Quadruped robot

Abstract

The utility model discloses a quadruped robot. The strength of a joint structure can be remarkably improved under the condition that the weight and the size are not remarkably increased, so that the use requirement of the high-mobility quadruped robot is met. The utility model provides a quadruped robot which comprises a robot body, a leg assembly and a driving assembly for driving the leg assembly to act. The driving assembly comprises a shoulder joint motor fixed to the robot body, a shoulder and hip joint support fixed to an output shaft of the shoulder joint motor, a hip joint motor fixed to the shoulder and hip joint support, a hip and knee joint support fixed to an output shaft of the hip joint motor and a knee joint motor fixed to the hip and knee joint support. The leg assembly is installed on the knee joint motor, one end of the force bearing support is fixedly connected with the robot body, and the other end of the force bearing support is rotationally connected with one end of the shoulder hip joint support. According to the quadruped robot, the strength of the driving assembly is improved through the force bearing support.

Description

Technical Field

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

[0002] For example, in a Chinese patent application for invention with the publication number "CN117284391A" and the name "A single-leg structure based on a parallel elastic actuator", the quadruped robot includes a fuselage, a hip joint mechanism, and a leg assembly. The hip joint mechanism includes a shoulder joint motor, a shoulder-hip joint bracket fixed on the output shaft of the shoulder joint motor, a hip joint motor fixed on the shoulder-hip joint bracket, a hip-knee joint bracket fixed on the output shaft of the hip joint motor, and a knee joint motor fixed on the hip-knee joint bracket. The hip joint motor and the knee joint motor drive the thigh and calf of the leg assembly to move respectively.

[0003] When the leg assembly moves, it mainly relies on the shoulder-hip joint bracket and the hip-knee joint bracket to bear the force between the quadruped robot and the ground. In the prior art, since the shoulder-hip joint bracket is usually a suspension structure, one end of which is fixed to the fuselage and the other end is freely arranged, this setting method makes it difficult for the shoulder-hip joint bracket to bear a large force. For a highly maneuverable quadruped robot with a moving speed exceeding 5 m / s, when the robot runs, the leg assembly will be subjected to a large impact in each running cycle. The higher the moving speed, the greater the impact will be. The high impact caused by the high-speed movement of the quadruped robot makes the shoulder-hip joint bracket prone to deformation and fatigue at the cantilever structure, and finally leads to fracture.

[0004] Of course, the strength can also be improved by increasing the material thickness of the shoulder-hip joint bracket. However, increasing the thickness not only increases the weight, affecting the endurance of the quadruped robot, but also increases the width of the fuselage, making the volume of the quadruped robot larger. Moreover, increasing the thickness cannot change the suspension structure of the shoulder-hip joint bracket, and there is always a risk of fracture in the shoulder-hip joint bracket.

[0005] Those skilled in the art urgently need a quadruped robot that can significantly improve the strength of the joint structure without significantly increasing the weight and volume to meet the use 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 provide a quadruped robot that can significantly improve the strength of the joint structure without significantly increasing the weight and volume to meet the use requirements of highly maneuverable quadruped robots.

[0007] In order to achieve the above technical objectives, the utility model proposes a quadruped robot, including a body, a leg assembly and a driving assembly for driving the leg assembly to move, the driving assembly including a shoulder joint motor fixed to the body, a shoulder-hip joint bracket fixed to the output shaft of the shoulder joint motor, a hip joint motor fixed to the shoulder-hip joint bracket, a hip-knee joint bracket fixed to the output shaft of the hip joint motor, and a knee joint motor fixed to the hip-knee joint bracket, the leg assembly is installed on the knee joint motor and also includes a load-bearing bracket, one end of the load-bearing bracket is fixedly connected to the body, and the other end is rotatably connected to one end of the shoulder-hip joint bracket.

[0008] Preferably, the shoulder and hip joint support includes a first support and a hip joint motor seat, the first support is fixedly connected to the output shaft of the shoulder joint motor, the hip joint motor is fixedly installed on the hip joint motor seat, one end of the hip joint motor seat is connected to the first support, and the other end is rotatably matched with the load-bearing support.

[0009] Preferably, the hip joint motor seat comprises a limiting portion and a surrounding edge extending from an edge of the limiting portion, and the surrounding edge and the limiting portion form a first cavity for accommodating the hip joint motor.

[0010] Preferably, one of the shoulder and hip joint support and the load-bearing support comprises an assembly hole, and the other comprises an adapter, and the adapter cooperates with the axial hole of the assembly hole;

[0011] or,

[0012] The shoulder-hip joint support includes a first through hole, the load-bearing support includes a second through hole, the shoulder-hip joint support and the load-bearing support are connected via an adapter, and the adapter is rotatably matched with the first through hole and the second through hole respectively.

[0013] Preferably, the load-bearing support includes an upper beam, a lower beam and a connecting beam, the upper beam and the lower beam are stacked up and down, the connecting beam is connected between the upper beam and the lower beam, the upper beam and the lower beam are fixedly connected to the fuselage, and the connecting beam is rotatably connected to the shoulder and hip joint support.

[0014] Preferably, one end of the upper beam and the lower beam is fixedly connected to the fuselage, and the other end of the upper beam and the lower beam is fixedly connected to the upper and lower ends of the connecting beam respectively, and the load-bearing support also includes a middle beam, which is arranged between the fuselage and the connecting beam and longitudinally connects the upper beam and the lower beam.

