A quadruped robot with trunk joints

Abstract

The invention discloses a quadruped robot with a trunk joint. The quadruped robot includes a flexible trunk and mechanical legs. The mechanical legs are arranged in four. The flexible trunk includes a hip component and a waist component. The hip components are arranged in two. Two mechanical legs are arranged on the hip component. The two ends of the waist component are respectively hinged with hip components. The waist component includes two waist cabin components. The two waist cabin components are hinged. The waist cabin component is hinged with the hip component. The axis direction of the relative rotation between the waist cabin component and the hip component and the axis direction of the relative rotation between the two waist cabin components are perpendicular to each other. The mechanical legs are installed on the hip component. The hip component is hinged to the waist cabin component. The two waist cabin components are hinged to each other so that the flexible trunk has three degrees of freedom, which can improve flexibility and improve the ability to cope with complex situations. The invention can be widely used in the field of robot technology.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a quadruped robot with trunk joints. Background Art

[0002] In recent years, robot technology has made great progress, especially legged robots. Compared with wheeled and tracked mobile robots, legged robots have significant flexibility, obstacle-crossing ability and environmental adaptability. Legged robots include bipedal, quadrupedal, hexapodal, octapodal, etc. Among them, quadrupedal robots have simple structures, good flexibility, load-bearing capacity and stability, and have good application prospects in disaster relief, exploration and surveying, entertainment and military.

[0003] At present, there are many research platforms for quadruped robots at home and abroad, and quadruped robot products have begun to appear on the market. However, the existing quadruped robots are clumsy, have few functions, and have limited working range, making them difficult to popularize and apply. One of the important reasons is that most quadruped robots have poor trunk flexibility, limited ability to deal with complex situations, and low efficiency in performing tasks. Summary of the invention

[0004] In order to solve at least one of the above technical problems, the present invention provides a quadruped robot with a trunk joint to improve the flexibility of the robot's movements. The technical solution adopted is as follows:

[0005] The quadruped robot with a trunk joint provided by the present invention includes a flexible trunk and mechanical legs, wherein the mechanical legs are arranged in four, the flexible trunk includes a hip component and a waist component, the hip components are arranged in two, two mechanical legs are arranged on the hip component, the hip components are hingedly arranged at both ends of the waist component, the waist component includes two waist cabin components, the two waist cabin components are hinged, the waist cabin component is hinged to the hip component, and the axis direction of the relative rotation between the waist cabin component and the hip component and the axis direction of the relative rotation between the two waist cabin components are perpendicular to each other.

[0006] In certain embodiments of the present invention, the flexible torso includes a fourth hinge assembly, the hip assembly is connected to the waist cabin assembly via the fourth hinge assembly, the fourth hinge assembly includes a fourth motor and two fourth connecting members, the fourth motor is arranged on the hip assembly, and the two fourth connecting members are respectively arranged on the waist cabin assembly, one of the fourth connecting members is installed on the output end of the fourth motor, and the other fourth connecting member is connected to the hip assembly.

[0007] In certain embodiments of the present invention, the hip component includes a fourth connecting plate, which is used to be installed with the fourth connecting piece, the fourth connecting plate is provided with a fan-shaped area for rotation limiting, and the fourth connecting piece is provided with a fourth stop portion, and when relative rotation occurs between the hip component and the lumbar cabin component, the fourth stop portion swings in the fan-shaped area.

[0008] In certain embodiments of the present invention, the flexible torso includes a fifth hinge assembly, the two waist cabin assemblies are connected via the fifth hinge assembly, the fifth hinge assembly includes a fifth motor and two fifth connecting members, the two fifth connecting members are respectively installed on the two waist cabin assemblies, the fifth motor is installed on one of the fifth connecting members, and the other fifth connecting member is installed on the output end of the fifth motor.

[0009] In certain embodiments of the present invention, one of the fifth connecting members is provided with a rotation limiting area, and the other fifth connecting member is provided with a fifth stop portion, and when relative rotation occurs between the two lumbar cabin assemblies, the fifth stop portion swings in the rotation limiting area.

