A leg-assist support structure and quadruped robot

Abstract

The application relates to the technical field of quadruped robots, and discloses a leg auxiliary supporting structure and a quadruped robot, which comprise a robot body and two groups of leg structures connected on the two sides of the robot body. According to the application, the robot body can be supported by the supporting rods and the moving wheels when losing power or being out of order; the robot body can be overturned by the supporting plate as a rotating point, and the robot body can be moved in the way of a "drawer" by the holding of the holding rod assembly, so that the problem that the robot body cannot be moved or is inconvenient to move when losing power or being out of order is solved; and the supporting rods, the moving wheels and the supporting plate form a support frame, so that the robot body can be placed vertically and conveniently paused.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of quadruped robots, in particular to a leg auxiliary support structure and a quadruped robot. BACKGROUND

[0002] A quadruped robot is a robot designed to mimic the walking style of animals, usually with four legs to move, and the design inspiration comes from quadruped animals in nature such as dogs, cats or other mammals, which can adapt to various terrains, including uneven or complex ground environments.

[0003] As in the prior art, the patent with the patent number CN113184078A discloses an intelligent quadruped robot, which includes a torso, a hip joint, a hip joint, four legs, a first motor, a second motor and a third motor, the four legs are symmetrically arranged along the left and right sides of the torso; two third motors are installed at both ends of the torso respectively, and each third motor is connected with one end of the hip joint; the output end of each second motor is connected with one leg; the third motor can drive the four legs to swing to both sides through the hip joint, and the second motor can drive the four legs to swing forward and backward through the hip joint; the torso is provided with an environment perception device. The robot is equipped with a laser radar and multiple depth cameras, and the laser radar and the depth camera are used for mapping and navigation. The SLAM technology and machine vision technology are applied to the quadruped robot, which enriches the application scenarios and can be used for obstacle avoidance and blind guiding in complex scenes.

[0004] Although the above-mentioned patent solves the problems of obstacle avoidance and blind guiding, it still has certain defects in use:

[0005] When the quadruped robot encounters insufficient power supply or failure during task execution, it cannot continue to walk, and the quadruped robot will lie down and wait for maintenance by the staff; in general, the robot should be transferred to a safe position or sent back to the repair station for comprehensive inspection and repair. However, since the legs of the robot have lost function, and the foot end of the leg structure of the quadruped robot cannot walk, it will make direct handling extremely difficult; manual handling is a difficult task for engineers because the robot is large in size and heavy in weight, although the use of a specially designed moving trolley can effectively solve this problem, but this requires carrying such an auxiliary tool, which increases the inconvenience of operation. SUMMARY

[0006] In view of the deficiencies of the prior art, the present application provides a leg auxiliary support structure and a quadruped robot to solve the problems raised in the background art, which can assist and support the robot when the leg structure of the robot itself cannot move, and realize the movement of the robot.

[0007] To achieve the above object, the application provides the following technical scheme: a leg auxiliary support structure and a quadruped robot, comprising a robot body and two groups of leg structures connected on both sides of the robot body, both sides of the robot body are provided with embedded grooves, support rods are rotatably connected in the two embedded grooves, end fixing cylinders are fixedly installed at the ends of the support rods, rod end bolts are threaded into the end fixing cylinders, moving wheels are fixedly installed at the ends of the support rods, support plates are slidably connected in the embedded grooves, the ends of the support plates are arc-shaped, cushion layers are fixedly connected to the outer sides of the support plates, support linkage assemblies are connected between the support plates and the support rods, handle rod assemblies are rotatably connected in the embedded grooves, and protective plates are fixedly installed on the outer sides of the two embedded grooves.

