Electrically-driven anti-explosion quadruped robot

Abstract

The invention discloses an electrically driven anti-explosion quadruped robot. A battery cavity and an electrical cavity are formed in the middle of the trunk frame; the four hip joint driving modules are arranged on the left portion and the right portion of the outer end face of the battery cavity and the outer end face of the electric cavity respectively. The four thigh driving modules are respectively arranged at four corners of the trunk frame; the peripheral surface of the thigh driving module shell is connected with the rotor of the adjacent hip joint driving module; the four shank driving modules are arranged on the outer sides of the thigh driving modules respectively and connected with rotors of the adjacent thigh driving modules respectively; the inner side surfaces of the upper ends of the four thigh parts are respectively connected with the outer end surfaces of the adjacent shank driving modules; and the upper parts of the four shank parts are respectively hinged with the lower ends of the adjacent thigh parts. The robot has the beneficial effects that the thighs and the shanks are driven through the hip joint driving modules, the thigh driving modules and the shank driving modules, the leg bearing capacity is good, and movement maneuverability and flexibility are good.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to an electrically driven explosion-proof quadruped robot. Background Art

[0002] A quadruped robot is a mobile robot that is highly adaptable to complex terrain and has practical application value. It can replace humans in extreme environments to guard or transport supplies, and is widely used in military, education, and daily life. In related technologies, the robot's walking form is single and cannot adapt to the walking needs of different scenarios. In addition, there is intersection and interference between different modules, which is not conducive to installation, disassembly, and later maintenance. Moreover, conventional legged robots are not explosion-proof and cannot complete tasks such as transportation and inspection in flammable and explosive areas. Summary of the invention

[0003] The object of the present invention is to provide an electrically driven explosion-proof quadruped robot, which drives the thigh and calf through a hip joint drive module, a thigh drive module and a calf drive module, and has good leg load-bearing capacity and good movement mobility and flexibility.

[0004] Another object of the present invention is to provide an electrically driven explosion-proof quadruped robot, in which batteries and electrical components are respectively arranged in a battery cavity and an electrical cavity to meet explosion-proof requirements.

[0005] To achieve the above-mentioned object, the present invention adopts the following technical solution, including: a trunk frame, wherein a battery cavity and an electrical cavity are provided in the middle thereof, and batteries and electrical components are provided in the battery cavity and the electrical cavity respectively;

[0006] Four hip joint drive modules, which are respectively arranged on the left and right parts of the outer end surfaces of the battery cavity and the electrical cavity;

[0007] Four thigh drive modules are respectively arranged at the four corners of the trunk frame; the outer peripheral surface of the thigh drive module shell is connected to the rotor of the adjacent hip joint drive module;

[0008] Four calf drive modules, which are respectively arranged on the outside of the thigh drive modules and respectively connected to the rotors of the adjacent thigh drive modules;

[0009] The inner side surfaces of the upper ends of the four thigh parts are respectively connected to the outer end surfaces of the adjacent calf drive modules;

[0010] Four calf parts, the upper parts of which are respectively hinged to the lower ends of the adjacent thigh parts; the upper ends of the calf parts are respectively connected to the rotors of the calf driving module through connecting rods arranged in the thigh parts;

[0011] Among them, the four hip joint drive modules, four thigh drive modules, four calf drive modules, four thighs and four calves correspond to each other one by one; the battery and electrical components are electrically connected to the hip joint drive module, thigh drive module and calf drive module respectively.

