Eight-degree-of-freedom parallel four-legged robot and control method thereof
By designing an eight-degree-of-freedom parallel quadruped robot and adopting a linked leg structure and buffer device, the problems of vibration and insufficient power of existing quadruped robots on complex terrain were solved, achieving efficient motion adaptability and stability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- BEIJING INST OF TECH ZHUHAI CAMPUS
- Filing Date
- 2023-09-12
- Publication Date
- 2026-07-31
AI Technical Summary
Existing quadruped robots are prone to vibration or insufficient power when moving on complex terrain, and their complex structure and heavy weight make it difficult to achieve flexible walking and jumping movements.
Design an eight-degree-of-freedom parallel quadruped robot, which adopts four leg structures on both sides of the body. Each leg structure consists of two power source components and a transmission component forming a linkage structure. A buffer device is set between the transmission components, and the compression and release of the elastic element is converted into mechanical energy to buffer vibration.
It improves the robot's adaptability and stability in complex terrain, reduces overall weight and debugging complexity, enhances robustness, and enables flexible walking and jumping movements.
Smart Images
Figure CN117022490B_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of robotics technology, specifically relating to an eight-degree-of-freedom parallel quadruped robot and its control method. Background Technology
[0002] Traditional wheeled or tracked robots struggle to navigate complex, unstructured terrain. In contrast, most animals in nature move on two or four legs and can move across almost any terrain. Legged mobile robots have great potential for mobility in any environment, as well as good maneuverability, stability on rough surfaces, and strong adaptability to terrain.
[0003] Quadruped robots have gained increasing attention from researchers worldwide due to their superior load-bearing capacity and stability compared to bipedal walking robots, while also possessing a simpler structure than hexapod or octagonal walking robots. Currently, the generally accepted quadruped robot is a 12-DOF (degrees of freedom) quadruped driven by hydraulic or high-torque motors. The hip, hip, and knee joints of the bionic legs are driven by these motors to determine the foot trajectory within the effective space, enabling gaits such as running and jumping. However, 12-DOF quadruped robots require more drive components, increasing the complexity of debugging and resulting in greater overall weight. Furthermore, existing quadruped robots employing parallel leg structures are prone to vibration during walking, running, or jumping on complex terrain, or experience insufficient power during excessive bumps. Excessive vibration can negatively impact the overall structure, while insufficient power makes running and jumping difficult. Summary of the Invention
[0004] The purpose of this invention is to provide an eight-degree-of-freedom parallel quadruped robot that can reduce the overall mass of the structure, improve the robustness of the structure, and provide shock absorption and propulsion when moving on complex terrain.
[0005] The following technical solutions are used to achieve the above objectives.
[0006] The first aspect of the present invention provides an eight-degree-of-freedom parallel quadruped robot, the eight-degree-of-freedom parallel quadruped robot comprising a body, a power supply, a connecting rod assembly and four leg structures; the power supply is disposed on the body;
[0007] The connecting rod assembly is connected to the fuselage and extends to the opposite sides of the fuselage; each of the leg structures is connected to the connecting rod assembly, and the four leg structures are evenly arranged in two groups on the opposite sides of the fuselage.
[0008] Each of the leg structures includes a first power source, a second power source, a first transmission assembly, a second transmission assembly, and a buffer device. The power source is electrically connected to the first power source and the second power source. The first power source drives the first transmission assembly to move, and the second power source drives the second transmission assembly to move. The first transmission assembly and the second transmission assembly form a linked leg structure. The opposite ends of the buffer device are respectively connected to the first transmission assembly and the second transmission assembly, and the buffer device can be compressed or released during the movement of the first transmission assembly and the second transmission assembly.
[0009] In some embodiments, the buffer device includes a guide and an elastic element, a first end and a second end of the elastic element being connected to the first transmission assembly and the second transmission assembly, respectively, the guide being movably connected to the elastic element, and the elastic element being compressed or released along the extension direction of the guide.
[0010] In some embodiments, the elastic element is a sleeve structure, and the elastic element is movably sleeved on the guide element. The first end of the guide element is connected to the first transmission assembly, and the second end protrudes from the second end of the elastic element.
[0011] In some embodiments, the first transmission assembly includes a first thigh member, a first joint connector, and a first calf member. The first thigh member is hinged to the first calf member via the first joint connector, and the output end of the first power source member is connected to the first thigh member.
