Hexapod biomimetic mobile device and robot

Abstract

The present application relates to a kind of hexapod bionic mobile devices, including wheeled chassis, six-frame and walking mechanism, six-frame can be set on the top of wheeled chassis 360 ° rotation, walking mechanism includes support leg mechanism and wheel mechanism, support leg mechanism is set at the periphery of wheeled chassis, wheel mechanism is set at the bottom of wheeled chassis, support leg mechanism can drive wheeled chassis to rise or drop, to realize wheel mechanism off the ground or ground, when wheel mechanism ground, wheel mechanism can move along ground surface.This application has both wheels and support legs, when encountering different ground environment, can switch two kinds of movement mode at will, compared with traditional wheel type or track type single movement mode, the adaptability of this hexapod bionic mobile device to mountainous construction environment is stronger, more flexible, and the range of construction can be wider.

Description

Technical Field

[0001] This invention relates to the field of equipment mobility technology, specifically to a hexapod bionic mobile device and robot. Background Technology

[0002] Existing equipment is moved by wheels or tracks. When traveling on relatively flat terrain, wheeled travel can achieve a faster and more stable speed. However, when traveling on uneven terrain, the machine's energy consumption will increase significantly. If it encounters soft or extremely uneven terrain, the wheels will also lose their effectiveness. Although tracked travel has some adaptability to such terrain, its mobility is still very poor and it is prone to large swaying. Power transmission line projects are located in mountainous terrain with poor transportation conditions, rugged or muddy roads, and often have steps or protruding rocks. Therefore, traditional wheeled or tracked mobile devices are difficult to carry out construction under such road conditions.

[0003] Therefore, a new mobility device is needed to solve the problem of unstable movement of wheeled or tracked vehicles in complex terrain. Summary of the Invention

[0004] The purpose of this invention is to provide a hexapod bionic mobile device and robot to solve the problem of unstable movement of wheeled or tracked vehicles in complex terrain, as described in the background art.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] In a first aspect, the present invention provides a hexapod bionic mobile device, comprising a wheeled chassis, a hexapod frame, and a walking mechanism. The hexapod frame is rotatably mounted above the wheeled chassis. The walking mechanism includes a support leg mechanism and a wheel mechanism. The support leg mechanism is disposed around the wheeled chassis, and the wheel mechanism is disposed at the bottom of the wheeled chassis. The support leg mechanism can drive the wheeled chassis to rise or fall, thereby enabling the wheel mechanism to be off the ground or on the ground. When the wheel mechanism is on the ground, the wheel mechanism can move along the ground surface.

[0007] Preferably, in the hexapod bionic mobile device, the wheel mechanism includes a wheel steering cylinder, a wheel mounting seat, and a wheel assembly. The wheel steering cylinder is telescopically mounted on the wheel chassis, and the wheel mounting seat is throttle-connected between the wheel steering cylinder and the wheel assembly to convert the telescopic motion of the wheel steering cylinder into the rotation of the wheel assembly.

[0008] Preferably, in the hexapod bionic mobile device, the wheel mounting seat is rotatably mounted on the wheel chassis and includes a first end and a second end opposite to each other. The first end of the wheel mounting seat is connected to the telescopic rod of the wheel steering cylinder, and the second end of the wheel mounting seat is connected to the wheel assembly. The telescopic rod can push and pull the wheel mounting seat to realize the rotation of the wheel mounting seat, thereby driving the wheel assembly to steer.

[0009] Preferably, in the hexapod bionic mobile device, the wheel assembly is disposed at the bottom of the wheeled chassis. The wheel assembly includes a drive wheel, a driven wheel, and a hydraulic motor. The hydraulic motor is connected to the wheel mounting seat and is driven by the drive wheel. The drive wheel and the driven wheel are connected by a connecting shaft.

[0010] Preferably, in the six-legged bionic mobile device, the support leg mechanism includes front and rear support leg structures and a middle support leg structure. The front and rear straight support leg structures are located at the ends of the six-legged frame, and the middle support leg structure is located in the middle of the six-legged frame.

[0011] Preferably, in the hexapod bionic mobile device, the front and rear support leg structures include a support leg base, a thigh structure, a lower leg structure, a support leg steering cylinder, and a walking foot. The support leg base is fixedly connected to the hexapod frame, the tail of the support leg steering cylinder is connected to the hexapod frame, the telescopic rod of the support leg steering cylinder is connected to the support leg base, the thigh structure is installed in the support leg base, the lower leg structure is installed in the thigh structure, and the walking foot is disposed in the lower leg structure. The thigh structure, the lower leg structure, and the walking foot are rotatably connected to each other.

