Quadruped robot

Abstract

The utility model discloses a quadruped robot, belongs to the technical field of robots, solves the problem that the high-speed movement of the quadruped robot cannot be met in the prior art, and adopts the technical scheme that a shank component comprises a foot end piece, a spring, a supporting piece and a sleeve, and the supporting piece comprises a plurality of supporting rods which are arranged in parallel; the supporting rod is in sliding fit with the sleeve, the sleeve is hinged to the thigh assembly, the spring is arranged on one side of the supporting rod, the upper end of the supporting rod extends out of the sleeve and is connected with one end of the spring, the other end of the spring is connected with the sleeve, and the spring stretches out and draws back along with sliding of the supporting rod relative to the sleeve. The foot end piece comprises a sole seat and a rubber foot pad laid at the bottom of the sole seat, foot nails are arranged on the sole seat, and when the quadruped robot runs, the rubber foot pad deforms under the counter-acting force of the ground, so that the foot nails penetrate through the rubber foot pad to enhance the road holding force of the sole structure. The four-foot robot is mainly used for meeting the requirement for high-speed movement of the four-foot robot.

Description

Technical Field

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

[0002] In the prior art, quadruped robots such as CN112874651A and CN111891253A both disclose a fuselage, leg components and a driving component for driving the leg components to move. The leg components include thigh components and calf components hinged to the thigh components. The thigh components are installed on the driving component, and the lower end of the calf component is used to support the ground.

[0003] In order to prevent the lower end of the calf component from slipping on the ground when the robot moves, the lower end of the calf component needs to have sufficient grip. At the same time, in order to ensure the high-speed movement of the robot, the lower end of the calf component also needs to have high strength. In the prior art, rubber foot pads are usually provided. Wear-resistant rubber foot pads are often too hard and have a low friction coefficient, and the rubber foot pads cannot provide the grip required by the quadruped robot. While rubber foot pads with better friction performance are too soft, and the rubber foot pads are prone to rupture when the quadruped robot runs at high speed. In addition, 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, and transmit the impact force to the thigh component and the driving component. The huge impact force will not only affect the swing frequency of the motor driving the leg component, but also cause damage to the bracket for assembling the motor. Therefore, general quadruped robots can only move at a relatively low speed. Summary of the Utility Model

[0004] The purpose to be achieved by the utility model is to provide a quadruped robot to meet the requirements of high-speed movement of the quadruped robot.

[0005] To achieve the above purpose, the utility model adopts the following technical scheme: A quadruped robot includes a fuselage, leg components and a driving component for driving the leg components to move. The leg components include thigh components and calf components. The calf component includes a foot end piece, a spring, a support piece and a sleeve. The support piece includes a plurality of support rods arranged in parallel. The support rods are slidably matched with the sleeve. The sleeve is hinged to the thigh component. The spring is arranged on one side of the support rods. The upper end of the support rods extends out of the sleeve and is connected to one end of the spring. The other end of the spring is connected to the sleeve. The spring expands and contracts as the support rods slide relative to the sleeve. The lower end of the support rods is connected to the foot end piece. The foot end piece includes a sole seat and a rubber foot pad laid on the bottom of the sole seat. A plurality of foot nails are arranged on the sole seat. When the quadruped robot runs, the rubber foot pad is deformed by the ground reaction force so that the foot nails penetrate through the rubber foot pad to enhance the grip of the sole structure of the foot end piece.

[0006] After adopting the above technical solution, the utility model has the following advantages: Foot studs are also provided on the sole base. When the robot moves at a high speed (exceeding 5 m / s), at this time, the frictional force generated by the rubber foot pads rubbing against the ground is no longer sufficient to push the robot to move at a speed exceeding 5 m / s. However, the highly deformed rubber foot pads can enable the foot studs to penetrate the rubber foot pads and contact the ground, thereby providing a huge grip to meet the requirements of the high mobility of the quadruped robot, and can also avoid the huge frictional force on the rubber foot pads, resulting in rapid wear of the rubber foot pads. Through the solution of this application, the rubber foot pads can select rubber materials with harder textures, so that the rubber foot pads have better wear resistance and ensure the service life of the rubber foot pads. The frictional force between the harder rubber foot pads and the ground during low-speed movement can also meet the movement requirements of the robot. Moreover, the rubber material itself has elasticity. Even if small holes are generated after the rubber foot pads are penetrated by the foot studs, the rubber foot pads will not be damaged as a whole. Secondly, the spring is used to extend as the support rod slides when the calf assembly is impacted by the ground, so as to convert the impact force into its own elastic deformation to weaken the impact force and reduce the impact on the movement of the quadruped robot.

[0007] Since both sides of the sleeve are transparent, the telescopic length of the support rod relative to the sleeve is greatly extended. Its maximum stroke is only limited by the elastic limit of the tension spring, and the movement stroke of the spring can also meet the requirements. Secondly, one end of the spring is connected to the upper end of the support rod, the other end of the spring is connected to the sleeve, and the spring is arranged on the side of the support rod. The spring expands and contracts as the support rod and the sleeve move relative to each other during the movement of the quadruped robot. The telescopic movement of the spring is located outside the support rod. Therefore, the spring will not be stuck between the sleeve and the support rod.

[0008] Furthermore, a first connection end is provided at the upper end of the support member, a second connection end is provided on the sleeve, and the first connection end and the second connection end are arranged at intervals along the axial direction of the support rod, so that the telescopic direction of the spring is the same as the axial direction of the support rod.

[0009] Adopting the foregoing technical solution, the telescopic direction of the support rod is the same as its own axial direction, and the telescopic direction of the spring is consistent with the telescopic direction of the support rod. The spring can better absorb the impact force. The expansion and contraction of the spring is a length change in a linear direction. The support rod and the sleeve are in a sliding fit. During the relative movement, the relative positions of the two in the radial direction will not change. Therefore, only the distance between the first connection end and the second connection end will change along the axial direction of the support rod, and both ends of the spring can maintain their positions unchanged, so that the spring can expand and contract along the axial direction of the support rod, so that the telescopic direction of the spring is consistent with the relative sliding direction of the support rod and the sleeve.

[0010] Furthermore, there are two groups of springs, and the two groups of springs are located on both sides of the support member and are symmetrically arranged about the axis of the support rod.

[0011] With the foregoing technical solution, the advantages of symmetric arrangement are as follows: If only one side is provided, when the spring force acts on the support rod, there is a radial component force. When two sides are provided, the component forces can cancel each other out, and the telescopic movement of the support rod relative to the sleeve is smoother; compared with setting one spring, setting two springs can reduce the size of a single spring and can also keep the center of gravity of the calf assembly on the central axis.

[0012] Furthermore, the support member further includes a reinforcing member. The plurality of support rods are arranged at intervals, and the reinforcing member radially supports at least two of the support rods.

