Variable damping flexible leg and quadruped robot thereof

Abstract

The invention relates to the technical field of quadruped robots, and discloses a variable-damping flexible leg and a quadruped robot thereof.The variable-damping flexible leg comprises a fixing plate, attaching plates are fixedly mounted on the upper side and the lower side of the fixing plate, fastening screws are arranged in the middles of the attaching plates in a penetrating mode, fixing nuts are connected to the fastening screws in a threaded mode, and two square penetrating grooves are formed in the fixing plate; and a guide plate is arranged in a square groove formed in the fixed plate in a sliding manner. According to the variable-damping flexible leg and the quadruped robot thereof, the legs are flexibly supported in a complex environment through the anti-interference shell, the partition plate, the magnetic generation coil, the supporting rod and the electromagnetic variable liquid, the variable-damping part can be selected not to be used according to different use environments, abrasion of the variable-damping part is effectively reduced, and the service life of the variable-damping part is prolonged. The height of the legs of the quadruped robot is adjusted in a linkage mode while the variable damping part is fixed and not used, the inspection range of the quadruped robot is increased, auxiliary supporting of the walking wheels can be achieved by additionally arranging the supporting wheels, and the stability of the quadruped robot is improved.

Description

Technical Field

[0001] The invention relates to the technical field of quadruped robots, in particular to a variable damping flexible leg and a quadruped robot thereof. Background Art

[0002] The quadruped robot is named because the way it walks imitates four-legged animals. It can move like animals to facilitate crossing complex terrain and maintain steady movement in uneven environments.

[0003] At present, the patent with announcement number CN107539385A discloses a variable damping flexible leg, including a hip joint, a thigh, a knee joint, a calf and a foot end connected in sequence; the hip joint is provided with a first drive system for driving the entire variable damping flexible leg to abduct, a second drive system for driving the thigh to rotate and a third drive system for driving the knee joint to rotate, the first drive system and / or the second drive system are provided with a variable damping control device, the variable damping control device includes a magnetorheological damper and a spring, the spring is sleeved outside the magnetorheological damper, and the first drive system and / or the second drive system are connected to the magnetorheological damper and the spring. The variable damping control device also includes a magnetorheological damper piston rod, the magnetorheological damper is arranged on the magnetorheological damper piston rod, and the spring is sleeved outside the magnetorheological damper. The hip joint is provided with a thigh mounting bracket, and the thigh is connected to the thigh mounting bracket; the first drive system includes a first drive motor and a first reducer, the first reducer includes a first rigid wheel and a first flexible wheel, and the first drive motor is connected to the first rigid wheel. A variable damping device is provided in the first drive system and / or the second drive system, and the variable damping device includes a magnetorheological damper and a spring. Through the combination of the magnetorheological damper and the spring, the magnetorheological damper is used to realize the variable damping characteristics of each joint, which can play a better vibration reduction and buffering role.

[0004] However, the following problems still exist during the use of the variable damping flexible legs of the above quadruped robot:

[0005] When in use, the variable damping flexible legs are in a continuous working state. After long-term use, the particles in the magnetorheological fluid may change the interaction between the particles due to the decomposition of additives, the volatilization of the base carrier fluid, etc., thereby making the anti-agglomeration stability of the particles worse. In addition, the long-term operation of the magnetorheological fluid device will cause greater wear on the device casing and the sliding rod. However, when walking on a relatively flat road, there is no need to use the variable damping function, which causes unnecessary waste of resources. Summary of the invention

[0006] In view of the shortcomings of the prior art, the present invention provides a variable damping flexible leg and a quadruped robot thereof. By switching the working state, the variable damping function can be used according to the actual use environment, thereby effectively ensuring the stability of the variable damping function and the service life of the variable damping function.

