Leg structure of a crawling multi-legged robot

Abstract

The present invention relates to a leg structure of a crawling multi-legged robot, belonging to the technical field of mobile vehicles, and solves the problem in the prior art that when a mechanical leg-type mobile platform is in a complex environment such as a mountain, and an obstacle suddenly appears in the forward direction, the existing leg-structured mobile platform cannot avoid it, which may cause the mobile platform to overturn. The present invention includes a swing unit, a thigh unit and a calf unit, one end of the swing unit is connected to the mobile platform, the other end of the swing unit is connected to the thigh unit, and the calf unit is arranged on the thigh unit. The output shaft of the steering motor of the leg structure of the present invention can be connected to the steering block, and the swing unit is rotated around the output shaft of the steering motor, so that the leg structure swings back and forth on both sides of the mobile platform, and the leg structure can bypass obstacles to ensure that the mobile platform can smoothly cross obstacles, which is more suitable for mountainous environments.

Description

Technical Field

[0001] The invention belongs to the technical field of mobile vehicles, and in particular relates to a leg structure of a crawling multi-legged robot. Background Art

[0002] At present, when conducting power operation and maintenance operations in the field, traditional wheeled and tracked vehicle platforms are difficult to reach the operation site directly, or need to reach the operation site in a destructive manner, which not only affects the operation and maintenance efficiency of the power system and the normal maintenance of equipment, but also causes a lot of economic losses.

[0003] Existing mechanical leg mobile platform solutions mostly use the thigh to swing the calf back and forth to realize the platform's forward movement. However, the thigh and calf can only swing in one plane in the forward direction. In a complex environment such as a mountain, if an obstacle suddenly appears in the forward direction, the thigh and calf swinging solution cannot avoid it, which may cause the mobile platform to overturn.

[0004] Therefore, there is an urgent need for a leg structure of a crawling multi-legged robot to solve the problem that when the mechanical leg-type mobile platform in the existing technology is in a complex environment such as mountains, an obstacle suddenly appears in the forward direction and the existing leg-structured mobile platform cannot avoid it, which may cause the mobile platform to overturn. Summary of the invention

[0005] In view of the above analysis, the present invention aims to provide a leg structure of a crawling multi-legged robot to solve the problem that when the mechanical leg-type mobile platform in the prior art is in a complex environment with undulating terrain such as mountains, and an obstacle suddenly appears in the forward direction, the existing leg-structured mobile platform cannot avoid it, which may cause the mobile platform to overturn.

[0006] The purpose of the present invention is mainly achieved through the following technical solutions:

[0007] A leg structure of a crawling multi-legged robot, comprising a swing unit, a thigh unit and a shank unit, wherein one end of the swing unit is connected to a mobile platform, the other end of the swing unit is connected to the thigh unit, the shank unit is arranged on the thigh unit, the swing unit can swing, and drive the thigh unit and the shank unit to swing, thereby causing the mobile platform to move;

[0008] The swing unit comprises a transverse support arm, a first motor, a driving wheel, a transmission block, a transmission rod, a longitudinal support arm, a support arm rotating shaft, a transmission wheel group and a steering motor, wherein the first motor is arranged on the transverse support arm, the driving wheel is fixedly connected to the output shaft of the first motor, and the transmission wheel group is arranged between the driving wheel and the transmission block; the transmission block is arranged on the transverse support arm and can slide along the transverse support arm, the first motor can drive the driving wheel to rotate, and drive the transmission block to reciprocate through the transmission wheel group;

[0009] The support arm shaft is rotatably connected to the longitudinal support arm, one end of the longitudinal support arm is rotatably connected to the transverse support arm, the other end of the longitudinal support arm is connected to the thigh unit, one end of the transmission rod is hinged to the transmission block, and the other end of the transmission rod is connected to the support arm shaft;

[0010] The transmission wheel set includes a first transmission wheel and a second transmission wheel, the first transmission wheel and the second transmission wheel are fixedly connected, and the first transmission wheel and the second transmission wheel are coaxial, the first transmission wheel can be connected to the driving wheel, and the second transmission wheel can be connected to the transmission block, and the diameter of the first transmission wheel is larger than the diameter of the second transmission wheel. The transmission wheel set is used to reduce the speed of the driving wheel;

[0011] The steering motor is connected to the mobile platform, and the output shaft of the steering motor can be connected to the transverse arm, and the swing unit rotates around the output shaft of the steering motor, so that the leg structure swings back and forth on both sides of the mobile platform, allowing the leg structure to bypass obstacles.