[0008] Further, the support linkage assembly comprises a sleeve set in the end fixing cylinder, a rod end pulley is fixedly sleeved on the outer side of the end fixing cylinder, a third gear and a second gear are rotatably connected in the embedded groove, a three-tooth fixing cylinder is fixedly connected to the inner side of the shaft center of the third gear, the three-tooth fixing cylinder is rotatably connected with the embedded groove, a first three-tooth pulley is sleeved on the outer side of the three-tooth fixing cylinder, a short transmission belt is in transmission connection between the outer side of the first three-tooth pulley and the outer side of the rod end pulley, a second rack plate is in meshing connection on the side away from the third gear, the second rack plate is slidably connected with the fuselage of the robot body, and the support plate is fixedly connected to the end of the second rack plate.

[0009] Further, the handle rod assembly comprises two L-shaped rods, end rods are fixedly connected to the ends of the two L-shaped rods, sliding sleeves are slidably connected to the outer sides of the end rods, handle rod linkage assemblies are connected to the ends away from the end rods of the L-shaped rods, and limiting pieces are connected to the two L-shaped rods.

[0010] Further, the handle rod linkage assembly comprises a first rack plate and a first gear, the first rack plate is slidably connected with the embedded groove, a one-tooth fixing cylinder is fixedly connected to the inner side of the shaft center of the first gear, a one-tooth pulley is fixedly sleeved on the outer side of the one-tooth fixing cylinder, a second three-tooth pulley is fixedly sleeved on the outer side of the three-tooth fixing cylinder, a long transmission belt is sleeved on the outer sides of the second three-tooth pulley and the one-tooth pulley, the first gear is in meshing arrangement with the first rack plate, and the end of the first rack plate is fixedly connected with the bottom of the L-shaped rod.

[0011] Further, the limiting piece comprises an insertion block, two insertion grooves are formed on both sides of the fuselage of the robot body, the insertion block is inserted through the L-shaped rod and is in insertion arrangement with the insertion groove, and an arc-shaped piece is fixedly connected to the end away from the insertion groove of the insertion block.

[0012] Further, the embedded groove is fixedly connected with a fixed plate, the outer wall of the fixed plate is fixedly connected with a fixed sliding block, a fixed sliding groove corresponding to the position of the fixed sliding block is formed in the first rack plate, and the fixed sliding block and the fixed sliding groove are detachably arranged.

[0013] Further, the outer side of the embedded groove is respectively threadedly connected with a three-toothed bolt, a two-toothed bolt and a one-toothed bolt, the three-toothed bolt is threadedly connected with a three-toothed fixing cylinder penetrating through the three-toothed fixing cylinder, the three-toothed fixing cylinder is rotationally connected with the three-toothed bolt, the two-toothed bolt is threadedly connected with a second gear penetrating through the second gear, the second gear is rotationally connected with the two-toothed bolt, and the one-toothed bolt is threadedly connected with a one-toothed fixing cylinder penetrating through the one-toothed fixing cylinder.

[0014] Further, the side of the robot body is provided with an inclined side groove communicating with the embedded groove, the top surface of the inclined side groove abuts against the side of the supporting rod, the embedded groove is fixedly connected with a supporting block, and the top surface of the supporting block abuts against the outer wall of the supporting rod.

[0015] Further, the bottom outer side of the second rack plate is connected with a clamping piece, the clamping piece comprises two groups of symmetrically arranged U-shaped blocks and two connecting rods, the side of each U-shaped block is fixedly connected with an L-shaped plate, two groups of L-shaped plates are respectively fixedly connected with two ends of the connecting rod, the connecting rod is fixedly connected with the second rack plate, and the inner side of the U-shaped block is fixedly connected with a U-shaped pad.

[0016] The application also provides a quadruped robot, comprising a robot body, wherein the robot body comprises the above-mentioned leg auxiliary support structure.

[0017] Compared with the prior art, the application has the following beneficial effects:

[0018] 1. The leg auxiliary support structure and the quadruped robot, through the arrangement of the supporting rod and the moving wheel, can support the robot body when the robot body loses power or fails.

