Six-foot walking robot with trunk using metamorphic ten-bar mechanism

Abstract

The invention discloses a six-foot walking robot with a trunk using a metamorphic ten-bar mechanism. The device comprises a closed chain and six open chains, wherein the closed chain is a metamorphic ten-rod mechanism formed by sequentially connecting a first rod to a tenth rod; the lengths of the first rod, the second rod, the sixth rod and the seventh rod are the same, the lengths of the third rod, the fifth rod, the eighth rod and the tenth rod are the same, the lengths of the fourth rod and the ninth rod are the same, the structures of all the open chains are the same, the eleventh rod, the twelfth rod and the thirteenth rod in the open chains are located in the same plane, and each open chain is connected with one rod piece in the closed chain through an eleventh rotating hinge. The metamorphic ten-bar mechanism serves as the trunk to be applied to the hexapod robot, trunk deformation of the hexapod robot is achieved by means of the characteristics of variable motion range and variable configuration of the metamorphic mechanism, and the adaptability of the hexapod robot to different complex scenes is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a hexapod bionic robot whose trunk uses a metamorphic ten-bar mechanism. Background Art

[0002] Hexapod robots have the characteristics of simple structure, high stability, strong load capacity and flexible movement. Due to their high stability and adaptability to complex environments, hexapod robots can be used for exploration in extreme environments, such as deep sea, Mars exploration, industrial inspection, etc., and can also be used to complete rescue missions in dangerous environments.

[0003] However, the design focus of traditional hexapod robots is mainly on the leg structure, while less attention is paid to the structural design of the torso. Traditional hexapod robots mostly use a non-movable torso structure, which has the following disadvantages:

[0004] 1. The rigid torso structure will limit the robot's movement flexibility, especially in narrow or complex terrain. The robot may not be able to adjust its body posture according to terrain changes, thus affecting the robot's movement performance.

[0005] 2. A robot with a rigid trunk structure cannot adjust its center of gravity while walking, which makes the robot less stable during walking and makes it difficult to control the balance of the body.

[0006] 3. Robots with rigid torso structures have poor adaptability when facing changing terrain. Robots with deformable torso structures can adapt to terrain by changing the shape of their torsos, while robots with rigid torso structures can only rely on their legs to make adjustments, which reduces their flexibility. Summary of the invention

[0007] In order to solve the above problems, the object of the present invention is to provide a hexapod walking robot with a metamorphic ten-bar mechanism as its trunk.

[0008] In order to achieve the above-mentioned purpose, the six-legged walking robot with a torso using a metamorphic ten-bar mechanism provided by the present invention comprises a closed chain and six open chains; the closed chain is a metamorphic ten-bar mechanism composed of a first rod, a second rod, a third rod, a fourth rod, a fifth rod, a sixth rod, a seventh rod, an eighth rod, a ninth rod and a tenth rod connected in sequence, so it can be converted between multiple configurations; wherein the two ends of the first rod are respectively connected to one end of the tenth rod and one end of the second rod through a first rotating hinge and a second rotating hinge, and the axes of the first rotating hinge and the second rotating hinge are perpendicular to each other; the two ends of the seventh rod are respectively connected to one end of the sixth rod and one end of the eighth rod through a seventh rotating hinge and an eighth rotating hinge, and the axes of the seventh rotating hinge and the eighth rotating hinge are perpendicular to each other; the two ends of the third rod are respectively connected to the other end of the second rod and one end of the fourth rod through a third rotating hinge and a fourth rotating hinge, and the axes of the third rotating hinge and the fourth rotating hinge are perpendicular to each other. The first and the second rods are connected to each other through a fifth rotation hinge and a sixth rotation hinge, and the axes of the fifth rotation hinge and the sixth rotation hinge are perpendicular to each other; the second and the second rods are connected to each other through a ninth rotation hinge and a tenth rotation hinge, and the axes of the ninth rotation hinge and the tenth rotation hinge are parallel to each other; the first and the sixth rods are single-ended bending rods having the same structure and consisting of a long arm and a short arm, the third and the eighth rods are single-ended bending rods having the same structure and consisting of a long arm and a short arm, the fifth and the tenth rods are single-ended bending rods having the same structure and consisting of a long arm and a short arm, the seventh and the second rods are single-ended bending rods having the same structure and consisting of a long arm and a short arm; the ninth and the fourth rods are two-end bending rods having the same structure and symmetrically arranged, divided into three sections, the first section and the third section are short arms of equal length, and the second section is a long arm;

