A multifunctional hexapod robot adapting to irregular terrain

Abstract

This invention belongs to the field of hexapod robot technology, specifically a multifunctional hexapod robot adaptable to irregular terrain, comprising a plate; multiple sets of motors are fixedly connected to the plate; gears are mounted on the motors; a first rotating rod is connected to the gears; a rotating gear is fixedly connected to the side end of the first rotating rod; a first leg is mounted on the side end of the rotating gear; a second rotating rod is rotatably connected to the plate; a second leg is mounted on the side end of the second rotating rod; a connecting rod connects the first and second legs; and a connecting rod is hinged to the first and second legs. The rotating gear is rotated by the output of the motors, and the rotation of the rotating gear causes the first, second, and third legs to rotate together, thereby moving the plate. This allows the plate to move on soft ground or severely uneven terrain, which is more convenient, faster, and energy-efficient than traditional wheeled movement methods.

Description

Technical Field

[0001] This invention belongs to the field of hexapod robot technology, specifically a multifunctional hexapod robot that adapts to irregular terrain. Background Technology

[0002] A robot is an intelligent machine capable of semi-autonomous or fully autonomous operation. Robots possess basic characteristics such as perception, decision-making, and execution, and can assist or even replace humans in completing dangerous, arduous, and complex tasks, improving work efficiency and quality, serving human life, and expanding or extending the scope of human activities and capabilities.

[0003] Hexapods, also known as spider robots, are a type of multi-legged robot. As the name suggests, biomimetic hexapods are designed in an ideal way, drawing inspiration from nature. Irregular and rugged terrain are common characteristics of these environments, which limits the application of wheeled and tracked robots.

[0004] Currently, traditional wheeled locomotion has considerable advantages when traveling on relatively flat terrain, with fast and stable movement and relatively simple structure and control. However, energy consumption will increase significantly when traveling on uneven ground, and the effect of wheels will be severely lost on soft ground or severely rugged terrain, greatly reducing mobility. Here we provide a multi-functional hexapod robot that can adapt to irregular terrain. Summary of the Invention

[0005] To address the aforementioned problems, this invention proposes a multifunctional hexapod robot adapted to irregular terrain.

[0006] The technical solution adopted by this invention to solve its technical problem is as follows: A multifunctional hexapod robot adaptable to irregular terrain, comprising a plate; multiple sets of motors fixedly connected to the plate; gears mounted on the motors; a first rotating rod connected to the gears; a rotating gear fixedly connected to the side end of the first rotating rod; a first leg mounted on the side end of the rotating gear; a second rotating rod rotatably connected to the plate; a second leg mounted on the side end of the second rotating rod; a connecting rod connecting the first and second legs; a connecting rod hinged to the first and second legs; a connecting rod rotatably connected to the rotating gear; a third leg rotatably connected to the connecting rod; a rotating rod fixedly connected to the plate; a third leg rotatably connected to the rotating rod; the rotating rod, the first leg, and the connecting rod are all connected to the rod at the side end of the rotating gear.

[0007] Preferably, a rotating base is rotatably connected to the plate; a crane housing is fixedly connected to the top of the rotating base; a No. 1 cylinder is fixedly connected to the crane housing; a hinge rod is fixedly connected to the crane housing; a crane rod is hinged to the hinge rod; and a crane head is rotatably connected to the crane rod.

[0008] Preferably, a limiting slide rail is fixedly connected to the plate; a storage plate is slidably connected to the limiting slide rail; and a wire lever is rotatably connected to the plate.

[0009] Preferably, a second cylinder is fixedly connected to the plate; a first support rod is slidably connected to the second cylinder; a second support rod is hinged to the first support rod; and multiple sets of positioning connecting rods are hinged to the second support rod and the first support rod.

[0010] Preferably, the plate body is provided with a first limiting connecting rod; a positioning plug is fixedly connected to the first limiting connecting rod; a second limiting connecting rod is rotatably connected to the positioning plug; a second limiting connecting rod is connected between the first support leg and the positioning plug; and a second limiting connecting rod is rotatably connected to the first support leg.

[0011] Preferably, the bottom ends of the second and third support legs are fixedly connected to anti-slip plates; the bottom ends of the anti-slip plates are fixedly connected to multiple sets of friction springs.

