Quadruped robot

Abstract

The invention discloses a quadruped robot, belongs to the field of quadruped robots, solves the problems that the assembly of the quadruped robot is complicated and the efficiency is low, and adopts the technical scheme that the quadruped robot mainly comprises a trunk, four leg modules and a control box for controlling the operation of the quadruped robot, the leg module comprises a first motor, a second motor, a third motor, a thigh mechanism, a shank mechanism and a foot end piece, the first motor is installed on the trunk, an adapter of the first motor is connected with a connecting assembly, the second motor is sleeved with the connecting assembly of the first motor, and the adapter and the third motor are sleeved with the connecting assembly of the second motor; the third motor is fixedly connected with the thigh mechanism through a connecting assembly, an adapter of the third motor is connected with the shank mechanism through a connecting rod, the control box is installed in the trunk, and the first motor, the second motor and the third motor are all electrically connected with the control box. The method is mainly used for improving the assembly efficiency and the maintenance efficiency of the quadruped robot.

Description

Technical Field

[0001] The invention discloses a quadruped robot, belonging to the technical field of quadruped robots. Background Art

[0002] Quadruped robots are biomimetic robots whose design is inspired by the limb movements of animals. They typically consist of four legs and are designed to navigate a variety of terrains and environments, including flat surfaces, uneven terrain, stairs, confined spaces, and hazardous environments. They can also be used to explore unknown areas, perform dangerous missions, and conduct rescue work.

[0003] In order to make the overall structure of the quadruped robot more solid and stable, the assembly of various components of the quadruped robot in the existing technology usually requires the use of multiple fasteners for fixation, which will result in the assembly of the quadruped robot taking a long time and significantly reducing the assembly efficiency of the quadruped robot; especially when the components of the quadruped robot need to be replaced, the disassembly and reassembly process is relatively cumbersome, seriously affecting the replacement efficiency. Summary of the Invention

[0004] The purpose of the present invention is to solve the problem that the assembly of quadruped robots is complicated and inefficient. For this purpose, a quadruped robot is provided. The modularization of the quadruped robot can improve the assembly efficiency and maintenance efficiency of the quadruped robot. At the same time, it is also convenient to independently test a single module to ensure the quality of each module, which is conducive to standardized production. In addition, the modular design can also reduce the risk of coupling failures and help improve overall stability.

[0005] To solve the above technical problems, the present invention adopts the following technical solutions: A quadruped robot comprises a trunk, four leg modules and a control box for controlling the operation of the quadruped robot. The leg modules comprise a first motor, a second motor, a third motor, a thigh mechanism, a calf mechanism and a foot end piece. The first motor, the second motor and the third motor are all connected with a detachable connecting component and an adapter for outputting torque. The first motor is installed on the trunk, the adapter of the first motor is connected to the connecting component, the connecting component of the first motor is sleeved on the outside of the second motor and cooperates with the second motor to prevent rotation, the connecting component of the second motor is sleeved on the outside of the adapter and the third motor to achieve the anti-rotation cooperation between the adapter of the second motor and the third motor, the third motor is fixedly connected to the thigh mechanism through the connecting component, the adapter of the third motor is connected to the calf mechanism through a connecting rod, the control box is installed in the trunk, and the first motor, the second motor and the third motor are all electrically connected to the control box.

[0006] The beneficial effects of the present invention are: The quadruped robot described in the present invention includes a torso, a leg module and a control box, the leg module includes a first motor, a second motor and a third motor, wherein the first motor is connected to the second motor through a connecting component, the second motor is connected to the third motor through a connecting component, and the third motor is connected to the thigh mechanism through a connecting component, and the connecting component is a detachable structure, so the assembly and disassembly of the connecting component are relatively simple and convenient, thereby enabling the first motor and the second motor, the second motor and the third motor, and the third motor and the thigh mechanism to be quickly installed and disassembled, making the assembly and disassembly of the leg module and the torso simpler and faster, and significantly improving the assembly efficiency and replacement efficiency of the leg module and the torso; in addition, the maintenance frequency of the three motors of the leg module of the quadruped robot is relatively high during use, and the three motors can be quickly installed and disassembled through the connecting component. When one of the motors fails, the corresponding motor can be removed by removing the connecting component without disassembling the entire leg module, and the motor can be quickly disassembled and replaced, which helps to improve the maintenance and replacement efficiency of the motor; secondly, the leg module of the quadruped robot has specific application scenarios and functions. The difficulty of assembling and disassembling the leg modules and the torso is simplified, and the leg modules can be quickly replaced, so that the quadruped robot can replace the corresponding suitable leg modules according to different usage scenarios, such as foot-type leg modules and wheel-type leg modules, thereby enabling the quadruped robot to adapt to more complex application environments and significantly improving the applicability of the quadruped robot; furthermore, the control box is integrated into the torso. When the leg module is replaced, it is only necessary to disconnect the corresponding leg module from the control box. After assembling the new leg module, it can be reconnected to the control box. Therefore, during the replacement of the leg module, the control box does not need to be replaced, and therefore there is no need to inspect and test it again after replacement, making the replacement of the leg module simpler and faster, which can significantly improve the replacement efficiency of the leg module; in addition, the modular design can be used to independently test a single module, thereby ensuring the quality of each module, which is conducive to standardized production of each module; secondly, the modular design can also reduce the risk of coupling failures between modules, thereby significantly improving the overall stability of the quadruped robot during operation, and making the operation of the quadruped robot safer and more reliable.

