The leg assembly of a quadruped robot and the quadruped robot

Abstract

This utility model discloses a leg assembly and a quadruped robot, belonging to the field of quadruped robots. It solves the problem of complex and cumbersome disassembly due to strong coupling between the drive motor and the leg structure, which affects disassembly efficiency. The technical solution mainly includes a drive motor, a thigh mechanism, a lower leg mechanism, and foot ends. The drive motor is mounted on the top of the thigh mechanism, and the lower leg mechanism is rotatably connected to the thigh mechanism. The drive motor drives the lower leg mechanism to swing relative to the thigh mechanism. The output end of the drive motor is connected to a rudder arm that outputs torque. The rudder arm is hinged to the lower leg mechanism via a connecting rod. The thigh mechanism includes a detachably connected shell and end cap. The shell and end cap are spliced ​​and tightly fitted to the outer periphery of the drive motor to fix the drive motor relative to the thigh mechanism. This utility model is mainly used to achieve rapid disassembly of the drive motor and the thigh mechanism, reduce the risk of coupling failure, improve overall stability, and increase assembly and maintenance efficiency.

Description

Technical Field

[0001] This utility model illustrates the leg components of a quadruped robot and the quadruped robot itself, belonging to the field of quadruped robot technology. Background Technology

[0002] Quadruped robots are biomimetic robots inspired by the movement of animal limbs. They typically consist of four legs and are designed to move across a variety of terrains and environments, including flat ground, uneven terrain, stairs, narrow spaces, and hazardous environments. They can also be used to explore unknown areas, perform dangerous tasks, and conduct rescue operations.

[0003] The leg assembly of the quadruped robot includes a thigh mechanism, a lower leg mechanism, and a foot end. The thigh mechanism is equipped with a knee joint motor. The output end of the knee joint motor is equipped with a steering arm and a connecting rod rotatably connected to the steering arm. The other end of the connecting rod is connected to the lower leg mechanism. The knee joint motor outputs torque, and the steering arm drives the lower leg mechanism to swing relative to the thigh mechanism through the connecting rod.

[0004] In actual use, the knee joint motor and its corresponding thigh and calf connection mechanisms are prone to failure, resulting in a high frequency of repairs. In existing technologies, the knee joint motor is tightly coupled to the leg structure, requiring complete disassembly and reassembly for any damage to any part, a complex and time-consuming process that is also inconvenient for standardized production. Utility Model Content

[0005] The purpose of this invention is to solve the problem of complex and cumbersome disassembly due to strong coupling between the drive motor and the leg structure, which affects disassembly efficiency. To this end, a leg assembly and a quadruped robot are provided, which can realize the rapid disassembly of the drive motor and the thigh mechanism, reduce the risk of coupling failure, and improve overall stability as well as assembly and maintenance efficiency.

[0006] To solve the above-mentioned technical problems, this utility model adopts the following technical solution:

[0007] The leg assembly of the quadruped robot includes a drive motor, a thigh mechanism, a lower leg mechanism, and a foot end. The drive motor is mounted on the top of the thigh mechanism, and the lower leg mechanism is rotatably connected to the thigh mechanism. The drive motor is used to drive the lower leg mechanism to swing relative to the thigh mechanism. The output end of the drive motor is connected to a rudder arm that outputs torque. The rudder arm is hinged to the lower leg mechanism through a connecting rod. The thigh mechanism includes a detachably connected shell and an end cap. The shell and end cap are spliced ​​and tightly hugged to the outer periphery of the drive motor to fix the drive motor relative to the thigh mechanism.