[0012] Preferably, a shock-absorbing block is fixed to the side end of the limiting slide rail; the shock-absorbing block is made of rubber.

[0013] Preferably, a reinforcing support plate is fixedly connected to the top of the plate; a limiting connecting rod is hinged to the reinforcing support plate, and multiple sets of reinforcing support plates are fixedly connected to the top of the plate.

[0014] The beneficial effects of this invention are:

[0015] 1. This invention provides a multifunctional hexapod robot that adapts to irregular terrain. The output of the motor causes the rotating gear to rotate, and the rotation of the rotating gear causes the first, second, and third legs to rotate together, thereby moving the plate. The plate can move on soft ground or severely rugged terrain, which is more convenient, faster, and reduces energy consumption than the traditional wheeled movement method.

[0016] 2. This invention provides a multifunctional hexapod robot that adapts to irregular terrain. The rotating base can rotate 360° via the crane housing, facilitating the collection of all objects around the tail of the robot. The output of the first cylinder can control the rotation of the hinge rod. The rotation of the hinge rod causes the front end of the crane rod to be raised and lowered, thereby increasing the collection range of the crane head. Through the cooperation of the crane rod and the first cylinder, the crane head can collect surrounding items. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0018] Figure 1 This is the first perspective view of this embodiment;

[0019] Figure 2 This is the second perspective view of Embodiment 1;

[0020] Figure 3 This is a three-dimensional view of the structure of cylinder No. 2 in this embodiment.

[0021] Figure 4 This is a front view of Embodiment 1;

[0022] Figure 5 for Figure 1 Enlarged view of point A in the middle;

[0023] Figure 6 for Figure 4 Enlarged view of point B in the middle;

[0024] Figure 7 This is a schematic diagram of another embodiment of the anti-slip plate structure in Example 2;

[0025] Legend:

[0026] 1. Plate body; 12. Motor; 13. Rotating rod No. 1; 14. Rotating gear plate; 15. Support leg No. 1; 16. Support leg No. 2; 161. Connecting rod; 162. Rotating rod; 163. Support leg No. 3; 17. Connecting fixed rod; 18. Rotating rod No. 2; 19. Rotating base; 20. Crane housing; 21. Cylinder No. 1; 22. Hinge rod; 23. Crane rod; 24. Crane head; 25. Limiting slide rail; 26. Storage plate; 27. Screw lever; 28. Cylinder No. 2; 29. ​​Support rod No. 1; 30. Support rod No. 2; 31. Positioning connecting rod; 32. Limiting connecting rod No. 1; 33. Positioning insert rod; 34. Limiting connecting rod No. 2; 35. Reinforcing support plate; 36. Anti-slip plate; 37. Friction spring; 38. Shock absorber block; 39. Friction base plate. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Example 1

[0029] Please see Figure 1-6As shown, a multifunctional hexapod robot adaptable to irregular terrain includes a plate 1; multiple sets of motors 12 are fixedly connected to the plate 1; gears are mounted on the motors 12; a first rotating rod 13 is connected to the gears; a rotating gear disk 14 is fixedly connected to the side end of the first rotating rod 13; a first support leg 15 is mounted on the side end of the rotating gear disk 14; a second rotating rod 18 is rotatably connected to the plate 1; a second support leg 16 is mounted on the side end of the second rotating rod 18; the first support leg 15... A connecting rod 17 is connected between the first support leg 15 and the second support leg 16; the connecting rod 17 is hinged to the first support leg 15 and the second support leg 16; a connecting rod 161 is rotatably connected to the rotating gear disk 14; a third support leg 163 is rotatably connected to the connecting rod 161; a rotating rod 162 is fixed to the plate 1; a third support leg 163 is rotatably connected to the rotating rod 162; the rotating rod 162, the first support leg 15, and the connecting rod 17 are connected together to the side rod of the rotating gear disk 14.During operation, traditional wheeled mobility has significant advantages on relatively flat terrain, offering rapid and stable movement with a simpler structure and control. However, energy consumption increases dramatically on uneven ground. On soft ground or severely rugged terrain, the wheels become ineffective, significantly reducing mobility. During operation, the operator starts motor 12, which is equipped with gears. The output of motor 12 causes the gears to rotate, which in turn rotates the first rotating rod 13. The rotation of the first rotating rod 13... The rotation of the rotating gear 14 causes the first support leg 15, the connecting rod 17, and the connecting rod 161 to rotate together. The rotation of the connecting rod 161 causes the third support leg 163 to rotate. The rotating rod 162 can limit the position of the third support leg 163. The rotation of the connecting rod 17 causes the second support leg 16 to rotate together. The second support leg 16, the connecting rod 17, and the first support leg 15 are hinged. The first support leg 15 rotates through the rotating gear 14, thereby causing the first support leg 15, the second support leg 16, and the third support leg to rotate together. The first outrigger 15, the second outrigger 16, and the third outrigger 163 rotate together. Their rotation directions and angles are not synchronized. The rotation of these three outriggers allows the plate 1 to move. The rotation of the second rotating rod 18 restricts the rotation position of the second outrigger 16. The plate 1 is driven by two motors to ensure sufficient power for overall movement. Gear transmission is used. The motor 12 is placed above the first rotating rod 13 to save space and allow for sufficient clearance. The drive mechanism consists of cranks on both sides of the front end and the front and rear legs. The six legs, linked together with the middle leg on the other side, achieve simultaneous contact with the ground at three points. Divided into two groups, they alternately move forward. Based on this principle, motor 12 is reversed to achieve backward movement. The output of motor 12 causes the rotating gear 14 to rotate, which in turn causes the first support leg 15 and the second support leg 16 to rotate together, thus moving the plate 1. This allows the plate 1 to move on soft ground or severely uneven terrain, making it more convenient, faster, and energy-efficient than traditional wheeled movement methods.