[0012] Preferably, in the hexapod bionic mobile device, the thigh structure includes a thigh body and a thigh cylinder, and the lower leg structure includes a lower leg body and a lower leg cylinder. One end of the support leg is rotatably connected to the thigh body, and one end of the thigh body is connected to the head of the thigh cylinder. The support leg is connected to the tail of the thigh cylinder, so that the thigh body can rotate around the support leg. The other end of the thigh body is rotatably connected to the lower leg body, and the thigh body is connected to the tail of the lower leg cylinder. The top of the lower leg body is connected to the head of the lower leg cylinder, so that the lower leg body can move around the thigh body. The bottom of the lower leg body is rotatably provided with the walking foot, so that the walking foot can rotate around the lower leg body.

[0013] Preferably, in the six-legged bionic mobile device, the outrigger base includes a first connecting end, a second connecting end, a third connecting end, and a fourth connecting end. The first connecting end is connected to the six-legged frame, the second connecting end is connected to the head of the outrigger steering cylinder, the third connecting end is connected to the thigh body, and the fourth connecting end is connected to the tail of the thigh cylinder.

[0014] Preferably, in the six-legged bionic mobile device, the intermediate support leg structure includes a support leg base, a thigh structure, a lower leg structure, and a walking foot. The support leg base is fixedly connected to the six-legged frame. The thigh structure is installed in the support leg base, the lower leg structure is installed in the thigh structure, and the walking foot is disposed in the lower leg structure. The support leg base, the thigh structure, the lower leg structure, and the walking foot are rotatably connected to each other.

[0015] Preferably, in the hexapod bionic mobile device, the thigh structure includes a thigh body and a thigh cylinder, and the lower leg structure includes a lower leg body and a lower leg cylinder. One end of the support leg is rotatably connected to the thigh body, and one end of the thigh body is connected to the head of the thigh cylinder. The support leg is connected to the tail of the thigh cylinder, so that the thigh body can rotate around the support leg. The other end of the thigh body is rotatably connected to the lower leg body, and the thigh body is connected to the tail of the lower leg cylinder. The top of the lower leg body is connected to the head of the lower leg cylinder, so that the lower leg body can move around the thigh body. The bottom of the lower leg body is rotatably provided with the walking foot, so that the walking foot can rotate around the lower leg body.

[0016] Preferably, in the hexapod bionic mobile device, the leg support includes a fifth connecting end and a sixth connecting end, the fifth connecting end being connected to the thigh body and the sixth connecting end being connected to the tail of the thigh cylinder.

[0017] Secondly, the present invention provides a robot comprising the aforementioned hexapod bionic mobile device and an operating device mounted on the hexapod frame.

[0018] The present invention has the following advantages due to the adoption of the above technical solutions:

[0019] 1. The six-legged frame and wheeled chassis can rotate 360°, making it convenient to adjust the use of equipment on the six-legged frame;

[0020] 2. The outrigger mechanism is located around the six-legged frame, which can ensure stable force application;

[0021] 3. Using digital hydraulic cylinders allows for more precise control of the movement distance of each part of the outriggers and provides better feedback on the position of the outriggers.

[0022] This invention combines wheels and outriggers, allowing for easy switching between the two modes of movement when encountering different ground environments. Compared to traditional single-mode wheeled or tracked mobility, this six-legged bionic mobile device is more adaptable to mountainous construction environments, more flexible, and can be used in a wider range of construction projects. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the present invention;

[0024] Figure 2 This is a front view of the support leg mechanism of the present invention;

[0025] Figure 3 This is a schematic diagram of the structure of the first support leg of the present invention;

[0026] Figure 4 This is a schematic diagram of the structure of the second support leg of the present invention.

[0027] Figure 5 This is a front view of the invention after the drilling rig has been installed;

[0028] Figure 6 This is a perspective view of the present invention after the drilling rig has been installed.

