Quadruped robot

Abstract

This utility model discloses a quadruped robot, belonging to the field of quadruped robots. It solves the problem of cumbersome and inefficient assembly of quadruped robots. The technical solution mainly includes a torso, four leg modules, and a control box for controlling the operation of the quadruped robot. The leg modules include a first motor, a second motor, a third motor, a thigh mechanism, a lower leg mechanism, and foot end pieces. The first motor is mounted on the torso, and its adapter is connected to a connecting component. The connecting component of the first motor is fitted onto the outside of the second motor. The connecting component of the second motor is fitted onto the outside of the adapter and the third motor. The third motor is fixedly connected to the thigh mechanism via the connecting component, and its adapter is connected to the lower leg mechanism via a connecting rod. The control box is installed inside the torso, and the first, second, and third motors are all electrically connected to the control box. This utility model is mainly used to improve the assembly and maintenance efficiency of quadruped robots.

Description

Technical Field

[0001] This utility model demonstrates a quadruped robot and belongs 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] In order to make the overall structure of the quadruped robot more robust and stable, the assembly of various parts of the quadruped robot in the existing technology usually requires the use of multiple fasteners for fixation, which leads to a long assembly time and significantly reduces the assembly efficiency of the quadruped robot. In particular, when it is necessary to replace the parts of the quadruped robot, the disassembly and reassembly process is cumbersome, which seriously affects the replacement efficiency. Utility Model Content

[0004] The purpose of this invention is to solve the problem of cumbersome and inefficient assembly of quadruped robots. To this end, a quadruped robot is provided. Modularizing the quadruped robot can improve the assembly and maintenance efficiency of the quadruped robot. It also facilitates independent testing of individual modules, ensuring the quality of each module and promoting standardized production. In addition, the modular design can reduce the risk of coupling failures and help improve overall stability.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] The quadruped robot includes a torso, four leg modules, and a control box for controlling the operation of the quadruped robot. The leg modules include a first motor, a second motor, a third motor, a thigh mechanism, a lower leg mechanism, and foot end pieces. The first motor, second motor, and third motor are all connected to detachable connecting components and output torque adapters. The first motor is mounted on the torso, and its adapter is connected to the connecting components. The connecting components of the first motor are fitted onto the outside of the second motor and engage with the second motor to prevent rotation. The connecting components of the second motor are fitted onto the outside of the adapter and the third motor to achieve an anti-rotation engagement between the adapter and the third motor. The third motor is fixedly connected to the thigh mechanism through the connecting components, and its adapter is connected to the lower leg mechanism through a connecting rod. The control box is installed inside the torso, and the first motor, second motor, and third motor are all electrically connected to the control box.

[0007] The beneficial effects of using this utility model are:

[0008] The quadruped robot described in this utility model includes a torso, leg modules, and a control box. The leg module includes a first motor, a second motor, and a third motor. The first motor is connected to the second motor via a connecting component, the second motor is connected to the third motor via a connecting component, and the third motor is connected to the thigh mechanism via a connecting component. The connecting component is a detachable structure, making assembly and disassembly of the connecting component simple and convenient. This allows for rapid installation and disassembly of the first motor to the second motor, the second motor to the third motor, and the third motor to the thigh mechanism, making the assembly and disassembly of the leg module to the torso simpler and faster, significantly improving the assembly and replacement efficiency of the leg module to the torso. Furthermore, the three motors of the leg module require relatively frequent maintenance during use. The connecting component allows for rapid installation and disassembly of the three motors. When one motor malfunctions, the corresponding motor can be removed by disconnecting the connecting component without disassembling the entire leg module, enabling rapid disassembly and replacement of the motor and improving maintenance and replacement efficiency. Finally, the leg module of the quadruped robot has specific applicable scenarios and functions. By simplifying the assembly and disassembly of the leg modules and torso, rapid replacement of the leg modules can be achieved. This allows the quadruped robot to switch to suitable leg modules depending on the application scenario, such as legged or wheeled leg modules, thus enabling it to adapt to more complex application environments and significantly expanding its applicability. Furthermore, by integrating the control box into the torso, when a leg module needs replacement, only the connection between the corresponding leg module and the control box needs to be disconnected. After assembling the new leg module, it can be reconnected to the control box. Therefore, the control box does not need to be replaced during leg module replacement, eliminating the need for post-replacement testing and making leg module replacement simpler and faster, significantly improving replacement efficiency. Additionally, the modular design allows for independent testing of individual modules, ensuring the quality of each module and facilitating standardized production. Moreover, the modular design reduces the risk of coupling failures between modules, significantly improving the overall stability of the quadruped robot during operation and making its operation safer and more reliable.

