A highly maneuverable myriapod-like appendage robot

Abstract

A highly maneuverable multi-legged appendage robot, which consists of: A highly maneuverable multi-legged appendage robot is composed of four groups of leg mechanisms (A, B, C, D), a front torso (E), a rear torso (F), two groups of appendage mechanisms (G, H), an attitude adjustment mechanism (I), and a drive system (J). The four groups of leg mechanisms are uniformly driven by a single motor through a synchronous belt. The torso drives the leg mechanisms under the drive of an electric push rod and can be deformed as a whole to realize the conversion of the robot between the involute pedaling and rolling mode, the walking mode, and the adhesive obstacle-crossing mode. With the assistance of the appendage mechanism, the highly maneuverable multi-legged appendage robot with three motion modes takes into account the characteristics of moving speed and terrain adaptability, and can be used for future exploration and reconnaissance missions on unknown planets.

Description

Technical Field

[0001] The present invention relates to a highly maneuverable multi-legged appendage robot, which is composed of four groups of leg mechanisms. Each group of leg mechanisms is synchronously driven by a single motor through a synchronous belt. The single-motor drive enables the robot to move forward and backward. The telescopic movement of the electric push rod installed on the torso realizes the mutual conversion of three modes: involute pedaling and rolling mode, walking mode, and adhesion obstacle-crossing mode. The design of the appendage mechanism enables the robot to have excellent performance in the involute pedaling and rolling mode and the adhesion obstacle-crossing mode. The involute pedaling and rolling mode is used for flat terrain to achieve rapid movement of the robot, and the adhesion obstacle-crossing mode can be used for vertical wall-like obstacles to cross terrains higher than its own height, so as to achieve the purpose of balancing the moving speed and terrain adaptability, and can be used for future exploration and reconnaissance missions of unknown planets. Background Art

[0002] To improve the comprehensive ability of mobile robots, the present invention combines the overall closed-chain technology with the legged locomotion technology, and combines the efficient pedaling and rolling technology with the wheeled locomotion technology to design this robot, aiming to solve the contradiction between high-speed mobility and obstacle-crossing ability on the ground, and proposes a new technical solution in the field of mobile robots.

[0003] Existing legged robots generally integrate the advantages of wheeled robots and legged robots by adding wheels to the legs, such as Chinese Patent CN114348299A "A Series-Wheel-Leg Planetary Probe". The overall deformation and reconstruction design scheme of the torso adopted in the present invention deforms the mechanism as a whole into a wheel, and at the same time, the designed single-degree-of-freedom deformable torso can realize the conversion between multiple modes, integrating the high speed of wheeled robots and the high obstacle-crossing ability of legged robots. Inspired by the Moroccan flic-flac spider, the bionic involute pedaling and rolling mode is designed. To improve the obstacle-crossing height of the robot, the adhesion obstacle-crossing mode that can utilize the surface friction of obstacles is designed, and the introduction of auxiliary appendages enables these two modes to be better completed, and the existence of the two modes also greatly improves the comprehensive ability of the robot. Summary of the Invention

[0004] The problem to be solved by the present invention is to provide a highly maneuverable multi-legged appendage robot. Compared with existing legged walking robots, through the design of a deformable torso and appendage mechanism, the involute pedaling and rolling mode and the adhesion obstacle-crossing mode are expanded, and good improvements are achieved in terms of terrain adaptability, passability, and obstacle-crossing ability.

[0005] The technical solution of the present invention:

[0006] A highly maneuverable multi-legged appendage robot consists of six parts: leg mechanisms of groups a, b, c, and d, a front torso, a rear torso, appendage mechanisms of groups g and h, an attitude adjustment mechanism, and a drive system; the leg mechanisms of groups a, b, c, and d and the front torso and rear torso are fixedly connected through the attitude adjustment mechanism; the appendage mechanisms of groups g and h are respectively fixedly connected to the leg mechanisms of groups c and d; the drive system is installed on the rear torso to control the movement of the leg mechanisms, the operation of the appendage mechanisms, and the overall deformation of the robot.

[0007] The leg mechanisms of groups a to d of the highly maneuverable multi-legged appendage robot are uniformly driven by a main drive motor installed on the rear torso through a synchronous belt.

[0008] The leg mechanism of group a consists of a leg one of group a and a leg two of group a.

[0009] The leg mechanism of group b is exactly the same as that of group a in terms of rod shape, mechanical structure, and assembly method.

[0010] The aforesaid leg one of group a includes: the first rod to the sixth rod of leg one of group a and the foot end of leg one of group a.

[0011] The differences between the leg mechanisms of groups c and d and those of groups a and b are as follows:

[0012] For the former, an appendage mechanism needs to be installed on the fifth rod, so the rod shape is different; a synchronous pulley needs to be installed between the leg one and leg two of the former.

[0013] The drive system includes a leg drive system, a torso deformation drive system, and an appendage deformation drive system; the torso deformation drive system includes an electric push rod, the electric push rod connects the front torso and the rear torso, and the switching among three modes of an involute pedaling and rolling mode, a walking mode, and an adhesion type obstacle crossing mode is realized through the telescoping of the electric push rod.

[0014] The aforesaid involute pedaling and rolling mode means that when the electric push rod is fully retracted, the whole robot deforms into a spherical shape, and the outer appendage mechanism is driven by the appendage deformation drive system to extend and push the ground, thereby driving the robot to roll; the aforesaid walking mode means that when the electric push rod extends a certain length, the robot drives the four groups of leg mechanisms to move through the leg drive system to realize the walking of the robot; the aforesaid adhesion type obstacle crossing mode means that when the electric push rod is fully extended, the front and rear torsos are fully unfolded. At the same time, since the leg mechanisms of groups a, b, c, and d are connected to the front and rear torsos by corresponding rods, and the front and rear torsos are connected by hinges, the robot combines the torso deformation with the leg pitching through two planar four-bar mechanisms to realize the combined deformation of the torso and legs. Therefore, the leg mechanism can vertically climb the wall and pass over high obstacles with the assistance of the appendage mechanism.

