Quadruped robot leg drive device

Abstract

This invention provides a leg drive device for a quadruped robot, relating to the field of robotics. It includes: a support device, a first foot end, a second foot end, a motor module, a revolute-to-prismatic joint structure, and an anti-symmetric double-row belt drive structure. The anti-symmetric double-row belt drive structure includes a first synchronous belt and a second synchronous belt. The motor module includes a hip joint rotation motor, a knee joint rotation motor, and a foot joint motor. The revolute-to-prismatic joint structure includes a first synchronous pulley, a second synchronous pulley, a first spur gear, a second spur gear, a first support cover, a second support cover, a first gear shaft, a second gear shaft, and a support frame. This invention not only improves the load-bearing capacity of the quadruped robot under the same mass and motor torque but also enhances its obstacle-crossing height.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a leg drive device for a quadruped robot. Background Technology

[0002] As people's demand for nature exploration continues to grow, traditional mobile robots, such as wheeled mobile robots, can achieve very high movement speeds in structured terrain, but cannot move in unstructured terrain, thus failing to adequately meet people's needs for nature exploration. Legged robots, especially quadruped robots, exhibit excellent movement performance in unstructured terrain, but their movement speed is often relatively low, which also fails to meet people's needs for efficient work.

[0003] Traditional quadruped robots mostly use rotary joints, such as hip, knee, and foot joints. While this design offers flexibility, the relatively low load-bearing capacity of these joints limits the robot's load capacity in certain applications. Therefore, designing a novel driven leg structure for legged robots is crucial. Designing a linear drive unit for the quadruped robot's legs can not only improve the robot's load-bearing capacity but also maintain its mobility. Furthermore, the design of the rotary joints can bring more functionalities to the robot, such as height adjustment and obstacle avoidance, providing greater possibilities for movement in complex environments.

[0004] Patent CN213799963U discloses a hybrid anthropomorphic robotic leg based on a kinetic joint drive, comprising a two-degree-of-freedom hip joint module, a two-degree-of-freedom knee joint module, and a two-degree-of-freedom ankle joint module. These joints are essentially rotational joints, with the addition of linear motors to achieve ankle rotation. While this design may have advantages in certain applications, it does not truly address the challenges of lightweighting and high-load operation inherent in kinetic joints. On the contrary, the added linear motors may increase the robot's overall weight and complexity, thus impacting its performance.

[0005] Patent CN218829314U discloses a linear drive device, which includes a stator, comprising a stator body and multiple coils fixed to the stator body. It solves the problem of lightweighting of the sliding joint. At the same time, by connecting multiple coils in series or parallel to a driver, coils that do not require precise control can be integrated into a module with lower requirements through series or parallel connection, and then driven and controlled by a driver with higher power. However, the main problem of this invention is that it cannot precisely control the linear drive device, which cannot meet the needs of tasks such as trajectory planning of quadruped robots that require high-precision control.

[0006] Patent CN218236012U discloses an electric actuator based on a planetary ball screw. This invention solves the problem that the actuator head tends to tilt under force when supported by the screw alone. At the same time, the linear drive device based on the planetary ball screw can also achieve high precision, which can meet the high precision requirements of quadruped robots. However, its main problem is that the linear drive device based on the planetary ball screw is relatively bulky and has a slow propulsion speed, which cannot meet the task requirements of lightweight and high speed of quadruped robot legs. Summary of the Invention

[0007] The purpose of this invention is to provide a leg drive device for a quadruped robot, which not only improves the load-bearing capacity of the quadruped robot under the same mass and motor torque, but also enhances its obstacle-crossing height.

[0008] A quadruped robot leg drive device includes: a support device, a first foot end, a second foot end, a motor module, a revolute-to-prismatic joint structure, and an anti-symmetric double-row belt drive structure;

[0009] The first end of the support device is connected to the first foot end, and the second end of the support device is connected to the second foot end;

[0010] The anti-symmetrical double-row belt drive structure includes a first synchronous belt and a second synchronous belt; the first end of the first synchronous belt and the first end of the second synchronous belt are both fixedly connected to the first foot end, and the second end of the first synchronous belt and the second end of the second synchronous belt are both fixedly connected to the second foot end;

[0011] The motor module includes a hip joint rotation motor, a knee joint rotation motor, and a foot joint motor;

