Joint connecting structure of quadruped robot

Abstract

The application provides a joint connecting structure of a quadruped robot, and belongs to the technical field of industrial robots. The joint connecting structure comprises a leg rotating connecting component, a double-power rotating driving assembly, a synchronous connecting rod assembly, a fixed-point locking assembly, a counter locking assembly and a rotating locking component. The lower leg frame is rotatably connected with the upper leg frame. The upper hydraulic cylinder and the lower hydraulic cylinder are cooperatively used to drive the lower leg frame to rotate relative to the upper leg frame. Meanwhile, the mechanical transmission structure formed by the synchronous connecting rod assembly can improve the consistency of the actions of the upper hydraulic cylinder and the lower hydraulic cylinder. The fixed-point locking assembly and the counter locking assembly connected in transmission can lock the lower leg frame relative to the upper leg frame at a certain rotating angle when needed, so that the quadruped robot can be conveniently kept in a non-using state. In addition, the elastic locking cooperation between the rotating locking column and the rotating locking groove can also realize the quick positioning of the fixed-point rotation of the lower leg frame relative to the upper leg frame. After the rotating locking column is retracted, the rotating action of the lower leg frame will not be affected.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial robots, in particular to a joint connecting structure of a quadruped robot. BACKGROUND

[0002] Quadruped robots are a form of bionic automation, which can be designed to replicate the walking patterns of animals and walk skillfully in complex environments.

[0003] With its unique point contact with the ground and excellent adaptability to complex terrain, quadruped robots have become the focus of automation and robotics engineering. In recent years, with the rapid development of artificial intelligence, quadruped robots have made great progress in structural design, motion planning and balance control. However, the payload capacity of quadruped robots has improved less, mainly due to the fact that traditional quadruped robots use only a single hydraulic drive or electric drive power source for one action, such as the rotation of the lower leg relative to the upper leg. A rotary motor is usually installed at the joint rotation, which can achieve fast response, but has the disadvantage of poor load-bearing capacity. SUMMARY

[0004] The purpose of the present application is to provide a joint connecting structure of a quadruped robot, which can greatly improve the load-bearing capacity of the quadruped robot through the coordinated action of the upper hydraulic cylinder and the lower hydraulic cylinder, and further improve the coordination degree of the upper hydraulic cylinder and the lower hydraulic cylinder through the transmission connection of the synchronous connecting rod assembly. The fixed-point locking assembly can keep the lower leg frame at a certain locking angle relative to the upper leg frame in the non-use state, so that the quadruped robot can maintain a stable state without power output.

[0005] The purpose of the present application is achieved by such a technical solution, a joint connecting structure of a quadruped robot, comprising a leg rotating joint component, a double-power rotary drive assembly, a synchronous connecting rod assembly and a fixed-point locking assembly, the leg rotating joint component comprising an upper leg frame and a lower leg frame, the double-power rotary drive assembly comprising an upper hydraulic cylinder and a lower hydraulic cylinder, the synchronous connecting rod assembly comprising a center sliding sleeve, a lower sliding rod and an upper sliding sleeve, and the fixed-point locking assembly comprising a locking block and a locking tooth block.

[0006] The upper part of the lower leg frame is rotatably connected to the lower part of the upper leg frame, the main body of the upper leg frame is fixedly connected to an inner fixed seat, the main bodies of the upper hydraulic cylinder and the lower hydraulic cylinder are rotatably connected to the upper and lower ends of the inner fixed seat, respectively, the outer end of the telescopic rod of the upper hydraulic cylinder is rotatably connected to the upper part of the lower leg frame, and the outer end of the telescopic rod of the lower hydraulic cylinder is rotatably connected to the middle part of the lower leg frame.

[0007] The outer end of the telescopic rod of the upper hydraulic cylinder is fixedly connected to an upper fixed rod, and the outer end of the telescopic rod of the lower hydraulic cylinder is fixedly connected to a lower fixed rod.

[0008] The inner end of the inner fixed seat is rotatably connected with a center rotating shaft, a center sliding sleeve is fixedly connected to the outer end of the center rotating shaft, one end of a lower sliding rod is rotatably connected with the other end of a lower fixed rod, the other end of the lower sliding rod is slidably connected with the center sliding sleeve, the outer end of the center rotating shaft is also rotatably connected with a center fixed rod, the other end of the center fixed rod is rotatably connected with an upper sliding rod, an upper sliding sleeve is rotatably connected with the other end of the upper fixed rod, and the other end of the upper sliding rod is slidably connected with the upper sliding sleeve.

[0009] The inner lower end of the thigh support is rotatably connected with an adjusting bolt, the lock block is threadedly connected with the adjusting bolt and slidably connected with the inner lower end of the thigh support, the other end of the upper sliding rod is fixedly connected with a connecting tooth block, the outer end of the lock block is fixedly connected with a locking sliding sleeve, the locking tooth block is slidably connected to the locking sliding sleeve in an outward elastic manner, and when the calf support is rotated relative to the calf rotating shaft to a certain angle, the connecting tooth block can be opposite to the locking tooth block, and with the movement of the lock block, the locking tooth block can be elastically clamped with the connecting tooth block.