[0010] In some embodiments of the present invention, the mechanical leg comprises a first motor, and the mechanical leg is rotatably mounted on the hip assembly via the first motor.

[0011] In certain embodiments of the present invention, the mechanical leg includes a second motor, a thigh component, a calf component and a foot component, the second motor is installed at the output end of the first motor, the thigh component is installed at the output end of the second motor, and the calf component is rotatably connected to the thigh component.

[0012] In certain embodiments of the present invention, the mechanical leg includes a third motor, a driving wheel and a driven wheel. The third motor is installed on the thigh component, the driving wheel is installed at the output end of the third motor, the third motor drives the driven wheel through the driving wheel, and the driven wheel is used to drive the calf component to rotate.

[0013] In some embodiments of the present invention, the driving wheel is driven by the driven wheel through a synchronous belt.

[0014] In some embodiments of the present invention, a cushion component is provided on the surface of the foot end component.

[0015] The embodiments of the present invention have at least the following beneficial effects: in a quadruped robot, the mechanical legs are mounted on the hip assembly, the hip assembly is hingedly mounted with the waist cabin assembly, and the two waist cabin assemblies are hingedly mounted, so that the flexible trunk has three degrees of freedom, which can improve flexibility and the ability to cope with complex situations. The present invention can be widely used in the field of robotics. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0017] Figure 1 This is the structural diagram of the quadruped robot;

[0018] Figure 2 is a structural diagram of the flexible torso;

[0019] Figure 3 is a structural diagram of the hip component;

[0020] Figure 4 is a structural diagram of the hip component;

[0021] Figure 5 The figure is a structural diagram of the waist component;

[0022] Figure 6 is a structural diagram of a fifth hinge assembly;

[0023] Figure 7 This is a structural diagram of one of the waist cabin components;

[0024] Figure 8 is a structural diagram of another waist cabin assembly;

[0025] Fig. 9 This is a structural diagram of the mechanical leg. DETAILED DESCRIPTION

[0026] Combine the following Figures 1 to 9 Embodiments of the present invention are described in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0027] In the description of the present invention, it should be understood that if the terms "center", "middle", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. The features defined as "first" and "second" are used to distinguish the feature names, rather than having special meanings. In addition, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0028] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] The present invention relates to a quadruped robot with a trunk joint, the quadruped robot comprises a flexible trunk 2000, the flexible trunk 2000 comprises a hip component 2100 and a waist component, the hip component 2100 is provided with two, specifically, the two ends of the waist component are respectively hinged with hip components 2100, the hip component 2100 is used to install a mechanical leg 1000, the waist component comprises two waist cabin components 2201, the two waist cabin components 2201 are hinged to form a side swing joint, and the waist cabin component 2201 is hinged with the hip component 2100 to form a pitch joint. Further, the axis direction of the relative rotation between the waist cabin component 2201 and the hip component 2100 and the axis direction of the relative rotation between the two waist cabin components 2201 are perpendicular to each other, and the flexible trunk 2000 has three degrees of freedom, including two up and down bending pitch degrees of freedom and one left and right bending side swing degree of freedom.

[0030] In conjunction with the accompanying drawings, the quadruped robot includes a mechanical leg 1000, and the mechanical legs 1000 are arranged in four. Specifically, each hip assembly 2100 is provided with two mechanical legs 1000, and the four mechanical legs 1000 are symmetrically arranged on the flexible trunk 2000, two in front and two in the back. The quadruped robot has a simple and compact structure, a reasonable layout, good stability, is not prone to interference in movement, and is easy to produce in a standardized manner. In practical applications, any end of the two ends of the flexible trunk 2000 can be selected as the front end of the quadruped robot according to actual operations, and the front and rear ends can also be switched during movement. Any side of the upper and lower sides of the flexible trunk 2000 can be selected as the top of the quadruped robot, and the top and bottom of the flexible trunk 2000 can also be switched by flipping the mechanical legs 1000 during movement.

