Electrically driven explosion-proof quadruped robot

Abstract

The application discloses an electrically-driven explosion-proof quadruped robot. The robot comprises a trunk frame, a battery cavity and an electrical cavity arranged in the middle of the trunk frame, four hip joint driving modules arranged on the left and right sides of the outer end surfaces of the battery cavity and the electrical cavity, four thigh driving modules arranged at the four corners of the trunk frame, outer circumferential surfaces of the thigh driving module housings connected with rotors of the adjacent hip joint driving modules, four shank driving modules arranged on the outer sides of the thigh driving modules and connected with the rotors of the adjacent thigh driving modules, four thigh parts with inner upper end surfaces connected with outer end surfaces of the adjacent shank driving modules, and four shank parts with upper parts hingedly connected with lower ends of the adjacent thigh parts. The robot has the advantages that the thigh parts and the shank parts are driven by the hip joint driving modules, the thigh driving modules and the shank driving modules, the leg parts have good load bearing capacity, and the motion flexibility is good.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to an electrically-driven explosion-proof quadruped robot. BACKGROUND

[0002] The quadruped robot is a kind of mobile robot with high adaptability to complex terrain and practical application value, which can replace human beings to keep watch or transport supplies in extreme environment, and is widely applied to military, education and daily life. In the related art, the walking form of the robot is single, which cannot adapt to the walking demand of different scenes, and the different modules have cross and interference, which is not conducive to installation, disassembly and later maintenance. Moreover, the conventional foot-type robot cannot complete tasks such as transportation and inspection in flammable and explosive areas due to the lack of explosion-proof performance. SUMMARY

[0003] The present application relates to the field of robot technology, in particular to an electrically-driven explosion-proof quadruped robot.

[0004] The present application relates to the field of robot technology, in particular to an electrically-driven explosion-proof quadruped robot.

[0005] To achieve the above-mentioned purpose, the present application adopts the following technical scheme, comprising: a trunk frame, wherein a battery cavity and an electrical cavity are arranged in the middle part, and a battery and an electrical element are arranged in the battery cavity and the electrical cavity respectively;

[0006] Four hip joint driving modules are arranged on the left and right parts of the outer end surface of the battery cavity and the electrical cavity respectively;

[0007] Four thigh driving modules are arranged at the four corners of the trunk frame, and the outer peripheral surface of the thigh driving module shell is connected with the rotor of the adjacent hip joint driving module;

[0008] Four calf driving modules are arranged on the outer side of the thigh driving module and connected with the rotor of the adjacent thigh driving module respectively;

[0009] Four thigh parts are connected with the outer end surface of the adjacent calf driving module on the inner side of the upper end respectively;

[0010] Four calf parts are hingedly connected with the lower end of the adjacent thigh part respectively, and the upper end of the calf part is connected with the rotor of the calf driving module through the connecting rod arranged in the thigh part;

[0011] The four hip joint driving modules, the four thigh driving modules, the four shank driving modules, the four thigh parts and the four shank parts are in one-to-one correspondence; the battery and the electrical element are electrically connected with the hip joint driving module, the thigh driving module and the shank driving module respectively.

[0012] Preferably, further comprising:

[0013] A transmission driving member in a circular ring sheet structure is arranged in the thigh part and connected with the rotor of the shank driving module; a second connecting hole is arranged on the transmission driving member;

[0014] A driving end parallel in a semicircular sheet structure is detachably connected with the transmission driving member; an insertion slot adapted to the upper end of the connecting rod is arranged on the inner end face edge of the driving end parallel; a first connecting hole is arranged on the slot wall of the insertion slot;

[0015] A connecting rod arranged in the thigh part along the length direction; a first circular hole and a second circular hole are arranged on the upper end and the lower end of the connecting rod respectively;

[0016] A driving end hinge nut and a driving end hinge screw connect the driving end parallel, the upper end of the connecting rod and the transmission driving 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 connect the shank part and the lower end of the connecting rod through the first lug hole, the second circular hole and the second lug hole;

[0018] A pair of first lugs arranged on the upper end of the lower leg part; a first lug hole and a second lug hole are arranged on the pair of first lugs respectively;

[0019] The center of the driving end parallel, the first circular hole, the second circular hole and the hinge points of the thigh part and the lower leg part jointly constitute a parallelogram.

