The invention provides a joint connecting structure of a quadruped robot, and belongs to the technical field of industrial robots. Comprising a leg rotary connection component, a dual-power rotary drive assembly, a synchronous connecting rod assembly, a fixed-point clamping and locking assembly, an opposite-direction clamping and locking assembly and a rotary clamping component, a shank frame is rotationally connected with a thigh frame, the shank frame can be driven to rotate relative to the thigh frame through the synergistic effect of an upper hydraulic cylinder and a lower hydraulic cylinder, and meanwhile a mechanical transmission structure formed by the synchronous connecting rod assembly is utilized; the action consistency degree of the upper hydraulic cylinder and the lower hydraulic cylinder can be improved; through the fixed-point clamping and locking assembly and the opposite-direction clamping and locking assembly which are in transmission connection, the shank frame can be locked at a certain rotating angle relative to the thigh clamp when needed, and the quadruped robot can be conveniently stopped and kept in a non-use state; and in the rotating process, through elastic clamping fit formed by the rotating clamping column and the rotating clamping groove, rapid positioning of fixed-point rotation of the shank frame relative to the thigh frame can be achieved, and after the rotating clamping column is retracted, the rotating action of the shank frame cannot be affected.
本发明提供一种四足机器人的关节连接结构,属于工业机器人技术领域。包括腿部旋接构件、双动力旋驱组件、同步连杆组件、定点卡锁组件、对向卡锁组件和旋卡构件,小腿架与大腿架旋接,上液压缸和下液压缸的协同作用,可带动小腿架相对于大腿架旋转,同时利用同步连杆组件形成的机械传动结构,可提高上液压缸与下液压缸动作的一致程度;并且通过传动连接的定点卡锁组件与对向卡锁组件可在需要时将小腿架相对于大腿夹锁止在一定的旋转角度上,方便四足机器人在非使用状态下的停留保持;且在旋转过程中通过旋卡柱对旋卡槽形成的弹性卡接配合,还可实现小腿架相对于大腿架的定点旋转的快速定位,且在旋卡柱回收后,还不会影响到小腿架的旋转动作。
Joint connecting structure of quadruped robot
一种四足机器人的关节连接结构
2024-11-12
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |