A quadruped robot

Abstract

The four-legged robot provided by the present disclosure comprises a body, four sets of leg mechanisms symmetrically arranged on both sides of the body, and the leg mechanisms have a first deformation state and a second deformation state; when the four sets of leg mechanisms are in the first deformation state, the four-legged robot is in a robot dog mode; when the four sets of leg mechanisms are in the second deformation state, a positioning shaft of a hub assembly is combined with the body to make the four-legged robot in a balance car mode; a driving mechanism is used to drive the leg mechanisms to convert between the first deformation state and the second deformation state; a steering mechanism is installed at the front end of the body; a handle mechanism is rotatably connected to the steering mechanism and can drive the steering mechanism to rotate, so that the four-legged robot turns in the balance car mode. The four-legged robot of the present disclosure can meet the dual needs of users for robot dogs and balance cars. In the balance car mode, the hub assembly is combined with the body to form a rigid support, and the motors at the joints of the leg mechanisms do not need to continuously provide load.

Description

Technical Field

[0001] This disclosure relates to the field of intelligent robotics, and more particularly to a quadruped robot. Background Technology

[0002] Existing robotic dogs are primarily used as entertainment products. Their joint motor systems directly load the motors for movement, but continuous load can cause the motors to overheat, leading to performance degradation or even shutdown, posing significant safety hazards. Furthermore, the structure and purpose of robotic dogs are relatively limited, failing to meet the needs of carrying passengers. Summary of the Invention

[0003] This disclosure provides a quadruped robot to at least solve the above-mentioned technical problems existing in the prior art.

[0004] The quadruped robot disclosed herein includes a body, a drive mechanism, a handle mechanism, a steering mechanism, and four sets of leg mechanisms; wherein,

[0005] The four sets of leg mechanisms are symmetrically distributed on both sides of the fuselage body, and the leg mechanisms have a first deformation state and a second deformation state;

[0006] The leg mechanism includes a hub assembly. When the four sets of leg mechanisms are in the first deformation state, the quadruped robot is in robot dog mode. When the four sets of leg mechanisms are in the second deformation state, the positioning axis of the hub assembly is engaged with the body to enable the quadruped robot to be in balance vehicle mode.

[0007] The drive mechanism is used to drive the leg mechanism to switch between a first deformation state and a second deformation state;

[0008] The steering mechanism is installed at the front end of the main body, and the handle mechanism is rotatably connected to the steering mechanism and can drive the steering mechanism to rotate so that the quadruped robot can turn in balance vehicle mode.

[0009] In one possible embodiment, a positioning part is provided on the fuselage body;

[0010] The handle mechanism has an extended state and a folded state relative to the steering mechanism;

[0011] When the handle mechanism is in the unfolded state, the handle mechanism is perpendicular to the body and can drive the steering mechanism to rotate around the axis of the handle mechanism; when the handle mechanism is in the folded state, the handle mechanism cooperates with the positioning part to limit and lock the steering mechanism.

[0012] In one possible implementation, the steering mechanism includes:

[0013] A gear is rotatably mounted on the main body of the machine, the axis of rotation of the gear is perpendicular to the main body of the machine, and the handle mechanism is fixedly connected to the gear for driving the gear to rotate around its axis of rotation;

[0014] A rack meshes with the gear, and the rack is slidably mounted on the main body of the machine body and can reciprocate linearly along its length.

[0015] The linkage assembly has a first end hinged to the rack and pinion, and a second end used to drive the two leg mechanisms located at the front end of the fuselage body to turn.

[0016] In one possible implementation, a locking element is further included, wherein the locking element is provided with a locking interface;

[0017] The leg mechanism is mounted on the fuselage body via the locking element;

[0018] When the leg mechanism is in the second deformation state, the positioning shaft and the locking interface are fixed together.

[0019] In one embodiment, a control mechanism is further included, the control mechanism comprising a control component and a locking member, the control component being connected to the locking member for controlling the locking member to extend into the locking interface so that the locking member is fixed relative to the positioning shaft.

[0020] In one possible implementation, the control mechanism is configured to be triggered when the handle mechanism is disengaged from the folded state.

[0021] In one embodiment, the control component includes a hydraulic pump and a hydraulic hose, the hydraulic pump driving the locking member to extend into the locking member via the hydraulic hose.

[0022] In one embodiment, the leg mechanism further includes a thigh assembly and a lower leg assembly, the thigh assembly and the lower leg assembly being hinged together;

[0023] The drive mechanism includes a knee joint drive assembly, which is disposed at the knee joint hinge of the thigh assembly and the lower leg assembly, and is used to drive the lower leg assembly to rotate relative to the thigh assembly.

