CN209410196U - A quadruped robot walking mechanism - Google Patents

Abstract

The utility model discloses a quadruped robot walking mechanism, which comprises a robot torso, an end plate with a hollow structure arranged at the front end, and two sets of leg mechanisms arranged symmetrically on both sides, and each set of leg mechanisms includes bendable mechanical front legs And the retractable mechanical rear leg, the mechanical front leg includes a side swing structure, the front leg thigh and the front leg calf, one side of the side swing structure is connected with the robot trunk to form a side swing joint, and the other end is connected with the front leg thigh to form a hip Joints, the front thigh and the front calf are connected to form the knee joint, and the side swing joint, hip joint and knee joint are all driven by linear hydraulic cylinders; the mechanical rear leg includes the rear thigh and rear calf, and the rear thigh and rear calf pass through The slide rails are connected to form a linear motion joint, and the linear motion joint is driven by a linear hydraulic cylinder. The walking mechanism of the above-mentioned quadruped robot has a strong supporting capacity, can adjust the attitude of the fuselage, has a novel structure, high maneuverability, and strong load capacity, and can work in complex terrain and harsh environments.

Description

A quadruped robot walking mechanism

technical field

The utility model relates to the technical field of robots, in particular to a walking mechanism of a quadruped robot.

Background technique

Mobile robot is currently the most widely used robot, which can replace human beings to complete dangerous, complicated or high-intensity work.

Legged robots only need some discrete footholds to walk on rough ground with obstacles like legged animals. Compared with wheeled robots, legged robots have unique high mobility and adaptability to complex ground, and have broad application prospects.

At present, the main driving modes of multi-legged walking robots are electric drive and hydraulic drive. Compared with electric drive, hydraulic drive has the characteristics of high power density, large output force, high bandwidth, fast response and strong anti-disturbance ability, and is more suitable for building multi-legged walking robots with strong environmental adaptability.

At present, the well-known hydraulic quadruped robots include "Big Dog", "LS3", and "WildCat" of Boston Dynamics, "HyQ" of Italian Institute of Technology, "JINPOONG" of Korea Industrial Technology Research Institute and Shandong University. "SCalf" etc.

The patent specification with the publication number CN106741281A discloses a quadruped robot walking mechanism with linear joints, including a robot torso. Two pairs of leg mechanisms are arranged on both sides of the robot torso. Symmetrically arranged, the leg mechanism is connected to the torso of the robot through the hip joint, and the bottom of the leg mechanism is connected to the foot mechanism; the leg mechanism includes a leg body, and a linear joint is arranged in the leg body, and the linear joint It includes an active part and a driven part. The driven part is connected to the horizontal rotation power device through a connecting piece. The operation of the active part drives the driven part to move up and down in a straight line so that the leg body moves up and down to lift the legs, and the horizontal rotation power device operates The leg body is driven to swing back and forth, the lateral rotation power devices of each pair of leg mechanisms alternately operate, and the lateral rotation power devices of the two leg mechanisms on the same side alternately operate to drive the leg body to realize quadruped gait walking.

The patent specification with the publication number CN108163080A discloses an electric-driven quadruped robot, which uses a reducer to connect the output end of the power system to the load to reduce complexity.

The patent specification with the notification number CN207345974U discloses a hydraulic quadruped robot, which includes a fuselage and mechanical legs. Both ends of the fuselage are provided with hollow-out end plates. The mechanical legs include side swing connecting plates, thigh connecting plates, The lower leg connecting plate and the lower leg, one end of the side swing connecting plate is pivotally connected to the end plate through the side swing joint, one end of the thigh connecting plate is pivotally connected to the other end of the side swing connecting plate through the hip joint, one end of the calf connecting plate is connected to the thigh connecting plate through the knee joint One end is pivotally connected, the other end of the calf connection plate is fixedly connected to the calf, and the side swing joint, hip joint and knee joint are swing hydraulic cylinders.

Utility model content

Aiming at the deficiencies in this field, the utility model provides a quadruped robot walking mechanism, which has a strong supporting capacity, can adjust the attitude of the fuselage, has a novel structure, high maneuverability, and strong load capacity, and can be used in complex terrain, Work under harsh environmental conditions.

