Robot leg and quadruped robot
By designing robot leg joints with identical structures and using clamp-type structures and positioning components for connection, the high cost problem caused by the diversity of quadruped robot joint structures has been solved, achieving the universality and replaceability of joints and reducing production and maintenance costs.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- NR ENG CO LTD
- Filing Date
- 2026-02-10
- Publication Date
- 2026-04-21
AI Technical Summary
The leg joint structures of quadruped robots vary, resulting in high production and maintenance costs and a wide variety of materials.
Design a robot leg in which the first, second, and third joints have identical structures and are interchangeable through a clamp-type structure and positioning components, thereby reducing the types of materials and maintenance costs.
This achieves the versatility and replaceability of joints, reduces production and maintenance costs, and improves robot uptime.
Smart Images
Figure CN121894072A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of robotics, and more particularly to a robotic leg and quadruped robot. Background Technology
[0002] Quadruped robots, with their multi-degree-of-freedom leg structure, can land on discrete points during movement, enabling them to adapt to complex and varied terrain environments. Compared to traditional wheeled and rail-mounted inspection robots, quadruped robots exhibit superior performance in terms of environmental adaptability, mobility, and stability.
[0003] In related technologies, the legs of quadruped robots are typically equipped with multiple active joints, each with a drive motor for power. However, because the structures of these joints vary, a variety of different materials need to be prepared during production, increasing both material costs and subsequent maintenance costs. Summary of the Invention
[0004] This application provides a robot leg that improves the versatility of the joints.
[0005] Another objective of this application is to provide a quadruped robot.
[0006] To achieve the above objectives, according to a first aspect of this application, a robot leg is provided, the robot leg being applied to a robot, the robot leg comprising: a first joint, a first structural component, a second joint, a second structural component, a third joint, a third structural component, a thigh component, and a lower leg;
[0007] The first joint is connected to the first structural component, the second joint is connected to the second structural component, the third joint is connected to the third structural component and the thigh component respectively, and the end of the thigh component away from the third joint is rotatably connected to the lower leg; The first joint, the second joint, and the third joint have the same structure and all include an output end. The output end of the first joint is connected to the second structural component, and the output end of the second joint is connected to the third structural component.
[0008] Optionally, the first joint, the second joint, and the third joint each include a main body. One end face of the main body is provided with an end face mounting hole and an end face positioning part. The outer peripheral surface of the main body is provided with a flange. The flange is provided with a flange mounting hole, a first flange positioning part, and a second flange positioning part. The output end is provided with an output end mounting hole.
[0009] Optionally, the first structural component includes a first clamp and a second clamp, wherein the first clamp and the second clamp are configured in a one-to-one correspondence, or one first clamp is configured in a correspondence with multiple second clamps; The first clamp is provided with a first clamp positioning part, and the second clamp is provided with a second clamp positioning part corresponding to the first clamp positioning part, so as to realize the mutual positioning of the first clamp and the second clamp. One of the first clamp positioning part and the second clamp positioning part is a recessed part, and the other is a protruding part; or, both the first clamp positioning part and the second clamp positioning part are recessed parts and are positioned against each other by positioning elements; and / or The first clamp is provided with a first clamp assembly hole, and the second clamp is provided with a second clamp assembly hole corresponding to the first clamp assembly hole, so as to realize the connection between the first clamp and the second clamp.
[0010] Optionally, the first clamp is provided with a first groove, a first groove positioning part and a first clamp mounting hole, the first groove is provided corresponding to a portion of the flange of the first joint, the first groove positioning part is provided corresponding to a portion of the first flange positioning part of the first joint, and the first clamp mounting hole is provided corresponding to a portion of the flange assembly hole of the first joint. The second clamp is provided with a second groove, a second groove positioning part and a second clamp mounting hole. The second groove is provided in correspondence with another part of the flange of the first joint. The second groove positioning part is provided in correspondence with another part of the first flange positioning part of the first joint. The second clamp mounting hole is provided in correspondence with another part of the flange assembly hole of the first joint. Wherein, at least a portion of the flange of the first joint is embedded in the first groove and the second groove; One of the first groove positioning part and the first joint portion of the first flange positioning part is a recessed part and the other is a protruding part; or, both the first groove positioning part and the first joint portion of the first flange positioning part are recessed parts and are positioned to each other by positioning members. One of the second groove positioning part and the other part of the first flange positioning part of the first joint is a recessed part and the other is a protruding part; or, both the second groove positioning part and the other part of the first flange positioning part of the first joint are recessed parts and are positioned to each other by positioning members.
[0011] Optionally, the second structural component includes a third clamp and a fourth clamp; The third clamp is provided with a third clamp positioning part, and the fourth clamp is provided with a fourth clamp positioning part corresponding to the third clamp positioning part, so as to achieve mutual positioning of the third clamp and the fourth clamp. One of the third clamp positioning parts and the fourth clamp positioning part is a recessed part, and the other is a protruding part; or, both the third clamp positioning part and the fourth clamp positioning part are recessed parts and are positioned against each other by positioning elements; and / or The third clamp is provided with a third clamp assembly hole, and the fourth clamp is provided with a fourth clamp assembly hole corresponding to the third clamp assembly hole, so as to realize the interconnection between the third clamp and the fourth clamp.
[0012] Optionally, the third clamp is provided with a third groove, a third groove positioning part and a third clamp mounting hole. The third groove is provided in correspondence with a portion of the flange of the second joint, the third groove positioning part is provided in correspondence with a portion of the first flange positioning part of the second joint, and the third clamp mounting hole is provided in correspondence with a portion of the flange assembly hole of the second joint. The fourth clamp is provided with a fourth groove, a fourth groove positioning part and a fourth clamp mounting hole. The fourth groove is provided in correspondence with another part of the flange of the second joint. The fourth groove positioning part is provided in correspondence with another part of the first flange positioning part of the second joint. The fourth clamp mounting hole is provided in correspondence with another part of the flange assembly hole of the second joint. Wherein, at least a portion of the flange of the second joint is embedded in the third groove and the fourth groove, and at least one of the third clamp and the fourth clamp is provided with a third clamp flange hole, which is provided in correspondence with the output end assembly hole of the first joint; One of the third groove positioning part and the part of the first flange positioning part of the second joint is a recessed part and the other is a protruding part; or, both the third groove positioning part and the part of the first flange positioning part of the second joint are recessed parts and are positioned to each other by positioning elements. One of the fourth groove positioning part and the other part of the first flange positioning part of the second joint is a recessed part and the other is a protruding part; or, both the fourth groove positioning part and the other part of the first flange positioning part of the second joint are recessed parts and are positioned to each other by positioning elements.