[0010] The use process of the technical scheme of the present application is as follows:

[0011] Through the extension and retraction actions of the upper hydraulic cylinder and the lower hydraulic cylinder, the rotating action of the calf support relative to the thigh support can be realized, and the upper fixed rod and the lower fixed rod can be driven to rotate and move simultaneously with the movement of the extension rods of the upper hydraulic cylinder and the lower hydraulic cylinder.

[0012] When the lower fixed rod rotates and moves with the extension rod of the lower hydraulic cylinder, the lower sliding rod and the other end of the lower fixed rod can be rotatably connected, so as to drive the other end of the lower sliding rod to be slidably connected with the center sliding sleeve, drive the rotation of the center rotating shaft, drive the rotation of the center fixed rod, rotatably connect the center fixed rod with the upper sliding rod, so as to rotatably connect the other end of the upper sliding rod with the upper sliding sleeve.

[0013] When the calf support rotates relative to the thigh support, the upper sliding rod can be driven to rotate and move, and when the calf support rotates relative to the thigh support to a certain angle, the connecting tooth block can be opposite to the locking tooth block.

[0014] At this time, the adjusting bolt can be screwed by using a standard tool, so that the adjusting bolt is in threaded connection with the locking block, drives the locking tooth block to move in the direction of the connecting tooth block, and makes the locking tooth block elastically clamped to the connecting tooth block, so that the upper slide rod can be elastically locked in the current position, and the lower leg frame can be stopped in the current rotating state relative to the upper leg frame after the driving power of the upper hydraulic cylinder and the lower hydraulic cylinder is removed in the non-use state, so that the quadruped robot can be conveniently and stably parked in the non-use state.

[0015] By adopting the technical scheme, the present application can have the following beneficial effects:

[0016] (1) The present application is based on the screw connection between the lower leg frame and the upper leg frame, and the upper hydraulic cylinder and the lower hydraulic cylinder are arranged on both sides of the screw connection, and the rotation of the lower leg frame relative to the upper leg frame can be realized through the joint action of the upper hydraulic cylinder and the lower hydraulic cylinder, which has the characteristic of stronger bearing capacity compared with the single driving mode, and is more suitable for the bearing type quadruped robot.

[0017] (2) In order to improve the coordination and consistency of the extension and retraction of the upper hydraulic cylinder and the lower hydraulic cylinder, the present application further comprises a synchronous connecting rod assembly, and the center slide sleeve and the center fixed rod are fixedly connected with the center rotating shaft based on the screw connection in the inner fixed seat, on the one hand, the lower slide rod is in transmission connection between the center slide sleeve and the lower fixed rod, and on the other hand, the upper slide rod and the upper slide sleeve are in transmission connection between the center fixed rod and the upper fixed rod, so that the mechanical transmission structure in the synchronous connecting rod assembly can form a synchronous action when the lower leg frame rotates relative to the upper leg frame, and the upper fixed rod is fixedly connected with the outer end of the telescopic rod of the upper hydraulic cylinder, and the lower fixed rod is fixedly connected with the outer end of the telescopic rod of the lower hydraulic cylinder, so that the consistency of the joint action of the upper hydraulic cylinder and the lower hydraulic cylinder can be ensured through the mechanical transmission mechanism in the synchronous connecting rod assembly.

[0018] (3) In order to stably place and stay the quadruped robot in the non-use state, the present application further comprises a fixed-point locking assembly, and the purpose of arranging the fixed-point locking assembly is that when the lower leg frame rotates relative to the upper leg frame to a certain angle, the connecting tooth block can be moved to the position opposite to the locking tooth block, at this time, the movement of the locking sleeve and the locking tooth block driven by the adjustable locking block can make the teeth of the locking tooth block and the teeth of the connecting tooth block interlock, so that the locking tooth block can lock the position of the connecting tooth block, thereby enabling the lower leg frame to stably stay at a certain rotating angle relative to the upper leg frame in the non-use state. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to make the technical solutions in the embodiments of the present application or the prior art clearer, the accompanying drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0020] Figure 1 The overall structure schematic diagram of the joint connecting structure of the quadruped robot provided by the present application is shown in the figure.

[0021] Figure 2 The structure schematic diagram of the leg rotating connecting member of the present application is shown in the figure.

[0022] Figure 3 The connection structure schematic diagram of the double-power rotating driving assembly of the present application is shown in the figure.

[0023] Figure 4 The structure schematic diagram of the fixed rotating seat part of the present application is shown in the figure.

[0024] Figure 5 The structure schematic diagram of the synchronous connecting rod assembly of the present application is shown in the figure.

[0025] Figure 6 The structure schematic diagram of the center rotating shaft part of the present application is shown in the figure.

[0026] Figure 7 The structure schematic diagram of the fixed point locking assembly of the present application is shown in the figure.

[0027] Figure 8 The structure schematic diagram of the locking sliding column part of the present application is shown in the figure.

[0028] Figure 9 The structure schematic diagram of the opposite locking assembly of the present application is shown in the figure.

