Leg assembly of a quadruped robot and quadruped robot

Abstract

This utility model discloses a leg assembly for a quadruped robot and the quadruped robot itself, belonging to the field of quadruped robots. It solves the problems of low assembly efficiency and easy loosening of leg assemblies. The technical solution mainly includes a first motor, a second motor, a thigh mechanism, a lower leg mechanism, and a foot end connected in sequence. The second motor is fixedly mounted on the thigh mechanism and is drively connected to the lower leg mechanism. The first motor drives the thigh mechanism to swing, and the second motor drives the lower leg mechanism to swing. The output end of the first motor is connected to an adapter that outputs torque to the second motor to drive the thigh mechanism to swing. The second motor includes a housing. The adapter and the housing are anti-rotationally engaged by a connecting component. The connecting component is fitted onto the outside of the adapter and the housing and applies inward pressure to prevent the adapter and the housing from separating from each other. This utility model is mainly used to improve the assembly efficiency of leg assemblies.

Description

Technical Field

[0001] This utility model illustrates the leg components of a quadruped robot and the quadruped robot itself, belonging to the field of quadruped robot technology. Background Technology

[0002] Quadruped robots are biomimetic robots inspired by the movement of animal limbs. They typically consist of four legs and are designed to move across a variety of terrains and environments, including flat ground, uneven terrain, stairs, narrow spaces, and hazardous environments. They can also be used to explore unknown areas, perform dangerous tasks, and conduct rescue operations.

[0003] For example, patent CN118833317A discloses the leg structure of a legged robot, including a leg swing joint module, a thigh joint module, and a calf joint module. The leg is composed of the thigh, calf, and foot, which are connected. The thigh and calf joint modules are connected. The thigh joint module is provided with a second connector, and the calf joint module is provided with a third connector. The second connector and the third connector are connected to complete the assembly of the thigh joint module and the calf joint module. The third connector has several gourd-shaped holes arranged approximately around a central structure. The third connector is fixedly connected to the second connector by several fasteners passing through several gourd-shaped holes.

[0004] In the aforementioned patent, the installation process of the thigh joint module and the calf joint module first requires assembling the second connector with the thigh joint module and the third connector with the calf joint module, and pre-installing fasteners. Then, the second or third connector is rotated to initially assemble the fasteners with the second connector. Finally, hexagonal bolts are inserted through the assembly gap between the second connector and the second connecting part, and the fasteners are tightened to fix the second and third connectors. The disassembly process is the reverse of the installation process. The assembly and disassembly process of the leg structure in the aforementioned patent is quite cumbersome, requiring a large number of fasteners, resulting in a long assembly time and significantly reducing the assembly efficiency of the leg structure. Furthermore, the small assembly gap between the second connector and the second connecting part affects the operator's field of vision, making operation inconvenient and making the assembly of bolts and fasteners difficult. This can easily lead to assembly errors or incomplete tightening, potentially causing the connection between the thigh joint module and the calf joint module to loosen. Utility Model Content

[0005] The purpose of this invention is to solve the problems of low assembly efficiency and easy loosening of leg components. To this end, a leg component and a quadruped robot are provided. The connection component enables quick connection and disassembly of the first motor and the second motor, which helps to improve the assembly efficiency of the leg component.

[0006] To solve the above-mentioned technical problems, this utility model adopts the following technical solution:

[0007] The leg assembly of the quadruped robot includes a first motor, a second motor, a thigh mechanism, a lower leg mechanism, and a foot end connected in sequence. The second motor is fixedly mounted on the thigh mechanism and is driven by the lower leg mechanism. The first motor is used to drive the thigh mechanism to swing, and the second motor is used to drive the lower leg mechanism to swing. The output end of the first motor is connected to an adapter that outputs torque to the second motor to drive the thigh mechanism to swing. The second motor includes a housing. The adapter and the housing are anti-rotationally engaged by a connecting component. The connecting component is fitted on the outside of the adapter and the housing and applies inward pressure to prevent the adapter and the housing from separating from each other.

