Four-legged robot leg structure and four-legged robot

Abstract

The application provides a quadruped robot leg structure and a quadruped robot, and belongs to the technical field of industrial robots. The quadruped robot leg structure comprises a frame component, a rollover component, a thigh rotating assembly, a shank rotating assembly, a telescopic foot assembly, a sliding buckle assembly and a dismounting assembly. The frame component is provided with a rotatable thigh rotating motor in each rollover position. The center of a thigh rotating seat is fixed with a rotating shaft of the thigh rotating motor. A shank rotating shaft at the bottom end of the thigh is rotatably connected with the middle part of the shank. The shank connecting rod can form a parallelogram structure with the thigh rotating assembly through a conversion rotating sleeve rotatably connected outside the thigh rotating seat. The thigh rotating motor can be used as a reference to rotate the thigh rotating assembly and the shank rotating assembly. The telescopic foot assembly is slidably connected at the bottom end of the shank. Through the cooperation of the sliding buckle assembly and the dismounting assembly with the telescopic foot assembly, the telescopic foot assembly can be safely extended and conveniently recovered.

Description

Technical Field

[0001] This invention relates to the field of industrial robot technology, and in particular to a quadruped robot leg structure and a quadruped robot. Background Technology

[0002] Industrial quadruped robots are used in various industries, such as industrial automation, power line inspection, emergency rescue, industrial testing, education and scientific research. Their high performance and versatility enable them to play an important role in these fields, improving work efficiency, reducing labor costs, and lowering risks and dangers.

[0003] The locomotion principle of quadruped robots is based on mimicking animal walking. They possess four limb-like mechanical structures, achieving movement through a series of electric and mechanical components. Existing quadruped robot leg structures are divided into thigh and lower leg sections. The top of the thigh section rotates via a rotary motor, while the lower leg rotates relative to the thigh via another rotary motor mounted at the bottom of the thigh. While this setup is simple and effective, the lower leg's rotation is based on the thigh, meaning the force exerted on the thigh affects the accuracy of the lower leg's movements. In other words, if the thigh's rotational accuracy is inaccurate, the lower leg's movement will carry over that error, resulting in a lack of uniform rotational reference between the thigh and lower leg sections. Furthermore, current technology uses only a single-sized thigh and lower leg section, leading to poor adaptability to different environments. Summary of the Invention

[0004] One of the objectives of this invention is to provide a leg structure for a quadruped robot. By placing the rotation bases of the thigh rotation component and the lower leg rotation component in the same position, and utilizing different rotational drive actions formed on the same base, the rotation of the thigh rotation component and the lower leg rotation component can be realized with high precision. At the same time, by utilizing the coordinated transmission formed by the retractable foot component, the sliding buckle component and the release component, the retractable foot component can automatically and safely unfold, and the spring post and the spring clip hole can be quickly released.

[0005] The objective of this invention is achieved through the following technical solution: a quadruped robot leg structure, comprising a thigh rotation assembly, a lower leg pivot, a lower leg rotation assembly, a retractable foot assembly, a sliding buckle assembly, and a release assembly. The lower leg rotation assembly includes a lower leg, a lower leg connecting shaft, and a lower leg connecting rod. The retractable foot assembly includes a telescopic electric cylinder mounting base, a telescopic electric cylinder, and a telescopic mounting base. The sliding buckle assembly includes a spring-loaded hole. The release assembly includes a passive inclined block and a pushing inclined block.

[0006] The lower leg pivot is fixed to the bottom of the thigh rotation assembly body, and the top of the thigh rotation assembly can rotate automatically. The lower leg body is screwed to the lower leg pivot. The lower leg connecting shaft is fixed to the outer side of the top of the lower leg. A conversion sleeve is screwed to the top of the thigh rotation assembly body. A connecting rod pivot is fixed to one end of the conversion sleeve. The upper end of the lower leg connecting rod is screwed into the connecting rod pivot, and the lower end is screwed into the lower leg connecting shaft.

[0007] The bottom of the lower leg slides upwards elastically to support the foot;

[0008] A top connecting seat is fixed to the top of the foot support. A sliding column is symmetrically fixed to the top of the top connecting seat. The telescopic electric cylinder fixed seat is fixed to the inner side of the top of the lower leg. The telescopic rotating seat is screwed into the lower leg rotating shaft. The main body of the telescopic electric cylinder is screwed into the telescopic electric cylinder fixed seat. The telescopic rod of the telescopic electric cylinder is screwed into one end of the telescopic rotating seat. The other end of the telescopic rotating seat is symmetrically provided with telescopic sliding grooves. The sliding column on the same side slides into the telescopic sliding groove.