[0029] Figure 10 The connection structure schematic diagram of the driving bolt part of the present application is shown in the figure.

[0030] Figure 11 The structure schematic diagram of the rotating locking member of the present application is shown in the figure.

[0031] Figure 12 The connection structure schematic diagram of the inner sliding column part of the present application is shown in the figure.

[0032] 1, leg screwing member; 2, double-power screwing assembly; 3, synchronous connecting rod assembly; 4, fixed-point clamping assembly; 5, opposite clamping assembly; 6, screwing clamping member; 101, thigh frame; 102, small leg rotating shaft; 103, small leg frame; 104, small leg rotating seat; 105, upper groove; 106, upper driving screwing seat; 107, lower groove; 108, lower driving screwing seat; 201, inner fixing seat; 202, upper hydraulic cylinder; 203, lower hydraulic cylinder; 204, fixed screwing seat; 205, upper driving screwing shaft; 206, lower driving screwing shaft; 301, upper fixing shaft; 302, upper fixing rod; 303, lower fixing shaft; 304, lower fixing rod; 305, center rotating seat; 306, center rotating shaft; 307, center sliding sleeve; 308, lower sliding rod; 309, center fixing rod; 310, upper sliding sleeve; 311, upper sliding rod; 312, end column; 313, elastic compression spring; 401, connecting tooth block; 402, lock block sliding groove; 403, lock block; 404, side screwing seat; 405, opposite screwing seat; 406, adjusting bolt; 407, outer operation screwing hole; 408, outer operation screwing cylinder; 409, clamping connecting rod; 410, clamping sliding sleeve; 411, clamping sliding column; 412, clamping sliding groove; 413, clamping sliding block; 414, inner compression spring; 415, clamping tooth block; 501, opposite locking hole; 502, opposite sliding groove; 503, opposite sliding block; 504, opposite connecting rod; 505, opposite clamping sliding sleeve; 506, opposite sliding column; 507, opposite clamping sliding groove; 508, opposite clamping sliding block; 509, opposite clamping column; 510, opposite compression spring; 511, rotating gear; 512, transmission seat; 513, transmission connecting seat; 514, transmission bolt; 515, transmission gear; 601, screwing clamping groove; 602, side groove; 603, screwing clamping column; 604, middle connecting block; 605, recycling clamping sleeve; 606, inner top compression plate; 607, top spring; 608, inner sliding column. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0034] In the description of the present application, it should be noted that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0035] As shown in Figures 1-12 A joint connecting structure of a quadruped robot, the middle upper part of the calf frame 103 in the leg rotating member 1 is rotatably connected with the lower part of the thigh frame 101, the main body of the thigh frame 101 is fixedly connected with an inner fixed seat 201, the main bodies of an upper hydraulic cylinder 202 and a lower hydraulic cylinder 203 are rotatably connected at the upper and lower ends of the inner fixed seat 201, the outer end of the telescopic rod of the upper hydraulic cylinder 202 is rotatably connected with the upper part of the calf frame 103, and the outer end of the telescopic rod of the lower hydraulic cylinder 203 is rotatably connected with the middle part of the calf frame 103;

[0036] And the upper hydraulic cylinder 202 and the lower hydraulic cylinder 203 can act in conjunction to stably realize the rotation of the calf frame 103 relative to the thigh frame 101;

[0037] Since the rotatable connection structure formed by the calf frame 103 and the thigh frame 101 is the main load-bearing position of the quadruped robot, the structure uses the upper hydraulic cylinder 202 and the lower hydraulic cylinder 203 to realize the rotating action of the calf frame 103 relative to the thigh frame 101;

[0038] The hydraulic drive system has the advantage of large thrust force relative to the motor drive, but also has the disadvantages of poor reliability and low precision, so the structure is provided with a synchronous linkage assembly 3 between the upper hydraulic cylinder 202, the lower hydraulic cylinder 203, the leg frame 103 and the thigh frame 101;

[0039] The outer end of the telescopic rod of the upper hydraulic cylinder 202 is fixedly connected with an upper fixed rod 302, the outer end of the telescopic rod of the lower hydraulic cylinder 203 is fixedly connected with a lower fixed rod 304, and the setting direction of the upper fixed rod 302 is consistent with the movement direction of the telescopic rod of the upper hydraulic cylinder 202, and the setting direction of the lower fixed rod 304 is consistent with the movement direction of the telescopic rod of the lower hydraulic cylinder 203;

[0040] The center rotating shaft 306 is transversely screwed in the inner fixed seat 201, the center sliding sleeve 307 is fixedly connected to the outer end of the center rotating shaft 306, one end of the lower sliding rod 308 is screwed with the other end of the lower fixed rod 304, the other end of the lower sliding rod 308 is slidably connected with the center sliding sleeve 307, the outer end of the center rotating shaft 306 is further inserted with the center fixed rod 309, the other end of the center fixed rod 309 is screwed with the upper sliding rod 311, the upper sliding sleeve 310 is screwed with the other end of the upper fixed rod 302, the other end of the upper sliding rod 311 is slidably connected with the upper sliding sleeve 310;

