Modular leg assembly for quadruped robot

Abstract

The utility model relates to a kind of modularization leg assembly for quadruped robot, comprising: standardization connecting interface, for realizing the mechanical connection and electrical connection of leg assembly and fuselage;Leg main body, built-in servo motor and speed reducer;Single leg independent control circuit, integrated in leg main body interior, so that each leg assembly can independently run;Quick connection mechanism, including locking device and guide structure, for making leg assembly and fuselage quickly and accurately connect;Foot end, located at the bottom of leg main body, is the end execution structure with support surface contact.The utility model realizes the interchangeability of different models leg assembly by standardization connecting interface design, improves the compatibility of system.

Description

Technical Field

[0001] This utility model relates to the field of quadruped robot technology, and more specifically to a modular leg assembly for quadruped robots. Background Technology

[0002] With the rapid development of robotics technology, quadruped robots have attracted widespread attention due to their flexibility and ability to adapt to different terrains. In practical applications, the leg components of quadruped robots frequently face problems such as wear and tear and damage. Traditional quadruped robot leg repair typically requires disassembling a large number of parts, making maintenance complex and time-consuming, severely impacting the robot's efficiency. Currently, most quadruped robots on the market adopt a one-piece design, with the legs tightly connected to the body, making disassembly and replacement difficult. When a leg component malfunctions, the entire robot often needs to be sent back to a repair center, increasing maintenance costs and extending downtime. Furthermore, different robot models often use different leg structures, lacking standardization and universality, increasing the complexity of spare parts management. In addition, existing research often focuses on optimizing single performance indicators (such as speed or stability), lacking a systematic framework for multi-objective collaborative optimization.

[0003] Therefore, there is an urgent need for a modular quadruped robot leg assembly that can be quickly disassembled and plugged in, thereby improving the robot's maintenance efficiency and service life. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a modular leg assembly for quadruped robots, enabling rapid disassembly and replacement of the leg assembly and significantly improving the maintenance efficiency of quadruped robots.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A modular leg assembly for a quadruped robot, comprising: Standardized connection interfaces are used to achieve mechanical and electrical connections between the leg components and the fuselage; The main body of the legs has a built-in servo motor and reducer; The independent control circuit for each leg is integrated inside the leg body, enabling each leg component to operate independently. A quick-connect mechanism, including a locking device and a guide structure, is used to enable the leg assembly to be quickly and accurately connected to the fuselage; The foot end, located at the bottom of the main body of the leg, is the end actuation structure that contacts the support surface.

[0006] Furthermore, the standardized connection interface includes a mechanical connection part, an electrical connection part, and a data transmission interface.

[0007] Furthermore, the mechanical connection part adopts a precision-machined dovetail groove structure; the electrical connection part adopts a gold-plated multi-pin connector; and the data transmission interface adopts a high-speed serial bus interface.

[0008] Furthermore, the single-leg independent control circuit includes a main controller, a motor driver, a position sensor, a torque sensor, and a communication module; the main controller uses a high-performance microprocessor and is responsible for motion planning and control; the position sensor and torque sensor provide real-time feedback information; and the communication module enables data exchange with the main control system of the fuselage.

[0009] Furthermore, the quick-connect mechanism includes a locking device, a guide structure, an elastic buffer element, and a manual quick-release knob.

[0010] Furthermore, the locking device employs a dual locking mechanism.

[0011] Furthermore, the guide structure includes a guide pin and a guide groove that slide against each other.

[0012] Furthermore, the leg assembly of this utility model also includes a dustproof and waterproof sealing structure to protect the internal electronic components and mechanical parts of the leg assembly.

[0013] Furthermore, the leg assembly of this invention also includes an adaptive connector, which can automatically compensate for positional errors during the connection process between the leg assembly and the body.