[0009] The lower leg is symmetrically fixed with side guide seats on both sides. Each set of side guide seats has a side guide groove on its inner surface. The spring clip hole is opened at the bottom of the side guide seat. Each set of sliding pillars has a spring that slides outward in its main body. Within the sliding range of the sliding pillar, the spring is always elastically slidably in the side guide groove. The inner surface of the side guide seat and the moving direction of the top connecting seat maintain a certain angle. When the foot support moves to the extended state where it maintains the maximum distance from the lower leg, the spring can just elastically clip into the spring clip hole.

[0010] Each set of springs has a passive inclined block fixed to its lower interior, and the top connecting seat has a push inclined block that can move automatically upwards.

[0011] The process of using the technical solution of the present invention is as follows:

[0012] The lower leg can rotate around the lower leg axis. After the rotation drive mechanism connected to the conversion sleeve is activated, the conversion sleeve can be driven to rotate around the top of the thigh rotation component. The lower leg connecting rod and the thigh rotation component form a parallelogram component to drive the rotation of the lower leg, thereby realizing the rotation of the lower leg relative to the thigh rotation component.

[0013] Furthermore, since the main body of the conversion sleeve is screwed to the top of the thigh rotation component, the lower leg can also rotate relative to the thigh rotation component when the thigh rotation component rotates automatically.

[0014] Foot support allows for contraction relative to the bottom of the calf;

[0015] Due to the elastic support of the foot itself relative to the lower leg, the foot support can be in a position with minimal contraction relative to the lower leg when there is no external force pushing it.

[0016] When the foot support needs to be moved and extended, the telescopic electric cylinder is activated. The telescopic rod of the electric cylinder and the telescopic rotating seat form a rotating connection, which drives the telescopic rotating seat to rotate around the calf axis. This causes the telescopic slide groove and the slide column to slide together, thereby driving the top connecting seat and the foot support to move downward. The foot support moves downward to the position where it is fully extended with the calf. At this moment, the outwardly springing column can be elastically locked into the spring locking hole, so that when the foot support is in the extended position, the calf can form a safe connection.

[0017] Furthermore, spring-loaded holes can be provided at different positions in the side guide seat body that connect with the side guide groove, according to actual needs, so that the foot support can be safely maintained in different unfolded positions.

[0018] When it is necessary to restore the foot support to its minimum contraction position, the automatic upward-moving pusher block and the passive pusher block work together to push the two symmetrically distributed springs to move inward synchronously, causing the springs to disengage from the spring clip holes. The telescopic electric cylinder is then activated again, and with the elastic support force of the foot support itself towards the lower leg, the foot support can quickly return to its minimum contraction position relative to the lower leg.

[0019] Another objective of this invention is to provide a quadruped robot, which further includes a frame component and a side-flipping component. The frame component includes a main frame, with two sets of main frames symmetrically distributed vertically. Flipping positions are symmetrically provided on the front and rear sides of the two sets of main frames. Each set of flipping positions has connecting posts on both sides, and the two ends of the connecting posts are respectively fixedly connected between the two sets of main frames.

[0020] The side-tilting component includes a tilting base and an auxiliary tilting base. A side-tilting component is installed on the outside of each tilting position. A tilting motor is fixedly installed in the connecting column on one side of the tilting position, and an auxiliary base is fixedly installed in the connecting column on the other side. The tilting base is inserted and fixed in the rotating shaft of the tilting motor. The auxiliary tilting base is rotatably connected in the auxiliary base. A thigh rotation motor is fixedly installed between the auxiliary tilting base and the tilting base on the same side. The top center of the thigh rotation component is fixedly connected to the rotating shaft of the thigh rotation motor.

[0021] By activating the flip motor, the thigh rotation motor and the thigh rotation assembly screwed to the thigh rotation motor can be driven to rotate relative to the frame components, thereby driving the overall rotation of the thigh rotation assembly, the lower leg rotation assembly and the retractable foot assembly relative to the frame components.

[0022] The thigh rotation component rotates relative to the thigh rotation motor shaft by activating the thigh rotation motor.