[0013] Optionally, the third structural component includes a third joint fastener, which is provided with a third joint positioning part, a third joint mounting hole and a third joint fastener flange hole. The third joint positioning part is correspondingly provided with the second flange positioning part of the third joint, the third joint mounting hole is correspondingly provided with the flange assembly hole of the third joint, and the third joint fastener flange hole is correspondingly provided with the output end assembly hole of the second joint. Wherein, one of the third joint positioning part and the second flange positioning part of the third joint is a recessed part and the other is a protruding part, or the third joint positioning part and the second flange positioning part of the third joint are both recessed parts and are positioned to each other by positioning elements. The thigh assembly includes a thigh shell, which is provided with a thigh shell mounting hole and a thigh shell positioning part. The thigh shell mounting hole is provided corresponding to the end face assembly hole of the third joint, and the thigh shell positioning part is provided corresponding to the end face positioning part of the third joint. In this configuration, one of the thigh shell positioning portion and the end face positioning portion of the third joint is a recessed portion and the other is a protruding portion; alternatively, both the thigh shell positioning portion and the end face positioning portion of the third joint are recessed portions and are positioned against each other by positioning elements.
[0014] Optionally, at least one of the first structural component, the second structural component, and the third structural component is provided with a heat sink; and / or, At least one of the first structural component, the second structural component, and the third structural component is provided with a heat dissipation section.
[0015] Optionally, the robot has a first direction, a second direction, and a third direction that intersect each other in pairs. The output end of the first joint can drive the second structural component to rotate about the first direction as the rotation axis, and the output end of the second joint can drive the third structural component to rotate about the second direction as the rotation axis.
[0016] According to a second aspect of this application, a quadruped robot is provided, including robotic legs as described in any of the above.
[0017] The quadruped robot of this application embodiment includes robot legs, each comprising a first joint, a second joint, and a third joint with identical structures. This improves the versatility of the joints, reducing the types of materials used in the production process and lowering the costs of material procurement, warehousing, and management. Simultaneously, it enhances the replaceability of the joints; when a joint malfunctions, it can be replaced with a joint of the same specifications without needing to replace specific matching parts, thereby shortening repair time and reducing maintenance costs.
[0018] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description
[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0020] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.
[0021] Figure 1 This is a schematic diagram of the structure of the robot provided in an exemplary embodiment of this disclosure; Figure 2 This is a schematic diagram of the structure of a joint from one perspective, provided in an exemplary embodiment of this disclosure; Figure 3 This is a structural schematic diagram of a joint provided in an exemplary embodiment of this disclosure from another perspective; Figure 4 This is a schematic diagram of the structure of the first joint and the first structural component provided in an exemplary embodiment of this disclosure; Figure 5 This is a schematic diagram of the structure of the first clamp provided in an exemplary embodiment of this disclosure; Figure 6 This is a schematic diagram of the structure of the second clamp provided in an exemplary embodiment of this disclosure; Figure 7 This is a schematic diagram of the structure of the second joint and the second structural component provided in an exemplary embodiment of this disclosure; Figure 8 This is a schematic diagram of the structure of the third clamp provided in an exemplary embodiment of this disclosure; Figure 9 This is a schematic diagram of the structure of the fourth clamp provided in an exemplary embodiment of this disclosure; Figure 10 This is a schematic diagram of the structure of the third joint fixation member provided in an exemplary embodiment of this disclosure; Figure 11 This is a schematic diagram of the structure of the third joint and the third structural component provided in an exemplary embodiment of this disclosure; Figure 12 This is a schematic diagram of the structure of the thigh component provided in an exemplary embodiment of this disclosure; Figure 13 This is a schematic diagram of the structure of the third joint and thigh assembly provided in an exemplary embodiment of this disclosure.
[0022] Explanation of reference numerals in the attached figures: 1. First joint; 2. Second joint; 3. Third joint; 4. End face mounting hole; 5. End face positioning part; 6. Output end; 7. Output end mounting hole; 8. Flange; 9. Flange mounting hole; 10. First flange positioning part; 11. Second flange positioning part; 12. Main body; 100. First structural component; 101. First clamp; 1011. First clamp positioning part; 1012. First clamp mounting hole; 1013. First groove; 1014. 1015. First groove positioning part; 102. First clamp mounting hole; 102. Second clamp; 1021. Second clamp positioning part; 1022. Second clamp assembly hole; 1023. Second groove; 1024. Second groove positioning part; 1025. Second clamp mounting hole; 1026. Heat dissipation part; 103. Heat dissipation component; 104. Heat dissipation cover plate; 200. Second structural component; 201. Third clamp; 2011. Third clamp positioning part; 20 12. Third clamp assembly hole; 2013. Third groove; 2014. Third groove positioning part; 2015. Third clamp mounting hole; 2016. Third clamp flange hole; 202. Fourth clamp; 2021. Fourth clamp positioning part; 2022. Fourth clamp assembly hole; 2023. Fourth groove; 2024. Fourth groove positioning part; 2025. Fourth clamp mounting hole; 300. Third structural component; 301. Third joint fastener; 3011, Third joint positioning part; 3012, Third joint mounting hole; 3013, Third joint fastener flange hole; 400, Thigh assembly; 401, Thigh shell; 4011, Thigh shell mounting hole; 4012, Thigh shell positioning part; 402, Thigh end cap; 403, Thigh sheath; 500, Lower leg; 600, Positioning component; 700, Fastener; 800, Body; X, First direction; Y, Second direction; Z, Third direction. Detailed Implementation
[0023] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. In addition, it should be understood that the specific embodiments described herein are only for illustration and explanation of this application and are not intended to limit this application. In this application, unless otherwise stated, directional terms such as "up," "down," "left," and "right" generally refer to up, down, left, and right in the actual use or working state of the device, specifically the drawing directions in the accompanying drawings.
[0024] In this application, unless otherwise expressly specified and limited, the terms "connected," "linked," "stacked," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two elements or the interaction between two elements. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.
