quadruped robot

Abstract

This invention relates to a quadruped robot, comprising a body, a head, leg mechanisms, and foot joint mechanisms. The head is located at the front of the body. The leg mechanism includes at least a front leg mechanism near the head and a rear leg mechanism away from the head, both of which are rotatably connected to the body. The foot joint mechanisms are rotatably connected to the leg mechanisms, forming a limiting structure between them. This limiting structure restricts the rotation of the foot joint mechanisms. In this configuration, the upward supporting force applied to the foot joint mechanisms by the ground can be transmitted to the leg mechanisms, allowing them to share the upward supporting force. This eliminates the need for the foot joint mechanisms to bear the entire supporting force applied by the ground, thus eliminating the need for them to provide a large rotational torque to achieve contact between the leg mechanisms and the ground, enabling normal landing of the leg mechanisms. Therefore, the rotational torque requirements on the foot joint mechanisms can be reduced to a certain extent.

Description

Technical Field

[0001] This invention relates to the field of quadruped robot technology, and more particularly to a quadruped robot. Background Technology

[0002] With the development of artificial intelligence technology, the application fields of robots are gradually expanding, and people's functional requirements for robots are 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, with their strong adaptability to complex environments, have become a hot topic in mobile robot research.

[0003] Currently, the leg mechanism of quadruped robots on the market consists of thighs and calves. The thighs and calves rotate forward and backward independently to complete the movement of the feet. Most quadruped robots are biomimetic dogs, and dogs, in addition to having thighs and calves, can also independently rotate their feet to perform specific functions, such as gripping door handles when opening doors, pressing elevator buttons, or pressing switches. Motors are usually installed at the top of the foot or the bottom of the calf to drive the foot to rotate independently to complete the corresponding specific actions.

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

[0005] To solve the above-mentioned technical problems, or at least partially solve them, embodiments of the present invention provide a quadruped robot.

[0006] This invention provides a quadruped robot, including a body, a head, a leg mechanism, and a foot joint mechanism;

[0007] The head is located at the front of the fuselage;

[0008] The leg mechanism includes 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 fuselage;

[0009] 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. The limiting structure is used to restrict the rotation of the foot joint mechanism.

[0010] In some embodiments, the limiting structure includes a first limiting structure and a second limiting structure that cooperates with the first limiting structure, wherein the first limiting structure is disposed on the leg mechanism and the second limiting structure is disposed on the foot joint mechanism.

[0011] In some embodiments, the front leg mechanism includes a front thigh leg segment, a front lower leg leg segment, and a first linkage member; the foot segment mechanism includes a front foot segment and a foot segment drive member; the machine body is provided with a first drive member and a second drive member;

[0012] One end of the foreleg joint is rotatably connected to the body, and the foreleg joint is driven by the first drive member; one end of the foreleg joint is rotatably connected to the other end of the foreleg joint; the forefoot joint is rotatably connected to the other end of the foreleg joint; one end of the first linkage member is driven by the second drive member, and the other end of the first linkage member is rotatably connected to the foreleg joint; the foot joint drive member is driven by the forefoot joint to drive the forefoot joint to rotate.

[0013] In some embodiments, the front leg mechanism further includes a buffer transmission mechanism;

[0014] The buffer transmission mechanism is respectively engaged with the foot joint drive member and the forefoot joint drive member, so that the foot joint drive member drives the buffer transmission mechanism to rotate, thereby driving the forefoot joint to rotate.

[0015] In some embodiments, when the foreleg mechanism moves, the first included angle between the central axis of the foreleg thigh segment and the central axis of the foreleg lower segment is 35°-145°.

[0016] And / or, when the foreleg mechanism moves, the second included angle between the central axis of the foreleg segment and the central axis of the forefoot segment is 155°-245°.

[0017] In some embodiments, the hind leg mechanism includes a hind thigh leg segment, a hind lower leg leg segment, a hind foot segment, a second linkage member, and a third linkage member; the machine body is provided with a third drive member and a fourth drive member;

[0018] The central axis of the posterior thigh segment is parallel to the central axis of the posterior foot segment; the central axis of the posterior thigh segment is parallel to the central axis of the third linkage; the central axis of the posterior lower leg segment is parallel to the central axis of the second linkage.

[0019] In some embodiments, one end of the hind thigh leg segment is rotatably connected to the machine body, and the hind thigh leg segment is driven by the third drive member to rotate; one end of the hind lower leg segment is rotatably connected to the other end of the hind thigh leg segment, and one end of the hind foot segment is rotatably connected to the other end of the hind lower leg segment.

[0020] The two ends of the second linkage are rotatably connected to the hind thigh joint and the hind foot joint, respectively. One end of the third linkage is driven by the fourth drive member to rotate. The other end of the third linkage is rotatably connected to the hind lower leg joint, so that when the hind thigh joint and the third linkage rotate, they jointly link the hind lower leg joint and the hind foot joint, causing the hind leg mechanism to move biomimetously.

[0021] In some embodiments, when the hind leg mechanism moves, the third included angle between the central axis of the hind thigh segment and the central axis of the hind lower leg segment is 30°-150°.

[0022] In some embodiments, when the hind leg mechanism moves, the fourth included angle between the central axis of the hind lower leg segment and the central axis of the hind foot segment is 30°-150°.

[0023] In some embodiments, the quadruped robot further includes a head motion joint structure connected to the head;

[0024] The head movement 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.

[0025] In some embodiments, the rotation axis of the third joint extends along the central axis of the head, and the rotation axes of the first joint and the second joint are both 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 to raise or lower when the first joint and the second joint rotate.

[0026] In some embodiments, the head motion joint structure further includes a fifth drive member, a sixth drive member, and a seventh drive member;

[0027] The fifth driving member is disposed on the machine body, and the fifth driving member is in transmission cooperation with one end of the first joint, for driving the first joint to rotate around the output shaft of the fifth driving member;

[0028] The sixth driving member is disposed at the other end of the first joint, and the sixth driving member is in transmission cooperation with one end of the second joint, for driving the second joint to rotate around the output shaft of the sixth driving member;

[0029] The seventh driving member is disposed at the other end of the second joint. The seventh driving member is in transmission cooperation with one end of the third joint and is used to drive the third joint to rotate around the output shaft of the seventh driving member. The other end of the third joint is connected to the head.

[0030] In some embodiments, a transmission structure is provided between the fifth driving member and the first joint, and the transmission structure is respectively driven to cooperate with the fifth driving member and the first joint so that when the fifth driving member drives the transmission structure to rotate, it drives the first joint to rotate.

[0031] In some embodiments, the first angle between the central axis of the first joint and the horizontal plane is ±50°;

[0032] The second angle between the central axis of the second joint and the central axis of the first joint is ±50°;

[0033] The central axis of the first joint and the central axis of the second joint form a reference plane, and the third angle between the reference plane and the symmetrical plane of the head fixing member provided at the other end of the third joint is ±65°.

[0034] In some embodiments, the quadruped robot includes two front leg mechanisms and two hind leg mechanisms; an eighth drive member is included on the side of the body connected to each of the front leg mechanisms, the eighth drive member being used to drive the front leg mechanism to rotate; a ninth drive member is included on the side of the body connected to each of the hind leg mechanisms, the ninth drive member being used to drive the hind leg mechanism to rotate.

[0035] The technical solution provided by the embodiments of the present invention has the following advantages compared with the prior art:

[0036] This invention provides a quadruped robot, including a body, a head, leg mechanisms, and foot joint mechanisms. The head is located at the front of the body. The leg mechanism includes at least a front leg mechanism near the head and a rear leg mechanism away from the head, both of which are rotatably connected to the body. The foot joint mechanisms are rotatably connected to the leg mechanisms, forming a limiting structure between them. This limiting structure restricts the rotation of the foot joint mechanisms. In this configuration, the upward supporting force applied to the foot joint mechanisms by the ground can be transmitted to the leg mechanisms, allowing them to share the upward supporting force. This eliminates the need for the foot joint mechanisms to bear the entire supporting force applied by the ground, thus eliminating the need for them to provide a large rotational torque to achieve contact between the leg mechanisms and the ground, enabling normal landing. Therefore, the rotational torque requirements on the foot joint mechanisms can be reduced to a certain extent.

[0037] Furthermore, the side of the robot body connected to each front leg mechanism includes an eighth driving component, and the side of the robot body connected to each rear leg mechanism includes a ninth driving component. The eighth and ninth driving components respectively drive the overall movement of each front leg mechanism and each rear leg mechanism. In summary, the quadruped robot disclosed in this invention has driving components in the leg structure that enable each leg mechanism to rotate flexibly, and foot joint driving components that allow the quadruped robot's foot joint mechanism to be more flexible in performing complex movements. The driving components in the leg structure and the foot joint mechanism work together to make the quadruped robot's movements more coordinated and flexible, exhibiting a high degree of biomimicry. Attached Figure Description

[0038] The accompanying drawings, which are incorporated in and form 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.

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the structure of the quadruped robot described in an embodiment of the present invention. Figure 1 ;

[0041] Figure 2 This is a schematic diagram of the structure of the quadruped robot described in an embodiment of the present invention. Figure 2 ;

[0042] Figure 3 This is a schematic diagram of the structure of the quadruped robot described in an embodiment of the present invention. Figure 3 ;

[0043] Figure 4 This is a schematic diagram of the front leg mechanism of the quadruped robot described in an embodiment of the present invention. Figure 1 ;

[0044] Figure 5 This is a schematic diagram of the front leg mechanism of the quadruped robot described in an embodiment of the present invention. Figure 2 ;

[0045] Figure 6 This is a schematic diagram of the front leg mechanism of the quadruped robot according to an embodiment of the present invention, with the first front shell removed.

[0046] Figure 7 for Figure 6 Sectional view along AA;

[0047] Figure 8 for Figure 6 Cross-sectional view along BB;

[0048] Figure 9 This is a partial exploded view of the foreleg segment and foreleg segment of the foreleg mechanism of the quadruped robot according to an embodiment of the present invention;

[0049] Figure 10 This is an assembly drawing of the hind leg mechanism of the quadruped robot described in an embodiment of the present invention;

[0050] Figure 11 This is a schematic diagram of the hind leg mechanism of the quadruped robot described in an embodiment of the present invention, with the second front shell removed.

[0051] Figure 12 for Figure 11 Cross-sectional view along CC;

[0052] Figure 13 for Figure 11 Cross-sectional view along DD;

[0053] Figure 14 The assembly of the head motion joint structure of the quadruped robot described in this embodiment of the invention. Figure 1 ;

[0054] Figure 15 The assembly of the head motion joint structure of the quadruped robot described in this embodiment of the invention. Figure 2 ;

[0055] Figure 16 This is an exploded view of the head joint structure of the quadruped robot described in an embodiment of the present invention;

[0056] Figure 17 This is an exploded view of the fifth drive component, the first joint, and the transmission structure of the quadruped robot described in this embodiment of the invention.

[0057] Figure 18This is an exploded view of the first fixed support, the sixth driving component, and the second joint of the quadruped robot described in an embodiment of the present invention;

[0058] Figure 19 This is an exploded view of the seventh drive component, the third joint, and the head fixing component of the quadruped robot described in this embodiment of the invention;

[0059] Figure 20 This is a cross-sectional view of the seventh drive component, the third joint, and the head fixing component of the quadruped robot described in an embodiment of the present invention;

[0060] Figure 21 This is a schematic diagram of the head joint structure and head coordination of the quadruped robot described in this embodiment of the invention. Figure 1 ;

[0061] Figure 22 This is a schematic diagram of the head joint structure and head coordination of the quadruped robot described in this embodiment of the invention. Figure 2 ;

[0062] Figure 23 This is a schematic diagram of the head joint structure and head coordination of the quadruped robot described in this embodiment of the invention. Figure 3 ;

[0063] Figure 24 This is a schematic diagram of the head joint structure and head coordination of the quadruped robot described in this embodiment of the invention. Figure 4 ;

[0064] Figure 25 This is a schematic diagram of the head joint structure and head coordination of the quadruped robot described in this embodiment of the invention. Figure 5 ;

[0065] Figure 26 This is a schematic diagram of the head joint structure and head coordination of the quadruped robot described in this embodiment of the invention. Figure 6 .