[0008] The beneficial effects of using this utility model are:

[0009] In this invention, the output end of the first motor is equipped with an adapter, and the second motor includes a housing. The adapter and the housing are connected by a connecting assembly to achieve an anti-rotation fit. Therefore, the first motor drives the adapter to rotate, and the adapter transmits torque to the second motor through the connecting assembly. The second motor then drives the thigh mechanism to swing. Furthermore, the connecting assembly is fitted onto the outside of the adapter and the housing, applying pressure to the adapter and the housing to prevent them from separating. The pressure applied by the connecting assembly to the adapter and the housing ensures a reliable connection between them. The assembly and disassembly of the connecting assembly are relatively simple, enabling quick installation and disassembly of the first and second motors. This effectively improves the assembly and replacement efficiency of the leg assembly, making its installation and maintenance more convenient and efficient. Additionally, the fitting of the connecting assembly enables the first and second motors to... The connection reduces the number of fasteners used, thereby reducing the overall weight of the leg assembly and making the quadruped robot lighter, which helps improve its flexibility. Secondly, the adapter and the shell are anti-rotationally engaged through the connecting assembly, which effectively positions the adapter and the shell circumferentially, ensuring that they do not rotate relative to each other. This allows the torque of the adapter to be accurately transmitted to the second motor, reducing energy loss during transmission and making the leg assembly's swing more precise. Furthermore, the connecting assembly simultaneously forms a set for the adapter and the shell, making both the adapter and the shell coaxial with the connecting assembly. This means that the central axes of the first and second motors coincide, ensuring that the second motor can rotate around the central axis of the first motor. This makes the leg mechanism swing more smoothly, contributing to the stability and precision of the quadruped robot's walking.

[0010] Preferably, both the adapter and the outer periphery of the housing are provided with radially outwardly extending protruding rings. The connecting assembly simultaneously acts on the opposing sides of the two protruding rings and applies inward pressure to prevent the two protruding rings from separating from each other. By adopting the aforementioned technical solution, the contact area between the connecting assembly and the adapter and housing can be effectively increased by providing radially outwardly extending protruding rings. The protruding rings can more evenly transmit the pressure applied by the connecting assembly, thereby improving the firmness of the connection between the adapter and the housing, making the assembly of the leg structure more stable and reliable. In addition, the inward pressure of the connecting assembly on the opposing sides of the two protruding rings can keep the adapter and the housing in close contact, making the connection between the first motor and the second motor more secure and reliable, reducing the possibility of the first and second motors loosening due to vibration or other external forces. It can also more efficiently transmit torque to the second motor, making the swing of the leg structure more precise.

[0011] Preferably, the connecting assembly includes a first clamp and a second clamp that are spliced ​​together. The inner walls of the first and second clamps are provided with annular grooves. When the first and second clamps are spliced, two convex rings are embedded in the annular grooves to restrict their axial separation. Using the aforementioned technical solution, the connecting assembly is formed by splicing the first and second clamps, enabling rapid splicing and disassembly of the connecting assembly. It also reduces the difficulty of fitting the connecting assembly onto the adapter and the housing, further reducing the difficulty of installing and disassembling the first and second motors, and significantly improving the assembly and maintenance efficiency of the leg assembly. Furthermore, the two convex rings embedded in the annular grooves have their sidewalls directly blocking the convex rings, thus restricting their separation and making the connection between the adapter and the housing more robust and reliable, effectively improving the tightness of the leg assembly.

