CN110667729B

CN110667729B - Multi-foot walking robot

Info

Publication number: CN110667729B
Application number: CN201911000171.3A
Authority: CN
Inventors: 马锁才; 薛理礼; 郭眶眶; 李义山
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2019-10-21
Filing date: 2019-10-21
Publication date: 2021-06-25
Anticipated expiration: 2039-10-21
Also published as: CN110667729A

Abstract

The invention discloses a multi-foot walking robot, comprising: a support plate; a plurality of running gear, a plurality of running gear establish in the backup pad, every running gear all has two spaced apart walking feet, and two walking feet of same running gear are constructed into and advance in turn: the walking power device is connected with the plurality of walking devices so as to drive two walking feet of the plurality of walking devices to move forwards; the steering power device is connected with the plurality of walking devices to drive the plurality of walking devices to synchronously steer and respectively rotate around one of the two walking feet, so that the pivot steering of the robot is realized; the load platform, load platform rotationally establishes in the backup pad, and load platform is used for bearing load. The invention can simulate the walking mode of a human, has excellent climbing capability and obstacle crossing capability, lays a reliable physical foundation for high-precision positioning walking, and has flexible steering operation.

Description

Multi-foot walking robot

Technical Field

The invention relates to the technical field of robots, in particular to a multi-legged walking robot.

Background

At present, the chassis of the robot and the structure of a steering wheel walking chassis are traditional and single, so that the problems that the robot generally has low positioning precision, large turning angle, insufficient climbing capacity, poor obstacle crossing capacity and the like are caused, and the difficulty is brought to the practical application of the robot.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a multi-legged walking robot, which aims to solve the problems of large turning angle, insufficient climbing capability and poor obstacle crossing capability of the robot.

A multi-legged walking robot according to an embodiment of the present invention includes: a support plate; a plurality of walkers provided on the support plate, each of the walkers having two spaced-apart walking feet, the two walking feet of the same walker being configured to travel alternately, one of the two walking feet always remaining grounded and the other walking foot rising: the walking power device is connected with the plurality of walking devices so as to drive the two walking feet of the plurality of walking devices to move; the steering power device is connected with the plurality of walking devices so as to drive the plurality of walking devices to synchronously steer and respectively rotate around one of the two walking feet, so that the pivot steering of the robot is realized; the load platform is rotatably arranged on the supporting plate and is used for bearing loads.

According to the multi-legged walking robot provided by the embodiment of the invention, the walking mode of a simulated person can be simulated through the walking device, one walking foot is grounded, and the other walking foot is lifted, so that the multi-legged walking robot is driven to move, and the multi-legged walking robot has excellent climbing capability and obstacle crossing capability. The contact area of the walking foot and the ground is larger than that of wheel-type walking, so that the walking foot is not easy to slip, and a reliable physical foundation can be laid for high-precision positioning walking. And more flexible steering operation can be brought by arranging the steering power device, so that the robot can steer more simply and conveniently.

In some embodiments, each of the walking devices comprises: a frame having a first direction and a second direction perpendicular to each other; the first driving piece is arranged on the rack; the second driving piece is arranged on the rack and is in linkage motion with the first driving piece; two transmission assemblies, each of the transmission assemblies including a first guide rail extending in a second direction, the first guide rail being connected to the first driving member so as to reciprocate in the first direction, and a second guide rail extending in the first direction, the second guide rail being connected to the second driving member so as to reciprocate in the second direction; the two walking feet are arranged corresponding to the two transmission assemblies, and each walking foot is in sliding fit with the first guide rail and the second guide rail corresponding to the transmission assemblies; the first driving piece is configured to drive the two walking feet to have the same movement track and staggered movement period in a first direction, and the second driving piece is configured to drive the two walking feet to have the same movement track and staggered movement period in a second direction, so that the two walking feet of the same walking device can alternately move.

In some embodiments, the first driving member is a first cylindrical cam having a first cam groove, a rotation axis of the first cylindrical cam is arranged in a first direction, and both of the first guide rails are engaged with the first cam groove; the second driving piece is a second cylindrical cam with a second cam groove, the rotation axis of the second cylindrical cam is arranged along a second direction, and the second guide rail is matched with the second cam groove.

Preferably, the first cylindrical cam extends in the up-down direction to control the lifting of the two walking feet, the two first guide rails are respectively spaced from the matching point of the first cam groove by a central angle of 180 degrees, the second cylindrical cam extends in the front-back direction to control the advancing and retreating of the two walking feet, and the two second guide rails are respectively spaced from the matching point of the second cam groove by a central angle of 180 degrees; the first cam groove is provided with a push stroke section, a far rest section, a return stroke section and a near rest section which are sequentially connected, and the other end of the near rest section is connected with the push stroke section; the second cam groove is provided with a forward section and a backward section which are connected end to end; in the same transmission assembly, when the first guide rail is matched with the pushing section, the far rest section and the return section, the second guide rail is matched with the forward section, and when the first guide rail is matched with the near rest section, the second guide rail is matched with the backward section.

Preferably, a first tracking shaft is arranged on each of the two first guide rails, and the two first tracking shafts are matched in the first cam grooves; second tracking shafts are arranged on the two second guide rails and are matched in the second cam grooves; the two walking feet are respectively provided with a first sliding block and a second sliding block, the first sliding blocks are matched on the first guide rail and can slide along the second direction, and the second sliding blocks are matched on the second guide rail and can slide along the first direction.

In some embodiments, the walking power unit comprises: the plurality of walking driving rods are correspondingly connected with the second driving pieces of the plurality of walking devices one by one; the power transmission connecting rod is pivotally connected with the plurality of walking driving rods; the walking motor is arranged on the supporting plate, a motor shaft of the walking motor is connected with a first rotating rod, the first rotating rod is pivotally connected with the power transmission connecting rod, and the length of the first rotating rod is equal to that of the walking driving rods; the motor shaft of the walking motor drives the first rotating rod to rotate, and the power transmission connecting rod drives the walking driving rods to synchronously rotate so as to drive the second driving pieces to synchronously rotate.