[0015] The beneficial effects of the present invention compared with the prior art:

[0016] The present invention combines the respective advantages of legged and wheeled robots, utilizes overall closed-chain technology and efficient pedaling and rolling technology, and integrates high movement speed and excellent obstacle crossing performance. Compared with existing wheeled-legged robots, it has better rapid movement capability and obstacle crossing performance. At the same time, the design of single-motor drive and multi-mechanism deformation coupling of the leg mechanism reduces the control complexity of the robot. The design of the closed-chain leg mechanism gives the robot a higher carrying capacity. In addition, the design of the limb mechanism enables the robot to climb and cross vertical walls that are higher than the robot itself in the adhesion obstacle crossing mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 : An overall three-dimensional diagram of the walking mode of a highly maneuverable multi-legged appendage robot;

[0018] Figure 2 : Overall three-dimensional diagram of the involute rolling mode of a highly maneuverable double-legged appendage robot;

[0019] Figure 3 : Overall three-dimensional diagram of a highly maneuverable multi-legged appendage robot in adhesion-based obstacle crossing mode;

[0020] Figure 4 : g Front view of the inner appendage mechanism when it is retracted;

[0021] Figure 5 : g Front view of the inner limb mechanism when it is deployed;

[0022] Figure 6 : g Front view of the lateral appendage mechanism when it is retracted;

[0023] Figure 7 : g Front view of the lateral appendage mechanism when it is unfolded;

[0024] Figure 8 : 3D assembly diagram of group c leg mechanism and group g appendage mechanism;

[0025] Figure 9 : a. Three-dimensional diagram of the leg mechanism;

[0026] Figure 10 : Top view of the robot when turning;

[0027] Figure 11 : Reference drawing of the drive system installation layout;

[0028] Figure 12 : Three-dimensional diagram of the appendage deformation drive system mechanism. DETAILED DESCRIPTION

[0029] The present invention will be further described below with reference to the accompanying drawings.

[0030] like Figure 1The highly maneuverable, multi-legged appendage robot shown in the figure consists of six parts: leg mechanisms a, b, c, d (A, B, C, D), a front trunk (E), a rear trunk (F), appendage mechanisms g, h (G, H), a posture adjustment mechanism (I), and a drive system (J). The leg mechanisms of groups a, b, c, and d (A, B, C, D) are composed of two planar six-bar mechanisms, and the phase difference between the first bars of the two legs in each group of leg mechanisms is 180°; the front trunk (E) and the rear trunk (F) of the deformable trunk are connected by a hinge, the front trunk (E) is connected to the leg mechanisms of groups a and b (A, B) through a bogie and a front trunk mounting plate, and is connected to the leg mechanisms of groups c and d (C, D) through a rear leg adjustment rod, the rear trunk (F) is connected to the leg mechanisms of groups a and b (A, B) through a front leg up and down adjustment rod, and is connected to the leg mechanisms of groups c and d (C, D) through a rear trunk mounting plate; each group of limb mechanisms includes an inner limb and an outer limb, and the two groups of limb mechanisms are respectively fixed on the fifth bars of the two inner legs and the two outer legs of the leg mechanisms of groups c and d (C, D); the four groups of leg mechanisms are synchronously driven by a single motor installed on the rear trunk (F) through a synchronous belt. Figure 1 Shown is the walking mode of the highly maneuverable, multi-legged appendage robot.

[0031] like Figure 2 As shown, the electric push rod is fully retracted, and the leg mechanism is deformed as the trunk is retracted. The robot becomes spherical as a whole, and the robot enters the involute rolling mode from the walking mode. At this time, the driving method is that the limb deformation drive system (J-3) drives the outer limb mechanism to move to perform an involute pushing action, pushing the robot forward quickly. At the same time, the cross section of the robot in the involute rolling mode is not a complete circle. A notch is set under the fuselage. Its purpose is to determine the posture at the start and end of the rolling. When the robot rolls through a circle and touches the ground at the notch, the robot will stop rolling. At the right time, it can extend the limbs to push the ground again to continue rolling. The outer limb mechanism before and after movement is as shown in the figure. Figure 6 、 7 shown.

[0032] like Figure 3 As shown, the electric push rod is fully extended, the limb mechanism is extended, and the robot enters the adhesion obstacle crossing mode. The front leg mechanism starts to climb the vertical wall with the help of friction, and continues to move forward after reaching the top. After the hind legs also reach the top, the limb mechanism is retracted to complete the obstacle crossing.

[0033] like Figure 4 As shown, the g group appendage mechanism (G) includes a g inner appendage (G-1) and a g outer appendage (G-2).

[0034] The inner appendage (G-1) includes: carbon fiber rectangular tube 1 (G-1-1), carbon fiber rectangular tube 2 (G-1-2), Bowden wire (G-1-3), micro slide rail 1 (G-1-4), micro slider 1 (G-1-5), slide rail connecting steel sheet 1 (G-1-6), rubber foot end (G-1-7), wire rope fixing plate 1 (G-1-8), connecting tension spring (G-1-9), wire rope fixing plate 2 (G-1-10), slide rail connecting steel sheet 2 (G-1-11), micro slider 2 (G-1-12), micro slide rail 2 (G-1-13), wire rope (G-1-14), speed change wire fixer (G-1-15), V-brake elbow pipe (G-1-16).

