Variable-damping flexible leg and quadruped robot thereof

Abstract

The present application relates to the technical field of quadruped robots, and discloses a variable-damping flexible leg and a quadruped robot thereof, which comprises a fixed plate, the upper and lower sides of the fixed plate are fixedly provided with a plurality of adhering plates, a fastening screw is arranged at the middle position of the adhering plate, a fixed nut is threadedly connected to the fastening screw, two square through grooves are formed in the fixed plate, and a guide plate is slidably arranged in the square through groove of the fixed plate. The variable-damping flexible leg and the quadruped robot thereof are characterized in that the anti-interference shell, the partition plate, the magnetic generation coil, the supporting rod and the electromagnetic variable liquid are used to flexibly support the leg part in a complex environment, the variable-damping part can be selected not to be used according to different use environments, the wear of the variable-damping part is effectively reduced, the height of the leg part of the quadruped robot is adjusted in linkage with the variable-damping part being fixed and not being used, the inspection range of the quadruped robot is increased, the supporting wheels are increased to assist the support of the walking wheels, and the stability of the quadruped robot is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of quadruped robots, in particular to a variable-damping flexible leg and a quadruped robot thereof. BACKGROUND

[0002] Quadruped robots are named because their walking mode imitates quadruped animals, and they can move like animals to facilitate the crossing of complex terrains and maintain stable movement in uneven environments.

[0003] At present, the patent with the publication number CN107539385A discloses a variable-damping flexible leg, which comprises a hip joint, a thigh, a knee joint, a lower leg and a foot end connected in sequence; a first driving system for driving the entire variable-damping flexible leg to abduct, a second driving system for driving the thigh to rotate, and a third driving system for driving the knee joint to rotate are arranged on the hip joint; a variable-damping control device is arranged in the first driving system and / or the second driving system, the variable-damping control device comprises a magnetorheological damper and a spring, the spring is sleeved outside the magnetorheological damper, and the first driving system and / or the second driving system is connected with the magnetorheological damper and the spring. The variable-damping control device further comprises 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. A thigh mounting bracket is arranged on the hip joint, and the thigh is connected with the thigh mounting bracket; the first driving system comprises a first driving motor and a first speed reducer, the first speed reducer comprises a first rigid gear and a first flexible gear, and the first driving motor is connected with the first rigid gear. The variable-damping device is arranged in the first driving system and / or the second driving system, the variable-damping device comprises 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, and better damping and buffering effects can be achieved.

[0004] However, the above-mentioned variable-damping flexible leg of the quadruped robot still has the following problems in use:

[0005] In use, because the variable-damping flexible leg is in a continuous working state, after long-term use, the particles in the magnetorheological fluid may change due to the decomposition of the additive, the volatilization of the base fluid and other reasons, thereby the anti-agglomeration stability of the particles becomes poor, and the long-time work of the magnetorheological fluid device will cause great wear between the device shell and the sliding rod, but the variable-damping function is not needed when walking on relatively flat road, thereby unnecessary resource waste is caused. SUMMARY

[0006] The variable-damping flexible leg and the quadruped robot thereof can switch the working state, use the variable-damping function according to the actual use environment, effectively guarantee the stability of the variable-damping function, and prolong the service life of the variable-damping function.

[0007] The variable-damping flexible leg comprises a fixed plate, two adhesive plates fixedly installed on the upper and lower sides of the fixed plate, a fastening screw penetratingly arranged at the middle position of the adhesive plate, a fixed nut threadedly connected to the fastening screw, two square penetrating grooves formed in the fixed plate, a guide plate slidingly arranged in the square groove of the fixed plate, a lifting plate fixedly installed at the lower end of the guide plate, a limiting plate fixedly installed at the inner side of the lifting plate, an accommodating plate fixedly installed at the lower end of the limiting plate, threaded holes formed in the left and right sides of the accommodating plate, an anti-interference shell fixedly installed at the upper end of the lifting plate, a partition plate fixedly installed in the anti-interference shell, a magnetic generating coil arranged outside the partition plate, an electromagnetic variable liquid arranged inside the partition plate, a supporting rod slidingly arranged at the upper end of the anti-interference shell, a belt pulley group fixedly installed at the upper end of the supporting rod, a double-shaft motor fixedly arranged on the fixed plate, a rotating gear connected to the output end of the double-shaft motor through a shaft, a rotating screw fixedly installed at the lower end of the connecting shaft, the rotating screw connected to the accommodating plate through the threaded hole formed in the accommodating plate, the rotating gear connected to the movable rack through a shaft, and the movable rack and the guide plate being in close contact with each other.