[0008] The beneficial effects of using this utility model are:

[0009] The thigh mechanism described in this invention includes a detachably connected housing and end cap. The housing and end cap, after being assembled, are fitted onto the outer periphery of the drive motor. The assembled housing and end cap grip the outer periphery of the drive motor, thereby positioning it and fixing it relative to the thigh mechanism, thus establishing the connection between the drive motor and the thigh mechanism. When it is necessary to disassemble the drive motor, the positioning of the drive motor can be released by separating the housing and end cap, exposing the drive motor, steering arm, and connecting rod directly to the outside of the housing. Then, by removing the steering arm or connecting rod, the entire leg structure can be removed, enabling rapid disassembly of the drive motor, thigh mechanism, and lower leg mechanism, effectively improving disassembly efficiency. Furthermore, the gripping of the drive motor by the housing and end cap achieves the desired driving effect. Positioning the drive motor reduces the number of fasteners required to fix it, making the fixing of the drive motor to the thigh mechanism simpler and more convenient. This improves the efficiency of drive motor installation and disassembly. Reducing the use of fasteners also reduces the overall weight of the thigh mechanism, making the entire leg assembly lighter and helping to improve the quadruped robot's flexibility and endurance. Secondly, the shell and end caps hold the drive motor tightly, restricting its rotation relative to the thigh mechanism and preventing it from detaching from the thigh mechanism axially. This achieves circumferential and axial positioning of the drive motor, improving the connection stability between the drive motor and the thigh mechanism, reducing the possibility of the drive motor shaking due to vibration or other external forces, and making the assembly of the drive motor and thigh mechanism more tight.

[0010] Preferably, after the housing and end cover are spliced ​​together, mounting holes and observation windows are formed on both sides of the thigh mechanism. The output end of the drive motor extends into the mounting hole and is fixed to the thigh mechanism. The thigh mechanism also includes a cover plate, which is connected to the end cover to cover the observation window. Using the aforementioned technical solution, the observation window allows observation of the drive motor's output end, rudder arm, and linkage without disassembling the end cover and housing. This facilitates user observation of the drive motor's operating status, helps users understand the drive motor's fault condition before disassembling it, avoids ineffective disassembly of the drive motor due to non-drive motor faults, and helps reduce the difficulty of drive motor maintenance. Additionally, the observation window also serves a heat dissipation function, helping to reduce the temperature rise rate of the drive motor within the thigh mechanism. Furthermore, the cover plate covering the observation window reduces the entry of dust and debris into the thigh mechanism, lowering the possibility of external contaminants affecting the internal structure of the thigh mechanism.

[0011] Preferably, the cover plate has a baffle extending along the axial direction of the drive motor. The baffle covers the outer periphery of the end cover and the housing. One of the inner side of the baffle and the top of the end cover has a protrusion, and the other has a limiting groove. The protrusion and the limiting groove cooperate to prevent the cover plate from axially detaching from the end cover and the housing. The cover plate has a positioning pin, and the housing has a hole for inserting the positioning pin. The positioning pin engages with the hole to prevent the protrusion from separating from the limiting groove. Using the aforementioned technical solution, the engagement of the protrusion and the limiting groove can prevent the cover plate from axially detaching from the thigh mechanism, while the engagement of the positioning pin with the hole can prevent the protrusion from separating from the limiting groove. This achieves stable connection between the cover plate and the thigh mechanism, reduces the difficulty of installation and disassembly, and facilitates rapid installation and disassembly of the cover plate.

[0012] Preferably, the cover plate is provided with several heat dissipation holes connected to the observation window. By adopting the aforementioned technical solution, the heat dissipation holes help improve the heat exchange efficiency between the inside of the thigh mechanism and the outside environment, reduce the temperature rise rate inside the thigh mechanism, achieve a good heat dissipation effect, and reduce the possibility of the drive motor overheating.

[0013] Preferably, both ends of the housing and the end cap are detachably connected by bolts; or, one end of the end cap is hinged to the housing, and the other end is detachably connected to the housing by bolts.

[0014] Preferably, the drive motor includes a housing with a radially outwardly extending positioning protrusion on its outer periphery. The inner side of the housing after splicing with the end cover forms a positioning groove that matches the positioning protrusion. The positioning groove and the positioning protrusion engage to restrict the rotation of the drive motor relative to the thigh mechanism and to prevent the drive motor from disengaging from the thigh mechanism. By employing the aforementioned technical solution, the radially outwardly extending positioning protrusion effectively increases the contact area between the positioning protrusion and the housing and end cover, helping to improve the gripping effect of the housing and end cover on the drive motor. This makes the connection between the drive motor and the thigh mechanism more robust and reliable, and the assembly of the drive motor and the thigh mechanism more stable and reliable. Furthermore, the engagement of the positioning protrusion and the positioning groove effectively restricts the drive motor from axially disengaging from the thigh mechanism, ensuring the connection stability between the rudder arm and the connecting rod, making the torque output of the drive motor to the lower leg mechanism more precise, and making the swing of the lower leg mechanism more accurate.