[0007] Preferably, the connecting assembly includes a first clamp and a second clamp that are spliced ​​together, and a positioning groove is provided on the inner side wall of the first clamp and the second clamp. The second motor and the third motor are both provided with a positioning protrusion that matches the positioning groove. When the first clamp and the second clamp are in the spliced ​​state, the positioning groove and the positioning protrusion are positioned and matched to achieve a rotation-stopping fit between the connecting assembly and the positioning protrusion. Using the above technical solution, the connecting assembly is spliced ​​by the first clamp and the second clamp, which can achieve rapid splicing and disassembly of the connecting assembly, and at the same time can reduce the difficulty of fitting the connecting assembly on the outer peripheral side of the motor, further reduce the difficulty of installing and disassembling the two motors from each other, and can significantly improve the assembly and maintenance efficiency of the leg module; in addition, the positioning protrusion ring is embedded in the positioning groove, and the side wall of the positioning groove will directly block the positioning protrusion, thereby limiting the axial displacement of the positioning protrusion, making the positioning fit between the connecting assembly and the positioning protrusion more firm and reliable, and can effectively improve the tightness of the leg module.

[0008] Preferably, the positioning groove is distributed in an annular shape on the inner side of the first clamp and the second clamp after being spliced ​​together. The structure of the positioning protrusion matches the positioning groove, and the positioning protrusion is embedded in the positioning groove to achieve axial positioning of the positioning protrusion and the positioning groove; at least one mounting groove is provided in the positioning groove, and a positioning block is configured in the mounting groove. The positioning protrusion is provided with at least one groove, and the two ends of the positioning block extend into the mounting groove and the groove respectively to limit the relative rotation of the connecting component and the positioning protrusion. Using the above technical solution, the positioning protrusion is embedded in the positioning groove to achieve axial positioning, preventing the second motor or the third motor from axially disengaging from the connecting component, and the cooperation of the positioning block with the mounting groove and the groove can limit the relative rotation of the connecting component and the positioning protrusion, thereby achieving dual circumferential and axial positioning of the positioning protrusion and the connecting component, so that the connecting component can stably connect to the corresponding motor and provide connection stability.

[0009] Preferably, the outer peripheral sides of the adapter of the second motor and the third motor are both provided with radially outwardly extending convex rings, the two convex rings abut against each other to form a positioning protrusion, and the connecting component simultaneously acts on the sides of the two convex rings and applies pressure inward to limit the separation of the two convex rings. The above-mentioned technical solution can effectively increase the contact area between the connecting component, the adapter and the third motor by providing the radially outwardly extending convex rings. The convex rings can more evenly transmit the pressure applied by the connecting component, thereby improving the firmness of the connection between the adapter and the third motor, making the assembly of the second motor and the third motor more stable and reliable; in addition, the inward pressure of the connecting component on the sides of the two convex rings can keep the adapter and the third motor in close contact, making the connection between the second motor and the third motor more firm and reliable, reducing the possibility of the second motor and the third motor loosening due to vibration or other external forces, and at the same time more efficiently transmitting the torque to the third motor, making the swing of the leg module more precise.

[0010] Preferably, a cushion is mounted on the inner wall of the positioning groove and adhered to the inner wall of the positioning groove. Using the aforementioned technical solution, the cushion can mitigate vibrations generated by the operation of the second and third motors and absorb noise generated by the drive motors, thereby achieving a noise reduction effect. Furthermore, the cushion protects the positioning protrusion and the inner wall of the positioning groove, reducing direct contact and friction between the positioning protrusion and the inner wall of the positioning groove, thereby reducing wear on the positioning protrusion and the inner wall of the positioning groove, thereby helping to extend the service life of the second and third motors and the connecting assembly.

[0011] Preferably, both ends of the first hoop and the second hoop are detachably connected by bolts; or, one end of the first hoop is hinged to the second hoop, and the other end is connected to the second hoop by bolts.

[0012] Preferably, the thigh mechanism includes a detachably connected housing and end caps, which are joined to form the connection assembly. The housing and end caps are joined and tightly embrace the outer periphery of the third motor to secure the third motor relative to the thigh mechanism. Using the aforementioned technical solution, when the third motor needs to be removed, the housing and end caps can be disassembled to release the third motor's positioning, exposing the third motor, adapter, and connecting rod directly to the outside of the housing. The drive motor can then be removed by removing the adapter or connecting rod, eliminating the need to disassemble the entire thigh mechanism. This allows for quick removal of the third motor, effectively improving the efficiency of removing the third motor.

[0013] Preferably, the connecting assembly of the first motor includes a first clamp and a second clamp, the adapter of the first motor is fixedly connected to the first clamp, the second clamp is rotatably connected to the torso, and the first clamp and the second clamp are spliced ​​and tightly clamped to the outer peripheral side of the second motor to prevent the connecting assembly from rotating with the second motor.

