CN112937718B

CN112937718B - Multi-foot robot

Info

Publication number: CN112937718B
Application number: CN202110159550.8A
Authority: CN
Inventors: 徐皓; 周宇航
Original assignee: Chongqing Vocational Institute of Engineering
Current assignee: Chongqing Vocational Institute of Engineering
Priority date: 2021-02-05
Filing date: 2021-02-05
Publication date: 2021-09-14
Anticipated expiration: 2041-02-05
Also published as: JP2022120774A; CN112937718A

Abstract

The invention relates to a multi-legged robot which comprises a walking mechanism, a transmission mechanism, a steering mechanism, a damping mechanism, a stabilizing mechanism and a supporting mechanism. The walking mechanism comprises at least one pair of leg structures; the leg structure comprises a first main cylinder, a second main cylinder, a connecting rod, a knee sport ball, a shank sport cylinder, a first shank support piece, a second shank support piece and a foot plate. The transmission mechanism comprises a servo motor, a spline shaft, a first cross universal coupling, a first connecting shaft, a second cross universal coupling, a second connecting shaft, a third cross universal coupling, a third connecting shaft and a connecting wheel. The steering mechanism comprises a motor, a worm and gear structure and a traction structure. The damping mechanism comprises a damping support, a main damping, an auxiliary damping, a steering driving seat and a steering traction shell. The multi-legged robot is suitable for mountainous areas, has strong stability when walking on rugged mountain roads, is not easy to shake, and effectively prolongs the service life.

Description

Multi-foot robot

Technical Field

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

Background

With the development and progress of science and technology, robots are applied more and more widely in various industries. The mountains in the southwest area of China are complex, natural disasters such as debris flow and the like occur frequently, and when the natural disasters or other accidents occur and need rescue, the robot with flexible action and various functions can play an important role. The existing multi-foot robot is suitable for a flat ground, is easy to shake or even topple when walking on a rugged mountain road, influences the stability of the multi-foot robot, is easy to damage structural components after being subjected to vibration for many times, and shortens the service life of the multi-foot robot.

Disclosure of Invention

The invention aims to provide a multi-legged robot which is suitable for mountainous areas, has strong stability when walking on rugged mountain roads, is not easy to shake and effectively prolongs the service life.

In order to achieve the purpose, the invention adopts the following technical scheme:

a multi-legged robot comprises a walking mechanism, a transmission mechanism, a steering mechanism, a damping mechanism, a stabilizing mechanism and a supporting mechanism.

The walking mechanism comprises at least one pair of leg structures; the leg structure comprises a first main cylinder, a second main cylinder, a connecting rod, a knee sport ball, a shank sport cylinder, a shank support piece I, a shank support piece II and a foot plate; the lower end of the main cylinder I is connected with the outer wall of the knee sports ball; the lower end of the main cylinder II is matched with a knee sports ball in a spherical pair manner; the lower end of the connecting rod is connected with the middle section of the shank support piece II; the upper end of the crus movement cylinder is connected with the outer wall of the knee movement ball, and the lower end of the crus movement cylinder is rotatably connected with the upper end of the crus support piece I; the lower end of the first shank support piece is connected with the top of the foot plate; the upper end of the shank support piece II is matched with the knee sports ball in a spherical pair mode, and the lower end of the shank support piece II is connected with the middle section of the shank support piece I in a rotating mode.

Each leg structure corresponds to a drive mechanism. The transmission mechanism comprises a servo motor, a spline shaft, a first cross universal coupling, a first connecting shaft, a second cross universal coupling, a second connecting shaft, a third cross universal coupling, a third connecting shaft and a connecting wheel which are arranged in sequence; an output shaft of the servo motor is connected with one end of a spline shaft through a coupler, the other end of the spline shaft is connected with one end of a first connecting shaft through a first cross universal coupler, the other end of the first connecting shaft is connected with one end of a second connecting shaft through a second cross universal coupler, the other end of the second connecting shaft is connected with one end of a third connecting shaft through a third cross universal coupler, and a first bearing is sleeved at the middle section of the third connecting shaft; the connecting wheel is arranged at the other end of the connecting shaft III; the upper end of the main cylinder II is sleeved on the outer side of the bearing I, and the upper end of the connecting rod is connected with the connecting wheel.

The steering mechanism comprises a motor, a worm and gear structure and a traction structure; the worm and gear structure comprises a worm wheel arranged on the output shaft of the motor and a worm in transmission fit with the worm wheel; each steering mechanism corresponds to one pair of leg structures, the number of the traction structures is two, and the two traction structures correspond to two leg structures in the pair of leg structures one by one respectively; one end of the traction structure is connected to the end part of the worm, and the other end of the traction structure is connected with the damping mechanism or the transmission mechanism.

