Robot leg walking mechanism and quadruped robot

Abstract

The invention relates to the technical field of robots, and discloses a robot leg walking mechanism and a quadruped robot, the robot leg walking mechanism comprises a plurality of big arms, one side of each big arm is connected with a floating assembly, the floating assembly comprises a connecting box and an air bag, the connecting box is fixedly connected with one side of the big arm, and a placing groove is formed in the side, away from the big arm, of the connecting box; an air bag is fixedly connected into the containing groove, one side of the big arm is sequentially connected with an inflation assembly, a deflation assembly and an air injection assembly from top to bottom, and one side of the connecting box is connected with a closing assembly. According to the robot leg walking mechanism and the quadruped robot, by means of the floating assembly, the quadruped robot can keep floating in a deep water area, so that a robot body is prevented from being completely immersed in water, the risk that a camera lens is stained with water is reduced, and the quality and accuracy of real-time image transmission are ensured; therefore, a clear visual field and stable walking capability are provided for the quadruped robot, visual misjudgment or distortion can be reduced, and the accuracy and efficiency of inspection tasks are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, in particular to a robot leg walking mechanism and a quadruped robot. Background Art

[0002] A quadruped robot is a type of inspection robot that uses a four-legged structure to move. Compared with wheeled, tracked and tracked inspection robots, the four-legged structure enables the quadruped robot to easily cope with various complex terrains, including rugged mountains, muddy and slippery ground, stairs, steps and even rubble piles, and has better terrain adaptability.

[0003] As in the prior art, the invention patent with the authorization publication number CN112874651A discloses a quadruped robot, including a fuselage, an energy supply structure, a hip, a thigh, a calf and a walking part. The fuselage includes a first frame and a second frame, the energy supply structure is installed in the first frame, the hip is connected to the second frame, the second driving member is used to drive the thigh body to rotate, the third driving member is used to drive the calf body to rotate relative to the thigh body, and the fourth driving member is used to drive the walking wheel to rotate, and the auxiliary wheel can rotate with the rotation of the walking wheel. The above device can realize the disassembly and assembly between the leg structure and the energy supply structure by disassembling and assembling the first frame and the second frame, which is convenient for the later maintenance of the robot. The leg structure can move forward in a kneeling or crawling state, and the overall height of the leg structure can be changed by changing the walking posture. The application scenarios are relatively wide.

[0004] Although the quadruped robot in the above patent can walk in different forms, which is convenient for later maintenance, it has certain defects when used:

[0005] When a quadruped robot is operating in a wild fire zone, when it encounters deeper waters and needs to conduct inspections, the existing quadruped robot cannot float its body on the water. In deep water areas, the quadruped robot will be completely immersed in water. Although the robot has a high-level waterproof structure to protect it, being completely immersed in water will cause the camera lens to get wet, resulting in blurred vision of the quadruped robot, affecting the quality of real-time image transmission, and may also cause visual misjudgment or distortion due to the refraction and reflection of water stains, thereby affecting the accuracy and efficiency of the inspection task, and causing the robot to get into trouble or accidentally collide. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides a robot leg walking mechanism and a quadruped robot, which facilitate the quadruped robot to pass through deep water areas.

[0007] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a robot leg walking mechanism, comprising a plurality of arms, each arm having a floating assembly connected to one side thereof, the floating assembly comprising a connecting box and an airbag, the connecting box being fixedly connected to one side of the arm, a placement groove being provided on a side of the connecting box away from the arm, an airbag being fixedly connected in the placement groove, an inflation assembly, a deflation assembly and an injection assembly being sequentially connected to one side of the arm from top to bottom, and a closing assembly being connected to one side of the connecting box.

