A robot leg walking mechanism and a quadruped robot

Abstract

The application relates to the technical field of robots, and discloses a robot leg walking mechanism and a quadruped robot, which comprise a plurality of large arms, one side of each large arm is connected with a floating assembly, the floating assembly comprises a connecting box and an air bag, the connecting box is fixedly connected with one side of the large arm, a placing groove is formed in the side of the connecting box away from the large arm, and the air bag is fixedly connected in the placing groove; the large arm is sequentially connected with an air charging assembly, an air discharging assembly and a jetting assembly from top to bottom on one side; and the connecting box is connected with a closing assembly on one side. The robot leg walking mechanism and the quadruped robot utilize the floating assembly, the quadruped robot can float in a deep water area, the body is prevented from being completely immersed in water, the risk that a camera lens is splashed with water is reduced, the quality and accuracy of real-time image transmission are ensured, a clear field of vision and stable walking ability are provided for the quadruped robot, visual misjudgment or distortion is reduced, and the accuracy and efficiency of a patrol task are improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a robotic leg walking mechanism and a quadruped robot. Background Technology

[0002] Quadruped robots are a type of inspection robot. They move using a four-legged structure. Compared to wheeled, tracked, and rail-mounted inspection robots, the four-legged structure allows quadruped robots to easily cope with various complex terrains, including rugged mountains, muddy and slippery ground, stairs, steps, and even piles of rubble, giving them superior terrain adaptability.

[0003] As disclosed in the prior art, the invention patent with authorization publication number CN112874651A discloses a quadruped robot, including a body, a power supply structure, a hip, a thigh, a lower leg, and a walking mechanism. The body includes a first frame and a second frame. The power supply structure is installed inside the first frame. The hip is connected to the second frame. A second drive component drives the thigh to rotate, a third drive component drives the lower leg to rotate relative to the thigh, and a fourth drive component drives the walking wheels to rotate. An auxiliary wheel can rotate following the rotation of the walking wheels. The above device allows for the disassembly and assembly of the leg structure and the power supply structure by assembling and disassembling the first and second frames, facilitating the robot's later maintenance. The leg structure can move forward in a kneeling or crawling posture, and the overall height of the leg structure can be changed by altering the walking posture, making it suitable for a wide range of applications.

[0004] Although the quadruped robots in the aforementioned patents can walk in different postures, facilitating later maintenance, they have certain drawbacks in use:

[0005] When quadruped robots are operating in wildfire areas and encounter deep water for inspection, existing quadruped robots cannot float on the surface. In deep water, the quadruped robots will be completely submerged. Although they have a high-level waterproof structure to protect the robot, the camera lenses will get wet after being fully submerged, causing the quadruped robot's field of vision to become blurred, affecting the quality of real-time image transmission. The refraction and reflection of water stains may also cause visual misjudgments or distortions, thus affecting the accuracy and efficiency of the inspection task. It may also cause the robot to get into trouble or have an accidental collision. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a robot leg walking mechanism and a quadruped robot, which facilitates the quadruped robot's passage through deep water areas.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a robot leg walking mechanism, comprising multiple large arms, each large arm having a floating component connected to one side, the floating component comprising a connecting box and an airbag, the connecting box being fixedly connected to one side of the large arm, the connecting box having a placement groove on the side away from the large arm, the airbag being fixedly connected in the placement groove, the large arm having an inflation component, a deflation component and a jetting component connected sequentially from top to bottom, and the connecting box having a closing component connected to one side.

[0008] Furthermore, the inflation assembly includes a fixing box, an air pump, an inlet pipe, and an outlet pipe. A fixing box is fixedly connected to one side of the upper arm, and an air pump is fixedly connected inside the fixing box. The inlet pipe and the outlet pipe are fixedly connected to the input end and the output end of the air pump, respectively. The other end of the inlet pipe is located on one side of the top of the upper arm, and the other end of the outlet pipe penetrates the connecting box and is connected to the upper part of the airbag.

[0009] Furthermore, the jet assembly includes an exhaust pipe, a connecting block, a splitting balloon, and a spring. One end of the exhaust pipe penetrates the connecting box and communicates with the lower part of the airbag. The other end of the exhaust pipe is fixedly connected to the connecting block. The connecting block is fixedly connected to one side of the upper arm. An air guide groove communicating with the exhaust pipe is opened in the connecting block. An air jet port is opened at one end of the connecting block. An air splitting groove is opened between the air guide groove and the air jet port. A splitting balloon is slidably connected in the air splitting groove. A spring is fixedly connected to the side of the air splitting groove near the air jet port. The spring is in contact with the outer wall of the splitting balloon.

