A novel closed-chain eight-bar multi-legged robot

Abstract

The present invention discloses a novel closed-chain octapod robot, belonging to the field of closed-chain legged robots; it includes a frame, four walking leg assemblies, and a driving mechanism; the walking leg assembly includes a gear transmission mechanism, a deformable octapod leg mechanism, and several connecting pieces, the gear transmission mechanism includes a first gear set and a second gear set, the driving mechanism includes an adjustment servo installed on the walking leg assembly, and also includes a driving motor installed on the frame and a one-to-four belt transmission mechanism; the driving motor and the adjustment servo drive the octapod leg mechanism to swing back and forth, and the four groups of octapod leg mechanisms coordinate with each other to enable the octapod robot mechanism to perform walking actions. The present invention selects a closed-chain octapod structure as the walking mechanism of the legged robot. This solution has the advantages of few driving numbers, low energy consumption, large overall stiffness, and strong load capacity, and is an important research field for the innovation of the leg configuration of bionic robots.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic legged robots, and particularly to a novel closed-chain eight-bar multi-legged robot. Background Art

[0002] Since the 1960s, the development of robots has gone through three stages. The first stage is the teaching and playback robot. The robot can repeat and reproduce the operation program stored through teaching programming. The characteristic of this type of robot is that it has no perception of the external environment. The second stage is the sensory robot, or the low-level intelligent robot. The robot has a certain sensory system, can obtain simple information about the external environment and the operating object, and can make simple judgments on the changes in the external environment and adjust its corresponding actions. The third stage is the autonomous intelligent robot. The robot not only has sensory functions and adaptive capabilities, but also can fully identify the working object and the working environment, and automatically determine the appropriate actions according to the instructions of the user and the results of its own judgment.

[0003] As an intelligent achievement in the third stage of robot development, mobile robots are the crystallization of science and technology integrating mechanism, materials science, bionics, multi-rigid body mechanics, computer technology, artificial intelligence technology, sensing technology, communication technology and simulation technology. They have always been the focus and difficulty in the field of robot research. Mobile robots are mainly divided into wheeled, tracked, legged and hybrid types according to the moving mode.

[0004] Wheeled robots and tracked robots are mobile robots that move in continuous contact with the ground. They have the advantages of strong load capacity, fast moving speed, high movement efficiency, easy control, etc. However, when facing complex terrain tasks, their stability and applicability will be greatly reduced. Hybrid robots combine different moving modes together and change the moving mode through a deformation structure, adopting appropriate passing methods for different terrains, which improves the passability of a single movement mode. However, the design of changing the movement mode of hybrid robots greatly increases the mechanical complexity of the robot and the design difficulty.

[0005] Legged robots are mobile robots that move in discrete contact with the ground. They have the advantages of flexible movement, discrete landing points, strong ground adaptability, high mobility, etc. They can replace wheeled and tracked mobile robots to handle the operation tasks in complex unstructured environments, and show extremely strong application prospects in the research process. Most legged robots are designed and analyzed from the perspective of bionics, imitating the leg structures and movement methods of vertebrates such as cheetahs, ostriches, horses and goats to obtain multi-degree-of-freedom open-chain robots. However, due to the large number of actuators and complex control strategies of the open-chain leg mechanism, the cost of the robot is high and the R & D difficulty is large, making it difficult to be put into use.

[0006] In order to reduce the difficulty of controlling the leg mechanism, a low-degree-of-freedom leg configuration can be obtained by specifically designing the closed-loop motion chain. Compared with the open-chain leg mechanism, the closed-chain leg mechanism has the advantages of fewer drives, lower energy consumption, greater overall stiffness and stronger load capacity. In recent years, many scholars have conducted research on closed-chain multi-legged robots, and obtained a large number of closed-chain leg mechanisms with single-degree-of-freedom as the main structure and various configurations. Preliminary studies have found that by adding sensors and controllers, the mobility and obstacle surmounting of the legged robot can be improved to varying degrees on the basis of the robot's own structural performance. However, the closed-chain legged robot's own structural characteristics play a dominant role in the performance impact compared to external devices when dealing with unstructured environments. Based on the above reasons, it is of great significance to design a closed-chain legged robot with strong comprehensive capabilities. Summary of the invention

[0007] In order to overcome the defects of the prior art, the purpose of the present invention is to provide a new closed-chain eight-rod multi-legged robot, which has the advantages of small number of drives, low energy consumption, large overall stiffness and strong load capacity, and has better stability and simpler structure than traditional robots.