[0012] Preferably, it also includes:

[0013] A transmission driving member, which is in a circular sheet structure, is disposed in the thigh portion and connected to the rotor of the calf driving module; a second connecting hole is provided on the transmission driving member;

[0014] The driving end is connected in parallel and is in a semicircular sheet structure. It is detachably connected to the transmission drive member. An insertion groove matching the upper end of the connecting rod is provided at the inner end edge of the driving end, and a first connecting hole is provided on the groove wall of the insertion groove;

[0015] A connecting rod is arranged in the thigh portion along the length direction, and a first circular hole and a second circular hole are respectively provided at the upper end and the lower end of the connecting rod;

[0016] A driving end hinge nut and a driving end hinge screw, which connect the driving end in parallel, the upper end of the connecting rod and the transmission drive member through the first connecting hole, the first circular hole and the second connecting hole;

[0017] A driven end hinge nut and a driven end hinge screw, which connect the shank portion and the lower end of the connecting rod through the first lifting ear hole, the second round hole and the second lifting ear hole;

[0018] A pair of first lifting ears, which are arranged at the upper end of the lower leg, and the pair of first lifting ears are respectively provided with a first lifting ear hole and a second lifting ear hole;

[0019] The center of the circle connected in parallel at the driving end, the first circular hole, the second circular hole, and the hinge point between the thigh part and the lower leg part together form a parallelogram.

[0020] Preferably, the thigh part is composed of an outer thigh part and an inner thigh part that are relatively buckled; an insertion port for the rotor of the calf driving module to extend into is provided at the upper end of the inner thigh part; a protruding shaft hole is provided at the upper end of the outer thigh part, and the protruding shaft hole is coaxially arranged with the insertion port; a first pressure plate hole and a second pressure plate hole are coaxially arranged at the lower ends of the outer thigh part and the inner thigh part respectively; the inner thigh part is connected to the outer shell of the calf driving module; a protruding shaft extending outward is provided at the center of the circle in parallel with the driving end, and the protruding shaft is connected to the protruding shaft hole adaptable; a hinge hole is provided on the upper part of the calf, and a knee bearing is provided in the hinge hole; a bearing hole is provided in the center of the knee bearing; the first cover shaft and the second cover shaft are respectively arranged on both sides of the hinge hole; the first mounting through hole and the second mounting through hole are provided in the center of the first cover shaft and the second cover shaft; the first thrust bearing and the second thrust bearing are respectively sleeved on the outer circumference of the first cover shaft and the second cover shaft; the pressure plate screw and the pressure plate nut pass through the first pressure plate hole, the first mounting through hole, the bearing hole, the second mounting through hole and the second pressure plate hole to realize the hinge connection of the thigh and the calf.

[0021] Preferably, it further comprises: a foot end, which is sleeved with the lower end of the calf;

[0022] The left foot end pressure plate and the right foot end pressure plate are respectively arranged on both sides of the foot end and are used to detachably connect the foot end with the lower end of the calf.

[0023] Preferably, it also includes:

[0024] Cavity openings, which are respectively arranged at the upper ends of the battery cavity and the electrical cavity;

[0025] An upper cover, whose lower end surface is provided with a peripheral edge extending downward, the outer periphery of the peripheral edge is adapted to the inner periphery of the cavity opening, and the upper cover is detachably connected to the battery cavity or the electrical cavity by bolts;

[0026] A pair of handles, which are respectively arranged on the upper end surfaces of the upper cover;

[0027] Wherein, a spliced ​​upper plate and a spliced ​​lower plate are provided between the battery cavity and the electrical cavity.

[0028] Preferably, it also includes:

[0029] Four accommodating grooves are respectively fixed on the left and right parts of the outer end surfaces of the battery cavity and the electrical cavity, and are used to respectively contain hip joint drive modules.

[0030] Preferably, the trunk frame comprises:

[0031] Four first tubes arranged in a rectangular shape;

[0032] A first parallel plate and a second parallel plate, which are respectively arranged at the front end and the rear end of the four first tube bodies, and are respectively used to connect the front end connection and the rear end connection of the four first tube bodies;

[0033] Four second tubes are arranged in a rectangular shape and are located behind the first tube. The front ends of the second tubes are connected to the ends of the connected first tubes through angle irons.

[0034] Four third tubes are arranged in a rectangular shape and are located behind the second tube. The front ends of the third tubes are connected to the ends of the adjacent second tubes through angle irons.

