Leg assembly of quadruped robot and quadruped robot

Abstract

The utility model discloses a leg component of a quadruped robot, which can remarkably improve the bearing strength without remarkably improving the weight of the leg component, thereby meeting the use requirements of the high-mobility quadruped robot. The leg assembly of the quadruped robot comprises a thigh assembly and a shank assembly hinged to the thigh assembly, the shank assembly comprises a foot end piece, a supporting piece and a hinge piece, the hinge piece is hinged to the thigh assembly, the supporting piece comprises a reinforcing piece and a plurality of supporting rods arranged side by side, and the supporting rods are hinged to the foot end piece. The plurality of supporting rods are arranged at intervals, the reinforcing piece supports at least two supporting rods, and the plurality of supporting rods are supported between the hinging piece and the foot end piece. By arranging the reinforcing rods to support the supporting rods, the bearing strength of the leg assembly can be remarkably improved under the condition that the weight of the leg assembly is not remarkably increased. The utility model further provides the quadruped robot adopting the leg assembly of the technical scheme.

Description

Technical Field

[0001] The utility model relates to the field of quadruped robots, in particular to a leg component of a quadruped robot. Background Art

[0002] The leg component of a quadruped robot includes a thigh component and a calf component which are hinged to each other. There is an included angle between the thigh component and the calf component. The calf component mainly plays a role in supporting the robot. When the quadruped robot runs, the calf component will contact the ground and bend relative to the thigh component after being impacted by the ground.

[0003] For a highly maneuverable quadruped robot with a moving speed exceeding 5 m / s, the calf component of the robot will be subjected to a large impact in each running cycle when running. The higher the moving speed, the greater the impact received. In order to prevent the calf component from breaking due to the impact force during running, it is necessary to enhance the strength of the calf component.

[0004] In the prior art, the calf component usually adopts an alloy material with a relatively low density but high strength, such as aluminum alloy. Although the density of aluminum alloy is lower than that of other alloys, the weight of the calf component made of aluminum alloy is too large for a quadruped robot. The greater the weight, the greater the moment of inertia generated during running. Correspondingly, the generated impact force will also be greater. Through actual tests, the impact force generated when the robot runs at high speed can cause the aluminum alloy calf component to bend and deform. If the size of the calf component is increased to improve the strength, the moment of inertia will increase, and at the same time, the motor load will also increase. Therefore, the alloy calf component cannot be applied to highly maneuverable quadruped robots. In addition, the calf component can also adopt carbon fiber material. The carbon fiber material is lighter in weight and has relatively high strength, but it is more brittle and will break during the high-speed running test. It also cannot meet the requirements of high-speed movement of quadruped robots.

[0005] Those skilled in the art urgently need to develop a leg component of a quadruped robot that can significantly improve the bearing strength without significantly increasing its weight to meet the usage requirements of highly maneuverable quadruped robots. Summary of the Utility Model

[0006] The technical problem to be solved by the utility model is to overcome the deficiencies of the prior art and propose a leg component of a quadruped robot that can significantly improve its bearing strength without significantly increasing the weight of the leg component.

[0007] To achieve the above technical objectives, a leg component of a quadruped robot proposed by the present utility model includes a thigh component and a calf component hinged to the thigh component. The calf component includes a foot end member, a support member, and a hinge member. The hinge member is hinged to the thigh component. The support member includes a reinforcing member and a plurality of support rods arranged in parallel. The plurality of support rods are spaced apart. The reinforcing member supports at least two of the support rods. The plurality of support rods are supported between the hinge member and the foot end member.

[0008] Preferably, the reinforcing member is a reinforcing rod arranged along the axial direction of the support rod, and the plurality of support rods are arranged around the reinforcing rod.

[0009] Preferably, the outer side wall of the reinforcing rod abuts against the support rod.

[0010] Preferably, there is one reinforcing rod, and the length of the reinforcing rod is shorter than that of the support rod. One end of the reinforcing rod is connected to the foot end member or the hinge member;

[0011] Or,

[0012] There are a plurality of reinforcing rods, and the plurality of reinforcing rods are arranged at intervals along the axial direction of the support rod.

[0013] Preferably, the calf component further includes a hoop, and the hoop is fastened outside the plurality of support rods so that the reinforcing rod abuts against and supports the support rod.

[0014] Preferably, the reinforcing rod and the support rod are integrally formed.

[0015] Preferably, the reinforcing member is a connecting buckle, and the connecting buckle radially connects two adjacent support rods or a plurality of support rods.

[0016] Preferably, the support rod is a hollow carbon fiber tube or a solid carbon fiber rod.

[0017] Preferably, the support rod is a partially hollow carbon fiber member, and the reinforcing member is supported in the hollow part of the support rod.