[0009] 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 positioning grooves. Both the second and third motors have positioning protrusions that match the positioning grooves. When the first and second clamps are spliced ​​together, the positioning grooves and positioning protrusions engage to achieve an anti-rotation fit between the connecting assembly and the positioning protrusions. 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 outer periphery of the motor, further reducing the difficulty of installing and disassembling the two motors, and significantly improving the assembly and maintenance efficiency of the leg module. Furthermore, the positioning protrusion ring is embedded in the positioning groove, and the sidewall of the positioning groove directly blocks the positioning protrusion, thereby limiting its axial displacement. This makes the positioning fit between the connecting assembly and the positioning protrusion more secure and reliable, effectively improving the tightness of the leg module.

[0010] Preferably, the positioning grooves are arranged in a ring on the inner side after the first and second clamps are joined. The structure of the positioning protrusion matches the positioning groove, and the positioning protrusion is embedded in the positioning groove to achieve axial positioning between the positioning protrusion and the positioning groove. At least one mounting groove is provided in the positioning groove, and a positioning block is disposed in the mounting groove. At least one groove is provided on the positioning protrusion, and both ends of the positioning block extend into the mounting groove and the groove respectively to restrict the relative rotation between the connecting assembly and the positioning protrusion. Using the aforementioned technical solution, the positioning protrusion is embedded in the positioning groove to achieve axial positioning, preventing the second or third motor from detaching from the connecting assembly axially. The cooperation between the positioning block and the mounting groove and groove restricts the relative rotation between the connecting assembly and the positioning protrusion, thereby achieving both circumferential and axial positioning of the positioning protrusion and the connecting assembly. This ensures that the connecting assembly can stably connect to the corresponding motor, providing connection stability.

[0011] Preferably, both the adapter of the second motor and the outer periphery of the third motor are provided with radially outwardly extending convex rings. The two convex rings abut against each other to form a positioning protrusion. The connecting component simultaneously acts on the opposing sides of the two convex rings and applies inward pressure to prevent the two convex rings from separating from each other. By adopting the aforementioned technical solution, the contact area between the connecting component and the adapter and the third motor can be effectively increased by setting the radially outwardly extending convex rings. The convex rings can transmit the pressure applied by the connecting component more evenly, thereby improving the firmness of the connection between the adapter and the third motor, making the assembly of the second motor and the third motor more stable and reliable. In addition, the inward pressure of the connecting component on the opposing sides of the two convex rings can keep the adapter and the third motor in close contact, making the connection between the second motor and the third motor more firm and reliable, reducing the possibility of the second motor and the third motor loosening due to vibration or other external forces. At the same time, it can also transmit torque to the third motor more efficiently, making the swing of the leg module more precise.

[0012] Preferably, a buffer pad is installed on the inner wall of the positioning groove, and the buffer pad is attached to the inner wall of the positioning groove. Using the aforementioned technical solution, the buffer pad can reduce the vibration generated by the operation of the second and third motors, absorb the noise generated by the drive motors, and achieve a noise reduction effect; in addition, it can also protect the positioning protrusion and the inner wall of the positioning groove, reduce the direct contact and friction between the positioning protrusion and the inner wall of the positioning groove, reduce the wear of the positioning protrusion and the inner wall of the positioning groove, and help extend the service life of the second motor, the third motor, and the connecting components.

[0013] 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.

[0014] Preferably, the thigh mechanism includes a detachably connected housing and an end cap. The housing and end cap are joined to form the connecting assembly. The housing and end cap are fitted tightly to the outer periphery of the third motor to fix the third motor relative to the thigh mechanism. Using the aforementioned technical solution, when the third motor needs to be disassembled, the positioning of the third motor can be released by separating the housing and end cap, allowing the third motor, adapter, and connecting rod to be directly exposed on the outside of the housing. Then, the drive motor can be removed by removing the adapter or connecting rod, without needing to disassemble the entire thigh mechanism. This allows for rapid disassembly of the third motor and effectively improves the disassembly efficiency.

[0015] Preferably, the connecting assembly of the first motor includes a first clamp and a second clamp. The adapter of the first motor is fixedly connected to the first clamp, and the second clamp is rotatably connected to the torso. The first clamp and the second clamp are spliced ​​together and tightly hug the outer periphery of the second motor so that the connecting assembly and the second motor are anti-rotationally engaged.

[0016] Preferably, the rotation axis of the first motor is perpendicular to the rotation axis of the second motor, and the rotation axis of the second motor coincides with the rotation axis of the third motor. Using the aforementioned technical solution, the second motor driving the third motor to rotate can cause the thigh mechanism to swing along the direction of travel of the quadruped robot, thereby enabling the quadruped robot to move forward and backward. Since the rotation axis of the first motor is perpendicular to the rotation axis of the second motor, the first motor driving the second motor to rotate can cause the thigh mechanism to swing laterally, thus increasing the degrees of freedom of the leg module and making the leg module more flexible.