Preferably, the number of the walking motors is one or more, and when the number of the walking motors is multiple, the lengths of the first rotating rods of the walking motors are equal.

In some embodiments, the steering power plant includes: the steering driving pieces are connected with the racks of the walking devices in a one-to-one correspondence manner; the steering linkage rod is pivotally connected with the steering driving pieces; the steering motor is arranged on the supporting plate, a motor shaft of the steering motor is connected with a second rotating rod, the second rotating rod is pivotally connected with the steering linkage rod, and the length of the second rotating rod is equal to that of the steering driving pieces; the motor shaft of the steering motor drives the second rotating rod to rotate, and the steering linkage rod drives the plurality of steering driving pieces to synchronously rotate so as to drive the plurality of racks to synchronously rotate.

Preferably, on a projection plane perpendicular to the first direction, a center distance between one of the walking feet and the first driving member in the second direction is X1, and a center distance between the walking foot and the second driving member in the direction perpendicular to the second direction is h1, where a turning radius of the multi-legged walking robot is:

another one of the walking feet is along the second direction and the first directionThe center distance between the driving members is X2, the center distance between the walking foot and the second driving member in the direction perpendicular to the second direction is h2, and the turning radius of the multi-foot walking robot is:

in some embodiments, the loading platform is located above the supporting plate, and a rotating motor is arranged between the loading platform and the supporting plate, wherein one end of the rotating motor is arranged on the loading platform, and the other end of the rotating motor is arranged on the supporting plate.

Preferably, one side of the load platform, which is close to the support plate, is provided with an annular guide rail, and a plurality of third sliding blocks arranged on the support plate are matched on the guide rail along the circumferential direction.

In some embodiments, the traveling devices are three groups, wherein the traveling motor, the steering motor and the rotating motor are arranged in a staggered manner.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a schematic perspective view of a multi-legged walking robot according to an embodiment of the present invention;

FIG. 2 is a first schematic structural diagram of a walking device according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a second walking device according to an embodiment of the present invention;

FIG. 4 is a schematic view of a configuration of the first driving member, the second driving member and the right-angle gear box according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a first driving member according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a second driving member according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of the movement traces of two walking feet with the frame as a reference frame according to the embodiment of the present invention;

FIG. 8 is a schematic diagram of the motion trajectory of the right walking foot with the ground as a reference frame according to the embodiment of the present invention;

FIG. 9 is a schematic diagram of the motion trajectory of the walking foot on the left side with reference to the ground in the embodiment of the present invention;

FIG. 10 is a schematic structural view of an embodiment of the present invention with the top load platform removed;

FIG. 11 is a bottom view of the walking device in an embodiment of the present invention;

fig. 12 is a schematic partial structure view of the multi-legged walking robot in the embodiment of the present invention.

Reference numerals:

a multi-legged walking robot 100,

A supporting plate 10,

A traveling device 20,

A frame 21, a protective cover 211, a relief groove 211a,

A first drive member 22, a first cam slot 221, a push segment 2211, a distal rest segment 2212, a return segment 2213, a proximal rest segment 2214,

A second driving member 23, a second cam groove 231, a forward moving section 2311, a backward moving section 2312,

The transmission assembly 24, a first guide rail 241, a first tracking shaft 2411, a second guide rail 242, a second tracking shaft 2421,

A walking foot 25, a first slide block 251, a second slide block 252, a right-angle gear box 26,

A traveling power device 31,

A travel driving lever 311, a power transmission link 312, a travel motor 313, a first rotating lever 314,

A steering power device 32,

A steering driving piece 321, a steering linkage rod 322, a steering motor 323, a second rotating rod 324,

A load platform 40, a rotating motor 50, a guide rail 60, and a third slider 70.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the present invention.

Furthermore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between descriptive features, non-sequential, non-trivial and non-trivial. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The multi-legged walking robot 100 according to the embodiment of the present invention will be described with reference to the drawings.

As shown in fig. 1 to 3, a multi-legged walking robot 100 according to an embodiment of the present invention includes: the supporting plate 10, a plurality of running gear 20, a running power device 31, a steering power device 32 and a loading platform 40.

A plurality of walkers 20 are provided on the support plate 10, each walker 20 having two spaced-apart walking feet 25, the two walking feet 25 of the same walker 20 being configured to travel alternately. That is, the robot is supported on the ground by the walking feet 25, and walks on the ground by the two walking feet 25 on each walking device 20. Compared with wheel type walking, the mode is more stable, the obstacle crossing capability is excellent, and the outdoor adaptability is greatly improved.

The walking power device 31 is connected with the plurality of walking devices 20 to drive the two walking feet 25 of the plurality of walking devices 20 to travel, thereby providing power for walking of the whole robot. The steering power device 32 is connected with the plurality of walking devices 20 to drive the plurality of walking devices 20 to steer synchronously and rotate around one of the two walking feet 25 respectively, so as to realize pivot steering of the robot. When the robot needs to be steered, each walking device 20 can rotate around one walking foot 25 of the walking device, so that the steering of the walking device is realized, and therefore, the whole robot can be steered in situ by 360 degrees after the walking devices 20 rotate synchronously.

The loading platform 40 is rotatably provided on the support plate 10, and the loading platform 40 is used for carrying a load.

According to the multi-legged walking robot 100 of the embodiment of the invention, the walking mode of a dummy can be simulated by the walking device 20, one walking foot 25 lands on the ground and the other walking foot 25 is lifted, so that the multi-legged walking robot 100 is driven to move, and the multi-legged walking robot 100 has excellent climbing capability and obstacle crossing capability. The contact area of the walking foot 25 and the ground is larger than that of wheel-type walking, so that the walking foot is not easy to slip, and a reliable physical foundation can be laid for high-precision positioning walking. And the steering power device 32 can bring more flexible steering operation, so that the robot can steer more simply and conveniently.