[0023] By adopting the above technical solution, the present invention can achieve the following beneficial effects:

[0024] (1) The present invention is based on a thigh rotating assembly that can rotate automatically at the top. A conversion sleeve is screwed onto the top of the thigh rotating assembly, and the parallelogram structure formed by the calf connecting rod screwed between the calf connecting shaft and the connecting rod shaft and the thigh rotating assembly can not only realize the rotation of the calf relative to the calf shaft at the bottom of the thigh rotating assembly when the thigh rotating assembly is stationary, but also realize the rotation of the calf relative to the calf shaft at the bottom of the thigh rotating assembly when the thigh rotating assembly is in an automatic rotation state, thereby increasing the flexibility of the mechanism composed of the thigh rotating assembly and the calf rotating assembly.

[0025] (2) Furthermore, the present invention also has an elastic upward foot support slidably connected at the bottom of the lower leg, and the telescopic rotating seat spun in the lower leg rotating shaft can be automatically rotated by the telescopic electric cylinder. The sliding fit formed by the telescopic sliding groove and the sliding column can drive the top connecting seat and the foot support to move automatically, thereby realizing the telescopic adjustment of the foot support relative to the lower leg, so that the foot support and the lower leg can form components of different lengths, and the component that drives the foot support to move is located inside the lower leg, which will not affect the normal operation of the lower leg rotating component and the thigh rotating component.

[0026] (3) In addition, each set of sliding pillars is provided with an elastic outward spring pillar, and the inner surface of the side guide seat fixed on both sides of the lower leg body is provided with a side guide groove. As the top connecting seat slides downward, the spring pillar always slides elastically in the side guide groove and gradually tightens. This makes it convenient to quickly open and spring into the spring card hole when the spring pillar slides to the position directly opposite the spring card hole. After the spring pillar springs into the spring card hole, the foot support is just in the maximum spread position with the lower leg, which can improve the safety effect.

[0027] (4) In order to achieve rapid disengagement of the spring and the spring hole, the present invention is also provided with a disengagement component. By the cooperation between the inclined surface at the top of the automatically movable pusher block and the inclined surface at the bottom of the passive pusher block, the two sets of springs can be pushed to retract synchronously when the pusher block moves upward automatically, so that the spring and the spring hole can form an automatic disengagement action. Attached Figure Description

[0028] 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, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This invention provides a leg structure for a quadruped robot and a schematic diagram of the overall structure of the quadruped robot.

[0030] Figure 2This is a structural schematic diagram of the frame components of the present invention;

[0031] Figure 3 This is a schematic diagram of the side-flipping component of the present invention;

[0032] Figure 4 This is a schematic diagram of the thigh rotation component of the present invention;

[0033] Figure 5 This is a schematic diagram of the lower leg rotation assembly of the present invention;

[0034] Figure 6 This is a schematic diagram of the retractable foot assembly of the present invention;

[0035] Figure 7 This is a schematic diagram of the telescopic rotating seat part of the present invention;

[0036] Figure 8 This is a schematic diagram of the structure of the sliding buckle assembly of the present invention;

[0037] Figure 9 This is a schematic diagram of the planar structure of the side guide seat portion of the present invention;

[0038] Figure 10 This is a schematic diagram of the side guide portion of the present invention;

[0039] Figure 11 This is a schematic diagram of the structure of the sliding buckle assembly of the present invention;

[0040] Figure 12 This is a schematic diagram of the structure of the detachment assembly of the present invention;

[0041] Figure 13 This is a schematic diagram of the cooperative structure of the passive inclined block and the pushing inclined block of the present invention.

