Variable-rigidity joint multi-foot walking platform

Abstract

A variable-rigidity joint multi-legged walking platform comprises a left front leg mechanism (A), a left rear leg mechanism (B), a right rear leg mechanism (C), a right front leg mechanism (D), a trunk (E) and a push rod (F), wherein the left front leg mechanism, the left rear leg mechanism, the right rear leg mechanism and the right front leg mechanism are the same. In particular to a high-maneuverability closed chain leg type walking platform with joints having two rigidity modes. Each group of leg mechanism is driven by a motor; a push rod rotating connecting piece (F-3) in the left push rod mechanism (F) is fixedly connected with a push rod long connecting piece (A-1-1) in the variable stiffness joint part (A-1) through a bolt; in the working process of the push rod, the rotating speed difference is achieved through the two first thigh rods (A-2-1), the gear 1 (A-1-5), the gear 2 (A-1-6) and the gear 3 (A-1-7), and then conversion between the rigidity and the flexibility of the joint can be completed. Compared with an existing walking platform, the terrain adaptability of the walking platform can be improved through changes of the joint rigidity, and energy loss caused by inconsistent traction speeds of the front legs and the rear legs is reduced while vibration reduction is reconstructed in the pitching state.

Description

Technical Field

[0001] The present invention relates to a multi-legged walking platform with variable stiffness joints, and specifically to a high-mobility closed-chain leg-type walking platform with two joint stiffness modes and multiple gaits. The joint stiffness has two modes, rigid and flexible. The degree of flexibility is controlled by joint changes. Different gaits are obtained in different stiffness modes to reduce the internal energy consumption caused by the inconsistent speed of front and rear legs in the pitch obstacle crossing state, and the platform has terrain adaptability. 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 CN118343226A discloses "an omnidirectional torso reconfigurable multi-leg platform", which includes: identical left front, right front, left rear, and right rear leg mechanisms (A, B, C, D) and a torso (E); the shape and geometric parameters of the rods in the torso (E) are set so that the torso (E) is a two-degree-of-freedom spatial mechanism with three deformation modes. In the three deformation modes, the omnidirectional torso reconfigurable multi-leg platform respectively obtains three different gaits of pitch, waist retraction, and omnidirectionality, and has high terrain adaptability and high maneuverability.

[0004] Chinese patent CN110091934A discloses "an adaptive multi-legged walking platform", which includes: four identical first to fourth leg mechanisms (A, B, C, D) and a frame (E). The thigh rod is a parameter-variable rod, and the position of the thigh rod parameter locking and release time in the whole cycle is controlled by a cam mechanism. This cam is coupled with a driving crank to achieve passive adaptation to the terrain, and can be used for transportation, exploration and other tasks on complex roads such as mountains. Summary of the invention

[0005] The problem to be solved by the present invention is to provide a walking platform, which can improve the terrain adaptability of the walking platform by changing the joint stiffness compared with the existing walking platforms, reconstruct the vibration reduction in the pitch state, and reduce the energy loss caused by the inconsistent traction speed of the front and rear legs. There are two modes of joint stiffness: the rigid mode is suitable for flat or well-conditioned ground, and the flexible mode is suitable for steps or other types of rugged roads. The combination of the two modes can improve the adaptability to complex roads.

[0006] The technical solution of the present invention:

[0007] A variable stiffness joint multi-leg walking platform is composed of the same left front, right front, left rear, right rear leg mechanisms and a trunk; the left front, right front leg mechanisms and the left rear, right rear leg mechanisms are arranged counterclockwise in the order of the left front leg mechanism, the left rear leg mechanism, the right rear leg mechanism, and the right front leg mechanism; the left front, left rear, right rear, and right front leg mechanisms of the variable stiffness joint multi-leg walking platform are all driven by a single motor to walk. The left front leg mechanism is fixedly connected to the left front trunk; the left rear leg mechanism is fixedly connected to the left rear trunk; the right rear leg mechanism is fixedly connected to the right rear trunk; the right front leg mechanism is fixedly connected to the trunk; the left front and right front leg mechanisms are fixedly connected to the push rod rotating connector in the left push rod mechanism by bolts; the left push rod mechanism is rotatably connected to the trunk through an assembly shaft.

[0008] The rod shapes, mechanical structures and assembly methods of the left front leg mechanism, the left rear leg mechanism, the right rear leg mechanism and the right front leg mechanism are exactly the same; the left front leg mechanism, the right front leg mechanism and the left rear leg mechanism, the right rear leg mechanism are mirror-arranged about the transverse symmetry plane of the variable stiffness joint multi-legged walking platform; the left front leg mechanism, the left rear leg mechanism and the right rear leg mechanism, the right front leg mechanism are mirror-arranged about the longitudinal symmetry plane of the variable stiffness joint multi-legged walking platform; the rod shapes, mechanical structures and assembly methods of the left push rod mechanism and the right push rod mechanism are exactly the same, and are mirror-arranged about the longitudinal symmetry plane of the variable stiffness joint multi-legged walking platform.

[0009] Through the above connection, the variable stiffness joint multi-legged walking platform is assembled; the push rod rotating connector in the left push rod mechanism and the push rod long connector in the variable stiffness joint part are fixedly connected by bolts; during the working stroke of the push rod, the speed difference is achieved through the two first thigh rods and gears 1, 2, and 3, thereby completing the conversion of joint rigidity and flexibility.

[0010] The left front leg mechanism is composed of a rear variable stiffness joint, a rear leg group connecting rod, a power driving part, a front leg group connecting rod, front and rear variable stiffness joints and a baffle.

