A multi-legged mobile device

Abstract

The present invention relates to a multi-legged mobile device, belonging to the technical field of mobile carriers, and solves the problem in the prior art that the multi-legged mobile device drives the mechanical legs to swing by switching the motor in forward and reverse directions, and the torque changes instantly generated by the motor in forward and reverse directions, resulting in vibration and accelerated wear of components. The present invention includes a trunk, a swing unit and a mechanical leg unit, the swing unit is fixedly arranged on the trunk, the mechanical leg unit is rotatably connected to the trunk, and the swing unit is used to drive the mechanical leg unit to swing around the trunk, so that the mobile device crawls. The movable swing arm of the present invention can rotate around the output end of the driving component and drive the driven swing arm to reciprocate, so that the mechanical leg unit swings horizontally around the trunk, the motor does not need to switch in forward and reverse directions, no torque changes are generated, and the mechanical legs will not vibrate during operation; it will not cause impact on mechanical transmission components, preventing component wear.

Description

Technical Field

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

[0002] A multi-legged mobile device is a bionic robot whose design is inspired by the walking style and mobile devices of multi-legged animals such as insects. Multi-legged mobile devices usually support and move their bodies through multiple legs, can adapt to complex terrain environments, and have good stability, flexibility and movement ability. The design of the multi-legged stable platform is inspired by multi-legged animals such as insects and spiders, and draws on their movement style and mobile devices, such as six-legged, eight-legged, or even more-legged forms, to achieve stable movement and complex movements of the robot.

[0003] Existing multi-legged mobile device solutions mostly use the forward and reverse switching of the motor to drive the mechanical legs to swing and realize the multi-legged mobile device to move forward. However, the instantaneous forward and reverse rotation of the motor will produce a large torque change, which may cause the mechanical legs to vibrate during operation. Frequent forward and reverse switching will cause a large impact on the mechanical transmission components and accelerate the wear of these components. This may cause the accuracy of the mechanical legs to decrease, requiring more frequent maintenance and replacement of parts, increasing the cost of use and maintenance workload.

[0004] Therefore, there is an urgent need for a multi-legged mobile device to solve the problem that the multi-legged mobile device in the prior art uses the forward and reverse switching of the motor to drive the mechanical legs to swing and realize the forward movement of the multi-legged mobile device. The forward and reverse rotation of the motor instantly produces torque changes, causing the mechanical legs to vibrate during operation; frequent forward and reverse switching will cause a large impact on the mechanical transmission components and accelerate the wear of the components. Summary of the invention

[0005] In view of the above analysis, the present invention aims to provide a multi-legged mobile device to solve the problem that the multi-legged mobile device in the prior art uses the forward and reverse switching of the motor to drive the mechanical legs to swing and realize the forward movement of the multi-legged mobile device. The forward and reverse rotation of the motor instantly produces torque changes, causing the mechanical legs to vibrate during operation; frequent forward and reverse switching will cause a greater impact on the mechanical transmission components and accelerate the wear of the components.

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

[0007] A multi-legged mobile device, comprising a trunk, a swing unit and a mechanical leg unit, wherein the swing unit is fixedly arranged on the trunk, the mechanical leg unit is rotatably connected to the trunk, and the swing unit is used to drive the mechanical leg unit to swing around the trunk, so that the mobile device crawls;

[0008] The swing unit includes a driving assembly, an active swing rod and a driven swing rod, one end of the active swing rod is fixedly connected to the output end of the driving assembly, the other end of the active swing rod is rotatably connected to one end of the driven swing rod, and the other end of the driven swing rod is rotatably connected to the mechanical leg unit, the active swing rod can rotate around the output end of the driving assembly and drive the driven swing rod to reciprocate, so that the mechanical leg unit swings horizontally around the trunk, and then the mobile device crawls along the swinging direction of the mechanical leg unit;

[0009] The mechanical leg unit includes a fourth section component, which includes a vertical pole, a fixed support, a movable support, a buffer spring and a grounding mechanism. One end of the vertical pole is connected to the fixed support, the movable support and the buffer spring are both mounted on the vertical pole, one end of the buffer spring is connected to the fixed support, and the other end of the buffer spring is connected to the movable support. The grounding mechanism is respectively connected to the fixed support and the movable support, and the buffer spring is used to buffer the impact of the grounding mechanism being grounded.

