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CN-121990078-A - Leg connecting structure of four-foot robot

CN121990078ACN 121990078 ACN121990078 ACN 121990078ACN-121990078-A

Abstract

The invention discloses a leg connecting structure of a four-foot robot, which comprises a trunk, a leg module, wherein the leg module comprises a first motor, a second motor, a third motor, a thigh mechanism and a connecting component, the first motor is arranged on the trunk, an adapter of the first motor is connected with the connecting component, the connecting component of the first motor is sleeved on the outer side of the second motor and is in anti-rotation fit with the second motor, the connecting component of the second motor is sleeved on the outer side of the adapter and the outer side of the third motor so as to realize the anti-rotation fit of the adapter of the second motor and the third motor, and the third motor is fixedly connected with the thigh mechanism through the connecting component.

Inventors

  • WANG HONGTAO
  • LI KEQIANG
  • LI JIAJUN

Assignees

  • 镜识科技(上海)有限公司

Dates

Publication Date
20260508
Application Date
20250806

Claims (9)

  1. 1. A leg connecting structure of a four-legged robot, comprising: A trunk (1); A leg module (2), the leg module (2) comprising a first motor (21), a second motor (22), a third motor (23), a thigh mechanism (24) and a connection assembly (5); the first motor (21) is arranged on the trunk (1), the adapter of the first motor (21) is connected with the connecting component (5), the connecting component (5) of the first motor (21) is sleeved on the outer side of the second motor (22) and is in rotation-stopping fit with the second motor (22), the connecting component (5) of the second motor (22) is sleeved on the outer sides of the adapter and the third motor (23) so as to realize rotation-stopping fit of the adapter of the second motor (22) and the third motor (23), and the third motor (23) is fixedly connected with the thigh mechanism (24) through the connecting component (5); wherein, coupling assembling (5) are detachable staple bolt structure.
  2. 2. The leg connecting structure of the quadruped robot according to claim 1, wherein the connecting assembly (5) comprises a first anchor ear (51) and a second anchor ear (52), positioning grooves (53) are formed in the inner side walls of the first anchor ear (51) and the second anchor ear (52), the positioning grooves (53) are distributed on the inner side walls of the connecting assembly (5) in a ring shape after the first anchor ear (51) and the second anchor ear (52) are spliced, when the connecting assembly (5) is sleeved on the outer peripheral side of the second motor (22), positioning protrusions (54) extending outwards in the radial direction are arranged on the outer peripheral side of the second motor (22), the positioning protrusions (54) are embedded into the positioning grooves (53), and the side walls of the positioning grooves (53) can play a direct blocking role on the positioning protrusions (54), so that axial displacement of the positioning protrusions (54) can be limited; The component that coupling assembling (5) held tightly is last be equipped with constant head tank (53) assorted location arch (54), when first staple bolt (51) with second staple bolt (52) are in the concatenation state, location arch (54) embedding in order to realize axial positioning in constant head tank (53).
  3. 3. The leg connection structure of the quadruped robot according to claim 2, wherein at least one mounting groove (531) is formed in the positioning groove (53), a positioning block (55) is arranged in the mounting groove (531), at least one groove (542) is formed in the positioning protrusion (54), and two ends of the positioning block (55) extend into the mounting groove (531) and the groove (542) respectively, so that relative rotation between the connecting component (5) and the positioning protrusion (54) is limited.
  4. 4. The leg connecting structure of the quadruped robot according to claim 2, wherein the output end of the second motor (22) is connected with a second adapter (221), the second adapter (221) is connected with the third motor (23) through a connecting component (5), convex rings (541) extending outwards in the radial direction are arranged on the outer periphery sides of the adapter of the second motor (22) and the third motor (23), after the second adapter (221) abuts against one end of the third motor (23), the two convex rings (541) abut against one another to form the positioning protrusion (54), and the connecting mode of the connecting component (5) of the second motor (22) and the positioning protrusion (54) is the same as that of the connecting component (5) of the first motor (21) and the positioning protrusion (54).
  5. 5. The leg connecting structure of the four-legged robot according to claim 2, wherein a cushion pad (56) is mounted on an inner wall of the positioning groove (53).
  6. 6. The leg connecting structure of the four-legged robot according to claim 2, wherein both ends of the first anchor ear (51) and the second anchor ear (52) are detachably connected through bolts, or one end of the first anchor ear (51) is hinged with the second anchor ear (52) and the other end is connected with the second anchor ear (52) through bolts.
  7. 7. The leg connection structure of the four-legged robot according to claim 1, wherein the thigh mechanism (24) includes a housing (241) and an end cap (242), and the housing (241) and the end cap (242) are spliced to form the connection assembly (5).
  8. 8. Leg connection structure of a quadruped robot according to claim 1, characterized in that the rotation axis of the first motor (21) is perpendicular to the rotation axis of the second motor (22), the rotation axis of the second motor (22) coincides with the rotation axis of the third motor (23).
  9. 9. The leg connecting structure of the quadruped robot according to claim 1, wherein the output end of the first motor (21) is connected with a first adapter (211), the first adapter (211) is fixedly connected with the connecting component (5), a rotating shaft (50) is arranged on one side, opposite to the first adapter (211), of the connecting component (5), and the connecting component (5) is in rotating connection with the trunk (1) through the rotating shaft (50).