[0019] 2. The leg auxiliary support structure and the quadruped robot, through the arrangement of the supporting plate, can facilitate people to support the supporting plate as a rotating point, turn over the robot body, and move the robot body in a "draw-bar box" manner by holding the handle assembly, thereby solving the problem that the robot body cannot be moved or is inconvenient to move when the robot body loses power or fails.

[0020] 3. The leg auxiliary support structure and quadruped robot, through the setting of the support plate, when the robot body needs to pause during movement, the support rod, the moving wheel and the support plate form a support frame, the robot body can be placed vertically, the bottom of the support plate serves as a plate body, the friction with the ground can be increased, the turning process is smooth and convenient, and the friction during support is increased;

[0021] 4. The leg auxiliary support structure and quadruped robot, through the rotation of the support rod, the linkage sliding of the support plate and the handle rod assembly can be realized, one action realizes three functions, and the convenience during operation is greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is a three-dimensional structure schematic view of the overall state of the application;

[0023] Figure 2 It is a three-dimensional structure schematic view of the robot body lying state of the application;

[0024] Figure 3 It is a three-dimensional structure schematic view of the robot body lifting movement state of the application;

[0025] Figure 4 It is a three-dimensional structure schematic view of the robot body of the application;

[0026] Figure 5 It is a three-dimensional structure schematic view of the auxiliary support wheel of the application;

[0027] Figure 6 It is a three-dimensional structure schematic view of the local state of the application;

[0028] Figure 7 It is a three-dimensional structure schematic view of the local expansion state of the application;

[0029] Figure 8 It is a three-dimensional structure schematic view of the second rack plate and the support plate of the application;

[0030] Figure 9 It is a three-dimensional structure schematic view of the first rack plate and the fixed plate of the application;

[0031] Figure 10 It is a three-dimensional structure schematic view of the L-shaped plate and the U-shaped block of the application;

[0032] Figure 11 It is a three-dimensional structure schematic view of the L-shaped rod and the plug block of the application;

[0033] Figure 12 It is a three-dimensional structure schematic view of the L-shaped rod, the end rod and the sliding sleeve of the application.

[0034] In the figure: 1, robot body; 2, leg structure; 3, protective plate; 4, support rod; 5, moving wheel; 6, L-shaped rod; 7, sliding sleeve; 8, connecting rod; 9, L-shaped plate; 10, support block; 11, embedded groove; 12, long transmission belt; 13, first gear; 14, first rack plate; 15, end rod; 16, U-shaped block; 17, second rack plate; 18, support plate; 19, cushion layer; 20, U-shaped cushion; 21, bevel groove; 22, second gear; 23, fixed plate; 24, short transmission belt; 25, third gear; 26, rod end fixed cylinder; 27, rod end pulley; 28, fixed sliding groove; 29, rod end bolt; 30, three-toothed bolt; 31, two-toothed bolt; 32, one-toothed bolt; 33, plug block; 34, plug groove; 35, fixed sliding block; 36, bottom sliding block; 37, one-toothed fixed cylinder; 38, one-toothed pulley; 39, three-toothed fixed cylinder; 40, first three-toothed pulley; 41, moving groove; 42, arc-shaped piece; 43, second three-toothed pulley. DETAILED DESCRIPTION

[0035] 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.

[0036] Please refer to Figures 1-12 A leg auxiliary support structure and a four-legged robot, comprising a robot body 1 and two groups of leg structures 2 connected on both sides of the robot body 1, the two sides of the robot body 1 are provided with embedded grooves 11, support rods 4 are rotatably connected in the two embedded grooves 11, rod end fixed cylinders 26 are fixedly installed at the ends of the support rods 4, rod end bolts 29 are threaded in the rod end fixed cylinders 26 and are in threaded connection with the embedded grooves 11, moving wheels 5 are fixedly installed at the ends of the support rods 4, support plates 18 are slidably connected in the embedded grooves 11, the ends of the support plates 18 are arc-shaped, cushion layers 19 are fixedly connected to the outer sides of the support plates 18, support linkage assemblies are connected between the support plates 18 and the support rods 4, handle rod assemblies are rotatably connected in the embedded grooves 11, and protective plates 3 are fixedly installed on the outer sides of the two embedded grooves 11.