[0010] Furthermore, the mechanical leg unit includes a first section component, a second section component and a third section component, one end of the first section component is connected to the moving device, and both ends of the second section component are respectively connected to the other end of the first section component and the third section component.

[0011] Furthermore, the mechanical leg unit also includes a leg motor and a linkage assembly, and the leg motor is arranged on the first section assembly.

[0012] Furthermore, the first section assembly includes a first support frame and a first rotating shaft, and an end of the first rotating shaft is rotatably connected to the first support frame.

[0013] Furthermore, the second section assembly includes a second support frame and a second rotating shaft, an end of the second rotating shaft is rotatably connected to one end of the second support frame, and the other end of the second support frame is connected to the outer wall of the first rotating shaft.

[0014] Furthermore, the third section assembly includes a third support frame, one end of the third support frame is connected to the second rotating shaft, and the third support frame can rotate around the second rotating shaft.

[0015] Furthermore, the driving assembly includes a swing motor and a reduction mechanism, the output shaft of the swing motor is connected to the reduction mechanism, the reduction mechanism is used to reduce the speed of the swing motor and prevent the vibration of the mechanical leg unit from being transmitted to the swing motor, thereby protecting the swing motor.

[0016] Furthermore, the grounding mechanism also includes a first grounding block, a second grounding block and an oblique support rod, one end of the first grounding block is rotatably connected to the side wall of the movable support, the other end of the first grounding block is respectively rotatably connected to one end of the second grounding block and one end of the oblique support rod, the other end of the second grounding block is a grounding end, and the other end of the oblique support rod is rotatably connected to the side wall of the fixed support.

[0017] Furthermore, the fourth section assembly also includes a spherical joint, and the spherical joint is arranged on the vertical pole.

[0018] Furthermore, the third section assembly also includes a ball socket, which is arranged on the third support frame; the spherical joint can be connected to the ball socket to prevent the fourth section assembly from being separated from the third section assembly.

[0019] Further, the linkage assembly includes a first linkage rope, a second linkage rope, a third linkage rope and a fourth linkage rope, one ends of the first linkage rope, the second linkage rope, the third linkage rope and the fourth linkage rope are all connected to the motor output shaft of the leg motor and are wound around the outer wall of the motor output shaft, the winding direction of the second linkage rope is opposite to the winding direction of the first linkage rope, and the winding direction of the fourth linkage rope is opposite to the winding direction of the third linkage rope; the other ends of the first linkage rope and the second linkage rope are both connected to the inner wall of the second support frame; one ends of the third linkage rope and the fourth linkage rope are both connected to the third section assembly.

[0020] Furthermore, the linkage assembly also includes a continuation mechanism, which includes a relay shaft, and the relay shaft is rotatably connected to the second support frame; one end of the third linkage rope and the fourth linkage rope are both connected to the relay shaft and wound around the outer wall of the relay shaft, and the other end of the third linkage rope and the fourth linkage rope are both connected to the motor output shaft and wound around the outer wall of the motor output shaft, and the winding direction on the relay shaft and the motor output shaft is opposite to the winding direction of the third linkage rope.

[0021] Furthermore, the continued transmission mechanism also includes a first transmission rope and a second transmission rope, one end of the first transmission rope and the second transmission rope are both connected to the relay shaft and wound around the outer wall of the relay shaft, the other end of the first transmission rope is connected to the inner wall of the third support frame of the third section assembly, the other end of the second transmission rope is connected to the inner wall of the third support frame, and the winding direction on the relay shaft is opposite to the winding direction of the first transmission rope.

[0022] Furthermore, it also includes a fourth section component, which includes a vertical pole, a fixed support, a movable support, a buffer spring and a grounding mechanism, one end of the vertical pole is connected to the third section component, and the other end of the vertical pole is connected to the fixed support, the movable support and the buffer spring are both mounted on the vertical pole, one end of the buffer spring is connected to the fixed support, and the other end of the buffer spring is connected to the movable support, and the grounding mechanism is respectively connected to the fixed support and the movable support.