[0018] Preferably, the support rod includes a hollow tube and a solid rod,

[0019] There are at least two hollow tubes. The solid rod connects two adjacent hollow tubes. A plurality of hollow tubes and at least one solid rod are axially connected to form the support rod. The two ends of two of the hollow tubes are respectively supported on the hinge member and the foot end member;

[0020] Or,

[0021] Both ends of the hollow tube are respectively provided with the solid rods to form the support rods, and the two solid rods respectively support the hinge member and the foot end member;

[0022] The reinforcing member supports several of the hollow tubes adjacent in the radial direction.

[0023] Preferably, at least three support rods are provided, and several support rods are distributed in central symmetry.

[0024] The present utility model also provides a quadruped robot, which adopts the leg assembly in any one of the above technical solutions.

[0025] After adopting the above technical solution, the present utility model has the following beneficial effects.

[0026] 1. For the leg assembly of the quadruped robot provided by the present utility model, by providing several support rods arranged in parallel, the bearing strength of the support member can be effectively improved. At the same time, by setting the reinforcing member, on the one hand, the bearing strength of the support rod is increased by adding components, and on the other hand, after setting the reinforcing member, the force received by the calf assembly can be transmitted from the support rod to the reinforcing member, thereby reducing the impact on the support rod and increasing the upper limit of the impact force that the support rod can withstand; at the same time, during the movement of the calf assembly, the impact forces received by each support rod are different. Since the reinforcing member can support at least two support rods, under the action of the reinforcing member, several support rods supported by it become a force-receiving whole, thereby reducing or avoiding the situation where a certain support rod bears too much and breaks; in addition, by at least one reinforcing rod supporting two support rods, the number of reinforcing rods can be reduced, and the excessive mass of the calf assembly can be avoided.

[0027] 2. Due to the axial arrangement of the reinforcing rod, the contact action length and contact area between the reinforcing rod and the support rod can be increased. When at least one support rod bears and deforms, it will directly act on the reinforcing rod. The support of the reinforcing rod can, on the one hand, reduce the deformation of the support rod, and on the other hand, several support rods are arranged around the reinforcing rod, so that the force received by the reinforcing rod can also be dispersed to other support rods. Through the above settings, the overall bearing strength of the support member can be improved, and the possibility of the support rod breaking when bearing is reduced.

[0028] 3. Through the mutual abutment of the reinforcing rod and the support rod, when the support rod bears and deforms, the radial force causing its deformation is transmitted to the reinforcing rod and other support rods abutting against the reinforcing rod, thereby dispersing the radial force, making it less likely for a single support rod to bear and deform, improving the overall bearing strength of the support member, and reducing the possibility of the support rod breaking when bearing; at the same time, due to the abutment of the reinforcing rod and the support rod, an installation limit is formed between the reinforcing rod and the support rod, so that the assembly of the calf assembly is also easier.

[0029] 4. The reinforcing rod is provided as one, and the length of the reinforcing rod is shorter than that of the support rod. One end of the reinforcing rod is fixed on the foot end piece. With this setting, the reinforcing rod supports several support rods, so that the reinforcing rod and several support rods form an integral body, improving the bearing strength of the support member. At the same time, since the length of the reinforcing rod is shorter than that of the support rod, it avoids the interference of the reinforcing rod on the sliding of the support member and the hinge member when they slide, thus improving the buffering performance of the calf assembly. The reinforcing rods are provided as multiple ones, and the multiple reinforcing rods are arranged at intervals along the axial direction of the support rod. With this setting, at least two adjacent support rods are supported by the reinforcing rods, and the radial force on a single support rod can be transmitted to other support rods through the reinforcing rod, so that the radial forces on each support rod are roughly evenly distributed. At the same time, the reinforcing rod also shares a part of the radial force, thus enhancing the bearing strength of the support member.

[0030] 5. By using a hoop to tightly hold the support rod and the reinforcing rod, the reinforcing rod can more easily support the support rod, thus enhancing the bearing strength of the support member. And due to the tight holding of the hoop, the friction between the reinforcing rod and the support rod is also increased. During the movement of the leg assembly, it is very difficult for the reinforcing rod and the support rod to generate displacement and rub against each other, thus avoiding the excessive fit clearance caused by the wear of the two, which affects the supporting effect of the reinforcing rod on the support rod.

[0031] 6. With this setting, an integral body is formed between the reinforcing rod and the support rod. In this way, the bearing capacity of the support member is further enhanced. At the same time, the force received by a single support rod can be better dispersed to other support rods through the reinforcing rod, further reducing the possibility of the support rod breaking during bearing.

[0032] 7. Adjacent support rods are radially connected by a connecting buckle. Since the connection between the connecting buckle and the support rod is more stable, the connection stability between the reinforcing member and the support rod is enhanced, thereby enhancing the supporting strength of the reinforcing member on the support rod and the bearing strength of the support member. At the same time, the connecting buckle also shares a part of the radial force, thus further enhancing the bearing strength of the support member.