[0066] The components include: 1. Front leg mechanism; 101. Front thigh leg joint; 102. First front outer shell; 103. First connecting hole; 104. First recess; 105. Second bearing; 106. First rear outer shell; 107. Second connecting hole; 108. Second recess; 109. Third bearing; 110. First fastener; 111. First pin; 112. First screw; 113. Front lower leg joint; 114. First through hole; 115. First bearing; 116. Second through hole; 117. First sleeve; 118. Front foot joint; 119. First linkage component; 120. Foot joint drive component; 121. First limiting structure; 122. Limiting protrusion; 123. Second limiting structure; 124. Limiting groove; 125. Buffer transmission mechanism; 126. First transmission shaft; 127. Elastic torque component; 128. First flange structure; 129. First drive component.

[0067] 2. Rear leg mechanism; 201. Rear thigh leg section; 202. Second front outer shell; 203. First mounting hole; 204. Third countersunk groove; 205. Fourth bearing; 206. Third mounting hole; 207. Second rear outer shell; 208. Second mounting hole; 209. First assembly part; 210. Fourth countersunk groove; 211. Fifth bearing; 212. Fourth mounting hole; 213. Second assembly part; 214. Second pin; 215. Second screw; 216. Rear lower leg section; 217. Third through hole; 218. Second sleeve; 21 9. Rear side of the rear lower leg segment; 220. Fifth assembly hole; 221. Front side of the rear lower leg segment; 222. Sixth assembly hole; 223. Third assembly part; 224. Rear leg segment; 225. Fifth countersunk groove; 226. Fifth through hole; 227. Third sleeve; 228. Sixth bearing; 229. Sixth countersunk groove; 230. Seventh bearing; 231. Third pin; 232. Third screw; 233. Second linkage; 234. Fourth through hole; 235. Third linkage; 236. Second flange structure; 237. Third drive component;

[0068] S1, First rotating connection point; S2, Second rotating connection point; S3, Third rotating connection point; S4, Fourth rotating connection point; S5, Fifth rotating connection point; T1, Central axis of the posterior thigh femoral segment; T2, Central axis of the third linkage component; T3, Central axis of the second linkage component; T4, Central axis of the posterior lower leg femoral segment; T5, Central axis of the posterior foot segment;

[0069] 3. Head;

[0070] 4. Head movement joint structure; 401. First joint; 402. Fixed base; 403. First clearance hole; 404. Perforation; 405. Eighth bearing; 406. Third drive shaft; 407. First fixed bracket; 408. Second receiving cavity; 409. Second joint; 410. First plate; 411. Second plate; 412. First receiving cavity; 413. Second fixed bracket; 414. Cavity; 415. Second clearance hole; 16. Third joint; 417. Rotating shaft; 418. Ninth bearing; 419. Bearing housing; 420. First snap ring; 421. Second snap ring; 422. Fifth driving component; 423. Connecting shaft; 424. Sixth driving component; 425. Seventh driving component; 426. Transmission structure; 427. First synchronous pulley; 428. Second synchronous pulley; 429. Synchronous transmission component; 430. Head fixing component; 431. Fixing frame; 432. Connecting part;

[0071] 5. Body; 6. Eighth drive component; 7. Ninth drive component; 8. Leg joint mechanism; 9. Limiting structure. Detailed Implementation

[0072] To better 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, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other.

[0073] Numerous specific details are set forth in the following description in order to provide a thorough understanding of the embodiments of the invention, but the embodiments of the invention may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some embodiments of the invention, and not all embodiments.

[0074] Reference Figures 1 to 26 As shown, this embodiment provides a quadruped robot, including a body 5, a head 3, a leg mechanism, and a leg segment mechanism 8.

[0075] The head 3 is located at the front of the fuselage 5. The leg mechanism includes at least a front leg mechanism 1 near the head 3 and a rear leg mechanism 2 away from the head 3, and the front leg mechanism 1 and the rear leg mechanism 2 are rotatably connected to the fuselage 5 respectively.

[0076] 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 restrict the rotation of the foot joint mechanism 8.

[0077] In practice, the leg mechanism 8 is driven by the leg mechanism, allowing it to rotate to perform specific actions such as pressing elevator buttons. When the quadruped robot lands, the limiting structure 9 restricts the rotation of the leg mechanism 8. In this case, the upward support force applied to the leg mechanism 8 by the ground can be transmitted to the leg mechanism, allowing it to share the upward support force. This means the leg mechanism 8 does not need to bear the entire support force applied by the ground, and therefore does not need to provide a large rotational torque to achieve contact between the leg mechanism and the ground, thus achieving normal landing. This reduces the rotational torque requirement for the leg mechanism 8 to some extent.

[0078] Reference Figure 9 As shown, 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 disposed on the leg mechanism, and the second limiting structure 123 is disposed on the foot joint mechanism 8.

[0079] In other words, when the leg mechanism touches the ground, the first limiting structure 121 and the second limiting structure 123 cooperate to restrict the foot joint mechanism 8 from rotating 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 support force applied by the ground to the foot joint mechanism 8 can be transmitted to the leg mechanism, so that the leg mechanism can share the upward support force. Thus, the foot joint mechanism 8 does not need to bear the entire support force applied by the ground, and consequently, the foot joint mechanism 8 does not need to provide a large rotational torque to achieve the landing of the leg mechanism. Therefore, the rotational torque requirement of the foot joint mechanism 8 can be reduced to a certain extent.

[0080] In practice, the limiting structure 9 can be set on the front leg mechanism 1 or on the rear leg mechanism 2. The following explanation will take the example of the limiting structure 9 being set on the front leg mechanism 1.

[0081] Reference Figures 1 to 9 As shown, in a specific implementation, the front leg mechanism 1 includes a front thigh leg segment 101, a front lower leg leg segment 113, a front foot segment 118, and a first linkage member 119. The foot segment mechanism 8 includes a front foot segment 118 and a foot segment drive member 120, which drives the front foot segment 118 to rotate to complete specific actions such as pressing elevator buttons. The body 5 is equipped with a first drive member 129 and a second drive member.

[0082] One end of the foreleg joint 101 is rotatably connected to the body 5, and the foreleg joint 101 is in a transmission engagement with the first drive member 129. One end of the foreleg joint 113 is rotatably connected to the other end of the foreleg joint 101. The foreleg joint 118 is rotatably connected to the other end of the foreleg joint 113. One end of the first linkage member 119 is in a transmission engagement with the second drive member, and the other end of the first linkage member 119 is rotatably connected to the foreleg joint 113. The leg joint drive member 120 is in a transmission engagement with the foreleg joint 118 to drive the foreleg joint 118 to rotate.

[0083] The limiting structure 9 is formed between the foreleg segment 113 and the forefoot segment 118. When the foot segment drive member 120 drives the forefoot segment 118 to rotate until the limiting structure 9 engages, the limiting structure 9 restricts the rotation of the forefoot segment 118.

[0084] In a specific implementation, one end of the foreleg joint 101 is rotatably connected to the body 5 and is in transmission cooperation with the first drive member 129, so that the first drive member 129 can drive the foreleg joint 101 to rotate around the output shaft of the first drive member 129. One end of the foreleg segment 113 is rotatably connected to the other end of the foreleg segment 101, and one end of the foreleg segment 118 is rotatably connected to the other end of the foreleg segment 113. One end of the first linkage 119 is driven by the second drive member, and the other end of the first linkage 119 is rotatably connected to the foreleg segment 113. Thus, the foreleg segment 101, the foreleg segment 113, the foreleg segment 118, and the first linkage 119 can jointly form a linkage mechanism. When the foreleg segment 101 rotates under the drive of the first drive member 129 and the first linkage 119 rotates under the drive of the second drive member, they jointly link the linkage mechanism, thereby driving the foreleg segment 113 and the foreleg segment 118 to move, so that the foreleg mechanism 1 of the quadruped robot can realize biomimetic movement.

[0085] In other words, the power source for the movement of the entire front leg mechanism 1 comes from the power output of the first drive member 129 and the second drive member of the quadruped robot. The first drive member 129 is used to drive the front thigh leg segment 101 to rotate, thereby driving the front lower leg segment 113 to rotate. The second drive member is used to drive the first linkage member 119 to rotate, thereby driving the front lower leg segment 113 to rotate. This makes the direction of movement of the front lower leg segment 113 under the drive of the first linkage member 119 different from the direction of movement of the front thigh leg segment 101 under the drive of the first drive member 129. As a result, the front lower leg segment 113 has two directions of movement. Thus, when the front lower leg segment 113 finally drives the front foot segment 118 to move, the front foot segment 118 also has two directions of movement, such as up and down or left and right. Ultimately, this enables the front foot segment 118 to complete bionic movement, thereby improving the movement flexibility and stability of the front leg mechanism 1.

[0086] It should be noted that this embodiment does not limit the direction of movement of the foret thigh femoral segment 101, the fore calf femoral segment 113, and the forefoot segment 118.

[0087] Furthermore, the leg joint drive 120 is in transmission engagement with the front leg joint 118, thereby driving the front leg joint 118 to rotate to perform specific actions such as pressing an elevator button. When the quadruped robot lands, the leg joint drive 120 can drive the front leg joint 118 to rotate until the limiting structure 9 engages, thus restricting the rotation of the front leg joint 118.

[0088] In this case, the foreleg segment 113 and the forefoot segment 118 are locked together by the limiting structure 9. Therefore, the upward supporting force applied to the forefoot segment 118 by the ground can be transmitted to the foreleg segment 113, so that the foreleg segment 113 can share the upward supporting force. As a result, the forefoot segment 118 does not need to bear the entire supporting force applied by the ground. Consequently, the foot joint drive member 120 does not need to provide a large rotational torque to achieve contact between the foreleg mechanism 1 and the ground, that is, to achieve normal landing of the foreleg mechanism 1. Therefore, the rotational torque requirement of the foot joint drive member 120 can be reduced to a certain extent.

[0089] It should be noted that in this embodiment, the power source for the entire front leg mechanism 1 to achieve biomimetic movement comes from the first drive member 129 and the second drive member. That is, the first drive member 129 drives the front thigh leg segment 101 to rotate and the second drive member drives the first linkage member 119 to rotate, thereby linking the front lower leg leg segment 113 and the forefoot segment 118 to move to perform biomimetic walking. The power output by the foot segment drive member 120 is used to allow the forefoot segment 118 to rotate independently to complete a specific action, or to drive the forefoot segment 118 to rotate when the front leg mechanism 1 needs to touch the ground, so that the limiting structure 9 enters the engagement, thereby restricting the rotation of the forefoot segment 118.

[0090] For example, refer to Figure 6 As shown, the second rotational connection point H2 between the first linkage 119 and the front lower leg segment 113 is located to the right or upper right of the first rotational connection point H1 between the front thigh segment 101 and the front lower leg segment 113, or the second rotational connection point H2 is located to the left or lower left of the first rotational connection point H1. As long as the rotational engagement between the first linkage 119 and the front lower leg segment 113 does not affect or interfere with the rotational engagement between the front thigh segment 101 and the front lower leg segment 113, it is acceptable.

[0091] For example, the first drive element 129 and the second drive element can be a drive motor, or in other implementations, the first drive element 129 and the second drive element can be a servo motor.