[0035] The connection method of the components in the inner appendage (G-1) is as follows:

[0036] Carbon fiber rectangular tube 1 (G-1-1) and speed change wire fixer (G-1-15) are fixedly connected through a connecting shaft; V-brake elbow pipe (G-1-16) and speed change wire fixer (G-1-15) are fixedly connected through a limit hole; micro slider 1 (G-1-5), wire rope fixing plate 1 (G-1-6) and carbon fiber rectangular tube 1 (G-1-1) are fixedly connected through screws; micro slider 2 (G-1-12), wire rope fixing plate 2 (G-1-11) and carbon fiber rectangular tube 2 (G-1-2) are fixedly connected through screws; micro slider 1 (G-1-5) and micro slide rail 1 (G-1-4) are slidably connected through assembly; micro slider 2 (G-1-12) and micro slide rail 2 (G-1-13) are slidably connected through assembly; micro slide rail 1 (G-1-4) and micro slide rail 2 (G-1-13) are respectively fixedly connected with slide rail connecting steel sheet 1 (G-1-8) and slide rail connecting steel sheet 2 (G-1-10) through screws; wire rope (G-1-14) is respectively fixedly connected with wire rope fixing plate 1 (G-1-6) and wire rope fixing plate 2 (G-1-11) through clamping; wire rope (G-1-14) is respectively rotatably connected with slide rail connecting steel sheet 1 (G-1-8) and slide rail connecting steel sheet 2 (G-1-10) through deep groove ball bearings with U-grooves; one end of Bowden wire (G-1-3) is fixedly connected with slide rail connecting steel sheet 2 (G-1-10), and the other end is connected to the drive system (J) through V-brake elbow pipe (G-1-16); one end of connecting tension spring (G-1-9) is fixedly connected with slide rail connecting steel sheet 2 (G-1-10), and the other end is fixedly connected with carbon fiber rectangular tube 2 (G-1-2) through a screw shaft; rubber foot end (G-1-7) is fixedly connected with carbon fiber rectangular tube 2 (G-1-2) through screws.

[0037] A single appendage mechanism can achieve single-degree-of-freedom drive for telescoping. Taking the inner appendage (G-1) as an example, its mechanism working principle is described as follows: The drive system (J) drives the carbon fiber rectangular tube 2 (G-1-2) of g to elongate by tightening the Bowden wire (G-1-3) of g. The micro slider 2 (G-1-12) of g moves along with it on the micro slide rail 2 (G-1-13) of g. Further, it drives the steel wire rope (G-1-14) of g to move. The steel wire rope (G-1-14) of g then drives the micro slider 1 (G-1-5) to move on the micro slide rail 1 (G-1-4) to further elongate the carbon fiber rectangular tube 2 (G-1-2) of g and the rubber foot end (G-1-7) fixed above it, and realizes a complete unfolding of the appendage mechanism. The fully unfolded inner appendage (G-1) is as Figure 5 shown; at the same time, by relaxing the Bowden wire (G-1-3) of g, the appendage mechanism is retracted according to the same principle under the action of the connecting tension spring (G-1-9) of g.

[0038] The main structure and connection method of the outer appendage (G-2) of g are exactly the same as those of the inner appendage (G-1) of g, but the connection methods of the two with the leg mechanism are different. The outer appendage (G-2) of g has the following additional components compared with the inner appendage (G-1) of g: the long connecting rod (G-2-17) of g, the carbon fiber plate (G-2-18) of g, and the structures and shapes of the corresponding components in the outer carbon fiber rectangular tube 1 (G-2-1) and the outer slide rail connecting steel sheet 2 (G-2-10) in the outer appendage (G-2) of g are different from those in the inner appendage (G-1) of g.

[0039] As Figure 6 shown, the connection methods of the new components in the outer appendage (G-2) of g are as follows: The long connecting rod (G-2-17) of g and the outer slide rail connecting steel sheet 2 (G-2-10) of g are rotationally connected through a screw shaft; the long connecting rod (G-2-17) of g and the carbon fiber plate (G-2-18) of g are rotationally connected through a screw shaft; the carbon fiber plate (G-2-18) of g and the outer carbon fiber rectangular tube 1 (G-2-1) of g are rotationally connected through a screw shaft; where the fully extended outer appendage (G-2) of g is as Figure 7 shown.

[0040] As Figure 8 shown, the connection method between the inner appendage (G-1) of g and the c-group leg mechanism (C) is: The carbon fiber rectangular tube 1 (G-1-1) of g and the fifth rod of leg one (C-1-5) of c are fixedly connected through a screw shaft and a nylon bushing; the connection method between the outer appendage (G-2) of g and the c-group leg mechanism (C) is: The carbon fiber plate (G-2-18) of g and the fifth rod of leg two (C-2-5) of c are fixedly connected through a screw shaft and a nylon bushing.

[0041] The structural form and connection method of the h-group appendage mechanism (H) are exactly the same as those of the g-group appendage mechanism (G). The difference is that the h-group appendage mechanism (H) is installed on the d-group leg mechanism (D), while the g-group appendage mechanism (G) is installed on the c-group leg mechanism (C).

[0042] As Figure 9 shown, the a-group leg mechanism (A) includes two leg link mechanisms, namely the first a-leg (A-1) and the second a-leg (A-2).

[0043] The first a-leg (A-1) includes: the first to sixth a-leg-1 rods (A-1-1, A-1-2, A-1-3, A-1-4, A-1-5, A-1-6) and the foot end of the first a-leg (A-1-7).