In some embodiments, each running gear 20 includes: the walking device comprises a frame 21, a first driving part 22, a second driving part 23, two transmission assemblies 24 and two walking feet 25. The frame 21 has a first direction and a second direction perpendicular to each other; the first driving piece 22 is arranged on the frame 21; the second driving part 23 is arranged on the frame 21, and the second driving part 23 and the first driving part 22 move in a linkage manner; each of the driving assemblies 24 includes a first guide rail 241 and a second guide rail 242, the first guide rail 241 extending in the second direction, the first guide rail 241 being connected to the first driving member 22 to reciprocate in the first direction, the second guide rail 242 extending in the first direction, the second guide rail 242 being connected to the second driving member 23 to reciprocate in the second direction; wherein, the two walking feet 25 are arranged corresponding to the two transmission assemblies 24, and each walking foot 25 is in sliding fit with the first guide rail 241 and the second guide rail 242 of the corresponding transmission assembly 24; the first driving member 22 is configured to drive the two walking feet 25 to move along the same movement track and with the same movement period in the first direction, and the second driving member 23 is configured to drive the two walking feet 25 to move along the same movement track and with the same movement period in the second direction, so that the two walking feet 25 of the same walking device 20 can alternately travel.

For better understanding of the present invention, the scheme of the present invention will now be described by taking the first direction as a vertical direction and the second direction as a horizontal direction as an example. Of course, it is worth to be noted that the first direction and the second direction in the present invention are not limited thereto.

As can be seen from the above, the first driving member 22 can drive the two first guide rails 241 to reciprocate in the vertical direction, and the first driving member 22 is configured to drive the two walking feet 25 to move in the same movement locus and with staggered movement periods in the first direction, so that one of the two walking feet 25 is grounded downward for supporting the multi-legged walking robot 100, and the other is lifted upward. After a period, the walking feet 25 which originally landed on the ground are lifted upwards, and the walking feet 25 which originally lifted upwards land downwards, so that the two walking feet 25 do periodic alternate motion in the vertical direction.

Similarly, the second driving element 23 can drive the two second guide rails 242 to reciprocate in the horizontal direction, and since the second guide rails 242 extend in the vertical direction, the first guide rail 241 extends in the horizontal direction, and the walking feet 25 are slidably fitted on the first guide rail 241 and the second guide rail 242, the second guide rails 242 can provide vertical direction guide for the walking feet 25 and can also drive the walking feet 25 to move in the horizontal direction, and the first guide rails 241 can provide horizontal direction guide for the walking feet 25. The second driving member 23 is configured to drive the two walking feet 25 to move in the same movement path and with a staggered movement period in the second direction, so that one of the two walking feet 25 moves backward and the other moves forward relative to the walking device 20, as described above, since one of the two walking feet 25 is grounded, the walking foot 25 moving backward can drive the multi-legged walking robot 100 to move forward after being grounded, and the walking foot 25 moving forward is lifted upward to prepare for the next landing walking.

To sum up, under the combined action of the first driving part 22 and the second driving part 23, the two walking feet 25 can finally make the two walking feet 25 perform periodic alternate motion, so that one walking foot 25 lands to drive the multi-foot walking robot 100 to move forward, and the other walking foot 25 moves forward in a free manner in the lifting process, thereby simulating the walking posture of a simulated person and realizing a walking mode with stronger adaptability and more stability.

In addition, the robot 100 of the present invention can be a multi-legged walking robot for walking on the ground according to the arrangement of the first direction and the second direction. In addition, the first direction and the second direction can be any two directions along the X, Y, Z axis in the space coordinate system, so the robot can be used as a multi-foot walking robot for wall climbing, for example, to realize wall walking. It can be seen that the directions of the first direction and the second direction can be set according to specific situations.

In some embodiments, as shown in fig. 3 and 4, the first driving member 22 is a first cylindrical cam having a first cam groove 221, a rotation axis of the first cylindrical cam is disposed in the first direction, and both first guide rails 241 are engaged with the first cam groove 221. That is, the first driver 22 is disposed in the vertical direction, and the two first guide rails 241 are reciprocally moved in the vertical direction by the first cam grooves 221 by the rotation of the first driver 22. The first driving member 22 is disposed in the same direction as the first guide rail 241, and this arrangement is simple and facilitates power transmission therebetween.

As shown in fig. 3 and 4, the second driver 23 is a second cylindrical cam having a second cam groove 231, the rotational axis of which is disposed in the second direction, and two second guide rails 242 each cooperate with the second cam groove 231. That is, the second driving member 23 is disposed in the horizontal direction, and the two second guide rails 242 are reciprocally moved in the horizontal direction by the second cam grooves 231 by the rotation of the second driving member 23. The arrangement direction of the second driving piece 23 is consistent with the moving direction of the second guide rail 242, and the arrangement mode is simple, thereby being beneficial to the power transmission between the two.

Preferably, as shown in fig. 4, a right-angle gear box 26 is disposed between the first driving member 22 and the second driving member 23, and one end of the right-angle gear box 26 is connected to the first driving member 22 and the other end is connected to the second driving member 23, so that the kinematic linkage between the two vertically distributed first driving members 22 and the second driving members 23 is realized. Since the construction of the right angle gearbox 26 is similar to that of prior art gearboxes, it will not be described in detail here.

Preferably, the first cylindrical cam extends in an up-and-down direction to control the elevation of the two walking feet 25, and the two first guide rails 241 are each spaced apart from the engagement point of the first cam groove 221 by a 180-degree central angle. For example, the engagement point of one first guide rail 241 is located on the left side, the engagement point of the other first guide rail 241 is located on the right side, and the two engagement points are arranged opposite to the first cylindrical cam and are 180 degrees apart, which is favorable for separating the movement of the two walking wheels 25, so that the periodic alternate lifting and lowering movement of the two walking feet 25 is realized under the action of the first cam groove 221.

The second cylindrical cam extends in the front-rear direction to control the advance and retreat of the two walking feet 25, and the two second guide rails 242 are each separated from the mating point of the second cam groove 231 by a central angle of 180 degrees. For example, the engagement point of one second guide rail 242 is located on the left side, the engagement point of the other second guide rail 242 is located on the right side, and the two engagement points are arranged opposite to the second cylindrical cam and are 180 degrees apart, which is favorable for separating the movement of the two walking wheels 25, so that the periodic alternate horizontal movement of the two walking feet 25 is realized under the action of the second cam groove 231.

