Quadruped robot and spine-leg-foot coupling driving method

A quadruped robot, comprising an active spine, a fore trunk and a hind trunk;

• wherein the fore trunk and the hind trunk are able to pitch and to be telescopically arranged on both ends of the active spine in a front-back direction, and the active spine is able to drive the fore trunk and the hind trunk to pitch, extend and retract,
• wherein the active spine comprises a spine mounting frame, two swing output members and a pitching drive motor, the two swing output members are able to be mounted on a front end and a rear end of the spine mounting frame in a pitching manner, the fore trunk and the hind trunk are movably arranged on the swing output members in directions away from and close to the swing output members, the pitching drive motor is fixedly arranged in the spine mounting frame and is able to drive the swing output members to pitch, and the swing output members are able to drive the fore trunk and the hind trunk to pitch,
• wherein a middle part of each of the swing output members is hinged to the spine mounting frame to form a fixed revolving pair;
• sliding chutes are provided on the spine mounting frame, and the swing output members form movable revolving pairs with the sliding chutes through sliding shafts;
• the swing output members reach limit pitching angles when the sliding shafts are moved to ends of the sliding chutes, and the pitching drive motor is able to drive the sliding shafts to move in the sliding chutes to achieve the pitching of the swing output members;
• and
• wherein the active spine further comprises two extension and retraction drive motors, which respectively correspond to the fore trunk and the hind trunk;
• the two extension and retraction drive motors are fixedly arranged on the swing output members or both ends of the spine mounting frame;
• the fore trunk and the hind trunk are provided with threaded holes;
• lead screws are connected to output shafts of the two extension and retraction drive motors, and the lead screws are threaded to the threaded holes, thus the two extension and retraction drive motors are used to drive the lead screws to rotate towards different directions to extend and retract the fore trunk and the hind trunk;
• in a case that the two extension and retraction drive motors are fixedly arranged on the both ends of the spine mounting frame, the output shafts of the two extension and retraction drive motors are in transmission connection with the lead screws through universal joints.