[0012] Preferably, the annular groove is provided with at least one limiting groove, and a limiting block is fitted into the limiting groove. Both convex rings are provided with positioning grooves into which the limiting block extends. When the first clamp and the second clamp are in the spliced ​​state, one end of the limiting block extends into the limiting groove, and the other end extends into the positioning grooves of the two convex rings. Using the aforementioned technical solution, the positioning block can simultaneously extend into the positioning grooves of the two convex rings, thereby reliably positioning the two convex rings, preventing relative rotation between the adapter and the outer shell, making the torque transmission of the adapter more precise, reducing energy loss during transmission, and giving the leg assembly higher precision in its swing. Furthermore, with one end of the limiting block extending into the limiting groove of the annular groove and the other end into the positioning groove of the convex ring, the connecting assembly rotates synchronously with the convex ring through the limiting block, preventing relative rotation between the connecting assembly and the convex ring, and preventing the pressure exerted by the connecting assembly on the convex ring from decreasing due to long-term friction, thus helping to extend the service life of the connecting assembly.

[0013] Preferably, the sidewalls of the annular groove are inclined, and the width of the groove gradually decreases from the opening to the bottom. The two opposing sides of the two convex rings are adapted to the sidewalls of the annular groove. The first clamp and the second clamp are in a spliced ​​state, with the sidewalls of the annular groove abutting against the opposing sides of the two convex rings. Using the aforementioned technical solution, the width of the annular groove gradually decreases from the opening to the bottom. After the connecting assembly is fitted onto the convex rings, the connecting assembly will wedge the convex rings, ensuring a tight fit between the connecting assembly and the convex rings. This also increases the pressure exerted by the connecting assembly on the sidewalls of the convex rings, significantly enhancing the stability of the connection between the adapter and the housing. This ensures that the adapter and the housing remain tightly fitted at all times, guaranteeing the reliability of torque transmission in the adapter and giving the leg assembly more precise operating performance.

[0014] Preferably, a buffer pad is installed inside the annular groove, and the buffer pad is attached to the inner wall of the annular groove. Using the aforementioned technical solution, the buffer pad can absorb vibrations generated by the adapter and housing during operation, and can absorb noise generated by the first and second motors, thus achieving a noise reduction effect. In addition, it can also protect the inner wall of the annular groove and the convex ring, reducing direct contact and friction between the convex ring and the inner wall of the annular groove, reducing the wear degree of the convex ring and the inner wall of the annular groove, and helping to extend the service life of the adapter and housing.

[0015] Preferably, both ends of the first clamp and the second clamp are detachably connected by bolts; or, one end of the first clamp is hinged to the second clamp, and the other end is connected to the second clamp by bolts.

[0016] Preferably, a notch is provided on the outer surface of the end where the first clamp and the second clamp are connected. By adopting the aforementioned technical solution, the notch makes the separation of the first clamp and the second clamp easier and less strenuous, thereby accelerating the disassembly speed of the connecting components and realizing the rapid disassembly of the connecting components.

[0017] Preferably, the outer periphery of the connecting component is provided with a plurality of circumferentially distributed grooves. Using the aforementioned technical solution, the grooves can form a heat dissipation fin structure on the outer periphery of the connecting component, which helps in the heat conduction and dissipation of the first and second motors, preventing the first and second motors from overheating.

[0018] Preferably, the second motor has a wire outlet hole for the wire harness to pass through, and the adapter has a through hole corresponding to the wire outlet hole, with the through hole at least partially exposed on the outside of the detachable connection assembly.

[0019] Preferably, the output end of the first motor is provided with a plurality of protrusions arranged in a ring, and the adapter is provided with mounting grooves corresponding to the protrusions, the protrusions extending into the mounting grooves so that the adapter rotates synchronously with the output end of the first motor.

[0020] This utility model also demonstrates a quadruped robot, including a torso and four leg components rotatably connected to the torso. Each leg component includes a first motor, a second motor, a thigh mechanism, a lower leg mechanism, and a foot end connected in sequence. The first motor is fixedly connected to the torso. The leg components are the same as those of the quadruped robot described above.

