Four-legged mechanical vehicle

Abstract

This invention relates to a quadrupedal mechanical vehicle, comprising a quadrupedal mechanical vehicle chassis on which various superstructures are mounted to adapt to different scenarios, including: a motorcycle-style passenger vehicle that can overcome road limitations; a wheelchair-style vehicle that can solve the travel needs of disabled people or the elderly; a passenger and cargo vehicle that can meet the needs of disaster relief and field delivery; and a special execution vehicle that can meet the needs of uninhabited area detection and national defense and military applications. The core logic is integrated perception: multi-source sensor data fusion in the control board unit provides unified input for the quadrupedal mechanical vehicle chassis attitude detection, balance leg movement obstacle avoidance, and terrain adaptation of the walking wheels. Collaborative decision-making: a multi-task scheduling module coordinates self-balancing control, mechanical leg attitude, and walking wheel movement to avoid motion conflicts between subsystems; unified execution: the power battery unit dynamically allocates power to ensure the energy supply for the quadrupedal mechanical vehicle chassis balance, balance leg movement, and walking wheel movement.

Description

Technical Field

[0001] This invention relates to the fields of special vehicles, mobile equipment, and manned robots, specifically a quadruped mechanical vehicle. Background Technology

[0002] With the continuous development of robotics technology, breakthroughs have been achieved in core technologies such as dynamic balance and gait planning, power and lightweighting, and human-machine collaborative control of quadruped robots. Applications of high power density servo motors, lightweight materials, and easy-to-use control modes: On the one hand, the quadruped structure can support the dual load requirements of carrying people and doing operations, completing the leap from laboratory prototype to engineering application; On the other hand, traditional mobile equipment has functional gaps in unstructured terrain operations: emergency rescue, mountain agriculture, outdoor industrial operation and maintenance, and urban special operations.

[0003] However, unstructured terrain has become a blind spot for wheeled or tracked equipment, while the operational needs in related scenarios continue to grow, creating an urgent need for mobile equipment that can adapt to complex terrain and has both manpower and operational capabilities.

[0004] Therefore, a quadruped mechanical vehicle is provided to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide a quadruped mechanical vehicle with a body system, four-legged balancing legs, and wheels as its core components. It integrates the dual functions of movement via the wheels and gait via the four-legged balancing legs. It can be equipped with different body modules to adapt to complex terrains, including road blockage operations, stepped road operations, ruin ground operations, mountain operations, transportation, cargo handling, emergency reconnaissance, and special scenario auxiliary operation needs. It combines the flexibility of riding and control with the obstacle-crossing ability of four legs.

[0006] The present invention achieves the above objectives through the following technical solutions: A quadruped mechanical vehicle includes a quadruped mechanical vehicle chassis, on which are mounted: a 5G antenna, air-cooled heat dissipation, nano radar, depth camera, upper body platform, operating console, ergonomic seat, safety monitoring system, and ergonomic backrest. Different superstructures are mounted on the four-legged mechanical vehicle chassis to adapt to various scenarios, including: motorcycle-style passenger riding type that can overcome road limitations, passenger wheelchair type that can solve the travel problems of disabled people or elderly people, passenger and cargo type that can meet the needs of disaster relief and field delivery, and special execution type that can meet the needs of uninhabited area detection and national defense and military. Equipped with 18 motors, the vehicle is divided into three states: low center of gravity state (parking / riding), wheeled state (wheeled / turning), and gait state (quadrupedal obstacle crossing). It adopts a triangular gait, which balances stability and heavy load capacity. At the same time, the harmonic reduction motor on the inner side of the balance leg will adjust the vehicle posture in real time according to the inertial measurement unit in the control board unit to ensure the stability of the chassis and superstructure, thereby achieving the conditions for carrying people / cargo / inspection. The core logic is integrated perception: multi-source sensor data fusion in the control board unit provides unified input for the attitude detection of the quadrupedal mechanical vehicle chassis, obstacle avoidance of the balancing legs, and terrain adaptation of the walking wheels. Collaborative decision-making: the multi-task scheduling module coordinates self-balancing control, mechanical leg attitude, and walking wheel movement to avoid motion conflicts between subsystems; unified execution: the power battery unit dynamically allocates power to ensure the energy supply for the quadrupedal mechanical vehicle chassis balance, balancing leg movement, and walking wheel movement.

