Quadruped robot

Abstract

A quadruped robot, comprising a body (5), a head (3), leg mechanisms and foot mechanisms (8). The head (3) is arranged at the front part of the body (5); the leg mechanisms at least comprise front leg mechanisms (1) close to the head (3) and rear leg mechanisms (2) far away from the head, the front leg mechanisms (1) and the rear leg mechanisms (2) being separately and rotatably connected to the body (5); each foot mechanism (8) is rotatably connected to a leg mechanism, a limiting structure (9) being formed between the foot mechanism (8) and the leg mechanism, and the limiting structure (9) being used for restricting rotation of the foot mechanism (8). Upward supporting force applied to the foot mechanisms (8) by the ground can be transmitted to the leg mechanisms, and thus the leg mechanisms can share the upward supporting force, so that the foot mechanisms (8) do not need to bear all the supporting force applied by the ground, and further the leg mechanisms can be in contact with the ground without provision of a large rotational torque, thereby reducing requirements for the rotational torque of the foot mechanisms (8).

Description

Quadruped Robot Technical Field

[0001] The embodiments of the present invention relate to the technical field of quadruped robots, and in particular to a quadruped robot. Background Art

[0002] With the development of artificial intelligence technology, the application areas of robots are gradually expanding, and people's demand for robot functions is also increasing. Mobile robots can be divided into wheeled robots, tracked robots, and legged robots. Legged robots are further divided into quadruped robots and bipedal robots. Due to the extremely high technical difficulty of bipedal robots and their poor adaptability to the ground, quadruped robots have become a hot topic in mobile robot research due to their strong adaptability to complex environments.

[0003] The leg structure of quadruped robots currently on the market consists of a thigh and calf, each of which rotates back and forth independently to move the foot. Most quadruped robots are inspired by canines, which, in addition to having thighs and calves, also have feet that can independently rotate back and forth to perform specific functions, such as opening a door, pressing an elevator button, or pressing a switch. These functions are typically driven by motors at the top of the foot or the bottom of the calf to independently rotate the foot to perform these specific actions.

[0004] However, the movement of a quadruped robot requires high-frequency swinging of its limbs, and the foot is located at the end of the swing. In order to increase the swing frequency, it is necessary to reduce the rotational inertia, that is, reduce the weight of the foot and transfer the center of gravity of a single leg to the upper end of the front leg. However, the foot needs to bear the weight of the entire body, so the rotational torque of the foot motor is required to be very large, which conflicts with the need to reduce the weight of the foot.

[0005] Summary of the Invention

[0006] In order to solve the above technical problems or at least partially solve the above technical problems, an embodiment of the present invention provides a quadruped robot.

[0007] The present invention provides a quadruped robot, comprising a body, a head, a leg mechanism, and a foot segment mechanism;

[0008] The head is arranged at the front of the fuselage;

[0009] The leg mechanism at least includes a front leg mechanism close to the head and a rear leg mechanism away from the head, and the front leg mechanism and the rear leg mechanism are respectively rotatably connected to the fuselage;

[0010] The foot joint mechanism is rotatably connected to the leg mechanism, and a limiting structure is formed between the foot joint mechanism and the leg mechanism, and the limiting structure is used to limit the rotation of the foot joint mechanism.

[0011] In some embodiments, the limiting structure includes a first limiting structure and a second limiting structure cooperating with the first limiting structure, the first limiting structure is arranged on the leg mechanism, and the second limiting structure is arranged on the foot mechanism.

[0012] In some embodiments, the front leg mechanism includes a front thigh segment, a front calf segment, and a first linkage member; the foot segment mechanism includes a front foot segment and a foot segment driving member; the fuselage is provided with a first driving member and a second driving member;

[0013] One end of the front thigh segment is rotatably connected to the fuselage, and the front thigh segment is in transmission cooperation with the first driving member; one end of the front calf segment is rotatably connected to the other end of the front thigh segment; the front foot segment is rotatably connected to the other end of the front calf segment; one end of the first linkage is in transmission cooperation with the second driving member and the other end of the first linkage is rotatably connected to the front calf segment; the foot segment driving member is in transmission cooperation with the front foot segment to drive the front foot segment to rotate.

[0014] In some embodiments, the front leg mechanism further comprises a buffer transmission mechanism;

[0015] The buffer transmission mechanism is respectively coupled with the foot segment driving member and the front foot segment, so that the foot segment driving member drives the buffer transmission mechanism to rotate, thereby driving the front foot segment to rotate.

[0016] In some embodiments, when the front leg mechanism moves, a first angle between a central axis of the front thigh segment and a central axis of the front calf segment is 35°-145°;

[0017] And / or, when the front leg mechanism moves, the second angle between the central axis of the front calf segment and the central axis of the front foot segment is 155°-245°.

[0018] In some embodiments, the hind leg mechanism includes a hind thigh segment, a hind calf segment, a hind foot segment, a second linkage member, and a third linkage member; a third driving member and a fourth driving member are provided on the fuselage;

[0019] The central axis of the hind thigh segment is parallel to the central axis of the hind foot segment; the central axis of the hind thigh segment is parallel to the central axis of the third linkage; the central axis of the hind calf segment is parallel to the central axis of the second linkage.

[0020] In some embodiments, one end of the rear thigh segment is rotatably connected to the fuselage, and the rear thigh segment is in transmission cooperation with the third driving member to rotate under the drive of the third driving member; one end of the rear calf segment is rotatably connected to the other end of the rear thigh segment, and one end of the hind foot segment is rotatably connected to the other end of the rear calf segment;

[0021] The two ends of the second linkage are respectively connected to the hind thigh segment and the hind foot segment, one end of the third linkage is in transmission cooperation with the fourth driving member to rotate under the drive of the fourth driving member, and the other end of the third linkage is connected to the hind calf segment, so that when the hind thigh segment and the third linkage rotate, they jointly link the hind calf segment and the hind foot segment, so that the hind leg mechanism moves bionics.

[0022] In some embodiments, when the hind leg mechanism moves, a third angle between the central axis of the hind thigh segment and the central axis of the hind calf segment is 30°-150°.

[0023] In some embodiments, when the hind leg mechanism moves, a fourth angle between the central axis of the hind calf segment and the central axis of the hind foot segment is 30°-150°.

[0024] In some embodiments, the quadruped robot further comprises a head motion joint structure connected to the head;

[0025] The head motion joint structure includes a first joint, a second joint and a third joint. The rotation axis of the first joint is parallel to the rotation axis of the second joint, and the rotation axis of the third joint is orthogonal to the rotation axes of the first joint and the second joint.

[0026] In some embodiments, the rotation axis of the third joint extends along the central axis of the head, and the rotation axis of the first joint and the rotation axis of the second joint are both arranged perpendicular to the rotation axis of the third joint, so as to drive the head to rotate left and right when the third joint rotates, and / or drive the head 3 to raise or lower the head when the first joint and the second joint rotate.

[0027] In some embodiments, the head motion joint structure further includes a fifth driving member, a sixth driving member, and a seventh driving member;

[0028] The fifth driving member is disposed on the fuselage, and the fifth driving member is in transmission cooperation with one end of the first joint, and is used to drive the first joint to rotate around the output shaft of the fifth driving member;

[0029] The sixth driving member is provided at the other end of the first joint, and the sixth driving member is in transmission cooperation with one end of the second joint, so as to drive the second joint to rotate around the output shaft of the sixth driving member;

[0030] The seventh driving member is arranged at the other end of the second joint, and the seventh driving member is in transmission cooperation with one end of the third joint to drive the third joint to rotate around the output shaft of the seventh driving member, and the other end of the third joint is connected to the head.

[0031] In some embodiments, a transmission structure is provided between the fifth driving member and the first joint, and the transmission structure cooperates with the fifth driving member and the first joint respectively, so that when the fifth driving member drives the transmission structure to rotate, the first joint is driven to rotate.

[0032] In some embodiments, the first angle between the central axis of the first joint and the horizontal plane is ±50°;

[0033] A second angle between the central axis of the second joint and the central axis of the first joint is ±50°;

[0034] The central axis of the first joint and the central axis of the second joint form a reference plane, and a third angle between the reference plane and a symmetry plane of the head fixing member provided at the other end of the third joint is ±65°.

[0035] In some embodiments, the quadruped robot includes two front leg mechanisms and two hind leg mechanisms; the side of the fuselage connected to each of the front leg mechanisms includes an eighth driving member, and the eighth driving member is used to drive the front leg mechanisms to rotate; the side of the fuselage connected to each of the hind leg mechanisms includes a ninth driving member, and the ninth driving member is used to drive the hind leg mechanisms to rotate.

[0036] The technical solution provided by the embodiment of the present invention has the following advantages compared with the existing technology:

[0037] An embodiment of the present invention provides a quadruped robot, comprising a body, a head, a leg mechanism, and a foot mechanism. The head is arranged at the front of the body. The leg mechanism comprises at least a front leg mechanism close to the head and a rear leg mechanism away from the head, and the front leg mechanism and the rear leg mechanism are respectively rotatably connected to the body. The foot mechanism is rotatably connected to the leg mechanism, and a limiting structure is formed between the foot mechanism and the leg mechanism. The limiting structure is used to limit the rotation of the foot mechanism. In this case, the upward supporting force applied to the foot mechanism by the ground can be transmitted to the leg mechanism, so that the leg mechanism can share the upward supporting force, so that the foot mechanism does not need to bear all the supporting force applied by the ground, and then the leg mechanism can achieve contact with the ground without providing a large rotational torque, that is, the normal landing of the leg mechanism is achieved, so the requirements for the rotational torque of the foot mechanism can be reduced to a certain extent.

[0038] Furthermore, the side of the fuselage connected to each front leg mechanism includes an eighth driving member, and the side of the fuselage connected to each rear leg mechanism includes a ninth driving member, and the eighth driving member and the ninth driving member respectively drive the overall movement of each front leg mechanism and each rear leg mechanism. In summary, in the quadruped robot disclosed in the present invention, the driving members of the leg structure enable each leg mechanism to rotate flexibly, and the foot segment driving members enable the foot segment mechanism of the quadruped robot to be more flexible to perform difficult movements. The driving members of the leg structure and the driving members of the foot segment mechanism work together, making the movements of the quadruped robot more coordinated and flexible, and having a high degree of bionic effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present invention and, together with the description, serve to explain the principles of the embodiments of the present invention.

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0041] FIG1 is a structural schematic diagram 1 of a quadruped robot according to an embodiment of the present invention;

[0042] FIG2 is a second structural diagram of a quadruped robot according to an embodiment of the present invention;

[0043] FIG3 is a third structural diagram of a quadruped robot according to an embodiment of the present invention;

[0044] FIG4 is a first structural diagram of the front leg mechanism of the quadruped robot according to an embodiment of the present invention;

[0045] FIG5 is a second structural diagram of the front leg mechanism of the quadruped robot according to an embodiment of the present invention;

[0046] FIG6 is a schematic structural diagram of the front leg mechanism of the quadruped robot according to an embodiment of the present invention without the first front housing;

[0047] FIG7 is a cross-sectional view along line AA of FIG6;

[0048] FIG8 is a cross-sectional view along line BB of FIG6 ;

[0049] FIG9 is a partial exploded view of the front calf segment and front foot segment of the front leg mechanism of the quadruped robot according to an embodiment of the present invention;

[0050] FIG10 is an assembly diagram of the hind leg mechanism of the quadruped robot according to an embodiment of the present invention;

[0051] FIG11 is a schematic structural diagram of the hind leg mechanism of the quadruped robot according to an embodiment of the present invention without the second front housing;

[0052] FIG12 is a cross-sectional view taken along CC in FIG11;

[0053] FIG13 is a cross-sectional view along line DD of FIG11;

[0054] FIG14 is a first assembly diagram of the head motion joint structure of the quadruped robot according to an embodiment of the present invention;

[0055] FIG15 is a second assembly diagram of the head motion joint structure of the quadruped robot according to an embodiment of the present invention;

[0056] FIG16 is an exploded view of the head motion joint structure of the quadruped robot according to an embodiment of the present invention;

[0057] FIG17 is an exploded view of the fifth driving member, the first joint, and the transmission structure of the quadruped robot according to an embodiment of the present invention;

[0058] FIG18 is an exploded view of the first fixing bracket, the sixth driving member, and the second joint of the quadruped robot according to an embodiment of the present invention;

[0059] FIG19 is an exploded view of the seventh driving member, the third joint, and the head fixing member of the quadruped robot according to an embodiment of the present invention;

[0060] FIG20 is a cross-sectional view of the seventh driving member, the third joint, and the head fixing member of the quadruped robot according to an embodiment of the present invention;

[0061] FIG21 is a first schematic diagram of the coordination between the head motion joint structure and the head of the quadruped robot according to an embodiment of the present invention;

[0062] FIG22 is a second schematic diagram of the coordination between the head motion joint structure and the head of the quadruped robot according to an embodiment of the present invention;

[0063] FIG23 is a third schematic diagram of the coordination between the head motion joint structure and the head of the quadruped robot according to an embodiment of the present invention;

[0064] FIG24 is a fourth schematic diagram of the coordination between the head motion joint structure and the head of the quadruped robot according to an embodiment of the present invention;

[0065] FIG25 is a fifth schematic diagram of the coordination between the head motion joint structure and the head of the quadruped robot according to an embodiment of the present invention;

[0066] FIG26 is a sixth schematic diagram of the coordination between the head motion joint structure and the head of the quadruped robot according to an embodiment of the present invention.