[0092] The front leg mechanism 1 of the quadruped robot provided in this embodiment includes a front thigh leg segment 101, a front lower leg segment 113, and a first linkage member 119; the foot segment mechanism 8 includes a front foot segment 118 and a foot segment drive member 120. One end of the front thigh leg segment 101 is rotatably connected to the body 5, and the front thigh leg segment 101 is driven by the first drive member 129. One end of the front lower leg segment 113 is rotatably connected to the other end of the front thigh leg segment 101, and the front foot segment 118 is rotatably connected to the other end of the front lower leg segment 113. One end of the first linkage member 119 is driven by the second drive member, and the other end of the first linkage member 119 is rotatably connected to the front lower leg segment 113. The foot segment drive member 120 is driven by the front foot segment 118 to drive the front foot segment 118 to rotate, so that the front foot segment 118 can perform specific actions.

[0093] Meanwhile, when the front leg mechanism 1 touches the ground, the foot joint drive 120 can drive the front foot joint 118 to rotate until it enters the locking state of the limiting structure 9, thus restricting the rotation of the front foot joint 118. In this case, the front lower leg joint 113 and the front foot joint 118 are locked together by the limiting structure 9. Therefore, the upward support force applied to the front foot joint 118 by the ground can be transmitted to the front lower leg joint 113, allowing the front lower leg joint 113 to share the upward support force. This means that the front foot joint 118 does not need to bear the entire support force applied by the ground, and consequently, the foot joint drive 120 does not need to provide a large rotational torque to achieve contact between the front leg mechanism 1 and the ground, i.e., to achieve the landing of the front leg mechanism 1. Therefore, the rotational torque requirement of the foot joint drive 120 can be reduced to a certain extent.

[0094] Reference Figure 9 As shown, 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 disposed on the foreleg segment 113, and the second limiting structure 123 is disposed on the forefoot segment 118.

[0095] Specifically, the leg joint drive 120 is in transmission cooperation with the front leg joint 118, thereby driving the front leg joint 118 to rotate to complete specific actions such as pressing an elevator button. When the front leg mechanism 1 of the quadruped robot is in contact with the ground, on the ground, or standing and supporting itself, the leg joint drive 120 can drive the front leg joint 118 to rotate so that the first limiting structure 121 on the front lower leg joint 113 and the second limiting structure 123 on the front leg joint 118 are locked. At this time, the leg joint drive 120 cannot drive the front leg joint 118 to rotate, thereby locking the front leg joint 118.

[0096] In this case, the foreleg segment 113 and the forefoot segment 118 are locked together by the first limiting structure 121 and the second limiting structure 123. Therefore, the upward supporting force applied to the forefoot segment 118 by the ground can be transmitted to the foreleg segment 113, so that the foreleg segment 113 can share the upward supporting force. As a result, the forefoot segment 118 does not need to bear the entire supporting force applied by the ground. Consequently, the foot joint drive member 120 does not need to provide a large rotational torque to achieve the landing of the foreleg mechanism 1. Therefore, the rotational torque requirement of the foot joint drive member 120 can be reduced to a certain extent.

[0097] Reference Figure 9 As shown, 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.

[0098] In other words, when the front leg mechanism 1 touches the ground, the foot joint drive member 120 drives the front foot joint 118 to rotate, causing the limiting protrusion 122 to insert into the limiting groove 124, thereby restricting the rotation of the front foot joint 118 relative to the front lower leg joint 113. At this time, the connection between the front foot joint 118 and the front lower leg joint 113 is realized, and the upward support force applied by the ground to the front foot joint 118 can be transmitted to the front lower leg joint 113, so that the front lower leg joint 113 can share the upward support force. Thus, the front foot joint 118 does not need to bear all the support force applied by the ground, and the foot joint drive member 120 does not need to provide a large rotational torque to achieve the touch of the front leg mechanism 1. Therefore, the rotational torque requirement of the foot joint drive member 120 can be reduced to a certain extent.

[0099] For example, refer to Figure 9 As shown, the limiting protrusion 122 can be an arc-shaped limiting protrusion extending along the rotation direction of the foreleg segment 118, and the limiting groove 124 is an arc-shaped limiting groove that matches the outer contour of the arc-shaped limiting protrusion. This facilitates the smooth insertion of the arc-shaped limiting protrusion into the arc-shaped limiting groove during the rotation of the foreleg segment 118 under the driving action of the leg segment drive member 120, thereby ensuring a reliable lock between the two. This improves the connection reliability between the foreleg segment 118 and the foreleg segment 113, so that the upward support force applied to the foreleg segment 118 by the ground can be reliably transmitted to the foreleg segment 113. The foreleg segment 113 then shares the upward support force borne by the foreleg segment 118, reducing the load-bearing pressure of the foreleg segment 118 on the entire quadruped robot.

[0100] For example, the limiting protrusion 122 can also be set as 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 them.

[0101] In addition, refer to Figure 9 As shown, in one 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 lower leg segment 113. Specifically, the limiting protrusion 122 can be integrally formed with the front lower leg 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 foreleg segment 118, and the limiting groove 124 can be formed by a downward indentation of a portion of the surface of the foreleg segment 118.

[0102] Alternatively, in other implementations of this embodiment, a limiting groove 124 may be provided on the foreleg segment 113, and a limiting protrusion 122 may be provided on the foreleg segment 118.

[0103] Reference Figure 8 and Figure 9 As shown, in some embodiments, the foreleg mechanism 1 further includes a buffer transmission mechanism 125. The buffer transmission mechanism 125 is in transmission cooperation with the foot joint drive member 120 and the foreleg joint 118 respectively, so that when the foot joint drive member 120 drives the buffer transmission mechanism 125 to rotate, it drives the foreleg joint 118 to rotate.

[0104] In other words, the foot joint drive 120 can drive the front foot joint 118 to rotate through the buffer transmission mechanism 125. This makes it so that when the front leg mechanism 1 is in contact with or touches the ground, when the first limiting structure 121 and the second limiting structure 123 are locked, the buffer transmission mechanism 125 has a certain buffering effect. Therefore, the upward supporting force applied by the ground to the front foot joint 118 is not easily transmitted to the foot joint drive 120, so that the foot joint drive 120 does not need to have a large rotational torque to achieve the front leg mechanism 1 in contact with or touches the ground.

[0105] Reference Figure 8 and Figure 9 As shown, in some embodiments, the buffer transmission mechanism 125 includes a first transmission shaft 126 and an elastic torque member 127. The first transmission shaft 126 is in transmission cooperation with the foot joint drive member 120, and the elastic torque member 127 is sleeved on the first transmission shaft 126, with one end of the elastic torque member 127 connected to the first transmission shaft 126 and the other end of the elastic torque member 127 connected to the forefoot joint 118.

[0106] In specific implementation, when it is necessary to drive the foreleg joint 118 to rotate independently to complete a specific action or to lock the first limiting structure 121 with the second limiting structure 123, the leg joint drive member 120 drives the first transmission shaft 126 to rotate, thereby driving the elastic torque member 127 to rotate and in turn driving the foreleg joint 118 connected to the elastic torque member 127 to rotate.

[0107] For example, the elastic torsion member 127 can be a torsion spring, which is sleeved on the first drive shaft 126 and its two ends are respectively connected to the first drive shaft 126 and the foreleg joint 118. Therefore, when the first drive shaft 126 rotates, the foreleg joint 118 can be driven to rotate by the torsion spring. When the foreleg joint 118 rotates to the point where the first limiting structure 121 and the second limiting structure 123 are locked, the upward supporting force applied to the foreleg joint 118 by the ground is not easily transmitted to the leg joint drive member 120 because the torsion spring has a certain buffering effect. This allows the leg joint drive member 120 to achieve the landing of the foreleg mechanism 1 without having a large rotational torque.

[0108] In some embodiments, the foot joint drive 120 may be specifically disposed on the front lower leg joint 113 or on the front foot joint 118. Specifically, the foot joint drive 120 may be a servo motor, which is lighter than a commonly used motor. Moreover, the engaging structure composed of the first limiting structure 121 and the second limiting structure 123 effectively reduces the rotational torque of the foot joint drive 120. Therefore, the placement of the foot joint drive 120 does not significantly increase the weight of the front foot joint 118 or the front lower leg joint 113, that is, it does not increase the rotational inertia of the front foot joint 118 and the front lower leg joint 113 when they rotate. This helps to ensure the swing frequency of the front foot joint 118 and the front lower leg joint 113 under the drive of the first drive 129 and the second drive, thereby ensuring the flexibility of the front leg mechanism 1 in performing biomimetic movement.

[0109] Alternatively, in other implementations, the leg joint drive 120 can also be a motor. When the leg joint drive 120 is a motor, the motor and the limiting structure work together to achieve a buffering effect, thereby reducing the impact force when the front leg mechanism 1 lands.

[0110] Reference Figure 8 As shown, in some embodiments, a first through hole 114 is provided at the other end of the foreleg segment 113, and at least a portion of the first drive shaft 126 and a portion of the foreleg segment 118 are located within the first through hole 114. A first bearing 115 is provided between the foreleg segment 118 and the inner wall of the first through hole 114.

[0111] In a specific implementation, the foot joint drive member 120 and the front foot joint 118 can be respectively located on opposite sides of the front lower leg joint 113. In order to realize the transmission cooperation between the foot joint drive member 120 and the front foot joint 118, a first through hole 114 can be provided on the front lower leg joint 113, so that the first transmission shaft 126 is located in the first through hole 114 and is respectively connected to the foot joint drive member 120 and the front foot joint 118, so as to drive the front foot joint 118 to rotate under the drive of the foot joint drive member 120.

[0112] Furthermore, a first bearing 115 can be provided between the foreleg segment 118 and the inner wall of the first through hole 114, so that the foreleg segment 118 can be supported or supported by the first bearing 115.

[0113] Reference Figures 4 to 9 As shown, in some embodiments, the foreleg segment 101 includes a first front housing 102 disposed near the head 3 and a first rear housing 106 disposed away from the head 3.

[0114] The first front outer shell 102 and the first rear outer shell 106 are connected, and one end of the front lower leg segment 113 is located between the first front outer shell 102 and the first rear outer shell 106 and rotates relative to the first front outer shell 102 and the rear outer shell.

[0115] 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 thigh leg joint 101 rotates, the entire first front shell 102 and the first rear shell 106 rotate synchronously.

[0116] For example, the first front housing 102 and the first rear housing 106 can be made of plastic, making the entire front leg mechanism 1 lighter in weight, thus enabling a lightweight design. Alternatively, the first front housing 102 and the first rear housing 106 can also be made of alloy, making the entire front leg mechanism 1 more structurally strong, thereby increasing its service life.

[0117] Reference Figures 4 to 9 As shown, in some embodiments, a first connecting hole 103 is provided on the first front housing 102, and a second connecting hole 107 is provided on the first rear housing 106 at a position corresponding to the first connecting hole 103. The first front housing 102 and the first rear housing 106 are connected by a first fastener 110 passing through the first connecting hole 103 and the second connecting hole 107.

[0118] One end of the front lower leg segment 113 has a second through hole 116 through which the first fastener 110 passes and is rotatably engaged with the first fastener 110.

[0119] In a specific implementation, both the first connecting hole 103 and the second connecting hole 107 can be threaded holes, and the first fastener 110 can be a threaded fastener adapted to the threaded holes, thereby achieving a reliable connection between the first front housing 102 and the first rear housing 106 through the cooperation of the threaded fastener and the threaded holes. Alternatively, in other implementations, the first connecting hole 103 and the second connecting hole 107 can be open holes, and the first fastener 110 can be a fastening pin adapted to the open holes.

[0120] In addition, in order to achieve a rotatable or hinged connection between the front lower leg segment 113 and the front thigh leg segment 101, when the first front outer shell 102 and the first rear outer shell 106 are connected by the first fastener 110, a second through hole 116 can be provided at one end of the front lower leg segment 113 for the first fastener 110 to pass through, so that the front lower leg segment 113 and the front thigh leg segment 101 are hinged through the rotatable engagement of the second through hole 116 and the first fastener 110.

[0121] Specifically, in this embodiment, referring to Figure 7 As shown, the first fastener 110 may specifically include a first pin 111 and a first screw 112. The first pin 111 passes through 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 housing 102 and the first rear housing 106. The first pin 111 can cooperate with the front lower leg section 113 to realize the hinged connection between the two.