[0012] Furthermore, it also includes a shock absorbing unit, which includes a first end plate, a second end plate, a pulling rod, a first magnetic plate and a second magnetic plate, the first end plate is connected to the calf unit, the two ends of the pulling rod are respectively connected to the first end plate and the second end plate, the first magnetic plate is arranged on the first end plate, the second magnetic plate is arranged on the second end plate, and the first magnetic plate has the same magnetic pole on the side opposite to the second magnetic plate.

[0013] Furthermore, the thigh unit includes a second motor and a first rotating rod, the second motor is connected to the longitudinal support arm, the output shaft of the second motor is connected to the first rotating rod, and the second motor is used to drive the first rotating rod to rotate, so that the calf unit rotates around the output shaft of the second motor.

[0014] Furthermore, it also includes a telescopic driving unit, the telescopic driving unit includes a first connecting plate, a second connecting plate and a supporting rod, and the first connecting plate and the second connecting plate are connected by the supporting rod.

[0015] Furthermore, the thigh unit also includes a second rotating rod and a third motor, the third motor is arranged on the first rotating rod, the second rotating rod is connected to the output shaft of the third motor, the outer wall of the second rotating rod is connected to the first connecting plate, and the rotation of the third motor can drive the second rotating rod to rotate around the output shaft of the third motor, and drive the telescopic drive unit to rotate around the output shaft of the third motor.

[0016] Furthermore, the telescopic drive unit also includes a fourth motor, a drive rod and a lead screw. The fourth motor is arranged on the second rotating rod, the output shaft of the fourth motor is connected to the drive rod, one end of the lead screw is rotatably connected to the first connecting plate, and the fourth motor can drive the drive rod to transmit the rotation to the lead screw and make the calf unit telescope.

[0017] Furthermore, the telescopic driving unit also includes a driving gear, a transmission chain and a transmission gear, the driving gear is arranged on the driving rod, the transmission gear is arranged on the lead screw, and the transmission gear is connected to the driving gear through the transmission chain.

[0018] Furthermore, the calf unit includes an outer tube, a nut and an inner tube, one end of the outer tube is connected to the second connecting plate, the inner tube can be inserted into the outer tube, and one end of the inner tube is fixedly connected to the nut; the nut can be connected to the screw, and the nut can drive the inner tube to slide inside the outer tube along the outer tube to realize the telescopic change of the calf unit.

[0019] Furthermore, a guide rail is provided on the inner wall of the outer cylinder, and a guide groove is provided on the outer wall of the nut, the guide groove can be connected to the guide rail, the nut can move linearly along the guide rail, the guide rail is used to prevent the nut from rotating, and the nut can only slide linearly along the outer cylinder.

[0020] Furthermore, it also includes a grounding unit, which includes a connecting column and a grounding socket, one end of the connecting column is connected to the second end plate, and the other end of the connecting column is connected to the grounding socket.

[0021] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0022] (1) The output shaft of the steering motor of the leg structure of the present invention can be connected to the steering block, and the swing unit rotates around the output shaft of the steering motor, so that the leg structure swings back and forth on both sides of the mobile platform. The leg structure can bypass obstacles, ensuring that the mobile platform can smoothly cross obstacles, and is more suitable for mountainous environments; the diameter of the first transmission wheel of the transmission wheel group is larger than the diameter of the second transmission wheel. The transmission wheel group is used to reduce the speed of the driving wheel, increase the torque of the driving wheel on the transmission block, and increase the load capacity of the leg structure of the present invention;