[0025] This application provides a robotic leg and a quadruped robot, which are described in detail below. It should be noted that the order of description of the following embodiments is not intended to limit the preferred order of the embodiments of this application. Furthermore, the descriptions of each embodiment have their own emphasis; parts not described in detail in a certain embodiment can be referred to in the relevant descriptions of other embodiments.
[0026] According to the first aspect of this application, referring to Figure 1 One embodiment of this application provides a robot leg, which is applied to a robot. The robot leg may include: a first joint 1, a first structural component 100, a second joint 2, a second structural component 200, a third joint 3, a third structural component 300, a thigh component 400, and a lower leg 500.
[0027] Specifically, refer to Figure 1 The first joint 1 can be connected to the first structural component 100, the second joint 2 can be connected to the second structural component 200, and the third joint 3 can be connected to both the third structural component 300 and the thigh component 400. The end of the thigh component 400 away from the third joint 3 can be rotatably connected to the lower leg 500. As an example, the end of the thigh component 400 away from the third joint 3 can be rotatably connected to the lower leg 500 via a pin or other component, thereby enabling the lower leg 500 to swing.
[0028] Among them, reference Figure 2 and Figure 3 The first joint (1), the second joint (2), and the third joint (3) have identical structures, allowing for universal interchangeability and reducing the variety of materials required, thus lowering production and maintenance costs. In actual production, only one type of joint needs to be manufactured to meet the requirements of all three joints, eliminating the need for separate design and manufacturing of molds for each joint, thereby reducing mold development and production costs. During maintenance, when a joint malfunctions, maintenance personnel can use a spare joint for replacement, eliminating the need to wait for specific joint parts, thus shortening maintenance time and increasing robot uptime.
[0029] Reference Figure 1 and Figure 2Each of the first joint 1, second joint 2, and third joint 3 may include an output terminal 6. The output terminal 6 of the first joint 1 may be connected to the second structural component 200, and the output terminal 6 of the second joint 2 may be connected to the third structural component 300. As an example, the output terminal 6 of the first joint 1 may be connected to a first driving device (not shown), such as a motor, which can drive the output terminal 6 of the first joint 1 to move, thereby driving the second structural component 200 to move, and the second structural component 200 can drive the second joint 2 to move synchronously. The output terminal 6 of the second joint 2 may also be connected to a second driving device (not shown), such as a motor, which can drive the output terminal 6 of the second joint 2 to move, thereby driving the third structural component 300 to move, and the third structural component 300 can drive the third joint 3 to move synchronously.
[0030] In this application, the first joint 1, the second joint 2, and the third joint 3 have identical structures. The joints are designed in a standardized and modular manner, which improves their versatility. This reduces the types of materials used in the production process, lowering the costs of material procurement, warehousing, and management. Simultaneously, it enhances the replaceability of the joints. When a joint malfunctions, it can be replaced with a joint of the same specifications, eliminating the need to replace specific matching parts, thereby shortening repair time and reducing maintenance costs.
[0031] In some embodiments, refer to Figure 2 and Figure 3 The first joint 1, the second joint 2, and the third joint 3 can all include a main body 12, which can be cylindrical or otherwise shaped. The main body 12 can house components such as a drive motor and a reducer to provide power for the movement of the joints.
[0032] Reference Figure 2 One end face of the main body 12 may be provided with an end face mounting hole 4 and an end face positioning part 5. The end face mounting hole 4 is used for fixed connection with other components, and the end face positioning part 5 is used for positioning with other components to prevent offset and rotation during connection. The number of end face mounting holes 4 and the number of end face positioning parts 5 can both be one or more. In this embodiment, the number of end face mounting holes 4 and the number of end face positioning parts 5 are both multiple, and the multiple end face mounting holes 4 and multiple end face positioning parts 5 can be arranged close to the outer edge of the end face of the main body 12. The multiple end face mounting holes 4 and multiple end face positioning parts 5 can be arranged at intervals.
[0033] Please refer to the above as well. Figure 4The end face mounting hole 4 can be a through hole or a blind hole, etc., and can be provided with internal threads or not. In this embodiment, the end face mounting hole 4 is a blind hole and is provided with internal threads. The end face mounting hole 4 can be connected to other components through a fastener 700. The fastener 700 can be provided with external threads that mate with the internal threads, and the fastener 700 is, for example, a screw. The end face positioning part 5 can be a recessed part extending inward from the main body part 12, such as a pin hole. The end face positioning part 5 can also be a protrusion extending outward from the main body part 12. When the end face positioning part 5 is a recessed part, the end face positioning part 5 can be positioned relative to the recessed parts on other components through a positioning member 600, such as a positioning pin. The end face positioning part 5 can also be positioned relative to the protrusions on other components. When the end face positioning part 5 is a protrusion, the end face positioning part 5 can be positioned relative to the recessed parts on other components. In this embodiment, the end face positioning part 5 is a recessed part, and the end face positioning part 5 is positioned relative to the recessed parts on other components by the positioning member 600.
[0034] Reference Figure 2 and Figure 3 The outer peripheral surface of the main body 12 may be provided with a flange 8, which may be in the form of a ring or an arc. The flange 8 may be provided with flange mounting holes 9, a first flange positioning part 10, and a second flange positioning part 11. The flange mounting holes 9 are used for fixed connection with other components, and the first flange positioning part 10 and the second flange positioning part 11 are used for positioning with other components to prevent offset and rotation during connection. The number of flange mounting holes 9, the number of first flange positioning parts 10, and the number of second flange positioning parts 11 can all be one or more. In this embodiment, the number of flange mounting holes 9, the number of first flange positioning parts 10, and the number of second flange positioning parts 11 are all multiple. Multiple flange mounting holes 9 may be spaced apart circumferentially on the end face of the flange 8, multiple first flange positioning parts 10 may be spaced apart circumferentially on the outer peripheral surface of the flange 8, and multiple second flange positioning parts 11 may be spaced apart circumferentially on the end face of the flange 8.
