Quadruped robot

Abstract

The invention discloses a quadruped robot, and belongs to the field of robots. Comprising a trunk structure and four leg structures, the trunk structure comprises a top cover shell, a first supporting plate piece, a second supporting plate piece, a connecting rod assembly and a bottom cover shell, the first supporting plate piece and the second supporting plate piece are distributed at intervals in the first direction, and the connecting rod assembly is located between the first supporting plate piece and the second supporting plate piece; the two opposite ends, in the first direction, of the connecting rod assembly are connected with the first supporting plate and the second supporting plate correspondingly, the top cover shell and the bottom cover shell are distributed in the third direction, and the top cover shell and the bottom cover shell are connected with the first supporting plate and the second supporting plate correspondingly. A mounting space is defined by the top cover shell, the bottom cover shell, the first supporting plate and the second supporting plate, and the connecting rod assembly is located in the mounting space; the first supporting plate and the second supporting plate are each connected with two leg structures, the two leg structures are distributed in the second direction in a spaced mode, and the leg structures are located outside the installation space.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robots, and particularly relates to a quadruped robot. BACKGROUND

[0002] With the development of science and technology, the development of quadruped robots is becoming more and more rapid. Generally, some special tasks can be performed by using a quadruped robot, or corresponding shooting, transportation and the like can be performed by using a quadruped robot. In the related art, a quadruped robot comprises a trunk structure and four leg structures connected to the trunk structure, and the four leg structures can walk in contact with the ground, so that the quadruped robot walks. However, in the related art, the trunk structure of the quadruped robot is relatively complex in structure. SUMMARY

[0003] The application aims to provide a quadruped robot, which at least solves the problem that the trunk structure of the quadruped robot is relatively complex in structure.

[0004] In order to solve the above technical problems, the application is implemented as follows: The quadruped robot comprises a trunk structure and four leg structures. The trunk structure comprises a top cover shell, a first support plate, a second support plate, a connecting rod assembly and a bottom cover shell. The first support plate and the second support plate are spaced apart along the first direction. The connecting rod assembly is located between the first support plate and the second support plate, and opposite ends of the connecting rod assembly along the first direction are connected to the first support plate and the second support plate, respectively. The top cover shell and the bottom cover shell are distributed along the third direction. The top cover shell and the bottom cover shell are connected to the first support plate and the second support plate, respectively. The top cover shell, the bottom cover shell, the first support plate and the second support plate enclose an installation space, and the connecting rod assembly is located in the installation space. The first support plate and the second support plate are connected to two leg structures, respectively. The two leg structures are spaced apart along the second direction, and the leg structures are located outside the installation space.

[0005] Optionally, the connecting rod assembly comprises a plurality of connecting rods. The plurality of connecting rods are divided into a plurality of groups of connecting rods. Each group of connecting rods comprises at least two connecting rods. The plurality of groups of connecting rods are spaced apart along the third direction, and the at least two connecting rods in each group of connecting rods are spaced apart along the second direction. Each connecting rod is connected to the first support plate and the second support plate at opposite ends thereof.

[0006] Optionally, the quadruped robot further comprises a first mounting plate and a second mounting plate; The first mounting plate and the second mounting plate are both located in the mounting space, and the first mounting plate and the second mounting plate are spaced apart along the first direction; The first mounting plate and the second mounting plate are both provided with a through hole, and the linkage assembly passes through the through hole of the first mounting plate and the through hole of the second mounting plate; The space between the first mounting plate and the second mounting plate and between two adjacent groups of linkages forms an assembly space, and the assembly space is used for mounting other components of the quadruped robot.

[0007] Optionally, the top cover shell has opposite first and second sides along the second direction, and the bottom cover shell has opposite first and second sides along the second direction, and the first side of the top cover shell and the first side of the bottom cover shell are located on the same side; At least one of the first side of the top cover shell and the first side of the bottom cover shell is provided with a first notch, and at least one of the assembly spaces communicates with the first notch; and / or, at least one of the second side of the top cover shell and the second side of the bottom cover shell is provided with a second notch, and at least one of the assembly spaces communicates with the second notch.

[0008] Optionally, the quadruped robot further comprises a reinforcing structure; The two leg structures connected by the first support plate member and the two leg structures connected by the second support plate member are both connected with the reinforcing structure, and the reinforcing structure is used for reinforcing the strength of the positions where the first support plate member and the leg structures are connected, and the strength of the positions where the second support plate member and the leg structures are connected.

[0009] Optionally, the leg structure comprises a first driving assembly, a second driving assembly and a leg body, and the reinforcing structure comprises a first reinforcing member; The first driving assembly and the second driving assembly are connected by a first connecting member, the second driving assembly is connected with the leg body, the first support plate member and the second support plate member are both connected with the first driving assembly, and the second driving assembly is connected with a second connecting member; The two second connecting members located at the first support plate member are respectively connected with two ends of one first reinforcing member, and the connection position of the second connecting member and the first reinforcing member, and the connection position of the first driving assembly and the first support plate member are opposite in the first direction; Two second connecting members located at the second support plate member are respectively connected to two ends of another first reinforcing member, and the connecting positions of the second connecting members and the first reinforcing member, and the connecting positions of the first driving assembly and the second support plate member, are opposite in the first direction.