[0021] Other features and advantages of this utility model will be disclosed in detail in the following specific embodiments and accompanying drawings. Attached Figure Description

[0022] The present invention will be further described below with reference to the accompanying drawings:

[0023] Figure 1 This is a schematic diagram of the leg assembly of the quadruped robot of this utility model;

[0024] Figure 2 This is an exploded view of the leg assembly of the quadruped robot of this invention;

[0025] Figure 3 This is a cross-sectional view of the connecting component in the leg assembly of the quadruped robot of this invention. Figure 1 ;

[0026] Figure 4 This is a cross-sectional view of the connecting component in the leg assembly of the quadruped robot of this invention. Figure 2 ;

[0027] Figure 5 This is an exploded view of the first and second motors in the leg assembly of the quadruped robot of this invention.

[0028] Figure 6 This is an exploded view of the protruding ring and connecting component in the leg assembly of the quadruped robot of this invention;

[0029] Figure 7 This is an exploded view of the first motor in the leg assembly of the quadruped robot of this invention;

[0030] Figure 8 This is a schematic diagram of the connecting component in the leg assembly of the quadruped robot of this utility model;

[0031] Figure 9 This is a structural schematic diagram of Embodiment 2 of the present invention.

[0032] Reference numerals: 10, thigh assembly; 1, first motor; 11, adapter; 111, through hole; 112, mounting groove; 113, bolt; 12, protrusion; 121, connecting hole; 2, second motor; 21, housing; 211, cable outlet; 3, connecting assembly; 31, first clamp; 32, second clamp; 33, annular groove; 331, limiting groove; 34, limiting block; 35, notch; 36, groove; 4, convex ring; 41, positioning groove; 5, thigh mechanism; 6, lower leg mechanism; 7, foot end; 8, torso. Detailed Implementation

[0033] The technical solutions of the present utility model will be explained and described below with reference to the accompanying drawings. However, the following embodiments are only preferred embodiments of the present utility model and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments in the implementation methods without creative effort are all within the protection scope of the present utility model.

[0034] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "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 accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0035] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0036] Example 1:

[0037] like Figures 1 to 8As shown in the figure, this embodiment demonstrates the leg assembly of a quadruped robot, including a first motor 1, a second motor 2, a thigh mechanism 5, a lower leg mechanism 6, and a foot end 7 connected in sequence. The second motor 2 is fixedly mounted on the thigh mechanism 5 and is connected to the lower leg mechanism 6 for transmission. The first motor 1 is used to drive the thigh mechanism 5 to swing, and the second motor 2 is used to drive the lower leg mechanism 6 to swing. The output end of the first motor 1 is connected to a converter 11 that outputs torque to the second motor 2 to drive the thigh mechanism 5 to swing. The second motor 2 includes a housing 21. The converter 11 and the housing 21 are anti-rotationally engaged by a connecting component 3. The connecting component 3 is fitted on the outside of the converter 11 and the housing 21 and applies pressure inward to prevent the converter 11 and the housing 21 from separating from each other.

