Stepping type walking mechanism and robot for low-specific-pressure non-structural terrain

Abstract

The invention belongs to the field of mud flat operation machinery, and particularly relates to a low-specific-pressure non-structural terrain-oriented step type walking mechanism which comprises a rack assembly, a walking assembly, a running assembly and a supporting leg assembly, the walking assembly comprises a fixing frame, a rail, an abdominal base assembly, a rotation assembly and a pulley assembly. The abdominal base part assembly comprises a frame, and an engine and two displacement oil cylinders which are fixed on the frame; the pulley assemblies are fixedly connected to the four corners of the frame, the rails are fixed to the two sides of the frame, telescopic rods of the displacement oil cylinders are fixedly connected with the fixing frames, and the two fixing frames are fixedly connected with a rack of the rack assembly. The pulley assembly is connected with the track in a sliding manner; the slewing assembly comprises a slewing bearing with an inner gear, a gear meshed with the slewing bearing, and a slewing bearing connecting frame fixedly connected with the slewing bearing; the steering motor is fixedly connected to the frame; the robot can keep high efficiency and flexibility of movement, and has high obstacle crossing ability.

Description

Technical Field

[0001] The invention relates to the field of beach operation machinery, and in particular to a stride-type walking mechanism and a robot for low-specific-pressure non-structure terrain. Background Art

[0002] In recent years, robot technology has developed rapidly. Ground unmanned platforms have been widely used in civil and military fields such as disaster relief, reconnaissance and bomb disposal, and logistics supply, greatly reducing the casualties of personnel operating in dangerous and extreme environments. Robots often travel on complex and harsh low-pressure non-structured terrains, such as tidal flats and wetlands. Because the soil and sand are soft and cannot resist the shear force caused by movement, driving structures such as tracks and wheels are easily sunk into the soil, resulting in the robot being unable to walk normally. In addition, most tracked robots have an integral chassis structure with poor terrain tolerance and low obstacle stability, and do not have the ability to travel on multiple terrains. Although traditional multi-legged walking robots can achieve walking in complex and changeable ground environments through discrete foot-like movements, they are generally difficult to achieve the expected performance requirements due to their complex structure and difficulty in control. In addition, compared with other driving mechanisms, their movement efficiency is low and they are not suitable for large-scale and long-distance operations. Therefore, the complex conditions of low-pressure non-structured terrains greatly limit the passing ability of conventional robots. Summary of the invention

[0003] The purpose of the present invention is to provide a stride-type walking mechanism for low-pressure unstructured terrain based on the requirements of the robot's passability in the working environment of low-pressure unstructured terrain, which can not only maintain high efficiency and flexibility of movement, but also have high obstacle crossing ability.

[0004] The purpose of the present invention is achieved through the following technical solutions: A stride-type walking mechanism for low-pressure non-structured terrain, comprising a frame assembly 100, a walking assembly 200, a travel assembly 300 and a support leg assembly 400; the walking assembly 200 comprises a fixed frame 210, a track 240, a base assembly 250, a slewing assembly 260 and a pulley assembly 280; the base assembly 250 comprises a frame and an engine 255 and two displacement cylinders 220 fixed on the frame; the pulley assembly 280 is fixedly connected at the four corners of the frame, the track 240 is fixed on both sides of the frame, the displacement cylinder 220 and the track 240 are parallel to the walking direction, the telescopic rod of the displacement cylinder 220 is fixedly connected to the fixed frame 210, and the two fixed frames 210 are connected to the frame assembly 100 is fixedly connected; the pulley assembly 280 is slidably connected to the track 240, the slewing assembly 260 includes a slewing bearing 263 with an internal gear, a gear 264 meshing with the slewing bearing 263 and a slewing bearing connecting frame 262 fixedly connected to the slewing bearing 263; the gear 264 rotates under the drive of the steering motor 261; the steering motor 261 is fixedly connected to the frame; the travel assembly 300 includes a base 310, a track 320 and a driving wheel 340, the track 320 is tensioned and connected to the driving wheel 340, and the base 310 is fixedly connected to the slewing bearing connecting frame 262; the support leg assembly 400 is fixedly connected to the four corners of the frame of the frame assembly 100.

