Integrated reconstruction multi-foot closed chain platform

Abstract

The invention discloses an integrated reconstruction multi-foot closed chain platform. The platform comprises a right rear leg mechanism (A), a right front leg mechanism (B), a left front leg mechanism (C), a left rear leg mechanism (D) and a trunk (E), each leg group mechanism is driven by a stepping motor; four electric push rods are arranged on the trunk and are rotationally connected with the trunk, so that the pitching posture of the trunk can be realized, and meanwhile, each electric push rod can drive the leg group to reconstruct and deform through a telescopic push rod; the reconstruction deformation of the leg group has two modes, and the closed chain legs can realize supporting and climbing in different modes; multiple reconstruction strategies of the front leg and the rear leg of a single four-foot unit are coupled under single power, reconstruction of the front leg comprises changes of the angle and the length at the same time, high obstacle crossing capacity is achieved, reconstruction of the rear leg conducts angle compensation for deflection of the horizontal angle of the platform, and rapid and efficient walking in the climbing obstacle crossing process is achieved.

Description

Technical Field

[0001] The present invention relates to an integrated reconfigurable multi-legged closed-chain platform, specifically a high-mobility closed-chain foot-type walking platform with a leg group having two reconfigurable deformation modes; that is, the reconfigurable deformation of the leg group has two modes, and the multiple legs can achieve support and climbing in different modes, thereby having better climbing and obstacle-crossing capabilities. Background Art

[0002] The closed kinematic chain is applied to the leg mechanism of the walking platform, and each leg mechanism is driven by an independent motor. Compared with the open-chain leg, under the conditions of the same material, external load and speed level, the closed-chain rod system theoretically only bears tensile and compressive loads, and most of them are typical two-force rods, which makes the closed-chain leg mechanism have good stiffness and stability as a whole.

[0003] Chinese patent CN109178133A discloses "a variable topology operation dual-mode walking mechanism". The device changes the foot end gait and lifting height of the walking mechanism by changing the two structures of the variable topology walking mechanism. The two modes of walking ensure the adaptability of the walking mechanism to complex ground and improve the obstacle crossing ability of the walking mechanism. The walking mechanism structure change is completed by the motor-driven block, and a carrying device that uses a variable topology closed-chain connecting rod mechanism to achieve mountain walking and obstacle crossing is a simple and reliable mechanism with strong adaptability and stability. Summary of the invention

[0004] The problem to be solved by the present invention is to provide a walking platform, which, compared with the existing walking platforms, can improve the climbing and obstacle surmounting ability of the walking platform through the reconstruction and deformation of the leg group and the pitching of the trunk; the reconstruction of the front legs occurs during the climbing process, while the reconstruction of the hind legs occurs during the supporting process; these two reconstruction strategies are completely separated in the time domain, so a grooved wheel mechanism is designed to realize dynamic coupling under single degree of freedom, so that the reconstruction deformation of the front and rear legs does not interfere with each other. During the climbing process, the two front electric push rods extend to drive the groove wheel front leg heavy structure to move, and the front legs of the front leg group also make a lifting action accordingly, thereby realizing the climbing action of the front leg group; after the front leg group successfully climbs, the height difference between the positions of the front and rear leg groups forms the pitch of the platform trunk, at this time, the two front electric push rods contract to drive the groove wheel rear leg heavy structure to move, and the two rear electric push rods extend to drive the groove wheel rear leg heavy structure to move, and the reconstruction of the rear legs on both sides is the deflection of the horizontal angle of the platform for angle compensation; finally, the two rear electric push rods extend to drive the groove wheel front leg heavy structure to move, and the front legs of the rear leg group also make a lifting action accordingly, completing the climbing action of the rear leg group; through the above-mentioned mechanism movement, the climbing of the entire platform is realized.

[0005] The technical solution of the present invention:

[0006] An integrated reconfigurable multi-leg closed-chain platform consists of a right rear leg mechanism, a right front leg mechanism, a left front leg mechanism, a left rear leg mechanism and a trunk: the rod shapes and mechanical mechanisms of the right rear leg mechanism, the right front leg mechanism, the left front leg mechanism and the left rear leg mechanism are exactly the same; the right rear leg mechanism is rotatably connected to the trunk through the mounting hole of the movable end of the right rear electric push rod, while the leg group power unit is fixedly connected to the right rear leg group connecting piece, and the right reconfigurable deformation mechanism and the left reconfigurable deformation mechanism are rotatably connected to the right rear leg group connecting piece; the assembly method of the left rear leg mechanism is exactly the same as that of the right rear leg mechanism and the integrated reconfigurable multi-leg The closed-chain platform is arranged in a mirror image on the left and right symmetric planes; the right front leg mechanism is rotatably connected to the trunk through the mounting hole of the movable end of the right front electric push rod, and at the same time, the leg group power part of the right front leg mechanism is fixedly connected to the right front leg group connecting piece, and the right reconfigurable deformation mechanism, the left reconfigurable deformation mechanism and the right front leg group connecting piece are rotatably connected through the assembly axis; the left front leg mechanism and the right front leg mechanism are assembled in exactly the same manner and are arranged in a mirror image on the left and right symmetric planes of the integrated reconfigurable multi-leg closed-chain platform; the right rear leg mechanism, the left rear leg mechanism and the right front leg mechanism, and the left front leg mechanism are arranged in a mirror image on the front and rear symmetric planes of the integrated reconfigurable multi-leg closed-chain platform;