[0122] Reference Figures 4 to 9 As shown, in some embodiments, at least two first sleeves 117 are provided in the second through hole 116. The at least two first sleeves 117 are arranged sequentially along the insertion direction of the first fastener 110. The first fastener 110 passes through each first sleeve 117 in sequence. At this time, the hinge between the front thigh leg segment 101 and the front lower leg segment 113 can be achieved by the rotatable connection between the first sleeve 117 and the first fastener 110.

[0123] Reference Figures 4 to 9 As shown, in some embodiments, a first recess 104 is provided at one end of the first front outer shell 102 near the front lower leg joint 113, and a second bearing 105 is provided in the first recess 104, which cooperates with the front lower leg joint 113. A second recess 108 is provided at one end of the first rear outer shell 106 near the front lower leg joint 113, and a third bearing 109 is provided in the second recess 108, which cooperates with the front lower leg joint 113. Thus, the second bearing 105 and the third bearing 109 can jointly support or prop up the first fastener 110, thereby ensuring a reliable hinge between the front lower leg joint 113 and the first fastener 110.

[0124] For example, the second bearing 105 and the third bearing 109 can be thrust bearings or angular contact bearings.

[0125] In some embodiments, the first linkage 119 is a connecting rod, or the linkage may also be a rotating shaft.

[0126] Reference Figure 6 As shown, further, a first flange structure 128 is provided at one end of the first linkage 119. The first flange structure 128 is in transmission cooperation with the second driving member, and one end of the first linkage 119 is eccentrically set with the first flange structure 128. This allows the first linkage 119 to reciprocate when the second driving member drives the first flange structure 128 to rotate around the output shaft of the second driving member. Consequently, when the first linkage 119 swings, it drives the front lower leg segment 113 to move. The direction of movement of the front lower leg segment 113 driven by the first linkage 119 is different from the direction of movement of the front thigh segment 101 driven by the first driving member 129. This gives the front lower leg segment 113 two degrees of freedom, two directions of movement, or two postures. Ultimately, the front lower leg segment 113 can drive the foreleg segment 118 to move in two directions, such as up and down or forward and backward. This allows the foreleg segment 118 to complete biomimetic movement, thereby improving the movement flexibility and stability of the front leg mechanism 1.

[0127] For example, the first flange structure 128 can be a flange, which can be driven to cooperate with the second driving member. A protruding shaft can be provided on the flange to be driven to cooperate with one end of the first linkage member 119, so as to drive the first linkage member 119 to reciprocate when the flange rotates.

[0128] Reference Figure 4 As shown, in some embodiments, the first angle α1 between the central axis L1 of the front thigh leg segment 101 and the central axis L2 of the front lower leg segment 113 is 35°-145°. By reasonably setting the first angle α1 between the central axis L1 of the front thigh leg segment 101 and the central axis L2 of the front lower leg segment 113, the smooth biomimetic movement of the entire front leg mechanism 1 can be achieved.

[0129] For example, the first angle α1 between the central axis L1 of the foreleg femur 101 and the central axis L2 of the foreleg femur 113 can be 35°, 90°, or 145°.

[0130] Reference Figure 4As shown, in some embodiments, the second angle α2 between the central axis L1 of the foreleg segment 113 and the central axis L3 of the foreleg segment 118 is 155°-245°. By reasonably setting the second angle α2 between the central axis L2 of the foreleg segment 113 and the central axis L3 of the foreleg segment 118, the smooth biomimetic movement of the entire foreleg mechanism 1 can be achieved.

[0131] For example, the second angle α2 between the central axis L2 of the foreleg femur 113 and the central axis L3 of the foreleg 118 can be 155°, or 200°, or 245°.

[0132] Reference Figures 10 to 13 As shown, in this embodiment, the rear leg mechanism 2 further includes a rear thigh leg section 201, a rear lower leg leg section 216, a rear foot section 224, a second linkage member 233, and a third linkage member 235. A third drive member 237 and a fourth drive member are provided on the body 5. The central axis T1 of the hind thigh leg segment 201 is parallel to the central axis T5 of the hind foot segment 224; the central axis T1 of the hind thigh leg segment 201 is parallel to the central axis T2 of the third linkage 235; the central axis T4 of the hind lower leg segment 216 is parallel to the central axis T3 of the second linkage 233. Thus, the hind thigh leg segment 201 and the third linkage 235 form two sides of a parallelogram structure. The hind thigh leg segment 201, the hind lower leg segment 216, the second linkage 233, and the hind foot segment 224 together form a parallelogram linkage mechanism. This not only enables the biomimetic movement of the hind leg mechanism 2, but also allows the hind leg mechanism 2 to rotate as a whole under the drive of the drive components on the quadruped robot. The relative relationships of the various linkage components of the hind leg mechanism 2, the hind thigh leg segment 201, the hind lower leg segment 216, and the hind foot segment 224 remain unchanged. Furthermore, the control algorithm of the parallelogram linkage mechanism is relatively simple.

[0133] Compared to existing technologies where the hind leg mechanism of a quadruped robot only has thigh and lower leg structures, resulting in limited hind leg movement, the hind leg mechanism 2 in this embodiment includes a hind thigh leg segment 201, a hind lower leg leg segment 216, and a hind foot segment 224. Furthermore, a third linkage 235 and a second linkage 233 are provided for the hind thigh leg segment 201 and the hind lower leg leg segment 216, respectively. This ensures that the hind thigh leg segment 201, the hind lower leg leg segment 216, the second linkage 233, the third linkage 235, and the hind foot segment 224 form at least three sets of parallelogram sides. This ensures that the three-legged mechanism of the hind leg mechanism 2 can rotate as a whole when a driving force is applied, and that each structural component maintains a stable relative relationship. This makes the movement of the entire quadruped robot's hind leg mechanism 2 more coordinated, free, and flexible. It is not only suitable for free walking in complex terrains and environments but also has a higher degree of biomimicry to meet user needs.

[0134] Reference Figures 10 to 13 As shown, in some embodiments, one end of the hind thigh leg segment 201 is rotatably connected to the body 5, and the hind thigh leg segment 201 is driven by the third drive member 237 to rotate. One end of the hind lower leg segment 216 is rotatably connected to the other end of the hind thigh leg segment 201, and one end of the hind foot segment 224 is rotatably connected to the other end of the hind lower leg segment 216.

[0135] The two ends of the second linkage 233 are rotatably connected to the hind thigh leg segment 201 and the hind foot segment 224, respectively. One end of the third linkage 235 is driven by the fourth drive member to rotate. The other end of the third linkage 235 is rotatably connected to the hind lower leg segment 216, so that when the hind thigh leg segment 201 and the third linkage 235 rotate, they jointly link the hind lower leg segment 216 and the hind foot segment 224, so that the hind leg mechanism 2 of the quadruped robot moves biomimetically.

[0136] In specific implementation, refer to Figure 10 and Figure 13 As shown, one end of the hind thigh leg segment 201 is rotatably connected to the body 5, and the other end of the hind thigh leg segment 201 is in transmission engagement with the third drive member 237, so that the third drive member 237 can drive the hind thigh leg segment 201 to rotate around the output shaft of the third drive member 237. One end of the hind lower leg segment 216 is rotatably connected to the other end of the hind thigh leg segment 201, and one end of the hind foot segment 224 is rotatably connected to the other end of the hind lower leg segment 216. The two ends of the second linkage member 233 are rotatably connected to the hind thigh leg segment 201 and the hind foot segment 224, respectively. The hind thigh leg segment 201, the hind lower leg segment 216, the hind foot segment 224 and the second linkage member 233 can together form a four-bar linkage mechanism, so that when the hind thigh leg segment 201 rotates under the drive of the third drive member 237 of the quadruped robot, it can move in conjunction with the hind lower leg segment 216 and the hind foot segment 224.

[0137] At the same time, one end of the third linkage 235 is in transmission engagement with the fourth drive member, and the other end of the third linkage 235 is rotatably connected to the rear lower leg segment 216, so that when the third linkage 235 rotates around the output shaft of the fourth drive member under the drive of the fourth drive member, it can also link the rear lower leg segment 216 and the rear foot segment 224 to move.

[0138] In other words, the power source for the movement of the entire hind leg mechanism 2 comes from the power output of the third drive member 237 and the fourth drive member, which allows the hind lower leg segment 216 and the hind foot segment 224 to move in two directions, such as up and down or forward and backward. Ultimately, this enables the hind leg mechanism 2 to complete biomimetic movement. Furthermore, the rotation angles of the hind lower leg segment 216, the third drive member 237, and the hind foot segment 224 are always consistent with those of the hind thigh segment 201 and the third linkage member 235, thereby improving the movement flexibility and stability of the hind leg mechanism 2.

[0139] It should be noted that this embodiment does not limit the direction of movement of the hind thigh femoral segment 201, the hind lower leg femoral segment 216, and the hind foot segment 224.

[0140] For example, the second linkage 233 and the third linkage 235 can both be connecting rods.

[0141] For example, the third drive unit 237 and the fourth drive unit can be a drive motor, or in other implementations, the third drive unit 237 and the fourth drive unit can be a servo motor.

[0142] The rear leg mechanism 2 provided in this embodiment includes a rear thigh leg section 201, a rear lower leg leg section 216, a rear foot section 224, a second linkage member 233, and a third linkage member 235. One end of the rear thigh leg section 201 is rotatably connected to the machine body 5, and the rear thigh leg section 201 is used to drive the third driving member 237 to rotate. One end of the rear lower leg leg section 216 is rotatably connected to the other end of the rear thigh leg section 201, and one end of the rear foot section 224 is rotatably connected to the other end of the rear lower leg leg section 216. The two ends of the second linkage 233 are rotatably connected to the hind thigh leg segment 201 and the hind foot segment 224 respectively. One end of the third linkage 235 is used for transmission cooperation with the fourth drive component so as to rotate under the drive of the fourth drive component. The other end of the third linkage 235 is rotatably connected to the hind lower leg segment 216. Thus, when the hind thigh leg segment 201 and the third linkage 235 rotate, they jointly link the hind lower leg segment 216 and the hind foot segment 224, so that the hind leg mechanism 2 of the quadruped robot moves biomimetically.

[0143] Compared to related technologies where the hind leg only has a thigh and a calf, resulting in limited hind leg movement, the hind leg mechanism 2 in this embodiment includes a hind thigh leg segment 201, a hind calf leg segment 216, and a hind foot segment 224. This allows the hind leg mechanism 2 to form a three-leg segment mechanism. The third driving member 237 and the fourth driving member respectively drive the hind thigh leg segment 201 and the third linkage member 235 to rotate, thereby jointly driving the hind calf leg segment 216 and the hind foot segment 224 to move. This makes the movement of the entire hind leg mechanism 2 more free and flexible, thus making it suitable for walking freely in complex terrains and environments to meet the user's needs.

[0144] In some embodiments, the output shafts of the third drive member 237 and the fourth drive member can be arranged concentrically, so that the third drive member 237 and the fourth drive member respectively drive the corresponding hind thigh leg segment 201 and the third linkage member 235 to rotate, thereby driving the hind lower leg leg segment 216 and the hind foot segment 224 to complete the required movement.

[0145] Alternatively, in other implementations, the output shaft of the third drive member 237 can be set to be parallel to but not concentric with the output shaft of the fourth drive member, which can also achieve the final drive of the lower leg segment 216 and the hind foot segment 224 to achieve the biomimetic movement of the entire hind leg mechanism 2.

[0146] Reference Figures 10 to 11 As shown, in some embodiments, the rear leg mechanism 2 includes at least a first rotating connection point S1, a second rotating connection point S2, and a third rotating connection point S3.

[0147] Wherein, the first rotating connection point S1 is the rotating connection point between the second linkage 233 and the rear thigh leg segment 201; the second rotating connection point S2 is the rotating connection point between the third linkage 235 and the rear lower leg segment 216; and the third rotating connection point S3 is the rotating connection point between the rear lower leg segment 216 and the rear thigh leg segment 201.

[0148] The first rotating connection point S1, the second rotating connection point S2, and the third rotating connection point S3 are spaced apart at one end where the posterior thigh leg segment 201 connects to the posterior lower leg leg segment 216.

[0149] Wherein, the first rotating connection point S1 is located on one side of the 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 line where the first rotating connection point S1 and the third rotating connection point S3 are located; and the third rotating connection point S3 is located on one side of the line where the second rotating connection point S2 and the first rotating connection point S1 are located. This arrangement allows the hind thigh femoral segment 201, the hind lower leg femoral segment 216, the hind foot segment 224, and the second linkage member 233 to form a structure as shown in the diagram. Figure 2The four-bar linkage shown enables the four-bar linkage to achieve corresponding linkage actions under the drive of the third drive member 237 and the fourth drive member, thereby ultimately realizing the bionic movement of the rear leg mechanism 2, and ensuring that there is no positional or rotational interference between the rear thigh leg segment 201, the rear lower leg leg segment 216, the second linkage member 233 and the third linkage member 235.

[0150] For example, refer to Figure 11 As shown, when the second linkage 233 is located to the right of the third rotational connection point S3, it can be positioned above the rear lower leg segment 216, thus making good use of the space above the rear lower leg segment 216 to arrange the second linkage 233. Alternatively, in other implementations, when the second linkage 233 is located to the right of the third rotational connection point S3, it can also be positioned below the rear lower leg segment 216, thus making good use of the space below the rear lower leg segment 216 to arrange the second linkage 233.

[0151] In specific implementation, refer to Figure 11 As shown, by setting the second rotational connection point S2 of the third linkage 235 and the rear lower leg segment 216 on one side of the straight line where the first rotational connection point S1 and the third rotational connection point S3 are located, the second rotational connection point S2 and the rear lower leg segment 216 can be arranged on the left and right sides of the straight line where the first rotational connection point S1 and the third rotational connection point S3 are located, thereby achieving a reasonable arrangement of each component and avoiding positional interference between them.

[0152] For example, when the rotating connection points are distributed according to the above positions, the second linkage 233 can be located to the right of the third linkage 235 and above the posterior lower leg segment 216, and the third linkage 235 can be located above the posterior lower leg segment 216 and to the left of the second linkage 233. This allows the posterior thigh segment 201, posterior lower leg segment 216, posterior foot segment 224, and second linkage 233 to form the following configuration: Figure 2 The four-bar linkage shown enables the four-bar linkage to achieve corresponding linkage actions under the drive of the third drive member 237 and the fourth drive member, thereby ultimately realizing the bionic movement of the rear leg mechanism 2.

[0153] Reference Figures 10 to 11As shown, in some embodiments, the first rotating connection point S1, the second rotating connection point S2, and the third rotating connection point S3 are spaced apart at one end where the posterior thigh leg segment 201 connects to the posterior lower leg leg segment 216. Furthermore, the fourth rotating connection point S4 between the second linkage member 233 and the posterior foot segment 224 is located above the fifth rotating connection point S5 between the posterior lower leg leg segment 216 and the posterior foot segment 224. This arrangement allows the posterior thigh leg segment 201, the posterior lower leg leg segment 216, the posterior foot segment 224, and the second linkage member 233 to form a configuration as shown in the diagram. Figure 2 The four-bar linkage shown enables the four-bar linkage to achieve corresponding linkage actions under the drive of the third drive member 237 and the fourth drive member, thereby ultimately realizing the bionic movement of the rear leg mechanism 2, and ensuring that there is no positional or rotational interference between the rear thigh leg segment 201, the rear lower leg leg segment 216, the second linkage member 233 and the third linkage member 235.

[0154] Reference Figure 1 , Figure 11 As shown, in some embodiments, a second flange structure 236 is provided at one end of the third linkage 235. The second flange structure 236 is in transmission cooperation with the fourth driving member, and one end of the third linkage 235 is eccentrically set with the second flange structure 236. This allows the third linkage 235 to reciprocate when the fourth driving member drives the second flange structure 236 to rotate around the output shaft of the fourth driving member. Consequently, the movement of the third linkage 235 drives the movement of the hind lower leg segment 216. The direction of movement of the hind lower leg segment 216 under the drive of the third linkage 235 is different from the direction of movement of the hind thigh segment 201 under the drive of the third driving member 237. This results in the hind lower leg segment 216 having two directions of movement. Consequently, the hind lower leg segment 216 can also drive the hind foot segment 224 to have two directions of movement, such as moving the foot segment up and down or forward and backward. Ultimately, the hind foot segment 224 can complete biomimetic movement, thereby improving the movement flexibility and stability of the hind leg mechanism 2.

[0155] It should be noted that this embodiment does not limit the direction of movement of the hind thigh femoral segment 201, the hind lower leg femoral segment 216, and the hind foot segment 224.

[0156] For example, the second flange structure 236 can be a flange, which can be driven to cooperate with the fourth driving member. A protruding shaft can be provided on the flange to drive one end of the third linkage member 235 to reciprocate when the flange rotates.

[0157] Reference Figures 12 to 13 , Figures 21 to 23As shown, in some embodiments, the posterior thigh leg segment 201 includes a second front outer shell 202 disposed near the head 3 and a second rear outer shell 207 disposed away from the head 3. The second front outer shell 202 and the second rear outer shell 207 are connected. One end of the posterior lower leg segment 216 is located between the second front outer shell 202 and the second rear outer shell 207 and can rotate relative to the second front outer shell 202 and the second rear outer shell 207. That is, one end of the posterior lower leg segment 216 is clamped between the second front outer shell 202 and the second rear outer shell 207 and rotates with the second front outer shell 202 and the second rear outer shell 207, thereby realizing the hinged engagement between the posterior lower leg segment 216 and the posterior thigh leg segment 201.

[0158] 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 leg segment 201 rotates, the entire second front shell 202 and the second rear shell 207 rotate synchronously.

[0159] For example, the second front housing 202 and the second rear housing 207 can be made of plastic, making the entire rear leg mechanism 2 lighter in weight, thus enabling a lightweight design. Alternatively, the second front housing 202 and the second rear housing 207 can also be made of alloy, making the entire rear leg mechanism 2 structurally stronger, thereby increasing its service life.

[0160] Reference Figures 12 to 13 As shown, in some embodiments, the connection structure for the second front housing 202 and the second rear housing 207 is as follows: the second front housing 202 is provided with a first mounting hole 203, and the second rear housing 207 is provided with a second mounting hole 208 at a position corresponding to the first mounting hole 203. The second front housing 202 and the second rear housing 207 are connected by a first fitting 209 passing through the first mounting hole 203 and the second mounting hole 208. One end of the rear lower leg segment 216 has a third through hole 217 through which the first fitting 209 passes and is rotatably engaged with the first fitting 209.

[0161] In a specific implementation, both the first mounting hole 203 and the second mounting hole 208 can be threaded holes, and the first mounting accessory 209 can be a threaded accessory adapted to the threaded holes. This allows for a reliable connection between the second front housing 202 and the second rear housing 207 through the engagement of the threaded accessory with the threaded holes. Alternatively, in other implementations, the first mounting hole 203 and the second mounting hole 208 can be smooth holes, and the first mounting accessory 209 can be a fastening pin adapted to the smooth holes.

[0162] In addition, in order to achieve a rotatable or hinged connection between the rear lower leg segment 216 and the rear upper leg segment 201, when the second front housing 202 and the second rear housing 207 are connected by the first fitting 209, a third through hole 217 can be provided at one end of the rear lower leg segment 216 for the first fitting 209 to pass through, so that the rear lower leg segment 216 and the rear upper leg segment 201 are hingedly connected by the rotational engagement of the third through hole 217 and the first fitting 209.

[0163] Specifically, in this embodiment, referring to Figure 13 As shown, the first assembly 209 may specifically include a second pin 214 and a second screw 215. The second pin 214 passes through 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 housing 202 and the second rear housing 207. The second pin 214 can cooperate with the rear lower leg section 216 to realize the hinged connection between the two.

[0164] Reference Figures 12 to 13 As shown, in some embodiments, a second sleeve 218 is provided in the third through hole 217, and the first fitting 209 passes through the second sleeve 218. At this time, the hinge of the rear thigh leg segment 201 and the rear lower leg leg segment 216 can be realized by rotating the second sleeve 218 and the first fitting 209.

[0165] Reference Figures 12 to 13 As shown, in some embodiments, a third recess 204 is provided at one end of the second front housing 202 near the rear lower leg section 216, and a fourth bearing 205 is disposed within the third recess 204 and engages with the rear lower leg section 216. Correspondingly, a fourth recess 210 is provided at one end of the second rear housing 207 near the rear lower leg section 216, and a fifth bearing 211 is disposed within the fourth recess 210 and engages with the rear lower leg section 216. Thus, the fourth bearing 205 and the fifth bearing 211 can jointly support or prop up the first assembly 209, thereby ensuring a reliable hinge between the rear lower leg section 216 and the first assembly 209.

[0166] For example, the fourth bearing 205 and the fifth bearing 211 can be thrust bearings or angular contact bearings.

[0167] Reference Figures 12 to 13 As shown, in some embodiments, the connection structure between the rear thigh leg segment 201 and the second linkage member 233 is as follows: a third mounting hole 206 is provided on the second front outer shell 202, and a fourth mounting hole 212 is provided on the second rear outer shell 207 at a position corresponding to the third mounting hole 206. A second mounting part 213 is inserted into the third mounting hole 206 and the fourth mounting hole 212.

[0168] One end of the second linkage 233 is located between the second front housing 202 and the second rear housing 207, and the second linkage 233 has a fourth through hole 234 for the second assembly 213 to pass through.

[0169] In a specific implementation, the third mounting hole 206 and the fourth mounting hole 212 can both be threaded holes, and the second mounting accessory 213 can be a threaded accessory adapted to the threaded holes, thereby achieving a reliable connection between the front and rear housings through the cooperation of the threaded accessory and the threaded holes. Alternatively, in other implementations, the third mounting hole 206 and the fourth mounting hole 212 can be smooth holes, and the second mounting accessory 213 can be a fastening pin adapted to the smooth holes.

[0170] In addition, in order to achieve the rotational connection or hinged connection between the rear thigh leg segment 201 and the second linkage member 233, when the second front housing 202 and the second rear housing 207 are connected by the second assembly 213, a fourth through hole 234 can be provided at one end of the second linkage member 233 for the second assembly member 213 to pass through, so that the second linkage member 233 and the rear thigh leg segment 201 are hingedly connected by the rotational engagement of the fourth through hole 234 and the second assembly member 213.

[0171] Furthermore, the rotational connection structure between the other end of the second linkage 233 and the hind leg segment 224 can be referred to the rotational connection structure between the second linkage 233 and the hind thigh leg segment 201, and will not be explained further here.

[0172] Reference Figure 1 , Figures 10 to 13 , Figures 21 to 23 As shown, in some embodiments, the hind leg segment 216 includes a hind leg segment anterior side 221 located near the head 3 and a hind leg segment posterior side 219 located away from the head 3. The hind leg segment posterior side 219 and the hind leg segment anterior side 221 are connected. One end of the hind leg segment 224 is located between the hind leg segment posterior side 219 and the hind leg segment anterior side 221 and is rotatable relative to the hind leg segment posterior side 219 and the hind leg segment anterior side 221.

[0173] In other words, one end of the hind leg segment 224 is clamped between the posterior side 219 of the hind lower leg segment and the anterior side 221 of the hind lower leg segment and rotates with the posterior side 219 of the hind lower leg segment and the anterior side 221 of the hind lower leg segment, thereby realizing the hinged connection between the hind lower leg segment 216 and the hind leg segment 224.