[0024] In one embodiment, the hub assembly is disposed at the knee joint hinge of the thigh assembly and the lower leg assembly.

[0025] In one embodiment, a transmission mechanism is also included, wherein the leg mechanism is mounted on the fuselage body via the transmission mechanism.

[0026] In this disclosure, because the quadruped robot shares the same supporting structure as its main body in both robot dog and balance scooter modes, hardware costs and device weight are reduced, achieving a compact structural design. This satisfies users' dual needs for both robot dog and balance scooter modes, providing convenience and saving costs. Through precise control of the drive mechanism, the leg mechanism can quickly and smoothly transition between the first and second deformation states, facilitating user operation. In balance scooter mode, the coordination between the steering mechanism and the handlebar mechanism gives the robot excellent maneuverability and stability, providing users with a safer and more comfortable riding experience. The wheel hub assembly, combined with the main body, forms a rigid support, eliminating the need for continuous load on the motors at the joints of the leg mechanism. This relieves the continuous load pressure on the joint motors, reduces the risk of motor overheating, and improves the stability and safety of the device's operation.

[0027] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0028] The above and other objects, features, and advantages of this disclosure will become readily apparent from the following detailed description of exemplary embodiments, taken in conjunction with the accompanying drawings. Several embodiments of this disclosure are illustrated in the drawings by way of example and not limitation, in which:

[0029] In the accompanying drawings, the same or corresponding reference numerals indicate the same or corresponding parts.

[0030] Figure 1 This illustration shows an overall structural diagram of a quadruped robot in mechanical dog mode, according to an exemplary embodiment of the present disclosure.

[0031] Figure 2 This illustration shows an overall structural diagram of a quadruped robot in balance vehicle mode, according to an exemplary embodiment of the present disclosure.

[0032] Figure 3 A schematic diagram of the steering mechanism of a quadruped robot, an exemplary embodiment of this disclosure, is shown.

[0033] Figure 4 A schematic diagram of the structure of a quadruped robot steering mechanism after steering is shown in an exemplary embodiment of this disclosure.

[0034] Figure 5 A cross-sectional view of a quadruped robot steering mechanism after steering, as shown in an exemplary embodiment of this disclosure, is illustrated.

[0035] Figure 6 A schematic diagram of the structure of a locking member of a quadruped robot according to an exemplary embodiment of the present disclosure is shown.

[0036] The following are the labels in the diagram: 1. Main body; 2. Handle mechanism; 3. Steering mechanism; 4. Leg mechanism; 5. Locking element; 6. Control mechanism; 7. Trigger sensor; 8. Transmission mechanism; 11. Positioning part; 31. Gear; 32. Rack; 33. Linkage assembly; 41. Hub assembly; 42. Thigh assembly; 43. Lower leg assembly; 51. Locking end; 52. Rotating shaft; 53. First connecting end; 54. Second connecting end; 61. Control component; 62. Locking element; 411. Positioning shaft; 511. Locking interface. Detailed Implementation

[0037] To make the objectives, features, and advantages of this disclosure more apparent and understandable, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0038] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings.

[0039] Reference Figure 1 and Figure 2 As shown, this disclosure discloses an exemplary embodiment of a quadruped robot, including a body 1, a drive mechanism, a handle mechanism 2, a steering mechanism 3, and four sets of leg mechanisms 4. The four sets of leg mechanisms 4 are symmetrically distributed on both sides of the body 1, and the leg mechanisms 4 have a first deformation state and a second deformation state. The leg mechanisms 4 include wheel hub assemblies 41. When the four sets of leg mechanisms 4 are in the first deformation state, the quadruped robot is in robot dog mode; when the four sets of leg mechanisms 4 are in the second deformation state, the positioning shaft 411 of the wheel hub assembly 41 is engaged with the body 1, so that the quadruped robot is in balance vehicle mode. The drive mechanism is used to drive the leg mechanisms 4 to switch between the first deformation state and the second deformation state; the steering mechanism 3 is mounted on the front end of the body 1, and the handle mechanism 2 is rotatably connected to the steering mechanism 3 and can drive the steering mechanism 3 to rotate, so that the quadruped robot turns in balance vehicle mode.