[0014] Preferably, the rotation axis of the first motor is perpendicular to the rotation axis of the second motor, and the rotation axis of the second motor coincides with the rotation axis of the third motor. Using the aforementioned technical solution, the second motor drives the third motor to rotate, which can drive the thigh mechanism to swing along the direction of the quadruped robot's movement, thereby enabling the quadruped robot to move forward and backward. Furthermore, the rotation axis of the first motor is perpendicular to the rotation axis of the second motor. When the first motor drives the second motor to rotate, it can drive the thigh mechanism to swing sideways, thereby increasing the degree of freedom of the leg module and making the leg module more flexible.

[0015] Preferably, the torso includes a main frame, the front and rear ends of the main frame are respectively connected to a head frame and a tail frame, two leg modules are movably mounted on the head frame, and the other two leg modules are movably mounted on the tail frame, and the control box is fixed in the main frame.

[0016] Preferably, the control box includes a control box body and a control mainboard mounted therein. The side of the control box body facing the head frame is the front face, and the side of the control box body facing the tail frame is the rear face. Both the front face and the rear face are provided with six motor interfaces. The motors of the two leg modules of the head frame are connected to the motor interfaces of the front face, and the motors of the two leg modules of the tail frame are connected to the motor interfaces of the rear face. By adopting the aforementioned technical solution, the control box body is provided with motor interfaces corresponding to the number of motors on the end face near the leg modules. This can shorten the connecting wires between the motors and the control box body, making the wiring in the torso simpler and neater.

[0017] Preferably, the trunk includes a main frame, a bracket is fixed in the main frame, the bracket is provided with a battery compartment for installing a power supply element, there is a accommodating space between the battery compartment and the top of the main frame, and the top of the control box is fixedly connected to the main frame.

[0018] Preferably, the battery compartment forms an installation opening on the side of the main frame, and a discharge interface is provided on the side wall of the battery compartment opposite to the installation opening. After the power supply element is installed in the battery compartment, the discharge end of the power supply element is plugged into the discharge interface, and the control box is provided with a power interface, which is electrically connected to the power interface of the control box. With the above technical solution, the power interface of the control box body is electrically connected to the discharge interface of the battery compartment. After the power module is installed in the battery compartment, the discharge end of the power module is plugged into the discharge interface, thereby achieving an electrical connection between the power module and the control mainboard. Therefore, after replacing the power module, the connection between the power module and the control mainboard can be completed by completing the installation of the power module, without the need for separate wiring, making the replacement of the power module more convenient and quick, and can limit and improve the replacement efficiency of the power module.

[0019] Other features and advantages of the present invention will be disclosed in detail in the following specific embodiments and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described below with reference to the accompanying drawings: Figure 1 Schematic diagram of the structure of the quadruped robot of the present invention; Figure 2 Schematic diagram of the structure of the leg module of the quadruped robot of the present invention; Figure 3 1 is an exploded view of a connection assembly of a first motor in a quadruped robot according to the present invention; Figure 4 Exploded view of the connecting assembly of the second motor in the quadruped robot of the present invention Figure 1 ; Figure 5 Exploded view of the connecting assembly of the second motor in the quadruped robot of the present invention Figure 2 ; Figure 6 1 is an exploded view of a connection assembly of a third motor in a quadruped robot according to the present invention; Figure 7 Schematic diagram of a portion of the thigh mechanism of the quadruped robot of the present invention; Figure 8 Schematic diagram of the structure of the torso of the quadruped robot of the present invention; Figure 9 It is a schematic structural diagram of the main frame of the quadruped robot of the present invention.

[0021] Figure 1: trunk; 11: main body frame; 12: head frame; 13: tail frame; 14: bracket; 15: battery compartment; 151: discharge port; 2: leg module; 21: first motor; 211: first adapter; 22: second motor; 221: second adapter; 23: third motor; 231: third adapter; 24: thigh mechanism; 241: housing; 2411: socket; 242: end cover; 2421: rib; 243: cover plate; 2431: loose Heat hole; 2432, baffle; 2433, limit groove; 2434, positioning pin; 244, observation window; 25, calf mechanism; 251, connecting rod; 26, foot end piece; 27, cooling fan; 3, control box; 31, motor interface; 4, power module; 5, connecting assembly; 50, rotating shaft; 51, first clamp; 52, second clamp; 53, positioning groove; 531, mounting groove; 54, positioning protrusion; 541, convex ring; 542, groove; 55, positioning block; 56, buffer pad. DETAILED DESCRIPTION

[0022] The following is an explanation and description of the technical solutions of the embodiments of the present invention in conjunction with the drawings of the embodiments of the present invention. However, the following embodiments are only preferred embodiments of the present invention and are not exhaustive. Based on the embodiments in the implementation manner, other embodiments obtained by those skilled in the art without creative work are all within the scope of protection of the present invention.

