A quadruped robot and a spine-leg coupling drive method

Abstract

The present invention provides a quadruped robot and a spine-leg-foot coupled driving method, which relates to the technical field of bionic robots. It includes an active spine and two limbs. The two limbs are the front limb and the hind limb respectively. The two limbs are respectively arranged at both ends of the active spine in a manner that can pitch and can telescopically extend along the front-back direction. The active spine can drive the limbs to pitch and extend. The spine-leg-foot coupled driving method simulates the spine pitching, contraction and leg energy storage and release states of quadruped animals when running by coupling and controlling the swinging state of the swinging output member, the telescopic state of the limbs and the energy storage and release state of the elastic legs. The solution provided by the present invention can more realistically simulate the running posture of quadruped animals to improve the moving speed and energy efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic robots, and particularly to a quadruped robot and a spine-leg-foot coupled driving method. Background Art

[0002] Quadruped robots can flexibly plan the foothold support points by themselves, and they can provide better environmental adaptability compared with wheeled or tracked robots. Therefore, they are widely used in fields such as field exploration and inspection of complex scenes.

[0003] Quadruped animals in nature have excellent running and jumping abilities, which are attributed to the coordinated matching of the whole body muscles and skeletal joints during movement, especially the dynamic coordinated matching of the spine and legs. However, the spines of existing quadruped robots are usually rigid spines or passive spines, and do not simultaneously possess the two basic movements of the animal spine, namely pitching and contraction / extension. This causes problems such as movement stiffness and reduced flexibility in the actual operation of quadruped robots due to the lack of active spine movement, thereby restricting the improvement of key indicators such as the movement speed and energy efficiency of quadruped robots.

[0004] An existing active spine is a multi-joint spine and a spine-type quadruped robot invented by Harbin Institute of Technology (CN109940586A). This invention discloses a multi-joint spine, including a first spine bone, a second spine bone, and a third spine bone that are sequentially hinged. The first spine bone and the third spine bone are respectively used to install the lower limbs of the robot. The first spine bone is connected with a first driving unit for driving it to rotate around the hinge axis, and the third spine bone is connected with a second driving unit for driving it to rotate around the hinge axis. The first driving unit and the second driving unit are respectively installed on the second spine bone;

[0005] However, it only has the pitching function. When quadruped animals jump, the spine will stretch and contract, and this problem has not been disclosed in the prior art. Based on this, a new solution is urgently needed to solve the above problems. Summary of the Invention

[0006] The purpose of the present invention is to provide a quadruped robot and a spine-leg-foot coupled driving method to solve the problems existing in the above-mentioned prior art, more realistically simulate the running posture of quadruped animals, and improve the moving speed and energy efficiency.

[0007] To achieve the above purpose, the present invention provides the following solutions:

[0008] The present invention provides a quadruped robot, including an active spine and two limbs. The two limbs are respectively a front limb and a rear limb. The two limbs are respectively capable of pitching and being telescopically arranged along the front-rear direction at both ends of the active spine, and the active spine can drive the limbs to pitch and telescope.

[0009] Preferably, the active spine includes a spine mounting frame, two swing output members, and a pitch drive motor. The two swing output members can be mounted on the front and rear ends of the spine mounting frame in a pitchable manner. The limb is movably arranged on the swing output member in a direction away from and close to the swing output member. The pitch drive motor is fixedly arranged in the spine mounting frame and can drive the swing output member to pitch. The swing output member can drive the limb to pitch.

[0010] Preferably, the middle part of the swing output member is hinged to the spine mounting frame to form a fixed rotating pair. A sliding groove is arranged on the spine mounting frame. The swing output member forms a movable rotating pair with the sliding groove through a sliding shaft. When the sliding shaft moves to the end of the sliding groove, it is the limit angle of the swing output member to pitch. The pitch drive motor can drive the sliding shaft to move in the sliding groove to realize the pitching of the swing output member.