[0040] In this embodiment, the main body 1 serves as the core of the entire quadruped robot, integrating an electronic system including control circuits, a power management unit, and other necessary core components. The leg mechanisms 4 are symmetrically arranged, located on both sides of the main body 1. Each leg mechanism 4 consists of a hub assembly 41 and multiple joints, enabling the quadruped robot to perform complex multi-degree-of-freedom movements, switch between various motion postures, and transform between different operating modes. The connection between the hub assembly 41 and the main body 1 can be achieved using methods including, but not limited to, electromagnetic locks, hydraulic latches, or mechanical latches, to achieve automatic or manual locking. A drive mechanism (not shown) connects the main body 1 and the leg mechanisms 4. Specifically, it can use methods including, but not limited to, servo motors, hydraulic drives, or pneumatic drives as the drive source for the leg mechanisms 4, responsible for driving the leg mechanisms 4 to switch between the first deformation state and the second deformation state. It is understood that the drive mechanism includes motors and reducers located at the joints of the leg mechanisms 4. These components work together to ensure the flexible movement and precise control of the leg mechanisms 4. The handle mechanism 2 is located at the front of the main body 1, providing an ergonomic grip point for the user in balance scooter mode. The user controls the forward direction of the quadruped robot by manipulating the handle mechanism 2. The steering mechanism 3 is connected to the two sets of leg mechanisms 4 located at the front of the main body 1 and is linked with the handle mechanism 2 to enable the quadruped robot to turn in balance scooter mode.

[0041] Specifically, when the four leg mechanisms 4 are in the first deformation state, the quadruped robot is in the form of a robot dog. The joints of each leg mechanism 4 move freely, and the positioning shaft 411 of the wheel hub assembly 41 is separated from the main body 1. By controlling the drive mechanism, flexible movement of the leg joints can be achieved, enabling the robot to mimic the walking, running, and jumping movements of a real dog. In this mode, the quadruped robot can be used for companionship, inspection, performance, and other occasions, exhibiting high flexibility and adaptability. When it is necessary to switch from robot dog mode to balance scooter mode, the user can issue a mode conversion command through the control device (such as a remote control or a button on the main body 1). After receiving the command, the drive mechanism begins to drive the leg mechanisms 4 to undergo deformation conversion. During the conversion process, the joints of the leg mechanisms 4 gradually adjust their positions, and the positioning shaft 411 of the wheel hub assembly 41 gradually moves closer to the main body 1. When the leg mechanisms 4 are fully converted to the second deformation state, the positioning shaft 411 of the wheel hub assembly 41 tightly engages with the docking parts on the main body 1, forming a stable support structure. Since the handle mechanism 2 is rotatably connected to the steering mechanism 3, it can be manually rotated to a position that facilitates the linkage with the steering mechanism 3, typically a position where the handle mechanism 2 is perpendicular to the main body 1. The user holds the handle mechanism 2 and can rotate it to drive the steering mechanism 3, thereby controlling the quadruped robot's direction of travel. In balance scooter mode, the user can stand on the footrests of the quadruped robot's main body 1 and hold the handle mechanism 2 with both hands to control the robot's movement in a manner similar to driving a balance scooter.

[0042] In summary, the quadruped robot disclosed herein shares the same supporting structure, body 1, in both robot dog and balance scooter modes. This reduces hardware costs and device weight, achieving a compact design that meets users' dual needs for both robot dog and balance scooter modes, providing convenience and saving costs. Through precise control of the drive mechanism, the leg mechanism 4 can quickly and smoothly transition between the first and second deformation states, facilitating user operation. In balance scooter mode, the coordination between the steering mechanism 3 and the handlebar mechanism 2 gives the robot excellent maneuverability and stability, providing users with a safer and more comfortable riding experience. The wheel hub assembly 41, combined with the body 1, forms a rigid support, eliminating the need for continuous load on the motors at the joints of the leg mechanism 4. This relieves the continuous load pressure on the joint motors, reduces the risk of motor overheating, and improves the stability and safety of the device's operation.

[0043] Reference Figures 3-5As shown, in one embodiment, a positioning part 11 is provided on the main body 1, and the handle mechanism 2 has an unfolded state and a folded state relative to the steering mechanism 3. When the handle mechanism 2 is in the unfolded state, the handle mechanism 2 is perpendicular to the main body 1 and can drive the steering mechanism 3 to rotate around the axis of the handle mechanism 2; when the handle mechanism 2 is in the folded state, the handle mechanism 2 cooperates with the positioning part 11 to limit and lock the steering mechanism 3.