[0042] Reference numerals: 1. Frame component; 2. Side-tilting component; 3. Thigh rotation assembly; 4. Lower leg rotation assembly; 5. Retractable foot assembly; 6. Sliding buckle assembly; 7. Removal assembly; 8. Lower leg rotating shaft; 101. Main frame; 102. Tilting position; 103. Connecting column; 201. Tilting motor; 202. Auxiliary base; 203. Tilting rotating seat; 204. Auxiliary rotating seat; 205. Thigh rotation motor; 301. Large... Leg pivot seat; 302, thigh; 303, thigh base rod; 401, lower leg; 402, lower leg pivot seat; 403, lower leg connecting shaft; 404, lower leg connecting rod; 405, conversion sleeve; 406, connecting rod shaft; 407, push shaft; 408, rotary electric cylinder fixed pivot seat; 409, rotary electric cylinder; 501, telescopic slide; 502, foot support; 503, telescopic guide post; 504, foot pad; 505, buffer pad; 507. Top spring; 508. Top connecting seat; 509. Sliding column; 510. Telescopic electric cylinder fixed seat; 511. Telescopic electric cylinder; 512. Telescopic rotating seat; 513. Telescopic rotating shaft; 514. Telescopic sliding groove; 601. Side opening; 602. Side guide seat; 603. Side guide groove; 604. Spring column; 605. Spring clip hole; 606. Spring column slide seat; 607. Spring column fixed seat; 608. Inner clip seat; 609. Compression spring; 701. Square sliding column; 702. Square sliding hole; 703. Alternating plate; 704. Passive inclined block; 705. Operating chamber; 706. Unloading electric cylinder; 707. Pushing inclined block. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] In the description of this invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0045] like Figures 1-13As shown, a quadruped robot leg structure and a quadruped robot are disclosed. The bottom end of the thigh rotating assembly 3 is laterally fixed with a lower leg rotating shaft 8, and the top end of the thigh rotating assembly 3 can rotate automatically. The upper part of the lower leg 401 is screwed to the lower leg rotating shaft 8. The lower leg connecting shaft 403 is laterally fixed to the outer side of the top end of the lower leg 401. The top end of the thigh rotating assembly 3 is screwed with a conversion sleeve 405. One end of the conversion sleeve 405 is laterally fixed with a connecting rod rotating shaft 406. The upper end of the lower leg connecting rod 404 is screwed into the connecting rod rotating shaft 406, and the lower end is screwed into the lower leg connecting shaft 403. The other end of the conversion sleeve 405 is provided with a rotation drive mechanism.

[0046] Furthermore, the lower leg connecting rod 404 and the thigh rotating assembly 3 form a parallelogram component, which can drive the lower leg 401 to rotate around the lower leg rotating axis 8 by actively rotating the rotating sleeve 405.

[0047] The bottom of the lower leg 401 is elastically connected to the foot support 502, and under the action of the elastic support force of the foot support 502 itself, the foot support 502 can just move to the contracted state of maintaining the minimum distance with the lower leg 401.

[0048] A top connecting seat 508 is fixed to the top of the foot support 502, and the top connecting seat 508 is located inside the lower leg 401. A sliding column 509 is symmetrically fixed to the top of the top of the top connecting seat 508. A telescopic electric cylinder fixed seat 510 is horizontally fixed to the inner side of the top of the lower leg 401. A telescopic rotating seat 512 is screwed into the lower leg rotating shaft 8 and is located inside the lower leg 401. The main body of the telescopic electric cylinder 511 is screwed into the telescopic electric cylinder fixed seat 510. The telescopic rod of the telescopic electric cylinder 511 is screwed into one end of the telescopic rotating seat 512. A telescopic sliding groove 514 is symmetrically opened at the other end of the telescopic rotating seat 512. The sliding column 509 on the same side slides into the telescopic sliding groove 514.

[0049] Side guide seats 602 are symmetrically fixed on both sides of the main body of the lower leg 401. Each set of side guide seats 602 has a side guide groove 603 on its inner surface. The spring-loaded hole 605 is opened at the bottom end of the side guide seat 602 and the side guide groove 603. Each set of sliding pillars 509 has an outwardly spring-loaded pillar 604 slidably connected in its main body. Within the sliding range of the sliding pillar 509, the spring-loaded pillar 604 is always elastically slidably connected in the side guide groove 603. The inner surface of the side guide seat 602 and the moving direction of the top connecting seat 508 maintain a certain angle, so that as the sliding pillar 509 slides downward, the spring-loaded pillar 604 gradually tightens elastically. When the foot support 502 moves to the extended state that maintains the maximum distance from the lower leg 401, the spring-loaded pillar 604 can just elastically lock into the spring-loaded hole 605.

[0050] Each set of spring posts 604 has a passive inclined block 704 fixedly connected to its lower inner side. The top connecting seat 508 has a push inclined block 707 that can move automatically upward. The two sets of passive inclined blocks 704 do not interfere with each other, so that when the push inclined block 707 moves upward, it can simultaneously form a sliding engagement with the passive inclined blocks 704 on both sides, thereby driving the two sets of spring posts 604 to retract synchronously and achieve automatic disengagement from the spring clip hole 605.

[0051] The working principle is as follows:

[0052] The lower leg 401 can rotate around the lower leg pivot 8. After the rotation drive mechanism connected to the conversion sleeve 405 is activated, the conversion sleeve 405 can be driven to rotate around the top of the thigh rotation component 3. The lower leg connecting rod 404 and the thigh rotation component 3 form a parallelogram component to drive the rotation of the lower leg 401, thereby realizing the rotation of the lower leg 401 relative to the thigh rotation component 3.