[0008] Furthermore, the inflation component includes a fixed box, an air pump, an air inlet pipe and an air outlet pipe. The fixed box is fixedly connected to one side of the upper arm, and the air pump is fixedly connected inside the fixed box. The input end and output end of the air pump are respectively fixedly connected to the air inlet pipe and the air outlet pipe. The other end of the air inlet pipe is located on one side of the top of the upper arm, and the other end of the air outlet pipe penetrates the connecting box and is connected to the upper part of the airbag.

[0009] Furthermore, the jet assembly includes an exhaust pipe, a connecting block, a dividing ball and a spring. One end of the exhaust pipe penetrates the connecting box and is connected to the lower part of the airbag, the other end of the exhaust pipe is fixedly connected to the connecting block, the connecting block is fixedly connected to one side of the upper arm, an air guide groove connected to the exhaust pipe is provided in the connecting block, an air jet port is provided at one end of the connecting block, an air dividing groove is provided between the air guide groove and the air jet port, a dividing ball is slidably connected in the air dividing groove, a spring is fixedly connected to one side of the air dividing groove close to the air jet port, and the spring is in contact with the outer wall of the dividing ball.

[0010] Furthermore, the venting assembly includes a venting pipe and a solenoid valve, one end of the venting pipe is fixedly connected to the middle of the exhaust pipe, the solenoid valve is fixedly connected to one side of the boom, and the other end of the venting pipe is fixedly connected to the solenoid valve.

[0011] Furthermore, the closing component includes a rotating shaft, a cover plate and a connecting plate. Rotating grooves are provided at the upper and lower ends of one side of the connecting box. A rotating shaft is fixedly connected in each rotating groove. The outer walls of the two rotating shafts are rotatably connected to cover plates. One end of each cover plate is fixedly connected to a connecting plate. The two connecting plates match in shape and position. The two cover plates are evenly fixedly connected to the outer wall of the airbag. Flipping components are connected to both sides of the connecting box.

[0012] Furthermore, each flipping assembly includes a fixed block, a rotating rod, a coil spring, a coil rope and a connecting rope. Fixed blocks are fixedly connected to both sides of the middle of the connecting box. A movable groove corresponding to the positions of the two connecting plates is provided on the surface of the connecting box. An installation groove is provided in the fixed block. A rotating rod is rotatably connected to the movable groove and the installation groove. The outer wall of one end of the rotating rod located in the installation groove is fixedly connected to a coil spring. The coil spring is fixedly connected to the inner wall of the installation groove. The outer wall of one end of the rotating rod located in the movable groove is fixedly connected to a coil rope. One end of the coil rope is fixedly connected to the connecting rope, and the other end of the connecting rope is fixedly connected to the connecting plate.

[0013] Furthermore, an angle of 20° to 45° is set between the connecting block and the side wall of the upper arm, and the opening of the air jet is toward the side close to the connecting box.

[0014] Furthermore, a connecting pipe is fixedly connected to the top of the air intake pipe, and a buoy is fixedly connected to the outer wall of the connecting pipe.

[0015] Furthermore, a limit rope buckle is fixedly connected to one side of the upper arm, and a portion of the connecting pipe below the buoy is located inside the limit rope buckle.

[0016] The present invention also provides a quadruped robot, comprising a robot body, wherein the robot body comprises any of the robot leg walking mechanisms described above.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] (1) The robot leg walking mechanism uses a floating component, so that the quadruped robot can remain afloat in deep water areas, thereby preventing the body from being completely immersed in water, reducing the risk of the camera lens getting wet, and ensuring the quality and accuracy of real-time image transmission, thereby providing the quadruped robot with a clear field of view and stable walking ability, helping to reduce visual misjudgment or distortion, improving the accuracy and efficiency of inspection tasks, and reducing the possibility of the robot getting into trouble or accidentally colliding;

[0019] (2) The floating component enables the quadruped robot to pass through the water directly from the water surface. The robot can cross the water in a straight line along the shortest path without detouring, which greatly shortens the inspection time and improves work efficiency. On the other hand, when encountering waters with unknown depth, this floating method also avoids the danger caused by unknown water depth, thereby improving the field capability and environmental adaptability of the quadruped robot.