[0007] Through the above connections, the assembly of the integrated reconstructed multi-legged closed-chain platform is completed.

[0008] The right rear leg mechanism is composed of a right front walking part, a right reconfigurable deformation mechanism, a push rod pitch connecting rod connecting piece, a leg group power part, a left front walking part, and a left reconfigurable deformation mechanism.

[0009] The right front walking part is composed of two right front first thigh rods, a right front first third auxiliary rod, two right front first straight rods, a right front first calf rod, a right front walking part connecting shaft, a right front second thigh rod, a right front second third auxiliary rod, two right front second straight rods, and two right front second calf rods.

[0010] The rod shape, mechanical structure and assembly method of the left front walking part and the right front walking part are completely the same; the left front walking part and the right front walking part are arranged in a mirror image with respect to the left and right symmetric plane of the right rear leg mechanism.

[0011] The right reconfigurable deformation mechanism is composed of a groove wheel pitch active component, a groove wheel front leg heavy component, a groove wheel rear leg heavy component, and a connecting crank.

[0012] The rod shape, mechanical structure and assembly method of the left reconfigurable deformation mechanism and the right reconfigurable deformation mechanism are completely the same; the right reconfigurable deformation mechanism and the left reconfigurable deformation mechanism are arranged in a mirror image with respect to the left and right symmetric planes of the right rear leg mechanism.

[0013] The push rod pitch link connecting piece is composed of a push rod pitch link upper connecting piece, two push rod pitch link connecting piece first upper hanging ears, and two push rod pitch link connecting piece second upper hanging ears.

[0014] The leg group power unit is composed of a 57T ​​right-angle planetary reducer, a stepper motor, and two transmission cranks.

[0015] The trunk is composed of a trunk main body support, a right rear leg group connecting part, a right front leg group connecting part, a left front leg group connecting part, a left rear leg group connecting part, a right rear electric push rod, a right front electric push rod, a left front electric push rod, a left rear electric push rod, two push rod connecting parts, four supporting long rods, and four right-angle connecting parts.

[0016] Beneficial effects of the present invention:

[0017] The integrated reconfigurable multi-legged closed-chain platform of the present invention is an integrated reconfigurable multi-legged closed-chain platform that can achieve climbing and obstacle crossing, and the platform has the advantage of high maneuverability. The various reconstruction strategies of the front and rear four legs of a single quadruped unit are coupled under a single power, and the reconstruction of the front legs simultaneously includes changes in angle and length to achieve high obstacle crossing capability. The reconstruction of the rear legs performs angle compensation for the deflection of the horizontal angle of the platform to achieve fast and efficient walking during climbing and obstacle crossing. These two reconstruction modes make it highly adaptable, highly passable and highly maneuverable to various complex terrains, and can be used in mountain detection and reconnaissance, cargo transportation and other fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 An integrated reconstruction of the overall three-dimensional image of the multi-legged closed chain platform;

[0019] Figure 2 3D diagram of the right hind leg mechanism;

[0020] Figure 3 3D image of the right front walking unit;

[0021] Figure 4 Right reconstructs the three-dimensional image of the deformation mechanism;

[0022] Figure 5 3D view of the pushrod pitch link connection;

[0023] Figure 6 Three-dimensional diagram of the power unit of the leg group;

[0024] Figure 7 3D image of the torso;

[0025] Figure 8 3D image of the right hind leg assembly connector;

[0026] Fig. 9 3D image of the right front leg assembly connector. DETAILED DESCRIPTION

[0027] The present invention will be further described below in conjunction with the accompanying drawings:

