Quadruped robot

Abstract

The application discloses a kind of quadruped robot, belong to the field of robot.It includes: torso structure and four leg structures;Torso structure includes top cover shell, first support plate piece, second support plate piece, connecting rod assembly and bottom cover shell, first support plate piece and second support plate piece are spaced along the first direction Distribution, connecting rod assembly is located between first support plate piece and second support plate piece, and the opposite ends of connecting rod assembly along the first direction are respectively connected with first support plate piece and second support plate piece connection, top cover shell and bottom cover shell are distributed along the third direction, top cover shell and bottom cover shell are respectively connected with first support plate piece and second support plate piece, top cover shell, bottom cover shell, first support plate piece and second support plate piece are enclosed to form installation space, and connecting rod assembly is located in installation space;First support plate piece and second support plate piece are both connected with two leg structures, and two leg structures are spaced along the second direction Distribution, and leg structure is located outside installation space.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, specifically relating to a quadruped robot. Background Technology

[0002] With the development of technology, quadruped robots are developing rapidly. They are typically used to perform specific tasks, such as photography and transportation. In related technologies, a quadruped robot consists of a torso structure and four leg structures connected to the torso. The four legs contact the ground, allowing the quadruped robot to walk. However, the construction of the torso structure in these technologies is relatively complex. Utility Model Content

[0003] This application aims to provide a quadruped robot that at least solves the problem of the complex construction of the torso structure of quadruped robots.

[0004] To solve the above-mentioned technical problems, this application is implemented as follows: This application provides a quadruped robot with two perpendicular directions: a first direction, a second direction, and a third direction. The quadruped robot includes a torso structure and four leg structures. The torso structure includes a top cover shell, a first support plate, a second support plate, a connecting rod assembly, and a bottom cover shell. The first support plate and the second support plate are spaced apart along a first direction. The connecting rod assembly is located between the first support plate and the second support plate, and its two opposite ends along the first direction are respectively connected to the first support plate and the second support plate. The top cover shell and the bottom cover shell are distributed along a third direction, and both the top cover shell and the bottom cover shell are respectively connected to the first support plate and the second support plate. The top cover shell, the bottom cover shell, the first support plate, and the second support plate enclose an installation space, and the connecting rod assembly is located in the installation space. Both the first support plate and the second support plate are connected to two leg structures, which are spaced apart along the second direction and are located outside the installation space.

[0005] Optionally, the linkage assembly includes a plurality of links; The multiple links are divided into multiple groups of links, each group of links includes at least two links, the multiple groups of links are spaced apart along the third direction, and at least two links in each group are spaced apart along the second direction; Each of the connecting rods has its two opposite ends connected to the first support plate and the second support plate, respectively.

[0006] Optionally, the quadruped robot further includes a first mounting plate and a second mounting plate; Both the first mounting plate and the second mounting plate are located in the mounting space, and the first mounting plate and the second mounting plate are spaced apart along the first direction; Both the first mounting plate and the second mounting plate are provided with through holes, and the connecting rod assembly passes through the through holes of the first mounting plate and the through holes of the second mounting plate. The space located between the first mounting plate and the second mounting plate, and between two adjacent sets of the connecting rods, forms an assembly space for mounting other components of the quadruped robot.

[0007] Optionally, the top cover shell has a first side and a second side opposite to each other along the second direction, and the bottom cover shell has a first side and a second side opposite to each other along the second direction, with the first side of the top cover shell and the first side of the bottom cover shell located on the same side; At least one of the first side of the top cover and the first side of the bottom cover is provided with a first notch, and at least one of the assembly spaces communicates with the first notch; and / or, at least one of the second side of the top cover and the second side of the bottom cover is provided with a second notch, and at least one of the assembly spaces communicates with the second notch.

[0008] Optionally, the quadruped robot also includes a reinforcing structure; The two leg structures connected to the first support plate and the two leg structures connected to the second support plate are all connected to the reinforcing structure, and the reinforcing structure is used to strengthen the strength at the connection between the first support plate and the leg structure, and the strength at the connection between the second support plate and the leg structure.

[0009] Optionally, the leg structure includes a first drive assembly, a second drive assembly, and a leg body, and the reinforcing structure includes a first reinforcing member; The first drive component and the second drive component are connected by a first connector. The second drive component is connected to the leg body. Both the first support plate and the second support plate are connected to the first drive component. The second drive component is connected to the second connector. The two second connectors located at the first support plate are respectively connected to both ends of the first reinforcement, and the connection positions of the second connectors and the first reinforcement, and the connection positions of the first drive assembly and the first support plate are opposite to each other in the first direction; The two second connectors located on the second support plate are respectively connected to the two ends of the other first reinforcement, and the connection positions of the second connectors and the first reinforcement, and the connection positions of the first drive assembly and the second support plate are opposite to each other in the first direction.