[0020] (3) The jet assembly can provide additional propulsion for the quadruped robot, enhancing its maneuverability in water, allowing the quadruped robot to easily cope with waters of different depths and water flow speeds, thereby improving the environmental adaptability of the quadruped robot;

[0021] (4) The difference in thrust between the left and right sides is used to adjust the forward direction of the quadruped robot, so that the quadruped robot can achieve more complex movement trajectory control in water, such as curve driving, rotation on the spot, etc., which is convenient for the quadruped robot to move in narrow waters or be used in areas that require precise navigation;

[0022] (5) By setting the angle between the connecting block and the side wall of the upper arm, the thrust generated by the jet assembly can better drive the quadruped robot to perform turning and rotation operations, while maintaining the backward thrust and achieving more complex and agile maneuvers. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0024] Figure 2 It is a three-dimensional structural schematic diagram of another form of the present invention;

[0025] Figure 3 It is a three-dimensional disassembled structural schematic diagram of the floating component, the closing component, the inflating component, the deflation component and the jetting component of the present invention;

[0026] Figure 4 It is a schematic diagram of the three-dimensional cross-sectional structure of the floating assembly and the flip assembly of the present invention;

[0027] Figure 5 It is a three-dimensional cross-sectional structural schematic diagram of the connection box, the fixing block and the rotating shaft of the present invention;

[0028] Figure 6 It is a schematic diagram of the three-dimensional split structure of the flip assembly of the present invention;

[0029] Figure 7 It is a schematic diagram of the three-dimensional disassembled structure of the inflatable component of the present invention;

[0030] Figure 8 It is a schematic diagram of the three-dimensional structure of the jet assembly of the present invention;

[0031] Fig. 9 It is a three-dimensional cross-sectional structural schematic diagram of the connecting block, the dividing spherical ball and the spring of the present invention;

[0032] Fig.10 It is a schematic diagram of the three-dimensional cross-sectional structure of the connecting block of the present invention;

[0033] Fig.11 It is a schematic diagram of the three-dimensional structure of the air intake pipe, the connecting pipe and the buoy of the present invention.

[0034] In the figure: 1. Robot body; 2. Upper arm; 3. Connection box; 4. Placement slot; 5. Air bag; 6. Fixing box; 7. Air pump; 8. Inlet pipe; 9. Outlet pipe; 10. Exhaust pipe; 11. Connection block; 12. Air guide slot; 13. Jet nozzle; 14. Air distribution slot; 15. Air distribution ball; 16. Spring; 17. Deflation pipe; 18. Solenoid valve; 19. Rotation slot; 20. Rotating shaft; 21. Cover plate; 22. Connection plate; 23. Fixing block; 24. Moving slot; 25. Mounting slot; 26. Rotating rod; 27. Coil spring; 28. Coil rope; 29. ​​Connection rope; 30. Connection pipe; 31. Float; 32. Limiting rope buckle. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0036] See also Figures 1 to 11 A robot leg walking mechanism includes multiple arms 2, each of which is connected to a floating component on one side of the arm 2. The floating component includes a connecting box 3 and an airbag 5. The connecting box 3 is fixedly connected to one side of the arm 2. A placement groove 4 is opened on the side of the connecting box 3 away from the arm 2. The airbag 5 is fixedly connected in the placement groove 4. An inflation component, a deflation component and an injection component are sequentially connected to one side of the arm 2 from top to bottom, and a closing component is connected to one side of the connecting box 3.