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

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

[0022] A foot end left pressing plate and a foot end right pressing plate are arranged at both sides of the foot end respectively, which are used for detachably connecting the foot end with the lower end of the calf part.

[0023] Preferably, it further comprises:

[0024] A cavity port is arranged at the upper end of the battery cavity and the electrical cavity respectively;

[0025] An upper cover is arranged, and the lower end surface of the upper cover is provided with a downward extending peripheral edge, the outer periphery of the peripheral edge is matched with the inner periphery of the cavity port, and the upper cover is detachably connected with the battery cavity or the electrical cavity through a bolt;

[0026] A pair of handles are arranged at the upper end surface of the upper cover respectively;

[0027] Among them, a splicing upper plate and a splicing lower plate are arranged between the battery cavity and the electrical cavity.

[0028] Preferably, it further comprises:

[0029] Four containing grooves are fixedly arranged at the left part and the right part of the outer end surface of the battery cavity and the electrical cavity respectively, which are used for containing the hip joint driving module respectively.

[0030] Preferably, the trunk frame comprises:

[0031] Four first pipe bodies are arranged in a rectangular shape;

[0032] First parallel plate and second parallel plate, which are respectively arranged at the front end and rear end of the four first tube bodies, and are respectively used for connecting the front end connection and rear end connection of the four first tube bodies;

[0033] Four second tube bodies, which are arranged in a rectangular shape and are located behind the first tube bodies, the front end of the second tube bodies is connected with the end of the connected first tube body through an angle iron;

[0034] Four third tube bodies, which are arranged in a rectangular shape and are located behind the second tube bodies, the front end of the third tube bodies is connected with the end of the adjacent second tube body through an angle iron;

[0035] Third parallel plate and fourth parallel plate, which are respectively arranged at the front end and rear end of the four third tube bodies, and are respectively used for connecting the front end connection and rear end connection of the four third tube bodies;

[0036] Among them, the first tube body and the third tube body are equal in length, 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 further comprises:

[0038] First hip clamping member and second hip clamping member, which are respectively arranged opposite to each other at the front and rear of the thigh driving module, the inner end face of the first hip clamping member and the second hip clamping member is respectively an arc surface, the arc surface is matched with the outer peripheral surface of the shell of the thigh driving module, and is detachably connected with the shell of the thigh driving module;

[0039] Hip driving member, the outer end face of which is detachably connected with the rotor of the hip joint driving module; the inner end face of the hip driving member is connected with the second hip clamping member;

[0040] Among them, a convex shaft is arranged on the outer end face of the first hip clamping member, a through hole is arranged on the first parallel plate and the fourth parallel plate corresponding to the position of the convex shaft, an adapter matched with the convex shaft is arranged in the through hole, and the adapter is fixed in the through hole by a positioning member.

[0041] Preferably, it further comprises:

[0042] An armored explosion-proof joint is arranged at the inner end of the thigh driving module, a plurality of terminal posts are respectively arranged on the side walls of the battery cavity and the electrical cavity, and the armored explosion-proof joint is electrically connected with the terminal posts.

[0043] Preferably, it further comprises:

[0044] An explosion-proof copper ring is sleeved on the outer periphery of the rotor of the hip joint driving module; a first annular flange extending outward is arranged on the outer periphery of the explosion-proof copper ring;

[0045] A first explosion-proof member is sleeved on the outer periphery of the explosion-proof copper ring; a first annular groove matched with the first annular flange is arranged on the lower end of the inner periphery of the first explosion-proof member; and the lower end surface of the first explosion-proof member is flush with the lower edge of the first annular flange;

[0046] A second explosion-proof member is sleeved on the outer periphery of the first explosion-proof member; a first circular ring extending inward is arranged on the lower end of the second explosion-proof member; the upper end surface of the first circular ring is in abutment with the lower end surface of the first annular flange and the first explosion-proof member; the inner periphery of the first circular ring is in abutment with the outer periphery of the first explosion-proof member; and the lower end surface of the first circular ring is in abutment with the outer shell of the hip joint driving module;

[0047] Wherein, a second circular ring and a third circular ring extending outward are arranged on the upper ends of the first explosion-proof member and the second explosion-proof member respectively; and the upper end surface of the third circular ring is in abutment with the lower end surface of the second circular ring.