[0041] By arranging the synchronous connecting rod assembly 3 between the upper hydraulic cylinder 202 and the lower hydraulic cylinder 203, the mechanical transmission structure in the synchronous connecting rod assembly 3 can be used to improve the precision of the coordinated action of the upper hydraulic cylinder 202 and the lower hydraulic cylinder 203;

[0042] The adjusting bolt 406 is screwed with the inner lower end of the thigh bracket 101, the locking block 403 is threadedly connected with the adjusting bolt 406 and slidably connected with the inner lower end of the thigh bracket 101, the other end of the upper sliding rod 311 is fixedly connected with the outer side of the connecting tooth block 401, the locking block 403 is fixedly connected with the outer end of one side of the locking sliding sleeve 410, the locking tooth block 415 is slidably connected with the locking sliding sleeve 410 and elastically moved outward, and after the calf bracket 103 is rotated relative to the calf rotating shaft 102 to a certain angle, the connecting tooth block 401 can be opposite to the locking tooth block 415, and with the movement of the locking block 403, the locking tooth block 415 can be elastically clamped with the connecting tooth block 401.

[0043] The working principle is as follows:

[0044] The calf bracket 103 and the thigh bracket 101 jointly form the leg structure of the quadruped robot, and the leg structure is connected with the body of the quadruped robot, and through the coordinated extension and retraction action of the extension rods of the upper hydraulic cylinder 202 and the lower hydraulic cylinder 203, the rotating action of the calf bracket 103 relative to the thigh bracket 101 can be realized;

[0045] And the extension rods of the upper hydraulic cylinder 202 and the lower hydraulic cylinder 203 can drive the rotating movement of the upper fixed rod 302 and the lower fixed rod 304, respectively, while the extension rods of the upper hydraulic cylinder 202 and the lower hydraulic cylinder 203 move;

[0046] When the lower fixed rod 304 rotates with the outer end of the telescopic rod of the lower hydraulic cylinder 203, the lower slide rod 308 can be connected with the other end of the lower fixed rod 304, so that the other end of the lower slide rod 308 is connected with the center slide sleeve 307, the rotation of the center rotating shaft 306 is driven, the rotation of the center fixed rod 309 is driven by the center rotating shaft 306, the center fixed rod 309 is connected with the upper slide rod 311, so that the other end of the upper slide rod 311 is connected with the upper slide sleeve 310. Since one end of the upper fixed rod 302 is connected with the outer end of the telescopic rod of the upper hydraulic cylinder 202, the upper slide sleeve 310 is connected with the other end of the upper fixed rod 302, the mechanical transmission structure is formed between the upper fixed rod 302 and the lower fixed rod 304, which can drive the upper hydraulic cylinder 202 and the lower hydraulic cylinder 203 to move, and the corresponding transmission action is formed, so that the mechanical transmission structure formed between the upper fixed rod 302 and the lower fixed rod 304 can improve the coordination of the upper hydraulic cylinder 202 and the lower hydraulic cylinder 203.

[0047] When the lower fixed rod 304 rotates with the outer end of the telescopic rod of the lower hydraulic cylinder 203, the lower slide rod 308 can be connected with the other end of the lower fixed rod 304, so that the other end of the lower slide rod 308 is connected with the center slide sleeve 307, the rotation of the center rotating shaft 306 is driven, the rotation of the center fixed rod 309 is driven by the center rotating shaft 306, the center fixed rod 309 is connected with the upper slide rod 311, so that the other end of the upper slide rod 311 is connected with the upper slide sleeve 310. Since one end of the upper fixed rod 302 is connected with the outer end of the telescopic rod of the upper hydraulic cylinder 202, the upper slide sleeve 310 is connected with the other end of the upper fixed rod 302, the mechanical transmission structure is formed between the upper fixed rod 302 and the lower fixed rod 304, which can drive the upper hydraulic cylinder 202 and the lower hydraulic cylinder 203 to move, and the corresponding transmission action is formed, so that the mechanical transmission structure formed between the upper fixed rod 302 and the lower fixed rod 304 can improve the coordination of the upper hydraulic cylinder 202 and the lower hydraulic cylinder 203.

[0048] At this time, the standard tool can be used to rotate the adjusting bolt 406 to form a threaded connection with the lock block 403, drive the locking block 415 to move towards the connecting block 401, and make the locking block 415 elastically connect with the connecting block 401, so that the upper slide rod 311 can be elastically locked in the current position, and the calf support 103 can be stopped in the current rotating state relative to the thigh support 101 after the driving power of the upper hydraulic cylinder 202 and the lower hydraulic cylinder 203 is removed in the non-use state, so that the four-legged robot can be stably parked in the non-use state.

[0049] The specific structure of the leg rotating connection member 1 and the double-power rotating drive assembly 2 is shown in Figure 2 、 Figure 3 and Figure 4 The inner lower end of the thigh support 101 is fixed with the calf rotating shaft 102.

[0050] The main body of the calf support 103 is provided with the calf rotating seat 104, and the calf rotating seat 104 is rotatably connected in the calf rotating shaft 102.