[0007] The present invention provides the following technical solutions: a variable damping flexible leg comprises a fixing plate, on which both upper and lower sides are fixedly mounted with fitting plates, a fastening screw is provided through the middle position of the fitting plate, a fixing nut is threadedly connected to the fastening screw, two square through grooves are provided on the fixing plate, and a guide plate is slidably provided in the square grooves provided on the fixing plate, a lifting plate is fixedly installed at the lower end of the guide plate, a limiting plate is fitted inside the lifting plate, a receiving plate is fixedly installed at the lower end of the limiting plate, threaded holes are provided on the left and right sides of the receiving plate, an anti-interference shell is fixedly installed at the middle position of the upper end of the lifting plate, a partition plate is fixedly installed inside the anti-interference shell, and a partition plate is provided outside the partition plate There is a magnetic generating coil, an electromagnetic variable liquid is arranged inside the partition plate, a support rod is slidably arranged at the upper end of the anti-interference shell, the upper end of the support rod is connected to the fixed plate, and connecting shafts are rotatably arranged on the left and right sides of the fixed plate, a pulley group is fixedly installed on the upper end of the connecting shaft, a double-axis motor is fixedly arranged on the fixed plate, the upper output end of the double-axis motor is connected to the pulley group through the shaft, a rotating screw is fixedly installed on the lower end of the connecting shaft, and the rotating screw is connected to the receiving plate through a threaded hole opened on the receiving plate, and a rotating gear is installed on the lower output end of the double-axis motor through the shaft, a moving rack is meshed with the side of the rotating gear, and the moving rack and the guide plate are in contact with each other.

[0008] Furthermore, the lifting plate includes first electric telescopic rods symmetrically arranged on the left and right sides, cylindrical grooves are opened on the left and right sides of the limiting plate, and the outer surface of the limiting plate is set to be smooth, and the limiting plate is snap-fitted with the first electric telescopic rod through the cylindrical groove, and a pressure sensor is fixedly installed inside the lifting plate, and the lower end of the pressure sensor and the upper end of the limiting plate are in contact with each other. Through the above structure, the lifting plate and the limiting plate can be snap-fitted and fixed by the first electric telescopic rod.

[0009] Furthermore, a gear structure is provided on the movable rack, and the movable rack is meshed with the rotating gear through the gear structure, and the rotating gear is rotatably connected with the fixed plate through a rotating shaft provided at the lower end, and an additional plate is fixedly installed on the fixed plate, and a limiting slider is fixedly installed on the additional plate, and a long strip limiting groove is provided on the movable rack, and the movable rack is slidably connected with the limiting slider through the limiting groove. Through the above structure, the movable rack can be driven to move by the operation of the rotating gear, thereby achieving the purpose of clamping and fixing the guide plate.

[0010] Furthermore, the guide plate is provided with a penetrating square engaging groove, and two guide plates are symmetrically arranged about the center of the lifting plate. Through the above structure, the position of the lifting plate can be easily engaged and fixed as the guide plate is engaged and fixed.

[0011] Furthermore, a first leg is rotatably provided on the supporting plate, the first leg is rotatably connected to a second leg, a walking wheel is fixedly installed on the lower end of the second leg, and two penetrating limiting grooves are symmetrically provided on the walking wheel. Through the above structure, the structure composed of the first leg, the second leg and the walking wheel can facilitate the stable walking of the quadruped robot.

[0012] Furthermore, a second electric telescopic rod is fixedly installed on the upper end of the walking wheel, and two connecting slides are symmetrically arranged about the center of the walking wheel, the connecting slides include an upper connecting slide and a lower connecting slide, the upper connecting slide is fixedly installed with the lower end of the second electric telescopic rod, the lower connecting slide and the through limiting groove arranged at the lower end of the walking wheel form a sliding connection, and the upper connecting slide and the through limiting groove arranged at the upper end of the walking wheel form a sliding connection. Through the above structure, it is convenient to realize the movement of the supporting wheel by moving the connecting slide.

[0013] Furthermore, the two connecting slides are each equipped with a fixed airbag, which is fixedly connected to the walking wheel, and an air guide tube is installed through the middle position of the walking wheel, and the air guide tube is installed through the fixed airbag. Through the above structure, the fixed airbag can be pressed by moving the connecting slide, so that the gas in the fixed airbag enters the inflatable wheel through the inflation tube.