[0048] The application has the advantages that: the hip joint driving module, the thigh driving module and the lower leg driving module are used to drive the thigh part and the lower leg part, the leg part has good carrying capacity and good motion flexibility; the battery and the electrical components are arranged in the battery cavity and the electrical cavity respectively, and the explosion-proof requirement is met. BRIEF DESCRIPTION OF DRAWINGS

[0049] Figure 1 It is a perspective view of the electrically-driven explosion-proof quadruped robot.

[0050] Figure 2 It is a perspective view of the trunk frame.

[0051] Figure 3 It is an explosion view of the battery cavity, the electrical cavity and the hip joint driving module.

[0052] Figure 4 It is an explosion view of the first hip part clamping member, the second hip part clamping member, the thigh driving module and the lower leg driving module.

[0053] Figure 5 It is an explosion view of the thigh part and the lower leg part.

[0054] Figure 6 It is a sectional view of the containing groove.

[0055] Figure 7 It is a sectional view of the battery cavity. DETAILED DESCRIPTION

[0056] The application will be further described in detail below with reference to the drawings, so that those skilled in the art can implement the application according to the description.

[0057] It should be understood that the terms such as "have", "contain" and "include" used herein do not exclude the presence or addition of one or other elements or combinations thereof.

[0058] As shown in the drawings, an electrically-driven explosion-proof quadruped robot 1 of the application comprises: Figures 1-7

[0059] A trunk frame 100, wherein a battery cavity 110 and an electrical cavity 120 are arranged in the middle, and a battery and electrical elements are arranged in the battery cavity 110 and the electrical cavity 120, respectively;

[0060] Four hip joint driving modules 200, which are arranged on the left and right sides of the outer end surface of the battery cavity 110 and the electrical cavity 120, respectively;

[0061] Four thigh driving modules 300, which are arranged at the four corners of the trunk frame 100, and the outer peripheral surface of the shell of the thigh driving module 300 is connected with the rotor 210 of the adjacent hip joint driving module 200;

[0062] Four shank driving modules 400, which are arranged on the outside of the thigh driving module 300 and are connected with the rotor of the adjacent thigh driving module 300, respectively;

[0063] Four thigh parts 500, the inner side surface of the upper end of which is connected with the outer end surface of the adjacent shank driving module 400, respectively;

[0064] Four shank parts 600, the upper part of which is hingedly connected with the lower end of the adjacent thigh part 500, respectively; the upper end of the shank part 600 is connected with the rotor of the shank driving module 400 through the connecting rod 550 arranged in the thigh part 500, respectively;

[0065] Among them, the four hip joint driving modules 200, the four thigh driving modules 300, the four shank driving modules 400, the four thigh parts 500 and the four shank parts 600 correspond one by one; the battery and the electrical elements are electrically connected with the hip joint driving module 200, the thigh driving module 300 and the shank driving module 400, respectively.

[0066] In use, the thigh driving module 300 drives the shank driving module 400 shell to rotate and drive the thigh part 500 to swing; the rotor of the shank driving module 400 drives the shank part 600 to swing through the connecting rod 550, and the hip joint driving module 200 drives the shell of the thigh driving module 300 to swing. In the process, the battery and the electrical elements are arranged in the battery cavity 110 and the electrical cavity 120, respectively, to meet the explosion-proof requirement.​