[0008] Further, the first electric telescopic rod is symmetrically arranged on the left and right sides of the lifting plate, the cylindrical groove is formed in the left and right sides of the limiting plate, the outer surface of the limiting plate is smooth, the limiting plate is connected to the first electric telescopic rod through the cylindrical groove, the pressure sensor is fixedly installed in the lifting plate, and the lower end of the pressure sensor is in close contact with the upper end of the limiting plate.

[0009] Further, the movable rack is provided with a gear structure, the movable rack is connected to the rotating gear through the gear structure, the rotating gear is rotatably connected to the fixed plate through the shaft arranged at the lower end, the additional plate is fixedly installed on the fixed plate, the limiting sliding block is fixedly installed on the additional plate, the long strip-shaped limiting groove is formed in the movable rack, and the movable rack is slidingly connected to the limiting sliding block through the limiting groove.

[0010] Further, the guide plate is provided with a through square engaging groove, and the guide plate is symmetrically arranged about the center of the lifting plate, and the position of the lifting plate is clamped and fixed by clamping and fixing of the guide plate.

[0011] Further, the receiving plate is provided with a first leg rotatingly arranged, the first leg is rotatingly connected with a second leg, the lower end of the second leg is fixedly installed with a walking wheel, two through limiting grooves are symmetrically arranged on the walking wheel, and the first leg, the second leg and the walking wheel are combined to provide stable walking of the quadruped robot.

[0012] Further, the upper end of the walking wheel is fixedly installed with a second electric telescopic rod, two connecting slides are symmetrically arranged about the center of the walking wheel, the connecting slide comprises an upper end connecting slide and a lower end connecting slide, the second electric telescopic rod is fixedly installed at the lower end of the upper end connecting slide, the lower end connecting slide is slidingly connected with the through limiting groove arranged at the lower end of the walking wheel, and the upper end connecting slide is slidingly connected with the through limiting groove arranged at the upper end of the walking wheel.

[0013] Further, the two connecting slides are both installed with a fixed air bag, the fixed air bag is fixedly connected with the walking wheel, and a gas guide pipe is installed through the middle position of the walking wheel, the gas guide pipe is installed through the fixed air bag, and the fixed air bag is pressed by movement of the connecting slide, so that the gas in the fixed air bag enters the inflatable wheel through the gas pipe.

[0014] Further, the left and right sides of the connecting slide are rotatingly installed with a rotating support plate, the other rotating support plate is installed with a supporting wheel, the supporting wheel is installed with an inflatable wheel outside, the inflatable wheel is provided with a hollow structure, and the inflatable wheel is installed with a gas pipe, the gas pipe is fixedly installed on the supporting wheel, and the other end of the gas pipe is fixedly installed on the fixed air bag, and the walking wheel is assisted and supported by the inflatable wheel, so that the stability of the quadruped robot during walking is increased.

[0015] The application also provides a quadruped robot, which comprises a quadruped robot body, and the quadruped robot body comprises any one of the variable-damping flexible legs.

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

[0017] The variable damping flexible leg and the four-legged robot thereof are composed of an anti-interference shell, a partition plate, a magnetic generation coil, a support rod and an electromagnetic variable liquid, so that the leg part can be flexibly supported in a complex environment, the vibration and impact of the leg part in movement can be reduced by adjusting the damping, the walking stability of the robot is improved, meanwhile, according to different use environments, the variable damping part can be selected not to be used, so that the wear of the variable damping part can be effectively reduced, the height of the leg part of the four-legged robot is adjusted in linkage while the variable damping part is fixed and not used, so that the patrol range of the four-legged robot can be increased, the four-legged robot is more practical, and the support wheel is increased to realize auxiliary support of the walking wheel, the ground contact area is increased, so that the stability of the four-legged robot in a complex environment is improved, the support wheel is arranged in a foldable storage mode, so that the wear and energy consumption during walking on a plane can be reduced. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the four-legged robot body of the present application.

[0019] Figure 2 It is a schematic diagram of the three-dimensional structure of the first support leg of the present application.

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

[0021] Figure 4 It is a schematic diagram of the three-dimensional structure of the belt pulley set of the present application.