[0010] Optionally, the reinforcing structure further includes the reinforcing plate; The first reinforcing member located at the first supporting plate is connected to the reinforcing plate, and the reinforcing plate is connected to the first supporting plate; The first reinforcing member located at the second support plate is connected to the reinforcing plate, and the reinforcing plate is connected to the second support plate.

[0011] Optionally, the reinforcing plate includes a first plate, a second plate, a third plate, and a connecting plate; The second plate has a first connecting side and a second connecting side along the first direction, the connecting plate is connected to the first connecting side, the first reinforcing member is connected to the first connecting side, the second plate has a first side and a second side along the third direction, the first plate is connected to the first side, and the third plate is connected to the second side; The second connecting side of the second plate located at the first support plate is connected to the first support plate, and both the first plate located at the first support plate and the third plate are connected to the first support plate. The second connecting side of the second plate located at the second support plate is connected to the second support plate, and the first plate and the third plate located at the second support plate are both connected to the second support plate.

[0012] Optionally, the second plate is provided with a weight-reducing hole, and the weight-reducing hole penetrates the second plate along the thickness direction of the second plate.

[0013] Optionally, the quadruped robot further includes a battery assembly; the battery assembly is installed in the mounting space.

[0014] In this embodiment, since the first support plate and the second support plate are spaced apart along a first direction, and the connecting rod assembly is located between the first support plate and the second support plate, with the two opposite ends of the connecting rod assembly connected to the first support plate and the second support plate respectively, the first support plate and the second support plate are effectively supported by the connecting rod assembly, thus ensuring their relative stability. The first support plate, the second support plate, and the connecting rod assembly together form the main structure of the torso, which has a relatively simple construction. Furthermore, the top cover and the bottom cover are distributed along a third direction, and both are connected to the first support plate and the second support plate respectively. Therefore, the top cover, the bottom cover, the first support plate, and the second support plate together enclose an installation space. This installation space can be used to install other components of the torso structure, and the connecting rod assembly is located within this installation space. Thus, the connecting rod assembly is protected by the top cover, the bottom cover, the first support plate, and the second support plate, preventing it from being exposed to the outside and easily damaged. Furthermore, both the first and second support plates are connected to two leg structures, which are spaced apart along the second direction and located outside the installation space. The presence of these four leg structures ensures stable walking for the quadruped robot. In other words, in this embodiment, by providing a top cover, a first support plate, a second support plate, a link assembly, and a bottom cover, the link assembly supports the first and second support plates, simplifying the torso structure formed by the first and second support plates and the link assembly. This avoids a complex torso structure and provides some protection for the link assembly, improving the quadruped robot's aesthetics. The four leg structures ensure stable walking for the quadruped robot. Therefore, this embodiment simplifies the torso structure of the quadruped robot while ensuring stable walking. Attached Figure Description

[0015] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is an exploded view of the torso structure of a quadruped robot provided in an embodiment of this application; Figure 2 This is a schematic diagram illustrating the torso structure of a quadruped robot provided in an embodiment of this application; Figure 3 This is a side view of the torso structure of a quadruped robot provided in an embodiment of this application; Figure 4 This is an exploded view of a quadruped robot provided in an embodiment of this application; Figure 5This diagram illustrates a quadruped robot provided in an embodiment of this application.

[0016] Figure label: 001: First notch; 10: Torso structure; 11: Top cover shell; 12: First support plate; 13: Second support plate; 14: Linkage assembly; 15: Bottom cover shell; 141: Linkage; 20: Leg structure; 21: First drive assembly; 22: Second drive assembly; 23: Leg body; 231: Thigh structure; 232: Lower leg structure; 233: Third drive assembly; 30: First mounting plate; 40: Second mounting plate; 50: Reinforcing structure; 51: First reinforcing member; 52: Reinforcing plate; 521: First plate; 522: Second plate; 523: Third plate; 524: Connecting plate; 5221: Weight reduction hole; 60: Battery assembly; 100: First connector; 200: Second connector; X: First direction; Y: Second direction; Z: Third direction. Detailed Implementation

[0017] The embodiments of this application will now be described in detail. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0018] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise stated, "multiple" means two or more. Furthermore, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0019] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application.

[0020] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" 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 between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0021] This application provides a quadruped robot, such as... Figure 1 , Figure 4 and Figure 5 As shown, the quadruped robot has a first direction X, a second direction Y, and a third direction Z that are perpendicular to each other. The quadruped robot includes a torso structure 10 and four leg structures 20.