[0067] In another embodiment, the system further includes: a transmission drive component 530, which is an annular plate-shaped structure disposed within the thigh portion 500 and connected to the rotor of the calf drive module 400; a second connecting hole 531 is provided on the transmission drive component 530; a drive end parallel connector 540, which is a semi-circular plate-shaped structure detachably connected to the transmission drive component 530, and an insertion groove adapted to the upper end of the connecting rod 550 is provided on the inner end face edge of the drive end parallel connector 540, and a first connecting hole 542 is provided on the groove wall of the insertion groove; a connecting rod 550 disposed within the thigh portion along its length, and a first circular hole 551 and a second circular hole 552 are provided at the upper and lower ends of the connecting rod, respectively; a drive end hinge nut 561 and a drive end hinge screw 56. 2. The drive end parallel 540, the upper end of the connecting rod 550, and the transmission drive component 530 are connected through the first connecting hole 542, the first round hole 551, and the second connecting hole 552. A pair of first lifting lugs 570 are provided on the upper end of the lower leg 600, and the pair of first lifting lugs 570 are respectively provided with first lifting lug holes 571 and second lifting lug holes 572. The driven end hinge nut 581 and the driven end hinge screw 582 are connected through the first lifting lug hole 571, the second round hole 552, and the second lifting lug hole 572 to the lower end of the lower leg 600 and the connecting rod 550. The center of the drive end parallel 540, the first round hole 551, the second round hole 552, and the hinge point of the thigh 500 and the lower leg 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 which 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, which is coaxially arranged with the insertion port 521; a first pressing plate hole 512 and a second pressing plate hole 522 are coaxially arranged at the lower end of the thigh outer part 510 and the thigh inner part 520 respectively; the thigh inner part 520 is connected with the shell of the calf driving module 400; a protruding shaft 541 extending outward is provided at the center of the driving end parallel 540, which is matched with the protruding shaft hole 511; a hinge hole 610 is provided at the upper part of the calf part 600, and a knee bearing 611 is arranged in the hinge hole; a bearing hole 611a is provided at the center of the knee bearing 611; a first cover shaft 612 and a second cover shaft 613 are arranged at the two sides of the hinge hole 610 respectively; a first mounting through hole 612a and a second mounting through hole 613a are provided at the center of the first cover shaft 612 and the second cover shaft 613 respectively; a first thrust bearing 614 and a second thrust bearing 615 are respectively sleeved on the outer periphery of the first cover shaft 612 and the second cover shaft 613; a pressing plate screw 616 and a pressing plate nut 617 are connected through the first pressing plate hole 512, the first mounting through hole 612a, the bearing hole 611a, the second mounting through hole 613a and the second pressing plate hole 522, so as to realize the hinge connection between the thigh part 500 and the calf part 600. As a preferred, a parallel bearing 511a for rolling supporting the protruding shaft 541 is arranged in the protruding shaft hole 511, which is fixed in the protruding shaft hole 511 through a parallel bearing positioning part 511b.

[0069] In another embodiment, it further comprises: a foot end 710 sleeved with the lower end of the calf part 600; a foot end left pressing plate 720 and a foot end right pressing plate 730 arranged at the two sides of the foot end 710 respectively, for detachably connecting the foot end 710 with the lower end of the calf part 600.

[0070] In another embodiment, it further comprises: a cavity port 111 and a cavity port 121 arranged at the upper end of the battery cavity 110 and the electrical cavity 120 respectively; an upper cover 130, the lower end surface of which is provided with a downward extending periphery 131, the outer periphery of which is matched with the inner periphery of the cavity port 111 and the cavity port 121, the upper cover 130 is detachably connected with the battery cavity 110 or the electrical cavity 120 through bolts; a pair of handles 132 arranged at the upper end surface of the upper cover 130 respectively; wherein, a splicing upper plate 133 and a splicing lower plate 134 are arranged between the battery cavity 110 and the electrical cavity 120.

[0071] In another embodiment, further comprising: four accommodating grooves 135 respectively fixed on the left and right sides of the outer end surface of the battery cavity 110 and the electrical cavity 120, for respectively accommodating the hip joint driving module 200.

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

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

[0074] In another embodiment, further comprising: a armored explosion-proof joint 310 is arranged at the inner end of the thigh driving module 300, a plurality of terminal posts 150 are arranged on the side wall of the battery cavity 110 and the electrical cavity 120 respectively, and the armored explosion-proof joint 310 is electrically connected with the terminal posts 150.