[0051] The upper part of the calf support 103 is provided with the upper groove 105, and the upper drive rotating seat 106 is symmetrically installed at the end of the upper part of the calf support 103.

[0052] The middle part of the lower leg frame 103 is provided with a lower groove 107, and a lower driving rotating seat 108 is symmetrically installed at the middle part of the main body of the lower leg frame 103;

[0053] The upper and lower ends of the inner fixed seat 201 are fixed with fixed rotating seats 204, and the main bodies of the upper hydraulic cylinder 202 and the lower hydraulic cylinder 203 are respectively rotatably connected to the different fixed rotating seats 204;

[0054] The upper driving rotating shaft 205 is transversely fixed at the outer end of the telescopic rod of the upper hydraulic cylinder 202, the lower driving rotating shaft 206 is transversely fixed at the outer end of the telescopic rod of the lower hydraulic cylinder 203, and the upper driving rotating shaft 205 is rotatably connected to the upper driving rotating seat 106, and the lower driving rotating shaft 206 is rotatably connected to the lower driving rotating seat 108;

[0055] When the upper hydraulic cylinder 202 and the lower hydraulic cylinder 203 are synchronously started and jointly drive the lower leg frame 103 to rotate relative to the upper leg frame 101, the telescopic rod of the upper hydraulic cylinder 202 is extended, and the telescopic rod of the lower hydraulic cylinder 203 is retracted, and vice versa, so that the rotation of the lower leg frame 103 relative to the upper leg frame 101 can be realized by the joint action of the upper hydraulic cylinder 202 and the lower hydraulic cylinder 203.

[0056] The specific structure of the synchronous connecting rod assembly 3 is shown in Figure 5 and Figure 6 The upper fixed shaft 301 is fixedly connected to one side of the outer end of the upper driving rotating shaft 205, the lower fixed shaft 303 is fixedly connected to one side of the outer end of the lower driving rotating shaft 206, one end of the upper fixed rod 302 is fixedly connected to the upper fixed shaft 301, and one end of the lower fixed rod 304 is fixedly connected to the lower driving rotating shaft 206;

[0057] The main body of the inner fixed seat 201 is fixedly provided with a center rotating seat 305, and a center rotating shaft 306 is rotatably connected to the center rotating seat 305;

[0058] The other end of the upper sliding rod 311 is fixedly provided with an end column 312, and an elastic compression spring 313 is sleeved and installed in the upper sliding rod 311, one end of the elastic compression spring 313 is clamped to the end column 312, and the other end is clamped to the upper sliding sleeve 310;

[0059] When the end column 312 moves to the farthest distance relative to the upper sliding sleeve 310, the elastic compression spring 313 still has a supporting elastic force to the end column 312, so that the elastic supporting force of the elastic compression spring 313 to the end column 312 can play a role in buffering the mechanical transmission mechanism in the synchronous connecting rod assembly 3.

[0060] The specific structure of the fixed-point locking assembly 4 is shown in Figure 7 and Figure 8 The connecting tooth block 401 is fixedly connected to the outer end of the end column 312;

[0061] The lock block sliding groove 402 is arranged at the lower end of the main body of the thigh support 101, and the lock block 403 is slidingly connected in the lock block sliding groove 402;

[0062] The inner part of the lower end of the main body of the thigh support 101 is fixed with the side rotating seat 404 and the opposite rotating seat 405, respectively, one end of the adjusting bolt 406 is rotatably connected in the side rotating seat 404, and the other end is rotatably connected in the opposite rotating seat 405;

[0063] The lock block sliding groove 402 is arranged at the lower end of the main body of the thigh support 101, and the lock block 403 is slidingly connected in the lock block sliding groove 402;

[0064] One end of the inner compression spring 414 is clamped to the inner bottom surface of the lock block sliding sleeve 410, and the other end is clamped to the inner side surface of the lock block sliding column 411, and the rear end of the lock block 415 is fixedly connected with the outer side surface of the lock block sliding column 411;

[0065] The elastic support force formed by the inner compression spring 414 can make the teeth of the lock block 415 and the connecting block 401 form elastic engagement after the lock block 415 contacts the connecting block 401, preventing hard connection and damage to the lock block 415 and the connecting block 401;

[0066] And the upper main body of the lower leg support 103 is also provided with an outer operation rotating hole 407, and the outer operation rotating cylinder 408 is rotatably connected in the outer operation rotating hole 407, and after the lower leg support 103 is rotated relative to the thigh support 101 to the position where the connecting block 401 and the lock block 415 are opposite, the position of the outer operation rotating cylinder 408 is just opposite to the position of the adjusting bolt 406. At this time, a standard inner hexagonal wrench can be inserted into the inner groove of the adjusting bolt 406 from the outer operation rotating cylinder 408 to rotate the adjusting bolt 406; that is, only when the lower leg support 103 is rotated to the set position relative to the thigh support 101, the adjusting bolt 406 can be rotated, preventing misoperation.