[0023] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0024] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0025] like Figures 1 to 9 As shown, this embodiment shows a quadruped robot, including a trunk 1, four leg modules 2 and a control box 3 for controlling the operation of the quadruped robot. The leg module 2 includes a first motor 21, a second motor 22, a third motor 23, a thigh mechanism 24, a calf mechanism 25 and a foot end piece 26. The first motor 21, the second motor 22 and the third motor 23 are all connected with a detachable connecting component 5 and an adapter for outputting torque. The first motor 21 is installed on the trunk 1, and the adapter of the first motor 21 is connected to the connecting component 5. The connecting component of the first motor 21 The connecting component 5 is sleeved on the outside of the second motor 22 and cooperates with the second motor 22 to prevent rotation. The connecting component 5 of the second motor 22 is sleeved on the outside of the adapter and the third motor 23 to achieve the anti-rotation cooperation of the adapter of the second motor 22 and the third motor 23. The third motor 23 is fixedly connected to the thigh mechanism 24 through the connecting component 5. The adapter of the third motor 23 is connected to the calf mechanism 25 through the connecting rod 251. The control box 3 is installed in the torso 1, and the first motor 21, the second motor 22 and the third motor 23 are all electrically connected to the control box 3.

[0026] The quadruped robot described in this embodiment includes a torso 1, a leg module 2 and a control box 3, the leg module 2 includes a first motor 21, a second motor 22 and a third motor 23, wherein the first motor 21 is connected to the second motor 22 through a connecting component 5, the second motor 22 is connected to the third motor 23 through a connecting component 5, and the third motor 23 is connected to the thigh mechanism 24 through a connecting component 5, and the connecting component 5 is a detachable structure, so the assembly and disassembly of the connecting component 5 are relatively simple and convenient, thereby realizing the first motor 21 and the second motor 22, the second motor 22 and the third motor 23, and the third motor 23 and the thigh mechanism 2 4 can be quickly installed and disassembled, making the assembly and disassembly of the leg module 2 and the torso 1 simpler and faster, and can significantly improve the assembly efficiency and replacement efficiency of the leg module 2 and the torso 1; in addition, the maintenance frequency of the three motors of the leg module 2 is relatively high during the use of the quadruped robot, and the three motors can be quickly installed and disassembled through the connecting component 5. When one of the motors fails, the corresponding motor can be removed by removing the connecting component 5, without the need to disassemble the entire leg module 2, and the motor can be quickly disassembled and replaced, which helps to improve the maintenance and replacement efficiency of the motor; secondly, the leg module 2 of the quadruped robot It has specific application scenarios and functions. By simplifying the difficulty of assembling and disassembling the leg modules 2 and the torso 1, the leg modules 2 can be quickly replaced, so that the quadruped robot can replace the corresponding suitable leg modules 2 according to different usage scenarios, such as foot-type leg modules 2 and wheel-type leg modules 2, thereby enabling the quadruped robot to adapt to more complex application environments and significantly improve the application range of the quadruped robot; furthermore, the control box 3 is integrated and installed in the torso 1. When the leg module 2 is replaced, it is only necessary to disconnect the corresponding leg module 2 from the control box 3. After assembling the new leg module 2, it is reconnected to the control box 3. Therefore, during the replacement of the leg module 2, there is no need to replace the control box 3, so there is no need to inspect and test it again after the replacement, which makes the replacement of the leg module 2 simpler and faster, and can significantly improve the replacement efficiency of the leg module 2; in addition, the modular design can be used to test a single module independently, thereby ensuring the quality of each module, which is conducive to the standardized production of each module; secondly, the modular design can also reduce the risk of coupling failures between modules, thereby significantly improving the overall stability of the quadruped robot during operation, and making the operation of the quadruped robot safer and more reliable.

[0027] like Figures 1 to 3As shown, the quadruped robot described in this embodiment includes a torso 1, which includes a main frame 11. The front end and the rear end of the main frame 11 are respectively connected to a head frame 12 and a tail frame 13. The head frame 12 and the tail frame 13 are both movably connected to two leg modules 2, wherein the first motors 21 of the two leg modules 2 are fixed to the head frame 12, and the first motors 21 of the other two leg modules 2 are fixed to the tail frame 13. Taking the leg modules 2 in the head frame 12 as an example, in this embodiment, the first motor 21 is fixedly connected to the side of the head frame 12 close to the main frame 11, and the first motor 2 1 faces away from the main frame 11, and the output end of the first motor 21 is connected to the first adapter 211, the first adapter 211 is fixedly connected to the connecting component 5, and a rotating shaft 50 is provided on the side of the connecting component 5 opposite to the first adapter 211. The connecting component 5 is rotatably connected to the head frame 12 through the rotating shaft 50. The first motor 21 drives the connecting component 5 to rotate. The connecting component 5 of the first motor 21 is sleeved on the outer peripheral side of the second motor 22. The rotation axis of the first motor 21 is perpendicular to the rotation axis of the second motor 22. The first motor 21 drives the second motor 22 to swing through the connecting component 5.