[0007] Furthermore, the obstacle crossing control method includes: obstacle classification step, mode switching step, leg-like foot trajectory planning step, ZMP stability control step, MPC force distribution step, impedance control step, and mode recovery step. In the obstacle classification process, obstacles are divided into three categories—rollable, crossable, and non-crossable—based on the ratio of obstacle height to wheel radius and slope. In the mode switching process, the switching between wheeled and legged modes is based on speed, posture, and contact force conditions, and a fifth-order polynomial trajectory is used to achieve smooth joint transition. The leg-like foot trajectory uses a compound cycloid or Bézier curve, and its lifting height H is greater than the height of the obstacle. In the ZMP stability control process, the position of the zero torque point is calculated in real time and the fuselage attitude and foot force are adjusted to keep the ZMP within the support polygon. In the MPC force distribution step, a quadratic programming problem is constructed based on the single rigid body dynamics model to solve for the optimal ground reaction force that satisfies the friction cone and joint moment constraints. In the impedance control step, the foot contact force is used to calculate the joint torque using a stiffness-damping model and feedforward force.

[0008] Furthermore, the four-legged mechanical vehicle chassis consists of a balance leg, a right side mounting plate, a bottom mounting plate, a rear inner plate, an industrial control computer, a data interaction unit, a top back plate, a left mounting plate, a front middle plate, a power battery unit, a front inner plate, a rear middle plate, and a control board unit.

[0009] Furthermore, the balance leg consists of a rotary output shaft, needle roller bearings, a rotary input shaft, an inner leg guard, a harmonic reduction motor, a balance leg frame, an outer leg guard, a walking leg module, a rotary leg joint module, a walking lower leg module, and a knee joint module.

[0010] Furthermore, the balance legs adopt a modular symmetrical design, which allows for left-right interchangeability, improving the versatility and interchangeability of parts.

[0011] Furthermore, the knee joint module consists of a main knee joint shell, an intermediate rotating shell, a joint motor, a support shell, a secondary knee joint shell, a rotating bearing, a support surface, a mounting slot, a linear speed slide, a rotating recess, and a rotating boss.

[0012] Furthermore, the rotating leg joint module consists of a rear cover, a T-shaped housing, a joint motor, a positioning mounting plate, a concave ring, a mounting clip, a convex ring, and a zero-position slot.

[0013] Furthermore, the walking leg module consists of walking wheels, connecting flanges, leg shell, motor base, leg mounting plate, DD motor, and leg inner shell.

[0014] Compared with existing technologies, this invention takes the vehicle body system, four-legged balance legs, and walking wheels as its core form, realizing the dual functions of movement relying on walking wheels and gait relying on four-legged balance legs. It can be equipped with different vehicle body modules to adapt to complex terrains, including road blockage operations, stepped road operations, ruin ground operations, mountain operations, transportation, cargo handling, emergency reconnaissance, and special scene auxiliary operation needs, combining the flexibility of riding and control with the obstacle crossing ability of four legs. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the chassis of a four-legged mechanical vehicle. Figure 2 A schematic diagram of the explosion of the chassis of a four-legged mechanical vehicle; Figure 3 A schematic diagram of a rideable four-legged mechanical vehicle; Figure 4 This is a schematic diagram of the balance leg exploding. Figure 5 This is an exploded view of the knee joint module. Figure 6 This is an exploded view of the rotating leg joint module; Figure 7 This is an exploded view of the lower leg module for walking. Figure 8 This is a gait timing diagram of a quadrupedal mechanical vehicle. Figure 9 This is the obstacle crossing control logic diagram. Detailed Implementation

[0016] Example 1:

[0017] participate Figure 1-9This embodiment demonstrates a quadruped mechanical vehicle, which relies on a balance leg 201 and a quadruped mechanical vehicle chassis 101, along with a 5G antenna 102, air-cooled heat dissipation 103, nano radar 104, depth camera 105, upper body platform 106, control panel 107, ergonomic seat 108, safety monitoring system 109, and ergonomic backrest 110 upper body module to adapt to complex terrains such as congested roads, stepped roads, ruins, mountain operations, transportation, and travel needs of the elderly or disabled. It combines the flexibility of riding and control with the obstacle-crossing ability of a quadruped.