[0011] Preferably, a spine drive wheel is fixedly arranged on the output shaft of the pitch drive motor. An installation part is eccentrically arranged on the spine drive wheel. The pitch drive motor drives the two swing output members to perform pitching movements through a first multi-link mechanism and a second multi-link mechanism respectively. One ends of the first multi-link mechanism and the second multi-link mechanism are both fixedly connected to the installation part, and the other ends are respectively hinged to the two sliding shafts. The first multi-link mechanism and the second multi-link mechanism are centrosymmetric about a point. The pitch drive motor drives the spine drive wheel to rotate unidirectionally to realize the reciprocating swing of the swing output member. The first multi-link mechanism and the second multi-link mechanism are two-link mechanisms. The two links in the two-link mechanism are connected by a three-bar connecting shaft. A crank rod is also hinged on the three-bar connecting shaft. One end of the crank rod away from the three-bar connecting shaft is hinged to the spine mounting frame.

[0012] Preferably, the structure of the spine mounting frame is symmetric about a first plane. The first plane is the central plane in the width direction of the spine mounting frame. The pitch drive motor is a double-shaft drive motor. The pitch drive motor is mounted in the middle of the spine mounting frame, and the two output shafts are respectively fixedly connected to the spine drive wheels on both sides of the spine mounting frame.

[0013] Preferably, the active spine further comprises two telescopic drive motors, the two telescopic drive motors respectively corresponding to two limbs, the telescopic drive motors are fixedly arranged on the swing output member or the end of the spine mounting frame, the limb is provided with a threaded hole, the output shaft of the telescopic drive motor is connected with a screw rod, the screw rod is threadedly connected to the threaded hole, and the telescopic drive motor drives the screw rod to rotate in different directions to achieve the telescopic extension of the limb;

[0014] When the telescopic drive motor is fixedly arranged at the end of the spine mounting frame, the output shaft of the telescopic drive motor is transmission-connected with the screw rod through a universal joint.

[0015] Preferably, a plurality of elastic legs are arranged under each of the limbs, and the active spine includes an elastic leg contraction driving device, which can drive the elastic legs to compress and store energy, and can end the compression state to allow the elastic legs to release energy to achieve bouncing.

[0016] Preferably, the elastic leg contraction drive device includes a pull rope, a winding drum and the screw rod, two pull ropes are wound around the winding drum, the two pull ropes correspond to the two elastic legs, the free ends of the pull ropes are fixedly connected to the ends of the elastic legs, the winding drum is coaxially installed at the end of the screw rod, and the telescopic drive motor drives the screw rod to rotate, driving the winding drum to rotate forward and reversely, and a guide pulley is provided on the limb to guide the pull rope.

[0017] Preferably, the limb includes a limb mounting frame, two elastic leg swing drive motors, two driving cranks and two elastic leg rotating shafts, the limb mounting frame is provided with two slideways, the swing output member is provided with two columnar sliding columns, the sliding columns and the slideways form a moving pair, the two elastic leg swing drive motors are arranged on both sides inside the limb mounting frame, a working space for a winding drum is reserved between the two elastic leg swing drive motors, the elastic leg rotating shaft is fixedly mounted on the lower side of the limb mounting frame, the elastic leg is rotatably connected to the elastic leg rotating shaft, the output shaft of the elastic leg swing driving motor is fixedly connected to the first end of the driving crank, the protruding cylinder at the second end of the driving crank forms a moving rotating pair with the slide groove on the upper side of the elastic leg, and the unidirectional rotation of the driving crank can make the elastic leg perform periodic reciprocating rotation around the elastic leg rotating shaft.

[0018] The present invention also provides a spine-leg-foot coupling driving method for the quadruped robot as described above, comprising:

[0019] A plurality of elastic legs are arranged below each of the limbs in the quadruped robot. The active spine includes an elastic leg contraction driving device, which can drive the elastic legs to compress and store energy, and can end the contraction state to enable the elastic legs to release energy and achieve bouncing.

[0020] By coupling and controlling the swinging state of the swinging output member, the telescopic state of the limb, and the energy storage and release state of the elastic leg, the pitching, contraction of the spine and the energy storage and release state of the legs when a quadruped animal runs are simulated.