[0013] With the foregoing technical solution, by providing a plurality of support rods arranged in parallel, the load-bearing strength of the support rods can be effectively improved. At the same time, by providing a reinforcing member, on the one hand, the load-bearing strength of the support rods is improved by adding components. On the other hand, after the reinforcing member is provided, the force received by the calf assembly can be transmitted from the support rods to the reinforcing member, thereby reducing the impact on the support rods and increasing the upper limit of the impact force that the support rods 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, the plurality of support rods supported by it become a force-receiving whole, thereby reducing or avoiding the occurrence of a situation where a certain support rod bears too much and breaks; in addition, by supporting at least two support rods with one reinforcing rod, the number of reinforcing rods provided can be reduced, avoiding excessive mass of the calf assembly.

[0014] Furthermore, the reinforcing member includes a reinforcing rod arranged along the axial direction of the support rod, and the plurality of support rods are arranged around the reinforcing rod.

[0015] With the foregoing technical solution, 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. On the one hand, the support of the reinforcing rod can reduce the deformation of the support rod. On the other hand, the plurality of 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 load-bearing strength of the support member can be improved, and the possibility of the support rod breaking when bearing load can be reduced.

[0016] Furthermore, the outer side wall of the reinforcing rod abuts against the support rod, and the reinforcing member further includes a hoop, and the hoop is tightened outside the plurality of support rods so that the reinforcing rod abuts against and supports the support rod.

[0017] With the foregoing technical solution, through the mutual abutment of the reinforcing rod and the support rod, when the support rod bears deformation, the radial force causing the deformation is transmitted to the reinforcing rod and other support rods abutting against the reinforcing rod, thereby dispersing the radial force, making it more difficult for a single support rod to bear and deform, improving the overall load-bearing strength of the support member, and reducing the possibility of the support rod breaking when bearing load. At the same time, due to the abutment of the reinforcing rod and the support rod, an installation limit is mutually formed between the reinforcing rod and the support rod, making the assembly of the calf assembly easier. By clamping the support rod and the reinforcing rod with a hoop, the reinforcing rod can more easily support the support rod, thereby enhancing the load-bearing strength of the support member. And due to the clamping 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 displace and rub against each other, thus avoiding excessive wear between the two and the resulting large fitting clearance, which may affect the support effect of the reinforcing rod on the support rod.

[0018] Further, the rubber foot pad is provided with a deformation portion for enhancing the deformation ability of the rubber foot pad.

[0019] With the foregoing technical solution, when the quadruped robot moves, the rubber foot pad will come into contact with the ground, and a frictional force that enables the quadruped robot to move will be generated between the two. At the same time, an impact force acting on the rubber foot pad will be generated by the ground. The higher the moving speed of the quadruped robot, the greater the frictional force and the impact force will be. The increase in the frictional force can prevent slipping between the rubber foot pad and the ground, and the impact force can be used to cause the rubber foot pad to deform, so as to increase the contact area with the ground and reduce the damage to the rubber foot pad caused by the increase in the frictional force.

[0020] In this application, the rubber foot pad is provided with a deformation portion for enhancing the deformation ability of the rubber foot pad. As the moving speed of the quadruped robot increases, the impact force received by the rubber foot pad will continuously increase, the deformation of the rubber foot pad will become larger and larger, and the contact area with the ground will also increase accordingly.

[0021] Further, the rubber foot pad is provided with a plurality of the deformation portions, and the deformation portion is a groove or a pit provided on the side of the rubber foot pad facing the sole base; or, the rubber foot pad is provided with a plurality of the deformation portions, and the deformation portion is a cavity provided inside the rubber foot pad.

[0022] With the foregoing technical solution, both the groove or the pit can weaken the material thickness of the part where they are provided, thereby providing deformation space for the surrounding materials and also weakening the strength of the rubber foot pad at the part where the deformation part is provided, making it easy for the part where it is provided and the surrounding area to deform. The present application also provides another technical solution, that is, the deformation part is a cavity provided inside the rubber foot pad. The cavity can weaken the material thickness of the part where it is provided, thereby providing deformation space for the surrounding materials and making it easy for the part where it is provided and the surrounding area to deform, and can also make the upper and lower sides of the rubber foot pad more complete, ensuring the contact area between the rubber foot pad and the foot sole base and the ground. Compared with setting a single larger deformation part, this solution sets multiple deformation parts. While weakening the strength of multiple parts of the rubber foot pad, it will not cause excessive deformation of a certain part of the rubber foot pad and result in local damage, affecting the maneuverability of the quadruped robot. A large number of foot nails can also extend out when the running speed of the robot increases to improve the grip.

[0023] Further, a plurality of the deformation parts are provided on one side of the rubber foot pad facing the foot sole base. The deformation part is a groove extending from the front side to the rear side of the rubber foot pad. A plurality of foot nails are arranged along the setting direction of the groove, and the tip part of the foot nail extends into the groove.

[0024] With the foregoing technical solution, the setting direction of the groove is the same as the friction direction when the quadruped robot runs. Therefore, the friction force acting on the rubber foot pad will not generate a force that pulls the rubber structures on both sides of the groove to expand outward, resulting in the rubber foot pad cracking along the groove. Even if the rubber foot pad is damaged due to the foot nail penetrating the rubber foot pad, it will not be vulnerable due to the damage. Moreover, the tip part of the foot nail extends into the groove, enabling the rubber foot pad to quickly penetrate the rubber foot pad after deformation to ensure the grip.

[0025] Further, the drive assembly includes a shoulder joint motor fixed to the fuselage, a shoulder and hip joint bracket fixed to the output shaft of the shoulder joint motor, a hip joint motor fixed to the shoulder and hip joint bracket, a hip and knee joint bracket fixed to the output shaft of the hip joint motor, a knee joint motor fixed to the hip and knee joint bracket. The leg assembly is installed on the knee joint motor. A load-bearing bracket is also provided on the fuselage. One end of the load-bearing bracket is fixedly connected to the fuselage, and the other end is rotatably connected to one end of the shoulder and hip joint bracket.

[0026] By adopting the aforementioned technical solution, a load-bearing bracket is also provided on the fuselage of the quadruped robot of the present application, and the load-bearing bracket is connected to the fuselage and the shoulder-hip joint bracket, so that 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.

[0027] Furthermore, 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.

[0028] By adopting the above-mentioned technical solution, the shoulder joint motor can stably drive the shoulder and hip joint bracket 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.

[0029] Furthermore, one of the shoulder-hip joint support and the load-bearing support includes an assembly hole, and the other includes an adapter, and the adapter cooperates with the axial hole of the assembly hole; or, the shoulder-hip joint support includes a first through hole, and the load-bearing support includes a second through hole, and the shoulder-hip joint support and the load-bearing support are connected via an adapter, and the adapter rotates and cooperates with the first through hole and the second through hole respectively.

[0030] By adopting the above-mentioned technical scheme, the rotational coordination of the shoulder and hip joint bracket and the load-bearing bracket is achieved through the above-mentioned two types of rotational connection between the shoulder and hip joint bracket and the load-bearing bracket. The rotational connection method between the shoulder and hip joint bracket and the load-bearing bracket is simple, reliable and easy to assemble and disassemble, which helps to increase the service life of the drive assembly and reduce the cost of the drive assembly; at the same time, when the impact force acts on the shoulder and hip joint bracket, the matching parts of the shoulder and hip joint bracket and the load-bearing bracket will be subjected to tangential force, and the adapter can withstand the tangential force, thereby ensuring the reliability of the coordination between the shoulder and hip joint bracket and the load-bearing bracket.