[0017] Preferably, the torso includes a main frame, with a head frame and a tail frame connected to the front and rear ends of the main frame, respectively. Two leg modules are movably mounted on the head frame, and two other leg modules are movably mounted on the tail frame. The control box is fixed inside the main frame.

[0018] Preferably, the control box includes a control box body and a control main board installed inside the control box body. The side of the control box body facing the head frame is the front end face, and the side facing the tail frame is the rear end face. Both the front end face and the rear end face are provided with six motor interfaces. The motors of the two leg modules of the head frame are connected to the motor interfaces on the front end face, and the motors of the two leg modules of the tail frame are connected to the motor interfaces on the rear end face. Using the aforementioned technical solution, the control box body has motor interfaces corresponding to the number of motors on the end face near the leg modules, which can shorten the connection lines between the motors and the control box body, making the wiring inside the torso simpler and neater.

[0019] Preferably, the torso includes a main frame, a bracket is fixed inside the main frame, the bracket is provided with a battery compartment for installing power supply components, there is a receiving space between the battery compartment and the top of the main frame, and the top of the control box is fixedly connected to the main frame.

[0020] Preferably, the battery compartment has an installation port on the side of the main frame, and a discharge port is provided on the side wall of the battery compartment opposite to the installation port. After the power supply component is installed in the battery compartment, the discharge end of the power supply component is plugged into the discharge port. The control box has a power interface, and the discharge port is electrically connected to the power interface of the control box. Using the aforementioned technical solution, the power interface of the control box and the discharge port of the battery compartment are electrically connected. After the power module is installed in the battery compartment, the discharge end of the power module is plugged into the discharge port, thereby achieving electrical connection between the power module and the control motherboard. Therefore, after replacing the power module, completing the installation of the power module completes the connection between the power module and the control motherboard, eliminating the need for separate wiring. This makes power module replacement more convenient and faster, significantly improving the efficiency of power module replacement.

[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 structure of the quadruped robot of this utility model;

[0024] Figure 2 This is a structural schematic diagram of the leg module in the quadruped robot of this utility model;

[0025] Figure 3 An exploded view of the connecting assembly of the first motor in the quadruped robot of this invention;

[0026] Figure 4 Explosion view of the connecting assembly of the second motor in the quadruped robot of this utility model Figure 1 ;

[0027] Figure 5 Explosion view of the connecting assembly of the second motor in the quadruped robot of this utility model Figure 2 ;

[0028] Figure 6 This is an exploded view of the connection assembly of the third motor in the quadruped robot of this invention.

[0029] Figure 7 This is a partial schematic diagram of the thigh mechanism in the quadruped robot of this utility model;

[0030] Figure 8 This is a schematic diagram of the torso structure in the quadruped robot of this utility model;

[0031] Figure 9 This is a schematic diagram of the main frame of the quadruped robot of this utility model.

[0032] Reference numerals: 1. Torso; 11. Main frame; 12. Head frame; 13. Tail frame; 14. Bracket; 15. Battery compartment; 151. Discharge interface; 2. Leg module; 21. First motor; 211. First adapter; 22. Second motor; 221. Second adapter; 23. Third motor; 231. Third adapter; 24. Thigh mechanism; 241. Housing; 2411. Insertion hole; 242. End cap; 2421. Protrusion; 243. Cover plate; 2431. Discharge port. 2432. Heat port; 2433. Baffle; 2434. Limiting groove; 2435. Positioning pin; 244. Observation window; 25. Lower leg mechanism; 251. Connecting rod; 26. Foot end piece; 27. Cooling fan; 3. Control box; 31. Motor interface; 4. Power module; 5. Connecting assembly; 50. Rotating shaft; 51. First clamp; 52. Second clamp; 53. Positioning groove; 531. Mounting groove; 54. Positioning protrusion; 541. Protruding ring; 542. Groove; 55. Positioning block; 56. Buffer pad. 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] like Figures 1 to 9 As shown, this embodiment illustrates a quadruped robot, including a torso 1, four leg modules 2, and a control box 3 for controlling the operation of the quadruped robot. Each leg module 2 includes a first motor 21, a second motor 22, a third motor 23, a thigh mechanism 24, a lower leg mechanism 25, and a foot end piece 26. The first motor 21, second motor 22, and third motor 23 are all connected to detachable connecting components 5 and torque output adapters. The first motor 21 is mounted on the torso 1, and its adapter is connected to the connecting components 5. The connecting component 5 is fitted on the outside of the second motor 22 and engages with the second motor 22 to prevent rotation. The connecting component 5 of the second motor 22 is fitted on the outside of the adapter and the third motor 23 to achieve the anti-rotation engagement between the adapter of the second motor 22 and the third motor 23. The third motor 23 is fixedly connected to the thigh mechanism 24 through the connecting component 5. The adapter of the third motor 23 is connected to the lower leg mechanism 25 through the connecting rod 251. The control box 3 is installed inside the torso 1. The first motor 21, the second motor 22 and the third motor 23 are all electrically connected to the control box 3.