[0009] The six open chains have the same structure and all include an eleventh rod, a twelfth rod and a thirteenth rod in the same plane; one end of the eleventh rod is connected to one end of the twelfth rod through a twelfth rotating hinge, one end of the thirteenth rod is connected to the other end of the twelfth rod through the thirteenth rotating hinge, and the other end of each eleventh rod is respectively connected to the long arms on the third rod, the fourth rod, the fifth rod, the eighth rod, the ninth rod and the tenth rod through the eleventh hinge, the axes of the twelfth rotating hinge and the thirteenth rotating hinge are parallel to each other, and the axes of the twelfth rotating hinge and the eleventh rotating hinge are perpendicular to each other.

[0010] The long arm and the short arm on the single-end bending rod are rigidly connected, and the angle between the two arms is 120 to 150 degrees.

[0011] The long arms and short arms on the bent rods at both ends are rigidly connected, and the angle between the first section and the second section is equal to the angle between the third section and the second section, and both are 120-150 degrees.

[0012] The hexapod walking robot with a metamorphic ten-bar mechanism in the trunk provided by the present invention has the following beneficial effects:

[0013] 1. Applying the metamorphosis mechanism to the trunk of the hexapod robot enables the robot to actively adjust its shape according to different terrains, improve its obstacle-crossing ability, and have higher flexibility and stability, especially in complex terrains.

[0014] 2. The metamorphic trunk can coordinate with the leg movements, reduce the complex requirements of the legs, enhance the robot's movement flexibility and coordination, and perform well especially in complex scenes.

[0015] 3. The metamorphic trunk can change the center of gravity of the robot when it walks, making the robot more stable during walking, thereby reducing the difficulty of controlling the balance of the body.

[0016] 4. The deformable trunk can optimize load distribution by changing posture, allowing the robot to perform better when carrying heavy objects to perform complex tasks. This deformable structure can reasonably share stress and reduce local losses. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 1 is a schematic diagram of a closed-chain structure configuration of a hexapod walking robot provided by the present invention;

[0018] Figure 2 This is a schematic diagram of the second closed-chain structure configuration of the hexapod walking robot provided by the present invention;

[0019] Figure 3 3. Schematic diagram of the closed-chain structure of the hexapod walking robot provided by the present invention;

[0020] Figure 4 4 are schematic diagrams of closed-chain structural configurations of the hexapod walking robot provided by the present invention;

[0021] Figure 5 5 is a schematic diagram of a closed-chain structure configuration of a hexapod walking robot provided by the present invention;

[0022] Figure 6 It is a schematic diagram of an open chain structure in the hexapod walking robot provided by the present invention;

[0023] Figure 7 It is a structural schematic diagram of the six-legged walking robot provided by the present invention when it is in a crawling mode;

[0024] Figure 8 It is a structural schematic diagram of the hexapod walking robot provided by the present invention when it is in walking mode;

[0025] Fig. 9It is a structural schematic diagram of the six-legged walking robot provided by the present invention when it is in an obstacle crossing mode;

[0026] Fig.10 This is a schematic diagram of a transition state structure of the hexapod walking robot provided by the present invention;

[0027] Fig.11 It is a schematic diagram of the structure of the hexapod walking robot provided by the present invention when the trunk is twisted in the walking mode;

[0028] Fig.12 It is a structural schematic diagram of the six-legged walking robot provided by the present invention when crossing over by bending the trunk in the obstacle crossing mode. DETAILED DESCRIPTION

[0029] The hexapod walking robot with a metamorphic ten-bar mechanism as the trunk provided by the present invention is described in detail below with reference to the accompanying drawings.