[0005] As a better technical solution of the present invention, the pulley assembly 280 includes a pulley bracket 281, a fixed sleeve 282, a roller 283, a rocking shaft 284 and a rocking wheel shaft 285, the fixed sleeve 282 is used to limit the axial movement of the rocking shaft 284, the roller 283 is installed on the rocking wheel shaft 285, the rocking wheel shaft 285 is installed on the rocking shaft 284, and the rocking shaft 284 is installed on the pulley bracket 281.

[0006] As a better technical solution of the present invention, the support leg assembly 400 includes a primary leg 410, a secondary leg 420, a support cylinder 450 and a foot-end base plate 470; the cylinder rod of the support cylinder 450 is respectively connected to the primary leg 410 and the secondary leg 420 to drive the primary leg 410 and the secondary leg 420 to slide relative to each other, and the foot-end base plate 470 is connected to the secondary leg 420 via a flange seat 430.

[0007] As a more optimal technical solution of the present invention, the airbag 480 is fixedly connected to the lower surface of the foot end base plate 470.

[0008] As a more optimal technical solution of the present invention, the frame includes a first angle steel 253 , a first I-beam 251 and a second I-beam 252 connected end to end in sequence, and the first angle steel 253 is fixedly connected between the two first I-beams 251 .

[0009] As a more optimal technical solution of the present invention, the frame includes a square frame formed by a third I-beam 110 fixedly connected, wherein the first steel plate 140, the second steel plate 160, the second channel steel 170 and the first channel steel 130 are horizontally fixedly connected in the square frame, and the middle beam 150 is longitudinally fixedly connected in the square frame.

[0010] As a more optimal technical solution of the present invention, a nylon pad 286 is fixedly connected to the inner side of the pulley bracket 281.

[0011] Another object of the present invention is to provide a robot for low-pressure-specific non-structured terrain, comprising the above-mentioned stride-type walking mechanism for low-pressure-specific non-structured terrain.

[0012] Another object of the present invention is to provide a control method for the above-mentioned striding walking mechanism facing the low specific pressure non-structure terrain, comprising: When a travel drive requirement is raised, the travel drive motor 330 drives the drive wheel 340 to rotate, thereby driving the crawler to move slowly; The controller determines whether the moving speed of the stride motion mechanism meets the requirements. If so, the speed of the walking drive motor 330 is increased to accelerate the drive of the crawler belt 320; if not, the next step is to stop the drive of the crawler belt 320; the displacement cylinder 220 located at the front side of the stride motion mechanism in the forward direction extends outward, driving the frame assembly 100 together with the four support leg assemblies 400 to slide forward to the front end; the support cylinder 450 drives the four secondary legs 420 to extend downward until the walking assembly 200 is lifted upward; the displacement cylinder 220 located at the rear side of the stride motion mechanism in the forward direction extends outward, driving the walking assembly 200 to slide forward to the front end; When the striding motion mechanism proposes a steering drive requirement, the controller determines whether the pressure at the ball joint of the foot end base plate 470 is greater than the initial threshold value. If not, the steering motor 261 drives the slewing bearing 263 to realize the relative rotation of the travel component 300 and other components; if so, the next step is to extend the displacement cylinder 220 upward to drive the four secondary legs 420 to extend upward until they are fully retracted; the relative rotation of the travel component 300 and other components is realized through the slewing bearing 263.

[0013] The beneficial effects are: The present invention provides a stride-type walking mechanism and its control strategy, which can realize walking on low-pressure non-structured terrains such as tidal flats and wetlands through the stride-type movement mode, that is, the relative sliding of the travel component and the support leg component in the forward direction is controlled by the extension and contraction of two displacement cylinders, and the travel component and the support leg component are alternately touched on the ground under the drive of the support cylinder to complete the stride-type movement, thereby realizing the walking function on low-pressure non-structured terrains such as tidal flats and wetlands, and the whole machine can be turned through the slewing component. When passing through structured ground, the mechanism can also achieve higher speed travel by driving the travel component alone, and can also combine the advantages of the two movement modes to adapt to various terrains.