[0031] It is understandable that the flexible trunk 2000 is applied to the robot so that the trunk joints of the robot are flexible. Compared with the rigid trunk, the flexible trunk 2000 can achieve more postures, perform actions more flexibly, and complete more complex tasks; when passing through narrow and irregular spaces, the flexible trunk 2000 can adjust with the terrain, which is conducive to smooth passage; when climbing, the center of gravity of the robot can be adjusted by bending the flexible trunk 2000, so that the climbing stability of the robot is improved, and some steep stairs or slopes can be overcome; when the flexible trunk 2000 is impacted by external forces, the flexible trunk 2000 can play a certain buffering role to protect the internal components of the robot. In addition, when walking normally or doing complex actions, the flexible trunk 2000 can also play a shock-absorbing role.

[0032] Further, the mechanical leg 1000 is rotatably mounted on the hip assembly 2100. Specifically, the mechanical leg 1000 includes a first motor 1001, and the mechanical leg 1000 is rotatably mounted on the hip assembly 2100 through the first motor 1001. The housing of the first motor 1001 is mounted on the hip assembly 2100, and the output end of the first motor 1001 is used to drive the mechanical leg 1000 to rotate. It can be understood that in order to achieve the flipping of the mechanical leg 1000 so that the top and bottom of the flexible trunk 2000 are switched, the first motor 1001 should be installed at the end or left and right sides of the hip assembly 2100.

[0033] In conjunction with the accompanying drawings, the mechanical leg 1000 includes a second motor 1002 and a thigh component 1003. The second motor 1002 is installed at the output end of the first motor 1001, and the thigh component 1003 is installed at the output end of the second motor 1002. The second motor 1002 drives the thigh component 1003 to swing. Furthermore, the rotation axis of the output end of the second motor 1002 and the rotation axis of the output end of the first motor 1001 are perpendicular to each other.

[0034] The mechanical leg 1000 includes a calf component 1004, and the calf component 1004 is rotatably connected to the thigh component 1003. In conjunction with the accompanying drawings, the mechanical leg 1000 includes a third motor 1006, a driving wheel, and a driven wheel 1007. The third motor 1006 is installed on the thigh component 1003, and the driving wheel is installed at the output end of the third motor 1006. The third motor 1006 drives the driven wheel 1007 through the driving wheel, and the driven wheel 1007 is used to drive the calf component 1004 to rotate. Specifically, the driven wheel 1007 is rotatably installed on the thigh component 1003, and the calf component 1004 is installed on the rotating shaft where the driven wheel 1007 is located, or the calf component 1004 and the driven wheel 1007 are fixedly connected.

[0035] In conjunction with the accompanying drawings, the third motor 1006 is disposed at one end of the thigh component 1003, the driven wheel 1007 is disposed at the other end of the third motor 1006, and the driving wheel is driven by the driven wheel 1007 through a synchronous belt. Of course, as an alternative, the transmission between the driving wheel and the driven wheel 1007 can also be designed as a gear meshing transmission, a chain transmission, a belt transmission, a gear rack meshing transmission, etc. In some examples, the third motor 1006 can also be disposed in the middle of the thigh component 1003.

[0036] The mechanical leg 1000 includes a foot end component 1005, which is arranged on the calf component 1004. Furthermore, a cushion component is arranged on the surface of the foot end component 1005. Specifically, the foot end is provided with an arc-shaped end surface for contacting the ground, and the cushion component covers the arc-shaped end surface to reduce shock and increase friction. The cushion component is arranged as a rubber cushion.

[0037] It can be understood that each mechanical leg 1000 has three degrees of freedom, the thigh part 1003 has two degrees of freedom in rotation relative to the flexible trunk 2000, and the calf part 1004 has one degree of freedom in rotation relative to the thigh part 1003. The quadruped robot moves with the help of the flexible trunk 2000 with three degrees of freedom and four mechanical legs 1000 with three degrees of freedom, and realizes omnidirectional walking on the ground with the help of the swing of the four mechanical legs 1000, and has a certain passability on complex terrain. The flexible trunk 2000 enables the quadruped robot to have better movement flexibility and adaptability, and can complete complex tasks and improve completion efficiency.