[0015] Preferably, the load-bearing support further includes a middle beam, and the widths of the upper beam and the lower beam gradually increase toward the fuselage near one end of the connecting beam.

[0016] Preferably, the quadruped robot includes front feet and rear feet. Each of the front feet and the rear feet includes a load-bearing bracket, two sets of leg components disposed on both sides of the load-bearing bracket, and two sets of drive components disposed on both sides of the load-bearing bracket. The connecting beam includes two symmetrically arranged side beams, and the shoulder and hip joint brackets of the two sets of drive components are respectively rotatably connected to one side beam.

[0017] Preferably, the connecting beam further includes a first hollow portion located between the two side beams, and the connecting beam further includes a second hollow portion disposed on the side beams.

[0018] Preferably, the upper beam and the lower beam are provided with a third hollow portion penetrating up and down, and the third hollow portion extends from the connecting beam towards the fuselage.

[0019] Preferably, two sets of drive components are provided on each side of the fuselage, and a load-bearing bracket is provided on each set of drive components.

[0020] Preferably, one side of the hip and knee joint bracket is fixedly connected to the output shaft of the hip joint motor, and the other side of the hip and knee joint bracket is recessed to form a second cavity for accommodating the knee joint motor.

[0021] After adopting the above technical solution, the utility model has the following beneficial effects.

[0022] 1. The utility model proposes a quadruped robot, which drives the leg assembly to swing through a driving assembly to move the quadruped robot. During the movement of the quadruped robot, the leg assembly will continuously contact the ground. At the moment of contact, the ground has an impact force acting on the leg assembly, and the impact force can be transmitted to the driving assembly along the leg component. The driving assembly includes three motors connected to each other, namely a shoulder joint motor, a hip joint motor and a knee joint motor. In order to be able to transmit the driving force of the three motors to the leg assembly, the driving assembly also includes a shoulder-hip joint bracket and a hip-knee joint bracket. The power of the shoulder joint motor can be transmitted to the leg assembly through the shoulder-hip joint bracket and the hip-knee joint bracket. The power of the hip joint motor can be transmitted to the leg assembly through the hip-knee joint bracket, and the power of the knee joint motor can be directly transmitted to the leg assembly. The body of the quadruped robot of the present application is also provided with a load-bearing bracket, which is connected to the body and the shoulder-hip joint bracket. The impact force from the ground on the leg assembly can be transmitted to the load-bearing bracket through the shoulder-hip joint bracket, so that the impact force is borne by the load-bearing bracket, thereby reducing the force transmitted to the shoulder-hip joint bracket and reducing the risk of fracture of the shoulder-hip joint bracket. Since one end of the shoulder-hip joint bracket is rotatably connected to the load-bearing bracket, the load-bearing bracket can also support the shoulder-hip joint bracket, reduce the displacement and shaking of the free end of the shoulder-hip joint bracket, and thus reduce the deformation of the shoulder-hip joint bracket in the cantilever position. In this way, the cantilever position of the shoulder-hip joint bracket is relatively stable, and it is not easy to produce material fatigue, which further reduces the risk of fracture of the shoulder-hip joint bracket, thereby increasing the service life of the shoulder-hip joint bracket in the high-mobility state of the quadruped robot and meeting the use needs of the highly mobile quadruped robot.

[0023] 2. The shoulder-hip joint support includes a first support and a hip joint motor support. The first support is fixedly connected to the output shaft of the shoulder joint motor. The hip joint motor is fixedly installed on the hip joint motor support. One end of the hip joint motor support is connected to the first support, and the other end is rotatably connected to the load-bearing support. Through the above arrangement, the shoulder joint motor can stably drive the shoulder-hip joint support to move, so that the rotation of the shoulder joint motor drives the leg assembly to swing in one direction, thereby improving the stability of the swing.

[0024] 3. The hip joint motor seat includes a limiting portion and a surrounding edge extending from the edge of the limiting portion. The surrounding edge and the limiting portion form a first cavity for accommodating the hip joint motor. Such an arrangement, on the one hand, facilitates the installation of the hip joint motor, and on the other hand, the surrounding edge's circumferential wrapping of the hip joint motor can further support the hip joint motor and enhance the stability between the shoulder-hip joint bracket and the hip joint motor, so that the rotation of the shoulder joint motor can more stably drive the movement of the hip joint motor and the swing of the leg assembly.

[0025] 4. One of the shoulder and hip joint bracket and the load-bearing bracket includes an assembly hole, and the other includes an adapter. The adapter is in shaft-hole fit with the assembly hole; or, the shoulder and hip joint bracket includes a first through hole, and the load-bearing bracket includes a second through hole. The shoulder and hip joint bracket and the load-bearing bracket are connected by an adapter, and the adapter is in rotational fit with the first through hole and the second through hole respectively. Through the above two ways of rotational connection between the shoulder and hip joint bracket and the load-bearing bracket, the rotational fit between the shoulder and hip joint bracket and the load-bearing bracket is realized. The rotational connection method between the shoulder and hip joint bracket and the load-bearing bracket is simple and reliable, and is convenient for assembly and disassembly, which helps to improve the service life of the drive assembly and reduce the cost of the drive assembly; at the same time, when an impact force acts on the shoulder and hip joint bracket, the mating part of the shoulder and hip joint bracket and the load-bearing bracket will be subjected to a tangential force, and the adapter can bear the tangential force, ensuring the mating reliability between the shoulder and hip joint bracket and the load-bearing bracket.