[0035] A third parallel plate and a fourth parallel plate, which are respectively arranged at the front end and the rear end of the four third pipe bodies, and are respectively used to connect the front end connection and the rear end connection of the four third pipe bodies;

[0036] The first tube body is equal in length to the third tube body, the spacing between the first tube bodies is opposite to the spacing between the third tube bodies, the length of the second tube body is greater than the length of the first tube body, and the spacing between adjacent second tube bodies is greater than the spacing between adjacent first tube bodies.

[0037] Preferably, it also includes:

[0038] A first hip clamp and a second hip clamp are respectively arranged at the front and rear of the thigh drive module, and the inner end surfaces of the first hip clamp and the second hip clamp are arc-shaped surfaces respectively, and the arc-shaped surfaces are adapted to the outer peripheral surface of the outer shell of the thigh drive module and are detachably connected to the outer shell of the thigh drive module;

[0039] A hip driving member, the outer end surface of which is detachably connected to the rotor of the hip joint driving module; the inner end surface of the hip driving member is connected to the second hip clamping member;

[0040] A convex shaft is provided on the outer end surface of the first hip clamp, through holes are provided on the first parallel plate and the fourth parallel plate at positions corresponding to the convex shaft, and an adapter matched with the convex shaft is provided in the through hole, and the adapter is fixed in the through hole by a positioning member.

[0041] Preferably, it also includes:

[0042] An armored explosion-proof joint is provided at the inner end of the thigh drive module, and a plurality of terminals are respectively provided on the side walls of the battery cavity and the electrical cavity, and the armored explosion-proof joint is electrically connected to the terminals.

[0043] Preferably, it also includes:

[0044] A flameproof copper ring is provided on the outer periphery of the rotor of the hip joint drive module; a first annular flange extending outward is provided on the outer periphery of the flameproof copper ring;

[0045] A first explosion-proof component is sleeved on the outer circumference of the explosion-proof copper ring, a first annular groove matching the first annular flange is provided at the lower end of the inner circumference of the first explosion-proof component, and the lower end surface of the first explosion-proof component is flush with the lower edge of the first annular flange;

[0046] A second explosion-proof component is sleeved on the outer periphery of the first explosion-proof component, and a first circular ring extending inward is provided at the lower end of the second explosion-proof component, the upper end surface of the first circular ring abuts against the first annular flange and the lower end surface of the first explosion-proof component, and the inner periphery of the first circular ring abuts against the outer periphery of the first explosion-proof component; the lower end surface of the first circular ring abuts against the outer shell of the hip joint driving module;

[0047] Wherein, a second circular ring and a third circular ring extending outward are respectively provided at the upper ends of the first explosion-proof component and the second explosion-proof component, and the upper end surface of the third circular ring abuts against the lower end surface of the second circular ring.

[0048] The invention has the following beneficial effects: the thigh and calf are driven by the hip joint drive module, the thigh drive module and the calf drive module, the leg has good load-bearing capacity and good mobility and flexibility. The battery and electrical components are respectively arranged in the battery cavity and the electrical cavity to meet the explosion-proof requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 The present invention is a three-dimensional diagram of an electrically driven explosion-proof quadruped robot.

[0050] Figure 2 It is a three-dimensional diagram of the trunk frame in the present invention.

[0051] Figure 3 An exploded view of the battery chamber, electrical chamber and hip joint drive module in the present invention.

[0052] Figure 4 It is an exploded view of the first hip clamp, the second hip clamp, the thigh drive module and the calf drive module in the present invention.

[0053] Figure 5 It is an exploded view of the thigh and calf in the present invention.

[0054] Figure 6 It is a cross-sectional view of the receiving groove in the present invention.

[0055] Figure 7 It is a cross-sectional view of the battery cavity in the present invention. DETAILED DESCRIPTION

[0056] The invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement it according to the description.

[0057] It should be understood that terms such as “having”, “including” and “comprising” used herein do not exclude the existence or addition of one or other elements or combinations thereof.