[0067] The specific structure of the opposite locking assembly 5 which can act together with the fixed-point locking assembly 4 to improve the safety effect of locking the upper sliding rod 311 is shown in Figure 9 and Figure 10 The opposite locking hole 501 is arranged at one end of the upper sliding rod 311, and the main body of the thigh support 101 is provided with an opposite sliding groove 502, and the opposite sliding block 503 is slidingly connected in the opposite sliding groove 502;

[0068] The opposite locking sleeve 505 is fixedly connected with the outer end side of the opposite slider 503 through the opposite connecting rod 504 of the corner structure, and the opposite slide column 506 is slidingly connected in the opposite locking sleeve 505;

[0069] The opposite locking sleeve 505 is fixedly connected with the outer end side of the opposite slider 503 through the opposite connecting rod 504 of the corner structure, and the opposite slide column 506 is slidingly connected in the opposite locking sleeve 505;

[0070] The opposite locking sleeve 505 is fixedly connected with the outer end side of the opposite slider 503 through the opposite connecting rod 504 of the corner structure, and the opposite slide column 506 is slidingly connected in the opposite locking sleeve 505;

[0071] Similarly, the elastic support force formed by the opposite compression spring 510 can make the opposite clamping column 509 form the elastic extrusion force of the opposite compression spring 510;

[0072] The opposite locking hole 501 is a tapered hole structure, and the opposite clamping column 509 is a tapered column structure corresponding to the opposite locking hole 501, so that the opposite clamping column 509 is inserted into the opposite locking hole 501;

[0073] The rotating gear 511 is inserted and fixed at the inner end of the adjusting bolt 406, and does not affect the movement operation of the lock block 403;

[0074] The transmission seat 512 is fixed on one side of the opposite rotating seat 405, the transmission connecting seat 513 is fixed inside the upper end of the thigh support 101, one end of the transmission bolt 514 is rotatably connected in the transmission seat 512, and the other end is rotatably connected in the transmission connecting seat 513;

[0075] The transmission gear 515 is inserted and fixed at one end of the transmission bolt 514, and is engaged with the rotating gear 511;

[0076] The transmission gear 515 is inserted and fixed at one end of the transmission bolt 514, and is engaged with the rotating gear 511;

[0077] When the adjusting screw 406 is screwed to form a threaded connection with the lock block 403, the lock tooth block 415 is moved to elastically lock the connecting tooth block 401, and at the same time, the transmission screw 514 is screwed through the transmission connection formed by the rotating gear 511 and the transmission gear 515, so that the transmission screw 514 forms a threaded connection with the opposite sliding block 503, and the opposite locking hole 501 is elastically pressed by the opposite clamping column 509, thereby synchronously locking the two ends of the upper sliding rod 311, and improving the safety effect of the position of the upper sliding rod 311 in the non-use state.

[0078] The inner fixed seat 201 is provided with a through hole in the middle of the main body, and the diameter of the through hole is greater than the outer diameter of the transmission screw 514, so that the interference with the transmission screw 514 is eliminated.

[0079] Preferably, in order to accurately rotate the lower leg support 103 to the non-use state relative to the upper leg support 101, the application further comprises a rotating clamping member 6, a rotating clamping groove 601 is formed in the bottom end of the main body of the upper leg support 101, a side groove 602 is formed in the middle of the main body of the lower leg support 103, and a pair of rotating clamping columns 603 are fixedly connected with a middle connecting block 604, an inner top pressing plate 606 is fixedly connected between the inner top end of the lower groove 107 and the rotating clamping column 603, and the middle connecting block 604 is slidably connected in the inner sliding column 608. The inner sliding column 608 is further sleeved with a top spring 607, one end of the top spring 607 is clamped to the top surface of the inner top pressing plate 606, and the other end is clamped to the bottom surface of the middle connecting block 604. The elastic support force of the middle connecting block 604 formed by the top spring 607 can make the rotating clamping column 603 be elastically clamped to the rotating clamping groove 601 without external force. After the lower leg support 103 is rotated relative to the upper leg support 101 and the rotating clamping column 603 is elastically clamped to the rotating clamping groove 601, the adjusting screw 406 is just opposite to the outer operating rotating cylinder 408, the connecting tooth block 401 is just opposite to the lock tooth block 415, and the opposite locking hole 501 is just opposite to the opposite clamping column 509, so that the lower leg support 103 can be conveniently rotated to a set angle relative to the upper leg support 101. In addition, the middle outer side of the lower leg support 103 is further fixedly provided with a recycling clamping sleeve 605 opening upward, and the rotating clamping column 603 can be downwardly clamped into the recycling clamping sleeve 605. The elastic clamping force of the rotating clamping column 603 formed by the recycling clamping sleeve 605 is much smaller than the elastic clamping force of the rotating clamping column 603, so that the rotating action of the lower leg support 103 relative to the upper leg support 101 is not affected during the normal operation of the quadruped robot.