[0008] To this end, the present invention proposes a novel closed-chain eight-bar multi-legged robot, comprising a frame, a driving mechanism and at least two pairs of walking leg assemblies, wherein the two walking leg assemblies of the same pair are symmetrically arranged on both sides of the frame; each walking leg assembly comprises a gear transmission mechanism, a deformable eight-bar leg mechanism and a plurality of connecting parts, and the driving mechanism is connected to the eight-bar leg mechanism through the gear transmission mechanism; the driving mechanism is used to drive the eight-bar leg mechanism to swing back and forth, and the four groups of eight-bar leg mechanisms coordinate with each other to enable the eight-legged robot mechanism to realize walking action.

[0009] Furthermore, the eight-bar leg mechanism includes a crank, a frame rod, a second auxiliary rod one, a second auxiliary rod two, a second auxiliary rod three, a second auxiliary rod four, a third auxiliary rod one and a third auxiliary rod two; wherein, the movable end of the crank is hinged to one end of the third auxiliary rod one, and the third auxiliary rod one is connected to the third auxiliary rod two through the second auxiliary rod one and the second auxiliary rod two, forming a parallelogram structure; in addition, the movable end of the frame rod is rotationally connected to the third auxiliary rod one through the second auxiliary rod three, and the movable end of the frame rod is rotationally connected to the third auxiliary rod two through the second auxiliary rod four; at the same time, the fixed end of the crank is coaxially rotationally connected to the fixed end of the frame rod; the crank and the frame rod are used to control the movement of the third auxiliary rod one, and then control the movement trajectory of the bottom end of the third auxiliary rod two.

[0010] Furthermore, the walking leg assembly also includes an outer baffle, an inner baffle, a hollow shaft connected to the frame rod, and a central shaft connected to the crank; the gear transmission mechanism includes gear set one and gear set two, the driving mechanism and the hollow shaft are connected via gear set one, and the driving mechanism and the central shaft are connected via gear set two.

[0011] Furthermore, gear set 1 includes a passive adjustment gear, a synchronous adjustment gear and an active adjustment gear, and the driving mechanism includes an adjustment servo installed on the walking leg assembly; the adjustment servo is coaxially connected to the active adjustment gear, the active adjustment gear is meshed with the synchronous adjustment gear, and the synchronous adjustment gear is then meshed and connected with the passive adjustment gear; wherein the passive adjustment gear is circumferentially fixed to the hollow shaft.

[0012] Furthermore, gear set 2 includes a passive drive gear, a synchronous drive gear and a synchronous wheel 2 of a driven wheel shaft, and the passive drive gear is meshed and linked with the synchronous drive gear; the synchronous drive gear and the synchronous wheel 2 are arranged on the driven wheel shaft; and the passive drive gear is circumferentially fixed to the central axis; the driving mechanism also includes a driving motor installed on the frame and a one-to-four belt transmission mechanism, and the synchronous wheel 2 on each walking leg assembly is respectively connected to the driving motor through a belt transmission mechanism.

[0013] Furthermore, the belt drive mechanism includes a main drive shaft, a belt, a motor output gear connected to the drive motor, and a motor transmission gear and four synchronous wheels 1 installed on the main drive shaft. The motor output gear is meshed with the motor transmission gear, and the four synchronous wheels 1 are connected to the synchronous wheels 2 on the four walking leg assemblies through belt transmission.

[0014] Furthermore, each walking leg assembly is provided with two eight-bar leg mechanisms, which are symmetrically distributed and respectively connected to the gear transmission mechanism.

[0015] Further, the adjustment steering gear is installed on one side of the inner baffle plate, and the adjustment steering gear is fixed on the outer baffle plate through a steering gear fixing piece and a hexagonal copper column.

