The invention relates to the technical field of quadruped robots, and discloses a modular leg structure and a quadruped robot, the modular leg structure comprises a sleeve, a plurality of through holes are formed in the middle of the sleeve in a penetrating mode, anti-falling assemblies are connected to the inner walls of the two ends of the sleeve, and direction adjusting mechanisms are connected to the inner walls of the two anti-falling assemblies; the output ends of the two direction adjusting mechanisms are both connected with rotating mechanisms, the output ends of the two rotating mechanisms are both connected with connecting assemblies and transmission assemblies, the other ends of the two connecting assemblies are both connected with supporting boxes, and the interiors of the two supporting boxes are both connected with linkage assemblies. The upper ends of the two linkage assemblies are connected with the ends, away from the rotating mechanism, of the two transmission assemblies correspondingly, and the lower ends of the two linkage assemblies are both connected with moving wheels. According to the modular leg structure and the quadruped robot, the connecting assembly and the transmission assembly are arranged at the output ends of the direction adjusting mechanism and the rotating mechanism in the casing pipe, the transmission assembly is connected with limbs or moving wheels of the quadruped robot, and rapid replacement of the transmission assembly and the limbs or the moving wheels can be achieved.

    本发明涉及四足机器人技术领域,且公开了一种模块化腿部结构及四足机器人,包括套管,套管的中部贯穿开设有若干通口,套管两端的内壁均连接有防脱组件,两个防脱组件的内壁均连接有调向机构,两个调向机构的输出端均连接有转动机构,两个转动机构的输出端均连接有连接组件和传动组件,两个连接组件的另一端均连接有支撑盒,两个支撑盒的内部均连接有联动组件,两个联动组件的上端分别与两个传动组件远离转动机构的一端连接,两个联动组件的下端均连接有移动轮。该种模块化腿部结构及四足机器人,通过在套管的内部调向机构和转动机构的输出端设置连接组件和传动组件,并将传动组件与四足机器人的肢体或移动轮进行连接,可实现两者快速更换。


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    Title :

    Modular leg structure and quadruped robot


    Additional title:

    一种模块化腿部结构及四足机器人


    Contributors:
    ZHU DONG (author) / FANG XIANGMING (author) / SONG WEN (author) / TANG GUOMEI (author) / ZHANG JIAN (author) / HU XIAODONG (author)

    Publication date :

    2024-10-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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