[0067] Among them, 1. front leg mechanism; 101. front thigh leg segment; 102. first front shell; 103. first connecting hole; 104. first sink groove; 105. second bearing; 106. first rear shell; 107. second connecting hole; 108. second sink groove; 109. third bearing; 110. first fastener; 111. first pin; 112. first screw; 113. front calf leg segment; 114. first through hole; 115. first bearing; 116. second through hole; 117. first sleeve; 118. front foot segment; 119. first linkage member; 120. foot segment driving member; 121. first limiting structure; 122. limiting protrusion; 123. second limiting structure; 124. limiting groove; 125. buffer transmission mechanism; 126. first transmission shaft; 127. elastic torsion member; 128. first flange structure; 129. first driving member;

[0068] 2. Rear leg mechanism; 201. Rear thigh joint; 202. Second front housing; 203. First assembly hole; 204. Third sink; 205. Fourth bearing; 206. Third assembly hole; 207. Second rear housing; 208. Second assembly hole; 209. First assembly part; 210. Fourth sink; 211. Fifth bearing; 212. Fourth assembly hole; 213. Second assembly part; 214. Second pin; 215. Second screw; 216. Rear calf joint; 217. Third through hole; 218. Second sleeve; 21 9. Rear side of hind calf joint; 220. Fifth assembly hole; 221. Front side of hind calf joint; 222. Sixth assembly hole; 223. Third assembly part; 224. Hind foot joint; 225. Fifth recess; 226. Fifth through hole; 227. Third sleeve; 228. Sixth bearing; 229. Sixth recess; 230. Seventh bearing; 231. Third pin; 232. Third screw; 233. Second linkage member; 234. Fourth through hole; 235. Third linkage member; 236. Second flange structure; 237. Third driving member;

[0069] S1, first rotation connection point; S2, second rotation connection point; S3, third rotation connection point; S4, fourth rotation connection point; S5, fifth rotation connection point; T1, central axis of the hind thigh segment; T2, central axis of the third linkage; T3, central axis of the second linkage; T4, central axis of the hind calf segment; T5, central axis of the hind foot segment;

[0070] 3. Head;

[0071] 4. Head motion joint structure; 401. First joint; 402. Fixed base; 403. First avoidance hole; 404. Through hole; 405. Eighth bearing; 406. Third transmission shaft; 407. First fixed bracket; 408. Second accommodating cavity; 409. Second joint; 410. First plate-shaped body; 411. Second plate-shaped body; 412. First accommodating cavity; 413. Second fixed bracket; 414. Cavity; 415. Second avoidance hole; 4 16. Third joint; 417. Rotating shaft; 418. Ninth bearing; 419. Bearing seat; 420. First retaining spring; 421. Second retaining spring; 422. Fifth driving member; 423. Connecting shaft; 424. Sixth driving member; 425. Seventh driving member; 426. Transmission structure; 427. First synchronizing wheel; 428. Second synchronizing wheel; 429. Synchronous transmission member; 430. Head fixing member; 431. Fixed frame; 432. Connecting portion;

[0072] 5. Body; 6. Eighth driving member; 7. Ninth driving member; 8. Foot mechanism; 9. Limiting structure. DETAILED DESCRIPTION

[0073] In order to more clearly understand the above-mentioned objectives, features and advantages of the embodiments of the present invention, the solutions of the embodiments of the present invention will be further described below. It should be noted that the embodiments of the present invention and the features therein can be combined with each other without conflict.

[0074] In the following description, many specific details are set forth to facilitate a full understanding of the embodiments of the present invention, but the embodiments of the present invention may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present invention, not all of the embodiments.

[0075] 1 to 26 , this embodiment provides a quadruped robot including a body 5 , a head 3 , a leg mechanism, and a foot segment mechanism 8 .

[0076] The head 3 is arranged at the front of the fuselage 5. The leg mechanism comprises at least a front leg mechanism 1 close to the head 3 and a rear leg mechanism 2 away from the head 3. The front leg mechanism 1 and the rear leg mechanism 2 are rotatably connected to the fuselage 5 respectively.

[0077] The foot joint mechanism 8 is rotatably connected to the leg mechanism, and a limiting structure 9 is formed between the foot joint mechanism 8 and the leg mechanism. The limiting structure 9 is used to limit the rotation of the foot joint mechanism 8.

[0078] In specific implementation, the foot mechanism 8 and the leg mechanism are in transmission cooperation, so that the foot mechanism 8 can rotate to complete specific actions such as pressing the elevator. When the quadruped robot lands on the ground, the limit structure 9 limits the rotation of the foot mechanism 8. In this case, the upward support force applied to the foot mechanism 8 by the ground can be transmitted to the leg mechanism, so that the leg mechanism can share the upward support force, so that the foot mechanism 8 does not need to bear the entire support force applied by the ground, and then there is no need to provide a large rotational torque to achieve contact between the leg mechanism and the ground, that is, to achieve normal landing of the leg mechanism, thereby reducing the rotational torque requirement of the foot mechanism 8 to a certain extent.

[0079] As shown in Figure 9, in some embodiments, the limiting structure 9 includes a first limiting structure 121 and a second limiting structure 123 cooperating with the first limiting structure 121. The first limiting structure 121 is arranged on the leg mechanism, and the second limiting structure 123 is arranged on the foot segment mechanism 8.

[0080] That is to say, when the leg mechanism touches the ground, the first limiting structure 121 cooperates with the second limiting structure 123 to limit the rotation of the foot joint mechanism 8 relative to the leg mechanism. At this time, the connection between the leg mechanism and the foot joint mechanism 8 is realized, and the upward supporting force applied to the foot joint mechanism 8 by the ground can be transmitted to the leg mechanism, so that the leg mechanism can share the upward supporting force, so that the foot joint mechanism 8 does not need to bear all the supporting force applied by the ground, and then the foot joint mechanism 8 does not need to provide a large rotational torque to achieve the landing of the leg mechanism, so that the rotational torque requirement of the foot joint mechanism 8 can be reduced to a certain extent.

[0081] In specific implementation, the limiting structure 9 can be set on the front leg mechanism 1 or on the rear leg mechanism 2. The following description will be made using the example of the limiting structure 9 being set on the front leg mechanism 1.

[0082] Referring to Figures 1 to 9 , in a specific implementation, the front leg mechanism 1 includes a front thigh segment 101, a front calf segment 113, a front foot segment 118, and a first linkage 119. The foot segment mechanism 8 includes the front foot segment 118 and a foot segment driver 120. The foot segment driver 120 is used to drive the front foot segment 118 to rotate, thereby performing specific actions such as pressing an elevator. The body 5 is provided with a first driver 129 and a second driver.

[0083] One end of the front thigh segment 101 is rotatably connected to the fuselage 5, and the front thigh segment 101 is in transmission engagement with the first drive member 129. One end of the front calf segment 113 is rotatably connected to the other end of the front thigh segment 101. The front foot segment 118 is rotatably connected to the other end of the front calf segment 113. One end of the first linkage member 119 is in transmission engagement with the second drive member, and the other end of the first linkage member 119 is rotatably connected to the front calf segment 113. The foot segment drive member 120 is in transmission engagement with the front foot segment 118 to drive the front foot segment 118 to rotate.

[0084] The limiting structure 9 is formed between the front calf segment 113 and the front foot segment 118 . When the foot segment driving member 120 drives the front foot segment 118 to rotate until the limiting structure 9 is engaged, the limiting structure 9 limits the rotation of the front foot segment 118 .

[0085] In specific implementation, one end of the front thigh segment 101 is rotatably connected to the fuselage 5 and is in transmission cooperation with the first driving member 129, so that the first driving member 129 can drive the front thigh segment 101 to rotate around the output shaft of the first driving member 129. One end of the front calf segment 113 is rotatably connected to the other end of the front thigh segment 101, one end of the front foot segment 118 is rotatably connected to the other end of the front calf segment 113, and one end of the first linkage 119 is in transmission cooperation with the second driving member, and the other end of the first linkage 119 is rotatably connected to the front calf segment 113, so that the front thigh segment 101, the front calf segment 113, the front foot segment 118 and the first linkage 119 can together constitute a connecting rod mechanism, so that when the front thigh segment 101 rotates under the drive of the first driving member 129 and the first linkage 119 rotates under the drive of the second driving member, the connecting rod mechanism is jointly linked, thereby driving the front calf segment 113 and the front foot segment 118 to move, so that the front leg mechanism 1 of the quadruped robot can achieve bionic movement.

[0086] That is to say, the power source for the entire front leg mechanism 1 to achieve movement comes from the power output by the first driving member 129 and the second driving member of the quadruped robot. The first driving member 129 is used to drive the front thigh segment 101 to rotate, thereby driving the front calf segment 113 to rotate, and the second driving member is used to drive the first linkage member 119 to rotate, thereby driving the front calf segment 113 to rotate, so that the movement direction of the front calf segment 113 driven by the first linkage member 119 is different from the movement direction of the front thigh segment 101 driven by the first driving member 129 to drive the front calf segment 113 to achieve movement, thereby making the front calf segment 113 have two movement directions, so that when the front calf segment 113 can finally drive the front foot segment 118 to move, the front foot segment 118 also has two movement directions, such as up and down movement or left and right movement, and finally the front foot segment 118 can complete bionic movement to improve the movement flexibility and stability of the front leg mechanism 1.

[0087] It should be noted that this embodiment does not limit the movement directions of the front thigh segment 101 , the front calf segment 113 and the front foot segment 118 .

[0088] Furthermore, the foot segment driver 120 cooperates with the front foot segment 118 to drive the front foot segment 118 to rotate to perform specific actions such as pressing an elevator. When the quadruped robot lands, the foot segment driver 120 can drive the front foot segment 118 to rotate until the limit structure 9 engages, so that the limit structure 9 restricts the rotation of the front foot segment 118.

[0089] In this case, the front calf segment 113 and the front foot segment 118 are locked through the limiting structure 9, so that the upward supporting force applied to the front foot segment 118 by the ground can be transmitted to the front calf segment 113, so that the front calf segment 113 can share the upward supporting force, so that the front foot segment 118 does not need to bear all the supporting force applied by the ground, and then the foot segment driving component 120 does not need to provide a large rotational torque to achieve contact between the front leg mechanism 1 and the ground, that is, to achieve normal landing of the front leg mechanism 1, so the rotational torque requirement of the foot segment driving component 120 can be reduced to a certain extent.

[0090] It should be noted that, in this embodiment, the power source for the entire foreleg mechanism 1 to achieve bionic movement comes from the first driving member 129 and the second driving member, that is, the first driving member 129 drives the front thigh segment 101 to rotate and the second driving member drives the first linkage member 119 to rotate, thereby linking the front calf segment 113 and the front foot segment 118 to move for bionic walking, and the power output by the foot segment driving member 120 is used for the front foot segment 118 to rotate independently to complete a specific action, or to drive the front foot segment 118 to rotate when the foreleg mechanism 1 needs to land until the limiting structure 9 is engaged to limit the rotation of the front foot segment 118.

[0091] For example, as shown in Figure 6, the second rotation connection point H2 between the first linkage 119 and the front calf segment 113 is located on the right side or upper right side of the first rotation connection point H1 between the front thigh segment 101 and the front calf segment 113, or the second rotation connection point H2 is located on the left side or lower left side of the first rotation connection point H1, as long as the rotational coordination of the first linkage 119 and the front calf segment 113 does not affect or interfere with the rotational coordination of the front thigh segment 101 and the front calf segment 113.

[0092] Exemplarily, the first driving member 129 and the second driving member may be driving motors, or in other implementations, the first driving member 129 and the second driving member may be steering gears.

[0093] The front leg mechanism 1 of the quadruped robot provided in this embodiment includes a front thigh segment 101, a front shank segment 113, and a first linkage 119; the foot segment mechanism 8 includes a front foot segment 118 and a foot segment driver 120. One end of the front thigh segment 101 is rotatably connected to the body 5, the front thigh segment 101 is in transmission cooperation with the first driver 129, one end of the front shank segment 113 is rotatably connected to the other end of the front thigh segment 101, the front foot segment 118 is rotatably connected to the other end of the front shank segment 113, one end of the first linkage 119 is in transmission cooperation with the second driver and the other end of the first linkage 119 is rotatably connected to the front shank segment 113, and the foot segment driver 120 is in transmission cooperation with the front foot segment 118 to drive the front foot segment 118 to rotate, so that the front foot segment 118 can complete a specific action.

[0094] At the same time, when the foreleg mechanism 1 touches the ground, the forefoot 118 can be driven by the foot segment driver 120 to rotate to the limiting structure 9 to enter the engaged state, so that the limiting structure 9 limits the rotation of the forefoot 118. In this case, the front calf segment 113 and the front foot segment 118 are locked by the limiting structure 9, so that the upward supporting force applied to the forefoot segment 118 by the ground can be transmitted to the front calf segment 113, so that the front calf segment 113 can share the upward supporting force, so that the forefoot segment 118 does not need to bear all the supporting force applied by the ground, and then the foot segment driver 120 does not need to provide a large rotational torque to achieve the contact between the foreleg mechanism 1 and the ground, that is, to achieve the landing of the foreleg mechanism 1, so that the rotational torque requirement of the foot segment driver 120 can be reduced to a certain extent.

[0095] As shown in Figure 9, in some embodiments, the limiting structure 9 includes a first limiting structure 121 and a second limiting structure 123 that cooperates with the first limiting structure 121. The first limiting structure 121 is set on the front calf segment 113, and the second limiting structure 123 is set on the front foot segment 118.

[0096] Specifically, the foot segment driver 120 is coupled with the front foot segment 118 to drive the front foot segment 118 to rotate to perform specific actions such as pressing an elevator. When the front leg mechanism 1 of the quadruped robot is in contact with the ground, landed, or standing support, the foot segment driver 120 can drive the front foot segment 118 to rotate until the first limiting structure 121 on the front calf segment 113 and the second limiting structure 123 on the front foot segment 118 are locked. At this time, the foot segment driver 120 cannot drive the front foot segment 118 to rotate, thereby locking the front foot segment 118.

[0097] In this case, the front calf segment 113 and the front foot segment 118 are locked by the first limiting structure 121 and the second limiting structure 123, so that the upward supporting force applied to the front foot segment 118 by the ground can be transmitted to the front calf segment 113, so that the front calf segment 113 can share the upward supporting force, so that the front foot segment 118 does not need to bear all the supporting force applied by the ground, and then the foot segment driving component 120 does not need to provide a large rotational torque to achieve the landing of the front leg mechanism 1, thereby reducing the rotational torque requirement of the foot segment driving component 120 to a certain extent.

[0098] 9 , in some embodiments, one of the first limiting structure 121 and the second limiting structure 123 is a limiting protrusion 122 , and the other of the first limiting structure 121 and the second limiting structure 123 is a limiting groove 124 into which the limiting protrusion 122 can be inserted.

[0099] That is to say, when the front leg mechanism 1 touches the ground, the foot segment driver 120 drives the front foot segment 118 to rotate, so that the limiting protrusion 122 is inserted into the limiting groove 124, thereby limiting the front foot segment 118 from rotating relative to the front calf segment 113. At this time, the connection between the front foot segment 118 and the front calf segment 113 is realized, and the upward supporting force applied to the front foot segment 118 by the ground can be transmitted to the front calf segment 113, so that the front calf segment 113 can share the upward supporting force, so that the front foot segment 118 does not need to bear all the supporting force applied by the ground, and then the foot segment driver 120 does not need to provide a large rotational torque to achieve the landing of the front leg mechanism 1, thereby reducing the rotational torque requirement of the foot segment driver 120 to a certain extent.

[0100] For example, as shown in Figure 9, the limiting protrusion 122 can be specifically an arc-shaped limiting protrusion extending along the rotation direction of the front foot segment 118, and the limiting groove 124 is an arc-shaped limiting groove adapted to the outer contour of the arc-shaped limiting protrusion, so as to facilitate the front foot segment 118 to rotate under the driving action of the foot segment driving member 120, so that the arc-shaped limiting protrusion can be smoothly inserted into the arc-shaped limiting groove to cooperate and ensure reliable locking between the two, thereby improving the connection reliability between the front foot segment 118 and the front calf segment 113, so that the upward supporting force applied to the front foot segment 118 by the ground can be reliably transmitted to the front calf segment 113, thereby sharing the upward supporting force borne by the front foot segment 118, reducing the load-bearing pressure of the front foot segment 118 on the entire quadruped robot.

[0101] For example, the limiting protrusion 122 can be a rectangular protrusion, and the limiting groove 124 can be a rectangular groove adapted to the rectangular protrusion. The specific shape and contour of the limiting protrusion 122 and the limiting groove 124 can be set according to actual needs, and this embodiment does not specifically limit this.

[0102] In addition, as shown in Figure 9, in a specific implementation of this embodiment, the first limiting structure 121 is specifically a limiting protrusion 122, that is, a limiting protrusion 122 is provided on the front calf segment 113. Specifically, the limiting protrusion 122 can be integrally formed with the front calf segment 113 to save manufacturing steps and improve the overall structural strength. Correspondingly, the second limiting structure 123 is a limiting groove 124, that is, a limiting groove 124 is provided on the front foot segment 118. The limiting groove 124 can be formed by a portion of the surface of the front foot segment 118 being recessed downward.

[0103] Alternatively, in other implementations of this embodiment, a limiting groove 124 may be provided on the front calf segment 113 , and a limiting protrusion 122 may be provided on the front foot segment 118 .

[0104] 8 and 9 , in some embodiments, the front leg mechanism 1 further includes a buffer transmission mechanism 125. The buffer transmission mechanism 125 is respectively coupled to the foot segment driver 120 and the front foot segment 118, so that when the foot segment driver 120 drives the buffer transmission mechanism 125 to rotate, the front foot segment 118 is also driven to rotate.

[0105] That is to say, the foot segment driving component 120 can specifically drive the front foot segment 118 to rotate through the buffer transmission mechanism 125, so that when the front leg mechanism 1 contacts or touches the ground, when the first limiting structure 121 and the second limiting structure 123 are locked, since the buffer transmission mechanism 125 has a certain buffering effect, the upward supporting force applied to the front foot segment 118 by the ground is not easily transmitted to the foot segment driving component 120, so that the foot segment driving component 120 does not need to have a large rotational torque to achieve the front leg mechanism 1 contacting or touching the ground.

[0106] 8 and 9 , in some embodiments, the buffer transmission mechanism 125 includes a first transmission shaft 126 and an elastic torsion member 127. The first transmission shaft 126 is in transmission engagement with the foot segment driver 120. The elastic torsion member 127 is sleeved on the first transmission shaft 126, with one end of the elastic torsion member 127 connected to the first transmission shaft 126 and the other end of the elastic torsion member 127 connected to the front foot segment 118.

[0107] In specific implementation, when it is necessary to drive the front foot segment 118 to rotate independently to complete a specific action or to lock the first limiting structure 121 with the second limiting structure 123, the foot segment driving component 120 drives the first transmission shaft 126 to rotate, thereby driving the elastic torque component 127 to rotate and then driving the front foot segment 118 connected to the elastic torque component 127 to rotate.

[0108] For example, the elastic torsion member 127 can be a torsion spring, which is mounted on the first transmission shaft 126 and has two ends connected to the first transmission shaft 126 and the front foot segment 118, respectively. Therefore, when the first transmission shaft 126 rotates, the torsion spring can drive the front foot segment 118 to rotate. When the front foot segment 118 rotates until the first limiting structure 121 and the second limiting structure 123 are locked, the torsion spring has a certain buffering effect. Therefore, the upward support force applied to the front foot segment 118 by the ground is not easily transmitted to the foot segment driver 120, so that the foot segment driver 120 does not need to have a large rotational torque to achieve the landing of the front leg mechanism 1.

[0109] In some embodiments, the foot segment driver 120 can be specifically arranged on the front calf segment 113 or can be arranged on the front foot segment 118. Specifically, the foot segment driver 120 can be a servo, which is lighter than a commonly used motor. Moreover, the locking structure composed of the first limiting structure 121 and the second limiting structure 123 effectively reduces the rotational torque of the foot segment driver 120. Therefore, the setting of the foot segment driver 120 does not significantly increase the weight of the front foot segment 118 or the front calf segment 113, that is, it does not increase the rotational inertia of the front foot segment 118 and the front calf segment 113 when rotating, which is conducive to ensuring the swing frequency of the front foot segment 118 and the front calf segment 113 when rotating under the drive of the first driver 129 and the second driver, so as to ensure the flexibility of the foreleg mechanism 1 in performing bionic movement.

[0110] Alternatively, in other implementations, the foot segment driver 120 may also be a motor. When the foot segment driver 120 is a motor, the motor and the limiting structure work together to achieve a buffering effect to reduce the impact force when the front leg mechanism 1 lands.

[0111] 8 , in some embodiments, a first through hole 114 is provided at the other end of the front calf segment 113, and at least a portion of the first transmission shaft 126 and a portion of the front foot segment 118 are located within the first through hole 114. A first bearing 115 is provided between the front foot segment 118 and the inner wall of the first through hole 114.

[0112] In specific implementation, the foot segment driver 120 and the front foot segment 118 can be arranged on opposite sides of the front calf segment 113. At this time, in order to achieve transmission coordination between the foot segment driver 120 and the front foot segment 118, a first through hole 114 can be set on the front calf segment 113, so that the first transmission shaft 126 is located in the first through hole 114 and respectively cooperates with the foot segment driver 120 and the front foot segment 118 to drive the front foot segment 118 to rotate under the drive of the foot segment driver 120.

[0113] Furthermore, a first bearing 115 may be provided between the front foot segment 118 and the inner wall of the first through hole 114 , so that the front foot segment 118 may be supported or supported by the first bearing 115 .

[0114] 4 to 9 , in some embodiments, the front thigh segment 101 includes a first front shell 102 disposed close to the head 3 and a first rear shell 106 disposed away from the head 3 .

[0115] The first front shell 102 is connected to the first rear shell 106 , and one end of the front calf joint 113 is located between the first front shell 102 and the first rear shell 106 and rotates relative to the first front shell 102 and the rear shell.

[0116] It should be noted that the first front shell 102 and the first rear shell 106 are connected. At this time, the first front shell 102 and the first rear shell 106 can be formed as a whole and relatively fixed, that is, when the front thigh segment 101 rotates, the entire first front shell 102 and the first rear shell 106 rotate synchronously.

[0117] For example, the first front shell 102 and the first rear shell 106 can be made of plastic, so that the weight of the entire front leg mechanism 1 is relatively light, thereby achieving a lightweight design. Alternatively, the first front shell 102 and the first rear shell 106 can also be made of alloy, so that the structural strength of the entire front leg mechanism 1 is high, thereby increasing its service life.

[0118] Referring to Figures 4 to 9, in some embodiments, a first connecting hole 103 is provided on the first front shell 102, and a second connecting hole 107 is provided on the first rear shell 106 at a position corresponding to the first connecting hole 103. The first front shell 102 and the first rear shell 106 are connected by a first fastener 110 passing through the first connecting hole 103 and the second connecting hole 107.

[0119] One end of the front calf joint 113 has a second through hole 116 through which the first fastener 110 can pass and which is rotatably engaged with the first fastener 110 .

[0120] In a specific implementation, the first connection hole 103 and the second connection hole 107 can both be threaded holes, and the first fastener 110 can be a threaded fastener that matches the threaded holes, so that the threaded fastener and the threaded holes can cooperate to achieve a reliable connection between the first front housing 102 and the first rear housing 106. Alternatively, in other implementations, the first connection hole 103 and the second connection hole 107 can be plain holes, and the first fastener 110 can be a fastening pin that matches the plain holes.

[0121] In addition, in order to achieve a rotatable connection or hinged connection between the front calf segment 113 and the front thigh segment 101, when the first front shell 102 and the first rear shell 106 are connected through the first fastener 110, a second through hole 116 for the first fastener 110 to pass through can be provided at one end of the front calf segment 113 so that the front calf segment 113 and the front thigh segment 101 can be hingedly connected through the rotatable cooperation of the second through hole 116 and the first fastener 110.

[0122] Specifically, in this embodiment, as shown in Figure 7, the first fastener 110 can specifically include a first pin 111 and a first screw 112. The first pin 111 is inserted into the first connecting hole 103 and the second connecting hole 107. The first screw 112 cooperates with the first pin 111 to realize the connection between the first front shell 102 and the first rear shell 106, and the first pin 111 can cooperate with the front calf joint 113 to realize the hinged connection between the two.

[0123] Referring to Figures 4 to 9, in some embodiments, at least two first sleeves 117 are provided in the second through hole 116, and the at least two first sleeves 117 are arranged in sequence along the penetration direction of the first fastener 110, and the first fastener 110 passes through each first sleeve 117 in sequence. At this time, the front thigh segment 101 and the front calf segment 113 can be hinged by the rotatable connection between the first sleeve 117 and the first fastener 110.

[0124] 4 to 9 , in some embodiments, a first recessed groove 104 is provided at one end of the first front housing 102 near the front calf segment 113, a second bearing 105 is disposed in the first recessed groove 104, and the second bearing 105 cooperates with the front calf segment 113. A second recessed groove 108 is provided at one end of the first rear housing 106 near the front calf segment 113, a third bearing 109 is disposed in the second recessed groove 108, and the third bearing 109 cooperates with the front calf segment 113, so that the first fastener 110 can be supported or supported by the second bearing 105 and the third bearing 109, thereby ensuring a reliable hinged connection between the front calf segment 113 and the first fastener 110.