[0030] A rotating base 19 is rotatably connected to the plate 1; a crane housing 20 is fixedly connected to the top of the rotating base 19; a first cylinder 21 is fixedly connected to the crane housing 20; a hinge rod 22 is fixedly connected to the crane housing 20; a crane rod 23 is hinged to the hinge rod 22; a crane head 24 is rotatably connected to the crane rod 23; the plate 1 is driven by two motors to ensure sufficient power for overall movement, and uses gear transmission. The motor 12 is placed above the first rotating rod 13 to save space and leave sufficient space. The driving part consists of cranks on both sides of the front end and two cranks at the front and rear ends. The legs are linked together with the middle leg on the other side to achieve three points of contact with the ground at the same time. The six legs are divided into two groups and alternate back and forth to achieve forward movement. Based on the above principle, the motor 12 is reversed to achieve backward movement. When it is necessary to move the items, the crane housing 20 can rotate 360° through the rotating base 19 to facilitate the collection of all the items to be collected around the tail of the machine. The output of the first cylinder 21 can control the rotation of the hinge rod 22. The rotation of the hinge rod 22 causes the front end of the crane rod 23 to be raised and lowered, thereby making the crane head 24 have a larger collection range.

[0031] A limiting slide rail 25 is fixedly connected to the plate 1; a storage plate 26 is slidably connected to the limiting slide rail 25; a wire lever 27 is rotatably connected to the plate 1; when it is necessary to move the items, the crane housing 20 can rotate 360° via the rotating base 19, making it convenient to collect all the items to be collected around the rear of the machine body. The output of the first cylinder 21 can control the rotation of the hinge rod 22. The rotation of the hinge rod 22 causes the front end of the crane rod 23 to be raised and lowered, thereby increasing the collection range of the crane head 24. The items are then lifted by the crane. After the head 24 collects the items, when it is necessary to store the items on the crane head 24, the operator starts the screw lever 27 to rotate. The storage plate 26 and the screw lever 27 are connected by a screw rod and nut pair. The rotation of the screw lever 27 will cause the storage plate 26 to slide. The limiting slide rail 25 can limit the sliding direction and range of the storage plate 26. The storage plate 26 can slide on the limiting slide rail 25. At this time, the crane head 24 can place the items on the storage plate 26. The storage plate 26 can then retract into the interior of the plate body 1 through the cooperation of the screw lever 27 and the limiting slide rail 25.