[0026] 5. The upper beam and the lower beam are respectively fixed to the fuselage, so that the upper end and the lower end of the load-bearing bracket are both fixedly connected to the fuselage, improving the stability of the load-bearing bracket and reducing the shaking of the load-bearing bracket during the operation of the quadruped robot. The setting method of the upper beam and the lower beam and the connection beam is connected between the upper beam and the lower beam, so that a stable support structure is formed among the three. The shoulder and hip joint bracket is rotationally connected to the connection beam. On the basis of the stability of the connection beam, the connection beam can effectively disperse and bear the force from the shoulder and hip joint bracket, further reducing the displacement and shaking of the free end of the shoulder and hip joint bracket, and further reducing the deformation of the shoulder and hip joint bracket in the cantilever position, thereby effectively reducing the risk of fracture of the shoulder and hip joint bracket, and more helping to improve the service life of the shoulder and hip joint bracket in the high-maneuver state of the quadruped robot.

[0027] 6. One end of the upper beam and the lower beam is fixedly connected to the fuselage, and the other ends of the upper beam and the lower beam are respectively fixedly connected to the upper and lower ends of the connection beam. The load-bearing bracket further includes an intermediate beam, and the intermediate beam is arranged between the fuselage and the connection beam and longitudinally connects the upper beam and the lower beam. Through the above settings, the structural strength of the load-bearing bracket can be further increased, thereby increasing the stability of the load-bearing bracket, thereby reducing the displacement and shaking of the free end of the shoulder and hip joint bracket, and ensuring the relative stability of the cantilever position of the shoulder and hip joint bracket.

[0028] 7. The widths of the upper beam and the lower beam gradually increase from the end close to the connection beam towards the fuselage direction. Through the above settings, the strength and support performance of the load-bearing bracket are ensured as much as possible, and the relative stability of the cantilever position of the shoulder and hip joint bracket is ensured; moreover, the above settings can also reduce the widths of the upper beam and the lower beam and reduce the weight of the load-bearing bracket.

[0029] 8. Two shoulder and hip joint brackets are supported by a load-bearing bracket, eliminating one load-bearing bracket, thus reducing the components of the quadruped robot and the assembly and production costs of the quadruped robot. At the same time, the forces generated by the actions of the leg components on both sides are transmitted to the center of the load-bearing bracket through the connecting beam, thereby generating a force in the height direction acting on the load-bearing bracket. Due to the stacked arrangement of the upper beam and the lower beam, this force can be well absorbed and resolved, improving the stability of the load-bearing bracket. Moreover, when the quadruped robot runs, the two sides of the load-bearing bracket will be subjected to forces, and the force difference in the height direction between the two forces generates a torque acting on the load-bearing bracket. Since the action frequencies of the two leg components on the same side of the fuselage are the same and the action nodes are similar, the action time and magnitude of the two forces on both sides of the load-bearing bracket are close, and the force difference in the height direction between the two forces is small. The torque generated by this force difference acting on the load-bearing bracket is also small. The load-bearing bracket can absorb and resolve this torque through the upper beam, the lower beam, and the connecting beam, thereby reducing or eliminating the torsion of the load-bearing bracket and improving the stability of the actions of the two leg components on the same side of the quadruped robot.

[0030] 9. The connecting beam further includes a first hollowed-out portion located between the two side beams, and the connecting beam further includes a second hollowed-out portion provided on the side beam.

[0031] 10. By providing a third hollowed-out portion that penetrates up and down on the upper beam and the lower beam, on the one hand, the weight of the load-bearing bracket can be reduced. On the other hand, since the third hollowed-out portion extends from the connecting beam towards the fuselage, long beams connecting the fuselage and the connecting beam can be formed on both sides of the third hollowed-out portion, making it easy for the upper beam and the lower beam to deform when subjected to torsional forces and resolve the acting forces. In this way, when the impact force difference between the left and right feet in the front feet or the rear feet is too large and causes the load-bearing bracket to twist, the upper beam and the lower beam are prone to twisting, absorbing and resolving the acting forces, ensuring the stability of the quadruped robot during the movement process, and enabling the quadruped robot to better cope with various complex road conditions.

[0032] 11. One side of the hip and knee joint bracket is fixedly connected to the output shaft of the hip joint motor, and the other side of the hip and knee joint bracket is recessed to form a second cavity for accommodating the knee joint motor. With this setting, on the one hand, it is convenient for the positioning and installation of the knee joint motor. On the other hand, the circumferential wrapping of the second cavity around the knee joint motor can further support the knee joint motor and improve the stability of the knee joint motor.

[0033] These features and advantages of the present utility model will be detailedly disclosed in the following specific embodiments and drawings. Description of the Drawings

[0034] Figure 1 It is a schematic diagram of the quadruped robot in the embodiment of the present utility model;

[0035] Figure 2For Figure 1 An enlarged view of part A in

[0036] Figure 3 A schematic diagram of the shoulder and hip joint bracket in the embodiment of the present utility model;

[0037] Figure 4 A schematic diagram of the load-bearing bracket in the embodiment of the present utility model;

[0038] Figure 5 A schematic diagram of the hip and knee joint bracket in the embodiment of the present utility model;

[0039] Reference numerals:

[0040] 100, fuselage;

[0041] 200, leg assembly, 210, thigh assembly, 220, calf assembly;

[0042] 300, drive assembly, 310, shoulder joint motor, 320, hip joint motor, 330, knee joint motor, 340, shoulder and hip joint bracket, 341, first support, 342, hip joint motor seat, 3421, limiting part, 3422, surrounding edge, 3423, first cavity, 3424, first through hole, 350, hip and knee joint bracket, 351, second cavity;

[0043] 400, load-bearing bracket, 401, second through hole, 410, upper beam, 411, third hollow part, 420, lower beam, 430, connecting beam, 431, side beam, 432, first hollow part, 433, second hollow part. Detailed implementation manners

[0044] 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.