As shown in fig. 4 and 5, the first cam groove 221 has a push section 2211, a distal stop section 2212, a return section 2213, and a proximal stop section 2214 connected in sequence, and the other end of the proximal stop section 2214 is connected to the push section 2211. The push section 2211 forms an obliquely upward curved groove on the first cylindrical cam, and the radial direction of the first cylindrical cam is gradually increased when the first guide rail 241 is fitted on the push section 2211, so that the first guide rail 241 is pushed to rise. The distal rest sections 2212 are circumferentially distributed on the first cylindrical cam, and the radial direction of the first cylindrical cam is not changed when the first guide rail 241 is fitted on the distal rest sections 2212, so that the first guide rail 241 is at the highest position in the vertical direction and is fixed. The return segment 2213 forms a curve groove which is inclined downwards on the first cylindrical cam, and the radial direction of the first cylindrical cam is gradually reduced when the first guide rail 241 is matched on the return segment 2213, so that the first guide rail 241 is pushed downwards. The near-rest sections 2214 are circumferentially distributed on the first cylindrical cam, the radial direction of the first cylindrical cam is not changed when the first guide rail 241 is fitted on the near-rest sections 2214, and the first guide rail 241 is at the lowest position in the vertical direction and is not moved.

As shown in fig. 4 and 6, the second cam groove 231 has a forward travel section 2311 and a backward travel section 2312 that are connected end to end. The forward traveling section 2311 and the backward traveling section 2312 are symmetrically provided on the second cylindrical cam, and the forward traveling section 2311 is configured such that the radial direction of the second cylindrical cam gradually increases in a direction of the second cylindrical cam away from the engagement point of the second guide rail 242. The second rail 242 is moved forward when the second rail 242 is fitted on the forward section 2311, and the second rail 242 is moved backward when the second rail 242 is fitted on the backward section 2312.

In the same transmission assembly 24, when the first guide rail 241 is engaged with the push segment 2211, the far rest segment 2212 and the return segment 2213, the second guide rail 242 is engaged with the forward segment 2311, so that when the first guide rail 241 drives the walking feet 25 to ascend and descend, the second guide rail 242 drives the corresponding walking feet 25 to move forward, and the action of advancing when lifting the feet can be simulated. When the first guide rail 241 is fitted to the near-rest section 2214, the second guide rail 242 is fitted to the backward section 2312, so that the second guide rail 242 moves the walking foot 25 backward after the walking foot 25 is lowered. Through the design to first cam groove 221 and second cam groove 231 movement track, can accurate simulation emulation people walking's motion gesture after the motion synthesis, can realize the high accuracy location of walking in-process for the fuselage height of walking in-process polypod walking robot 100 is unchangeable, and the stability of walking process is increased substantially.

As shown in fig. 4 and 6, points a, b, c, d, e, f indicated in the drawing indicate moving track points on the second cam groove 231. As shown in fig. 4 and 5, the point A, B, C, D, E, F indicates the point of the path of movement on the first cam groove 221, where AB constitutes the push segment 2211, BC constitutes the distal rest segment 2212, CD constitutes the return segment 2213, and DA constitutes the proximal rest segment 2214 of the first cam groove 221.

As shown in fig. 7, a schematic diagram of the motion trajectory of the left walking foot 25 from the point Aa and the right walking foot 25 from the point Dd with reference to the robot body is shown, where the slope from Aa to Bb determines the climbing ability of the multi-legged walking robot 100, the height from Bb to Ff determines the leg raising height of the multi-legged walking robot 100, and the length from Bb to Cc is the length of the walking foot 25 moving in the horizontal direction at the highest position.

It should be noted that the cam curve of the first cylindrical cam in the vertical direction (i.e. the first cam groove 221), the slopes of the upper and lower edges (the section AB or the section CD in fig. 5), and the height of the highest position (the height of the section BC in fig. 5) can be determined as required to meet different requirements. The cam curve of the second cylindrical cam in the horizontal direction (i.e., the second cam groove 231) may be a constant velocity line, an equal acceleration line, or other curves, wherein the constant velocity line, the equal acceleration line, or other curves may be determined as necessary.

Fig. 8 is a schematic diagram showing the movement locus of the right walking foot 25 from Aa to Dd with reference to the ground. Fig. 9 is a schematic diagram showing the movement locus of the left walking foot 25 from Aa to Dd with the ground as a reference frame. As can be seen from the schematic diagram, when the left or right walking foot 25 lands on the ground, the walking foot 25 is stationary with respect to the ground, and the displacement in the horizontal direction (i.e., x) is zero, and the points Dd, Ee, Ff, and Aa coincide. Furthermore, as can be seen from fig. 8 and 9, the two walking feet 25 on the left and right sides have a span, and when the walking foot 25 on the right side lands on the ground, the walking foot 25 on the left side should be located in front of or behind the walking foot 25 on the right side and spaced apart by half the span. In a specific walking process, when the left walking foot 25 corresponds to the AD section of the first cam groove 221 (in a direction different from the direction indicated by the DA section), the left walking foot 25 rises and falls in the vertical direction and advances in the horizontal direction while the right walking foot 25 corresponds to the DA section of the first cam groove 221, the right walking foot 25 lands and drives the multi-legged walking robot 100 to move only in the horizontal direction, thereby driving the multi-legged walking robot 100 to walk; when the left walking foot 25 corresponds to the DA section of the first cam groove 221 and the right walking foot 25 corresponds to the AD section of the first cam groove 221, the movement trajectories of the two walking feet 25 are opposite, thereby achieving the posture of alternate walking.