[0058] like Figure 1-7 As shown, an electrically driven explosion-proof quadruped robot 1 of the present invention comprises:

[0059] The trunk frame 100 has a battery chamber 110 and an electrical chamber 120 in the middle thereof, wherein batteries and electrical components are respectively arranged in the battery chamber 110 and the electrical chamber 120;

[0060] Four hip joint drive modules 200, which are respectively arranged on the left and right parts of the outer end surfaces of the battery chamber 110 and the electrical chamber 120;

[0061] Four thigh drive modules 300 are respectively arranged at the four corners of the trunk frame 100; the outer peripheral surface of the shell of the thigh drive module 300 is connected to the rotor 210 of the adjacent hip joint drive module 200;

[0062] Four calf driving modules 400, which are respectively arranged on the outside of the thigh driving modules 300 and are respectively connected to the rotors of the adjacent thigh driving modules 300;

[0063] The inner side surfaces of the upper ends of the four thigh parts 500 are respectively connected to the outer end surfaces of the adjacent calf driving modules 400;

[0064] Four calf parts 600, the upper parts of which are respectively hinged to the lower ends of the adjacent thigh parts 500; the upper ends of the calf parts 600 are respectively connected to the rotors of the calf driving module 400 through connecting rods 550 arranged in the thigh parts 500;

[0065] Among them, the four hip joint drive modules 200, the four thigh drive modules 300, the four calf drive modules 400, the four thigh parts 500 and the four calf parts 600 correspond to each other one by one; the battery and the electrical components are electrically connected to the hip joint drive module 200, the thigh drive module 300 and the calf drive module 400 respectively.

[0066] During use, the thigh drive module 300 drives the calf drive module 400 to rotate and drive the thigh 500 to swing; the rotor of the calf drive module 400 drives the calf 600 to swing through the connecting rod 550, and the hip joint drive module 200 drives the housing of the thigh drive module 300 to swing. In the process again, the battery and the electrical components are respectively arranged in the battery chamber 110 and the electrical chamber 120 to meet the explosion-proof requirements.

[0067] In another embodiment, it also includes: a transmission drive member 530, which is a circular sheet structure, arranged in the thigh part 500 and connected to the rotor of the calf drive module 400; a second connection hole 531 is provided on the transmission drive member 530; a driving end parallel 540, which is a semicircular sheet structure, which is detachably connected to the transmission drive member 530, and an insertion groove adapted to the upper end of the connecting rod 550 is provided on the inner end surface edge of the driving end parallel 540, and a first connection hole 542 is provided on the groove wall of the insertion groove; a connecting rod 550, which is arranged in the thigh part along the length direction, and a first circular hole 551 and a second circular hole 552 are respectively provided at the upper and lower ends of the connecting rod; a driving end hinge nut 561 and a driving end hinge screw 56 2, which connects the driving end parallel 540, the upper end of the connecting rod 550 and the transmission driving member 530 through the first connecting hole 542, the first circular hole 551 and the second connecting hole 552; a pair of first lifting ears 570, which are arranged at the upper end of the lower leg 600, and the first lifting ear holes 571 and the second lifting ear holes 572 are respectively provided on the pair of first lifting ears 570; a driven end hinge nut 581 and a driven end hinge screw 582, which connect the calf part 600 and the lower end of the connecting rod 550 through the first lifting ear hole 571, the second circular hole 552 and the second lifting ear hole 572; wherein, the center of the driving end parallel 540, the first circular hole 551, the second circular hole 552, and the hinge point of the thigh part 500 and the lower leg part 600 together form a parallelogram.