[0080] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the present application; although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions recorded in the above embodiments can be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A joint connection structure for a quadruped robot, comprising a leg screw-in component (1), characterized in that: It also includes a dual-power rotary drive assembly (2), a synchronous linkage assembly (3), and a fixed-point locking assembly (4); The leg screw-in component (1) includes a thigh frame (101) and a lower leg frame (103); the dual-power rotary drive assembly (2) includes an upper hydraulic cylinder (202) and a lower hydraulic cylinder (203); the synchronous linkage assembly (3) includes a central sliding sleeve (307), a lower sliding rod (308) and an upper sliding sleeve (310); and the fixed-point locking assembly (4) includes a locking block (403) and a locking tooth block (415). The upper middle part of the lower leg support (103) is screwed to the lower part of the upper leg support (101). An inner fixed seat (201) is fixed in the main body of the upper leg support (101). The main bodies of the upper hydraulic cylinder (202) and the lower hydraulic cylinder (203) are respectively screwed to the upper and lower ends of the inner fixed seat (201). The outer end of the telescopic rod of the upper hydraulic cylinder (202) is screwed to the upper part of the lower leg support (103), and the outer end of the telescopic rod of the lower hydraulic cylinder (203) is screwed to the middle part of the lower leg support (103). An upper fixed rod (302) is fixed to the outer end of the telescopic rod of the upper hydraulic cylinder (202), and a lower fixed rod (304) is fixed to the outer end of the telescopic rod of the lower hydraulic cylinder (203). A central rotating shaft (306) is screwed in the inner fixed seat (201). A central sliding sleeve (307) is fixed to the outer end of the central rotating shaft (306). One end of the sliding rod (308) is connected to the lower fixed rod (304). The other end of the slide bar (308) is screwed to the other end of the slide bar (308), and the other end of the slide bar (308) is slidably connected to the center slide sleeve (307). The outer end of the center rotating shaft (306) is also inserted with the center fixed rod (309). The other end of the center fixed rod (309) is screwed to the upper slide bar (311). The other end of the upper slide bar (311) is fixed with the end post (312). The upper slide sleeve (310) is screwed to the other end of the upper fixed rod (302). The other end of the upper slide bar (311) is slidably connected to the upper slide sleeve (310). The inner lower end of the thigh frame (101) is screwed to the adjusting bolt (406). The locking block (403) is threaded to the adjusting bolt (406) and slidably connected to the inner lower end of the thigh frame (101). The other end of the upper slide bar (311) is fixed with the connecting tooth block (401). The outer side of the locking block (403) is fixed with the locking slide sleeve (410). The fixed-point locking assembly (4) also includes a locking block groove (402), a locking connecting rod (409), a locking sliding column (411), and an internal pressure spring (414). The connecting tooth block (401) is fixedly connected to the outer end of the end post (312). The locking block groove (402) is opened at the lower end of the main body of the thigh frame (101). The locking block (403) is slidably connected in the locking block groove (402). The lower end of the main body of the thigh frame (101) is respectively fixed with a side rotating seat (404) and a counter-rotating seat (405). One end of the adjusting bolt (406) is rotatably connected in the side rotating seat (404), and the other end is rotatably connected in the counter-rotating seat (405). The locking sleeve (410) is fixedly connected to one side of the outer end of the locking block (403) through the locking connecting rod (409). The locking sliding column (411) is slidably connected in the inside of the locking sleeve (410). The main body of the locking slide column (411) is symmetrically provided with locking grooves (412) on both sides. The locking slide column (411) is symmetrically fixed with locking sliders (413) on both sides. The locking sliders (413) on the same side are slidably connected in the locking grooves (412). One end of the inner pressure spring (414) is fixed to the inner bottom surface of the locking sleeve (410), and the other end is fixed to the inner side surface of the locking slide column (411). The rear end of the locking tooth block (415) is... It is fixedly connected to the outer side of the locking slide column (411); the locking tooth block (415) slides outward in the locking slide sleeve (410), and after the lower leg frame (103) rotates to a certain angle relative to the lower leg pivot (102), the connecting tooth block (401) can be directly opposite the locking tooth block (415). As the locking block (403) moves, the locking tooth block (415) can form an elastic engagement with the connecting tooth block (401).

2. The joint connection structure of a quadruped robot according to claim 1, characterized in that: The leg joint component (1) also includes an upper drive rotating seat (106) and a lower drive rotating seat (108). The lower inner end of the thigh frame (101) is fixed with a calf rotating shaft (102). The upper part of the main body of the calf frame (103) is equipped with a calf rotating seat (104). The calf rotating seat (104) is rotatably connected to the calf rotating shaft (102). The upper part of the calf frame (103) is provided with an upper groove (105). The upper drive rotating seat (106) is symmetrically installed at the upper end of the calf frame (103). The middle part of the calf frame (103) is provided with a lower groove (107). The lower drive rotating seat (108) is symmetrically installed on both sides of the middle part of the main body of the calf frame (103).

3. The joint connection structure of a quadruped robot according to claim 2, characterized in that: The dual-power rotary drive assembly (2) also includes an upper drive rotary shaft (205) and a lower drive rotary shaft (206). Both ends of the inner fixed seat (201) are fixed with fixed rotary seats (204). The main bodies of the upper hydraulic cylinder (202) and the lower hydraulic cylinder (203) are respectively screwed into different fixed rotary seats (204). The upper drive rotary shaft (205) is fixed to the outer end of the telescopic rod of the upper hydraulic cylinder (202), and the lower drive rotary shaft (206) is fixed to the outer end of the telescopic rod of the lower hydraulic cylinder (203). The upper drive rotary shaft (205) is rotatably connected to the upper drive rotary seat (106), and the lower drive rotary shaft (206) is rotatably connected to the lower drive rotary seat (108).

