A steerable quadruped wall-climbing robot device and method of use

Abstract

The application provides a kind of steerable four-foot wall-climbing robot device and method for using, including steering mechanism and multiple crawling legs arranged at the side of steering mechanism;Multiple crawling legs each include leg rack, first motor is arranged at the end of leg rack upper end close to steering mechanism, and guide rod is horizontally arranged at the bottom;First motor output end is connected with crank traveling mechanism, crank traveling mechanism includes crank, connecting rod and sliding rod that are sequentially hinged, one side of sliding rod is provided with connecting clamping plate that is slidingly connected with guide rod, other side is provided with hose, suction cup is arranged at the bottom, connecting rod is hinged at the top, and sliding rod and connecting clamping plate are vertically slidingly connected;Leg rack is arranged parallel to each other, steering mechanism and crawling leg are both connected with central processing unit;The crawling leg structure of the application is simple, strong in stability, can meet the demand of wall-climbing travel, and has low production and maintenance cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wall-climbing robots, in particular to a four-legged wall-climbing robot device capable of steering and a use method thereof. BACKGROUND

[0002] A wall-climbing robot is an extreme operation robot. In high-altitude and extreme environments, the wall-climbing robot can effectively reduce the risk of high-risk operations, improve work efficiency and reduce cost, and has a broad application prospect in the fields of shipbuilding, nuclear industry, fire fighting and rust cleaning.

[0003] The working place of the wall-climbing robot is mainly the vertical or inclined wall. In order to work on the inclined wall, the wall-climbing robot has two basic functions of wall adsorption and direction movement. The adsorption methods of the wall-climbing robot are various, which can be divided into negative pressure adsorption, magnetic adsorption, thrust adsorption and bionic adsorption. The application occasions and characteristics of different adsorption methods are obviously different. The negative pressure adsorption method can be divided into single suction cup method and multi-suction cup method. The single suction cup negative pressure adsorption has simple structure, but the obstacle crossing ability of the overall mechanism is poor. The multi-suction cup negative pressure adsorption has enhanced movement ability, but the mechanical structure is relatively complex. The weight of the wall-climbing robot is also large due to the increase of the structure. The working place of the magnetic adsorption type wall-climbing robot is the magnetic wall, and the application environment is limited. The thrust type wall-climbing robot has a wide range of applications, but the noise of the propeller or fan attached to the wall-climbing robot itself is large during use. The bionic wall-climbing robot has the characteristics of imitating the adsorption mechanism of the gecko during work. Although the energy consumption is small during use, the overall structure has high requirements. The movement methods of the wall-climbing robot mainly include track type, wheel type, frame type and foot type. The track type wall-climbing robot has stable movement during work, but the control method is difficult. The wheel type wall-climbing robot moves through the wheel foot, has the characteristics of flexibility and rapidness, but the obstacle crossing performance is not ideal. The frame type wall-climbing robot has simple control, but the movement is discontinuous and cannot be continuous.

[0004] The existing wall-climbing robot walking mechanism has a complex structure, and a plurality of mechanisms need to cooperate to complete a group of movements. The complex structure leads to high maintenance and production costs, and the stability of the structure is poor. SUMMARY

[0005] In view of the problems in the prior art, the present application provides a four-legged wall-climbing robot device capable of steering and a use method thereof, which has a simple structure and low cost.

[0006] The present application is realized by the following technical solutions:

[0007] A four-legged wall-climbing robot device capable of steering, comprising a steering mechanism and a plurality of climbing legs arranged on the side of the steering mechanism.

[0008] The plurality of crawling legs each include a leg frame, a first motor is arranged at one end of the leg frame close to one end of the steering mechanism, and a guide rod is horizontally arranged at the bottom of the leg frame; a crank traveling mechanism is connected to the output end of the first motor, the crank traveling mechanism includes a crank, a connecting rod and a sliding rod which are sequentially hinged, a connecting clamping plate which is slidingly connected with the guide rod is arranged on one side of the sliding rod, a hose is arranged on the other side of the sliding rod, a suction cup is arranged at the bottom of the sliding rod, the connecting rod is hinged to the top of the sliding rod, and the sliding rod is vertically slidingly connected with the connecting clamping plate;

[0009] The leg frames are arranged in parallel with each other, and the steering mechanism and the crawling legs are connected with a central processing unit.