[0037] The leg auxiliary support structure and the quadruped robot in the application, when the robot body 1 loses power, the robot body 1 first lies down, and then the engineer maintains the robot body 1, when moving, the support rod 4 can be rotated to make the support rod 4 rotate upwards to the robot body, so that the support rod 4 is inclined, and in the process of rotating the support rod 4, the support plate 18 is driven to slide out by the support linkage assembly, and the handle rod assembly is also driven out at the same time, at this time, the engineer can hold the handle rod assembly, use the support plate 18 as a fulcrum, and turn over the robot body 1, so that the robot body 1 is turned over with the support plate 18 as the axis, the turned over robot body 1 can be moved by the moving wheels 5 at the bottom of the support rod 4, and in cooperation with the holding of the handle rod assembly, the robot body 1 can be moved in the form of a "draw-bar box", solving the problem that the robot body 1 cannot be moved after losing power or failure.

[0038] Through the setting of the support rod 4 and the moving wheel 5, the robot body 1 can be supported by the support rod 4 and the moving wheel 5 after losing power or failure, through the setting of the support plate 18, people can use the support plate 18 as a rotating point to turn over the robot body 1, and in cooperation with the holding of the handle rod assembly, the robot body 1 can be moved in the form of a "draw-bar box", solving the problem that the robot body 1 cannot be moved after losing power or failure and the problem that the robot body 1 is inconvenient to move; at the same time, when the robot body 1 needs to pause during movement, the support rod 4, the moving wheel 5 and the support plate 18 form a support frame, the robot body 1 can be placed vertically, and the bottom of the support plate 18 can increase the friction with the ground, which can improve the turning over smoothness and convenience during turning over and increase the friction during supporting.

[0039] At the same time, through the rotation of the support rod 4, the linkage sliding out of the support plate 18 and the handle rod assembly can be realized, one action realizes three functions, greatly improving the convenience during operation.

[0040] The function of the protective plate 3 is to protect each part embedded in the groove 11, and the protective plate 3 is L-shaped, which will not hinder the sliding and use of each part.

[0041] The moving wheel 5 should be a universal wheel to improve the convenience during movement.

[0042] The setting of the cushion layer 19 can reduce the friction of the support plate 18.

[0043] As a preferred technical scheme of the present application, the supporting linkage assembly comprises a rod end fixing cylinder 26 sleeved on the rod end, a rod end pulley 27 fixedly sleeved on the outer side of the rod end fixing cylinder 26, a third gear 25 and a second gear 22 rotatably connected in the embedded groove 11, a three-tooth fixing cylinder 39 fixedly connected to the inner side of the shaft center of the third gear 25, the three-tooth fixing cylinder 39 rotatably connected with the embedded groove 11, and a first three-tooth pulley 40 sleeved on the outer side of the three-tooth fixing cylinder 39, the outer side of the first three-tooth pulley 40 and the outer side of the rod end pulley 27 being drivingly connected by a short driving belt 24, and the second gear 22 being meshingly connected with a second rack plate 17 on the side away from the third gear 25, the second rack plate 17 being slidingly connected with the fuselage of the robot body 1, and a supporting plate 18 fixedly connected to the end of the second rack plate 17.

