Four-limb linkage robot

Abstract

The four-limb linkage robot comprises a base, a supporting table, a shell and a four-limb linkage structure, and the supporting table is installed at the top end of the base; the shell is located above the base and forms a containing cavity, the shell and the supporting table are arranged in a spaced mode and form a clamping groove, and the bed tail plate can be clamped into the clamping groove; the four-limb linkage structure comprises an upper limb movement device, a lower limb movement device and a transmission wheel train, the upper limb movement device comprises two swing arms, the lower limb movement device comprises two pedals, the transmission wheel train is arranged in the containing cavity, the two pedals are arranged on the two sides of the shell respectively, and the two pedals extend into the containing cavity and are connected with the transmission wheel train; one end of the swing arm extends into the containing cavity and is connected with the transmission wheel train, and the swing arm can swing relative to the shell so as to drive the pedal to move through the transmission wheel train. The four-limb linkage robot is simple in structure, convenient to operate and capable of being applied along with the bed.

Description

Technical Field

[0001] The present invention relates to the technical field of medical rehabilitation, and in particular to a four-limb linkage robot. Background Art

[0002] Limb movement rehabilitation training robots are devices designed specifically to help patients recover and strengthen their limb functions. With the advancement of medical technology and the increase in rehabilitation needs, such devices have played an increasingly important role in the field of rehabilitation medicine. These devices help improve patients' limb functions and promote rehabilitation by simulating various movement patterns and strength training.

[0003] Currently, the limb movement rehabilitation training devices on the market mainly exist in the form of independent devices. These devices usually include a special training platform, exercise equipment, and support systems, aiming to provide highly targeted training programs. However, these independent devices have some limitations in practical applications, especially in bedside applications in hospitals or rehabilitation centers.

[0004] Since these devices usually require a large space and cannot be effectively combined with the bed, patients may be restricted by the location of the equipment during use, resulting in less than expected results in rehabilitation training. At the same time, the use of independent equipment may require additional equipment handling and adjustment, increasing the complexity of operation and the requirements for medical staff. Especially in intensive care units or long-term bedridden patients, the space requirements and operational difficulty of such equipment may further affect the treatment effect and patient comfort.

[0005] Therefore, developing a limb movement rehabilitation training robot that can be conveniently installed on a hospital bed has become a technical need that needs to be urgently addressed. Summary of the invention

[0006] The main purpose of the present invention is to provide a four-limb linkage robot, aiming to solve the problem that the existing four-limb linkage robot cannot be used with the bed.

[0007] To achieve the above object, the present invention proposes a four-limb linkage robot, the four-limb linkage robot comprising:

[0008] Base:

[0009] A support platform, the support platform is installed on the top of the base;

[0010] A shell, the shell is located above the base and forms a receiving cavity, the shell and the support platform are spaced apart and form a slot, and the slot is used for the footboard to be inserted;

[0011] A four-limb linkage structure, the four-limb linkage structure includes an upper limb motion device, a lower limb motion device and a transmission gear train, the upper limb motion device includes two swing arms, the lower limb motion device includes two pedals, the transmission gear train is arranged in the accommodating cavity, the two pedals are arranged on both sides of the shell, and the two pedals extend into the accommodating cavity and are connected to the transmission gear train, one end of the swing arm extends into the accommodating cavity and is connected to the transmission gear train, and the swing arm can swing relative to the shell to drive the pedal to move through the transmission gear train.

[0012] In one embodiment, the transmission gear train includes two first gears, two second gears and a reversing gear train, the two first gears and the two second gears are correspondingly arranged and meshed, the two swing arms are correspondingly connected to the two first gears, the two pedals are correspondingly connected to the two second gears, the reversing gear train is located between the two second gears, and the reversing gear train connects the two second gears so that the two second gears rotate in opposite directions.

[0013] In one embodiment, the reversing gear train includes a first bevel gear and two second bevel gears, the first bevel gear and the two second bevel gears are meshed with each other, the pedal includes a treading portion and a connecting shaft that are connected to each other, baffles are provided on both sides of the shell, the connecting shaft passes through the corresponding baffles and extends into the accommodating cavity, and the connecting shaft can rotate relative to the baffles, and the second gear and the second bevel gear are both sleeved on the corresponding connecting shaft.