[0022] The torso structure 10 includes a top cover shell 11, a first support plate 12, a second support plate 13, a connecting rod assembly 14, and a bottom cover shell 15. The first support plate 12 and the second support plate 13 are spaced apart along a first direction X. The connecting rod assembly 14 is located between the first support plate 12 and the second support plate 13, and the two opposite ends of the connecting rod assembly 14 along the first direction X are respectively connected to the first support plate 12 and the second support plate 13. The top cover shell 11 and the bottom cover shell 15 are distributed along a third direction Z. The top cover shell 11 and the bottom cover shell 15 are respectively connected to the first support plate 12 and the second support plate 13. The top cover shell 11, the bottom cover shell 15, the first support plate 12, and the second support plate 13 enclose an installation space, and the connecting rod assembly 14 is located in the installation space. The first support plate 12 and the second support plate 13 are each connected to two leg structures 20. The two leg structures 20 are spaced apart along a second direction Y, and the leg structures 20 are located outside the installation space.

[0023] In this embodiment, since the first support plate 12 and the second support plate 13 are spaced apart along the first direction X, and the connecting rod assembly 14 is located between the first support plate 12 and the second support plate 13, and the two opposite ends of the connecting rod assembly 14 along the first direction X are respectively connected to the first support plate 12 and the second support plate 13, it is equivalent to the first support plate 12 and the second support plate 13 being supported by the connecting rod assembly 14, thereby ensuring that the first support plate 12 and the second support plate 13 are relatively stable, and the first support plate 12, the second support plate 13 and the connecting rod assembly 14 can form the main structure of the torso structure 10, which has a relatively simple construction. Furthermore, the top cover shell 11 and the bottom cover shell 15 are distributed along the third direction Z. Both the top cover shell 11 and the bottom cover shell 15 are connected to the first support plate 12 and the second support plate 13, respectively. Therefore, the top cover shell 11, the bottom cover shell 15, the first support plate 12, and the second support plate 13 effectively enclose and form an installation space. This installation space can be used to install other components of the torso structure 10, and the link assembly 14 is located in this installation space. Thus, the link assembly 14 can be protected by the top cover shell 11, the bottom cover shell 15, the first support plate 12, and the second support plate 13, preventing the link assembly 14 from being exposed to the outside and easily damaged. In addition, the first support plate 12 and the second support plate 13 are each connected to two leg structures 20. The two leg structures 20 are distributed at intervals along the second direction Y. The leg structures 20 are located outside the installation space, so the presence of the four leg structures 20 can ensure the stable walking of the quadruped robot. In other words, in this embodiment, by setting a top cover shell 11, a first support plate 12, a second support plate 13, a connecting rod assembly 14, and a bottom cover shell 15, the connecting rod assembly 14 supports the first support plate 12 and the second support plate 13, making the structure of the torso structure 10 formed by the first support plate 12, the second support plate 13, and the connecting rod assembly 14 relatively simple, avoiding a complex structure of the torso structure 10. Furthermore, the presence of the top cover shell 11 and the bottom cover shell 15 can provide some protection for the connecting rod assembly 14 and improve the aesthetics of the quadruped robot. The presence of the four leg structures 20 ensures stable walking of the quadruped robot. In other words, in this embodiment, the structure of the torso structure 10 of the quadruped robot can be simplified while ensuring stable walking.

[0024] It should be noted that the top cover 11 can be bolted to the first support plate 12 and the second support plate 13 respectively. Alternatively, the top cover 11 can be welded to the first support plate 12 and the second support plate 13 respectively; this embodiment of the application does not limit the specific connection thereto. Similarly, the bottom cover 15 can be bolted to the first support plate 12 and the second support plate 13 respectively. Alternatively, the bottom cover 15 can be welded to the first support plate 12 and the second support plate 13 respectively; this embodiment of the application does not limit the specific connection thereto.

[0025] In addition, in this embodiment, a transport frame can be provided on the side of the top cover 11 opposite to the bottom cover 15. That is, the transport frame is fixed to the top cover 11 and is used to place the goods to be transported. By providing a transport frame, when using a quadruped robot to transport goods, the goods can be directly placed on the transport frame, which facilitates the quadruped robot's transport of goods. The specific form of the transport frame can be set according to actual needs.

[0026] Additionally, in some embodiments, such as Figure 1 As shown, the linkage assembly 14 includes a plurality of links 141; the plurality of links 141 are divided into multiple groups of links 141, each group of links 141 includes at least two links 141, the multiple groups are distributed at intervals along the third direction Z, and at least two links 141 in each group are distributed at intervals along the second direction Y; wherein, the two opposite ends of each link 141 are respectively connected to the first support plate 12 and the second support plate 13.