[0030] like Figures 1 to 5As shown, the hexapod walking robot with a metamorphic ten-bar mechanism for the trunk provided by the present invention comprises a closed chain and six open chains; the closed chain is a metamorphic ten-bar mechanism composed of a first rod 1, a second rod 2, a third rod 3, a fourth rod 4, a fifth rod 5, a sixth rod 6, a seventh rod 7, an eighth rod 8, a ninth rod 9 and a tenth rod 10 connected in sequence, so that it can be converted between multiple configurations; wherein the two ends of the first rod 1 are connected to one end of the tenth rod 10 and one end of the second rod 2 respectively through a first rotating hinge 11 and a second rotating hinge 12 The first and second rotating hinges 11 and 12 are connected, and the axes of the first and second rotating hinges 11 and 12 are perpendicular to each other; the two ends of the seventh rod 7 are connected to one end of the sixth rod 6 and one end of the eighth rod 8 through the seventh and eighth rotating hinges 17 and 18, respectively, and the axes of the seventh and eighth rotating hinges 17 and 18 are perpendicular to each other; the two ends of the third rod 3 are connected to the other end of the second rod 2 and one end of the fourth rod 4 through the third and fourth rotating hinges 13 and 14, respectively, and the axes of the third and fourth rotating hinges 13 and 14 are perpendicular to each other. The two ends of the fifth rod 5 are connected to the other end of the fourth rod 4 and the other end of the sixth rod 6 through the fifth rotating hinge 15 and the sixth rotating hinge 16, respectively, and the axes of the fifth rotating hinge 15 and the sixth rotating hinge 16 are perpendicular to each other; the two ends of the ninth rod 9 are connected to the other end of the eighth rod 8 and the other end of the tenth rod 10 through the ninth rotating hinge 19 and the tenth rotating hinge 20, respectively, and the axes of the ninth rotating hinge 19 and the tenth rotating hinge 20 are parallel to each other; the first rod 1 and the sixth rod 6 have the same structure The third rod 3 and the eighth rod 8 are single-ended bending rods having the same structure and consisting of a long arm and a short arm, the fifth rod 5 and the tenth rod 10 are single-ended bending rods having the same structure and consisting of a long arm and a short arm, the seventh rod 7 and the second rod 2 are single-ended bending rods having the same structure and consisting of a long arm and a short arm; the ninth rod 9 and the fourth rod 4 are two-end bending rods having the same structure and symmetrically arranged, divided into three sections, the first section and the third section are short arms of equal length, and the second section is a long arm;

[0031] like Figure 6 As shown, the six open chains have the same structure and all include an eleventh rod 21, a twelfth rod 22 and a thirteenth rod 23 in the same plane; one end of the eleventh rod 21 is connected to one end of the twelfth rod 22 through a twelfth rotating hinge 24, one end of the thirteenth rod 23 is connected to the other end of the twelfth rod 22 through a thirteenth rotating hinge 25, and the other end of each eleventh rod 21 is respectively connected to the long arms on the third rod 3, the fourth rod 4, the fifth rod 5, the eighth rod 8, the ninth rod 9 and the tenth rod 10 through the eleventh hinge 26, the axes of the twelfth rotating hinge 24 and the thirteenth rotating hinge 25 are parallel to each other, and the axes of the twelfth rotating hinge 24 and the eleventh rotating hinge 26 are perpendicular to each other.

[0032] The long arm and the short arm on the single-end bending rod are rigidly connected, and the angle between the two arms is 120 to 150 degrees, preferably 135 degrees.

[0033] The long arms and short arms on the bent rods at both ends are rigidly connected, and the angle between the first section and the second section is equal to the angle between the third section and the second section and both are 120-150 degrees, preferably 135 degrees.

[0034] In the present invention, the closed chain includes ten rotating hinges, and there are multiple ways to drive the closed chain. In this embodiment, the second rotating hinge 12, the third rotating hinge 13, the fifth rotating hinge 15, the seventh rotating hinge 17, the eighth rotating hinge 18 and the tenth rotating hinge 20 are selected to drive the closed chain completely. At the same time, the twelfth rotating hinge 24, the thirteenth rotating hinge 25 in each open chain and the eleventh rotating hinge 26 connecting the open chain and the closed chain are driven, so that the hexapod walking robot provided by the present invention can change different working modes.