[0014] In one embodiment, the transmission gear train also includes a column and a fixed shaft, the column is installed on the bottom wall of the accommodating cavity, the fixed shaft is installed on the top of the column, the inner ring of the first gear is provided with a bearing, and the bearing is sleeved on the fixed shaft and can rotate relative to the fixed shaft.

[0015] In one embodiment, a damper is further provided in the accommodating cavity, and the damper is used for frictionally contacting the reversing gear train.

[0016] In one embodiment, the support platform includes a fixed section and a lifting section, the fixed section is installed on the top of the base, the lifting section is telescopically installed in the fixed section, and the shape of the inner wall of the fixed section matches the shape of the outer wall of the lifting section and is slidably fitted.

[0017] In one embodiment, the fixing section is provided with a threaded hole for a fastening bolt to pass through, and the fastening bolt passes through the threaded hole to abut against the lifting section.

[0018] In one embodiment, a swing groove is formed at one end of the shell away from the support platform, the cross section of the swing groove is arc-shaped, the swing arm is passed through the swing groove, and the swing arm is used to swing along the length direction of the swing groove.

[0019] In one embodiment, the four-limb linkage robot further includes a display screen, the display screen is communicatively connected to the damper, and the display screen is disposed on the top of the support platform.

[0020] In one embodiment, a plurality of walking wheels are arranged at intervals at the bottom end of the base.

[0021] In the technical solution of the present invention, the four-limb linkage robot includes a support platform and a shell, the support platform and the shell form slots arranged at intervals, and the slots are inserted into the footboard of the bed, so as to realize the bed-mounted application of the four-limb linkage robot, and the four-limb linkage function of the four-limb linkage robot is realized by reasonably setting the transmission gear system in the shell and the swing arm and pedal passing through the shell. The structure is simple and easy to use, and can be used for bedridden patients with hemiplegia or paraplegia. The movement of other limbs is driven by the movement of at least one limb to achieve the effect of four-limb linkage. When the four-limb linkage robot is in use, the patient can realize the linkage between two pedals and two swing arms by stepping on the pedal or shaking the swing arm. Specifically, when the patient shakes the swing arm, the swing arm drives the other swing arm and the two pedals to move through the transmission gear system; when the patient steps on the pedal, the pedal drives the other pedal and the two swing arms to move through the transmission gear system, so as to realize the effect of patient's four-limb linkage, and through the combination of the movement of the swing arm and the pedal, patients who have undergone surgery or have been bedridden for a long time can complete rehabilitation training of their arms and legs, and help patients recover their daily living ability. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0023] Figure 1 It is a schematic diagram of the three-dimensional structure of a four-limb linkage robot in one embodiment of the present invention;

[0024] Figure 2 for Figure 1 The main structural diagram of the four-limb linkage robot;

[0025] Figure 3 for Figure 2 Schematic diagram of the structure after removing the baffle;

[0026] Figure 4It is a schematic cross-sectional structural diagram of a four-limb linkage robot in one embodiment of the present invention;

[0027] Figure 5 for Figure 4 Schematic diagram of the enlarged structure of part A in the middle.

[0028] Description of Figure Numbers:

[0029] 100. A robot with four limbs in linkage mode; 1. a base; 2. a support platform; 3. a shell; 4. a structure for the linkage mode of four limbs; 31. a receiving chamber; 32. a slot; 41. an upper limb movement device; 42. a lower limb movement device; 43. a transmission gear train; 411. a swing arm; 421. a pedal; 431. a first gear; 432. a second gear; 433. a reversing gear train; 434; a first bevel gear; 435. a second bevel gear; 422. a pedal; 423. a connecting shaft; 33. a baffle; 436. a column; 437. a fixed shaft; 5. a damper; 21. a fixed section; 22. a lifting section; 23. a fastening bolt; 34. a swing slot; 6. a display screen; 7. a walking wheel.

[0030] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the direction of the user in a certain posture (such as the attached Figures 1 to 3 The relative position relationship, movement status, etc. between the various components under the specific posture are shown. If the specific posture changes, the directional indication will also change accordingly.

[0033] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0034] The present invention provides a four-limb linkage robot 100.