[0044] In this embodiment, the positioning part 11 is typically made of metal or high-strength plastic and can tightly engage with specific parts of the handle mechanism 2. Specifically, the positioning part 11 can be a positioning pin or a positioning groove, and correspondingly, the handle mechanism 2 has positioning holes or protrusions corresponding to the positioning pin or groove, so that when the handle mechanism 2 is in the folded state, its end interlocks with the positioning part 11. Furthermore, the positioning part 11 can also fix the handle mechanism 2 by mechanical locking or magnetic attraction, ensuring its stability in robot dog mode. Specifically, when the handle mechanism 2 is in the unfolded state, it is perpendicular to the body 1, allowing the user to grip the handle mechanism 2 and rotate the steering mechanism 3 around its axis, thereby controlling the quadruped robot's direction of travel. When the handle mechanism 2 is in the folded state, it engages with the positioning part 11 on the body 1 to limit and lock the steering mechanism 3, thereby locking the two sets of leg mechanisms 4 located at the front of the body 1, preventing misoperation of the steering mechanism 3 in robot dog mode, and ensuring the stable operation of the quadruped robot. Therefore, in the robot dog mode, the handle mechanism 2 of the quadruped robot disclosed herein is in a folded state and closely cooperates with the positioning part 11 on the body 1. This not only reduces the overall size of the robot, making it easier to move in a confined space, but also prevents the steering mechanism 3 from being misoperated in the robot dog mode, ensuring the stable operation of the robot.

[0045] Reference Figure 3 As shown, in one embodiment, the steering mechanism 3 includes a gear 31, a rack 32, and a linkage assembly 33. The gear 31 is rotatably mounted on the fuselage body 1, and its axis of rotation is perpendicular to the fuselage body 1. The handle mechanism 2 is fixedly connected to the gear 31 and drives the gear 31 to rotate around its axis of rotation. The rack 32 meshes with the gear 31 and is slidably mounted on the fuselage body 1, capable of reciprocating linear motion along its length. The first end of the linkage assembly 33 is hinged to the rack 32, and the second end is used to drive the two-leg mechanism 4 located at the front end of the fuselage body 1 to steer.

[0046] In this embodiment, gear 31 is rotatably mounted on the main body 1, with its axis of rotation perpendicular to the main body 1. Handle mechanism 2 is fixedly connected to gear 31, allowing the user to rotate gear 31 around its axis of rotation by operating handle mechanism 2. This mounting method ensures that gear 31 transmits rotational motion stably and efficiently when the user operates handle mechanism 2. The fixed connection between handle mechanism 2 and gear 31 allows the user to directly rotate gear 31 by simply turning handle mechanism 2 in balance scooter mode. For example, when the user turns handle mechanism 2 to the left, gear 31 rotates to the left, and through its meshing with rack 32, drives rack 32 to move linearly along its length, ultimately achieving the robot's left turn. The tight meshing of rack 32 and gear 31 ensures that rotational motion is accurately converted into linear motion. Rack 32 is designed to slide along the width of the main body 1, allowing it to smoothly reciprocate linearly along its length when driven by gear 31. The movement of rack 32 not only transmits power from gear 31, but also transmits steering commands to leg mechanisms 4 through its hinged connection with link assembly 33. The first end of link assembly 33 is firmly hinged to rack 32, ensuring that link assembly 33 can flexibly change its direction and posture under the drive of rack 32. The second end of link assembly 33 is connected to the two sets of leg mechanisms 4 located at the front of the robot body 1, converting the linear motion of rack 32 into steering motion of leg mechanisms 4. For example, when rack 32 slides in a certain direction under the drive of gear 31, link assembly 33 moves accordingly, causing leg mechanisms 4 to deflect in the corresponding direction, thus achieving the steering of the entire robot. Therefore, thanks to the tight meshing of gear 31 and rack 32 and the efficient transmission of link assembly 33, the quadruped robot of this disclosure can achieve precise steering control. When the user operates handle mechanism 2, steering commands can be quickly and accurately transmitted to the two sets of leg mechanisms 4 at the front of the robot body 1, ensuring that the robot turns according to the user's intention.

[0047] Reference Figure 6 As shown, in one embodiment, the quadruped robot further includes a locking member 5, which has a locking interface 511. The leg mechanism 4 is mounted on the body 1 via the locking member 5. When the leg mechanism 4 is in the second deformation state, the positioning shaft 411 and the locking interface 511 are fixed together.