[0010] Optionally, the reinforcing structure further comprises a reinforcing plate member; The first reinforcing member located at the first support plate member is connected to the reinforcing plate member, and the reinforcing plate member is connected to the first support plate member. The first reinforcing member located at the second support plate member is connected to the reinforcing plate member, and the reinforcing plate member is connected to the second support plate member.

[0011] Optionally, the reinforcing plate member comprises a first plate member, a second plate member, a third plate member and a connecting plate member. The second plate member has a first connecting side and a second connecting side in the first direction, the connecting plate member is connected to the first connecting side, the first reinforcing member is connected to the first connecting side, the second plate member has a first side and a second side in the third direction, the first plate member is connected to the first side, and the third plate member is connected to the second side. The second connecting side of the second plate member located at the first support plate member is connected to the first support plate member, and the first plate member and the third plate member located at the first support plate member are both connected to the first support plate member. The second connecting side of the second plate member located at the second support plate member is connected to the second support plate member, and the first plate member and the third plate member located at the second support plate member are both connected to the second support plate member.

[0012] Optionally, the second plate member is provided with a weight-reducing hole, and the weight-reducing hole penetrates through the second plate member in the thickness direction of the second plate member.

[0013] Optionally, the quadruped robot further comprises a battery assembly; the battery assembly is installed in the mounting space.

[0014] In the embodiment of the present application, since the first support plate member and the second support plate member are spaced apart along the first direction, the connecting rod assembly is located between the first support plate member and the second support plate member, and the opposite ends of the connecting rod assembly along the first direction are connected to the first support plate member and the second support plate member respectively, so that the first support plate member and the second support plate member are equivalent to being supported by the connecting rod assembly, thereby ensuring that the first support plate member and the second support plate member are relatively stable, and the first support plate member, the second support plate member and the connecting rod assembly can form the main structure of the torso structure, and the structure of the main structure is relatively simple. In addition, the top cover shell and the bottom cover shell are distributed along the third direction, and the top cover shell and the bottom cover shell are connected to the first support plate member and the second support plate member respectively, so that the top cover shell, the bottom cover shell, the first support plate member and the second support plate member are equivalent to being enclosed to form an installation space, and other components of the torso structure can be installed in the installation space, and the connecting rod assembly is located in the installation space, so that the connecting rod assembly can be protected by the top cover shell, the bottom cover shell, the first support plate member and the second support plate member, avoiding the connecting rod assembly being exposed outside and being easily damaged. In addition, the first support plate member and the second support plate member are connected to two leg structures, the two leg structures are spaced apart along the second direction, and the leg structures are located outside the installation space, so that the existence of the four leg structures can ensure that the quadruped robot walks stably. That is, in the embodiment of the present application, by arranging the top cover shell, the first support plate member, the second support plate member, the connecting rod assembly and the bottom cover shell, the first support plate member and the second support plate member are supported by the connecting rod assembly, so that the first support plate member, the second support plate member and the connecting rod assembly form a torso structure with a relatively simple structure, avoiding a complex structure of the torso structure, and the existence of the top cover shell and the bottom cover shell can protect the connecting rod assembly to some extent, and the appearance of the quadruped robot is improved. The existence of the four leg structures ensures that the quadruped robot walks stably. That is, in the embodiment of the present application, the structure of the torso structure of the quadruped robot can be simplified under the premise of ensuring that the quadruped robot walks stably. BRIEF DESCRIPTION OF DRAWINGS

[0015] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings in which: Figure 1 An exploded view of a torso structure of a quadruped robot provided in an embodiment of the present application is shown; Figure 2 A schematic view of a torso structure of a quadruped robot provided in an embodiment of the present application is shown; Figure 3 A side view of a torso structure of a quadruped robot provided in an embodiment of the present application is shown; Figure 4 An exploded view of a quadruped robot provided in an embodiment of the present application is shown; Figure 5Fig. 1 shows a schematic diagram of a quadruped robot according to an embodiment of the present application.

[0016] Reference signs: 001: first gap; 10: trunk structure; 11: top cover shell; 12: first support plate member; 13: second support plate member; 14: link assembly; 15: bottom cover shell; 141: link; 20: leg structure; 21: first driving assembly; 22: second driving assembly; 23: leg body; 231: thigh structure; 232: shank structure; 233: third driving assembly; 30: first mounting plate; 40: second mounting plate; 50: reinforcing structure; 51: first reinforcing member; 52: reinforcing plate member; 521: first plate member; 522: second plate member; 523: third plate member; 524: connecting plate member; 5221: weight-reducing hole; 60: battery assembly; 100: first connecting member; 200: second connecting member; X: first direction; Y: second direction; Z: third direction. DETAILED DESCRIPTION

[0017] Embodiments of the present application will be described in detail below with reference to drawings, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to drawings are exemplary only, and are for the purpose of explanation of the present application, and should not be understood as a limitation of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0018] The terms "first", "second" in the description and claims of the present application can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / ", generally means that the front and rear associated objects are in an "or" relationship.