A quadruped robot walking mechanism, including a robot torso, a hollow-out end plate at the front end, and two sets of leg mechanisms symmetrically arranged on both sides, each set of leg mechanisms includes bendable mechanical front legs and retractable mechanical front legs. The rear leg, the mechanical front leg includes a side swing structure, a front leg thigh and a front leg calf, one side of the side swing structure is connected with the robot trunk to form a side swing joint, and the other end is connected with the front leg thigh to form a The hip joint, the front leg thigh and the front leg calf are connected to form the knee joint; the side swing joint, hip joint and knee joint are all driven by linear hydraulic cylinders, and the axis of the side swing joint is parallel to the forward direction of the quadruped robot walking mechanism. The axis of the joint is perpendicular to the forward direction of the walking mechanism of the quadruped robot, the axis of the hip joint is horizontal when the side swing angle of the side swing joint is zero, and the axis of the knee joint is parallel to the axis of the hip joint; The calf, the thigh of the rear leg and the calf of the rear leg are connected by slide rails to form a linear motion joint, and the linear motion joint is driven by a linear hydraulic cylinder.

When the walking mechanism of the above-mentioned quadruped robot walks, the two mechanical front legs move forward alternately as the active legs to control the forward direction of the robot, and the mechanical rear legs as the driven legs are always in contact with the ground during the robot's moving process, playing the role of following and main support .

When a mechanical front leg of the quadruped robot walking mechanism moves forward, the linear hydraulic cylinders of the hip joint and knee joint expand and contract, driving the angle change of the hip joint and knee joint, and the mechanical front leg completes leg lift-step forward-touch the ground - The process of back bracing.

When the walking mechanism of the quadruped robot needs to turn, the linear hydraulic cylinder of the side swing joint expands and contracts, which drives the angle change of the side swing joint, thereby changing the forward direction.

During the traveling process of the quadruped robot's walking mechanism, the height and attitude angle of the robot's torso are adjusted through the linear hydraulic cylinder of the linear motion joint, so that the robot's movement is stable and the mechanical rear legs bear more force.

During the walking process of the quadruped robot walking mechanism, the mechanical front legs find a suitable foothold in the rough terrain, bypass obstacles, and provide sufficient forward force for the robot. The required hydraulic flow is large but the pressure is low. By reasonably setting the position of the center of mass of the walking mechanism of the quadruped robot, the linear motion joints of the mechanical rear legs can effectively reduce the maximum pressure of the hydraulic system, and realize the effective reduction of the maximum pressure required by the hydraulic system on the basis of satisfying the terrain adaptability.

Preferably, the end plate includes a front end plate and a rear end plate, and a hydraulic cylinder connecting rod is connected between the front end plate and the rear end plate, and four fuselage connecting rods are arranged on the torso of the robot, and the fuselage connecting rod Passes through the rear end plate and connects with the front end plate.

Preferably, the front thigh is provided with horizontally arranged hip joint hydraulic cylinders and knee joint hydraulic cylinders, and the hip joint hydraulic cylinders are installed below the knee joint hydraulic cylinders, which can effectively save space and reduce thigh mass.

Preferably, the side swing structure includes a side swing connecting shaft, two side swing plates, a side swing hydraulic cylinder connecting rod and a side swing connecting block, one end of the side swing connecting shaft is fixed and pivotally connected to the side swing connecting block, and One end is pivotally connected to the end plate, a side swing angle sensor is provided on the side swing plate, and the side swing plate has a counterbore for installing the first bearing, and the side swing structure is connected to the hip joint hydraulic cylinder through the side swing hydraulic cylinder rod connection. The angle sensor is arranged inside the side swing structure, which has a compact structure, effectively reduces external interference, and improves the accuracy of sensor signals.

Preferably, the front thigh includes two front thigh boards, the front thigh connecting shaft, two front leg hydraulic cylinder connecting rods and two front rubber columns, the front thigh board and the front thigh connecting shaft It is fixedly connected to the hydraulic cylinder of the knee joint and the hydraulic cylinder of the hip joint respectively through the connecting rod of the front leg thigh hydraulic cylinder. The lower legs collide to prevent collisions in the hydraulic cylinder.