[0021] The present invention has achieved the following technical effects compared with the prior art:

[0022] The spine of the quadruped robot provided by the present invention can pitch and telescopic to more realistically simulate the running posture of a quadruped animal, thereby improving the moving speed and energy efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0024] Figure 1 It is a schematic structural diagram of the quadruped robot provided in Embodiment 1;

[0025] Figure 2 For Figure 1 front view;

[0026] Figure 3 It is a schematic structural diagram of a three-degree-of-freedom active spine;

[0027] Figure 4 It is a schematic structural diagram of a spine mounting bracket;

[0028] Figure 5 It is a schematic structural diagram of a hind limb;

[0029] Figure 6 For Figure 5 front view;

[0030] Figure 7 It is a schematic structural diagram of a limb mounting bracket;

[0031] Figure 8 For Figure 7 view in another direction;

[0032] Figure 9 It is a schematic structural diagram of the arrangement of the pull rope and the pulley;

[0033] Figure 10 Schematic diagram of the elastic leg mounting structure;

[0034] Figure 11 For the motion states of the spine and legs within one gait cycle;

[0035] In the figure: 1 - Active spine; 2 - Front limb; 3 - Rear limb, 101 - Spine mounting bracket, 102 - Spine drive wheel; 103 - Drive rod; 104 - Crank rod; 105 - Three - rod connecting shaft; 106 - Connecting rod; 107 - Sliding shaft; 108 - Short rod; 109 - Short - rod shaft; 110 - Universal joint; 111 - Swing output member; 112 - Lead screw; 113 - Reel; 114 - Crank - rod shaft; 201 - Limb mounting bracket; 202 - Drive crank; 203 - Elastic leg; 204 - Lead - screw nut; 205 - Elastic - leg rotating shaft; 206 - Slideway; 207 - Guide pulley; 212 - Right - hand pull rope; 213 - Left - hand pull rope. Specific implementation manner

[0036] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0037] The purpose of the present invention is to provide a quadruped robot and a spine - leg - foot coupled drive method to solve the problems existing in the above - mentioned prior art, more realistically simulate the running posture of quadruped animals, and improve the moving speed and energy efficiency.

[0038] To make the above - mentioned objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0039] Embodiment 1

[0040] This embodiment provides a quadruped robot, as Figures 1 to 3 shown, including: an active spine 1 and two limbs. The two limbs are respectively a front limb 2 and a rear limb 3. The two limbs are respectively capable of pitching and telescoping along the front - rear direction and are arranged at both ends of the active spine 1. The active spine 1 can drive the limbs to pitch and telescope.

[0041] The active spine 1 therein includes a spine mounting bracket 101, two swing output members 111, and a pitching drive motor. The two swing output members 111 can be mounted at the front and rear ends of the spine mounting bracket 101 in a pitching manner. Limbs are movably arranged on the swing output members 111 along directions away from and close to the swing output members 111. The pitching drive motor is fixedly arranged inside the spine mounting bracket 101 and can drive the swing output members 111 to pitch, and the swing output members 111 can drive the limbs to pitch.