[0068] In another embodiment, the thigh part 500 is composed of a thigh outer part 510 and a thigh inner part 520 that are relatively buckled; an insertion port 521 is provided at the upper end of the thigh inner part 520 for the rotor of the calf driving module 400 to extend into; a protruding shaft hole 511 is provided at the upper end of the thigh outer part 510, and the protruding shaft hole 511 is coaxially arranged with the insertion port 521; a first pressure plate hole 512 and a second pressure plate hole 522 are coaxially arranged at the lower ends of the thigh outer part 510 and the thigh inner part 520 respectively; the thigh inner part 520 is connected to the outer shell of the calf driving module 400; a protruding shaft 541 extending outward is provided at the center of the driving end parallel 540, and the protruding shaft 541 is adapted to the protruding shaft hole 511; A hinge hole 610 is provided on the upper part of the part 600, and a knee bearing 611 is provided in the hinge hole; a bearing hole 611a is provided in the center of the knee bearing 611; the first cover shaft 612 and the second cover shaft 613 are respectively arranged on both sides of the hinge hole 610; the first mounting through hole 612a and the second mounting through hole 613a are provided in the center of the first cover shaft 612 and the second cover shaft 613; the first thrust bearing 614 and the second thrust bearing 615 are respectively sleeved on the outer periphery of the first cover shaft 612 and the second cover shaft 613; the pressure plate screw 616 and the pressure plate nut 617 pass through the first pressure plate hole 512, the first mounting through hole 612a, the bearing hole 611a, the second mounting through hole 613a and the second pressure plate hole 522 to realize the hinge connection of the thigh part 500 and the calf part 600. As a preference, a parallel bearing 511 a for rolling support of the protruding shaft 541 is provided in the protruding shaft hole 511 , and the parallel bearing 511 a is fixed in the protruding shaft hole 511 via a parallel bearing positioning member 511 b .

[0069] In another embodiment, it also includes: a foot end 710, which is sleeved with the lower end of the calf part 600; a left foot end pressure plate 720 and a right foot end pressure plate 730, which are respectively arranged on both sides of the foot end 710, for detachably connecting the foot end 710 with the lower end of the calf part 600.

[0070] In another embodiment, it also includes: a cavity opening 111 and a cavity opening 121, which are respectively arranged at the upper ends of the battery cavity 110 and the electrical cavity 120; an upper cover 130, whose lower end surface is provided with a peripheral edge 131 extending downward, and the outer periphery of the peripheral edge 131 is adapted to the inner periphery of the cavity opening 111 and the cavity opening 121, and the upper cover 130 is detachably connected to the battery cavity 110 or the electrical cavity 120 by bolts; a pair of handles 132, which are respectively arranged on the upper end surfaces of the upper cover 130; wherein a spliced ​​upper plate 133 and a spliced ​​lower plate 134 are provided between the battery cavity 110 and the electrical cavity 120.

[0071] In another embodiment, it further includes: four accommodating grooves 135, which are respectively fixed on the left and right parts of the outer end surfaces of the battery cavity 110 and the electrical cavity 120, and are used to respectively contain the hip joint driving modules 200.

[0072] In another embodiment, the trunk frame 100 includes: four first tubes 141, which are arranged in a rectangular shape; a first parallel plate 142 and a second parallel plate 143, which are respectively arranged at the front end and the rear end of the four first tubes 141, and are respectively used to connect the front end connection and the rear end connection of the four first tubes 141; four second tubes 144, which are arranged in a rectangular shape and are located behind the first tubes 141, and the front end of the second tubes 144 is connected to the end of the connected first tubes 141 through an angle iron 145; four third tubes 146, which are arranged in a rectangular shape and are located behind the second tubes 144, and the third The front end of the tube body 146 is connected to the end of the adjacent second tube body through an angle iron 145; the third parallel plate 147 and the fourth parallel plate 148 are respectively arranged at the front end and the rear end of the four third tube bodies 146, and are respectively used to connect the front end connection and the rear end connection of the four third tube bodies 146; wherein, the first tube body 141 and the third tube body 146 are of equal length, the spacing between the first tube bodies 141 is opposite to the spacing between the third tube bodies 146, the length of the second tube body 144 is greater than the length of the first tube body 141, and the spacing between adjacent second tube bodies 144 is greater than the spacing between adjacent first tube bodies 141.