[0125] Illustratively, the second bearing 105 and the third bearing 109 may be thrust bearings or angular contact bearings.

[0126] In some embodiments, the first linkage member 119 is a connecting rod, or the linkage member may also be a rotating shaft.

[0127] As shown in Figure 6, further, a first flange structure 128 is provided at one end of the first linkage 119, and the first flange structure 128 is matched with the second driving member in transmission, and one end of the first linkage 119 is eccentrically arranged with the first flange structure 128, so that when the second driving member drives the first flange structure 128 to rotate around the output shaft of the second driving member, it can drive the first linkage 119 to swing back and forth, and then the first linkage 119 drives the front calf segment 113 to move when it swings, so that the movement direction of the front calf segment 113 driven by the first linkage 119 is different from the movement direction of the front calf segment 113 driven by the front thigh segment 101 driven by the first driving member 129, and then the movement of the front calf segment 113 has two degrees of freedom or two movement directions or postures, so that the front calf segment 113 can finally drive the front foot segment 118 to move in two directions, such as up and down movement or front and back movement, and finally the front foot segment 118 can complete bionic movement to improve the movement flexibility and stability of the front leg mechanism 1.

[0128] Exemplarily, the first flange structure 128 can be specifically a flange plate, which can be in transmission cooperation with the second driving member. A protruding shaft can be provided on the flange plate to be in transmission cooperation with one end of the first linkage member 119 to drive the first linkage member 119 to swing back and forth when the flange plate rotates.

[0129] As shown in Figure 4, in some embodiments, the first angle α1 between the central axis L1 of the front thigh segment 101 and the central axis L2 of the front calf segment 113 is 35°-145°, so that the smooth bionic movement of the entire front leg mechanism 1 can be achieved by reasonably setting the first angle α1 between the central axis L1 of the front thigh segment 101 and the central axis L2 of the front calf segment 113.

[0130] For example, the first angle α1 between the central axis L1 of the front thigh segment 101 and the central axis L2 of the front calf segment 113 may be 35°, or 90°, or 145°.

[0131] As shown in Figure 4, in some embodiments, the second angle α2 between the central axis L1 of the front calf segment 113 and the central axis L3 of the forefoot segment 118 is 155°-245°, so that the second angle α2 between the central axis L2 of the front calf segment 113 and the central axis L3 of the forefoot segment 118 can be reasonably set to facilitate the smooth bionic movement of the entire foreleg mechanism 1.

[0132] For example, the second angle α2 between the central axis L2 of the front calf segment 113 and the central axis L3 of the front foot segment 118 may be 155°, or 200°, or 245°.

[0133] 10 to 13 , further, in this embodiment, the rear leg mechanism 2 includes a rear thigh segment 201, a rear calf segment 216, a rear foot segment 224, a second linkage 233, and a third linkage 235. The fuselage 5 is provided with a third driving member 237 and a fourth driving member. The central axis T1 of the hind thigh segment 201 is parallel to the central axis T5 of the hind foot segment 224; the central axis T1 of the hind thigh segment 201 is parallel to the central axis T2 of the third linkage 235; the central axis T4 of the hind calf segment 216 is parallel to the central axis T3 of the second linkage 233, so that the hind thigh segment 201 and the third linkage 235 constitute the two sides of the parallelogram structure, and the hind thigh segment 201, the hind calf segment 216, the second linkage 233 and the hind foot segment 224 together constitute a parallelogram linkage mechanism, which not only can realize the bionic movement of the hind leg mechanism 2, but also under the drive of the driving member set on the quadruped robot, the hind leg mechanism 2 rotates as a whole, and the relative relationship between the various linkage members of the hind leg mechanism 2, the hind thigh segment 201, the hind calf segment 216 and the hind foot segment 224 remains unchanged. Moreover, the control algorithm of the parallelogram linkage mechanism is relatively simple.

[0134] Compared with the prior art, in which the hind leg mechanism of the quadruped robot only has the structure of the thigh and calf, which results in limited movement of the hind legs, the hind leg mechanism 2 in this embodiment includes a hind thigh segment 201, a hind calf segment 216 and a hind foot segment 224, and a third linkage 235 and a second linkage 233 are respectively provided for the hind thigh segment 201 and the hind calf segment 216, so that the hind thigh segment 201, the hind calf segment 216, the second linkage 233, the third linkage 235 and the hind foot segment 224 form at least three groups of parallelogram sides, ensuring that the three-segment mechanism of the hind leg mechanism 2 can rotate as a whole after the driving force is applied, and the various structural parts maintain a stable relative relationship, so that the movement of the hind leg mechanism 2 of the entire quadruped robot is more coordinated, free and flexible, and can not only be used for free walking in complex terrain and environment, but also has a higher degree of bionics to meet the user's usage needs.

[0135] 10 to 13 , in some embodiments, one end of the rear thigh segment 201 is rotatably connected to the body 5, and the rear thigh segment 201 is in transmission cooperation with the third driving member 237 so as to rotate under the drive of the third driving member 237. One end of the rear calf segment 216 is rotatably connected to the other end of the rear thigh segment 201, and one end of the rear foot segment 224 is rotatably connected to the other end of the rear calf segment 216.

[0136] The two ends of the second linkage member 233 are rotationally connected to the hind thigh segment 201 and the hind foot segment 224 respectively, one end of the third linkage member 235 is transmission-coordinated with the fourth driving member to rotate under the drive of the fourth driving member, and the other end of the third linkage member 235 is rotationally connected to the hind calf segment 216, so that when the hind thigh segment 201 and the third linkage member 235 rotate, they jointly link the hind calf segment 216 and the hind foot segment 224, so that the hind leg mechanism 2 of the quadruped robot moves biomimetically.

[0137] In a specific implementation, as shown in Figures 10 and 13, one end of the rear thigh segment 201 is rotationally connected to the body 5, and one end of the rear thigh segment 201 is in transmission cooperation with the third driving member 237, so that the third driving member 237 can drive the rear thigh segment 201 to rotate about the output shaft of the third driving member 237. One end of the rear shank segment 216 is rotationally connected to the other end of the rear thigh segment 201, and one end of the hind foot segment 224 is rotationally connected to the other end of the rear shank segment 216. The two ends of the second linkage member 233 are rotationally connected to the rear thigh segment 201 and the hind foot segment 224, respectively. The rear thigh segment 201, the rear shank segment 216, the hind foot segment 224, and the second linkage member 233 can collectively form a four-bar linkage mechanism, so that when the rear thigh segment 201 rotates under the drive of the third driving member 237 of the quadruped robot, it can link the movement of the rear shank segment 216 and the hind foot segment 224.

[0138] At the same time, one end of the third linkage member 235 is in transmission cooperation with the fourth driving member and the other end of the third linkage member 235 is rotationally connected to the hind calf segment 216, so that when the third linkage member 235 rotates around the output shaft of the fourth driving member under the drive of the fourth driving member, it can also link the hind calf segment 216 and the hind foot segment 224 to move.

[0139] That is to say, the power source for the entire hind leg mechanism 2 to achieve movement comes from the power output by the third drive member 237 and the fourth drive member, so that the hind calf segment 216 and the hind foot segment 224 can move in two directions respectively, such as up and down movement or front and back movement, and finally the hind leg mechanism 2 can complete bionic movement, and the rotation angles of the hind calf segment 216, the third drive member 237 and the hind foot segment 224 are always consistent with the hind thigh segment 201 and the third linkage member 235, so as to improve the movement flexibility and stability of the hind leg mechanism 2.

[0140] It should be noted that this embodiment does not limit the movement directions of the hind thigh segment 201 , the hind calf segment 216 and the hind foot segment 224 .

[0141] For example, the second linkage member 233 and the third linkage member 235 may both be connecting rods.

[0142] Exemplarily, the third driving member 237 and the fourth driving member may be driving motors, or in other implementations, the third driving member 237 and the fourth driving member may be steering gears.

[0143] The hind leg mechanism 2 provided in this embodiment includes a hind thigh segment 201, a hind calf segment 216, a hind foot segment 224, a second linkage 233 and a third linkage 235, and one end of the hind thigh segment 201 is rotatably connected to the fuselage 5, and the hind thigh segment 201 is used to cooperate with the third driving member 237 for transmission so as to rotate under the drive of the third driving member 237; one end of the hind calf segment 216 is rotatably connected to the other end of the hind thigh segment 201, and one end of the hind foot segment 224 is rotatably connected to the other end of the hind calf segment 216. The two ends of the second linkage 233 are rotationally connected to the hind thigh segment 201 and the hind foot segment 224 respectively, one end of the third linkage 235 is used for transmission cooperation with the fourth driving member to rotate under the drive of the fourth driving member, and the other end of the third linkage 235 is rotationally connected to the hind calf segment 216, so that the hind thigh segment 201 and the third linkage 235 can jointly link the hind calf segment 216 and the hind foot segment 224 when rotating, so that the hind leg mechanism 2 of the quadruped robot can move bionics.

[0144] Compared with the related art in which the hind legs have only thighs and calves, which restricts the movement of the hind legs, the hind leg mechanism 2 in this embodiment includes a hind thigh segment 201, a hind calf segment 216 and a hind foot segment 224, so that the hind leg mechanism 2 can constitute a three-segment mechanism, and the hind thigh segment 201 and the third linkage member 235 are driven to rotate by the third driving member 237 and the fourth driving member respectively, and then the hind calf segment 216 and the hind foot segment 224 are jointly driven to move, so that the movement of the entire hind leg mechanism 2 is freer and more flexible, so that it can be suitable for free walking in complex terrain and environment to meet the user's usage needs.

[0145] In some embodiments, the output shaft of the third driving member 237 and the output shaft of the fourth driving member can be set concentrically, so that the third driving member 237 and the fourth driving member respectively drive the corresponding rear thigh segment 201 and the third linkage member 235 to rotate, and then drive the rear calf segment 216 and the rear foot segment 224 to complete the required movement.

[0146] Alternatively, in other implementations, the output shaft of the third driving member 237 can be set parallel to but not concentric with the output shaft of the fourth driving member, and the movement of the hind calf segment 216 and the hind foot segment 224 can be ultimately driven to realize the bionic movement of the entire hind leg mechanism 2.

[0147] 10 to 11 , in some embodiments, the rear leg mechanism 2 includes at least a first rotation connection point S1 , a second rotation connection point S2 , and a third rotation connection point S3 .

[0148] Among them, the first rotation connection point S1 is the rotation connection point between the second linkage 233 and the rear thigh segment 201; the second rotation connection point S2 is the rotation connection point between the third linkage 235 and the rear calf segment 216; the third rotation connection point S3 is the rotation connection point between the rear calf segment 216 and the rear thigh segment 201.

[0149] The first rotation connection point S1, the second rotation connection point S2 and the third rotation connection point S3 are spaced apart at one end portion where the rear thigh segment 201 and the rear calf segment 216 are connected.

[0150] Among them, the first rotating connection point S1 is located on one side of the straight line where the second rotating connection point S2 and the third rotating connection point S3 are located; the second rotating connection point S2 is located on one side of the straight line where the first rotating connection point S1 and the third rotating connection point S3 are located; the third rotating connection point S3 is located on one side of the straight line where the second rotating connection point S2 and the first rotating connection point S1 are located. Such an arrangement can not only make the hind thigh segment 201, the hind calf segment 216, the hind foot segment 224 and the second linkage 233 form a four-bar linkage as shown in Figure 2, so that the four-bar linkage can realize corresponding linkage actions under the drive of the third driving member 237 and the fourth driving member, and then finally realize the bionic movement of the hind leg mechanism 2, but also can prevent position interference or rotation interference between the hind thigh segment 201, the hind calf segment 216, the second linkage 233 and the third linkage 235.

[0151] For example, as shown in FIG11 , when the second linkage 233 is entirely located to the right of the third rotation connection point S3, the second linkage 233 can be entirely located above the rear calf joint 216, thereby making reasonable use of the space above the rear calf joint 216 for arranging the second linkage 233. Alternatively, in other implementations, when the second linkage 233 is entirely located to the right of the third rotation connection point S3, the second linkage 233 can also be entirely located below the rear calf joint 216, thereby also making reasonable use of the space below the rear calf joint 216 for arranging the second linkage 233.

[0152] In specific implementation, as shown in Figure 11, by setting the second rotation connection point S2 of the third linkage 235 and the rear calf joint 216 on one side of the straight line where the first rotation connection point S1 and the third rotation connection point S3 are located, the positions on the left and right sides of the straight line where the first rotation connection point S1 and the third rotation connection point S3 are located can be reasonably utilized to arrange the second rotation connection point S2 and the rear calf joint 216 respectively, thereby achieving a reasonable arrangement of various components and avoiding position interference between each other.

[0153] Exemplarily, when the rotating connection points are distributed according to the above-mentioned positions, the second linkage 233 can be located on the right side of the third linkage 235 and above the hind calf segment 216, and the third linkage 235 is located above the hind calf segment 216 and on the left side of the second linkage 233. At this time, the hind thigh segment 201, the hind calf segment 216, the hind foot segment 224 and the second linkage 233 can form a four-bar linkage as shown in Figure 2, so that the four-bar linkage can realize corresponding linkage actions under the drive of the third drive member 237 and the fourth drive member, and finally realize the bionic movement of the hind leg mechanism 2.