[0037] The quadruped robot in this embodiment includes a torso 1, leg modules 2, and a control box 3. The leg module 2 includes a first motor 21, a second motor 22, and a third motor 23. The first motor 21 is connected to the second motor 22 via a connecting component 5. The second motor 22 is connected to the third motor 23 via the connecting component 5. The third motor 23 is connected to the thigh mechanism 24 via the connecting component 5. The connecting component 5 is a detachable structure, making its assembly and disassembly simple and convenient. This allows for the connection of the first motor 21 to the second motor 22, the second motor 22 to the third motor 23, and the third motor 23 to the thigh mechanism 24. The quick installation and disassembly of component 4 makes the assembly and disassembly of leg module 2 and torso 1 simpler and faster, significantly improving the assembly and replacement efficiency of leg module 2 and torso 1. Furthermore, the three motors of leg module 2 require relatively frequent maintenance during the use of the quadruped robot. The connecting component 5 allows for quick installation and disassembly of the three motors. When one motor malfunctions, the corresponding motor can be removed by disconnecting the connecting component 5 without disassembling the entire leg module 2, enabling rapid disassembly and replacement of the motor and improving maintenance and replacement efficiency. Secondly, the quadruped robot's leg module 2... It has specific applicable scenarios and functions. By simplifying the assembly and disassembly of the leg module 2 and the torso 1, the leg module 2 can be quickly replaced, allowing the quadruped robot to change to the appropriate leg module 2 according to different usage scenarios, such as footed leg module 2 and wheeled leg module 2. This enables the quadruped robot to adapt to more complex application environments and significantly improves the applicability of the quadruped robot. Furthermore, by integrating the control box 3 into the torso 1, when the leg module 2 is replaced, it is only necessary to disconnect the corresponding leg module 2 from the control box 3. After assembling the new leg module 2, it can be reconnected to the control box 3. Since the control box 3 does not need to be replaced during the replacement of leg module 2, there is no need to perform testing and inspection again after replacement. This makes the replacement of leg module 2 simpler and faster, significantly improving the replacement efficiency of leg module 2. In addition, the modular design allows for independent testing of individual modules, thereby ensuring the quality of each module and facilitating standardized production of each module. Furthermore, the modular design can reduce the risk of coupling failures between modules, thereby significantly improving the overall stability of the quadruped robot during operation and making the operation of the quadruped robot safer and more reliable.

[0038] like Figures 1 to 3As shown, the quadruped robot in this embodiment includes a torso 1, which includes a main frame 11. A head frame 12 and a tail frame 13 are connected to the front and rear ends of the main frame 11, respectively. Both the head frame 12 and the tail frame 13 are movably connected to two leg modules 2. The first motors 21 of the two leg modules 2 are fixed to the head frame 12, and the first motors 21 of the other two leg modules 2 are fixed to the tail frame 13. Taking the leg module 2 within the head frame 12 as an example, in this embodiment, the first motor 21 is fixedly connected to the side of the head frame 12 closest to the main frame 11. The output end of motor 1 faces away from the main frame 11, and the output end of the first motor 21 is connected to the first adapter 211. The first adapter 211 is fixedly connected to the connecting component 5. The connecting component 5 is provided with a rotating shaft 50 on the side opposite to the first adapter 211. The connecting component 5 is rotatably connected to the head frame 12 through the rotating shaft 50. The first motor 21 drives the connecting component 5 to rotate. The connecting component 5 of the first motor 21 is fitted on the outer periphery of the second motor 22. The rotation axis of the first motor 21 is perpendicular to the rotation axis of the second motor 22. The first motor 21 drives the second motor 22 to swing through the connecting component 5.