[0014] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a structural diagram of the stride-type walking mechanism for low-pressure non-structured terrain of the present invention; Figure 2 is an axonometric view of the frame assembly structure of the present invention; Figure 3 It is a structural diagram of the walking assembly of the present invention; Figure 4 is a structural diagram of the abdominal base component of the present invention; Figure 5 is a structural diagram of a pulley assembly of the present invention; Figure 6 It is a structural diagram of the rotary assembly of the present invention; Figure 7 It is a diagram of the connection structure of the rotary assembly of the present invention; Figure 8 is a structural diagram of the travel assembly of the present invention; Fig. 9 is a structural diagram of a support leg assembly of the present invention; Fig.10 This is a control flow chart of the striding walking mechanism for low specific pressure non-structured terrain of the present invention.

[0016] In the figure, the frame assembly 100 includes a third I-beam 110, a connecting frame 120, a first channel steel 130, a first steel plate 140, an intermediate beam 150, a second steel plate 160, and a second channel steel 170; Walking assembly 200: fixed frame 210, displacement cylinder 220, limit angle steel 230, track 240, belly base assembly 250, rotary assembly 260, lower pad 270, pulley assembly 280; Belly base assembly 250: first I-beam 251, second I-beam 252, first angle steel 253, hydraulic oil tank 254, engine 255, fuel tank 256, second angle steel 257, square steel 258, oil cylinder fixing frame 259; Pulley assembly 280: pulley bracket 281, fixed shaft sleeve 282, roller 283, swing shaft 284, swing wheel shaft 285, nylon pad 286; The slewing assembly 270 includes a steering motor 271, a slewing support connecting frame 272, a slewing support 273, and a gear 274; Traveling assembly 300: base 310, crawler track 320, travel driving motor 330, driving wheel 340; Support leg assembly 400: primary leg 410, secondary leg 420, flange seat 430, cylinder rod fixing seat 440, supporting cylinder 450, cylinder barrel fixing seat 460, foot end bottom plate 470, air bag 480. DETAILED DESCRIPTION

[0017] The present invention will be further described in detail below with reference to the accompanying drawings.

[0018] like Figure 1As shown, the stride-type walking mechanism for low-pressure non-structured terrain provided by the present invention specifically includes a frame assembly 100, a walking assembly 200, a travel assembly 300, and a support leg assembly 400. The walking assembly 200 realizes the walking on low-pressure non-structured terrain such as tidal flats and wetlands by alternating the travel assembly 300 and the support leg assembly 400, and the whole machine is turned by the slewing assembly 260. In addition, the mechanism can also travel on structured terrain by driving the travel assembly 300 alone, which greatly improves the terrain adaptability. The invention comprises a frame assembly 100, a walking assembly 200, a travel assembly 300 and a support leg assembly 400; the walking assembly 200 comprises a fixed frame 210, a track 240, a base assembly 250, a slewing assembly 260 and a pulley assembly 280; the base assembly 250 comprises a frame and an engine 255 and two displacement cylinders 220 fixed on the frame; the pulley assembly 280 is fixedly connected at the four corners of the frame, the track 240 is fixed on both sides of the frame, the displacement cylinder 220 and the track 240 are parallel to the walking direction, the telescopic rod of the displacement cylinder 220 is fixedly connected to the fixed frame 210, and the two fixed frames 210 are fixedly connected to the frame of the frame assembly 100 The pulley assembly 280 is slidably connected to the track 240, and the slewing assembly 260 includes a slewing bearing 263 with an internal gear, a gear 264 meshing with the slewing bearing 263, and a slewing bearing connecting frame 262 fixedly connected to the slewing bearing 263; the gear 264 rotates under the drive of the steering motor 261; the steering motor 261 is fixedly connected to the frame; the travel assembly 300 includes a base 310, a track 320 and a driving wheel 340, the track 320 is tensioned and connected to the driving wheel 340, and the base 310 is fixedly connected to the slewing bearing connecting frame 262; the support leg assembly 400 is fixedly connected to the four corners of the frame of the frame assembly 100.