[0018] The four-legged mechanical vehicle chassis 101 comprises a balance leg 201, a right side mounting plate 202, a bottom mounting plate 203, a rear inner plate 204, an industrial control computer 205, a data interaction unit 206, a top back plate 207, a left mounting plate 208, a front middle plate 209, a power battery unit 210, a front inner plate 211, a rear middle plate 212, and a control board unit 213.

[0019] The balance leg 201 includes a rotary output shaft 301, a needle roller bearing 302, a rotary input shaft 303, an inner leg guard 304, a harmonic reduction motor 305, a balance leg frame 306, an outer leg guard 307, a walking leg module 308, a rotating leg joint module 309, a walking lower leg module 310, and a knee joint module 311.

[0020] in: The knee joint module 311 consists of a knee joint main shell 401, an intermediate rotating shell 402, a joint motor 403, a support shell 404, a knee joint sub-shell 405, a rotating bearing 406, a support surface 4021, a mounting slot 4022, a linear speed slide 4041, a rotating recess 4042, and a rotating boss 4051. The rotating leg joint module 309 consists of a rear cover 501, a T-shaped housing 502, a joint motor 503, a positioning mounting plate 504, a concave ring 5021, a mounting quick 5022, a convex ring 5041, and a zero-position slot 5042. The walking lower leg module 310 consists of a walking wheel 601, a connecting flange 602, a lower leg shell 603, a motor base 604, a lower leg mounting plate 605, a DD motor 606, and a lower leg inner shell 607.

[0021] The vehicle contains 18 motors and is divided into three states: low center of gravity state (parking / riding), wheeled state (wheeled / turning), and gait state (quadrupedal gait obstacle crossing).

[0022] The core logic of the whole is integrated perception: the multi-source sensor data in the control board unit 213 is fused, and at the same time, it provides a unified input for the attitude detection of the quadrupedal mechanical vehicle chassis 101, the obstacle avoidance of the balance leg 201, and the terrain adaptation of the walking wheel.

[0023] Collaborative decision-making: The multi-task scheduling module coordinates the self-balancing control, the posture of the mechanical leg, and the movement of the walking wheel 601 to avoid motion conflicts between subsystems.

[0024] Unified execution: The power battery unit 210 dynamically distributes power to ensure the energy supply for the balance of the four-legged mechanical vehicle chassis 101, the movement of the balance legs 201, and the movement of the walking wheels 601.

[0025] The harmonic reduction motor 305 inside the balance leg 201 adjusts the vehicle's posture in real time according to the inertial measurement unit in the control board unit 213, ensuring the stability of the four-legged mechanical vehicle chassis 101 and superstructure, thereby achieving the conditions for carrying people / cargo / inspection.

[0026] To ensure that the mechanical vehicle has the function of walking on four legs and automatically maintains the balance of the vehicle body system, taking into account both wheel movement and steering, the balance leg 201 adopts a modular approach, dividing the system into a knee joint module 311, a rotating leg joint module 309, and a walking lower leg module 310, which greatly improves the interchangeability of assembly and reduces the difficulty of installation and maintenance costs.

[0027] The modular systems can be interchanged left and right, and each walking leg module 308 is divided into two feet with multiple degrees of freedom.

[0028] When the quadruped robot faces a dynamic obstacle avoidance scenario, if the depth camera detects a pedestrian suddenly crossing the path and the collision time TTC is less than 1.5s, the controller calls the Dynamic Window Method (DWA) to perform local path replanning: sampling in the velocity space (v,ω), evaluating the function G(v,ω) = 0.5·heading + 0.4·dist + 0.1·vel, selecting a velocity command that makes the robot turn right by 0.8m, avoid the pedestrian, and continue the original task.

[0029] in: The control methods for obstacle crossing include: obstacle classification steps, mode switching steps, leg-based trajectory planning steps, ZMP stability control steps, MPC force distribution steps, impedance control steps, and mode recovery steps. In the obstacle classification process, obstacles are divided into three categories—rollable, crossable, and non-crossable—based on the ratio of obstacle height to wheel radius and slope. In the mode switching process, the switching between wheeled and legged modes is based on speed, posture, and contact force conditions, and a fifth-order polynomial trajectory is used to achieve smooth joint transition. The leg-like foot trajectory uses a compound cycloid or Bézier curve, and its lifting height H is greater than the height of the obstacle. In the ZMP stability control process, the position of the zero torque point is calculated in real time and the fuselage attitude and foot force are adjusted to keep the ZMP within the support polygon. In the MPC force distribution step, a quadratic programming problem is constructed based on the single rigid body dynamics model to solve for the optimal ground reaction force that satisfies the friction cone and joint moment constraints. In the impedance control step, the foot contact force is used to calculate the joint torque using a stiffness-damping model and feedforward force.