[0019] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0020] In the description of the application, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be understood broadly, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0021] The embodiment of the application provides a quadruped robot, as shown in Figure 1 、 Figure 4 and Figure 5 , the quadruped robot has a first direction X, a second direction Y and a third direction Z perpendicular to each other, and the quadruped robot comprises a trunk structure 10 and four leg structures 20.

[0022] The trunk structure 10 comprises a top cover shell 11, a first support plate 12, a second support plate 13, a connecting rod assembly 14 and a bottom cover shell 15. The first support plate 12 and the second support plate 13 are distributed along the first direction X. The connecting rod assembly 14 is located between the first support plate 12 and the second support plate 13, and the connecting rod assembly 14 is connected to the first support plate 12 and the second support plate 13 at opposite ends along the first direction X. The top cover shell 11 and the bottom cover shell 15 are distributed along the third direction Z. The top cover shell 11 and the bottom cover shell 15 are connected to the first support plate 12 and the second support plate 13, respectively. The top cover shell 11, the bottom cover shell 15, the first support plate 12 and the second support plate 13 form an installation space, and the connecting rod assembly 14 is located in the installation space. The first support plate 12 and the second support plate 13 are connected to two leg structures 20. The two leg structures 20 are distributed along the second direction Y. The leg structure 20 is located outside the installation space.

[0023] In the embodiment of the present application, since the first support plate member 12 and the second support plate member 13 are spaced apart along the first direction X, the connecting rod assembly 14 is located between the first support plate member 12 and the second support plate member 13, and the opposite ends of the connecting rod assembly 14 along the first direction X are connected to the first support plate member 12 and the second support plate member 13 respectively, therefore, it is equivalent that the first support plate member 12 and the second support plate member 13 are supported by the connecting rod assembly 14, thereby ensuring that the first support plate member 12 and the second support plate member 13 are relatively stable, and the first support plate member 12, the second support plate member 13 and the connecting rod assembly 14 can form the main structure of the torso structure 10, and the structure of the main structure is relatively simple. In addition, the top cover shell 11 and the bottom cover shell 15 are distributed along the third direction Z, and the top cover shell 11 and the bottom cover shell 15 are connected to the first support plate member 12 and the second support plate member 13 respectively, therefore, the top cover shell 11, the bottom cover shell 15, the first support plate member 12 and the second support plate member 13 are equivalent to form an installation space, and the installation space can install other components of the torso structure 10, and the connecting rod assembly 14 is located in the installation space, so that the connecting rod assembly 14 can be protected by the top cover shell 11, the bottom cover shell 15, the first support plate member 12 and the second support plate member 13, avoiding the connecting rod assembly 14 exposed outside and easily damaged. In addition, the first support plate member 12 and the second support plate member 13 are connected with two leg structures 20, and the two leg structures 20 are spaced apart along the second direction Y, and the leg structure 20 is located outside the installation space, so that the existence of the four leg structures 20 can ensure the stable walking of the quadruped robot. That is, in the embodiment of the present application, by arranging the top cover shell 11, the first support plate member 12, the second support plate member 13, the connecting rod assembly 14 and the bottom cover shell 15, the connecting rod assembly 14 supports the first support plate member 12 and the second support plate member 13, so that the first support plate member 12, the second support plate member 13 and the connecting rod assembly 14 form the torso structure 10 with a relatively simple structure, avoiding the complexity of the structure of the torso structure 10, and the existence of the top cover shell 11 and the bottom cover shell 15 can protect the connecting rod assembly 14 to a certain extent, and improve the appearance of the quadruped robot, and the existence of the four leg structures 20 ensures the stable walking of the quadruped robot. That is, in the embodiment of the present application, the structure of the torso structure 10 of the quadruped robot can be simplified under the premise of ensuring the stable walking of the quadruped robot.

[0024] It should be noted that the top cover shell 11 can be bolted with the first support plate member 12 and the second support plate member 13 respectively, of course, the top cover shell 11 can also be welded with the first support plate member 12 and the second support plate member 13 respectively, for which the embodiments of the present application do not limit here. In addition, the bottom cover shell 15 can be bolted with the first support plate member 12 and the second support plate member 13 respectively, of course, the bottom cover shell 15 can also be welded with the first support plate member 12 and the second support plate member 13 respectively, for which the embodiments of the present application do not limit here.

[0025] In addition, in the embodiments of the present application, the side of the top cover shell 11 away from the bottom cover shell 15 can be provided with a carrying frame, that is, the carrying frame is fixed on the top cover shell 11, and the carrying frame is used to place the goods to be carried. By providing the carrying frame, when the goods are carried by the quadruped robot, the goods can be directly placed on the carrying frame, which facilitates the carrying of the goods by the quadruped robot. The specific form of the carrying frame can be set according to actual needs.