[0019] The present invention can combine the advantages of two movement modes to adapt to a variety of terrains. Through the stride-type movement mode, walking on low-specific-pressure non-structure terrains such as tidal flats and wetlands can be achieved. That is, the relative sliding of the travel assembly 300 and the support leg assembly 400 in the forward direction is controlled by the extension and contraction of the two displacement cylinders 220, and the travel assembly 300 and the support leg assembly 400 are alternately touched on the ground under the drive of the support cylinder 450 to complete the stride-type movement, thereby realizing the walking function on low-specific-pressure non-structure terrains such as tidal flats and wetlands. At the same time, the whole machine can be turned through the slewing assembly 260, and the whole machine can be turned through the slewing assembly 260. When passing through structured ground, the mechanism can also achieve a higher speed of travel by driving the travel assembly 300 alone. The extension and contraction of the two displacement cylinders 220 can control the relative sliding of the travel assembly 300 and the support leg assembly 400 in the forward direction, and the stride-type movement is achieved by the travel assembly 300 and the support leg assembly 400 alternately touched on the ground under the drive of the support cylinder 450. The steering motor 261 drives the lower gear 264 to rotate, thereby causing the inner and outer races of the slewing bearing 263 to rotate relative to each other, and finally realizing the rotation of the frame assembly 100 together with the supporting leg assembly 400 relative to the travel assembly 300 .

[0020] like Figure 2 As shown, the frame assembly 100 includes a frame and a connecting frame 120. The frame includes a square frame formed by a third I-beam 110 fixedly connected. The first steel plate 140, the second steel plate 160, the second channel steel 170 and the first channel steel 130 are fixedly connected in the horizontal direction in the square frame. The middle beam 150 is fixedly connected in the longitudinal direction of the square frame. The longitudinal direction is the walking direction. Two I-beams 150 are fixed by eleven second channel steels 170, and the third I-beam 110 and the I-beam 150 are fixed by eleven first channel steels 130. One end of the connecting frame 120 is welded to the third I-beam 110, and the other end is welded to the middle beam 150. The first steel plate 140 is welded and fixed to the first channel steel 130, and the second steel plate 160 is welded and fixed to the second channel steel 170. The function of the frame assembly 100 is to support and connect the various assemblies of the stride-type motion mechanism so that they maintain relatively correct positions. The position of the support leg assembly 400 is fixed by the connecting frame 120.

[0021] like Figure 3As shown, the walking assembly 200 includes a fixed frame 210, a displacement cylinder 220, a limiting angle steel 230, a track 240, a belly base assembly 250, a slewing assembly 260, a lower pad 270 and a pulley assembly 280. The fixed frame 210 is fixed on two middle beams 150, the limiting angle steel 230 and the track 240 are fixed on the middle beam 150, and the limiting angle steel 230 is used to limit the roller 283 to always be on the track 240. The cylinder rod of the displacement cylinder 220 is fixed on the fixed frame 210 by bolts, and the cylinder barrel is fixed on the cylinder fixed frame 259. The lower pad 270 is welded to the bottom of the middle beam 150. By controlling the input of hydraulic oil, the part connected to the cylinder barrel of the displacement cylinder 220 and the part connected to the cylinder barrel of the displacement cylinder 220 slide on the track 240 via the roller 283 to generate relative movement, thereby realizing the forward and backward displacement action of the supporting structure in the stride-type movement. The displacement oil cylinder 220 is extended and retracted to drive the abdominal base assembly 250 to slide relative to the frame assembly 100 and the support leg assembly 400. The limiting angle steel 230 is welded at both ends of the track 240 to play a limiting role.