[0014] By adopting the above technical solution, the beneficial effects of this utility model are as follows: 1. By adopting a standardized connection interface design, the interchangeability of different models of leg components is achieved, improving the system's compatibility; 2. The independent control circuit for each leg makes each leg an independent functional unit, facilitating maintenance and fault diagnosis; 3. The quick-connect mechanism significantly reduces the replacement time for leg components from several hours to just a few minutes; 4. Modular design reduces maintenance costs, allowing users to replace only the damaged leg components instead of the entire robot; 5. Improved the on-site maintainability of the quadruped robot, reduced downtime, and increased work efficiency. Attached Figure Description

[0015] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments: Figure 1 This is a schematic block diagram of the overall structure of a modular leg assembly for a quadruped robot according to the present invention. Figure 2 This is a schematic block diagram of the standardized connection interface of this utility model; Figure 3 This is an exploded schematic diagram of the quick-connect mechanism of this utility model; Figure 4 This is a schematic block diagram of the single-leg independent control circuit of this utility model; Figure 5 This is a schematic diagram illustrating the installation process of the modular leg assembly of this utility model. Detailed Implementation

[0016] like Figure 1-5 As shown, this utility model discloses a modular leg assembly for a quadruped robot, comprising: Standardized connection interface 20 is used to realize the mechanical and electrical connection between the leg assembly and the body 10; The main body of the legs is 40mm, with a built-in servo motor and reducer; The independent control circuit for each leg is integrated inside the leg body, enabling each leg component to operate independently. The quick-connect mechanism 30 includes a locking device and a guide structure for quickly and accurately connecting the leg assembly to the fuselage; The foot end 50, located at the bottom of the leg body 40, is the end-effector that contacts the support surface.

[0017] The standardized connection interface 20 is located between the connection end of the fuselage 10 and the leg body 40, and is used to realize the mechanical and electrical connection between the leg assembly and the fuselage. For example... Figure 2 As shown, the standardized connection interface 20 includes a mechanical connection part 21, an electrical connection part 22, and a data transmission interface 23. The mechanical connection part 21 adopts a precision-machined dovetail groove structure to ensure the stability and accuracy of the connection; the electrical connection part 22 adopts a gold-plated multi-pin connector to provide power and control signal transmission; the data transmission interface 23 adopts a high-speed serial bus interface to support real-time data exchange.

[0018] like Figure 3 As shown, the quick-connect mechanism 30 includes a locking device 31, a guide structure 32, an elastic buffer element 33, and a manual quick-release knob 34. The locking device 31 employs a double locking mechanism to ensure the reliability of the connection; the guide structure 32 includes a guide pin 321 and a guide groove 322 that slide against each other to ensure accurate alignment during the connection process; the elastic buffer element 33 is used to absorb the impact force during the connection process; the manual quick-release knob 34 is ergonomically designed, allowing locking and releasing operations to be completed without tools.

[0019] like Figure 4As shown, the single-leg independent control circuit includes a main controller 41, a motor driver 42, a position sensor 43, a torque sensor 44, and a communication module 45. The main controller 41 uses a high-performance microprocessor and is responsible for motion planning and control; the motor driver 42 adopts an integrated design and supports multiple control modes; the position sensor 43 and the torque sensor 44 provide real-time feedback information; and the communication module 45 realizes data exchange with the main control system of the fuselage.

[0020] like Figure 5 As shown, the installation process of the modular leg assembly 100 includes an alignment stage 01, an insertion stage 02, and a locking stage 03. In the alignment stage, the operator roughly aligns the standardized connection interface of the leg assembly 100 with the corresponding interface 101 on the machine body; in the insertion stage, the guide structure ensures precise alignment, and the connector automatically engages; in the locking stage, the operator rotates the quick-release knob to activate the locking device and complete the installation.

[0021] The leg body 40 of this invention integrates an independent control system, including a multi-axis servo motor, a reducer, and a sensor network. The foot end 50 is made of composite material, providing excellent grip and wear resistance. The entire modular leg assembly features a dustproof and waterproof design, achieving an IP65 protection rating, making it suitable for use in various harsh environments.

[0022] In practical applications, when a leg of a quadruped robot malfunctions, maintenance personnel can simply rotate the quick-release knob to disassemble the faulty leg and install a new one within 1-2 minutes, greatly improving maintenance efficiency. The standardized interface design ensures that leg components from different batches and models are interchangeable, simplifying spare parts management.