[0015] Preferably, the positioning groove is arranged in a ring on the inner side of the shell and the end cover after splicing, and the positioning protrusion is arranged in a ring on the outer periphery of the shell. The positioning protrusion is embedded in the positioning groove to limit the axial displacement of the drive motor. The positioning groove is provided with at least one mounting groove, and a positioning block is arranged 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 circumferential rotation of the drive motor.

[0016] Preferably, the outer periphery of the housing is provided with several positioning protrusions, and the inner side of the housing after splicing with the end cover is provided with several positioning grooves. The positioning protrusions are embedded in the positioning grooves to fix the drive motor relative to the thigh mechanism.

[0017] Preferably, 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. Using the aforementioned technical solution, the buffer pad can reduce the vibration generated by the drive motor during operation, absorb the noise generated by the drive motor, and achieve a noise reduction effect; in addition, it can also protect the positioning protrusion and the inner wall of the positioning groove, reduce the direct contact and friction between the positioning protrusion and the inner wall of the positioning groove, reduce the wear of the positioning protrusion and the inner wall of the positioning groove, and help extend the service life of the drive motor, housing, and end cover.

[0018] This utility model also demonstrates a quadruped robot, including a torso and four leg components rotatably connected to the torso, wherein the leg components are the same as those of the quadruped robot described in any of the above embodiments.

[0019] Other features and advantages of this utility model will be disclosed in detail in the following specific embodiments and accompanying drawings. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings:

[0021] Figure 1 is a schematic diagram of the leg assembly of the quadruped robot of this utility model;

[0022] Figure 2 is a partial exploded view of the leg assembly of the quadruped robot of this utility model;

[0023] Figure 3 is a cross-sectional view of the leg assembly of the quadruped robot of this utility model;

[0024] Figure 4 is a cross-sectional view of the leg assembly of the quadruped robot of this utility model.

[0025] Figure 5 is a schematic diagram of the structure of the middle end cap of the leg assembly of the quadruped robot of this utility model;

[0026] Figure 6 is a partial schematic diagram of the leg assembly of the quadruped robot of this utility model;

[0027] Figure 7 is a schematic diagram of the cover plate in the leg assembly of the quadruped robot of this utility model;

[0028] Figure 8 is a structural schematic diagram of the quadruped robot of this utility model.

[0029] Reference numerals: 10. Leg assembly; 1. Thigh mechanism; 11. Housing; 111. Insertion hole; 112. First stop block; 12. End cap; 121. Protrusion; 122. Second stop block; 13. Positioning groove; 131. Mounting groove; 132. Buffer pad; 133. Positioning block; 14. Cover plate; 141. Heat dissipation hole; 142. Baffle; 143. Limiting groove; 144. Positioning pin; 15. Observation window; 2. Lower leg mechanism; 21. Connecting rod; 3. Foot end; 4. Drive motor; 41. Positioning protrusion; 42. Groove; 43. Rudder arm; 431. Limiting block; 5. Torso. Detailed Implementation

[0030] The technical solutions of the present utility model will be explained and described below with reference to the accompanying drawings. However, the following embodiments are only preferred embodiments of the present utility model and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments in the implementation methods without creative effort are all within the protection scope of the present utility model.