[0023] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0024] (1) The active swing arm of the multi-legged mobile device of the present invention can rotate around the output end of the driving component and drive the driven swing arm to reciprocate, so that the mechanical leg unit swings horizontally around the trunk, and then the mobile device crawls along the swinging direction of the mechanical leg unit; the existing multi-legged mobile device uses the forward and reverse switching of the motor to drive the mechanical legs to swing forward, and the swing motor does not need to switch forward and reverse, and the swing motor does not produce torque changes, and the mechanical legs will not vibrate during operation; it will not cause impact on the mechanical transmission parts, preventing the parts from being worn;

[0025] (2) Compared with the prior art which requires a motor to be set at each joint to drive the machine leg, the mobile device of the present invention only needs a leg motor, a first linkage cable, a second linkage cable, a third linkage cable and a fourth linkage cable to drive the second section assembly and the third section assembly to swing simultaneously, thereby forming a flexion and extension movement of the mobile device, which has a simple structure and saves energy;

[0026] (3) The transmission mechanism of the present invention holds all linkage components inside the second support frame and the third support frame through the relay shaft, ensuring that the linkage components will not get caught on ground objects such as weeds and branches, thereby preventing the movement of the mobile device from being hindered and ensuring the smooth operation of the mobile device;

[0027] (4) When the mobile device of the present invention is grounded, the third section assembly presses down the vertical pole, and the grounding mechanism pushes up the movable support. The buffer spring can buffer the impact of the grounding mechanism. Due to the pressure of the mobile device, the plurality of second grounding blocks rotate radially, increasing the grounding area of ​​the fourth section assembly, thereby increasing the grounding area of ​​the mobile device of this embodiment and making the movement of the mobile device more stable. On uneven ground, the second grounding blocks can be fully grounded, ensuring that the grounding mechanism of the mobile device of the present invention is fully grounded, and the support of the mobile device is more stable.

[0028] (5) The ball joint of the present invention can be connected to the ball socket to prevent the fourth section assembly from being separated from the third section assembly; and the ball joint can rotate in the ball socket. When the mobile device of the present invention performs a leg extension action, the fourth section assembly can always remain perpendicular to the ground. When the mobile device performs a leg flexion action, all grounding mechanisms of the fourth section assembly can be connected to the ground, thereby ensuring the stability of the support of the mobile device of the present invention.

[0029] In the present invention, the above-mentioned technical solutions can be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the following content, and some advantages can become obvious from the description or be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the text and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings are only used for the purpose of illustrating specific embodiments and are not to be considered as limiting the present invention. In the entire drawings, the same reference symbols represent the same components;

[0031] Figure 1 It is a schematic diagram of the overall structure of the mobile device of the present invention;

[0032] Figure 2 It is a schematic diagram of the decomposed structure of the swing unit;

[0033] Figure 3 It is a schematic diagram of the overall structure of the mechanical leg unit;

[0034] Figure 4 It is a schematic diagram of the exploded structure of the first section component, the second section component and the third section component;

[0035] Figure 5 It is the overall structural diagram of the fourth section components;

[0036] Figure 6 This is a schematic diagram of the decomposition structure of the fourth section components.

[0037] Reference numerals:

[0038] 1-trunk; 2-swing unit; 3-first section assembly; 4-second section assembly; 5-third section assembly; 6-leg motor; 7-linkage assembly; 8-fourth section assembly; 21-driving assembly; 22-active swing rod; 23-active swing rod; 31-first support frame; 32-first rotating shaft; 41-second support frame; 42-second rotating shaft; 43-first tie rod; 44-second tie rod; 45-relay shaft; 51-third support frame; 52-third tie rod; 53-fourth tie rod; 6 1-motor body; 62-motor output shaft; 71-first linkage cable; 72-second linkage cable; 73-third linkage cable; 74-fourth linkage cable; 75-first transmission cable; 76-second transmission cable; 81-vertical pole; 82-fixed support; 83-movable support; 84-buffer spring; 85-first grounding block; 86-second grounding block; 87-oblique support rod; 88-support spring; 89-rotating wheel; 90-spherical joint; 861-first sub-block; 862-second sub-block. DETAILED DESCRIPTION