[0035] The flange mounting hole 9 can be a through hole or a blind hole, etc., and can be provided with internal threads or not. In this embodiment, the flange mounting hole 9 is a through hole and is provided with internal threads. The flange mounting hole 9 can be connected to other components through fasteners 700. The first flange positioning part 10 and the second flange positioning part 11 can both be recesses extending inward from the flange 8, such as pin holes, etc. The first flange positioning part 10 and the second flange positioning part 11 can also both be protrusions extending outward from the flange 8, etc. Please refer to the following: Figure 4When both the first flange positioning portion 10 and the second flange positioning portion 11 are recessed portions, the first flange positioning portion 10 and the second flange positioning portion 11 can be positioned relative to each other by the positioning member 600 and the recessed portions on other components, respectively. Alternatively, the first flange positioning portion 10 and the second flange positioning portion 11 can be positioned relative to each other by engaging with the protrusions on other components. When both the first flange positioning portion 10 and the second flange positioning portion 11 are protrusions, the first flange positioning portion 10 and the second flange positioning portion 11 can be positioned relative to each other by engaging with the recessed portions on other components, respectively. In this embodiment, both the first flange positioning portion 10 and the second flange positioning portion 11 are recessed portions, and the first flange positioning portion 10 and the second flange positioning portion 11 are positioned relative to each other by the positioning member 600 and the recessed portions on other components, respectively.
[0036] Reference Figure 2 A portion of the output end 6 may be located within the main body 12 and connected to components such as the drive motor and reducer. At least a portion of the output end 6 protrudes from the main body 12, and the output end 6 may be provided with an output end mounting hole 7. The output end mounting hole 7 is used for fixed connection with other components to achieve power transmission. The number of output end mounting holes 7 can be one or more. In this embodiment, there are multiple output end mounting holes 7, which can be spaced apart circumferentially on the end face of the output end 6. The output end mounting hole 7 can be a through hole or a blind hole, etc., and may or may not have an internal thread. In this embodiment, the output end mounting hole 7 is a blind hole with an internal thread, and the output end mounting hole 7 can be connected to other components through a fastener 700.
[0037] In some embodiments, refer to Figure 4 The first structural component 100 can adopt a clamp-type structure, etc., and may include a first clamp 101 and a second clamp 102. Both the first clamp 101 and the second clamp 102 can be semi-circular structures, and when combined, they form a circular structure that can tightly wrap around the outside of the flange 8 of the first joint 1, thereby fixing the first joint 1. The first clamp 101 and the second clamp 102 can be arranged in a one-to-one correspondence, that is, one first clamp 101 is connected to one second clamp 102. Alternatively, one first clamp 101 can be correspondingly arranged with multiple second clamps 102, that is, one first clamp 101 is connected to multiple second clamps 102 respectively. In this embodiment, one first clamp 101 is connected to two second clamps 102 respectively, and the two second clamps 102 can be respectively disposed at opposite ends of the first clamp 101.
[0038] For example, refer to Figure 5 and Figure 6The first clamp 101 may be provided with a first clamp positioning part 1011, and the second clamp 102 may be provided with a second clamp positioning part 1021 corresponding to the first clamp positioning part 1011, so as to realize the mutual positioning of the first clamp 101 and the second clamp 102. The number of first clamp positioning parts 1011 and the number of second clamp positioning parts 1021 can both be one or more. In this embodiment, the number of first clamp positioning parts 1011 and the number of second clamp positioning parts 1021 are both multiple.
[0039] One of the first clamp positioning part 1011 and the second clamp positioning part 1021 is a recessed part, and the other is a protruding part. The recessed part and the protruding part can be positioned relative to each other. Alternatively, both the first clamp positioning part 1011 and the second clamp positioning part 1021 are recessed parts and are positioned relative to each other by the positioning member 600. In this embodiment, both the first clamp positioning part 1011 and the second clamp positioning part 1021 are recessed parts. As an example, during installation, the positioning member 600 is inserted into the first clamp positioning part 1011 and the second clamp positioning part 1021, which can achieve mutual positioning of the first clamp 101 and the second clamp 102, prevent relative rotation between the two during installation, and thus improve the connection accuracy.
[0040] The first clamp 101 may be provided with a first clamp mounting hole 1012, and the second clamp 102 may be provided with a second clamp mounting hole 1022 corresponding to the first clamp mounting hole 1012, so as to realize the interconnection between the first clamp 101 and the second clamp 102. The number of first clamp mounting holes 1012 and the number of second clamp mounting holes 1022 can both be one or more. In this embodiment, the number of first clamp mounting holes 1012 and the number of second clamp mounting holes 1022 are both multiple.
[0041] The first clamp mounting hole 1012 can be a through hole or a blind hole, etc., and the second clamp mounting hole 1022 can be a through hole or a blind hole, etc. At least one of the first clamp mounting hole 1012 and the second clamp mounting hole 1022 is provided with internal threads. In this embodiment, the first clamp mounting hole 1012 is a blind hole and is provided with internal threads, while the second clamp mounting hole 1022 is a through hole and is not provided with internal threads. As an example, during installation, the fastener 700 is passed through the second clamp mounting hole 1022 and screwed into the first clamp mounting hole 1012, which enables the first clamp 101 and the second clamp 102 to be interconnected, so that the two form an integral structure.
[0042] In some embodiments, refer to Figure 2 and Figure 5The first clamp 101 may be provided with a first groove 1013, a first groove positioning part 1014, and a first clamp mounting hole 1015. The first groove 1013 may be correspondingly provided with a portion of the flange 8 of the first joint 1. The first groove 1013 may be a semi-circular groove, the shape of which may match the portion of the flange 8 of the first joint 1 and be able to accommodate the portion of the flange 8 of the first joint 1. The first groove positioning part 1014 may be correspondingly provided with a portion of the first flange positioning part 10 of the first joint 1. The first groove positioning part 1014 is used for precise positioning with the first flange positioning part 10 of the first joint 1. The first clamp mounting hole 1015 may be correspondingly provided with a portion of the flange assembly hole 9 of the first joint 1. The first clamp mounting hole 1015 is used for fixed connection with the flange assembly hole 9 of the first joint 1.