Preferably, as shown in fig. 2 and 3, the two first guide rails 241 are respectively provided with the first tracking shafts 2411, and the two first tracking shafts 2411 are respectively engaged in the first cam grooves 221, so that the resistance of the engagement between the first tracking shafts 2411 and the first cam grooves 221 is small, the wear is small, and the first cam grooves 221 are beneficial to driving the first guide rails 241 to move. The two second guide rails 242 are provided with the second tracking shafts 2421, and the two second tracking shafts 2421 are both matched in the second cam grooves 231, so that the resistance of the matching between the second tracking shafts 2421 and the second cam grooves 231 is small, the abrasion is small, and the second guide rails 242 can be driven by the second cam grooves 231 to move. The two walking feet 25 are respectively provided with a first sliding block 251 and a second sliding block 252, the first sliding block 251 is matched on the first guide rail 241 and can slide along the second direction, the second sliding block 252 is matched on the second guide rail 242 and can slide along the first direction, the walking feet 25 can be simultaneously matched on the first guide rail 241 and the second guide rail 242 in a sliding mode through the first sliding block 251 and the second sliding block 252, and the synthesis of motion tracks in the two directions is facilitated.

In some embodiments, as shown in fig. 10, the walking power unit 31 includes: a plurality of travel driving levers 311, a power transmission link 312, and a travel motor 313. The plurality of walking driving rods 311 are correspondingly connected with the second driving pieces 23 of the plurality of walking devices 20 one by one; the power transmission link 312 is pivotably connected to the plurality of travel driving levers 311; the walking motor 313 is arranged on the support plate 10, a motor shaft of the walking motor 313 is connected with a first rotating rod 314, the first rotating rod 314 is pivotally connected with the power transmission connecting rod 312, and the length of the first rotating rod 314 is equal to that of the plurality of walking driving rods 311; the motor shaft of the walking motor 313 drives the first rotating rod 314 to rotate, and the power transmission link 312 drives the plurality of walking driving rods 311 to rotate synchronously, so as to drive the plurality of second driving members 23 to rotate synchronously. That is to say, the traveling motor 313 drives the first rotating rod 314 to rotate, so that the power transmission connecting rod 312 moves, any point on the power transmission connecting rod 312 can realize circular motion with the same rotating radius as the first rotating rod 314, and since the lengths of the first rotating rod 314 and the plurality of traveling driving rods 311 are equal, the traveling driving rods 311 can drive the second driving member 23 to perform circular motion through the power transmission connecting rod 312, and then transmit power to the first driving member 22 to drive the traveling device 20 to travel. By adopting the mode, a plurality of walking devices 20 can be driven to walk at the same time, the number of walking motors 313 is greatly reduced, and the cost can be saved.

In some embodiments, the power transmission link 312 may be configured in an equilateral polygon structure, as shown in fig. 10, for example, when there are three traveling devices 20 and three corresponding second driving members 23, there are three traveling driving rods 311 of the traveling power device 31, and in this case, the power transmission link 312 may be in an equilateral triangle, so that three corners of the power transmission link 312 are pivotally connected to the traveling driving rods 311, thereby realizing power transmission. Of course, the power transmission link 312 may be configured as an equilateral quadrilateral, and the four travel driving levers 311 can be connected to the four corners thereof. It should be noted that the power transmission link 312 may also be configured to be circular, and the plurality of travel driving rods 311 may be equally disposed on the circular ring, so that the adaptability is stronger, the connection is not prone to error, and the installation is easier.

Preferably, there are one or more walking motors 313. When there is one traveling motor 313, the traveling motor 313 may be a high power motor. When there are a plurality of traveling motors 313, the first rotating shafts 314 of the plurality of traveling motors 313 have the same length. As the case may be, when there are a plurality of the walking motors 313, a stronger walking power can be provided, and thus the multi-legged walking robot 100 can bear a larger load.

In some embodiments, as shown in fig. 10, the steering power unit 32 includes: a plurality of steering driving pieces 321, a steering linkage rod 322 and a steering motor 323. The steering driving members 321 are correspondingly connected with the frames 21 of the plurality of running gears 20 one by one, and the steering driving members 321 are pivotally arranged on the supporting plate 10 so as to drive the frames 21 to rotate relative to the supporting plate 10; the steering linkage 322 is pivotally connected to a plurality of steering drives 321; the steering motor 323 is arranged on the support plate 10, a motor shaft of the steering motor 323 is connected with a second rotating rod 324, the second rotating rod 324 is pivotally connected with the steering linkage rod 322, and the lengths of the second rotating rod 324 and the plurality of steering driving pieces 321 are equal. The motor shaft of the steering motor 323 drives the second rotating rod 324 to rotate, and the steering linkage rod 322 drives the plurality of steering driving members 321 to rotate synchronously, so as to drive the plurality of racks 21 to rotate synchronously. That is to say, the steering motor 323 drives the second rotating rod 324 to rotate, so that the steering linkage rod 322 moves, any point on the steering linkage rod 322 can realize circular motion with the same rotating radius as that of the second rotating rod 324, and since the lengths of the second rotating rod 324 and the plurality of steering driving members 321 are equal, the steering driving members 321 can drive the frame 21 to make circular motion through the steering linkage rod 322. Since one of the two walking feet 25 of each walking device 20 lands on the ground, each walking device 20 rotates around the axis of the walking foot 25 supported on the ground when turning, that is, the multi-legged walking robot 100 can rotate 360 degrees by the plurality of walking devices 20 and thus move in an arbitrary direction on the spot. The steering mode is simple, the steering angle is small, the steering efficiency is higher, and the mode can drive a plurality of traveling devices 20 to steer, so that the number of steering motors 323 is obviously reduced, and the cost can be saved.

Preferably, as shown in fig. 2 and 3, a protective cover 211 is provided on the frame 21, the protective cover 211 is sleeved on the first driving member 22 and is pivotally provided on the support plate 10, and the frame 21 is connected to the steering driving member 321 through the protective cover 211. For example, the steering driving unit 321 is fixed to the protecting cover 211, the protecting cover 211 is fixed to the supporting plate 10 through a bearing and a bearing seat, and is integrated with the frame 21 of the traveling unit 20, and the traveling direction of the traveling unit 20 can be controlled by controlling the steering driving unit 321.