[0039] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0040] A specific embodiment of the present invention, as Figure 1 As shown, a multi-legged mobile device (hereinafter referred to as the mobile device) is disclosed, including a trunk 1, a swing unit 2 and a mechanical leg unit, the swing unit 2 is fixedly arranged on the trunk 1, the mechanical leg unit is rotatably connected to the trunk 1, and the swing unit 2 is used to drive the mechanical leg unit to swing around the trunk 1, so that the mobile device crawls.

[0041] Preferably, Figure 2 As shown, the swing unit 2 includes a driving component 21, an active swing arm 22 and a driven swing arm 23, one end of the active swing arm 22 is fixedly connected to the output end of the driving component 21, the other end of the active swing arm 22 is rotatably connected to one end of the driven swing arm 23, and the other end of the driven swing arm 23 is rotatably connected to the mechanical leg unit. The active swing arm 22 can rotate around the output end of the driving component 21 and drive the driven swing arm 23 to reciprocate, so that the mechanical leg unit swings horizontally around the trunk 1, and then the mobile device crawls along the swinging direction of the mechanical leg unit.

[0042] Preferably, the driving assembly 21 includes a swing motor (not shown in the figure) and a reduction mechanism (not shown in the figure), and the output shaft of the swing motor is connected to the reduction mechanism. The reduction mechanism is used to reduce the speed of the swing motor and prevent the vibration of the mechanical leg unit from being transmitted to the swing motor, thereby protecting the swing motor.

[0043] Preferably, the reduction mechanism is an RV reducer.

[0044] The existing multi-legged mobile device uses the forward and reverse switching of the motor to drive the mechanical legs to swing, so as to realize the forward and reverse switching of the multi-legged mobile device. The swing motor of this embodiment does not need to switch forward and reverse, and the swing motor does not produce torque changes. The mechanical legs will not vibrate during operation; it will not cause impact on the mechanical transmission components, thereby preventing component wear.

[0045] Preferably, if Figure 3 As shown, the mechanical leg unit includes a first section component 3, a second section component 4, a third section component 5, a leg motor 6 and a linkage component 7. One end of the first section component 3 is connected to the moving device, and the two ends of the second section component 4 are respectively connected to the other end of the first section component 3 and the third section component 5. The leg motor 6 is arranged on the first section component 3, and the leg motor 6 is used to drive the first section component 3, the second section component 4 and the third section component 5 to perform flexion and extension movements through the linkage component 7, so that the moving device crawls.

[0046] Preferably, if Figure 4 As shown, the first section assembly 3 includes a first support frame 31 and a first rotating shaft 32, the end of the first rotating shaft 32 is rotatably connected to the first support frame 31, the outer wall of the first rotating shaft 32 is fixedly connected to the second section assembly 4, and the second section assembly 4 can rotate around the first rotating shaft 32. The leg motor 6 includes a motor body 61 and a motor output shaft 62, and the motor body 61 is fixedly connected to the first support frame 31. The motor output shaft 62 is parallel to the first rotating shaft 32.

[0047] Preferably, the second section assembly 4 includes a second support frame 41, a second rotating shaft 42, a first pull rod 43 and a second pull rod 44, the end of the second rotating shaft 42 is rotatably connected to one end of the second support frame 41, the other end of the second support frame 41 is connected to the outer wall of the first rotating shaft 32, and the first pull rod 43 and the second pull rod 44 are respectively connected to the second support frame 41.