[0027] This arrangement effectively provides multiple connecting rods 141 between the first support plate 12 and the second support plate 13. These connecting rods 141 connect the first support plate 12 and the second support plate 13, allowing them to support both simultaneously. This makes the torso structure 10 formed by the connecting rods 141, the first support plate 12, and the second support plate 13 relatively stable. Furthermore, the presence of multiple connecting rods 141 simplifies the torso structure 10. Each connecting rod 141 connects to both the first support plate 12 and the second support plate 13 at its opposite ends, forming the main structure of the torso structure 10. This main structure has a simple construction.

[0028] For example, such as Figure 1 and Figure 3As shown, the linkage assembly 14 includes four links 141, which are divided into two groups of links 141. The two groups of links 141 are distributed at intervals along the third direction Z, and each group of links 141 includes two links 141. The two links 141 are distributed at intervals along the second direction Y. Each link 141 is connected to the first support plate 12 and the second support plate 13 respectively. That is, the four links 141 provide support between the first support plate 12 and the second support plate 13. Under the premise of ensuring that the first support plate 12 and the second support plate 13 are stably supported, the number of links 141 is small, which further simplifies the construction of the torso structure 10, and thus makes the construction of the torso structure 10 simpler.

[0029] Of course, in the embodiments of this application, the number of multiple sets of links 141 can also be other numbers. For example, the multiple links 141 are divided into three sets of links 141, each set of links 141 including two links 141. Or, for another example, the multiple links 141 are divided into four sets of links 141, each set of links 141 including three links 141. In this respect, the embodiments of this application do not limit the scope of the application.

[0030] In addition, in this embodiment, both the first support plate 12 and the second support plate 13 can be provided with mounting holes. One end of the connecting rod 141 can be fitted into the mounting hole of the first support plate 12, and the other end can be fitted into the mounting hole of the second support plate 13, so that the two ends of the connecting rod 141 are respectively connected to the first support plate 12 and the second support plate 13. Of course, the connection between the two ends of the connecting rod 141 and the first support plate 12 and the second support plate 13 can also be in other ways. For example, one end of the connecting rod 141 is welded to the first support plate 12, and the other end of the connecting rod 141 is welded to the second support plate 13. Another example is that one end of the connecting rod 141 is bolted to the first support plate 12, and the other end of the connecting rod 141 is bolted to the second support plate 13. This embodiment does not limit the specific connection in this regard.

[0031] Additionally, in some embodiments, such as Figure 4 As shown, the quadruped robot also includes a first mounting plate 30 and a second mounting plate 40; both the first mounting plate 30 and the second mounting plate 40 are located in the mounting space, and the first mounting plate 30 and the second mounting plate 40 are distributed at intervals along the first direction X; both the first mounting plate 30 and the second mounting plate 40 are provided with through holes, and the link assembly 14 passes through the through holes of the first mounting plate 30 and the second mounting plate 40; the space between the first mounting plate 30 and the second mounting plate 40, and between two adjacent sets of links 141, forms an assembly space, which is used to install other components of the quadruped robot.

[0032] Since the first mounting plate 30 and the second mounting plate 40 are spaced apart along the first direction X, and both the first mounting plate 30 and the second mounting plate 40 are provided with through holes, the link assembly 14 passes through the through holes of the first mounting plate 30 and the second mounting plate 40. Therefore, the first mounting plate 30 and the second mounting plate 40 can provide a certain support for the link assembly 14, making the link assembly 14 less prone to deformation. Furthermore, there is a space between the first mounting plate 30 and the second mounting plate 40, which can be divided into multiple sub-spaces by multiple sets of links 141. Each sub-space can be used to install other components. That is, the space between the first mounting plate 30 and the second mounting plate 40, and the space between two adjacent sets of links 141, can form an assembly space. Subsequently, other components of the quadruped robot can be installed in this assembly space, and these other components can be limited and protected by the first mounting plate 30 and the second mounting plate 40. By setting the first mounting plate 30 and the second mounting plate 40, it is easy to form a space for installing other parts of the quadruped robot, so as to install other parts of the quadruped robot in the torso structure 10.

[0033] For example, such as Figure 1 As shown, the linkage assembly 14 includes four links 141, which are divided into two groups of links 141. The two groups of links 141 are distributed at intervals along the third direction Z, and each group of links 141 includes two links 141, which are distributed at intervals along the second direction Y. Each link 141 is connected to the first support plate 12 and the second support plate 13 respectively. The four links 141 pass through the first mounting plate 30 and the second mounting plate 40 respectively, and are located between the first mounting plate 30 and the second mounting plate 40. The space between the two groups of links 141 forms an assembly space, which is equivalent to forming an assembly space. Other parts of the quadruped robot can be installed in this assembly space. Specifically, the battery structure can be installed in this assembly space.