The damping mechanisms and the leg structures are arranged in a one-to-one correspondence mode. The damping mechanism comprises a damping support, a main damping, an auxiliary damping, a steering driving seat and a steering traction shell; the damping support comprises a back plate, an upper damping plate and a lower damping plate which are sequentially arranged on the outer side wall of the back plate from top to bottom, and a main damping upper fixing seat and an auxiliary damping upper fixing seat which are sequentially arranged above the back plate; the upper end of the main shock absorber is arranged on the main shock absorber upper fixing seat, and the lower end of the main shock absorber is arranged on the upper shock absorbing plate; the upper end of the auxiliary shock absorber is arranged on the auxiliary shock absorber upper fixing seat, and the lower end of the auxiliary shock absorber is arranged on the lower shock absorbing plate; one end of the upper damping plate is connected to the back plate, and the other end of the upper damping plate is matched with the steering driving seat in a spherical pair manner; one end of the lower damping plate is connected to the back plate, and the other end of the lower damping plate is matched with the steering driving seat in a spherical pair manner; the steering traction shell is connected with the steering driving seat.

Further, the stabilizing mechanism adopts a gyro stabilizer. And a seat is arranged above the gyro stabilizer.

Furthermore, the supporting mechanism is a frame structure formed by a plurality of supporting rods in a surrounding mode.

Furthermore, the knee sport ball comprises a ball body, a first sport groove and a second sport groove which are respectively arranged in the ball body; the lower end of the main cylinder II is provided with a first sport ball, and the first sport ball is embedded in the first sport groove and is matched with the first sport groove in a spherical pair manner; and the upper end of the second shank support piece is provided with a second sports ball, and the second sports ball is embedded in the second sports groove and is matched with the second sports groove in a spherical pair manner.

Further, a planetary reducer is mounted on an output shaft of the servo motor; the first connecting shaft is obliquely arranged.

Furthermore, the traction structure comprises a first traction block, a second traction block and a folding block; the folding block adopts a hinge structure and comprises a first hinge structure part and a second hinge structure part which are connected in a rotating mode; the lower end of the first traction block is connected with the end part of the worm, the upper end of the first traction block is connected with one end of the second traction block, the other end of the second traction block is connected with the first hinge structure part, and the second hinge structure part is connected with the steering driving seat.

Furthermore, the upper end of the first main cylinder is arranged on the supporting mechanism and is rotatably connected with one supporting rod in the supporting mechanism through a second bearing; the bearing is sleeved on the supporting rod.

Further, the main shock absorption and the auxiliary shock absorption both adopt springs or dampers; the number of the main shock absorbers is one, the number of the auxiliary shock absorbers is two, and the two auxiliary shock absorbers are symmetrically arranged on two sides below the main shock absorbers.

Further, a motor mounting seat is mounted on the inner side wall of the back plate; the servo motor and the motor are both arranged on the motor mounting seat; the main damping upper fixing seat is arranged at the top of the motor mounting seat; and the auxiliary damping upper fixing seat is arranged on the side wall of the motor mounting seat.

Furthermore, the steering driving seat comprises a steering driving seat body, and a third motion groove and a fourth motion groove which are sequentially formed in the steering driving seat body; the end part of the upper damping plate is provided with a third sports ball, and the third sports ball is embedded in the third sports groove and is matched with the third sports groove in a spherical pair manner; and the end part of the lower damping plate is provided with a fourth sports ball, and the fourth sports ball is embedded in the fourth sports groove and is matched with the fourth sports groove in a spherical pair manner.

Furthermore, a limiting plate is arranged above the motor mounting seat, and the end of the limiting plate is connected to the main damping upper fixing seat.

According to the technical scheme, the multi-legged robot is suitable for mountainous areas, has strong stability when walking on rugged mountain roads, is not easy to shake, and effectively prolongs the service life.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a first schematic view of an assembly structure of the traveling mechanism, the transmission mechanism, the steering mechanism and the damping mechanism;

FIG. 3 is a schematic view of an assembly structure of the traveling mechanism, the transmission mechanism, the steering mechanism and the damping mechanism;

FIG. 4 is a third schematic view of the assembly structure of the traveling mechanism, the transmission mechanism, the steering mechanism and the damping mechanism;

FIG. 5 is a fourth schematic view showing an assembly structure of the traveling mechanism, the transmission mechanism, the steering mechanism and the damper mechanism;

FIG. 6 is a schematic view showing an assembled structure of the traveling mechanism, the transmission mechanism, and the steering mechanism;

FIG. 7 is a schematic view of an assembly structure of a first main cylinder, a second main cylinder, a knee sport ball, a lower leg sport cylinder and a lower leg support; wherein the part of the knee sport ball is in section;

FIG. 8 is a schematic structural view of the transmission mechanism;

FIG. 9 is a schematic structural view of a steering mechanism;

FIG. 10 is a schematic view of the structure of the shock absorbing mechanism;

fig. 11 is a schematic view of an exploded structure of the shock absorbing mechanism, in which the steering actuator seat portion is sectioned.

