 2831, which may be configured according to the structure in the housing.

In this embodiment, referring to fig. 5, the sealing member 283 is adhered to the lower housing 212, the opening circumference of the opening of the lower housing 212 forms the sealing surface, and the shape of the sealing member 283 is matched with the shape of the opening circumference, so that when the lower housing 212 is covered on the upper housing 211, the sealing member 283 can be pressed tightly, and the sealing effect of the joint between the upper housing 211 and the lower housing 212 can be consistent.

In an embodiment, with reference to fig. 10 and 11, the first adapter plate 231, the second adapter plate 232, and the main circuit board 220 are arranged in parallel, wherein a board surface of the first adapter plate 231 on which components are arranged and a board surface of the second adapter plate 232 on which components are arranged oppositely, the main circuit board 220 is located between the first adapter plate 231 and the second adapter plate 232, and the board surface of the main circuit board 220 faces the first adapter plate 231 and/or the second adapter plate 232. And the first adapter plate 231, the second adapter plate 232 and the main circuit board 220 are all installed in the installation cavity in a side-standing manner. When the opening of the upper housing 211 is disposed upward, the first adapter plate 231, the second adapter plate 232 and the main circuit board 220 are disposed in the lower housing 212 along the up-down direction, and are approximately parallel to the front end wall 2121 or the rear end wall 2122 of the lower housing 212.

Specifically, the first adapter plate 231 is disposed adjacent to the front end wall 2121, the main circuit board 220 is disposed adjacent to the first adapter plate 231, and the second adapter plate 232 is disposed adjacent to the rear end wall 2122. The battery compartment 206 is concavely arranged between the main circuit board 220 and the second adapter plate 232, and the main circuit board 220 and the second adapter plate 232 are separated from the battery compartment 206 to form two opposite sides. Since the heat generated by the main circuit board 220 during operation is relatively large, the main circuit board 220 and the second adaptor board 232 can be isolated by the battery compartment 206, so as to prevent the heat on the main circuit board 220 side from being transferred to the second adaptor board 232 side.

Moreover, because the main circuit board 220 generates a large amount of heat during operation, an air inlet area is arranged in the area of the lower shell 212 corresponding to the main circuit board 220, and an air outlet area is arranged in the area of the upper shell 211 corresponding to the main circuit board 220; the body 200 of the quadruped robot further comprises a heat dissipation member 277 arranged in the lower shell, wherein the heat dissipation member 277 is arranged below the main circuit board 220 and used for forming negative pressure in the body shell 210. The heat dissipating member 277 is used to guide the airflow outside the main body housing 210 into the main body housing 210 from the air inlet area, flow toward the main circuit board 220, and then be taken out of the main body housing 210 from the air outlet area to dissipate the heat of the main circuit board 220. The heat sink 277 may be configured as a heat sink fan.

The battery compartment 206 not only can isolate heat at the side of the main circuit board 220, but also the side wall of the battery compartment 206 facing the main circuit board 220 has an upward guiding function on the air flow blown into the body shell 210, so that the heat dissipation effect is better.

In order to improve the obstacle avoidance capability of the quadruped robot, the body 200 of the quadruped robot further comprises a detection device 285, the detection device 285 is used for detecting an obstacle below the body shell 210, and due to a small object, the object may not be detected by the detection device 285 in the head structure, so that the normal operation of the quadruped robot is affected, and the detection device 285 is arranged at the bottom of the body, so that the obstacle avoidance capability of the quadruped robot can be further improved, and the experience of a user is improved.

In an embodiment, referring to fig. 9, the detecting device 285 includes a first camera 2851 disposed in the mounting cavity, and the first camera 2851 is disposed near the main circuit board 220; an opening 21202 is formed in the bottom of the lower shell 212, the opening 21202 corresponds to the first camera 2851, the first camera 2851 is used for obtaining influence information below the robot body, and the influence information is analyzed through the main circuit board 220 to control the four-legged robot to move.