[0012] The rotary pair conversion sliding pair structure includes a first synchronous pulley, a second synchronous pulley, a first spur gear, a second spur gear, a first support cover, a second support cover, a first gear shaft, a second gear shaft, and a support frame;

[0013] The support device passes through the support frame, and the support frame is connected to the first support cover and the second support cover respectively;

[0014] The first synchronous pulley is disposed inside the first support cover, the second synchronous pulley is disposed inside the second support cover, and the first spur gear and the second spur gear are disposed inside the support frame;

[0015] The first synchronous pulley and the first spur gear are both mounted on the first gear shaft, and the second synchronous pulley and the second spur gear are both mounted on the second gear shaft, with the first spur gear and the second spur gear meshing together;

[0016] The first gear shaft passes through the first support cover and is rotatably connected to the first support cover; the second gear shaft passes through the second support cover and is rotatably connected to the second support cover.

[0017] The first synchronous belt engages with the first synchronous pulley, and the second synchronous belt engages with the second synchronous pulley;

[0018] The output end of the foot joint motor is connected to the first gear shaft via a first coupling; the output end of the knee joint rotation motor is connected to the foot joint motor via a second coupling; and the output end of the hip joint rotation motor is connected to the knee joint rotation motor.

[0019] Optionally, the first foot end is provided with a first synchronous belt groove and a second synchronous belt groove, and the second foot end is provided with a third synchronous belt groove and a fourth synchronous belt groove;

[0020] The anti-symmetrical double-row belt drive structure further includes a first synchronous belt toothed plate, a second synchronous belt toothed plate, a third synchronous belt toothed plate, and a fourth synchronous belt toothed plate;

[0021] The first synchronous belt toothed plate is disposed in the first synchronous belt groove, the second synchronous belt toothed plate is disposed in the second synchronous belt groove, the third synchronous belt toothed plate is disposed in the third synchronous belt groove, and the fourth synchronous belt toothed plate is disposed in the fourth synchronous belt groove.

[0022] The first timing belt toothed plate fixes the first end of the first timing belt to the first foot end, and the second timing belt toothed plate fixes the first end of the second timing belt to the first foot end;

[0023] The third synchronous belt toothed plate fixes the second end of the first synchronous belt to the second foot end, and the fourth synchronous belt toothed plate fixes the second end of the second synchronous belt to the second foot end.

[0024] Optionally, the rotary joint to prismatic joint structure further includes a first roller, a second roller, a third roller, and a fourth roller;

[0025] The first roller and the second roller are disposed inside the first support cover and are rotatably connected to the first support cover; the third roller and the fourth roller are disposed inside the second support cover and are rotatably connected to the second support cover.

[0026] The first roller and the second roller are used to support the first timing belt and press the first timing belt into the first timing pulley;

[0027] The third roller and the fourth roller are used to support the second synchronous belt and press the second synchronous belt into contact with the second synchronous belt pulley.

[0028] Optionally, the rotary joint conversion sliding joint structure further includes a first bushing and a second bushing;

[0029] The support frame is provided with a first through hole and a second through hole; the first bushing is disposed in the first through hole and the second bushing is disposed in the second through hole.

[0030] Optionally, the support device includes a first hollow tube and a second hollow tube;

[0031] The first hollow tube passes through the first bushing, and the first end of the first hollow tube is fixedly connected to the first foot end, and the second end of the first hollow tube is fixedly connected to the second foot end;

[0032] The second hollow tube passes through the second bushing, and the first end of the second hollow tube is fixedly connected to the first foot end, and the second end of the second hollow tube is fixedly connected to the second foot end.

[0033] Optionally, the motor module further includes a knee joint motor fixing cover, the knee joint rotation motor is fixedly installed inside the knee joint motor fixing cover, and the output end of the hip joint rotation motor is connected to the knee joint motor fixing cover.

[0034] Optionally, a shell is provided between the first foot end and the second foot end;

[0035] The rotary joint conversion sliding joint structure, the support device, the first synchronous belt and the second synchronous belt are all disposed inside the housing, and the output end of the foot joint motor passes through the housing and is connected to the first gear shaft through the first coupling.

[0036] Optionally, the first foot end and the second foot end are hemispherical structures.

[0037] Optionally, both the first hollow tube and the second hollow tube are made of carbon fiber.