[0043] Reference Figure 2 and Figure 6 The second clamp 102 may be provided with a second groove 1023, a second groove positioning part 1024, and a second clamp mounting hole 1025. The second groove 1023 may be correspondingly provided with another part of the flange 8 of the first joint 1. The second groove 1023 may be a semi-circular groove, the shape of which may match the other part of the flange 8 of the first joint 1, and may accommodate the other part of the flange 8 of the first joint 1. The second groove positioning part 1024 may be correspondingly provided with another part of the first flange positioning part 10 of the first joint 1, and the second groove positioning part 1024 is used for precise positioning with the first flange positioning part 10 of the first joint 1. The second clamp mounting hole 1025 is correspondingly provided with another part of the flange assembly hole 9 of the first joint 1, and the second clamp mounting hole 1025 is used for fixed connection with the flange assembly hole 9 of the first joint 1.
[0044] At least a portion of the flange 8 of the first joint 1 can be regionally embedded in the first groove 1013 and the second groove 1023.
[0045] Both the first groove positioning portion 1014 and the second groove positioning portion 1024 can be recessed portions or protruding portions. One of the first groove positioning portion 1014 and a portion of the first flange positioning portion 10 of the first joint 1 is a recessed portion, and the other is a protruding portion; the recessed portion and the protruding portion can be positioned relative to each other. Alternatively, both the first groove positioning portion 1014 and a portion of the first flange positioning portion 10 of the first joint 1 can be recessed portions and positioned relative to each other by the positioning member 600. One of the second groove positioning portion 1024 and another portion of the first flange positioning portion 10 of the first joint 1 is a recessed portion, and the other is a protruding portion; the recessed portion and the protruding portion can be positioned relative to each other. Alternatively, both the second groove positioning portion 1024 and another portion of the first flange positioning portion 10 of the first joint 1 can be recessed portions and positioned relative to each other by the positioning member 600. In this embodiment, the first groove positioning portion 1014, the second groove positioning portion 1024, and the first flange positioning portion 10 of the first joint 1 are all recessed portions. As an example, during installation, the positioning member 600 is inserted into the first groove positioning part 1014, the second groove positioning part 1024 and the first flange positioning part 10, which can realize the mutual positioning of the first clamp 101 and the second clamp 102 with the first joint 1, prevent relative rotation between the two during installation, and thus improve the connection accuracy.
[0046] Both the first clamp mounting hole 1015 and the second clamp mounting hole 1025 can be through holes or blind holes, and both can be provided with internal threads or without internal threads. In this embodiment, both the first clamp mounting hole 1015 and the second clamp mounting hole 1025 are through holes and are not provided with internal threads. As an example, during installation, the fastener 700 is passed through the first clamp mounting hole 1015 and the second clamp mounting hole 1025 and screwed into the flange assembly hole 9 of the first joint 1, which can realize the connection between the first clamp 101 and the second clamp 102 and the first joint 1.
[0047] In some embodiments, refer to Figure 7 The second structural component 200 can adopt a clamp-type structure, etc., and may include a third clamp 201 and a fourth clamp 202. Both the third clamp 201 and the fourth clamp 202 can be semi-circular structures, and the two are combined to form a circular structure, which can tightly wrap around the outside of the flange 8 of the second joint 2 to achieve fixation of the second joint 2.
[0048] For example, refer to Figure 8 and Figure 9The third clamp 201 may be provided with a third clamp positioning part 2011, and the fourth clamp 202 may be provided with a fourth clamp positioning part 2021 corresponding to the third clamp positioning part 2011, so as to realize the mutual positioning of the third clamp 201 and the fourth clamp 202. The number of third clamp positioning parts 2011 and the number of fourth clamp positioning parts 2021 can both be one or more. In this embodiment, the number of third clamp positioning parts 2011 and the number of fourth clamp positioning parts 2021 are both multiple.
[0049] One of the third clamp positioning part 2011 and the fourth clamp positioning part 2021 is a recessed part, and the other is a protruding part. The recessed part and the protruding part can be positioned relative to each other. Alternatively, both the third clamp positioning part 2011 and the fourth clamp positioning part 2021 are recessed parts and are positioned relative to each other by the positioning member 600. In this embodiment, both the third clamp positioning part 2011 and the fourth clamp positioning part 2021 are recessed parts. As an example, during installation, the positioning member 600 is inserted into the third clamp positioning part 2011 and the fourth clamp positioning part 2021, which can achieve mutual positioning of the third clamp 201 and the fourth clamp 202, preventing relative rotation between the two during installation, thereby improving the connection accuracy.
[0050] The third clamp 201 may be provided with a third clamp mounting hole 2012, and the fourth clamp 202 may be provided with a fourth clamp mounting hole 2022 corresponding to the third clamp mounting hole 2012, so as to realize the interconnection between the third clamp 201 and the fourth clamp 202. The number of third clamp mounting holes 2012 and the number of fourth clamp mounting holes 2022 can both be one or more. In this embodiment, the number of third clamp mounting holes 2012 and the number of fourth clamp mounting holes 2022 are both multiple.
[0051] The third clamp mounting hole 2012 can be a through hole or a blind hole, and the fourth clamp mounting hole 2022 can also be a through hole or a blind hole, etc. At least one of the third clamp mounting hole 2012 and the fourth clamp mounting hole 2022 is provided with internal threads. In this embodiment, the third clamp mounting hole 2012 is a blind hole and is provided with internal threads, while the fourth clamp mounting hole 2022 is a through hole and is not provided with internal threads. As an example, during installation, the fastener 700 is passed through the fourth clamp mounting hole 2022 and screwed into the third clamp mounting hole 2012, which enables the third clamp 201 and the fourth clamp 202 to be interconnected, so that the two form an integral structure.
[0052] In some embodiments, refer to Figure 2 and Figure 8The third clamp 201 may be provided with a third groove 2013, a third groove positioning part 2014, and a third clamp mounting hole 2015. The third groove 2013 may be provided corresponding to a portion of the flange 8 of the second joint 2. The third groove 2013 may be a semi-circular groove, the shape of which may match the portion of the flange 8 of the second joint 2, and may accommodate the portion of the flange 8 of the second joint 2. The third groove positioning part 2014 may be provided corresponding to a portion of the first flange positioning part 10 of the second joint 2, and the third groove positioning part 2014 is used for precise positioning with the first flange positioning part 10 of the second joint 2. The third clamp mounting hole 2015 is provided corresponding to a portion of the flange assembly hole 9 of the second joint 2, and the third clamp mounting hole 2015 is used for fixed connection with the flange assembly hole 9 of the second joint 2.