[0045] 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 of the present utility model.

[0046] 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" or "several" is two or more, unless otherwise clearly defined.

[0047] In the present utility model, unless otherwise clearly specified and defined, terms such as "installed", "connected", "coupled", "fixed", etc. should 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.

[0048] As Figure 1 , Figure 2 shown, a quadruped robot proposed in an embodiment of the present utility model includes a fuselage 100, a leg assembly 200, and a drive assembly 300 for driving the movement of the leg assembly 200. The drive assembly 300 includes a shoulder joint motor 310, a hip joint motor 320, a knee joint motor 330, a shoulder-hip joint bracket 340, and a hip-knee joint bracket 350. The shoulder joint motor 310 is fixedly installed on the fuselage 100, the shoulder-hip joint bracket 340 is fixedly installed on the output shaft of the shoulder joint motor 310, the hip joint motor 320 is fixedly installed on the shoulder-hip joint bracket 340, the hip-knee joint bracket 350 is fixedly installed on the output shaft of the hip joint motor 320, and the knee joint motor 330 is fixedly installed on the hip-knee joint bracket 350.

[0049] The leg assembly 200 of the quadruped robot is fixedly installed on the knee joint motor 330. Among them, the leg assembly 200 includes a thigh assembly 210 and a calf assembly 220, and the calf assembly 220 is hinged to the thigh assembly 210. The thigh assembly 210 is fixed on the knee joint motor 330, and the swing of the thigh assembly 210 in the left-right direction and the front-back direction is realized by the operation of the shoulder joint motor 310 and the hip joint motor 320. The calf assembly 220 is in transmission connection with the output shaft of the knee joint motor 330 through a transmission member, and the operation of the knee joint motor 330 drives the swing of the calf assembly 220.

[0050] In this embodiment, the quadruped robot includes two front legs and two rear legs. Two sets of driving components 300 are provided on each of the front and rear sides of the fuselage 100 to drive the two front legs and the two rear legs respectively. The four sets of driving components 300 are located on the same horizontal plane. The two sets of driving components 300 on the same side of the fuselage 100 are arranged left and right. The quadruped robot controls the actions of the two front legs and the two rear legs respectively through the four sets of driving components 300, so as to realize the movement or other actions of the quadruped robot.

[0051] In order to realize the swing of the thigh component 210 in the left - right direction and the front - rear direction, and to make the output efficiency of the motor reach the best, the setting direction of the output shaft of the shoulder joint motor 310 and the setting direction of the output shaft of the hip joint motor 320 are perpendicular to each other. The output shafts of the two motors are respectively arranged along the left - right and front - rear directions, so that the two motors respectively control the swing of the thigh component 210 in the left - right direction and the front - rear direction.

[0052] In order to reduce the influence of the motor on the width of the quadruped robot, the four shoulder joint motors 310 are installed in pairs at the front and rear ends of the fuselage 100. The output shaft of the shoulder joint motor 310 is arranged along the front - rear direction, and the output shaft of the hip joint motor 320 is arranged along the left - right direction.

[0053] The fixed end of the shoulder - hip joint bracket 340 is fixed to the shoulder joint motor 310, and the hip joint motor 320 is installed at the free end of the shoulder - hip joint bracket 340. The setting method of the shoulder joint motor 310 and the hip joint motor 320 determines that the shoulder - hip joint bracket 340 must be a suspension structure, and a structural weak point of the cantilever is formed at the position between the shoulder joint motor 310 and the hip joint motor 320 of the shoulder - hip joint bracket 340.

[0054] When the quadruped robot moves or performs other actions, the force between the leg component 200 and the ground is transmitted to the shoulder - hip joint bracket 340. When the quadruped robot is in a highly maneuverable state or performs actions with large impact forces, the structural weak point of the cantilever of the shoulder - hip joint bracket 340 is prone to deformation, fatigue, and even direct fracture.

[0055] In order to solve the problem that the shoulder - hip joint bracket 340 is prone to deformation and fatigue, the quadruped robot further includes a load - bearing bracket 400. One end of the load - bearing bracket 400 is fixedly connected to the fuselage 100, and the other end is rotatably connected to the free end of the shoulder - hip joint bracket 340.

[0056] In this embodiment, in order to facilitate the installation and disassembly of the load - bearing bracket 400 relative to the fuselage 100, the load - bearing bracket 400 is detachably fixedly connected to the fuselage 100, and the fixed connection method can be screw connection, snap connection, riveting, etc.

[0057] The fixed connection between the load-bearing bracket 400 and the fuselage 100 enables the load-bearing bracket 400 to be in a stable state relative to the shoulder and hip joint bracket 340. At the same time, the free end of the shoulder and hip joint bracket 340 is rotatably connected to the load-bearing bracket 400, and the load-bearing bracket 400 plays a certain supporting role for the shoulder and hip joint bracket 340, thereby reducing the displacement and shaking of the free end of the shoulder and hip joint bracket 340 when it is subjected to impact force.