[0035] See also Figures 1 to 3 In one embodiment of the present invention, a four-limb linkage robot 100100 includes a base 1, a support platform 2, a shell 3 and a four-limb linkage structure 4, the support platform 2 is installed on the top of the base 1; the shell 3 is located above the base 1 and forms a accommodating cavity 31, the shell 3 and the support platform 2 are spaced apart and form a slot 32, the slot 32 is used for the footboard to be inserted; the four-limb linkage structure 4 includes an upper limb movement device 41, a lower limb movement device 42 and a transmission gear train 43, the upper limb movement device 41 includes two swing arms 411, the lower limb movement device 42 includes two pedals 421, the transmission gear train 43 is arranged in the accommodating cavity 31, the two pedals 421 are arranged on both sides of the shell 3, and the two pedals 421 extend into the accommodating cavity 31 and are connected to the transmission gear train 43, one end of the swing arm 411 extends into the accommodating cavity 31 and is connected to the transmission gear train 43, the swing arm 411 can swing relative to the shell 3 to drive the pedal 421 to move through the transmission gear train 43.

[0036] In the technical solution of the above embodiment, the support platform 2 is installed on the top of the base 1, and the base 1 and the support platform 2 support and fix the shell 3 and the structures at both ends of the limbs. The shell 3 is located above the base 1, and the shell 3 and the support platform 2 are spaced apart in the left and right directions. A slot 32 is formed between the shell 3 and the support platform 2, and the notch of the slot 32 is set downward. During the use of the four-limb linkage robot 100, the bed footboard is inserted into the slot 32 from the notch of the slot 32 to install the four-limb linkage robot 100 next to the bed. , to realize the bedside application of the four-limb linkage robot 100, the four-limb linkage robot 100 also includes a four-limb linkage structure 4, the four-limb linkage structure 4 includes an upper limb movement device 41, a lower limb movement device 42 and a transmission gear train 43, the upper limb movement device 41 includes two swing arms 411, the two swing arms 411 are spaced apart along the front-to-back direction and extend along the left-to-right direction, the lower limb movement device 42 includes two pedals 421, the two pedals 421 are spaced apart along the front-to-back direction on both sides of the shell 3, the shell 3 forms a accommodating chamber 31, the transmission gear train 43 is arranged in the accommodating chamber 31, the two pedals 421 are respectively extended into the accommodating chamber 31 along the front-to-back direction and are connected to the transmission gear train 43, the two swing walls extend into the accommodating chamber 31 from right to left and are connected to the transmission gear train 43, during the use of the four-limb linkage robot 100 in this embodiment, it is usually for patients in bed, the patient's feet are placed on the pedals 421 to perform arc flexion and extension reciprocating motion, wherein the patient's feet drive the pedals 421 to rotate at a maximum angle of no more than 180°, and the patient can The pedal 421 is stepped on or the swing arm 411 is shaken to realize the linkage between the two pedals 421 and the two swing arms 411. Specifically, when the patient shakes the swing arm 411, the patient holds the swing arm 411 with both hands to perform arc-shaped up and down reciprocating motion, and the swing arm 411 drives the other swing arm 411 and the two pedals 421 to reciprocate through the transmission gear train 43; when the patient steps on the pedal 421, the pedal 421 drives the other pedal 421 and the two swing arms 411 to move through the transmission gear train 43, realizing the linkage effect of the patient's limbs. Therefore, through the combination of the movement of the swing arm 411 and the pedal 421, patients who have undergone surgery or have been bedridden for a long time can complete the rehabilitation training of their arms and legs, helping the patients to recover their daily living ability. The four-limb linkage robot 100 in this embodiment is implemented by setting a support platform 2 and a shell 3, and forming a slot 32 with an interval between the support platform 2 and the shell 3, and the slot 32 is inserted into the footboard of the bed, so as to realize the bed-mounted application of the four-limb linkage robot 100. By reasonably setting the transmission gear train 43 in the shell 3 and the swing arm 411 and the pedal 421 passing through the shell 3, the four-limb linkage function of the four-limb linkage robot 100 is realized. The structure is simple and easy to use. It can be used for bedridden patients with hemiplegia or paraplegia, and the movement of other limbs can be driven by the movement of at least one limb, thereby realizing the effect of four-limb linkage.