[0028] like Figure 3As shown, in this embodiment, a radially outwardly extending positioning protrusion 54 is provided on the outer peripheral side of the second motor 22, and the connecting component 5 includes a first clamp 51 and a second clamp 52. The inner side walls of the first clamp 51 and the second clamp 52 are provided with a positioning groove 53. After the first clamp 51 and the second clamp 52 are spliced, the positioning grooves 53 are annularly distributed on the inner side wall of the connecting component 5. When the connecting component 5 is sleeved on the outer peripheral side of the second motor 22, the positioning protrusion 54 is embedded in the positioning groove 53. The side wall of the positioning groove 53 will directly block the positioning protrusion 54, thereby limiting the axial displacement of the positioning protrusion 54; in addition, in this embodiment, at least one mounting groove 531 is provided in the positioning groove 53, and a positioning block 55 is arranged in the mounting groove 531. The positioning protrusion 54 is provided with at least one groove 542, and the two ends of the positioning block 55 respectively extend into the mounting groove 53. 1 and the groove 542 to limit the relative rotation of the connecting component 5 and the positioning protrusion 54. The positioning protrusion 54 is embedded in the positioning groove 53 to achieve axial positioning, thereby preventing the second motor 22 from axially disengaging from the connecting component 5, and the positioning block 55 cooperates with the mounting groove 531 and the groove 542 to limit the relative rotation of the connecting component 5 and the positioning protrusion 54, thereby achieving circumferential and axial dual positioning of the positioning protrusion 54 and the connecting component 5, so that the connecting component 5 can be stably connected to the first motor 21 and provide connection stability; secondly, the connecting component 5 is spliced ​​by the first clamp 51 and the second clamp 52, which can realize rapid splicing and disassembly of the connecting component 5, and at the same time reduce the difficulty of fitting the connecting component 5 on the outer peripheral side of the motor, further reduce the difficulty of installing and disassembling the two motors, and can significantly improve the assembly and maintenance efficiency of the leg module 2.

[0029] Of course, it is understandable that in other embodiments, a plurality of positioning protrusions 54 may be provided on the outer peripheral side of the second motor 22, and the positioning protrusions 54 are distributed at intervals along the circumference of the second motor 22, and a plurality of positioning grooves 53 are also provided on the inner side of the corresponding connecting component 5. When the first clamp 51 and the second clamp 52 are spliced ​​together, the positioning protrusions 54 are correspondingly embedded in the positioning grooves 53. Since the positioning protrusions 54 and the positioning grooves 53 are not full circles, the cooperation between the positioning protrusions 54 and the positioning grooves 53 can also limit the circumferential rotation of the second motor 22 relative to the connecting component 5.

[0030] Of course, it is understandable that in other embodiments, the positioning protrusion 54 can also increase the friction between the second motor 22 and the connecting component 5 by tightly fitting with the positioning groove 53, and the connecting component 5 can clamp the outer peripheral side of the second motor 22 to limit the circumferential rotation of the second motor 22 relative to the connecting component 5. The provision of a radially outward extending positioning protrusion 54 can effectively increase the contact area between the positioning protrusion 54 and the connecting component 5, which helps to improve the clamping effect of the connecting component 5 on the second motor 22, thereby making the connection between the second motor 22 and the connecting component 5 more firm and reliable, and making the assembly of the second motor 22 and the connecting component 5 more stable and reliable.

[0031] In order to reduce the wear of the inner wall of the positioning groove 53, a buffer pad 56 is installed on the inner wall of the positioning groove 53 in this embodiment. The buffer pad 56 is attached to the inner wall of the positioning groove 53. The buffer pad 56 can slow down the vibration generated by the operation of the second motor 22, absorb the noise generated by the second motor 22, and have a noise reduction effect; in addition, it can also protect the positioning protrusion 54 and the inner wall of the positioning groove 53, reduce the direct contact and friction between the positioning protrusion 54 and the inner wall of the positioning groove 53, reduce the wear of the positioning protrusion 54 and the inner wall of the positioning groove 53, and help to extend the service life of the second motor 22 and the connecting component 5; secondly, the buffer pad 56 can also increase the friction between the positioning protrusion 54 and the positioning protrusion 54, thereby increasing the clamping force of the connecting component 5 on the positioning protrusion 54, and further reducing the possibility of relative rotation of the second motor 22 relative to the connecting component 5.

[0032] like Figure 4 and Figure 5 As shown, in this embodiment, the output end of the second motor 22 is connected to the second adapter 221, and the second adapter 221 is connected to the third motor 23 through the connecting component 5. Specifically, in this embodiment, the rotation axis of the second motor 22 and the rotation axis of the third motor 23 remain coincident. Therefore, after the second motor 22 is started, the third motor 23 rotates synchronously with the second adapter 221. In addition, the outer peripheral sides of the adapter of the second motor 22 and the third motor 23 are both provided with radially outward extending convex rings 541. After the second adapter 221 and one end of the third motor 23 are abutted against each other, the two convex rings 541 abut against each other to form the positioning protrusion 54. The connection method between the connecting component 5 of the second motor 22 and the positioning protrusion 54 is the same as the connection method between the connecting component 5 of the first motor 21 and the positioning protrusion 54, and they will not be repeated here.