[0058] The driving assembly 300 drives the leg assembly 200 to swing so that the quadruped robot moves. During the movement of the quadruped robot, the leg assembly 200 will continuously contact the ground. At the moment of contact, the ground has an impact force acting on the leg assembly 200, and the impact force can be transmitted to the driving assembly 300 along the leg assembly 200. The driving assembly 300 includes three motors connected to each other, namely a shoulder joint motor 310, a hip joint motor 320 and a knee joint motor 330. In order to transmit the driving force of the three motors to the leg assembly 200, the driving assembly 300 also includes a shoulder-hip joint bracket 340 and a hip-knee joint bracket 350. The power of the shoulder joint motor 310 can be transmitted to the leg assembly 200 through the shoulder-hip joint bracket 340 and the hip-knee joint bracket 350, the power of the hip joint motor 320 can be transmitted to the leg assembly 200 through the hip-knee joint bracket 350, and the power of the knee joint motor 330 can be directly transmitted to the leg assembly 200. A load-bearing bracket 400 is also provided on the body of the quadruped robot of the present application, and the load-bearing bracket 400 is connected to the body 100 and the shoulder-hip joint bracket 340. The impact force from the ground on the leg assembly 200 can be transmitted to the load-bearing bracket 400 through the shoulder-hip joint bracket 340, so that the impact force is borne by the load-bearing bracket 400, thereby reducing the force transmitted to the shoulder-hip joint bracket 340 and reducing the risk of breakage of the shoulder-hip joint bracket 340. Since one end of the shoulder-hip joint support 340 is rotatably connected to the load-bearing support 400, the load-bearing support 400 can also support the shoulder-hip joint support 340, reduce the displacement and shaking of the free end of the shoulder-hip joint support 340, and thus reduce the deformation of the shoulder-hip joint support 340 in the cantilever position. In this way, the cantilever position of the shoulder-hip joint support 340 is relatively stable and is not prone to material fatigue, further reducing the risk of fracture of the shoulder-hip joint support 340, thereby increasing the service life of the shoulder-hip joint support 340 in the high-mobility state of the quadruped robot and meeting the use needs of the highly mobile quadruped robot.

[0059] In this embodiment, if Figure 3 As shown, the shoulder-hip joint support 340 includes a first support 341 and a hip joint motor support 342. The first support 341 is fixedly connected to the output shaft of the shoulder joint motor 310, and the hip joint motor 320 is fixedly installed on the hip joint motor support 342. One end of the hip joint motor support 342 is connected to the first support 341, and the other end is rotatably connected to the load-bearing support 400.

[0060] The fixed connection between the first support 341 and the output shaft of the shoulder joint motor 310 enables the rotation of the shoulder joint motor 310 to directly act on the shoulder and hip joint bracket 340, thereby driving the shoulder and hip joint bracket 340, the hip joint motor 320, the hip and knee joint bracket 350, and the knee joint motor 330 to move. Thus, the rotation of the shoulder joint motor 310 drives the swinging of the leg assembly 200 in one direction.

[0061] Through the above settings, the shoulder joint motor 310 can stably drive the movement of the shoulder and hip joint bracket 340. Thus, the rotation of the shoulder joint motor 310 drives the swinging of the leg assembly 200 in one direction, improving the stability of the swing.

[0062] In one embodiment, as Figure 3 shown, the hip joint motor seat 342 includes a limiting portion 3421 and a surrounding edge 3422 extending from the edge of the self-limiting portion 3421. The surrounding edge 3422 and the limiting portion 3421 enclose a first cavity 3423 for accommodating the hip joint motor 320.

[0063] The hip joint motor 320 is mounted closely against the limiting portion 3421. Thus, at least a part of the hip joint motor 320 is received in the first cavity 3423. The bottom surface of the hip joint motor 320 is fixed to the limiting portion 3421 by screws, and the side surface of the hip joint motor 320 is fixed to the surrounding edge 3422 by screws.

[0064] With such settings, on the one hand, it is convenient for the installation of the hip joint motor 320. On the other hand, the surrounding of the hip joint motor 320 by the surrounding edge 3422 can further support the hip joint motor 320, strengthening the stability between the shoulder and hip joint bracket 340 and the hip joint motor 320. Thus, the rotation of the shoulder joint motor 310 can drive the movement of the hip joint motor 320 and the swinging of the leg assembly 200 more stably.

[0065] In one embodiment, a way of the rotational connection between the shoulder and hip joint bracket 340 and the load-bearing bracket 400 is described. With reference to Figures 2 to 4 , the shoulder and hip joint bracket 340 includes an assembly hole, and the load-bearing bracket 400 includes an adapter. The shoulder and hip joint bracket 340 and the load-bearing bracket 400 are connected by the adapter, and the assembly hole and the adapter are in shaft hole fit. The adapter extends into the assembly hole to rotate, or the adapter is in rotational fit with the assembly hole through a bearing.

[0066] In some other embodiments, it may also be that the shoulder and hip joint bracket 340 includes an adapter and the load-bearing bracket 400 includes an assembly hole.