[0014] Furthermore, a rotating support plate is rotatably installed on the left and right sides of the connecting skateboard, and a supporting wheel is rotatably installed on the other rotating support plate. An inflatable wheel is installed outside the supporting wheel. The inflatable wheel is provided with an internal hollow structure, and an inflatable tube is installed on the inflatable wheel. The inflatable tube is fixedly installed on the supporting wheel, and the other end of the inflatable tube is fixed on the fixed airbag. Through the above structure, the inflatable wheel can be used to assist in supporting the walking wheel, thereby increasing the stability of the quadruped robot when walking.

[0015] The present invention also provides a quadruped robot, including a quadruped robot body, characterized in that: the quadruped robot body includes any one of the above-mentioned variable damping flexible legs.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The variable damping flexible leg and the quadruped robot thereof have a structure composed of an anti-interference shell, a partition plate, a magnetic generating coil, a support rod and an electromagnetic variable liquid, so that the legs can be flexibly supported in complex environments. By adjusting the damping, the vibration and impact of the legs during movement can be reduced, thereby improving the walking stability of the robot. At the same time, according to different usage environments, the variable damping part can be selected not to be used, thereby effectively reducing the wear of the variable damping part. While the variable damping part is fixed and not in use, the height of the quadruped robot's legs can be adjusted in a linkage manner, thereby increasing the inspection range of the quadruped robot, making it more practical. By adding support wheels, auxiliary support for the walking wheels can be achieved, increasing the ground contact area, thereby improving the stability of the quadruped robot in complex environments. The support wheels are set in a foldable and retractable manner, which can reduce wear and energy consumption when walking on a flat surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the quadruped robot body of the present invention;

[0019] Figure 2 This is a schematic diagram of the three-dimensional structure of the first leg of the present invention;

[0020] Figure 3 It is a schematic diagram of the three-dimensional cross-sectional structure of the lifting plate of the present invention;

[0021] Figure 4 It is a schematic diagram of the three-dimensional structure of the pulley assembly of the present invention;

[0022] Figure 5 It is a schematic diagram of the three-dimensional cross-sectional structure of the movable rack of the present invention;

[0023] Figure 6 This is a schematic diagram of the explosion three-dimensional structure of the limiting plate of the present invention;

[0024] Figure 7 This is a schematic diagram of the three-dimensional structure of the support wheel of the present invention;

[0025] Figure 8 It is a schematic diagram of the three-dimensional cross-sectional structure of the travel wheel of the present invention;

[0026] Fig. 9 It is a schematic diagram of the three-dimensional cross-sectional structure of the fixed airbag of the present invention;

[0027] Fig.10 For the present invention Figure 3 Enlarged structural diagram at A in the middle.

[0028] In the figure: 1. fixing plate; 2. fastening screws; 3. laminating plate; 4. fixing nut; 5. guide plate; 6. lifting plate; 7. first electric telescopic rod; 8. limiting plate; 9. receiving plate; 10. first leg; 11. second leg; 12. walking wheel; 13. pressure sensor; 14. anti-interference shell; 15. partition plate; 16. magnetic generating coil; 17. support rod; 18. electromagnetic variable liquid; 19. connecting shaft; 20. pulley set; 21. dual-axis motor; 22. rotating screw; 23. rotating gear; 24. moving rack; 25. limiting slider; 26. additional plate; 27. second electric telescopic rod; 28. connecting skateboard; 29. ​​fixing airbag; 30. air guide tube; 31. rotating support plate; 32. supporting wheel; 33. inflatable wheel; 34. inflatable tube; 35. quadruped robot body. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0030] See also Figure 1-Figure 10 The present invention provides a technical solution: a fixing plate 1, on which laminating plates 3 are fixedly installed on both upper and lower sides, a fastening screw 2 is penetrated in the middle position of the laminating plate 3, a fixing nut 4 is threadedly connected on the fastening screw 2, two square penetrating grooves are provided on the fixing plate 1, and a guide plate 5 is slidably provided in the square groove provided on the fixing plate 1, a lifting plate 6 is fixedly installed at the lower end of the guide plate 5, a limiting plate 8 is fitted inside the lifting plate 6, a receiving plate 9 is fixedly installed at the lower end of the limiting plate 8, and threaded holes are provided on the left and right sides of the receiving plate 9, an anti-interference shell 14 is fixedly installed at the middle position of the upper end of the lifting plate 6, a partition plate 15 is fixedly installed inside the anti-interference shell 14, a magnetic generating coil 16 is provided outside the partition plate 15, an electromagnetic variable liquid 18 is provided inside the partition plate 15, a support rod 17 is slidably provided at the upper end of the anti-interference shell 14, and the upper end of the support rod 17 is connected to the fixing plate 1.