[0010] Furthermore, the venting assembly includes a venting pipe and a solenoid valve. One end of the venting pipe is fixedly connected to the middle of the exhaust pipe, the solenoid valve is fixedly connected to one side of the boom, and the other end of the venting pipe is fixedly connected to the solenoid valve.

[0011] Furthermore, the closing assembly includes a rotating shaft, a cover plate, and a connecting plate. Rotating grooves are provided at both the top and bottom ends of one side of the connecting box. A rotating shaft is fixedly connected in each rotating groove. A cover plate is rotatably connected to the outer wall of each of the two rotating shafts. A connecting plate is fixedly connected to one end of each cover plate. The two connecting plates are matched in shape and position. The two cover plates are evenly fixedly connected to the outer wall of the airbag. A flipping assembly is connected to both sides of the connecting box.

[0012] Furthermore, each flipping component includes a fixed block, a rotating rod, a coil spring, a coiled rope, and a connecting rope. Fixed blocks are fixedly connected to both sides of the middle part of the connecting box. The surface of the connecting box has a moving groove corresponding to the position of the two connecting plates. An installation groove is opened in the fixed block. A rotating rod is rotatably connected to the moving groove and the installation groove. A coil spring is fixedly connected to the outer wall of one end of the rotating rod located in the installation groove. The coil spring is fixedly connected to the inner wall of the installation groove. A coiled rope is fixedly connected to the outer wall of one end of the rotating rod located in the moving groove. A connecting rope is fixedly connected to one end of the coiled rope. The other end of the connecting rope is fixedly connected to the connecting plate.

[0013] Furthermore, an angle of 20° to 45° is provided between the connecting block and the side wall of the boom, and the opening of the jet nozzle faces the side closer to the connecting box.

[0014] Furthermore, a connecting pipe is fixedly connected to the top of the air intake pipe, and a buoy is fixedly connected to the outer wall of the connecting pipe.

[0015] Furthermore, a limiting rope buckle is fixedly connected to one side of the boom, and the part of the connecting tube located below the buoy is inside the limiting rope buckle.

[0016] The present invention also provides a quadruped robot, including a robot body, the robot body including any of the robot leg walking mechanisms described above.

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

[0018] (1) The robot leg walking mechanism utilizes a floating component, enabling the quadruped robot to remain floating in deep water areas, thereby avoiding complete immersion of the robot body in water, reducing the risk of water getting on the camera lens, ensuring the quality and accuracy of real-time image transmission, thus providing the quadruped robot with a clear field of vision and stable walking ability, helping to reduce visual misjudgment or distortion, improving the accuracy and efficiency of inspection tasks, and reducing the possibility of the robot getting into trouble or having an accidental collision.

[0019] (2) At the same time, the floating components enable the quadruped robot to pass through the water directly from the water surface. The robot can cross the water in a straight line along the shortest path without detouring, which greatly shortens the inspection time and improves work efficiency. On the other hand, when encountering waters with unknown depth, this floating method also avoids the danger caused by unknown water depth, and improves the quadruped robot's field capabilities and environmental adaptability.

[0020] (3) The jet assembly can provide additional propulsion for the quadruped robot, enhancing its maneuverability in water and enabling the quadruped robot to easily cope with waters of different depths and current speeds, thus improving the quadruped robot's environmental adaptability.

[0021] (4) The difference between left and right thrust is used to adjust the forward direction of the quadruped robot, so that the quadruped robot can achieve more complex movement trajectory control in water, such as curved driving and rotating in place, which makes it easier for the quadruped robot to travel in narrow waters or to be used in areas where precise navigation is required.

[0022] (5) By using the angle between the connecting block and the side wall of the upper arm, the thrust generated by the jet assembly can better drive the quadruped robot to turn and rotate, while maintaining the backward thrust, and achieve more complex and agile maneuvers. Attached Figure Description

[0023] Figure 1 This is a three-dimensional structural diagram of the entire invention;

[0024] Figure 2 This is a three-dimensional structural diagram of another embodiment of the present invention;

[0025] Figure 3 This is a three-dimensional disassembled structural diagram of the floating component, closing component, inflation component, deflation component and jet component of the present invention;

[0026] Figure 4 This is a three-dimensional cross-sectional structural diagram of the floating component and the flipping component of the present invention;

[0027] Figure 5 This is a three-dimensional cross-sectional structural diagram of the connecting box, fixing block and rotating shaft of the present invention;