[0031] Further, the load-bearing bracket includes an upper beam, a lower beam and a connecting beam. The upper beam and the lower beam are stacked vertically. 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 bracket.

[0032] With the foregoing technical solution, the upper beam and the lower beam are respectively fixed to the fuselage, so that both the upper end and the lower end of the load-bearing bracket are 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 arrangement of the upper beam and the lower beam and the connection of the connecting beam between the upper beam and the lower beam form a stable support structure among the three. The shoulder and hip joint bracket is rotatably connected to the connecting beam. On the basis of the stability of the connecting beam, the connecting 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, thus effectively reducing the risk of fracture of the shoulder and hip joint bracket and being more conducive to improving the service life of the shoulder and hip joint bracket in the high-maneuver state of the quadruped robot.

[0033] Further, 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 arranged on both sides of the load-bearing bracket, and two sets of driving components arranged 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 driving components are respectively rotatably connected to one side beam.

[0034] With the foregoing technical solution, two shoulder and hip joint brackets are supported by one load-bearing bracket, saving one load-bearing bracket, 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 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 an acting force in the height direction on the load-bearing bracket. Due to the stacked arrangement of the upper beam and the lower beam, this acting 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 acting forces, and the force difference between the two acting forces in the height direction 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 close, the acting times and magnitudes of the two acting forces on both sides of the load-bearing bracket are close, and the force difference between the two acting forces in the height direction is small. The torque generated by this force difference acting on the load-bearing bracket is also small, and 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.

[0035] Furthermore, the foot sole base includes a base and a socket. The socket is arranged on the base. The socket is provided with a plurality of assembly holes corresponding to the several support rods. The support rods are inserted into the assembly holes. The base is provided with a plurality of through holes for assembling the foot nails. The rubber foot pad is attached to the bottom surface of the base.

[0036] Adopting the foregoing technical solution, it is not necessary to set too many structures on the foot sole base to reduce the weight of the foot sole base and the rotational inertia of the calf of the quadruped robot.

[0037] Furthermore, the foot nails on the foot sole structure are inclined relative to the foot sole base. The quadruped robot includes four sets of leg components. Two of the leg components are the front feet of the quadruped robot, and the other two leg components are the rear feet of the quadruped robot. The inclination directions of the foot nails on the front feet are opposite to the inclination directions of the foot nails on the rear feet.

[0038] Adopting the foregoing technical solution, when the orientation of the foot nails is consistent with the forward running direction of the quadruped robot, the forward foot nails will sink into the ground. To pull out the foot nails, resistance needs to be overcome, which generates a backward frictional force, hindering the forward direction and acting like a brake on the quadruped robot. When the orientation of the foot nails is opposite to the forward running direction of the quadruped robot, when the quadruped robot moves forward, the foot nails will not hinder the movement. Instead, they will be more stable when pushing because the force to be overcome at this time is the forward force, and the design of the foot nails being opposite to the forward running direction of the quadruped robot just provides this force support. Since when the quadruped robot is running, the front feet and the rear feet take turns to support the weight of the quadruped robot and help maintain balance. At the same time, the main task of the rear feet at this stage is to push away from the ground to provide the forward power for the quadruped robot, while the front feet need to provide a certain amount of frictional force to achieve a certain braking effect to reduce the phenomenon of the quadruped robot slipping. In this solution, the inclination directions of the foot nails on the front feet are opposite to the inclination directions of the foot nails on the rear feet. The rear feet are used for gripping the ground, and the front feet are used for braking to provide better gripping and braking effects when the quadruped robot is running at high speed. Description of the Drawings

[0039] The following further illustrates the present utility model with reference to the drawings:

[0040] Figure 1 It is a schematic diagram of the quadruped robot in the present utility model;

[0041] Figure 2 It is a schematic diagram of another perspective of the quadruped robot in the present utility model;

[0042] Figure 3 It is a schematic diagram of the contact inertia, contact force impulse, and pre - collision speed of a prior - art quadruped robot when the running speed reaches 8 m / s;

[0043] Figure 4 Schematic diagram of the decomposition of the impact velocity of a quadruped robot in the prior art when the running speed reaches 8 m / s;

[0044] Figure 5 Schematic diagram of the contact inertia, contact force impulse, and pre-collision speed of the quadruped robot in the present invention when the running speed reaches 8 m / s;

[0045] Figure 6 Schematic diagram of the decomposition of the impact velocity of the quadruped robot in the present invention when the running speed reaches 8 m / s;

[0046] Figure 7 Schematic diagram of the leg assembly of the quadruped robot in the present invention;

[0047] Figure 8 Schematic diagram of another perspective of the leg assembly of the quadruped robot in the present invention;

[0048] Figure 9 Schematic diagram of yet another perspective of the leg assembly of the quadruped robot in the present invention;

[0049] Figure 10 Cross-sectional view of the leg assembly of the quadruped robot in the present invention;

[0050] Figure 11 Schematic diagram of the leg assembly of the quadruped robot in the present invention in another state;

[0051] Figure 12 Cross-sectional view of the leg assembly of the quadruped robot in the present invention in another state;

[0052] Figure 13 Exploded view of a partial structure of the calf assembly of the present invention;

[0053] Figure 14 Schematic diagram of yet another perspective of the quadruped robot in an embodiment of the present invention;

[0054] Figure 15 For Figure 15 Enlarged view of part A in

[0055] Figure 16 Schematic diagram of the shoulder and hip joint bracket in an embodiment of the present invention;

[0056] Figure 17 Schematic diagram of another perspective of the hip and knee joint bracket in an embodiment of the present invention;

[0057] Figure 18 Schematic diagram of the foot end piece of the quadruped robot in the present invention;

[0058] Figure 19Cross-sectional view of the foot end piece of the quadruped robot in the present utility model;

[0059] Figure 20 Schematic diagram of another perspective of the foot end piece of the quadruped robot in the present utility model;

[0060] Figure 21 Schematic diagram of yet another perspective of the foot end piece of the quadruped robot in the present utility model;

[0061] In the figure, 1, fuselage; 2, front leg; 20, thigh assembly; 200, housing; 201, connecting rod; 21, calf assembly; 210, support rod; 220, reinforcing member; 231, first connection end; 232, second connection end; 233, third connection end; 234, fourth connection end; 26, sleeve; 28, through hole; 29, spring;

[0062] 3, hind leg; 31, knee joint; 32, hip joint;

[0063] 41, shoulder joint motor; 42, hip joint motor; 43, knee joint motor; 44, shoulder and hip joint bracket; 45, first support; 46, hip joint motor base; 47, hip and knee joint bracket; 48, second cavity;

[0064] 50, load-bearing bracket; 52, upper beam; 54, lower beam; 55, connecting beam; 56, side beam;

[0065] 60, foot end piece; 601, sole base; 6011, lower surface; 6012, base; 6013, socket; 6014, third through hole; 6015, heat dissipation hole; 602, rubber foot pad; 6021, deformation part; 6022, anti-slip pattern; 6023, recessed area; 603, foot nail; 6031, tip part. Detailed implementation manners

[0066] To make the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Apparently, the described embodiments are only a part rather than all of the embodiments of the present utility model.

[0067] The terms "first", "second", "third", "fourth", etc. (if any) in the description and claims of the present utility model and the above accompanying drawings are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present utility model described herein can be implemented in an order different from those illustrated or described herein.

[0068] It should be understood that in various embodiments of the present utility model, regarding the magnitudes of the sequence numbers of each process, it does not mean the sequence of execution is prior or subsequent. The execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present utility model.

[0069] It should be understood that in the present utility model, "including" and "having" and any of their variations are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or are inherent to these processes, methods, products, or devices.

[0070] It should be understood that in the present utility model, "a plurality of" means two or more. "And / or" is merely a description of the association relationship of associated objects, indicating that there can be three relationships. For example, X and / or Y can represent: X exists alone, X and Y exist simultaneously, and Y exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. "Including X, Y, and Z" and "including X, Y, Z" mean that all of X, Y, and Z are included. "Including X, Y, or Z" means including any one of X, Y, and Z. "Including X, Y, and / or Z" means including any one or any two or all three of X, Y, and Z.

[0071] The technical solutions of the present utility model will be described in detail below with specific embodiments. These several specific embodiments can be combined or replaced according to the actual situation. For the same or similar concepts or processes, they may not be repeated in some embodiments.

[0072] Such as Figure 1 And Figure 2As shown in the figure, a quadruped robot proposed by the present utility model includes a fuselage 1, leg components, and a drive component for driving the movement of the leg components. The leg components include a thigh component 20 and a calf component 21. The calf component 21 includes a foot end member 60, a spring 29, a support member, and a sleeve 26. The support member includes a plurality of support rods 210 arranged in parallel. The support rods 210 are slidably engaged with the sleeve 26. The sleeve 26 is hinged to the thigh component 20. The spring 29 is disposed on one side of the support rods 210. The upper end of the support rods 210 extends out of the sleeve 26 and is connected to one end of the spring 29. The other end of the spring 29 is connected to the sleeve 26. The spring 29 expands and contracts as the support rods 210 slide relative to the sleeve 26. The lower end of the support rods 210 is connected to the foot end member 60. The foot end member 60 includes a foot sole base 601 and a rubber foot pad 602 laid on the bottom of the foot sole base 601. A plurality of foot spikes 603 are provided on the foot sole base 601. When the quadruped robot runs, the rubber foot pad 602 deforms under the ground reaction force so that the foot spikes 603 penetrate through the rubber foot pad 602 to enhance the grip of the foot sole structure of the foot end member 60.

[0073] The sole base 601 is also provided with foot spikes 603. When the robot moves at a relatively high speed (exceeding 5 m / s), at this time, the frictional force generated by the rubber footpad 602 rubbing against the ground is no longer sufficient to push the robot to move at a speed exceeding 5 m / s. However, the highly deformed rubber footpad 602 allows the foot spikes 603 to penetrate through the rubber footpad 602 and contact the ground, thereby providing a huge grip force to meet the requirements of the high mobility of the quadruped robot and also avoiding the huge frictional force on the rubber footpad 602, resulting in rapid wear of the rubber footpad 602. Through the solution of this application, the rubber footpad 602 can select a rubber material with a harder texture, so that the rubber footpad 602 has better wear resistance and ensures the service life of the rubber footpad 602. The frictional force between the harder rubber footpad 602 and the ground during low-speed movement can also meet the movement requirements of the robot. Moreover, the rubber material itself has elasticity. Even if small holes are formed in the rubber footpad 602 after being penetrated by the foot spikes 603, the rubber footpad 602 will not be damaged as a whole. Secondly, the spring 29 is used to elongate as the support rod 210 slides when the calf assembly 21 is impacted by the ground, so as to convert the impact force into its own elastic deformation, weaken the impact force and reduce the impact on the movement of the quadruped robot. Since both sides of the sleeve 26 are transparent, the telescopic length of the support rod 210 relative to the sleeve 26 is greatly extended, and its maximum stroke is only limited by the elastic limit of the tension spring, and the movement stroke of the spring 29 can also meet the requirements. Secondly, one end of the spring 29 is connected to the upper end of the support rod 210, the other end of the spring 29 is connected to the sleeve 26, and the spring 29 is arranged on the side of the support rod 210. The spring 29 expands and contracts as the support rod 210 and the sleeve 26 move relative to each other during the movement of the quadruped robot. The telescopic movement of the spring 29 is located outside the support rod 210. Therefore, the spring 29 will not be stuck between the sleeve 26 and the support rod 210. When the quadruped robot moves, the rubber footpad 602 will contact the ground, and a frictional force that makes the quadruped robot move will be generated between the two. At the same time, the ground will generate an impact force acting on the rubber footpad 602. In order to further facilitate the penetration of the foot spikes 603, the rubber footpad 602 is provided with a deformation part 6021 that enhances the deformation ability of the rubber footpad 602. The higher the moving speed of the quadruped robot, the greater the impact force and the frictional force will be. The increase in the frictional force can prevent the rubber footpad 602 from slipping on the ground, and the impact force can be used to deform the rubber footpad 602 to increase the contact area with the ground and reduce the damage caused to the rubber footpad 602 by the increase in the frictional force.

[0074] In this application, the rubber footpad 602 is provided with a deformation part 6021 that enhances the deformation ability of the rubber footpad 602. As the moving speed of the quadruped robot increases, the impact force received by the rubber footpad 602 will continue to increase, the deformation of the rubber footpad 602 will become larger and larger, and the contact area with the ground will also increase accordingly.

[0075] Further, a plurality of deformation portions 6021 are provided on the rubber foot pad 602. The deformation portions 6021 are grooves provided on the side of the rubber foot pad 602 facing the foot sole base 601. The grooves can weaken the material thickness of the portion where they are provided, thereby providing deformation space for the surrounding materials. They can also weaken the strength of the rubber foot pad 602 at the portion where the deformation portions 6021 are provided, making it easy for the set portion and the surrounding area to deform.

[0076] Further, a plurality of deformation portions 6021 are provided on the side of the rubber foot pad 602 facing the foot sole base 601. The deformation portions 6021 are grooves extending from the front side to the rear side of the rubber foot pad 602. A plurality of foot studs 603 are provided along the setting direction of the grooves. The tip portion 6031 of the foot stud 603 extends into the grooves. The setting direction of the grooves is the same as the friction direction when the quadruped robot runs. Therefore, the frictional force acting on the rubber foot pad 602 will not generate a force that pulls the rubber structures on both sides of the grooves to expand outward, resulting in the rubber foot pad 602 cracking along the grooves. Even if the rubber foot pad 602 is damaged due to the foot stud 603 penetrating through the rubber foot pad 602, it will not be vulnerable due to the damage. Moreover, the tip portion 6031 of the foot stud 603 extends into the grooves, enabling the rubber foot pad 602 to quickly penetrate through the rubber foot pad 602 after deformation to ensure the grip force.