[0035] When the six-legged walking robot provided by the present invention is in a state as follows Figure 7 In the crawling mode shown, the axes of the second rotating hinge 12, the fourth rotating hinge 14, the fifth rotating hinge 15, the seventh rotating hinge 17, the ninth rotating hinge 19 and the tenth rotating hinge 20 are parallel to each other, the plane where the axes of the fourth rotating hinge 14 and the tenth rotating hinge 20 are located is parallel to the plane where the axes of the fifth rotating hinge 15 and the ninth rotating hinge 19 are located, the plane where the axes of the fourth rotating hinge 14 and the tenth rotating hinge 20 are located is perpendicular to the plane where the axes of the second rotating hinge 12 and the seventh rotating hinge 17 are located, the first rotating hinge 11, the third rotating hinge 13, the sixth rotating hinge 16 and the eighth rotating hinge 18 are in a locked state, the eleventh rotating hinge 26 in each open chain is parallel to the axis of the second rotating hinge 12, and the short arm of the first rod 1 and the short arm of the second rod 2 are parallel to each other. The angle between the third rod 3 and the second section of the fourth rod 4 is 90 to 180 degrees, the angle between the long arm of the third rod 3 and the second section of the fourth rod 4 is 90 to 180 degrees, and the angle between the long arm of the fifth rod 5 and the second section of the fourth rod 4 is 90 to 180 degrees. By selecting to drive any three of the second rotating hinge 12, the fourth rotating hinge 14, the fifth rotating hinge 15, the seventh rotating hinge 17, the ninth rotating hinge 19 and the tenth rotating hinge 20 and the twelfth rotating hinge 24, the thirteenth rotating hinge 25 in each open chain and the eleventh rotating hinge 26 connecting the open chain and the closed chain, the full driving of the six-legged walking robot in the crawling mode can be completed. In this mode, the body height of the six-legged walking robot is relatively low, and it can crawl through an environment blocked by overhead obstacles. At the same time, the robot can also flexibly change its width to adapt to channels of different widths in complex scenes.

[0036] When the six-legged walking robot provided by the present invention is in a state as follows Figure 8In the walking mode shown, the axes of the fourth rotating hinge 14 and the tenth rotating hinge 20 are collinear, the axes of the fifth rotating hinge 15 and the ninth rotating hinge 19 are collinear, the axes of the first rotating hinge 11 and the third rotating hinge 13 are collinear, the axes of the sixth rotating hinge 16 and the eighth rotating hinge 18 are collinear, the axes of the eleventh rotating hinge 26 in each open chain and the fourth rotating hinge 14 are parallel to each other, the short arm of the first rod 1 and the short arm of the second rod 2 are parallel to each other, the long arm of the third rod 3 and the long arm of the tenth rod 10 are parallel to each other, the long arm of the fifth rod 5 and the long arm of the eighth rod 8 are parallel to each other, and the second section of the fourth rod 4 is parallel to the short arm of the second rod 2. The second sections of the ninth rod 9 are parallel to each other. Selecting to drive any one of the first rotating hinge 11 and the third rotating hinge 13, any one of the fourth rotating hinge 14 and the tenth rotating hinge 20, any one of the fifth rotating hinge 15 and the ninth rotating hinge 19, any one of the sixth rotating hinge 16 and the eighth rotating hinge 18, any one of the second rotating hinge 12 and the seventh rotating hinge 17, as well as the twelfth rotating hinge 24, the thirteenth rotating hinge 25 in each open chain and the eleventh rotating hinge 26 connecting the open chain and the closed chain can complete the complete driving of the hexapod walking robot in the walking mode.

[0037] When the six-legged walking robot provided by the present invention is in a state as follows Fig. 9 In the obstacle crossing mode shown in FIG. 1 , the axes of the first rotary hinge 11, the third rotary hinge 13, the sixth rotary hinge 16 and the eighth rotary hinge 18 are parallel to each other, the axes of the fourth rotary hinge 14 and the tenth rotary hinge 20 are collinear, the axes of the fifth rotary hinge 15 and the ninth rotary hinge 19 are collinear, the axes of the eleventh rotary hinge 26 and the fourth rotary hinge 14 in each open chain are parallel to each other, the short arm of the first rod 1 and the short arm of the second rod 2 are in the same plane, the long arm of the third rod 3 and the long arm of the tenth rod 10 are parallel to each other, the long arm of the fifth rod 5 and the long arm of the eighth rod 8 are parallel to each other, and the second arm of the fourth rod 4 is parallel to each other. The first segment is parallel to the second segment of the ninth rod 9. By selecting to drive any two of the first rotating hinge 11, the third rotating hinge 13, the sixth rotating hinge 16 and the eighth rotating hinge 18, any one of the fourth rotating hinge 14 and the tenth rotating hinge 20, any one of the fifth rotating hinge 15 and the ninth rotating hinge 19, any one of the second rotating hinge 12 and the seventh rotating hinge 17, as well as the twelfth rotating hinge 24, the thirteenth rotating hinge 25 in each open chain and the eleventh rotating hinge 26 connecting the open chain and the closed chain, the full driving of the hexapod walking robot in the obstacle crossing mode can be completed.