[0073] In another embodiment, the present invention further comprises: a first hip clamp 810 and a second hip clamp 820, which are respectively arranged at the front and rear of the thigh driving module 300, and the inner end surfaces of the first hip clamp 810 and the second hip clamp 820 are arc-shaped surfaces, which are adapted to the outer peripheral surface of the shell of the thigh driving module 300 and are detachably connected to the shell of the thigh driving module 300; a hip driving component 830, whose outer end surface is connected to the hip joint driving module 200. The rotor is detachably connected; the inner end face of the hip driving member 830 is connected to the second hip clamping member 820; wherein, a convex shaft 811 is provided on the outer end face of the first hip clamping member 810, and a through hole 149 is provided at a position corresponding to the convex shaft 811 on the first parallel plate 142 and the fourth parallel plate 148, and an adapter 840 adapted to the convex shaft 811 is provided in the through hole 149, and the adapter 840 is fixed in the through hole 149 by a positioning member 850.

[0074] In another embodiment, it also includes: an armored explosion-proof joint 310 is provided at the inner end of the thigh drive module 300, and a plurality of terminal posts 150 are respectively provided on the side walls of the battery cavity 110 and the electrical cavity 120, and the armored explosion-proof joint 310 is electrically connected to the terminal posts 150.

[0075] In another embodiment, the invention further comprises: a flameproof copper ring 910, which is sleeved on the outer periphery of the rotor of the hip joint drive module 200; a first annular flange 911 extending outward is provided on the outer periphery of the flameproof copper ring 910; a first flameproof component 920, which is sleeved on the outer periphery of the flameproof copper ring 910, and a first annular groove 921 adapted to the first annular flange 911 is provided at the lower end of the inner periphery of the first flameproof component 920, and the lower end surface of the first flameproof component 920 is flush with the lower edge of the first annular flange 911; a second flameproof component 930, which is sleeved on the outer periphery of the first flameproof component 920, and the second flameproof component 930 is sleeved on the outer periphery of the second flameproof component 930. The lower end of the component 920 is provided with a first circular ring 931 extending inwardly, the upper end surface of the first circular ring 931 abuts against the lower end surface of the first annular flange 911 and the first explosion-proof component 920, and the inner periphery of the first circular ring 931 abuts against the outer periphery of the first explosion-proof component 920; the lower end surface of the first circular ring 931 abuts against the outer shell of the hip joint driving module 200; wherein, the upper ends of the first explosion-proof component 920 and the second explosion-proof component 930 are respectively provided with a second circular ring 922 and a third circular ring 932 extending outwardly, and the upper end surface of the third circular ring 932 abuts against the lower end surface of the second circular ring 922.

[0076] In summary, the present invention provides an electrically driven explosion-proof quadruped robot 1, which drives the thigh 500 and the calf 600 through the hip joint drive module 200, the thigh drive module 300 and the calf drive module 400, and has good leg bearing capacity and good mobility and flexibility. The battery and electrical components are respectively arranged in the battery cavity 110 and the electrical cavity 120 to meet the explosion-proof requirements.

[0077] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes, and they can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. An electrically driven explosion-proof quadruped robot, characterized in that: include: A trunk frame, wherein a battery cavity and an electrical cavity are provided in the middle thereof, wherein batteries and electrical components are provided in the battery cavity and the electrical cavity respectively; Four hip joint drive modules, which are respectively arranged on the left and right parts of the outer end surfaces of the battery cavity and the electrical cavity; Four thigh drive modules are respectively arranged at the four corners of the trunk frame; the outer peripheral surface of the thigh drive module shell is connected to the rotor of the adjacent hip joint drive module; Four calf drive modules, which are respectively arranged on the outside of the thigh drive modules and respectively connected to the rotors of the adjacent thigh drive modules; The inner side surfaces of the upper ends of the four thigh parts are respectively connected to the outer end surfaces of the adjacent calf drive modules; Four calf parts, the upper parts of which are respectively hinged to the lower ends of the adjacent thigh parts; the upper ends of the calf parts are respectively connected to the rotors of the calf driving module through connecting rods arranged in the thigh parts; Among them, the four hip joint drive modules, four thigh drive modules, four calf drive modules, four thighs and four calves correspond to each other one by one; the battery and electrical components are electrically connected to the hip joint drive module, thigh drive module and calf drive module respectively.