[0032] A second cylinder 28 is fixedly connected to the plate 1; a first support rod 29 is slidably connected to the second cylinder 28; a second support rod 30 is hinged to the first support rod 29; multiple sets of positioning connecting rods 31 are hinged to the second support rod 30 and the first support rod 29; when it is necessary to move the items, the crane housing 20 can rotate 360° through the rotating base 19, making it convenient to collect all the items to be collected around the rear of the machine body. The output of the first cylinder 21 can control the rotation of the hinge rod 22. The rotation of the hinge rod 22 causes the front end of the crane rod 23 to be raised and lowered, thereby increasing the collection range of the crane head 24. After the items are collected by the crane head 24, when it is necessary to store the items on the crane head 24, the operator starts the screw lever 27 to rotate. The storage plate 26 and the screw lever 27 are connected by a screw and nut pair. The rotation of the screw lever 27 will cause... The storage plate 26 slides, and the limiting slide rail 25 can limit the sliding direction and range of the storage plate 26. The storage plate 26 can slide on the limiting slide rail 25. At this time, the crane head 24 can place the item on the storage plate 26. The storage plate 26 can then retract into the plate body 1 through the cooperation of the screw lever 27 and the limiting slide rail 25. Before the crane housing 20 starts working, the second cylinder 28 is started. The output of the second cylinder 28 causes the first support rod 29 to slide. The sliding of the first support rod 29 will cause the second support rod 30 to rotate. The movement of the second support rod 30 and the first support rod 29 will cause the positioning connecting rod 31 to rotate. At this time, the second support rod 30 and the first support rod 29 are in the open state. The first support rod 29 and the second support rod 30 mainly protect the internal structure and limit the rotation of the crane rod 23 when not in the open state to avoid accidents.

[0033] The plate 1 is provided with a first limiting connecting rod 32; a positioning plug 33 is fixedly connected to the first limiting connecting rod 32; a second limiting connecting rod 34 is rotatably connected to the positioning plug 33; the second limiting connecting rod 34 is connected between the first support leg 15 and the positioning plug 33; the second limiting connecting rod 34 is rotatably connected to the first support leg 15; the first limiting connecting rod 32 can limit the position of the second limiting connecting rod 34; the second limiting connecting rod 34 and the first limiting connecting rod 32 are connected through the positioning plug 33; the other end of the second limiting connecting rod 34 is connected to the first support leg 15; the second limiting connecting rod 34 can limit the position of the first support leg 15; the first limiting connecting rod 32 and the second limiting connecting rod 34 can limit the position and rotation of the first support leg 15, thereby ensuring the rotation of the first support leg 15; the normal rotation of the first support leg 15 can move the plate 1.

[0034] The bottom ends of the second support leg 16 and the third support leg 163 are fixedly connected to anti-slip plates 36; the bottom ends of the anti-slip plates 36 are fixedly connected to multiple sets of friction springs 37; the plate body 1 is driven by dual motors to ensure sufficient power for overall movement, and uses gear transmission. The motor 12 is placed above the first rotating rod 13 to save space and leave enough space. The driving part is the cranks on both sides of the front end. The front and rear legs and the middle leg on the other side form a group of linkages to achieve three points of contact with the ground at the same time. The six legs are divided into two groups, alternating back and forth, thereby realizing forward movement. According to the above principle, the motor 12 is reversed to realize backward movement. The second support leg 16 and the first support leg 163 are fixedly connected to the anti-slip plates 36. The bottom of each of the outriggers 5 is equipped with an anti-slip plate 36. The anti-slip plate 36 is equipped with multiple sets of friction springs 37. The friction springs 37 are divided into two sets on the anti-slip plate 36, and the directions of each set are opposite. The friction springs 37 are made of rubber and have good anti-slip properties. When the outrigger 15 and the outrigger 2 16 travel on a smooth road surface, the friction springs 37 will adhere to the ground when the outrigger 2 16 first contacts the ground. The rubber of the friction springs 37 can improve the grip of the outrigger 2 16. The two sets of friction springs 37 in opposite directions can provide grip for uphill and downhill slopes, thereby reducing the slippage of the outrigger 2 16.

[0035] The limiting slide rail 25 is fixedly connected to a shock absorber 38 at its side end; the shock absorber 38 is made of rubber; the plate 1 is driven by two motors to ensure that the overall movement has sufficient power. The driving part is the cranks on both sides of the front end, and the front and rear legs and the middle leg on the other side form a group to achieve three points of contact with the ground at the same time. The six legs are divided into two groups, which alternately move back and forth to achieve forward movement. According to the above principle, the motor 12 is reversed to achieve backward movement. The limiting slide rail 25 is located at the front of the plate 1, and the crane rod 23 can be rotated and adjusted. If the plate 1 collides with other objects during the movement, the limiting slide rail 25 will be collided with first. The rubber material of the shock absorber 38 has good elasticity. The shock absorber 38 can improve the protection of the limiting slide rail 25 and reduce the damage to the limiting slide rail 25 caused by accidental collisions.