[0044] The connection method of the components in the first a-leg (A-1) is as follows:

[0045] The first, second, and fifth a-leg-1 rods (A-1-1, A-1-2, A-1-5) are two-pair rods, and the remaining rods are three-pair rods; the first rotating pair of the first a-leg-1 rod (A-1-1) and the first rotating pair of the second a-leg-1 rod (A-1-2) are rotationally connected through an assembly shaft; the second rotating pair of the first a-leg-1 rod (A-1-1) and the first rotating pair of the fourth a-leg-1 rod (A-1-4) are rotationally connected through an assembly shaft; the second rotating pair of the second a-leg-1 rod (A-1-2) and the first rotating pair of the third a-leg-1 rod (A-1-3) are rotationally connected through an assembly shaft; the second rotating pair of the third a-leg-1 rod (A-1-3) and the second rotating pair of the fourth a-leg-1 rod (A-1-4) are rotationally connected through an assembly shaft; the third rotating pair of the third a-leg-1 rod (A-1-3) and the first rotating pair of the sixth a-leg-1 rod (A-1-6) are rotationally connected through an assembly shaft; the third rotating pair of the fourth a-leg-1 rod (A-1-4) and the first rotating pair of the fifth a-leg-1 rod (A-1-5) are rotationally connected through an assembly shaft; the second rotating pair of the fifth a-leg-1 rod (A-1-5) and the second rotating pair of the sixth a-leg-1 rod (A-1-6) are rotationally connected through an assembly shaft; the foot end of the first a-leg (A-1-7) is fixedly connected to the third rotating pair of the sixth a-leg-1 rod (A-1-6) through bolts by opening an installation hole.

[0046] The structural form and connection method of the components in the second a-leg (A-2) are the same as those of the components in the first a-leg (A-1). Among them, the second a-leg-2 rod (A-2-2) shares a rod with the inner side of the second a-leg-1 rod (A-1-2), and the assembly phase difference between the first a-leg-2 rod (A-2-1) and the first a-leg-1 rod (A-1-1) is 180°.

[0047] The connection methods of the rods in the leg groups C and D are the same as those in the leg groups A and B. The four leg groups are distributed at the four corners of the robot, and the left and right leg groups are arranged in mirror symmetry. The first rods corresponding to the front and rear leg groups are set in the same phase. Among the eight legs, four legs are always in contact with the ground and switch to the other four legs in contact with the ground at the same moment, which can increase the stability of the whole machine. During the walking process of the robot, it will neither roll left and right nor pitch forward and backward, but only produce a certain undulating fluctuation.

[0048] As Figure 10 shown, the robot controls the steering of the front leg group and the pitch angles of the four leg groups in different modes through the attitude adjustment mechanism (I).

[0049] The attitude adjustment mechanism (I) includes: bogie a (I-1a), bogie b (I-1b), steering rod a (I-2a), steering rod b (I-2b), front leg undulation adjustment rod a (I-3a), front leg undulation adjustment rod b (I-3b), three-joint universal shaft a (I-4a), three-joint universal shaft b (I-4b), front leg drive shaft (I-5), steering servo (I-6), steering wheel (I-7), rear leg adjustment rod c1 (I-8c1), rear leg adjustment rod c2 (I-8c2), rear leg adjustment rod d1 (I-8d1), and rear leg adjustment rod d2 (I-8d2).

[0050] The connection method of the components in the attitude adjustment mechanism (I) applied to the leg group A is as follows:

[0051] The first mounting hole of bogie a (I-1a) and the first rotating pair of the second rod of leg a one (A-1-2) are rotationally connected through an assembly shaft; the second mounting hole of bogie a (I-1a) and the first rotating pair of the second rod of leg a two (A-2-2) and one end of the three-joint universal shaft a (I-4a) are rotationally connected through an assembly shaft; the third mounting hole of bogie a (I-1a) and the front torso mounting plate 1 (E-1) are rotationally connected through a screw shaft; the fourth mounting hole of bogie a (I-1a) and the front torso mounting plate 2 (E-2) are rotationally connected through a screw shaft; the fifth mounting hole of bogie a (I-1a) and the first rotating pair of the steering rod a (I-2a) are rotationally connected through a screw shaft; the second rotating pair of the steering rod a (I-2a) and the steering wheel (I-7) are rotationally connected through a screw shaft; the steering wheel (I-7) and the output shaft of the steering actuator (I-6) are fixedly connected through a screw; the steering actuator (I-6) and the front torso frame (E-5) are fixedly connected through a screw; one end of the front leg undulation adjustment rod a (I-3a) is connected to the second rod of leg a two (A-2-2), and the other end is connected to the rear torso frame (F-5); the other end of the three-joint universal shaft a (I-4a) is connected to the front leg drive shaft (I-5) and installed on the front torso frame (E-5).

[0052] The connection mode of the components in the attitude adjustment mechanism (I) applied to the b-group leg mechanism (B) is exactly the same as that of the components in the attitude adjustment mechanism (I) applied to the a-group leg mechanism (A), and the two-side mechanisms are symmetrically distributed. Among them, the steering rod a (I-2a) and the steering rod b (I-2b) are connected to the steering wheel (I-7) at the same hole and are rotationally connected through a screw shaft.

[0053] The connection mode of the components in the attitude adjustment mechanism (I) applied to the c-group leg mechanism (C) is as follows:

[0054] The first mounting hole of the rear leg adjustment rod c1 (I-8c1) and the front torso frame (E-5) are rotationally connected through a screw shaft; the second mounting hole of the rear leg adjustment rod c1 (I-8c1) and the second rod of leg c one (C-1-2) are rotationally connected through a snap ring shaft; the first mounting hole of the rear leg adjustment rod c2 (I-8c2) and the front torso frame (E-5) are rotationally connected through a screw shaft; the second mounting hole of the rear leg adjustment rod c2 (I-8c2) and the second rod of leg c two (C-1-2) are rotationally connected through a snap ring shaft; the connection mode of the components in the attitude adjustment mechanism (I) applied to the d-group leg mechanism (D) is exactly the same as that of the components in the attitude adjustment mechanism (I) applied to the c-group leg mechanism (C), and the two-side mechanisms are symmetrically distributed.