[0028] Figure 6 This is a three-dimensional disassembled structural diagram of the flipping component of the present invention;

[0029] Figure 7 This is a three-dimensional disassembled structural diagram of the inflatable component of the present invention;

[0030] Figure 8 This is a three-dimensional structural schematic diagram of the jet assembly of the present invention;

[0031] Figure 9 This is a three-dimensional cross-sectional structural diagram of the connecting block, the dividing balloon, and the spring of the present invention;

[0032] Figure 10 This is a three-dimensional cross-sectional structural diagram of the connecting block of the present invention;

[0033] Figure 11 This is a three-dimensional structural diagram of the air intake pipe, connecting pipe, and buoy of the present invention.

[0034] In the diagram: 1. Robot body; 2. Large arm; 3. Connecting box; 4. Placement slot; 5. Airbag; 6. Fixing box; 7. Air pump; 8. Air inlet pipe; 9. Air outlet pipe; 10. Exhaust pipe; 11. Connecting block; 12. Air guide slot; 13. Air jet nozzle; 14. Air distribution slot; 15. Air distribution ball; 16. Spring; 17. Air release pipe; 18. Solenoid valve; 19. Rotating slot; 20. Rotating shaft; 21. Cover plate; 22. Connecting plate; 23. Fixing block; 24. Moving slot; 25. Mounting slot; 26. Rotating rod; 27. Coil spring; 28. Winding rope; 29. ​​Connecting rope; 30. Connecting pipe; 31. Buoy; 32. Limiting rope buckle. Detailed Implementation

[0035] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0036] Please see Figures 1 to 11 A robotic leg walking mechanism includes multiple large arms 2, each large arm 2 having a floating component connected to one side. The floating component includes a connecting box 3 and an airbag 5. The connecting box 3 is fixedly connected to one side of the large arm 2. A placement slot 4 is provided on the side of the connecting box 3 away from the large arm 2. An airbag 5 is fixedly connected in the placement slot 4. An inflation component, a deflation component, and a jetting component are connected sequentially from top to bottom on one side of the large arm 2. A closing component is connected to one side of the connecting box 3.

[0037] In this invention, the robot's leg-walking mechanism, when the quadruped robot is about to enter deep water, the camera on the quadruped robot detects water signals and sends them to the inflation component. The inflation component then inflates the airbag 5, allowing the quadruped robot to enter the water. When the water depth reaches the upper arm 2, the airbag 5 contacts the water, generating buoyancy and providing sufficient support for the robot to remain above the water surface. Subsequently, the quadruped robot can glide on the water surface by swinging the upper arm 2 and other parts of the robot's leg-walking mechanism. Utilizing the buoyancy component, the quadruped robot can remain afloat in deep water, thus avoiding complete submersion and reducing the risk of injury. The risk of water getting into the camera lens is eliminated, ensuring the quality and accuracy of real-time image transmission. This provides the quadruped robot with a clear field of vision and stable walking ability, helping to reduce visual misjudgments or distortions, improving the accuracy and efficiency of inspection tasks, and reducing the possibility of the robot getting into trouble or having accidental collisions. At the same time, the use of floating components allows the quadruped robot to pass directly across water surfaces. The robot can cross water in a straight line along the shortest path without detours, which significantly shortens inspection time and improves work efficiency. On the other hand, when encountering waters of unknown depth, this floating method also avoids dangers caused by unknown water depth, improving the quadruped robot's field capabilities and environmental adaptability.

[0038] As a preferred embodiment of the present invention, the inflation assembly includes a fixing box 6, an air pump 7, an air inlet pipe 8, and an air outlet pipe 9. The fixing box 6 is fixedly connected to one side of the upper arm 2, and the air pump 7 is fixedly connected inside the fixing box 6. The air inlet pipe 8 and the air outlet pipe 9 are respectively fixedly connected to the input end and the output end of the air pump 7. The other end of the air inlet pipe 8 is located on one side of the top of the upper arm 2, and the other end of the air outlet pipe 9 penetrates the connecting box 3 and is connected to the upper part of the airbag 5.

[0039] Specifically, the fixed box 6 provides protection and support for the internal air pump 7; the air pump 7 draws in air from above the water surface through the air inlet pipe 8, and then fills the air bag 5 through the air outlet pipe 9, causing the air bag 5 to expand and generate buoyancy, so that the quadruped robot can float on the water surface.