[0023] (2) The second motor of the present invention is used to drive the first rotating rod to rotate, thereby driving the thigh unit to rotate, so that the telescopic driving unit and the calf unit rotate around the output shaft of the second motor, so that the leg structure swings on the swing unit, so that the leg structure bypasses obstacles, ensuring that the mobile platform can smoothly cross obstacles, and is more suitable for mountain environments;

[0024] (3) The third motor of the present invention rotates to drive the second rotating rod to rotate around the output shaft of the third motor, thereby driving the telescopic driving unit and the calf unit to rotate around the output shaft of the third motor, adjusting the span of the leg structure, changing the distance between the mobile platform and the ground, and increasing the passability of the mobile platform;

[0025] (4) The fourth motor of the present invention can drive the driving rod and the driving gear to rotate, and transmit the rotation to the driving gear and the lead screw through the transmission chain. The lead screw rotates to extend and retract the calf unit, so that the leg structure can be swung forward and backward without lifting the thigh unit, without hindering the forward movement of the mobile platform.

[0026] (5) A ball head is provided on one end of the connecting column of the present invention that is connected to the grounding seat, and a ball socket is provided on the grounding seat. The ball head can be connected to the ball socket and cannot be separated from the ball socket. The ball head and the ball socket are used to ensure that the grounding surface of the grounding seat can be completely connected to the ground, ensuring that the leg structure of the present invention can effectively grip the ground.

[0027] In the present invention, the above-mentioned technical solutions can be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the following content, and some advantages can become obvious from the description or be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the text and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings are only used for the purpose of illustrating specific embodiments and are not to be considered as limiting the present invention. In the entire drawings, the same reference symbols represent the same components;

[0029] Figure 1 It is a schematic diagram of the overall structure of the leg structure of the present invention;

[0030] Figure 2 It is the overall structural schematic diagram of the swing unit;

[0031] Figure 3 This is a schematic diagram of the overall structure of the thigh unit;

[0032] Figure 4 is a schematic diagram of the overall structure of the telescopic drive unit;

[0033] Figure 5 This is a schematic diagram of the decomposed structure of the calf unit;

[0034] Figure 6 Schematic diagram of the overall structure of the shock absorbing unit.

[0035] Reference numerals:

[0036] 1-swing unit; 2-thigh unit; 3-telescopic drive unit; 4-calf unit; 5-grounding unit; 6-shock absorption unit; 11-transverse support arm; 12-first motor; 13-driving wheel; 14-transmission block; 15-transmission rod; 16-longitudinal support arm; 17-support arm shaft; 18-transmission wheel set; 19-steering block; 21-second motor; 22-first rotating rod; 23-second rotating rod; 24-third motor; 31-first connecting plate; 32-second connecting plate; 33-support rod; 34-fourth motor; 35-drive rod; 36-screw; 37-transmission chain; 38-transmission gear; 41-outer cylinder; 42-nut; 43-inner cylinder; 44-guide rail; 45-guide groove; 51-connecting column; 52-grounding seat; 61-first end plate; 62-second end plate; 63-pulling rod; 64-first magnetic plate; 65-second magnetic plate. DETAILED DESCRIPTION

[0037] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0038] Example 1

[0039] A specific embodiment of the present invention, as Figure 1 As shown, a leg structure of a crawling multi-legged robot (hereinafter referred to as the leg structure) is disclosed, including a swing unit 1, a thigh unit 2, a telescopic drive unit 3 and a calf unit 4, one end of the swing unit 1 is connected to a mobile platform, the other end of the swing unit 1 is connected to the thigh unit 2, the two ends of the telescopic drive unit 3 are respectively connected to the thigh unit 2 and the calf unit 4, the swing unit 1 can swing, and drive the thigh unit 2, the telescopic drive unit 3 and the calf unit 4 to swing, so that the mobile platform is displaced, the thigh unit 2 can rotate circumferentially, thereby driving the telescopic drive unit 3 and the calf unit 4 to rotate around the thigh unit 2, so that the leg structure of this embodiment bypasses obstacles, ensures that the mobile platform can smoothly cross obstacles, and is more suitable for mountain environments.