[0044] Specifically, when the supporting rod 4 rotates, the rod end fixing cylinder 26 on the inner side of the supporting rod 4 is driven to rotate, the rod end fixing cylinder 26 drives the rod end pulley 27 to rotate, the short driving belt 24 on the outer side of the rod end pulley 27 drives the first three-tooth pulley 40, and then drives the three-tooth fixing cylinder 39 to rotate, the three-tooth fixing cylinder 39 drives the third gear 25 to rotate, the third gear 25 and the second gear 22 are meshingly rotatable, so that the second gear 22 rotates, the second gear 22 and the second rack plate 17 are meshingly driving, the second rack plate 17 is driven to drive, and the second rack plate 17 drives the supporting plate 18 to slide out, so that it can support.

[0045] As a preferred technical scheme of the present application, the holding rod assembly comprises two L-shaped rods 6, the end rods 15 are fixedly connected to the ends of the two L-shaped rods 6, the outer sides of the end rods 15 are slidingly connected with the sliding sleeves 7, the holding rod linkage assemblies are connected to the ends of the L-shaped rods 6 away from the end rods 15, and the limiting members are connected to the two L-shaped rods 6.

[0046] Specifically, when the supporting rod 4 rotates out, the L-shaped rods 6 can be slid out a distance on the side of the robot body 1 through the holding rod linkage assembly, at this time, the L-shaped rods 6 on both sides can be slid out, and the sliding sleeve 7 on the outer side of one of the end rods 15 is slid to the outer side of the other end rod 15, so that the sliding sleeve 7 connects the two end rods 15 into a whole, and the end rod 15 of the moving end of the two L-shaped rods 6 can be pulled by hand, thereby realizing the movement of the robot body 1.

[0047] When the L-shaped rods 6 need to be retracted, the sliding sleeve 7 only needs to be slid onto one of the end rods 15, and the other end rod 15 loses the restriction of the sliding sleeve 7, so that the L-shaped rods 6 can be moved to be retracted.

[0048] As a preferred technical scheme of the present application, the handle linkage assembly comprises a first rack plate 14 and a first gear 13, the first rack plate 14 is in sliding connection with the embedded groove 11, the inner side of the shaft center of the first gear 13 is fixedly connected with a tooth fixing cylinder 37, the outer side of the tooth fixing cylinder 37 is fixedly sleeved with a toothed belt pulley 38, the outer side of a three-tooth fixing cylinder 39 is fixedly sleeved with a second three-tooth belt pulley 43, the outer side of the second three-tooth belt pulley 43 and the toothed belt pulley 38 is sleeved with a long transmission belt 12, the first gear 13 is in meshing arrangement with the first rack plate 14, and the end portion of the first rack plate 14 is fixedly connected with the bottom of the L-shaped rod 6.

[0049] Specifically, when the supporting rod 4 is rotated, the three-tooth fixing cylinder 39 is rotated, the second three-tooth belt pulley 43 is rotated, the long transmission belt 12 on the outer side of the second three-tooth belt pulley 43 drives the toothed belt pulley 38, the tooth fixing cylinder 37 is further rotated, the first gear 13 fixedly connected with the outer side of the tooth fixing cylinder 37 is further rotated, the first gear 13 is in meshing transmission with the first rack plate 14, the first rack plate 14 is moved outside the embedded groove 11, and the L-shaped rod 6 and the end rod 15 are slid out.

[0050] As a preferred technical scheme of the present application, the limiting piece comprises an insertion block 33, two insertion slots 34 are formed on both sides of the robot body 1, one end of the insertion block 33 is inserted through the L-shaped rod 6 and is in insertion arrangement with the insertion slot 34, and the end of the insertion block 33 away from the insertion slot 34 is fixedly connected with an arc-shaped sheet 42.

[0051] Specifically, before the supporting rod 4 needs to be rotated, the insertion block 33 on both sides is separated from the insertion slot 34, when the insertion block 33 is separated from the insertion slot 34, the arc-shaped sheet 42 can be pulled to drive the separation, after the separation, the supporting rod 4 is rotated, the L-shaped rod 6 is slid out, after the sliding out, the insertion block 33 is inserted with the other insertion slot 34, so that the position of the L-shaped rod 6 after the sliding out is fixed, the L-shaped rod 6 is fixed, the first rack plate 14 and the first gear 13 are further fixed, the third gear 25 is further ensured, and the supporting rod 4 and the supporting plate 18 are stably supported and cannot be restored.