The quadruped robot provided by the utility model has the advantages that the body shell 210 is convenient to assemble, the opening degree of the body shell 210 is larger, the main circuit board 220 and/or the switching circuit board can be more conveniently installed, the main circuit board 220 and the switching circuit board are installed in the body shell 210 in a side-standing manner, the occupied installation area is smaller, the structure in the body shell 210 is more compact, and the size of the body is smaller and more ingenious; in addition, the main circuit board 220, the switching circuit board and the battery bin 206 are reasonably arranged in the body shell 210, so that the structure is compact, the heat dissipation effect of the body is excellent, and the service life of the quadruped robot can be effectively prolonged.

In an embodiment, referring to fig. 1 and 12, the body 200 of the quadruped robot further includes a handle structure, the handle structure is disposed at the top of the body housing 210, and when the quadruped robot cannot move normally, a user can move the quadruped robot by holding the handle structure, so that the operation is more labor-saving and more convenient.

Specifically, referring to fig. 12 and 13, the handle structure includes a handle body 271 and a handle decoration 272, the handle body 271 is mounted on the upper housing 211, and the handle decoration 272 includes a decoration body 2721 and an extension portion 2722, where the decoration body 2721 covers the handle body 271, the extension portion 2722 extends outward from the decoration body 2721, and the extension portion 2722 and the decoration body 2721 are integrally disposed, and the extension portion 2722 may extend from the decoration body 2721 along an outer surface of the upper housing 211 and toward an edge of the upper housing 211, so that the extension portion 2722 may cover at least the upper housing 211, and also plays a role in decorating the upper housing 211. When the handle decoration 272 is mounted on the handle body 271, the handle decoration 272 not only coats the handle body 271, but also coats the upper case 211 with the handle decoration 272 when the connected handle body 271 and the handle decoration 272 are mounted on the upper case 211, and thus the structure is simple and the mounting effect is good.

Further, referring to fig. 14, in order to make the handle decoration 272 better fit with the upper housing 211, the extending portion 2722 is disposed to protrude from the edge of the upper housing 211, and the portion protruding from the upper housing 211 is matched with the lower housing 212, wherein a positioning portion is disposed on the extending portion 2722, and a positioning matching portion matched with the positioning portion is disposed on the lower housing 212, when the handle structure is mounted on the upper housing 211 and the upper housing 211 is mounted on the lower housing 212 again, the positioning portion on the extending portion 2722 is just matched with the positioning matching portion on the lower housing 212, so that the handle decoration 272 is connected with the lower housing 212, and the connection gap between the upper housing 211 and the lower housing 212 can be covered, which not only has a more beautiful appearance, but also has a certain sealing effect on the body housing 210.

The positioning part and the positioning matching part are arranged in various forms. The most convenient installation and matching mode is that one of the positioning part and the positioning matching part is provided with a clamping protrusion 21215, the other is provided with a clamping groove 27221, when the upper shell 211 is installed on the lower shell 212, the clamping protrusion 21215 can be clamped in the clamping groove 27221, so that the handle decoration 272 and the lower shell 212 are connected, the handle decoration 272 cannot tilt, and the fitting degree with the body shell 210 is better.

Because the fuselage 200 of the quadruped robot is a long-shaped arrangement, in order to facilitate the lifting of the fuselage, preferably, the handle body 271 is installed at the top of the upper shell 211, because the number of components inside the fuselage is large, and most of the components are installed on the lower shell, so that the weight in the lower shell 212 is heavy, when the upper shell 211 is lifted from the top, the upper shell 211 and the lower shell 212 can be separated, so that a gap is generated between the upper shell 211 and the lower shell 212, particularly, the gap at the handle structure can be large, therefore, a locking reinforcing structure 270 is further arranged in the fuselage shell 210, and when a user lifts the handle structure, the locking reinforcing structure 270 is used for locking the upper shell 211 and the lower shell 212 at the corresponding handle structure, so as to avoid the separation of the upper shell 211 and the lower shell 212.