[0067] In the above embodiments, the adapter can be a separate component, such as a rotating shaft, a bushing, etc. The adapter can also be a rotating shaft portion, a bushing portion, etc. integrally formed on the shoulder and hip joint bracket 340 or the load-bearing bracket 400.

[0068] In one embodiment, another way of the rotational connection between the shoulder and hip joint bracket 340 and the load-bearing bracket 400 is described as follows. Figures 2 to 4 As shown, the shoulder and hip joint bracket 340 includes a first through hole 3424, the load-bearing bracket 400 includes a second through hole 401, the shoulder and hip joint bracket 340 and the load-bearing bracket 400 are connected by an adapter, and the adapter is rotationally engaged with the first through hole 3424 and the second through hole 401 respectively.

[0069] In the above embodiments, the adapter is a separate component, such as a rotating shaft, a bushing, etc.

[0070] In the embodiments of the above two rotational connection methods between the shoulder and hip joint bracket 340 and the load-bearing bracket 400, when the adapter is a separate component, one end of it is axially limited on one of the shoulder and hip joint bracket 340 and the load-bearing bracket 400, so as to prevent the adapter from falling off between the two when the shoulder and hip joint bracket 340 and the load-bearing bracket 400 rotate relative to each other. The adapter can be axially installed on the shoulder and hip joint bracket 340 and the load-bearing bracket 400 by two axially arranged circlips, or a circlip is provided on one side and a flanging or a boss is provided on the other side for axial limitation.

[0071] In the embodiments of the above two rotational connection methods between the shoulder and hip joint bracket 340 and the load-bearing bracket 400, between the adapter and the fitting hole, or between the adapter and the first through hole 3424 and the second through hole 401, it can be a direct contact sliding fit or a sliding fit through a bearing.

[0072] Through the above two rotational connection methods between the shoulder and hip joint bracket 340 and the load-bearing bracket 400, the rotational cooperation between the shoulder and hip joint bracket 340 and the load-bearing bracket 400 is realized. The rotational connection method between the shoulder and hip joint bracket 340 and the load-bearing bracket 400 is simple and reliable, and is convenient for assembly and disassembly, which helps to improve the service life of the drive assembly 300 and reduce the cost of the drive assembly 300; at the same time, when an impact force acts on the shoulder and hip joint bracket 340, the mating part of the shoulder and hip joint bracket 340 and the load-bearing bracket 400 will be subjected to a tangential force, and the adapter can bear the tangential force to ensure the mating reliability between the shoulder and hip joint bracket 340 and the load-bearing bracket 400.

[0073] In the embodiments of the above two rotational connection methods between the shoulder and hip joint bracket 340 and the load-bearing bracket 400, the fitting hole or the adapter or the first through hole 3424 on the shoulder and hip joint bracket 340 can be provided at the end of the hip joint motor base 342 away from the first support 341.

[0074] It can be understood that since the shoulder and hip joint bracket 340 rotates with the shoulder joint motor 310 and the shoulder and hip joint bracket 340 is rotationally engaged with the load-bearing bracket 400, in the embodiments of the above two rotational connection methods between the shoulder and hip joint bracket 340 and the load-bearing bracket 400, the assembly hole, the adapter, the first through hole 3424, and the second through hole 401 are all coaxially arranged.

[0075] To improve the stability of the load-bearing bracket 400, as Figure 4 shown, in one embodiment, the load-bearing bracket 400 includes an upper beam 410, a lower beam 420, and a connecting beam 430. The upper beam 410 and the lower beam 420 are stacked up and down, the connecting beam 430 is connected between the upper beam 410 and the lower beam 420, the upper beam 410 and the lower beam 420 are fixedly connected to the fuselage 100, and the connecting beam 430 is rotationally connected to the shoulder and hip joint bracket 340.

[0076] Among them, the upper beam 410 and the lower beam 420 are detachably fixedly connected to the fuselage 100, and the connection method can be screw connection of screws and screw holes, or snap connection of snaps and slots.

[0077] The upper beam 410 and the lower beam 420 are respectively fixed on the fuselage 100, so that both the upper end and the lower end of the load-bearing bracket 400 are fixedly connected to the fuselage 100, improving the stability of the load-bearing bracket 400 and reducing the shaking of the load-bearing bracket 400 during the operation of the quadruped robot. The arrangement of the upper beam 410 and the lower beam 420 and the connection of the connecting beam 430 between the upper beam 410 and the lower beam 420 form a stable support structure among the three. The shoulder and hip joint bracket 340 is rotationally connected to the connecting beam 430. On the basis of the stability of the connecting beam 430, the connecting beam 430 can effectively disperse and bear the force from the shoulder and hip joint bracket 340, further reducing the displacement and shaking of the free end of the shoulder and hip joint bracket 340, and further reducing the deformation of the shoulder and hip joint bracket 340 in the cantilever position, thereby effectively reducing the risk of fracture of the shoulder and hip joint bracket 340 and more contributing to improving the service life of the shoulder and hip joint bracket 340 in the high-maneuver state of the quadruped robot.

[0078] In one embodiment, in combination with Figures 1 to 4 , both the front foot and the rear foot include a load-bearing bracket 400, two sets of leg components 200 provided on both sides of the load-bearing bracket 400, and two sets of drive components 300 provided on both sides of the load-bearing bracket 400. The connecting beam 430 includes two symmetrically arranged side beams 431, and the shoulder and hip joint brackets 340 of the two sets of drive components 300 are respectively rotationally connected to the two side beams 431.