[0012] The second transmission assembly includes a second thigh member, a second joint connector, and a second lower leg member. The second thigh member is hinged to the second lower leg member via the second joint connector. The first lower leg member and the second lower leg member are hinged via a movable joint. A roller is provided at the movable joint. The output end of the second power source member is connected to the second thigh member. The opposite ends of the buffer device are respectively connected to the first lower leg member and the second lower leg member.
[0013] In some embodiments, one end of the cushioning device is connected to the side of the first lower leg piece away from the first upper leg piece, and the other end is connected to the side of the second lower leg piece close to the second upper leg piece.
[0014] In some embodiments, the body includes a top plate, a bottom plate, and side baffles. The top plate and the bottom plate are arranged opposite to each other and are connected by the side baffles. The top plate, the bottom plate, and the side baffles are all hollow structures. The top plate has a placement position at its center, and the power supply is placed at the placement position.
[0015] In some embodiments, the top plate is provided with two handles, which are located on opposite sides of the placement position.
[0016] In some embodiments, the connecting rod group includes a first rod group and a second rod group, which are arranged parallel to each other along the vertical direction of the machine body. Both the first rod group and the second rod group include a main rod body and four side rod bodies connected to the main rod body. The main rod body is transversely inserted through the machine body, and the four side rod bodies are evenly arranged in two groups on opposite sides of the machine body. The four side rod bodies of the first rod group and the four side rod bodies of the second rod group are arranged in a one-to-one correspondence.
[0017] In some embodiments, both the first power source and the second power source include a rotary motor, a planetary reducer, and a housing.
[0018] The housing has a receiving space, the rotary motor is disposed within the receiving space, and the rotary motor is connected to the planetary reducer, the planetary reducer being partially disposed within the receiving space.
[0019] A second aspect of the present invention provides a control method for an eight-degree-of-freedom parallel quadruped robot, based on the eight-degree-of-freedom parallel quadruped robot described above, comprising the following steps:
[0020] According to the forward path, the first power source in the four leg structures on opposite sides of the body drives the first transmission component to move, and the second power source drives the second transmission component to move. The first transmission component and the second transmission component form a linked leg structure to drive the eight-degree-of-freedom parallel quadruped robot to move according to the forward path.
[0021] The technical solution provided by this invention has the following advantages and effects:
[0022] This eight-DOF parallel quadruped robot features four leg structures on opposite sides of its body. Each leg structure includes two power sources (a first power source and a second power source) and two transmission components (a first transmission component and a second transmission component). Each power source drives one transmission component, and the two transmission components form a linked leg structure. This four-leg structure creates an eight-DOF parallel quadruped robot. This design ensures flexibility and adaptability in walking and jumping, reduces the number of power sources, simplifies debugging, and reduces the overall weight of the robot, resulting in better robustness in practical applications. Furthermore, an elastic buffer device is placed between the first and second transmission components. This buffer device can compress or release during the interaction between the two components, converting elastic potential energy into mechanical energy, thus providing shock absorption and propulsion, and improving the robot's adaptability in complex terrain environments. Attached Figure Description
[0023] Figure 1 This is a schematic diagram of the overall structure of an eight-degree-of-freedom parallel quadruped robot according to an embodiment of the present invention;
[0024] Figure 2 yes Figure 1 A schematic diagram of the fuselage structure of an eight-DOF parallel quadruped robot;
[0025] Figure 3 yes Figure 1 A schematic diagram of the body and connecting rod assembly of an eight-DOF parallel quadruped robot;
[0026] Figure 4 yes Figure 1 A schematic diagram of the connecting rod assembly of an eight-degree-of-freedom parallel quadruped robot;
[0027] Figure 5 yes Figure 1 A schematic diagram of the overall structure of the leg structure of an eight-DOF parallel quadruped robot;
[0028] Figure 6 yes Figure 5 A top view of the leg structure;
[0029] Figure 7 yes Figure 5 A schematic diagram of the exploded structure of the cushioning device in the leg structure;
[0030] Figure 8 yes Figure 5 An exploded view of the transmission components of the leg structure;
[0031] Figure 9 yes Figure 5 An exploded view of the power source component of the leg structure.