Preferably, the foreleg calf includes two foreleg calf boards, the foreleg calf connection block and the foreleg calf bar, the front leg calf board is provided with a knee joint angle sensor, and the front leg calf board has a counterbore for The second bearing is installed, the side of the front leg calf connection block is fixedly connected with the front leg calf plate, and the bottom is connected with the front leg calf bar.

Preferably, the mechanical front leg also includes a front leg foot end, and the front leg foot end includes a bending connecting block, a shock absorbing spring, a foot end sleeve and a hemispherical sole, and one end of the bending connecting block is connected to the front The legs and calves are connected, and the other end is fixedly connected with the foot-end sleeve. One end of the shock-absorbing spring abuts against the bottom of the foot-end sleeve, and the other end abuts against the top of the hemispherical sole. The foot-end sleeve is equipped with The plantar pressure sensor and linear bearing ensure the parallelism of the relative movement of the hemispherical sole and the foot end sleeve, preventing the plantar pressure sensor from being damaged due to bending moment.

Preferably, the hind leg thigh includes a rear leg thigh connection block, a rear leg hydraulic cylinder, two rear leg thigh boards and a rear leg rubber column, the top end of the rear leg thigh connection block is fixed on the robot torso, and the bottom end It is connected with the hydraulic cylinder of the rear leg, and the side is fixedly connected with the thigh plate of the rear leg. When the height of the mechanical rear leg reaches the limit value, the rubber column of the rear leg collides with the calf of the rear leg to prevent collision in the hydraulic cylinder.

Preferably, the lower leg of the rear leg includes a connecting block of the lower leg of the rear leg, a rod of the lower leg of the rear leg, a connecting block of a slider and two linear guide rails with sliders, one end of the connecting block of the lower leg of the rear leg is connected with the rod of the lower leg of the rear leg Fixedly connected, the other end is connected with the rear leg hydraulic cylinder, the slider connecting block is fixedly connected with the rear leg thigh plate for fixing the slider, and the linear guide rail is fixedly connected with the rear leg calf rod. The design of the slider and the linear guide rail can prevent the piston rod of the hydraulic cylinder from being deformed by the bending moment caused by the non-parallel movement of the rear leg thigh and rear leg calf.

Preferably, the mechanical rear leg further includes a rear leg foot end, and the rear leg foot end adopts a universal wheel mechanism, which is fixedly connected with the lower leg of the rear leg, and can walk in any direction.

Compared with the prior art, the utility model has main advantages including:

a. It has strong supporting capacity, adjustable fuselage attitude, novel structure, high maneuverability and strong load capacity, and can work under complex terrain and harsh environment conditions.

b. The front legs of the robot move forward alternately as the active legs to control the forward direction of the robot. The rear legs of the robot are always in contact with the ground as the driven legs and play the role of following and main support.

c. The linear hydraulic cylinder drives the angle change of the hip joint and the knee joint, so that the mechanical front leg completes the process of raising the leg-moving forward-touching the ground-backward support, and making the walking mechanism of the quadruped robot move forward.

d. The linear hydraulic cylinder drives the angle change of the side swing joint, thereby changing the forward direction of the walking mechanism of the quadruped robot.

e. The linear hydraulic cylinder drives the linear motion joints to adjust the height and attitude angle of the robot torso, so that the quadruped robot's walking mechanism can move stably and the mechanical rear legs can bear more force.

f. During the walking process of the quadruped robot walking mechanism, the mechanical front legs look for a suitable foothold in the rough terrain, bypass obstacles, and provide sufficient forward force for the robot. The required hydraulic flow is large but the pressure is low. By reasonably setting the position of the center of mass of the walking mechanism of the quadruped robot, the linear motion joints of the mechanical rear legs can effectively reduce the maximum pressure of the hydraulic system, and realize the effective reduction of the maximum pressure required by the hydraulic system on the basis of satisfying the terrain adaptability.