[0038] Optionally, both the first and second synchronous belts are made of polyurethane.

[0039] The effects of this invention are as follows:

[0040] The present invention relates to a quadruped robot leg drive device, comprising two revolute joints and one prismatic joint, which not only improves the load-bearing capacity of the quadruped robot under the same mass and motor torque, but also enhances its obstacle-crossing height, enabling it to perform better in complex terrain.

[0041] The present invention provides a quadruped robot leg drive device that solves the problems of excessive mass and complex manufacturing of traditional linear drive devices. While ensuring linear motion, it has a lighter mass, which helps to reduce the overall weight of the robot, thereby improving the robot's energy efficiency and mobility.

[0042] The present invention relates to a quadruped robot leg drive device with an anti-symmetrical double-row belt drive structure, which can effectively prevent eccentric torque caused by force on the foot end, enhance the stability and reliability of the device, reduce maintenance costs, and extend the service life of the device.

[0043] The quadruped robot leg drive device of the present invention has higher energy efficiency and may reduce production costs through simplified joint design and lightweight linear drive design; the simplified leg design and enhanced obstacle crossing height enable the robot to perform better in irregular or complex terrain, providing greater adaptability. Attached Figure Description

[0044] Figure 1 This is a structural diagram of the leg drive device for the quadruped robot of the present invention;

[0045] Figure 2 This is an exploded view of the rotating joint to sliding joint structure of the present invention;

[0046] Figure 3 This is a structural diagram of the anti-symmetric double-row belt drive structure of the present invention.

[0047] In the diagram: 1. First foot end; 2. Second foot end; 3. First synchronous belt; 4. Second synchronous belt; 5. Hip joint rotation motor; 6. Knee joint rotation motor; 7. Foot joint motor; 8. First synchronous belt pulley; 9. Second synchronous belt pulley; 10. First spur gear; 11. Second spur gear; 12. First support cover; 13. Second support cover; 14. First gear shaft; 15. Second gear shaft; 16. Support frame; 17. First synchronous belt toothed plate; 18. Second synchronous belt toothed plate; 19. Third synchronous belt toothed plate; 20. Fourth synchronous belt toothed plate; 21. First roller; 22. Second roller; 23. Third roller; 24. Fourth roller; 25. First bushing; 26. Second bushing; 27. First hollow tube; 28. Second hollow tube; 29. ​​Knee joint motor fixing cover; 30. Housing; 31. First coupling; 32. Second coupling; 33. First synchronous belt groove. Detailed Implementation

[0048] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0049] Figure 1 This is a structural diagram of the leg drive device for the quadruped robot of the present invention. Figure 1As shown, the present invention provides a leg drive device for a quadruped robot, comprising: a support device, a first foot end 1, a second foot end 2, a motor module, a revolute-to-prismatic joint structure, and an anti-symmetric double-row belt drive structure. The first foot end 1 and the second foot end 2 are hemispherical structures.

[0050] The first end of the support device is connected to the first foot 1, and the second end of the support device is connected to the second foot 2.

[0051] like Figure 3 As shown, the anti-symmetrical double-row belt drive structure includes a first synchronous belt 3 and a second synchronous belt 4; the first end of the first synchronous belt 3 and the first end of the second synchronous belt 4 are both fixedly connected to the first foot end 1, and the second end of the first synchronous belt 3 and the second end of the second synchronous belt 4 are both fixedly connected to the second foot end 2.

[0052] The motor module includes a hip joint rotation motor 5, a knee joint rotation motor 6, and a foot joint motor 7.

[0053] like Figure 2 As shown, the rotary pair conversion sliding pair structure includes a first synchronous pulley 8, a second synchronous pulley 9, a first spur gear 10, a second spur gear 11, a first support cover 12, a second support cover 13, a first gear shaft 14, a second gear shaft 15, and a support frame 16.

[0054] The support device passes through the support frame 16, and the support frame 16 is connected to the first support cover 12 and the second support cover 13 respectively.

[0055] The first synchronous pulley 8 is disposed inside the first support cover 12, the second synchronous pulley 9 is disposed inside the second support cover 13, and the first spur gear 10 and the second spur gear 11 are disposed inside the support frame 16.

[0056] The first synchronous pulley 8 and the first spur gear 10 are both mounted on the first gear shaft 14, and the second synchronous pulley 9 and the second spur gear 11 are both mounted on the second gear shaft 15. The first spur gear 10 and the second spur gear 11 mesh with each other.