[0026] In addition, in some embodiments, as shown in Figure 1 The link assembly 14 includes a plurality of links 141; the plurality of links 141 are divided into a plurality of groups of links 141, each group of links 141 includes at least two links 141, the plurality of groups are distributed along the third direction Z, and the at least two links 141 in each group of links 141 are distributed along the second direction Y; wherein the opposite ends of each link 141 are connected with the first support plate member 12 and the second support plate member 13 respectively.

[0027] By such a setting, it is equivalent to setting a plurality of links 141 on the first support plate member 12 and the second support plate member 13, so that the first support plate member 12 and the second support plate member 13 are connected by the plurality of links 141, and the plurality of links 141 can simultaneously support the first support plate member 12 and the second support plate member 13, so that the plurality of links 141, the first support plate member 12 and the second support plate member 13 form a relatively stable trunk structure 10. And the existence of the plurality of links 141 can make the trunk structure 10 relatively simple, that is, it is equivalent to using the opposite ends of each link 141 in the plurality of links 141 to be connected with the first support plate member 12 and the second support plate member 13 respectively, thereby forming a main structure of the trunk structure 10, and the main structure has a simple structure.

[0028] For example, as shown in Figure 1 and Figure 3As shown, the linkage assembly 14 includes four linkages 141, the four linkages 141 are divided into two groups of linkages 141, the two groups of linkages 141 are spaced apart along the third direction Z, and each group of linkages 141 includes two linkages 141, the two linkages 141 are spaced apart along the second direction Y, and each linkage 141 is connected with the first support plate 12 and the second support plate 13 respectively, that is, the first support plate 12 and the second support plate 13 are supported by the four linkages 141, under the premise of ensuring that the first support plate 12 and the second support plate 13 are stably supported, the number of linkages 141 is small, so that the structure of the torso structure 10 is further simplified, and the structure of the torso structure 10 is relatively simple.

[0029] Of course, in the embodiment of the present application, the number of groups of linkages 141 can also be other numbers, for example, the plurality of linkages 141 are divided into three groups of linkages 141, and each group of linkages 141 includes two linkages 141, and for another example, the plurality of linkages 141 are divided into four groups of linkages 141, and each group of linkages 141 includes three linkages 141. For this, the embodiment of the present application is not limited here.

[0030] In addition, in the embodiment of the present application, the first support plate 12 and the second support plate 13 can be provided with mounting holes, one end of the opposite two ends of the linkage 141 can be embedded in the mounting hole of the first support plate 12, and the other end can be embedded in the mounting hole of the second support plate 13, so that the opposite two ends of the linkage 141 are connected with the first support plate 12 and the second support plate 13 respectively. Of course, the way that the opposite two ends of the linkage 141 are connected with the first support plate 12 and the second support plate 13 respectively can also be other ways, for example, one end of the linkage 141 is welded with the first support plate 12, and the other end of the linkage 141 is welded with the second support plate 13, and for another example, one end of the linkage 141 is connected with the first support plate 12 through a bolt, and the other end of the linkage 141 is connected with the second support plate 13 through a bolt. For this, the embodiment of the present application is not limited here.

[0031] In addition, in some embodiments, as Figure 4 As shown, the quadruped robot further includes a first mounting plate 30 and a second mounting plate 40; the first mounting plate 30 and the second mounting plate 40 are located in the mounting space, and the first mounting plate 30 and the second mounting plate 40 are spaced apart along the first direction X; the first mounting plate 30 and the second mounting plate 40 are provided with through holes, and the linkage assembly 14 passes through the through holes of the first mounting plate 30 and the second mounting plate 40; the space between the first mounting plate 30 and the second mounting plate 40 and between the adjacent two groups of linkages 141 forms an assembly space, and the assembly space is used for mounting other components of the quadruped robot.

[0032] Since the first mounting plate 30 and the second mounting plate 40 are spaced apart along the first direction X, and both the first mounting plate 30 and the second mounting plate 40 are provided with through holes, the link assembly 14 passes through the through holes of the first mounting plate 30 and the second mounting plate 40. Therefore, the first mounting plate 30 and the second mounting plate 40 can provide a certain support for the link assembly 14, making the link assembly 14 less prone to deformation. Furthermore, there is a space between the first mounting plate 30 and the second mounting plate 40, which can be divided into multiple sub-spaces by multiple sets of links 141. Each sub-space can be used to install other components. That is, the space between the first mounting plate 30 and the second mounting plate 40, and the space between two adjacent sets of links 141, can form an assembly space. Subsequently, other components of the quadruped robot can be installed in this assembly space, and these other components can be limited and protected by the first mounting plate 30 and the second mounting plate 40. By setting the first mounting plate 30 and the second mounting plate 40, it is easy to form a space for installing other parts of the quadruped robot, so as to install other parts of the quadruped robot in the torso structure 10.