[0022] Figure 5 It is a schematic diagram of the three-dimensional cross-sectional structure of the moving rack of the present application.

[0023] Figure 6 It is a schematic diagram of the three-dimensional structure of the limiting plate of the present application.

[0024] Figure 7 It is a schematic diagram of the three-dimensional structure of the support wheel of the present application.

[0025] Figure 8 It is a schematic diagram of the three-dimensional cross-sectional structure of the walking wheel of the present application.

[0026] Figure 9 It is a schematic diagram of the three-dimensional cross-sectional structure of the fixed air bag of the present application.

[0027] Figure 10 It is a schematic diagram of the three-dimensional structure of the four-legged robot of the present application. Figure 3 It is a schematic diagram of the enlarged structure at A of the four-legged robot of the present application.

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

[0029] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all.

[0030] Please refer to Figures 1-10 The present application provides a technical solution: a quadruped robot body comprising a fixed plate 1, fitting plates 3 are fixedly installed on the upper and lower sides of the fixed plate 1, a fastening screw 2 is arranged through the middle position of the fitting plate 3, a fixed nut 4 is threadedly connected to the fastening screw 2, two square through grooves are formed in the fixed plate 1, a guide plate 5 is slidingly arranged in the square through groove of the fixed plate 1, a lifting plate 6 is fixedly installed at the lower end of the guide plate 5, a limiting plate 8 is arranged in the lifting plate 6, a bearing plate 9 is fixedly installed at the lower end of the limiting plate 8, threaded holes are formed in the left and right sides of the bearing 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 in the anti-interference shell 14, a magnetic generating coil 16 is arranged outside the partition plate 15, an electromagnetic variable liquid 18 is arranged in the partition plate 15, a supporting rod 17 is slidingly arranged at the upper end position of the anti-interference shell 14, and the supporting rod 17 is connected with the fixed plate 1.

[0031] When the quadruped robot is used in a complex environment, the moving rack 24 is not fitted with the guide plate 5, at this time, the walking wheel 12, the second supporting leg 11 and the first supporting leg 10 start to move upward as the walking wheel 12 contacts the ground, at this time, the lifting plate 6 starts to move towards the fixed plate 1, because the fixed plate 1 is fixedly installed with the supporting rod 17 at the lower end, at this time, the supporting rod 17 starts to slide in the anti-interference shell 14 Figure 10The anti-interference shell 14 is externally provided with a spring structure, and the upper end of the damping spring structure is connected with the fixed plate 1, and the lower end is connected with the lifting plate 6. At this time, the damping spring structure is squeezed and deformed, and the deformation of the damping spring structure can realize the damping support of the lifting plate 6, so as to achieve the purpose of damping the first supporting leg 10, the second supporting leg 11 and the walking wheel 12 (the walking mode of the first supporting leg 10, the second supporting leg 11 and the walking wheel 12 is consistent with the four-legged driving mode of the existing four-legged robot). The magnetic field generated by the magnetic generating coil 16 can magnetize the magnetic particles in the electromagnetic variable liquid 18 and arrange them into a chain structure along the magnetic force line to form a magnetic chain. The formation and interaction of the magnetic chain increase the shear stress and viscosity of the liquid. After the magnetic field is removed, the interaction between the magnetic particles is weakened, the magnetic chain is disintegrated, and the liquid returns to the flowing state. Therefore, by adjusting the state of the electromagnetic variable liquid 18, the damping of the first supporting leg 10, the second supporting leg 11 and the walking wheel 12 can be changed, that is, the damping of the four-legged robot legs can be changed according to the actual use environment, so as to achieve the purpose of damping protection of the four-legged robot.