[0011] The connection method of the components in the left front leg mechanism is as follows: the rear variable stiffness joint part and the rear leg group connecting rod part are rotationally connected through an assembly axis; the rear variable stiffness joint part and the baffle are rotationally connected through an assembly axis; the rear leg group connecting rod part (and the power drive part are rotationally connected through an assembly axis; the rear leg group connecting rod part and the power drive part are fixedly connected to the baffle through bolts; the rod shape, mechanical structure and assembly method of the front leg group connecting rod part and the rear leg group connecting rod part are exactly the same, and are longitudinally symmetrical with respect to the left front leg mechanism; the rod shape, mechanical structure and assembly method of the front variable stiffness joint part and the rear variable stiffness joint part are exactly the same, and are longitudinally symmetrical with respect to the left front leg mechanism.

[0012] The rear variable stiffness joint part is composed of a long push rod connector, a short push rod connector, a spring, a limit rod 1, a gear 1, a gear 2, a gear 3, a transmission short rod, a transmission long rod, a limit rod, a connecting rod, a rear mounting shaft, and a front mounting shaft.

[0013] The connection method of the components in the rear variable stiffness joint is as follows: the long push rod connector and the short push rod connector are fixedly connected by bolts; the long push rod connector and the push rod rotating connector are fixedly connected by bolts; the bottom mounting hole of the long push rod connector and the middle mounting hole of the connecting rod are flexibly connected by a spring; the short push rod connector and the limit rod are fixedly connected by bolts; the bottom mounting hole of limit rod 1, gear 1 and the rear assembly shaft are connected by key fitting; the bottom mounting hole of limit rod 2, the bottom mounting hole of the connecting rod, the rear mounting hole of the baffle and the rear assembly shaft are rotationally connected; gear 1, gear 2, and gear 3 are meshed and connected; gear 3 and the transmission short rod are fixedly connected by the front assembly shaft key fitting; the front mounting hole of the baffle is rotationally connected to the front assembly shaft; the upper mounting hole of the transmission short rod and the bottom mounting hole of the transmission long rod are rotationally connected by bolts; the upper mounting hole of the transmission long rod and the upper mounting hole of the limit rod 2 are rotationally connected by bolts.

[0014] The rod shape, mechanical structure and assembly method of the front variable stiffness joint part and the rear variable stiffness joint part are completely the same, and are longitudinally symmetrical about the left front leg mechanism.

[0015] The rear connecting rod part comprises: two first thigh rods, a first third auxiliary rod, a first straight rod, a first calf rod, a second calf rod, a second straight rod, a plug bolt, a second third auxiliary rod, two second thigh rods, and a base.

[0016] The connection method of the components in the connecting rod part of the rear leg group is as follows: the first and second thigh rods are three-pole rods, and mounting holes are arranged at the top, bottom and middle positions; the first third-pole rod and the second third-pole rod are three-pole rods, and mounting holes are arranged at three vertex positions; the two first thigh rod long end mounting holes and the mounting holes at the top of the connecting rod are rotatably connected through an assembly shaft; the two first thigh rod middle mounting holes and the first third-pole long end mounting holes are rotatably connected through an assembly shaft; the two first straight rod end mounting holes and the first third-pole short end bottom mounting holes are rotatably connected through an assembly shaft; the two first thigh rod bottom mounting holes and the first calf rod upper mounting holes are rotatably connected through an assembly shaft; the two first straight rod other end mounting holes and the first calf rod middle mounting holes are rotatably connected through an assembly shaft; The mounting hole above the short end of the first third auxiliary rod and the mounting hole above the short end of the second third auxiliary rod are rotatably connected by bolts; the mounting holes above the two second thigh rods and the mounting holes at the bottom of the base are rotatably connected by an assembly shaft; the mounting holes in the middle of the two second thigh rods and the mounting holes at the long end of the second third auxiliary rod are rotatably connected by an assembly shaft; the mounting holes at the end of the two second straight rods and the mounting holes at the bottom of the short end of the second third auxiliary rod are rotatably connected by an assembly shaft; the mounting holes at the bottom of the short end of the two second thigh rods and the mounting holes above the second calf rods are rotatably connected by an assembly shaft; the mounting holes at the other end of the two second straight rods and the mounting holes in the middle of the second calf rods are rotatably connected by an assembly shaft; the mounting holes are arranged at four right angles to the base and the axial direction is in the vertical direction; and are fixedly connected to the base and the left front bottom plate.

[0017] The rod shape, mechanical structure and assembly method of the front leg group connecting rod part and the rear leg group connecting rod part are completely the same, and are longitudinally symmetrical about the left front leg mechanism.

[0018] The power driving part is composed of a brushless DC motor, a right crank, a right leg group motor connecting piece, a left leg group connecting piece, a left crank and a reducer.

[0019] The connection method of the components in the power drive unit is as follows: four mounting holes are evenly arranged on the end surface of the left leg group connector; the DC brushless motor, the right leg group motor connector, the left leg connector, and the reducer are fixedly connected by bolts; the reducer and the right crank are rotationally connected through the assembly shaft; the reducer and the left crank are rotationally connected through the assembly shaft; the left leg group connector and the right leg group connector are symmetrically arranged about the motor axis; the phase difference between the left crank and the right crank is 180°; the DC brushless motor drives the left crank and the right crank to rotate a full circle to realize the walking movement of the left front leg mechanism.