[0052] When the supporting rod 4, the supporting plate 18 and the L-shaped rod 6 need to be retracted, the insertion block 33 is only needed to be separated from the first insertion slot 34, the supporting rod 4 is rotated to restore the position of the supporting plate 18 and the L-shaped rod 6, the insertion block 33 is inserted with the other insertion slot 34, the overall fixation is completed, one limiting piece is used to realize the fixation of three, and the fixation mode becomes simpler and more convenient.

[0053] As a preferred technical scheme of the present application, the embedded groove 11 is fixedly connected with a fixed plate 23, the outer wall of the fixed plate 23 is fixedly connected with a fixed sliding block 35, the first rack plate 14 is provided with a fixed sliding groove 28 corresponding to the position of the fixed sliding block 35, the fixed sliding block 35 and the fixed sliding groove 28 are detachably arranged, the inner side of the second rack plate 17 is provided with a moving groove 41, and the moving groove 41 is slidably connected with a bottom sliding block 36 fixedly connected with the bottom of the robot body 1, and the bottom sliding block 36 and the moving groove 41 are detachably connected.

[0054] Specifically, when the first rack plate 14 slides, the fixed sliding groove 28 on the inner side of the first rack plate 14 will slide with the fixed sliding block 35 on the outer side of the fixed plate 23. In this way, the sliding stability of the first rack plate 14 can be ensured. The fixed sliding block 35 is detachably connected with the fixed sliding groove 28, which facilitates the disassembly and separation of the first rack plate 14.

[0055] Specifically, when the second rack plate 17 moves, the moving groove 41 in the second rack plate 17 will slide with the outer side of the bottom sliding block 36. This ensures the stable movement of the second rack plate 17. The bottom sliding block 36 is detachably arranged between the moving groove 41, which facilitates the disassembly and separation of the second rack plate 17.

[0056] As a preferred technical scheme of the present application, the outer side of the embedded groove 11 is respectively threadedly connected with a three-toothed bolt 30, a two-toothed bolt 31 and a one-toothed bolt 32, the three-toothed bolt 30 is threadedly connected with a three-toothed fixed cylinder 39 through the three-toothed bolt 30, the three-toothed fixed cylinder 39 is rotatably connected with the three-toothed bolt 30, the two-toothed bolt 31 is threadedly connected with a second gear 22 through the two-toothed bolt 31, the second gear 22 is rotatably connected with the two-toothed bolt 31, and the one-toothed bolt 32 is threadedly connected with a one-toothed fixed cylinder 37 through the one-toothed bolt 32, the one-toothed fixed cylinder 37 is rotatably connected with the one-toothed bolt 32.

[0057] Specifically, the three-toothed bolt 30 can facilitate the rotation of the three-toothed fixed cylinder 39 on the outer side of the three-toothed bolt 30, and facilitate the installation and disassembly thereof.

[0058] The two-toothed bolt 31 can facilitate the rotation of the second gear 22 around the axis of the two-toothed bolt 31, and facilitate the disassembly and installation of the second gear 22.

[0059] The one-toothed bolt 32 can facilitate the rotation of the one-toothed fixed cylinder 37 around the axis thereof, and facilitate the disassembly and installation of the one-toothed fixed cylinder 37.

[0060] As a preferred technical scheme of the present application, the side of the robot body 1 is provided with an inclined edge groove 21 communicating with the embedded groove 11, the top surface of the inclined edge groove 21 abuts against the side of the support rod 4, the embedded groove 11 is fixedly connected with a support block 10, and the top surface of the support block 10 abuts against the outer wall of the support rod 4.