[0040] Preferably, if Figure 2 As shown, the swing unit 1 includes a transverse support arm 11, a driving assembly and a swing assembly, both of which are arranged on the transverse support arm 11, and the transverse support arm 11 is used to connect with the mobile platform. The driving assembly is used to drive the swing assembly to swing back and forth, so that the mobile platform produces displacement.

[0041] Preferably, the driving assembly includes a first motor 12, a driving wheel 13 and a transmission block 14. The first motor 12 is arranged on the transverse arm 11. The driving wheel 13 is fixedly connected to the output shaft of the first motor 12. The driving wheel 13 can be connected to the transmission block 14. The transmission block 14 is arranged on the transverse arm 11 and can slide along the transverse arm 11. The first motor 12 rotates in forward and reverse directions, which can drive the driving wheel 13 to rotate and drive the transmission block 14 to reciprocate.

[0042] Preferably, the swing assembly includes a transmission rod 15, a longitudinal arm 16 and an arm shaft 17, one end of the longitudinal arm 16 is rotatably connected to the transverse arm 11, the other end of the longitudinal arm 16 is connected to the thigh unit 2, the arm shaft 17 is rotatably connected to the longitudinal arm 16, one end of the transmission rod 15 is hinged to the transmission block 14, and the other end of the transmission rod 15 is connected to the arm shaft 17. The reciprocating motion of the transmission block 14 can be transmitted to the arm shaft 17 through the transmission rod 15, and the longitudinal arm 16 can be reciprocated around the transverse arm 11, thereby driving the thigh unit 2, the telescopic drive unit 3 and the calf unit 4 to swing together, and driving the mobile platform to move.

[0043] Preferably, in order to increase the torque of the first motor 12, the drive assembly also includes a transmission wheel group 18, which is arranged between the driving wheel 13 and the transmission block 14. The transmission wheel group 18 includes a first transmission wheel (not shown in the figure) and a second transmission wheel (not shown in the figure). The first transmission wheel and the second transmission wheel are fixedly connected, and the first transmission wheel and the second transmission wheel are coaxial. The first transmission wheel can be connected to the driving wheel 13, and the second transmission wheel can be connected to the transmission block 14. The diameter of the first transmission wheel is larger than the diameter of the second transmission wheel. The transmission wheel group 18 is used to slow down the driving wheel 13, increase the torque of the driving wheel 13 on the transmission block 14, and increase the load capacity of the leg structure of this embodiment.

[0044] Preferably, the swing unit 1 also includes a steering motor (not shown in the figure) and a steering block 19. The steering block 19 is arranged on the transverse arm 11. The steering motor is connected to the mobile platform. The output shaft of the steering motor can be connected to the steering block 19, and the swing unit 1 rotates around the output shaft of the steering motor, so that the leg structure of this embodiment swings back and forth on both sides of the mobile platform, so that the leg structure of this embodiment bypasses obstacles, ensuring that the mobile platform can smoothly cross obstacles, and is more suitable for mountainous environments.

[0045] Preferably, if Figure 3As shown, the thigh unit 2 includes a second motor 21 and a first rotating rod 22. The second motor 21 is connected to the longitudinal support arm 16. The output shaft of the second motor 21 is connected to the first rotating rod 22. The first rotating rod 22 is connected to the telescopic drive unit 3. The second motor 21 is used to drive the first rotating rod 22 to rotate, thereby driving the thigh unit 2 to rotate, and causing the telescopic drive unit 3 and the calf unit 4 to rotate around the output shaft of the second motor 21, so that the leg structure of this embodiment swings on the swing unit 1, so that the leg structure of this embodiment bypasses obstacles, ensuring that the mobile platform can smoothly cross obstacles, and is more suitable for mountain environments.