[0020] The trunk is composed of a left front trunk, a left rear trunk, a right rear trunk, a right front trunk, a trunk long connector, a trunk short connector, a left push rod bent connector, a right push rod bent connector, and a trunk connector.

[0021] The connection method of the torso middle parts is: the left front torso and the right front torso are respectively fixedly connected to the two ends of the torso long connecting piece; the left front torso and the left rear torso are respectively fixedly connected to the two ends of the torso short connecting piece; the torso connecting piece is respectively fixedly connected to the left front torso, the left rear torso, the right rear torso, and the right front torso by bolts; the left push rod bent connecting piece and the right push rod bent connecting piece are respectively fixedly connected to the torso connecting piece by bolts.

[0022] The left front trunk is composed of a left front first long connecting piece, a left front first transverse connecting piece, a left front first short connecting piece, a left front second long connecting piece, a left front second transverse connecting piece, a left front second transverse connecting piece, a left front first short connecting piece, and an adjusting gasket.

[0023] The connection method of the components in the left front trunk is: in the left front trunk, the left front first long connecting piece and the left front second long connecting piece are fixedly connected to the two ends of the left front first short connecting piece and the left front second short connecting piece respectively; the adjustment gasket is fixedly connected to the left front first long connecting piece; the two ends of the left front first transverse connecting piece and the left front second transverse connecting piece are fixedly connected to the upper end of the adjustment gasket and the left front first long connecting piece respectively; the left front first long connecting piece is fixedly connected to the lower surface of the adjustment gasket.

[0024] The rod shapes, mechanical structures and assembly methods of the left front torso, left rear torso, right rear torso and right front torso in the torso are exactly the same; the left front torso, right front torso and left rear torso, right rear torso are mirror-arranged with respect to the transverse symmetry plane of the variable stiffness joint multi-legged walking platform; the left front torso, left rear torso and right front torso, right rear torso are mirror-arranged with respect to the longitudinal symmetry plane of the variable stiffness joint multi-legged walking platform.

[0025] The left push rod mechanism is composed of a push rod, a push rod connecting piece, and a push rod rotating connecting piece.

[0026] The connection mode of the components in the left push rod mechanism is as follows: the push rod and the push rod connecting piece are rotationally connected through an assembly shaft; the push rod connecting piece and the push rod rotating connecting piece are fixedly connected through bolts.

[0027] Beneficial effects of the present invention:

[0028] The variable stiffness joint multi-leg walking platform of the present invention is a highly maneuverable closed-chain leg-type walking platform with two joint stiffness modes and multiple gaits. The stiffness of the joints has two modes, rigid and flexible. The joint changes control the degree of flexibility. In the rigid joint mode, it has high passability when facing flat roads, and in the flexible mode, it has high vibration reduction when facing obstacles such as steps and pits. At the same time, on the basis of reconfigurability, it reduces the energy internal consumption caused by the inconsistent traction speed of the front and rear legs in the pitch obstacle state. The two joint stiffness modes are switched according to the terrain so that different gaits can be obtained in different stiffness modes, which has high terrain adaptability, high passability and high maneuverability. It can be used in the fields of detection, reconnaissance, and transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 The initial state of a variable stiffness joint multi-legged walking platform.

[0030] Figure 2 3D diagram of the left front leg mechanism

[0031] Figure 3 3D image of variable stiffness joint

[0032] Figure 4 3D image of the leg group connecting rod

[0033] Figure 5 3D diagram of the power drive unit

[0034] Figure 6 3D image of the torso

[0035] Figure 7 3D image of the left front torso

[0036] Figure 8 3D diagram of the push rod mechanism DETAILED DESCRIPTION

[0037] The present invention will be further described below in conjunction with the accompanying drawings.

[0038] like Figure 1 As shown, a variable stiffness joint multi-leg walking platform is composed of identical left front, right front, left rear, and right rear leg mechanisms (A, B, C, D) and a trunk (E); the left front and right front leg mechanisms (A, B) and the left rear and right rear leg mechanisms (C, D) are arranged counterclockwise in the order of left front leg mechanism (A), left rear leg mechanism (B), right rear leg mechanism (C), and right front leg mechanism (D); the left front, left rear, right rear, and right front leg mechanisms (A, B, C, D) of the variable stiffness joint multi-leg walking platform are all driven by a single motor for walking. The left front leg mechanism (A) is fixedly connected to the left front trunk (E-1); the left rear leg mechanism (B) is fixedly connected to the left rear trunk (E-2); the right rear leg mechanism (C) is fixedly connected to the right rear trunk (E-3); the right front leg mechanism (D) is fixedly connected to the trunk (E-4); the left front and right front leg mechanisms (A, B) are fixedly connected to the push rod rotating connecting member (F-3) in the left push rod mechanism (F) by bolts; the left push rod mechanism (F) is rotationally connected to the trunk (E) by an assembly shaft.

[0039] The rod shapes, mechanical structures and assembly methods of the left front leg mechanism (A), the left rear leg mechanism (B), the right rear leg mechanism (C) and the right front leg mechanism (D) are exactly the same; the left front leg mechanism, the right front leg mechanism (A, D) and the left rear leg mechanism, the right rear leg mechanism (B, C) are arranged in a mirror image with respect to the transverse symmetry plane of the variable stiffness joint multi-legged walking platform; the left front leg mechanism, the left rear leg mechanism (A, B) and the right rear leg mechanism, the right front leg mechanism (C, D) are arranged in a mirror image with respect to the longitudinal symmetry plane of the variable stiffness joint multi-legged walking platform; the rod shapes, mechanical structures and assembly methods of the left push rod mechanism (F) and the right push rod mechanism (G) are exactly the same and are arranged in a mirror image with respect to the longitudinal symmetry plane of the variable stiffness joint multi-legged walking platform.