[0031] When the quadruped robot is used in a complex environment, the moving rack 24 is not in contact with the guide plate 5. At this time, as the walking wheel 12 contacts the ground, the walking wheel 12, the second leg 11 and the first leg 10 begin to move upward. At this time, the lifting plate 6 begins to move toward the fixed plate 1. Because the support rod 17 is fixedly installed at the lower end of the fixed plate 1, the support rod 17 begins to slide in the anti-interference housing 14 ( Fig.10A spring structure is arranged outside the middle anti-interference shell 14, and the upper end of the damping spring structure is interconnected with the fixed plate 1, and the lower end is interconnected with the lifting plate 6. At this time, the damping spring structure begins to be squeezed and deformed, and the deformation of the damping spring structure can realize shock-absorbing support for the lifting plate 6), thereby achieving the purpose of shock-absorbing the first leg 10, the second leg 11 and the walking wheel 12 (the walking mode of the first leg 10, the second leg 11 and the walking wheel 12 and the distance are consistent with the quadruped driving mode of the existing quadruped robot). By supplying power to the magnetic generating coil 16, the magnetic particles in the electromagnetic variable liquid 18 can be magnetized and arranged into a chain structure along the magnetic lines of force under the action of the magnetic field generated by the magnetic generating coil 16 to form a magnetic chain. The formation and interaction of magnetic chains lead to increased shear stress and viscosity of the liquid. At the same time, after the magnetic field is removed, the interaction between the magnetic particles is weakened, the magnetic chains disintegrate, and the liquid resumes its flow state. Therefore, by adjusting the state of the electromagnetic variable liquid 18, the damping of the first leg 10, the second leg 11 and the walking wheel 12 can be changed. The damping of the quadruped robot's legs can be changed according to the actual use environment, thereby achieving the purpose of shock absorption protection for the quadruped robot.

[0032] A first leg 10 is rotatably provided on the receiving plate 9, and the first leg 10 is rotatably connected to the second leg 11, and a walking wheel 12 is fixedly installed at the lower end of the second leg 11, and two penetration limiting grooves are symmetrically provided on the walking wheel 12, and a second electric telescopic rod 27 is fixedly installed on the upper end of the walking wheel 12, and two connecting slides 28 are symmetrically provided about the center of the walking wheel 12, and the connecting slide 28 includes an upper connecting slide and a lower connecting slide, and the upper connecting slide is fixedly installed with the lower end of the second electric telescopic rod 27, and the lower connecting slide and the penetration limiting groove provided at the lower end of the walking wheel 12 form a sliding connection, and the upper connecting slide and the penetration limiting groove provided at the upper end of the walking wheel 12 form a sliding connection. The grooves constitute a sliding connection, and the two connecting slides 28 are both equipped with fixed air bags 29, which are fixedly connected to the walking wheel 12, and an air guide tube 30 is installed through the middle position of the walking wheel 12, and the air guide tube 30 is installed through the fixed air bag 29, and rotating support plates 31 are rotatably installed on the left and right sides of the connecting slide 28, and the other rotating support plate 31 is rotatably installed with a support wheel 32, and an inflatable wheel 33 is installed outside the support wheel 32, and the inflatable wheel 33 is provided with an internal hollow structure, and an inflatable tube 34 is installed on the inflatable wheel 33, and the inflatable tube 34 is fixedly installed on the support wheel 32, and the other end of the inflatable tube 34 is fixed on the fixed air bag 29.