[0033] For example, such as Figure 1 As shown, the linkage assembly 14 includes four links 141, which are divided into two groups of links 141. The two groups of links 141 are distributed at intervals along the third direction Z, and each group of links 141 includes two links 141, which are distributed at intervals along the second direction Y. Each link 141 is connected to the first support plate 12 and the second support plate 13 respectively. The four links 141 pass through the first mounting plate 30 and the second mounting plate 40 respectively, and are located between the first mounting plate 30 and the second mounting plate 40. The space between the two groups of links 141 forms an assembly space, which is equivalent to forming an assembly space. Other parts of the quadruped robot can be installed in this assembly space. Specifically, the battery structure can be installed in this assembly space.

[0034] It should be noted that the first mounting plate 30 can contact the inner wall of the top cover 11 and the inner wall of the bottom cover 15 respectively. Alternatively, the first mounting plate 30 can be connected to the inner walls of both the top cover 11 and the bottom cover 15, thus fixing the first mounting plate 30. The first mounting plate 30 can be connected to the inner walls of both the top cover 11 and the bottom cover 15 using bolts, or it can be welded to them. This embodiment of the present application does not limit the specifics of this method. Similarly, the second mounting plate 40 can be connected to the inner walls of both the top cover 11 and the bottom cover 15 using bolts, or it can be welded to them. This embodiment of the present application does not limit the specifics of this method.

[0035] Additionally, in some embodiments, such as Figure 2 and Figure 4 As shown, the top cover 11 has a first side and a second side along the second direction Y, and the bottom cover 15 has a first side and a second side along the second direction Y. The first side of the top cover 11 and the first side of the bottom cover 15 are located on the same side. At least one of the first side of the top cover 11 and the first side of the bottom cover 15 is provided with a first notch 001, and at least one assembly space communicates with the first notch 001. And / or, at least one of the second side of the top cover 11 and the second side of the bottom cover 15 is provided with a second notch, and at least one assembly space communicates with the second notch.

[0036] Since the first side of the top cover 11 and the first side of the bottom cover 15 are on the same side, it is equivalent to the second side of the top cover 11 and the second side of the bottom cover 15 being on the same side. Furthermore, at least one of the first side of the top cover 11 and the first side of the bottom cover 15 is provided with a first notch 001, and at least one assembly space communicates with the first notch 001; and / or, at least one of the second side of the top cover 11 and the second side of the bottom cover 15 is provided with a second notch, and at least one assembly space communicates with the second notch. This effectively forms a notch communicating with the assembly space. When installing other components in the assembly space, other components can be placed into the assembly space through the first notch 001 or through the second notch. In other words, by providing the first notch 001 and / or the second notch, it is convenient to place other components into the assembly space.

[0037] It should be noted that, in this embodiment, the first notch 001 may be provided only on the first side of the top cover 11, or only on the first side of the bottom cover 15, or on both the first side of the top cover 11 and the first side of the bottom cover 15. This embodiment does not limit the specific application of this method. When both the first side of the top cover 11 and the first side of the bottom cover 15 have the first notch 001, the first notch 001 on the first side of the top cover 11 and the first notch 001 on the first side of the bottom cover 15 are positioned opposite each other and are connected. This means that the first notch 001 on the first side of the top cover 11 and the first notch 001 on the first side of the bottom cover 15 enclose a notch larger than the first notch 001, facilitating the placement of other components into the assembly space.

[0038] Furthermore, in this embodiment, the second notch may be provided only on the second side of the top cover 11, only on the second side of the bottom cover 15, or on both the second sides of the top cover 11 and the bottom cover 15. This embodiment does not limit the specific application of this method. When both the second sides of the top cover 11 and the bottom cover 15 have second notches, the second notches on the second sides of the top cover 11 and the bottom cover 15 are opposite to and connected to each other. This means that the second notches on the second sides of the top cover 11 and the bottom cover 15 together form a notch larger than the first notch, facilitating the placement of other components into the assembly space.

[0039] In addition, in this embodiment, a first notch 001 can be provided on the first side of the top cover 11, and a second notch can be provided on the second side of the top cover 11. Similarly, a first notch 001 can be provided on the first side of the bottom cover 15, and a second notch can be provided on the second side of the bottom cover 15. This embodiment does not limit the specific details of the embodiment.

[0040] Additionally, in some embodiments, such as Figure 4 As shown, the quadruped robot also includes a reinforcing structure 50; the two leg structures 20 connected to the first support plate 12 and the two leg structures 20 connected to the second support plate 13 are all connected to the reinforcing structure 50, and the reinforcing structure 50 is used to strengthen the strength at the connection between the first support plate 12 and the leg structure 20, and the strength at the connection between the second support plate 13 and the leg structure 20.

[0041] By setting up the reinforcing structure 50, the reinforcing structure 50 can effectively strengthen the connection between the leg structure 20 and the first support plate 12, and the reinforcing structure 50 can effectively strengthen the connection between the leg structure 20 and the second support plate 13, so that the leg structure 20 has better support, thereby effectively improving the load-bearing capacity of the quadruped robot when carrying objects.