[0036] A reinforcing support plate 35 is fixedly connected to the top of the plate 1; a first limiting connecting rod 32 is hinged to the reinforcing support plate 35, and multiple sets of reinforcing support plates 35 are fixedly connected to the top of the plate 1; the first limiting connecting rod 32 can limit the position of the second limiting connecting rod 34, and the second limiting connecting rod 34 and the first limiting connecting rod 32 are connected by a positioning insert 33; the other end of the second limiting connecting rod 34 is connected to the first support leg 15, and the second limiting connecting rod 34 can limit the position of the first support leg 15. The position of the first leg 15, the first limiting connecting rod 32 and the second limiting connecting rod 34 can limit the position and rotation of the first leg 15, thereby ensuring the rotation of the first leg 15. The normal rotation of the first leg 15 can move the plate 1. Since there are too many structures on the plate 1, multiple sets of reinforcing support plates 35 can improve the stability of the plate 1. The reinforcing support plates 35 can limit the position of the first limiting connecting rod 32. The first limiting connecting rod 32 can be hinged and rotated on the reinforcing support plates 35.

[0037] Example 2

[0038] Please see Figure 7 As shown in the comparative embodiment one, as another implementation of the present invention, the friction base plate 39 is fixedly connected to the bottom end of the second outrigger 16; during operation, both the bottom ends of the second outrigger 16 and the first outrigger 15 are provided with anti-slip plates 36, and the anti-slip plates 36 are provided with multiple sets of friction springs 37. The friction springs 37 are divided into two groups on the anti-slip plates 36, and the directions of each group are opposite. The friction springs 37 are made of rubber and have good anti-slip properties. When the first outrigger 15 and the second outrigger 16 travel on a smooth road surface, the second outrigger 16 first contacts the ground. When the outrigger 16 is in motion, the friction spring 37 will adhere to the ground. The rubber of the friction spring 37 can improve the grip of the second outrigger 16. The two sets of friction springs 37 in opposite directions can provide grip for uphill and downhill slopes. Thus, the friction springs 37 can reduce the slippage of the second outrigger 16. The friction base plate 39 is made of plastic frosted material. When the second outrigger 16 is in motion, the friction base plate 39 will contact the ground. The second outrigger 16 can improve the grip through the friction base plate 39 and reduce the slippage of the second outrigger 16 on smooth ground.

[0039] Working Principle: Traditional wheeled locomotion has significant advantages on relatively flat terrain, offering rapid and stable movement with simple structure and control. However, energy consumption increases dramatically on uneven ground. On soft or severely rugged terrain, the wheels become ineffective, significantly reducing mobility. During operation, the operator starts motor 12, which is equipped with gears. The output of motor 12 causes the gears to rotate, which in turn rotates rotating rod 13. This rotation, in turn, rotates rotating gear 14, which in turn rotates supporting leg 15, connecting rod 17, and connecting rod 161 together. The rotation of connecting rod 161 then rotates supporting leg 3... The rotation of outrigger 163, along with the rotation rod 162, limits the position of outrigger 163. The rotation of the connecting rod 17 causes outrigger 16 to rotate as well. Outrigger 16, the connecting rod 17, and outrigger 15 are hinged. Outrigger 15 rotates via a rotating gear 14, causing outrigger 15, outrigger 16, and outrigger 163 to rotate together. The rotation directions and angles of outrigger 15, outrigger 16, and outrigger 163 are asynchronous. The rotation of outrigger 15, outrigger 16, and outrigger 163 allows plate 1 to move. The rotation of the second rotating rod 18 limits the rotation position of outrigger 16. Plate 1 is driven by dual motors to ensure sufficient power for overall movement, and a gear system is used. The wheel drive system places the motor 12 above the first rotating rod 13 to save space and leave sufficient room. The drive mechanism consists of cranks on both sides of the front end. The front and rear legs are linked with the middle leg on the other side, achieving simultaneous contact with the ground at three points. The six legs are divided into two groups, alternating back and forth to achieve forward movement. Based on the above principle, the motor 12 is reversed to achieve backward movement. The output of the motor 12 causes the rotating gear 14 to rotate, which in turn causes the first support leg 15 and the second support leg 16 to rotate together, thus moving the plate 1. This allows the plate 1 to move on soft ground or severely uneven terrain, which is more convenient, faster, and reduces energy consumption than traditional wheel-based movement methods. The plate 1 uses a dual-motor drive to ensure overall movement. Sufficient power and gear transmission are used. The motor 12 is placed above the first rotating rod 13 to save space and leave enough room. The drive part consists of cranks on both sides of the front end. The front and rear legs and the middle leg on the other side form a group to achieve three points of contact with the ground at the same time. The six legs are divided into two groups and alternate back and forth to achieve forward movement. Based on the above principle, the motor 12 is reversed to achieve backward movement. When it is necessary to move the items, the crane housing 20 can rotate 360° through the rotating base 19 to facilitate the collection of all the items to be collected around the rear of the machine. The output of the first cylinder 21 can control the rotation of the hinge rod 22. The rotation of the hinge rod 22 causes the front end of the crane rod 23 to be raised and lowered, thereby increasing the collection range of the crane head 24.