[0038] In this embodiment, the output end of the first motor 1 is provided with an adapter 11, and the second motor 2 includes a housing 21. The adapter 11 and the housing 21 are connected by a connecting component 3 to achieve anti-rotation engagement. Therefore, the first motor 1 drives the adapter 11 to rotate, and the adapter 11 transmits torque to the second motor 2 through the connecting component 3. In turn, the second motor 2 drives the thigh mechanism 5 to swing. In addition, the connecting component 3 is fitted on the outside of the adapter 11 and the housing 21 and applies pressure to the adapter 11 and the housing 21 to limit their separation. The pressure applied by the connecting component 3 to the adapter 11 and the housing 21 can achieve a reliable connection between the adapter 11 and the housing 21. The fitting and disassembly of the connecting component 3 are relatively simple, which can realize the quick installation and disassembly of the first motor 1 and the second motor 2, effectively improving the assembly and replacement efficiency of the leg component, making the installation and maintenance of the leg component more convenient and faster. In addition, the fitting of the connecting component 3 enables the first motor 1 to rotate. The connection with the second motor 2 reduces the number of fasteners used, thereby reducing the overall weight of the leg assembly and making the quadruped robot lighter, which helps improve the robot's flexibility. Secondly, the adapter 11 and the shell 21 are anti-rotationally engaged through the connecting component 3, so the connecting component 3 can effectively position the adapter 11 and the shell 21 in the circumference, ensuring that the adapter 11 and the shell 21 will not rotate relative to each other. This allows the torque of the adapter 11 to be accurately transmitted to the second motor 2, reducing energy loss during transmission and making the swing of the leg assembly more accurate. Furthermore, the connecting component 3 simultaneously forms a set for the adapter 11 and the shell 21, so that the adapter 11 and the shell 21 are coaxially set with the connecting component, that is, the central axes of the first motor 1 and the second motor 2 are aligned. This ensures that the second motor 2 can rotate around the central axis of the first motor 1, making the swing of the thigh mechanism 55 more stable and helping to improve the stability and accuracy of the quadruped robot's walking.

[0039] like Figure 2As shown, in this embodiment, both the adapter 11 and the outer casing 21 have radially outwardly extending protruding rings 4 on their outer periphery. The connecting assembly 3 includes a first clamp 31 and a second clamp 32 that are spliced ​​together. The inner wall of the connecting assembly 3 has an annular groove 33. After the first motor 1 and the second motor 2 are connected, the adapter 11 and the outer casing 21 abut against each other. The first clamp 31 and the second clamp 32 are fitted at the connection between the adapter 11 and the outer casing 21, and the first clamp 31 and the second clamp 32 are in a spliced ​​state. The two protruding rings 4 are embedded in the annular groove 33 to restrict the two protruding rings 4 from separating in the axial direction. By setting the radially outwardly extending protruding rings 4, the contact area between the connecting assembly 3 and the adapter 11 and the outer casing 21 can be effectively increased, and the protruding rings 4 can transmit the load of the connecting assembly 3 more evenly. The applied pressure improves the connection between the adapter 11 and the housing 21, making the assembly of the leg structure more stable and reliable. Furthermore, the connecting component 3, composed of a first clamp 31 and a second clamp 32, enables rapid assembly and disassembly of the connecting component 3. It also reduces the difficulty of fitting the connecting component 3 onto the adapter 11 and the housing 21, further reducing the difficulty of installing and disassembling the first motor 1 and the second motor 2, significantly improving the assembly and maintenance efficiency of the leg assembly. Secondly, the two protruding rings 4 are embedded in the annular groove 33, and the sidewall of the annular groove 33 directly blocks the protruding rings 4, thus limiting their separation and making the connection between the adapter 11 and the housing 21 more robust and reliable, effectively improving the tightness of the leg assembly.

[0040] It should be noted that in this embodiment, the convex rings 4 are located on the outer periphery of the adapter 11 and the outer shell 21, respectively. That is, when the adapter 11 and the outer shell 21 abut against each other, the two convex rings 4 also remain in contact with each other, thereby reducing the width of the connecting assembly 3 in the axial direction and reducing the manufacturing cost of the connecting assembly 3. In addition, when the first clamp 31 and the second clamp 32 are in the spliced ​​state, the first clamp 31 and the second clamp 32 form a wrap around the two convex rings 4. The sidewalls on both sides of the annular groove 33 act on the opposite sides of the two convex rings 4 and apply inward pressure to restrict the two convex rings 4 from separating from each other. The connecting assembly 3 supports the opposite sides of the two convex rings 4. The inward pressure from the side ensures that the adapter 11 and the outer shell 21 are tightly fitted, making the connection between the first motor 1 and the second motor 2 more secure and reliable. This reduces the possibility of the first motor 1 and the second motor 2 becoming loose due to vibration or other external forces. It also enables the torque to be transmitted to the second motor 2 more efficiently, making the swing of the leg structure more precise. Secondly, the two convex rings 4 are in close contact, making the filling of the ring groove 33 more compact. The convex rings 4 can also provide effective support for the connecting component 3, preventing the connecting component 3 from easily deforming or breaking due to gaps between the two convex rings 4.