[0040] As a preferred embodiment of the present invention, the jet assembly includes an exhaust pipe 10, a connecting block 11, a splitting balloon 15, and a spring 16. One end of the exhaust pipe 10 penetrates the connecting box 3 and is connected to the lower part of the airbag 5. The other end of the exhaust pipe 10 is fixedly connected to the connecting block 11. The connecting block 11 is fixedly connected to one side of the upper arm 2. An air guide groove 12 connected to the exhaust pipe 10 is provided in the connecting block 11. A jet nozzle 13 is provided at one end of the connecting block 11. An air splitting groove 14 is provided between the air guide groove 12 and the jet nozzle 13. A splitting balloon 15 is slidably connected in the air splitting groove 14. A spring 16 is fixedly connected to the side of the air splitting groove 14 near the jet nozzle 13. The spring 16 is in contact with the outer wall of the splitting balloon 15.

[0041] Specifically, after the quadruped robot enters the water, the connecting block 11 will be submerged. At this time, the air bladder 5, exhaust pipe 10, and air guide channel 12 are filled with air by the air pump 7. When the air pump 7 continues to fill the air bladder 5 with gas, the air pressure is greater than the pressure of the spring 16, causing the splitting balloon 15 to move within the air distribution channel 14. A gap will be created between the splitting balloon 15 and the air distribution channel 14. At this time, the excess gas generated by the air pump 7 will enter the jet nozzle 13 through the air distribution channel 14 and then be ejected from the jet nozzle 13 towards the rear of the quadruped robot. As air is injected into the water, according to Newton's third law, a reaction force in the forward direction will be exerted on the quadruped robot, thereby propelling the quadruped robot forward in the water. The jet propulsion system provides additional thrust to the quadruped robot, enhancing its maneuverability in water and enabling it to easily handle waters of varying depths and current speeds, thus improving its environmental adaptability. Furthermore, each jet propulsion unit is supplied with air by an independent air pump 7, meaning that the airflow intensity of the corresponding jet propulsion unit can be controlled by adjusting the output power of each air pump 7. The difference in thrust between the left and right sides allows for adjustment of the quadruped robot's forward direction, facilitating more complex movement trajectory control in water, such as curved travel and stationary rotation. This makes it easier for the quadruped robot to navigate in narrow waterways or in areas requiring precise navigation.

[0042] As a preferred technical solution of the present invention, the venting assembly includes a venting pipe 17 and a solenoid valve 18. One end of the venting pipe 17 is fixedly connected to the middle of the exhaust pipe 10, the solenoid valve 18 is fixedly connected to one side of the boom 2, and the other end of the venting pipe 17 is fixedly connected to the solenoid valve 18.

[0043] Specifically, when the robot leaves the water, the quadruped robot controls the solenoid valve 18 to open, so that the airbag 5 is connected to the outside world. The compressed air in the airbag 5 will be discharged through the air release pipe 17, so that the airbag 5 is contracted and the airbag 5 is prevented from hindering the rotation of the robot's leg walking mechanism, such as the upper arm 2.

[0044] As a preferred technical solution of the present invention, the closing component includes a rotating shaft 20, a cover plate 21 and a connecting plate 22. The upper and lower ends of one side of the connecting box 3 are provided with rotating grooves 19. A rotating shaft 20 is fixedly connected in each rotating groove 19. The outer walls of the two rotating shafts 20 are rotatably connected to the cover plate 21. One end of each cover plate 21 is fixedly connected to the connecting plate 22. The two connecting plates 22 are matched in shape and position. The two cover plates 21 are uniformly fixedly connected to the outer wall of the airbag 5. The two sides of the connecting box 3 are connected with flipping components.

[0045] It is worth noting that the inner wall of the airbag 5 is provided with multiple reinforcing ribs to increase the elasticity of the airbag 5 and ensure that after the airbag 5 has finished deflating, the reinforcing ribs can completely retract the airbag 5 into the placement groove 4, preventing the airbag 5 from getting stuck on the side of the cover plate 21 and affecting the opening, closing and operation of the cover plate 21.

[0046] As a preferred embodiment of the present invention, each flipping component includes a fixing block 23, a rotating rod 26, a coil spring 27, a coiled rope 28, and a connecting rope 29. Fixing blocks 23 are fixedly connected to both sides of the middle part of the connecting box 3. The surface of the connecting box 3 is provided with a moving groove 24 corresponding to the positions of the two connecting plates 22. An installation groove 25 is provided in the fixing block 23. The rotating rod 26 is rotatably connected to the moving groove 24 and the installation groove 25. A coil spring 27 is fixedly connected to the outer wall of one end of the rotating rod 26 located in the installation groove 25. The coil spring 27 is fixedly connected to the inner wall of the installation groove 25. A coiled rope 28 is fixedly connected to the outer wall of one end of the rotating rod 26 located in the moving groove 24. A connecting rope 29 is fixedly connected to one end of the coiled rope 28. The other end of the connecting rope 29 is fixedly connected to the connecting plate 22.