[0048] In this embodiment, the locking member 5 is installed on the main body 1, and a locking interface 511 is provided thereon. The shape and size of the locking interface 511 match the positioning shaft 411 of the wheel hub assembly 41 of the leg mechanism 4 to ensure that the two can achieve precise docking and secure locking. When the leg mechanism 4 is in the second deformation state, the positioning shaft 411 is inserted into the locking interface 511 to achieve relative fixation between the positioning shaft 411 and the locking member 5, or further fixation can be achieved through mechanical structures such as buckles, threads, or electromagnetic locking components. When the quadruped robot needs to switch from robot dog mode to balance vehicle mode, the drive mechanism drives the leg mechanism 4 to deform and switch. As the leg mechanism 4 gradually approaches the second deformation state, the positioning shaft 411 of the wheel hub assembly 41 gradually aligns with the locking interface 511. When the leg mechanism 4 is fully converted to the second deformation state, the positioning shaft 411 is inserted into the locking interface 511 and can be further fixed by the locking component. When it is necessary to switch back from balance vehicle mode to robot dog mode, if a locking component is provided, the fixation of the positioning shaft 411 must first be released. For example, if locking is achieved by a latch, the latch is released; if locking is achieved by an electromagnetic latch, the power supply to the electromagnet is cut off to release the lock. Subsequently, the drive mechanism drives the leg mechanism 4 to switch from the second deformation state back to the first deformation state, causing the positioning shaft 411 of the hub assembly 41 to separate from the locking interface 511.

[0049] Furthermore, the locking member 5 includes a locking end 51, a rotating shaft portion 52, a first connecting end 53, and a second connecting end 54. The locking end 51, rotating shaft portion 52, first connecting end 53, and second connecting end 54 can be integrally formed. The locking interface 511 is formed on the lower surface of the locking end 51, and the second connecting end 54 is perpendicular to the locking end 51. The rotating shaft portion 52 is used to connect to the fuselage body 1, and the first connecting end 53 is used to fixally connect to one end of the leg mechanism 4. Specifically, the two locking members 5 located at the front end of the fuselage body 1 have their rotating shaft portions 52 rotatably connected to the fuselage body 1, allowing them to rotate relative to the fuselage body 1. This drives the positioning shaft 411 of the leg mechanism 4 connected to the first connecting end 53 and the wheel hub assembly 41 of the leg mechanism 4, which is fixed relative to the locking end 51, to rotate synchronously around the axis of the rotating shaft portion 52. The second connecting end 54 is fixedly connected to the linkage assembly 33 of the steering mechanism 3, so that when the rack 32 slides in a certain direction under the drive of the gear 31, the linkage assembly 33 moves accordingly, driving the locking member 5 to rotate, and thus driving the leg mechanism 4 to deflect in the corresponding direction. This releases the continuous load pressure, reduces the risk of motor overheating at the joint of the leg mechanism 4, and improves the stability and safety of the equipment operation. Since the rear end of the body 1 is not equipped with the steering mechanism 3, the rotating shafts 52 of the two locking members 5 located at the rear end of the body 1 can be fixed relative to the body 1, or can be rotatably set on the body 1 as needed. The first connecting ends 53 on these two locking members 5 are respectively connected to the two sets of leg mechanisms 4 at the rear end of the body 1. As the leg mechanism 4 gradually approaches the second deformation state, the positioning shaft 411 of the hub assembly 41 gradually aligns with the locking interface 511 on the locking end 51.

[0050] Reference Figure 1 As shown, in one embodiment, the quadruped robot also includes a control mechanism 6, which includes a control component 61 and a locking component 62. The control component 61 is connected to the locking component 62 and is used to control the locking component 62 to extend into the locking interface 511 so that the locking component 5 is relatively fixed to the positioning axis 411.

[0051] In this embodiment, the control mechanism 6 includes a control component 61 and a locking member 5. The control component 61 drives the locking member 62 to extend into the locking interface 511, thereby fixing the locking member 5 relative to the positioning shaft 411. The control component 61 can be a motor-driven screw transmission device, which can convert the rotational motion of the motor into linear motion, thereby pushing the locking member 62 to extend and retract. The locking member 62 is designed as a wedge-shaped or cylindrical pin structure, with one end connected to the control component 61 and the other end extending into the locking interface 511. When the quadruped robot needs to switch to a balance vehicle mode, the leg mechanism 4 gradually approaches the second deformation state under the action of the drive mechanism. The control component 61 can receive a locking command after the leg mechanism 4 reaches the second deformation state, and the motor drives the screw to rotate, causing the locking member 62 to move along the screw axis. The locking member 62 gradually extends into the locking interface 511 until it laterally penetrates the positioning shaft 411 of the hub assembly 41, thus achieving locking. When switching back from the self-balancing scooter mode to the robot dog mode, the control component 61 receives an unlocking command, the motor reverses, the drive screw rotates, causing the locking element 62 to disengage from the locking interface 511. The locking element 62 then disengages from the positioning shaft 411, and the leg mechanism 4 returns to its first deformation state under the action of the drive mechanism. It is understood that the control component 61 and the locking element 62 are not limited to the above structure; any structure capable of locking the locking interface 511 to the positioning shaft 411 is sufficient. This design not only improves the automation of the locking and unlocking process but also enhances the accuracy and stability of the locking, avoiding errors and safety hazards that may arise from manual operation.