[0031] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0032] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0033] Example 1:

[0034] As shown in Figures 1 to 7, this embodiment illustrates the leg assembly 10 of a quadruped robot, including a drive motor 4, a thigh mechanism 1, a lower leg mechanism 2, and a foot end 3. The drive motor 4 is mounted on the top of the thigh mechanism 1, and the lower leg mechanism 2 is rotatably connected to the thigh mechanism 1. The drive motor 4 is used to drive the lower leg mechanism 2 to swing relative to the thigh mechanism 1. The output end of the drive motor 4 is connected to a rudder arm 43 that outputs torque. The rudder arm 43 is hinged to the lower leg mechanism 2 through a connecting rod 21. The thigh mechanism 1 includes a detachably connected housing 11 and an end cap 12. The housing 11 and the end cap 12 are spliced ​​and tightly hugged to the outer periphery of the drive motor 4 so that the drive motor 4 is fixed relative to the thigh mechanism 1.

[0035] In this embodiment, the thigh mechanism 1 includes a detachably connected housing 11 and end cap 12. The housing 11 and end cap 12, after being assembled, are fitted onto the outer periphery of the drive motor 4. The assembled housing 11 and end cap 12 clamp the outer periphery of the drive motor 4, thereby positioning the drive motor 4 and fixing it relative to the thigh mechanism 1, thus establishing the connection between the drive motor 4 and the thigh mechanism 1. When it is necessary to disassemble the drive motor 4, the positioning of the drive motor 4 can be released by disassembling the housing 11 and end cap 12, exposing the drive motor 4, steering arm 43, and connecting rod 21 directly to the outside of the housing 11. Then, by removing the steering arm 43 or connecting rod 21, the entire leg structure can be removed. This allows for rapid disassembly of the drive motor 4, the thigh mechanism 1, and the lower leg mechanism 2, effectively improving disassembly efficiency. It also decouples the strong coupling between the leg structure and the drive motor 4, making them relatively independent and modular. Furthermore, the positioning of the drive motor 4 by clamping it with the housing 11 and end cap 12 reduces the number of fasteners required to fix the drive motor 4, making the fixing of the drive motor 4 to the thigh mechanism 1 simpler and more convenient. This improves the efficiency of installing and disassembling the drive motor 4. At the same time, reducing the use of fasteners also reduces the overall weight of the thigh mechanism 1, making the overall leg assembly 10 lighter and helping to improve the flexibility and endurance of the quadruped robot. Secondly, the clamping of the drive motor 4 with the housing 11 and end cap 12 restricts the rotation of the drive motor 4 relative to the thigh mechanism 1, and also restricts the drive motor 4 from detaching from the thigh mechanism 1 along the axial direction. This achieves circumferential and axial positioning of the drive motor 4, which helps to improve the connection stability between the drive motor 4 and the thigh mechanism 1, reduces the possibility of the drive motor 4 shaking due to vibration or other external forces, and makes the assembly of the drive motor 4 and the thigh mechanism 1 more compact.

[0036] As shown in Figures 1 and 2, the thigh mechanism 1 in this embodiment includes a housing 11 and an end cap 12. The end cap 12 is detachably connected to the top of the housing 11. The end cap 12 has a semi-circular overall structure. After the end cap 12 and the housing 11 are spliced ​​together, they form a receiving cavity. Circular mounting holes and observation windows 15 are formed on both sides of the thigh mechanism 1. Both the mounting holes and the observation windows 15 are in communication with the receiving cavity. After the drive motor 4 is connected to the thigh mechanism 1, the output end of the drive motor 4 extends into the receiving cavity through the mounting hole. The top of the lower leg mechanism 2 is hinged to the bottom of the thigh mechanism 1. The lower leg structure is also rotatably connected to a connecting rod 21. The connecting rod 21 extends along the inside of the housing 11 of the thigh structure to the receiving cavity. The output end of the drive motor 4 is connected to a rudder arm 43. The rudder arm 43 is hinged to the connecting rod 21. The drive motor 4 drives the rudder arm 43 to rotate. The rudder arm 43 drives the lower leg mechanism 2 to move relative to the thigh mechanism 1 through the connecting rod 21. The thigh mechanism 1 also includes a cover plate 14, which is connected to the end cover 12 to cover the observation window 15. The observation window 15 allows observation of the output end of the drive motor 4, the rudder arm 43, and the linkage 21 without disassembling the end cover 12 and the housing 11. This facilitates the user's observation of the operation of the drive motor 4 and helps the user understand the fault status of the drive motor 4 before disassembling it, avoiding the ineffective work of disassembling the drive motor 4 due to faults other than those of the drive motor 4, and helping to reduce the maintenance difficulty of the drive motor 4. In addition, the observation window 15 can also play a role in heat dissipation, which helps to reduce the temperature rise rate of the drive motor 4 inside the thigh mechanism 1. Furthermore, the cover plate 14 covering the observation window 15 can reduce the entry of dust, debris, etc. into the interior of the thigh mechanism 1, reducing the possibility of the internal structure of the thigh mechanism 1 being affected by external debris.