[0046] Preferably, the thigh unit 2 also includes a second rotating rod 23 and a third motor 24. The third motor 24 is arranged on the first rotating rod 22. One end of the second rotating rod 23 is connected to the output shaft of the third motor 24, and the other end of the second rotating rod 23 is connected to the telescopic drive unit 3. The third motor 24 rotates, which can drive the second rotating rod 23 to rotate around the output shaft of the third motor 24, thereby driving the telescopic drive unit 3 and the calf unit 4 to rotate around the output shaft of the third motor 24, thereby adjusting the span of the leg structure of this embodiment, adjusting the distance between the mobile platform and the ground, and increasing the passability of the mobile platform.

[0047] During the advancement of the mechanical leg type mobile platform, the mechanical leg swings backward, and then the leg structure needs to be lifted and swung forward, so that the mechanical leg can swing backward again and drive the mobile platform forward again. Preferably, the calf unit 4 of this embodiment can be retracted, so that the leg structure can still swing forward and backward without lifting the thigh unit 2, without hindering the advancement of the mobile platform.

[0048] Preferably, if Figure 3 and Figure 4 As shown, in order to drive the calf unit 4 to extend and retract, the telescopic drive unit 3 includes a first connecting plate 31, a second connecting plate 32 and a support rod 33, the first connecting plate 31 is connected to the outer wall of the second rotating rod 23, and the first connecting plate 31 and the second connecting plate 32 are connected by the support rod 33. The first connecting plate 31 and the second connecting plate 32 are used to increase the rotation range of the calf unit 4, enhance the ability of the leg structure of this embodiment to bypass obstacles, and are more suitable for mountain environments.

[0049] Preferably, if Figure 4 and Figure 5As shown, the telescopic drive unit 3 also includes a fourth motor 34, a drive rod 35, a drive gear (not shown in the figure), a screw 36, a transmission chain 37 and a transmission gear 38. The fourth motor 34 is arranged on the second rotating rod 23, and the output shaft of the fourth motor 34 is connected to the drive rod 35. The drive gear is arranged on the drive rod 35. One end of the screw 36 is rotatably connected to the first connecting plate 31. The transmission gear 38 is arranged on the screw 36, and the transmission gear 38 is connected to the drive gear through the transmission chain 37. The fourth motor 34 can drive the drive rod 35 and the drive gear to rotate, and transmit the rotation to the transmission gear 38 and the screw 36 through the transmission chain 37. The screw 36 rotates to extend and retract the calf unit 4, so that the leg structure can be swung back and forth without lifting the thigh unit 2, without hindering the forward movement of the moving platform.

[0050] Preferably, if Figure 5 As shown, the calf unit 4 includes an outer cylinder 41, a nut 42 and an inner cylinder 43, one end of the outer cylinder 41 is connected to the second connecting plate 32, the inner cylinder 43 can be inserted into the outer cylinder 41, and one end of the inner cylinder 43 is fixedly connected to the nut 42. The nut 42 can drive the inner cylinder 43 to slide along the outer cylinder 41 in the outer cylinder 41 to achieve the telescopic change of the calf unit 4, so that the leg structure of this embodiment can be contracted when swinging forward, and the leg structure can be extended when swinging backward, ensuring the smooth movement of the mobile platform.

[0051] The leg length of the existing mechanical leg-type mobile platform solution cannot be changed, and the movement of the legs is a simple pendulum motion. The mechanical leg-type mobile platform solution will fluctuate up and down during movement, affecting the stability of the mobile platform. The mechanical legs of this embodiment can continuously lengthen the calf unit 4 during the backward swing, but the distance between the thigh unit 2 and the ground can remain unchanged; the mechanical legs can continuously shorten the calf unit 4 during the forward swing, but the distance between the thigh unit 2 and the ground can remain unchanged, and the mobile platform will not fluctuate during the forward movement, thereby maintaining the stability of the mobile platform.

[0052] Preferably, the outer cylinder 41 is a limited outer cylinder, the inner cylinder 43 and the nut 42 are both arranged inside the outer cylinder 41, a guide rail 44 is provided on the inner wall of the outer cylinder 41, and a guide groove 45 is provided on the outer wall of the nut 42, the guide groove 45 can be connected to the guide rail 44, the nut 42 can move linearly along the guide rail 44, the guide rail 44 is used to prevent the nut 42 from rotating, and the nut 42 can only slide linearly along the outer cylinder 41.