[0037] The robot leg walking mechanism of the present invention, when the quadruped robot is about to enter a deep water area, the camera on the quadruped robot will detect a water area signal and send a signal to the inflation component, at which time the inflation component will inflate the airbag 5 to expand the airbag 5, and then the quadruped robot can step into the water area. When the water depth reaches the upper arm 2, the airbag 5 contacts the water to generate buoyancy, thereby providing sufficient supporting force for the robot as a whole, so that it can remain above the water surface, and then the quadruped robot can glide on the water surface by swinging the upper arm 2 and other robot leg walking mechanisms; by using the floating component, the quadruped robot can remain floating in deep water areas, thereby avoiding the body of the robot from being completely immersed in water, reducing The risk of the camera lens getting wet ensures the quality and accuracy of real-time image transmission, thereby providing the quadruped robot with a clear field of view and stable walking ability, helping to reduce visual misjudgment or distortion, improving the accuracy and efficiency of inspection tasks, and reducing the possibility of the robot getting into trouble or accidentally colliding; at the same time, the floating component enables the quadruped robot to pass through the water directly from the water surface. The robot can cross the water in a straight line along the shortest path without detours, which greatly shortens the inspection time and improves work efficiency. On the other hand, when encountering waters with unclear water depth, this floating passage method also avoids the danger caused by unknown water depth, thereby improving the field capability and environmental adaptability of the quadruped robot.

[0038] As a preferred technical solution of the present invention, the inflation component includes a fixed box 6, an air pump 7, an air inlet pipe 8 and an air outlet pipe 9. The fixed box 6 is fixedly connected to one side of the upper arm 2, and the air pump 7 is fixedly connected inside the fixed box 6. The input end and the output end of the air pump 7 are respectively fixedly connected to the air inlet pipe 8 and the air outlet pipe 9. The other end of the air inlet pipe 8 is located on one side of the top of the upper arm 2, and the other end of the air outlet pipe 9 penetrates the connecting box 3 and is connected to the upper part of the airbag 5.

[0039] Specifically, the fixing box 6 provides protection and support for the internal air pump 7; the air pump 7 inhales air from above the water surface through the air inlet pipe 8, and then fills the air into the airbag 5 through the air outlet pipe 9, so that the airbag 5 expands and generates buoyancy, allowing the quadruped robot to remain floating on the water surface.

[0040] As a preferred technical solution of the present invention, the jet assembly includes an exhaust pipe 10, a connecting block 11, a dividing ball 15 and a spring 16. One end of the exhaust pipe 10 penetrates the connecting box 3 and is connected to the lower part of the airbag 5. The other end of the exhaust pipe 10 is fixedly connected to the connecting block 11. The connecting block 11 is fixedly connected to one side of the upper arm 2. An air guide groove 12 connected to the exhaust pipe 10 is provided in the connecting block 11. An air jet port 13 is provided at one end of the connecting block 11. An air dividing groove 14 is provided between the air guide groove 12 and the air jet port 13. A dividing ball 15 is slidably connected in the air dividing groove 14. A spring 16 is fixedly connected to the side of the air dividing groove 14 close to the air jet port 13. The spring 16 fits the outer wall of the dividing ball 15.

[0041] Specifically, after the quadruped robot is launched into the water, the connecting block 11 will be submerged in the water. At this time, since the airbag 5, the exhaust pipe 10 and the air guide groove 12 are filled with air by the air pump 7, when the air pump 7 continues to fill the air into the airbag 5, since the air pressure is greater than the pressure of the spring 16, the dividing ball 15 will move in the dividing groove 14, and a gap will be generated between the dividing ball 15 and the dividing groove 14. At this time, the excess gas generated by the air pump 7 will enter the jet port 13 through the dividing groove 14, and then be ejected from the jet port 13 to the rear of the quadruped robot. When the air is ejected into the water, according to Newton's third law, it will give the quadruped robot a reaction force in the forward direction, thereby pushing the quadruped robot forward in the water. The jet assembly can provide the quadruped robot with additional propulsion force, thereby enhancing its maneuverability in water, enabling the quadruped robot to easily cope with waters of different depths and water flow speeds, and improving the environmental adaptability of the quadruped robot. At the same time, each jet assembly is supplied with air by an independent air pump 7, which means that the airflow intensity of the corresponding jet assembly can be controlled by adjusting the output power of each air pump 7, and the forward direction of the quadruped robot can be adjusted by utilizing the difference in thrust on the left and right sides, so as to facilitate the quadruped robot to achieve more complex movement trajectory control in waters, such as curve driving, rotation on the spot, etc., so as to facilitate the quadruped robot to travel in narrow waters or be used in areas requiring precise navigation.