[0053] Furthermore, since the main body of the conversion sleeve 405 is screwed to the top of the thigh rotation component 3, the lower leg 401 can also rotate relative to the thigh rotation component 3 when the thigh rotation component 3 rotates automatically.

[0054] In other words, this structure uses the same base as a reference, which can realize the rotation of the thigh rotation component 3 and the calf rotation component 4, and can eliminate the problem of inaccurate joint motion caused by the different rotation references of the calf and thigh parts.

[0055] The foot support 502 can achieve a contraction action relative to the bottom of the lower leg 401;

[0056] Due to the elastic support of the foot support 502 relative to the lower leg 401, the foot support 502 can maintain a position with minimal contraction relative to the lower leg 401 when there is no external force pushing it.

[0057] When the foot support 502 needs to be moved and unfolded, the telescopic electric cylinder 511 is activated. The telescopic rod of the telescopic electric cylinder 511 and the telescopic rotating seat 512 form a rotating connection, which can drive the telescopic rotating seat 512 to rotate around the lower leg rotating shaft 8. This causes the telescopic sliding groove 514 to form a sliding engagement with the sliding column 509, thereby driving the top connecting seat 508 and the foot support 502 to move downward. This allows the foot support 502 to move downward to the position where it is fully unfolded with the lower leg 401. At this moment, the outwardly springing column 604 can elastically engage with the spring locking hole 605, so that when the foot support 502 is in the unfolded position, the lower leg 401 can form a safe connection.

[0058] Similarly, the extension and retraction adjustment of the foot support 502 is actually based on the calf shaft 8 fixed at the bottom of the thigh rotation component 3, rather than the calf 401, which also reduces the problem of transmission accuracy inaccuracy caused by the increase of relative reference.

[0059] Furthermore, spring-loaded holes 605 can be provided at different positions in the side guide seat 602 body that connect with the side guide groove 603, according to actual needs, so that the foot support 502 can be safely held in different unfolded positions.

[0060] When the foot support 502 needs to be restored to its minimum contracted position, the automatic upward-moving pusher block 707 and the passive pusher block 704 work together to push the two symmetrically distributed springs 604 to move inward synchronously, causing the springs 604 to disengage from the spring clips 605. The telescopic electric cylinder 511 is then activated again, and with the elastic support force of the foot support 502 itself towards the lower leg 401, the foot support 502 can quickly return to its minimum contracted position relative to the lower leg 401.

[0061] The specific structures of frame component 1, side-tilting component 2, and thigh rotation component 3 are as follows: Figure 2 , Figure 3 and Figure 4 As shown, the two sets of main frame bodies 101 are symmetrically distributed vertically. The front and rear sides of the two sets of main frame bodies 101 are symmetrically provided with flip positions 102. Each set of flip positions 102 is provided with connecting columns 103 on both sides, and the two ends of the connecting columns 103 are respectively fixedly connected between the two sets of main frame bodies 101.

[0062] A side-flipping component 2 is installed on the outside of each flipping position 102. A flipping motor 201 is fixedly installed in the connecting column 103 on one side of the flipping position 102, and an auxiliary seat 202 is fixed in the connecting column 103 on the other side. The flipping seat 203 is inserted and fixed in the rotating shaft of the flipping motor 201. The auxiliary seat 204 is rotatably connected in the auxiliary seat 202. A thigh rotation motor 205 is fixedly installed between the auxiliary seat 204 and the flipping seat 203 on the same side. The center of the thigh seat 301 is fixedly connected to the rotating shaft of the thigh rotation motor 205.

[0063] The thigh 302 is fixed between the thigh pivot 301 and the thigh base rod 303, the calf pivot 8 is horizontally fixed to the bottom end of the thigh base rod 303, and the main body of the conversion sleeve 405 is screwed onto the outside of the thigh pivot 301.

[0064] By activating the flip motor 201, the thigh rotation motor 205 and the thigh rotation component 3 screwed to the thigh rotation motor 205 can be rotated relative to the frame component 1, thereby driving the overall rotation of the thigh rotation component 3, the calf rotation component 4 and the retractable foot component 5 relative to the frame component 1.

[0065] By activating the thigh rotation motor 205, the thigh rotating seat 301 can be rotated, thereby enabling the thigh rotation assembly 3 to rotate relative to the shaft of the thigh rotation motor 205.

