The invention provides a quadruped robot leg structure and a quadruped robot, and belongs to the technical field of industrial robots. Comprising a frame body component, a side overturning component, a thigh rotating assembly, a shank rotating assembly, a telescopic foot assembly, a sliding buckle assembly and a detaching assembly, a thigh rotating motor capable of overturning is arranged in each overturning position of the frame body component, the center of a thigh rotating seat is fixed to a rotating shaft of the thigh rotating motor, and a shank rotating shaft at the bottom end of the thigh is rotationally connected with the middle of the shank; the shank connecting rod and the thigh rotating assembly can form a parallelogram structure through a conversion rotating sleeve rotationally connected to the outer face of the thigh rotating base, the thigh rotating motor can be used as the reference, rotation of the thigh rotating assembly can be achieved, and rotation of the shank rotating assembly can also be achieved; the telescopic foot assembly is connected to the bottom end of the shank in a sliding mode, and the sliding buckle assembly and the detachable assembly are matched with the telescopic foot assembly, so that it can be guaranteed that the telescopic foot assembly can stretch out safely, and the telescopic foot assembly can be recycled conveniently and rapidly.

    本发明提供一种四足机器人腿部结构及四足机器人,属于工业机器人技术领域。包括架体构件、侧翻转构件、大腿旋转组件、小腿旋转组件、可伸缩足部组件、滑扣组件和脱卸组件,架体构件每组翻转位中都设有可翻转的大腿旋转电机,大腿旋座的中心与大腿旋转电机的转轴固定,大腿底端的小腿旋轴与小腿中部旋接,且小腿连接杆可通过旋接在大腿旋座外面的转换旋套与大腿旋转组件组成平行四边形结构,可以大腿旋转电机为基准,既能实现大腿旋转组件的旋转,又可实现小腿旋转组件的旋转;可伸缩足部组件滑接在小腿的底端,通过滑扣组件和脱卸组件与可伸缩足部组件形成的配合,既能保证可伸缩足部组件安全的伸开,又可实现其便捷的回收。


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    Title :

    Leg structure of quadruped robot and quadruped robot


    Additional title:

    一种四足机器人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 :

    2024-11-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B25J Manipulatoren , MANIPULATORS



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