[0038] Fig.10The hexapod walking robot shown is in a transition state, the axes of the second rotating hinge 12, the seventh rotating hinge 17 and the fourth rotating hinge 14 are parallel to each other, the axes of the fourth rotating hinge 14 and the tenth rotating hinge 20 are collinear, the axes of the fifth rotating hinge 15 and the ninth rotating hinge 19 are collinear, the axes of the first rotating hinge 11 and the third rotating hinge 13 are collinear, the axes of the sixth rotating hinge 16 and the eighth rotating hinge 18 are collinear, the axis of the eleventh rotating hinge 26 in each open chain is parallel to the axis of the fourth rotating hinge 14, the short arm of the first rod 1 and the short arm of the second rod 2 are parallel to each other, the long arm of the third rod 3 and the long arm of the tenth rod 10 are parallel to each other, the long arm of the fifth rod 5 and the long arm of the eighth rod 8 are parallel to each other, and the second section of the fourth rod 4 and the second section of the ninth rod 9 are parallel to each other.

[0039] When the six-legged walking robot is in Fig.10 In the state shown, any one of the first rotating hinge 11 and the third rotating hinge 13 is selected to drive to lift the first rod 1 and the second rod 2 by 90 degrees, and at the same time, any one of the sixth rotating hinge 16 and the eighth rotating hinge 18 is selected to drive to lift the sixth rod 6 and the eighth rod 8 by 90 degrees, so that the axes of the second rotating hinge 12 and the seventh rotating hinge 17 are collinear. At this time, the hexapod walking robot is switched to the walking mode.

[0040] When the six-legged walking robot is in Fig.10 In the state shown, any three of the second rotating hinge 12, the fourth rotating hinge 14, the fifth rotating hinge 15, the seventh rotating hinge 17, the ninth rotating hinge 19 and the tenth rotating hinge 20 are selected to drive, while keeping the plane where the axes of the fourth rotating hinge 14 and the tenth rotating hinge 20 are located parallel to the plane where the axes of the fifth rotating hinge 15 and the ninth rotating hinge 19 are located, and the plane where the axes of the fourth rotating hinge 14 and the tenth rotating hinge 20 are located is perpendicular to the plane where the axes of the second rotating hinge 12 and the seventh rotating hinge 17 are located. At this time, the robot switches to the crawling mode.

[0041] When the six-legged walking robot is in Fig.10 In the state shown, any one of the first rotating hinge 11 and the third rotating hinge 13 is selected to drive to make the first rod 1 and the second rod 2 fall 90 degrees, and at the same time, any one of the sixth rotating hinge 16 and the eighth rotating hinge 18 is selected to drive to make the sixth rod 6 and the eighth rod 8 fall 90 degrees, so that the axes of the second rotating hinge 12 and the seventh rotating hinge 17 are collinear, and any one of the second rotating hinge 12 and the seventh rotating hinge 17 is selected to drive to make the robot fold. After folding 180 degrees, the axes of the first rotating hinge 11 and the third rotating hinge 13 are parallel to each other. At this time, the hexapod walking robot is converted to the obstacle crossing mode.

[0042] like Fig.11As shown, the hexapod walking robot provided by the present invention can complete the twisting trunk action while moving forward when it is in the walking mode. The trunk of the hexapod walking robot can move around the colinear axis of the fourth rotating hinge 14 and the tenth rotating hinge 20, the colinear axis of the fifth rotating hinge 15 and the ninth rotating hinge 19, the colinear axis of the first rotating hinge 11 and the third rotating hinge 13, and the colinear axis of the sixth rotating hinge 16 and the eighth rotating hinge 18. The hexapod walking robot can increase the stride by adding the twisting trunk action during the forward movement, thereby increasing the forward speed. At the same time, the hexapod walking robot can change the position of its center of gravity by twisting the trunk, so that the stability during walking is improved, thereby reducing the difficulty of controlling the balance of the fuselage.

[0043] like Fig.12 As shown, the hexapod walking robot provided by the present invention can complete the crossing action by lifting the trunk when it is in the obstacle crossing mode. The trunk of the robot can move around the colinear axis of the fourth rotating hinge 14 and the tenth rotating hinge 20 and the colinear axis of the fifth rotating hinge 15 and the ninth rotating hinge 19. In this mode, the relative positions of the six open chains and the closed chain are changed, and the six open chains are all under the closed chain structure. The overall height of the hexapod walking robot is improved, and the center of gravity position can be further improved by lifting the trunk, which is conducive to crossing higher obstacles in complex scenes.