[0022] like Figure 4 As shown, the abdominal base assembly 250 includes a frame, a hydraulic oil tank 254, an engine 255, a fuel tank 256, a second angle steel 257, a square steel 258 and a cylinder fixing frame 259. The frame includes a first angle steel 253 and a first I-beam 251 and a second I-beam 252 connected end to end in sequence. The first angle steel 253 is fixedly connected between two first I-beams 251, and the first I-beams 251 are fixed by two second I-beams 252 and six channel steels 253. The cylinder support 259 is fixed on the second I-beam 252, and the hydraulic oil tank 254 and the fuel tank 256 are fixed on four first angle steels 253 respectively. The engine 255 is fixed on the square steel 258 by bolts, and the square steel 258 is welded and fixed between the two first angle steels 253. The cylinder fixing frame 259 is welded on the second I-beam 252, and plays a role in circumferential fixing of the cylinder barrel of the displacement cylinder 220. The belly base assembly 250 is connected to the travel assembly 300 through the slewing assembly 260, and the hydraulic oil tank 264 and the engine 265 provide hydraulic oil and power source for each hydraulic motor and hydraulic cylinder. The cylinder fixing frame 259 is welded on the second I-beam 252 to fix the cylinder barrel of the displacement cylinder 220 in the circumferential direction.

[0023] like Figure 5As shown, the pulley assembly 280 includes a pulley bracket 281, a fixed sleeve 282, a roller 283, a swing shaft 284, a swing wheel shaft 285 and a nylon pad 286. The pulley bracket 281 is mounted on the belly base assembly 250 by bolts. The fixed sleeve 282 is used to limit the axial movement of the swing shaft 284. The roller 283 is mounted on the swing wheel shaft 285, the swing wheel shaft 285 is mounted on the swing shaft 284, and the swing shaft 284 is mounted on the pulley bracket 281. When the displacement cylinder 220 is extended and retracted, the belly base assembly 250 achieves sliding relative to the frame assembly 100 through the rolling of the roller 283 on the track 240. The nylon pad 286 is mounted on the inner side of the pulley bracket 281 to reduce the friction between the pulley assembly 280 and the lower pad 270.

[0024] like Figure 6 and 7 As shown, the slewing assembly 260 includes a steering motor 261, a slewing bearing connecting frame 262, a slewing bearing 263 and a gear 264. The steering motor 261 is mounted on the slewing bearing connecting frame 262 by bolts, and the slewing bearing connecting frame 262 is connected to the first I-beam 251 by bolts. The outer race of the slewing bearing 263 is fixed to the slewing bearing connecting frame 320 by bolts, and the inner race of the slewing bearing 263 is fixed to the base 310 by bolts. Driven by the steering motor 261, the gear 264 is driven to rotate, and the outer race of the slewing bearing 263 and the upper structure connected thereto rotate relative to the inner race of the slewing bearing 263 and the travel assembly 300 connected thereto.

[0025] like Figure 8 As shown, the travel assembly 300 includes a base 310, a crawler 320, a travel drive motor 330, and a drive wheel 340. The shaft of the drive wheel 340 is fixed to the travel drive motor 330, and the crawler 320 is tensioned on the drive wheel 340. Under the action of the travel drive motor 330, the drive wheel 340 rotates, thereby driving the crawler 320 to achieve a fast travel function in an environment with a high ground pressure ratio such as a structured ground. The crawler 320 is made of rubber material, which greatly reduces the weight of the mechanism itself while achieving the function.