[0010] Further, the region of the hose close to the steering mechanism is in a spiral structure.

[0011] Further, the steering mechanism includes an upper cover and a lower cover, coaxial first and second drive mechanisms are arranged between the upper cover and the lower cover, the first and second drive mechanisms are connected with at least two crawling legs which are arranged in a diagonal manner, and a clutch structure is arranged between the first and second drive mechanisms.

[0012] Further, the first drive mechanism includes a first planetary gear, a first sun gear and a second planetary gear which are meshed with each other, a second motor which is in transmission connection with the first planetary gear or the second planetary gear, and a first rotating arm which is fixedly connected with the upper cover and the first sun gear, and the first planetary gear is rotatably connected to the first rotating arm;

[0013] The second drive mechanism includes a third planetary gear, a second sun gear and a fourth planetary gear which are meshed with each other, a third motor which is in transmission connection with the third planetary gear or the fourth planetary gear, and a second rotating arm which is fixedly connected with the lower cover and the second sun gear, and the third planetary gear and the fourth planetary gear are rotatably connected to the second rotating arm;

[0014] The first sun gear and the second sun gear are provided with a clutch structure therebetween.

[0015] Further, the upper cover, the first sun gear, the second sun gear and the lower cover are sequentially penetrated by a same central support column; a central support sleeve is sleeved on the outer wall of the central support column, and the central support sleeve is penetrated by the first sun gear and the second sun gear at the upper and lower ends thereof and is fixedly connected to the upper cover and the lower cover, respectively.

[0016] Further, the free ends of the first rotating arm and the second rotating arm are fixedly connected with the crawling legs; the upper cover and the lower cover are respectively provided with a negative pressure air pump, the negative pressure air pump is connected to the crawling legs at the free ends of the corresponding first rotating arm or second rotating arm, and the suction cup is connected to the negative pressure air pump.

[0017] Further, the first rotating arm and the second rotating arm each comprise a support ring and support arms integrally arranged on both sides of the support ring.

[0018] The support rings of the first rotating arm and the second rotating arm are respectively clamped on the upper and lower ends of the central support sleeve, and the support arms are respectively fixedly connected with the upper cover and the first sun gear or the lower cover and the second sun gear through fastening screws.

[0019] Further, the central support sleeve is a hollow semicircular body structure with one side wall being arranged in abutment and the other side wall being arranged in abutment, and the region arranged in abutment is provided with a clutch structure.

[0020] Further, the central support sleeve is a hollow semicircular body structure with one side wall being arranged in abutment and the other side wall being arranged in abutment, and the region arranged in abutment is provided with a clutch structure.

[0021] The clutch structure comprises two clutch supports arranged at intervals along the vertical height, a fourth motor is fixedly connected between the two clutch supports, a cam is fixedly arranged at the output end of the fourth motor, and a push rod friction disc is vertically and slidingly arranged at one end of each of the two clutch supports, away from each other.

[0022] A use method of a four-legged wall-climbing robot device capable of turning, comprising the following steps:

[0023] When advancing or retreating: the first motor is started and drives the crank to rotate, the connecting rod slides horizontally in the sliding groove of the leg frame, and the connecting rod drives the sliding rod to slide along the direction of the guide rod under the action of the connecting clamping plate, at this time, the sliding rod moves horizontally forward and backward, and simultaneously moves up and down due to the rotation of the crank and the action of the hinged connecting rod, thereby lifting and advancing or retreating a single climbing support leg;

[0024] When turning, two climbing support legs arranged at opposite angles are lifted, the turning mechanism is started to make the two lifted climbing support legs complete half of the turning; another two climbing support legs arranged at opposite angles are lifted, the turning mechanism is started to make the other two lifted climbing support legs complete the remaining half of the turning, thereby completing a turning.

[0025] Compared with the prior art, the present application has the following beneficial technical effects:

[0026] The application provides a turnable four-legged wall-climbing robot device and a use method. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of the application.