[0047] Specifically, the pivot 20 supports and guides the rotation of the cover plate 21; the cover plate 21 isolates the airbag 5 from the outside world, protecting the airbag 5 and preventing it from obstructing the operation of other parts of the quadruped robot; when the inflation assembly is inflated, the airbag 5 pushes the cover plate 21 to rotate, at which time the connecting plate 22 rotates accordingly, the connecting plate 22 pulls the connecting rope 29, the connecting rope 29 pulls the coiled rope 28, driving the rotating rod 26 to rotate, so that the coiled spring 27 is gradually coiled up and stores energy. When the airbag 5 is fully inflated, it will appear as shown in the attached figure. Figure 2 The shape shown provides buoyancy for the quadruped robot. When the airbag 5 needs to be retracted, as the compressed gas inside the airbag 5 is released, the pressure of the airbag 5 on the cover plate 21 is lower than the tension of the connecting rope 29. At this time, under the action of the coil spring 27, the rotating rod 26 rotates, driving the coil rope 28 to retract the connecting rope 29. During this process, the cover plate 21 will approach the connecting box 3 until the two cover plates 21 close to the surface of the connecting box 3. At this time, the airbag 5 will be stored in the placement slot 4, thereby protecting the airbag 5. The automatic storage of the airbag 5 is achieved in this way, which facilitates the reuse of the airbag 5.

[0048] As a preferred embodiment of the present invention, the connecting block 11 and the side wall of the upper arm 2 are provided with an angle of 20° to 45°, and the opening of the jet nozzle 13 faces the side closer to the connecting box 3.

[0049] Specifically, by using the angle between the connecting block 11 and the side wall of the large arm 2, the thrust generated by the jet assembly can better drive the quadruped robot to perform turning and rotation operations, achieving more complex and agile maneuvers while maintaining backward thrust.

[0050] As a preferred embodiment of the present invention, a connecting pipe 30 is fixedly connected to the top of the air intake pipe 8, and a buoy 31 is fixedly connected to the outer wall of the connecting pipe 30.

[0051] As a preferred technical solution of the present invention, a limiting rope buckle 32 is fixedly connected to one side of the boom 2, and the part of the connecting tube 30 located below the buoy 31 is located inside the limiting rope buckle 32.

[0052] Specifically, the air inlet pipe 8 is made of a flexible tube (such as a silicone tube), the connecting pipe 30 is made of a rigid tube (such as a plastic tube), and the buoy 31 is made of a high-buoyancy material such as foam plastic. When the quadruped robot enters the water, the buoy 31 can ensure that the top of the connecting pipe 30 is always above the water surface, avoiding damage or failure of the inflation components due to water ingress and ensuring the normal operation of the air pump 7. The flexible air inlet pipe 8 can ensure that the connecting pipe 30 and the main arm 2 are flexibly connected, preventing the rotation of the main arm 2 from affecting the vertical state of the connecting pipe 30. The limiting rope buckle 32 can provide support for the buoy 31 and the connecting pipe 30 when going ashore, preventing the buoy 31 and the connecting pipe 30 from falling to the bottom and affecting the next entry into the water.

[0053] Please see Figures 1 to 11 The present invention also provides a quadruped robot, including a robot body 1, which includes the robot leg walking mechanism provided in any of the above embodiments.

[0054] Specifically, this embodiment has the same structure and the same effect as the above embodiments, so it will not be described again here.