Description of drawings

Fig. 1 is the structural representation of the quadruped robot walking mechanism of embodiment;

Fig. 2 is the schematic structural view of the robot torso of the quadruped robot walking mechanism of the embodiment;

Fig. 3 is the schematic structural view of the side swing structure of the quadruped robot walking mechanism of the embodiment;

Fig. 4 is the structural representation of the front leg thigh of the quadruped robot walking mechanism of the embodiment;

Fig. 5 is the structural representation of the front leg shank of the quadruped robot walking mechanism of the embodiment;

Fig. 6 is the schematic structural view of the mechanical rear leg of the quadruped robot walking mechanism of the embodiment;

In the figure: 1-robot trunk; 2-mechanical front leg; 3-mechanical rear leg; 201-side swing structure; 202-front leg thigh; 203-front leg calf; 11-body connecting rod; 12-rear end Plate; 13-end plate connecting rod; 14-front end plate; 15-hydraulic cylinder connecting rod; 16-through hole; 21-side swing connecting shaft; 22-side swing connecting block; 23-side swing right plate; 24-side Swing hydraulic cylinder connecting block; 25-Side swing hydraulic cylinder connecting rod; 26-Side swing left plate; 27-Foreleg rubber column; 28-Forel thigh right plate; Joint hydraulic cylinder; 211-knee joint hydraulic cylinder; 212-left plate of front leg thigh; 213-side swing angle sensor; 214-first bearing; 215-connecting shaft of front leg thigh; Left plate of front leg calf; 218-front leg calf connection bolt; 219-front leg calf connection block; 220-front leg calf rod; 221-bending connection block; 222-foot end sleeve; - hemispherical sole; 31- hind leg thigh connection block; 32- hind leg hydraulic cylinder connection block; 33- hind leg hydraulic cylinder connection shaft; 34- hind leg hydraulic cylinder; 35- hind leg thigh right plate; 36- hind leg Left thigh plate; 37-rear leg rubber column; 38-rear leg gasket; 39-rear leg calf connection block; 310-rear leg calf rod; 311-slider connection block; 312-linear guide rail; 313-slider; 314 rear leg foot end.

Detailed ways

Below in conjunction with accompanying drawing and specific embodiment, further elaborate the utility model. It should be understood that the embodiments of the present utility model are only used to illustrate the present utility model and are not intended to limit the scope of the present utility model. The methods for which specific conditions are not indicated in the following examples are generally carried out according to conventional conditions, or according to the conditions suggested by the manufacturer.

The quadruped robot walking mechanism of the present embodiment is shown in Figure 1, comprises robot torso 1, two groups of leg mechanisms are arranged symmetrically on both sides, and each group of leg mechanisms includes a bendable mechanical front leg 2 and a stretchable Mechanical hind legs3. The mechanical front leg 2 includes a side swing structure 201, a front leg thigh 202, a front leg calf 203 and a front leg foot end. One side of the side swing structure 201 is connected with the robot trunk 1 to form a side swing joint, and the other end is connected with the front leg thigh. 202 is connected to form a hip joint, and the front leg thigh 202 is connected to the front leg calf 203 to form a knee joint. The side swing joint is driven by a linear hydraulic cylinder, and the axis of the side swing joint is parallel to the forward direction of the walking mechanism of the quadruped robot. The mechanical rear leg 3 includes a rear thigh 301 and a rear calf 302. The rear thigh 301 and the rear calf 302 are connected by slide rails to form a linear motion joint, and the linear motion joint is driven by a linear hydraulic cylinder.

The robot torso 1 is equipped with a power source, a hydraulic system, a cooling system, an electric control system and a navigation system. The hydraulic system includes hydraulic pumps, related control valves, filters, accumulators, hydraulic oil tanks, flow pressure related sensors, etc., providing direct power drive and control for the robot. The power source is a motor and a battery, which drive the hydraulic pump to rotate. The electronic control system includes relevant electrical hardware and software, and is a control system for controlling the hydraulic system. The heat dissipation system includes a hydraulic heat dissipation system and an electrical heat dissipation system, providing temperature environment guarantee for the normal operation of the hydraulic system and the electric control system. The navigation system provides the robot with environment awareness and goal orientation. When needed, the load can be reset on the robot torso 1 to realize the robot transportation function.

As shown in Figures 2 and 3, the front end of the robot torso 1 is provided with a hollowed-out front end plate 14 and a rear end plate 12, and four end plate connecting rods 13 and two hydraulic pressure rods are connected between the front end plate 14 and the rear end plate 12. The cylinder connecting rod 15 , the front end plate 14 and the rear end plate 12 are all provided with a through hole 16 , and the side swing connecting shaft 21 is pivotally connected in the through hole 16 through a bearing. Four fuselage connecting rods 11 are arranged on the robot torso 1 , and the fuselage connecting rods 11 run through the rear end plate 12 and are connected with the front end plate 14 . The other parts of the robot torso 1 are firmly connected by aluminum materials, which enhance the stability and reshapeability of the robot torso 1, and can realize robot walking more reliably.