[0077] Specifically, the foot sole base 601 includes a base 6012 and a socket 6013. The socket 6013 is provided on the base 6012. The socket 6013 is provided with a plurality of assembly holes corresponding to a plurality of support rods 210. The support rods 210 are inserted into the assembly holes. A plurality of through holes for assembling the foot studs 603 are provided on the base 6012. The rubber foot pad 602 is attached to the bottom surface of the base 6012. There is no need for the foot sole base 601 to have too many structures to reduce the weight of the foot sole base 601 and reduce the moment of inertia of the calf assembly 21 of the quadruped robot.

[0078] If the direction of the foot spike 603 is the same as the direction of the quadruped robot running forward, the forward-facing foot spike 603 will sink into the ground, and resistance needs to be overcome to pull out the foot spike 603, which generates a backward friction force that hinders the forward direction and acts like a brake on the quadruped robot. If the direction of the foot spike 603 is opposite to the direction of the quadruped robot running forward, then when the quadruped robot moves forward, the foot spike 603 will not hinder the movement, but will be more stable when pushed, because what needs to be overcome at this time is the forward force, and the design of the foot spike 603 and the quadruped robot running forward in the opposite direction just provides this force support. When the quadruped robot is running, the front foot 2 and the rear foot 3 take turns to support the weight of the quadruped robot and help maintain balance. At the same time, the main task of the rear foot 3 at this stage is to push away from the ground and provide the quadruped robot with forward power, while the front foot 2 needs to provide a certain friction force to play a certain braking effect to reduce the phenomenon of the quadruped robot slipping. For this reason, the foot nails 603 on the sole structure are tilted relative to the sole seat 601. The quadruped robot includes four groups of leg components, two of which are the front feet 2 of the quadruped robot, and the other two groups of leg components are the rear feet 3 of the quadruped robot. The tilt direction of the foot nails 603 on the front foot 2 is opposite to the tilt direction of the foot nails 603 on the rear foot 3. The rear foot 3 is used for gripping the ground, and the front foot 2 is used for braking, so as to provide better gripping and braking effects when the quadruped robot runs at high speed. Of course, the front foot 2 can also be used for braking, and the rear foot 3 is used for gripping the ground. The front legs 2 and the rear legs 3 are both folded inward, so the center of gravity of the robot is closer to the center position, reducing the center of gravity offset caused by the outward expansion of the leg components, thereby improving the stability of the robot, and also making the robot's leg components move more coordinated and reducing interference between leg components. This can improve the balance of the robot in dynamic motion.

[0079] If necessary, Figure 1 As shown, the front foot 2 is folded inwardly toward the rear, and the rear foot 3 is folded inwardly toward the front.

[0080] Specifically, the driving assembly includes a shoulder joint motor 41, a hip joint motor 42, a knee joint motor 43, a shoulder-hip joint bracket 44 and a hip-knee joint bracket 47. The shoulder joint motor 41 is fixedly mounted on the fuselage 1, the shoulder-hip joint bracket 44 is fixedly mounted on the output shaft of the shoulder joint motor 41, the hip joint motor 42 is fixedly mounted on the shoulder-hip joint bracket 44, the hip-knee joint bracket 47 is fixedly mounted on the output shaft of the hip joint motor 42, and the knee joint motor 43 is fixedly mounted on the hip-knee joint bracket 47. The leg assembly of the quadruped robot is fixedly mounted on the knee joint motor 43. The thigh assembly 20 is fixed on the knee joint motor 43, and the operation of the shoulder joint motor 41 and the hip joint motor 42 realizes the swing of the thigh assembly 20 in the left and right directions and the front and back directions. The calf assembly 21 is connected to the output shaft of the knee joint motor 43 through a transmission component, and the operation of the knee joint motor 43 drives the calf assembly 21 to swing.

[0081] Further, the shoulder and hip joint bracket 44 includes a first support 45 and a hip joint motor base 46. The first support 45 is fixedly connected to the output shaft of the shoulder joint motor 41. The hip joint motor 42 is fixedly installed on the hip joint motor base 46. One end of the hip joint motor base 46 is connected to the first support 45, and the other end is rotationally matched with the load-bearing bracket 50. The shoulder joint motor 41 can stably drive the movement of the shoulder and hip joint bracket 44. Thus, the rotation of the shoulder joint motor 41 drives the swinging of the leg assembly in one direction, improving the stability of the swing.

[0082] Further, one of the shoulder and hip joint bracket 44 and the load-bearing bracket 50 includes an assembly hole, and the other includes an adapter. The adapter is axially and rotationally matched with the assembly hole to achieve the rotational cooperation between the shoulder and hip joint bracket 44 and the load-bearing bracket 50. The rotational connection method between the shoulder and hip joint bracket 44 and the load-bearing bracket 50 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 44, the mating part of the shoulder and hip joint bracket 44 and the load-bearing bracket 50 will be subjected to a tangential force. The adapter can bear the tangential force, ensuring the reliability of the cooperation between the shoulder and hip joint bracket 44 and the load-bearing bracket 50.

[0083] Further, the load-bearing bracket 50 includes an upper beam 52, a lower beam 54 and a connecting beam 55. The upper beam 52 and the lower beam 54 are arranged in an upper and lower stacked manner. The connecting beam 55 is connected between the upper beam 52 and the lower beam 54. The upper beam 52 and the lower beam 54 are fixedly connected to the fuselage 1. The connecting beam 55 is rotationally connected to the shoulder and hip joint bracket 44. The upper beam 52 and the lower beam 54 are respectively fixed on the fuselage 1, so that both the upper end and the lower end of the load-bearing bracket 50 are fixedly connected to the fuselage 1, improving the stability of the load-bearing bracket 50 and reducing the shaking of the load-bearing bracket 50 during the operation of the quadruped robot. The arrangement of the upper beam 52 and the lower beam 54 and the connection of the connecting beam 55 between the upper beam 52 and the lower beam 54 form a stable support structure among the three. The shoulder and hip joint bracket 44 is rotationally connected to the connecting beam 55. On the basis of the stability of the connecting beam 55, the connecting beam 55 can effectively disperse and bear the force from the shoulder and hip joint bracket 44, further reducing the displacement and shaking of the free end of the shoulder and hip joint bracket 44, and further reducing the deformation of the shoulder and hip joint bracket 44 in the cantilever position, thereby effectively reducing the risk of fracture of the shoulder and hip joint bracket 44, and more helping to improve the service life of the shoulder and hip joint bracket 44 in the high-mobility state of the quadruped robot.