[0042] Specifically, in order to achieve the pitching of the swing output member 111, the middle part of the swing output member 111 is hinged to the spine mounting bracket 101 to form a fixed rotating pair. A chute is provided on the spine mounting bracket 101. The swing output member 111 forms a movable rotating pair with the chute through the sliding shaft 107. When the sliding shaft 107 moves to the end of the chute, it is the limit angle of the pitching of the swing output member 111. The swing output member 111 can drive the limb to pitch relative to the spine mounting bracket 101. The active spine 1 includes a pitching drive motor. The pitching drive motor is fixed to the middle of the spine mounting bracket 101. The pitching drive motor drives the sliding shaft 107 to move in the chute through a multi-link mechanism to achieve the pitching of the swing output member 111. A spine drive wheel 102 is fixedly provided on the output shaft of the pitching drive motor. An installation part is eccentrically provided on the spine drive wheel 102. The pitching drive motor drives the two swing output members 111 to perform pitching movements through the first multi-link mechanism and the second multi-link mechanism respectively. One ends of the first multi-link mechanism and the second multi-link mechanism are fixedly connected to the installation part, and the other ends are respectively hinged to the two sliding shafts 107. The first multi-link mechanism and the second multi-link mechanism are centrosymmetric about a point. The multi-link mechanism is a two-link mechanism. The two links in the two-link mechanism are connected by a three-bar connecting shaft 105. A crank rod 104 is also hinged on the three-bar connecting shaft 105. The end of the crank rod 104 far from the three-bar connecting shaft 105 is hinged to the spine mounting bracket 101. The two-link mechanism includes a driving rod 103 and a connecting rod 106. The first end of the driving rod 103 is fixedly connected to the installation part on the spine drive wheel 102. The second end of the driving rod 103 is connected to the first end of the crank rod 104 and the first end of the connecting rod 106 through the three-bar connecting shaft 105 to form a movable rotating pair. The driving rod 103, the crank rod 104 and the connecting rod 106 can rotate relative to the three-bar connecting shaft 105. The second end of the crank rod 104 is connected to the spine mounting bracket 101 through the crank rod shaft 114 to form a fixed-axis rotating pair. The second end of the connecting rod 106 is connected to the sliding shaft 107 to form a movable rotating pair. The sliding shaft 107 moves linearly in the chute provided at the end of the spine mounting bracket 101. The first end of the short rod 108 is connected to the sliding shaft 107 to form a movable rotating pair. The second end of the short rod 108 is connected to the first end of the swing output member 111 through the short rod shaft 109 to form a movable rotating pair. The second end of the swing output member 111 forms a fixed rotating pair with the spine mounting bracket 101. The axis of the rotating pair formed by the swing output member 111 and the spine mounting bracket 101 is in the central plane of the spine mounting bracket 101.

[0043] As Figure 3 and 4 shown, the link systems on the upper and lower sides of the entire spine mounting bracket 101 are arranged in a centrosymmetric manner. By optimizing the rod lengths, the swing output members 111 on both sides can output symmetric rotation angles with the one-way rotation of the spine drive wheel 102, realizing complex reciprocating swings with a simple drive structure.

[0044] The two limbs are respectively telescopically arranged on the two swing output members 111, and the active spine 1 can drive the limbs to telescope in the direction away from and close to the swing output members 111. Specifically, the active spine 1 also includes two telescopic drive motors, which correspond to the two limbs respectively. The telescopic drive motors are fixedly arranged on the swing output members 111 or the ends of the spine mounting frame 101, and the limbs are slidably connected to the swing output members 111. The limbs are provided with threaded holes, and the output shafts of the telescopic drive motors are connected with screw rods 112, which are threadedly connected to the threaded holes. The telescopic drive motors drive the screw rods 112 to rotate in different directions to achieve telescopic movement of the limbs; the threaded holes are formed by the inner holes of the screw rod nuts 204 fixedly arranged on the limb mounting frame 201.

[0045] When the telescopic drive motor is fixedly arranged at the end of the spine mounting frame 101 , the output shaft of the telescopic drive motor is transmission-connected with the screw rod 112 through a universal joint 110 , and the screw rod 112 passes through a circular hole arranged at the center of the swing output member 111 .

[0046] The structure of the spine mounting frame 101 is symmetrical about the first plane, which is the central plane in the width direction of the spine mounting frame 101, that is, transmission systems are arranged on both sides of the width direction of the spine mounting frame 101 for smooth transmission, and the width direction of the spine mounting frame is perpendicular to the moving direction of the quadruped robot.

[0047] The spine of the quadruped robot provided in this embodiment can pitch, extend and retract to more realistically simulate the running posture of a quadruped animal, thereby improving movement speed and energy efficiency.

[0048] In some embodiments, the pitch drive motor is a dual-axis drive motor, which is arranged at the center of the spine mounting frame 101, and the output shafts on both sides are fixedly connected to the spine drive wheels 102 on both sides to output torque synchronously.