Wherein:

100. a traveling mechanism 101, a first main cylinder 102, a second main cylinder 103, a connecting rod 104, a knee ball 105, a shank cylinder 106, a shank support member 107, a shank support member 108, a foot plate 109, a ball 110, a first motion groove 111, a second motion groove 112, a first motion ball 113, a second motion ball 114, a second bearing 115, a third bearing 200, a transmission mechanism 201, a servo motor 202, a planetary reducer 203, a coupling 204, a spline shaft 205, a first cross universal coupling 206, a first connecting shaft 207, a second cross universal coupling 208, a second connecting shaft 209, a third cross universal coupling 210, a third connecting shaft 211, a connecting wheel 212, a first bearing 300, a steering mechanism 301, a motor 302, a worm wheel, 303, a worm 304, a first traction block 305, a second traction block 306, a folding block 307, a motor mounting seat, 308. the damping device comprises a limiting plate, 309, a bearing four, 400, a damping mechanism, 401, a main damping device, 402, an auxiliary damping device I, 403, an auxiliary damping device II, 404, a steering driving seat, 405, a steering traction shell, 406, a back plate, 407, an upper damping plate, 408, a lower damping plate, 409, a main damping upper fixing seat, 410, an auxiliary damping upper fixing seat, 411, a steering driving seat body, 412, a movement groove three, 413, a movement groove four, 414, a movement ball three, 415, a movement ball four, 500, a stabilizing mechanism, 600, a supporting mechanism, 601 and a supporting rod.

Detailed Description

The invention is further described below with reference to the accompanying drawings:

a multi-legged robot as shown in fig. 1 comprises a walking mechanism 100, a transmission mechanism 200, a steering mechanism 300, a shock absorbing mechanism 400, a stabilizing mechanism 500 and a supporting mechanism 600. The stabilizing mechanism 500 adopts a gyro stabilizer in the prior art, and a seat can be installed above the gyro stabilizer for transporting the sick and wounded in case of disaster. The gyro stabilizer is available in the model of FREEEFLY MOVI M5. And a seat is arranged above the gyro stabilizer and is used for the wounded and the sick to sit on. The stabilizing mechanism 500 is used for ensuring the running stability of the multi-legged robot and avoiding shaking. The supporting mechanism 600 is a frame structure formed by a plurality of supporting rods 601. As can be seen from fig. 1, the transmission mechanisms 200, the leg structures, and the shock absorbing mechanisms 400 are equal in number and are arranged in a one-to-one correspondence. One steering mechanism corresponds to two leg structures which are arranged in bilateral symmetry. The number of the stabilizing mechanism 500 and the supporting mechanism 600 is one.