[0055] As Figure 11As shown, the drive system (J) includes a leg drive system (J-1), a torso deformation drive system (J-2), and an appendage deformation drive system (J-3).

[0056] The leg drive system (J-1) includes: a rear leg d synchronous pulley 1 (J-1-1), a drive main motor (J-1-2), a rear leg d synchronous belt (J-1-3), a rear leg d synchronous pulley 2 (J-1-4), a secondary synchronous pulley 1 (J-1-5), a secondary synchronous belt (J-1-6), a secondary synchronous pulley 2 (J-1-7), a rear leg c synchronous pulley 1 (J-1-8), a rear leg c synchronous belt (J-1-9), a primary synchronous pulley 1 (J-1-10), a primary synchronous belt (J-1-11), a primary synchronous pulley 2 (J-1-12), a rear leg c synchronous pulley 2 (J-1-13), a front leg synchronous pulley 1 (J-1-14), a front leg synchronous belt (J-1-15), and a front leg synchronous pulley 2 (J-1-16); The drive main motor (J-1-2) is installed on the rear torso frame (F-5) to drive the synchronous belts at all levels to uniformly drive the leg mechanisms (A, B, C, D) of groups a, b, c, and d.

[0057] The torso deformation drive system (J-2) includes: an electric push rod (J-2-1); The base end mounting hole of the electric push rod (J-2-1) is installed on the rear torso frame (F-5), and the push rod end mounting hole of the electric push rod (J-2-1) is installed on the front torso frame (E-5);

[0058] As Figure 12 shown, the appendage deformation drive system (J-3) includes: an obstacle-crossing winch (J-3-1), a pedaling winch (J-3-2), a lead screw fixed carbon fiber plate (J-3-3), a ball screw (J-3-4), a lead screw nut (J-3-5), a rudder disk connecting block (J-3-6), an appendage rudder disk 1 (J-3-7), an obstacle-crossing winch fixing plate (J-3-8), an appendage rudder disk 2 (J-3-9), a servo motor 2 (J-3-10), a double servo motor fixing carbon fiber plate (J-3-11), a servo motor 1 (J-3-12), a pedaling winch block (J-3-13), a storage plate (J-3-14), a fixed wire head carbon fiber plate (J-3-15), and a fixed wire head steel plate (J-3-16).

[0059] The connection method of the components in the appendage deformation drive system (J-3) is:

[0060] The lead screw fixing carbon fiber plate (J-3-3), the double servo motor fixing carbon fiber plate (J-3-11), the obstacle-crossing winch fixing plate (J-3-8), and the storage plate (J-3-14) are all fixed on the rear torso frame (F-5); the double servo motor fixing carbon fiber plate (J-3-11) and the storage plate (J-3-14) are fixedly connected by screws; the servo motor 1 (J-3-12) and the servo motor 2 (J-3-10) are arranged vertically and installed on the double servo motor fixing carbon fiber plate (J-3-11); the appendage rudder disc 1 (J-3-7) and the motor output shaft of the servo motor 1 (J-3-12) are fixedly connected by screws; the rudder disc connecting block (J-3-6) and the appendage rudder disc 1 (J-3-7) are fixedly connected by screws; one end of the ball screw (J-3-4) is fixedly connected to the lead screw fixing carbon fiber plate (J-3-3), and the other end is rotatably connected to the rudder disc connecting block (J-3-6) through a deep groove ball bearing flange; the pedal winch (J-3-2) and the lead screw nut (J-3-5) are fixedly connected by screws and then form a rotational fit with the lead screw; the pedal winch block (J-3-13) is embedded in the pedal winch (J-3-2) to achieve a fixed connection; the obstacle-crossing winch (J-3-1) and the installation hole of the obstacle-crossing winch fixing plate (J-3-8) are rotatably connected through an assembly shaft and a deep groove ball bearing flange, and the appendage rudder disc 2 (J-3-9) and the output shaft of the servo motor 2 (J-3-10) are fixedly connected by screws; the obstacle-crossing winch (J-3-1) and the appendage rudder disc 2 (J-3-9) are fixedly connected by screws; the fixed wire head carbon fiber plate (J-3-15) and the fixed wire head steel plate (J-3-16) are fixedly connected by screws; the fixed wire head steel plate (J-3-16) and the rear torso frame (F-5) are fixedly connected by screws.

[0061] The working principle of the appendage deformation drive system (J-3) is as follows: Four Bowden wires led out from the appendage mechanisms (G, H) of groups g and h are connected to the winches in the following way through the fixed wire head carbon plate (J-3-15): The two Bowden wires of the outer appendages in the appendage mechanisms (G, H) of groups g and h are combined into one and then two are led out and connected to the obstacle-crossing winch (J-3-1) and the pedaling and rolling winch (J-3-2) respectively; The two brake wires of the inner appendages in the appendage mechanisms (G, H) of groups g and h are uniformly connected to the obstacle-crossing winch (J-3-1); The obstacle-crossing winch (J-3-1) is driven by the servo motor 2 (J-3-10) and is responsible for driving the appendage mechanisms (G, H) of groups g and h after the robot enters the adhesion obstacle-crossing mode. When the obstacle-crossing winch (J-3-1) rotates clockwise for two weeks, the four appendages can be fully extended, and when it rotates counterclockwise for two weeks, the appendages are retracted; The pedaling and rolling winch (J-3-2) is driven by the servo motor 1 (J-3-12) and is responsible for driving the outer appendages of the appendage mechanisms (G, H) of groups g and h after the robot enters the involute pedaling and rolling mode. Among them, in order to ensure the linear velocity of the appendage control wire and thus ensure that the robot pedals and rolls at a set acceleration, calculations are carried out and a spiral outer contour is designed for the pedaling and rolling winch (J-3-2). In the pedaling and rolling mode, the servo motor 1 (J-3-12) drives the steering wheel connecting block (J-3-6) to push the pedaling and rolling winch block (J-3-13) on the pedaling and rolling winch (J-3-2) to make the pedaling and rolling winch (J-3-2) rotate, thereby pulling the outer appendage; Since the pedaling and rolling winch (J-3-2) is fixed on the lead screw nut (J-3-5) of the ball screw (J-3-4) at the same time, under the action of the servo motor 1 (J-3-12), the pedaling and rolling winch (J-3-2) will rotate while following the steering wheel connecting block (J-3-6) and move away from the steering wheel connecting block (J-3-6); When the pedaling and rolling winch (J-3-2) rotates one full circle, the outer appendage extends to the longest position, and the pedaling and rolling winch block (J-3-13) will separate from the steering wheel connecting block (J-3-6). At the same time, the outer appendage will immediately retract under the action of the connecting tension spring and drive the pedaling and rolling winch (J-3-2) back to the initial position to complete one pedaling and rolling.