[0041] like Figure 2 and Figure 3As shown, in this embodiment, the annular groove 33 is provided with at least one limiting groove 331, and the limiting groove 331 is equipped with a limiting block 34. Both convex rings 4 are provided with positioning grooves 41 into which the limiting block 34 extends. After the adapter 11 and the outer shell 21 are connected, the positioning grooves 41 of the two convex rings 4 are aligned with each other. After the first clamp 31 and the second clamp 32 are spliced ​​and fitted onto the outer periphery of the convex rings 4, one end of the limiting block 34 extends into the limiting groove 331, and the other end extends into the positioning grooves 41 of the two convex rings 4. The positioning block can extend into the positioning grooves 41 of the two convex rings 4 at the same time, thereby reliably positioning the two convex rings 4 and avoiding The relative rotation of the adapter 11 and the outer shell 21 makes the torque transmission of the adapter 11 more precise, reduces energy loss during transmission, and makes the swing of the leg assembly more accurate. In addition, one end of the limiting block 34 extends into the limiting groove 331 of the ring groove 33, and the other end extends into the positioning groove 41 of the convex ring 4. That is, the connecting component 3 rotates synchronously with the convex ring 4 through the limiting block 34, avoiding relative rotation between the connecting component 3 and the convex ring 4, preventing the pressure exerted by the connecting component 3 on the convex ring 4 from decreasing due to long-term friction, and helping to extend the service life of the connecting component 3.

[0042] like Figure 4 As shown, the cross-section of the annular groove 33 in this embodiment is trapezoidal, and both side walls of the annular groove 33 are inclined. The width of the annular groove 33 gradually decreases from the groove opening to the bottom. The opposing sides of the two convex rings 4 are also inclined, and the structure of the side of the convex rings 4 is adapted to the side wall of the annular groove 33. The first clamp 31 and the second clamp 32 are in a spliced ​​state, and the side wall of the annular groove 33 abuts against the opposing sides of the two convex rings 4. In this embodiment, the first clamp 31 and the second clamp 32 are connected by fasteners. As the fasteners are tightened, the inner diameter of the annular groove 33 can be gradually reduced, and the connecting component 3 will wedge the convex ring 4, so that the connecting component 3 and the convex ring 4 are kept in close contact. At the same time, it can also increase the pressure applied by the connecting component 3 to the side wall of the convex ring 4, which significantly enhances the stability of the connection between the adapter 11 and the outer shell 21, ensuring that the adapter 11 and the outer shell 21 can always keep in close contact, ensuring the reliability of torque transmission of the adapter 11, and making the leg assembly have more precise operating performance.

[0043] To reduce wear between the connecting component 3 and the convex ring 4, a buffer pad is installed inside the annular groove 33 in this embodiment. The buffer pad is attached to the inner wall of the annular groove 33. After the connecting component 3 is fitted onto the outer periphery of the convex ring 4, the buffer pad is sandwiched between the inner wall of the annular groove 33 and the outer wall of the convex ring 4, which can protect the inner wall of the annular groove 33 and the convex ring 4. This can reduce the direct contact and friction between the convex ring 4 and the inner wall of the annular groove 33, which helps to reduce the wear of the convex ring 4 and the inner wall of the annular groove 33, and helps to extend the service life of the adapter 11 and the housing 21. In addition, the buffer pad can absorb the vibration generated by the adapter 11 and the housing 21 during operation and can absorb the noise generated by the first motor 1 and the second motor 2, which can achieve a noise reduction effect.