[0084] Furthermore, the quadruped robot includes front legs 2 and rear legs 3. Both the front legs 2 and rear legs 3 include a load-bearing bracket 50, two sets of leg components disposed on both sides of the load-bearing bracket 50, and two sets of drive components disposed on both sides of the load-bearing bracket 50. The connecting beam 55 includes two symmetrically arranged side beams 56. The shoulder and hip joint brackets 44 of the two sets of drive components are respectively rotatably connected to one side beam 56. By using one load-bearing bracket 50 to support two shoulder and hip joint brackets 44, one load-bearing bracket 50 is saved, 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 forces generated by the actions of the leg components on both sides are transmitted to the center of the load-bearing bracket 50 through the connecting beam 55, thereby generating an acting force in the height direction on the load-bearing bracket 50. Due to the stacked arrangement of the upper beam 52 and the lower beam 54, this acting force can be well absorbed and resolved, improving the stability of the load-bearing bracket 50. Moreover, when the quadruped robot runs, the two sides of the load-bearing bracket 50 will be subjected to acting forces, and the force difference between the two acting forces in the height direction generates a torque acting on the load-bearing bracket 50. Since the action frequencies of the two leg components on the same side of the fuselage 1 are the same and the action nodes are similar, the acting times and magnitudes of the two acting forces on both sides of the load-bearing bracket 50 are close, and the force difference between the two acting forces in the height direction is small. The torque generated by this force difference acting on the load-bearing bracket 50 is also small. The load-bearing bracket 50 can absorb and resolve this torque through the upper beam 52, the lower beam 54, and the connecting beam 55, thereby reducing or eliminating the torsion of the load-bearing bracket 50 and improving the stability of the actions of the two leg components on the same side of the quadruped robot.

[0085] In order to achieve the swing of the thigh component 20 in the left-right direction and the front-back direction and make the output efficiency of the motor reach the best, the setting directions of the output shafts of the shoulder joint motor 41 and the hip joint motor 42 are perpendicular to each other. The output shafts of the two motors are respectively arranged in the left-right and front-back directions, so that the two motors respectively control the swing of the thigh component 20 in the left-right direction and the front-back direction.

[0086] In order to reduce the influence of the motors on the width of the quadruped robot, the four shoulder joint motors 41 are installed in pairs at the front and rear ends of the fuselage 1. The output shafts of the shoulder joint motors 41 are arranged in the front-back direction, and the output shafts of the hip joint motors 42 are arranged in the left-right direction.

[0087] Specifically, the calf component includes a support rod 210, a sleeve 26 sleeved on the support rod 210. The support rod 210 is in sliding fit with the sleeve 26. The sleeve 26 is hinged to the thigh component. The lower end of the support rod 210 supports on the ground. A spring 29 is disposed on one side of the support rod 210. The upper end of the support rod 210 extends out of the sleeve 26 and is connected to one end of the spring 29. The other end of the spring 29 is connected to the sleeve 26. The spring 29 expands and contracts as the support rod 210 slides relative to the sleeve 26.

[0088] Compared with the quadruped robot disclosed in the prior art CN103318289A, after adopting the technical solution of the present application, the utility model has the following advantages: when the quadruped robot maintains a standing state, the lower end of the support rod 210 supports on the ground, and the upper end of the support rod 210 extends out of the sleeve 26. When the quadruped robot moves, the support rod 210 can slide relative to the sleeve 26 under the impact force from the ground. During the sliding process, the overlapping area between the support rod 210 and the sleeve 26 remains unchanged, and the connection stiffness does not change with the sliding of the support rod 210, ensuring the stability of the lower leg assembly during the movement of the quadruped robot.

[0089] The spring 29 is used for the lower leg assembly to elongate with the sliding of the support rod 210 after being impacted by the ground, so as to convert the impact force into its own elastic deformation, weaken the impact force and reduce the influence of the impact force on the movement of the quadruped robot.

[0090] Since both sides of the sleeve 26 are transparent, the telescopic length of the support rod 210 relative to the sleeve 26 is greatly extended. Its maximum stroke is only limited by the elastic limit of the tension spring 10, and the movement stroke of the spring 29 can also meet the requirements. Secondly, one end of the spring 29 is connected to the upper end of the support rod 210, the other end of the spring 29 is connected to the sleeve 26, and the spring 29 is arranged on the side of the support rod 210. The spring 29 expands and contracts with the relative movement of the support rod 210 and the sleeve 26 during the movement of the quadruped robot. The telescopic movement of the spring 29 is located outside the support rod 210. Therefore, the spring 29 will not be stuck between the sleeve 26 and the support rod 210. In the prior art, since the compression spring needs to be sleeved outside the telescopic rod, the inner diameter of the compression spring needs to be larger than the outer diameter of the telescopic rod, and at the same time the compression spring also needs to have sufficient elastic force, so that the compression spring has a large size and weight. Compared with the prior art, in the present application, since the spring 29 is arranged on the side of the support rod 210, as long as its elastic performance can meet the use requirements, there is no requirement for its inner diameter. Therefore, the weight of the spring 29 can be reduced, and the installation position of the spring 29 is close to the rotation point of the thigh assembly and the lower leg assembly, minimizing the rotational inertia generated by driving the spring 29 to move. After the rotational inertia of the quadruped robot is reduced, the impact impulse and kinetic energy loss received by the quadruped robot will be correspondingly reduced. For a lighter small quadruped robot, the effective stroke of the spring 29 is between 2 - 5 cm. For a medium-sized quadruped robot, the effective stroke of the spring 29 is between 5 - 10 cm. For a larger or heavier quadruped robot, the effective stroke of the spring 29 may need to reach 10 - 20 cm or more.

[0091] Comparing the quadruped robot without a spring, the leg assembly of the quadruped robot in the figure is a rigid leg. Figure 3 and Figure 4 Perform a model analysis on the quadruped robot when its running speed reaches 8 m / s.

[0092] Reference Figure 3 and Figure 4 , Figure 3 are the contact inertia, contact force impulse, and pre - impact velocity of the robot when its running speed reaches 8 m / s. Figure 3 In, A is the contact force impulse, v - is the velocity of the robot's sole before impact, and Mc is the contact inertia matrix. Figure 4 is the schematic diagram of the decomposition of the impact velocity of the quadruped robot when its running speed reaches 8 m / s.

[0093] The components of the Jacobian matrix related to the contacting leg are: The meaning of each component is the velocity of the robot's sole in the world coordinate system under the unit velocity of its corresponding generalized coordinate.

[0094] For a robot running at high speed, a significant feature is that the translational velocity of the robot in the horizontal direction is greater than the velocity in the vertical direction. The velocity of the robot in the horizontal direction is close to the reference velocity command (the actual velocity and the set velocity), while the velocity in the vertical direction is approximately 0. In one cycle of the quadruped robot's motion, that is, when both the front legs and the hind legs touch the ground once, there will be two impact processes, and energy loss will occur in each impact process. After measurement, when the running speed of the robot reaches 8 m / s, the work done in one cycle is about 46 J, and the energy loss generated by a single impact is not less than 21 J. The total energy loss generated by two impacts in one cycle is not less than 42 J, which means that the kinetic energy loss caused by impact in the translational direction dominates the kinetic energy loss of all degrees of freedom. In order to reduce the impact force, the smaller the change in the velocity of each generalized coordinate caused by the velocity decomposition, the better.