[0016] Furthermore, the rack includes a rack bottom plate, two rack inner plates and two rack outer plates; the rack bottom plate is horizontally arranged at the middle bottom of two rack inner plates that are vertically placed and parallel to each other, and the two rack outer plates are symmetrically arranged and located on the outside of the rack inner plates; the outer baffles are symmetrically arranged on the outside of the inner baffles; the outer baffles, the inner baffles, the rack outer plates and the rack inner plates are pin-connected by a plurality of docking screws and docking nuts respectively.

[0017] Furthermore, the eight-bar leg mechanism is connected to the outer baffle or the inner baffle through a frame rod; the crank is connected to the outside of the frame rod, and the crank is fixed to the outer baffle or the inner baffle through a top cover.

[0018] The novel closed-chain octopod robot provided by the present invention has an octopod leg mechanism with a closed-chain structure. By setting a driving motor to control the rotation of the crank and adjusting the servo motor to control the swing of the frame rod, the trajectory curve of the foot end of the octopod leg mechanism is in a scallop shape, making the multi-legged robot have the advantages of high motion stability, moderate stride distance and leg-lifting height, and small foot-end impact force. By arranging two octopod leg mechanisms on each walking leg assembly to form eight walking legs, it has higher stability compared to a four-legged robot, and also has the advantages of large overall stiffness and strong load capacity. By using a driving motor plus a belt drive mechanism with one driving four to drive the crank, the number of drives of the whole robot can be reduced, which is beneficial to motion control, and at the same time reduces energy consumption and conforms to the current energy-saving and environmental protection policies. Therefore, this closed-chain octopod robot has the advantages of few drives, low energy consumption, large overall stiffness and strong load capacity. Compared with traditional robots, it has better stability and a simpler structure, expands the working space of the leg mechanism, and improves the adaptability of the robot to unstructured terrain.

[0019] In addition to the purposes, features and advantages described above, the present invention has other purposes, features and advantages. The following will refer to the drawings for a further detailed description of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The specification drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0021] Figure 1 It is a schematic diagram of the overall structure of the novel closed-chain octopod robot of the present invention;

[0022] Figure 2 It is a side view of the novel closed-chain octopod robot of the present invention;

[0023] Figure 3 It is a top view of the novel closed-chain octopod robot of the present invention;

[0024] Figure 4 It is a schematic diagram of the structure of the frame and the belt drive mechanism in the novel closed-chain octopod robot of the present invention;

[0025] Figure 5 It is a three-dimensional structure diagram of the walking leg assembly in the novel closed-chain octopod robot of the present invention;

[0026] Figure 6 It is a schematic diagram of the structure of the octopod leg mechanism in the novel closed-chain octopod robot of the present invention;

[0027] Figure 7It is the top view of the walking leg assembly in the novel closed-chain eight-bar multi-legged robot of the present invention;

[0028] Figure 8 It is the transmission schematic diagram of the walking leg assembly in the novel closed-chain eight-bar multi-legged robot of the present invention;

[0029] Figure 9 It is the trajectory diagram of the foot end of the eight-bar leg mechanism in the novel closed-chain eight-bar multi-legged robot of the present invention;

[0030] Figures 10 to 13 It is the gait diagram of the novel closed-chain eight-bar multi-legged robot of the present invention;

[0031] Explanation of reference numerals

[0032] 1, frame; 2, walking leg assembly; 3, driving mechanism; 4, driving motor; 5, motor bracket; 6, frame bottom plate; 7, inner frame plate; 9, outer frame plate; 11, adjustment servo; 12, outer baffle; 13, inner baffle; 14, eight-bar leg mechanism; 15, servo fixing part; 16, hexagonal copper column; 17, crank; 18, frame rod; 19, triple link one; 21, triple link two; 23, double link one; 24, double link two; 25, double link three; 26, double link four; 27, top cover; 28, motor output gear; 29, motor drive gear; 30, main transmission shaft; 31, synchronous pulley one; 33, active adjustment gear; 34, synchronous adjustment gear; 35, passive adjustment gear; 36, passive drive gear; 37, synchronous drive gear; 38, driven wheel shaft; 39, synchronous pulley two; 40, belt. Detailed implementation manners

[0033] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other. The present invention will be described in detail below with reference to the drawings and in combination with the embodiments.