[0029] Labels for each item in the figure:

[0030] 1. Wheeled chassis; 120. Outrigger mechanism; 1201. Outrigger mechanism installed at the front end;

[0031] 1202. Support leg mechanism at the rear end; 1203. Support leg mechanism at the side; 121A. First support leg base;

[0032] 121B, Second support leg; 121-1, First connecting end; 121-2, Second connecting end; 121-3, Third connecting end;

[0033] 121-4, Fourth connecting end; 121B-1, Fifth connecting end; 121B-2, Sixth connecting end; 122, Thigh cylinder;

[0034] 123. Thigh body; 124. Lower leg cylinder; 125. Lower leg body; 126. Walking foot; 140. Slewing bearing; 150. Wheel steering cylinder; 160. Wheel mounting seat; 170. Hydraulic motor;

[0035] 190. Outrigger steering cylinder; 2. Six-leg frame; 3. Control console; 4. Water tank; 5. Push beam; 6. Hydraulic oil tank;

[0036] 7. Diesel tank; 8. Engine; 9. Dust collector; 10-1. Drive wheel; 10-2. Driven wheel. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, not all embodiments. Based on the embodiments of this invention, this invention uses a drilling rig as an example of the equipment to be transported. However, those skilled in the art will readily discover that the hexapod bionic mobile device of this invention can be applied to various large, medium, and even small equipment to be moved. The application of the equipment is selected based on needs, and therefore, it is not exhaustively listed in the embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0038] In the description of this invention, it should be noted that the terms "one end", "the other end", "bottom", "top", "head", "tail", "side", "front end", "rear end", "middle", "first", "second", "third", "fourth", "fifth", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the system or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0039] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "set up" and "equipped with" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0040] This invention provides a six-legged biomimetic mobile device. The invention includes a wheeled chassis, a six-legged frame, and a walking mechanism. The six-legged frame is rotatably mounted above the wheeled chassis. The walking mechanism includes outriggers and wheels. The outriggers are positioned around the wheeled chassis, and the wheels are located at the bottom of the wheeled chassis. The outriggers can raise or lower the wheeled chassis to allow the wheels to be off the ground or close to the ground. When the wheels are close to the ground, they can move along the ground surface. This invention combines wheels and outriggers, allowing for easy switching between two modes of movement depending on the terrain. Compared to traditional wheeled or tracked single-mode movement, this six-legged biomimetic mobile device is more adaptable to mountainous construction environments, more flexible, and can operate over a wider range of terrains.

[0041] The following is a detailed description of the hexapod bionic mobile device and robot provided in the embodiments of the present invention, with reference to the accompanying drawings and the drilling rig.

[0042] Example 1

[0043] Reference Figure 1 , Figure 2 The diagram shows a hexapod bionic mobile device, comprising a wheeled chassis 1, a hexapod frame 2, and a walking mechanism. The hexapod frame 2 is rotatably mounted above the wheeled chassis 1. The walking mechanism includes support leg mechanisms 120 and wheel mechanisms. The support leg mechanisms are arranged around the wheeled chassis 1, and the wheel mechanisms are arranged at the bottom of the wheeled chassis 1. The support leg mechanisms can drive the wheeled chassis 1 to rise or fall, so that the wheel mechanisms can be off the ground or on the ground. When the wheel mechanisms are on the ground, they can move along the ground surface.

[0044] Continue to refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the walking mechanism includes a support leg mechanism 120 and a wheel mechanism. The wheel mechanism is located at the bottom of the wheeled chassis 1, and the support leg mechanism 120 is located around the six-legged frame 2.

[0045] The wheel mechanism includes a wheel steering cylinder 150, a wheel mounting seat 160, and a wheel assembly. The wheel steering cylinder 150 is mounted on the wheel chassis 1. The middle part of the wheel mounting seat 160 is connected to the wheel chassis 1 via a rotating shaft. One end of the wheel mounting seat 160 is connected to the telescopic rod of the wheel steering cylinder 150, and the other end of the wheel mounting seat 160 is connected to the wheel assembly. The telescopic rod can push and pull the wheel mounting seat 160 to make the wheel mounting seat 160 rotate around the rotating shaft, thereby driving the wheel assembly to steer.

[0046] The wheel assembly is located at the bottom of the wheel chassis 1. The wheel assembly includes a drive wheel 10-1, a driven wheel 10-2, and a hydraulic motor 170. The hydraulic motor 170 is connected to the wheel mounting seat 160 and is connected to the drive wheel 10-1 via a transmission connection. The drive wheel 10-1 and the driven wheel 10-2 are connected via a connecting shaft.