[0039] like Figure 3As shown, in this embodiment, the outer periphery of the second motor 22 is provided with a radially outwardly extending positioning protrusion 54. The connecting component 5 includes a first clamp 51 and a second clamp 52. The inner sidewalls of the first clamp 51 and the second clamp 52 are provided with positioning grooves 53. After the first clamp 51 and the second clamp 52 are spliced, the positioning grooves 53 are distributed in a ring on the inner sidewall of the connecting component 5. When the connecting component 5 is fitted onto the outer periphery of the second motor 22, the positioning protrusion 54 is embedded in the positioning groove 53. The sidewall of the positioning groove 53 will directly block the positioning protrusion 54, thereby restricting the axial displacement of the positioning protrusion 54. In addition, in this embodiment, the positioning groove 53 is provided with at least one mounting groove 531. The mounting groove 531 is configured with a positioning block 55. The positioning protrusion 54 is provided with at least one groove 542. The two ends of the positioning block 55 extend into the mounting groove 53 respectively. The positioning block 55 is positioned within the groove 542 to restrict the relative rotation between the connecting component 5 and the positioning protrusion 54. The positioning protrusion 54 is embedded in the positioning groove 53 to achieve axial positioning, preventing the second motor 22 from detaching from the connecting component 5 axially. The cooperation between the positioning block 55 and the mounting groove 531 and the groove 542 can restrict the relative rotation between the connecting component 5 and the positioning protrusion 54, thereby achieving dual circumferential and axial positioning of the positioning protrusion 54 and the connecting component 5, so that the connecting component 5 can stably connect to the first motor 21 and provide connection stability. Secondly, the connecting component 5 is spliced ​​from the first clamp 51 and the second clamp 52, which can realize the quick splicing and disassembly of the connecting component 5, and at the same time reduce the difficulty of fitting the connecting component 5 onto the outer periphery of the motor, further reducing the difficulty of installing and disassembling the two motors, and can significantly improve the assembly and maintenance efficiency of the leg module 2.

[0040] It is understandable that in other embodiments, the outer periphery of the second motor 22 may also be provided with a number of positioning protrusions 54, and the positioning protrusions 54 are distributed at intervals along the circumference of the second motor 22. The inner side of the corresponding connecting component 5 is also provided with a number of positioning grooves 53. When the first clamp 51 and the second clamp 52 are spliced ​​together, the positioning protrusions 54 are embedded into the positioning grooves 53. Since neither the positioning protrusions 54 nor the positioning grooves 53 are complete circles, the cooperation between the positioning protrusions 54 and the positioning grooves 53 can also restrict the second motor 22 from rotating circumferentially relative to the connecting component 5.

[0041] It is understandable that in other embodiments, the positioning protrusion 54 may also be tightly fitted with the positioning groove 53 to increase the friction between the second motor 22 and the connecting component 5. The connecting component 5 can hold the outer periphery of the second motor 22 to limit the circumferential rotation of the second motor 22 relative to the connecting component 5. The radially outward extending positioning protrusion 54 can effectively increase the contact area between the positioning protrusion 54 and the connecting component 5, which helps to improve the holding effect of the connecting component 5 on the second motor 22. This makes the connection between the second motor 22 and the connecting component 5 more firm and reliable, and the assembly of the second motor 22 and the connecting component 5 more stable and reliable.

[0042] To reduce wear on the inner wall of the positioning groove 53, a buffer pad 56 is installed on the inner wall of the positioning groove 53 in this embodiment. The buffer pad 56 is attached to the inner wall of the positioning groove 53. The buffer pad 56 can reduce the vibration generated by the operation of the second motor 22 and absorb the noise generated by the second motor 22, thus achieving a noise reduction effect. In addition, it can also protect the positioning protrusion 54 and the inner wall of the positioning groove 53, reduce the direct contact and friction between the positioning protrusion 54 and the inner wall of the positioning groove 53, reduce the wear on the positioning protrusion 54 and the inner wall of the positioning groove 53, and help extend the service life of the second motor 22 and the connecting assembly 5. Secondly, the buffer pad 56 can also increase the friction between itself and the positioning protrusion 54, thereby increasing the clamping force of the connecting assembly 5 on the positioning protrusion 54 and further reducing the possibility of relative rotation between the second motor 22 and the connecting assembly 5.

[0043] like Figure 4 and Figure 5 As shown, in this embodiment, the output end of the second motor 22 is connected to a second adapter 221. The second adapter 221 is connected to the third motor 23 through the connecting component 5. Specifically, in this embodiment, the rotation axis of the second motor 22 and the rotation axis of the third motor 23 are kept coincident. Therefore, after the second motor 22 is started, the third motor 23 rotates synchronously with the second adapter 221. In addition, the adapter of the second motor 22 and the outer periphery of the third motor 23 are provided with radially outwardly extending protruding rings 541. After the second adapter 221 and one end of the third motor 23 abut against each other, the two protruding rings 541 abut against each other to form the positioning protrusion 54. The connection method between the connecting component 5 of the second motor 22 and the positioning protrusion 54 is the same as the connection method between the connecting component 5 of the first motor 21 and the positioning protrusion 54, and will not be described in detail here.