As shown in fig. 2-6, the walking mechanism 100 includes at least one pair of leg structures. The leg structure includes a first main cylinder 101, a second main cylinder 102, a connecting rod 103, a knee sport ball 104, a lower leg sport cylinder 105, a first lower leg support 106, a second lower leg support 107, and a foot plate 108. The lower end of the first master cylinder 101 is connected to a first mounting bracket mounted on the outer wall of the knee sport ball 104. The lower end of the second main cylinder 102 is matched with the knee sport ball 104 in a spherical pair mode. The lower end of the connecting rod 103 is connected to the middle section of the calf support II 107. The upper end of the shank motion cylinder 105 is rotatably connected with a second mounting bracket installed on the outer wall of the knee motion ball 104 through a rotating shaft, and the lower end is rotatably connected with the upper end of a shank support member 106 through a rotating shaft, so that traction auxiliary force is generated during rotation, the shank motion cylinder cannot be torn due to excessive acting force, and the stability of the structure is ensured. The main cylinder I, the shank motion cylinder and the knee motion ball are connected through the mounting support I and the mounting support II, the main cylinder I and the shank motion cylinder are not directly inserted into the knee motion ball, the bearing stress of the knee motion ball is reduced, the service life of the knee motion ball is prolonged, and meanwhile, the parts are convenient to replace. The lower end of the first calf support 106 is fixedly or pivotally attached to the top of the foot plate 108. The upper end of the calf support II 107 is matched with the knee sport ball 104 in a spherical pair mode, and the lower end of the calf support II is rotatably connected with the middle section of the calf support I106 through a bearing III 115. As shown in fig. 7, the knee sport ball 104 includes a ball 109 and a first sport groove 110 and a second sport groove 111 respectively opened inside the ball; the lower end of the main cylinder II 102 is provided with a first sport ball 112, and the first sport ball 112 is embedded in the first sport groove 110 and is matched with the first sport groove 110 in a spherical pair manner; the upper end of the second shank support part 107 is provided with a second sport ball 113, and the second sport ball 113 is embedded in the second sport groove 111 and is matched with the second sport groove 111 in a spherical pair manner. The upper end of the first main cylinder 101 is installed on the supporting mechanism 600 and is rotatably connected with one supporting rod in the supporting mechanism 600 through a second bearing 114; the second bearing 114 is sleeved on the supporting rod 601. The first motion groove 110 is connected with the first motion ball 112 spherical pair, and the second motion groove 111 is connected with the second motion ball 113 spherical pair, so that the motion range of the second main cylinder 102 and the second lower leg support 107 can be limited, and the motion of the walking mechanism can be more flexible.

The multi-legged robot is suitable for rugged mountain roads and is mainly used for transporting wounded and sick people when various disasters occur. In order to ensure the safety and stability of the wounded and sick personnel during the transportation process, the invention designs the leg structure of the multi-legged robot innovatively.

Firstly, the mechanical dog in the prior art adopts a large number of hydraulic devices and electrical control devices, which improve the controllability of the movement process of the mechanical dog, but because various interferences are more in mountain areas, when the mechanical dog is subjected to external interferences such as vibration, wind power or magnetic fields, the hydraulic devices and the electrical control devices are easy to lose control, and the normal work of the mechanical dog is influenced. If a disaster occurs and the mechanical dog of the type is used for rescuing people, the risk of secondary trapping of injured people due to the trapping of rugged mountain roads exists. The leg structure converts the electrical control structure into a large number of mechanical structures, so that when the leg structure is interfered by vibration, wind power, magnetic fields or other external factors, the motion of the leg structure taking the mechanical structure as a main body is not influenced, the motion process is more stable, and the leg structure is suitable for transporting injured people in rugged mountain road environments. The multi-legged robot comprises six leg structures, so that the multi-legged robot has a larger contact area with the ground and higher motion stability, is not easy to fall down when walking on a rugged mountain road, plays a role in protecting injured personnel above the robot, and avoids the injured personnel from being secondarily injured when falling down along with the robot.

Secondly, the leg structure of the invention imitates the leg structure of a human body and is divided into four parts, namely a thigh, a knee, a calf and a foot plate, wherein the thigh is formed by the main cylinder I and the main cylinder II, the knee sport ball is used as the knee, and the calf sport cylinder, the calf support I and the calf support II are used as the calf. The thigh is formed by the first main cylinder and the second main cylinder which are arranged on two sides, and the movement of the first main cylinder and the second main cylinder is controlled, so that the shank part can be subjected to acting forces in different directions and different sizes, the movement form of the shank part is more diversified, and the requirement of conveying the sick and wounded on a rugged mountain road is met. Through setting up the knee sport ball as the knee to make the knee sport ball and main cylinder one, the connected mode between the shank motion cylinder be the sphere pair and connect, can enough make the leg structure motion of robot more nimble like this, can make the leg structure of robot only can move at certain stroke within range again through the limiting displacement of motion groove, ensure the stability of traveling on rugged mountain road, avoid falling down. When the multi-legged robot provided by the invention is vibrated when walking on a rugged mountain road, the arrangement of the knee sport ball and the connection mode of the knee sport ball and the thigh and the shank can relieve part of vibration and ensure the safety of the wounded and sick people sitting on the knee sport ball.