Claims

1. A highly maneuverable multi-legged appendage robot, characterized in that: A highly maneuverable multi-legged appendage robot consists of a, b, c, d groups of leg mechanisms (A, B, C, D), a front torso (E), a rear torso (F), g, h groups of appendage mechanisms (G, H), an attitude adjustment mechanism (I), and a drive system (J); the a, b, c, d groups of leg mechanisms (A, B, C, D) are composed of two planar six-bar mechanisms, and the phase difference between the first rods of the two legs in each group of leg mechanisms is 180°; the front torso (E) and the rear torso (F) of the deformable torso are connected by a hinge. The front torso (E) is connected to the a, b groups of leg mechanisms (A, B) through a bogie and a front torso mounting plate, and is connected to the c, d groups of leg mechanisms (C, D) through a rear leg adjustment rod. The rear torso (F) is connected to the a, b groups of leg mechanisms (A, B) through a front leg undulation adjustment rod, and is connected to the c, d groups of leg mechanisms (C, D) through a rear torso mounting plate; each group of appendage mechanisms includes an inner appendage and an outer appendage, and the two groups of appendage mechanisms are respectively fixed on the fifth rods of the inner two legs and the outer two legs of the c, d groups of leg mechanisms (C, D); the four groups of leg mechanisms are synchronously driven by a single motor installed on the rear torso (F) through a synchronous belt; The g group of appendage mechanisms (G) includes a g inner appendage (G-1) and a g outer appendage (G-2); The g inner appendage (G-1) includes: a g carbon fiber rectangular tube 1 (G-1-1), a g carbon fiber rectangular tube 2 (G-1-2), a g Bowden wire (G-1-3), a g micro slide rail 1 (G-1-4), a g micro slider 1 (G-1-5), a g wire rope fixing plate 1 (G-1-6), a g rubber foot end (G-1-7), a g slide rail connecting steel sheet 1 (G-1-8), a g connecting tension spring (G-1-9), a g slide rail connecting steel sheet 2 (G-1-10), a g wire rope fixing plate 2 (G-1-11), a g micro slider 2 (G-1-12), a g micro slide rail 2 (G-1-13), a g wire rope (G-1-14), a g speed change wire fixer (G-1-15), a g v-brake bent pipe (G-1-16); The connection method of the components in the g inner appendage (G-1) is: The g carbon fiber rectangular tube 1 (G-1-1) and the g speed change wire fixer (G-1-15) are fixedly connected through a connecting shaft; the g V-brake elbow pipe (G-1-16) and the g speed change wire fixer (G-1-15) are fixedly connected through a limit hole; the g micro slider 1 (G-1-5), the g wire rope fixing plate 1 (G-1-6) and the g carbon fiber rectangular tube 1 (G-1-1) are fixedly connected through screws; the g micro slider 2 (G-1-12), the g wire rope fixing plate 2 (G-1-11) and the g carbon fiber rectangular tube 2 (G-1-2) are fixedly connected through screws; the g micro slider 1 (G-1-5) and the g micro slide rail 1 (G-1-4) are slidably connected through assembly; the g micro slider 2 (G-1-12) and the g micro slide rail 2 (G-1-13) are slidably connected through assembly; the g micro slide rail 1 (G-1-4) and the g micro slide rail 2 (G-1-13) are respectively fixedly connected with the g slide rail connecting steel sheet 1 (G-1-8) and the g slide rail connecting steel sheet 2 (G-1-10) through screws; the g wire rope (G-1-14) is respectively fixedly connected with the g wire rope fixing plate 1 (G-1-6) and the g wire rope fixing plate 2 (G-1-11) through clamping; the g wire rope (G-1-14) is respectively rotatably connected with the g slide rail connecting steel sheet 1 (G-1-8) and the g slide rail connecting steel sheet 2 (G-1-10) through a deep groove ball bearing with a U-groove; one end of the g Bowden wire (G-1-3) is fixedly connected with the g slide rail connecting steel sheet 2 (G-1-10), and the other end is connected with the drive system (J) through the g V-brake elbow pipe (G-1-16); one end of the g connecting spring (G-1-9) is fixedly connected with the g slide rail connecting steel sheet 2 (G-1-10), and the other end is fixedly connected with the g carbon fiber rectangular tube 2 (G-1-2) through a screw shaft; the g rubber foot end (G-1-7) is fixedly connected with the g carbon fiber rectangular tube 2 (G-1-2) through screws; The main structures and connection methods of the g outer appendage (G-2) and the g inner appendage (G-1) are completely the same, but their connection methods with the leg mechanism are different. The following components are added to the g outer appendage (G-2) compared with the g inner appendage (G-1): the g long connecting rod (G-2-17), the g carbon fiber plate (G-2-18), and the structures and shapes of the corresponding components such as the g outer carbon fiber rectangular tube 1 (G-2-1) and the g outer slide rail connecting steel sheet 2 (G-2-10) in the g outer appendage (G-2) are different from those in the g inner appendage (G-1); The connection methods of the new components in the g outer appendage (G-2) are as follows: the g long connecting rod (G-2-17) and the g outer slide rail connecting steel sheet 2 (G-2-10) are rotatably connected through a screw shaft; the g long connecting rod (G-2-17) and the g carbon fiber plate (G-2-18) are rotatably connected through a screw shaft; the g carbon fiber plate (G-2-18) and the g outer carbon fiber rectangular tube 1 (G-2-1) are rotatably connected through a screw shaft; The connection mode of the inner appendage (G-1) and the c-group leg mechanism (C) is as follows: The g carbon fiber rectangular tube 1 (G-1-1) and the c leg one fifth rod (C-1-5) are fixedly connected through a screw shaft and a nylon bushing; The connection mode of the outer appendage (G-2) and the c-group leg mechanism (C) is as follows: The g carbon fiber plate (G-2-18) and the c leg two fifth rod (C-2-5) are fixedly connected through a screw shaft and a nylon bushing; The structural form and connection mode of the h-group appendage mechanism (H) are exactly the same as those of the g-group appendage mechanism (G). The difference is that the h-group appendage mechanism (H) is installed on the d-group leg mechanism (D), while the g-group appendage mechanism (G) is installed on the c-group leg mechanism (C).