[0048] The linkage assembly 7 includes a first linkage cable 71 and a second linkage cable 72. One end of the first linkage cable 71 is connected to the motor output shaft 62 and is wound around the outer wall of the motor output shaft 62. The other end of the first linkage cable 71 bypasses the first pull rod 43 and is connected to the inner wall of the second support frame 41. One end of the second linkage cable 72 is connected to the motor output shaft 62 and is wound around the outer wall of the motor output shaft 62, and the winding direction is opposite to that of the first linkage cable 71. The other end of the second linkage cable 72 bypasses the second pull rod 44 and is connected to the inner wall of the second support frame 41. The motor output shaft 62 rotates in one direction, the first linkage cable 71 is wound around the motor output shaft 62, and the second linkage cable 72 is unwound from the motor output shaft 62. The first linkage cable 71 can pull the first pull rod 43 in the direction of the leg motor 6, so that the second section component 4 rotates toward the leg motor 6 in the direction opposite to the rotation direction of the motor output shaft 62, and performs the leg flexion movement; the motor output shaft 62 rotates in the other direction, the second linkage cable 72 is wound around the motor output shaft 62, the first linkage cable 71 is unwound from the motor output shaft 62, and the second linkage cable 72 can pull the second pull rod 44 in the direction away from the leg motor 6, so that the second section component 4 rotates away from the leg motor 6 in the direction opposite to the rotation direction of the motor output shaft 62, and performs the leg extension movement.

[0049] Preferably, the linkage assembly 7 further includes a third linkage cable 73 and a fourth linkage cable 74, one end of the third linkage cable 73 is connected to the third section assembly 5, the other end of the third linkage cable 73 is connected to the motor output shaft 62, and is wound around the outer wall of the motor output shaft 62; one end of the fourth linkage cable 74 is connected to the third section assembly 5, the other end of the fourth linkage cable 74 is connected to the motor output shaft 62, and is wound around the outer wall of the motor output shaft 62, and the winding direction on the motor output shaft 62 is opposite to the winding direction of the third linkage cable 73. The motor output shaft 62 rotates in one direction, the third linkage cable 73 is wound around the motor output shaft 62, and the fourth linkage cable 74 is unwound from the motor output shaft 62, and the third linkage cable 73 can cause the third section assembly 5 to perform flexion and extension motion. The mobile device of this embodiment only needs one leg motor 6 to simultaneously drive the second section assembly 4 and the third section assembly 5 to swing simultaneously, forming the flexion and extension motion of the mobile device, with a simple structure and energy saving.

[0050] From the motor output shaft 62 to the third section assembly 5, the length of the third linkage cable 73 and the fourth linkage cable 74 will be very long. When the mobile device is bent, the fourth linkage cable 74 will be away from the second section assembly 4, and it is very easy to hook weeds, branches and other ground objects, which will hinder the movement of the mobile device. In some optional embodiments, the linkage assembly 7 also includes a transmission mechanism, which includes a relay shaft 45, and the relay shaft 45 is rotatably connected to the second support frame 41. One end of the third linkage cable 73 is connected to the relay shaft 45 and wound around the outer wall of the relay shaft 45, and the other end of the third linkage cable 73 is connected to the motor output shaft 62 and wound around the outer wall of the motor output shaft 62; one end of the fourth linkage cable 74 is connected to the relay shaft 45 and wound around the outer wall of the relay shaft 45, and the other end of the fourth linkage cable 74 is connected to the motor output shaft 62 and wound around the outer wall of the motor output shaft 62, and the winding direction on the relay shaft 45 and the motor output shaft 62 is opposite to the winding direction of the third linkage cable 73. The motor output shaft 62 rotates in one direction, the third linkage cable 73 is wound around the motor output shaft 62, and the fourth linkage cable 74 is unwound from the motor output shaft 62. The third linkage cable 73 can transmit the rotation of the motor output shaft 62 to the relay shaft 45, so that the relay shaft 45 and the motor output shaft 62 keep rotating in the same direction.