[0032] Explanation of reference numerals in the attached figures:
[0033] 100. An eight-degree-of-freedom parallel quadruped robot;
[0034] 1. Leg structure; 11. First power source component; 111. Rotary motor; 112. Planetary reducer; 113. Housing; 114. First plate; 115. Second plate; 116. Connector; 12. Second power source component; 13. First leg connector; 14. Second leg connector; 21. First transmission assembly; 211. First thigh component; 212. First joint connector; 213. First lower leg component; 22. Second transmission assembly; 221. Second thigh component Components; 222, Second joint connector; 223, Second lower leg component; 23, Movable joint; 24, Roller; 3, Buffer device; 31, Guide component; 32, Elastic component; 33, Linear bearing; 34, Connecting seat; 341, Connecting plate; 342, Seat body; 4, Body; 41, Top plate; 42, Bottom plate; 43, Side baffle; 44, Handle; 5, Power supply; 6, Connecting rod assembly; 61, First rod assembly; 62, Second rod assembly; 63, Main rod body; 64, Side rod body. Detailed Implementation
[0035] To facilitate understanding of the present invention, specific embodiments of the present invention will be described in more detail below with reference to the accompanying drawings.
[0036] Unless otherwise specified or defined, the terms "first," "second," etc., used in this document are for distinguishing names only and do not represent a specific number or order.
[0037] Unless otherwise stated or defined, the term “and / or” as used herein includes any and all combinations of one or more of the associated listed items.
[0038] It should be noted that in this article, "fixed to" or "connected to" can mean directly fixed to or connected to a component, or indirectly fixed to or connected to a component.
[0039] This invention provides an eight-degree-of-freedom parallel quadruped robot 100, such as... Figures 1 to 9 As shown, the eight-degree-of-freedom parallel quadruped robot 100 includes a body 4, a power supply 5, a connecting rod assembly 6, and four leg structures 1; the power supply 5 is located on the body 4.
[0040] The connecting rod assembly 6 is connected to the fuselage 4 and extends to the opposite sides of the fuselage 4; each leg structure 1 is connected to the connecting rod assembly 6, and the four leg structures 1 are evenly arranged in two groups on the opposite sides of the fuselage 4; by setting the leg structures 1 on the opposite sides of the fuselage 4, each leg structure 1 can support the fuselage well and can perform walking or jumping movements more stably.
[0041] Each leg structure 1 includes a first power source 11, a second power source 12, a first transmission assembly 21, a second transmission assembly 22, and a buffer device 3. The power supply 5 is electrically connected to the first power source 11 and the second power source 12. The first power source 11 drives the first transmission assembly 21 to move, and the second power source 12 drives the second transmission assembly 22 to move. The first transmission assembly 21 and the second transmission assembly 22 form a linked leg structure. The two ends of the buffer device 3 are respectively connected to the first transmission assembly 21 and the second transmission assembly 22, and the buffer device 3 can be compressed or released during the movement of the first transmission assembly 21 and the second transmission assembly 22.
[0042] Understandably, in this eight-DOF parallel quadruped robot 100, four leg structures 1 are set on opposite sides of the body 4, and each leg structure 1 includes two power sources consisting of a first power source 11 and a second power source 12, and two transmission components consisting of a first transmission component 21 and a second transmission component 22. Each power source drives one transmission component to move, and the two transmission components form a linked leg structure. Thus, an eight-DOF parallel quadruped robot is formed through these four leg structures 1. On the one hand, it can ensure the flexibility and adaptability of walking or jumping, and on the other hand, it can reduce the number of power sources, reduce the complexity of debugging work, and reduce the overall weight of the parallel quadruped robot. In practical applications, it has better robustness. It not only reduces the performance requirements of the power sources, but also has good kinematic characteristics, and can achieve efficient movement in complex unstructured terrain. Meanwhile, by setting a buffer device 3 with elastic properties between the first transmission component 21 and the second transmission component 22, the buffer device 3 can be compressed or released during the interaction and linkage of the first transmission component 21 and the second transmission component 22, converting elastic potential energy into mechanical energy, playing a role in shock absorption and propulsion, and improving the adaptability of the eight-degree-of-freedom parallel quadruped robot 100 in complex terrain environments.