[0095] Through analysis, it can be found that both the inertia property and the geometric structure of the robot will affect the impact process. In order to reduce the impact of the impact process and improve the efficiency of motion, it is necessary to reduce the moment of inertia of the robot and optimize the structure of the robot. After the moment of inertia of the robot is reduced, the impact force impulse and kinetic energy loss received by the robot will be reduced accordingly. However, in actual situations, the method of reducing mass is not easy to implement, and the potential for improvement is also small. Optimizing the structure is another solution. Since the mechanical leg is light in mass and has a small moment of inertia, the ideal sudden change in impact velocity should be achieved through the sudden change in the velocity of the knee joint 31 and the hip joint 32. However, the actual situation is as Figure 4 shown, because and the included angle between them is very small and is on the same side of v - , which results in a large sudden change in joint angular velocity when decomposing the impact velocity based on and the two base vectors. In an even more extreme case, as the angle of the knee joint 31 decreases, and The directions of and are close to coincidence, which will produce singularities. Therefore, an ideal mechanical leg structure should be able to provide at least one set of orthogonal Jacobian matrix components for the sole of the foot, and the generalized coordinates corresponding to these components have relatively small inertia, so as to achieve the decoupling of the mechanical leg and the torso during the impact process. A mechanical leg with such characteristics can effectively reduce the contact force impulse, and further reduce the losses during the robot's running process.

[0096] To achieve the impact decoupling design criterion between the mechanical leg and the torso, a simple and efficient design solution is to add a series elastic translational degree of freedom to the robot (that is, set the spring 29).

[0097] It should be noted that the knee joint 31 is the hinge joint between the thigh component and the calf component. The hip joint 32 is the hinge joint between the leg component and the fuselage 1.

[0098] In the solution of this application, the telescopic direction of the spring 29 is the same as the axial direction of the support rod 210. The telescopic direction of the support rod 210 is the same as its own axial direction. The telescopic direction of the spring 29 is consistent with the telescopic direction of the support rod 210, enabling the spring 29 to better absorb the impact force. As Figure 4 and as Figure 5 shown, Figure 4 For the robot using the leg component of this application, the contact inertia, contact force impulse, and pre-collision speed when the running speed reaches 8 m / s, Figure 5 corresponding to the decomposition schematic diagram of the impact speed of the robot when the running speed reaches 8 m / s.

[0099] As Figures 6 to 21 shown, due to the presence of the spring 29, a new set of components is added to the robot's contact Jacobian matrix orthogonal to the components provided by the knee joint. And this orthogonality between the basis vectors can effectively avoid the singularities of the decomposition of the sudden change speed during the impact process. At the same time, the mass of the spring 29 and the rotational inertia of the knee joint are relatively small. Therefore, when decomposing the impact speed, it is more inclined to decompose in these two degrees of freedom. Combining the two advantages of orthogonality and light inertia, this design of the series spring 29 can achieve the impact decoupling between the mechanical leg and the torso during the impact process, that is, the impact process will not cause a sudden change in the torso speed, thereby improving the robot's motion efficiency and reducing the impact force pulse. Comparing the contact inertia matrix of the spring-leg robot with that of the rigid-leg robot, the first eigenvalue of the contact inertia matrix of the spring-leg robot is basically equal to the second eigenvalue of the contact inertia matrix of the rigid-leg robot, that is, the contact inertia of the spring-leg robot is greatly reduced.

[0100] Further, a first connection end 231 is provided at the upper end of the support member, and a second connection end 232 is provided on the sleeve 26. The first connection end 231 and the second connection end 232 are arranged at intervals along the axial direction of the support rod 210, so that the telescopic direction of the spring 29 is the same as the axial direction of the support rod 210. The telescopic direction of the support rod 210 is the same as its own axial direction, and the telescopic direction of the spring 29 is consistent with the telescopic direction of the support rod 210, enabling the spring 29 to better absorb the impact force. The telescopic movement of the spring 29 is a length change in a linear direction. The support rod 210 and the sleeve 26 are in a sliding fit. During the relative movement, their relative positions in the radial direction will not change. Therefore, only the distance between the first connection end 231 and the second connection end 232 will change along the axial direction of the support rod 210, and both ends of the spring 29 can maintain their positions unchanged, enabling the spring 29 to expand and contract along the axial direction of the support rod 210, so that the telescopic direction of the spring 29 is consistent with the relative sliding direction of the support rod 210 and the sleeve 26.

[0101] To make the telescopic movement of the spring 29 more stable, two sets of springs 29 are provided. The two sets of springs 29 are located on both sides of the support member and are symmetrically arranged with respect to the axis of the support rod 210. If only one side is provided, when the elastic force of the spring 29 acts on the support rod 210, there will be a radial component force. By providing two sides, the component forces can cancel each other out, making the telescopic movement of the support rod 210 relative to the sleeve 26 smoother. Compared with setting one spring 29, setting two springs can reduce the size of a single spring 29 and also keep the center of gravity of the lower leg assembly 21 on the central axis.

[0102] To enhance the structural strength of the lower leg assembly 21, the support member further includes a reinforcing member 220. A plurality of support rods 210 are arranged at intervals, and the reinforcing member 220 radially supports at least two support rods 210. This can effectively improve the bearing strength of the support rods 210. At the same time, by providing the reinforcing member 220, on the one hand, the bearing strength of the support rods 210 is increased by adding components. On the other hand, after the reinforcing member 220 is provided, the force received by the lower leg assembly 21 can be transmitted from the support rods 210 to the reinforcing member 220, thereby reducing the impact on the support rods 210 and increasing the upper limit of the impact force that the support rods 210 can withstand. At the same time, during the movement of the lower leg assembly 21, the impact forces received by each support rod 210 are different. Since the reinforcing member 220 can support at least two support rods 210, under the action of the reinforcing member 220, the several support rods 210 supported by it become a stressed whole, thus reducing or avoiding the situation where a certain support rod 210 bears too much and breaks. In addition, by supporting at least two support rods 210 with one reinforcing rod, the number of reinforcing rods can be reduced, avoiding the lower leg assembly 21 from having too large a mass.

[0103] It can be understood that three support rods 210 can be provided.

[0104] Specifically, the reinforcement member 220 includes a reinforcement rod arranged along the axial direction of the support rod 210, and several support rods 210 are arranged around the reinforcement rod, which can increase the contact action length and contact area between the reinforcement rod and the support rod 210. When at least one support rod 210 is loaded and deformed, it will directly act on the reinforcement rod. On the one hand, the support of the reinforcement rod can reduce the deformation of the support rod 210. On the other hand, several support rods 210 are arranged around the reinforcement rod, so that the force exerted on the reinforcement rod can also be dispersed to other support rods 210. Through the above-mentioned arrangement, the overall bearing strength of the support member can be improved and the possibility of the support rod 210 breaking when bearing load can be reduced.