[0034] It should be noted that the first mounting plate 30 can contact the inner wall of the top cover 11 and the inner wall of the bottom cover 15 respectively. Alternatively, the first mounting plate 30 can be connected to the inner walls of both the top cover 11 and the bottom cover 15, thus fixing the first mounting plate 30. The first mounting plate 30 can be connected to the inner walls of both the top cover 11 and the bottom cover 15 using bolts, or it can be welded to them. This embodiment of the present application does not limit the specifics of this method. Similarly, the second mounting plate 40 can be connected to the inner walls of both the top cover 11 and the bottom cover 15 using bolts, or it can be welded to them. This embodiment of the present application does not limit the specifics of this method.

[0035] Additionally, in some embodiments, such as Figure 2 and Figure 4 As shown, the top cover 11 has a first side and a second side along the second direction Y, and the bottom cover 15 has a first side and a second side along the second direction Y. The first side of the top cover 11 and the first side of the bottom cover 15 are located on the same side. At least one of the first side of the top cover 11 and the first side of the bottom cover 15 is provided with a first notch 001, and at least one assembly space communicates with the first notch 001. And / or, at least one of the second side of the top cover 11 and the second side of the bottom cover 15 is provided with a second notch, and at least one assembly space communicates with the second notch.

[0036] Since the first side of the top cover 11 and the first side of the bottom cover 15 are on the same side, it is equivalent to the second side of the top cover 11 and the second side of the bottom cover 15 being on the same side. Furthermore, at least one of the first side of the top cover 11 and the first side of the bottom cover 15 is provided with a first notch 001, and at least one assembly space communicates with the first notch 001; and / or, at least one of the second side of the top cover 11 and the second side of the bottom cover 15 is provided with a second notch, and at least one assembly space communicates with the second notch. This effectively forms a notch communicating with the assembly space. When installing other components in the assembly space, other components can be placed into the assembly space through the first notch 001 or through the second notch. In other words, by providing the first notch 001 and / or the second notch, it is convenient to place other components into the assembly space.

[0037] It should be noted that, in this embodiment, the first notch 001 may be provided only on the first side of the top cover 11, or only on the first side of the bottom cover 15, or on both the first side of the top cover 11 and the first side of the bottom cover 15. This embodiment does not limit the specific application of this method. When both the first side of the top cover 11 and the first side of the bottom cover 15 have the first notch 001, the first notch 001 on the first side of the top cover 11 and the first notch 001 on the first side of the bottom cover 15 are positioned opposite each other and are connected. This means that the first notch 001 on the first side of the top cover 11 and the first notch 001 on the first side of the bottom cover 15 enclose a notch larger than the first notch 001, facilitating the placement of other components into the assembly space.

[0038] Furthermore, in this embodiment, the second notch may be provided only on the second side of the top cover 11, only on the second side of the bottom cover 15, or on both the second sides of the top cover 11 and the bottom cover 15. This embodiment does not limit the specific application of this method. When both the second sides of the top cover 11 and the bottom cover 15 have second notches, the second notches on the second sides of the top cover 11 and the bottom cover 15 are opposite to and connected to each other. This means that the second notches on the second sides of the top cover 11 and the bottom cover 15 together form a notch larger than the first notch, facilitating the placement of other components into the assembly space.

[0039] In addition, in this embodiment, a first notch 001 can be provided on the first side of the top cover 11, and a second notch can be provided on the second side of the top cover 11. Similarly, a first notch 001 can be provided on the first side of the bottom cover 15, and a second notch can be provided on the second side of the bottom cover 15. This embodiment does not limit the specific details of the embodiment.

[0040] Additionally, in some embodiments, such as Figure 4 As shown, the quadruped robot also includes a reinforcing structure 50; the two leg structures 20 connected to the first support plate 12 and the two leg structures 20 connected to the second support plate 13 are all connected to the reinforcing structure 50, and the reinforcing structure 50 is used to strengthen the strength at the connection between the first support plate 12 and the leg structure 20, and the strength at the connection between the second support plate 13 and the leg structure 20.

[0041] By setting up the reinforcing structure 50, the reinforcing structure 50 can effectively strengthen the connection between the leg structure 20 and the first support plate 12, and the reinforcing structure 50 can effectively strengthen the connection between the leg structure 20 and the second support plate 13, so that the leg structure 20 has better support, thereby effectively improving the load-bearing capacity of the quadruped robot when carrying objects.