[0033] As the first leg 10, the second leg 11, and the walking wheel 12 are damped by the structure composed of the anti-interference shell 14, the partition plate 15, the magnetic generating coil 16, the support rod 17, and the electromagnetic variable liquid 18, the second electric telescopic rod 27 starts to work. Because the lower end of the second electric telescopic rod 27 is fixedly installed with a connecting slide 28, the connecting slide 28 starts to move at this time. Because the rotating support plate 31 is rotatably installed on the side of the connecting slide 28, the rotating support plate 31 starts to rotate at this time. As the rotating support plate 31 rotates, the rotating support plate 31 starts to push the support wheel 32, that is, the support wheel 32 starts to move away from the walking wheel 12. As the connecting slide 28 moves, the connecting slide 28 starts to squeeze the fixed airbag 29, and the gas in the fixed airbag 29 enters the inflatable wheel 33 through the inflation tube 34 (the inflation tube 34 is set to a hose material, and the inflatable wheel 33 is set to an anti-puncture material The side of the inflatable wheel 33 is set to be thinner for easy inflation, and the outer ring surface of the inflatable wheel 33 is set to be thicker, which has better anti-puncture and anti-wear effects. The volume of the inflatable wheel 33 can be increased by inflating the inflatable wheel 33 until the lower end of the inflatable wheel 33 is in the same horizontal plane with the lower end of the walking wheel 12. At this time, auxiliary support for the walking wheel 12 can be achieved, and the stability of the walking wheel 12 can be ensured when walking in a complex environment. When the inflatable wheel 33 is not needed for support, the second electric telescopic rod 27 drives the connecting skateboard 28 to move upward, and the fixed airbag 29 begins to be stretched (the fixed airbag 29 is set to a soft and airtight material that can be stretched and compressed), and the gas in the inflatable wheel 33 enters the fixed airbag 29. At this time, the inflatable wheel 33 is no longer in contact with the ground, so that when walking on a smooth road, the inflatable wheel 33 is not used, which effectively extends the service life of the inflatable wheel 33.

[0034] A connecting shaft 19 is rotatably provided on the left and right sides of the fixed plate 1, a pulley group 20 is fixedly installed on the upper end of the connecting shaft 19, a double-axis motor 21 is fixedly provided on the fixed plate 1, and the output end of the double-axis motor 21 is connected to the pulley group 20 through the shaft, a rotating screw 22 is fixedly installed on the lower end of the connecting shaft 19, and the rotating screw 22 is connected to the receiving plate 9 through the threaded hole opened on the receiving plate 9, and a rotating gear 23 is installed on the lower output end of the double-axis motor 21 through the shaft, and a moving rack 24 is meshed with the side of the rotating gear 23, and the moving rack 24 is in contact with the guide plate 5, and the first electric telescopic rod 7 is symmetrically provided on the left and right sides of the lifting plate 6, and cylindrical grooves are opened on the left and right sides of the limiting plate 8, and the outer surface of the limiting plate 8 is set to be smooth, and the limiting plate 8 is engaged with the first electric telescopic rod 7 through a cylindrical groove, a pressure sensor 13 is fixedly installed inside the lifting plate 6, and the lower end of the pressure sensor 13 is in contact with the upper end of the limiting plate 8, a gear structure is provided on the moving rack 24, and the moving rack 24 is meshed with the rotating gear 23 through the gear structure, and the rotating gear 23 is rotatably connected with the fixed plate 1 through a rotating shaft provided at the lower end, an additional plate 26 is fixedly installed on the fixed plate 1, and a limiting slider 25 is fixedly installed on the additional plate 26, a long strip limiting groove is provided on the moving rack 24, and the moving rack 24 is slidably connected with the limiting slider 25 through the limiting groove, a square engaging groove is provided on the guide plate 5, and two guide plates 5 are symmetrically provided about the center of the lifting plate 6.