[0037] Based on the above embodiments, please refer to Figure 4 and Figure 5 , the transmission gear train 43 includes two first gears 431, two second gears 432 and a reversing gear train 433, the two first gears 431 and the two second gears 432 are correspondingly arranged and meshed, the two swing arms 411 are correspondingly connected to the two first gears 431, the two pedals 421 are correspondingly connected to the two second gears 432, the reversing gear train 433 is located between the two second gears 432, and the reversing gear train 433 is connected to the two second gears 432 so that the two second gears 432 rotate in opposite directions. In this embodiment, the transmission gear train 43 may include two first gears 431, two second gears 432 and a reversing gear train 433, the two first gears 431 are spaced apart along the front and back, the two second gears 432 are spaced apart along the front and back, the first gears 431 and the second gears 432 are spaced apart along the left and right directions, the two first gears 431 and the two second gears 432 are correspondingly meshed, and the two swing arms 411 are correspondingly connected to the two first gears 431. The two pedals 421 are connected to two second gears 432 correspondingly, so that when the patient swings any of the two swing arms 411, the swing arm 411 drives the first gear 431 to rotate, the first gear 431 drives the second gear 432 meshed with it to rotate, and the second gear 432 drives the pedal 421 connected thereto to move, and the first gear 431, during the rotation process, can drive the other first gear 431 to rotate in the opposite direction through the reversing connection, so that the first gear 431 rotating in the opposite direction drives the pedal 421 connected thereto to move in the opposite direction, so that the two lower limbs of the patient can move in the opposite direction, which helps to help the patient complete the rehabilitation training faster and reduce the pressure of lower limb exercise. It should be noted that when the second gear 432 rotates in the opposite direction, since the second gear 432 is meshed with the first gear 431, the first gear 431 also rotates in the opposite direction. Secondly, the crank of the pedal 421 connected to the second gear 432 is shorter, while the crank of the swing arm 411 connected to the first gear 431 is longer. Therefore, the diameter of the second gear 432 should be proportionally designed to be smaller than the diameter of the first gear 431, so that the pedal 421 and the swing arm 411 can achieve linkage of the limbs within a range that conforms to the physiological angle.

[0038] In the above embodiment, one end of the swing arm 411 extends into the accommodating cavity 31 and is connected to the outer side of the corresponding first gear 431. The swing arm 411 and the corresponding first gear 431 are fixed by setting at least two connecting pins. By setting at least two connecting pins, the swing arm 411 and the corresponding first gear 431 can be effectively prevented from loosening, thereby increasing the stability of the structure.

[0039] Specifically, the reversing gear train 433 includes a first bevel gear 434 and two second bevel gears 435, the first bevel gear 434 and the two second bevel gears 435 are meshed with each other, the pedal 421 includes a pedal portion 422 and a connecting shaft 423 that are connected to each other, baffles 33 are provided on both sides of the shell 3, the connecting shaft 423 passes through the corresponding baffles 33 and extends into the accommodating cavity 31, and the connecting shaft 423 can rotate relative to the baffle 33, and the second gear 432 and the second bevel gear 435 are both sleeved on the corresponding connecting shaft 423. The reversing gear train 433 may include a first bevel gear 434 and two second bevel gears 435. The first bevel gear 434 is located directly between the two second bevel gears 435 and meshes with the two second bevel gears 435. When one second bevel gear 435 rotates, the second bevel gear 435 drives the first bevel gear 434 to rotate, and the first bevel gear 434 drives the other second bevel gear 435 to rotate in the opposite direction. The pedal 421 includes a pedal portion 422 and a connecting shaft 423 connected to each other. The pedal portion 422 is used for the patient to step on, and the connecting shaft 423 is used for the patient to step on. The shaft 423 is connected to the pedal part 422, and the connecting shaft 423 extends in the front-to-back direction and passes through the shell 3. The connecting shaft 423 can rotate relative to the shell 3. The connecting shaft 423 and the pedal part 422 can be connected by a connecting rod that is respectively perpendicular to the connecting shaft 423 and the pedal part 422. By sleeved the second gear 432 and the second gear 432 on the connecting shaft 423, when the connecting shaft 423 rotates relative to the shell 3, the second gear 432 and the second bevel gear 435 can be driven to rotate, and the structural setting is reasonable.