[0038] The flexible trunk 2000 includes a fifth hinge assembly, specifically, the two waist cabin assemblies 2201 are connected by the fifth hinge assembly. In conjunction with the accompanying drawings, the fifth hinge assembly includes a fifth motor 2202 and two fifth connectors 2203, the two fifth connectors 2203 are respectively installed with the two waist cabin assemblies 2201, the fifth motor 2202 is installed on one of the fifth connectors 2203, and the other fifth connector 2203 is installed with the output end of the fifth motor 2202, and the fifth motor 2202 drives the two fifth connectors 2203 to rotate relative to each other, so that the two waist cabin assemblies 2201 rotate relative to each other. Specifically, the fifth connector 2203 is set as a mounting plate, so that the waist cabin assembly 2201 is stably mounted on the fifth connector 2203, ensuring that the two waist cabin assemblies 2201 rotate relative to each other stably.

[0039] Further, one of the fifth connecting members 2203 is provided with a rotation limiting region, which is set as a concave structure on the fifth connecting member 2203, and the other fifth connecting member 2203 is provided with a fifth stopper 2204, which is set as an extended end on the fifth connecting member 2203. When the two waist cabin components 2201 rotate relative to each other, the fifth stopper 2204 swings in the rotation limiting region. It can be understood that the side of the rotation limiting region is used to resist the swinging fifth stopper 2204 to limit the relative rotation range of the two waist cabin components 2201.

[0040] Specifically, one of the fifth connecting members 2203 is provided with two fifth extending ends in the same direction, and the area between the two fifth extending ends constitutes a rotation limiting area. The shell of the fifth motor 2202 is installed with the two fifth extending ends, the fifth stop portion 2204 is located between the two fifth extending ends, and the fifth stop portion 2204 is installed at the output end of the fifth motor 2202. Therefore, when the fifth motor 2202 is working, the end of the fifth extending end is used to resist the fifth stop portion 2204, and the ends of the two fifth extending ends limit the rotation range of the two waist cabin assemblies 2201.

[0041] The flexible trunk 2000 includes a traction hinge assembly, which is installed between the two waist cabin assemblies 2201. The traction hinge assembly plays a role in reinforcing and constraining the hinge between the two waist cabin assemblies 2201. In conjunction with the drawings, the traction hinge assembly includes a fifth installation shaft and two traction hinge components 2208, the two traction hinge components 2208 are respectively installed with the two waist cabin assemblies 2201, and the two traction hinge components 2208 are respectively rotatably installed on the fifth installation shaft, and the fifth installation shaft is installed with the output end of the fifth motor 2202.

[0042] With reference to the accompanying drawings, the waist cabin assembly 2201 includes a cabin component, which is installed with the fifth connecting member 2203, and the cabin component includes a hinge seat, and the traction hinge component 2208 is arranged on the hinge seat.

[0043] The flexible trunk 2000 includes a fourth hinge assembly, specifically, the hip assembly 2100 is connected to the waist cabin assembly 2201 through a fourth hinge assembly. In conjunction with the drawings, the fourth hinge assembly includes a fourth motor 2101 and two fourth connecting members 2102, the fourth motor 2101 is arranged on the hip assembly 2100, and the two fourth connecting members 2102 are respectively arranged on the waist cabin assembly 2201, specifically, the two fourth connecting members 2102 are respectively arranged on opposite sides of the cabin component, and the hip assembly 2100 includes two fourth connecting arms arranged in the same direction, and the area between the two fourth connecting arms is used to install the cabin component.