[0028] like Figure 1As shown, an integrated reconfigurable multi-leg closed-chain platform consists of a right rear leg mechanism A, a right front leg mechanism B, a left front leg mechanism C, a left rear leg mechanism D and a trunk E: the rod shapes and mechanical structures of the right rear leg mechanism A, the right front leg mechanism B, the left front leg mechanism C, and the left rear leg mechanism D are exactly the same; the right rear leg mechanism A is rotatably connected to the trunk E through the movable end mounting hole of the right rear electric push rod E-6, and at the same time, the leg group power part A-4 is fixedly connected to the right rear leg group connecting part E-2, and the right reconfigurable deformation mechanism A-2 and the left reconfigurable deformation mechanism A-6 are rotatably connected to the right rear leg group connecting part E-2; the assembly method of the left rear leg mechanism D and the right rear leg mechanism A The right front leg mechanism B is rotatably connected to the trunk E through the mounting hole of the movable end of the right front electric push rod E-7, and at the same time, the leg group power part of the right front leg mechanism B is fixedly connected to the right front leg group connecting part E-3, and the right reconfigurable deformation mechanism A-2 and the left reconfigurable deformation mechanism A-6 are rotatably connected to the right front leg group connecting part E-3 through the assembly axis; the left front leg mechanism C is assembled in exactly the same way as the right front leg mechanism B; the right rear leg mechanism, the left rear leg mechanism A, D and the right front leg mechanism B, and the left front leg mechanism B, C are arranged in a mirror image with respect to the front and rear symmetric planes of the integrated reconfigurable multi-legged closed-chain platform; through the above connection, the assembly of the integrated reconfigurable multi-legged closed-chain platform is completed.

[0029] like Figure 2 As shown, the right rear leg mechanism A is composed of a right front walking part A-1, a right reconfigurable deformation mechanism A-2, a push rod pitch link connecting member A-3, a leg group power part A-4, a left front walking part A-5, and a left reconfigurable deformation mechanism A-6;

[0030] The connection method of the components in the right rear leg mechanism A is as follows: the mounting hole of the thigh rod end of the right front walking part A-1 is rotatably connected with the long section mounting holes of the sheave front leg heavy component A-2-2 and the sheave rear leg heavy component A-2-3 of the right reconfigurable deformation mechanism A-2 through two assembly shafts; the right front walking part A-1 is rotatably connected with the transmission crank A-4-3 of the leg group power part A-4 and the connecting crank A-2-4 of the right reconfigurable deformation mechanism A-2 through the right front walking part connecting shaft A-1-5; the long end mounting hole of the sheave pitch active component A-2-1 of the right reconfigurable deformation mechanism A-2 is rotatably connected with the push rod pitch connecting shaft The first upper lifting ear A-3-2 of the push rod pitch connecting rod connecting member of the rod connecting member A-3 is fixedly connected; the rod shape, mechanical structure and assembly method of the left front walking part A-5 and the right front walking part A-1 are exactly the same; the left front walking part A-5 and the right front walking part A-1 are mirror-arranged with respect to the left and right symmetric plane of the right rear leg mechanism A; the rod shape, mechanical structure and assembly method of the left reconstructed deformation mechanism A-6 and the right reconstructed deformation mechanism A-2 are exactly the same; the right reconstructed deformation mechanism A-2 and the left reconstructed deformation mechanism A-6 are mirror-arranged with respect to the left and right symmetric plane of the right rear leg mechanism A.

[0031] like Figure 3As shown, the right front walking part A-1 is composed of two right front first thigh rods A-1-1, right front first third auxiliary rods A-1-2, two right front first straight rods A-1-3, right front first calf rod A-1-4, right front walking part connecting shaft A-1-5, right front second thigh rod A-1-6, right front second third auxiliary rod A-1-7, two right front second straight rods A-1-8, and two right front second calf rods A-1-9;

[0032] The connection method of the components in the right front walking part A-1 is as follows: the first and second thigh rods A-1-1 and A-1-6 of the right front are three-pole rods, and mounting holes are arranged at the two ends and the middle position; the first three-pole rod A-1-2 of the right front and the second three-pole rod A-1-7 of the right front are three-pole rods, and mounting holes are arranged at the three vertex positions; the middle mounting holes of the two first thigh rods A-1-1 of the right front are rotatably connected with the long end mounting holes of the first three-pole rod A-1-2 of the right front through an assembly shaft; the end mounting holes of the two first straight rods A-1-3 of the right front are rotatably connected with the bottom mounting holes of the short ends of the first three-pole rod A-1-2 of the right front through an assembly shaft; the bottom mounting holes of the two first thigh rods A-1-1 of the right front are rotatably connected with the top mounting holes of the first calf rod A-1-4 of the right front through an assembly shaft; the other end mounting holes of the two first straight rods A-1-3 of the right front are rotatably connected with the first calf rod A- The middle mounting hole of 1-4 is rotationally connected through an assembly shaft; the top mounting hole of the short end of the right front first third auxiliary rod A-1-2 and the top mounting hole of the short end of the right front second third auxiliary rod A-1-7 are rotationally connected through the right front walking part connecting shaft A-1-5; the middle mounting holes of the two right front second thigh rods A-1-6 and the long end mounting holes of the right front second third auxiliary rod A-1-7 are rotationally connected through an assembly shaft; the end mounting holes of the two right front second straight rods A-1-8 and the short end bottom mounting holes of the right front second third auxiliary rod A-1-7 are rotationally connected through an assembly shaft; the bottom mounting holes of the two right front second thigh rods A-1-6 and the top mounting holes of the right front second calf rod A-1-9 are rotationally connected through an assembly shaft; the other end mounting holes of the two right front second straight rods A-1-8 are rotationally connected with the middle mounting holes of the right front second calf rod A-1-9 through an assembly shaft.