[0075] In another embodiment, further comprising: an explosion-proof copper ring 910 is arranged around the rotor of the hip joint driving module 200; a first annular flange 911 extending outward is arranged at the outer periphery of the explosion-proof copper ring 910; a first explosion-proof member 920 is arranged around the explosion-proof copper ring 910, and a first annular groove 921 matching the first annular flange 911 is arranged at the lower end of the inner periphery of the first explosion-proof member 920, and the lower end surface of the first explosion-proof member 920 is flush with the lower edge of the first annular flange 911; a second explosion-proof member 930 is arranged around the first explosion-proof member 920, and a first circular ring 931 extending inward is arranged at the lower end of the second explosion-proof member 920, 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 member 920, and the inner periphery of the first circular ring 931 abuts against the outer periphery of the first explosion-proof member 920; the lower end surface of the first circular ring 931 abuts against the outer shell of the hip joint driving module 200; wherein a second circular ring 922 and a third circular ring 932 extending outward are arranged at the upper end of the first explosion-proof member 920 and the second explosion-proof member 930 respectively, 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 electrically-driven explosion-proof quadruped robot 1 of the present application drives the thigh part 500 and the lower leg part 600 through the hip joint driving module 200, the thigh driving module 300 and the lower leg driving module 400, has good leg carrying capacity and good motion flexibility, and separately arranges the battery and the electrical components in the battery cavity 110 and the electrical cavity 120 to meet the explosion-proof requirement.

[0077] Although the embodiments of the present application have been disclosed as above, it is not limited to the application and the embodiments listed in the specification, and can be fully applied to various fields suitable for the present application, and additional modifications can be easily realized by those skilled in the art, and therefore the present application is not limited to specific details and the figures shown and described herein, without departing from the general concept defined by the claims and the equivalent scope.

Claims

1. An electrically driven explosion-proof quadruped robot, characterized in that, The application relates to a robot, which comprises the following parts: a trunk frame, wherein a battery cavity and an electrical cavity are arranged in the middle part, and a battery and electrical components are arranged in the battery cavity and the electrical cavity respectively; four hip joint driving modules, which are arranged on the left and right sides of the outer end faces of the battery cavity and the electrical cavity respectively; four thigh driving modules, which are arranged at the four corners of the trunk frame respectively, and the outer circumferential surface of the thigh driving module shell is connected with the rotor of the adjacent hip joint driving module; four shank driving modules, which are arranged outside the thigh driving modules respectively and are connected with the rotors of the adjacent thigh driving modules respectively; four thigh parts, the inner side surfaces of the upper ends of which are connected with the outer end surfaces of the adjacent shank driving modules respectively; four shank parts, the upper parts of which are hingedly connected with the lower ends of the adjacent thigh parts respectively, and the upper ends of the shank parts are connected with the rotors of the shank driving modules through the connecting rods arranged in the thigh parts respectively; the four hip joint driving modules, the four thigh driving modules, the four shank driving modules, the four thigh parts and the four shank parts correspond to each other respectively, and the battery and the electrical components are electrically connected with the hip joint driving modules, the thigh driving modules and the shank driving modules respectively; a transmission driving part, which is in the form of a circular ring sheet structure, is arranged in the thigh part and is connected with the rotor of the shank driving module, and a second connecting hole is arranged on the transmission driving part; a driving end parallel part, which is in the form of a semicircular sheet structure, is detachably connected with the transmission driving part, an insertion groove matched with the upper end of the connecting rod is arranged on the edge of the inner end surface of the driving end parallel part, and a first connecting hole is arranged on the groove wall of the insertion groove; a connecting rod, which is arranged in the thigh part along the length direction, and a first circular hole and a second circular hole are arranged on the upper end and the lower end of the connecting rod respectively; an explosion-proof copper ring, which is sleeved on the outer circumferential surface of the rotor of the hip joint driving module, and a first annular flange extending outward is arranged on the outer circumferential surface of the explosion-proof copper ring; a first explosion-proof part, which is sleeved on the outer circumferential surface of the explosion-proof copper ring, and a first annular groove matched with the first annular flange is arranged on the lower end of the inner circumferential surface of the first explosion-proof part, and the lower end surface of the first explosion-proof part is flush with the lower edge of the first annular flange; a second explosion-proof part, which is sleeved on the outer circumferential surface of the first explosion-proof part, and a first circular ring extending inward is arranged on the lower end of the second explosion-proof part, the upper end surface of the first circular ring is in abutment with the lower end surface of the first annular flange and the first explosion-proof part, the inner circumferential surface of the first circular ring is in abutment with the outer circumferential surface of the first explosion-proof part, and the lower end surface of the first circular ring is in abutment with the shell of the hip joint driving module; wherein a second circular ring and a third circular ring extending outward are arranged on the upper ends of the first explosion-proof part and the second explosion-proof part respectively, and the upper end surface of the third circular ring is in abutment with the lower end surface of the second circular ring.