[0042] Additionally, in some embodiments, such as Figure 4As shown, the leg structure 20 includes a first drive assembly 21, a second drive assembly 22, and a leg body 23. The reinforcing structure 50 includes a first reinforcing member 51. The first drive assembly 21 and the second drive assembly 22 are connected by a first connector 100. The second drive assembly 22 is connected to the leg body 23. The first support plate 12 and the second support plate 13 are both connected to the first drive assembly 21. The second drive assembly 22 is connected to a second connector 200. The two second connectors 200 located at the first support plate 12 are respectively connected to both ends of one of the first reinforcing members 51. The connection positions of the second connectors 200 and the first reinforcing member 51, and the connection positions of the first drive assembly 21 and the first support plate 12 are opposite to each other in the first direction X. The two second connectors 200 located at the second support plate 13 are respectively connected to both ends of another first reinforcing member 51. The connection positions of the second connectors 200 and the first reinforcing member 51, and the connection positions of the first drive assembly 21 and the second support plate 13 are opposite to each other in the first direction X.

[0043] Since the first drive assembly 21 and the second drive assembly 22 are connected by the first connector 100, and the second drive assembly 22 is connected to the leg body 23, when the first drive assembly 21 is running, it can drive the second drive assembly 22 and the leg body 23 to move along the first direction X. When the second drive assembly 22 is running and the first drive assembly 21 is not running, the leg body 23 can move along the second direction Y. Thus, the leg structure 20 can move along the first direction X and the second direction Y, so that the leg structure 20 has at least two degrees of freedom in two directions. In addition, the two second connectors 200 located at the first support plate 12 are respectively connected to the two ends of a first reinforcing member 51. The connection positions of the second connectors 200 and the first reinforcing member 51, and the connection positions of the first drive assembly 21 and the first support plate 12 are opposite to each other in the first direction X. Therefore, when the quadruped robot is running, the first reinforcing member 51 can effectively reduce the force at the connection position of the first drive assembly 21 and the first support plate 12, and make the force on the first drive assembly 21 more balanced, and strengthen the leg structure 20. Similarly, the two second connectors 200 located at the second support plate 13 are respectively connected to the two ends of another first reinforcing member 51. The connection positions of the second connectors 200 and the first reinforcing member 51, and the connection positions of the first drive assembly 21 and the second support plate 13 are opposite to each other in the first direction X. Thus, when the quadruped robot is running, the first reinforcing member 51 can effectively reduce the force at the connection position of the first drive assembly 21 and the second support plate 13, and make the force on the first drive assembly 21 more balanced, and strengthen the leg structure 20.

[0044] It should be noted that the leg body 23 may include a thigh structure 231 and a calf structure 232. The thigh structure 231 and the calf structure 232 are connected by a third drive component 233. In this configuration, the first drive component 21 can operate while the second drive component 22 and the third drive component 233 remain inactive, effectively moving both the thigh structure 231 and the calf structure 232 along the first direction X. Alternatively, the second drive component 22 can operate while the first drive component 21 and the third drive component 233 remain inactive, effectively moving both the thigh structure 231 and the calf structure 232 along the second direction Y. Finally, the third drive component 233 can operate while the first drive component 21 and the second drive component 22 remain inactive, allowing the calf structure 232 to move relative to the thigh structure 231 along the third direction Z. Of course, at least two of the first drive component 21, the second drive component 22, and the third drive component 233 can also operate as needed, thereby causing the leg structure 20 to perform corresponding movements. Among them, the first drive component 21, the second drive component 22 and the third drive component 233 can all be motor components. Specifically, you can refer to the motor components at the joints of quadruped robots in related technologies, which will not be elaborated here.

[0045] Of course, in this embodiment, the reinforcing structure 50 can also take other forms. For example, the reinforcing structure 50 can be a reinforcing rod. In this case, for a single leg structure 20, one end of the reinforcing rod is connected to the position where the first drive assembly 21 and the first support plate 12 are connected, and the other end of the reinforcing rod is connected to the second connector 200. Thus, the reinforcing rod effectively supports and strengthens the position where the first drive assembly 21 and the first support plate 12 are connected. Similarly, for a single leg structure 20, one end of the reinforcing rod is connected to the position where the first drive assembly 21 and the second support plate 13 are connected, and the other end of the reinforcing rod is connected to the second connector 200. Thus, the reinforcing rod effectively supports and strengthens the position where the first drive assembly 21 and the second support plate 13 are connected. The specific form of the reinforcing structure 50 is not limited in this embodiment.

[0046] Additionally, in some embodiments, such as Figure 4As shown, the reinforcing structure 50 also includes a reinforcing plate 52; a first reinforcing member 51 located at the first supporting plate 12 is connected to the reinforcing plate 52, and the reinforcing plate 52 is connected to the first supporting plate 12; a first reinforcing member 51 located at the second supporting plate 13 is connected to the reinforcing plate 52, and the reinforcing plate 52 is connected to the second supporting plate 13. With this arrangement, the reinforcing plate 52 located at the first supporting plate 12 effectively increases the fixing position of the first reinforcing member 51, effectively supporting the first reinforcing member 51 and ensuring its effective fixation. This improves the strength of the first reinforcing member 51 at the connection point where the first drive assembly 21 of the leg structure 20 connects to the first supporting plate 12 or the second supporting plate 13.