[0037] As shown in Figures 2 and 3, the drive motor 4 in this embodiment includes a housing. The outer periphery of the housing has radially outwardly extending positioning protrusions 41. The inner side of the housing 11 after splicing with the end cover 12 forms a positioning groove 13 that matches the positioning protrusions 41; that is, the positioning groove 13 is formed on the inner wall of the receiving cavity. Specifically, in this embodiment, the positioning protrusions 41 are distributed in a ring on the outer periphery of the housing, and the positioning grooves 13 are also distributed in a ring on the inner side of the housing 11 after splicing with the end cover 12. At least one mounting groove 131 is provided in the positioning groove 13, and a positioning block 133 is provided in the mounting groove 131. The positioning protrusions 41 are provided with… At least one groove 42 is provided. After the housing 11 and the end cover 12 are spliced, the positioning protrusion 41 is embedded in the positioning groove 13. The positioning protrusion 41 and the positioning groove 13 limit the axial displacement of the drive motor 4. In addition, the top end of the positioning block 133 extends into the mounting groove 131, and the bottom end of the positioning block 133 extends into the groove 42. That is, the positioning block 133 is simultaneously positioned in the mounting groove 131 and the groove 42, which can limit the circumferential rotation of the drive motor 4, making the connection between the drive motor 4 and the thigh mechanism 1 more secure and reliable, and making the assembly of the drive motor 4 and the thigh mechanism 1 more stable and reliable.

[0038] It is understandable that in other embodiments, the outer periphery of the drive motor 4 housing may also be provided with a number of positioning protrusions 41, and the positioning protrusions 41 are distributed at intervals along the circumference of the housing. Correspondingly, the inner sides of the housing 11 and the end cover 12 are also provided with a number of positioning grooves 13. When the housing 11 and the end cover 12 are spliced ​​together, the positioning protrusions 41 are correspondingly embedded in the positioning grooves 13. Since neither the positioning protrusions 41 nor the positioning grooves 13 are complete circles, the cooperation between the positioning protrusions 41 and the positioning grooves 13 can also restrict the drive motor 4 from rotating circumferentially relative to the thigh mechanism 1.

[0039] It is understandable that in other embodiments, the positioning protrusion 41 can also be tightly fitted with the positioning groove 13 to increase the friction between the drive motor 4 and the end cover 12 and the housing 11. The end cover 12 and the housing 11 hold the outer shell of the drive motor 4 to limit the circumferential rotation of the drive motor 4 relative to the thigh mechanism 1. The radially outward extending positioning protrusion can effectively increase the contact area between the positioning protrusion 41 and the housing 11 and the end cover 12, which helps to improve the holding effect of the housing 11 and the end cover 12 on the drive motor 4. This makes the connection between the drive motor 4 and the thigh mechanism 1 more firm and reliable, and the assembly of the drive motor 4 and the thigh mechanism 1 more stable and reliable.

[0040] Furthermore, the cooperation between the positioning protrusion 41 and the positioning groove 13 can effectively limit the drive motor 4 from detaching from the thigh mechanism 1 along the axial direction, ensure the connection stability between the rudder arm 43 and the connecting rod 21, make the torque output of the drive motor 4 to the lower leg mechanism 2 more precise, and make the swing of the lower leg mechanism 2 more precise.