Description

Leg connecting structure of four-foot robot The case is a division of the quadruped robot 2025110990843 Technical Field The invention discloses a leg connecting structure of a four-legged robot, and belongs to the technical field of four-legged robots. Background The quadruped robot is a bionic robot, and the design inspiration comes from the limb movement of animals. They are typically composed of four legs, and are typically designed to move over a wide variety of terrains and environments, including flat floors, uneven terrain, stairs, confined spaces, and hazardous environments. They can also be used to explore unknown areas, perform dangerous tasks, and perform rescue works. In order to make the whole structure of the quadruped robot more firm and stable, in the prior art, the assembly of each part of the quadruped robot is usually fixed by utilizing a plurality of fasteners, so that the assembly of the quadruped robot needs longer time, the assembly efficiency of the quadruped robot can be obviously reduced, and particularly when the parts of the quadruped robot need to be replaced, the disassembly and reassembly processes are complicated, and the replacement efficiency is seriously affected. Disclosure of Invention The invention aims to solve the problems of complicated assembly and low efficiency of the four-legged robot, and provides the four-legged robot, the four-legged robot is modularized, so that the assembly efficiency and the maintenance efficiency of the four-legged robot can be improved, meanwhile, independent tests on single modules are facilitated, the quality of each module is ensured, standardized production is facilitated, in addition, the risk of coupling faults can be reduced due to the modularized design, and the overall stability is improved. The technical problems are solved, and the invention adopts the following technical scheme: The four-foot robot comprises a trunk, four leg modules and a control box for controlling the four-foot robot to operate, wherein the leg modules comprise a first motor, a second motor, a third motor, a thigh mechanism, a shank mechanism and foot end pieces, the first motor, the second motor and the third motor are all connected with a detachable connecting component and a transfer piece for outputting torque, the first motor is arranged on the trunk, the transfer piece of the first motor is connected with the connecting component, the connecting component of the first motor is sleeved on the outer side of the second motor and is matched with the second motor in a rotation stopping mode, the connecting component of the second motor is sleeved on the outer side of the transfer piece and the outer side of the third motor so as to realize rotation stopping matching of the transfer piece of the second motor and the third motor, the third motor is fixedly connected with the thigh mechanism through the connecting component, the transfer piece of the third motor is connected with the shank mechanism through a connecting rod, and the control box is arranged in the trunk, and the first motor, the second motor and the third motor are all electrically connected with the control box. The beneficial effects of the invention are as follows: The four-foot robot comprises a trunk, a leg module and a control box, wherein the leg module comprises a first motor, a second motor and a third motor, the first motor is connected with the second motor through a connecting component, the second motor is connected with the third motor through a connecting component, the third motor is connected with a thigh mechanism through a connecting component, and the connecting component is of a detachable structure, so that the sleeving and the detachment of the connecting component are simple and convenient, the rapid installation and the detachment of the first motor and the second motor, the second motor and the third motor and the rapid installation and the detachment of the third motor and the thigh mechanism can be realized, the assembly and the detachment of the leg module and the trunk are simpler and faster, and the assembly efficiency and the replacement efficiency of the leg module and the trunk can be remarkably improved; in addition, the four-foot robot has relatively high maintenance frequency of three motors of the leg module in the use process, the three motors can be quickly installed and disassembled through the connecting component, when one motor fails, the corresponding motor can be removed through disassembling the connecting component, the whole leg module is not required to be disassembled, the quick disassembly and replacement of the motor can be realized, the maintenance and replacement efficiency of the motor can be improved, the leg module of the four-foot robot has specific application scenes and effects, the quick replacement of the leg module can be realized by simplifying the assembly and disassembly difficulty of the leg module and the trunk, so that the f