[0061] Specifically, when the support rod 4 is turned to be unfolded, the side of the support rod 4 will just abut against the bevel groove 21, so that the support rod 4 is provided with a gap, and the bevel can make the abutment more stable; meanwhile, the support block 10 is arranged to support the support rod 4, so that the stability of the support rod 4 in the horizontal state is improved.

[0062] As a preferred technical scheme of the present application, the bottom outer side of the second rack plate 17 is connected with a clamping piece, the clamping piece comprises two groups of symmetrically arranged U-shaped blocks 16 and two connecting rods 8, the side of each of the two U-shaped blocks 16 is fixedly connected with an L-shaped plate 9, the two groups of L-shaped plates 9 are respectively fixedly connected with the two ends of the connecting rod 8, the connecting rod 8 is fixedly connected with the second rack plate 17, and the inner side of the U-shaped block 16 is fixedly connected with a U-shaped pad 20.

[0063] Specifically, when the leg structure 2 of the robot body 1 is damaged or out of power, the robot body 1 will lie down, at this time, the staff can first lift one side of the robot body 1, turn the support rod 4, so that the second rack plate 17 moves, the second rack plate 17 moves while driving the connecting rod 8 to move, and the U-shaped block 16 on the side of the two L-shaped plates 9 supports the leg structure 2 in the folded state, so that the staff can prevent the hinge of the leg structure 2 from shaking during the movement of the robot body 1, and the damage of the leg structure 2 is aggravated.

[0064] The other side is operated according to the above steps.

[0065] The present application also provides a quadruped robot, which comprises a robot body 1, and the robot body 1 comprises the above-mentioned leg auxiliary support structure.

[0066] Specifically, since the robot body 1 according to the embodiment of the present application has the above technical effects, the robot body 1 according to the embodiment of the present application should also have corresponding technical effects, that is, the robot of the present application can assist the support and movement of the robot body 1 after the robot body 1 loses power or the leg is damaged, and solves the problems of being unable to move and inconvenient to move.

[0067] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A leg support structure, comprising a robot body (1) and two sets of leg structures (2) connected to both sides of the robot body (1), characterized in that, The robot body (1) has two mounting slots (11) on both sides. A support rod (4) is rotatably connected in the two mounting slots (11). A rod end fixing cylinder (26) is fixedly installed at the end of the support rod (4). A rod end bolt (29) threaded into the rod end fixing cylinder (26) and threaded into the mounting slot (11) is provided. A moving wheel (5) is fixedly installed at the end of the support rod (4). A support plate (18) is slidably connected in the mounting slot (11). The end of the support plate (18) is arc-shaped. A pad (19) is fixedly connected to the outside of the support plate (18). A support linkage assembly is connected between the support plate (18) and the support rod (4). A gripping assembly is also rotatably connected in the mounting slot (11). A protective plate (3) is fixedly installed on the outside of the two mounting slots (11). The supporting linkage assembly includes a rod end fixing cylinder (26) sleeved on the rod end fixing cylinder (26), a rod end pulley (27) fixedly sleeved on the outside of the rod end fixing cylinder (26), a third gear (25) and a second gear (22) rotatably connected in the embedding groove (11), a three-tooth fixing cylinder (39) fixedly connected on the inner side of the shaft of the third gear (25), the three-tooth fixing cylinder (39) rotatably connected to the embedding groove (11), and a first three-tooth pulley (40) sleeved on the outside of the three-tooth fixing cylinder (39), a short transmission belt (24) drivingly connected to the outside of the first three-tooth pulley (40) and the outside of the rod end pulley (27), a second rack plate (17) meshing with the side of the second gear (22) away from the third gear (25), the second rack plate (17) slidingly connected to the body of the robot body (1), and a support plate (18) fixedly connected to the end of the second rack plate (17). The bottom outer side of the second rack plate (17) is connected to a snap-fit ​​component, which includes two sets of symmetrically arranged U-shaped blocks (16) and two connecting rods (8). The sides of the two U-shaped blocks (16) are fixedly connected to L-shaped plates (9). The two sets of L-shaped plates (9) are fixedly connected to the two ends of the connecting rods (8) respectively. The connecting rods (8) are fixedly connected to the second rack plate (17). The inner side of the U-shaped blocks (16) is fixedly connected to a U-shaped pad (20).