[0053] Reference Figure 2 and Figure 9 The fourth clamp 202 may be provided with a fourth groove 2023, a fourth groove positioning part 2024, and a fourth clamp mounting hole 2025. The fourth groove 2023 may correspond to another part of the flange 8 of the second joint 2. The fourth groove 2023 may be a semi-circular groove, the shape of which may match the other part of the flange 8 of the second joint 2, and may accommodate the other part of the flange 8 of the second joint 2. The fourth groove positioning part 2024 may correspond to another part of the first flange positioning part 10 of the second joint 2, and is used for precise positioning with the first flange positioning part 10 of the second joint 2. The fourth clamp mounting hole 2025 corresponds to another part of the flange assembly hole 9 of the second joint 2, and is used for fixed connection with the flange assembly hole 9 of the second joint 2.
[0054] Both the third groove positioning portion 2014 and the fourth groove positioning portion 2024 can be recessed portions or protruding portions. One of the third groove positioning portion 2014 and a portion of the first flange positioning portion 10 of the second joint 2 is a recessed portion, and the other is a protruding portion; the recessed portion and the protruding portion can be positioned relative to each other. Alternatively, both the third groove positioning portion 2014 and a portion of the first flange positioning portion 10 of the second joint 2 can be recessed portions and positioned relative to each other by the positioning member 600. One of the fourth groove positioning portion 2024 and another portion of the first flange positioning portion 10 of the second joint 2 is a recessed portion, and the other is a protruding portion; the recessed portion and the protruding portion can be positioned relative to each other. Alternatively, both the fourth groove positioning portion 2024 and another portion of the first flange positioning portion 10 of the second joint 2 can be recessed portions and positioned relative to each other by the positioning member 600. In this embodiment, both the third groove positioning portion 2014, the fourth groove positioning portion 2024, and the first flange positioning portion 10 of the second joint 2 are recessed portions. As an example, during installation, the positioning member 600 is inserted into the third groove positioning part 2014, the fourth groove positioning part 2024 and the first flange positioning part 10, which can realize the mutual positioning of the third clamp 201 and the fourth clamp 202 with the second joint 2, prevent relative rotation between the two during installation, and thus improve the connection accuracy.
[0055] Both the third clamp mounting hole 2015 and the fourth clamp mounting hole 2025 can be through holes or blind holes, and both can be provided with internal threads or without internal threads. In this embodiment, both the third clamp mounting hole 2015 and the fourth clamp mounting hole 2025 are through holes and are not provided with internal threads. As an example, during installation, the fastener 700 is passed through the third clamp mounting hole 2015 and the fourth clamp mounting hole 2025 and screwed into the flange assembly hole 9 of the second joint 2, which enables the connection between the third clamp 201 and the fourth clamp 202 and the second joint 2.
[0056] In this embodiment, at least a portion of the flange 8 of the second joint 2 is embedded within the third groove 2013 and the fourth groove 2023. At least one of the third clamp 201 and the fourth clamp 202 may be provided with a third clamp flange hole 2016, which may correspond to the output end mounting hole 7 of the first joint 1. In this embodiment, the third clamp 201 is provided with the third clamp flange hole 2016.
[0057] The third clamp flange hole 2016 can be a through hole or a blind hole, and it can be provided with internal threads or without internal threads. In this embodiment, the third clamp flange hole 2016 is a through hole and is not provided with internal threads. As an example, during installation, the fastener 700 is passed through the third clamp flange hole 2016 and screwed into the output end assembly hole 7 of the first joint 1, which enables the second structural component 200 to be connected to the output end 6 of the first joint 1.
[0058] In some embodiments, refer to Figure 10 and Figure 11 The third structural component 300 can be a cylindrical structure, etc., and can include a third joint fastener 301. The third joint fastener 301 can be provided with a third joint positioning part 3011, a third joint mounting hole 3012, and a third joint fastener flange hole 3013. The third joint positioning part 3011 can be correspondingly provided with the second flange positioning part 11 of the third joint 3, and is used for precise positioning with the second flange positioning part 11 of the third joint 3. The third joint mounting hole 3012 can be correspondingly provided with the flange assembly hole 9 of the third joint 3, and is used for fixed connection with the flange assembly hole 9 of the third joint 3. The third joint fastener flange hole 3013 can be correspondingly provided with the output end assembly hole 7 of the second joint 2. The third joint fastener flange hole 3013 can be a through hole or a blind hole, etc., and can be provided with internal threads or without internal threads. In this embodiment, the third joint fastener flange hole 3013 is a through hole and is not provided with internal threads. As an example, during installation, fastener 700 is passed through the flange hole 3013 of the third joint fixing member and screwed into the output end assembly hole 7 of the second joint 2, which enables the connection between the third structural component 300 and the output end 6 of the second joint 2.
[0059] One of the third joint positioning portion 3011 and the second flange positioning portion 11 of the third joint 3 is a recessed portion, and the other is a protruding portion. The recessed portion and the protruding portion can be positioned relative to each other. Alternatively, both the third joint positioning portion 3011 and the second flange positioning portion 11 of the third joint 3 are recessed portions and are positioned relative to each other by the positioning member 600. In this embodiment, both the third joint positioning portion 3011 and the second flange positioning portion 11 of the third joint 3 are recessed portions. As an example, during installation, the positioning member 600 is inserted into the third joint positioning portion 3011 and the second flange positioning portion 11 of the third joint 3, which enables mutual positioning of the third joint fixing member 301 and the third joint 3, preventing relative rotation between the two during installation, thereby improving the connection accuracy. In this application, the first structural component 100 and the second structural component 200 adopt a clamp-type structure, and the third structural component 300 adopts a cylindrical structure. These structures, along with positioning parts and assembly holes, achieve positioning and connection. Compared to the C-shaped opening structure and spline / keyway connections in the prior art, the clamp-type and cylindrical structures have higher structural strength, improving the structural stability of the robot leg. This allows the robot leg to withstand greater loads and sudden impacts, preventing structural deformation and thus improving the motion accuracy and stability of the robot leg. Simultaneously, the way the positioning parts and assembly holes are fitted reduces the requirements for dimensional and positional accuracy of the parts, thereby reducing processing difficulty and manufacturing costs.