Preferably, two escape grooves 211a spaced 180 degrees apart are formed in the protection cover 211, the first tracking shaft 2411 of the first guide rail 241 passes through the escape grooves 211a to be engaged with the first cam groove 221, and the escape grooves 211a can prevent the protection cover 211 from interfering with the movement of the first tracking shaft 2411.

Preferably, as shown in fig. 11, on a projection plane perpendicular to the first direction, a center distance between one walking foot 25 and the first driving member 22 in the second direction is X1, and a center distance between the walking foot 25 and the second driving member 23 in the direction perpendicular to the second direction is h1, where the turning radius of the multi-legged walking robot is:

the other walking foot 25 is spaced from the center of the first driving member 22 by X2 in the second direction, and the walking foot 25 is spaced from the center of the second driving member 23 by h2 in the direction perpendicular to the second direction, so that the turning radius of the multi-legged walking robot is:

that is, when different walking feet 25 of the two walking feet 25 land, the turning radius of the multi-footed walking robot 100 is different, when turning, one walking foot 25 of the plurality of walking means 20 of the multi-footed walking robot 100 lands on the ground, and the body rotates around the walking foot 25 that lands on the ground, for example, when the walking foot 25 on the left side lands on the ground, the rotation radius is R1, and R1 is determined by the horizontal displacement X1 of the second cylindrical cam; when the right walking foot 25 lands on the ground, the radius of rotation is R2, and R2 is determined by the horizontal displacement X2 of the second cylindrical cam. Wherein both feet of each traveling device 20 are simultaneously grounded and steering operation is not possible.

In some embodiments, as shown in fig. 12, the loading platform 40 is located above the supporting plate 10 and a rotating motor 50 is provided between the loading platform 40 and the supporting plate 10, one end of the rotating motor 50 is provided on the loading platform 40 and the other end is provided on the supporting plate 10. Through this mode, can drive load platform 40 and carry out circumferencial direction's rotation after starting rotating electrical machines 50 to the position of adjustment load platform 40, for example after the load on load platform 40 reaches the predetermined position, need go on unloading to the station of equidirectional, can conveniently go up unloading through turning to of load platform 40 this moment, thereby satisfy the different operation demands of load on the load platform 40.

Preferably, as shown in fig. 9, the loading platform 40 is provided with an annular guide rail 60 at a side close to the support plate 10, and a plurality of third sliding blocks 70 arranged on the support plate 10 are fitted on the guide rail 60 along the circumferential direction. The endless guide rail 60 cooperates with the third slider 70 to provide stable and reliable rotation of the load platform 40 on the support plate 10.

In some embodiments, the traveling devices 20 are three sets, wherein the traveling motor 313, the steering motor 323, and the rotating motor 50 are disposed in a staggered manner to achieve a reasonable space configuration and avoid interference.

One embodiment of the present invention of the multi-legged walking robot 100 is described below with reference to the drawings.

As shown in fig. 1 to 12, a multi-legged walking robot 100 includes a support plate 10, a plurality of walking devices 20, a walking power device 31, a steering power device 32, and a loading platform 40.

Three walking devices 20 are arranged below the supporting plate 10 at equal intervals, and each walking device 20 comprises a frame 21, a first driving part 22, a second driving part 23, two transmission assemblies 24 and two walking feet 25.

The rack 21 is provided with a vertical direction and a horizontal direction, the first driving part 22 is configured into a first cylindrical cam and is arranged on the rack 21, the second driving part 23 is configured into a second cylindrical cam and is arranged on the rack 21, and a right-angle gear box 26 is arranged between the first cylindrical cam and the second cylindrical cam to realize power linkage between the first cylindrical cam and the second cylindrical cam.

Each of the driving assemblies 24 includes a first guide rail 241 and a second guide rail 242, the first guide rail 241 extending in a horizontal direction, the first guide rail 241 being connected to the first driving piece 22 to reciprocate in a vertical direction, the second guide rail 242 extending in a vertical direction, and the second guide rail 242 being connected to the second driving piece 23 to reciprocate in a horizontal direction.

The two walking feet 25 are arranged at intervals, the two walking feet 25 are arranged corresponding to the two transmission assemblies 24, and each walking foot 25 is in sliding fit with the first guide rail 241 and the second guide rail 242 of the corresponding transmission assembly 24.

The first driving member 22 is configured to drive the two walking feet 25 to have the same movement track and the same movement period in the vertical direction, and the second driving member 23 is configured to drive the two walking feet 25 to have the same movement track and the same movement period in the horizontal direction, so that the two walking feet 25 of the same walking device 20 alternately travel.

The first cylindrical cam is provided with a first cam groove 221 whose rotational axis is arranged in a vertical direction, and both first guide rails 241 are engaged with the first cam groove 221. The first cylindrical cam extends along the up-down direction to control the lifting of the two walking feet 25, the two first guide rails 241 are respectively provided with a first tracking shaft 2411, the two first tracking shafts 2411 are respectively matched in the first cam groove 221, and the two first tracking shafts 2411 are separated by 180-degree central angles.

The second cylindrical cam is provided with a second cam groove 231, the rotation axis of the second cylindrical cam is arranged along the horizontal direction, and the two second guide rails 242 are both matched with the second cam groove 231. The two second guide rails 242 are provided with second tracking shafts 2421, the two second tracking shafts 2421 are matched in the second cam grooves 231, the second cylindrical cam extends in the front-back direction to control the advance and retreat of the two walking feet 25, and the two second tracking shafts 2421 are separated by a central angle of 180 degrees.

The two walking feet 25 are respectively provided with a first slide block 251 and a second slide block 252, the first slide block 251 is matched on the first guide rail 241 and slides along the horizontal direction, the second slide block 252 is matched on the second guide rail 242 and slides along the vertical direction,

the first cam groove 221 has a push section 2211, a distal stop section 2212, a return section 2213, and a proximal stop section 2214 connected in sequence, and the other end of the proximal stop section 2214 is connected to the push section 2211. The second cam groove 231 has a forward travel section 2311 and a backward travel section 2312 connected end to end. In the same transmission assembly 24, the first guide rail 241 is engaged on the forward section 2311 when the first guide rail 241 is engaged on the push segment 2211, the distal rest segment 2212 and the return segment 2213, and the second guide rail 242 is engaged on the backward segment 2312 when the first guide rail 241 is engaged on the proximal rest segment 2214.