[0033] 8. By setting the reinforcing member, the connection between several support rods in the radial direction is increased, thus enhancing the radial bearing strength of several support rods. Correspondingly, the bearing capacity required by a single support rod in the radial direction is reduced. Therefore, after setting the reinforcing member, carbon fiber can be selected as the material for the support rod. Compared with the commonly used aluminum alloy material, the carbon fiber material is lighter in weight, thus effectively reducing the driving power of the motor driving the leg assembly and the weight of the whole quadruped robot, thereby effectively enhancing the endurance of the quadruped robot and further enhancing the running speed of the quadruped robot.

[0034] 9. On the same support rod, the impact force at different positions is different. A partially hollow carbon fiber tube is used. The carbon fiber tube can be set to have different bearing strengths at different positions, so that the weight of the support rod can be reduced on the basis of meeting the bearing capacity of the support rod, which can further reduce the driving power of the motor driving the leg assembly and the weight of the quadruped robot, further improve the endurance of the quadruped robot, and further improve the running speed of the quadruped robot. In addition, the reinforcement is supported on the hollow part of the support rod, which can effectively improve the bearing strength of the hollow part of the support rod, reduce or avoid the occurrence of a support rod breaking due to excessive load.

[0035] 10. The support rod is formed by a combination of a hollow tube and a solid rod. On the one hand, the support rod can have different lengths so as to adapt to quadruped robots of different specifications and models, thereby improving the adaptability of the support rod and reducing the design and production costs of the support rod. On the other hand, the combination of the hollow tube and the solid rod ensures that the combined position of the two has sufficient bearing strength, shortens the length of the hollow part of the support rod, and indirectly increases the bearing strength of the weak position on the support rod. Therefore, the strength required to be provided by the reinforcement can also be adjusted down accordingly, thereby reducing the material cost of the reinforcement.

[0036] 11. By symmetrically distributing the support rods around the center, the stress state between the support rods can be balanced as much as possible to avoid one of the support rods having to bear a much larger load than the other support rods, thereby improving the bearing strength of the support member and indirectly improving the bearing strength of the weak positions on the support rods. As a result, the strength required to be provided by the reinforcement can also be reduced, thereby reducing the material cost of the reinforcement.

[0037] 12. The utility model also proposes a quadruped robot. Since the leg assembly of any of the above technical solutions is adopted, the quadruped robot has all the technical effects of the above technical solutions.

[0038] These features and advantages of the present invention will be disclosed in detail in the following specific implementation manners and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic diagram of the leg assembly in the embodiment of the utility model;

[0040] Figure 2 This is a schematic diagram of a support member in an embodiment of the utility model;

[0041] Figure 3 This is a schematic diagram of a support rod in an embodiment of the utility model;

[0042] Figure 4 It is a schematic diagram of another supporting member in an embodiment of the utility model;

[0043] Figure 5 Schematic diagram of a connection buckle in an embodiment of the present utility model;

[0044] Figure 6 Schematic diagram of another connection buckle in an embodiment of the present utility model;

[0045] Figure 7 Schematic diagram of the connection between another connection buckle and a support rod in an embodiment of the present utility model;

[0046] Figure 8 Schematic diagram of another support member in an embodiment of the present utility model;

[0047] Reference numerals:

[0048] 100, thigh assembly; 110, housing; 120, calf drive mechanism;

[0049] 200, calf assembly; 210, foot end member; 220, hinge member; 230, support member; 240, support rod; 241, hollow tube; 242, solid rod; 243, support rod body; 250, reinforcement member; 251, reinforcement rod; 252, connection buckle; 2521, opening groove; 2522, insertion hole; 2523, base; 2524, socket part. Detailed implementation manners

[0050] The technical solutions of the embodiments of the present utility model will be explained and described below with reference to the accompanying drawings of the embodiments of the present utility model. However, the following embodiments are only the preferred embodiments of the present utility model and not all of them. Based on the embodiments in the implementation manners, other embodiments obtained by those skilled in the art without creative efforts all fall within the protection scope of the present utility model.

[0051] In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model.

[0052] In addition, 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 quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, unless otherwise specified, the meaning of "a plurality" and "several" is two or more, unless otherwise clearly defined.

[0053] In the present utility model, unless otherwise clearly specified and defined, terms such as "mounted", "connected", "joined", "fixed", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0054] As Figure 1 shown, a leg assembly of a quadruped robot proposed in an embodiment of the present utility model includes a thigh assembly 100 and a calf assembly 200 hinged to the thigh assembly 100. The calf assembly 200 includes a foot end member 210, a support member 230, and a hinge member 220. The support member 230 includes a reinforcing member 250 and a plurality of support rods 240 arranged in parallel. The plurality of support rods 240 are arranged at intervals. The reinforcing member 250 supports at least two support rods 240. The plurality of support rods 240 are supported between the hinge member 220 and the foot end member 210. The plurality of support rods 240 are arranged in parallel along the axial direction and are spaced apart radially. There is a spacing between adjacent support rods 240.