[0040] In other embodiments, the reversing gear train 433 may also be a cross gear train with multiple axles arranged in an interlaced manner or a reversing gear train 433 composed of a worm gear, which is not limited in the embodiments of this specification.

[0041] In one embodiment, the transmission gear train 43 further includes a column 436 and a fixed shaft 437, the column 436 is mounted on the bottom wall of the accommodating chamber 31, the fixed shaft 437 is mounted on the top of the column 436, and the inner ring of the first gear 431 is provided with a bearing, and the bearing is sleeved on the fixed shaft 437 and can rotate relative to the fixed shaft 437. In this embodiment, the first gear 431 can be effectively fixed by providing the column 436 and the fixed shaft 437. In other embodiments, the first gear 431 can also be fixed to the baffles 33 on both sides of the housing 3 through the fixed shaft 437.

[0042] In one embodiment, a damper 5 is further provided in the accommodating chamber 31, and the damper 5 is used for frictionally contacting with the reversing gear train 433. In this embodiment, the damper 5 is used to increase the movement resistance during the patient's training. Specifically, the damper 5 is in frictional contact with the reversing gear train 433, and the purpose of increasing the movement resistance is achieved by increasing the friction force of the reversing gear train 433. By adding a lifting motor at the bottom of the damper 5, the resistance mode of the damper 5 can be adjusted, such as continuously making the damper 5 in frictional contact with the reversing gear train 433 to apply a constant resistance, or intermittently making the damper 5 in frictional contact with the reversing contact to apply a gap resistance, or continuously increasing the friction wheel between the damper 5 and the reversing gear train 433 to apply an increasing resistance to meet different training needs.

[0043] In one embodiment, the support platform 2 includes a fixed section 21 and a lifting section 22. The fixed section 21 is installed at the top of the base 1, and the lifting section 22 is telescopically installed in the fixed section 21. The shape of the inner wall of the fixed section 21 matches the shape of the outer wall of the lifting section 22 and slides together. In this embodiment, the height of the support platform 2 can be adjusted by making the lifting section 22 telescopically installed in the fixed section 21. It can be understood that the inner wall of the lifting section 22 and the outer wall of the fixed section 21 can be clearance-matched, so that the lifting section 22 and the fixed section 21 can slide relative to each other. The lifting section 22 in this embodiment is cylindrical, and the inner wall of the fixed section 21 is annular. In other embodiments, the cross-section of the lifting section 22 can also be rectangular or triangular, and the shape of the inner wall of the fixed section 21 can match the lifting section 22.

[0044] In one embodiment, the fixed section 21 is provided with a threaded hole for the fastening bolt 23 to pass through, and the fastening bolt 23 passes through the threaded hole and abuts against the lifting section 22. In this embodiment, the fixed section 21 is connected to the lifting section 22 by the fastening bolt 23, which is convenient for installation and disassembly. In other embodiments, a plurality of slots 32 can be provided on the inner wall of the fixed section 21, and a block can be provided on the outer wall of the lifting section 22. When the blocks of the lifting section 22 are located in different slots 32, the height of the lifting section 22 can be adjusted.

[0045] In one embodiment, a swing groove 34 is provided at one end of the housing 3 away from the support platform 2. The cross section of the swing groove 34 is arc-shaped. The swing arm 411 is provided through the swing groove 34. The swing arm 411 is used to swing along the length direction of the swing groove 34. The cross section of the swing groove 34 is a cross section along the vertical direction. The length direction of the swing groove 34 is the length of the arc-shaped cross section of the swing groove 34. In this embodiment, there may be two swing grooves 34. The two swing grooves 34 are spaced apart in the front-to-back direction. The two swing arms 411 pass through the two swing grooves 34 and extend into the accommodating cavity 31.