[0040] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0041] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A multifunctional hexapod robot adapted to irregular terrain, characterized in that: The system includes a plate (1); multiple sets of motors (12) are fixedly connected to the plate (1); gears are mounted on the motors (12); a first rotating rod (13) is connected to the gears; a rotating gear disk (14) is fixedly connected to the side end of the first rotating rod (13); a first support leg (15) is mounted on the side end of the rotating gear disk (14); a second rotating rod (18) is rotatably connected to the plate (1); a second support leg (16) is mounted on the side end of the second rotating rod (18); and a connection is made between the first support leg (15) and the second support leg (16). Connecting rod (17); connecting rod (17) is hinged to the first support leg (15) and the second support leg (16); connecting rod (161) is rotatably connected to the rotating gear disk (14); third support leg (163) is rotatably connected to the connecting rod (161); rotating rod (162) is fixed to the plate (1); third support leg (163) is rotatably connected to the rotating rod (162); rotating rod (162), first support leg (15) and connecting rod (17) are connected together to the side rod of rotating gear disk (14); A limiting slide rail (25) is fixedly connected to the plate (1); a storage plate (26) is slidably connected to the limiting slide rail (25); and a wire lever (27) is rotatably connected to the plate (1). A second cylinder (28) is fixedly connected to the plate (1); a first support rod (29) is slidably connected to the second cylinder (28); a second support rod (30) is hinged to the first support rod (29); and multiple sets of positioning connecting rods (31) are hinged to the second support rod (30) and the first support rod (29). The plate (1) is provided with a first limiting connecting rod (32); a positioning plug (33) is fixedly connected to the first limiting connecting rod (32); a second limiting connecting rod (34) is rotatably connected to the positioning plug (33); a second limiting connecting rod (34) is connected between the first support leg (15) and the positioning plug (33); a second limiting connecting rod (34) is rotatably connected to the first support leg (15). A reinforcing support plate (35) is fixedly connected to the top of the plate (1); a first limiting connecting rod (32) is hinged to the reinforcing support plate (35), and multiple sets of reinforcing support plates (35) are fixedly connected to the top of the plate (1).

2. The multifunctional hexapod robot adaptable to irregular terrain according to claim 1, characterized in that: A rotating base (19) is rotatably connected to the plate (1); a crane housing (20) is fixedly connected to the top of the rotating base (19); a No. 1 cylinder (21) is fixedly connected to the crane housing (20); a hinge rod (22) is fixedly connected to the crane housing (20); a crane rod (23) is hinged to the hinge rod (22); and a crane head (24) is rotatably connected to the crane rod (23).

3. The multifunctional hexapod robot adaptable to irregular terrain according to claim 1, characterized in that: The bottom ends of the second support leg (16) and the third support leg (163) are fixed with anti-slip plates (36); the bottom ends of the anti-slip plates (36) are fixed with multiple sets of friction springs (37).

4. A multifunctional hexapod robot adaptable to irregular terrain according to claim 1, characterized in that: The side end of the limiting slide rail (25) is fixed with a shock-absorbing block (38); the shock-absorbing block (38) is made of rubber.

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