In addition, robots such as robot dogs in the prior art mostly adopt bearings as knee joints, adopt a chain transmission structure, adopt a soft transmission chain for fixing to clamp gears at two sides, apply a tensioning force to the middle at two sides, act on the bearings, and support other structures on the bearings, so that the bearings are easily damaged due to too much acting force. The knee sport ball is adopted as the knee joint of the leg structure, and the acting force is dispersed in a spherical pair connection mode, so that the knee joint is prevented from being subjected to more concentrated acting force; in addition, the leg structure of the invention does not adopt chain transmission, but adopts the connecting rod for transmission, and the connecting position of the connecting rod is placed on the lower calf support piece II, so that even if a tensioning force is applied to the middle from two sides, a part of the connecting rod can bear, the stress concentration of the knee sport ball is reduced, and the service life of the knee sport ball is prolonged. In addition, under the multiple actions of the first main cylinder, the second main cylinder, the shank movement cylinder, the connecting rod and the transmission mechanism, the movement of the leg structure can be more flexible, and when the robot disclosed by the invention walks on a rugged mountain road, the overall movement is more coordinated, more flexible and more convenient, and the robot cannot get out of a low-lying place.

One for each leg structure 200. As shown in fig. 8, the transmission mechanism 200 includes a servo motor 201, a spline shaft 204, a first universal joint coupling 205, a first connecting shaft 206, a second universal joint coupling 207, a second connecting shaft 208, a third universal joint coupling 209, a third connecting shaft 210, and a connecting wheel 211, which are sequentially arranged. A planetary reducer 202 is mounted on an output shaft of the servo motor 201. The output shaft of the servo motor 201 is connected with one end of the spline shaft 204 through the coupler 203, the other end of the spline shaft 204 is connected with one end of the first connecting shaft 206 through the first cross universal coupler 205, the other end of the first connecting shaft 206 is connected with one end of the second connecting shaft 208 through the second cross universal coupler 207, the other end of the second connecting shaft 208 is connected with one end of the third connecting shaft 210 through the third cross universal coupler 209, and the middle section of the third connecting shaft 210 is sleeved with the first bearing 212. The first connecting shaft 206 is obliquely arranged. The third universal joint cross 209 is to make the legs turn when turning, but the main body does not turn, so that the injured person sitting on the upper part is more comfortable. The connecting wheel 211 is arranged at the other end of the connecting shaft III 210; the upper end of the second main cylinder 102 is sleeved outside the first bearing 212, and the upper end of the connecting rod 103 is pivotally connected with the connecting wheel 211. The servo motor 201 is mounted on a motor mount 307. The steering traction shell 405 covers the outer side of the upper end of the second main cylinder 102.

The servo motor 201 works to drive the spline shaft 204 to rotate, the spline shaft 204 drives the first connecting shaft 206 to rotate, the first connecting shaft 206 drives the second connecting shaft 208 to rotate, the second connecting shaft 209 drives the third connecting shaft 210 to rotate, and the third connecting shaft 210 drives the first bearing 212 and the connecting wheel 211 to rotate. Through adopting cross universal joint to connect each axle, can avoid each part among the drive mechanism to receive vibrations when running gear is walked on rugged road surface and strike, guarantee the job stabilization nature of each part among the drive mechanism, prolonged the life of each part among the drive mechanism. When the cylinder rods of the first main cylinder 101 and the second main cylinder 102 do telescopic movement, the common acting force of the two on the knee sport ball is on the central axis of the shank support piece, so that the actions of lifting and putting legs are realized. Because the connecting rod 103 is pivotally connected to the connecting wheel 211, when the connecting wheel 211 rotates, the connecting rod is driven to move, and then an acting force is applied to the second calf support 107, so that the second calf support 107 connected to the lower end of the connecting rod moves. Because the upper end of the second shank support part is connected with the knee sport ball in a spherical pair mode, the second shank support part 107 can rotate within a certain angle range under the driving of the connecting rod, and the leg lifting and placing actions of the shanks are assisted. The calf movement cylinder 105, the calf support I106 and the foot plate 108 form a rocker structure, a cylinder rod of the calf movement cylinder 105 extends to drive the upper end of the calf support I105 to move downwards, and the foot plate 108 arranged at the bottom of the calf support I105 is lifted; retraction of the cylinder rod of the calf-motion cylinder 105 drives the upper end of the first support member 105 upward and the foot plate 108 disposed at the bottom of the first calf support member 105 lowers. Because the multi-legged robot is mainly used for rescuing injured people in rugged mountainous areas, the transmission mechanism is designed to drive the connecting rod to move, so that even if the foot plate of the robot sinks in a muddy area, the robot can drive the connecting rod to be matched with the plurality of cylinders through the transmission mechanism to move, can easily leave, and can more coordinate the movement of the whole robot.