[0043] In some of these embodiments, such as Figures 5 to 9As shown, the buffer device 3 includes a guide member 31 and an elastic member 32. The first and second ends of the elastic member 32 are connected to the first transmission assembly 21 and the second transmission assembly 22, respectively. The guide member 31 and the elastic member 32 are movably connected, and the elastic member 32 is compressed or released along the extending direction of the guide member 31. Understandably, by providing the guide member 31, the guide member 31 has a guiding function, enabling the elastic member 32 to form a linear movement along the extending direction of the guide member 31 through the guiding function of the guide member 31, effectively preventing the elastic member 32 from deviating from its direction during compression or release, thus affecting its shock absorption and propulsion functions. Specifically, the guide member 31 can be a straight rod or tube structure such as a fiberglass rod or a carbon fiber tube.
[0044] Specifically in this embodiment, such as Figure 6 and Figure 7 As shown, the elastic element 32 is a sleeve structure and is movably sleeved on the guide element 31. The first end of the guide element 31 is connected to the first transmission assembly 21, and the second end protrudes from the second end of the elastic element 32. Understandably, by movably sleeved on the guide element 31, the elastic element 32 can always move linearly along the direction of the guide element 31 during compression or release. Furthermore, by having the second end of the guide element 31 protrude from the second end of the elastic element 32, the second end of the guide element 31 can adaptively extend away from or retract towards the elastic element 32 during compression or release, giving the guide element 31 a range of motion and effectively preventing the guide element 31 from interfering with the compression or release of the elastic element 32. Specifically, in this embodiment, both the first and second ends of the elastic element 32 are connected to the first transmission assembly 21 and the second transmission assembly 22 via a connecting seat 34. The connecting seat 34 includes a connecting plate 341 and a seat body 342 connected to the connecting plate 341. The connecting plate 341 is threadedly connected to the connecting rod assembly via fasteners. The seat body 342 has a mounting hole, wherein the end of the elastic element 32 is connected to the seat body 342, and the end of the guide element 31 passes through the mounting hole. Further, the connecting plate 341 has a connecting hole, and a flange retaining bearing is provided at the connecting hole. The seat body 342 is inserted into the center hole of the flange retaining bearing.
[0045] In some embodiments, such as Figure 7 As shown, the second end of the elastic member 32 is provided with a linear bearing 33 that communicates with its own sleeve structure. The linear bearing 33 is connected to the second transmission assembly 22 through a connecting seat 34, and the second end of the guide member 31 extends through the linear bearing 33. Specifically, by setting the linear bearing 33 to slide back and forth relative to the guide member 31, the linear bearing 33 has good support and can reduce friction and improve service life.
[0046] In some embodiments, the elastic element 32 is a compression spring structure with good elastic properties.
[0047] In some embodiments, such as Figure 6 and Figure 8 As shown, the first transmission assembly 21 includes a first thigh member 211, a first joint connector 212, and a first lower leg member 213. The first thigh member 211 is hinged to the first lower leg member 213 via the first joint connector 212, and the output end of the first power source member 11 is connected to the first thigh member 211. The second transmission assembly 22 includes a second thigh member 221, a second joint connector 222, and a second lower leg member 223. The second thigh member 221 is hinged to the second lower leg member 223 via the second joint connector 222, and the first lower leg member 213 and the second lower leg member 223 are hinged via a movable joint 23. A roller 24 is provided at the movable joint 23, and the output end of the second power source member 12 is connected to the second thigh member 221. The opposite ends of the buffer device 3 are respectively connected to the first lower leg member 213 and the second lower leg member 223. Specifically, two rollers 24 are provided, and the two rollers 24 are respectively provided on the outer side of the movable joint 23 corresponding to the first lower leg member 213 and the second lower leg member 223. The roller 24 is made of polyurethane-coated material. It's important to note that the hardness of this polyurethane coating is crucial to the performance of the leg structure 1. Common coating hardness is around 50-80A. If the coating is too hard, the foot of the leg structure 1 will slip due to insufficient friction with the ground; if the coating is too soft, the friction between the foot of the parallel leg and the ground will be too high, increasing motor power loss and reducing efficiency. Furthermore, considering the special properties of polyurethane coating, a herringbone-patterned rubber tire is embedded around the roller 24 to improve friction and adaptability to the playing surface.