[0174] It should be noted that the posterior side 219 of the posterior leg segment is connected to the anterior side 221 of the posterior leg segment. At this time, the posterior side 219 of the posterior leg segment and the anterior side 221 of the posterior leg segment can be formed as a whole and relatively fixed. That is, when the posterior leg segment 216 rotates, the entire posterior side 219 of the posterior leg segment and the anterior side 221 of the posterior leg segment rotate synchronously.

[0175] In other embodiments, a shell structure can be provided on the rear lower leg segment 216, forming a front shell and a rear shell of the rear lower leg segment 216. For example, the rear shell and front shell of the rear lower leg segment 216 can be made of plastic, making the entire rear leg mechanism 2 lighter and facilitating lightweight design. Alternatively, the rear shell and front shell of the rear lower leg segment 216 can also be made of alloy, increasing the structural strength of the entire rear leg mechanism 2 and improving its service life.

[0176] Reference Figures 12 to 13 As shown, in some embodiments, the rotatable connection structure between the hind leg segment 224 and the hind lower leg segment 216 is as follows: a fifth mounting hole 220 is provided on the rear side 219 of the hind lower leg segment, and a sixth mounting hole 222 is provided on the front side 221 of the hind lower leg segment at a position corresponding to the fifth mounting hole 220. A third fitting passing through the fifth mounting hole and the sixth mounting hole connects the rear side of the lower leg segment and the front side of the lower leg segment. One end of the hind leg segment 224 has a fifth through hole 226 for the third fitting 223 to pass through and rotatably engage with the third fitting 223.

[0177] In a specific implementation, both the fifth mounting hole 220 and the sixth mounting hole 222 can be threaded holes, and the third mounting accessory 223 can be a threaded accessory adapted to the threaded holes. This allows for a reliable connection between the rear side 219 of the rear lower leg segment and the front side 221 of the rear lower leg segment through the cooperation of the threaded accessory and the threaded hole. Alternatively, in other implementations, the fifth mounting hole 220 and the sixth mounting hole 222 can be smooth holes, and the third mounting accessory 223 can be a fastening pin adapted to the smooth holes.

[0178] In addition, in order to achieve a rotatable or hinged connection between the hind leg segment 216 and the hind foot segment 224, when the third assembly passing through the fifth and sixth assembly holes connects the rear side of the hind leg segment and the front side of the hind leg segment, a fifth through hole 226 can be provided at one end of the hind foot segment 224 for the third assembly 223 to pass through, so that the hind leg segment 216 and the hind foot segment 224 can be hinged through the rotational engagement of the fifth through hole 226 and the third assembly 223.

[0179] Specifically, in this embodiment, referring to Figure 13 As shown, the third assembly 223 may specifically include a third pin 231 and a third screw 232. The third pin 231 passes through 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 rear lower leg segment and the front side 221 of the rear lower leg segment. The third pin 231 can cooperate with the hind leg segment 224 to realize the hinged connection between the two.

[0180] Reference Figures 12 to 13 As shown, in some embodiments, a third sleeve 227 is provided in the fifth through hole 226, and a third fitting 223 is inserted in the third sleeve 227. At this time, the hinge between the hind leg segment 224 and the hind lower leg segment 216 can be achieved by rotating the third sleeve 227 and the third fitting 223.

[0181] Reference Figures 12 to 13 As shown, in some embodiments, a fifth groove 225 is provided at the end of the hind leg segment 224 near the rear side 219 of the hind lower leg segment. A sixth bearing 228 is provided in the fifth groove 225, and the sixth bearing 228 cooperates with the rear side 219 of the hind lower leg segment. Correspondingly, a sixth groove 229 is provided at the end of the hind leg segment 224 near the front side 221 of the hind lower leg segment. A seventh bearing 230 is provided in the sixth groove 229, and the seventh bearing 230 cooperates with the front side 221 of the hind lower leg segment. Thus, the sixth bearing 228 and the seventh bearing 230 can jointly support or support the third assembly 223, so as to ensure a reliable hinge between the hind leg segment 224 and the third assembly 223.

[0182] For example, the sixth bearing 228 and the seventh bearing 230 can be thrust bearings or angular contact bearings.

[0183] Reference Figure 10 and Figure 11 As shown, in some embodiments, when the rear leg mechanism 2 moves, the third included angle β1 between the central axis T1 of the rear thigh leg segment 201 and the central axis T4 of the rear lower leg segment 216 is 30°-150°. By reasonably setting the third included angle β1 between the central axis T1 of the rear thigh leg segment 201 and the central axis T4 of the rear lower leg segment 216, it is possible to achieve smooth bionic movement and different states of the entire rear leg mechanism 2.

[0184] For example, the third included angle β1 between the central axis T1 of the posterior thigh femoral segment 201 and the central axis T4 of the posterior lower leg femoral segment 216 can be 30°, 120°, or 150°.

[0185] Reference Figure 10 and Figure 11 As shown, in some embodiments, when the hind leg mechanism 2 moves, the fourth included angle β2 between the central axis T4 of the hind lower leg segment 216 and the central axis T5 of the hind foot segment 224 is 30°-150°. By reasonably setting the fourth included angle β2 between the central axis T5 of the hind foot segment 224 and the central axis T4 of the hind lower leg segment 216, it is possible to achieve smooth bionic movement and different states of the entire hind leg mechanism 2.

[0186] For example, the fourth included angle β2 between the central axis T5 of the hind leg segment 224 and the central axis T4 of the hind leg segment 216 can be 30°, 120°, or 150°.

[0187] It should be noted that, regardless of whether the rear leg mechanism 2 is stationary or moving, the third included angle β1 and the fourth included angle β2 remain consistent, ensuring the natural and coordinated movement of the rear leg mechanism 2.

[0188] Reference Figures 1 to 3 , Figures 14 to 26 As shown, the quadruped robot in this embodiment further 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.

[0189] 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, when the first joint 401 and the second joint 409 rotate, the direction or posture of the head 3 is the same. However, 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, when the third joint 416 rotates, the direction or posture of the head 3 is different from the direction or posture of the head 3 when the first joint 401 and the second joint 409 rotate. This allows the head 3 to move in different directions under the action of the first joint 401, the second joint 409 and the third joint 416, thus enriching the movement posture of the head 3.

[0190] For example, 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. The specific angle can be set according to the desired head 3 movement posture.

[0191] The head motion joint structure 4 of the quadruped robot provided in this embodiment 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. This allows the first joint 401, the second joint 409, and the third joint 416 to drive the head 3 to perform corresponding movements when rotating, thereby achieving flexible rotation of the head 3 to improve its flexibility and meet the user's needs. Meanwhile, 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. This allows the head 3 to 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., to further improve the flexibility of the head 3's movement.

[0192] Reference Figures 14 to 26 As shown, 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 that when the third joint 416 rotates, it drives the head 3 to shake its head left and right, and / or, when the first joint 401 and the second joint 409 rotate, it drives the head 3 to raise or lower its head.

[0193] In practice, the rotation axis of the third joint 416 extends along the central axis N4 of the head 3 of the quadruped robot, so that the third joint 416 rotates along the central axis N4 of the head 3 of the quadruped robot, thereby causing the head 3 to rotate around the rotation axis extending from the central axis N4 of the head 3 of the quadruped robot. At this time, the rotation posture of the head 3 can be understood as a left and right head shaking posture.

[0194] The rotation axis N1 of the first joint 401 and the rotation axis N2 of the second joint 409 are both 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. This causes the head 3 to rotate around the rotation axis extending in a direction perpendicular to the central axis N4 of the head when the first joint 401 and the second joint 409 rotate. At this time, the rotation posture of the head 3 can be understood as performing head raising and head lowering operations.

[0195] Reference Figures 14 to 20 As shown, in some embodiments, the head motion joint structure 4 further includes a fifth drive member 422, a sixth drive member 424, and a seventh drive member 425.

[0196] The fifth drive unit 422 is mounted on the body 5 of the quadruped robot. The fifth drive unit 422 is in transmission cooperation with one end of the first joint 401 and is used to drive the first joint 401 to rotate around the output shaft of the fifth drive unit 422.

[0197] The sixth driving member 424 is disposed at the other end of the first joint 401. The sixth driving member 424 is in transmission cooperation with one end of the second joint 409 and is used to drive the second joint 409 to rotate around the output shaft of the sixth driving member 424.

[0198] The seventh drive member 425 is located at the other end of the second joint 409. The seventh drive 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 drive member 425. The other end of the third joint 416 is connected to the head 3.

[0199] In practice, the fifth driving member 422 is mounted 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.

[0200] The sixth driving member 424 is located at the other end of the first joint 401, meaning that the sixth driving member 424 can be fixed relative to the first joint 401. 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 along with the first joint 401 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, thereby causing the second joint 409 to rotate around the output shaft of the sixth driving member 424. The seventh driving member 425 is located at the other end of the second joint 409 and is in transmission cooperation with the third joint 416 to drive the third joint 416 to rotate around the output shaft of the seventh driving member 425. This causes the head 3 connected to it to move when the third joint 416 rotates, thereby improving the flexibility of the head 3.

[0201] 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 drive member 422, the sixth drive member 424 and the seventh drive member 425 can be controlled independently; or, the head 3 can move simultaneously under the drive of the first joint 401, the second joint 409 and the third joint 416.

[0202] For example, when only the fifth drive member 422 and the sixth drive member 424 are activated, the fifth drive member 422 drives the first joint 401 to rotate around the output shaft of the fifth drive member 422, and the sixth drive member 424 drives the second joint 409 to rotate around the output shaft of the sixth drive member 424. The seventh drive member 425 is not activated. Since the seventh drive member 425 is connected to the other end of the second joint 409, the seventh drive member 425 and the third joint 416 are essentially rotating together around the output shaft of the fifth drive member 422 and the output shaft of the sixth drive member 424 under the drive of the first joint 401 and the second joint 409. This causes the head 3 to rotate around the output shaft of the fifth drive member 422 and the output shaft of the sixth drive member 424. In this situation, the movement posture of the head 3 is to rotate only around the output shaft of the fifth drive member 422 and the output shaft of the sixth drive member 424.

[0203] For example, when only the seventh drive unit 425 is activated, this seventh drive unit 425 drives the third joint 416 to rotate around the output axis of the seventh drive unit 425. At this time, since the fifth drive unit 422 and the sixth drive unit 424 are not activated, the first joint 401 does not rotate around the output axis of the fifth drive unit 422 under the drive of the fifth drive unit 422, and the second joint 409 does not rotate around the output axis of the sixth drive unit 424 under the drive of the sixth drive unit 424. Only the third joint 416 rotates around the output axis of the seventh drive unit 425 under the drive of the seventh drive unit 425, thereby linking the head 3 to rotate around the output axis of the seventh drive unit 425. In this situation, the movement posture of the head 3 is to rotate only around the output axis of the seventh drive unit 425.

[0204] For example, when the fifth drive unit 422, the sixth drive unit 424, and the seventh drive unit 425 are activated simultaneously, the fifth drive unit 422 drives the first joint 401 to rotate around the output axis of the fifth drive unit 422, the sixth drive unit 424 drives the second joint 409 to rotate around the output axis of the sixth drive unit 424, and at the same time, the seventh drive unit 425 drives the lower third joint 416 to rotate around the output axis of the seventh drive unit 425, thereby linking the head 3 to achieve different postures or directions of movement, such as enabling the quadruped robot to shake its head left and right, raise its head and lower its head.

[0205] In other words, when the fifth drive member 422, the sixth drive member 424, and the seventh drive member 425 are activated simultaneously, the first joint 401 rotates around the output shaft of the fifth drive member 422. Since the sixth drive member 424 is connected to the other end of the first joint 401, the rotation of the first joint 401 simultaneously drives the sixth drive member 424 to rotate around the output shaft of the fifth drive member 422. At the same time, the sixth drive member 424 drives the second joint 409 to rotate around its output shaft. Since the seventh drive member 425 is connected to the other end of the second joint 409, the rotation of the second joint 409 simultaneously drives the seventh drive member 425 to rotate around the output shaft of the sixth drive member 424. The seventh drive member 425 then drives the third joint 416 to rotate around its output shaft, thus linking the movement of the head 3.