[0033] like Figure 4 As shown, the right reconfigurable deformation mechanism A-2 is composed of a sheave pitch active component A-2-1, a sheave front leg heavy component A-2-2, a sheave rear leg heavy component A-2-3, and a connecting crank A-2-4;

[0034] The connection method of the components in the right reconfigurable deformation mechanism A-2 is as follows: the short end mounting hole of the groove wheel pitch active component A-2-1 and the middle mounting hole of the reconfigurable deformation mechanism connecting component E-2-2 are rotationally connected through an assembly shaft; the short end mounting hole of the groove wheel front leg heavy component A-2-2 and the mounting holes on both sides of the reconfigurable deformation mechanism connecting component E-2-2 are rotationally connected through an assembly shaft; the bottom end mounting hole of the groove wheel rear leg heavy component A-2-3 and the mounting holes on both sides of the reconfigurable deformation mechanism connecting component E-2-2 and the mounting hole of the connecting crank A-2-4 are rotationally connected through an assembly shaft; the round pin of the groove wheel pitch active component A-2-1 cooperates with the notches of the groove wheel front leg heavy component A-2-2 and the groove wheel rear leg heavy component A-2-3, and the groove wheel front leg heavy component A-2-2 and the groove wheel rear leg heavy component A-2-3 each have only one notch; the electric push rod drives the movement of the reconfigurable deformation mechanism to achieve leg posture adjustment.

[0035] like Figure 5 As shown, the push rod pitch link connecting member A-3 is composed of a push rod pitch link upper connecting member A-3-1, two push rod pitch link connecting member first upper hanging ears A-3-2, and two push rod pitch link connecting member second upper hanging ears A-3-3;

[0036] The connection method of the components in the push rod pitch link connector A-3 is as follows: the push rod pitch link upper connector A-3-1 is fixedly connected to the first upper ears A-3-2 of the two push rod pitch link connectors and the second upper ears A-3-3 of the two push rod pitch link connectors; the mounting holes of the second upper ears A-3-3 of the two push rod pitch link connectors are rotationally connected to the movable end mounting holes of the right rear electric push rod E-6 through the assembly shaft; the rod shape, mechanical structure and assembly method of the first upper ears A-3-2 of the two push rod pitch link connectors are exactly the same and are arranged symmetrically and mirrored with respect to the push rod pitch link connector A-3; the rod shape, mechanical structure and assembly method of the second upper ears A-3-3 of the two push rod pitch link connectors are exactly the same and are arranged symmetrically and mirrored with respect to the push rod pitch link connector A-3.

[0037] like Figure 6 As shown, the leg group power unit A-4 is composed of a 57T ​​right-angle planetary reducer A-4-1, a stepper motor A-4-2, and two transmission cranks A-4-3;

[0038] The connection method of the components in the leg group power unit A-4 is as follows: the 57T right-angle planetary reducer A-4-1 is connected to the stepper motor A-4-2; the transmission shaft of the stepper motor A-4-2 is connected to the two transmission cranks A-4-3 through a transmission key to realize transmission; the two transmission cranks A-4-3 are arranged on the left and right sides of the stepper motor A-4-2 with a phase difference of 180°; the stepper motor A-4-2 drives the two transmission cranks A-4-3 to rotate a full circle to realize the walking movement of the right hind leg mechanism A.

[0039] like Figure 7 As shown, the trunk E is composed of a trunk main body support E-1, a right rear leg group connection E-2, a right front leg group connection E-3, a left front leg group connection E-4, a left rear leg group connection E-5, a right rear electric push rod E-6, a right front electric push rod E-7, a left front electric push rod E-8, a left rear electric push rod E-9, two push rod connection parts E-10, four support long rods E-11, and four right-angle connection parts E-12;