[0047] Additionally, in some embodiments, such as Figure 4 As shown, the reinforcing plate 52 includes a first plate 521, a second plate 522, a third plate 523, and a connecting plate 524; the second plate 522 has a first connecting side and a second connecting side along a first direction X, the connecting plate 524 is connected to the first connecting side, the first reinforcing member 51 is connected to the first connecting side, the second plate 522 has a first side and a second side along a third direction Z, the first plate 521 is connected to the first side, and the third plate 523 is connected to the second side; the second connecting side of the second plate 522 located at the first supporting plate 12 is connected to the first supporting plate 12, and both the first plate 521 and the third plate 523 located at the first supporting plate 12 are connected to the first supporting plate 12; the second connecting side of the second plate 522 located at the second supporting plate 13 is connected to the second supporting plate 13, and both the first plate 521 and the third plate 523 located at the second supporting plate 13 are connected to the second supporting plate 13. With this arrangement, the first reinforcing member 51 is connected to the reinforcing plate 52, and the area where the reinforcing plate 52 is connected to the first supporting plate 12 is large, so that the reinforcing plate 52 and the first supporting plate 12 are firmly connected. This is beneficial for the reinforcing plate 52 to support the first reinforcing member 51, and in turn, it is beneficial for the first reinforcing member 51 to effectively strengthen the connection position where the first driving assembly 21 is connected to the first supporting plate 12 or the second supporting plate 13.

[0048] It should be noted that the first plate 521 can be an arc-shaped plate. Of course, the first plate 521 can also be a plate of other shapes, such as a flat plate. In this respect, the embodiments of this application do not limit it.

[0049] Furthermore, in this embodiment, the first plate 521, the second plate 522, the third plate 523, and the connecting plate 524 can be an integral structure. Of course, the first plate 521, the second plate 522, the third plate 523, and the connecting plate 524 are welded together. This embodiment does not limit the scope of this application.

[0050] Furthermore, the first support plate 12 can be welded to the first plate 521, the second plate 522, and the third plate 523 respectively; alternatively, it can be connected by bolts, pins, etc. This embodiment of the application does not limit the specific connection. Similarly, the second support plate 13 can be welded to the first plate 521, the second plate 522, and the third plate 523 respectively; alternatively, it can be connected by bolts, pins, etc. This embodiment of the application does not limit the specific connection.

[0051] Furthermore, the first reinforcing member 51 and the second plate 522 can be connected by bolts; of course, the first reinforcing member 51 can also be welded to the second plate 522. This embodiment of the application does not limit the specifics of this connection.

[0052] Of course, in this embodiment, the reinforcing plate 52 can also take other forms. For example, the reinforcing plate 52 can also consist of a single plate, in which case one end of the plate is connected to the first supporting plate 12 or the second supporting plate 13, and the other end of the plate is connected to the first reinforcing member 51. As another example, the reinforcing plate 52 can also consist of multiple plates, spaced apart, with one end of each plate connected to the first supporting plate 12 or the second supporting plate 13, and the other end of each plate connected to the first reinforcing member 51. The specific form of the reinforcing plate 52 is not limited in this embodiment.

[0053] Additionally, in some embodiments, such as Figure 4 As shown, the second plate 522 is provided with a weight-reducing hole 5221, and the weight-reducing hole 5221 penetrates the second plate 522 along the thickness direction of the second plate 522. This arrangement can help reduce the weight of the second plate 522, and thus help reduce the weight of the quadruped robot.

[0054] It should be noted that the number of weight-reducing holes 5221 can be set according to actual needs. For example, the number of weight-reducing holes 5221 can be 3, or for another example, the number of weight-reducing holes 5221 can be 2. The specific number of weight-reducing holes 5221 is not limited in this embodiment.

[0055] Furthermore, the shape of the weight-reducing hole 5221 can be set according to actual needs. For example, the weight-reducing hole 5221 can be circular, square, or hexagonal. The specific shape of the weight-reducing hole 5221 is not limited in this embodiment.

[0056] Additionally, in some embodiments, such as Figure 4 and Figure 5 As shown, the quadruped robot also includes a battery assembly 60, which is installed in the mounting space. This arrangement allows the battery assembly 60 to effectively provide power to the quadruped robot, ensuring its efficient operation.