[0055] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic leg-walking mechanism, comprising multiple large arms (2), characterized in that, Each of the above-mentioned large arms (2) is connected to a floating component on one side. The floating component includes a connecting box (3) and an airbag (5). The connecting box (3) is fixedly connected to one side of the large arm (2). A placement slot (4) is opened on the side of the connecting box (3) away from the large arm (2). An airbag (5) is fixedly connected in the placement slot (4). An inflation component, a deflation component and a jetting component are connected sequentially from top to bottom on one side of the large arm (2). A closing component is connected to one side of the connecting box (3). The inflation assembly includes a fixed box (6), an air pump (7), an air inlet pipe (8), and an air outlet pipe (9). The fixed box (6) is fixedly connected to one side of the upper arm (2). The air pump (7) is fixedly connected inside the fixed box (6). The air inlet pipe (8) and the air outlet pipe (9) are fixedly connected to the input end and the output end of the air pump (7), respectively. The other end of the air inlet pipe (8) is located on the top side of the upper arm (2). The other end of the air outlet pipe (9) penetrates the connecting box (3) and is connected to the upper part of the airbag (5). The jet assembly includes an exhaust pipe (10), a connecting block (11), a splitting balloon (15), and a spring (16). One end of the exhaust pipe (10) penetrates the connecting box (3) and is connected to the lower part of the airbag (5). The other end of the exhaust pipe (10) is fixedly connected to the connecting block (11). The connecting block (11) is fixedly connected to one side of the upper arm (2). An air guide groove (12) connected to the exhaust pipe (10) is opened in the connecting block (11). A jet nozzle (13) is opened at one end of the connecting block (11). A splitting groove (14) is opened between the air guide groove (12) and the jet nozzle (13). A splitting balloon (15) is slidably connected in the splitting groove (14). A spring (16) is fixedly connected to the side of the splitting groove (14) near the jet nozzle (13). The spring (16) is in contact with the outer wall of the splitting balloon (15). The closing assembly includes a rotating shaft (20), a cover plate (21) and a connecting plate (22). The upper and lower ends of one side of the connecting box (3) are provided with rotating grooves (19). A rotating shaft (20) is fixedly connected in each rotating groove (19). The outer walls of the two rotating shafts (20) are rotatably connected with a cover plate (21). One end of each cover plate (21) is fixedly connected with a connecting plate (22). The two connecting plates (22) are matched in shape and position. The two cover plates (21) are evenly fixedly connected to the outer wall of the airbag (5). The two sides of the connecting box (3) are connected with flipping components. Each of the aforementioned flipping components includes a fixed block (23), a rotating rod (26), a coil spring (27), a coiled rope (28), and a connecting rope (29). Fixed blocks (23) are fixedly connected to both sides of the middle part of the connecting box (3). A moving groove (24) corresponding to the position of the two connecting plates (22) is opened on the surface of the connecting box (3). An installation groove (25) is opened in the fixed block (23). A rotating rod (26) is rotatably connected in the moving groove (24) and the installation groove (25). A coil spring (27) is fixedly connected to the outer wall of one end of the rotating rod (26) located in the installation groove (25). The coil spring (27) is fixedly connected to the inner wall of the installation groove (25). A coiled rope (28) is fixedly connected to the outer wall of one end of the rotating rod (26) located in the moving groove (24). A connecting rope (29) is fixedly connected to one end of the coiled rope (28). The other end of the connecting rope (29) is fixedly connected to the connecting plate (22).

2. The robot leg walking mechanism according to claim 1, characterized in that, The venting assembly includes a venting pipe (17) and a solenoid valve (18). One end of the venting pipe (17) is fixedly connected to the middle of the exhaust pipe (10), the solenoid valve (18) is fixedly connected to one side of the boom (2), and the other end of the venting pipe (17) is fixedly connected to the solenoid valve (18).

3. A robot leg walking mechanism according to claim 1 or 2, characterized in that, The connecting block (11) and the side wall of the boom (2) are provided with an angle of 20° to 45°, and the opening of the jet nozzle (13) faces the side closer to the connecting box (3).

4. A robot leg walking mechanism according to claim 1 or 2, characterized in that, The top end of the air intake pipe (8) is fixedly connected to a connecting pipe (30), and a buoy (31) is fixedly connected to the outer wall of the connecting pipe (30).

5. A robot leg walking mechanism according to claim 3, characterized in that, The top end of the air intake pipe (8) is fixedly connected to a connecting pipe (30), and a buoy (31) is fixedly connected to the outer wall of the connecting pipe (30).

6. A robot leg walking mechanism according to claim 4, characterized in that, The upper arm (2) is fixedly connected to a limiting rope buckle (32) on one side, and the part of the connecting tube (30) located below the buoy (31) is located inside the limiting rope buckle (32).

7. A robot leg walking mechanism according to claim 5, characterized in that, The upper arm (2) is fixedly connected to a limiting rope buckle (32) on one side, and the part of the connecting tube (30) located below the buoy (31) is located inside the limiting rope buckle (32).

8. A quadruped robot, comprising a robot body (1), characterized in that, The robot body (1) includes a robot leg walking mechanism as described in any one of claims 1 to 7.

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