[0040] The connection method of the parts in the torso E is as follows: the torso main body support E-1 of the torso E is fixedly connected to the two inner supporting long rods E-11; the right rear leg group connection member E-2 is fixedly connected to the left rear leg group connection member E-5 through two right-angle connection members E-12; the rod shape, mechanical structure and assembly method of the right rear leg group connection member E-2 and the left rear leg group connection member E-5 are exactly the same and are arranged in a mirror image with respect to the left and right symmetric planes of the torso E; the right front leg group connection member E-3 is fixedly connected to the left front leg group connection member E-4 through The two right-angle connectors E-12 are fixedly connected; the rod shape, mechanical structure and assembly method of the right front leg group connector E-3 and the left front leg group connector E-4 are exactly the same and are arranged in a mirror image with respect to the left and right symmetric planes of the torso E; the right rear leg group connector E-2 is fixedly connected to the right front leg group connector E-3 through two right-side supporting long rods E-11; the left rear leg group connector E-5 is fixedly connected to the left front leg group connector E-4 through two left-side supporting long rods E-11; the right push rod connector E-10 is fixedly connected to the right The fixed ends of the rear electric push rod E-6 and the right front electric push rod E-7 are rotatably connected through the assembly shaft and are fixedly connected to the two right supporting long rods E-11; the left push rod connector E-10 is rotatably connected to the fixed ends of the left front electric push rod E-8 and the left rear electric push rod E-9 through the assembly shaft and is fixedly connected to the two left supporting long rods E-11; the rod shape, mechanical structure and assembly method of the left and right push rod connectors E-10 are exactly the same and are arranged in a mirror image with respect to the left and right symmetric planes of the trunk E; the right rear The rod shapes, mechanical structures and assembly methods of the electric linear actuator E-6, the right front electric linear actuator E-7, the left rear electric linear actuator E-9 and the left front electric linear actuator E-8 are exactly the same; the right rear electric linear actuator E-6, the right front electric linear actuator E-7 and the left rear electric linear actuator E-9 and the left front electric linear actuator E-8 are mirror-arranged about the left and right symmetric planes of the trunk E; the right front electric linear actuator E-7, the left front electric linear actuator E-8 and the right rear electric linear actuator E-6 and the left rear electric linear actuator E-9 are mirror-arranged about the front and rear symmetric planes of the trunk E.

[0041] like Figure 8 As shown, the right hind leg group connecting member E-2 is composed of the right hind leg group upper connecting member E-2-1, two right hind leg group reconstruction deformation mechanism connecting members E-2-2, and two right hind leg group motor connecting members E-2-3;

[0042] The connection method of the components in the right hind leg group connecting member E-2 is as follows: the upper connecting member E-2-1 of the right hind leg group is fixedly connected to the two right hind leg group reconstructed deformation mechanism connecting members E-2-2 and the two right hind leg group motor connecting members E-2-3; the two right hind leg group motor connecting members E-2-3 are fixedly connected to the eight mounting holes on both sides of the leg group power unit A-4 by bolts; the two right hind leg group reconstructed deformation mechanism connecting members E-2-2 are arranged symmetrically with respect to the right hind leg group connecting member E-2; the two right hind leg group motor connecting members E-2-3 are arranged symmetrically with respect to the right hind leg group connecting member E-2; the connection method of the components of the left hind leg group connecting member E-5 is exactly the same as that of the right hind leg group connecting member E-2.

[0043] like Fig. 9 As shown, the right front leg group connecting member E-3 is composed of the right front leg group upper connecting member E-3-1, two right front leg group reconstruction deformation mechanism connecting members E-3-2, and two right front leg group motor connecting members E-3-3;

[0044] The connection method of the components in the right front leg group connecting member E-3 is as follows: the upper connecting member E-3-1 of the right front leg group is fixedly connected to the two right front leg group reconstructed deformation mechanism connecting members E-3-2 and the two right front leg group motor connecting members E-3-3; the two right front leg group motor connecting members E-3-3 are fixedly connected to the eight mounting holes on both sides of the leg group power part of the right front leg mechanism B by bolts; the two right front leg group reconstructed deformation mechanism connecting members E-3-2 are arranged symmetrically with respect to the right front leg group connecting member E-3; the two right front leg group motor connecting members E-3-3 are arranged symmetrically with respect to the right front leg group connecting member E-3; the connection method of the components of the left front leg group connecting member E-4 is exactly the same as that of the right front leg group connecting member E-3.