[0044] Although the present invention has been described in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific embodiments. The above description is only an example and not restrictive. For ordinary technicians in this field, under the enlightenment of the present invention, various modifications can still be made, and these modifications are all within the scope of protection of the present invention.

Claims

1. A hexapod walking robot with a metamorphic ten-bar mechanism as its trunk, characterized in that: The hexapod walking robot comprises a closed chain and six open chains; the closed chain is a metamorphic ten-bar mechanism consisting of a first rod (1), a second rod (2), a third rod (3), a fourth rod (4), a fifth rod (5), a sixth rod (6), a seventh rod (7), an eighth rod (8), a ninth rod (9) and a tenth rod (10) connected in sequence, so that it can be converted between multiple configurations; wherein the two ends of the first rod (1) are connected to one end of the tenth rod (10) and one end of the second rod (2) respectively through a first rotating hinge (11) and a second rotating hinge (12), and the first rotating hinge The axes of the first and second rotating hinges (11) and (12) are perpendicular to each other; the two ends of the seventh rod (7) are connected to one end of the sixth rod (6) and one end of the eighth rod (8) through the seventh rotating hinge (17) and the eighth rotating hinge (18), respectively, and the axes of the seventh rotating hinge (17) and the eighth rotating hinge (18) are perpendicular to each other; the two ends of the third rod (3) are connected to the other end of the second rod (2) and one end of the fourth rod (4) through the third rotating hinge (13) and the fourth rotating hinge (14), respectively, and the axes of the third rotating hinge (13) and the fourth rotating hinge (14) are perpendicular to each other. The two ends of the fifth rod (5) are connected to the other end of the fourth rod (4) and the other end of the sixth rod (6) through a fifth rotating hinge (15) and a sixth rotating hinge (16), respectively, and the axes of the fifth rotating hinge (15) and the sixth rotating hinge (16) are perpendicular to each other; the two ends of the ninth rod (9) are connected to the other end of the eighth rod (8) and the other end of the tenth rod (10) through a ninth rotating hinge (19) and a tenth rotating hinge (20), respectively, and the axes of the ninth rotating hinge (19) and the tenth rotating hinge (20) are parallel to each other; the first rod (1) and the sixth rod (6) are connected to the other end of the eighth rod (8) and the other end of the tenth rod (10) through a ninth rotating hinge (19) and a tenth rotating hinge (20), respectively. are single-ended bending rods having the same structure and consisting of a long arm and a short arm, the third rod (3) and the eighth rod (8) are single-ended bending rods having the same structure and consisting of a long arm and a short arm, the fifth rod (5) and the tenth rod (10) are single-ended bending rods having the same structure and consisting of a long arm and a short arm, the seventh rod (7) and the second rod (2) are single-ended bending rods having the same structure and consisting of a long arm and a short arm; the ninth rod (9) and the fourth rod (4) are two-end bending rods having the same structure and symmetrically arranged, and are divided into three sections, the first section and the third section are short arms of equal length, and the second section is a long arm; The six open chains have the same structure and all include an eleventh rod (21), a twelfth rod (22) and a thirteenth rod (23) in the same plane; one end of the eleventh rod (21) is connected to one end of the twelfth rod (22) through a twelfth rotating hinge (24), one end of the thirteenth rod (23) is connected to the other end of the twelfth rod (22) through a thirteenth rotating hinge (25), and the other end of each eleventh rod (21) is respectively connected to the long arms on the third rod (3), the fourth rod (4), the fifth rod (5), the eighth rod (8), the ninth rod (9) and the tenth rod (10) through the eleventh hinge (26); the axes of the twelfth rotating hinge (24) and the thirteenth rotating hinge (25) are parallel to each other, and the axes of the twelfth rotating hinge (24) and the eleventh rotating hinge (26) are perpendicular to each other.

2. The hexapod walking robot with a metamorphic ten-bar mechanism as a trunk according to claim 1, characterized in that: The long arm and the short arm on the single-end bending rod are rigidly connected, and the angle between the two arms is 120 to 150 degrees.

3. The hexapod walking robot with a metamorphic ten-bar mechanism as a trunk according to claim 1, characterized in that: The long arms and short arms on the bent rods at both ends are rigidly connected, and the angle between the first section and the second section is equal to the angle between the third section and the second section, and both are 120-150 degrees.

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