[0034] As Figures 1 to 8 shown, the novel closed-chain eight-bar multi-legged robot of the present invention includes a frame 1, a driving mechanism 3 and four groups of walking leg assemblies 2. The walking leg assemblies 2 include a gear transmission mechanism, a deformable eight-bar leg mechanism 14 and several connecting pieces; the driving mechanism is in transmission connection with the eight-bar leg mechanism 14 through the gear transmission mechanism; the driving mechanism is used to drive the eight-bar leg mechanism 14 to swing back and forth, and the four groups of eight-bar leg mechanisms coordinate with each other to enable the eight-legged robot mechanism to perform a walking action.

[0035] Among them, two pairs of walking leg assemblies 2 are provided. The two walking leg assemblies 2 of the same pair are symmetrically arranged on both sides of the frame 1; they are installed at the front and rear ends of the frame and are symmetrically distributed left and right.

[0036] Specifically, as Figure 6As shown, the eight-bar leg mechanism 14 includes a crank 17, a frame rod 18, four second-link rods and two pairs of three-link rods; the four second-link rods are respectively a second-link rod 1 23, a second-link rod 2 24, a second-link rod 3 25, and a second-link rod 4 26; the two pairs of three-link rods are respectively a third-link rod 1 19 and a third-link rod 2 21. Among them, the pair of three-link rods 1 19 and the pair of three-link rods 21 are connected by docking screws and docking nuts.

[0037] Among them, the third auxiliary rod 19 and the third auxiliary rod 21 are connected through the second auxiliary rod 1 23 and the second auxiliary rod 2 24 to form a parallelogram structure; the movable end of the crank 17 is hinged to one end of the third auxiliary rod 19; the crank 17 rotates and drives the third auxiliary rod 19 to move, and then transmits the motion to the third auxiliary rod 2 21 through the second auxiliary rod 1 23 and the second auxiliary rod 2 24, so that the third auxiliary rod 2 21 swings back and forth along the circular trajectory.

[0038] In addition, the movable end of the frame rod 18 is rotationally connected to one end of the second auxiliary rod three 25 and the second auxiliary rod four 26 respectively, and the other end of the second auxiliary rod three 25 is rotationally connected to the upper end of the third auxiliary rod one 19, and the other end of the second auxiliary rod four 26 is rotationally connected to the third auxiliary rod two 21; and the fixed end of the crank 17 is rotationally connected to the fixed end of the frame rod 18 through a coaxial axis, and the frame rod 18 is used to adjust the motion trajectory of the third auxiliary rod two 21.

[0039] like Figure 8 As shown, the crank 17 is connected to the driving mechanism through the gear set 1, so that the crank 17 can rotate in a circle, and the frame rod 18 is connected to the driving mechanism through the gear set 2, so that the frame rod 18 swings in a fan shape; when the crank 17 rotates, the frame rod 18 swings, so that the entire eight-bar leg mechanism 14 swings back and forth regularly, and the motion trajectory of the bottom end of the third auxiliary rod 21 is close to the walking trajectory of the human foot.

[0040] like Figure 5 As shown, each of the walking leg assemblies 2 is provided with two of the eight-bar leg mechanisms 14, which are symmetrically distributed and respectively connected to the gear transmission mechanism; the multi-legged robot has eight walking legs, which has higher stability than a four-legged robot, and also has the advantages of large overall rigidity and strong load capacity.

[0041] like Figure 8 , Figure 7 As shown, each walking leg assembly 2 also includes a hollow shaft connected to the frame rod 18, a central shaft connected to the crank 17, an outer baffle plate 12, an inner baffle plate 13 and a plurality of connecting parts; the gear transmission mechanism includes a gear set 1 and a gear set 2, the driving mechanism is connected to the hollow shaft through the gear set 1, and the central shaft is connected to the driving mechanism through the gear set 2.