[0055] Among them, the thigh assembly 100 includes a housing 110 and a calf drive mechanism 120. One end of the hinge member 220 is hinged to the housing 110, and the other end is hinged to the calf drive mechanism 120. The calf drive mechanism 120 drives the hinge member 220 to move, thereby driving the calf assembly 200 to move. The thigh assembly 100 and the calf assembly 200 are driven by a plurality of motors and transmission mechanisms. The plurality of motors are mounted on the body of the quadruped robot.

[0056] Among them, the foot end member 210 directly contacts the ground and functions as friction, buffering, support, etc.

[0057] In this embodiment, the support member 230 can slide relative to the hinge member 220. The hinge member 220 is provided with a bearing corresponding to the support rod 240. The support rod 240 slides relative to the hinge member 220 through the bearing. One end of the support rod 240 away from the foot end member 210 passes through and extends out of the hinge member 220. A tension spring is provided on one end of the support rod 240 extending out of the hinge member 220, and the other end of the tension spring is connected to the hinge member 220. By providing the tension spring, the cushioning performance of the calf assembly is improved.

[0058] Since the support rod 240 needs to slide relative to the hinge 220, several support rods 240 must be arranged at intervals and cannot abut against each other, resulting in a lack of radial support between the several support rods 240. When the quadruped robot moves, the thigh assembly 100 and the calf drive mechanism 120 drive the calf assembly 200 to swing to complete the ground pushing and landing actions. In particular, when the quadruped robot moves at high speed, in order to achieve greater driving thrust, the calf assembly 200 has a larger swing amplitude. When the quadruped robot is in a high maneuverable state, the angle between the calf assembly 200 and the ground is smaller when the calf assembly 200 pushes the ground or lands. The reaction force of the ground on the calf assembly 200 causes the support rod 240 to bear a larger component force in the radial direction, resulting in easy fracture at the position where the support rod 240 has a weaker bearing capacity.

[0059] Under the same equivalent diameter, multiple support rods 240 have a larger surface area than a single support rod 240, and a larger surface area means a larger load-bearing area. Therefore, by providing a plurality of support rods 240 arranged in parallel, the load-bearing strength of the support member 230 can be effectively improved. At the same time, by providing a reinforcement member 250, on the one hand, the load-bearing strength of the support rod 240 is improved by adding components. On the other hand, after the reinforcement member 250 is provided, the force exerted on the calf assembly 200 can be transmitted from the support rod 240 to the reinforcement member 250, thereby reducing the impact on the support rod 240 and increasing the upper limit of the impact force that the support rod 240 can withstand. At the same time, during the movement of the calf assembly 200, each There are differences in the impact forces on each support rod 240. Since the reinforcement 250 can support at least two support rods 240, under the action of the reinforcement 250, the several support rods 240 supported by it become a force-bearing whole, thereby improving the bearing strength of the support member 200, and can also reduce or avoid the occurrence of a support rod 240 being overloaded and broken. In addition, by supporting at least two support rods 240 with one reinforcement rod 250, the number of reinforcement rods 250 can be reduced, and the weight of the calf assembly 200 can be avoided to be too heavy, so that the bearing strength of the calf assembly 200 can be significantly improved without significantly increasing the weight, so as to meet the use requirements of a highly maneuverable quadruped robot.

[0060] In this embodiment, the support rod 240 is a solid carbon fiber rod.

[0061] In some other embodiments, the support rod 240 is a hollow carbon fiber tube.

[0062] Due to the inherent characteristics of the carbon fiber material, the carbon fiber material has strong load-bearing capacity in one direction and weak load-bearing capacity in another direction. And due to the manufacturing process of carbon fiber rods and carbon fiber tubes, carbon fiber rods and carbon fiber tubes have strong load-bearing capacity in the axial direction and weak load-bearing capacity in the radial direction.

[0063] By providing the reinforcing member 250, the connection between several support rods 240 in the radial direction is increased, thereby enhancing the radial load-bearing strength of several support rods 240. Correspondingly, the load-bearing capacity required by a single support rod 240 in the radial direction is reduced. Therefore, after the reinforcing member 250 is provided, the support rod 240 can be made of carbon fiber. Compared with the commonly used aluminum alloy material, the carbon fiber material is lighter in weight, so that the driving power of the motor for driving the leg assembly and the weight of the whole quadruped robot can be effectively reduced, thereby effectively improving the endurance of the quadruped robot and further enhancing the running speed of the quadruped robot.

[0064] In another embodiment, the support rod 240 is a partially hollow carbon fiber tube, and the reinforcing member 250 is supported in the hollow part of the support rod 240.