[0079] Among them, for the rotational connection between the side beam 431 and the shoulder and hip joint bracket 340, reference can be made to the two embodiments of the rotational connection method between the shoulder and hip joint bracket 340 and the load-bearing bracket 400 described above.

[0080] Two shoulder and hip joint brackets 340 are supported by a load-bearing bracket 400, eliminating one load-bearing bracket 400, thereby reducing the components of the quadruped robot and reducing the assembly and production costs of the quadruped robot. At the same time, the acting force generated by the movement of the leg components 200 on both sides passes through the connecting beam 430 to the center of the load-bearing bracket 400, thereby generating an acting force in the height direction on the load-bearing bracket 400. Due to the stacked arrangement of the upper beam 410 and the lower beam 420, this acting force can be well absorbed and resolved, improving the stability of the load-bearing bracket 400. And when the quadruped robot runs, both sides of the load-bearing bracket 400 will be subjected to acting forces, and part of the two acting forces can cancel each other out. The force that cannot be canceled generates a torque acting on the load-bearing bracket 400. Since the movement frequencies of the two leg components 200 on the same side of the fuselage are the same and the movement nodes are similar, therefore, the acting times and magnitudes of the two acting forces on both sides of the load-bearing bracket 400 are close. After the two acting forces are partially canceled, the torque acting on the load-bearing bracket 400 is also small. The load-bearing bracket 400 can absorb and resolve this torque through the upper beam 410, the lower beam 420 and the connecting beam 430, thereby reducing or eliminating the torsion of the load-bearing bracket 400 and improving the stability of the movement of the two leg components 200 on the same side of the quadruped robot.

[0081] In one embodiment, as Figure 4 shown, in order to further reduce the weight of the load-bearing bracket 400, the connecting beam 430 further includes a first hollowed-out portion 432 located between two side beams 431, and the connecting beam 430 further includes a second hollowed-out portion 433 provided on the side beam 431.

[0082] Among them, in order to reduce the stress concentration caused by the hollowing out, the first hollowed-out portion 432 and the second hollowed-out portion 433 are set in a hole shape, and the edges of the first hollowed-out portion 432 and the second hollowed-out portion 433 are arc-shaped. In this way, the stress concentration caused by the hollowing out is avoided, and the strength reduction of the connecting beam 430 caused by the hollowing out is minimized.

[0083] By hollowing out and arranging between the two side beams 431 and on the two side beams 431, the weight of the load-bearing bracket 400 is effectively reduced, which helps to improve the endurance of the quadruped robot.

[0084] In one embodiment, as Figure 4 shown, the widths of the upper beam 410 and the lower beam 420 gradually increase from the end close to the connecting beam 430 towards the fuselage 100.

[0085] The widths of the upper beam 410 and the lower beam 420 gradually increase towards the fuselage 100, increasing the strength of the connection between the load-bearing bracket 400 and the fuselage 100, which helps to minimize the reduction of the strength and support performance of the load-bearing bracket 400 on the basis of reducing the weight of the load-bearing bracket 400.

[0086] Through the above settings, the strength and support performance of the load-bearing bracket 400 are ensured as much as possible to ensure the relative stability of the cantilever position of the shoulder and hip joint bracket 340; moreover, the upper beam 410 and the lower beam 420 have a larger width at the parts that need to have support strength, and a smaller width at other parts, so as to reduce the width of the upper beam 410 and the lower beam 420 and reduce the weight of the load-bearing bracket 400.

[0087] In one embodiment, as Figure 4 shown, in order to further reduce the weight of the load-bearing bracket 400, the upper beam 410 and the lower beam 420 are provided with a third hollow part 411 that penetrates up and down, and the third hollow part 411 extends from the connecting beam 430 towards the fuselage 100.

[0088] By providing the third hollow part 411 that penetrates up and down on the upper beam 410 and the lower beam 420, on the one hand, the weight of the load-bearing bracket 400 can be reduced, and on the other hand, since the third hollow part 411 extends from the connecting beam 430 towards the fuselage 100, long beams connecting the fuselage 100 and the connecting beam 430 can be formed on both sides of the third hollow part 411, so that the upper beam 410 and the lower beam 420 are prone to deformation when subjected to torsional force to resolve the acting force. In this way, when the difference in the impact force between the left and right feet of the front foot or the rear foot is too large and causes the load-bearing bracket 400 to twist, the upper beam 410 and the lower beam 420 are prone to twist, absorb and resolve the impact force, ensuring the stability of the quadruped robot during movement, and enabling the quadruped robot to better cope with various complex road conditions.

[0089] In order to further improve the stability of the load-bearing bracket 400, in one embodiment, one end of the upper beam 410 and the lower beam 420 is fixedly connected to the fuselage 100, and the other ends of the upper beam 410 and the lower beam 420 are respectively fixedly connected to the upper and lower ends of the connecting beam 430. The load-bearing bracket 400 further includes an intermediate beam, and the intermediate beam is disposed between the fuselage 100 and the connecting beam 430 and longitudinally connects the upper beam 410 and the lower beam 420.

[0090] Among them, the intermediate beam needs to have a certain thickness to play the role of the strength of the load-bearing bracket 400. In order to reduce the weight of the intermediate beam, the intermediate beam is also set in an "X" shape, a "V" shape or a "W" shape, so as to form at least one triangular support structure between the upper beam 410, the lower beam 420 and the intermediate beam, thereby increasing the strength of the load-bearing bracket 400. At the same time, the intermediate beam can also be set in a shape with thick ends and thin middle, minimizing its own weight while providing strength.