[0032] The first supporting leg 10 is rotatably arranged on the receiving plate 9, the first supporting leg 10 is rotatably connected with the second supporting leg 11, the second supporting leg 11 is fixedly installed with the walking wheel 12 at the lower end, the walking wheel 12 is symmetrically provided with two through-limiting grooves on the upper end, the second electric telescopic rod 27 is fixedly installed on the upper end of the walking wheel 12, two connection sliding plates 28 are symmetrically arranged about the center of the walking wheel 12, the connection sliding plate 28 includes an upper end connection sliding plate and a lower end connection sliding plate, the second electric telescopic rod 27 is fixedly installed at the lower end of the upper end connection sliding plate, the lower end connection sliding plate is slidably connected with the through-limiting groove arranged at the lower end of the walking wheel 12, the upper end connection sliding plate is slidably connected with the through-limiting groove arranged at the upper end of the walking wheel 12, the two connection sliding plates 28 are both installed with the fixed air bag 29, the fixed air bag 29 is fixedly connected with the walking wheel 12, the air guide pipe 30 is installed through the middle position of the walking wheel 12, the air guide pipe 30 is installed through the fixed air bag 29, the rotary supporting plate 31 is rotatably installed on the left and right sides of the connection sliding plate 28, the supporting wheel 32 is rotatably installed on the other side of the rotary supporting plate 31, the inflatable wheel 33 is installed outside the supporting wheel 32, the inflatable wheel 33 is provided with an internally hollow structure, the inflatable pipe 34 is installed through the inflatable wheel 33, the inflatable pipe 34 is fixedly installed on the supporting wheel 32, and the other end of the inflatable pipe 34 is fixedly installed on the fixed air bag 29.

[0033] With the structure composed of anti-interference shell 14, partition plate 15, magnetic generating coil 16, support rod 17 and electromagnetic variable liquid 18 to reduce the vibration of first leg 10, second leg 11 and walking wheel 12, the second electric telescopic rod 27 starts to work because the lower end of the second electric telescopic rod 27 is fixedly installed with the connecting slide plate 28, at this time the connecting slide plate 28 starts to move, because the rotating support plate 31 is rotatably installed on the side of the connecting slide plate 28, at this time the rotating support plate 31 starts to rotate, with the rotation of the rotating support plate 31, 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, with the movement of the connecting slide plate 28, the connecting slide plate 28 starts to extrude the fixed air bag 29, the gas in the fixed air bag 29 enters the inflating wheel 33 through the inflating pipe 34 (the inflating pipe 34 is made of soft pipe material, and the inflating wheel 33 is made of anti-puncture material, the side of the inflating wheel 33 is relatively thin, which is convenient for inflation and expansion, and the outer ring surface of the inflating wheel 33 is relatively thick, which has better anti-puncture and anti-wear effects, by inflating the inflating wheel 33, the volume of the inflating wheel 33 can be increased, until the lower end of the inflating wheel 33 is at the same level as the lower end of the walking wheel 12), at this time the walking wheel 12 can be assisted and supported, and the stability of the walking wheel 12 can be ensured when walking in complex environment, when the inflating wheel 33 is not needed to be used for support, the second electric telescopic rod 27 drives the connecting slide plate 28 to move upwards, at this time the fixed air bag 29 starts to be stretched (the fixed air bag 29 is made of soft and air-tight material which can be stretched and compressed), the gas in the inflating wheel 33 enters the fixed air bag 29, at this time the inflating wheel 33 is no longer in contact with the ground, so that the inflating wheel 33 is not used when walking on smooth road, effectively prolonging the service life of the inflating wheel 33.