[0040] Through the above connection, the variable stiffness joint multi-legged walking platform is assembled; the push rod rotating connector (F-3) in the left push rod mechanism (F) and the push rod long connector (A-1-1) in the variable stiffness joint part (A-1) are fixedly connected by bolts; during the working stroke of the push rod, the speed difference is achieved through the two first thigh rods (A-2-1) and gear 1 (A-1-5), gear 2 (A-1-6), and gear 3 (A-1-7), thereby completing the conversion of joint rigidity and flexibility.

[0041] like Figure 2 As shown, the left front leg mechanism (A) is composed of a rear variable stiffness joint (A-1), a rear leg group connecting rod (A-2), a power drive (A-3), a front leg group connecting rod (A-4), front and rear variable stiffness joints (A-5) and a baffle (A-6);

[0042] The connection method of the components in the left front leg mechanism (A) is as follows: the rear variable stiffness joint part (A-1) and the rear leg group connecting rod part (A-2) are rotationally connected through an assembly axis; the rear variable stiffness joint part (A-1) and the baffle (A-6) are rotationally connected through an assembly axis; the rear leg group connecting rod part (A-2) and the power driving part (A-3) are rotationally connected through an assembly axis; the rear leg group connecting rod part (A-2) and the power driving part (A-3) are fixedly connected to the baffle (A-6) through bolts; the rod shape, mechanical structure and assembly method of the front leg group connecting rod part (A-4) and the rear leg group connecting rod part (A-2) are exactly the same, and they are longitudinally symmetrical with respect to the left front leg mechanism (A); the rod shape, mechanical structure and assembly method of the front variable stiffness joint part (A-5) and the rear variable stiffness joint part (A-1) are exactly the same, and they are longitudinally symmetrical with respect to the left front leg mechanism (A).

[0043] like Figure 3As shown, the rear variable stiffness joint part (A-1) is composed of a long push rod connector (A-1-1), a short push rod connector (A-1-2), a spring (A-1-3), a limit rod 1 (A-1-4), a gear 1 (A-1-5), a gear 2 (A-1-6), a gear 3 (A-1-7), a transmission short rod (A-1-8), a transmission long rod (A-1-9), a limit rod (A-1-10), a connecting rod (A-1-11), a rear mounting shaft (A-1-12), and a front mounting shaft (A-1-13).

[0044] The connection method of the components in the rear variable stiffness joint part (A-1) is as follows: the push rod long connector (A-1-1) and the push rod short connector (A-1-2) are fixedly connected by bolts; the push rod long connector (A-1-1) and the push rod rotating connector (F-3) are fixedly connected by bolts; the bottom mounting hole of the push rod long connector (A-1-1) and the middle mounting hole of the connecting rod (A-1-11) are flexibly connected by a spring (A-1-3); the push rod short connector (A-1-2) and the limit rod (A-1-4) are fixedly connected by bolts; the bottom mounting hole of the limit rod 1 (A-1-4), the gear 1 (A-1-5) and the rear assembly shaft (A-1-12) are connected by key fitting; the bottom mounting hole of the limit rod 2 (A-1-10), the connecting rod (A-1-11) are flexibly connected by a spring (A-1-3); -1-11) bottom mounting hole, rear mounting hole of baffle (A-6) and rear assembly shaft (A-1-12) are rotationally connected; gear 1 (A-1-5), gear 2 (A-1-6) and gear 3 (A-1-7) are meshingly connected; gear 3 (A-1-7) and transmission short rod (A-1-8) are fixedly connected by key matching of the front assembly shaft (A-1-13); the front mounting hole of baffle (A-6) is rotationally connected with the front assembly shaft (A-1-13); the upper mounting hole of transmission short rod (A-1-8) and the bottom mounting hole of transmission long rod (A-1-9) are rotationally connected by bolts; the upper mounting hole of transmission long rod (A-1-9) and the upper mounting hole of limit rod 2 (A-1-10) are rotationally connected by bolts.

[0045] The rod shape, mechanical structure and assembly method of the front variable stiffness joint part (A-5) and the rear variable stiffness joint part (A-1) are completely the same, and are longitudinally symmetrical about the left front leg mechanism (A).

[0046] like Figure 4 As shown, the rear connecting rod part (A-2) includes: two first thigh rods (A-2-1), a first third auxiliary rod (A-2-2), a first straight rod (A-2-3), a first calf rod (A-2-4), a second calf rod (A-2-5), a second straight rod (A-2-6), a plug bolt (A-2-7), a second third auxiliary rod (A-2-8), two second thigh rods (A-2-9), and a base (A-2-10).