2. The leg auxiliary support structure according to claim 1, characterized in that, The grip assembly includes two L-shaped rods (6), each end of which is fixedly connected to an end rod (15). A sliding sleeve (7) is slidably connected to the outside of the end rod (15). A grip linkage assembly is connected to the end of the L-shaped rod (6) away from the end rod (15). Limiting elements are connected to the two L-shaped rods (6).

3. The leg auxiliary support structure according to claim 2, characterized in that, The grip linkage assembly includes a first rack plate (14) and a first gear (13). The first rack plate (14) is slidably connected to the embedded groove (11). A toothed fixing cylinder (37) is fixedly connected to the inner side of the shaft of the first gear (13). A toothed pulley (38) is fixedly sleeved on the outer side of the toothed fixing cylinder (37). A second three-toothed pulley (43) is fixedly sleeved on the outer side of the three-toothed fixing cylinder (39). A long transmission belt (12) is sleeved on the outer side of the second three-toothed pulley (43) and the toothed pulley (38). The first gear (13) is meshed with the first rack plate (14). The end of the first rack plate (14) is fixedly connected to the bottom of the L-shaped rod (6).

4. A leg auxiliary support structure according to claim 2 or 3, characterized in that, The limiting component includes a plug (33). Two slots (34) are opened on both sides of the robot body (1). An L-shaped rod (6) is inserted through one end of the plug (33) and is inserted into the slot (34). An arc-shaped piece (42) is fixedly connected to the end of the plug (33) away from the slot (34).

5. A leg auxiliary support structure according to claim 3, characterized in that, A fixing plate (23) is fixedly connected in the embedding groove (11), and a fixing slider (35) is fixedly connected to the outer wall of the fixing plate (23). A fixing groove (28) corresponding to the position of the fixing slider (35) is opened on the first rack plate (14). The fixing slider (35) and the fixing groove (28) are detachably connected. A moving groove (41) is opened on the inner side of the second rack plate (17). A bottom slider (36) fixedly connected to the bottom of the robot body (1) is slidably connected in the moving groove (41). The bottom slider (36) and the moving groove (41) are detachably connected.

6. A leg auxiliary support structure according to claim 1, 2, 3 or 5, characterized in that, The outer side of the embedding groove (11) is threaded with a three-tooth bolt (30), a two-tooth bolt (31) and a one-tooth bolt (32). The three-tooth bolt (30) passes through a three-tooth fixing cylinder (39) and is threaded to the embedding groove (11). The three-tooth fixing cylinder (39) is rotatably connected to the three-tooth bolt (30). The two-tooth bolt (31) passes through a second gear (22) and is threaded to the embedding groove (11). The second gear (22) is rotatably connected to the two-tooth bolt (31). The one-tooth bolt (32) passes through a one-tooth fixing cylinder (37) and is threaded to the embedding groove (11). The one-tooth fixing cylinder (37) is rotatably connected to the one-tooth bolt (32).

7. A leg auxiliary support structure according to claim 1, 2, 3 or 5, characterized in that, The robot body (1) has a beveled groove (21) on its side that is connected to the embedding groove (11). The top surface of the beveled groove (21) abuts against the side of the support rod (4). A support block (10) is fixedly connected in the embedding groove (11). The top surface of the support block (10) abuts against the outer wall of the support rod (4).

8. A quadruped robot, comprising a robot body (1), characterized in that, The robot body (1) also includes the leg auxiliary support structure as described in any one of claims 1-7.

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