[0044] like Figure 8 As shown, in this embodiment, both ends of the first clamp 31 and the second clamp 32 are detachably connected by bolts 113. The tightening direction of the bolts 113 is tangent to the outer circumference of the connecting component 3, which ensures that the connection of the bolts 113 will not affect the annular groove 33 and the convex ring 4, and also reduces the space occupied by the bolts 113, which helps to reduce the volume of the connecting component 3. In addition, the tightening direction of the bolts 113 will not interfere with other structures, ensuring that the bolts 113 have sufficient operating space, making the connection and disassembly of the leg structure more convenient and quick.

[0045] It is understandable that in other embodiments, one end of the first clamp 31 may be hinged to the second clamp 32, and the other end may be connected to the second clamp 32 by bolt 113.

[0046] like Figure 3 and Figure 6 As shown, in order to facilitate the disassembly of the first clamp 31 and the second clamp 32, a notch 35 is provided on the outer side of the end where the first clamp 31 and the second clamp 32 are connected in this embodiment. During the disassembly process, when the first clamp 31 and the second clamp 32 are stuck together, a tool can be inserted into the notch 35 to pry the first clamp 31 and the second clamp 32 apart, making the separation of the first clamp 31 and the second clamp 32 easier and less strenuous, thereby speeding up the disassembly speed of the connecting component 3 and realizing the rapid disassembly of the connecting component 3.

[0047] like Figure 8 As shown, in this embodiment, the outer periphery of the connecting component 3 is provided with a plurality of circumferentially distributed grooves 36. The grooves 36 and the annular grooves 33 are concentric arcs. The grooves 36 are arranged along the axial direction of the connecting component 3. The plurality of grooves 36 can form a heat dissipation fin structure on the outer periphery of the connecting component 3, which helps the heat conduction and heat dissipation of the first motor 1 and the second motor 2, and prevents the first motor 1 and the second motor 2 from overheating.

[0048] like Figure 7 As shown, in this embodiment, one end of the first motor 1 has an output end face, and a plurality of protrusions 12 are provided on the output end face. The protrusions 12 are arranged in a ring. The adapter 11 has a connecting end face that connects to the output end face. The connecting end face is provided with a mounting groove 112 corresponding to the protrusions 12. The protrusions 12 extend into the mounting groove 112 so that the adapter 11 rotates synchronously with the output end of the first motor 1. In addition, in order to improve the connection stability between the first motor 1 and the adapter 11, the protrusions 12 in this embodiment are provided with connecting holes 121. The first motor 1 and the adapter 11 are fastened together by connecting bolts 113 to the connecting holes 121, thereby preventing the adapter 11 from detaching from the first motor 1.

[0049] like Figure 5 As shown, in this embodiment, the adapter 11 has a connecting groove at one end facing the second motor 2. The end of the second motor 2 extends into the connecting groove, making the connection between the first motor 1 and the second motor 2 tighter. In addition, the end of the second motor 2 that extends into the connecting groove has a wire outlet hole 211 for the wire harness to pass through. The adapter 11 has a through hole 111 corresponding to the wire outlet hole 211. The through hole 111 is at least partially exposed on the outside of the detachable connecting component 3. The wiring of the second motor 2 can extend to the outside of the leg assembly through the wire outlet hole 211 and the through hole 111, avoiding interference of the connecting component 3 with the wiring of the second motor 2, and making the wiring of the leg assembly simpler.

[0050] Example 2:

[0051] like Figure 9 As shown, this embodiment illustrates a quadruped robot, including a torso 8 and four leg components rotatably connected to the torso 8. Each leg component includes a first motor 1, a second motor 2, a thigh mechanism 5, a lower leg mechanism 6, and a foot end 7 connected in sequence. The first motor 1 is fixedly connected to the torso 8. The leg components are the same as those of the quadruped robot described in Embodiment 1.

[0052] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Those skilled in the art should understand that this utility model includes, but is not limited to, the content described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of this utility model will be included within the scope of the claims.