[0042] As a preferred technical solution of the present invention, the venting assembly includes a venting pipe 17 and a solenoid valve 18, one end of the venting pipe 17 is fixedly connected to the middle of the exhaust pipe 10, the solenoid valve 18 is fixedly connected to one side of the upper arm 2, and the other end of the venting pipe 17 is fixedly connected to the solenoid valve 18.

[0043] Specifically, when the robot leaves the water, the quadruped robot controls the solenoid valve 18 to open, so that the airbag 5 is connected to the outside world, and the compressed air in the airbag 5 is discharged through the deflation pipe 17 to achieve the contraction of the airbag 5, thereby preventing the airbag 5 from interfering with the rotation of the robot's leg walking mechanism such as the upper arm 2.

[0044] As a preferred technical solution of the present invention, the closing component includes a rotating shaft 20, a cover plate 21 and a connecting plate 22. Rotating grooves 19 are provided at both upper and lower ends of one side of the connecting box 3. A rotating shaft 20 is fixedly connected in each rotating groove 19. The outer walls of the two rotating shafts 20 are rotatably connected to the cover plates 21. One end of each cover plate 21 is fixedly connected to a connecting plate 22. The two connecting plates 22 match in shape and position. The two cover plates 21 are evenly fixedly connected to the outer wall of the airbag 5. Flipping components are connected to both sides of the connecting box 3.

[0045] It is worth noting that the inner wall of the airbag 5 is provided with a plurality of tie rods for increasing the elastic force of the airbag 5 and ensuring that after the airbag 5 is deflated, the tie rods can completely retract the airbag 5 into the placement groove 4 to prevent the airbag 5 from being stuck on the side of the cover plate 21 and affecting the opening, closing and operation of the cover plate 21.

[0046] As a preferred technical solution of the present invention, each flipping assembly includes a fixed block 23, a rotating rod 26, a coil spring 27, a coil rope 28 and a connecting rope 29. The fixed blocks 23 are fixedly connected to both sides of the middle of the connecting box 3. A movable groove 24 corresponding to the position of the two connecting plates 22 is opened on the surface of the connecting box 3. An installation groove 25 is opened in the fixed block 23. The movable groove 24 and the installation groove 25 are rotatably connected with a rotating rod 26. The outer wall of one end of the rotating rod 26 located in the installation groove 25 is fixedly connected with a coil spring 27. The coil spring 27 is fixedly connected to the inner wall of the installation groove 25. The outer wall of one end of the rotating rod 26 located in the movable groove 24 is fixedly connected with a coil rope 28. One end of the coil rope 28 is fixedly connected to the connecting rope 29, and the other end of the connecting rope 29 is fixedly connected to the connecting plate 22.

[0047] Specifically, the rotating shaft 20 is used to support and guide the rotation of the cover plate 21; the cover plate 21 can separate the airbag 5 from the outside world, protect the airbag 5, and prevent the airbag 5 from hindering the operation of other parts of the quadruped robot; when the inflatable component is inflated, the airbag 5 will push the cover plate 21 to rotate, and at this time the connecting plate 22 will rotate accordingly, and the connecting plate 22 will pull the connecting rope 29, and the connecting rope 29 will pull the winding rope 28, driving the rotating rod 26 to rotate, so that the winding spring 27 is gradually rolled up and stores energy. When the airbag 5 is inflated, it will present the attached figure. Figure 2 The form shown provides buoyancy for the quadruped robot; when the airbag 5 needs to be folded, as the compressed gas in the airbag 5 is lost, the pressure of the airbag 5 on the cover 21 is lower than the tension of the connecting rope 29. At this time, under the action of the coil spring 27, the rotating rod 26 rotates, driving the coil rope 28 to retract the connecting rope 29. During this process, the cover 21 will be close to the connecting box 3 until the two cover plates 21 are closed with the surface of the connecting box 3. At this time, the airbag 5 will be received in the placement groove 4, thereby realizing the protection of the airbag 5; the automatic storage of the airbag 5 is realized in this way, which is convenient for the reuse of the airbag 5.