[0052] In one embodiment, the control mechanism 6 is configured such that the control component 61 is triggered to operate when the handle mechanism 2 is disengaged from the folded state.

[0053] In this embodiment, the control mechanism 6 also includes a trigger sensor 7, which is mounted on the main body 1 and is used to detect changes in the state of the handle mechanism 2. When the handle mechanism 2 switches from a folded state to an unfolded state, or vice versa, the trigger sensor 7 can sense this change in real time and transmit a signal to the control component 61. Upon receiving the signal, the control component 61 initiates the corresponding locking or unlocking process. For example, when the user switches the handle mechanism 2 from a folded state to an unfolded state, the trigger sensor 7 detects this action and sends a signal to the control component 61. The control component 61 then controls the locking member 62 to extend into the locking interface 511 until it engages with the positioning shaft 411 that laterally penetrates the hub assembly 41, thus locking the handle mechanism 2. When the user switches the handle mechanism 2 from an unfolded state back to a folded state, the trigger sensor 7 also detects this change and sends a signal to the control component 61. The control component 61 then controls the locking member 62 to exit the locking interface 511, completing the unlocking operation. Therefore, by automatically detecting changes in the state of the handle mechanism 2 through the trigger sensor 7, manual locking or unlocking operations are eliminated, improving the intelligence level of the quadruped robot. The cooperation between the trigger sensor 7 and the control component 61 ensures the timeliness and accuracy of locking and unlocking operations, avoiding problems caused by delays or errors due to manual operation. It is understood that the trigger sensor 7 can also be replaced by, but is not limited to, distance sensors, light sensors, etc., as long as it can meet the requirement of detecting changes in the state of the handle mechanism 2.

[0054] In one embodiment, the control component 61 includes a hydraulic pump and a hydraulic hose, the hydraulic pump driving the locking member 62 to extend into the locking member 5 via the hydraulic hose.

[0055] In this embodiment, a hydraulic pump serves as the power source, providing high-pressure fluid to drive the extension and retraction of the locking element 62. The hydraulic pump is typically installed inside the main body 1, close to the power supply and control unit, for easy power supply and control. A hydraulic hose connects the hydraulic pump and the locking element 62, used to transmit the high-pressure fluid. The hydraulic hose is made of high-pressure resistant and wear-resistant materials to ensure that no leakage or damage occurs during long-term use. The locking element 62 can be designed as a hydraulic cylinder structure, with a piston inside. When high-pressure fluid enters the hydraulic cylinder through the hydraulic hose, the piston extends outward under hydraulic pressure; when the hydraulic pressure is released, the piston retracts under the action of a spring or other reset device. It is understood that the control component 61, consisting of a hydraulic pump and hydraulic hoses, can work in conjunction with the trigger sensor 7 in the aforementioned embodiment. When the user switches the handle mechanism 2 from a folded state to an unfolded state, the trigger sensor 7 detects this action and sends a signal to the control component 61. The hydraulic pump then controls the locking element 62 to extend into the locking interface 511 until it engages with the positioning shaft 411 that laterally penetrates the hub assembly 41, thus locking the mechanism. When the user switches the handle mechanism 2 from an unfolded state back to a folded state, the trigger sensor 7 similarly detects this change and sends a signal to the control component 61. The hydraulic pump of the control component 61 then controls the locking element 62 to exit the locking interface 511, completing the unlocking operation. In the quadruped robot of this disclosure, the control mechanism 6 uses hydraulic transmission, which has good buffering and shock absorption performance, making the locking and unlocking process smoother, reducing mechanical impact, and extending the service life of the quadruped robot. The hydraulic pump and hydraulic hoses can be flexibly arranged according to the spatial layout of the quadruped robot, without occupying too much space, which is beneficial to the overall structural optimization of the quadruped robot.

[0056] In one embodiment, the leg mechanism 4 further includes a thigh assembly 42 and a lower leg assembly 43, which are hinged together. The drive mechanism includes a knee joint drive assembly, which is disposed at the knee joint hinge of the thigh assembly 42 and the lower leg assembly 43, and is used to drive the lower leg assembly 43 to rotate relative to the thigh assembly 42.

[0057] Specifically, in one embodiment, the hub assembly 41 is disposed at the knee joint hinge of the thigh assembly 42 and the lower leg assembly 43.