[0044] It should be noted that the cross-section of the positioning groove 53 in this embodiment is trapezoidal, both side walls of the positioning groove 53 are inclined, and the width of the positioning groove 53 gradually decreases from the opening to the bottom. The opposing sides of the two protruding rings 541 are also inclined, and the structure of the side of the protruding rings 541 is adapted to the side wall of the positioning groove 53. When the first clamp 51 and the second clamp 52 are in the spliced ​​state, the side wall of the positioning groove 53 abuts against the opposing sides of the two protruding rings 541. The two side walls of the positioning groove 53 act on the opposing sides of the two protruding rings 541 and apply inward pressure to restrict the two protruding rings 541 from separating from each other. By setting the radially outward extending protruding rings 541, the connecting assembly 5 and the adapter and the first The contact area between the three motors 23 allows the convex rings 541 to transmit the pressure applied by the connecting assembly 5 more evenly, thereby improving the firmness of the connection between the adapter and the third motor 23 and making the assembly of the second motor 22 and the third motor 23 more stable and reliable. In addition, the inward pressure of the connecting assembly 5 on the two convex rings 541 facing away from each other can keep the adapter and the third motor 23 in close contact, making the connection between the second motor 22 and the third motor 23 more firm and reliable, reducing the possibility of the second motor 22 and the third motor 23 loosening due to vibration or other external forces, and also enabling more efficient transmission of torque to the third motor 23, making the swing of the leg module 2 more precise.

[0045] In addition, in this embodiment, the first clamp 51 and the second clamp 52 are connected by fasteners. As the fasteners are tightened, the inner diameter of the positioning groove 53 can be gradually reduced, and the connecting component 5 will wedge the convex ring 541, so that the connecting component 5 and the convex ring 541 are kept in close contact. At the same time, it can also increase the pressure applied by the connecting component 5 to the side wall of the convex ring 541, which significantly enhances the stability of the connection between the adapter and the third motor 23, ensuring that the adapter and the third motor 23 can always keep in close contact, ensuring the reliability of torque transmission of the adapter, and giving the thigh mechanism 24 more precise operating performance.

[0046] It should be noted that the rotation axis of the first motor 21, the rotation axis of the second motor 22, and the rotation axis of the third motor 23 refer to the axes around which the corresponding adapter rotates. That is, the adapter of the first motor 21 rotates around the rotation axis of the first motor 21, the adapter of the second motor 22 rotates around the rotation axis of the second motor 22, and the adapter of the third motor 23 rotates around the rotation axis of the third motor 23.

[0047] like Figure 7As shown, the thigh mechanism 24 in this embodiment includes a housing 241 and an end cap 242. The end cap 242 is detachably connected to the top of the housing 241. The end cap 242 has a semi-circular overall structure. After the end cap 242 and the housing 241 are spliced ​​together, they form a receiving cavity. Circular mounting holes and observation windows 244 are formed on both sides of the thigh mechanism 24. Both the mounting holes and the observation windows 244 are in communication with the receiving cavity. After the third motor 23 is connected to the thigh mechanism 24, the output end of the third motor 23 is connected to a third adapter 231. The third adapter 231 extends through the mounting hole. The lower leg mechanism 25 is inserted into the receiving cavity. The top end of the lower leg mechanism 25 is hinged to the bottom end of the thigh mechanism 24. The lower leg structure is also rotatably connected to a connecting rod 251, which extends along the interior of the thigh structure's housing 241 into the receiving cavity. A third adapter 231 is hinged to the connecting rod 251. A third motor 23 drives the third adapter 231 to rotate. The third adapter 231, through the connecting rod 251, causes the lower leg mechanism 25 to swing relative to the thigh mechanism 24. The thigh mechanism 24 also includes a cover plate 243, which is connected to an end cap 242 to cover the observation window 244. 244 allows the third motor 23's output end, inertia disk, and connecting rod 251 to be connected without disassembling end cap 242 and housing 241. This facilitates user observation of the third motor 23's operating status, helping users understand the third motor 23's fault condition before disassembly and avoiding unnecessary disassembly work due to faults not related to the third motor 23. This also helps reduce the difficulty of repairing the third motor 23. Additionally, the observation window 244 also serves a heat dissipation function, helping to reduce the third motor 23's temperature within the thigh mechanism 2. The heating rate inside the thigh mechanism 24 is reduced; secondly, the cover plate 243 covers the observation window 244, which can reduce the entry of dust, garbage and other debris into the thigh mechanism 24, and reduce the possibility of the internal structure of the thigh mechanism 24 being affected by external debris; secondly, the cover plate 243 is provided with several heat dissipation holes 2431 connected to the observation window 244. The heat dissipation holes 2431 help to improve the heat exchange efficiency between the inside of the thigh mechanism 24 and the outside, reduce the heating rate inside the thigh mechanism 24, reduce the heat dissipation effect, and reduce the possibility of the third motor 23 overheating.