Specifically, the locking reinforcing structure 270 includes a first connecting hole 21216 disposed inside the lower housing 212, a second connecting hole 2112 disposed inside the upper housing 211, and a first connecting member, the first connecting hole 21216 and the second connecting hole 2112 are correspondingly disposed, the first connecting member is inserted into the first connecting hole 21216 and the second connecting hole 2112 to connect the upper housing 211 and the lower housing 212, the first connecting hole 21216 and the second connecting hole 2112 are correspondingly disposed below the handle structure, and the first connecting hole 21216 and the second connecting hole 2112 may be provided in plural numbers to improve the connection strength.

In addition, in order to make the appearance of the quadruped robot more beautiful, the connection part of the quadruped robot can be arranged at the bottom of the quadruped robot as much as possible. Specifically, the first connecting hole 21216 penetrates through the lower housing 212 in the up-down direction, the second connecting hole 2112 is a blind hole, and the opening of the blind hole faces downward and is opposite to the first connecting hole 21216, and the first connecting element can be assembled from the bottom end of the first connecting hole 21216 and inserted into the first connecting hole 21216 and the second connecting hole 2112 from bottom to top. Specifically, the first connection holes 21216 may be provided as connection bolts or screws, etc.

The lower casing 212 may further include a lower trim 2120 at a bottom thereof, and the lower trim 2120 covers the bottom of the lower casing 212 to shield the first connecting element, so that the quadruped robot has a more beautiful appearance.

In this embodiment, referring to fig. 13, the handle body 271 includes a first handle piece 2711 and a second handle piece 2712, wherein the first handle piece 2711 is used to connect with the upper housing 211, and the second handle piece 2712 is disposed inside the first handle piece 2711, i.e. near one side of the upper housing 211, and spaced from the upper housing 211 so that a human hand can extend into the upper housing 211 for holding. At this time, the handle ornamental piece 272 covers the outside of the first handle piece 2711, and encloses with the second handle piece 2712 to form a grip portion for a human hand to grip. The first handle piece 2711 is enclosed by the second handle piece 2712 and the handle trim piece 272, making the appearance of the handle structure more aesthetic.

Furthermore, the handle body 271 is provided with the first handle piece 2711 and the second handle piece 2712, so that the first handle piece 2711 and the second handle piece 2712 can be made of different materials, thereby improving the strength and the hand feeling of the handle structure. Specifically, the first handle piece 2711 is made of metal, so that the handle structure has better strength and is not easy to break; the second handle piece 2712 is made of soft plastic, so that the hand feeling is better when the hand grips the plastic.

Further, for convenient assembly, the first handle piece 2711 and the second handle piece 2712 can be integrally arranged and integrally manufactured during molding, so that the assembly process can be reduced, and the assembly is more convenient.

To facilitate the disassembly and assembly of the handle structure, the handle trim 272 may be detachably connected to the first handle member. Specifically, the first handle piece 2711 is provided with a first positioning portion 27113, and the handle trim piece 272 is provided with a first positioning engaging portion 27211 engaging with the first positioning portion 27113. The handle trim 272 can be secured to the first handle member 2711 by engagement of the first detent 27113 with the first detent engagement portion 27211.

Further, referring to fig. 13, the first handle component 2711 includes a rod 27111 and connecting portions 27112 protruding from two ends of the rod 27111, the rod 27111 is in the shape of an elongated handle, each connecting portion 27112 is located in an interlayer between the handle trim 272 and the upper housing 211, the first positioning matching portion 27211 includes a mounting hole 27113a formed on each connecting portion 27112, the first positioning portion 27113 includes a stud 27211a formed inside the handle trim 272, and the stud 27211a can be inserted into the mounting hole 27113a and connected by a screw.