[0066] The specific structure of the lower leg rotation component 4 is as follows: Figure 5 As shown, lower leg 401 has lower leg pivot seats 402 installed and fixed on both sides of the middle part of the main body, and the lower leg 401 is screwed to both ends of the lower leg pivot shaft 8 through the lower leg pivot seats 402.

[0067] The rotating shaft 407 is horizontally fixedly connected to the other end of the conversion sleeve 405. The main body of the rotary electric cylinder 409 is screwed to the rotary electric cylinder fixed seat 408. The telescopic rod of the rotary electric cylinder 409 is screwed into the rotating shaft 407.

[0068] By activating the rotary electric cylinder 409, the telescopic rod of the rotary electric cylinder 409 moves. The sliding engagement between the telescopic rod of the rotary electric cylinder 409 and the push shaft 407 can drive the switching sleeve 405 to rotate around the thigh rotating seat 301. The rotation reference of the switching sleeve 405 is consistent with the rotation reference of the thigh rotating seat 301, both being the thigh rotating motor 205. Thus, the rotation of the parallelogram component composed of the calf connecting rod 404 and the thigh rotating assembly 3 can be realized, thereby realizing the rotation of the calf 401 relative to the thigh rotating assembly 3.

[0069] The specific structure of the retractable foot component 5 is as follows: Figure 6 and Figure 7 As shown, telescopic slides 501 are symmetrically installed and fixed at the bottom of the main body of the lower leg 401. Each set of telescopic slides 501 is slidably connected with a telescopic guide post 503. The top of the foot support 502 is fixedly connected to the bottom of the telescopic guide post 503, and the top of the telescopic guide post 503 is fixedly connected to the top connecting seat 508.

[0070] An elliptical foot pad 504 is also installed and fixed at the bottom of the foot support 502, so that the bottom surface of the foot pad 504 can form a stable support with the ground when the foot support 502 rotates to different angles with the lower leg 401.

[0071] A buffer pad 505 is also sleeved and fixed between the top of the foot support 502 and the telescopic guide post 503, which can form a buffering effect when the foot support 502 is retracted to the position where it fits against the bottom of the lower leg 401.

[0072] Each telescopic guide post 503 is also fitted with a top spring 507. One end of the top spring 507 is fixed to the bottom surface of the top connecting seat 508, and the other end is fixed to the inner bottom surface of the lower leg 401.

[0073] Under the action of the elastic force of the top spring 507, when there is no external force, the foot support 502 can be in a position that fits against the bottom of the lower leg 401;

[0074] One end of the telescopic rotating seat 512 is horizontally fixed with a telescopic rotating shaft 513, and the telescopic rod of the telescopic electric cylinder 511 is screwed into the telescopic rotating shaft 513.

[0075] The specific structure of the sliding fastener assembly 6 is as follows: Figure 8 , Figure 9 , Figure 10 and Figure 11 As shown, the lower leg 401 has side openings 601 on both sides of its main body, and the side guide seat 602 on the same side is fixedly installed in the side opening 601.

[0076] The inner cavities of the two sets of sliding pillars 509 are connected. The spring pillar slide 606 is fixed to the outer end of the inner cavity of the sliding pillar 509. The spring pillar 604 is slidably connected in the spring pillar slide 606. The inner end of each set of spring pillars 604 is also fixed with a spring pillar fixed seat 607 to prevent the spring pillar 604 from slipping off from the spring pillar slide 606. The inner end of the inner cavity of each set of sliding pillars 509 is also fixed with an inner retainer 608. One end of the compression spring 609 is fixed to the side of the spring pillar fixed seat 607, and the other end is fixed to the side of the inner retainer 608.

[0077] The elastic force generated by the compression spring 609 allows the spring post 604 to be in an elastically outward-expanding state.

[0078] The specific structure of the release assembly 7 is as follows: Figure 12 and Figure 13 As shown, the operating cavity 705 is opened in the main body of the top connecting seat 508 and communicates with the inner cavity of the sliding column 509. The release cylinder 706 is installed and fixed in the inner cavity of the operating cavity 705, and the bottom end of the pushing inclined block 707 is fixedly connected to the telescopic rod of the release cylinder 706.

[0079] Each set of spring post bases 607 has a square sliding post 701 fixed to its inner end. Each set of inner card bases 608 has a square sliding hole 702. The square sliding post 701 on the same side is slidably connected in the square sliding hole 702. The square sliding post 701 will not interfere with the compression spring 609. Each set of square sliding posts 701 has a counter-moving plate 703 fixed to its inner side. The passive inclined block 704 is fixedly connected to the bottom end of the counter-moving plate 703.