[0060] Reference Figure 12 and Figure 13 The thigh assembly 400 may include a thigh shell 401, which may be provided with a thigh shell mounting hole 4011 and a thigh shell positioning part 4012. The thigh shell mounting hole 4011 may be correspondingly provided with the end face mounting hole 4 of the third joint 3, and the thigh shell mounting hole 4011 is used for fixed connection with the end face mounting hole 4 of the third joint 3. The thigh shell positioning part 4012 may be correspondingly provided with the end face positioning part 5 of the third joint 3, and the thigh shell positioning part 4012 is used for precise positioning with the end face positioning part 5 of the third joint 3.
[0061] The thigh shell positioning portion 4012 can be a recessed portion or a protruding portion. One of the thigh shell positioning portion 4012 and the end face positioning portion 5 of the third joint 3 is a recessed portion, and the other is a protruding portion; the recessed portion and the protruding portion can be positioned relative to each other. Alternatively, both the thigh shell positioning portion 4012 and the end face positioning portion 5 of the third joint 3 can be recessed portions and positioned relative to each other by the positioning member 600. In this embodiment, both the thigh shell positioning portion 4012 and the end face positioning portion 5 of the third joint 3 are recessed portions. As an example, during installation, inserting the positioning member 600 into the end face positioning portion 5 of the thigh shell positioning portion 4012 and the third joint 3 enables mutual positioning of the thigh shell 401 and the third joint 3, preventing relative rotation during installation and thus improving the connection accuracy.
[0062] The thigh shell mounting hole 4011 may or may not have an internal thread. In this embodiment, the thigh shell mounting hole 4011 is a through hole and does not have an internal thread. As an example, during installation, the fastener 700 is passed through the thigh shell mounting hole 4011 and screwed into the end face mounting hole 4 of the third joint 3, thereby connecting the thigh shell 401 and the third joint 3.
[0063] The thigh assembly 400 may include a thigh end cap 402 and a thigh sleeve 403. The thigh end cap 402 may be installed at one end of the thigh shell 401 to close the end of the thigh shell 401 and protect the internal components. The thigh sleeve 403 may be fitted over the outside of the thigh shell 401 for cushioning and protection, preventing the thigh shell 401 from being impacted and worn during movement.
[0064] In some embodiments, refer to Figure 1 and Figure 4 At least one of the first structural component 100, the second structural component 200, and the third structural component 300 may be provided with a heat sink 103. In this embodiment, the first structural component 100 is provided with a heat sink 103, which may be, for example, a fan, and may be mounted on one side of the second clamp 102. The heat sink 103 can accelerate airflow to remove heat from the air, thereby achieving cooling. In some examples, the heat sink 103 may be an axial fan whose speed can be automatically adjusted according to the joint temperature. When the joint temperature is low, the fan runs at low speed to save energy. When the joint temperature is high, the fan runs at high speed to improve heat dissipation efficiency.
[0065] The heat sink 103 may also be covered with a heat sink cover 104. The heat sink cover 104 can protect the heat sink 103 and prevent the heat sink 103 from interfering with the outside world when it is in operation.
[0066] At least one of the first structural component 100, the second structural component 200, and the third structural component 300 may be provided with a heat dissipation portion 1026. In this embodiment, all three structural components are provided with heat dissipation portions 1026, such as heat dissipation fins. The heat dissipation portion 1026 can increase the heat dissipation area to further improve heat dissipation efficiency. In some examples, the heat dissipation portion 1026 can be an aluminum alloy heat dissipation fin. Aluminum alloy has good thermal conductivity, which can quickly conduct heat from the joint to the fin surface, and then the heat is dissipated into the air by accelerating airflow through the heat dissipation component 103. The number and spacing of the heat dissipation portions 1026 can be designed according to actual heat dissipation requirements to achieve the best heat dissipation effect.
[0067] As an example, when the robot's legs are in motion, the heat generated by the drive motors of the three joints is conducted to the structural components through the main body 12 of the joints, and then dissipated through the heat sinks 1026 on the structural components. Simultaneously, the heat sink 103 is activated, and the resulting airflow flows through the heat sink 1026, quickly carrying away the heat and achieving efficient heat dissipation for the three joints. This combination of active and passive heat dissipation can reduce the joint temperature, thereby improving the stability of the robot's legs during long-term, high-load operation and extending the lifespan of the robot's legs.
[0068] In some embodiments, refer to Figure 1 The robot can have three intersecting directions: a first direction X, a second direction Y, and a third direction Z. In this embodiment, the first direction X, the second direction Y, and the third direction Z are mutually perpendicular. The first direction X can be the robot's length direction, the second direction Y can be the robot's width direction, and the third direction Z can be the robot's height direction. The output end 6 of the first joint 1 can drive the second structural component 200 to rotate about the first direction X as the rotation axis. The second structural component 200 drives the second joint 2 to rotate around the first direction X, thereby realizing the lateral swing motion of the robot's legs. The output end 6 of the second joint 2 can drive the third structural component 300 to rotate about the second direction Y as the rotation axis. The third structural component 300 drives the third joint 3 to rotate around the second direction Y, thereby realizing the flexion and extension motion of the robot's legs. By cooperating with multiple joints, multi-degree-of-freedom motion of the robot's legs can be achieved, which can improve the robot's motion flexibility and environmental adaptability.
[0069] According to the second aspect of this application, referring to Figure 1One embodiment of this application provides a quadruped robot, including a body 800 and robot legs as described above. The four robot legs can be evenly distributed around the body 800. By adopting the above-described robot leg structure, the quadruped robot can not only reduce manufacturing costs and material control costs, but also improve the reliability and motion accuracy of the leg structure, while possessing excellent heat dissipation performance, and better adapting to complex and changing working environments.
[0070] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.
[0071] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.
[0072] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.
[0073] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.
Claims
1. A robot leg, characterized in that, The robot leg is used in the robot and includes: a first joint, a first structural component, a second joint, a second structural component, a third joint, a third structural component, a thigh component, and a lower leg. The first joint is connected to the first structural component, the second joint is connected to the second structural component, the third joint is connected to the third structural component and the thigh component respectively, and the end of the thigh component away from the third joint is rotatably connected to the lower leg; The first joint, the second joint, and the third joint have the same structure and all include an output end. The output end of the first joint is connected to the second structural component, and the output end of the second joint is connected to the third structural component.