[0154] 10 to 11 , in some embodiments, the first rotation connection point S1, the second rotation connection point S2 and the third rotation connection point S3 are spaced apart at one end portion where the hind thigh segment 201 is connected to the hind calf segment 216. In addition, the fourth rotation connection point S4 between the second linkage 233 and the hind foot segment 224 is located above the fifth rotation connection point S5 between the hind calf segment 216 and the hind foot segment 224. This arrangement not only allows the hind thigh segment 201, the hind calf segment 216, the hind foot segment 224 and the second linkage 233 to form a four-bar linkage as shown in FIG2 , so that the four-bar linkage can realize corresponding linkage actions under the drive of the third driving member 237 and the fourth driving member, and then finally realize the bionic movement of the hind leg mechanism 2, but also allows the hind thigh segment 201, the hind calf segment 216, the second linkage 233 and the third linkage 235 to avoid position interference or rotation interference.

[0155] 1 and 11, in some embodiments, a second flange structure 236 is provided at one end of the third linkage member 235, and the second flange structure 236 is in transmission cooperation with the fourth driving member, and one end of the third linkage member 235 is eccentrically arranged with the second flange structure 236, so that when the fourth driving member drives the second flange structure 236 to rotate around the output shaft of the fourth driving member, the third linkage member 235 can be driven to swing back and forth, and then the third linkage member 235 drives the rear calf leg section 216 to move when the third linkage member 235 moves, so that the rear calf leg section 216 is moved. The direction of movement achieved under the drive of the third linkage member 235 is different from the direction of movement achieved by the hind thigh segment 201 driving the hind calf segment 216 under the drive of the third driving member 237, thereby making the movement of the hind calf segment 216 have two directions of movement, and further making the hind calf segment 216 finally drive the hind foot segment 224 to move in two directions of movement, such as making the foot segment move up and down or forward and backward, and finally making the hind foot segment 224 complete bionic movement to enhance the movement flexibility and stability of the hind leg mechanism 2.

[0156] It should be noted that this embodiment does not limit the movement directions of the hind thigh segment 201 , the hind calf segment 216 and the hind foot segment 224 .

[0157] Exemplarily, the second flange structure 236 can be specifically a flange plate, which can be in transmission cooperation with the fourth driving member. A protruding shaft can be provided on the flange plate to be in transmission cooperation with one end of the third linkage member 235 to drive the third linkage member 235 to swing back and forth when the flange plate rotates.

[0158] Referring to Figures 12 to 13 and Figures 21 to 23, in some embodiments, the rear thigh segment 201 includes a second front shell 202 arranged close to the head 3 and a second rear shell 207 arranged away from the head 3, the second front shell 202 and the second rear shell 207 are connected, and one end of the rear calf segment 216 is located between the second front shell 202 and the second rear shell 207 and can rotate relative to the second front shell 202 and the second rear shell 207, that is, one end of the rear calf segment 216 is clamped between the second front shell 202 and the second rear shell 207 and rotates with the second front shell 202 and the second rear shell 207, thereby realizing the articulated cooperation of the rear calf segment 216 and the rear thigh segment 201.

[0159] It should be noted that the second front shell 202 and the second rear shell 207 are connected. At this time, the second front shell 202 and the second rear shell 207 can be formed as a whole and relatively fixed, that is, when the rear thigh segment 201 rotates, the entire second front shell 202 and the second rear shell 207 rotate synchronously.

[0160] For example, the second front shell 202 and the second rear shell 207 can be made of plastic to reduce the weight of the entire rear leg mechanism 2, thereby achieving a lightweight design. Alternatively, the second front shell 202 and the second rear shell 207 can be made of alloy to increase the structural strength of the entire rear leg mechanism 2 and improve its service life.

[0161] 12 and 13 , in some embodiments, the connection structure between the second front housing 202 and the second rear housing 207 is as follows: a first assembly hole 203 is provided on the second front housing 202, and a second assembly hole 208 is provided on the second rear housing 207 at a position corresponding to the first assembly hole 203. The second front housing 202 and the second rear housing 207 are connected via a first assembly part 209 that passes through the first assembly hole 203 and the second assembly hole 208. A third through hole 217 is provided at one end of the rear calf segment 216 for the first assembly part 209 to pass through and for rotationally engaging with the first assembly part 209.

[0162] In a specific implementation, the first assembly hole 203 and the second assembly hole 208 can both be threaded holes, and the first assembly part 209 can be a threaded assembly part that adapts to the threaded holes, so that the threaded assembly part and the threaded holes can cooperate to achieve a reliable connection between the second front housing 202 and the second rear housing 207. Alternatively, in other implementations, the first assembly hole 203 and the second assembly hole 208 can be plain holes, and the first assembly part 209 can be a fastening pin that adapts to the plain holes.

[0163] In addition, in order to realize the rotational connection or hinged connection between the rear calf segment 216 and the rear thigh segment 201, when the second front shell 202 and the second rear shell 207 are connected through the first assembly part 209, a third through hole 217 for the first assembly part 209 to pass through can be set at one end of the rear calf segment 216, so that the rear calf segment 216 and the rear thigh segment 201 can be hingedly connected through the rotational cooperation of the third through hole 217 and the first assembly part 209.

[0164] Specifically, in this embodiment, as shown in Figure 13, the first assembly part 209 can specifically include a second pin 214 and a second screw 215. The second pin 214 is inserted into the first assembly hole 203 and the second assembly hole 208. The second screw 215 cooperates with the second pin 214 to realize the connection between the second front shell 202 and the second rear shell 207, and the second pin 214 can cooperate with the rear calf joint 216 to realize the hinged connection between the two.

[0165] 12 to 13 , in some embodiments, a second sleeve 218 is provided in the third through hole 217 , and the first assembly part 209 is passed through the second sleeve 218 . At this time, the rear thigh segment 201 and the rear calf segment 216 can be hinged by the rotational connection between the second sleeve 218 and the first assembly part 209 .

[0166] 12 and 13 , in some embodiments, a third recess 204 is provided at one end of the second front housing 202 near the rear calf segment 216. A fourth bearing 205 is disposed within the third recess 204 and engages with the rear calf segment 216. Accordingly, a fourth recess 210 is provided at one end of the second rear housing 207 near the rear calf segment 216. A fifth bearing 211 is disposed within the fourth recess 210 and engages with the rear calf segment 216. Thus, the fourth bearing 205 and the fifth bearing 211 can jointly support or support the first assembly 209, thereby ensuring a reliable hinged connection between the rear calf segment 216 and the first assembly 209.

[0167] Illustratively, the fourth bearing 205 and the fifth bearing 211 may be thrust bearings, or may be angular contact bearings.

[0168] 12 to 13 , in some embodiments, the connection structure between the rear thigh segment 201 and the second linkage 233 is as follows: a third assembly hole 206 is provided on the second front shell 202, a fourth assembly hole 212 is provided on the second rear shell 207 at a position corresponding to the third assembly hole 206, and a second assembly part 213 is passed through the third assembly hole 206 and the fourth assembly hole 212.

[0169] One end of the second linkage member 233 is located between the second front housing 202 and the second rear housing 207 , and the second linkage member 233 has a fourth through hole 234 for the second assembly member 213 to pass through.

[0170] In a specific implementation, the third assembly hole 206 and the fourth assembly hole 212 can both be threaded holes, and the second assembly member 213 can be a threaded assembly member that matches the threaded holes. This allows the front housing and the rear housing to be securely connected through the cooperation of the threaded assembly member and the threaded holes. Alternatively, in other implementations, the third assembly hole 206 and the fourth assembly hole 212 can be plain holes, and the second assembly member 213 can be a fastening pin that matches the plain holes.

[0171] In addition, in order to achieve a rotational connection or hinged connection between the rear thigh segment 201 and the second linkage 233, when the second front shell 202 and the second rear shell 207 are connected through the second assembly part 213, a fourth through hole 234 for the second assembly part 213 to pass through can be set at one end of the second linkage 233, so that the second linkage 233 and the rear thigh segment 201 can be hingedly connected through the rotational cooperation of the fourth through hole 234 and the second assembly part 213.

[0172] In addition, the rotational connection structure between the other end of the second linkage member 233 and the hind foot segment 224 can refer to the rotational connection structure between the second linkage member 233 and the hind thigh segment 201, and no further explanation is given here.

[0173] Referring to Figures 1, 10 to 13, and 21 to 23, in some embodiments, the hind calf segment 216 includes a front side 221 of the hind calf segment arranged close to the head 3 and a rear side 219 of the hind calf segment arranged away from the head 3, the rear side 219 of the hind calf segment is connected to the front side 221 of the hind calf segment, and one end of the hind foot segment 224 is located between the rear side 219 of the hind calf segment and the front side 221 of the hind calf segment and can rotate relative to the rear side 219 of the hind calf segment and the front side 221 of the hind calf segment.

[0174] That is to say, one end of the hind foot segment 224 is clamped between the rear side 219 of the hind calf segment and the front side 221 of the hind calf segment and rotates with the rear side 219 of the hind calf segment and the front side 221 of the hind calf segment, thereby realizing the articulated cooperation of the hind calf segment 216 and the hind foot segment 224.

[0175] It should be noted that the rear side 219 of the hind calf segment and the front side 221 of the hind calf segment are connected. At this time, the rear side 219 of the hind calf segment and the front side 221 of the hind calf segment can be formed as a whole and relatively fixed, that is, when the hind calf segment 216 rotates, the entire rear side 219 of the hind calf segment and the front side 221 of the hind calf segment rotate synchronously.

[0176] In some other embodiments, a shell structure can also be provided on the hind leg segment 216 to form a front shell of the hind leg segment 216 and a rear shell of the hind leg segment 216. For example, the rear shell of the hind leg segment 216 and the front shell of the hind leg segment 216 can be made of plastic, so that the weight of the entire hind leg mechanism 2 is relatively light, so as to achieve a lightweight design. Alternatively, the rear shell of the hind leg segment 216 and the front shell of the hind leg segment 216 can also be made of alloy, so that the structural strength of the entire hind leg mechanism 2 is higher, so as to increase the service life.

[0177] 12 and 13 , in some embodiments, the rotatable connection structure between the hind foot segment 224 and the hind calf segment 216 is as follows: a fifth assembly hole 220 is provided on the hind calf segment rear side 219, a sixth assembly hole 222 is provided on the hind calf segment front side 221 at a position corresponding to the fifth assembly hole 220, and a third assembly part passing through the fifth and sixth assembly holes connects the hind calf segment rear side and the hind calf segment front side. One end of the hind foot segment 224 has a fifth through hole 226 for the third assembly part 223 to pass through and rotatably engage with the third assembly part 223.

[0178] In a specific implementation, the fifth assembly hole 220 and the sixth assembly hole 222 can both be threaded holes, and the third assembly part 223 can be a threaded assembly part that matches the threaded holes, so that the threaded assembly part and the threaded holes can cooperate to achieve a reliable connection between the rear side 219 of the hind calf joint and the front side 221 of the hind calf joint. Alternatively, in other implementations, the fifth assembly hole 220 and the sixth assembly hole 222 can be plain holes, and the third assembly part 223 can be a fastening pin that matches the plain holes.

[0179] In addition, in order to realize the rotational connection or hinged connection between the hind calf segment 216 and the hind foot segment 224, when the third assembly part passing through the fifth assembly hole and the sixth assembly hole connects the rear side of the calf segment and the front side of the calf segment, a fifth through hole 226 for the third assembly part 223 to pass through can be set at one end of the hind foot segment 224, so that the hind calf segment 216 and the hind foot segment 224 can be hingedly connected through the rotational cooperation of the fifth through hole 226 and the third assembly part 223.

[0180] Specifically, in this embodiment, referring to Figure 13, the third assembly part 223 can specifically include a third pin 231 and a third screw 232. The third pin 231 is inserted into the fifth assembly hole 220 and the sixth assembly hole 222. The third screw 232 cooperates with the third pin 231 to realize the connection between the rear side 219 of the hind calf segment and the front side 221 of the hind calf segment, and the third pin 231 can cooperate with the hind foot segment 224 to realize the hinged connection between the two.

[0181] 12 to 13 , in some embodiments, a third sleeve 227 is provided in the fifth through hole 226 , and the third assembly part 223 is passed through the third sleeve 227 . At this time, the hinge connection between the hind foot segment 224 and the hind calf segment 216 can be achieved through the rotational connection between the third sleeve 227 and the third assembly part 223 .