[0046] In one embodiment, the four-limb linkage robot 100 also includes a display screen 6, which is communicatively connected to the damper 5, and the display screen 6 is arranged at the top of the support platform 2. By setting the display screen 6, the working state and operating parameters of the four-limb linkage robot 100 can be displayed in real time, which is convenient for operation. The display screen 6 is communicatively connected to the damper 5, so that instructions are sent to the damper 5 through the display screen 6 to adjust the movement resistance of the damper 5. Specifically, the display screen 6 can also be connected to the patient's monitor, so that the display screen 6 can simultaneously display the patient's actual training time and training speed, and can be combined with the heart rate, blood pressure, and blood oxygen saturation. To observe the changes in the patient's heart rate, blood pressure, and blood oxygen saturation during the training process. Increase the safety of the patient during training.

[0047] In one embodiment, a plurality of running wheels 7 are provided at intervals at the bottom end of the base 1. By providing the running wheels 7 at the bottom end of the base 1, the movement of the four-limb linkage robot 100 in this embodiment can be facilitated, and the burden of manual handling can be reduced.

[0048] The above are only exemplary embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A four-limb linkage robot, characterized in that: Applied to bedridden patients, the four-limb linkage robot comprises: Base: A support platform, the support platform is installed on the top of the base; A shell, the shell is located above the base and forms a receiving cavity, the shell and the support platform are spaced apart and form a slot, and the slot is used for the footboard to be inserted; A four-limb linkage structure, the four-limb linkage structure includes an upper limb motion device, a lower limb motion device and a transmission gear train, the upper limb motion device includes two swing arms, the lower limb motion device includes two pedals, the transmission gear train is arranged in the accommodating cavity, the two pedals are arranged on both sides of the shell, and the two pedals extend into the accommodating cavity and are connected to the transmission gear train, one end of the swing arm extends into the accommodating cavity and is connected to the transmission gear train, and the swing arm can swing relative to the shell to drive the pedal to move through the transmission gear train.

2. The four-limb linkage robot according to claim 1, characterized in that: The transmission gear train includes two first gears, two second gears and a reversing gear train. The two first gears and the two second gears are correspondingly arranged and meshed. The two swing arms are correspondingly connected to the two first gears. The two pedals are correspondingly connected to the two second gears. The reversing gear train is located between the two second gears. The reversing gear train connects the two second gears so that the two second gears rotate in opposite directions.

3. The four-limb linkage robot according to claim 2, characterized in that: The reversing gear train includes a first bevel gear and two second bevel gears, the first bevel gear and the two second bevel gears are meshed with each other, the pedal includes a treading portion and a connecting shaft connected to each other, baffles are provided on both sides of the shell, the connecting shaft passes through the corresponding baffles and extends into the accommodating cavity, and the connecting shaft can rotate relative to the baffles, and the second gear and the second bevel gear are both sleeved on the corresponding connecting shaft.

4. The four-limb linkage robot according to claim 2, characterized in that: The transmission gear train also includes a column and a fixed shaft, the column is installed on the bottom wall of the accommodating cavity, the fixed shaft is installed on the top of the column, the inner ring of the first gear is provided with a bearing, the bearing is sleeved on the fixed shaft and can rotate relative to the fixed shaft.

5. The four-limb linkage robot according to claim 2, characterized in that: A damper is also arranged in the accommodating cavity, and the damper is used for frictionally contacting the reversing gear train.

6. The four-limb linkage robot according to claim 1, characterized in that: The support platform includes a fixed section and a lifting section, wherein the fixed section is installed at the top of the base, and the lifting section is telescopically installed in the fixed section, and the shape of the inner wall of the fixed section matches and slidably fits with the shape of the outer wall of the lifting section.

7. The four-limb linkage robot according to claim 6, characterized in that: The fixing section is provided with a threaded hole for a fastening bolt to pass through, and the fastening bolt passes through the threaded hole and abuts against the lifting section.

8. The four-limb linkage robot according to any one of claims 1 to 7, characterized in that: A swing groove is formed at one end of the shell away from the support platform. The cross section of the swing groove is arc-shaped. The swing arm is passed through the swing groove. The swing arm is used to swing along the length direction of the swing groove.

9. The four-limb linkage robot according to claim 8, characterized in that: The four-limb linkage robot also includes a display screen, which is communicatively connected to the damper and is arranged on the top of the support platform.

10. The four-limb linkage robot according to any one of claims 1 to 7, characterized in that: A plurality of walking wheels are arranged at intervals at the bottom end of the base.

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