As shown in fig. 9, the steering mechanism 300 includes a motor 301, a worm and gear structure, and a traction structure; the worm and gear structure comprises a worm wheel 302 arranged on an output shaft of the motor 301 and a worm 303 in transmission fit with the worm wheel 302; the number of the traction structures is two, and the two traction structures are respectively in one-to-one correspondence with the two leg structures in the pair of leg structures; one end of the traction structure is connected to the end of the worm 303, and the other end is connected with a damping mechanism or a transmission mechanism. The traction structure comprises a first traction block 304, a second traction block 305 and a folding block 306; the folding block 306 adopts a hinge structure and comprises a first hinge structure part and a second hinge structure part which are connected in a rotating manner; the lower end of the first traction block 304 is connected with the end part of the worm 303 through a fourth bearing 309, the upper end of the first traction block is connected with one end of a second traction block 305, the other end of the second traction block 305 is connected with a first hinge structure part, and the second hinge structure part is connected with a steering driving seat 404.

The motor 301 works to drive the worm wheel to rotate, the worm meshed and connected with the worm wheel moves left and right along the axial direction of the worm, the traction structures arranged at the two ends of the worm move left and right along with the worm, and further the steering driving seat 404 connected with the traction structures moves together. The invention adopts a worm and gear structure to carry out steering traction, can improve the steering precision and accuracy of the multi-legged robot, and thus, the multi-legged robot can be safer when running on the rugged mountain land. And when running gear was walked on rugged road surface, take place to rock easily, through being the hinge structure with folding piece design, even running gear takes place to rock like this, the in-process that the vibration force that running gear received upwards transmits, relative movement takes place for two hinge structure portions, avoids on vibration force transmits other rigidly connected's parts, causes the damage to other parts.

As shown in fig. 10 and 11, the damper mechanism 400 includes a damper mount, a main damper 401, a sub damper, a steering main shoe 404, and a steering traction case 405. And the main shock absorption and the auxiliary shock absorption both adopt springs or dampers. The number of the main shock absorbers 401 is one, the number of the auxiliary shock absorbers is two, the two shock absorbers are respectively an auxiliary shock absorber I402 and an auxiliary shock absorber II 403, and the two auxiliary shock absorbers are symmetrically arranged on two sides below the main shock absorbers 401.

The shock absorption support comprises a back plate 406, an upper shock absorption plate 407 and a lower shock absorption plate 408 which are sequentially arranged on the outer side wall of the back plate 406 from top to bottom, and a main shock absorption upper fixing seat 409 and an auxiliary shock absorption upper fixing seat 410 which are sequentially arranged above the back plate 406; the upper end of the main shock absorber 401 is arranged on a main shock absorber upper fixing seat 409, and the lower end of the main shock absorber 401 is arranged on an upper shock absorbing plate 407; the upper end of the auxiliary shock absorber is arranged on the auxiliary shock absorber upper fixing seat 410, and the lower end of the auxiliary shock absorber is arranged on the lower shock absorbing plate 408; one end of the upper damping plate 407 is connected to the back plate 406, and the other end of the upper damping plate is matched with the steering driving seat 404 in a spherical pair manner; one end of the lower damping plate 408 is connected to the back plate 406, and the other end of the lower damping plate is matched with the steering driving seat 404 in a spherical pair manner; the steering traction shell 405 is connected to the steering actuator base 404. A motor mounting seat 307 is arranged on the inner side wall of the back plate 406; the motor 301 is mounted on a motor mounting seat 307; the main damping upper fixing seat 409 is installed at the top of the motor installation seat 307, and the main damping upper fixing seat 409 is installed on the motor installation seat instead of being designed into a whole with the damping support, so that the stability of connection between the whole structures is ensured, and the phenomenon that the main damping upper fixing seat 409 is scattered in a repeated violent movement process is avoided. A limiting plate 308 is arranged above the motor mounting seat 307, the end of the limiting plate 308 is connected to the main damping upper fixing seat 409, and the limiting plate 308 is used for ensuring the stability of the mounting structure of the motor 301 and the servo motor 201. The auxiliary shock absorption upper fixing seat 410 is installed on the side wall of the motor installation seat 307. The steering driving base 404 comprises a steering driving base body 411, and a third moving groove 412 and a fourth moving groove 413 which are sequentially formed in the steering driving base body 411; a third moving ball 414 is arranged at the end part of the upper damping plate 407, and the third moving ball 414 is embedded in the third moving groove 412 and is matched with the third moving groove 412 in a spherical pair manner; the end of the lower damping plate 408 is provided with a moving ball four 415, and the moving ball four 415 is embedded in the moving groove four 413 and is matched with the moving groove four 43 in a spherical pair manner.