[0057] The first gear shaft 14 passes through the first support cover 12 and is rotatably connected to the first support cover 12, and the second gear shaft 15 passes through the second support cover 13 and is rotatably connected to the second support cover 13.

[0058] The first synchronous belt 3 engages with the first synchronous pulley 8, and the second synchronous belt 4 engages with the second synchronous pulley 9.

[0059] The output end of the foot joint motor 7 is connected to the first gear shaft 14 through the first coupling 31, the output end of the knee joint rotation motor 6 is connected to the foot joint motor 7 through the second coupling 32, and the output end of the hip joint rotation motor 5 is connected to the knee joint rotation motor 6.

[0060] The hip joint rotary motor 5 enables the quadruped robot to rotate at the hip joint, and the knee joint rotary motor 6 enables it to rotate at the knee joint. The revolute-to-prismatic joint structure converts the rotational motion of the foot joint motor 7 into linear motion on the anti-symmetric double-row belt drive structure.

[0061] The hip joint rotation motor 5, knee joint rotation motor 6, and foot joint motor 7 all adopt the CAN 2.0 communication protocol. Each of these motors uses a single encoder, which minimizes the radial length of the joint. Motor position control is achieved by setting the motor's zero-point position after each power-on.

[0062] Furthermore, the first foot end 1 is provided with a first synchronous belt groove 33 and a second synchronous belt groove, and the second foot end 2 is provided with a third synchronous belt groove and a fourth synchronous belt groove.

[0063] The anti-symmetrical double-row belt drive structure also includes a first synchronous belt toothed plate 17, a second synchronous belt toothed plate 18, a third synchronous belt toothed plate 19, and a fourth synchronous belt toothed plate 20.

[0064] The first synchronous belt toothed plate 17 is disposed in the first synchronous belt groove 33, the second synchronous belt toothed plate 18 is disposed in the second synchronous belt groove, the third synchronous belt toothed plate 19 is disposed in the third synchronous belt groove, and the fourth synchronous belt toothed plate 20 is disposed in the fourth synchronous belt groove.

[0065] The first synchronous belt toothed plate 17 fixes the first end of the first synchronous belt 3 to the first foot end 1, and the second synchronous belt toothed plate 18 fixes the first end of the second synchronous belt 4 to the first foot end 1.

[0066] The third synchronous belt toothed plate 19 fixes the second end of the first synchronous belt 3 to the second foot end 2, and the fourth synchronous belt toothed plate 20 fixes the second end of the second synchronous belt 4 to the second foot end 2.

[0067] The first synchronous belt toothed plate 17, the second synchronous belt toothed plate 18, the third synchronous belt toothed plate 19, and the fourth synchronous belt toothed plate 20 are all non-standard toothed plates. Bolt holes are provided at the center of the first synchronous belt toothed plate 17, the second synchronous belt toothed plate 18, the third synchronous belt toothed plate 19, and the fourth synchronous belt toothed plate 20. The first end of the first synchronous belt 3 is inserted into the first synchronous belt groove 33, the second end of the first synchronous belt 3 is inserted into the third synchronous belt groove, the first synchronous belt toothed plate 17 is inserted into the first synchronous belt groove 33, and the third synchronous belt toothed plate 19 is inserted into the third synchronous belt groove. The first synchronous belt 3 is then tensioned, and the first synchronous belt 3 is fixed to the first foot end 1 and the second foot end 2 using bolts. The second synchronous belt 4 is fixed in the same way.

[0068] The anti-asymmetric double-row belt drive structure can concentrate the load-bearing force in the middle of the device, preventing structural damage caused by force deviation.

[0069] Preferably, the rotary joint to slidable joint structure further includes a first roller 21, a second roller 22, a third roller 23 and a fourth roller 24.

[0070] The first roller 21 and the second roller 22 are disposed inside the first support cover 12 and are rotatably connected to the first support cover 12, and the third roller 23 and the fourth roller 24 are disposed inside the second support cover 13 and are rotatably connected to the second support cover 13.

[0071] The first roller 21 and the second roller 22 are used to support the first synchronous belt 3 and press the first synchronous belt 3 into contact with the first synchronous pulley 8.