[0048] like Figure 6 As shown, in this embodiment, the housing 241 and end cap 242 are spliced ​​together to form the connecting component 5. The positioning groove 53 is provided on the inner side of the housing 241 and end cap 242. The outer peripheral side of the third motor 23 is provided with a corresponding positioning protrusion 54. The structure and connection method of the connecting component 5 and the positioning protrusion 54 of the third motor 23 are the same as those of the connecting component 5 described above, and will not be described in detail here.

[0049] like Figure 7As shown, in this embodiment, the end cap 242 and the housing 241 are clamped together in the form of a clamp, and then the two parts are connected together by screws. The top of the end cap 242 is provided with an upwardly protruding ridge 2421, and the cover plate 243 is provided with a baffle 2432 extending along the axial direction of the third motor 23. When the end cap 242 is connected to the thigh mechanism 24, the baffle 2432 covers the outer periphery of the end cap 242 and the housing 241. The inner side of the baffle 2432 is provided with a limiting groove 2433 corresponding to the ridge 2421. After the end cap 242 is connected to the thigh mechanism 24, the ridge 2421 is embedded in the limiting groove 2433, thereby restricting the cover plate 243 from detaching from the end cap 242 and the housing 241 axially; in addition, the cover The plate 243 is provided with a positioning pin 2434, and the housing 241 is provided with an insertion hole 2411 for the positioning pin 2434 to be inserted. The positioning pin 2434 and the insertion hole 2411 are engaged to restrict the separation of the protrusion 2421 from the limiting groove 2433. The engagement of the protrusion 2421 and the limiting groove 2433 can restrict the cover plate 243 from detaching from the thigh mechanism 24 axially. The engagement of the positioning pin 2434 and the insertion hole 2411 can restrict the separation of the protrusion 2421 from the limiting groove 2433. This can achieve the connection stability between the cover plate 243 and the thigh mechanism 24, and also reduce the difficulty of installing and disassembling the cover plate 243 and the thigh mechanism 24, which helps to achieve the rapid installation and disassembly of the leg structure.

[0050] like Figure 8 and Figure 9 As shown, in this embodiment, the main frame 11 includes four crossbeams, which form a rectangular frame. A bracket 14 is provided inside the main frame 11. The top end of the bracket 14 is fixedly connected to two crossbeams at the top of the main frame 11, and the bottom end of the bracket 14 is fixedly connected to two crossbeams at the bottom of the main frame 11. The bracket 14 is provided with a battery compartment 15 for installing the power module 4. There is an accommodating space between the battery compartment 15 and the top of the main frame 11. The control box 3 is installed in the accommodating space. The control box 3 includes a control box body, which is fixedly connected to two crossbeams at the top of the main frame 11.

[0051] In this embodiment, the side of the control box facing the head frame 12 is the front face, and the side facing the tail frame 13 is the rear face. The front face of the control box is provided with a power interface and several motor interfaces 31, and the rear face of the control box is provided with several motor interfaces 31. Specifically, in this embodiment, both the front and rear faces of the control box are provided with six motor interfaces 31. The six motor interfaces 31 on the front face are connected to the six motors of the two leg components in the head frame 12, and the six motor interfaces 31 on the rear face are connected to the six motors of the two leg components in the tail frame 13. Interfaces 31 are distributed at the front and rear ends of the control box, allowing the motor interfaces 31 to be located close to the leg modules 2 at the front and rear ends of the torso 1, respectively. This shortens the connection line between the motor and the control box, making the wiring inside the torso 1 simpler and neater. In addition, each motor corresponds to an independent motor interface 31, ensuring that the connection between each motor and the control box remains independent, thus isolating the motors from each other. When one motor malfunctions, the faulty motor can be quickly detected through the corresponding motor interface 31, making motor repair faster and more convenient, and helping to improve motor repair efficiency.

[0052] like Figure 8 As shown, in this embodiment, the battery compartment 15 forms an installation port on the side of the main frame 11. A discharge interface 151 is provided on the side wall of the battery compartment 15 opposite to the installation port. The discharge interface 151 is electrically connected to the power interface of the control box. The power interface of the control box and the discharge interface 151 of the battery compartment 15 are electrically connected. After the power module 4 is installed into the battery compartment 15, the discharge end of the power module 4 is plugged into the discharge interface 151, thereby realizing the electrical connection between the power module 4 and the control motherboard. Therefore, after replacing the power module 4, the connection between the power module 4 and the control motherboard can be completed by completing the installation of the power module 4, without the need for separate wiring, making the replacement of the power module 4 more convenient and quick, and improving the replacement efficiency of the power module 4. In addition, a cooling fan 27 is provided on the body. The cooling fan 27 is close to the motor and is used to dissipate heat from the motor. The cooling fan 27 is electrically connected to the control box 3, and the control box 3 controls the cooling fan 27.