When the walking mechanism walks on a rugged road, if violent movement occurs, the vibration force received by the foot plate can be upwards transmitted along the walking mechanism, when the vibration force is transmitted to the upper end of the second main cylinder, the steering traction shell connected with the upper end of the second main cylinder can upwards vibrate, and under the action of the self weight of the whole multi-legged robot, part of vibration can be eliminated. Still some vibration power can be along turning to and pull the shell and transmit to the intermediate position again, turns to and pulls the shell and transmit vibration power for turning to the initiative seat, turns to the initiative seat and transmits vibration power for two vice shock attenuations through the lower shock attenuation board that is located the downside earlier, and two vice attenuations can eliminate some vibrations, turns to the initiative seat and still can transmit vibration power for last shock attenuation through the last shock attenuation board that is located the top, and some vibrations can be eliminated in last shock attenuation. The main damping upper fixing seat is in an arc shape protruding upwards, and the structure is in a reverse-bending design and can play a certain damping role. The damping structure provided by the invention not only adopts the main damping and the two sets of auxiliary damping to damp, but also utilizes the rigidity of the whole structure to damp, so that the vibration is eliminated to the maximum extent, and the stability of the robot is ensured. Because the multi-legged robot is used for transporting the sick and wounded in the rugged mountain environment, the shock absorption structure adopts a multi-layer space arrangement and suspension shock absorption mode to enhance the shock absorption effect in consideration of the particularity of the use environment, the shock absorption and the auxiliary shock absorption are sequentially arranged from top to bottom, and the main shock absorption and the auxiliary shock absorption are obliquely arranged to form an up-and-down spatial dislocation, so that the oblique reaction force is adopted to slow down the generation of the shock instead of directly relying on the gravity or the reaction force to suppress, thereby not only ensuring that the shock absorption effect is maximally utilized, but also not influencing the sick and wounded sitting above.

The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.

Claims

1. A multi-legged robot, characterized in that: comprises a walking mechanism (100), a transmission mechanism (200), a steering mechanism (300), a damping mechanism (400), a stabilizing mechanism (500) and a supporting mechanism (600);

the walking mechanism (100) comprises at least one pair of leg structures; the leg structure comprises a first main cylinder (101), a second main cylinder (102), a connecting rod (103), a knee sport ball (104), a shank sport cylinder (105), a shank support member I (106), a shank support member II (107) and a foot plate (108); the lower end of the first main cylinder (101) is connected with the outer wall of a knee sport ball (104); the lower end of the second main cylinder (102) is matched with a knee sports ball (104) in a spherical pair manner; the lower end of the connecting rod (103) is connected with the middle section of the lower leg support piece II (107); the upper end of the shank motion cylinder (105) is connected with the outer wall of the knee motion ball (104), and the lower end of the shank motion cylinder is rotatably connected with the upper end of a shank support piece I (106); the lower end of the first shank support (106) is connected with the top of the foot plate (108); the upper end of the shank support piece II (107) is matched with the knee sports ball (104) in a spherical pair mode, and the lower end of the shank support piece II is rotationally connected with the middle section of the shank support piece I (106);

each leg mechanism corresponds to one transmission mechanism (200); the transmission mechanism (200) comprises a servo motor (201), a spline shaft (204), a first cross universal coupling (205), a first connecting shaft (206), a second cross universal coupling (207), a second connecting shaft (208), a third cross universal coupling (209), a third connecting shaft (210) and a connecting wheel (211) which are arranged in sequence; an output shaft of the servo motor (201) is connected with one end of a spline shaft (204) through a coupling (203), the other end of the spline shaft (204) is connected with one end of a connecting shaft I (206) through a cross universal coupling I (205), the other end of the connecting shaft I (206) is connected with one end of a connecting shaft II (208) through a cross universal coupling II (207), the other end of the connecting shaft II (208) is connected with one end of a connecting shaft III (210) through a cross universal coupling III (209), and a bearing I (212) is sleeved at the middle section of the connecting shaft III (210); the connecting wheel (211) is arranged at the other end of the connecting shaft III (210); the upper end of the main cylinder II (102) is sleeved on the outer side of the bearing I (212), and the upper end of the connecting rod (103) is connected with the connecting wheel (211);

the steering mechanism (300) comprises a motor (301), a worm and gear structure and a traction structure; the worm and gear structure comprises a worm wheel (302) arranged on an output shaft of the motor (301) and a worm (303) in transmission fit with the worm wheel (302); each steering mechanism corresponds to one pair of leg structures, the number of the traction structures is two, and the two traction structures correspond to two leg structures in the pair of leg structures one by one respectively; one end of the traction structure is connected to the end part of the worm (303), and the other end of the traction structure is connected with the damping mechanism (400) or the transmission mechanism (200);