[0042] Additionally, in some embodiments, such as Figure 4As shown, the leg structure 20 comprises a first driving assembly 21, a second driving assembly 22 and a leg main body 23, the reinforcing structure 50 comprises a first reinforcing member 51; the first driving assembly 21 is connected with the second driving assembly 22 through a first connecting member 100, the second driving assembly 22 is connected with the leg main body 23, the first driving assembly 21 is connected with the first support plate member 12 and the second support plate member 13, and the second driving assembly 22 is connected with a second connecting member 200; two second connecting members 200 located at the first support plate member 12 are respectively connected with two ends of one first reinforcing member 51, and the connecting position of the second connecting member 200 and the first reinforcing member 51 and the connecting position of the first driving assembly 21 and the first support plate member 12 are opposite in the first direction X; two second connecting members 200 located at the second support plate member 13 are respectively connected with two ends of another first reinforcing member 51, and the connecting position of the second connecting member 200 and the first reinforcing member 51 and the connecting position of the first driving assembly 21 and the second support plate member 13 are opposite in the first direction X.

[0043] Since the first driving assembly 21 is connected with the second driving assembly 22 through the first connecting member 100, and the second driving assembly 22 is connected with the leg main body 23, when the first driving assembly 21 operates, the first driving assembly 21 can drive the second driving assembly 22 and the leg main body 23 to move along the first direction X, and when the second driving assembly 22 operates and the first driving assembly 21 does not operate, the leg main body 23 can move along the second direction Y, so that the leg structure 20 can move along the first direction X and the second direction Y, and the leg structure 20 has freedom in at least two directions. In addition, the two second connecting members 200 located at the first support plate member 12 are respectively connected with two ends of one first reinforcing member 51, and the connecting position of the second connecting member 200 and the first reinforcing member 51 and the connecting position of the first driving assembly 21 and the first support plate member 12 are opposite in the first direction X, so that when the quadruped robot operates, the first reinforcing member 51 can effectively alleviate the stress at the connecting position of the first driving assembly 21 and the first support plate member 12, and make the stress of the first driving assembly 21 more balanced, and reinforce the leg structure 20; similarly, the two second connecting members 200 located at the second support plate member 13 are respectively connected with two ends of another first reinforcing member 51, and the connecting position of the second connecting member 200 and the first reinforcing member 51 and the connecting position of the first driving assembly 21 and the second support plate member 13 are opposite in the first direction X, so that when the quadruped robot operates, the first reinforcing member 51 can effectively alleviate the stress at the connecting position of the first driving assembly 21 and the second support plate member 13, and make the stress of the first driving assembly 21 more balanced, and reinforce the leg structure 20.

[0044] It should be noted that the leg body 23 can include a thigh structure 231 and a shank structure 232, and the thigh structure 231 and the shank structure 232 are connected through a third driving assembly 233. At this time, the first driving assembly 21 can be operated, and the second driving assembly 22 and the third driving assembly 233 are not operated, which is equivalent to that the thigh structure 231 and the shank structure 232 are moved in the first direction X. The second driving assembly 22 can be operated, and the first driving assembly 21 and the third driving assembly 233 are not operated, which is equivalent to that the thigh structure 231 and the shank structure 232 are moved in the second direction Y. The third driving assembly 233 can be operated, and the first driving assembly 21 and the second driving assembly 22 are not operated, at this time, the shank structure 232 can be moved relative to the thigh structure 231 in the third direction Z. Of course, at least two of the first driving assembly 21, the second driving assembly 22 and the third driving assembly 233 can be operated according to actual needs, so that the leg structure 20 moves correspondingly. The first driving assembly 21, the second driving assembly 22 and the third driving assembly 233 can be motor assemblies, and details can be referred to motor assemblies at joints of a four-legged robot in related technologies, which will not be described here.

[0045] Of course, in the embodiment of the present application, the reinforcing structure 50 can also have other forms, for example, the reinforcing structure 50 is a reinforcing rod, at this time, for a single leg structure 20, one end of the reinforcing rod is connected to the position where the first driving assembly 21 and the first support plate 12 are connected, and the other end of the reinforcing rod is connected to the second connecting piece 200, so as to effectively support and strengthen the position where the first driving assembly 21 and the first support plate 12 are connected through the reinforcing rod. Similarly, for a single leg structure 20, one end of the reinforcing rod is connected to the position where the first driving assembly 21 and the second support plate 13 are connected, and the other end of the reinforcing rod is connected to the second connecting piece 200, so as to effectively support and strengthen the position where the first driving assembly 21 and the second support plate 13 are connected through the reinforcing rod. The specific form of the reinforcing structure 50 is not limited in the embodiment of the present application.