2. A highly maneuverable myriapod-like appendage robot according to claim 1, characterized in that: The a-group leg mechanism (A) includes two leg link mechanisms, namely a leg one (A-1) and a leg two (A-2); A leg one (A-1) includes: a leg one first rod to a leg one sixth rod (A-1-1, A-1-2, A-1-3, A-1-4, A-1-5, A-1-6) and a leg one foot end (A-1-7); The connection mode of the components in a leg one (A-1) is as follows: The a leg one first, second, and fifth rods (A-1-1, A-1-2, A-1-5) are two-pair rods, and the remaining rods are three-pair rods; The first rotating pair of the a leg one first rod (A-1-1) and the first rotating pair of the a leg one second rod (A-1-2) are rotationally connected through an assembly shaft; The second rotating pair of the a leg one first rod (A-1-1) and the first rotating pair of the a leg one fourth rod (A-1-4) are rotationally connected through an assembly shaft; The second rotating pair of the a leg one second rod (A-1-2) and the first rotating pair of the a leg one third rod (A-1-3) are rotationally connected through an assembly shaft; The second rotating pair of the a leg one third rod (A-1-3) and the second rotating pair of the a leg one fourth rod (A-1-4) are rotationally connected through an assembly shaft; The third rotating pair of the a leg one third rod (A-1-3) and the first rotating pair of the a leg one sixth rod (A-1-6) are rotationally connected through an assembly shaft; The third rotating pair of the a leg one fourth rod (A-1-4) and the first rotating pair of the a leg one fifth rod (A-1-5) are rotationally connected through an assembly shaft; The second rotating pair of the a leg one fifth rod (A-1-5) and the second rotating pair of the a leg one sixth rod (A-1-6) are rotationally connected through an assembly shaft; The a leg one foot end (A-1-7) is fixedly connected to the third rotating pair of the a leg one sixth rod (A-1-6) through a bolt by opening a mounting hole; The structural form and connection mode of the components in a leg two (A-2) are the same as those of the components in a leg one (A-1). Among them, the a leg two second rod (A-2-2) and the a leg one second rod (A-1-2) share a common rod on the inner side, and the assembly phase difference between the a leg two first rod (A-2-1) and the a leg one first rod (A-1-1) is 180°; The connection methods of the rods in the leg mechanisms (C, D) of groups c and d are the same as those in the leg mechanisms (A, B) of groups a and b.

3. A highly maneuverable multi-legged appendage robot according to claim 2, wherein: The attitude adjustment mechanism (I) includes: bogie a (I-1a), bogie b (I-1b), steering rod a (I-2a), steering rod b (I-2b), front leg undulation adjustment rod a (I-3a), front leg undulation adjustment rod b (I-3b), three-joint universal shaft a (I-4a), three-joint universal shaft b (I-4b), front leg drive shaft (I-5), steering servo (I-6), steering wheel (I-7), rear leg adjustment rod c1 (I-8c1), rear leg adjustment rod c2 (I-8c2), rear leg adjustment rod d1 (I-8d1), rear leg adjustment rod d2 (I-8d2); The connection method of the components in the attitude adjustment mechanism (I) applied to the leg mechanism (A) of group a is as follows: The first mounting hole of the bogie a (I-1a) is rotationally connected to the first rotating pair of the second rod of leg a one (A-1-2) through an assembly shaft; the second mounting hole of the bogie a (I-1a) is rotationally connected to the first rotating pair of the second rod of leg a two (A-2-2) and one end of the three-joint universal shaft a (I-4a) through an assembly shaft; the third mounting hole of the bogie a (I-1a) is rotationally connected to the front torso mounting plate 1 (E-1) through a screw shaft; the fourth mounting hole of the bogie a (I-1a) is rotationally connected to the front torso mounting plate 2 (E-2) through a screw shaft; the fifth mounting hole of the bogie a (I-1a) is rotationally connected to the first rotating pair of the steering rod a (I-2a) through a screw shaft; the second rotating pair of the steering rod a (I-2a) is rotationally connected to the steering wheel (I-7) through a screw shaft; the steering wheel (I-7) is fixedly connected to the output shaft of the steering servo (I-6) through a screw; the steering servo (I-6) is fixedly connected to the front torso frame (E-5) through a screw; one end of the front leg undulation adjustment rod a (I-3a) is connected to the second rod of leg a two (A-2-2), and the other end is connected to the rear torso frame (F-5); the other end of the three-joint universal shaft a (I-4a) is connected to the front leg drive shaft (I-5) and is installed on the front torso frame (E-5); The connection method of the components in the attitude adjustment mechanism (I) applied to the leg mechanism (B) of group b is exactly the same as the connection method of the components in the attitude adjustment mechanism (I) applied to the leg mechanism (A) of group a, and the two-side mechanisms are symmetrically distributed, wherein the connection of the steering rod a (I-2a) and the steering rod b (I-2b) to the steering wheel (I-7) is rotationally connected through a screw shaft in the same hole; The connection method of the components in the attitude adjustment mechanism (I) applied to the leg mechanism (C) of group c is as follows: The first mounting hole of the rear leg adjustment rod c1 (I-8c1) is rotatably connected to the front torso frame (E-5) through a screw shaft; the second mounting hole of the rear leg adjustment rod c1 (I-8c1) is rotatably connected to the second rod of leg c one (C-1-2) through a snap spring shaft; the first mounting hole of the rear leg adjustment rod c2 (I-8c2) is rotatably connected to the front torso frame (E-5) through a screw shaft; the second mounting hole of the rear leg adjustment rod c2 (I-8c2) is rotatably connected to the second rod of leg c two through a snap spring shaft; The connection method of the components in the attitude adjustment mechanism (I) applied to the d-group leg mechanism (D) is exactly the same as that in the attitude adjustment mechanism (I) applied to the c-group leg mechanism (C), and the two-side mechanisms are symmetrically distributed.