[0030] The core logic is integrated perception: multi-source sensor data fusion in the control board unit provides unified input for the attitude detection of the quadrupedal mechanical vehicle chassis, obstacle avoidance of the balancing legs, and terrain adaptation of the walking wheels. Collaborative decision-making: the multi-task scheduling module coordinates self-balancing control, mechanical leg attitude, and walking wheel movement to avoid motion conflicts between subsystems; unified execution: the power battery unit dynamically allocates power to ensure the energy supply for the quadrupedal mechanical vehicle chassis balance, balancing leg movement, and walking wheel movement.

[0031] When the quadrupedal mechanical vehicle is crossing obstacles, it collects environmental data through lidar, depth camera and inertial measurement unit to build a local elevation map; extracts the geometric features of obstacles, calculates the height h_obs, slope θ_obs and width w_obs of the obstacles; and classifies the obstacles into three categories based on preset classification thresholds: rollable obstacles, crossable obstacles and non-crossable obstacles.

[0032] When the quadrupedal vehicle detects a rollable obstacle during motion mode decision-making and switching, it maintains the wheeled motion mode and activates active suspension control; when it detects a traverseable obstacle, it dynamically switches from wheeled mode to legged mode; the dynamic switching includes: Conditional judgment: Detect the current vehicle speed v≤v_safe, vehicle pitch angle |φ|≤φ_th, roll angle |θ|≤θ_th, and the contact force F_zi>F_contact at each foot; Deceleration and stabilization: The hub motor decelerates to zero according to a ramp function; Posture elution: All leg joints extend simultaneously, elevating the aircraft from a low, wheeled crouching position to a standing, legged position; Gait activation: Load the leg gait planner.

[0033] In legged mode, obstacle-crossing trajectory planning adopts a crawling gait with three support phases and one swing phase, with a gait period of T_cycle and a swing phase duration of T_swing. The swing leg is planned with a foot trajectory that elevates it above the obstacle height during the swing phase. This foot trajectory uses a compound cycloid or Bézier curve, and its vertical motion satisfies: z(t) = z_s + (z_e - z_s)·s(t) + H_lift·sin²(π·t / T_swing). Where t ∈ [0, T_swing], z_s and z_e are the starting and ending heights, H_lift is the lifting margin (greater than the obstacle height), and s(t) = 3(t / T_swing)² - 2(t / T_swing)³.

[0034] Based on zero-moment point (ZMP) stability control, the zero-moment point position (x_ZMP, y_ZMP) of the robot body is calculated in real time: x_ZMP=[∑(F_zi·x_i)-∑τ_yi] / ∑F_zi; y_ZMP=[∑(F_zi·y_i)-∑τ_xi] / ∑F_zi. Where n=4 is the number of supporting legs, (x_i, y_i) is the foot position of the i-th leg, F_zi is the vertical reaction force, and τ_xi, τ_yi are the foot torques. The robot body posture and supporting leg joint torques are dynamically adjusted to ensure that (x_ZMP, y_ZMP) always lies within the current supporting polygon. When (x_ZMP, y_ZMP) is less than the safety margin d_safe from the boundary of the supporting polygon, the swing leg speed is reduced or the landing point is adjusted.

[0035] Based on model predictive control (MPC) for whole-body force distribution, the robot is simplified as a single rigid body, and the center-of-mass dynamic equations are established: m·p_c=∑f_i+m·g; I·ω+ω×I·ω=∑r_i×f_i. Where p_c is the position of the center of mass, f_i is the ground reaction force of the i-th leg, r_i is the vector from the center of mass to the foot contact point, and I is the rotational inertia matrix. A model predictive control optimization problem is constructed, with a prediction time domain of N sampling periods. The optimization variable is the ground reaction force f_i(k) of each leg, and the objective function is: min∑[‖p_c(k)-p_c_ref(k)‖²_Qp+‖ω(k)‖²_Qω+∑‖f_i(k)‖²_R] The constraints include: Friction cone constraints: |f_ix|≤μ·f_iz, |f_iy|≤μ·f_iz, f_iz≥0; Joint torque limit: |τ_j|=|J_j^T·f_i|≤τ_max; The position of the foot of the supporting leg is fixed, and the force at the foot of the swinging leg is zero. Solve the above quadratic programming problem to obtain the optimal ground reaction force sequence, and then calculate the torque commands for each joint through inverse dynamics.