[0033] It should be noted that the cross-section of the positioning groove 53 described in this embodiment is trapezoidal, and the side walls on both sides of the positioning groove 53 are inclined, and the width of the positioning groove 53 gradually decreases from the groove mouth to the groove bottom, and the opposite sides of the two protruding rings 541 are also inclined, and the structure of the side faces of the protruding rings 541 is adapted to the side walls of the positioning groove 53. When the first hoop 51 and the second hoop 52 are in a spliced ​​state, the side walls of the positioning groove 53 are against the opposite sides of the two protruding rings 541, and the two side walls of the positioning groove 53 act on the opposite sides of the two protruding rings 541 and apply pressure inward to limit the two protruding rings 541 from separating from each other. By providing the protruding ring 541 extending radially outward, the connection component 5 and the adapter and the first hoop 51 and the second hoop 52 can be effectively increased. The contact area between the three motors 23 and the convex ring 541 can more evenly transmit the pressure applied by the connecting component 5, thereby improving the firmness of the connection between the adapter and the third motor 23, making the assembly of the second motor 22 and the third motor 23 more stable and reliable; in addition, the inward pressure exerted by the connecting component 5 on the two convex rings 541 away from the side can keep the adapter and the third motor 23 in close fit, making the connection between the second motor 22 and the third motor 23 more firm and reliable, reducing the possibility of the second motor 22 and the third motor 23 loosening due to vibration or other external forces, and at the same time can more efficiently transmit the torque to the third motor 23, making the swing of the leg module 2 more precise.

[0034] In addition, in this embodiment, the first clamp 51 and the second clamp 52 are connected by fasteners. As the fasteners are tightened, the inner diameter of the positioning groove 53 can be gradually reduced, and the connecting component 5 will produce a wedging effect on the convex ring 541, so that the connecting component 5 and the convex ring 541 are kept in close contact. At the same time, it can also increase the pressure applied by the connecting component 5 on the side wall of the convex ring 541, significantly enhancing the stability of the connection between the adapter and the third motor 23, ensuring that the adapter and the third motor 23 can always maintain a close fit, ensuring the reliability of the torque transmission of the adapter, and making the thigh mechanism 24 have more precise operating performance.

[0035] It should be noted that the rotation axis of the first motor 21, the rotation axis of the second motor 22 and the rotation axis of the third motor 23 refer to the axes around which the corresponding adapters rotate, that is, the adapter of the first motor 21 rotates around the rotation axis of the first motor 21, the adapter of the second motor 22 rotates around the rotation axis of the second motor 22, and the adapter of the third motor 23 rotates around the rotation axis of the third motor 23.

[0036] like Figure 7As shown, the thigh mechanism 24 in this embodiment includes a shell 241 and an end cover 242. The end cover 242 is detachably connected to the top of the shell 241. The overall structure of the end cover 242 is semicircular. The end cover 242 and the shell 241 are spliced ​​together to form a receiving cavity, and circular mounting holes and observation windows 244 are formed on both sides of the thigh mechanism 24. The mounting holes and the observation windows 244 are both connected to the receiving cavity. After the third motor 23 is connected to the thigh mechanism 24, the output end of the third motor 23 is connected to the third adapter 231. The third adapter 231 extends through the mounting hole. The top of the calf mechanism 25 is hinged to the bottom of the thigh mechanism 24, and the calf structure is also rotatably connected to a connecting rod 251. The connecting rod 251 extends along the inside of the housing 241 of the thigh structure to the accommodating cavity. The third adapter 231 is hinged to the connecting rod 251. The third motor 23 drives the third adapter 231 to rotate. The third adapter 231 drives the calf mechanism 25 to swing relative to the thigh mechanism 24 through the connecting rod 251. The thigh mechanism 24 also includes a cover plate 243, which is connected to the end cover 242 to cover the observation window 244. The observation window 244 can penetrate the output end of the third motor 23, the inertia disk and the cooperation of the connecting rod 251 without disassembling the end cover 242 and the housing 241, so that the user can observe the operating status of the third motor 23, which helps the user to understand the fault status of the third motor 23 before disassembling the third motor 23, avoids the ineffective work of disassembling the third motor 23 due to non-faults of the third motor 23, and helps to reduce the difficulty of repairing the third motor 23; in addition, the observation window 244 can also play a role in heat dissipation, which helps to reduce the third motor 23 in the thigh mechanism 2 4; secondly, the cover plate 243 covers the observation window 244, which can reduce the entry of dust, garbage, etc. into the interior of the thigh mechanism 24, and reduce the possibility that the internal structure of the thigh mechanism 24 is affected by external debris; secondly, the cover plate 243 is provided with a plurality of heat dissipation holes 2431 connected to the observation window 244, and the heat dissipation holes 2431 help to improve the heat exchange efficiency between the inside of the thigh mechanism 24 and the outside, reduce the temperature rise rate inside the thigh mechanism 24, reduce the heat dissipation effect, and reduce the possibility of overheating of the third motor 23.