[0049] In some embodiments, such as Figures 5 to 10As shown, a plurality of elastic legs 203 are provided below each limb, preferably two. The active spine 1 includes an elastic leg contraction driving device. The elastic leg contraction driving device includes a pull rope, a winding drum 113, and a lead screw 112. Two strands of pull ropes are wound around the winding drum 113, namely a left pull rope 213 and a right pull rope 212. The two strands of pull ropes correspond to the two elastic legs 203. The free end of the pull rope is fixedly connected to the end of the elastic leg 203. The winding drum 113 is coaxially installed at the end of the lead screw 112. When the telescopic driving motor drives the lead screw 112 to rotate, it drives the winding drum 113 to rotate forward and backward. A guiding pulley 207 is provided on the limb to guide the pull rope. When the driving motor of the winding drum 113 drives the pull rope to wind around the winding drum 113, the elastic leg 203 is compressed to store energy. When the driving motor of the winding drum 113 rotates in the reverse direction, the elastic leg 203 releases energy to achieve a bounce.

[0050] In the quadruped robot provided in this embodiment, the winding drum 113 is controlled by the lead screw 112 to wind and unwind. As Figure 11 shown, when the front limb 2 is in the contracted state, the elastic leg 203 is in the released state. When the front limb 2 is in the extended state, the elastic leg 203 is in the compressed energy storage state; when the hind limb 3 is in the contracted state, the elastic leg 203 is in the compressed energy storage state. When the hind limb 3 is in the extended state, the elastic leg 203 is in the released state. The spine movement and the leg and foot movement associate their originally independent movements with a limited drive and produce a movement superposition effect, solving the problems of the traditional quadruped robot such as stiffness in walking and running, slow moving speed, and low energy efficiency caused by the rigid torso.

[0051] In other embodiments, an independent motor can also be used to drive the winding drum 113 to wind and unwind.

[0052] The limb includes a limb mounting frame 201, two elastic leg swing driving motors, two driving cranks 202, and two elastic leg rotating shafts 205. The limb mounting frame 201 is as Figure 7 and Figure 8 shown. Two slideways 206 are provided on the limb mounting frame 201. Two columnar sliding columns are provided on the swing output member 111. The sliding columns and the slideways 206 form a moving pair. The two elastic leg swing driving motors are arranged on both sides inside the limb mounting frame 201. A working space for the winding drum 113 is left between the two elastic leg swing driving motors. The elastic leg rotating shaft 205 is fixedly installed on the lower side of the limb mounting frame 201. The elastic leg 203 is rotatably connected to the elastic leg rotating shaft 205. The output shaft of the elastic leg swing driving motor is fixedly connected to the first end of the driving crank 202. The protruding cylinder at the second end of the driving crank 202 forms a moving and rotating pair with the chute on the upper side of the elastic leg 203. When the driving crank 202 rotates unidirectionally, the elastic leg 203 can be made to rotate periodically and reciprocally around the elastic leg rotating shaft 205.

[0053] This embodiment can achieve independent swinging of the elastic legs 203 to imitate the swinging of the legs of a quadruped when jumping.

[0054] Embodiment 2

[0055] This embodiment provides a spine-leg-foot coupling driving method of a quadruped robot as described in Embodiment 1, comprising:

[0056] A plurality of elastic legs 203 are arranged under each limb of the quadruped robot, and the driving device includes an elastic leg contraction driving device, which can drive the elastic legs 203 to compress and store energy, and can end the contraction state to release energy of the elastic legs 203 to achieve jumping;

[0057] By coupling and controlling the swing state of the swing output member 111, the extension and retraction state of the limbs and the energy storage and release state of the elastic legs 203, the pitch and contraction of the spine and the energy storage and release state of the legs when a quadruped animal is running are simulated.