[0206] In other words, besides rotating around the output axis of the seventh drive member 425 under the drive of the third joint 416, the seventh drive member 425, the third joint 416, and the head 3, as a whole structure, rotate together around the output axes of the sixth drive member 424 and the fifth drive member 422. Furthermore, for the third joint 416 and the head 3 in the overall structure, the third joint 416 also rotates around the output axis of the seventh drive member 425 under the drive of the seventh drive member 425, thereby linking the head 3 to rotate around the output axis of the seventh drive member 425, further enriching the movement posture of the head 3, improving the flexibility of the head 3, and meeting the user's usage needs.

[0207] In this embodiment, the fifth driving member 422 is mounted on the body 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. A sixth drive member 424 is disposed at the other end of the first joint 401. The sixth drive member 424 is in transmission engagement with one end of the second joint 409, so that the sixth drive member 424 can be used to drive the second joint 409 to rotate around the output axis of the sixth drive member 424. A seventh drive member 425 is disposed at the other end of the second joint 409. The seventh drive member 425 is in transmission engagement with the third joint 416, so that the seventh drive member 425 drives the third joint 416 to rotate around the output axis of the seventh drive member 425. The other end of the third joint 416 is used to connect to the head 3 of the quadruped robot. Thus, when the first joint 401 rotates under the drive of the fifth drive member 422, the second joint 409 rotates under the drive of the sixth drive member 424, and the third joint 416 rotates under the drive of the seventh drive member 425, the head 3 can perform corresponding actions, thereby realizing the flexible rotation of the head 3 to improve its flexibility and thus meet the user's needs.

[0208] Reference Figures 14 to 17 As shown, in some embodiments, a transmission structure 426 is provided between the fifth driving member 422 and the first joint 401. The transmission structure 426 is in transmission cooperation with the fifth driving member 422 and the first joint 401 respectively, so that when the fifth driving member 422 drives the transmission structure 426 to rotate, it drives the first joint 401 to rotate.

[0209] In other words, the fifth driving member 422 can achieve indirect transmission with the first joint 401 through the transmission structure 426 disposed 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.

[0210] Specifically, refer to Figure 17As shown, the transmission structure 426 includes a first synchronous pulley 427, a second synchronous pulley 428, and a synchronous transmission member 429 wound around the first synchronous pulley 427 and the second synchronous pulley 428.

[0211] The first synchronous pulley 427 is driven by the fifth driving member 422, and the second synchronous pulley 428 is driven by the first joint 401, so that the fifth driving member 422 drives the first synchronous pulley 427 to rotate, thereby driving the second synchronous pulley 428 to rotate, and causing the first joint 401 to rotate under the drive of the second synchronous pulley 428.

[0212] In specific implementation, the fifth driving member 422 can be driven by the first synchronous pulley 427 via the connecting shaft 423, thereby causing the fifth driving member 422 to drive the first synchronous pulley 427 to rotate by driving the connecting shaft 423 to rotate. At this time, since the first synchronous pulley 427 rotates with the second synchronous pulley 428 via the synchronous transmission member 429, the rotation of the first synchronous pulley 427 drives the rotation of the second synchronous pulley 428. The second synchronous pulley 428 is driven by one end of the first joint 401, thereby causing the first joint 401 to rotate around the output shaft of the fifth driving member 422 when the second synchronous pulley 428 rotates.

[0213] More specifically, a third drive shaft 406 can be provided at one end of the first joint 401. The third drive shaft 406 is engaged with the second synchronous pulley 428 for transmission, so that when the second synchronous pulley 428 rotates, it can drive the third drive shaft 406 to rotate, thereby driving the first joint 401 to rotate.

[0214] For example, the first synchronous pulley 427 and the second synchronous pulley 428 can both be pulleys, and the synchronous transmission member 429 can be a belt that cooperates with the pulleys. Alternatively, the first synchronous pulley 427 and the second synchronous pulley 428 can both be sprockets, and the synchronous transmission member 429 can be a chain that cooperates with the sprockets.

[0215] Reference Figures 16 to 17 As shown, in some embodiments, a fixed base 402 is also provided between the fifth drive member 422 and the first joint 401, and the fixed base 402 is connected to the fifth drive member 422 and the body respectively.

[0216] A first clearance hole 403 is provided on the fixed base 402 at a position corresponding to the output shaft of the fifth drive member 422. The output shaft of the fifth drive member 422 passes through the first clearance hole 403 and engages with one end of the first joint 401.

[0217] In a specific implementation, to facilitate the fixing of the fifth driving component 422, a fixing base 402 can be provided. The fixing base 402 is fixed to the machine body, and the fifth driving component 422 is fixed to the fixing base 402, thereby achieving the function of reliably connecting the fifth driving component 422 to the machine body. For example, the fifth driving component 422 can be fixed to the fixing base 402 by screws or other fasteners, and the fixing base 402 can be fixed to the machine body by screws or other fasteners.

[0218] Furthermore, the fifth drive member 422 can be configured to be located on opposite sides of the fixed base 402, separate from the first joint 401, thereby achieving a compact arrangement. Further, to achieve transmission engagement between the fifth drive member 422 and the first joint 401, a first clearance hole 403 can be provided on the fixed base 402 at a position corresponding to the output shaft of the fifth drive member 422, allowing the output shaft of the fifth drive member 422 to pass through the first clearance hole 403 and engage with one end of the first joint 401.

[0219] For example, the outline shape of the first clearance hole 403 can be set to match the shape of the output shaft of the fifth drive member 422, and the diameter of the first clearance 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 clearance hole 403 and engage with one end of the first joint 401.

[0220] Reference Figures 16 to 17 As shown, in some embodiments, one end of the first joint 401 is provided with a third drive shaft 406 for transmission cooperation with the fifth drive member 422. A through hole 404 is provided on the fixed base 402 at a position corresponding to the third drive shaft 406. An eighth bearing 405 is provided in the through hole 404, and part of the third drive shaft 406 passes through the eighth bearing 405.

[0221] In a specific implementation, the first joint 401 can be a rod-shaped connecting rod, or in other implementations, the first joint 401 can be a column-shaped rotating shaft, etc. Specifically, one end of the first joint 401 can be provided with a third transmission shaft 406 to engage with the fifth driving member 422 for transmission, so that when the fifth driving member 422 drives the third transmission shaft 406 to rotate, it causes the first joint 401 to rotate around the output shaft of the fifth driving member 422.

[0222] Furthermore, in order to support the first joint 401, a through hole 404 can be provided on the fixed base 402 at a position corresponding to the third drive shaft 406, and an eighth bearing 405 can be provided in the through hole 404. Part of the third drive shaft 406 is located in the eighth bearing 405, thereby supporting or supporting the third drive shaft 406 through the eighth bearing 405.

[0223] For example, the eighth bearing 405 can be a crossed roller bearing or a deep groove ball bearing.

[0224] Reference Figure 18 As shown, in some embodiments, the second joint 409 includes a first plate 410 and two second plates 411 disposed at opposite ends of the first plate 410. The first plate 410 and the two second plates 411 together enclose a first receiving cavity 412 with an opening facing the sixth drive member 424.

[0225] Part of the sixth driving member 424 is located in the first receiving cavity 412, and the two ends of the output shaft of the sixth driving member 424 are respectively engaged with the corresponding second plate 411 to drive the second joint 409 to rotate.

[0226] In a specific implementation, the second joint 409 specifically includes a first plate-like body 410 and a second plate-like body 411 connected to both ends of the first plate-like body 410. The second joint 409 can then be shaped as follows: Figure 18 The U-shaped structure shown.

[0227] A portion of the sixth drive member 424 can be accommodated within the first receiving cavity 412 of the U-shaped structure, thereby saving space occupied by the sixth drive member 424 and further achieving a compact arrangement. The output shaft of the sixth drive member 424 can be connected to the two second plate-shaped bodies 411 respectively, so that when the sixth drive member 424 drives the two second plate-shaped bodies 411 to rotate around the output shaft of the sixth drive member 424, the first plate-shaped body 410 rotates synchronously in conjunction, thereby causing the entire second joint 409 to rotate around the output shaft of the sixth drive member 424.

[0228] At this time, since the seventh drive 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 drive member 425, and the head 3 is connected to the other end of the third joint 416, the seventh drive member 425, the third joint 416 and the head 3 can rotate synchronously around the output shaft of the sixth drive member 424 when the sixth drive member 424 drives the second joint 409 to rotate around the output shaft of the sixth drive member 424 as a whole structure.

[0229] For example, the first plate 410 and the two second plates 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 plates 411 can be manufactured separately and then welded or screwed together.

[0230] Reference Figure 18As shown, in some embodiments, the other end of the first joint 401 is provided with a first fixing bracket 407. The first fixing bracket 407 has a second receiving cavity 408 with an opening facing the sixth driving member 424. Part of the sixth driving member 424 is located in the second receiving cavity 408 and is connected to the first fixing bracket 407.

[0231] 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 by fasteners such as screws, and the sixth driving member 424 can be connected to the first fixing bracket 407 by fasteners such as screws, thereby achieving a reliable connection between the sixth driving member 424 and the first joint 401.

[0232] Specifically, the first fixed bracket 407 can be presented as follows: Figure 5 The U-shaped structure shown has a portion of the sixth drive member 424 housed within the second receiving cavity 408 of the U-shaped structure, thereby saving space occupied by the sixth drive member 424 and further achieving a compact and miniaturized arrangement.

[0233] Reference Figure 16 , Figure 19 As shown, in some embodiments, the other end of the second joint 409 is provided with a second fixed bracket 413, the second fixed bracket 413 has a cavity 414, the seventh driving member 425 is disposed in the cavity 414, and the inner wall of the cavity 414 has a second clearance hole 415 at a position corresponding to the output shaft of the seventh driving member 425. The output shaft of the seventh driving member 425 passes through the second clearance hole 415 and engages with the third joint 416 in a transmission cooperation.

[0234] In a specific implementation, the second fixed bracket 413 can be provided with a cavity 414, and the seventh driving member 425 can be placed in the cavity 414, thereby saving the space occupied by the seventh driving member 425 and making it easier to achieve a compact arrangement.

[0235] Furthermore, when the seventh drive member 425 is disposed in the cavity 414 of the second fixed bracket 413, in order to realize the transmission cooperation between the seventh drive member 425 and the third joint 416, a second clearance hole 415 can be configured on the inner wall of the cavity 414 corresponding to the third joint 416, so that the output shaft of the seventh drive member 425 can pass through the second clearance hole 415 and then cooperate with the third joint 416 in transmission.

[0236] For example, the outline shape of the second clearance hole 415 can be set to match the shape of the output shaft of the seventh drive member 425, and the diameter of the second clearance hole 415 can be set to be larger than the outer diameter of the output shaft of the seventh drive member 425, so that the output shaft of the seventh drive member 425 can smoothly pass through the second clearance hole 415 and engage with one end of the third joint 416.

[0237] For example, in this embodiment, the fifth drive component 422, the sixth drive component 424 and the seventh drive component 425 can all be motors or servo motors. Servo motors are lighter and can provide sufficient driving force, thus effectively reducing the weight of the entire head motion joint structure 4, which is beneficial to achieving lightweight design.

[0238] Reference Figures 14 to 20 As shown, in some embodiments, the third joint 416 includes a pivot 417, one end of which is engaged with the seventh drive member 425, and the other end of which is connected to the head 3.

[0239] In a specific implementation, the third joint 416 can be a rotating shaft 417. The seventh driving member 425 drives the rotating shaft 417 to rotate, thereby causing the head 3 connected to the rotating shaft 417 to rotate around the output shaft of the seventh driving member 425.