[0042] Among them,Figure 8 As shown in the figure, the first gear set includes a passive adjustment gear 35, a synchronous adjustment gear 34, and an active adjustment gear 33. The drive mechanism includes an adjustment servo 11 mounted on the walking leg assembly 2. The adjustment servo 11 is coaxially connected to the active adjustment gear 33. The active adjustment gear 33 meshes with the synchronous adjustment gear 34, and the synchronous adjustment gear 34 further meshes with the passive adjustment gear 35. Among them, the passive adjustment gear 35 is circumferentially fixed to the hollow shaft. The adjustment servo 11 drives the fan-shaped swing of the frame rod 18 through the first gear set.

[0043] As Figure 8 shown in the figure, the second gear set includes a passive drive gear 36, a synchronous drive gear 37, a driven wheel shaft 38, and a second synchronous wheel 39. The passive drive gear 36 is meshed and linked with the synchronous drive gear 37. The synchronous drive gear 37 and the second synchronous wheel 39 are arranged on the driven wheel shaft 38. The passive drive gear 36 is circumferentially fixed to the central shaft, and the passive adjustment gear 35 is coaxially connected to the passive drive gear 36. The rotation of the second synchronous wheel 39 drives the crank 17 to make a circular motion.

[0044] As Figure 3 、 Figure 4 、 Figure 8 shown in the figure, the drive mechanism further includes a drive motor 4 mounted on the frame 1 and a one - to - four belt drive mechanism. The drive motor 4 is respectively drivingly connected to the second synchronous wheels 39 on each walking leg assembly through the belt drive mechanism.

[0045] Among them, the belt drive mechanism includes a main drive shaft 30, a belt 40, a motor output gear 28 connected to the drive motor 4, a motor drive gear 29 mounted on the main drive shaft, and four first synchronous wheels 31. The motor output gear 28 meshes with the motor drive gear 29. The four first synchronous wheels 31 are respectively drivingly connected to the second synchronous wheels 39 on the four walking leg assemblies through the belt 40. In this solution, the use of a drive motor 4 plus a one - to - four belt drive mechanism can reduce the number of drives of the entire robot, facilitate motion control, and at the same time reduce energy consumption, which is in line with the current energy - saving and environmental - protection policies advocated.

[0046] As Figure 4 shown in the figure, the frame 1 includes a motor bracket 5, a frame bottom plate 6, two inner frame plates 7, and two outer frame plates 9. The drive motor 4 is fixed above the left side of the frame bottom plate 6 through the motor bracket 5. The frame bottom plate 6 is horizontally arranged at the middle bottom of two vertically placed and parallel inner frame plates 7. The two outer frame plates 9 are symmetrically arranged and located outside the inner frame plates 7.

[0047] As Figure 3 、 Figure 4 、 Figure 7As shown, the outer baffle plate 12 is symmetrically arranged on the outside of the inner baffle plate 13; the adjustment servo 11 is installed on one side of the inner baffle plate 13, and the adjustment servo 11 is fixed to the outer baffle plate 12 through a servo fixing member 15 and a hexagonal copper column 16; the outer baffle plate 12, the inner baffle plate 13 and the frame outer plate 9, the frame inner plate 7 are pin-connected respectively through a plurality of docking screws and docking nuts.

[0048] In addition, if Figure 8 , Figure 7 As shown, the eight-bar leg mechanism 14 is connected to the outer baffle 12 and the inner baffle 13 through the frame rod 18; the crank 17 is connected to the outside of the frame rod 18 and fixed to the baffle through the top cover 27; the two eight-bar leg mechanisms are symmetrically distributed on both sides of the outer baffle 12 and the inner baffle 13.

[0049] It should be noted that in order to provide power for the rotation of the crank 17, in addition to providing a drive motor 4 and a one-to-four belt drive mechanism, a different structure can also be adopted. A drive motor is provided on each walking leg assembly 2, and the drive motor is connected to the driven wheel shaft 38 for transmission, which can also provide power for the rotation of the crank 17.

[0050] In addition, in some embodiments, the walking leg assemblies 2 can be arranged into 6 groups or 8 groups, and only one eight-bar leg mechanism 14 can be arranged on each walking leg assembly 2, which can also enable the closed-chain eight-bar multi-legged robot of the present invention to walk stably on the ground.