Claims

1. An integrated reconstructable multi-leg closed chain platform, characterized in that: An integrated reconfigurable multi-leg closed-chain platform consists of a right hind leg mechanism (A), a right front leg mechanism (B), a left front leg mechanism (C), a left hind leg mechanism (D) and a trunk (E): the rod shapes and mechanical structures of the right hind leg mechanism (A), the right front leg mechanism (B), the left front leg mechanism (C) and the left hind leg mechanism (D) are exactly the same; the right hind leg mechanism (A) and the trunk (E) are rotatably connected through the movable end mounting hole of the right rear electric push rod (E-6), and at the same time, the leg group power part (A-4) is fixedly connected to the right hind leg group connecting part (E-2), the right reconfigurable deformation mechanism (A-2), the left reconfigurable deformation mechanism (A-6) and the right hind leg group connecting part (E-2) are rotatably connected; the left hind leg mechanism (D) and the right hind leg mechanism ( A) is assembled in exactly the same manner; the right front leg mechanism (B) is rotationally connected to the trunk (E) through the mounting hole of the movable end of the right front electric push rod (E-7), and at the same time, the leg group power unit of the right front leg mechanism (B) is fixedly connected to the right front leg group connecting member (E-3), and the right reconfigurable deformation mechanism (A-2), the left reconfigurable deformation mechanism (A-6) and the right front leg group connecting member (E-3) are rotationally connected through the assembly axis; the left front leg mechanism (C) is assembled in exactly the same manner as the right front leg mechanism (B); the right rear leg mechanism, the left rear leg mechanism (A, D) and the right front leg mechanism, the left front leg mechanism (B, C) are arranged in a mirror image with respect to the front and rear symmetric planes of the integrated reconfigurable multi-leg closed chain platform; through the above connection, the assembly of the integrated reconfigurable multi-leg closed chain platform is completed.

2. The integrated reconfigurable multi-legged closed-chain platform according to claim 1, characterized in that: The right rear leg mechanism (A) is composed of a right front walking part (A-1), a right reconfiguration deformation mechanism (A-2), a push rod pitch link connecting member (A-3), a leg group power part (A-4), a left front walking part (A-5), and a left reconfiguration deformation mechanism (A-6); The connection method of the components in the right rear leg mechanism (A) is as follows: the mounting hole of the thigh rod end of the right front walking part (A-1) is rotatably connected with the long section mounting holes of the sheave front leg heavy component (A-2-2) and the sheave rear leg heavy component (A-2-3) of the right reconfigurable deformation mechanism (A-2) through two assembly shafts; the right front walking part (A-1) is rotatably connected with the transmission crank (A-4-3) of the leg group power part (A-4) and the connecting crank (A-2-4) of the right reconfigurable deformation mechanism (A-2) through the right front walking part connecting shaft (A-1-5); the long end mounting hole of the sheave pitch active component (A-2-1) of the right reconfigurable deformation mechanism (A-2) is rotatably connected with the push rod pitch The first upper lifting ear (A-3-2) of the push rod pitch connecting rod connecting member of the connecting rod connecting member (A-3) is fixedly connected; the rod shape, mechanical structure and assembly method of the left front walking part (A-5) and the right front walking part (A-1) are exactly the same; the left front walking part (A-5) and the right front walking part (A-1) are arranged in a mirror image with respect to the left and right symmetric planes of the right rear leg mechanism (A); the rod shape, mechanical structure and assembly method of the left reconfiguration deformation mechanism (A-6) and the right reconfiguration deformation mechanism (A-2) are exactly the same; the right reconfiguration deformation mechanism (A-2) and the left reconfiguration deformation mechanism (A-6) are arranged in a mirror image with respect to the left and right symmetric planes of the right rear leg mechanism (A).