[0051] Preferably, the third section assembly 5 includes a third support frame 51, a third pull rod 52 and a fourth pull rod 53. One end of the third support frame 51 is connected to the second rotating shaft 42, and the third support frame 51 can rotate around the second rotating shaft 42. The other end of the third support frame 51 is a grounding end. The third pull rod 52 and the fourth pull rod 53 are respectively connected to the third support frame 51. The transmission mechanism also includes a first transmission cable 75 and a second transmission cable 76. One end of the first transmission cable 75 is connected to the relay shaft 45 and is wound around the outer wall of the relay shaft 45. The other end of the first transmission cable 75 bypasses the third pull rod 52 and is connected to the inner wall of the third support frame 51. One end of the second transmission cable 76 is connected to the relay shaft 45 and is wound around the outer wall of the relay shaft 45. The other end of the second transmission cable 76 bypasses the fourth pull rod 53 and is connected to the inner wall of the third support frame 51, and the winding direction on the relay shaft 45 is opposite to the winding direction of the first transmission cable 75. The motor output shaft 62 rotates in one direction, the relay shaft 45 rotates in the same direction as the motor output shaft 62, the first transmission cable 75 is wound around the relay shaft 45, and the second transmission cable 76 is unwound from the relay shaft 45, and the first transmission cable 75 can pull the third support frame 51 in the direction of the leg motor 6, so that the third section component 5 rotates toward the leg motor 6 in the direction opposite to the rotation direction of the motor output shaft 62, and performs a foot flexion movement; the motor output shaft 62 rotates in the other direction, the relay shaft 45 rotates in the same direction as the motor output shaft 62, the second transmission cable 76 is wound around the relay shaft 45, and the first transmission cable 75 is unwound from the relay shaft 45, and the second transmission cable 76 can pull the third support frame 51 in the direction away from the leg motor 6, so that the third section component 5 rotates away from the leg motor 6 in the direction opposite to the rotation direction of the motor output shaft 62, and performs a foot extension movement. The transmission mechanism keeps all the linkage components 7 inside the second support frame 41 and the third support frame 51 through the relay shaft 45, ensuring that the linkage components 7 will not hook on ground objects such as weeds and branches to prevent the movement of the mobile device from being hindered.

[0052] Compared with the prior art which requires a motor to drive the machine legs at each joint, the mobile device of this embodiment only needs a leg motor 6, a first linkage cable 71, a second linkage cable 72, a third linkage cable 73 and a fourth linkage cable 74 to drive the second section assembly 4 and the third section assembly 5 to swing simultaneously, thereby forming a flexion and extension movement of the mobile device, with a simple structure and energy saving. The continued transmission mechanism keeps all the linkage assemblies 7 inside the second support frame 41 and the third support frame 51 through the relay shaft 45, ensuring that the linkage assemblies 7 will not hook onto ground objects such as weeds and branches, thereby preventing the movement of the mobile device from being hindered and ensuring the smooth operation of the mobile device.

[0053] Preferably, if Figure 5As shown, the mechanical leg unit also includes a fourth section assembly 8, which includes a vertical rod 81, a fixed support 82, a movable support 83, a buffer spring 84 and a grounding mechanism. One end of the vertical rod 81 is connected to the third section assembly 5, and the other end of the vertical rod 81 is connected to the fixed support 82. The movable support 83 and the buffer spring 84 are both sleeved on the vertical rod 81. One end of the buffer spring 84 is connected to the fixed support 82, and the other end of the buffer spring 84 is connected to the movable support 83. The grounding mechanism is connected to the fixed support 82 and the movable support 83 respectively. The buffer spring 84 is used to pull the movable support 83 toward the fixed support 82, and the grounding mechanism is used to contact the ground. When the mobile device of this embodiment is grounded, the third section assembly 5 presses down the vertical rod 81, and the grounding mechanism pushes up the movable support 83. The buffer spring 84 can buffer the impact of the grounding of the grounding mechanism, so that the movement of the mobile device is more stable.