[0048] As a preferred technical solution of the present invention, an angle of 20° to 45° is set between the connecting block 11 and the side wall of the upper arm 2 , and the opening of the air jet 13 faces the side close to the connecting box 3 .

[0049] Specifically, through the angle set between the connecting block 11 and the side wall of the upper arm 2, the thrust generated by the jet assembly can better drive the quadruped robot to perform turning and rotation operations, while maintaining the backward thrust, to achieve more complex and agile maneuvers.

[0050] As a preferred technical solution of the present invention, a connecting pipe 30 is fixedly connected to the top of the air inlet pipe 8 , and a buoy 31 is fixedly connected to the outer wall of the connecting pipe 30 .

[0051] As a preferred technical solution of the present invention, a limiting rope buckle 32 is fixedly connected to one side of the upper arm 2 , and the portion of the connecting pipe 30 below the buoy 31 is located inside the limiting rope buckle 32 .

[0052] Specifically, the air intake pipe 8 is a hose (such as a silicone tube), the connecting pipe 30 is a hard tube (such as a plastic tube), and the buoy 31 is made of a high buoyancy material such as foam plastic. When the quadruped robot enters the water, the buoy 31 can ensure that the top of the connecting pipe 30 is always above the water surface, avoiding damage or failure of the inflation component due to water ingress, and ensuring the normal operation of the air pump 7. The air intake pipe 8 set with a hose can ensure a flexible connection between the connecting pipe 30 and the upper arm 2 to prevent the rotation of the upper arm 2 from affecting the vertical state of the connecting pipe 30; the limiting rope buckle 32 can provide support for the buoy 31 and the connecting pipe 30 when going ashore, to prevent the buoy 31 and the connecting pipe 30 from falling to the bottom and affecting the next entry into the water.

[0053] See also Figures 1 to 11 The present invention also provides a quadruped robot, including a robot body 1, wherein the robot body 1 includes the robot leg walking mechanism provided in any of the above embodiments.

[0054] Specifically, the structure of this embodiment is consistent with that of the above embodiment, and the effects are the same, so they will not be described in detail here.

[0055] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot leg walking mechanism, comprising a plurality of large arms (2), characterized in that: One side of each of the upper arms (2) is connected to a floating assembly, the floating assembly comprising a connection box (3) and an air bag (5), the connection box (3) is fixedly connected to one side of the upper arm (2), a placement groove (4) is provided on a side of the connection box (3) away from the upper arm (2), the air bag (5) is fixedly connected in the placement groove (4), one side of the upper arm (2) is connected to an inflation assembly, a deflation assembly and an injection assembly in sequence from top to bottom, and one side of the connection box (3) is connected to a closing assembly.

2. A robot leg walking mechanism according to claim 1, characterized in that: The inflation assembly comprises a fixing box (6), an air pump (7), an air inlet pipe (8) and an air outlet pipe (9); one side of the upper arm (2) is fixedly connected with the fixing box (6); the inside of the fixing box (6) is fixedly connected with the air pump (7); the input end and the output end of the air pump (7) are respectively fixedly connected with the air inlet pipe (8) and the air outlet pipe (9); the other end of the air inlet pipe (8) is located at one side of the top of the upper arm (2); the other end of the air outlet pipe (9) penetrates the connection box (3) and is connected with the upper part of the air bag (5).