[0182] 12 and 13 , in some embodiments, a fifth recessed groove 225 is provided at one end of the hind foot segment 224 near the rear side 219 of the hind calf segment, a sixth bearing 228 is disposed within the fifth recessed groove 225, and the sixth bearing 228 cooperates with the rear side 219 of the hind calf segment. Accordingly, a sixth recessed groove 229 is provided at one end of the hind foot segment 224 near the front side 221 of the hind calf segment, a seventh bearing 230 is disposed within the sixth recessed groove 229, and the seventh bearing 230 cooperates with the front side 221 of the hind calf segment. Thus, the sixth bearing 228 and the seventh bearing 230 can jointly support or support the third assembly 223, thereby ensuring a reliable hinged connection between the hind foot segment 224 and the third assembly 223.

[0183] Illustratively, the sixth bearing 228 and the seventh bearing 230 may be thrust bearings or angular contact bearings.

[0184] 10 and 11 , in some embodiments, when the hind leg mechanism 2 moves, the third angle β1 between the central axis T1 of the hind thigh segment 201 and the central axis T4 of the hind calf segment 216 is 30°-150°. By reasonably setting the third angle β1 between the central axis T1 of the hind thigh segment 201 and the central axis T4 of the hind calf segment 216, the smooth bionic movement and different gaits of the entire hind leg mechanism 2 can be achieved.

[0185] Exemplarily, the third angle β1 between the central axis T1 of the rear thigh segment 201 and the central axis T4 of the rear calf segment 216 may be 30°, or 120°, or 150°.

[0186] 10 and 11 , in some embodiments, when the hind leg mechanism 2 moves, the fourth angle β2 between the central axis T4 of the hind calf segment 216 and the central axis T5 of the hind foot segment 224 is 30°-150°. By reasonably setting the fourth angle β2 between the central axis T5 of the hind foot segment 224 and the central axis T4 of the hind calf segment 216, smooth bionic movement and different gaits of the entire hind leg mechanism 2 can be achieved.

[0187] Exemplarily, the fourth angle β2 between the central axis T5 of the hind foot segment 224 and the central axis T4 of the hind calf segment 216 may be 30°, or 120°, or 150°.

[0188] It should be noted that, no matter the hind leg mechanism 2 is in a stationary or moving state, the third angle β1 and the fourth angle β2 always remain consistent, thereby ensuring the natural and coordinated movement of the hind leg mechanism 2 .

[0189] Referring to Figures 1 to 3 and Figures 14 to 26, further, the quadruped robot in this embodiment also includes a head motion joint structure 4, which is connected to the head 3 of the quadruped robot. The head motion joint structure 4 includes a first joint 401, a second joint 409 and a third joint 416. The rotation axis N1 of the first joint 401 is parallel to the rotation axis N2 of the second joint 409, and the rotation axis N3 of the third joint 416 is orthogonal to the rotation axis N1 of the first joint 401 and the rotation axis N2 of the second joint 409.

[0190] In specific implementation, the rotation axis N1 of the first joint 401 is parallel to the rotation axis N2 of the second joint 409. At this time, the movement direction or movement posture of the head 3 driven by the first joint 401 and the second joint 409 when they rotate are consistent, and the rotation axis N3 of the third joint 416 is orthogonal to the rotation axis N1 of the first joint 401 and the rotation axis N2 of the second joint 409, that is, there is an angle between the rotation axis N3 of the third joint 416 and the rotation axis N1 of the first joint 401 and the rotation axis N2 of the second joint 409. Therefore, the movement direction or movement posture of the head 3 driven by the third joint 416 when it rotates is different from the movement direction or movement posture of the head 3 driven by the first joint 401 and the second joint 409 when they rotate, so that the head 3 can realize movement in different directions under the drive of the first joint 401, the second joint 409 and the third joint 416, so as to enrich the movement posture of the head 3.

[0191] Illustratively, the angle between the rotation axis N3 of the third joint 416 and the rotation axis N1 of the first joint 401 and the rotation axis N2 of the second joint 409 can be an acute angle, a right angle or an obtuse angle, and the specific degree setting of the angle can be determined according to the required movement posture of the head 3.

[0192] The head motion joint structure 4 of the quadruped robot provided in this embodiment is provided. The head motion joint structure 4 of the quadruped robot includes a first joint 401, a second joint 409 and a third joint 416. The rotation axis N1 of the first joint 401 is parallel to the rotation axis N2 of the second joint 409, and the rotation axis N3 of the third joint 416 is orthogonal to the rotation axis N1 of the first joint 401 and the rotation axis N2 of the second joint 409. Therefore, the first joint 401, the second joint 409 and the third joint 416 can respectively drive the head 3 to perform corresponding movements when rotating, thereby realizing flexible rotation of the head 3 to enhance its flexibility, thereby meeting the user's usage needs. At the same time, by setting the rotation axis N3 of the third joint 416 to be orthogonal to the rotation axis N1 of the first joint 401 and the rotation axis N2 of the second joint 409, the rotation direction of the head 3 driven by the rotation of the first joint 401 and the second joint 409 is different from the rotation direction of the head 3 driven by the rotation of the third joint 416. That is, the movement posture of the head 3 driven by the first joint 401 and the second joint 409 is different from the movement posture of the head 3 driven by the rotation of the third joint 416. Therefore, the head 3 can be controlled to move in different postures. For example, the quadruped robot can be made to shake its head left and right, raise its head and lower its head, etc., so as to further improve the flexibility of the head 3 movement.

[0193] Referring to Figures 14 to 26, in some embodiments, the rotation axis N3 of the third joint 416 extends along the central axis N4 of the head 3 of the quadruped robot, and the rotation axis N1 of the first joint 401 and the rotation axis NL2 of the second joint 409 are both arranged perpendicular to the rotation axis N3 of the third joint 416, so as to drive the head 3 to shake its head left and right when the third joint 416 rotates, and / or to drive the head 3 to raise or lower its head when the first joint 401 and the second joint 409 rotate.

[0194] In a specific implementation, the rotation axis of the third joint 416 extends along the central axis N4 of the quadruped robot's head 3, so that the third joint 416 rotates along the central axis N4 of the quadruped robot's head 3, thereby driving the head 3 to rotate around the rotation axis extending from the central axis N4 of the quadruped robot's head 3. At this time, the rotation posture of the head 3 can be understood as a left and right shaking posture.

[0195] The rotation axis N1 of the first joint 401 and the rotation axis N2 of the second joint 409 are both arranged perpendicular to the rotation axis N3 of the third joint 416. Therefore, when the rotation axis N3 of the third joint 416 extends along the central axis N4 of the head 3 of the quadruped robot, the rotation axis N1 of the first joint 401 and the rotation axis N2 of the second joint 409 can be considered to extend in a direction perpendicular to the central axis N4 of the head 3, so that when the first joint 401 and the second joint 409 rotate, the head 3 is driven to rotate around the rotation axis extending in a direction perpendicular to the central axis N4 of the head. At this time, the rotation posture of the head 3 can be understood as a head-up and head-down operation.

[0196] 14 to 20 , in some embodiments, the head motion joint structure 4 further includes a fifth driving member 422 , a sixth driving member 424 and a seventh driving member 425 .

[0197] The fifth driving member 422 is provided on the body 5 of the quadruped robot. The fifth driving member 422 is in driving cooperation with one end of the first joint 401 to drive the first joint 401 to rotate around the output shaft of the fifth driving member 422 .

[0198] The sixth driving member 424 is disposed at the other end of the first joint 401 , and is in driving engagement with one end of the second joint 409 to drive the second joint 409 to rotate around the output shaft of the sixth driving member 424 .

[0199] The seventh driving member 425 is arranged at the other end of the second joint 409, and the seventh driving member 425 is in transmission cooperation with one end of the third joint 416 to drive the third joint 416 to rotate around the output shaft of the seventh driving member 425. The other end of the third joint 416 is connected to the head 3.

[0200] In a specific implementation, the fifth driving member 422 is provided on the body of the quadruped robot and is in transmission cooperation with one end of the first joint 401 to drive the first joint 401 to rotate around the output shaft of the fifth driving member 422 .

[0201] The sixth driving member 424 is disposed at the other end of the first joint 401, i.e., the sixth driving member 424 can be fixed relative to the first joint 401. In this case, when the first joint 401 rotates around the output shaft of the fifth driving member 422 under the drive of the fifth driving member 422, the sixth driving member 424 will rotate around the output shaft of the fifth driving member 422 along with the first joint 401. The sixth driving member 424 is used to drive the second joint 409 to rotate around the output shaft of the sixth driving member 424, thereby driving the second joint 409 to rotate around the output shaft of the sixth driving member 424. The seventh driving member 425 is disposed at the other end of the second joint 409 and cooperates with the third joint 416 to drive the third joint 416 to rotate around the output shaft of the seventh driving member 425. As a result, when the third joint 416 rotates, the head 3 connected thereto moves, thereby improving the flexibility of the head 3.

[0202] Specifically, the head 3 can rotate only under the drive of the first joint 401, or only under the drive of the second joint 409, or only under the drive of the third joint 416, that is, the fifth driving member 422, the sixth driving member 424 and the seventh driving member 425 can be controlled independently respectively; or, the head 3 can move simultaneously under the drive of the first joint 401, the second joint 409 and the third joint 416.

[0203] For example, when only the fifth driving member 422 and the sixth driving member 424 are started, the fifth driving member 422 drives the first joint 401 to rotate around the output shaft of the fifth driving member 422, and the sixth driving member 424 drives the second joint 409 to rotate around the output shaft of the sixth driving member 424. The seventh driving member 425 is not started. Since the seventh driving member 425 is connected to the other end of the second joint 409, the seventh driving member 425 and the third joint 416 are equivalent to rotating together around the output shaft of the fifth driving member 422 and the output shaft of the sixth driving member 424 under the drive of the first joint 401 and the second joint 409, thereby linking the head 3 to rotate around the output shaft of the fifth driving member 422 and the output shaft of the sixth driving member 424. In this case, the movement posture of the head 3 is to rotate only around the output shaft of the fifth driving member 422 and the output shaft of the sixth driving member 424.

[0204] For example, when only the seventh driving member 425 is activated, the seventh driving member 425 drives the third joint 416 to rotate about the output shaft of the seventh driving member 425. At this time, since the fifth driving member 422 and the sixth driving member 424 are not activated, the first joint 401 does not rotate about the output shaft of the fifth driving member 422 under the drive of the fifth driving member 422, and the second joint 409 does not rotate about the output shaft of the sixth driving member 424 under the drive of the sixth driving member 424. Only the third joint 416 rotates about the output shaft of the seventh driving member 425 under the drive of the seventh driving member 425, thereby linking the head 3 to rotate about the output shaft of the seventh driving member 425. In this situation, the movement posture of the head 3 is to rotate only about the output shaft of the seventh driving member 425.

[0205] For another example, when the fifth driving member 422, the sixth driving member 424 and the seventh driving member 425 are started at the same time, the fifth driving member 422 drives the first joint 401 to rotate around the output shaft of the fifth driving member 422, the sixth driving member 424 drives the second joint 409 to rotate around the output shaft of the sixth driving member 424, and at the same time the seventh driving member 425 drives the lower third joint 416 to rotate around the output shaft of the seventh driving member 425, thereby linking the head 3 to achieve movements in different postures or directions, for example, the quadruped robot can shake its head left and right, raise its head and lower its head, etc.

[0206] That is, when the fifth, sixth, and seventh driving members 422, 424, and 425 are simultaneously activated, the first joint 401 rotates around the output shaft of the fifth driving member 422. At this time, since the sixth driving member 424 is connected to the other end of the first joint 401, the rotation of the first joint 401 simultaneously drives the sixth driving member 424 to rotate around the output shaft of the fifth driving member 422. At the same time, the sixth driving member 424 drives the second joint 409 to rotate around the output shaft of the sixth driving member 424. Since the seventh driving member 425 is connected to the other end of the second joint 409, the rotation of the second joint 409 simultaneously drives the seventh driving member 425 to rotate around the output shaft of the sixth driving member 424. The seventh driving member 425 drives the third joint 416 to rotate around the output shaft of the seventh driving member 425, thereby linking the movement of the head 3.

[0207] In other words, in addition to rotating around the output shaft of the seventh driving member 425 driven by the third joint 416, the seventh driving member 425, the third joint 416, and the head 3 as a whole rotate together around the output shaft of the sixth driving member 424 and the output shaft of the fifth driving member 422. Furthermore, with respect to the third joint 416 and the head 3 within the whole structure, the third joint 416 also rotates around the output shaft of the seventh driving member 425 driven by the seventh driving member 425, thereby causing the head 3 to rotate around the output shaft of the seventh driving member 425 in conjunction with the rotation of the head 3. This further enriches the movement postures of the head 3 and enhances its flexibility to meet the user's needs.

[0208] In this embodiment, the fifth driving member 422 is arranged on the fuselage 5 and is in transmission cooperation with one end of the first joint 401 , so that the fifth driving member 422 can be used to drive the first joint 401 to rotate around the output shaft of the fifth driving member 422 . The sixth driving member 424 is set at the other end of the first joint 401, and the sixth driving member 424 is matched with one end of the second joint 409 in transmission, so that the sixth driving member 424 can be used to drive the second joint 409 to rotate around the output shaft of the sixth driving member 424. The seventh driving member 425 is set at the other end of the second joint 409, and the seventh driving member 425 is matched with the third joint 416 in transmission, so that the seventh driving member 425 drives the third joint 416 to rotate around the output shaft of the seventh driving member 425. The other end of the third joint 416 is used to be connected to the head 3 of the quadruped robot, so that when the first joint 401 rotates under the drive of the fifth driving member 422, the second joint 409 rotates under the drive of the sixth driving member 424, and the third joint 416 rotates under the drive of the seventh driving member 425, the head 3 can be driven to perform corresponding movements, thereby realizing flexible rotation of the head 3 to improve its flexibility, thereby meeting the user's usage needs.