Claims

1. A leg assembly for a quadruped robot, comprising a first motor, a second motor, a thigh mechanism, a lower leg mechanism, and a foot end connected in sequence, wherein the second motor is fixedly mounted on the thigh mechanism and is drively connected to the lower leg mechanism, the first motor is used to drive the thigh mechanism to swing, and the second motor is used to drive the lower leg mechanism to swing, characterized in that, The output end of the first motor is connected to an adapter that outputs torque to the second motor to drive the thigh mechanism to swing. The second motor includes a housing. The adapter and the housing are anti-rotationally engaged by a connecting component. The connecting component is fitted on the outside of the adapter and the housing and applies pressure inward to restrict the adapter and the housing from separating from each other. The connecting component includes a first clamp and a second clamp that are spliced ​​together.

2. The leg assembly of the quadruped robot according to claim 1, characterized in that, Both the adapter and the outer periphery of the housing are provided with radially outwardly extending protrusions. The connecting assembly simultaneously acts on the opposing sides of the two protrusions and applies inward pressure to restrict the two protrusions from separating from each other.

3. The leg assembly of the quadruped robot according to claim 2, characterized in that, The inner walls of the first clamp and the second clamp are provided with annular grooves. When the first clamp and the second clamp are in a spliced ​​state, the two convex rings are embedded in the annular grooves to restrict the two convex rings from separating in the axial direction.

4. The leg assembly of the quadruped robot according to claim 3, characterized in that, The annular groove is provided with at least one limiting groove, and the limiting groove is equipped with a limiting block. Both convex rings are provided with positioning grooves for the limiting block to extend into. The first clamp and the second clamp are in a spliced ​​state, with one end of the limiting block extending into the limiting groove and the other end extending into the positioning grooves of the two convex rings.

5. The leg assembly of the quadruped robot according to claim 3, characterized in that, The sidewall of the annular groove is inclined, and the width of the annular groove gradually decreases from the groove opening to the groove bottom. The two opposing sides of the two convex rings are adapted to the sidewall of the annular groove. The first clamp and the second clamp are in a spliced ​​state, and the sidewall of the annular groove abuts against the opposing sides of the two convex rings.

6. The leg assembly of the quadruped robot according to claim 3, characterized in that, A buffer pad is installed inside the annular groove, and the buffer pad is attached to the inner wall of the annular groove.

7. The leg assembly of the quadruped robot according to claim 3, characterized in that, Both ends of the first clamp and the second clamp are detachably connected by bolts; or, one end of the first clamp is hinged to the second clamp, and the other end is connected to the second clamp by bolts.

8. The leg assembly of the quadruped robot according to claim 3, characterized in that, The outer side of the end where the first clamp and the second clamp are connected is provided with a notch.

9. The leg assembly of the quadruped robot according to claim 1, characterized in that, The outer periphery of the connecting component is provided with several grooves distributed circumferentially.

10. The leg assembly of the quadruped robot according to claim 1, characterized in that, The second motor has a wire outlet hole for the wire harness to pass through, and the adapter has a through hole corresponding to the wire outlet hole, with the through hole at least partially exposed on the outside of the detachable connection assembly.

11. The leg assembly of the quadruped robot according to claim 1, characterized in that, The output end of the first motor is provided with a number of protrusions arranged in a ring. The adapter is provided with mounting grooves corresponding to the protrusions. The protrusions extend into the mounting grooves so that the adapter rotates synchronously with the output end of the first motor.

12. A quadruped robot, comprising a torso and four leg assemblies rotatably connected to the torso, each leg assembly comprising a first motor, a second motor, a thigh mechanism, a lower leg mechanism, and a foot end connected in sequence, wherein the first motor is fixedly connected to the torso, characterized in that, The leg assembly is the same as the leg assembly of a quadruped robot as described in any one of claims 1 to 11.

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