[0048] Specifically, both the first joint connector 212 and the second joint connector 222 consist of flange bearings and thrust needle roller bearings. Since the joints of the quadruped robot are subjected to a large amount of radial force and a small amount of axial force during movement, the flange bearings and thrust needle roller bearings are combined at the joints to ensure flexible joint rotation while improving structural compactness. The first thigh member 211, the first joint connector 212, the first lower leg member 213, the second thigh member 221, the second joint connector 222, and the second lower leg member 223 work together to form a linkage leg structure, enabling running, jumping, and other movements.
[0049] Furthermore, such as Figure 5 and Figure 8As shown, the first power source 11 and the first thigh member 211 are connected by a first leg connector 13, and the second power source 12 and the second thigh member 221 are connected by a second leg connector 14. Both the first leg connector 13 and the second leg connector 14 include a connecting body. The connecting body has a D-shaped groove for connecting to the output end of the power source, and a countersunk hole is provided on the side adjacent to the D-shaped groove for connecting to the thigh member. Specifically, the first thigh member 211, the first lower leg member 213, the second thigh member 221, and the second lower leg member 223 can all be carbon fiber tubes or aluminum square tubes. Under similar weight conditions, aluminum square tubes have better toughness and processing performance than carbon fiber tubes, while carbon fiber tubes are lightweight.
[0050] In some embodiments, such as Figure 6 As shown, one end of the buffer device 3 is connected to the side of the first lower leg member 213 away from the first upper leg member 211, and the other end is connected to the side of the second lower leg member 223 close to the second upper leg member 221. Understandably, the buffer device 3, the first lower leg member 213, and the second lower leg member 223 cooperate to form a triangular structure, which increases structural stability and conforms to the gait of the quadruped robot, effectively avoiding interference with the quadruped robot's movement. In this leg structure 1, the angle between the extended axes of the connecting seat 34 on the first lower leg member 213 and the connecting seat 34 on the second lower leg member 223 is 30°.
[0051] In some embodiments, the length-to-length ratio of the first thigh member 211 and the first calf member 213 is designed to be 1:2 to 3, preferably 1:2.4. Similarly, the length-to-length ratio of the second thigh member 221 and the second calf member 223 is designed to be 1:2 to 3, preferably 1:2.4.
[0052] In some embodiments, such as Figure 9 As shown, both the first power source 11 and the second power source 12 include a rotary motor 111, a planetary reducer 112, and a housing 113. The housing 113 has a receiving space, within which the rotary motor 111 is disposed, and the rotary motor 111 is connected to the planetary reducer 112, with a portion of the planetary reducer 112 also disposed within the receiving space. By partially confining the entire structure of the rotary motor 111 and a portion of the planetary reducer 112 within the receiving space of the housing 113, not only can the exposed dimensions of the planetary reducer 112 be reduced, providing a certain degree of protection, but also more of the vibration or impact experienced by the rotary motor 111 during movement can be transmitted to the torso of the quadruped robot, reducing the impact of vibration or impact generated during the quadruped robot's movement on the rotary motor 111 and the planetary reducer 112, and mitigating the adverse effects of the cantilever beam model.
[0053] In some embodiments, such as Figure 9As shown, the outer casing 113 includes a first plate 114, a second plate 115, and multiple connectors 116. The first plate 114 and the second plate 115 are arranged opposite each other and connected by the connectors 116. The connectors 116 are distributed along the edges of the first plate 114 and the second plate 115. A rotary motor 111 is located between the first plate 114 and the second plate 115 and is enclosed within them by the connectors 116. Specifically, the first plate 114 has mounting holes, and a flange is fixed to the first plate 114. The front of the rotary motor 111 is embedded in the flange for a certain distance and then fixed with bolts. A planetary reducer 112 is connected to the rotary motor 111 and passes through the second plate 115. The connectors 116 include pipe clamps and aluminum pillars. The two ends of the aluminum pillars are internally threaded and have the same height as the pipe clamps. Both serve as support structures and are fixed between the two mounting plates with bolts to achieve an isolation effect.