2. The robot leg according to claim 1, characterized in that, The first joint, the second joint, and the third joint all include a main body. One end face of the main body is provided with an end face mounting hole and an end face positioning part. The outer peripheral surface of the main body is provided with a flange. The flange is provided with a flange mounting hole, a first flange positioning part, and a second flange positioning part. The output end is provided with an output end mounting hole.
3. The robot leg according to claim 2, characterized in that, The first structural component includes a first clamp and a second clamp, wherein the first clamp and the second clamp are configured in a one-to-one correspondence, or one first clamp is configured in a correspondence with multiple second clamps; The first clamp is provided with a first clamp positioning part, and the second clamp is provided with a second clamp positioning part corresponding to the first clamp positioning part, so as to realize the mutual positioning of the first clamp and the second clamp. One of the first clamp positioning part and the second clamp positioning part is a recessed part, and the other is a protruding part; or, both the first clamp positioning part and the second clamp positioning part are recessed parts and are positioned against each other by positioning elements; and / or The first clamp is provided with a first clamp assembly hole, and the second clamp is provided with a second clamp assembly hole corresponding to the first clamp assembly hole, so as to realize the connection between the first clamp and the second clamp.
4. The robot leg according to claim 3, characterized in that, The first clamp is provided with a first groove, a first groove positioning part and a first clamp mounting hole. The first groove is provided to correspond to a portion of the flange of the first joint. The first groove positioning part is provided to correspond to a portion of the first flange positioning part of the first joint. The first clamp mounting hole is provided to correspond to a portion of the flange assembly hole of the first joint. The second clamp is provided with a second groove, a second groove positioning part and a second clamp mounting hole. The second groove is provided in correspondence with another part of the flange of the first joint. The second groove positioning part is provided in correspondence with another part of the first flange positioning part of the first joint. The second clamp mounting hole is provided in correspondence with another part of the flange assembly hole of the first joint. Wherein, at least a portion of the flange of the first joint is embedded in the first groove and the second groove; One of the first groove positioning part and the first joint portion of the first flange positioning part is a recessed part and the other is a protruding part; or, both the first groove positioning part and the first joint portion of the first flange positioning part are recessed parts and are positioned to each other by positioning members. One of the second groove positioning part and the other part of the first flange positioning part of the first joint is a recessed part and the other is a protruding part; or, both the second groove positioning part and the other part of the first flange positioning part of the first joint are recessed parts and are positioned to each other by positioning members.
5. The robot leg according to claim 2, characterized in that, The second structural component includes a third clamp and a fourth clamp; The third clamp is provided with a third clamp positioning part, and the fourth clamp is provided with a fourth clamp positioning part corresponding to the third clamp positioning part, so as to achieve mutual positioning of the third clamp and the fourth clamp. One of the third clamp positioning parts and the fourth clamp positioning part is a recessed part, and the other is a protruding part; or, both the third clamp positioning part and the fourth clamp positioning part are recessed parts and are positioned against each other by positioning elements; and / or, The third clamp is provided with a third clamp assembly hole, and the fourth clamp is provided with a fourth clamp assembly hole corresponding to the third clamp assembly hole, so as to realize the interconnection between the third clamp and the fourth clamp.
6. The robot leg according to claim 5, characterized in that, The third clamp is provided with a third groove, a third groove positioning part and a third clamp mounting hole. The third groove is provided in correspondence with a portion of the flange of the second joint, the third groove positioning part is provided in correspondence with a portion of the first flange positioning part of the second joint, and the third clamp mounting hole is provided in correspondence with a portion of the flange assembly hole of the second joint. The fourth clamp is provided with a fourth groove, a fourth groove positioning part and a fourth clamp mounting hole. The fourth groove is provided in correspondence with another part of the flange of the second joint. The fourth groove positioning part is provided in correspondence with another part of the first flange positioning part of the second joint. The fourth clamp mounting hole is provided in correspondence with another part of the flange assembly hole of the second joint. Wherein, at least a portion of the flange of the second joint is embedded in the third groove and the fourth groove, and at least one of the third clamp and the fourth clamp is provided with a third clamp flange hole, which is provided in correspondence with the output end assembly hole of the first joint; One of the third groove positioning part and the part of the first flange positioning part of the second joint is a recessed part and the other is a protruding part; or, both the third groove positioning part and the part of the first flange positioning part of the second joint are recessed parts and are positioned to each other by positioning elements. One of the fourth groove positioning part and the other part of the first flange positioning part of the second joint is a recessed part and the other is a protruding part; or, both the fourth groove positioning part and the other part of the first flange positioning part of the second joint are recessed parts and are positioned to each other by positioning elements.
7. The robot leg according to claim 2, characterized in that, The third structural component includes a third joint fastener, which is provided with a third joint positioning part, a third joint mounting hole and a third joint fastener flange hole. The third joint positioning part is corresponding to the second flange positioning part of the third joint, the third joint mounting hole is corresponding to the flange assembly hole of the third joint, and the third joint fastener flange hole is corresponding to the output end assembly hole of the second joint. Wherein, one of the third joint positioning part and the second flange positioning part of the third joint is a recessed part and the other is a protruding part, or the third joint positioning part and the second flange positioning part of the third joint are both recessed parts and are positioned to each other by positioning elements. The thigh assembly includes a thigh shell, which is provided with a thigh shell mounting hole and a thigh shell positioning part. The thigh shell mounting hole is corresponding to the end face assembly hole of the third joint, and the thigh shell positioning part is corresponding to the end face positioning part of the third joint. In this configuration, one of the thigh shell positioning portion and the end face positioning portion of the third joint is a recessed portion and the other is a protruding portion; alternatively, both the thigh shell positioning portion and the end face positioning portion of the third joint are recessed portions and are positioned to each other by positioning elements.
8. The robot leg according to claim 1, characterized in that, At least one of the first structural component, the second structural component, and the third structural component is provided with a heat sink; and / or, At least one of the first structural component, the second structural component, and the third structural component is provided with a heat dissipation section.
9. The robot leg according to claim 1, characterized in that, The robot has a first direction, a second direction, and a third direction that intersect each other. The output end of the first joint can drive the second structural component to rotate about the first direction as the rotation axis, and the output end of the second joint can drive the third structural component to rotate about the second direction as the rotation axis.
10. A quadruped robot, characterized in that, Including the robotic legs as described in any one of claims 1 to 9.