The traveling power unit 31 includes: a power transmission connecting rod 312, a walking motor 313 and three walking driving rods 311. The three walking driving rods 311 are correspondingly connected with the second driving pieces 23 of the three walking devices 20 one by one; the power transmission connecting rod 312 is configured into an equilateral triangle, and three corners of the power transmission connecting rod 312 are respectively connected with the three walking driving rods 311 in a pivoting manner; the walking motor 313 is arranged on the support plate 10, a motor shaft of the walking motor 313 is connected with a first rotating rod 314, the first rotating rod 314 is pivotally connected with the power transmission connecting rod 312, and the lengths of the first rotating rod 314 and the three walking driving rods 311 are equal; the motor shaft of the walking motor 313 drives the first rotating rod 314 to rotate, and the three walking driving rods 311 are driven by the power transmission link 312 to rotate synchronously, so as to drive the three second driving members 23 to rotate synchronously.

The number of the traveling motors 313 is two, the length of the first rotating shaft 314 is equal, and the traveling power of the multi-legged walking robot 100 can be increased by driving the two traveling motors 313.

The steering power unit 32 includes: a steering linkage rod 322, a steering motor 323 and three steering driving pieces 321. The three steering driving members 321 are correspondingly connected with the frames 21 of the three traveling devices 20 one by one; the steering linkage 322 is pivotally connected to three steering drives 321; the steering motor 323 is arranged on the support plate 10, a motor shaft of the steering motor 323 is connected with a second rotating rod 324, the second rotating rod 324 is pivotally connected with the steering linkage rod 322, and the lengths of the second rotating rod 324 and the three steering driving pieces 321 are equal. The motor shaft of the steering motor 323 drives the second rotating rod 324 to rotate, and the steering linkage rod 322 drives the three steering driving members 321 to rotate synchronously, so as to drive the three frames 21 to rotate synchronously.

The frame 21 is provided with a protective cover 211, the protective cover 211 is sleeved on the first driving element 22 and is pivotally arranged on the supporting plate 10, the frame 21 is connected with the steering driving element 321 through the protective cover 211, and thus the walking direction of the walking device 20 can be controlled by controlling the protective cover 211. Two avoidance grooves 211a spaced by 180 degrees are formed in the protection cover 211, the first tracking shaft 2411 of the first guide rail 241 passes through the avoidance grooves 211a to be matched with the first cam groove 221, and the avoidance grooves 211a can avoid the movement interference between the protection cover 211 and the first tracking shaft 2411.

On a projection plane perpendicular to the first direction, the center distance between one walking foot 25 and the first driving member 22 in the second direction is X1, and the center distance between the walking foot 25 and the second driving member 23 in the direction perpendicular to the second direction is h1, when the turning radius of the multi-legged walking robot is:

the multi-legged walking robot 100 further includes: a loading platform 40. the loading platform 40 may be used for the multi-legged walking robot 100 to transport a load. The loading platform 40 is located above the supporting plate 10 and a rotating motor 50 is arranged between the loading platform 40 and the supporting plate 10, one end of the rotating motor 50 is arranged on the loading platform 40 and the other end is arranged on the supporting plate 10. The loading platform 40 is provided with an annular guide rail 60 at a side thereof adjacent to the support plate 10, and a plurality of third sliders 70 provided on the support plate 10 are fitted to the guide rail 60 in a circumferential direction.

As described above, the present invention can provide a three-motor-driven hexapod walking robot that can selectively pass over or bypass obstacles based on information measured by a sensor when the robot 100 encounters a road obstacle while walking, and the multi-pod walking robot calculates a walking path and determines a footfall point before crossing because a walking distance of each step of the walking robot is fixed and a highest point position of a leg-raising of the multi-pod walking robot is determined by a walking trajectory of the leg. The invention makes the loading capacity, the walking speed and the cruising capacity of the multi-legged walking robot reach the practical degree. Compared with a wheel type multi-foot walking robot, the invention has the greatest advantage of adaptability to ground environment, and the mountain forest, the grass and the farmland which are used as the ground for walking the multi-foot walking robot are all used in construction sites. With the popularization of the walking robot with multiple feet, the walking robot can be widely applied to the fields of disaster relief, military, industry, agriculture and the like.

The multi-legged walking robot 100 of the present invention has a walking mode simulating a human, one foot is grounded and the other foot is lifted to drive the body to move, so that the contact area of the multi-legged walking robot 100 with the ground is larger than that of a wheeled walking, and the multi-legged walking robot is not easy to slide, and lays a reliable physical foundation for high precision positioning. When the multi-legged walking robot 100 of the invention turns, one walking foot 25 in each group of walking devices 20 is not moved on the ground, and the whole machine rotates 360 degrees, so that the multi-legged walking robot 100 can turn to any direction and then move in situ, the operation mode is more flexible, and the turning is more convenient. Secondly, the load platform 40 of the multi-legged walking robot 100 of the present invention can be steered independently without interfering with the walking direction of the multi-legged walking robot 100. In some examples, the multi-legged walking robot 100 can be provided with three walking devices 20, so that the loading platform 40 can be supported by three walking feet 25 at the same time, the height of the robot body is unchanged during walking, and the loading plane is stable and reliable. The load capacity is determined by the structural strength and the motor power. The multi-legged walking robot 100 of the present invention may be a six-legged multi-legged walking robot (three walking means 20 are provided) or an eight-legged multi-legged walking robot (four walking means 20 are provided), the walking means 20 is controlled by one motor, and the walking speed is determined by the load weight and the motor power.

Other configurations and operations of the multi-legged walking robot 100 according to the embodiments of the present invention are known to those skilled in the art and will not be described in detail herein.