[0053] Preferably, if Figure 1 and Figure 6As shown, the leg structure of this embodiment further includes a grounding unit 5, which includes a connecting column 51 and a grounding seat 52. One end of the connecting column 51 is connected to the inner tube 43, and the other end of the connecting column 51 is connected to the grounding seat 52. Preferably, a ball head is provided on one end of the connecting column 51 connected to the grounding seat 52, and a ball socket is provided on the grounding seat 52. The ball head can be connected to the ball socket and cannot be separated from the ball socket. The ball head and the ball socket are used to ensure that the grounding surface of the grounding seat 52 can be completely connected to the ground, so as to ensure that the leg structure of this embodiment can effectively grip the ground.

[0054] Compared with the prior art, the output shaft of the steering motor of the present embodiment can be connected to the steering block 19, and the swing unit 1 can rotate around the output shaft of the steering motor, so that the leg structure of the present embodiment can swing back and forth on both sides of the mobile platform, so that the leg structure of the present embodiment can bypass obstacles, ensure that the mobile platform can smoothly cross obstacles, and is more suitable for mountain environments; the transmission wheel group 18 includes a first transmission wheel and a second transmission wheel, the first transmission wheel and the second transmission wheel are fixedly connected, and the first transmission wheel and the second transmission wheel are coaxial, the first transmission wheel can be connected to the driving wheel 13, and the second transmission wheel can be connected to the transmission block 14, the diameter of the first transmission wheel is larger than the diameter of the second transmission wheel, and the transmission wheel group 18 is used to decelerate the driving wheel 13, increase the torque of the driving wheel 13 on the transmission block 14, and increase the load capacity of the leg structure of the present embodiment; the second motor 21 is used to drive the first rotating rod 22 to rotate, thereby driving the thigh unit 2 to rotate, so that the telescopic driving unit 3 and the calf unit 4 rotate around the output shaft of the second motor 21, so that the leg structure of the present embodiment swings on the swing unit 1, so that The leg structure of this embodiment bypasses obstacles, ensuring that the mobile platform can smoothly cross obstacles, and is more suitable for mountain environments; the third motor 24 rotates, which can drive the second rotating rod 23 to rotate around the output shaft of the third motor 24, thereby driving the telescopic drive unit 3 and the calf unit 4 to rotate around the output shaft of the third motor 24, adjusting the span of the leg structure of this embodiment, adjusting the distance between the mobile platform and the ground, and increasing the passability of the mobile platform; the fourth motor 34 can drive the drive rod 35 and the drive gear to rotate, and transmit the rotation to the drive gear 38 and the lead screw 36 through the transmission chain 37, and the lead screw 36 rotates to make the calf unit 4 telescopic, so that the leg structure can still swing back and forth without lifting the thigh unit 2, without hindering the forward process of the mobile platform; a ball head is provided on one end of the connecting column 51 connected to the ground seat 52, and a ball socket is provided on the ground seat 52, the ball head can be connected to the ball socket and cannot be separated from the ball socket, and the ball head and the ball socket are used to ensure that the grounding surface of the ground seat 52 can be completely connected to the ground, ensuring that the leg structure of this embodiment can effectively grip the ground.

[0055] Example 2

[0056] Another specific embodiment of the present invention, as Figure 1As shown, the connection method between the calf unit 4 and the grounding unit 5 of Example 1 is improved, and a shock absorbing unit 6 is added on the basis of Example 1. The shock absorbing unit 6 is used to connect the calf unit 4 with the grounding unit 5 to buffer the vibration transmitted to the mobile platform by the leg structure of this embodiment, so that the operation of the mobile platform is more stable.