4. The joint connection structure of a quadruped robot according to claim 3, characterized in that: The synchronous linkage assembly (3) also includes an upper fixed shaft (301), a lower fixed shaft (303), and an elastic compression spring (313). The upper fixed shaft (301) is fixed to one side of the outer end of the upper drive shaft (205), and the lower fixed shaft (303) is fixed to one side of the outer end of the lower drive shaft (206). One end of the upper fixed rod (302) is fixedly connected to the upper fixed shaft (301), and one end of the lower fixed rod (304) is fixedly connected to the lower drive shaft (206). A central rotating seat (305) is fixedly installed inside the main body of the inner fixed seat (201). The central rotating shaft (306) is rotatably connected in the central rotating seat (305). The elastic compression spring (313) is sleeved and installed in the upper sliding rod (311). One end of the elastic compression spring (313) is engaged with the end post (312), and the other end is engaged with the upper sliding sleeve (310).

5. A joint connection structure for a quadruped robot according to any one of claims 1 to 4, characterized in that: The upper body of the lower leg support (103) is also provided with an external operating rotary hole (407). An external operating rotary cylinder (408) is rotatably connected in the external operating rotary hole (407). After the lower leg support (103) rotates relative to the thigh support (101) to the position where the connecting tooth block (401) and the locking tooth block (415) are directly opposite each other, the position of the external operating rotary cylinder (408) is exactly opposite to the position of the adjusting bolt (406).

6. A joint connection structure for a quadruped robot according to any one of claims 1 to 4, characterized in that: The upper inner end of the thigh frame (101) is also provided with a counter-locking assembly (5) that is connected to the fixed-point locking assembly (4) for transmission. The counter-locking assembly (5) includes a counter-locking hole (501), a counter-sliding slider (503), a counter-connecting rod (504), a counter-locking sleeve (505), a counter-sliding column (506), a counter-compression spring (510), a rotating gear (511), a transmission bolt (514), and a transmission gear (515). The counter-locking hole (501) is opened on the upper slide rod (311). At one end of the thigh support (101), the lower end of the main body is provided with a counter-sliding groove (502). The counter-sliding slider (503) is slidably connected in the counter-sliding groove (502). The counter-locking sleeve (505) is fixedly connected to one side of the outer end of the counter-sliding slider (503) through the counter-connecting rod (504). The counter-sliding column (506) is slidably connected in the counter-locking sleeve (505). The main body of the counter-locking sleeve (505) is symmetrically provided with counter-locking grooves (507) on both sides. (506) has opposing locking sliders (508) fixed symmetrically on both sides of its main body. The opposing locking sliders (508) on the same side are slidably connected in the opposing locking grooves (507). The outer end of the opposing sliding column (506) is fixed with an opposing locking pin (509). One end of the opposing compression spring (510) is fixed to the inner bottom surface of the opposing locking sleeve (505), and the other end is fixed to the inner end of the opposing sliding column (506). The rotating gear (511) is inserted and fixed to the inner end of the adjusting bolt (406). A transmission seat (512) is fixed to one side of the rotating seat (405), and a transmission connecting seat (513) is fixed inside the upper end of the thigh frame (101). One end of the transmission bolt (514) is rotatably connected to the transmission seat (512), and the other end is rotatably connected to the transmission connecting seat (513). The transmission gear (515) is inserted and fixed to one end of the transmission bolt (514) and meshes with the rotating gear (511). The opposing slider (503) is threadedly connected to the transmission bolt (514).

7. A joint connection structure for a quadruped robot according to any one of claims 2 to 4, characterized in that: A locking component (6) is also provided between the lower leg support (103) and the upper leg support (101). The locking component (6) includes a locking groove (601) and locking posts (603). The locking groove (601) is opened at the bottom of the main body of the upper leg support (101). The lower leg support (103) has symmetrically opened side grooves (602) in the middle of the main body, which are connected to the lower groove (107). A middle connecting block (604) is fixedly connected between the paired locking posts (603). The lower groove (107) is fixed with a middle connecting block (604). An inner top pressure plate (606) is fixedly connected to the inner top end of the inner top of the inner top pressure plate (606) and the lower groove (107). A middle connecting block (604) is slidably connected in the inner sliding block (608), and a rotating locking pin (603) on the same side is slidably connected in the side groove (602). A top spring (607) is also sleeved in the inner sliding block (608). One end of the top spring (607) is fixed to the top surface of the inner top pressure plate (606), and the other end is fixed to the bottom surface of the middle connecting block (604).

8. The joint connection structure of a quadruped robot according to claim 7, characterized in that: The outer side of the middle part of the lower leg bracket (103) is also symmetrically fixed with a recovery sleeve (605), and the rotating pin (603) can move downward and be inserted into the recovery sleeve (605).

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