[0058] Specifically, when the spine driving wheel 102 rotates unidirectionally, the swing output members 111 on both sides drive the forelimbs 2 and hindlimbs 3 to swing symmetrically periodically, which simulates the dynamic pitch of the spine when the animal is running. The motors located on both sides of the spine mounting frame can independently output torque to the universal joint 110 and then drive the screw 112 to achieve the displacement of the forelimbs 2 and hindlimbs 3 relative to the swing output member 111, which simulates the dynamic contraction and extension of the spine when the animal is running. When the robot runs with a jumping gait, the elastic legs 203 of the forelimbs 2 maintain phase consistency, and the elastic legs 203 of the hindlimbs 3 maintain phase consistency. The forelimbs 2 and hindlimbs 3 touch the ground successively in one gait cycle. The movement states of the spine and legs in one gait cycle are as shown in FIG. Figure 11 shown.

[0059] Figure 11 , from left to right are state ①, state ②, state ③, and state ④.

[0060] In state ①, the swing angle of the swing output member 111 is controlled so that the elastic legs 203 gather inward, and the forelimbs 2 and hind limbs 3 shrink close to the spine. At this time, the elastic legs 203 of the forelimbs 2 are in a released state, and the elastic legs 203 of the hind limbs 3 are in a compressed state.

[0061] In state ②, the swing output member 111 is controlled to swing so that the elastic leg 203 expands outward, and the forelimb 2 contracts to the side of the spine. The screw rod 112 in the hind limb 3 rotates so that the hind limb 3 and the spine mounting frame produce relative displacement, and at the same time, the pull rope of the hind limb 3 elastic leg 203 is separated from the reel 113, and the hind limb 3 elastic leg 203 is converted from the tightened state to the released state, and the displacement of the hind limb 3 caused by the screw rod 112 is superimposed to produce a ground-pushing effect, and the robot jumps forward. At this time, the forelimb 2 elastic leg 203 is in the released state.

[0062] In state ③, the robot ends the airborne phase, and the front limb 2 begins to touch the ground. The lead screw 112 inside the front limb 2 rotates, causing the front limb 2 to move closer to the spinal side while causing the drawstring of the elastic leg 203 of the front limb 2 to be wound on the winding drum 113. The elastic leg 203 of the front limb 2 is converted from the released state to the tightened state. At this time, the elastic leg 203 of the hind limb 3 is in the released state.

[0063] In state ④, the swing angle is controlled to cause the elastic leg 203 to contract inward. The lead screw 112 inside the front limb 2 rotates, causing the front limb 2 and the spinal mounting frame to move towards each other while causing the drawstring of the elastic leg 203 of the front limb 2 to disengage from the winding drum 113. The front elastic leg 203 is converted from the tightened state to the released state and acts jointly with the displacement of the front limb 2 generated by the lead screw 112 to produce a pushing effect on the ground, and the robot jumps forward. At this time, the elastic leg 203 of the hind limb 3 is in the released state. Thus, a gait cycle is completed.

[0064] In the present invention, specific examples are used to illustrate the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A quadruped robot, characterized in that: It includes an active spine and two limbs. The two limbs are the front limb and the rear limb respectively. The two limbs can be pitched and are telescopically arranged at both ends of the active spine along the front-rear direction. The active spine can drive the limbs to pitch and telescopic; the active spine includes two telescopic drive motors. The two telescopic drive motors correspond to the two limbs respectively. Threaded holes are provided on the limbs. A lead screw is connected to the output shaft of the telescopic drive motor. The lead screw is threadedly connected to the threaded hole. The telescopic drive motor realizes the telescopic movement of the limb by driving the lead screw to rotate in different directions; a plurality of elastic legs are provided below each limb. The active spine includes an elastic leg contraction drive device. The elastic leg contraction drive device can drive the elastic legs to compress and store energy, and can end the compressed state to enable the elastic legs to release energy to achieve a bounce; the elastic leg contraction drive device includes a pull rope and a spool. Two strands of pull ropes are wound around the spool. The two strands of pull ropes correspond to the two elastic legs. The free end of the pull rope is fixedly connected to the end of the elastic leg. The spool is coaxially installed at the end of the lead screw. When the telescopic drive motor drives the lead screw to rotate, it drives the spool to rotate forward and backward. Guide pulleys are provided on the limb to guide the pull rope.