[0047] Preferably, the front and rear ends of the wheeled chassis 1 are provided with two sets of wheels. Each set of wheels consists of a drive wheel 10-1 and a driven wheel 10-2. The two wheels can enable the wheeled chassis 1 to have a greater load-bearing capacity, and differential steering can be achieved by controlling the hydraulic motor 170.

[0048] like Figure 1As shown, the outrigger mechanism 120 includes front and rear outrigger structures and a middle outrigger structure. The front and rear straight outrigger structures are located at the ends of the six-legged frame 2, and the middle outrigger structure is located in the middle of the six-legged frame 2. Each outrigger mechanism 120 can be controlled to move independently. When the upper part of the six-legged frame 2 needs to rotate, the entire outrigger 120 can be retracted beyond the six-legged frame 2 to avoid interference.

[0049] like Figure 2 and Figure 3 As shown, the front and rear outrigger structure includes a first outrigger seat 121A, a thigh structure, a lower leg structure, an outrigger steering cylinder 190, and a walking foot 126. The first outrigger seat 121A is fixedly connected to the six-leg frame 2. The tail of the outrigger steering cylinder 190 is connected to the six-leg frame 2. The telescopic rod of the outrigger steering cylinder 190 is connected to the outrigger seat 130. The thigh structure is installed in the first outrigger seat 121A, the lower leg structure is installed in the thigh structure, and the walking foot 126 is disposed in the lower leg structure. The thigh structure, the lower leg structure, and the walking foot 126 are rotatably connected to each other.

[0050] There are four first leg supports 121A, which are set in pairs at the front and rear ends of the six-legged frame 2, and two second leg supports 121B, which are set on both sides of the six-legged frame 2.

[0051] The first outrigger seat 121A includes a first connecting end 121-1, a second connecting end 121-2, a third connecting end 121-3, and a fourth connecting end 121-4. The first connecting end 121-1 is connected to the six-leg frame 2, the second connecting end 121-2 is connected to the head of the outrigger steering cylinder 190, the third connecting end 121-3 is connected to the thigh, and the fourth connecting end 121-4 is connected to the tail of the thigh cylinder 122.

[0052] like Figure 2 As shown, the thigh structure includes a thigh body 123 and a thigh cylinder 122, and the lower leg structure includes a lower leg body 125 and a lower leg cylinder 124. One end of the thigh body 123 is connected to the head of the thigh cylinder 122, a third connecting end 121-3 is connected to the thigh, and a fourth connecting end 121-4 is connected to the tail of the thigh cylinder 122, so that the thigh body 123 can rotate around the first leg seat 121A. The other end of the thigh body 123 is rotatably connected to the lower leg body 125. The thigh body 123 is connected to the tail of the lower leg cylinder 124, and the top of the lower leg body 125 is connected to the head of the lower leg cylinder 124, so that the lower leg body 125 can move around the thigh body 123. The bottom of the lower leg body 125 is rotatably provided with a walking foot 126, so that the walking foot 126 can rotate around the lower leg body 125.

[0053] like Figure 1 and Figure 4 As shown, the intermediate support leg structure is the same as the front and rear support leg structures, except for the specific structure of the support leg seat. The connection method and structure of the thigh structure, lower leg structure and walking foot are the same.

[0054] The intermediate support leg structure includes a second support leg seat 121B, a thigh structure, a lower leg structure, and a walking foot 126. The second support leg seat 121B is fixedly connected to the six-legged frame 2. The thigh structure is installed in the second support leg seat 121B, the lower leg structure is installed in the thigh structure, and the walking foot 126 is disposed in the smaller structure. The second support leg seat 121B, the thigh structure, the lower leg structure, and the walking foot 126 are rotatably connected to each other.

[0055] The second leg seat 121B includes a fifth connecting end 121B-1 and a sixth connecting end 121B-2. The fifth connecting end 121B-1 is connected to the thigh body 123, and the sixth connecting end 121B-2 is connected to the tail of the thigh cylinder 122.

[0056] The thigh structure includes a thigh body 123 and a thigh cylinder 122, and the lower leg structure includes a lower leg body 125 and a lower leg cylinder 124. One end of the thigh body 123 is connected to the head of the thigh cylinder 122, a fifth connecting end 121B-1 is connected to the thigh body 123, and a sixth connecting end 121B-2 is connected to the tail of the thigh cylinder 122, so that the thigh body 123 can rotate around the first leg seat 121A. The other end of the thigh body 123 is rotatably connected to the lower leg body 125. The thigh body 123 is connected to the tail of the lower leg cylinder 124, and the top of the lower leg body 125 is connected to the head of the lower leg cylinder 124, so that the lower leg body 125 can move around the thigh body 123. The bottom of the lower leg body 125 is rotatably provided with a walking foot 126, so that the walking foot 126 can rotate around the lower leg body 125.