[0041] To reduce wear on the inner wall of the positioning groove 13, a buffer pad 132 is installed on the inner wall of the positioning groove 13 in this embodiment. The buffer pad 132 is attached to the inner wall of the positioning groove 13. The buffer pad 132 can reduce the vibration generated by the operation of the drive motor 4 and absorb the noise generated by the drive motor 4, thus achieving a noise reduction effect. In addition, it can also protect the positioning protrusion 41 and the inner wall of the positioning groove 13, reduce the direct contact and friction between the positioning protrusion 41 and the inner wall of the positioning groove 13, reduce the wear on the positioning protrusion 41 and the inner wall of the positioning groove 13, and help extend the service life of the drive motor 4, the housing 11 and the end cover 12. Secondly, the buffer pad 132 can also increase the friction between itself and the positioning protrusion 41, thereby increasing the gripping force of the end cover 12 and the housing 11 on the positioning protrusion 41, and further reducing the possibility of the drive motor 4 rotating relative to the thigh mechanism 1.

[0042] As shown in Figure 2, in this embodiment, both ends of the housing 11 and the end cover 12 are detachably connected by bolts. By using bolts to connect the housing 11 and the end cover 12, the clamping force of the housing 11 and the end cover 12 on the housing of the drive motor 4 can be continuously increased during the connection process as the bolts are tightened, thereby improving the connection reliability between the thigh mechanism 1 and the drive motor 4.

[0043] It is understandable that in other embodiments, the end cap 12 may also be hinged to the housing 11 at one end and detachably connected to the housing 11 at the other end by bolts.

[0044] As shown in Figures 4 and 5, in this embodiment, the outer periphery of the rudder arm 43 is provided with a radially outward protruding limiting block 431, the inside of the housing 11 is provided with a first stop block 112, and the inside of the end cover 12 is provided with a second stop block 122. The limiting block 431 is located between the first stop block 112 and the second stop block 122. The first stop block 112 and the second stop block 122 limit the rotation angle of the rudder arm 43 by limiting the limiting block 431. By controlling the rotation angle of the rudder arm 43, the swing amplitude of the lower leg mechanism 2 can be limited.

[0045] As shown in Figures 6 and 7, in this embodiment, the top of the end cap 12 is provided with an upwardly protruding rib 121, and the cover plate 14 is provided with a baffle 142 extending axially along the drive motor 4. When the end cap 12 is connected to the thigh mechanism 1, the baffle 142 covers the outer periphery of the end cap 12 and the housing 11. The inner side of the baffle 142 is provided with a limiting groove 143 corresponding to the rib 121. After the end cap 12 is connected to the thigh mechanism 1, the rib 121 is embedded in the limiting groove 143, thereby restricting the cover plate 14 from axially separating from the end cap 12 and the housing 11. In addition, the cover plate 14 is provided with a positioning pin 144, and the housing 1 1. An insertion hole 111 is provided for the insertion of a positioning pin 144. The positioning pin 144 is inserted into the insertion hole 111 to restrict the separation of the protrusion 121 from the limiting groove 143. The engagement of the protrusion 121 and the limiting groove 143 can restrict the cover plate 14 from detaching from the thigh mechanism 1 axially. The insertion engagement of the positioning pin 144 and the insertion hole 111 can restrict the separation of the protrusion 121 from the limiting groove 143. This can achieve the connection stability between the cover plate 14 and the thigh mechanism 1, and also reduce the difficulty of installing and disassembling the cover plate 14 and the thigh mechanism 1, which helps to achieve the rapid installation and disassembly of the cover plate 14.

[0046] It is understandable that in other embodiments, the protrusion 121 may also be provided on the inner side of the baffle 142, and the corresponding limiting groove 143 may be provided on the top of the end cover 12.

[0047] In addition, the cover plate 14 in this embodiment is provided with a number of heat dissipation holes 141 connected to the observation window. The heat dissipation holes 141 help to improve the heat exchange efficiency between the inside of the thigh mechanism 1 and the outside, reduce the heating rate inside the thigh mechanism 1, reduce the heat dissipation effect, and reduce the possibility of the drive motor 4 overheating.