2. The electrically-driven explosion-proof quadruped robot according to claim 1, characterized in that, The application further comprises: a driving end hinge nut and a driving end hinge screw, which connect the driving end parallel part, the upper end of the connecting rod and the transmission driving part 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 part and the lower end of the connecting rod through the first lug hole, the second circular hole and the second lug hole. A pair of first lifting lugs are arranged on the upper end of the lower leg part, and a first lifting lug hole and a second lifting lug hole are respectively arranged on the pair of first lifting lugs; The driving end parallel circle center, the first circle hole, the second circle hole, and the hinge joint of the upper leg 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 upper end of the upper leg inner part is provided with an insertion opening for the rotor of the lower leg driving module to extend into; the upper end of the upper leg outer part is provided with a protruding shaft hole coaxially arranged with the insertion opening; the lower end of the upper leg outer part and the upper leg inner part are coaxially provided with a first pressing plate hole and a second pressing plate hole, respectively; the upper leg inner part is connected with the shell of the lower leg driving module; a protruding shaft is arranged at the driving end parallel circle center and extends outward, and the protruding shaft is matched with the protruding shaft hole; a hinge hole is arranged on the upper part of the lower leg part, and a knee bearing is arranged in the hinge hole; a bearing hole is arranged at the center of the knee bearing; a first cover shaft and a second cover shaft are arranged on both sides of the hinge hole, respectively; a first mounting through hole and a second mounting through hole are arranged at the center of the first cover shaft and the second cover shaft, respectively; a first thrust bearing and a second thrust bearing are respectively sleeved on the outer periphery of the first cover shaft and the second cover shaft; a pressing plate screw and a pressing plate nut are connected through the first pressing plate hole, the first mounting through hole, the bearing hole, the second mounting through hole, and the second pressing plate hole, so as to realize the hinge connection of the upper leg part and the lower leg part.

4. The electrically-driven explosion-proof quadruped robot according to claim 1 or 2, characterized in that, Further comprising: A foot end is sleeved with the lower end of the lower leg part; A foot end left pressing plate and a foot end right pressing plate are respectively arranged on both sides of the foot end, and are used for detachably connecting the foot end and the lower end of the lower leg part.

5. The electrically-driven explosion-proof quadruped robot according to claim 1 or 2, characterized in that, Further comprising: A cavity opening is respectively arranged on the upper end of the battery cavity and the electrical cavity; An upper cover is provided with a downward extending peripheral edge at the lower end surface, and the outer periphery of the peripheral edge is matched with the inner periphery of the cavity opening; the upper cover is detachably connected with the battery cavity or the electrical cavity through a bolt; A pair of handles are respectively arranged on the upper end surface of the upper cover. A splicing upper plate and a splicing lower plate are arranged between the battery cavity and the electrical cavity.

6. The electrically-driven explosion-proof quadruped robot according to claim 5, characterized in that, Further comprising: Four accommodating grooves are respectively fixedly arranged on the left part and the right part of the outer end surface of the battery cavity and the electrical cavity, and are used for respectively containing a hip joint driving module.

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

8. The electrically-driven explosion-proof quadruped robot according to claim 7, characterized in that, Also comprising: The first hip clamping member and the second hip clamping member are oppositely arranged at the front and rear of the thigh driving module respectively, the inner end faces of the first hip clamping member and the second hip clamping member are arc-shaped faces respectively, the arc-shaped faces are matched with the outer peripheral face of the shell of the thigh driving module, and the arc-shaped faces are detachably connected with the shell of the thigh driving module; The outer end face of the hip driving member is detachably connected with the rotor of the hip joint driving module, and the inner end face of the hip driving member is connected with the second hip clamping member; A convex shaft is arranged on the outer end face of the first hip clamping member, a through hole is arranged on the first parallel plate and the fourth parallel plate at a position corresponding to the convex shaft, an adapter matched with the convex shaft is arranged 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 comprising: An armored explosion-proof joint is arranged at the inner end of the thigh driving module, a plurality of terminal posts are arranged on the side walls of the battery cavity and the electrical cavity respectively, and the armored explosion-proof joint is electrically connected with the terminal posts.

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