[0057] The thigh cylinder 122, the lower leg cylinder 124, and the outrigger steering cylinder 190 are digital cylinders. By using digital cylinders, the movement distance of each part of the outrigger can be controlled more precisely, and the position status of the outrigger can be better fed back.

[0058] Working principle:

[0059] When the six-legged bionic mobile device walks on flat ground using wheels, the hydraulic cylinders on the outriggers 120 are controlled to retract the outriggers 120, so that the wheel assembly contacts the ground. The drilling rig is driven to walk by the hydraulic motor 170, and the wheel steering cylinder 150 is used to achieve steering.

[0060] When the six-legged bionic mobile device moves in mountainous terrain using the bionic outrigger mechanism 120, the outriggers 120 are opened by controlling the hydraulic cylinders on the outrigger mechanism 120, allowing all six outriggers 120 to contact the ground. The drilling rig then adopts a triangular gait for movement: the six bionic outrigger mechanisms 120 are divided into two symmetrical groups. One group consists of the outrigger mechanism 1201 at the front end and the outrigger mechanism 1202 at the rear end on one side of the drilling rig, and the outrigger mechanism 1203 on the other side. The remaining three outrigger mechanisms form the other group. Each group of outrigger mechanisms 120 forms a tripod, stabilizing the drilling rig and facilitating movement. At this time, one set of outrigger mechanisms 120 is raised while the other set remains stationary on the ground. The weight of the machine is concentrated on the tripod formed by the stationary outrigger mechanism 120. Subsequently, the stationary outrigger mechanism 120 bends, causing the machine's center of gravity to shift forward while the center of gravity projection remains within the tripod. Then, the raised outrigger mechanism 120 lands, and the other set of outrigger mechanisms 120 is quickly raised and suspended in the air. The action of the previous set is repeated, alternating between them, to achieve long-distance movement of the drilling rig. When the outrigger mechanism 120 is raised, the machine can be turned by controlling the outrigger steering cylinders 190 on the front and rear outrigger mechanisms 120 to shift the angle of the raised outrigger.

[0061] Example 2

[0062] Reference Figure 5 and Figure 6 As shown, a robot with a mobile device includes a six-legged bionic mobile device and a drilling rig mounted on the six-legged bionic mobile device. The upper end of the six-legged frame 2 is equipped with a drilling execution device for drilling, a power unit for providing power, and drilling auxiliary devices for other functions, including a propulsion beam 5, a water tank 4, a control console 3, an engine 8, a diesel tank 7, a hydraulic oil tank 6, and a dust collector 9. The propulsion beam 5 is used to realize the rotation and propulsion functions of the drill bit; the water tank 4 is used for heat dissipation of the drilling rig; the control console 3 is used to operate the overall movement of the drilling rig; the engine 8, diesel tank 7, and hydraulic oil tank 6 provide power for the movement of various components of the drilling rig; and the dust collector 9 is used to collect dust generated by the drilling rig during slag discharge.