[0028] Figure 2 It is a partial enlarged view of the clutch structure.

[0029] Figure 3 It is a structural schematic diagram of the clutch.

[0030] Figure 4 It is a structural schematic diagram of the turning mechanism.

[0031] Figure 5 It is a structural schematic diagram of the climbing leg.

[0032] Figure 6 It is a side view of the climbing leg structure.

[0033] Figure 7 It is a structural schematic diagram of the suction cup and hose connection structure of the climbing leg.

[0034] In the figure: 1, second rotating arm; 2, second motor; 3, upper cover; 5, negative pressure air pump; 7, first rotating arm; 8, connecting rod; 9, sliding rod; 13, lower cover; 14, first planetary gear; 15, first sun gear; 16, second planetary gear; 21, suction cup; 24, hose; 26, crank; 28, first motor; 31, snap ring; 32, central support sleeve; 33, central support column; 34, cam; 35, push rod friction disc; 36, fourth motor; 37, clutch support; 39, guide rod; 41, pipe joint; 42, sealing washer; 44, connecting clamping plate; 45, leg rack; 46, pin; 200, third motor. DETAILED DESCRIPTION

[0035] The application will be further described in detail below in combination with the drawings, which is an explanation but not a limitation of the application.

[0036] In order to better understand the technical scheme of the present application, the technical scheme in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts should fall within the protection scope of the present application.

[0037] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, system, product or device that includes a series of steps or units does not have to be limited to only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, products or devices.

[0038] The present application provides a four-legged wall-climbing robot device that can turn, as shown in Figure 1 、 Figure 5 and Figure 6 , comprising a turning mechanism and a plurality of climbing legs arranged on the side of the turning mechanism.

[0039] The plurality of climbing legs each comprise a leg frame 45, the upper end of the leg frame 45 is provided with a first motor 28 near one end of the turning mechanism, and the bottom is provided with a guide rod 39; the output end of the first motor 28 is connected with a crank traveling mechanism, the crank traveling mechanism comprises a crank 26, a connecting rod 8 and a sliding rod 9 which are sequentially hinged, one side of the sliding rod 9 is provided with a connecting clamping plate 44 which is slidingly connected with the guide rod 39, the other side is provided with a hose 24, the bottom is provided with a suction cup 21, and the top is hinged with the connecting rod 8, and the sliding rod 9 is vertically slidingly connected with the connecting clamping plate 44; further, the leg frame 45 is further provided with a sliding groove horizontally, and the side wall of the connecting rod 8 is provided with a pin 46 which cooperates with the sliding groove;

[0040] The leg frames 45 are arranged in parallel with each other, and the turning mechanism and the climbing legs are both connected with a central processing unit, specifically, the central processing unit adopts an Arduino mega 2560 main control board.

[0041] Preferably, the area of the hose 24 near the steering mechanism is spiral structure, used to buffer the relative displacement generated during the movement of the crawling mechanism, to prevent the hose 24 from being pulled off and the like.

[0042] Preferably, as shown in the drawings, Figure 4 The steering mechanism comprises an upper cover 3 and a lower cover 13, and a first driving mechanism and a second driving mechanism are coaxially arranged between the upper cover 3 and the lower cover 13, the first driving mechanism and the second driving mechanism are connected with at least two crawling legs arranged in a diagonal manner, and a clutch structure is arranged between the first driving mechanism and the second driving mechanism.

[0043] Further, as shown in the drawings, Figure 2 The first driving mechanism comprises a first planetary gear 14, a first sun gear 15 and a second planetary gear 16 meshing with each other, further comprises a second motor 2 in transmission connection with the first planetary gear 14 or the second planetary gear 16, and a first rotating arm 7 fixedly connected with the upper cover 3 and the first sun gear 15, the first rotating arm 7 is rotatably connected with the first planetary gear 14; it should be noted that the output end of the second motor 2 is provided with a bevel gear, and the bottom of the first planetary gear 14 or the second planetary gear 16 is provided with a bevel gear meshing with the bevel gear of the output end of the second motor 2, to complete the kinetic energy transmission;

[0044] The second driving mechanism comprises a third planetary gear, a second sun gear and a fourth planetary gear meshing with each other, further comprises a third motor 200 in transmission connection with the third planetary gear or the fourth planetary gear, and a second rotating arm 1 fixedly connected with the lower cover 13 and the second sun gear, the second rotating arm 1 is rotatably connected with the third planetary gear and the fourth planetary gear; it should be noted that the output end of the third motor 200 is provided with a bevel gear, and the bottom of the third planetary gear or the fourth planetary gear is provided with a bevel gear meshing with the bevel gear of the output end of the third motor 200, to complete the kinetic energy transmission;

[0045] The first sun gear 15 and the second sun gear are provided with a clutch structure.

[0046] Further, the upper cover 3, the first sun gear 15, the second sun gear and the lower cover 13 are sequentially penetrated by a same central support 33; a central support sleeve 32 is sleeved on the outer wall of the central support 33, and the upper and lower ends of the central support sleeve 32 are respectively penetrated by the first sun gear 15 and the second sun gear and are respectively fixedly connected to the upper cover 3 and the lower cover 13.

[0047] Further, the free ends of the first rotating arm 7 and the second rotating arm 1 are fixedly connected with crawling legs; the upper cover 3 and the lower cover 13 are respectively provided with a negative pressure air pump 5, the negative pressure air pump 5 is respectively connected to the crawling legs at the free ends of the first rotating arm 7 or the second rotating arm 1, and is connected to a suction cup 21, as Figure 7As shown, the air inlet cavity structure is arranged between the suction cup 21 and the sliding rod 9, and the side wall of the air inlet cavity structure is provided with an air inlet and a sealing washer 42, and the air inlet is connected to the hose 24 through the pipe joint 41.

[0048] Further, as shown in the drawings, Figure 2 The first rotating arm 7 and the second rotating arm 1 each include a support ring and a support arm integrally arranged on both sides of the support ring.

[0049] The support ring of the first rotating arm 7 and the second rotating arm 1 is clamped on the upper and lower ends of the central support sleeve 32, and the support arm is fixedly connected to the upper cover 3 and the first sun gear 15 or the lower cover 13 and the second sun gear 15 through fastening screws in sequence.

[0050] Further, the central support sleeve 32 is a hollow semicircular structure with one side wall abutting and the other side wall spaced apart, and the region between the spaced apart side walls is provided with a clutch structure, and the top is connected through a clasp ring 31, and the clutch mechanism is detachably connected to the side wall of the central support sleeve 32 through fastening screws.

[0051] Further, as shown in the drawings, Figure 3 The clutch structure is fixedly connected to the side wall of the central support sleeve 32; the clutch structure includes two clutch supports 37 spaced apart along the vertical height, and a fourth motor 36 is fixedly connected between the two clutch supports 37, a cam 34 is fixedly arranged at the output end of the fourth motor 36, and a push rod friction disc 35 is vertically and slidably arranged at one end of each of the two clutch supports 37, and the push rod friction disc 35 is away from each other, and the maximum vertical sliding distance of the push rod friction disc 35 is greater than the distance between the push rod friction disc 35 and the adjacent upper cover 3 or lower cover 13.

[0052] Preferably, the guide rod 39 is two, and each is slidably connected to the connecting clamping plate 44.

[0053] The first motor 28 is started and drives the crank 26 to rotate when advancing or retreating, the pin 46 of the connecting rod 8 slides horizontally in the sliding groove of the leg rack 45, and the sliding rod 9 slides in the direction of the guide rod 39 under the action of the connecting clamping plate 44, at this time, the sliding rod 9 moves forward and backward horizontally, and moves up and down due to the rotation of the crank 26 and the action of the hinged connecting rod 8, thereby lifting and advancing or retreating a single crawling leg, and the advancing or retreating depends on the rotation direction of the first motor 28, which can be set by those skilled in the art; it should be noted that the lifting and advancing or retreating of the two crawling legs arranged at opposite angles need to be consistent, and the other two crawling legs arranged at opposite angles are used for supporting to ensure that the moving crawling leg can advance or retreat; further, the length of the crank 26 determines the vertical lifting height of the crawling leg, and the length of the connecting rod 8 determines the horizontal moving distance of the crawling leg, which can be set according to actual production needs by those skilled in the art.

[0054] The application provides a use method of a steerable four-legged wall-climbing robot device, which comprises the following steps:

[0055] When advancing or retreating, the first motor 28 is started and drives the crank 26 to rotate, the connecting rod 8 slides horizontally in the sliding groove of the leg rack 45, and the sliding rod 9 slides in the direction of the guide rod 39 under the action of the connecting clamping plate 44, at this time, the sliding rod 9 moves forward and backward horizontally, and moves up and down due to the rotation of the crank 26 and the action of the hinged connecting rod 8, thereby lifting and advancing or retreating a single crawling leg.

[0056] When turning, two crawling legs arranged at opposite angles are lifted, the turning mechanism is started to make the two lifted crawling legs complete half of the turning; another pair of two crawling legs arranged at opposite angles are lifted, the turning mechanism is started to make the other pair of two lifted crawling legs complete the remaining half of the turning, thereby completing a turning.

[0057] Specifically, the first driving mechanism and the second driving mechanism in the steering mechanism control the steering of two crawling legs arranged diagonally to each other respectively, when the steering of ninety degrees is needed, the first driving mechanism and the second driving mechanism complete the steering of forty-five degrees respectively, and then realize the steering function; specifically, when the first driving mechanism steers, the second motor 2 starts and drives the first planetary gear 14 to rotate, the first planetary gear 14 drives the first sun gear 15 and the second planetary gear 16 to rotate in turn, at this time, the first rotating arm 7 keeps the same rotating direction with the first sun gear 15, starts to rotate 45 degrees, completes half of the rotation, it should be noted that before this process, the two crawling legs connected with the free end of the first rotating arm 7 need to be lifted, when half of the rotation is completed, the two crawling legs connected with the free end of the first rotating arm 7 need to be lowered to support the whole mechanism; further, in the steering process of the first driving mechanism, the fourth motor 36 in the clutch structure starts, and the long end of the cam 34 abuts against the push rod friction disc 35 close to the second driving mechanism side, so that the abutting end of the push rod friction disc 35 abuts against the second sun gear in the second driving mechanism, through the friction force, the rotation is prevented, and then the accurate steering can be realized; the steering process of the second driving mechanism is the same as that of the first driving mechanism, only the corresponding related components need to be started to complete the steering process of the preset ninety degrees.

[0058] It should be further pointed out that the negative pressure air pump 5 in the present application is in a state of being turned on all the time, and can also be intermittently turned on according to the movement of the corresponding crawling leg.

[0059] Finally, it should be pointed out that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A steerable quadruped wall-climbing robot device, characterized in that: It includes a steering mechanism and a plurality of crawling legs arranged on the side of the steering mechanism; The plurality of crawling legs each include a leg frame (45), wherein a first motor (28) is provided at one end of the upper end of the leg frame (45) close to the steering mechanism, and a guide rod (39) is horizontally provided at the bottom; an output end of the first motor (28) is connected to a crank travel mechanism, and the crank travel mechanism includes a crank (26), a connecting rod (8) and a sliding rod (9) that are hinged in sequence, and a connecting plate (44) that is slidably connected to the guide rod (39) is provided on one side of the sliding rod (9), a hose (24) is provided on the other side, a suction cup (21) is provided at the bottom, and a connecting rod (8) is hinged at the top, and the sliding rod (9) is vertically slidably connected to the connecting plate (44); The leg frames (45) are all arranged parallel to each other, and the steering mechanism and the crawling legs are all connected to a central processing unit; The steering mechanism comprises an upper cover (3) and a lower cover (13), a first drive mechanism and a second drive mechanism are coaxially arranged between the upper cover (3) and the lower cover (13), the first drive mechanism and the second drive mechanism are connected to at least two diagonally arranged crawling legs, and a clutch structure is provided between the first drive mechanism and the second drive mechanism; The first driving mechanism comprises a first planetary gear (14), a first sun gear (15) and a second planetary gear (16) meshing with each other, and further comprises a second motor (2) drivingly connected to the first planetary gear (14) or the second planetary gear (16), and a first rotating arm (7) fixedly connected to the upper cover (3) and the first sun gear (15), wherein the first planetary gear (14) is rotatably connected to the first rotating arm (7); The second driving mechanism comprises a third planetary gear, a second sun gear and a fourth planetary gear meshing with each other, and further comprises a third motor (200) drivingly connected to the third planetary gear or the fourth planetary gear, and a second rotating arm (1) fixedly connected to the lower cover (13) and the second sun gear, wherein the third planetary gear and the fourth planetary gear are rotatably connected to the second rotating arm (1); A clutch structure is provided between the first sun gear (15) and the second sun gear.