[0054] Preferably, Figure 5 and Figure 6 As shown, the grounding mechanism includes a first grounding block 85, a second grounding block 86, an oblique support rod 87 and a support spring 88, one end of the first grounding block 85 is rotatably connected to the side wall of the movable support 83, the other end of the first grounding block 85 is rotatably connected to one end of the second grounding block 86 and one end of the oblique support rod 87 respectively, the other end of the second grounding block 86 is a grounding end, the other end of the oblique support rod 87 is rotatably connected to the side wall of the fixed support 82, one end of the support spring 88 is connected to the side wall of the second grounding block 86, the other end of the support spring 88 is connected to the side wall of the fixed support 82, and the support spring 88 is used to pull the second grounding block 86 toward the fixed support 82. There are multiple grounding mechanisms, and they are evenly distributed around the vertical pole 81. When the mobile device of the present embodiment is grounded, the grounding end of the second grounding block 86 is grounded, the second grounding block 86 pushes the first grounding block 85, the first grounding block 85 pushes the movable support 83 upward, and the buffer spring 84 can buffer the impact of the connection between the grounding mechanism and the ground. Due to the pressure of the mobile device, multiple second grounding blocks 86 rotate radially to increase the grounding area of ​​the fourth section assembly 8, thereby increasing the grounding area of ​​the mobile device of the present embodiment; on uneven ground, the second grounding block 86 can be fully grounded to ensure that the grounding mechanism of the mobile device of the present embodiment is fully grounded, and the support for the mobile device is more stable.

[0055] Preferably, the second grounding block 86 includes a first sub-block 861 and a second sub-block 861 connected in a "human" structure, the vertex of the "human" structure is rotatably connected to the end of the oblique support rod 87, and the side wall is connected to the buffer spring 84. The two bottom ends of the "human" structure are grounding ends, which further increases the grounding area of ​​the fourth section assembly 8 and further increases the stability of the support for the mobile device.

[0056] Preferably, the grounding mechanism also includes a rotating wheel 89, which is rotatably arranged at the grounding end of the first block 861. The multiple second grounding blocks 86 rotate radially when grounding. The rotating wheel 89 can convert the sliding friction of the grounding end into the rolling friction of the rotating wheel 89, which can reduce the friction when the grounding end is grounded, reduce the resistance of the grounding mechanism, and protect the grounding end of the first block 861.

[0057] Preferably, the fourth section assembly 8 further includes a ball joint 90, which is disposed on the vertical rod 81. The third section assembly 5 further includes a ball socket (not shown in the figure), which is disposed on the third support frame 51. The ball joint 90 can be connected to the ball socket to prevent the fourth section assembly 8 from being separated from the third section assembly 5; and the ball joint 90 can rotate in the ball socket. When the mobile device of this embodiment performs a leg extension action, the fourth section assembly 8 can always remain perpendicular to the ground. When the mobile device performs a leg bending action, all grounding mechanisms of the fourth section assembly 8 can be connected to the ground to ensure the stability of the support of the mobile device of this embodiment.

[0058] When the mobile device of the present embodiment is grounded, the third section assembly 5 presses down the vertical rod 81, the grounding mechanism pushes up the movable support 83, and the buffer spring 84 can buffer the impact of the grounding mechanism being grounded, so that the movement of the mobile device is more stable; the buffer spring 84 can buffer the impact of the grounding mechanism being connected to the ground. Due to the pressure of the mobile device, the plurality of second grounding blocks 86 rotate radially, increasing the grounding area of ​​the fourth section assembly 8, so that the grounding area of ​​the mobile device of the present embodiment is increased; on the uneven ground, the second grounding block 86 can be fully grounded, ensuring that the grounding mechanism of the mobile device of the present embodiment is fully grounded, and the support of the mobile device is more stable; the two bottom ends of the "human" structure are grounding ends, further increasing the grounding area of ​​the fourth section assembly 8, and further increasing the stability of the support of the mobile device; the ball joint 90 can be connected to the ball socket to prevent the fourth section assembly 8 from being separated from the third section assembly 5; and the ball joint 90 can rotate in the ball socket. When the mobile device of the present embodiment performs a leg extension action, the fourth section assembly 8 can always remain perpendicular to the ground. When the mobile device performs a leg bending action, all the grounding mechanisms of the fourth section assembly 8 can be connected to the ground, ensuring the stability of the support of the mobile device of the present embodiment.