[0037] like Figure 6 As shown, in this embodiment, the shell 241 and the end cover 242 are spliced ​​together to form the connecting component 5, the positioning groove 53 is arranged on the inner side of the shell 241 and the end cover 242, and the outer peripheral side of the third motor 23 is provided with a corresponding positioning protrusion 54. The structure and connection method of the positioning protrusion 54 of the connecting component 5 and the third motor 23 are the same as those of the above-mentioned connecting component 5, and will not be repeated here.

[0038] like Figure 7As shown, in this embodiment, the end cover 242 and the shell 241 are clamped together in the form of a hoop, and then the two parts are connected together by screws. The top of the end cover 242 is provided with an upwardly protruding ridge 2421, and the cover plate 243 is provided with a baffle 2432 extending axially along the third motor 23. When the end cover 242 is connected to the thigh mechanism 24, the baffle 2432 covers the outer peripheral side of the end cover 242 and the shell 241, and the inner side of the baffle 2432 is provided with a limiting groove 2433 corresponding to the ridge 2421. After the end cover 242 is connected to the thigh mechanism 24, the ridge 2421 is embedded in the limiting groove 2433, thereby limiting the cover plate 243 from axially separating from the end cover 242 and the shell 241; in addition, the cover A positioning pin 2434 is provided on the plate 243, and a socket 2411 is provided in the shell 241 for inserting the positioning pin 2434. The positioning pin 2434 is plugged into the socket 2411 to limit the separation of the protrusion 2421 and the limiting groove 2433. The cooperation of the protrusion 2421 and the limiting groove 2433 can limit the cover plate 243 from axially separating from the thigh mechanism 24, and the plugging and cooperation of the positioning pin 2434 and the socket 2411 can limit the separation of the protrusion 2421 and the limiting groove 2433, thereby achieving the connection stability between the cover plate 243 and the thigh mechanism 24, and at the same time reducing the difficulty of installation and disassembly of the cover plate 243 and the thigh mechanism 24, which helps to achieve rapid installation and disassembly of the leg structure.

[0039] like Figure 8 and Figure 9 As shown, the main frame 11 in this embodiment includes four beams, which are arranged to form a rectangular frame. A bracket 14 is provided in the main frame 11. The top of the bracket 14 is fixedly connected to the two beams at the top of the main frame 11, and the bottom end of the bracket 14 is fixedly connected to the two beams at the bottom of the main frame 11. The bracket 14 is provided with a battery compartment 15 for installing the power module 4. There is an accommodating space between the battery compartment 15 and the top of the main frame 11. The control box 3 is installed in the accommodating space. The control box 3 includes a control box body, and the control box body is fixedly connected to the two beams at the top of the main frame 11.

[0040] In this embodiment, the side of the control box body facing the head frame 12 is the front end face, and the side of the control box body facing the tail frame 13 is the rear end face. The front end face of the control box body is provided with a power supply interface and a plurality of motor interfaces 31, and the rear end face of the control box body is provided with a plurality of motor interfaces 31. Specifically, in this embodiment, the front end face and the rear end face of the control box body are provided with six motor interfaces 31. The six motor interfaces 31 on the front end face correspond to the six motors connected to the two leg assemblies in the head frame 12, and the six motor interfaces 31 on the rear end face correspond to the six motors connected to the two leg assemblies in the tail frame 13. The interfaces 31 are distributed at the front and rear ends of the control box body, so that the motor interface 31 can be close to the leg modules 2 at the front and rear ends of the torso 1 respectively, thereby shortening the connection line between the motor and the control box body, making the wiring inside the torso 1 simpler and neater; in addition, each motor corresponds to an independent motor interface 31, so that the connection between each motor and the control box body remains independent, so as to achieve mutual isolation between the motors. When one of the motors fails, the faulty motor can be quickly detected through the corresponding motor interface 31, making the motor maintenance faster and more convenient, which helps to improve the maintenance efficiency of the motor.

[0041] like Figure 8 As shown, the battery compartment 15 described in this embodiment forms an installation opening on the side of the main frame 11, and a discharge interface 151 is provided on the side wall of the battery compartment 15 opposite to the installation opening. The discharge interface 151 is electrically connected to the power interface of the control box body, and the power interface of the control box body is electrically connected to the discharge interface 151 of the battery compartment 15. After the power module 4 is installed into the battery compartment 15, the discharge end of the power module 4 is plugged into the discharge interface 151, thereby realizing the electrical connection between the power module 4 and the control mainboard. Therefore, after replacing the power module 4, the connection between the power module 4 and the control mainboard can be completed by completing the installation of the power module 4, without the need for separate wiring, making the replacement of the power module 4 more convenient and quick, and can limit and improve the replacement efficiency of the power module 4; in addition, a cooling fan 27 is provided on the torso, and the cooling fan 27 is close to the motor and is used to dissipate heat for the motor. The cooling fan 27 is electrically connected to the control box 3, and the cooling fan 27 is controlled by the control box 3.

[0042] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Those skilled in the art will understand that the present invention includes, but is not limited to, the contents described in the drawings and the above specific embodiments. Any modifications that do not deviate from the functional and structural principles of the present invention are intended to be included within the scope of the claims.