[0051] The working principle and working process of the closed-chain eight-rod multi-legged robot of the present invention are briefly described below with reference to the accompanying drawings.

[0052] The driving motor 4 transmits power to the main transmission shaft 30 through the related meshing motor output gear 28 and the motor transmission gear 29. The main transmission shaft 30 transmits power to the synchronous wheel 2 39 on the driven wheel shaft 38 through the synchronous wheel 1 31 and the belt 40. The driven wheel shaft 38 transmits the rotational motion to the central shaft connected to the crank 17 through the mutually meshing synchronous driving gear 37 and the passive driving gear 36; at the same time, the adjustment steering engine 11 transmits the swinging motion to the hollow shaft connected to the frame rod 18 through the passive adjustment gear 35, the synchronous adjustment gear 34 and the active adjustment gear 33; when the crank 17 rotates, the frame rod 18 swings, so that the entire eight-bar leg mechanism 14 swings back and forth regularly, and the motion trajectory of the bottom end of the three auxiliary rods 21 is close to the walking trajectory of the human foot.

[0053] like Figures 10 to 13 As shown, during the movement of the closed-chain eight-bar multi-legged robot, in the initial state, the four walking leg assemblies 2 are all in contact with the ground (such as Figure 10), then drive the motor 4 to work. At the same time, the adjustment servos 11 in the two sets of walking leg assemblies 2 arranged obliquely symmetrically start to work, causing the two sets of walking leg assemblies 2 arranged obliquely symmetrically to lift their legs forward. Then, the adjustment servos 11 in the other two sets of walking leg assemblies 2 also start to work, and the two sets of walking leg assemblies 2 also lift their legs forward. The four sets of walking leg assemblies 2 adopt asynchronous motion to ensure the stability of the entire eight-bar multi-legged robot. Among them, the foot-end trajectory curve of the eight-bar leg mechanism in the walking leg assembly 2 is scallop-shaped (as Figure 9 shown).

[0054] Among them, as Figure 9 shown, the foot-end trajectory curve of the eight-bar leg mechanism is scallop-shaped, having good smoothness, a relatively high leg-lifting height, a relatively long stride distance, and a relatively small contact angle with the ground. The better the smoothness of the foot-end trajectory curve, the stronger the walking stability of the robot. The higher the leg-lifting height of the foot-end trajectory, the stronger the obstacle-crossing ability of the robot. The longer the stride distance of the foot-end trajectory, the stronger the gully-crossing ability of the robot. The smaller the contact angle between the foot-end trajectory and the ground, the smaller the foot-end impact force of the robot. Therefore, the multi-legged robot of the present invention has the advantages of high motion stability, moderate stride distance and leg-lifting height, and small foot-end impact force.

[0055] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A novel closed-chain octapod robot, characterized in that, It includes a frame (1), a driving mechanism (3) and at least two pairs of walking leg assemblies (2). The two walking leg assemblies (2) of the same pair are symmetrically arranged on both sides of the frame (1). Each walking leg assembly (2) includes a gear transmission mechanism, a deformable eight-bar leg mechanism (14) and several connecting pieces. The driving mechanism (3) is in transmission connection with the eight-bar leg mechanism (14) through the gear transmission mechanism. The driving mechanism (3) is used to drive the eight-bar leg mechanism (14) to swing back and forth. The four groups of eight-bar leg mechanisms coordinate with each other to enable the octopod robot mechanism to perform a walking action. Among them, the eight-bar leg mechanism (14) includes a crank (17), a frame rod (18), two secondary rods one (23), two secondary rods two (24), two secondary rods three (25), two secondary rods four (26), a tertiary rod one (19) and a tertiary rod two (21). Among them, the movable end of the crank (17) is hinged to one end of the tertiary rod one (19), and the tertiary rod one (19) and the tertiary rod two (21) are connected by the two secondary rods one (23) and the two secondary rods two (24) to form a parallelogram structure. In addition, the movable end of the frame rod (18) is rotatably connected to the tertiary rod one (19) through the two secondary rods three (25), and the movable end of the frame rod (18) is rotatably connected to the tertiary rod two (21) through the two secondary rods four (26). At the same time, the fixed end of the crank (17) is coaxially rotatably connected to the fixed end of the frame rod (18). The crank (17) and the frame rod (18) are used to control the movement of the tertiary rod one (19), and further control the movement trajectory of the bottom end of the tertiary rod two (21). The walking leg assembly (2) further includes an outer baffle (12), an inner baffle (13), a hollow shaft connected to the frame rod (18), and a central shaft connected to the crank (17). The gear transmission mechanism includes a first gear set and a second gear set. The driving mechanism (3) is in transmission connection with the hollow shaft through the first gear set, and the driving mechanism (3) is in transmission connection with the central shaft through the second gear set.