[0065] It can be understood that on the same support rod 240, the impact forces received at different positions are different. By using a partially hollow carbon fiber tube, the carbon fiber tube can be configured to have different load-bearing strengths at different positions, so that the weight of the support rod 240 can be reduced on the basis of meeting the load-bearing capacity of the support rod 240, which can further reduce the driving power of the motor for driving the leg assembly and the weight of the whole quadruped robot, further improve the endurance of the quadruped robot, and further enhance the running speed of the quadruped robot. And, the reinforcing member 250 is supported in the hollow part of the support rod 240, which can effectively enhance the load-bearing strength of the hollow part of the support rod 240 and reduce or avoid the occurrence of the situation that a certain support rod 240 breaks due to excessive load.

[0066] Preferably, in this embodiment, as Figure 3 shown, the support rod 240 includes a hollow tube 241 and a solid rod 242. There are two hollow tubes 241. A solid rod 242 is axially connected between the two hollow tubes 241 to form a support rod 240. The two ends of the two hollow tubes 241 are supported on the hinge member 220 and the foot end member 210, and the reinforcing member 250 supports several radially adjacent hollow tubes 241.

[0067] In some other embodiments, the number of hollow tubes 241 is greater than two, a solid rod 242 is axially connected between two adjacent hollow tubes 241, and multiple hollow tubes 241 are axially connected to multiple solid rods 242 to form a support rod 240, wherein both ends of the two hollow tubes 241 are supported on the hinge 220 and the foot end member 210.

[0068] In another preferred embodiment, one hollow tube 241 is provided, and two solid rods 242 are provided. The two solid rods 242 are installed at both ends of the hollow tube 241 to form a support rod 240. The hollow tube 241 is supported by the hinge 220 and the foot end member 210 through the solid rod 242, and the reinforcement member 250 supports several radially adjacent hollow tubes 241.

[0069] Exemplarily, the hollow tube 241 and the solid rod 242 are bonded together by glue.

[0070] Exemplarily, the hollow tube 241 and the solid rod 242 may also be connected by fasteners, such as a plurality of screws.

[0071] Exemplarily, the hollow tube 241 and the solid rod 242 may also be tensioned and connected by the principle of thermal expansion and contraction.

[0072] With such arrangement, on the one hand, the support rod 240 can have different lengths through the combination of the hollow tube 241 and the solid rod 242, so as to adapt to quadruped robots of different specifications and models, improve the adaptability of the support rod 240, and thus reduce the design and production costs of the support rod 240; on the other hand, the cooperation of the hollow tube 241 and the solid rod 242 ensures that the combined position of the two has sufficient bearing strength, shortens the length of the hollow part on the support rod 240, and indirectly increases the bearing strength of the weak position on the support rod 240. As a result, the strength required to be provided by the reinforcement 250 can also be adjusted down accordingly, thereby reducing the material cost of the reinforcement 250.

[0073] In this embodiment, if Figure 2 As shown, three support rods 240 are provided, and the three support rods 240 are distributed symmetrically around the center.

[0074] In some other embodiments, the number of the support rods 240 may be more than three, and the plurality of support rods 240 may be distributed in a centrally symmetrical manner.

[0075] Through the central symmetric distribution of the support rods 240, the stress state between the support rods 240 is balanced as much as possible, avoiding that one support rod 240 may need to bear a much larger load relative to other support rods 240. Furthermore, the bearing strength of the support member 230 is improved, and the bearing strength of the weak positions on the support rods 240 is increased indirectly. Therefore, the strength that the reinforcing member 250 needs to provide can also be reduced accordingly, thereby reducing the material cost of the reinforcing member 250.

[0076] In one embodiment, a setting method of the reinforcing member 250 is proposed. As Figure 2 shown, the reinforcing member 250 is a reinforcing rod 251 arranged along the axial direction of the support rod 240, and a plurality of support rods 240 are arranged around the reinforcing rod 251.

[0077] The reinforcing rod 251 is arranged along the axial direction of the support rod 240, which can increase the contact action length and contact area between the reinforcing rod 251 and the support rod 240. When at least one support rod 240 bears and deforms, it will directly act on the reinforcing rod 251. On the one hand, the support of the reinforcing rod 251 can reduce the deformation of the support rod 240. On the other hand, a plurality of support rods 240 are arranged around the reinforcing rod 251, so that the force received by the reinforcing rod 251 can also be dispersed to other support rods 240. Through the above settings, the overall bearing strength of the support member 230 can be improved, and the possibility of the support rod 240 breaking when bearing is reduced.

[0078] In this embodiment, the reinforcing rod 251 can be solid or hollow. The material of the reinforcing rod 251 can be carbon fiber material or metal material, such as aluminum alloy. The setting method of the reinforcing rod 251 can be selected according to the strength it needs to provide and the space it can occupy.