[0080] Furthermore, the two sets of shift plates 703 are arranged in parallel and do not intersect, which ensures that when the two sets of spring posts 604 move inward synchronously, there will be no interference between the two sets of shift plates 703. Thus, the structure formed by the shift plates 703 can be used to reduce the space occupied by the components connected to the spring posts 604.

[0081] By activating the release cylinder 706, the release cylinder 706 and the telescopic rod can drive the movement of the pusher block 707, thereby enabling the inclined surface at the top of the pusher block 707 to cooperate with the inclined surface at the bottom of the passive inclined block 704, so as to push the spring 604 and retract the spring 604.

[0082] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A leg structure for a quadruped robot, comprising a thigh rotation assembly (3) and a lower leg rotation axis (8), characterized in that: It also includes a calf rotation assembly (4), a retractable foot assembly (5), a sliding buckle assembly (6), and a detachment assembly (7); The lower leg rotation assembly (4) includes a lower leg (401), a lower leg connecting shaft (403) and a lower leg connecting rod (404); the retractable foot assembly (5) includes a telescopic electric cylinder fixed seat (510), a telescopic electric cylinder (511) and a telescopic rotating seat (512); the sliding buckle assembly (6) includes a spring clip hole (605); and the detachment assembly (7) includes a passive inclined block (704) and a pushing inclined block (707). The lower leg pivot (8) is fixed to the bottom end of the thigh rotation assembly (3) body, and the top end of the thigh rotation assembly (3) can rotate automatically. The lower leg (401) body is screwed to the lower leg pivot (8). The lower leg connecting shaft (403) is fixed to the outer side of the top end of the lower leg (401). The top end of the thigh rotation assembly (3) body is screwed to a conversion sleeve (405). One end of the conversion sleeve (405) is fixed to a connecting rod pivot (406). The upper end of the lower leg connecting rod (404) is screwed into the connecting rod pivot (406), and the lower end is screwed into the lower leg connecting shaft. In (403), the bottom end of the lower leg (401) is elastically slidably connected to a foot support (502), the top end of the foot support (502) is fixed to a top connecting seat (508), the top end of the top connecting seat (508) is symmetrically fixed to a sliding column (509), the telescopic electric cylinder fixed rotating seat (510) is fixed to the inner side of the top end of the lower leg (401), the telescopic rotating seat (512) is screwed into the lower leg rotating shaft (8), the main body of the telescopic electric cylinder (511) is screwed into the telescopic electric cylinder fixed rotating seat (510), and the telescopic rod of the telescopic electric cylinder (511) is connected to the telescopic rotating seat ( One end of the telescopic base (512) is screwed on, and the other end of the telescopic base (512) is symmetrically provided with telescopic grooves (514). The sliding column (509) on the same side slides in the telescopic groove (514). The main body of the lower leg (401) is symmetrically fixed with side guide seats (602). The inner surface of each set of side guide seats (602) is provided with a side guide groove (603). The spring hole (605) is opened at the bottom of the side guide seat (602). Each set of sliding columns (509) has a spring column (604) that slides outward in the main body. And within the sliding range of the sliding column (509) Inside, the spring (604) is always elastically slidable in the side guide groove (603), and the inner surface of the side guide seat (602) maintains a certain angle with the moving direction of the top connecting seat (508). When the foot support (502) moves to the unfolded state where it maintains the maximum distance from the lower leg (401), the spring (604) can just elastically snap into the spring clip hole (605). A passive inclined block (704) is fixedly connected to the lower side of the interior of each set of springs (604), and the interior of the top connecting seat (508) is provided with a push inclined block (707) that can move automatically upward.

2. The quadruped robot leg structure according to claim 1, characterized in that: The lower leg rotation assembly (4) also includes a push shaft (407), a rotary cylinder mounting base (408), and a rotary cylinder (409). Lower leg mounting bases (402) are installed and fixed on both sides of the middle part of the lower leg (401). The lower leg (401) is screwed to both ends of the lower leg shaft (8) through the lower leg mounting bases (402). The push shaft (407) is fixedly connected to the other end of the conversion sleeve (405). The main body of the rotary cylinder (409) is screwed to the rotary cylinder mounting base (408). The telescopic rod of the rotary cylinder (409) is screwed into the push shaft (407).