[0023] Furthermore, the leg assembly of this invention also includes a dustproof and waterproof sealing structure to protect the internal electronic components and mechanical parts. The leg assembly also includes an adaptive connector, which can automatically compensate for positional errors during the connection process between the leg assembly and the fuselage.

[0024] The modular leg assembly of this invention also supports functional expansion. Users can choose to equip leg modules with different functions according to different application needs, such as enhanced load modules, high-speed movement modules, or special terrain adaptation modules, thereby improving the flexibility and adaptability of the system.

[0025] In summary, the modular leg assembly for quadruped robots provided by this utility model, through standardized connection interfaces, independent control circuits for each leg, and quick-connect mechanisms, enables rapid disassembly and replacement of the leg assembly, significantly improving the maintenance efficiency and service life of quadruped robots, and has significant practical value.

[0026] Based on this utility model, it can be further optimized and expanded, for example: 1. Heavy-duty reinforced structure: Strengthening mechanical interfaces and materials, such as wedge locking and carbon fiber, significantly improves load-bearing capacity.

[0027] 2. Dynamic Terrain Adaptive System: Adds multi-terrain foot and intelligent sensing to improve adaptability and climbing ability in complex terrain.

[0028] 3. Ultra-fast changing system: Using electromagnetic locking and pneumatic assistance, combined with wireless pre-synchronization, the leg changing time is reduced to within 30 seconds.

[0029] 4. Energy self-sustaining design: Integrates piezoelectric power generation and regenerative braking modules to achieve energy recovery during operation and extend the driving range.

[0030] 5. Multi-functional expansion interface: Standardized interface with reserved expansion slots and quick-install rails, supporting plug-and-play peripherals.

[0031] 6. Extreme Environment Protection System: Utilizing magnetic fluid sealing and positive pressure design, it significantly improves the protection level and wide temperature range adaptability.

[0032] The specific embodiments of this utility model have been described above. However, those skilled in the art should understand that this is only an example. Those skilled in the art can make various changes or modifications to this embodiment without departing from the principle and essence of this utility model, but all such changes and modifications fall within the protection scope of this utility model.

Claims

1. A modular leg assembly for a quadruped robot, characterized in that: include: Standardized connection interfaces are used to achieve mechanical and electrical connections between the leg components and the fuselage; The main body of the legs has a built-in servo motor and reducer; The independent control circuit for each leg is integrated inside the leg body, enabling each leg component to operate independently. A quick-connect mechanism, including a locking device and a guide structure, is used to enable the leg assembly to be quickly and accurately connected to the fuselage; The foot end, located at the bottom of the main body of the leg, is the end actuation structure that contacts the support surface.

2. A modular leg assembly for a quadruped robot according to claim 1, characterized in that: The standardized connection interface includes a mechanical connection part, an electrical connection part, and a data transmission interface.

3. A modular leg assembly for a quadruped robot according to claim 2, characterized in that: The mechanical connection part adopts a precision-machined dovetail groove structure; the electrical connection part adopts a gold-plated multi-pin connector; the data transmission interface adopts a high-speed serial bus interface.

4. A modular leg assembly for a quadruped robot according to claim 1, characterized in that: The single-leg independent control circuit includes a main controller, a motor driver, a position sensor, a torque sensor, and a communication module; the main controller uses a high-performance microprocessor and is responsible for motion planning and control; the position sensor and torque sensor provide real-time feedback information; and the communication module enables data exchange with the main control system of the fuselage.

5. A modular leg assembly for a quadruped robot according to claim 1, characterized in that: The quick-connect mechanism includes a locking device, a guide structure, an elastic buffer element, and a manual quick-release knob.

6. A modular leg assembly for a quadruped robot according to claim 5, characterized in that: The locking device employs a dual locking mechanism.

7. A modular leg assembly for a quadruped robot according to claim 5, characterized in that: The guide structure includes a guide pin and a guide groove that slide together.

8. A modular leg assembly for a quadruped robot according to claim 1, characterized in that: It also includes a dustproof and waterproof sealing structure to protect the internal electronic components and mechanical parts of the leg assembly.

9. A modular leg assembly for a quadruped robot according to claim 1, characterized in that: It also includes an adaptive connector, which can automatically compensate for positional errors during the connection process between the leg components and the fuselage.

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