[0059] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A multi-legged mobile device, characterized in that: The mobile device comprises a trunk (1), a swing unit (2) and a mechanical leg unit, wherein the swing unit (2) is fixedly arranged on the trunk (1), the mechanical leg unit is rotatably connected to the trunk (1), and the swing unit (2) is used to drive the mechanical leg unit to swing around the trunk (1), thereby causing the mobile device to crawl; The swing unit (2) comprises a driving component (21), an active swing rod (22) and a driven swing rod (23); one end of the active swing rod (22) is fixedly connected to the output end of the driving component (21); the other end of the active swing rod (22) is rotationally connected to one end of the driven swing rod (23); the other end of the driven swing rod (23) is rotationally connected to the mechanical leg unit; the active swing rod (22) can rotate around the output end of the driving component (21) and drive the driven swing rod (23) to reciprocate, so that the mechanical leg unit swings horizontally around the trunk (1), thereby causing the mobile device to crawl along the swinging direction of the mechanical leg unit; The mechanical leg unit comprises a first section component (3), a second section component (4) and a third section component (5), one end of the first section component (3) is connected to the trunk (1), and two ends of the second section component (4) are respectively connected to the other end of the first section component (3) and the third section component (5); The mechanical leg unit also includes a fourth section component (8), the fourth section component (8) includes a vertical rod (81), a fixed support (82), a movable support (83), a buffer spring (84) and a grounding mechanism, one end of the vertical rod (81) is connected to the third section component (5), the other end of the vertical rod (81) is connected to the fixed support (82), the movable support (83) and the buffer spring (84) are both sleeved on the vertical rod (81), one end of the buffer spring (84) is connected to the fixed support (82), the other end of the buffer spring (84) is connected to the movable support (83), the grounding mechanism is respectively connected to the fixed support (82) and the movable support (83), and the buffer spring (84) is used to buffer the impact of the grounding mechanism being grounded.

2. A multi-legged mobile device according to claim 1, characterized in that: The mechanical leg unit further comprises a leg motor (6) and a linkage assembly (7), wherein the leg motor (6) is arranged on the first section assembly (3).

3. A multi-legged mobile device according to claim 1, characterized in that: The first section assembly (3) comprises a first support frame (31) and a first rotating shaft (32), and an end portion of the first rotating shaft (32) is rotatably connected to the first support frame (31).

4. A multi-legged mobile device according to claim 3, characterized in that: The second section assembly (4) comprises a second support frame (41) and a second rotating shaft (42), wherein an end of the second rotating shaft (42) is rotatably connected to one end of the second support frame (41), and the other end of the second support frame (41) is connected to an outer wall of the first rotating shaft (32).

5. A multi-legged mobile device according to claim 4, characterized in that: The third section assembly (5) comprises a third support frame (51), one end of the third support frame (51) is connected to the second rotating shaft (42), and the third support frame (51) is capable of rotating around the second rotating shaft (42).

6. A multi-legged mobile device according to claim 1, characterized in that: The driving assembly (21) comprises a swing motor and a reduction mechanism, wherein the output shaft of the swing motor is connected to the reduction mechanism, and the reduction mechanism is used to reduce the speed of the swing motor and prevent the vibration of the mechanical leg unit from being transmitted to the swing motor, thereby protecting the swing motor.

7. A multi-legged mobile device according to claim 5, characterized in that: The grounding mechanism comprises a first grounding block (85), a second grounding block (86) and an oblique support rod (87); one end of the first grounding block (85) is rotatably connected to the side wall of the movable support (83); the other end of the first grounding block (85) is rotatably connected to one end of the second grounding block (86) and one end of the oblique support rod (87); the other end of the second grounding block (86) is a grounding end; and the other end of the oblique support rod (87) is rotatably connected to the side wall of the fixed support (82).

8. A multi-legged mobile device according to claim 7, characterized in that: The fourth section assembly (8) further comprises a spherical joint (90), wherein the spherical joint (90) is arranged on the vertical pole (81).

9. A multi-legged mobile device according to claim 8, characterized in that: The third section assembly (5) further comprises a ball socket, which is arranged on the third support frame (51); the spherical joint (90) can be connected to the ball socket to prevent the fourth section assembly (8) from being separated from the third section assembly (5).

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