4. The highly maneuverable multi-legged appendage robot according to claim 1, characterized in that: The drive system (J) includes a leg drive system (J-1), a torso deformation drive system (J-2), and an appendage deformation drive system (J-3); The leg drive system (J-1) includes: a rear leg d synchronous pulley 1 (J-1-1), a drive main motor (J-1-2), a rear leg d synchronous belt (J-1-3), a rear leg d synchronous pulley 2 (J-1-4), a secondary synchronous pulley 1 (J-1-5), a secondary synchronous belt (J-1-6), a secondary synchronous pulley 2 (J-1-7), a rear leg c synchronous pulley 1 (J-1-8), a rear leg c synchronous belt (J-1-9), a primary synchronous pulley 1 (J-1-10), a primary synchronous belt (J-1-11), a primary synchronous pulley 2 (J-1-12), a rear leg c synchronous pulley 2 (J-1-13), a front leg synchronous pulley 1 (J-1-14), a front leg synchronous belt (J-1-15), a front leg synchronous pulley 2 (J-1-16); the drive main motor (J-1-2) is installed on the rear torso frame (F-5) to drive the a, b, c, and d-group leg mechanisms (A, B, C, D) through the synchronous belts at all levels; The torso deformation drive system (J-2) includes: an electric push rod (J-2-1); the mounting hole at the base end of the electric push rod (J-2-1) is installed on the rear torso frame (F-5), and the mounting hole at the push rod end of the electric push rod (J-2-1) is installed on the front torso frame (E-5); The appendage deformation drive system (J-3) includes: an obstacle-crossing winch (J-3-1), a pedaling winch (J-3-2), a lead screw fixed carbon fiber plate (J-3-3), a ball screw (J-3-4), a lead screw nut (J-3-5), a rudder disc connecting block (J-3-6), an appendage rudder disc 1 (J-3-7), an obstacle-crossing winch fixing plate (J-3-8), an appendage rudder disc 2 (J-3-9), a servo motor 2 (J-3-10), a double servo motor fixing carbon fiber plate (J-3-11), a servo motor 1 (J-3-12), a pedaling winch block (J-3-13), a storage plate (J-3-14), a fixed wire head carbon fiber plate (J-3-15), a fixed wire head steel plate (J-3-16); The connection method of the components in the appendage deformation drive system (J-3) is: The lead screw fixing carbon fiber plate (J-3-3), the double servo motor fixing carbon fiber plate (J-3-11), the obstacle crossing winch fixing plate (J-3-8), and the storage plate (J-3-14) are all fixed on the rear torso frame (F-5); the double servo motor fixing carbon fiber plate (J-3-11) and the storage plate (J-3-14) are fixedly connected by screws; the servo motor 1 (J-3-12) and the servo motor 2 (J-3-10) are arranged vertically and installed on the double servo motor fixing carbon fiber plate (J-3-11); the appendage rudder disc 1 (J-3-7) and the motor output shaft of the servo motor 1 (J-3-12) are fixedly connected by screws; the rudder disc connecting block (J-3-6) and the appendage rudder disc 1 (J-3-7) are fixedly connected by screws; one end of the ball screw (J-3-4) is fixedly connected to the lead screw fixing carbon fiber plate (J-3-3), and the other end is rotatably connected to the rudder disc connecting block (J-3-6) through a deep groove ball bearing flange; the pedal winch (J-3-2) and the lead screw nut (J-3-5) are fixedly connected by screws and then form a rotational fit with the lead screw; the pedal winch stop block (J-3-13) is embedded in the pedal winch (J-3-2) to achieve a fixed connection; the obstacle crossing winch (J-3-1) and the installation hole of the obstacle crossing winch fixing plate (J-3-8) are rotatably connected through an assembly shaft and a deep groove ball bearing flange, and the appendage rudder disc 2 (J-3-9) and the output shaft of the servo motor 2 (J-3-10) are fixedly connected by screws; the obstacle crossing winch (J-3-1) and the appendage rudder disc 2 (J-3-9) are fixedly connected by screws; the fixed wire head carbon plate (J-3-15) and the fixed wire head steel plate (J-3-16) are fixedly connected by screws; the fixed wire head steel plate (J-3-16) and the rear torso frame (F-5) are fixedly connected by screws.

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