Claims

1. A quadruped robot, characterized in that: It includes a torso, four leg modules and a control box for controlling the operation of a quadruped robot. The leg module includes a first motor, a second motor, a third motor, a thigh mechanism, a calf mechanism and a foot end piece. The first motor, the second motor and the third motor are all connected with a detachable connecting component and an adapter for outputting torque. The first motor is installed on the torso, the adapter of the first motor is connected to the connecting component, the connecting component of the first motor is sleeved on the outside of the second motor and cooperates with the second motor to stop rotation, the connecting component of the second motor is sleeved on the outside of the adapter and the third motor to achieve the anti-rotation cooperation between the adapter of the second motor and the third motor, the third motor is fixedly connected to the thigh mechanism through the connecting component, the adapter of the third motor is connected to the calf mechanism through a connecting rod, the control box is installed in the torso, and the first motor, the second motor and the third motor are all electrically connected to the control box.

2. The quadruped robot according to claim 1, characterized in that: The connecting assembly includes a first clamp and a second clamp spliced ​​together, and a positioning groove is provided on the inner side walls of the first clamp and the second clamp. The second motor and the third motor are both provided with a positioning protrusion matching the positioning groove. When the first clamp and the second clamp are in a spliced ​​state, the positioning groove and the positioning protrusion are positioned and matched to achieve anti-rotation cooperation between the connecting assembly and the positioning protrusion.

3. The quadruped robot according to claim 2, characterized in that: The positioning groove is distributed in a ring shape on the inner side after the first clamp and the second clamp are spliced ​​together. The structure of the positioning protrusion matches the positioning groove, and the positioning protrusion is embedded in the positioning groove to realize axial positioning of the positioning protrusion and the positioning groove; at least one limiting groove is provided in the positioning groove, and a positioning block is configured in the limiting groove. At least one groove is provided on the positioning protrusion, and both ends of the positioning block extend into the limiting groove and the groove respectively to limit the relative rotation of the connecting component and the positioning protrusion.

4. The quadruped robot according to claim 2, characterized in that: The outer peripheral sides of the adapter of the second motor and the outer shell of the third motor are both provided with radially outward extending protrusions, and the two protrusions abut against each other to form a positioning protrusion. The connecting component acts on the opposite sides of the two protrusions at the same time and applies pressure inward to limit the separation of the two protrusions from each other.

5. The quadruped robot according to claim 2, characterized in that: A buffer pad is installed on the inner wall of the positioning groove, and the buffer pad is attached to the inner wall of the positioning groove.

6. The quadruped robot according to claim 2, characterized in that: Both ends of the first hoop and the second hoop are detachably connected by bolts; or, one end of the first hoop is hinged to the second hoop, and the other end is connected to the second hoop by bolts.

7. The quadruped robot according to claim 1, characterized in that: The thigh mechanism includes a detachably connected shell and end cover, which are spliced ​​together to form the connection assembly. The spliced ​​shell and end cover are tightly embraced on the outer peripheral side of the third motor to fix the third motor relative to the thigh mechanism.

8. The quadruped robot according to claim 1, characterized in that: The connecting assembly of the first motor includes a first clamp and a second clamp. The adapter of the first motor is fixedly connected to the first clamp, and the second clamp is rotatably connected to the torso. The first clamp and the second clamp are spliced ​​and tightly clamped on the outer peripheral side of the second motor to prevent the connecting assembly from rotating with the second motor.

9. The quadruped robot according to claim 1, characterized in that: The rotation axis of the first motor is perpendicular to the rotation axis of the second motor, and the rotation axis of the second motor coincides with the rotation axis of the third motor.

10. The quadruped robot according to claim 1, characterized in that: The torso includes a main frame, the front and rear ends of the main frame are respectively connected to a head frame and a tail frame, two leg modules are movably mounted on the head frame, and the other two leg modules are movably mounted on the tail frame, and a control box is fixed in the main frame.

11. The quadruped robot according to claim 10, characterized in that: The control box includes a control box body and a control main board installed in the control box body. The side of the control box body facing the head frame is the front end face, and the side of the control box body facing the tail frame is the rear end face. Both the front end face and the rear end face are provided with six motor interfaces. The motors of the two leg modules of the head frame are connected to the motor interfaces of the front end face, and the motors of the two leg modules of the tail frame are connected to the motor interfaces of the rear end face.

12. The quadruped robot according to claim 1, characterized in that: The quadruped robot also includes a power module, the torso includes a main frame, a bracket is fixed in the main frame, the bracket is provided with a battery compartment for installing the power module, there is an accommodating space between the battery compartment and the top of the main frame, and the top of the control box is fixedly connected to the main frame.

13. The quadruped robot according to claim 12, characterized in that: The battery compartment forms an installation opening on the side of the main frame, and a discharge interface is provided on the side wall of the battery compartment opposite to the installation opening. After the power module is installed in the battery compartment, the discharge end of the power module is plugged into the discharge interface, and the control box is provided with a power interface, and the discharge interface is electrically connected to the power interface of the control box.

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