2. The quadruped robot according to claim 1, characterized in that: The active spine includes a spine mounting frame, two swing output members and a pitching drive motor. The two swing output members are pivotally mounted at the front and rear ends of the spine mounting frame. The limb is movably arranged on the swing output member along the direction away from and close to the swing output member. The pitching drive motor is fixedly arranged in the spine mounting frame and can drive the swing output member to pitch. The swing output member can drive the limb to pitch.

3. The quadruped robot according to claim 2, wherein: The middle part of the swing output member is hinged to the spine mounting frame to form a fixed rotating pair. A chute is provided on the spine mounting frame. The swing output member forms a movable rotating pair with the chute through a sliding shaft. When the sliding shaft moves to the end of the chute, it is the limit angle of the swing output member to pitch. The pitching drive motor can drive the sliding shaft to move in the chute to realize the pitching of the swing output member.

4. The quadruped robot according to claim 3, wherein: A spinal drive wheel is fixedly arranged on the output shaft of the pitching drive motor. An installation part is eccentrically arranged on the spinal drive wheel. The pitching drive motor drives the two swing output parts to perform pitching motions respectively through a first multi-link mechanism and a second multi-link mechanism. One ends of the first multi-link mechanism and the second multi-link mechanism are fixedly connected to the installation part, and the other ends are respectively hinged to the two sliding shafts. The first multi-link mechanism and the second multi-link mechanism are centrosymmetric about a point. When the pitching drive motor drives the spinal drive wheel to rotate unidirectionally, the reciprocating swing of the swing output part is realized. The first multi-link mechanism and the second multi-link mechanism are two-link mechanisms. In the two-link mechanism, the two links are connected by a three-bar connecting shaft, and a crank rod is also hinged to the three-bar connecting shaft. One end of the crank rod far away from the three-bar connecting shaft is hinged to the spinal mounting bracket.

5. The quadruped robot according to claim 4, wherein: The structure of the spinal mounting bracket is symmetric about a first plane. The first plane is the central plane in the width direction of the spinal mounting bracket. The pitching drive motor is a double-shaft drive motor. The pitching drive motor is installed in the middle of the spinal mounting bracket, and the two output shafts are respectively fixedly connected to the spinal drive wheels on both sides of the spinal mounting bracket.

6. The quadruped robot according to claim 3, wherein: The telescopic drive motor is fixedly arranged on the swing output part or the end of the spinal mounting bracket. When the telescopic drive motor is fixedly arranged at the end of the spinal mounting bracket, the output shaft of the telescopic drive motor is in transmission connection with the lead screw through a universal joint.

7. The quadruped robot according to claim 6, characterized in that: The limb includes a limb mounting bracket, two elastic leg swing drive motors, two drive cranks and two elastic leg rotating shafts. Two sliding grooves are arranged on the limb mounting bracket. Two columnar sliding columns are arranged on the swing output part. The sliding columns and the sliding grooves form a moving pair. The two elastic leg swing drive motors are arranged on both sides inside the limb mounting bracket. A working space for a wire reel is left between the two elastic leg swing drive motors. The elastic leg rotating shafts are fixedly installed on the lower side of the limb mounting bracket. The elastic legs are rotatably connected to the elastic leg rotating shafts. The output shafts of the elastic leg swing drive motors are fixedly connected to the first ends of the drive cranks. The protruding cylinders at the second ends of the drive cranks form a moving and rotating pair with the sliding grooves on the upper sides of the elastic legs. The unidirectional rotation of the drive cranks can make the elastic legs perform periodic reciprocating rotation around the elastic leg rotating shafts.

8. A spinal-leg-foot coupling drive method for the quadruped robot according to any one of claims 2 to 7, characterized in that: Including: In the quadruped robot, a plurality of elastic legs are arranged below each limb. The active spine includes an elastic leg contraction drive device. The elastic leg contraction drive device can drive the elastic legs to compress and store energy, and can end the contraction state to enable the elastic legs to release energy to realize bouncing. By coupling and controlling the swing state of the swing output part, the telescopic state of the limb and the energy storage and release state of the elastic legs, the pitching, contraction of the spine and the energy storage and release state of the legs when a quadruped animal runs are simulated.

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