[0044] One of the fourth connecting members 2102 is installed with the output end of the fourth motor 2101, and the fourth connecting member 2102 is fastened with the output end of the fourth motor 2101 by screws or bolts, serving as the power input end for the rotation of the hip component 2100 and the waist cabin component 2201. The other fourth connecting member 2102 is connected to the hip component 2100, serving as the fulcrum for the rotation of the hip component 2100 and the waist cabin component 2201. Specifically, the fourth motor 2101 is installed in one of the fourth connecting arms, and a rolling bearing for installing the fourth connecting member 2102 is provided in the other fourth connecting arm.

[0045] Further, the hip assembly 2100 includes a fourth connecting plate 2104, two of which are provided, and the fourth connecting plate 2104 is used to be configured and installed with the fourth connecting member 2102, and the fourth connecting plate 2104 is provided on the fourth connecting arm. In conjunction with the accompanying drawings, the fourth connecting plate 2104 is provided with a fan-shaped area for rotation limiting, and the fan-shaped area is provided as a concave structure on the fourth connecting plate 2104, and the fourth connecting member 2102 is provided with a fourth stopper 2103, and the fourth stopper 2103 is provided as an extended end on the fourth connecting member 2102. When the hip assembly 2100 and the waist cabin assembly 2201 rotate relative to each other, the fourth stopper 2103 swings in the fan-shaped area. In the actual structure, the fan-shaped area can be provided on one of the fourth connecting plates 2104, or the fan-shaped area can be provided on both of the fourth connecting plates 2104. It can be understood that the side wall of the fan-shaped area is used to abut against the fourth stop portion 2103 to limit the range of relative rotation between the hip component 2100 and the waist cabin component 2201.

[0046] Specifically, the fourth connecting plate 2104 is provided with a fourth through hole, the fourth connecting member 2102 passes through the fourth through hole, and the fan-shaped area is provided on the side wall of the fourth through hole, so that when the fourth connecting member 2102 rotates in the fourth through hole, the side wall of the fan-shaped area can abut against the fourth stopper 2103. Further, two fan-shaped areas are provided, and the two fan-shaped areas are provided at opposite positions on the side wall of the fourth through hole, and two fourth stoppers 2103 are provided, and the two fourth stoppers 2103 are provided at opposite positions on the outer circumference of the fourth connecting member 2102, so that the force is more stable and uniform when the rotation is limited.

[0047] In conjunction with the accompanying drawings, the cabin component is provided with two cabin spaces, one of which is used to set up embedded hardware and computing control components, and has sufficient capacity, and the other cabin space is used to set up batteries. Specifically, the two cabin spaces are respectively provided on opposite sides of the cabin component. It can be understood that the waist cabin component 2201 includes a cabin cover 2205 and a battery compartment cover 2206, and the cabin cover 2205 and the battery compartment cover 2206 are respectively provided on the two sides of the cabin component in an openable and closable manner.

[0048] After the hatch cover 2205 is closed, the circuit equipment and wires are wrapped in the cabin space, which plays a good role in storage and protection. The hatch cover 2205 is hingedly installed on the cabin component, and the hatch cover 2205 is set as a flip cover for easy opening and closing. Furthermore, the hatch cover 2205 is buckled with the cabin component by snapping, which is convenient for opening and closing, and easy to replace and maintain internal components. In conjunction with the accompanying drawings, the hatch cover 2205 is provided with a snap-fit ​​protrusion, and the cabin component is provided with a snap-fit ​​protrusion. After the hatch cover 2205 is closed, the snap-fit ​​protrusions at the two locations are locked with each other, so that the hatch cover 2205 is tightly buckled.

[0049] The battery compartment cover 2206 is hingedly mounted on the cabin component, and the battery compartment cover 2206 is set as a flip cover for easy opening and closing. Further, the battery compartment cover 2206 is buckled with the cabin component by means of a buckle, which is convenient for opening and closing. In conjunction with the accompanying drawings, the waist cabin component includes a slide buckle component 2207, which is movably arranged on the battery compartment cover 2206, and the slide buckle component 2207 is provided with a hook, and the cabin component is provided with a bayonet. After the battery compartment cover 2206 is closed, the slide buckle component 2207 is moved to connect the hook with the bayonet, so that the battery compartment cover 2206 is tightly buckled.