[0058] In this embodiment, the thigh assembly 42 serves as the upper support structure of the leg, with one end connected to the main body 1 and the other end hinged to the lower leg assembly 43. The lower leg assembly 43 serves as the lower support structure of the leg, responsible for bearing the weight of the robot and the impact force during movement. One end of the lower leg assembly 43 is hinged to the thigh assembly 42, and the other end contacts the ground. The knee joint drive assembly is installed at the knee joint hinge between the thigh assembly 42 and the lower leg assembly 43, and is a key component for realizing leg movement. The knee joint drive assembly includes a drive motor, a reducer, and a joint bearing. The drive motor provides the power source for the rotation of the lower leg assembly 43 relative to the thigh assembly 42, and can specifically be a brushless DC motor, which features high torque, low noise, and long life. The reducer is connected to the drive motor to reduce the output speed of the drive motor and increase the torque to meet the force and speed requirements of leg movement. The joint bearing ensures smooth rotation at the knee joint hinge and can withstand large radial and axial loads. A position sensor can also be installed at the knee joint hinge to monitor the angle change of the knee joint in real time, providing data support for the feedback adjustment of the control system. Understandably, the hub assembly 41 can be located on the lower leg assembly 43 at the end away from the thigh assembly 42, serving as the legs when the quadruped robot is in robot dog mode. When switching to balance scooter mode, the thigh assembly 42 folds forward relative to the main body 1, and the lower leg assembly 43 folds backward relative to the thigh assembly 42, so that the hub assembly 41 gradually approaches the locking interface 511 until it connects with the locking interface 511. Preferably, the hub assembly 41 is located at the knee joint hinge and includes a hub housing, bearings, a gear transmission device, and an output shaft. The hub housing protects the internal structure and provides a mounting interface, the bearings ensure that the hub assembly 41 can rotate smoothly, and the gear transmission device transmits power to the output shaft to drive the quadruped robot's movement. When the quadruped robot switches from robot dog mode to balance scooter mode, the thigh components 42 of the two sets of leg mechanisms 4 at the front of the main body 1 fold backward relative to the main body 1, and the lower leg components 43 fold forward relative to the thigh components 42. At the rear of the main body 1, the thigh components 42 of the two sets of leg mechanisms 4 fold forward relative to the main body 1, and the lower leg components 43 fold upward further to be close to the thigh components 42, in order to retract the lower leg components 43 and gradually bring the wheel hub components 41 closer to the locking interface 511 until they are connected to the locking interface 511. Therefore, since the wheel hub components 41 are located at the knee joint, the lower leg components 43 can swing and rotate more flexibly in robot dog mode, enhancing the robot's adaptability and mobility in complex terrain. In balance scooter mode, the positioning axis 411 of the wheel hub components 41 is combined with the main body 1, providing a driving force closer to the quadruped robot's center of gravity, enhancing the stability and maneuverability of the ride. In addition, the position of the wheel hub assembly 41 makes the robot's weight distribution more even in robot dog mode, reducing the pressure on the leg joints and drive mechanism and extending the robot's service life.

[0059] In one embodiment, the quadruped robot also includes a transmission mechanism 8, and the leg mechanism 4 is mounted on the body 1 via the transmission mechanism 8.

[0060] In this embodiment, the leg mechanism 4 is connected to the main body 1 via the transmission mechanism 8 to achieve power transmission and motion control. Specifically, the transmission mechanism 8 may include a main drive shaft, a secondary drive shaft, a universal joint, a gear set, and a bearing housing. One end of the main drive shaft is connected to the first connection end 53 of the locking member 5, and the other end is connected to the secondary drive shaft via the universal joint. The secondary drive shaft is connected to the thigh assembly 42 of the leg mechanism 4, and transmits power to the thigh assembly 42 via the gear set. The bearing housing is used to support the drive shaft to ensure the stability and accuracy of the transmission process. It can be understood that the main drive component of the drive mechanism drives the transmission mechanism 8, thereby controlling the movement of the thigh assembly 42.

[0061] In the description of this disclosure, it should be understood that the orientation or positional relationship indicated by directional terms is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this disclosure and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this disclosure; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0062] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," and "above" are used herein to describe the spatial positional relationship between one or more components or features shown in the figures and other components or features. It should be understood that spatial relative terms include not only the orientation of the component as depicted in the figures but also different orientations during use or operation. For example, if the components in the figures are inverted as a whole, "above" or "above other components or features" will include cases where the component is "below" or "under" other components or features. Thus, the exemplary term "above" can include both "above" and "below." Furthermore, these components or features can also be positioned at other different angles (e.g., rotated 90 degrees or other angles), and this document intends to include all such cases.