[0079] In this embodiment, the diameter of the reinforcing rod 251 is not greater than that of the support rod 240. The reinforcing rod 251 can be arranged in the gap between adjacent support rods 240, or the installation position of the support rod 240 can be slightly adjusted so that the reinforcing rod 251 can be arranged between two adjacent support rods 240.

[0080] With such a setting, the volume of the calf component 200 can be increased as little as possible by setting the reinforcing rod 251, and the miniaturization of the calf component 200 is prevented from being affected due to the setting of the reinforcing rod 251.

[0081] In a preferred embodiment, the outer side wall of the reinforcing rod 251 abuts against the support rod 240.

[0082] Through the mutual abutment of the two, when the support rod 240 bears deformation, the radial force causing the deformation is transmitted to the reinforcing rod 251 and other support rods 240 abutting against the reinforcing rod 251, thereby dispersing the radial force, making it more difficult for a single support rod 240 to bear and deform, improving the overall load-bearing strength of the support member 230, and reducing the possibility of the support rod 240 breaking when bearing load.

[0083] In a more preferred embodiment, a setting method is proposed in which the outer side wall of the reinforcing rod 251 abuts against the support rod 240. The reinforcing rod 251 is press-fitted between adjacent support rods 240, thereby realizing the abutment between the reinforcing rod 251 and the support rod 240; at the same time, due to the abutment between the reinforcing rod 251 and the support rod 240, an installation limit is mutually formed between the reinforcing rod 251 and the support rod 240, making the assembly of the lower leg assembly 200 easier.

[0084] In another more preferred embodiment, another setting method is proposed in which the outer side wall of the reinforcing rod 251 abuts against the support rod 240. The lower leg assembly 200 further includes a hoop that tightly clamps the outside of several support rods 240 so that the reinforcing rod 251 abuts against and supports the support rod 240.

[0085] By tightly clamping the support rod 240 and the reinforcing rod 251 with the hoop, the reinforcing rod 251 can more easily support the support rod 240, thereby enhancing the load-bearing strength of the support member 230. And due to the tight clamping of the hoop, the friction force between the reinforcing rod 251 and the support rod 240 is also increased. During the movement of the leg assembly, it is difficult for the reinforcing rod 251 and the support rod 240 to displace and rub against each other, thus avoiding the wear of the two and the resulting excessive fit clearance, which may affect the support function of the reinforcing rod 251 for the support rod 240.

[0086] To avoid the deformation of the support rod 240 caused by the tight clamping of the hoop and affect its strength, the reinforcing rod 251 and the support rod 240 are in interference or transition fit, or the reinforcing rod 251 and the support rod 240 are in clearance fit, but the clearance is small. Through the tight clamping of the hoop, the reinforcing rod 251 and the support rod 240 can abut against each other, enabling the reinforcing rod 251 to support the support rod 240. The support rod 240 hardly deforms or deforms slightly at the clamped position, thus avoiding affecting the strength of the support rod 240.

[0087] In another more preferred embodiment, another setting method is proposed in which the outer side wall of the reinforcing rod 251 abuts against the support rod 240. The reinforcing rod 251 and the support rod 240 are integrally formed.

[0088] With such a setting, an integral body is formed between the reinforcing rod 251 and the support rod 240. In this way, the load-bearing capacity of the support member is further improved. At the same time, the force borne by a single support rod 240 can be better distributed to other support rods 240 through the reinforcing rod 251, further reducing the possibility of the support rod 240 breaking when bearing the load.

[0089] In this embodiment, there is one reinforcing rod 251. The length of the reinforcing rod 251 is shorter than that of the support rod 240, and one end of the reinforcing rod 251 is fixed on the foot end member 210.

[0090] In some other embodiments, one end of the reinforcing rod 251 can also be fixed on the hinge part 220.

[0091] There is one reinforcing rod 251, and the support rods 240 are correspondingly arranged around the reinforcing rod 251, so as to reduce the number of reinforcing rods 251. An interference fit can be adopted between the support rod 240 and the reinforcing rod 251, or they can be fastened tightly by a hoop, or integrally formed.

[0092] With such a setting, the reinforcing rod 251 supports several support rods 240, so that an integral body is formed between the reinforcing rod 251 and the several support rods 240, improving the load-bearing strength of the support member 230; at the same time, since the length of the reinforcing rod 251 is shorter than that of the support rod 240, the interference of the reinforcing rod 251 on the sliding of the support member 230 and the hinge member 220 during sliding is avoided, thereby improving the buffering performance of the lower leg assembly 200.

[0093] In the embodiments of the setting manner of the reinforcing member 250, there can be multiple reinforcing rods 251, and several reinforcing rods 251 are arranged at intervals along the axial direction of the support rod 240. With such a setting, at least two adjacent support rods 240 are supported by the reinforcing rod 251. The radial force borne by a single support rod 240 can be transmitted to other support rods 240 through the reinforcing rod 251, so that the radial forces on each support rod 240 are roughly averaged. At the same time, the reinforcing rod 251 also shares a part of the radial force, thereby improving the load-bearing strength of the support member 230.