the damping mechanism (400) comprises a damping support, a main damping (401), an auxiliary damping, a steering driving seat (404) and a steering traction shell (405); the shock absorption support comprises a back plate (406), an upper shock absorption plate (407) and a lower shock absorption plate (408) which are sequentially arranged on the outer side wall of the back plate (406) from top to bottom, and a main shock absorption upper fixing seat (409) and an auxiliary shock absorption upper fixing seat (410) which are sequentially arranged above the back plate (406); the upper end of the main shock absorber (401) is arranged on a main shock absorber upper fixing seat (409), and the lower end of the main shock absorber upper fixing seat is arranged on an upper shock absorbing plate (407); the upper end of the auxiliary shock absorber is arranged on an upper auxiliary shock absorber fixing seat (410), and the lower end of the auxiliary shock absorber is arranged on a lower shock absorber plate (408); one end of the upper damping plate (407) is connected to the back plate (406), and the other end of the upper damping plate is matched with the steering driving seat (404) in a spherical pair manner; one end of the lower damping plate (408) is connected to the back plate (406), and the other end of the lower damping plate is matched with the steering driving seat (404) in a spherical pair manner; the steering traction shell (405) is connected with the steering driving seat (404).

2. The polypod robot of claim 1 wherein: the stabilizing mechanism (500) adopts a gyro stabilizer; and a seat is arranged above the gyro stabilizer.

3. The polypod robot of claim 1 wherein: the supporting mechanism (600) is a frame structure formed by a plurality of supporting rods in a surrounding mode; the upper end of the first main cylinder (101) is installed on the supporting mechanism (600) and is rotatably connected with one supporting rod in the supporting mechanism (600) through a second bearing (114); and the second bearing (114) is sleeved on the support rod.

4. The polypod robot of claim 1 wherein: the knee sport ball (104) comprises a ball body (109), and a sport groove I (110) and a sport groove II (111) which are respectively arranged in the ball body (109); a first moving ball (112) is arranged at the lower end of the second master cylinder (102), and the first moving ball (112) is embedded in the first moving groove (110) and is in spherical pair fit with the first moving groove (110); and a second sport ball (113) is arranged at the upper end of the second shank support piece (107), and the second sport ball (113) is embedded in the second sport groove (111) and is matched with the second sport groove (111) in a spherical pair manner.

5. The polypod robot of claim 1 wherein: a planetary reducer (202) is mounted on an output shaft of the servo motor (201); the first connecting shaft (206) is obliquely arranged.

6. The polypod robot of claim 1 wherein: the traction structure comprises a first traction block (304), a second traction block (305) and a folding block (306); the folding block (306) adopts a hinge structure and comprises a first hinge structure part and a second hinge structure part which are connected in a rotating way; the lower end of the first traction block (304) is connected with the end part of the worm (303), the upper end of the first traction block is connected with one end of a second traction block (305), the other end of the second traction block (305) is connected with a first hinge structure part, and the second hinge structure part is connected with a steering driving seat (404).

7. The polypod robot of claim 1 wherein: the main shock absorption (401) and the auxiliary shock absorption both adopt springs or dampers; the number of the main shock absorbers is one, the number of the auxiliary shock absorbers is two, the two shock absorbers are respectively an auxiliary shock absorber I (402) and an auxiliary shock absorber II (403), and the two auxiliary shock absorbers are symmetrically arranged on two sides below the main shock absorber (401).

8. The polypod robot of claim 1 wherein: a motor mounting seat (307) is mounted on the inner side wall of the back plate (406); the motor (301) is arranged on the motor mounting seat (307); the main damping upper fixing seat (409) is arranged at the top of the motor mounting seat (307); the auxiliary shock absorption upper fixing seat (410) is installed on the side wall of the motor installation seat (307).

9. The polypod robot of claim 1 wherein: the steering driving seat (404) comprises a steering driving seat body (411), and a motion groove III (412) and a motion groove IV (413) which are sequentially arranged on the steering driving seat body (411); a third moving ball (414) is arranged at the end part of the upper damping plate (407), and the third moving ball (414) is embedded in the third moving groove (412) and is matched with the third moving groove (412) in a spherical pair manner; the end part of the lower damping plate (408) is provided with a fourth moving ball (415), and the fourth moving ball (415) is embedded in the fourth moving groove (413) and is matched with the fourth moving groove (413) in a spherical pair mode.

10. The polypod robot of claim 8 wherein: a limiting plate (308) is arranged above the motor mounting seat (307), and the end part of the limiting plate (308) is connected to the main damping upper fixing seat (409).