[0034] The connecting rotating shaft 19 is rotatably arranged on the left and right sides of the fixed plate 1, the belt pulley set 20 is fixedly installed on the upper end of the connecting rotating shaft 19, the double-shaft motor 21 is fixedly arranged on the fixed plate 1, the output end of the double-shaft motor 21 is connected with the belt pulley set 20 through a rotating shaft, the rotating screw 22 is fixedly installed on the lower end of the connecting rotating shaft 19, the rotating screw 22 is connected with the supporting plate 9 through the threaded hole of the supporting plate 9, the rotating gear 23 is installed on the output end of the double-shaft motor 21 through a rotating shaft, the moving rack 24 is engaged with the side surface of the rotating gear 23, the moving rack 24 is attached to the guide plate 5, the first electric telescopic rod 7 is symmetrically arranged on the left and right sides of the lifting plate 6, the cylindrical recess is arranged on the left and right sides of the limiting plate 8, the outer surface of the limiting plate 8 is smooth, the limiting plate 8 is connected with the first electric telescopic rod 7 through the cylindrical recess, the pressure sensor 13 is fixedly installed in the lifting plate 6, the lower end of the pressure sensor 13 is attached to the upper end of the limiting plate 8, the gear structure is arranged on the moving rack 24, the moving rack 24 is connected with the rotating gear 23 through the gear structure, the rotating gear 23 is rotatably connected with the fixed plate 1 through the rotating shaft arranged on the lower end, the additional plate 26 is fixedly installed on the fixed plate 1, the limiting block 25 is fixedly installed on the additional plate 26, the long strip limiting recess is arranged on the moving rack 24, the moving rack 24 is slidably connected with the limiting block 25 through the limiting recess, the penetrating square clamping recess is arranged on the guide plate 5, and the guide plate 5 is symmetrically arranged 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 attached to the limiting plate 8. Then the double-shaft motor 21 starts to work, because the lower output end of the double-shaft motor 21 is connected with the rotating gear 23, at this time the rotating gear 23 starts to rotate, because the side of the rotating gear 23 is meshed with the moving rack 24, at this time the moving rack 24 starts to slide, and under the action of the limiting block 25, the moving rack 24 can be guided and limited, until the moving rack 24 is attached to the through square clamping groove on the guide plate 5, so that the guide plate 5 can be clamped and fixed, that is, the position of the lifting plate 6 can be clamped and fixed, at this time it is no longer used with the variable damping part composed of the anti-interference shell 14, the partition plate 15, the magnetic generating coil 16, the supporting rod 17 and the electromagnetic variable liquid 18. At the same time, with the working of the double-shaft motor 21, the pulley set 20 connected with the connecting shaft 19 through the rotating shaft also starts to work, because the pulley set 20 is connected with the connecting shaft 19, at this time the connecting shaft 19 starts to rotate (the pulley set 20 is composed of two rotating wheels and a belt, and the two rotating wheels are connected with the upper output end of the double-shaft motor 21 and the connecting shaft 19 respectively, and the diameter difference between the two rotating wheels can drive the connecting shaft 19 to rotate quickly), because the connecting shaft 19 is installed with the rotating screw 22, and the rotating screw 22 is connected with the supporting plate 9 through the threaded holes on the left and right sides of the supporting plate 9, therefore, with the rotation of the rotating screw 22, the supporting plate 9 starts to move downward, and the limiting plate 8 no longer presses the pressure sensor 13, with the downward movement of the supporting plate 9, the first supporting leg 10, the second supporting leg 11 and the walking wheel 12 also start to move downward, so as to achieve the purpose of lifting the height of the whole four-legged robot body 35 (when walking on a smooth road, the height can be increased to improve the inspection effect and range, and when walking on a complex road, the height can be reduced to improve the stability of the four-legged robot), and the inspection range of the four-legged robot body 35 is increased.

[0036] A four-legged robot, comprising a four-legged robot body 35, the four-legged robot body 35 comprising any one of the variable-damping flexible legs.

[0037] When it is necessary to install and fix the variable-damping flexible leg, the fastening screw 2 is fixedly installed on the upper main machine of the four-legged robot body 35 (the four-legged robot body 35 comprises the upper main machine and the variable-damping flexible leg), the fixed plate 1 moves towards the four-legged robot body 35 upper main machine, until the fixedly installed abutting plate 3 on the fixed plate 1 passes through the fastening screw 2, then the fixed nut 4 is turned, the fixed nut 4 starts to be connected with the fastening screw 2, so as to achieve the purpose of fixing the fixed plate 1, that is, the variable-damping flexible leg can be fixedly installed on the upper main machine of the four-legged robot body 35.

[0038] While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely exemplary of the principles and application of the present application. Numerous modifications and adaptions can be effected without departing from the spirit and scope of the present application, which is not limited to the exact construction and arrangement described. It is intended, therefore, to cover all modifications and adaptions that fall within the scope of the claims and their equivalents.