2. The electrically driven explosion-proof quadruped robot according to claim 1, characterized in that: Also includes: A transmission driving member, which is in a circular sheet structure, is disposed in the thigh portion and connected to the rotor of the calf driving module; a second connecting hole is provided on the transmission driving member; The driving end is connected in parallel and is in a semicircular sheet structure. It is detachably connected to the transmission drive member. An insertion groove matching the upper end of the connecting rod is provided at the inner end edge of the driving end, and a first connecting hole is provided on the groove wall of the insertion groove; A connecting rod is arranged in the thigh portion along the length direction, and a first circular hole and a second circular hole are respectively provided at the upper end and the lower end of the connecting rod; A driving end hinge nut and a driving end hinge screw, which connect the driving end in parallel, the upper end of the connecting rod and the transmission drive member through the first connecting hole, the first circular hole and the second connecting hole; A driven end hinge nut and a driven end hinge screw, which connect the shank portion and the lower end of the connecting rod through the first lifting ear hole, the second round hole and the second lifting ear hole; A pair of first lifting ears, which are arranged at the upper end of the lower leg, and the pair of first lifting ears are respectively provided with a first lifting ear hole and a second lifting ear hole; The center of the circle connected in parallel at the driving end, the first circular hole, the second circular hole, and the hinge point between the thigh part and the lower leg part together form a parallelogram.

3. The electrically driven explosion-proof quadruped robot according to claim 2, characterized in that: The thigh part is composed of an outer thigh part and an inner thigh part that are relatively buckled; an insertion port for the rotor of the calf driving module to extend into is provided at the upper end of the inner thigh part; a protruding shaft hole is provided at the upper end of the outer thigh part, and the protruding shaft hole is coaxially arranged with the insertion port; a first pressing plate hole and a second pressing plate hole are coaxially arranged at the lower ends of the outer thigh part and the inner thigh part respectively; the inner thigh part is connected to the outer shell of the calf driving module; a protruding shaft extending outward is provided at the center of the circle in parallel with the driving end, and the protruding shaft is adapted to the protruding shaft hole ; A hinge hole is provided on the upper part of the calf, and a knee bearing is provided in the hinge hole; a bearing hole is provided in the center of the knee bearing; a first cover shaft and a second cover shaft are respectively arranged on both sides of the hinge hole; a first mounting through hole and a second mounting through hole are provided in the center of the first cover shaft and the second cover shaft; a first thrust bearing and a second thrust bearing are respectively sleeved on the outer circumference of the first cover shaft and the second cover shaft; a pressure plate screw and a pressure plate nut pass through the first pressure plate hole, the first mounting through hole, the bearing hole, the second mounting through hole and the second pressure plate hole to realize the hinge connection of the thigh and the calf.

4. The electrically driven explosion-proof quadruped robot according to claim 1 or 2, characterized in that: Also includes: A foot end, which is provided with a sleeve on the lower end of the calf; The left foot end pressure plate and the right foot end pressure plate are respectively arranged on both sides of the foot end and are used to detachably connect the foot end with the lower end of the calf.

5. The electrically driven explosion-proof quadruped robot according to claim 1 or 2, characterized in that: Also includes: Cavity openings, which are respectively arranged at the upper ends of the battery cavity and the electrical cavity; An upper cover, whose lower end surface is provided with a peripheral edge extending downward, the outer periphery of the peripheral edge is adapted to the inner periphery of the cavity opening, and the upper cover is detachably connected to the battery cavity or the electrical cavity by bolts; A pair of handles, which are respectively arranged on the upper end surfaces of the upper cover; Wherein, a spliced ​​upper plate and a spliced ​​lower plate are provided between the battery cavity and the electrical cavity.