3. A quadruped robot leg structure according to claim 1 or 2, characterized in that: The lower leg (401) has symmetrically installed and fixed telescopic slides (501) at its bottom. Each set of telescopic slides (501) is slidably connected to a telescopic guide post (503). The top of the foot support (502) is fixedly connected to the bottom of the telescopic guide post (503), and the top of the telescopic guide post (503) is fixedly connected to the top connecting seat (508). The bottom of the foot support (502) is also fixedly installed with a foot pad (504). A buffer pad (505) is also sleeved and fixed between the top end and the telescopic guide post (503). Each set of telescopic guide posts (503) is also sleeved and installed with a top spring (507). One end of the top spring (507) is fixed to the bottom surface of the top connecting seat (508), and the other end is fixed to the inner bottom surface of the lower leg (401). One end of the telescopic rotating seat (512) is fixed with a telescopic rotating shaft (513), and the telescopic rod of the telescopic electric cylinder (511) is screwed into the telescopic rotating shaft (513).

4. A quadruped robot leg structure according to claim 1 or 2, characterized in that: The sliding buckle assembly (6) also includes a spring slide (606) and a compression spring (609). The main body of the lower leg (401) has side openings (601) on both sides. The side guide seat (602) on the same side is fixedly installed in the side opening (601). The inner cavities of the two sets of slides (509) are connected. The spring slide (606) is fixed at the outer end of the inner cavity of the slide (509). The spring (604) is slidably connected in the spring slide (606). The inner end of each set of springs (604) is also fixed with a spring retainer (607). The inner end of the inner cavity of each set of slides (509) is also fixed with an inner retainer (608). One end of the compression spring (609) is fixed to the side of the spring retainer (607), and the other end is fixed to the side of the inner retainer (608).

5. The quadruped robot leg structure according to claim 4, characterized in that: The detachment assembly (7) also includes an operating chamber (705) and a detachment electric cylinder (706). The operating chamber (705) is located in the main body of the top connecting seat (508) and communicates with the inner cavity of the sliding column (509). The detachment electric cylinder (706) is installed and fixed in the inner cavity of the operating chamber (705). The bottom end of the pushing inclined block (707) is fixedly connected to the telescopic rod of the detachment electric cylinder (706). The inner end of each set of spring column fixed seat (607) is fixed with a square sliding column (701). Each set of inner card seat (608) is provided with a square sliding hole (702). The square sliding column (701) on the same side is slidably connected in the square sliding hole (702). The inner side of each set of square sliding column (701) is fixed with a counter-moving plate (703). The passive inclined block (704) is fixedly connected to the bottom end of the counter-moving plate (703).

6. The quadruped robot leg structure according to claim 5, characterized in that: The two sets of opposing plates (703) are arranged in parallel and do not intersect each other.

7. A quadruped robot leg structure according to claim 1, 2, 5 or 6, characterized in that: The thigh rotation assembly (3) includes a thigh rotating seat (301), a thigh (302) and a thigh bottom rod (303). The thigh (302) is fixed between the thigh rotating seat (301) and the thigh bottom rod (303). The calf rotating shaft (8) is horizontally fixedly connected to the bottom end of the thigh bottom rod (303). The main body of the conversion sleeve (405) is screwed onto the outside of the thigh rotating seat (301).

8. A quadruped robot comprising the leg structure of a quadruped robot as described in any one of claims 1 to 7, characterized in that: It also includes a frame component (1), which includes a main frame (101). Two sets of main frames (101) are symmetrically distributed vertically. The front and rear sides of the two sets of main frames (101) are symmetrically provided with flip positions (102). Each set of flip positions (102) has connecting columns (103) on both sides, and the two ends of the connecting columns (103) are respectively fixedly connected between the two sets of main frames (101).

9. A quadruped robot according to claim 8, characterized in that: It also includes a side-flipping component (2), which includes a flipping seat (203) and an auxiliary seat (204). The side-flipping component (2) is installed on the outside of each flipping position (102). A flipping motor (201) is fixedly installed in the connecting column (103) on one side of the flipping position (102), and an auxiliary seat (202) is fixedly installed in the connecting column (103) on the other side. The flipping seat (203) is inserted and fixed in the rotating shaft of the flipping motor (201). The auxiliary seat (204) is rotatably connected in the auxiliary seat (202). A thigh rotation motor (205) is fixedly installed between the auxiliary seat (204) and the flipping seat (203) on the same side. The center of the thigh seat (301) is fixedly connected to the rotating shaft of the thigh rotation motor (205). The rotating electric cylinder fixed seat (408) is fixedly connected to one side of the flipping seat (203).

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