[0050] In the description of this specification, if the reference terms "one embodiment", "some examples", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" appear, it means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0051] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the technical field without departing from the purpose of the present invention.

Claims

1. A quadruped robot with a trunk joint, characterized in that: The invention comprises a flexible trunk (2000) and mechanical legs (1000), wherein the number of the mechanical legs (1000) is four, and the flexible trunk (2000) comprises A hip component (2100), wherein two hip components (2100) are provided, and two mechanical legs (1000) are provided on the hip component (2100); A waist component, wherein the hip components (2100) are respectively hingedly provided at both ends of the waist component, the waist component comprises two waist cabin components (2201), the two waist cabin components (2201) are hingedly connected, and the waist cabin component (2201) is hingedly connected to the hip component (2100); Wherein, the axis direction of the relative rotation between the waist cabin component (2201) and the hip component (2100) and the axis direction of the relative rotation between the two waist cabin components (2201) are perpendicular to each other; The flexible trunk (2000) comprises a fourth hinge assembly, the hip assembly (2100) is connected to the waist cabin assembly (2201) via the fourth hinge assembly, the fourth hinge assembly comprises a fourth motor (2101) and two fourth connecting members (2102), the fourth motor (2101) is arranged on the hip assembly (2100), the two fourth connecting members (2102) are respectively arranged on the waist cabin assembly (2201), one of the fourth connecting members (2102) is installed on the output end of the fourth motor (2101), and the other fourth connecting member (2102) is connected to the hip assembly (2100); The hip component (2100) comprises a fourth connecting plate (2104), the fourth connecting plate (2104) is used for being configured and installed with the fourth connecting member (2102), the fourth connecting plate (2104) is provided with a fan-shaped area for rotation limiting, the fourth connecting member (2102) is provided with a fourth stopper (2103), and when the hip component (2100) and the waist cabin component (2201) rotate relative to each other, the fourth stopper (2103) swings in the fan-shaped area; The flexible trunk (2000) comprises a fifth hinge assembly, the two waist cabin assemblies (2201) are connected via the fifth hinge assembly, the fifth hinge assembly comprises a fifth motor (2202) and two fifth connecting members (2203), the two fifth connecting members (2203) are respectively mounted on the two waist cabin assemblies (2201), the fifth motor (2202) is mounted on one of the fifth connecting members (2203), and the other fifth connecting member (2203) is mounted on the output end of the fifth motor (2202); One of the fifth connecting members (2203) is provided with a rotation limiting area, and the other fifth connecting member (2203) is provided with a fifth stopper (2204). When relative rotation occurs between the two waist cabin assemblies (2201), the fifth stopper (2204) swings in the rotation limiting area.

2. The quadruped robot with trunk joints according to claim 1, characterized in that: The mechanical leg (1000) comprises a first motor (1001), and the mechanical leg (1000) is rotatably mounted on the hip component (2100) via the first motor (1001).

3. The quadruped robot with trunk joints according to claim 2, characterized in that: The mechanical leg (1000) comprises a second motor (1002), a thigh component (1003), a calf component (1004) and a foot component (1005); the second motor (1002) is mounted on the output end of the first motor (1001); the thigh component (1003) is mounted on the output end of the second motor (1002); and the calf component (1004) is rotatably connected to the thigh component (1003).

4. The quadruped robot with trunk joints according to claim 3, characterized in that: The mechanical leg (1000) comprises a third motor (1006), a driving wheel and a driven wheel (1007); the third motor (1006) is mounted on the thigh component (1003); the driving wheel is mounted on the output end of the third motor (1006); the third motor (1006) drives the driven wheel (1007) via the driving wheel; and the driven wheel (1007) is used to drive the calf component (1004) to rotate.

5. The quadruped robot with trunk joints according to claim 4, characterized in that: The driving wheel is driven by the driven wheel (1007) via a synchronous belt.

6. The quadruped robot with trunk joints according to claim 3, characterized in that: The surface of the foot end component (1005) is provided with a cushion component.

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