[0057] Preferably, if Figure 6 As shown, the shock absorbing unit 6 includes a first end plate 61, a second end plate 62, a pulling rod 63, a first magnetic plate 64 and a second magnetic plate 65. The first end plate 61 is connected to the inner tube 43, and both ends of the pulling rod 63 are respectively connected to the first end plate 61 and the second end plate 62, and the second end plate 62 is connected to the connecting column 51. The first magnetic plate 64 is arranged on the first end plate 61, and the second magnetic plate 65 is arranged on the second end plate 62, and the first magnetic plate 64 and the second magnetic plate 65 have the same magnetic pole on the opposite side. The first magnetic plate 64 and the second magnetic plate 65 are used to maintain the separation state of the first end plate 61 and the second end plate 62, and the pulling rod 63 is used to prevent the first end plate 61 and the second end plate 62 from being radially separated.

[0058] Preferably, the pulling rod 63 includes a first movable rod and a second movable rod, and the first movable rod and the second movable rod are hinged. When the distance between the first end plate 61 and the second end plate 62 decreases, the pulling rod 63 can bend so that the pulling rod 63 adapts to the change in the distance between the first end plate 61 and the second end plate 62.

[0059] Compared with Example 1 in which the calf unit 4 is directly connected to the grounding unit 5, the grounding unit 5 will transfer all the vibrations to the mobile platform. When the leg structure of this embodiment swings, the calf unit 4 can compress the shock absorbing unit 6, and the shock absorbing unit 6 can buffer the calf unit 4 to prevent the vibrations of the grounding unit 5 from being transferred to the mobile platform, thereby making the operation of the mobile platform more stable.

[0060] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A leg structure of a crawling multi-legged robot, characterized in that: The invention comprises a swing unit (1), a thigh unit (2) and a calf unit (4), wherein one end of the swing unit (1) is connected to a mobile platform, the other end of the swing unit (1) is connected to the thigh unit (2), and the calf unit (4) is arranged on the thigh unit (2); the swing unit (1) is capable of swinging and driving the thigh unit (2) and the calf unit (4) to swing, thereby causing the mobile platform to move; The swing unit (1) comprises a transverse support arm (11), a first motor (12), a driving wheel (13), a transmission block (14), a transmission rod (15), a longitudinal support arm (16), a support arm rotating shaft (17), a transmission wheel group (18) and a steering motor, wherein the first motor (12) is arranged on the transverse support arm (11), the driving wheel (13) is fixedly connected to an output shaft of the first motor (12), and the transmission wheel group (18) is arranged between the driving wheel (13) and the transmission block (14); the transmission block (14) is arranged on the transverse support arm (11) and is capable of sliding along the transverse support arm (11); the first motor (12) is capable of driving the driving wheel (13) to rotate, and drives the transmission block (14) to perform reciprocating motion via the transmission wheel group (18); The support arm rotating shaft (17) is rotatably connected to the longitudinal support arm (16), one end of the longitudinal support arm (16) is rotatably connected to the transverse support arm (11), the other end of the longitudinal support arm (16) is connected to the thigh unit (2), one end of the transmission rod (15) is hinged to the transmission block (14), and the other end of the transmission rod (15) is connected to the support arm rotating shaft (17); The transmission wheel assembly (18) comprises a first transmission wheel and a second transmission wheel, the first transmission wheel and the second transmission wheel are fixedly connected, and the first transmission wheel and the second transmission wheel are coaxial, the first transmission wheel can be connected to the drive wheel (13), and the second transmission wheel can be connected to the transmission block (14), the diameter of the first transmission wheel is larger than the diameter of the second transmission wheel, and the transmission wheel assembly (18) is used to reduce the speed of the drive wheel (13); The steering motor is connected to the mobile platform, and the output shaft of the steering motor can be connected to the transverse support arm (11), so that the swing unit (1) rotates around the output shaft of the steering motor, thereby causing the leg structure to swing back and forth on both sides of the mobile platform, so that the leg structure can bypass obstacles.