[0105] The outer wall of the reinforcing rod abuts against the support rod 210, and the reinforcing member 220 also includes a clamp, which is clamped tightly on the outside of several support rods 210 to make the reinforcing rod abut against the support rod 210. When the support rod 210 is subjected to load deformation, the radial force that causes its deformation is transmitted to the reinforcing rod and other support rods 210 abutting against the reinforcing rod, thereby dispersing the radial force, making it less likely for a single support rod 210 to deform due to load, improving the overall load-bearing strength of the support member, and reducing the possibility of the support rod 210 breaking when subjected to load; at the same time, the reinforcing rod and the support rod 210 abut against each other, and the reinforcing rod and the support rod 210 form a mutually installed limit, so that the assembly of the calf assembly 21 is also easier. By tightening the support rod 210 and the reinforcing rod with the clamp, the reinforcing rod can more easily support the support rod 210, thereby improving the bearing strength of the support component. In addition, due to the tightening of the clamp, the friction between the reinforcing rod and the support rod 210 is also increased. During the movement of the leg assembly, it is difficult for the reinforcing rod and the support rod 210 to be displaced and rubbed against each other, thereby avoiding wear between the two and causing excessive matching clearance to affect the supporting effect of the reinforcing rod on the support rod 210.

[0106] It can be understood that in other embodiments, the shoulder and hip joint support includes a first through hole, the load-bearing support includes a second through hole, the shoulder and 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.

[0107] It can be understood that in other embodiments, or, the rubber foot pad is provided with a plurality of deformation portions, and the deformation portion is a cavity provided inside the rubber foot pad. The cavity can weaken the material thickness of its set position, so as to provide a deformation space for the surrounding materials, making it easy for the set position and the surrounding area to generate deformation, and can also make the upper and lower sides of the rubber foot pad more complete, ensuring the contact area between the rubber foot pad and the footrest and the ground. Compared with setting a single larger deformation portion, this solution sets a plurality of deformation portions. While weakening the strength of multiple parts of the rubber foot pad, it will not cause excessive deformation of a certain part of the rubber foot pad, resulting in local damage and affecting the maneuverability of the quadruped robot. A large number of foot nails can also extend out when the running speed of the robot increases to improve the grip. Of course, the deformation portion can also be a pit.

[0108] In addition to the above preferred embodiments, the present utility model has other implementation manners. Based on the embodiments in the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope claimed by the present utility model.

Claims

1. A quadruped robot, comprising a fuselage, leg assemblies, and a drive assembly for driving the leg assemblies to move. The leg assemblies include thigh assemblies and calf assemblies, and are characterized in that, The calf assembly includes a foot end member, a spring, a support member, and a sleeve. The support member includes a plurality of support rods arranged in parallel. The support rods are slidably engaged with the sleeve. The sleeve is hinged to the thigh assembly. The spring is disposed on one side of the support rods. The upper end of the support rod extends out of the sleeve and is connected to one end of the spring. The other end of the spring is connected to the sleeve. The spring expands and contracts as the support rod slides relative to the sleeve. The lower end of the support rod is connected to the foot end member. The foot end member includes a sole base and a rubber foot pad laid on the bottom of the sole base. A plurality of foot spikes are provided on the sole base. When the quadruped robot runs, the rubber foot pad deforms under the ground reaction force so that the foot spikes penetrate through the rubber foot pad to enhance the grip of the sole structure.

2. The quadruped robot according to claim 1, characterized in that, A first connection end is provided at the upper end of the support member, and a second connection end is provided on the sleeve. The first connection end and the second connection end are arranged at intervals along the axial direction of the support rod, so that the expansion and contraction direction of the spring is the same as the axial direction of the support rod.

3. A quadruped robot according to claim 2, wherein, There are two groups of springs, and the two groups of springs are located on both sides of the support member and are symmetrically arranged with respect to the axis of the support rod.

4. A quadruped robot according to claim 1, characterized in that, The support member further includes a reinforcing member. The plurality of support rods are arranged at intervals, and the reinforcing member radially supports at least two of the support rods.

5. A quadruped robot according to claim 4, characterized in that, The reinforcing member includes a reinforcing rod arranged along the axial direction of the support rod, and the plurality of support rods are arranged around the reinforcing rod.

6. A quadruped robot according to claim 5, characterized in that, The outer side wall of the reinforcing rod abuts against the support rod. The reinforcing member 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.

7. A quadruped robot according to claim 1, characterized in that, The rubber foot pad is provided with a deformation portion for enhancing the deformation ability of the rubber foot pad.

8. A quadruped robot according to claim 7, characterized in that, The rubber foot pad is provided with a plurality of the deformation portions. The deformation portion is a groove or a pit provided on the side of the rubber foot pad facing the sole base; or, the rubber foot pad is provided with a plurality of the deformation portions, and the deformation portion is a cavity provided inside the rubber foot pad.

9. A quadruped robot according to claim 7, characterized in that, A plurality of the deformation portions are provided on the side of the rubber foot pad facing the sole base. The deformation portion is a groove extending from the front side to the rear side of the rubber foot pad. A plurality of foot spikes are arranged along the setting direction of the groove, and the tip portions of the foot spikes extend into the groove.

10. A quadruped robot according to claim 1, characterized in that, The drive assembly includes a shoulder joint motor fixed to the fuselage, a shoulder and hip joint bracket fixed to the output shaft of the shoulder joint motor, a hip joint motor fixed to the shoulder and hip joint bracket, a hip and knee joint bracket fixed to the output shaft of the hip joint motor, a knee joint motor fixed to the hip and knee joint bracket. The leg assembly is mounted on the knee joint motor. A load-bearing bracket is further provided on the fuselage. One end of the load-bearing bracket is fixedly connected to the fuselage, and the other end is rotatably connected to one end of the shoulder and hip joint bracket.

11. A quadruped robot according to claim 10, characterized in that, The shoulder and hip joint bracket 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 engaged with the load-bearing bracket.

12. A quadruped robot according to claim 10, wherein, 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, 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.

13. A quadruped robot according to claim 10, characterized in that, The load-bearing bracket includes an upper beam, a lower beam and a connecting beam. The upper beam and the lower beam are arranged in an upper and lower stacked manner. 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 bracket.

14. A quadruped robot according to claim 13, characterized in that, 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 arranged on both sides of the load-bearing bracket, and two sets of drive components arranged 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.

15. A quadruped robot according to claim 1, characterized in that, The sole base includes a base and a socket. The socket is arranged on the base. The socket is provided with a plurality of assembly holes corresponding to the plurality of support rods. The support rods are inserted into the assembly holes. The base is provided with a plurality of through holes for assembling the foot nails, and the rubber foot pad is attached to the bottom surface of the base.

16. A quadruped robot according to claim 1, characterized in that, The foot nails on the sole structure are inclined relative to the sole base. The quadruped robot includes four sets of leg components. Two of the sets of leg components are the front feet of the quadruped robot, and the other two sets of leg components are the rear feet of the quadruped robot. The inclination directions of the foot nails on the front feet are opposite to the inclination directions of the foot nails on the rear feet.

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