[0094] It can be understood that since a single reinforcing member 251 does not need to support all the support rods 240, the structural strength of a single reinforcing member 251 can be reduced accordingly. The reinforcing rod 251 can be set thinner, or a more economical material can be used, thereby reducing the cost. An interference fit can be adopted between the reinforcing rod 251 and the support rod 240, or they can be fastened tightly by a hoop, or integrally formed.

[0095] In one embodiment, another setting manner of the reinforcing member 250 is proposed. As Figures 4 to 6 shown, the reinforcing member 250 is a connecting buckle 252. The connecting buckle 252 is radially connected to adjacent support rods 240, so as to play a role in supporting the support rods 240.

[0096] A plurality of connecting buckles 252 may be provided. One connecting buckle 252 connects two adjacent support rods 240, and all the support rods 240 are connected by a plurality of connecting buckles 252. There may also be one connecting buckle 252, and one connecting buckle 252 radially connects all the support rods 240.

[0097] In a preferred embodiment, a setting method of the connecting buckle 252 is proposed. As Figure 4 、 Figure 6 shown, a plurality of opening grooves 2521 are provided on the connecting buckle 252. The opening grooves 2521 are radially open, and the support rods 240 are fitted in the opening grooves 2521.

[0098] Exemplarily, the support rod 240 and the connecting buckle 252 are fixed by bonding, and the connecting buckle 252 is bonded and fixed to a plurality of support rods 240, thereby realizing the radial support of the connecting buckle 252 for the support rods 240.

[0099] Exemplarily, the support rod 240 and the connecting buckle 252 are fixed by fasteners, and the connecting buckle 252 is fixed to a plurality of support rods 240, thereby realizing the radial support of the connecting buckle 252 for the support rods 240.

[0100] Exemplarily, the opening groove 2521 and the support rod 240 are in interference fit. The groove wall of the opening groove 2521 limits the support rod 240 in the opening groove 2521, and the connecting buckle 252 is connected to a plurality of support rods 240, thereby realizing the radial support of the connecting buckle 252 for the support rods 240.

[0101] By providing the opening grooves 2521 on the connecting buckle 252 that cooperate with the support rods 240, the connection between the connecting buckle 252 and the support rods 240 is relatively simple, the assembly difficulty of the support member 230 is reduced, the cost of the support member 230 is reduced. At the same time, the contact area between the opening groove 2521 and the support rod 240 is relatively large, so that the force in the radial direction of the support rod 240 can be better transmitted to the connecting buckle 252, so that a plurality of support rods 240 can more evenly share the force in the radial direction, and further improve the bearing strength of the support member 230.

[0102] In another preferred embodiment, another setting method of the connecting buckle 252 is proposed. As Figure 4 、 Figure 5 shown, a plurality of insertion holes 2522 are provided on the connecting buckle 252, and the support rods 240 are axially inserted into the insertion holes 2522.

[0103] Among them, there may be an interference fit between the support rod 240 and the insertion hole 2522. Through the tight fit installation of the two, the radial support of the connecting buckle 252 for the support rod 240 is realized.

[0104] Alternatively, the support rod 240 and the insertion hole 2522 are in transitional fit or clearance fit, and the two are fixedly connected by means of glue, fasteners, etc., so as to realize the radial support of the connecting buckle 252 on the support rod 240.

[0105] By providing an insertion hole 2522 on the connecting buckle 252 for mating and inserting with the support rod 240, the assembly difficulty between the support rod 240 and the connecting buckle 252 is reduced, thereby reducing the production cost of the support member 230. At the same time, the insertion hole 2522 circumferentially wraps the support rod 240, so the force in the radial direction of the support rod 240 can be better transmitted to the connecting buckle 252, so that a plurality of support rods 240 can more evenly share the force in the radial direction, further improving the bearing strength of the support member 230.

[0106] In another preferred embodiment, another setting method of the connecting buckle 252 is proposed, as Figure 7 shown, the support rod 240 is composed of a plurality of support rod bodies 243 axially connected. The connecting buckle 252 includes a base 2523 and a plurality of socket portions 2524 axially extending from both ends of the base 2523. Two axially adjacent support rod bodies 243 are respectively socket-connected to the socket portions 2524 at both ends of the connecting buckle 252.

[0107] Among them, the support rod body 243 can be a hollow tube, correspondingly, the socket portion 2524 is a solid rod-shaped portion. The support rod body 243 can also be a solid rod, correspondingly, the socket portion 2524 is a tubular portion with one end hollow.

[0108] The support rod body 243 and the socket portion 2524 can be in interference fit, and the two are fixedly connected by tight-fit insertion. The support rod body 243 and the socket portion 2524 can also be in transitional fit or clearance fit, and the two are fixedly connected by means of glue, fasteners, etc., so as to realize the radial support of the connecting buckle 252 on the support rod 240.