[0047] The connection method of the components in the connecting rod part (A-2) of the rear leg group is as follows: the first and second thigh rods (A-2-1, A-2-9) are three-pair rods, and mounting holes are arranged at the top, bottom and middle positions; the first third-pair rod and the second third-pair rod (A-2-2, A-2-8) are three-pair rods, and mounting holes are arranged at three vertex positions; the long end mounting holes of the two first thigh rods (A-2-1) are rotatably connected to the upper mounting holes of the connecting rod (A-1-11) through an assembly shaft; the middle mounting holes of the two first thigh rods (A-2-1) are connected to the first third-pair rod ( The long end mounting holes of the two first straight rods (A-2-2) are rotatably connected through an assembly shaft; the end mounting holes of the two first straight rods (A-2-3) and the short end bottom mounting holes of the first third auxiliary rod (A-2-2) are rotatably connected through an assembly shaft; the bottom mounting holes of the two first thigh rods (A-2-1) and the upper mounting holes of the first calf rod (A-2-4) are rotatably connected through an assembly shaft; the other end mounting holes of the two first straight rods (A-2-3) and the middle mounting holes of the first calf rod (A-2-4) are rotatably connected through an assembly shaft; the first third auxiliary rod (A-2-1) and the lower mounting holes are rotatably connected through an assembly shaft. -2-2) is rotatably connected to the upper mounting hole of the short end of the second third auxiliary rod (A-2-8) through a bolt (A-2-7); the upper mounting holes of the two second thigh rods (A-2-9) are rotatably connected to the bottom mounting holes of the base (A-2-10) through an assembly shaft; the middle mounting holes of the two second thigh rods (A-2-9) are rotatably connected to the long end mounting holes of the second third auxiliary rod (A-2-8) through an assembly shaft; the end mounting holes of the two second straight rods (A-2-6) are rotatably connected to the short end of the second third auxiliary rod (A-2-8) through an assembly shaft. The bottom mounting hole is rotatably connected via an assembly shaft; the bottom mounting holes at the short ends of the two second thigh rods (A-2-9) and the upper mounting holes of the second calf rods (A-2-5) are rotatably connected via an assembly shaft; the mounting holes at the other ends of the two second straight rods (A-2-6) and the middle mounting holes of the second calf rods (A-2-5) are rotatably connected via an assembly shaft; the mounting holes are arranged at four right angles to the base (A-2-10) and the axis direction is the vertical direction; the base (A-2-10) is fixedly connected to the left front bottom plate (E-1-1).

[0048] The rod shape, mechanical structure and assembly method of the front leg group connecting rod part (A-4) and the rear leg group connecting rod part (A-2) are completely the same, and are longitudinally symmetrical about the left front leg mechanism (A).

[0049] like Figure 5 As shown, the power drive unit (A-3) is composed of a brushless DC motor (A-3-1), a right crank (A-3-2), a right leg group motor connector (A-3-3), a left leg group connector (A-3-4), a left crank (A-3-5), and a reducer (A-3-6).

[0050] The connection method of the components in the power drive part (A-3) is as follows: four mounting holes are evenly arranged at the end surface of the left leg group connecting piece (A-3-4); the DC brushless motor (A-3-1), the right leg group motor connecting piece (A-3-3), the left leg connecting piece (A-3-4), and the reducer (A-3-6) are fixedly connected by bolts; the reducer (A-3-6) and the right crank (A-3-2) are rotationally connected by an assembly shaft; the reducer (A-3-6) ) is rotationally connected with the left crank (A-3-5) through an assembly shaft; the left leg group connecting piece (A-3-4) and the right leg group connecting piece (A-3-3) are symmetrically arranged about the motor axis; the phase difference between the left crank (A-3-5) and the right crank (A-3-2) is 180°; the DC brushless motor (A-3-1) drives the left crank (A-3-5) and the right crank (A-3-2) to rotate a full circle to realize the walking movement of the left front leg mechanism (A).

[0051] like Figure 6 As shown, the torso (E) is composed of a left front torso (E-1), a left rear torso (E-2), a right rear torso (E-3), a right front torso (E-4), a long torso connector (E-5), a short torso connector (E-6), a left push rod bend connector (E-7), a right push rod bend connector (E-8), and a torso connector (E-9).

[0052] The connection method of the parts in the torso (E) is as follows: the left front torso (E-1) and the right front torso (E-4) are respectively fixedly connected to the two ends of the torso long connecting piece (E-5); the left front torso (E-1) and the left rear torso (E-2) are respectively fixedly connected to the two ends of the torso short connecting piece (E-6); the torso connecting piece (E-9) is respectively fixedly connected to the left front torso (E-1), the left rear torso (E-2), the right rear torso (E-3), and the right front torso (E-4) by bolts; the left push rod bent connecting piece (E-7) and the right push rod bent connecting piece (E-8) are respectively fixedly connected to the torso connecting piece (E-9) by bolts.

[0053] like Figure 7 As shown, the left front torso (E-1) is composed of a left front first long connecting piece (E-1-1), a left front first transverse connecting piece (E-1-2), a left front first short connecting piece (E-1-3), a left front second long connecting piece (E-1-4), a left front second transverse connecting piece (E-1-2), a left front second transverse connecting piece (E-1-5), a left front first short connecting piece (E-1-6), and an adjusting gasket (E-1-7).

[0054] The connection method of the components in the left front trunk (E-1) is as follows: in the left front trunk (E-1), the left front first long connecting member (E-1-1) and the left front second long connecting member (E-1-4) are respectively fixedly connected to the two ends of the left front first short connecting member and the left front second short connecting member (E-1-3, E-1-6); the adjusting gasket (E-1-7) is fixedly connected to the left front first long connecting member (E-1-1); the two ends of the left front first transverse connecting member (E-1-2) and the left front second transverse connecting member (E-1-5) are respectively fixedly connected to the upper end of the adjusting gasket (E-1-7) and the left front first long connecting member (E-1-4); the left front first long connecting member (E-1-1) is fixedly connected to the lower surface of the adjusting gasket (E-1-7).