[0240] Furthermore, in order to support or bolster the rotating shaft 417, a ninth bearing 418 can be fitted on the outer side of the rotating shaft 417. A bearing seat 419 connected to the second fixed bracket 413 is fitted on the outer side of the ninth bearing 418. By connecting the bearing seat 419 to the second fixed bracket 413 and then placing the ninth bearing 418 inside the bearing seat 419, the rotating shaft 417 can be supported or bolstered by the ninth bearing 418.

[0241] For example, the ninth bearing 418 can be a deep groove ball bearing or a rolling bearing.

[0242] In addition, refer to Figure 16 , Figure 19 and Figure 20 As shown, a first retaining ring 420 can also be provided between the rotating shaft 417 and the ninth bearing 418 to ensure a reliable fit between the rotating shaft 417 and the ninth bearing 418. Correspondingly, a second retaining ring 421 can be provided between the ninth bearing 418 and the bearing housing 419 to ensure a reliable fit between the ninth bearing 418 and the bearing housing 419.

[0243] Reference Figures 14 to 20 As shown, in some embodiments, a head fixing member 430 is provided at the other end of the third joint 416.

[0244] The head fixing member 430 includes an annular fixing frame 431, which is connected to the third joint 416, and the fixing frame 431 is provided with a connecting part 432 for connecting to the head 3.

[0245] Specifically, to facilitate the connection between the other end of the third joint 416 and the head 3, a head fixing member 430 can be provided at the other end of the third joint 416 for connection with the head 3. Specifically, to improve the reliable connection between the head fixing member 430 and the head 3, the head fixing member 430 can include an annular fixing frame 431, thereby allowing the annular fixing frame 431 to form a larger contact surface with the head 3. Specifically, the fixing frame 431 can be connected to the third joint 416 by fasteners such as screws, and the fixing frame 431 is provided with a connecting part 432 for connection with the head 3 to achieve a reliable connection with the head 3.

[0246] For example, the connecting part 432 can be a connecting hole, and a corresponding hole is also provided on the head 3. A reliable connection between the head fixing member 430 and the head 3 is achieved by fasteners passing through the holes and connecting holes in the head 3. For example, there can be multiple connecting holes, which are spaced apart circumferentially along the annular fixing frame 431. Multiple holes are also provided on the head 3 accordingly, thereby further improving the stability and reliability of the connection between the head fixing member 430 and the head 3 through the cooperation of multiple connecting holes and fasteners.

[0247] Reference Figures 25 to 26 As shown, 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 head-up, head-down and resetting operations.

[0248] 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, -50°, -20°, 0°, +20°, or +50°. In this case, when the first angle θ1 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 achieved resetting; when the first angle θ1 is positive, it is considered that the head 3 has performed a head-up operation; when the first angle θ1 is negative, it is considered that the head 3 has performed a head-down operation.

[0249] 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 perform the required head-up, head-down and resetting operations.

[0250] For example, the second angle θ2 between the central axis M2 of the second joint 409 and the central axis M1 of the first joint 401 can be negative 50°, negative 20°, 0°, positive 20°, or positive 50°.

[0251] 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 surface P3. The third angle θ3 between the reference surface P3 and the symmetry surface P2 of the head fixation member 430 is ±65°. By reasonably setting the third angle θ3 between the reference surface P3 and the symmetry surface P2 of the head fixation member 430, the head 3 can achieve the required head raising and lowering, left and right shaking and resetting operations.

[0252] For example, the third angle θ3 between the reference plane P3 and the symmetry plane P2 of the head fixing member 430 can be -65°, -20°, 0°, +20°, or +65°.

[0253] Furthermore, the quadruped robot includes two front leg mechanisms 1 and two hind leg mechanisms 2. An eighth drive member 6 is located on the side of the body 5 connected to each front leg mechanism 1. The eighth drive member 6 drives the front leg mechanism 1 to rotate. That is, when the first drive member 129 and the second drive member are not activated, the eighth drive member 6 can be activated to drive the entire front leg mechanism 1 to rotate, thereby causing the entire front leg mechanism 1 to move. At this time, each front leg mechanism 1 includes two drive members, namely the first drive member 129 and the second drive member, and an eighth drive member 6 is provided on the side of the body 5 connected to each front leg mechanism 1.

[0254] Furthermore, the side of the body 5 connected to each rear leg mechanism 2 includes a ninth drive member 7. The ninth drive member 7 is used to drive the rear leg mechanism 2 to rotate. That is, when the third drive member 237 and the fourth drive member are not activated, the ninth drive member 7 can be activated to drive the entire rear leg mechanism 2 to rotate, thereby causing the entire rear leg mechanism 2 to move. At this time, for each rear leg mechanism 2, there are two drive members, namely the third drive member 237 and the fourth drive member, and a ninth drive member 7 is provided on the side of the body 5 connected to each rear leg mechanism 2. At this time, for the biomimetic movement of the leg mechanism (including the front leg mechanism 1 and the rear leg mechanism 2) of the quadruped robot, there are a total of 12 drive members driving the rotation of the leg mechanism.

[0255] Furthermore, in this embodiment, two foot joint drive members 120 can be provided to better realize the rotation of the forefoot joint 118.

[0256] In summary, the quadruped robot disclosed in this invention has a driving component in its leg structure that allows each front leg mechanism 1 and rear leg mechanism 2 to rotate flexibly. The foot joint driving component 120 enables the foot joint mechanism 8 of the quadruped robot to perform more flexible and complex movements. The driving components of the front leg mechanism 1, the rear leg mechanism 2, and the foot joint mechanism 8 work together to make the quadruped robot's movements more coordinated and flexible, with a high degree of biomimetic effect.

[0257] For example, the shape of a quadruped robot can be that of a bionic robot dog, a bionic robot cat, or other four-limbed animals.

[0258] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0259] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or 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 to be limited to the embodiments described herein, but are to be accorded the widest scope consistent with the principles and novel features of the embodiments of the invention herein.

Claims

1. A quadruped robot, characterized in that, Includes fuselage (5), head (3), leg mechanism, and foot mechanism (8); The head (3) is located at the front of the fuselage (5); The leg mechanism includes at least a front leg mechanism (1) close to the head (3) and a rear leg mechanism (2) away from the head (3), and the front leg mechanism (1) and the rear leg mechanism (2) are 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. The limiting structure (9) is used to restrict the rotation of the foot joint mechanism (8). The foot joint mechanism (8) includes a forefoot joint (118) and a foot joint drive member (120); the forefoot joint (118) is rotatably connected to the foreleg mechanism (1); the foot joint drive member (120) is in a transmission engagement with the forefoot joint (118) to drive the forefoot joint (118) to rotate; 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 disposed on the leg mechanism, and the second limiting structure (123) is disposed on the foot joint mechanism (8). 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; when the front leg mechanism (1) touches the ground, the front leg segment (118) is driven to rotate to the limiting structure (9) by the foot segment drive member (120) and enters the locking state, so that the limiting structure (9) restricts the rotation of the front leg segment (118), and the front leg mechanism (1) and the front leg segment (118) are locked by the limiting structure (9).

2. The quadruped robot according to claim 1, characterized in that, The front leg mechanism (1) includes a front thigh leg segment (101), a front lower leg leg segment (113), and a first linkage member (119); the body (5) is provided with a first drive member (129) and a second drive member; One end of the front thigh leg segment (101) is rotatably connected to the body (5), and the front thigh leg segment (101) is in transmission engagement with the first drive member (129); one end of the front lower leg segment (113) is rotatably connected to the other end of the front thigh leg segment (101); the forefoot segment (118) is rotatably connected to the other end of the front lower leg 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 lower leg segment (113).

3. The quadruped robot according to claim 2, characterized in that, The front leg mechanism (1) also includes a buffer transmission mechanism (125); The buffer transmission mechanism (125) is in transmission cooperation with the foot joint drive member (120) and the foreleg joint (118) respectively, so that the foot joint drive member (120) drives the buffer transmission mechanism (125) to rotate, thereby driving the foreleg joint (118) to rotate.

4. The quadruped robot according to claim 2, characterized in that, When the front leg mechanism (1) moves, the first included angle (α1) between the central axis (L1) of the front thigh leg segment (101) and the central axis (L2) of the front lower leg segment (113) is 35°-145°. And / or, when the foreleg mechanism (1) moves, the second included angle (α2) between the central axis (L2) of the foreleg segment (113) and the central axis (L3) of the foreleg segment (118) is 155°-245°.

5. The quadruped robot according to claim 1, characterized in that, The rear leg mechanism (2) includes a rear thigh leg segment (201), a rear lower leg leg segment (216), a rear foot segment (224), a second linkage (233), and a third linkage (235); the body (5) is provided with a third drive component (237) and a fourth drive component; The central axis (T1) of the posterior thigh leg segment (201) is parallel to the central axis (T5) of the posterior foot segment (224); the central axis (T1) of the posterior thigh leg segment (201) is parallel to the central axis (T2) of the third linkage (235); the central axis (T4) of the posterior lower leg segment (216) is parallel to the central axis (T3) of the second linkage (233).

6. The quadruped robot according to claim 5, characterized in that, One end of the hind thigh leg segment (201) is rotatably connected to the body (5), and the hind thigh leg segment (201) is driven by the third drive member (237) to rotate; one end of the hind lower leg segment (216) is rotatably connected to the other end of the hind thigh leg segment (201), and one end of the hind foot segment (224) is rotatably connected to the other end of the hind lower leg segment (216); The two ends of the second linkage (233) are rotatably connected to the hind thigh leg segment (201) and the hind foot segment (224) respectively. One end of the third linkage (235) is driven by the fourth drive member to rotate. The other end of the third linkage (235) is rotatably connected to the hind lower leg segment (216) so that when the hind thigh leg segment (201) and the third linkage (235) rotate, they jointly link the hind lower leg segment (216) and the hind foot segment (224) to make the hind leg mechanism (2) move biomimetically.

7. The quadruped robot according to claim 5, characterized in that, When the hind leg mechanism (2) moves, the third included angle (β1) between the central axis (T1) of the hind thigh leg segment (201) and the central axis (T4) of the hind lower leg leg segment (216) is 30°-150°.

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

9. The quadruped robot according to claim 1, characterized in that, The quadruped robot also includes a head motion joint structure (4) connected to the head (3). The head movement 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).

10. The quadruped robot according to claim 9, characterized in that, The rotation axis (N3) of the third joint (416) extends along the central axis (N4) of the head (3). The rotation axes (N1) of the first joint (401) and the rotation axes (N2) of the second joint (409) are both perpendicular to the rotation axis (N3) of the third joint (416) so that the head (3) can rotate left and right when the third joint (416) rotates, and / or the head (3) can be raised or lowered when the first joint (401) and the second joint (409) rotate.

11. The quadruped robot according to claim 9, characterized in that, The head motion joint structure (4) also includes a fifth drive member (422), a sixth drive member (424) and a seventh drive member (425). The fifth driving member (422) is disposed on the body (5). The fifth driving member (422) is in transmission cooperation with one end of the first joint (401) and is 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 disposed at the other end of the first joint (401), and the sixth driving member (424) is in transmission cooperation with one end of the second joint (409) for driving the second joint (409) to rotate around the output shaft of the sixth driving member (424); The seventh drive member (425) is disposed at the other end of the second joint (409). The seventh drive 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 drive member (425). The other end of the third joint (416) is connected to the head (3).

12. The quadruped robot according to claim 11, characterized in that, A transmission structure (426) is provided between the fifth driving member (422) and the first joint (401). The transmission structure (426) is in transmission cooperation with the fifth driving member (422) and the first joint (401) respectively, so that when the fifth driving member (422) drives the transmission structure (426) to rotate, it drives the first joint (401) to rotate.

13. The quadruped robot according to claim 9, characterized in that, The first angle (θ1) between the central axis (M1) of the first joint (401) and the horizontal plane (P1) is ±50°; 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°; 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 fixing member (430) provided at the other end of the third joint (416) is ±65°.

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

Images