[0035] When walking on a smooth road, the first electric telescopic rod 7 starts to work, and the first electric telescopic rod 7 is no longer in contact with the limiting plate 8, and then the dual-axis motor 21 starts to work, because the lower output end of the dual-axis motor 21 is connected to the rotating gear 23, and the rotating gear 23 starts to rotate at this time, because the side of the rotating gear 23 is meshed with the moving rack 24, and the moving rack 24 starts to slide at this time. Under the action of the limiting slider 25, the moving rack 24 can be guided and limited until the moving rack 24 and the through square engaging groove on the guide plate 5 are in contact with each other, so that the guide plate 5 can be engaged and fixed, and the position of the lifting plate 6 can be engaged and fixed. At this time, the variable damping part composed of the anti-interference shell 14, the partition plate 15, the magnetic generating coil 16, the support rod 17 and the electromagnetic variable liquid 18 is no longer used. At the same time, with the work of the dual-axis motor 21, the pulley group 20 connected to each other through the rotating shaft on the output end of the dual-axis motor 21 also starts to work, because the pulley group 20 and The connecting shafts 19 are connected to each other, and at this time the connecting shafts 19 begin to rotate (the pulley group 20 is composed of two wheels and a belt, and the two wheels are respectively connected to the output end of the dual-axis motor 21 and the connecting shaft 19, and the diameter difference between the two wheels can drive the connecting shaft 19 to rotate rapidly). Because a rotating screw 22 is installed at the lower end of the connecting shaft 19, the rotating screw 22 is connected to the receiving plate 9 through threaded holes opened on the left and right sides of the receiving plate 9. Therefore, as the rotating screw 22 rotates, the receiving plate 9 begins to move downward, and the limiting plate 8 no longer squeezes the pressure sensor 13. As the receiving plate 9 moves downward, the first leg 10, the second leg 11 and the walking wheel 12 also begin to move downward, thereby achieving the purpose of raising the overall height of the quadruped robot body 35 (when walking on a flat road, the inspection effect and range can be improved by increasing the height, and on a complex road, the stability of the quadruped robot when walking can be improved by lowering the height), and the inspection range of the quadruped robot body 35 is increased.

[0036] A quadruped robot comprises a quadruped robot body 35, wherein the quadruped robot body 35 comprises any one of the variable damping flexible legs described above.

[0037] When the variable damping flexible leg needs to be installed and fixed, a fastening screw 2 is fixedly installed on the upper main unit of the quadruped robot body 35 (the quadruped robot body 35 includes the upper main unit and the variable damping flexible leg), so that the fixing plate 1 moves toward the direction close to the upper main unit of the quadruped robot body 35 until the bonding plate 3 fixedly installed on the fixing plate 1 passes through the fastening screw 2, and then the fixing nut 4 is rotated, and the fixing nut 4 begins to connect with the fastening screw 2, thereby achieving the purpose of fixing the fixing plate 1, and the variable damping flexible leg can be fixedly installed on the upper main unit of the quadruped robot body 35.

[0038] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A variable damping flexible leg, comprising a fixing plate (1), on which bonding plates (3) are fixedly mounted on both upper and lower sides, a fastening screw (2) is provided through the middle of the bonding plate (3), and a fixing nut (4) is threadedly connected to the fastening screw (2), characterized in that: Also includes: The fixing plate (1) is provided with two square through grooves, and a guide plate (5) is slidably arranged in the square grooves provided on the fixing plate (1), a lifting plate (6) is fixedly installed at the lower end of the guide plate (5), a limiting plate (8) is fitted inside the lifting plate (6), a receiving plate (9) is fixedly installed at the lower end of the limiting plate (8), and threaded holes are provided on the left and right sides of the receiving plate (9), an anti-interference shell (14) is fixedly installed at the middle position of the upper end of the lifting plate (6), a partition plate (15) is fixedly installed inside the anti-interference shell (14), a magnetic generating coil (16) is arranged outside the partition plate (15), an electromagnetic variable liquid (18) is arranged inside the partition plate (15), a support rod (17) is slidably arranged at the upper end of the anti-interference shell (14), and a support rod (17) is provided to support the inner surface of the anti-interference shell (14). The upper end of the rod (17) is connected to the fixed plate (1), and a connecting shaft (19) is rotatably provided on the left and right sides of the fixed plate (1), and a belt pulley group (20) is fixedly installed on the upper end of the connecting shaft (19). A double-axis motor (21) is fixedly provided on the fixed plate (1), and the upper output end of the double-axis motor (21) is connected to the belt pulley group (20) through the rotating shaft, and a rotating screw (22) is fixedly installed on the lower end of the connecting shaft (19), and the rotating screw (22) is connected to the receiving plate (9) through a threaded hole provided on the receiving plate (9), and a rotating gear (23) is installed on the lower output end of the double-axis motor (21) through the rotating shaft, and a movable rack (24) is meshed with the side of the rotating gear (23), and the movable rack (24) and the guide plate (5) are mutually fitted.