2. The leg structure of a crawling multi-legged robot according to claim 1, characterized in that: The invention also includes a shock absorbing unit (6), wherein the shock absorbing unit (6) includes a first end plate (61), a second end plate (62), a pulling rod (63), a first magnetic plate (64) and a second magnetic plate (65), wherein the first end plate (61) is connected to the calf unit (4), and the two ends of the pulling rod (63) are respectively connected to the first end plate (61) and the second end plate (62), the first magnetic plate (64) is arranged on the first end plate (61), and the second magnetic plate (65) is arranged on the second end plate (62), and the first magnetic plate (64) and the second magnetic plate (65) have the same magnetic pole on the side opposite to each other.

3. The leg structure of a crawling multi-legged robot according to claim 2, characterized in that: The thigh unit (2) comprises a second motor (21) and a first rotating rod (22); the second motor (21) is connected to the longitudinal support arm (16); an output shaft of the second motor (21) is connected to the first rotating rod (22); the second motor (21) is used to drive the first rotating rod (22) to rotate, so that the calf unit (4) rotates around the output shaft of the second motor (21).

4. The leg structure of a crawling multi-legged robot according to claim 3, characterized in that: The invention also comprises a telescopic drive unit (3), wherein the telescopic drive unit (3) comprises a first connecting plate (31), a second connecting plate (32) and a support rod (33), wherein the first connecting plate (31) and the second connecting plate (32) are connected via the support rod (33).

5. The leg structure of a crawling multi-legged robot according to claim 4, characterized in that: The thigh unit (2) further comprises a second rotating rod (23) and a third motor (24); the third motor (24) is arranged on the first rotating rod (22); the second rotating rod (23) is connected to the output shaft of the third motor (24); the outer wall of the second rotating rod (23) is connected to the first connecting plate (31); the third motor (24) rotates to drive the second rotating rod (23) to rotate around the output shaft of the third motor (24), and drives the telescopic drive unit (3) to rotate around the output shaft of the third motor (24).

6. The leg structure of a crawling multi-legged robot according to claim 5, characterized in that: The telescopic drive unit (3) further comprises a fourth motor (34), a drive rod (35) and a lead screw (36); the fourth motor (34) is arranged on the second rotating rod (23); an output shaft of the fourth motor (34) is connected to the drive rod (35); one end of the lead screw (36) is rotatably connected to the first connecting plate (31); the fourth motor (34) can drive the drive rod (35) to transmit rotation to the lead screw (36), thereby causing the calf unit (4) to telescope.

7. The leg structure of a crawling multi-legged robot according to claim 6, characterized in that: The telescopic drive unit (3) further comprises a driving gear, a transmission chain (37) and a transmission gear (38); the driving gear is arranged on the driving rod (35); the transmission gear (38) is arranged on the lead screw (36); and the transmission gear (38) is connected to the driving gear via the transmission chain (37).

8. The leg structure of a crawling multi-legged robot according to claim 6, characterized in that: The calf unit (4) comprises an outer cylinder (41), a nut (42) and an inner cylinder (43); one end of the outer cylinder (41) is connected to the second connecting plate (32); the inner cylinder (43) can be inserted into the outer cylinder (41); one end of the inner cylinder (43) is fixedly connected to the nut (42); the nut (42) can be connected to the lead screw (36); the nut (42) can drive the inner cylinder (43) to slide inside the outer cylinder (41) and along the outer cylinder (41), thereby realizing the telescopic change of the calf unit (4).

9. The leg structure of a crawling multi-legged robot according to claim 8, characterized in that: A guide rail (44) is provided on the inner wall of the outer cylinder (41), and a guide groove (45) is provided on the outer wall of the nut (42). The guide groove (45) can be connected to the guide rail (44), and the nut (42) can move linearly along the guide rail (44). The guide rail (44) is used to prevent the nut (42) from rotating, and the nut (42) can only slide linearly along the outer cylinder (41).

10. The leg structure of a crawling multi-legged robot according to claim 8, characterized in that: It also comprises a grounding unit (5), the grounding unit (5) comprising a connecting column (51) and a grounding seat (52), one end of the connecting column (51) being connected to the second end plate (62), and the other end of the connecting column (51) being connected to the grounding seat (52).

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