[0209] 14 to 17 , in some embodiments, a transmission structure 426 is provided between the fifth driving member 422 and the first joint 401 , and the transmission structure 426 is respectively coupled with the fifth driving member 422 and the first joint 401 , so that when the fifth driving member 422 drives the transmission structure 426 to rotate, the first joint 401 is driven to rotate.

[0210] That is to say, the fifth driving member 422 can realize indirect transmission with the first joint 401 through the transmission structure 426 arranged between the fifth driving member 422 and the first joint 401, so as to transmit the driving force output by the fifth driving member 422 to the first joint 401 to drive the first joint 401 to rotate.

[0211] Specifically, as shown in FIG. 17 , the transmission structure 426 includes a first synchronous wheel 427 , a second synchronous wheel 428 , and a synchronous transmission member 429 wound around the first synchronous wheel 427 and the second synchronous wheel 428 .

[0212] The first synchronous wheel 427 is in transmission cooperation with the fifth driving member 422 , and the second synchronous wheel 428 is in transmission cooperation with the first joint 401 , so that the fifth driving member 422 drives the first synchronous wheel 427 to rotate, thereby driving the second synchronous wheel 428 to rotate, and the first joint 401 is rotated under the drive of the second synchronous wheel 428 .

[0213] In a specific implementation, the fifth driving member 422 can be driven by the first synchronous gear 427 via the connecting shaft 423, so that the fifth driving member 422 drives the connecting shaft 423 to rotate, thereby driving the first synchronous gear 427 to rotate. At this time, because the first synchronous gear 427 rotates with the second synchronous gear 428 via the synchronous transmission member 429, the rotation of the first synchronous gear 427 drives the rotation of the second synchronous gear 428. The second synchronous gear 428 is driven by one end of the first joint 401, so that when the second synchronous gear 428 rotates, it drives the first joint 401 to rotate about the output shaft of the fifth driving member 422.

[0214] More specifically, a third transmission shaft 406 can be set at one end of the first joint 401, and the third transmission shaft 406 can cooperate with the second synchronous wheel 428 to rotate, so that when the second synchronous wheel 428 rotates, it can drive the third transmission shaft 406 to rotate and then drive the first joint 401 to rotate.

[0215] Exemplarily, the first synchronous wheel 427 and the second synchronous wheel 428 can both be pulleys, and the synchronous transmission member 429 can be a belt that cooperates with the pulleys. Alternatively, the first synchronous wheel 427 and the second synchronous wheel 428 can both be sprockets, and the synchronous transmission member 429 can be a chain that cooperates with the sprockets.

[0216] 16 and 17 , in some embodiments, a fixed base 402 is further provided between the fifth driving member 422 and the first joint 401 , and the fixed base 402 is connected to the fifth driving member 422 and the body, respectively.

[0217] A first avoidance hole 403 is provided on the fixed base 402 at a position corresponding to the output shaft of the fifth driving member 422 . The output shaft of the fifth driving member 422 passes through the first avoidance hole 403 and is in transmission engagement with one end of the first joint 401 .

[0218] In a specific implementation, a fixed base 402 can be provided to facilitate securing the fifth driving member 422. The fixed base 402 is secured to the body, and the fifth driving member 422 is secured to the fixed base 402, thereby reliably connecting the fifth driving member 422 to the body. For example, the fifth driving member 422 can be secured to the fixed base 402 using fasteners such as screws, and the fixed base 402 can be secured to the body using screws or the like.

[0219] In addition, the fifth driving member 422 can be arranged on opposite sides of the fixed base 402 from the first joint 401, thereby achieving a compact layout. Furthermore, to achieve transmission coordination between the fifth driving member 422 and the first joint 401, a first avoidance hole 403 can be provided on the fixed base 402 at a position corresponding to the output shaft of the fifth driving member 422, so that the output shaft of the fifth driving member 422 can pass through the first avoidance hole 403 and then engage with one end of the first joint 401.

[0220] Exemplarily, the contour shape of the first avoidance hole 403 can be set to match the shape of the output shaft of the fifth drive member 422, and the aperture of the first avoidance hole 403 can be set to be larger than the outer diameter of the output shaft of the fifth drive member 422, so that the output shaft of the fifth drive member 422 can smoothly pass through the first avoidance hole 403 and then transmit to one end of the first joint 401.

[0221] Referring to Figures 16 and 17, in some embodiments, a third transmission shaft 406 for transmission cooperation with the fifth driving member 422 is provided at one end of the first joint 401, and a through hole 404 is provided at a position corresponding to the third transmission shaft 406 on the fixed base 402, and an eighth bearing 405 is provided in the through hole 404, and part of the third transmission shaft 406 is passed through the eighth bearing 405.

[0222] In a specific implementation, the first joint 401 can be a rod-shaped connecting rod, or in other implementations, the first joint 401 can also be a cylindrical rotating shaft, etc. Specifically, a third transmission shaft 406 can be provided at one end of the first joint 401 to cooperate with the fifth driving member 422 in transmission, so that when the fifth driving member 422 drives the third transmission shaft 406 to rotate, the first joint 401 is driven to rotate around the output shaft of the fifth driving member 422.

[0223] Furthermore, in order to support the first joint 401, a through hole 404 can be set at a position corresponding to the third transmission shaft 406 on the fixed base 402, and an eighth bearing 405 can be set in the through hole 404, and part of the third transmission shaft 406 is located in the eighth bearing 405, so that the third transmission shaft 406 is supported or supported by the eighth bearing 405.

[0224] Exemplarily, the eighth bearing 405 may be a cross roller bearing or a deep groove ball bearing.

[0225] As shown in Figure 18, in some embodiments, the second joint 409 includes a first plate-shaped body 410 and two second plate-shaped bodies 411 arranged at opposite ends of the first plate-shaped body 410. The first plate-shaped body 410 and the two second plate-shaped bodies 411 together enclose a first accommodating cavity 412 opening toward the sixth driving member 424.

[0226] A portion of the sixth driving member 424 is located in the first accommodating cavity 412 , and both ends of the output shaft of the sixth driving member 424 are respectively engaged with the corresponding second plate-shaped body 411 to drive the second joint 409 to rotate.

[0227] In a specific implementation, the second joint 409 specifically includes a first plate-shaped body 410 and a second plate-shaped body 411 connected to both ends of the first plate-shaped body 410. At this time, the second joint 409 can present a U-shaped structure as shown in FIG. 18 .

[0228] Part of the sixth driving member 424 can be accommodated within the first accommodating cavity 412 of the U-shaped structure, thereby reducing the space occupied by the sixth driving member 424 and further achieving a compact layout. The output shaft of the sixth driving member 424 can be connected to the two second plate-like bodies 411 respectively. When the sixth driving member 424 drives the two second plate-like bodies 411 to rotate about the output shaft of the sixth driving member 424, the first plate-like body 410 is synchronously rotated, thereby causing the entire second joint 409 to rotate about the output shaft of the sixth driving member 424.

[0229] At this time, since the seventh driving member 425 is connected to the other end of the second joint 409 and drives the third joint 416 to rotate around the output shaft of the seventh driving member 425, the head 3 is connected to the other end of the third joint 416, so that when the sixth driving member 424 drives the second joint 409 to rotate around the output shaft of the sixth driving member 424, the seventh driving member 425, the third joint 416 and the head 3 can be driven as an integral structure by the second joint 409 to rotate synchronously around the output shaft of the sixth driving member 424.

[0230] For example, the first plate 410 and the two second plate 411 can be integrally formed to save manufacturing steps and improve the structural strength of the entire second joint 409. Alternatively, the first plate 410 and the two second plate 411 can be separately formed and then welded or screwed together.

[0231] As shown in Figure 18, in some embodiments, a first fixed bracket 407 is provided at the other end of the first joint 401, and the first fixed bracket 407 has a second accommodating cavity 408 opening toward the sixth driving member 424, and part of the sixth driving member 424 is located in the second accommodating cavity 408 and is connected to the first fixed bracket 407.

[0232] In a specific implementation, a first fixing bracket 407 is provided at the other end of the first joint 401. The first fixing bracket 407 is used to facilitate the connection between the sixth driving member 424 and the other end of the first joint 401. Specifically, the first fixing bracket 407 can be connected to the other end of the first joint 401 via fasteners such as screws, and the sixth driving member 424 can be connected to the first fixing bracket 407 via fasteners such as screws, thereby achieving a reliable connection between the sixth driving member 424 and the first joint 401.

[0233] Specifically, the first fixed bracket 407 can be presented as a U-shaped structure as shown in Figure 5, and part of the sixth driving member 424 is accommodated in the second accommodating cavity 408 of the U-shaped structure, thereby saving the space occupied by the sixth driving member 424 to further achieve a compact and miniaturized arrangement.

[0234] Referring to Figures 16 and 19, in some embodiments, a second fixed bracket 413 is provided at the other end of the second joint 409, the second fixed bracket 413 has a cavity 414, the seventh driving member 425 is arranged in the cavity 414, and a second avoidance hole 415 is provided on the inner wall of the cavity 414 at a position corresponding to the output shaft of the seventh driving member 425, and the output shaft of the seventh driving member 425 passes through the second avoidance hole 415 and cooperates with the third joint 416 for transmission.

[0235] In a specific implementation, the second fixing bracket 413 may be provided with a cavity 414 , and the seventh driving member 425 may be disposed in the cavity 414 , thereby saving space occupied by the seventh driving member 425 and facilitating a compact arrangement.

[0236] Furthermore, when the seventh driving member 425 is arranged in the cavity 414 of the second fixed bracket 413, in order to achieve transmission cooperation between the seventh driving member 425 and the third joint 416, a second avoidance hole 415 can be set on the inner wall of the cavity 414 corresponding to the configuration of the third joint 416, so that the output shaft of the seventh driving member 425 can pass through the second avoidance hole 415 and then perform transmission cooperation with the third joint 416.

[0237] Exemplarily, the contour shape of the second avoidance hole 415 can be set to match the shape of the output shaft of the seventh driving member 425, and the aperture of the second avoidance hole 415 can be set to be larger than the outer diameter of the output shaft of the seventh driving member 425, so that the output shaft of the seventh driving member 425 can smoothly pass through the second avoidance hole 415 and then transmit to one end of the third joint 416.

[0238] For example, the fifth driving member 422, the sixth driving member 424 and the seventh driving member 425 in this embodiment can all be motors, or can all be servos. The servos are light in weight and can provide sufficient driving force, thereby effectively reducing the weight of the entire head motion joint structure 4, which is conducive to achieving a lightweight design.

[0239] 14 to 20 , in some embodiments, the third joint 416 includes a rotating shaft 417 , one end of the rotating shaft 417 is in transmission engagement with the seventh driving member 425 , and the other end of the rotating shaft 417 is connected to the head 3 .

[0240] In a specific implementation, the third joint 416 may be a rotating shaft 417 , and the seventh driving member 425 drives the rotating shaft 417 to rotate, thereby driving the head 3 connected to the rotating shaft 417 to rotate around the output shaft of the seventh driving member 425 .

[0241] Furthermore, in order to support or support the rotating shaft 417, a ninth bearing 418 can be provided on the outer side of the rotating shaft 417, and a bearing seat 419 connected to the second fixed bracket 413 can be provided on the outer side of the ninth bearing 418. By connecting the bearing seat 419 to the second fixed bracket 413 and then setting the ninth bearing 418 in the bearing seat 419, the rotating shaft 417 can be supported or supported by the ninth bearing 418.

[0242] For example, the ninth bearing 418 may be a deep groove ball bearing or a rolling bearing.

[0243] 16 , 19 , and 20 , a first retaining spring 420 may be provided between the rotating shaft 417 and the ninth bearing 418 to ensure a secure fit between the rotating shaft 417 and the ninth bearing 418. Accordingly, a second retaining spring 421 may be provided between the ninth bearing 418 and the bearing seat 419 to ensure a secure fit between the ninth bearing 418 and the bearing seat 419.

[0244] 14 to 20 , in some embodiments, a head fixing member 430 is provided at the other end of the third joint 416 .

[0245] The head fixing member 430 includes an annular fixing frame 431 . The fixing frame 431 is connected to the third joint 416 . A connecting portion 432 for connecting to the head 3 is provided on the fixing frame 431 .

[0246] Specifically, to facilitate connection between the other end of the third joint 416 and the head 3, a head fixture 430 may be provided at the other end of the third joint 416 for connection to the head 3. Specifically, to enhance the secure connection between the head fixture 430 and the head 3, the head fixture 430 may include an annular fixing frame 431, thereby creating a larger contact surface between the annular fixing frame 431 and the head 3. Specifically, the fixing frame 431 may be connected to the third joint 416 via fasteners such as screws, and a connecting portion 432 for connection to the head 3 may be provided on the fixing frame 431 to achieve a secure connection with the head 3.