[0036] Furthermore, impedance control enables compliant contact. When the foot contacts the ground or an obstacle, impedance control generates a joint torque command: τ=J^T[K_e·(x_d-x)+B_e·(x_d-x)+f_feedforward]. Here, x_d and x_d represent the desired foot position and velocity, K_e and B_e are the stiffness and damping matrices, and f_feedforward is the feedforward force (including gravity compensation and MPC calculated force).

[0037] After successfully traversing the obstacle, the robot returns to its original mode. Once all its feet have crossed the obstacle and its body posture is stable, it can switch back to wheel mode as needed for the task. ① Slowly bend your leg joints to bring the wheel hub into contact with the ground; ② The hub motor starts, and the speed gradually increases from zero; ③ The leg joints switch to active suspension control mode and continue moving forward.

[0038] Example 2:

[0039] A motorcycle-style riding superstructure was developed on the quadrupedal mechanical vehicle chassis 101, which can overcome road limitations and greatly facilitate travel. When the quadrupedal mechanical vehicle detects a gravel area with a height of 0.05m in front in wheel mode, it is determined to be a roll-over obstacle. The controller does not switch modes, but only activates the active suspension: based on the vertical acceleration z_body detected by the IMU, the additional support force F_z_cmd=F_static+300·z_body is calculated, so that the vertical stiffness of each leg can be adjusted independently, effectively attenuating high-frequency vibrations, and the change in the body pitch angle is less than 1°.

[0040] Example 3:

[0041] Developing a wheelchair-style superstructure on a quadrupedal mechanical vehicle chassis 101 can solve the problem of limited space and difficulty in travel for disabled or elderly people.

[0042] For example, a four-legged mechanical vehicle travels on the park's roads in a wheeled mode, and a staircase appears 5 meters ahead; The depth camera captured point clouds of the stairs, calculating the step height h_step = 0.17m and the slope θ = 32°, which is greater than the crossing threshold h_th = 0.12m, thus classifying it as a crossable obstacle. The current vehicle speed v = 0.2m / s and pitch angle 2° meet the switching conditions. Controller execution mode switching: The hub motor decelerates to zero, and the leg joints raise the body to a standing height of 0.45m within 0.3 seconds. After entering leg mode, a crawling gait cycle T_cycle=1.0s and a swing phase of 0.25s are adopted; Each swing leg is planned with a lift height H_lift = 0.22m, ensuring the wheels pass over the leading edge of the step. During climbing, real-time ZMP calculations indicate a tendency for the center of gravity to shift backward. The controller actively increases the vertical force of the rear legs and tilts the robot body forward by 2°, bringing the ZMP back to the center of the supporting polygon. The MPC optimizer solves for the ground reaction force at a frequency of 50Hz, with a joint torque limit of 40N·m. After climbing four steps, the robot detects flat ground ahead, performs a leg-to-wheel switch, resuming wheeled travel, and actively adjusts the vehicle height to 0.25m using the suspension.

[0043] Example 4:

[0044] Developing a manned and cargo-carrying superstructure on the 101 quadruped mechanical vehicle chassis can bring convenience to disaster relief and field delivery.

[0045] Example 5:

[0046] The inspection and special execution superstructure is installed on the four-legged mechanical vehicle chassis 101, which can meet the needs of uninhabited area inspection and support national defense and military.

[0047] The above are merely some embodiments of the present invention. For those skilled in the art, various modifications and improvements can be made without departing from the inventive concept of the present invention, and all such modifications and improvements fall within the scope of protection of the present invention.