[0072] The third roller 23 and the fourth roller 24 are used to support the second synchronous belt 4 and press the second synchronous belt 4 into contact with the second synchronous pulley 9.

[0073] The rotating joint to sliding joint structure also includes a first bushing 25 and a second bushing 26.

[0074] The support frame 16 is provided with a first through hole and a second through hole; the first bushing 25 is provided in the first through hole and the second bushing 26 is provided in the second through hole.

[0075] The support device includes a first hollow tube 27 and a second hollow tube 28.

[0076] The first hollow tube 27 passes through the first bushing 25, and the first end of the first hollow tube 27 is fixedly connected to the first foot end 1, and the second end of the first hollow tube 27 is fixedly connected to the second foot end 2.

[0077] The second hollow tube 28 passes through the second bushing 26. The first end of the second hollow tube 28 is fixedly connected to the first foot end 1, and the second end of the second hollow tube 28 is fixedly connected to the second foot end 2.

[0078] By setting the first bushing 25 and the second bushing 26, the friction between the first hollow tube 27 and the second hollow tube 28 and the support frame 16 is reduced.

[0079] The motor module also includes a knee joint motor fixing cover 29, in which the knee joint rotation motor 6 is fixedly installed, and the output end of the hip joint rotation motor 5 is connected to the knee joint motor fixing cover 29.

[0080] After receiving the rotational motion of the foot joint motor 7, the first gear shaft 14 transmits the rotational motion to the first synchronous pulley 8 and the first spur gear 10 via keys. The first synchronous pulley 8 meshes with the first synchronous belt 3, and the first roller 21 and the second roller 22 press the first synchronous belt 3 together. The rotation of the first spur gear 10 drives the rotation of the second spur gear 11. The second gear shaft 15 transmits the rotational motion of the second spur gear 11 to the second synchronous pulley 9, which meshes with the second synchronous belt 4. The third roller 23 and the fourth roller 24 press the second synchronous belt 4 together. If the first synchronous belt 3 and the second synchronous belt 4 are not fixed, they will move upward or downward in a straight line. Therefore, the first synchronous belt 3 and the second synchronous belt 4 are fixed by the first synchronous belt toothed plate 17, the second synchronous belt toothed plate 18, the third synchronous belt toothed plate 19, and the fourth synchronous belt toothed plate 20. Since the first synchronous belt 3 and the second synchronous belt 4 are fixed, the revolute joint converts the relative upward or downward linear motion of the prismatic joint structure. To ensure that no force deflection occurs during motion transmission, an anti-symmetrical double-row belt drive structure is adopted, that is, the first spur gear 10 left meshes with the second spur gear 11, transmitting the rotational motion of the first spur gear 10 left to the second spur gear 11. At this time, the first spur gear 10 left and the second spur gear 11 rotate in opposite directions but at the same speed.

[0081] A housing 30 is provided between the first foot end 1 and the second foot end 2.

[0082] The rotating pair conversion sliding pair structure, the support device, the first synchronous belt 3 and the second synchronous belt 4 are all housed inside the housing 30. The output end of the foot joint motor 7 passes through the housing 30 and is connected to the first gear shaft 14 through the first coupling 31.

[0083] To reduce the mass of the drive leg, both the first hollow tube 27 and the second hollow tube 28 are made of carbon fiber.

[0084] To improve service life, both the first synchronous belt 3 and the second synchronous belt 4 are made of polyurethane.

[0085] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A quadruped robot leg driving device characterized by comprising: It includes: a support device, a first foot end, a second foot end, a motor module, a revolute-to-sliding joint structure, and an anti-symmetric double-row belt drive structure; The first end of the support device is connected to the first foot end, and the second end of the support device is connected to the second foot end; The anti-symmetrical double-row belt drive structure includes a first synchronous belt and a second synchronous belt; the first end of the first synchronous belt and the first end of the second synchronous belt are both fixedly connected to the first foot end, and the second end of the first synchronous belt and the second end of the second synchronous belt are both fixedly connected to the second foot end; The motor module includes a hip joint rotation motor, a knee joint rotation motor, and a foot joint motor; The rotary pair conversion sliding pair structure includes a first synchronous pulley, a second synchronous pulley, a first spur gear, a second spur gear, a first support cover, a second support cover, a first gear shaft, a second gear shaft, and a support frame; The support device passes through the support frame, and the support frame is connected to the first support cover and the second support cover respectively; The first synchronous pulley is disposed inside the first support cover, the second synchronous pulley is disposed inside the second support cover, and the first spur gear and the second spur gear are disposed inside the support frame; The first synchronous pulley and the first spur gear are both mounted on the first gear shaft, and the second synchronous pulley and the second spur gear are both mounted on the second gear shaft, with the first spur gear and the second spur gear meshing together; The first gear shaft passes through the first support cover and is rotatably connected to the first support cover; the second gear shaft passes through the second support cover and is rotatably connected to the second support cover. The first synchronous belt engages with the first synchronous pulley, and the second synchronous belt engages with the second synchronous pulley; The output end of the foot joint motor is connected to the first gear shaft via a first coupling; the output end of the knee joint rotation motor is connected to the foot joint motor via a second coupling; and the output end of the hip joint rotation motor is connected to the knee joint rotation motor.