[0046] In addition, in some embodiments, as Figure 4As shown, the reinforcing structure 50 further comprises a reinforcing plate 52; the first reinforcing member 51 located at the first support plate 12 is connected with the reinforcing plate 52, and the reinforcing plate 52 is connected with the first support plate 12; the first reinforcing member 51 located at the second support plate 13 is connected with the reinforcing plate 52, and the reinforcing plate 52 is connected with the second support plate 13. Through such arrangement, the reinforcing plate 52 located at the first support plate 12 is equivalent to increasing the fixing position of the first reinforcing member 51, effectively supporting the first reinforcing member 51, and effectively fixing the first reinforcing member 51, which is conducive to improving the strength of the first reinforcing member 51 on the connecting position of the first driving assembly 21 of the leg structure 20 and the first support plate 12 or the second support plate 13.

[0047] In addition, in some embodiments, as Figure 4 As shown, the reinforcing plate 52 comprises a first plate 521, a second plate 522, a third plate 523 and a connecting plate 524; the second plate 522 has opposite first and second connecting sides along the first direction X, the connecting plate 524 is connected to the first connecting side, and the first reinforcing member 51 is connected to the first connecting side; the second plate 522 has opposite first and second sides along the third direction Z, the first plate 521 is connected to the first side, and the third plate 523 is connected to the second side; the second connecting side of the second plate 522 located at the first support plate 12 is connected to the first support plate 12, and the first plate 521 and the third plate 523 located at the first support plate 12 are both connected to the first support plate 12; the second connecting side of the second plate 522 located at the second support plate 13 is connected to the second support plate 13, and the first plate 521 and the third plate 523 located at the second support plate 13 are both connected to the second support plate 13. Through such arrangement, the first reinforcing member 51 is connected with the reinforcing plate 52, and the area of the reinforcing plate 52 connected with the first support plate 12 is larger, so that the reinforcing plate 52 is firmly connected with the first support plate 12, which is conducive to the reinforcing plate 52 supporting the first reinforcing member 51, and further conducive to the first reinforcing member 51 effectively reinforcing the connecting position of the first driving assembly 21 and the first support plate 12 or the second support plate 13.

[0048] It should be noted that the first plate 521 can be an arc-shaped plate, of course, the first plate 521 can also be a plate of other shapes, for example, the first plate 521 is a flat plate structure. In this regard, the embodiments of the present application are not limited here.

[0049] In addition, in the embodiment of the present application, the first plate 521, the second plate 522, the third plate 523 and the connecting plate 524 can be of an integral structure, and of course, the first plate 521, the second plate 522, the third plate 523 and the connecting plate 524 can be welded. In this regard, the embodiment of the present application is not limited here.

[0050] In addition, the first support plate 12 can be welded to the first plate 521, the second plate 522 and the third plate 523, and of course, the first support plate 12 can be connected by bolts, pins, etc. In this regard, the embodiment of the present application is not limited here. Similarly, the second support plate 13 can be welded to the first plate 521, the second plate 522 and the third plate 523, and of course, the second support plate 13 can be connected by bolts, pins, etc. In this regard, the embodiment of the present application is not limited here.

[0051] In addition, the first reinforcing member 51 can be connected to the second plate 522 by bolts, and of course, the first reinforcing member 51 can be welded to the second plate 522. In this regard, the embodiment of the present application is not limited here.

[0052] Of course, in the embodiment of the present application, the reinforcing plate 52 can also be of other forms, for example, the reinforcing plate 52 can also include only a single plate, at one end of which the first support plate 12 or the second support plate 13 is connected, and at the other end of which the first reinforcing member 51 is connected. For another example, the reinforcing plate 52 can include a plurality of plates, which are spaced apart, at one end of each of which the first support plate 12 or the second support plate 13 is connected, and at the other end of each of which the first reinforcing member 51 is connected. The specific form of the reinforcing plate 52 is not limited here in the embodiment of the present application.

[0053] In addition, in some embodiments, as shown in Figure 4 In addition, the second plate 522 is provided with a weight-reducing hole 5221, and the weight-reducing hole 5221 penetrates the second plate 522 along the thickness direction of the second plate 522. Through such a design, the weight of the second plate 522 can be reduced, and in turn, the weight of the quadruped robot can be reduced.

[0054] It should be noted that the number of weight-reducing holes 5221 can be set according to actual needs, for example, the number of weight-reducing holes 5221 is 3, and for another example, the number of weight-reducing holes 5221 is 2. The specific number of weight-reducing holes 5221 is not limited here in the embodiment of the present application.

[0055] In addition, the shape of the weight-reducing hole 5221 can be set according to actual needs, for example, the shape of the weight-reducing hole 5221 is circular, for another example, the shape of the weight-reducing hole 5221 is square, for another example, the shape of the weight-reducing hole 5221 is hexagonal. For the specific shape of the weight-reducing hole 5221, the embodiments of the present application are not limited here.

[0056] In addition, in some embodiments, as shown in Figure 4 and Figure 5 The quadruped robot further includes a battery assembly 60; the battery assembly 60 is installed in the installation space. Through such a setting, the battery assembly 60 can effectively provide electric energy for the quadruped robot, ensuring the effective operation of the quadruped robot.