[0054] In some embodiments, such as Figure 2 As shown, the body 4 includes a top plate 41, a bottom plate 42, and side baffles 43. The top plate 41 and bottom plate 42 are arranged opposite to each other and connected by the side baffles 43. All three components—top plate 41, bottom plate 42, and side baffles 43—are hollow structures. A placement position is located at the center of the top plate 41, where the power supply 5 is positioned. Specifically, by making the top plate 41, bottom plate 42, and side baffles 43 hollow structures, the frame of the main body 4 is hollowed out. Appropriate hollowing not only reduces the overall weight of the robot and increases the proportion of drive mass but also strengthens the body structure. In this embodiment, the top plate 41 and bottom plate 42, which bear the main load, use slotted or triangular hollow holes, which have strong load-bearing capacity and good manufacturability. The side baffles 43 use polygonal holes for large-scale dense hollowing, resembling a "honeycomb." In addition, by placing the power supply 5 vertically in the center of the main body 4 as a counterweight for the main body 4, the stability of the center of gravity is ensured. A power supply bracket is provided at the placement position of the main body 4, and the power supply 5 is connected to the power supply bracket by a buckle, which is stable and reliable.
[0055] In some embodiments, the top plate 41, bottom plate 42 and side baffle 43 are all carbon fiber plates, which are connected by tenon and mortise joints and fastening, which can reduce the loss of weight reduction ratio while achieving lightweight design.
[0056] In some embodiments, such as Figure 2 As shown, the top plate 41 is provided with two handles 44, which are located on opposite sides of the placement position for easy carrying and testing.
[0057] In some embodiments, such as Figure 3 and Figure 4As shown, the connecting rod group 6 includes a first rod group 61 and a second rod group 62. The first rod group 61 and the second rod group 62 are arranged parallel to each other along the vertical direction of the fuselage 4. Both the first rod group 61 and the second rod group 62 include a main rod body 63 and four side rod bodies 64 connected to the main rod body 63. The main rod body 63 is transversely inserted through the fuselage 4, and the four side rod bodies 64 are evenly arranged in two groups on opposite sides of the fuselage 4. The four side rod bodies 64 of the first rod group 61 and the four side rod bodies 64 of the second rod group 62 are arranged in a one-to-one correspondence. Specifically, the main rod body 63 and the side rod bodies 64 are connected by a T-joint clamp. The first rod group 61 and the second rod group 62 cooperate to form the installation positions of each leg structure 1, thereby fixing each leg structure 1 to opposite sides of the fuselage 4.
[0058] A second aspect of the present invention provides a control method for an eight-degree-of-freedom parallel quadruped robot 100, based on the above-mentioned eight-degree-of-freedom parallel quadruped robot 100, comprising the following steps:
[0059] According to the forward path, the first power source 11 in the four leg structures 1 on opposite sides of the body 4 drives the first transmission component 21 to move, and the second power source 12 drives the second transmission component 22 to move. The first transmission component 21 and the second transmission component 22 form a linked leg structure to drive the eight-degree-of-freedom parallel quadruped robot 100 to move according to the forward path.
[0060] In summary, the control method of this eight-DOF parallel quadruped robot 100 forms an eight-DOF parallel quadruped robot through the four leg structures 1. On the one hand, it ensures the flexibility and adaptability of its walking or jumping, and on the other hand, it reduces the number of drive components, lowers the complexity of debugging work, and reduces the overall weight of the parallel quadruped robot. It also has better robustness in practical applications, reduces the performance requirements of the power source components, and has good kinematic characteristics, enabling efficient movement even in complex unstructured terrain. In addition, by setting an elastic buffer device 3 between the first transmission component 21 and the second transmission component 22, the buffer device 3 can be compressed or released during the interaction and linkage of the first transmission component 21 and the second transmission component 22, converting elastic potential energy into mechanical energy, playing a role in shock absorption and propulsion, and improving the adaptability of the eight-DOF parallel quadruped robot 100 in complex terrain environments.
[0061] The above embodiments are not an exhaustive list based on the present invention, and there may be many other embodiments not listed. Any substitutions and improvements made without departing from the concept of the present invention are within the protection scope of the present invention.