[0091] Through the above-mentioned arrangement, the structural strength of the load-bearing bracket 400 can be further increased, thereby increasing the stability of the load-bearing bracket 400 and reducing the displacement and shaking of the free end of the shoulder-hip joint bracket 340, thereby ensuring the relative stability of the cantilever position of the shoulder-hip joint bracket 340.

[0092] In one embodiment, Figure 5 As shown, one side of the hip-knee joint support 350 is fixedly connected to the output shaft of the hip-knee joint motor 320 , and the other side of the hip-knee joint support 350 is recessed to form a second cavity 351 for accommodating the knee joint motor 330 .

[0093] The knee joint motor 330 is installed in the second cavity 351, the bottom of the knee joint motor 330 is close to the ground of the second cavity 351, and the side wall of the second cavity 351 wraps the side of the knee joint motor 330. The knee joint motor 330 is fixedly connected to the hip and knee joint bracket 350 by screws on the side.

[0094] Such a configuration, on the one hand, facilitates the positioning and installation of the knee joint motor 330 , and on the other hand, the circumferential wrapping of the knee joint motor 330 by the second cavity 351 can further support the knee joint motor 330 and improve the stability of the knee joint motor 330 .

[0095] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Those skilled in the art should understand that the utility model includes but is not limited to the contents described in the drawings and the above specific implementation. Any modification that does not deviate from the functional and structural principles of the utility model will be included in the scope of the claims.

Claims

1. A quadruped robot, comprising a body, a leg assembly and a driving assembly for driving the leg assembly to move, wherein the driving assembly comprises a shoulder joint motor fixed to the body, a shoulder-hip joint bracket fixed to the output shaft of the shoulder joint motor, a hip joint motor fixed to the shoulder-hip joint bracket, a hip-knee joint bracket fixed to the output shaft of the hip joint motor, and a knee joint motor fixed to the hip-knee joint bracket, the leg assembly is mounted on the knee joint motor, and is characterized in that: It also includes a load-bearing bracket, one end of which is fixedly connected to the fuselage, and the other end of which is rotatably connected to one end of the shoulder and hip joint bracket.

2. A quadruped robot as claimed in claim 1, characterized in that: The shoulder-hip joint support includes a first support and a hip joint motor seat, the first support is fixedly connected to the output shaft of the shoulder joint motor, the hip joint motor is fixedly installed on the hip joint motor seat, one end of the hip joint motor seat is connected to the first support, and the other end is rotatably matched with the load-bearing support.

3. A quadruped robot as claimed in claim 2, characterized in that: The hip joint motor seat comprises a limiting portion and a surrounding edge extending from the edge of the limiting portion, and the surrounding edge and the limiting portion form a first receiving cavity for accommodating the hip joint motor.

4. A quadruped robot as claimed in claim 1, characterized in that: One of the shoulder and hip joint support and the load-bearing support comprises a mounting hole, and the other comprises an adapter, and the adapter cooperates with the axial hole of the mounting hole; or, The shoulder-hip joint support includes a first through hole, the load-bearing support includes a second through hole, the shoulder-hip joint support and the load-bearing support are connected via an adapter, and the adapter is rotatably matched with the first through hole and the second through hole respectively.

5. A quadruped robot as claimed in claim 1, characterized in that: The load-bearing support includes an upper beam, a lower beam and a connecting beam, the upper beam and the lower beam are stacked up and down, the connecting beam is connected between the upper beam and the lower beam, the upper beam and the lower beam are fixedly connected to the fuselage, and the connecting beam is rotatably connected to the shoulder and hip joint support.

6. A quadruped robot as claimed in claim 5, characterized in that: One end of the upper beam and the lower beam is fixedly connected to the fuselage, and the other end of the upper beam and the lower beam is fixedly connected to the upper and lower ends of the connecting beam respectively. The load-bearing bracket also includes an intermediate beam, which is arranged between the fuselage and the connecting beam and longitudinally connects the upper beam and the lower beam.

7. A quadruped robot as claimed in claim 5, characterized in that: The widths of the upper beam and the lower beam gradually increase from one end close to the connecting beam toward the fuselage.

8. A quadruped robot as claimed in claim 5, characterized in that: The quadruped robot includes front feet and hind feet, each of which includes a load-bearing support, two groups of leg components arranged on both sides of the load-bearing support, and two groups of driving components arranged on both sides of the load-bearing support. The connecting beam includes two symmetrically arranged side beams, and the shoulder and hip joint supports of the two groups of driving components are rotatably connected to a side beam respectively.

9. A quadruped robot as claimed in claim 8, characterized in that: The connecting beam further includes a first hollow portion located between the two side beams, and the connecting beam further includes a second hollow portion arranged on the side beams.

10. A quadruped robot as claimed in claim 5, characterized in that: The upper beam and the lower beam are provided with a third hollow portion penetrating from top to bottom, and the third hollow portion extends from the connecting beam toward the fuselage.

11. A quadruped robot as claimed in claim 1, characterized in that: One side of the hip and knee joint support is fixedly connected to the output shaft of the hip joint motor, and the other side of the hip and knee joint support is recessed to form a second cavity for accommodating the knee joint motor.

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