[0055] The rod shapes, mechanical structures and assembly methods of the left front torso (E-1), left rear torso (E-2), right rear torso (E-3) and right front torso (E-4) in the torso (E) are exactly the same; the left front torso, right front torso (E-1, E-4) and the left rear torso, right rear torso (E-2, E-3) are arranged in a mirror image with respect to the transverse symmetry plane of the variable stiffness joint multi-legged walking platform; the left front torso, left rear torso (E-1, E-2) and the right front torso, right rear torso (E-4, E-3) are arranged in a mirror image with respect to the longitudinal symmetry plane of the variable stiffness joint multi-legged walking platform.

[0056] like Figure 8 As shown, the left push rod mechanism (F) is composed of a push rod (F-1), a push rod connecting member (F-2), and a push rod rotating connecting member (F-3).

[0057] The connection method of the components in the left push rod mechanism (F) is as follows: the push rod (F-1) and the push rod connecting piece (F-2) are rotationally connected through an assembly shaft; the push rod connecting piece (F-2) and the push rod rotating connecting piece (F-3) are fixedly connected by bolts.

[0058] The variable stiffness is achieved by differential rotation of the limit rod (A-1-4) and the limit rod 2 (A-1-10), changing the connecting rod (A-1-11) to obtain a certain movement space. The specific implementation is as follows: When the multi-legged walking platform senses that an obstacle needs to be overcome in front, the push rod (F) drives the limit rod (A-1-4) to rotate, and the limit rod (A-1-4) drives the gear 1 (A-1-5) to rotate through the key connection, and the gear 1 (A-1-5) drives the gear set gear 2 (A-1-6) and gear 3 (A-1-7) to realize differential transmission, and finally the limit rod 2 (A-1-10) is rotated under the action of the differential through the connecting rod transmission of the front side mounting shaft (A-1-13), the transmission short rod (A-1-8), and the transmission long rod (A-1-9). Due to the differential rotation of the rod (A-1-4) and the limit rod 2 (A-1-10), the connecting rod (A-1-11) obtains a certain movement space in the obstacle crossing mode, and obtains a new degree of freedom. Since the connecting rod (A-1-11) is connected to the push rod long connector (A-1-1) through the spring (A-1-3), the movement of the connecting rod (A-1-11) is subject to mechanical constraints, thereby realizing a flexible mode; when the push rod (F) is reset, the limit rod (A-1-4) and the limit rod 2 (A-1-10) completely limit the movement space of the connecting rod (A-1-11), thereby realizing a rigid mode.

Claims

1. A variable stiffness joint multi-legged walking platform, characterized in that: A variable stiffness joint multi-leg walking platform is composed of identical left front, right front, left rear, and right rear leg mechanisms (A, B, C, and D) and a trunk (E); the left front and right front leg mechanisms (A, B) and the left rear and right rear leg mechanisms (C, and D) are arranged at the four corners of the trunk (E) in the order of the left front leg mechanism (A), the left rear leg mechanism (B), the right rear leg mechanism (C), and the right front leg mechanism (D); the left front, left rear, right rear, and right front leg mechanisms (A, B, C, and D) of the variable stiffness joint multi-leg walking platform are arranged at the four corners of the trunk (E) in the order of the left front leg mechanism (A), the left rear leg mechanism (B), the right rear leg mechanism (C), and the right front leg mechanism (D). D) are all driven by a single motor to walk; the front leg mechanism (A) is fixedly connected to the left front trunk (E-1); the left rear leg mechanism (B) is fixedly connected to the left rear trunk (E-2); the right rear leg mechanism (C) is fixedly connected to the right rear trunk (E-3); the right front leg mechanism (D) is fixedly connected to the trunk (E-4); the left front and right front leg mechanisms (A, B) are fixedly connected to the push rod rotating connecting piece (F-3) in the left push rod mechanism (F) by bolts; the left push rod mechanism (F) is rotatably connected to the trunk (E) by an assembly shaft; The rod shape, mechanical structure and assembly method of the left front leg mechanism (A), the left rear leg mechanism (B), the right rear leg mechanism (C) and the right front leg mechanism (D) are exactly the same; the left front leg mechanism, the right front leg mechanism (A, D) and the left rear leg mechanism, the right rear leg mechanism (B, C) are arranged in a mirror image with respect to the transverse symmetry plane of the variable stiffness joint multi-legged walking platform; the left front leg mechanism, the left rear leg mechanism (A, B) and the right rear leg mechanism, the right front leg mechanism (C, D) are arranged in a mirror image with respect to the longitudinal symmetry plane of the variable stiffness joint multi-legged walking platform; the rod shape, mechanical structure and assembly method of the left push rod mechanism (F) and the right push rod mechanism (G) are exactly the same and are arranged in a mirror image with respect to the longitudinal symmetry plane of the variable stiffness joint multi-legged walking platform; Through the above connection, the variable stiffness joint multi-legged walking platform is assembled; the push rod rotating connector (F-3) in the left push rod mechanism (F) and the push rod long connector (A-1-1) in the variable stiffness joint part (A-1) are fixedly connected by bolts; during the working stroke of the push rod, the two first thigh rods (A-2-1) and gear 1 (A-1-5), gear 2 (A-1-6), and gear 3 (A-1-7) are used to achieve a speed difference, thereby completing the conversion of joint rigidity and flexibility, reconstructing shock absorption in the pitch state, and reducing the energy loss caused by inconsistent traction speeds of the front and rear legs.