When assembling the handle structure, a screw is driven into the fitting hole 27113a from the side of the second handle piece 2712 and into the screw hole of the stud 27211a so that the screw is not exposed to the outside on the side close to the upper case 211. The entire handle structure is then attached to the upper housing 211, and similarly, screws are driven from the inside of the upper housing 211 to connect the upper housing 211 and the handle structure. Finally, the upper shell 211 is mounted on the lower shell 212, and when the clamping groove 27221 on the handle decoration 272 is clamped with the clamping protrusion 21215 of the lower shell 212, the connecting screw between the upper shell 211 and the lower shell 212 is assembled, so that the assembly of the body shell 210 is finished, the assembly is simple, and the appearance of the quadruped robot is more beautiful.

The above only is the preferred embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structures made by the contents of the specification and the drawings or directly or indirectly applied to other related technical fields are included in the same way in the protection scope of the present invention.

Claims (10)

1. A body (200) of a quadruped robot, comprising:

a lower housing (212) having an upwardly disposed opening, and having a front end wall (2121) and a rear end wall (2122) disposed in a front-to-rear direction, the front end wall (2121) for connection with a front leg assembly, the rear end wall (2122) for connection with a rear leg assembly;

the upper shell (211) is covered at the opening of the lower shell (212);

a front cover assembly (213) detachably mounted to the front end of the lower housing (212) for covering the front end wall (2121); and the number of the first and second groups,

a rear end cap assembly (214) removably mounted to the rear end of the lower housing (212) for covering the rear end wall (2122).

2. The body (200) of the quadruped robot of claim 1, wherein the front end wall (2121) is provided with a first mounting portion for mounting the front leg assembly; the front end cover assembly (213) comprises a front upper end cover (2131) and a front lower end cover (2132) which are detachably connected, and the front upper end cover (2131) and the front lower end cover (2132) jointly enclose and form a first through hole (2133) for the front leg assembly to penetrate through.

3. The body (200) of the quadruped robot of claim 1, wherein the rear end wall (2122) is provided with a second mounting portion for mounting the rear leg assembly; rear end cap subassembly (214) are including being back upper end cap (2141) and back lower extreme lid (2142) that can dismantle the connection, back upper end cap (2141) with back lower extreme lid (2142) enclose jointly and close and are formed with and are used for the confession the second via hole (2143) that the back leg subassembly wore to establish.

4. The body (200) of the quadruped robot of claim 1, wherein the lower housing (212) further has a left side wall (2123) and a right side wall (2124) oppositely disposed in the left-right direction; wherein the height of the left side wall (2123) and the height of the right side wall (2124) are both less than the height of the front end wall (2121) and the height of the rear end wall (2122), and transitions between the front end wall (2121), the left side wall (2123), the rear end wall (2122), and the right side wall (2124) are arranged in a gradual manner.

5. The fuselage (200) of the quadruped robot as claimed in claim 1, further comprising a sealing member (283) disposed between the upper housing (211) and the lower housing (212) for sealing the opening of the lower housing (212).

6. The body (200) of a quadruped robot according to claim 5, wherein one of the upper housing (211) and the lower housing (212) is provided with a sealing surface, and the other is provided with an abutment portion (2113), the sealing surface being provided around the opening, the sealing member (283) being provided on the sealing surface, and the abutment portion (2113) being configured to press the sealing member (283) against the sealing surface.

7. The body (200) of a quadruped robot as claimed in claim 6, wherein the sealing member (283) is provided with at least two clamping grooves (2831), and when the sealing member (283) is mounted on the sealing surface, each clamping groove (2831) is clamped on both sides of the sealing surface.

8. The body (200) of the quadruped robot of claim 6, wherein the sealing member (283) is bonded to the sealing surface; and/or the presence of a gas in the atmosphere,

the sealing element (283) comprises a sealing ring which is annularly arranged, and the sealing ring is continuously arranged in a whole circle.

9. The main body (200) of the quadruped robot as claimed in claim 6, wherein the sealing surface is formed by the opening circumference of the lower case, and the shape of the sealing member (283) is adapted to the shape of the opening circumference.

10. A quadruped robot characterized by comprising the body (200) of the quadruped robot according to any one of claims 1 to 9.

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