Lightweight 4-degree-of-freedom leg mechanism of bionic quadruped robot

A 4-degree-of-freedom leg mechanism of a bionic quadruped robot, comprising:

• a hip-joint lateral-swing assembly;
• a thigh longitudinal-swing assembly;
• and
• a shank longitudinal-swing assembly;
• wherein the hip joint lateral-swing assembly comprises a hip-joint swing cylinder and an electro-hydraulic actuator;
• one end of the electro-hydraulic actuator and one end of the thigh longitudinal-swing assembly are respectively connected to the hip joint swing cylinder via a connecting block;
• the other end of the electro-hydraulic actuator is hinged to a side of the thigh longitudinal-swing assembly;
• the other end of the thigh longitudinal-swing assembly is hinged to the shank longitudinal-swing assembly;
• and an oil line in the electro-hydraulic actuator and an oil line in the thigh longitudinal-swing assembly are respectively communicated with an oil line in a lateral-swing shaft of the hip joint swing cylinder through a passage in the connecting block;
• a lower end of the connecting block is provided with an oil inlet and an oil outlet;
• an oil distribution shaft is rotatably arranged at both ends of the lower end of the connecting block, respectively;
• an oil line communicating with the oil inlet and at least one oil hole communicating with the oil outlet are respectively arranged in the oil distribution shaft.