2. The variable stiffness joint multi-legged walking platform according to claim 1, characterized in that: The left front leg mechanism (A) is composed of a rear variable stiffness joint (A-1), a rear leg group connecting rod (A-2), a power drive part (A-3), a front leg group connecting rod (A-4), front and rear variable stiffness joints (A-5) and a baffle (A-6); The connection method of the components in the left front leg mechanism (A) is as follows: the rear variable stiffness joint part (A-1) and the rear leg group connecting rod part (A-2) are rotationally connected through an assembly axis; the rear variable stiffness joint part (A-1) and the baffle (A-6) are rotationally connected through an assembly axis; the rear leg group connecting rod part (A-2) and the power driving part (A-3) are rotationally connected through an assembly axis; the rear leg group connecting rod part (A-2) and the power driving part (A-3) are fixedly connected to the baffle (A-6) through bolts; the rod shape, mechanical structure and assembly method of the front leg group connecting rod part (A-4) and the rear leg group connecting rod part (A-2) are exactly the same, and they are longitudinally symmetrical with respect to the left front leg mechanism (A); the rod shape, mechanical structure and assembly method of the front variable stiffness joint part (A-5) and the rear variable stiffness joint part (A-1) are exactly the same, and they are longitudinally symmetrical with respect to the left front leg mechanism (A).

3. The variable stiffness joint multi-legged walking platform according to claim 2, characterized in that: The rear variable stiffness joint part (A-1) is composed of a push rod long connector (A-1-1), a push rod short connector (A-1-2), a spring (A-1-3), a limit rod 1 (A-1-4), a gear 1 (A-1-5), a gear 2 (A-1-6), a gear 3 (A-1-7), a transmission short rod (A-1-8), a transmission long rod (A-1-9), a limit rod (A-1-10), a connecting rod (A-1-11), a rear mounting shaft (A-1-12), and a front mounting shaft (A-1-13); The connection method of the components in the rear variable stiffness joint part (A-1) is as follows: the push rod long connector (A-1-1) and the push rod short connector (A-1-2) are fixedly connected by bolts; the push rod long connector (A-1-1) and the push rod rotating connector (F-3) are fixedly connected by bolts; the bottom mounting hole of the push rod long connector (A-1-1) and the middle mounting hole of the connecting rod (A-1-11) are flexibly connected by a spring (A-1-3); the push rod short connector (A-1-2) and the limit rod (A-1-4) are fixedly connected by bolts; the bottom mounting hole of the limit rod 1 (A-1-4), the gear 1 (A-1-5) and the rear assembly shaft (A-1-12) are connected by key fitting; the bottom mounting hole of the limit rod 2 (A-1-10), the connecting rod (A-1-11) are flexibly connected by a spring (A-1-3); -1-11) bottom mounting hole, rear mounting hole of baffle (A-6) and rear assembly shaft (A-1-12) are rotationally connected; gear 1 (A-1-5), gear 2 (A-1-6) and gear 3 (A-1-7) are meshed and connected; gear 3 (A-1-7) and transmission short rod (A-1-8) are fixedly connected through the key of the front assembly shaft (A-1-13); the front mounting hole of baffle (A-6) is rotationally connected with the front assembly shaft (A-1-13); the upper mounting hole of transmission short rod (A-1-8) and the bottom mounting hole of transmission long rod (A-1-9) are rotationally connected through bolts; the upper mounting hole of transmission long rod (A-1-9) and the upper mounting hole of limit rod 2 (A-1-10) are rotationally connected through bolts; The rod shape, mechanical structure and assembly method of the front variable stiffness joint part (A-5) and the rear variable stiffness joint part (A-1) are completely the same, and are longitudinally symmetrical with respect to the left front leg mechanism (A); The rear connecting rod part (A-2) includes: two first thigh rods (A-2-1), a first third auxiliary rod (A-2-2), a first straight rod (A-2-3), a first calf rod (A-2-4), a second calf rod (A-2-5), a second straight rod (A-2-6), a plug bolt (A-2-7), a second third auxiliary rod (A-2-8), two second thigh rods (A-2-9), and a base (A-2-10); The connection method of the components in the connecting rod part (A-2) of the rear leg group is as follows: the first and second thigh rods (A-2-1, A-2-9) are three-pair rods, and mounting holes are arranged at the top, bottom and middle positions; the first third-pair rod and the second third-pair rod (A-2-2, A-2-8) are three-pair rods, and mounting holes are arranged at three vertex positions; the long end mounting holes of the two first thigh rods (A-2-1) are rotatably connected to the upper mounting holes of the connecting rod (A-1-11) through an assembly shaft; the middle mounting holes of the two first thigh rods (A-2-1) are connected to the first third-pair rod ( The long end mounting holes of the two first straight rods (A-2-2) are rotatably connected through an assembly shaft; the end mounting holes of the two first straight rods (A-2-3) and the short end bottom mounting holes of the first third auxiliary rod (A-2-2) are rotatably connected through an assembly shaft; the bottom mounting holes of the two first thigh rods (A-2-1) and the upper mounting holes of the first calf rod (A-2-4) are rotatably connected through an assembly shaft; the other end mounting holes of the two first straight rods (A-2-3) and the middle mounting holes of the first calf rod (A-2-4) are rotatably connected through an assembly shaft; the first third auxiliary rod (A-2-1) and the lower mounting holes are rotatably connected through an assembly shaft. -2-2) is rotatably connected to the upper mounting hole of the short end of the second third auxiliary rod (A-2-8) through a bolt (A-2-7); the upper mounting holes of the two second thigh rods (A-2-9) are rotatably connected to the bottom mounting holes of the base (A-2-10) through an assembly shaft; the middle mounting holes of the two second thigh rods (A-2-9) are rotatably connected to the long end mounting holes of the second third auxiliary rod (A-2-8) through an assembly shaft; the end mounting holes of the two second straight rods (A-2-6) are rotatably connected to the short end of the second third auxiliary rod (A-2-8) through an assembly shaft. The bottom mounting hole is rotatably connected via an assembly shaft; the bottom mounting holes at the short ends of the two second thigh rods (A-2-9) are rotatably connected to the mounting holes at the top of the second calf rod (A-2-5) via an assembly shaft; the mounting holes at the other ends of the two second straight rods (A-2-6) are rotatably connected to the middle mounting holes of the second calf rod (A-2-5) via an assembly shaft; the mounting holes are arranged at four right angles to the base (A-2-10) and the axis direction is the vertical direction; the base (A-2-10) is fixedly connected to the left front bottom plate (E-1-1); The front leg group connecting rod part (A-4) and the rear leg group connecting rod part (A-2) have the same rod shape, mechanical structure and assembly method, and are longitudinally symmetrical with respect to the left front leg mechanism (A); The power drive unit (A-3) is composed of a brushless DC motor (A-3-1), a right crank (A-3-2), a right leg group motor connector (A-3-3), a left leg group connector (A-3-4), a left crank (A-3-5), and a reducer (A-3-6); The connection method of the components in the power drive part (A-3) is as follows: four mounting holes are evenly arranged at the end surface of the left leg group connecting piece (A-3-4); the DC brushless motor (A-3-1), the right leg group motor connecting piece (A-3-3), the left leg connecting piece (A-3-4), and the reducer (A-3-6) are fixedly connected by bolts; the reducer (A-3-6) and the right crank (A-3-2) are rotationally connected by an assembly shaft; the reducer (A-3-6) ) is rotationally connected with the left crank (A-3-5) through an assembly shaft; the left leg group connecting piece (A-3-4) and the right leg group connecting piece (A-3-3) are symmetrically arranged about the motor axis; the phase difference between the left crank (A-3-5) and the right crank (A-3-2) is 180°; the DC brushless motor (A-3-1) drives the left crank (A-3-5) and the right crank (A-3-2) to rotate a full circle to realize the walking movement of the left front leg mechanism (A).