[0053] 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 quadruped robot, characterized in that, The system includes a torso, four leg modules, and a control box for controlling the operation of the quadruped robot. Each leg module includes a first motor, a second motor, a third motor, a thigh mechanism, a lower leg mechanism, and foot end pieces. The first, second, and third motors are all connected to detachable connecting components and torque output adapters. The first motor is mounted on the torso, and its adapter is connected to the connecting components. The connecting components of the first motor are fitted onto the outside of the second motor and engage with it to prevent rotation. The connecting components of the second motor are fitted onto the outside of the adapter and the third motor to achieve an anti-rotation engagement between them. The third motor is fixedly connected to the thigh mechanism via the connecting components, and its adapter is connected to the lower leg mechanism via a connecting rod. The connecting components include a first clamp and a second clamp that are spliced ​​together. The control box is installed inside the torso, and the first, second, and third motors are all electrically connected to the control box.

2. The quadruped robot according to claim 1, characterized in that, The first clamp and the second clamp are provided with positioning grooves on their inner sidewalls. The second motor and the third motor are both provided with positioning protrusions that match the positioning grooves. When the first clamp and the second clamp are in the spliced ​​state, the positioning grooves and the positioning protrusions are positioned and engaged to achieve the anti-rotation engagement between the connecting components and the positioning protrusions.

3. The quadruped robot according to claim 2, characterized in that, The positioning grooves are arranged in a ring on the inner side after the first clamp and the second clamp are spliced. The structure of the positioning protrusion matches the positioning groove. The positioning protrusion is embedded in the positioning groove to achieve axial positioning between the positioning protrusion and the positioning groove. At least one limiting groove is provided in the positioning groove, and a positioning block is arranged in the limiting groove. At least one groove is provided on the positioning protrusion. The two ends of the positioning block extend into the limiting groove and the groove respectively to limit the relative rotation between the connecting component and the positioning protrusion.

4. The quadruped robot according to claim 2, characterized in that, The adapter of the second motor and the outer periphery of the third motor are both provided with radially outwardly extending convex rings. The two convex rings abut against each other to form a positioning protrusion. The connecting component simultaneously acts on the opposite sides of the two convex rings and applies inward pressure to restrict the two convex rings from separating from each other.

5. The quadruped robot according to claim 2, characterized in that, The inner wall of the positioning groove is fitted with a buffer pad, which is attached to the inner wall of the positioning groove.

6. The quadruped robot according to claim 2, 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.

7. The quadruped robot according to claim 1, characterized in that, The thigh mechanism includes a detachably connected housing and an end cap. The housing and end cap are spliced ​​together to form the connecting assembly. The housing and end cap are spliced ​​together and tightly hug the outer periphery of the third motor so that the third motor is fixed relative to the thigh mechanism.

8. The quadruped robot according to claim 1, characterized in that, The connecting assembly of the first motor includes a first clamp and a second clamp. The adapter of the first motor is fixedly connected to the first clamp, and the second clamp is rotatably connected to the torso. The first clamp and the second clamp are spliced ​​together and tightly hug the outer periphery of the second motor so that the connecting assembly and the second motor are engaged to prevent rotation.

9. The quadruped robot according to claim 1, characterized in that, The rotation axis of the first motor is perpendicular to the rotation axis of the second motor, and the rotation axis of the second motor coincides with the rotation axis of the third motor.

10. The quadruped robot according to claim 1, characterized in that, The torso includes a main frame, with a head frame and a tail frame connected to the front and rear ends of the main frame, respectively. Two leg modules are movably mounted on the head frame, and two other leg modules are movably mounted on the tail frame. The control box is fixed inside the main frame.

11. The quadruped robot according to claim 10, characterized in that, The control box includes a control box body and a control motherboard installed inside the control box body. The side of the control box body facing the head frame is the front face, and the side of the control box body facing the tail frame is the rear face. Both the front face and the rear face are provided with six motor interfaces. The motors of the two leg modules of the head frame are connected to the motor interfaces of the front face, and the motors of the two leg modules of the tail frame are connected to the motor interfaces of the rear face.

12. The quadruped robot according to claim 1, characterized in that, The quadruped robot also includes a power module, and the torso includes a main frame with a bracket fixed inside. The bracket has a battery compartment for installing the power module, and there is a space between the battery compartment and the top of the main frame. The top of the control box is fixedly connected to the main frame.

13. The quadruped robot according to claim 12, characterized in that, The battery compartment has an installation opening on the side of the main frame. A discharge interface is provided on the side wall of the battery compartment opposite to the installation opening. After the power module is installed in the battery compartment, the discharge end of the power module is plugged into the discharge interface. The control box has a power interface, and the discharge interface is electrically connected to the power interface of the control box.

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