As shown in Figures 3 and 4, the side swing structure 201 is composed of a side swing connecting shaft 21, a side swing left plate 26, a side swing right plate 23, a side swing hydraulic cylinder connecting block 24, a side swing hydraulic cylinder connecting rod 25 and a side swing The connecting block 22 is spliced together, the side swing connecting shaft 21 is fixed and pivotally connected with the side swing connecting block 22, the side swing left plate 26 is provided with a side swing angle sensor 213, and the side swing left plate 26 and the side swing right plate 23 both have counterbores , for installing the first bearing 214 , the side swing structure 201 is connected to the hip joint hydraulic cylinder 210 through the side swing hydraulic cylinder connecting rod 25 .

As shown in Figure 4, the front thigh 202 is provided with a hip joint hydraulic cylinder 210 and a knee joint hydraulic cylinder 211 arranged horizontally, the hip joint hydraulic cylinder 210 is installed under the knee joint hydraulic cylinder 211, and the hip joint and the knee joint are linear hydraulic cylinders. Driven by the cylinder, the axis of the hip joint is perpendicular to the forward direction of the walking mechanism of the quadruped robot. When the side swing angle of the side swing joint is zero, the axis of the hip joint is horizontal, and the axis of the knee joint is parallel to the axis of the hip joint.

As shown in Figures 4 and 5, the front leg thigh 202 includes the front leg thigh left plate 212, the front leg thigh right plate 28, the front leg thigh connecting shaft 215, two front leg thigh hydraulic cylinder connecting rods 29 and two front leg rubber Column 27, the front leg thigh left plate 212, the front leg thigh right plate 28 are fixedly connected with the front leg thigh connecting shaft 215, the front leg thigh left plate 212 is connected with the knee joint hydraulic cylinder 211 through the front leg thigh hydraulic cylinder connecting rod 29, the front Leg thigh right plate 28 is connected with hip joint hydraulic cylinder 210 by another front leg thigh hydraulic cylinder connecting rod, and two front leg rubber columns 27 are respectively connected with side swing right plate 23, side swing when reaching hip joint and knee joint angle limit value. Pendulum left plate 26 collides with front leg calf right plate 216, front leg calf left plate 217, prevents collision in the hydraulic cylinder.

As shown in Figure 5, the front leg shank 203 is composed of the front leg shank left plate 217, the front leg shank right plate 216, the front leg shank connecting bolt 218, the front leg shank connecting block 219 and the front leg shank bar 220. The front leg shank left plate 217 is provided with a knee joint angle sensor, and the front leg shank left plate 217 and the front leg shank right plate 216 all have counterbore holes for installing the second bearing. The left plate 217 of the lower leg and the right plate 216 of the lower leg of the front leg are fixedly connected.

As shown in FIG. 5 , the foot end of the front leg includes a bent connection block 221 , a shock absorbing spring 223 , a foot end sleeve 222 and a hemispherical sole 224 . One end of the bending connecting block 221 is fixedly connected to the front leg calf rod 220, and the other end is fixedly connected to the foot end sleeve 222. One end of the shock absorbing spring 223 abuts against the bottom of the foot end sleeve 222, and the other end abuts against the hemisphere On the top of the sole 224, a chamber is provided in the foot end sleeve 222, and a plantar pressure sensor and a linear bearing are installed.

As shown in Figure 6, the hind leg thigh 301 comprises a hind leg thigh connecting block 31, a hind leg hydraulic cylinder connecting block 32, a hind leg hydraulic cylinder connecting shaft 33, a hind leg hydraulic cylinder 34, a hind leg thigh left plate 36, a hind leg thigh Right plate 35 and two rear leg rubber columns 37. Hind leg thigh connecting block 31 tops are fixed on the robot torso 1, and the bottom end links to each other with hind leg hydraulic cylinder 34 by hind leg hydraulic cylinder connecting block 32 and hind leg hydraulic cylinder connecting shaft 33, and side is connected with rear leg thigh left plate 36, rear Leg thigh right plate 35 is fixedly connected, and hind leg rubber post 37 collides with hind leg shank connection block 39 when mechanical rear leg 3 height reaches limit value, prevents collision in the hydraulic cylinder.