[0063] It should be noted that the terminology used herein is for the purpose of describing particular implementations only and is not intended to limit the exemplary implementations according to this disclosure. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of features, steps, operations, parts, components, and / or combinations thereof.

[0064] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in sequences other than those illustrated or described herein.

[0065] This disclosure has been described through the above embodiments; however, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit this disclosure to the described embodiments. Furthermore, those skilled in the art will understand that this disclosure is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of this disclosure, all of which fall within the scope of protection claimed by this disclosure. The scope of protection of this disclosure is defined by the appended claims and their equivalents.

Claims

1. A quadruped robot, characterized in that, It includes the fuselage (1), drive mechanism, handle mechanism (2), steering mechanism (3), and four sets of leg mechanisms (4); among which, The four sets of leg mechanisms (4) are symmetrically distributed on both sides of the fuselage body (1), and the leg mechanisms (4) have a first deformation state and a second deformation state; The leg mechanism (4) includes a hub assembly (41). When the four sets of leg mechanisms (4) are in the first deformation state, the quadruped robot is in robot dog mode, and the joints of each set of leg mechanisms (4) move freely. The positioning axis (411) of the hub assembly (41) is separated from the body body (1). During the transition from the first deformation state to the second deformation state, the joints of the leg mechanism (4) adjust their positions, and the positioning axis (411) moves closer to the body body (1). When the four sets of leg mechanisms (4) are in the second deformation state, the positioning axis (411) is engaged with the body body (1) so that the quadruped robot is in balance vehicle mode. The drive mechanism is used to drive the leg mechanism (4) to switch between the first deformation state and the second deformation state; The steering mechanism (3) is installed at the front end of the body (1), and the handle mechanism (2) is rotatably connected to the steering mechanism (3) and can drive the steering mechanism (3) to rotate so that the quadruped robot can turn in balance vehicle mode; The main body (1) is provided with a positioning part (11); the handle mechanism (2) has an unfolded state and a folded state relative to the steering mechanism (3); when the handle mechanism (2) is in the unfolded state, the handle mechanism (2) is perpendicular to the main body (1) and can drive the steering mechanism (3) to rotate around the axis of the handle mechanism (2); when the handle mechanism (2) is in the folded state, the handle mechanism (2) cooperates with the positioning part (11) to limit and lock the steering mechanism (3).

2. The quadruped robot according to claim 1, characterized in that, The steering mechanism (3) includes: Gear (31) is rotatably mounted on the main body (1). The rotation axis of the gear (31) is perpendicular to the main body (1). The handle mechanism (2) is fixedly connected to the gear (31) and is used to drive the gear (31) to rotate around its rotation axis. A rack (32) meshes with the gear (31). The rack (32) is slidably mounted on the body (1) and can reciprocate linearly along its length. The linkage assembly (33) has a first end hinged to the rack (32) and a second end used to drive the two leg mechanisms (4) located at the front end of the fuselage body (1) to turn.

3. The quadruped robot according to claim 1, characterized in that, It also includes a locking element (5), which is provided with a locking interface (511); The leg mechanism (4) is mounted on the fuselage body (1) via the locking member (5); When the leg mechanism (4) is in the second deformation state, the positioning shaft (411) and the locking interface (511) are fixed together.

4. The quadruped robot according to claim 3, characterized in that, It also includes a control mechanism (6), which includes a control component (61) and a locking member (62). The control component (61) is connected to the locking member (62) and is used to control the locking member (62) to extend into the locking interface (511) so that the locking member (5) is fixed relative to the positioning shaft (411).

5. The quadruped robot according to claim 4, characterized in that, The control mechanism (6) is configured such that the control component (61) is triggered to operate when the handle mechanism (2) is disengaged from the folded state.

6. The quadruped robot according to claim 4, characterized in that, The control component (61) includes a hydraulic pump and a hydraulic hose, the hydraulic pump driving the locking member (62) to extend into the locking member (5) via the hydraulic hose.

7. The quadruped robot according to claim 1, characterized in that, The leg mechanism (4) further includes a thigh assembly (42) and a lower leg assembly (43), which are hinged together. The drive mechanism includes a knee joint drive assembly disposed at the knee joint hinge of the thigh assembly (42) and the lower leg assembly (43) for driving the lower leg assembly (43) to rotate relative to the thigh assembly (42).

8. The quadruped robot according to claim 7, characterized in that, The wheel hub assembly (41) is located at the knee joint hinge of the thigh assembly (42) and the lower leg assembly (43).

9. The quadruped robot according to claim 1, characterized in that, It also includes a transmission mechanism (8), and the leg mechanism (4) is mounted on the fuselage body (1) via the transmission mechanism (8).

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