[0057] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0058] Although the embodiments of the present application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A quadruped robot, characterized by, The quadruped robot has a first direction, a second direction and a third direction perpendicular to each other, and comprises a trunk structure and four leg structures; The trunk structure comprises a top cover shell, a first support plate, a second support plate, a connecting rod assembly and a bottom cover shell, the first support plate and the second support plate are spaced apart along the first direction, the connecting rod assembly is located between the first support plate and the second support plate, and opposite ends of the connecting rod assembly along the first direction are connected with the first support plate and the second support plate respectively, the top cover shell and the bottom cover shell are distributed along the third direction, and the top cover shell and the bottom cover shell are connected with the first support plate and the second support plate respectively, the top cover shell, the bottom cover shell, the first support plate and the second support plate form an installation space, and the connecting rod assembly is located in the installation space; The first support plate and the second support plate are connected with two leg structures respectively, and the two leg structures are spaced apart along the second direction, and the leg structures are located outside the installation space.

2. The quadruped robot according to claim 1, characterized in that, The connecting rod assembly comprises a plurality of connecting rods; The plurality of connecting rods are divided into a plurality of groups of connecting rods, each group of connecting rods comprises at least two connecting rods, a plurality of groups of connecting rods are spaced apart along the third direction, and at least two connecting rods in each group of connecting rods are spaced apart along the second direction; Wherein, opposite ends of each connecting rod are connected with the first support plate and the second support plate respectively.

3. The quadruped robot according to claim 2, characterized in that, The quadruped robot further comprises a first mounting plate and a second mounting plate; The first mounting plate and the second mounting plate are located in the installation space, and the first mounting plate and the second mounting plate are spaced apart along the first direction; The first mounting plate and the second mounting plate are provided with through holes, and the connecting rod assembly passes through the through holes of the first mounting plate and the second mounting plate; The space between the first mounting plate and the second mounting plate and between adjacent two groups of connecting rods forms an assembly space, and the assembly space is used for mounting other components of the quadruped robot.

4. The quadruped robot of claim 3, wherein, The top cover shell has a first side and a second side along the second direction, the bottom cover shell has a first side and a second side along the second direction, and the first side of the top cover shell and the first side of the bottom cover shell are located on the same side; At least one of the first side of the top cover shell and the first side of the bottom cover shell is provided with a first notch, and at least one assembly space is in communication with the first notch; and / or, at least one of the second side of the top cover shell and the second side of the bottom cover shell is provided with a second notch, and at least one assembly space is in communication with the second notch.

5. The quadruped robot according to any one of claims 1-4, characterized in that, The quadruped robot further comprises a reinforcing structure; The two leg structures connected by the first support plate member and the two leg structures connected by the second support plate member are connected with the reinforcing structure, and the reinforcing structure is used for reinforcing the strength of the positions where the first support plate member and the leg structures are connected and the strength of the positions where the second support plate member and the leg structures are connected.

6. The quadruped robot of claim 5, wherein, The leg structure comprises a first driving assembly, a second driving assembly and a leg body, and the reinforcing structure comprises a first reinforcing member; The first driving assembly and the second driving assembly are connected through a first connecting member, the second driving assembly is connected with the leg body, and the first support plate member and the second support plate member are both connected with the first driving assembly; the second driving assembly is connected with a second connecting member; The two second connecting members located at the first support plate member are respectively connected with two ends of one first reinforcing member, and the connecting positions of the second connecting members and the first reinforcing member and the connecting positions of the first driving assembly and the first support plate member are opposite in the first direction; The two second connecting members located at the second support plate member are respectively connected with two ends of another first reinforcing member, and the connecting positions of the second connecting members and the first reinforcing member and the connecting positions of the first driving assembly and the second support plate member are opposite in the first direction.

7. The quadruped robot of claim 6, wherein, The reinforcing structure further comprises a reinforcing plate member; The first reinforcing member located at the first support plate member is connected with the reinforcing plate member, and the reinforcing plate member is connected with the first support plate member; The first reinforcing member located at the second support plate member is connected with the reinforcing plate member, and the reinforcing plate member is connected with the second support plate member.

8. The quadruped robot of claim 7, wherein, The reinforcing plate member comprises a first plate member, a second plate member, a third plate member and a connecting plate member; The second plate member has opposite first and second connecting sides in the first direction, the connecting plate member is connected to the first connecting side, the first reinforcing member is connected to the first connecting side, the second plate member has opposite first and second sides in the third direction, the first plate member is connected to the first side, and the third plate member is connected to the second side; The second connecting side of the second plate member located at the first support plate member is connected with the first support plate member, and the first plate member and the third plate member located at the first support plate member are both connected with the first support plate member; The second connecting side of the second plate member located at the second support plate member is connected with the second support plate member, and the first plate member and the third plate member located at the second support plate member are both connected with the second support plate member.

9. The quadruped robot of claim 8, wherein, The second plate member is provided with a weight-reducing hole, and the weight-reducing hole penetrates through the second plate member in the thickness direction of the second plate member.

10. The quadruped robot according to any one of claims 1-4, characterized in that, The quadruped robot further comprises a battery assembly; and the battery assembly is installed in the mounting space.

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