[0247] For example, the connection portion 432 may be a connection hole, and a corresponding hole is also provided on the head 3. A fastener is provided through the hole in the head 3 and in the connection hole to achieve a reliable connection between the head fixture 430 and the head 3. For example, there may be multiple connection holes, which are spaced apart along the circumference of the annular fixing frame 431, and the head 3 is also provided with multiple corresponding holes. This can further improve the stability and reliability of the connection between the head fixture 430 and the head 3 through the cooperation of the multiple connection holes and the fasteners.

[0248] 25 to 26 , the first angle θ1 between the central axis M1 of the first joint 401 and the horizontal plane P1 is ±50°. By reasonably setting the first angle θ1 between the central axis M1 of the first joint 401 and the horizontal plane P1, the head 3 can achieve the required raising, lowering and resetting operations.

[0249] For example, the first angle θα1 between the central axis M1 of the first joint 401 and the horizontal plane P1 can be, for example, negative 50°, negative 20°, 0°, positive 20°, or positive 50°. In this case, when the first angle θα1 between the central axis M1 of the first joint 401 and the horizontal plane P1 is 0°, it can be considered that the head 3 has been repositioned; when the first angle θα1 is positive, it can be considered that the head 3 has been raised; and when the first angle θα1 is negative, it can be considered that the head 3 has been lowered.

[0250] In some embodiments, the second angle θ2 between the central axis M2 of the second joint 409 and the central axis M1 of the first joint 401 is ±50°. By reasonably setting the second angle θ2 between the central axis M2 of the second joint 409 and the central axis M1 of the first joint 401, the head 3 can achieve the required head-raising, lowering and resetting operations.

[0251] Exemplarily, the second angle θ2 between the central axis M2 of the second joint 409 and the central axis M1 of the first joint 401 may be negative 50°, negative 20°, 0°, positive 20°, or positive 50°.

[0252] In some embodiments, the central axis M1 of the first joint 401 and the central axis M2 of the second joint 409 form a reference plane P3, and the third angle θ3 between the reference plane P3 and the symmetry plane P2 of the head fixation component 430 is ±65°. By reasonably setting the third angle θ3 between the reference plane P3 and the symmetry plane P2 of the head fixation component 430, the head 3 can achieve the required raising and lowering the head, shaking the head left and right, and resetting operations.

[0253] For example, the third angle θ3 between the reference plane P3 and the symmetry plane P2 of the head fixture 430 may be negative 65°, negative 20°, 0°, positive 20°, or positive 65°.

[0254] In addition, the quadruped robot includes two front leg mechanisms 1 and two hind leg mechanisms 2. The side of the fuselage 5 connected to each front leg mechanism 1 includes an eighth driving member 6, which is used to drive the front leg mechanism 1 to rotate. That is, when the first driving member 129 and the second driving member are not activated, the eighth driving member 6 can be activated to drive the entire front leg mechanism 1 to rotate, thereby driving the entire front leg mechanism 1 to move. At this time, for the front leg mechanism 1, each front leg mechanism 1 includes two driving members, namely the first driving member 129 and the second driving member, and an eighth driving member 6 is provided on the side of the fuselage 5 connected to each front leg mechanism 1.

[0255] Furthermore, the side of the body 5 connected to each hind leg mechanism 2 includes a ninth driving member 7, which is used to drive the hind leg mechanism 2 to rotate. That is, when the third driving member 237 and the fourth driving member are not activated, the ninth driving member 7 can be activated to drive the entire hind leg mechanism 2 to rotate, thereby causing the entire hind leg mechanism 2 to move. At this time, for the hind leg mechanism 2, each hind leg mechanism 2 includes two driving members, namely the third driving member 237 and the fourth driving member, and a ninth driving member 7 is provided on the side of the body 5 connected to each hind leg mechanism 2. At this time, for the bionic movement of the quadruped robot's leg mechanism (including the front leg mechanism 1 and the hind leg mechanism 2), a total of 12 driving members are used to drive the leg mechanism to rotate.

[0256] In addition, two foot segment driving members 120 in this embodiment can be provided to better realize the rotation of the front foot segment 118 .

[0257] To sum up, in the quadruped robot disclosed in the present invention, the driving parts of the leg structure enable each front leg mechanism 1 and hind leg mechanism 2 to rotate flexibly, and the foot segment driving parts 120 enable the foot segment mechanism 8 of the quadruped robot to be more flexible to perform difficult movements. The driving parts of the front leg mechanism 1, the driving parts of the hind leg mechanism 2 and the foot segment driving parts of the foot segment mechanism 8 work together, making the movements of the quadruped robot more coordinated and flexible, and having a high bionic effect.

[0258] For example, the quadruped robot may be in the shape of a bionic robot dog, a bionic robot cat, or other four-limbed animals.

[0259] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0260] The foregoing description is merely a detailed description of the embodiments of the present invention, intended to enable those skilled in the art to understand and implement the embodiments of the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the embodiments of the present invention. Therefore, the embodiments of the present invention are not limited to the embodiments described herein, but are intended to conform to the widest scope consistent with the principles and novel features of the embodiments of the present invention.

Claims

1. A quadruped robot, characterized in that: It comprises a body (5), a head (3), a leg mechanism, and a foot mechanism (8); The head (3) is arranged at the front part of the fuselage (5); The leg mechanism at least comprises a front leg mechanism (1) close to the head (3) and a rear leg mechanism (2) far from the head (3), and the front leg mechanism (1) and the rear leg mechanism (2) are respectively rotatably connected to the fuselage (5); The foot joint mechanism (8) is rotatably connected to the leg mechanism, and a limiting structure (9) is formed between the foot joint mechanism (8) and the leg mechanism, wherein the limiting structure (9) is used to limit the rotation of the foot joint mechanism (8).

2. The quadruped robot according to claim 1, characterized in that: The limiting structure (9) comprises a first limiting structure (121) and a second limiting structure (123) cooperating with the first limiting structure (121); the first limiting structure (121) is arranged on the leg mechanism, and the second limiting structure (123) is arranged on the foot segment mechanism (8).

3. The quadruped robot according to claim 1, characterized in that: The front leg mechanism (1) comprises a front thigh segment (101), a front calf segment (113) and a first linkage member (119); the foot segment mechanism (8) comprises a front foot segment (118) and a foot segment driving member (120); the body (5) is provided with a first driving member (129) and a second driving member; One end of the front thigh segment (101) is rotatably connected to the body (5), and the front thigh segment (101) is in transmission cooperation with the first driving member (129); one end of the front calf segment (113) is rotatably connected to the other end of the front thigh segment (101); the front foot segment (118) is rotatably connected to the other end of the front calf segment (113); one end of the first linkage member (119) is in transmission cooperation with the second driving member and the other end of the first linkage member (119) is rotatably connected to the front calf segment (113); the foot segment driving member (120) is in transmission cooperation with the front foot segment (118) to drive the front foot segment (118) to rotate.

4. The quadruped robot according to claim 3, characterized in that: The front leg mechanism (1) further comprises a buffer transmission mechanism (125); The buffer transmission mechanism (125) is respectively coupled with the foot segment driving member (120) and the front foot segment (118) so that the foot segment driving member (120) drives the buffer transmission mechanism (125) to rotate, thereby driving the front foot segment (118) to rotate.

5. The quadruped robot according to claim 3, characterized in that: When the front leg mechanism (1) moves, a first angle (α1) between the central axis (L1) of the front thigh segment (101) and the central axis (L2) of the front calf segment (113) is 35°-145°; And / or, when the front leg mechanism (1) moves, the second angle (α2) between the central axis (L2) of the front calf segment (113) and the central axis (L3) of the front foot segment (118) is 155°-245°.

6. The quadruped robot according to claim 1, characterized in that: The hind leg mechanism (2) comprises a hind thigh segment (201), a hind calf segment (216), a hind foot segment (224), a second linkage member (233) and a third linkage member (235); a third driving member (237) and a fourth driving member are arranged on the fuselage (5); The central axis (T1) of the hind thigh segment (201) is parallel to the central axis (T5) of the hind foot segment (224); the central axis (T1) of the hind thigh segment (201) is parallel to the central axis (T2) of the third linkage member (235); the central axis (T4) of the hind calf segment (216) is parallel to the central axis (T3) of the second linkage member (233).

7. The quadruped robot according to claim 6, characterized in that: One end of the rear thigh segment (201) is rotatably connected to the fuselage (5), and the rear thigh segment (201) is in transmission cooperation with the third driving member (237) so as to rotate under the drive of the third driving member (237); one end of the hind calf segment (216) is rotatably connected to the other end of the hind thigh segment (201), and one end of the hind foot segment (224) is rotatably connected to the other end of the hind calf segment (216); The two ends of the second linkage member (233) are rotatably connected to the hind thigh segment (201) and the hind foot segment (224) respectively, one end of the third linkage member (235) is in transmission cooperation with the fourth driving member so as to rotate under the drive of the fourth driving member, and the other end of the third linkage member (235) is rotatably connected to the hind calf segment (216) so that when the hind thigh segment (201) and the third linkage member (235) rotate, they jointly link the hind calf segment (216) and the hind foot segment (224) to enable the hind leg mechanism (2) to move bionic.

8. The quadruped robot according to claim 6, characterized in that: When the hind leg mechanism (2) moves, the third angle (β1) between the central axis (T1) of the hind thigh segment (201) and the central axis (T4) of the hind calf segment (216) is 30°-150°.

9. The quadruped robot according to claim 6, characterized in that: When the hind leg mechanism (2) moves, the fourth angle (β2) between the central axis (T4) of the hind calf segment (216) and the central axis (T5) of the hind foot segment (224) is 30°-150°.

10. The quadruped robot according to claim 1, characterized in that: The quadruped robot further comprises a head motion joint structure (4) connected to the head (3); The head motion joint structure (4) includes a first joint (401), a second joint (409) and a third joint (416), wherein the rotation axis (N1) of the first joint (401) is parallel to the rotation axis (N2) of the second joint (409), and the rotation axis (N3) of the third joint (416) is orthogonal to the rotation axis (N1) of the first joint (401) and the rotation axis (N2) of the second joint (409).

11. The quadruped robot according to claim 10, characterized in that: The rotation axis (N3) of the third joint (416) extends along the central axis (N4) of the head (3), and the rotation axis (N1) of the first joint (401) and the rotation axis (N2) of the second joint (409) are both arranged perpendicular to the rotation axis (N3) of the third joint (416), so as to drive the head (3) to rotate left and right when the third joint (416) rotates, and / or drive the head (3) to raise or lower its head when the first joint (401) and the second joint (409) rotate.

12. The quadruped robot according to claim 10, characterized in that: The head motion joint structure (4) further comprises a fifth driving member (422), a sixth driving member (424) and a seventh driving member (425); The fifth driving member (422) is arranged on the body (5), and the fifth driving member (422) is in driving cooperation with one end of the first joint (401) to drive the first joint (401) to rotate around the output shaft of the fifth driving member (422); The sixth driving member (424) is arranged at the other end of the first joint (401), and the sixth driving member (424) is in driving cooperation with one end of the second joint (409) to drive the second joint (409) to rotate around the output shaft of the sixth driving member (424); The seventh driving member (425) is arranged at the other end of the second joint (409), and the seventh driving member (425) is in transmission cooperation with one end of the third joint (416) to drive the third joint (416) to rotate around the output shaft of the seventh driving member (425), and the other end of the third joint (416) is connected to the head (3).

13. The quadruped robot according to claim 12, characterized in that: A transmission structure (426) is provided between the fifth driving member (422) and the first joint (401), and the transmission structure (426) is respectively coupled with the fifth driving member (422) and the first joint (401) so that when the fifth driving member (422) drives the transmission structure (426) to rotate, the first joint (401) is driven to rotate.

14. The quadruped robot according to claim 10, characterized in that: A first angle (θ1) between the central axis (M1) of the first joint (401) and the horizontal plane (P1) is ±50°; A second angle (θ2) between the central axis (M2) of the second joint (409) and the central axis (M1) of the first joint (401) is ±50°; The central axis (M1) of the first joint (401) and the central axis (M2) of the second joint (409) form a reference plane (P3), and a third angle (θ3) between the reference plane (P3) and a symmetry plane (P2) of a head fixing member (430) provided at the other end of the third joint (416) is ±65°.

15. The quadruped robot according to claim 1, characterized in that: The quadruped robot comprises two front leg mechanisms (1) and two hind leg mechanisms (2); one side of the body (5) connected to each of the front leg mechanisms (1) comprises an eighth driving member (6), and the eighth driving member (6) is used to drive the front leg mechanisms (1) to rotate; one side of the body (5) connected to each of the hind leg mechanisms (2) comprises a ninth driving member (7), and the ninth driving member (7) is used to drive the hind leg mechanisms (2) to rotate.

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