Claims

1. A variable damping flexible leg, comprising a fixed plate (1), a clamping plate (3) is fixedly installed on both sides of the fixed plate (1), a fastening screw (2) is arranged through the middle position of the clamping plate (3), and a fixed nut (4) is threadedly connected on the fastening screw (2), characterized in that, Also includes: Two square through recesses are formed in the fixed plate (1), and a guide plate (5) is slidably arranged in the square recess formed in the fixed plate (1), a through square clamping recess is formed in the guide plate (5), a lifting plate (6) is fixedly installed at the lower end of the guide plate (5), a limiting plate (8) is attached inside the lifting plate (6), a receiving plate (9) is fixedly installed at the lower end of the limiting plate (8), threaded holes are formed in the left and right sides of the receiving plate (9), an anti-interference shell (14) is fixedly installed at the upper end of the lifting plate (6), a partition plate (15) is fixedly installed inside the anti-interference shell (14), a magnetic coil (16) is arranged outside the partition plate (15), an electromagnetic variable liquid (18) is arranged inside the partition plate (15), a supporting rod (17) is slidably arranged at the upper end of the anti-interference shell (14), the supporting rod (17) is connected with the fixed plate (1), a connecting shaft (19) is rotatably arranged on the left and right sides of the fixed plate (1), a belt pulley set (20) is fixedly installed at the upper end of the connecting shaft (19), a double-shaft motor (21) is fixedly arranged on the fixed plate (1), the output end of the double-shaft motor (21) is connected with the belt pulley set (20) through a shaft, a rotary screw (22) is fixedly installed at the lower end of the connecting shaft (19), the rotary screw (22) is connected with the receiving plate (9) through the threaded holes formed in the receiving plate (9), a rotating gear (23) is installed at the lower output end of the double-shaft motor (21) through a shaft, a moving rack (24) is engaged with the side surface of the rotating gear (23), and the moving rack (24) is attached to the guide plate (5), the double-shaft motor (21) drives the moving rack (24) to be attached to the through square clamping recess formed in the guide plate (5) to achieve clamping and fixing of the guide plate (5).

2. A variable-damper compliant leg according to claim 1, wherein: The first electric telescopic rod (7) is symmetrically arranged on the left and right sides of the lifting plate (6), the cylindrical recess is formed in the left and right sides of the limiting plate (8), the outer surface of the limiting plate (8) is smooth, and the limiting plate (8) is connected with the first electric telescopic rod (7) through the cylindrical recess, the pressure sensor (13) is fixedly installed inside the lifting plate (6), and the lower end of the pressure sensor (13) is attached to the upper end of the limiting plate (8).

3. A variable damper flexible leg according to claim 1 or 2, characterized in that: The gear structure is arranged on the moving rack (24), the moving rack (24) is connected with the rotating gear (23) through the gear structure, the rotating gear (23) is rotatably connected with the fixed plate (1) through the shaft arranged at the lower end, the mounting plate (26) is fixedly installed on the fixed plate (1), the limiting slide block (25) is fixedly installed on the mounting plate (26), the elongated limiting recess is formed in the moving rack (24), and the moving rack (24) is slidably connected with the limiting slide block (25) through the limiting recess.

4. A variable damper flexible leg according to claim 1 or 2, characterized in that: The guide plate (5) is symmetrically arranged about the center of the lifting plate (6).

5. A variable damper flexible leg according to claim 1 or 2, characterized by: The first supporting leg (10) is rotatably arranged on the receiving plate (9), the first supporting leg (10) is rotatably connected with the second supporting leg (11), the lower end of the second supporting leg (11) is fixedly installed with the walking wheel (12), and the upper end of the walking wheel (12) is symmetrically provided with two through limiting grooves.

6. A variable-damper compliant leg according to claim 5, wherein: The upper end of the walking wheel (12) is fixedly installed with the second electric telescopic rod (27), two connecting sliding plates (28) are symmetrically arranged about the center of the walking wheel (12), the connecting sliding plate (28) comprises an upper end connecting sliding plate and a lower end connecting sliding plate, the lower end of the upper end connecting sliding plate is fixedly installed with the second electric telescopic rod (27), the lower end connecting sliding plate is slidably connected with the through limiting groove arranged at the lower end of the walking wheel (12), and the upper end connecting sliding plate is slidably connected with the through limiting groove arranged at the upper end of the walking wheel (12).

7. A variable-damper compliant leg according to claim 6, wherein: Both the connecting sliding plates (28) are installed with the fixed air bag (29), the fixed air bag (29) is fixedly connected with the walking wheel (12), a gas guide pipe (30) is installed in the middle of the walking wheel (12) in a penetrating manner, and the gas guide pipe (30) is installed on the fixed air bag (29) in a penetrating manner.

8. A variable-damper compliant leg according to claim 7, wherein: The left and right sides of the connecting sliding plate (28) are rotatably installed with the rotating supporting plate (31), the other rotating supporting plate (31) is rotatably installed with the supporting wheel (32), the outer portion of the supporting wheel (32) is installed with the inflatable wheel (33), the inflatable wheel (33) is provided with a hollow structure, the inflatable wheel (33) is installed with the inflation pipe (34) in a penetrating manner, the inflation pipe (34) is fixedly installed on the supporting wheel (32), and the other end of the inflation pipe (34) is fixedly installed on the fixed air bag (29) in a penetrating manner.

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

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