4. The variable stiffness joint multi-legged walking platform according to claim 1, characterized in that: The trunk (E) is composed of a left front trunk (E-1), a left rear trunk (E-2), a right rear trunk (E-3), a right front trunk (E-4), a trunk long connector (E-5), a trunk short connector (E-6), a left push rod bent connector (E-7), a right push rod bent connector (E-8), and a trunk connector (E-9); The connection method of the parts in the torso (E) is as follows: the left front torso (E-1) and the right front torso (E-4) are fixedly connected to the two ends of the torso long connecting piece (E-5) respectively; the left front torso (E-1) and the left rear torso (E-2) are fixedly connected to the two ends of the torso short connecting piece (E-6) respectively; the torso connecting piece (E-9) is fixedly connected to the left front torso (E-1), the left rear torso (E-2), the right rear torso (E-3), and the right front torso (E-4) respectively by bolts; the left push rod bent connecting piece (E-7) and the right push rod bent connecting piece (E-8) are fixedly connected to the torso connecting piece (E-9) respectively by bolts; The left front trunk (E-1) is composed of a left front first long connecting piece (E-1-1), a left front first transverse connecting piece (E-1-2), a left front first short connecting piece (E-1-3), a left front second long connecting piece (E-1-4), a left front second transverse connecting piece (E-1-2), a left front second transverse connecting piece (E-1-5), a left front first short connecting piece (E-1-6), and an adjusting gasket (E-1-7); The connection method of the components in the left front trunk (E-1) is as follows: in the left front trunk (E-1), the left front first long connecting member (E-1-1) and the left front second long connecting member (E-1-4) are respectively fixedly connected to the two ends of the left front first short connecting member and the left front second short connecting member (E-1-3, E-1-6); the adjusting gasket (E-1-7) is fixedly connected to the left front first long connecting member (E-1-1); the two ends of the left front first transverse connecting member (E-1-2) and the left front second transverse connecting member (E-1-5) are respectively fixedly connected to the upper end of the adjusting gasket (E-1-7) and the left front first long connecting member (E-1-4); the left front first long connecting member (E-1-1) is fixedly connected to the lower surface of the adjusting gasket (E-1-7); The rod shapes, mechanical structures and assembly methods of the left front torso (E-1), left rear torso (E-2), right rear torso (E-3) and right front torso (E-4) in the torso (E) are exactly the same; the left front torso, right front torso (E-1, E-4) and the left rear torso, right rear torso (E-2, E-3) are arranged in a mirror image with respect to the transverse symmetry plane of the variable stiffness joint multi-legged walking platform; the left front torso, left rear torso (E-1, E-2) and the right front torso, right rear torso (E-4, E-3) are arranged in a mirror image with respect to the longitudinal symmetry plane of the variable stiffness joint multi-legged walking platform.

5. The variable stiffness joint multi-legged walking platform according to claim 1, characterized in that: The left push rod mechanism (F) is composed of a push rod (F-1), a push rod connecting member (F-2), and a push rod rotating connecting member (F-3); The connection method of the components in the left push rod mechanism (F) is as follows: the push rod (F-1) and the push rod connecting piece (F-2) are rotationally connected through an assembly shaft; the push rod connecting piece (F-2) and the push rod rotating connecting piece (F-3) are fixedly connected by bolts.

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