6. The electrically driven explosion-proof quadruped robot according to claim 5, characterized in that: Also includes: Four accommodating grooves are respectively fixed on the left and right parts of the outer end surfaces of the battery cavity and the electrical cavity, and are used to respectively contain hip joint drive modules.

7. The electrically driven explosion-proof quadruped robot according to claim 1 or 2, characterized in that: The trunk frame comprises: Four first tubes arranged in a rectangular shape; A first parallel plate and a second parallel plate, which are respectively arranged at the front end and the rear end of the four first tube bodies, and are respectively used to connect the front end connection and the rear end connection of the four first tube bodies; Four second tubes are arranged in a rectangular shape and are located behind the first tube. The front ends of the second tubes are connected to the ends of the connected first tubes through angle irons. Four third tubes are arranged in a rectangular shape and are located behind the second tube. The front ends of the third tubes are connected to the ends of the adjacent second tubes through angle irons. A third parallel plate and a fourth parallel plate, which are respectively arranged at the front end and the rear end of the four third pipe bodies, and are respectively used to connect the front end connection and the rear end connection of the four third pipe bodies; The first tube body is equal in length to the third tube body, the spacing between the first tube bodies is opposite to the spacing between the third tube bodies, the length of the second tube body is greater than the length of the first tube body, and the spacing between adjacent second tube bodies is greater than the spacing between adjacent first tube bodies.

8. The electrically driven explosion-proof quadruped robot according to claim 7, characterized in that: Also includes: A first hip clamp and a second hip clamp are respectively arranged at the front and rear of the thigh drive module, and the inner end surfaces of the first hip clamp and the second hip clamp are arc-shaped surfaces respectively, and the arc-shaped surfaces are adapted to the outer peripheral surface of the outer shell of the thigh drive module and are detachably connected to the outer shell of the thigh drive module; A hip driving member, the outer end surface of which is detachably connected to the rotor of the hip joint driving module; the inner end surface of the hip driving member is connected to the second hip clamping member; A convex shaft is provided on the outer end surface of the first hip clamp, through holes are provided on the first parallel plate and the fourth parallel plate at positions corresponding to the convex shaft, and an adapter matched with the convex shaft is provided in the through hole, and the adapter is fixed in the through hole by a positioning member.

9. The electrically driven explosion-proof quadruped robot according to claim 1, characterized in that: Also includes: An armored explosion-proof joint is provided at the inner end of the thigh drive module, and a plurality of terminals are respectively provided on the side walls of the battery cavity and the electrical cavity, and the armored explosion-proof joint is electrically connected to the terminals.

10. The electrically driven explosion-proof quadruped robot according to claim 1, characterized in that: Also includes: A flameproof copper ring is provided on the outer periphery of the rotor of the hip joint drive module; a first annular flange extending outward is provided on the outer periphery of the flameproof copper ring; A first explosion-proof component is sleeved on the outer circumference of the explosion-proof copper ring, a first annular groove matching the first annular flange is provided at the lower end of the inner circumference of the first explosion-proof component, and the lower end surface of the first explosion-proof component is flush with the lower edge of the first annular flange; A second explosion-proof component is sleeved on the outer periphery of the first explosion-proof component, and a first circular ring extending inward is provided at the lower end of the second explosion-proof component, the upper end surface of the first circular ring abuts against the first annular flange and the lower end surface of the first explosion-proof component, and the inner periphery of the first circular ring abuts against the outer periphery of the first explosion-proof component; the lower end surface of the first circular ring abuts against the outer shell of the hip joint driving module; Wherein, a second circular ring and a third circular ring extending outward are respectively provided at the upper ends of the first explosion-proof component and the second explosion-proof component, and the upper end surface of the third circular ring abuts against the lower end surface of the second circular ring.

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