As shown in FIG. 6 , the rear leg calf 302 includes a rear leg spacer 38 , a rear leg calf connection block 39 , a rear leg calf rod 310 , a slider connection block 311 and two linear guide rails 312 with sliders 313 . The bottom of the hind leg calf connection block 39 is fixedly connected with the hind leg calf rod 310, the top is connected with the hind leg hydraulic cylinder 34, and the hind leg thigh left plate 36 and the hind leg thigh right plate 35 are provided with symmetrical through holes for mechanical rear When the leg 3 is fixed, the height is adjusted, and it is fixed with the rear leg spacer 38 and the rear leg shank connection block 39. The slider connection block 311 is fixedly connected with the rear leg thigh left plate 36 and the hind leg thigh right plate 35 for fixing the slider 313, and the linear guide rail 312 is fixedly connected with the hind leg calf bar 310.

As shown in FIG. 6 , the rear leg foot end 314 adopts a universal wheel mechanism, and is fixedly connected with the rear leg calf rod 310 to realize walking in any direction.

When the quadruped robot walking mechanism in this embodiment walks, the two mechanical front legs move forward alternately as active legs to control the forward direction of the robot. The role of support. When a mechanical front leg moves forward, the linear hydraulic cylinders of the hip joint and knee joint expand and contract, driving the angle change of the hip joint and knee joint, and the mechanical front leg completes the process of lifting the leg - stepping forward - touching the ground - supporting backward . When it is necessary to turn, the linear hydraulic cylinder of the side swing joint expands and contracts, driving the angle of the side swing joint to change, thereby changing the forward direction.

During the traveling process of the quadruped robot's walking mechanism, the height and attitude angle of the robot's torso are adjusted through the linear hydraulic cylinder of the linear motion joint, so that the robot's movement is stable and the mechanical rear legs bear more force.

During the walking process of the quadruped robot walking mechanism, the mechanical front legs find a suitable foothold in the rough terrain, bypass obstacles, and provide sufficient forward force for the robot. The required hydraulic flow is large but the pressure is low. By reasonably setting the position of the center of mass of the walking mechanism of the quadruped robot, the linear motion joints of the mechanical rear legs can effectively reduce the maximum pressure of the hydraulic system, and realize the effective reduction of the maximum pressure required by the hydraulic system on the basis of satisfying the terrain adaptability.

In addition, it should be understood that after reading the above description of the utility model, those skilled in the art can make various changes or modifications to the utility model, and these equivalent forms also fall within the scope defined by the appended claims of the application.

Claims (10)

1. a kind of quadruped robot walking mechanism, including robot trunk (1), front end is provided with the end plate of hollow type structure, two Side is symmetrical arranged two groups of leg mechanisms, after each group of leg mechanism includes flexible mechanical foreleg (2) and telescopic machinery Leg (3), which is characterized in that the mechanical foreleg (2) includes side-sway structural body (201), foreleg thigh (202) and foreleg shank (203), the side of the side-sway structural body (201) connect to form side-sway joint with robot trunk (1), the other end and foreleg Thigh (202) connection forms hip joint, and foreleg thigh (202) connect to form knee joint with foreleg shank (203)；The side-sway Joint, hip joint and knee joint are the driving of linear hydraulic cylinder, and side-sway joint axis is parallel to quadruped robot walking mechanism Direction of advance, for hip joint axis perpendicular to the direction of advance of quadruped robot walking mechanism, the side-sway angle of side-sway joint is zero When hip joint axis horizontal, knee joint axis is parallel with hip joint axis；

The mechanical back leg (3) includes back leg thigh (301) and back leg shank (302), back leg thigh (301) and back leg shank (302) it connects to form linear motion joint by sliding rail, the linear motion joint is driven by linear hydraulic cylinder.

2. quadruped robot walking mechanism according to claim 1, which is characterized in that the end plate includes front end-plate (14) and end plate (12) hydraulic cylinder connecting rod (15), the machine, are connected between front end-plate (14) and end plate (12) Four fuselage connecting rods (11) are provided on people's trunk (1), fuselage connecting rod (11) runs through end plate (12), with front end-plate (14) It is connected.