2. A variable damping flexible leg according to claim 1, characterized in that: The lifting plate (6) is symmetrically provided with first electric telescopic rods (7) on both sides, and the limiting plate (8) is provided with cylindrical grooves on both sides. The outer surface of the limiting plate (8) is smooth, and the limiting plate (8) is snap-fitted with the first electric telescopic rod (7) through the cylindrical groove. A pressure sensor (13) is fixedly installed inside the lifting plate (6), and the lower end of the pressure sensor (13) and the upper end of the limiting plate (8) are in contact with each other.

3. A variable damping flexible leg according to claim 1 or 2, characterized in that: The movable rack (24) is provided with a gear structure, and the movable rack (24) is meshed with the rotating gear (23) through the gear structure. The rotating gear (23) is rotatably connected with the fixed plate (1) through a rotating shaft provided at the lower end. An additional plate (26) is fixedly mounted on the fixed plate (1), and a limiting slider (25) is fixedly mounted on the additional plate (26). A long strip-shaped limiting groove is provided on the movable rack (24), and the movable rack (24) is slidably connected with the limiting slider (25) through the limiting groove.

4. A variable damping flexible leg according to claim 1 or 2, characterized in that: The guide plate (5) is provided with a penetrating square engaging groove, and two guide plates (5) are provided symmetrically with respect to the center of the lifting plate (6).

5. A variable damping flexible leg according to claim 1 or 2, characterized in that: A first leg (10) is rotatably provided on the receiving plate (9), the first leg (10) is rotatably connected to a second leg (11), a running wheel (12) is fixedly installed at the lower end of the second leg (11), and two penetrating limiting grooves are symmetrically provided on the running wheel (12).

6. The variable damping flexible leg according to claim 5, characterized in that: A second electric telescopic rod (27) is fixedly mounted on the upper end of the walking wheel (12), and two connecting slides (28) are symmetrically arranged about the center of the walking wheel (12), the connecting slides (28) comprising an upper connecting slide and a lower connecting slide, the upper connecting slide being fixedly mounted with the lower end of the second electric telescopic rod (27), the lower connecting slide being slidably connected to a through-limiting groove arranged at the lower end of the walking wheel (12), and the upper connecting slide being slidably connected to a through-limiting groove arranged at the upper end of the walking wheel (12).

7. The variable damping flexible leg according to claim 6, characterized in that: The two connecting slide plates (28) are both equipped with a fixed air bag (29), the fixed air bag (29) is fixedly connected to the running wheel (12), and an air guide tube (30) is installed through the middle position of the running wheel (12), and the air guide tube (30) is installed through the fixed air bag (29).

8. The variable damping flexible leg according to claim 7, characterized in that: The connecting slide plate (28) is rotatably mounted with a rotating support plate (31) on the left and right sides, and the other rotating support plate (31) is rotatably mounted with a supporting wheel (32), and an inflatable wheel (33) is mounted outside the supporting wheel (32), and the inflatable wheel (33) is provided with an internal hollow structure, and an inflatable tube (34) is connected and mounted on the inflatable wheel (33), and the inflatable tube (34) is fixedly mounted on the supporting wheel (32), and the other end of the inflatable tube (34) is connected and fixed on the fixed air bag (29).

9. A quadruped robot, comprising a quadruped robot body (35), characterized in that: The quadruped robot body (35) comprises the variable damping flexible leg as claimed in any one of the above claims.

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