3. The integrated reconfigurable multi-legged closed-chain platform according to claim 2, characterized in that: The right front walking part (A-1) is composed of two right front first thigh rods (A-1-1), right front first third auxiliary rods (A-1-2), two right front first straight rods (A-1-3), right front first calf rod (A-1-4), right front walking part connecting shaft (A-1-5), right front second thigh rod (A-1-6), right front second third auxiliary rod (A-1-7), two right front second straight rods (A-1-8), and two right front second calf rods (A-1-9); The connection method of the components in the right front walking part (A-1) is as follows: the first and second thigh rods (A-1-1, A-1-6) of the right front are three-pole rods, and mounting holes are arranged at the two ends and the middle position; the first three-pole rod (A-1-2) of the right front and the second three-pole rod (A-1-7) of the right front are three-pole rods, and mounting holes are arranged at three top angle positions; the middle mounting holes of the two first thigh rods (A-1-1) of the right front are connected to the long end mounting holes of the first three-pole rod (A-1-2) of the right front through The assembly shaft realizes rotation connection; the end mounting holes of the two right front first straight rods (A-1-3) are rotationally connected with the bottom mounting holes of the short ends of the right front first third auxiliary rods (A-1-2) through the assembly shaft; the bottom mounting holes of the two right front first thigh rods (A-1-1) are rotationally connected with the top mounting holes of the right front first calf rods (A-1-4) through the assembly shaft; the other end mounting holes of the two right front first straight rods (A-1-3) are rotationally connected with the right front first calf rod (A- 1-4) middle mounting hole is rotatably connected through an assembly shaft; the short end top mounting hole of the right front first third auxiliary rod (A-1-2) and the short end top mounting hole of the right front second third auxiliary rod (A-1-7) are rotatably connected through the right front walking part connecting shaft (A-1-5); the middle mounting holes of the two right front second thigh rods (A-1-6) and the long end mounting holes of the right front second third auxiliary rods (A-1-7) are rotatably connected through an assembly shaft; the two right front second straight rods (A-1-6) are rotatably connected through an assembly shaft; -1-8) end mounting hole and the short end bottom mounting hole of the right front second third auxiliary rod (A-1-7) are rotatably connected through an assembly shaft; the bottom mounting holes of the two right front second thigh rods (A-1-6) are rotatably connected with the top mounting holes of the right front second calf rod (A-1-9) through an assembly shaft; the other end mounting holes of the two right front second straight rods (A-1-8) are rotatably connected with the middle mounting holes of the right front second calf rod (A-1-9) through an assembly shaft; The right reconfiguration deformation mechanism (A-2) is composed of a groove wheel pitch active member (A-2-1), a groove wheel front leg heavy component (A-2-2), a groove wheel rear leg heavy component (A-2-3), and a connecting crank (A-2-4); The connection method of the components in the right reconfigurable deformation mechanism (A-2) is as follows: the short end mounting hole of the groove wheel pitch active component (A-2-1) and the middle mounting hole of the reconfigurable deformation mechanism connecting component (E-2-2) are rotatably connected through an assembly shaft; the short end mounting hole of the groove wheel front leg heavy component (A-2-2) and the mounting holes on both sides of the reconfigurable deformation mechanism connecting component (E-2-2) are rotatably connected through an assembly shaft; the bottom end mounting hole of the groove wheel rear leg heavy component (A-2-3) and the reconfigurable deformation mechanism are rotatably connected through an assembly shaft. The mounting holes on both sides of the connecting member (E-2-2) and the mounting holes of the connecting crank (A-2-4) are connected in rotation through the assembly shaft; the round pin of the groove wheel pitch active member (A-2-1) cooperates with the notches of the groove wheel front leg heavy component (A-2-2) and the groove wheel rear leg heavy component (A-2-3), and the groove wheel front leg heavy component (A-2-2) and the groove wheel rear leg heavy component (A-2-3) each have only one notch; the electric push rod drives the movement of the reconstructed deformation mechanism to realize the posture adjustment of the legs; The push rod pitch link connecting member (A-3) is composed of a push rod pitch link upper connecting member (A-3-1), two push rod pitch link connecting member first upper hanging ears (A-3-2), and two push rod pitch link connecting member second upper hanging ears (A-3-3); The connection method of the components in the push rod pitch link connector (A-3) is as follows: the push rod pitch link upper connector (A-3-1) is fixedly connected to the first upper hanging ears (A-3-2) of the two push rod pitch link connectors and the second upper hanging ears (A-3-3) of the two push rod pitch link connectors; the mounting holes of the second upper hanging ears (A-3-3) of the two push rod pitch link connectors are rotationally connected to the movable end mounting holes of the right rear electric push rod (E-6) through an assembly shaft; the rod shape, mechanical structure and assembly method of the first upper hanging ears (A-3-2) of the two push rod pitch link connectors are completely the same and are arranged in a left-right symmetrical mirror image with respect to the push rod pitch link connector (A-3); the rod shape, mechanical structure and assembly method of the second upper hanging ears (A-3-3) of the two push rod pitch link connectors are completely the same and are arranged in a left-right symmetrical mirror image with respect to the push rod pitch link connector (A-3); The leg group power unit (A-4) is composed of a 57T ​​right-angle planetary reducer (A-4-1), a stepper motor (A-4-2), and two transmission cranks (A-4-3); The connection method of the components in the leg group power unit (A-4) is as follows: the 57T right-angle planetary reducer (A-4-1) is connected to the stepper motor (A-4-2); the transmission shaft of the stepper motor (A-4-2) and the two transmission cranks (A-4-3) are connected through a transmission key to realize transmission; the two transmission cranks (A-4-3) are arranged on the left and right sides of the stepper motor (A-4-2) and the phase difference is 180°; the stepper motor (A-4-2) drives the two transmission cranks (A-4-3) to rotate a full circle to realize the walking movement of the right hind leg mechanism (A).