Claims

1. A quadrupedal mechanical vehicle, characterized in that: Including a four-legged mechanical vehicle chassis, which is equipped with: a 5G antenna, air-cooled heat dissipation, nano radar, depth camera, upper body platform, control panel, ergonomic seat, safety monitoring system, and ergonomic backrest; Different superstructures are mounted on the four-legged mechanical vehicle chassis to adapt to various scenarios, including: motorcycle-style passenger riding type that can overcome road limitations, passenger wheelchair type that can solve the travel problems of disabled people or elderly people, passenger and cargo type that can meet the needs of disaster relief and field delivery, and special execution type that can meet the needs of uninhabited area detection and national defense and military. The core logic is integrated perception: multi-source sensor data fusion in the control board unit, which provides a unified input for the attitude detection of the four-legged mechanical vehicle chassis, obstacle avoidance of the balancing leg movement, and terrain adaptation of the walking wheel; Collaborative decision-making: The multi-task scheduling module coordinates self-balancing control, mechanical leg posture, and wheel movement to avoid motion conflicts between subsystems; Unified execution: The power battery unit dynamically allocates power to ensure the energy supply for the balance of the four-legged mechanical vehicle chassis, the movement of the balance legs, and the movement of the wheels.

2. A quadrupedal mechanical vehicle according to claim 1, characterized in that: The control methods for obstacle crossing include: obstacle classification steps, mode switching steps, leg-based trajectory planning steps, ZMP stability control steps, MPC force distribution steps, impedance control steps, and mode recovery steps. In the obstacle classification process, obstacles are divided into three categories—rollable, crossable, and non-crossable—based on the ratio of obstacle height to wheel radius and slope. In the mode switching process, the switching between wheeled and legged modes is based on speed, posture, and contact force conditions, and a fifth-order polynomial trajectory is used to achieve smooth joint transition. The leg-like foot trajectory uses a compound cycloid or Bézier curve, and its lifting height H is greater than the height of the obstacle. In the ZMP stability control process, the position of the zero torque point is calculated in real time and the fuselage attitude and foot force are adjusted to keep the ZMP within the support polygon. In the MPC force distribution step, a quadratic programming problem is constructed based on the single rigid body dynamics model to solve for the optimal ground reaction force that satisfies the friction cone and joint moment constraints. In the impedance control step, the foot contact force is used to calculate the joint torque using a stiffness-damping model and feedforward force.

3. A quadrupedal mechanical vehicle according to claim 1, characterized in that: Equipped with 18 motors, the vehicle is divided into three states: low center of gravity state (parking / riding), wheeled state (wheeled / turning), and gait state (quadrupedal gait obstacle crossing).

4. A quadrupedal mechanical vehicle according to claim 1, characterized in that: It adopts a triangular gait, which balances stability and heavy load capacity. At the same time, the harmonic reduction motor on the inner side of the balance leg will adjust the vehicle posture in real time according to the inertial measurement unit in the control board unit to ensure the stability of the chassis and superstructure, thereby meeting the conditions for carrying people / cargo / inspection.

5. A quadrupedal mechanical vehicle according to any one of claims 1-4, characterized in that: The chassis of the four-legged mechanical vehicle consists of a balance leg, a right side mounting plate, a bottom mounting plate, a rear inner plate, an industrial control computer, a data interaction unit, a top back plate, a left mounting plate, a front middle plate, a power battery unit, a front inner plate, a rear middle plate, and a control board unit.

6. A quadrupedal mechanical vehicle according to claim 5, characterized in that: The balance leg consists of a rotary output shaft, needle roller bearings, a rotary input shaft, an inner leg guard, a harmonic reduction motor, a balance leg frame, an outer leg guard, a walking leg module, a rotary leg joint module, a walking lower leg module, and a knee joint module.

7. A quadrupedal mechanical vehicle according to claim 6, characterized in that: The balance legs adopt a modular symmetrical design, which can be interchanged between the left and right sides, improving the versatility and interchangeability of parts.

8. A quadrupedal mechanical vehicle according to claim 7, characterized in that: The knee joint module consists of a main knee joint shell, an intermediate rotating shell, a joint motor, a support shell, a secondary knee joint shell, a rotating bearing, a support surface, a mounting slot, a linear speed slide, a rotating recess, and a rotating boss.

9. A quadrupedal mechanical vehicle according to claim 8, characterized in that: The rotating leg joint module consists of a back cover, a T-shaped housing, a joint motor, a positioning mounting plate, a concave ring, a mounting clip, a convex ring, and a zero-position slot.

10. A quadrupedal mechanical vehicle according to any one of claims 6-9, characterized in that: The walking leg module consists of walking wheels, connecting flanges, leg shell, motor base, leg mounting plate, DD motor, and leg inner shell.

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