In the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A multi-legged walking robot, comprising:

a support plate;

a plurality of running gear provided on the support plate, each of the running gear having two spaced apart running feet configured to run alternately, wherein each of the running gear comprises:

a frame having a first direction and a second direction perpendicular to each other;

two transmission components, two walking feet are arranged corresponding to the two transmission components, each walking foot is in sliding fit with the corresponding transmission component, wherein,

the two transmission assemblies can enable the two walking feet to have the same movement track and staggered movement period in the first direction, and the two transmission assemblies can enable the two walking feet to have the same movement track and staggered movement period in the second direction, so that the two walking feet of the same walking device can alternately move;

the walking power device is connected with the plurality of walking devices so as to drive the two walking feet of the plurality of walking devices to move;

the steering power device is connected with the plurality of walking devices so as to drive the plurality of walking devices to synchronously steer and respectively rotate around one of the two walking feet, so that the pivot steering of the robot is realized;

the load platform is rotatably arranged on the supporting plate and is used for bearing loads.

2. The multi-legged walking robot according to claim 1, characterized in that each of the walking means further comprises:

the first driving piece is arranged on the rack;

the second driving piece is arranged on the rack and is in linkage motion with the first driving piece;

each transmission assembly comprises a first guide rail and a second guide rail, the first guide rail extends along the second direction, the first guide rail is connected with the first driving piece to move back and forth along the first direction, the second guide rail extends along the first direction, and the second guide rail is connected with the second driving piece to move back and forth along the second direction; wherein,

each walking foot is in sliding fit with the first guide rail and the second guide rail of the corresponding transmission assembly; the first driving piece is configured to drive the two walking feet to have the same motion track and staggered motion period in a first direction, and the second driving piece is configured to drive the two walking feet to have the same motion track and staggered motion period in a second direction, so that the two walking feet of the same walking device can alternately travel.

3. The multi-legged walking robot of claim 2,

the first driving piece is a first cylindrical cam with a first cam groove, the rotation axis of the first cylindrical cam is arranged along a first direction, and the two first guide rails are matched with the first cam groove;

the second driving piece is a second cylindrical cam with a second cam groove, the rotation axis of the second cylindrical cam is arranged along a second direction, and the second guide rail is matched with the second cam groove.

4. The multi-legged walking robot of claim 3,

the first cylindrical cam extends along the up-down direction to control the lifting of the two walking feet, and the two first guide rails and the matching point of the first cam groove are separated by a central angle of 180 degrees;

the second cylindrical cam extends along the front-back direction to control the advancing and retreating of the two walking feet, and the two second guide rails and the matching point of the second cam groove are separated by a central angle of 180 degrees; wherein,

the first cam groove is provided with a push stroke section, a far rest section, a return stroke section and a near rest section which are sequentially connected, the other end of the near rest section is connected with the push stroke section, and the second cam groove is provided with a front travel section and a back travel section which are connected end to end;

in the same transmission assembly, when the first guide rail is matched with the pushing section, the far rest section and the return section, the second guide rail is matched with the forward section, and when the first guide rail is matched with the near rest section, the second guide rail is matched with the backward section.

5. The multi-legged walking robot of claim 3,

first tracking shafts are arranged on the two first guide rails and are matched in the first cam grooves;

second tracking shafts are arranged on the two second guide rails and are matched in the second cam grooves;

the two walking feet are respectively provided with a first sliding block and a second sliding block, the first sliding blocks are matched on the first guide rail and can slide along the second direction, and the second sliding blocks are matched on the second guide rail and can slide along the first direction.

6. The multi-legged walking robot according to claim 2, characterized in that the walking power means comprises:

the plurality of walking driving rods are correspondingly connected with the second driving pieces of the plurality of walking devices one by one;

the power transmission connecting rod is pivotally connected with the plurality of walking driving rods;

the walking motor is arranged on the supporting plate, a motor shaft of the walking motor is connected with a first rotating rod, the first rotating rod is pivotally connected with the power transmission connecting rod, and the length of the first rotating rod is equal to that of the walking driving rods; the motor shaft of the walking motor drives the first rotating rod to rotate, and the power transmission connecting rod drives the walking driving rods to synchronously rotate so as to drive the second driving pieces to synchronously rotate.

7. The multi-legged walking robot according to claim 6, wherein the number of the walking motors is one or more, and when the number of the walking motors is plural, the lengths of the first links of the plural walking motors are equal.

8. The multi-legged walking robot according to claim 6, characterized in that the steering power means includes:

the steering driving pieces are connected with the racks of the walking devices in a one-to-one correspondence manner;

the steering linkage rod is pivotally connected with the steering driving pieces;

the steering motor is arranged on the supporting plate, a motor shaft of the steering motor is connected with a second rotating rod, the second rotating rod is pivotally connected with the steering linkage rod, and the length of the second rotating rod is equal to that of the steering driving pieces; the motor shaft of the steering motor drives the second rotating rod to rotate, and the steering linkage rod drives the plurality of steering driving pieces to synchronously rotate so as to drive the plurality of racks to synchronously rotate.

9. The multi-legged walking robot according to claim 8, wherein, on a projection plane perpendicular to the first direction,

a center distance between the walking foot and the first driving member in the second direction is X1, and a center distance between the walking foot and the second driving member in the direction perpendicular to the second direction is h1, so that the turning radius of the multi-foot walking robot is as follows:

；

the other walking foot has a center-to-center distance of X2 from the first driving element in the second direction, and has a center-to-center distance of h2 from the second driving element in a direction perpendicular to the second direction, where the turning radius of the multi-foot walking robot is:

。

10. the multi-legged walking robot according to claim 8, wherein the loading platform is located above the support plate with a rotating motor provided between the loading platform and the support plate, one end of the rotating motor being provided on the loading platform and the other end thereof being provided on the support plate.

11. The multi-legged walking robot according to claim 10, wherein the loading platform is provided with a ring-shaped guide rail on a side thereof adjacent to the support plate, and a plurality of third sliders provided on the support plate are fitted to the guide rail in a circumferential direction.

12. The multi-legged walking robot according to claim 10, wherein the walking means are three groups, and wherein the walking motor, the steering motor, and the rotating motor are arranged to be offset from each other.