[0048] Example 2:

[0049] As shown in Figure 8, this embodiment illustrates a quadruped robot, including a torso 5 and four leg components 10 rotatably connected to the torso 5. The leg components 10 are the same as those of the quadruped robot described in Embodiment 1.

[0050] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Those skilled in the art should understand that this utility model includes, but is not limited to, the content described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of this utility model will be included within the scope of the claims.

Claims

1. A leg assembly of a quadruped robot, comprising a driving motor, a thigh mechanism, a shank mechanism and a foot end, the driving motor is installed at the top end of the thigh mechanism, the shank mechanism is rotationally connected with the thigh mechanism, and the driving motor is used to drive the shank mechanism to swing relative to the thigh mechanism, characterized in that, The output end of the drive motor is connected to a rudder arm that outputs torque. The rudder arm is hinged to the lower leg mechanism via a connecting rod. The thigh mechanism includes a detachably connected housing and an end cover. The housing and end cover are spliced ​​together and tightly hugged to the outer periphery of the drive motor so that the drive motor is fixed relative to the thigh mechanism. 2.The leg assembly of the quadruped robot according to claim 1, wherein, After the housing and end cap are spliced ​​together, mounting holes and observation windows are formed on both sides of the thigh mechanism. The output end of the drive motor extends into the mounting hole and is fixed to the thigh mechanism. The thigh mechanism also includes a cover plate, which is connected to the end cap to cover the observation window.

3. The leg assembly of the quadruped robot according to claim 2, wherein, The cover plate is provided with a baffle extending along the axial direction of the drive motor. The baffle covers the outer periphery of the end cover and the housing. One of the inner side of the baffle and the top of the end cover is provided with a protrusion, and the other is provided with a limiting groove. The protrusion and the limiting groove cooperate to restrict the cover plate from detaching from the end cover and the housing along the axial direction. The cover plate is provided with a positioning pin, and the housing is provided with a socket for the positioning pin to be inserted. The positioning pin is inserted into the socket to restrict the protrusion from separating from the limiting groove.

4. The leg assembly of the quadruped robot according to claim 2, wherein, The cover plate is provided with several heat dissipation holes that are connected to the observation window. 5.The leg assembly of the quadruped robot according to claim 1, wherein, Both ends of the housing and the end cap are detachably connected by bolts; or, one end of the end cap is hinged to the housing, and the other end is detachably connected to the housing by bolts. 6.The leg assembly of the quadruped robot according to claim 1, wherein, The drive motor includes a housing, and a positioning protrusion extending radially outward is provided on the outer periphery of the housing. The inner side of the housing after being spliced ​​with the end cover forms a positioning groove that matches the positioning protrusion. The positioning groove and the positioning protrusion are positioned and engaged to restrict the drive motor from rotating relative to the thigh mechanism and to restrict the drive motor from disengaging from the thigh mechanism.

7. The leg assembly of the quadruped robot according to claim 6, wherein, The positioning grooves are arranged in a ring on the inner side of the shell and the end cover after they are spliced ​​together. The positioning protrusions are arranged in a ring on the outer periphery of the shell. The positioning protrusions are embedded in the positioning grooves to limit the axial displacement of the drive motor. The positioning grooves are provided with at least one mounting groove, and the mounting grooves are provided with positioning blocks. The positioning protrusions are provided with at least one groove. The two ends of the positioning blocks extend into the mounting groove and the groove respectively to limit the circumferential rotation of the drive motor. 8.The leg assembly of the quadruped robot according to claim 6, wherein, The outer periphery of the shell is provided with several positioning protrusions, and the inner side of the shell after splicing with the end cover is provided with several positioning grooves. The positioning protrusions are embedded in the positioning grooves to fix the drive motor relative to the thigh mechanism.

9. The leg assembly of the quadruped robot according to any one of claims 6 to 8, characterized in that, The inner wall of the positioning groove is fitted with a buffer pad, which is attached to the inner wall of the positioning groove.

10. A quadruped robot comprising a torso and four leg assemblies rotatably connected to the torso, characterized in that, The leg assembly is the same as the leg assembly of the quadruped robot as described in any one of claims 1 to 9.

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