2. The novel closed-chain eight-bar multi-legged robot according to claim 1, characterized in that, The first gear set includes a passive adjustment gear (35), a synchronous adjustment gear (34) and an active adjustment gear (33). The driving mechanism (3) includes an adjustment servo (11) installed on the walking leg assembly (2). The adjustment servo (11) is coaxially connected to the active adjustment gear (33). The active adjustment gear (33) meshes with the synchronous adjustment gear (34), and the synchronous adjustment gear (34) further meshes with the passive adjustment gear (35). Among them, the passive adjustment gear (35) is circumferentially fixed to the hollow shaft.

3. The novel closed-chain eight-bar multi-legged robot according to claim 1, wherein The second gear set includes a passive drive gear (36), a synchronous drive gear (37), and a synchronous pulley two (39) on a driven wheel shaft (38). The passive drive gear (36) is meshed and linked with the synchronous drive gear (37); the synchronous drive gear (37) and the synchronous pulley two (39) are arranged on the driven wheel shaft (38); and the passive drive gear (36) is circumferentially fixed to the central shaft. The drive mechanism (3) further includes a drive motor (4) installed on the frame (1) and a one - to - four belt drive mechanism. The synchronous pulley two (39) on each walking leg assembly (2) is respectively connected to the drive motor (4) through the belt drive mechanism.

4. The novel closed-chain octapod robot according to claim 3, characterized in that, The belt drive mechanism includes a main drive shaft (30), a belt (40), a motor output gear (28) connected to the drive motor (4), a motor drive gear (29) installed on the main drive shaft (30), and four synchronous pulleys one (31). The motor output gear (28) is meshed with the motor drive gear (29), and the four synchronous pulleys one (31) and the synchronous pulley two (39) on the four walking leg assemblies (2) are respectively connected through the belt (40).

5. The novel closed-chain octapod robot according to claim 1, characterized in that, Each walking leg assembly (2) is provided with two of the eight - bar leg mechanisms (14). The two eight - bar leg mechanisms (14) are symmetrically distributed and respectively connected to the gear transmission mechanism.

6. The novel closed-chain eight-bar multi-legged robot according to claim 2, wherein, The adjustment servo (11) is installed on one side of the inner baffle (13), and the adjustment servo (11) is fixed to the outer baffle (12) through a servo fixing part (15) and a hexagonal copper post (16).

7. The novel closed-chain eight-bar multi-legged robot according to claim 1, characterized in that, The frame (1) includes a frame bottom plate (6), two frame inner plates (7), and two frame outer plates (9); the frame bottom plate (6) is horizontally arranged at the middle bottom of the two vertically placed and parallel frame inner plates (7), and the two frame outer plates (9) are symmetrically arranged and located outside the frame inner plates (7); the outer baffle (12) is symmetrically arranged outside the inner baffle (13); the outer baffle (12), the inner baffle (13) and the frame outer plates (9), the frame inner plates (7) are respectively connected by a plurality of docking screws and docking nuts to achieve pin shaft connection.

8. The novel closed-chain eight-bar multi-legged robot according to claim 1, characterized in that, The eight - bar leg mechanism (14) is connected to the outer baffle (12) or the inner baffle (13) through the frame rod (18); the crank (17) is connected to the outside of the frame rod (18), and the crank (17) is fixed to the outer baffle (12) or the inner baffle (13) through a top cover (27).

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