3. A robot leg walking mechanism according to claim 1 or 2, characterized in that: The jet assembly comprises an exhaust pipe (10), a connecting block (11), a splitting ball (15) and a spring (16); one end of the exhaust pipe (10) penetrates the connecting box (3) and is connected to the lower part of the airbag (5); the other end of the exhaust pipe (10) is fixedly connected to the connecting block (11); the connecting block (11) is fixedly connected to one side of the upper arm (2); an air guide groove (12) connected to the exhaust pipe (10) is provided in the connecting block (11); an air jet port (13) is provided at one end of the connecting block (11); an air splitting groove (14) is provided between the air guide groove (12) and the air jet port (13); a splitting ball (15) is slidably connected in the air splitting groove (14); a spring (16) is fixedly connected to one side of the air splitting groove (14) close to the air jet port (13); the spring (16) is in contact with the outer wall of the splitting ball (15).

4. A robot leg walking mechanism according to claim 3, characterized in that: The deflation assembly comprises a deflation pipe (17) and a solenoid valve (18); one end of the deflation pipe (17) is fixedly connected to the middle of the exhaust pipe (10); the solenoid valve (18) is fixedly connected to one side of the upper arm (2); and the other end of the deflation pipe (17) is fixedly connected to the solenoid valve (18).

5. A robot leg walking mechanism according to claim 1, 2 or 4, characterized in that: The closing assembly comprises a rotating shaft (20), a cover plate (21) and a connecting plate (22); a rotating groove (19) is provided at both upper and lower ends of one side of the connecting box (3); a rotating shaft (20) is fixedly connected in each rotating groove (19); the outer walls of the two rotating shafts (20) are rotatably connected to a cover plate (21); one end of each cover plate (21) is fixedly connected to a connecting plate (22); the two connecting plates (22) match in shape and position; the two cover plates (21) are evenly fixedly connected to the outer wall of the airbag (5); and both sides of the connecting box (3) are connected to a flip assembly.

6. A robot leg walking mechanism according to claim 5, characterized in that: Each of the flipping components comprises a fixed block (23), a rotating rod (26), a coil spring (27), a coil rope (28) and a connecting rope (29); the fixed blocks (23) are fixedly connected to both sides of the middle of the connecting box (3); a movable groove (24) corresponding to the position of the two connecting plates (22) is provided on the surface of the connecting box (3); a mounting groove (25) is provided in the fixed block (23); the movable groove (24) and the mounting groove (25) are rotatably connected with the rotating rod (26); the outer wall of one end of the rotating rod (26) located in the mounting groove (25) is fixedly connected with the coil spring (27); the coil spring (27) is fixedly connected with the inner wall of the mounting groove (25); the outer wall of one end of the rotating rod (26) located in the movable groove (24) is fixedly connected with the coil rope (28); one end of the coil rope (28) is fixedly connected with the connecting rope (29); the other end of the connecting rope (29) is fixedly connected to the connecting plate (22).

7. The robot leg walking mechanism according to claim 3, characterized in that: An included angle of 20° to 45° is set between the connection block (11) and the side wall of the upper arm (2), and the opening of the air jet (13) faces the side close to the connection box (3).

8. A robot leg walking mechanism according to claim 1, 2, 4, 6 or 7, characterized in that: The top end of the air inlet pipe (8) is fixedly connected to a connecting pipe (30), and the outer wall of the connecting pipe (30) is fixedly connected to a buoy (31).

9. A robot leg walking mechanism according to claim 8, characterized in that: One side of the upper arm (2) is fixedly connected to a limit rope buckle (32), and the portion of the connecting pipe (30) located below the buoy (31) is located inside the limit rope buckle (32).

10. A quadruped robot, comprising a robot body (1), characterized in that: The robot body (1) comprises a robot leg walking mechanism as claimed in any one of claims 1 to 9.

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