4. The integrated reconfigurable multi-legged closed-chain platform according to claim 1, characterized in that: The trunk (E) is composed of a trunk main body support member (E-1), a right rear leg group connection member (E-2), a right front leg group connection member (E-3), a left front leg group connection member (E-4), a left rear leg group connection member (E-5), a right rear electric push rod (E-6), a right front electric push rod (E-7), a left front electric push rod (E-8), a left rear electric push rod (E-9), two push rod connection members (E-10), four supporting long rods (E-11), and four right-angle connection members (E-12); The connection method of the parts in the torso (E) is as follows: the torso main body support member (E-1) of the torso (E) is fixedly connected to the two inner supporting long rods (E-11); the right rear leg group connection member (E-2) and the left rear leg group connection member (E-5) are fixedly connected through two right-angle connection members (E-12); the rod shape, mechanical structure and assembly method of the right rear leg group connection member (E-2) and the left rear leg group connection member (E-5) are exactly the same and are arranged in a mirror image with respect to the left and right symmetric planes of the torso (E); the right front leg group connection member (E-3) and the left front leg group connection member (E-4) are connected by two right-angle connection members (E-12). The right front leg group connecting member (E-3) and the left front leg group connecting member (E-4) are fixedly connected by two right-angle connecting members (E-12); the rod shape, mechanical structure and assembly method of the right front leg group connecting member (E-3) and the left front leg group connecting member (E-4) are exactly the same and are arranged in a mirror image with respect to the left and right symmetric planes of the trunk (E); the right rear leg group connecting member (E-2) and the right front leg group connecting member (E-3) are fixedly connected by two right-side supporting long rods (E-11); the left rear leg group connecting member (E-5) and the left front leg group connecting member (E-4) are fixedly connected by two left-side supporting long rods (E-11); the right push rod connecting member (E-10) and the right The fixed ends of the rear electric push rod (E-6) and the right front electric push rod (E-7) are rotatably connected through the assembly shaft and are fixedly connected to the two right support long rods (E-11); the left push rod connecting piece (E-10) is rotatably connected to the fixed ends of the left front electric push rod (E-8) and the left rear electric push rod (E-9) through the assembly shaft and is fixedly connected to the two left support long rods (E-11); the rod shape, mechanical structure and assembly method of the push rod connecting pieces (E-10) on the left and right sides are completely the same and are arranged in a mirror image with respect to the left and right symmetric planes of the trunk (E); the right rear electric push rod ( The rod shapes, mechanical structures and assembly methods of the right front electric linear actuator (E-6), the right front electric linear actuator (E-7), the left rear electric linear actuator (E-9) and the left front electric linear actuator (E-8) are exactly the same; the right rear electric linear actuator (E-6), the right front electric linear actuator (E-7) and the left rear electric linear actuator (E-9) and the left front electric linear actuator (E-8) are arranged in a mirror image on the left and right symmetric planes of the trunk (E); the right front electric linear actuator (E-7), the left front electric linear actuator (E-8) and the right rear electric linear actuator (E-6) and the left rear electric linear actuator (E-9) are arranged in a mirror image on the front and rear symmetric planes of the trunk (E); The right hind leg group connecting member (E-2) is composed of a right hind leg group upper connecting member (E-2-1), two right hind leg group reconstructed deformation mechanism connecting members (E-2-2), and two right hind leg group motor connecting members (E-2-3); The connection method of the components in the right hind leg group connecting piece (E-2) is as follows: the upper connecting piece (E-2-1) of the right hind leg group is fixedly connected to the two right hind leg group reconstructed deformation mechanism connecting pieces (E-2-2) and the two right hind leg group motor connecting pieces (E-2-3); the two right hind leg group motor connecting pieces (E-2-3) are fixedly connected to the eight mounting holes on both sides of the leg group power unit (A-4) by bolts; the two right hind leg group reconstructed deformation mechanism connecting pieces (E-2-2) are arranged symmetrically with respect to the right hind leg group connecting piece (E-2); the two right hind leg group motor connecting pieces (E-2-3) and the right hind leg group connecting piece (E-2) are arranged symmetrically with respect to the right hind leg group connecting piece (E-2); the connection method of the components of the left hind leg group connecting piece (E-5) and the right hind leg group connecting piece (E-2) is exactly the same; The right front leg group connecting member (E-3) is composed of a right front leg group upper connecting member (E-3-1), two right front leg group reconstruction deformation mechanism connecting members (E-3-2), and two right front leg group motor connecting members (E-3-3); The connection method of the components in the right front leg group connecting member (E-3) is as follows: the upper connecting member (E-3-1) of the right front leg group is fixedly connected to the two right front leg group reconstructed deformation mechanism connecting members (E-3-2) and the two right front leg group motor connecting members (E-3-3); the two right front leg group motor connecting members (E-3-3) are fixedly connected to the eight mounting holes on both sides of the leg group power part of the right front leg mechanism (B) by bolts; the two right front leg group reconstructed deformation mechanism connecting members (E-3-2) are arranged symmetrically with respect to the right front leg group connecting member (E-3); the two right front leg group motor connecting members (E-3-3) and the right front leg group connecting member (E-3) are arranged symmetrically with respect to the left front leg group connecting member (E-3); the component connection method of the left front leg group connecting member (E-4) is exactly the same as that of the right front leg group connecting member (E-3).

Images