[0057] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0058] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A quadruped robot, characterized in that, The quadruped robot has two perpendicular directions: a first direction, a second direction, and a third direction. The quadruped robot includes a torso structure and four leg structures. The torso structure includes a top cover shell, a first support plate, a second support plate, a connecting rod assembly, and a bottom cover shell. The first support plate and the second support plate are spaced apart along a first direction. The connecting rod assembly is located between the first support plate and the second support plate, and its two opposite ends along the first direction are respectively connected to the first support plate and the second support plate. The top cover shell and the bottom cover shell are distributed along a third direction, and both the top cover shell and the bottom cover shell are respectively connected to the first support plate and the second support plate. The top cover shell, the bottom cover shell, the first support plate, and the second support plate enclose an installation space, and the connecting rod assembly is located in the installation space. Both the first support plate and the second support plate are connected to two leg structures, which are spaced apart along the second direction and are located outside the installation space.

2. The quadruped robot according to claim 1, characterized in that, The linkage assembly includes multiple linkages; The multiple links are divided into multiple groups of links, each group of links includes at least two links, the multiple groups of links are spaced apart along the third direction, and at least two links in each group are spaced apart along the second direction; Each of the connecting rods has its two ends connected to the first support plate and the second support plate, respectively.

3. The quadruped robot according to claim 2, characterized in that, The quadruped robot also includes a first mounting plate and a second mounting plate; Both the first mounting plate and the second mounting plate are located in the mounting space, and the first mounting plate and the second mounting plate are spaced apart along the first direction; Both the first mounting plate and the second mounting plate are provided with through holes, and the connecting rod assembly passes through the through holes of the first mounting plate and the through holes of the second mounting plate. The space located between the first mounting plate and the second mounting plate, and between two adjacent sets of the connecting rods, forms an assembly space for mounting other components of the quadruped robot.

4. The quadruped robot according to claim 3, characterized in that, The top cover shell has a first side and a second side opposite to each other along the second direction, and the bottom cover shell has a first side and a second side opposite to each other along the second direction, with the first side of the top cover shell and the first side of the bottom cover shell located on the same side; At least one of the first side of the top cover and the first side of the bottom cover is provided with a first notch, and at least one of the assembly spaces communicates with the first notch; and / or, at least one of the second side of the top cover and the second side of the bottom cover is provided with a second notch, and at least one of the assembly spaces communicates with the second notch.

5. The quadruped robot according to any one of claims 1-4, characterized in that, The quadruped robot also includes a reinforcing structure; The two leg structures connected to the first support plate and the two leg structures connected to the second support plate are all connected to the reinforcing structure, and the reinforcing structure is used to strengthen the strength at the connection between the first support plate and the leg structure, and the strength at the connection between the second support plate and the leg structure.

6. The quadruped robot according to claim 5, characterized in that, The leg structure includes a first drive assembly, a second drive assembly, and a leg body; the reinforcing structure includes a first reinforcing member. The first drive component and the second drive component are connected by a first connector. The second drive component is connected to the leg body. Both the first support plate and the second support plate are connected to the first drive component. The second drive component is connected to the second connector. The two second connectors located at the first support plate are respectively connected to both ends of the first reinforcement, and the connection positions of the second connectors and the first reinforcement, and the connection positions of the first drive assembly and the first support plate are opposite to each other in the first direction; The two second connectors located on the second support plate are respectively connected to the two ends of the other first reinforcement, and the connection positions of the second connectors and the first reinforcement, and the connection positions of the first drive assembly and the second support plate are opposite to each other in the first direction.

7. The quadruped robot according to claim 6, characterized in that, The reinforcing structure also includes reinforcing plates; The first reinforcing member located at the first supporting plate is connected to the reinforcing plate, and the reinforcing plate is connected to the first supporting plate; The first reinforcing member located at the second support plate is connected to the reinforcing plate, and the reinforcing plate is connected to the second support plate.

8. The quadruped robot according to claim 7, characterized in that, The reinforcing plate includes a first plate, a second plate, a third plate, and a connecting plate; The second plate has a first connecting side and a second connecting side along the first direction, the connecting plate is connected to the first connecting side, the first reinforcing member is connected to the first connecting side, the second plate has a first side and a second side along the third direction, the first plate is connected to the first side, and the third plate is connected to the second side; The second connecting side of the second plate located at the first support plate is connected to the first support plate, and both the first plate located at the first support plate and the third plate are connected to the first support plate. The second connecting side of the second plate located at the second support plate is connected to the second support plate, and the first plate and the third plate located at the second support plate are both connected to the second support plate.

9. The quadruped robot according to claim 8, characterized in that, The second plate is provided with a weight reduction hole, and the weight reduction hole penetrates the second plate along the thickness direction of the second plate.

10. The quadruped robot according to any one of claims 1-4, characterized in that, The quadruped robot also includes a battery assembly; the battery assembly is installed in the mounting space.

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