2. A steerable quadruped wall-climbing robot device according to claim 1, characterized in that: The area of ​​the hose (24) close to the steering mechanism is a spiral structure.

3. The steerable quadruped wall-climbing robot device according to claim 1, characterized in that: The axes of the upper cover (3), the first sun gear (15), the second sun gear and the lower cover (13) are sequentially penetrated by a common central pillar (33); the outer wall of the central pillar (33) is provided with a central support sleeve (32); the upper and lower ends of the central support sleeve (32) respectively penetrate the first sun gear (15) and the second sun gear and are respectively fixed to the upper cover (3) and the lower cover (13).

4. A steerable quadruped wall-climbing robot device according to claim 3, characterized in that: The free ends of the first rotating arm (7) and the second rotating arm (1) are both fixedly connected to crawling legs; the upper cover (3) and the lower cover (13) are respectively provided with negative pressure air pumps (5), and the negative pressure air pumps (5) are respectively connected to the crawling legs at the free ends of the corresponding first rotating arm (7) or the second rotating arm (1), and connected to the suction cups (21).

5. The steerable quadruped wall-climbing robot device according to claim 4, characterized in that: The first rotating arm (7) and the second rotating arm (1) both comprise a support ring and support arms integrally arranged on both sides of the support ring; The support rings of the first rotating arm (7) and the second rotating arm (1) are respectively clamped to the upper and lower ends of the central support sleeve (32), and the support arms are respectively fixedly connected to the upper cover (3) and the first sun gear (15) or the lower cover (13) and the second sun gear in sequence by fastening screws.

6. The steerable quadruped wall-climbing robot device according to claim 3, characterized in that: The central support sleeve (32) is a hollow semicircular structure with two side walls connected to each other and the other side walls arranged alternately, and the alternately arranged areas are provided with clutch structures.

7. The steerable quadruped wall-climbing robot device according to claim 6, characterized in that: The side wall of the central support sleeve (32) is fixedly connected with a clutch structure; The clutch structure comprises two clutch supports (37) arranged at intervals along a vertical height, a fourth motor (36) being fixedly connected between the two clutch supports (37), a cam (34) being fixedly arranged at the output end of the fourth motor (36), and push rod friction disks (35) being respectively arranged at one end of the two clutch supports (37) close to the cam (34) in a vertically sliding manner and being spaced apart from each other, wherein the maximum vertical sliding distance of the push rod friction disk (35) is equal to or greater than the distance between the push rod friction disk (35) and the adjacent upper cover (3) or lower cover (13).

8. A method for using a steerable quadruped wall-climbing robot device, characterized in that: A steerable quadruped wall-climbing robot device according to any one of claims 1 to 7, comprising the following steps: When moving forward or backward: the first motor (28) is started and drives the crank (26) to rotate, the connecting rod (8) slides horizontally in the slide groove of the leg frame (45), and at the same time, the connecting rod (8) drives the sliding rod (9) to slide along the direction of the guide rod (39) under the action of the connecting card (44). At this time, the sliding rod (9) moves forward and backward in the horizontal direction, and due to the rotation of the crank (26) and the action of the hinged connecting rod (8), it moves up and down at the same time, completing the lifting and moving forward or backward of a single crawling leg; When turning, lift up two crawling legs set diagonally to each other, start the steering mechanism so that the two lifted crawling legs complete half of the turn; lift up another pair of two crawling legs set diagonally to each other, start the steering mechanism so that the other pair of lifted crawling legs complete the remaining half of the turn, and complete one turn.

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