[0063] When using other large, medium or even small equipment to be moved besides drilling rigs, the equipment to be moved can be installed and fixed on the six-legged frame 2. The installation and fixing method is the existing fixing method. This invention does not improve the installation and fixing method, so it will not be described in detail.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A hexapod biomimetic mobile device, characterized in that, The application relates to a six-legged vehicle, which comprises a wheeled chassis, a six-legged frame rotatably arranged above the wheeled chassis, and a walking mechanism, wherein the walking mechanism comprises a supporting leg mechanism and a wheel mechanism, the supporting leg mechanism is arranged around the wheeled chassis, and the wheel mechanism is arranged at the bottom of the wheeled chassis; the supporting leg mechanism can drive the wheeled chassis to rise or fall, so as to realize the wheel mechanism off the ground or on the ground; when the wheel mechanism is on the ground, the wheel mechanism can move along the ground surface. The supporting leg mechanism comprises front and rear supporting leg structures and a middle supporting leg structure, the front and rear supporting leg structures are arranged at the ends of the six-legged frame, and the middle supporting leg structure is arranged at the middle of the six-legged frame. The front and rear supporting leg structures comprise a supporting leg seat, a thigh structure, a shank structure, a supporting leg steering oil cylinder and a walking foot, the supporting leg seat is fixedly connected with the six-legged frame, the tail of the supporting leg steering oil cylinder is connected with the six-legged frame, the telescopic rod of the supporting leg steering oil cylinder is connected with the supporting leg seat, the thigh structure is arranged in the supporting leg seat, the shank structure is arranged in the thigh structure, and the walking foot is arranged in the shank structure; the thigh structure, the shank structure and the walking foot are rotatably connected with each other. The thigh structure comprises a thigh body and a thigh oil cylinder, the shank structure comprises a shank body and a shank oil cylinder, one end of the supporting leg seat is rotatably connected with the thigh body, one end of the thigh body is connected with the head of the thigh oil cylinder, the supporting leg seat is connected with the tail of the thigh oil cylinder, so that the thigh body can rotate around the supporting leg seat, the other end of the thigh body is rotatably connected with the shank body, the thigh body is connected with the tail of the shank oil cylinder, the top of the shank body is connected with the head of the shank oil cylinder, so that the shank body can rotate around the thigh body, and the bottom of the shank body is rotatably provided with the walking foot, so that the walking foot can rotate around the shank body. The supporting leg seat comprises a first connecting end, a second connecting end, a third connecting end and a fourth connecting end, the first connecting end is connected with the six-legged frame, the second connecting end is connected with the head of the supporting leg steering oil cylinder, the third connecting end is connected with the thigh body, and the fourth connecting end is connected with the tail of the thigh oil cylinder. The middle supporting leg structure comprises a supporting leg seat, a thigh structure, a shank structure and a walking foot, the supporting leg seat is fixedly connected with the six-legged frame, the thigh structure is arranged in the supporting leg seat, the shank structure is arranged in the thigh structure, and the walking foot is arranged in the shank structure; the supporting leg seat, the thigh structure, the shank structure and the walking foot are rotatably connected with each other. The thigh structure includes a thigh body and a thigh cylinder, and the lower leg structure includes a lower leg body and a lower leg cylinder. One end of the support leg is rotatably connected to the thigh body, and one end of the thigh body is connected to the head of the thigh cylinder. The support leg is connected to the tail of the thigh cylinder, so that the thigh body can rotate around the support leg. The other end of the thigh body is rotatably connected to the lower leg body, and the thigh body is connected to the tail of the lower leg cylinder. The top of the lower leg body is connected to the head of the lower leg cylinder, so that the lower leg body can move around the thigh body. The bottom of the lower leg body is rotatably provided with the walking foot, so that the walking foot can rotate around the lower leg body. The support leg includes a fifth connecting end and a sixth connecting end. The fifth connecting end is connected to the thigh body, and the sixth connecting end is connected to the tail of the thigh cylinder.

2. The hexapod biomimetic mobile device according to claim 1, characterized in that, The wheel mechanism includes a wheel steering cylinder, a wheel mounting seat, and a wheel assembly. The wheel steering cylinder is telescopically mounted on the wheel chassis. The wheel mounting seat is throttle-connected between the wheel steering cylinder and the wheel assembly, and is used to convert the telescopic motion of the wheel steering cylinder into the rotation of the wheel assembly.

3. The hexapod biomimetic mobile device according to claim 2, characterized in that, The wheel mounting seat is rotatably mounted on the wheel chassis and includes a first end and a second end opposite to each other. The first end of the wheel mounting seat is connected to the telescopic rod of the wheel steering cylinder, and the second end of the wheel mounting seat is connected to the wheel assembly. The telescopic rod can push and pull the wheel mounting seat to make the wheel mounting seat rotate, thereby driving the wheel assembly to steer.

4. The hexapod biomimetic mobile device according to claim 3, characterized in that, The wheel assembly is located at the bottom of the wheeled chassis. The wheel assembly includes a drive wheel, a driven wheel, and a hydraulic motor. The hydraulic motor is connected to the wheel mounting seat and is driven by the drive wheel. The drive wheel and the driven wheel are connected by a connecting shaft.

5. A robot, characterized in that It includes the six-legged bionic mobile device as described in any one of claims 1 to 4 and the working equipment mounted on the six-legged frame.

Images