2. The quadruped robot leg driving device according to claim 1, characterized in that, The first foot end is provided with a first synchronous belt groove and a second synchronous belt groove, and the second foot end is provided with a third synchronous belt groove and a fourth synchronous belt groove; The anti-symmetrical double-row belt drive structure further includes a first synchronous belt toothed plate, a second synchronous belt toothed plate, a third synchronous belt toothed plate, and a fourth synchronous belt toothed plate; The first synchronous belt toothed plate is disposed in the first synchronous belt groove, the second synchronous belt toothed plate is disposed in the second synchronous belt groove, the third synchronous belt toothed plate is disposed in the third synchronous belt groove, and the fourth synchronous belt toothed plate is disposed in the fourth synchronous belt groove. The first timing belt toothed plate fixes the first end of the first timing belt to the first foot end, and the second timing belt toothed plate fixes the first end of the second timing belt to the first foot end; The third synchronous belt toothed plate fixes the second end of the first synchronous belt to the second foot end, and the fourth synchronous belt toothed plate fixes the second end of the second synchronous belt to the second foot end.

3. The quadruped robot leg driving device according to claim 1, characterized in that, The rotary joint conversion sliding joint structure also includes a first roller, a second roller, a third roller, and a fourth roller; The first roller and the second roller are disposed inside the first support cover and are rotatably connected to the first support cover; the third roller and the fourth roller are disposed inside the second support cover and are rotatably connected to the second support cover. The first roller and the second roller are used to support the first timing belt and press the first timing belt into the first timing pulley; The third roller and the fourth roller are used to support the second synchronous belt and press the second synchronous belt into contact with the second synchronous belt pulley.

4. The quadruped robot leg driving device according to claim 1, characterized in that, The rotary joint conversion sliding joint structure also includes a first bushing and a second bushing; The support frame is provided with a first through hole and a second through hole; the first bushing is disposed in the first through hole and the second bushing is disposed in the second through hole.

5. The quadruped robot leg driving device according to claim 4, characterized in that, The support device includes a first hollow tube and a second hollow tube; The first hollow tube passes through the first bushing, the first end of the first hollow tube is fixedly connected to the first foot end, and the second end of the first hollow tube is fixedly connected to the second foot end; The second hollow tube passes through the second bushing, and the first end of the second hollow tube is fixedly connected to the first foot end, and the second end of the second hollow tube is fixedly connected to the second foot end.

6. The quadruped robot leg driving device according to claim 1, characterized in that, The motor module also includes a knee joint motor fixing cover, the knee joint rotation motor is fixedly installed inside the knee joint motor fixing cover, and the output end of the hip joint rotation motor is connected to the knee joint motor fixing cover.

7. The quadruped robot leg driving device according to claim 1, characterized in that, A shell is provided between the first foot end and the second foot end; The rotary joint conversion sliding joint structure, the support device, the first synchronous belt and the second synchronous belt are all disposed inside the housing, and the output end of the foot joint motor passes through the housing and is connected to the first gear shaft through the first coupling.

8. The quadruped robot leg driving device according to claim 1, characterized in that, The first and second foot ends are hemispherical structures.

9. The quadruped robot leg driving device according to claim 5, characterized in that, Both the first hollow tube and the second hollow tube are made of carbon fiber.

10. The quadruped robot leg driving device according to claim 1, characterized in that, Both the first and second synchronous belts are made of polyurethane.

Images