Claims
1. An eight-degree-of-freedom parallel four-legged robot, characterized by, The eight-degree-of-freedom parallel quadruped robot includes a body, a power supply, a connecting rod assembly, and four leg structures; the power supply is located on the body. The connecting rod assembly is connected to the fuselage and extends to the opposite sides of the fuselage; each of the leg structures is connected to the connecting rod assembly, and the four leg structures are evenly arranged in two groups on the opposite sides of the fuselage. Each of the leg structures includes a first power source, a second power source, a first transmission assembly, a second transmission assembly, and a buffer device. The power source is electrically connected to the first power source and the second power source. The first power source drives the first transmission assembly to move, and the second power source drives the second transmission assembly to move. The first transmission assembly and the second transmission assembly form a linked leg structure. The opposite ends of the buffer device are respectively connected to the first transmission assembly and the second transmission assembly, and the buffer device can be compressed or released during the movement of the first transmission assembly and the second transmission assembly. The buffer device includes a guide and an elastic element. The first end and the second end of the elastic element are respectively connected to the first transmission assembly and the second transmission assembly. The guide and the elastic element are movably connected, and the elastic element is compressed or released along the extension direction of the guide. The elastic element is a sleeve structure, and the elastic element is movably sleeved on the guide element. The first end of the guide element is connected to the first transmission assembly, and the second end protrudes from the second end of the elastic element. The first and second ends of the elastic element are both connected to the first and second transmission assemblies via connecting seats. The connecting seat includes a connecting plate and a seat body connected to the connecting plate. The connecting plate is threadedly connected to the first or second transmission assembly via fasteners. The seat body has a mounting hole. The end of the elastic element is connected to the seat body, and the guide element passes through the mounting hole. The connecting plate has a connecting hole, and a flange retaining bearing is provided at the connecting hole. The seat body is inserted into the center hole of the flange retaining bearing.
2. The eight-degree-of-freedom parallel four-legged robot of claim 1, wherein, The first transmission assembly includes a first thigh member, a first joint connector, and a first lower leg member. The first thigh member is hinged to the first lower leg member through the first joint connector, and the output end of the first power source member is connected to the first thigh member. The second transmission assembly includes a second thigh member, a second joint connector, and a second lower leg member. The second thigh member is hinged to the second lower leg member via the second joint connector. The first lower leg member and the second lower leg member are hinged via a movable joint. A roller is provided at the movable joint. The output end of the second power source member is connected to the second thigh member. The opposite ends of the buffer device are respectively connected to the first lower leg member and the second lower leg member.
3. The eight-degree-of-freedom parallel four-legged robot of claim 2, wherein, One end of the buffer device is connected to the side of the first lower leg piece away from the first upper leg piece, and the other end is connected to the side of the second lower leg piece close to the second upper leg piece.
4. The eight-degree-of-freedom parallel four-legged robot of any one of claims 1 to 3, wherein, The body includes a top plate, a bottom plate, and side baffles. The top plate and the bottom plate are arranged opposite to each other and are connected by the side baffles. The top plate, the bottom plate, and the side baffles are all hollow structures. The top plate has a placement position at its center, and the power supply is located at the placement position.
5. The eight-degree-of-freedom parallel four-legged robot of claim 4, wherein, The top plate is provided with two handles, which are located on opposite sides of the placement position.
6. The eight-degree-of-freedom parallel four-legged robot of any one of claims 1 to 3, wherein, The connecting rod assembly includes a first rod assembly and a second rod assembly. The first rod assembly and the second rod assembly are arranged parallel to each other along the vertical direction of the machine body. Both the first rod assembly and the second rod assembly include a main rod body and four side rod bodies connected to the main rod body. The main rod body is transversely inserted through the machine body. The four side rod bodies are evenly arranged in two groups on opposite sides of the machine body. The four side rod bodies of the first rod assembly and the four side rod bodies of the second rod assembly are arranged in a one-to-one correspondence.
7. The eight-degree-of-freedom parallel four-legged robot of any one of claims 1 to 3, wherein, Both the first power source component and the second power source component include a rotary motor, a planetary reducer, and a housing; The housing has a receiving space, the rotary motor is disposed within the receiving space, and the rotary motor is connected to the planetary reducer, the planetary reducer being partially disposed within the receiving space.
8. A control method of an eight-degree-of-freedom parallel four-legged robot, characterized by, The eight-degree-of-freedom parallel quadruped robot according to any one of claims 1 to 7 includes the following steps: According to the forward path, the first power source in the four leg structures on opposite sides of the body drives the first transmission component to move, and the second power source drives the second transmission component to move. The first transmission component and the second transmission component form a linked leg structure to drive the eight-degree-of-freedom parallel quadruped robot to move according to the forward path.