[0109] Since the support rod body 243 and the socket portion 2524 of the connecting buckle 252 are socketed, the accumulation of materials near the support position of the support rod 240 in the connecting buckle 252 is increased, so the strength of the support rod 240 near the support position of the connecting buckle 252 is improved, further strengthening the bearing strength of the support member 230. At the same time, due to the socketing of the two, the bonding area between the support rod 240 and the connecting buckle 252 is larger. On the one hand, the bearing strength of the support rod 240 is further increased. On the other hand, the force in the radial direction of the support rod 240 is also more easily dispersed to other support rods 240 through the connecting buckle 252, further improving the bearing strength of the support member 230.

[0110] Adjacent support rods 240 are radially connected by connecting buckles 252. Since the connection between the connecting buckles 252 and the support rods 240 is more stable, the connection stability between the reinforcement members 250 and the support rods 240 is improved, thereby enhancing the support strength of the reinforcement members 250 for the support rods 240 and the load-bearing strength of the support members 230. At the same time, the connecting buckles 252 also share a part of the radial force, thus further enhancing the load-bearing strength of the support members 230.

[0111] In one embodiment, as Figure 8 shown, the reinforcement member 250 includes the reinforcing rods 251 in any of the above embodiments and the connecting buckles 252 in any of the above embodiments. The reinforcing rods 251 and the connecting buckles 252 cooperate to support the support rods 240, thereby further enhancing the load-bearing strength of the support members 230.

[0112] In the embodiment of the present invention, a quadruped robot is also proposed, including the leg assembly in any of the above embodiments.

[0113] As described above, the above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes but is not limited to the content described in the drawings and the above specific implementation manner. Any modification that does not deviate from the functional and structural principles of the present invention will be included in the scope of the claims.

Claims

1. A leg assembly of a quadruped robot, characterized in that: It includes a thigh component and a calf component hinged to the thigh component, the calf component includes a foot end piece, a support member and a hinge, the hinge is hinged to the thigh component, the support member includes a reinforcement member and a plurality of support rods arranged in parallel, the plurality of support rods are arranged at intervals, the reinforcement member supports at least two of the support rods, and the plurality of support rods are supported between the hinge and the foot end piece.

2. A leg assembly of a quadruped robot as claimed in claim 1, characterized in that: The reinforcement member is a reinforcement rod arranged along the axial direction of the support rod, and the plurality of support rods are arranged around the reinforcement rod.

3. A leg assembly of a quadruped robot as claimed in claim 2, characterized in that: The outer side wall of the reinforcing rod abuts against the supporting rod.

4. A leg assembly of a quadruped robot as claimed in claim 3, characterized in that: The length of the reinforcing rod is shorter than that of the supporting rod, and one end of the reinforcing rod is connected to the foot end piece or the hinge piece; or, A plurality of reinforcing rods are provided, and the plurality of reinforcing rods are arranged at intervals along the axial direction of the support rod.

5. The leg assembly of a quadruped robot as claimed in claim 3, characterized in that: The calf assembly also includes a hoop, which is clamped tightly around the outsides of the support rods so that the reinforcement rod abuts against and supports the support rods.

6. A leg assembly of a quadruped robot as claimed in claim 3, characterized in that: The reinforcing rod and the supporting rod are integrally formed.

7. A leg assembly of a quadruped robot as claimed in claim 1, characterized in that: The reinforcement member is a connecting buckle, and the connecting buckle radially connects two adjacent support rods or several adjacent support rods.

8. A leg assembly of a quadruped robot according to any one of claims 1 to 7, characterized in that: The support rod is a hollow carbon fiber tube or a solid carbon fiber rod.

9. A leg assembly of a quadruped robot according to any one of claims 1 to 7, characterized in that: The support rod is a partially hollow carbon fiber piece, and the reinforcement piece is supported at the hollow part of the support rod.

10. A leg assembly of a quadruped robot as claimed in claim 9, characterized in that: The support rod includes a hollow tube and a solid rod. There are at least two hollow tubes, the solid rod connects two adjacent hollow tubes, a plurality of hollow tubes are axially connected to at least one solid rod to form the support rod, wherein both ends of the two hollow tubes are supported by the hinge and the foot end member respectively; or, The two ends of the hollow tube are respectively provided with the solid rods to form the support rods, and the two solid rods are respectively supported by the hinge and the foot end member; The reinforcement member is supported by a plurality of radially adjacent hollow tubes.

11. A leg assembly of a quadruped robot as claimed in claim 1, characterized in that: At least three support rods are provided, and the support rods are distributed symmetrically around the center.

12. A quadruped robot, characterized in that: A leg assembly as claimed in any one of claims 1 to 11 is used.

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