3. quadruped robot walking mechanism according to claim 1 or 2, which is characterized in that the foreleg thigh (202) It is provided with transversely arranged hip joint hydraulic cylinder (210) and Knee Joint Fluid cylinder pressure (211), hip joint hydraulic cylinder (210) is mounted on Below Knee Joint Fluid cylinder pressure (211).

4. quadruped robot walking mechanism according to claim 3, which is characterized in that the side-sway structural body (201) Including side-sway connecting shaft (21), two blocks of side-sway plates, side swing hydraulic cylinder connecting rod (25) and side-sway link block (22), side-sway connecting shaft (21) one end and side-sway link block (22) is fixed to be pivotally connected, and the other end is articulated in end plate, and side-sway plate is equipped with side-sway angle sensor Device (213), side-sway plate has counterbore, for installing first bearing (214), the side-sway structural body (201) and hip joint liquid Cylinder pressure (210) is connected by side swing hydraulic cylinder connecting rod (25).

5. quadruped robot walking mechanism according to claim 4, which is characterized in that foreleg thigh (202) packet Include two blocks of foreleg thigh plates, foreleg thigh connecting shaft (215), two foreleg thigh hydraulic cylinder connecting rods (29) and two foreleg rubbers Rubber column gel column (27), foreleg thigh plate are fixedly connected with foreleg thigh connecting shaft (215), with Knee Joint Fluid cylinder pressure (211), hip joint liquid Cylinder pressure (210) is connected by foreleg thigh hydraulic cylinder connecting rod (29) respectively, and two foreleg rubber columns (27) are reaching hip joint With bump against respectively with side-sway structural body (201) and foreleg shank (203) when knee joint angle limiting value.

6. quadruped robot walking mechanism according to claim 1, which is characterized in that foreleg shank (203) packet Two pieces of foreleg calf plates, foreleg shank link block (219) and foreleg shank bar (220) are included, foreleg calf plate is equipped with knee joint Angular transducer, foreleg calf plate has counterbore, for installing second bearing, foreleg shank link block (219) side and foreleg Calf plate is fixedly connected, and bottom is connect with foreleg shank bar (220).

7. quadruped robot walking mechanism according to claim 1 or 6, which is characterized in that the mechanical foreleg (2) is also Including foreleg foot end, the foreleg foot end include bending link block (221), damping spring (223), sufficient end cap cylinder (222) and The one end in hemisphere vola (224), bending link block (221) is connect with foreleg shank (203), the other end and sufficient end cap cylinder (222) It is fixedly connected, one end of damping spring (223) is connected to the bottom of sufficient end cap cylinder (222), and the other end is connected to hemisphere vola (224) top, the sufficient end cap cylinder (222) is interior to be equipped with plantar pressure sensor and linear bearing.

8. quadruped robot walking mechanism according to claim 1, which is characterized in that back leg thigh (301) packet Include back leg thigh link block (31), back leg hydraulic cylinder (34), two blocks of back leg thigh plates and back leg rubber column (37), the back leg Thigh link block (31) top is fixed on robot trunk (1), and bottom end is connected with back leg hydraulic cylinder (34), and side is big with back leg Leg plate is fixedly connected, and back leg rubber column (37) bumps against when mechanical back leg (3) is highly reached the limit values with back leg shank (302).

9. quadruped robot walking mechanism according to claim 8, which is characterized in that back leg shank (302) packet Include back leg shank link block (39), back leg shank bar (310), sliding block link block (311) and two straight lines with sliding block (313) Guide rail (312), described back leg shank link block (39) one end are fixedly connected with back leg shank bar (310), the other end and back leg Hydraulic cylinder (34) is connected, and sliding block link block (311) is fixedly connected with back leg thigh plate, for fixing sliding block (313), linear guide (312) it is fixedly connected with back leg shank bar (310).

10. quadruped robot walking mechanism according to claim 1, which is characterized in that the mechanical back leg (3) also wraps Back leg foot end (314) is included, the back leg foot end (314) uses universal wheel mechanism, is fixedly connected with back leg shank (302).