[0026] like Fig. 9As shown, the support leg assembly 400 includes a primary leg 410, a secondary leg 420, a flange seat 430, a cylinder rod fixing seat 440, a supporting oil cylinder 450, a cylinder barrel fixing seat 460, a foot end bottom plate 470, and an air bag 480. The secondary leg 420 extends into the primary leg 410 and can slide relatively. The cylinder rod fixing seat 440 is fixed to the end of the primary leg 410, and the cylinder barrel fixing seat 460 is fixed to the secondary leg 420. The cylinder rod of the supporting oil cylinder 450 is fixed by the cylinder rod fixing seat 440, and the cylinder barrel is fixed by the cylinder barrel fixing seat 460. Under the drive of the supporting oil cylinder 450, the primary leg 410 and the secondary leg 420 slide relatively. The air bag 480 can produce local deformation when it contacts the ground, so it has a certain ability to compensate for the terrain. In the foot-walking mode, the secondary leg 420 can be controlled to move up and down by extending and retracting the supporting cylinder 450 so that the travel assembly 300 and the supporting leg assembly 400 touch the ground alternately, so as to coordinate the relative movement of the body part and the travel assembly 300 in the forward direction to realize stride-type movement.

[0027] The present application also discloses a control strategy based on the above-mentioned stride-type motion mechanism, comprising the following steps: When the striding motion mechanism raises a walking drive demand, the driving wheel 340 is driven to rotate under the action of the walking drive motor 330, thereby driving the crawler track 320 to move slowly.

[0028] The controller determines whether the moving distance of the striding motion mechanism needs to be greater than 2 meters within 10 seconds. If so, the speed of the walking drive motor 330 is increased to accelerate the driving of the crawler track 320; if not, the next step is to stop the driving action of the crawler track 320; the displacement cylinder 220 located on the front side of the forward direction of the striding motion mechanism extends outward, driving the frame assembly 100 together with the four supporting leg assemblies 400 to slide forward to the front end; the cylinder 470 extends downward, driving the four secondary legs 420 to extend downward until the walking assembly 200 is lifted upward by 0.3 meters; the displacement cylinder 220 located on the rear side of the forward direction of the striding motion mechanism extends outward, driving the walking assembly 200 to slide forward to the front end.

[0029] When the striding motion mechanism proposes a steering drive requirement, the controller determines whether the pressure at the ball joint of the foot end base plate 470 is greater than the initial threshold value. If not, the steering motor 261 drives the gear 264 to rotate, and the relative rotation of the travel component 300 and other components is realized through the slewing bearing 263; if so, the next step is to extend the displacement cylinder 220 upward, drive the four secondary legs 420 to extend upward until they are fully retracted; and the relative rotation of the travel component 300 and other components is realized through the slewing bearing 263.

[0030] The terms "first" and "second" in this application are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. In the description of this application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically limited. In addition, the terms "including" and "having" and any of their variations are intended to cover exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices.

[0031] In the description of the present invention, it is necessary to understand that the terms "center", "vertical", "up", "down", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0032] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0034] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A stride-type walking mechanism for low specific pressure unstructured terrain, characterized by: It includes a frame assembly, a walking assembly, a traveling assembly and a supporting leg assembly; the walking assembly includes a fixed frame, a track, an abdominal base assembly, a slewing assembly and a pulley assembly; the abdominal base assembly includes a frame, an engine fixed on the frame and two displacement cylinders; the pulley assembly is fixedly connected at the four corners of the frame, the track is fixed on both sides of the frame, the displacement cylinder and the track are parallel to the walking direction, the telescopic rod of the displacement cylinder is fixedly connected to the fixed frame, and the two fixed frames are fixedly connected to the frame of the frame assembly; the pulley assembly is slidably connected to the track, and the slewing assembly includes a slewing bearing with an internal gear, a gear meshing with the slewing bearing, and a slewing bearing connecting frame fixedly connected to the slewing bearing; the gear rotates under the drive of the steering motor; the steering motor is fixedly connected to the frame; the traveling assembly includes a base, a crawler and a driving wheel, the crawler is tensioned and connected to the driving wheel, and the base is fixedly connected to the slewing bearing connecting frame; the supporting leg assembly is fixedly connected to the four corners of the frame of the frame assembly.

2. The stride-type walking mechanism for low-pressure non-structured terrain according to claim 1, characterized in that: The pulley assembly includes a pulley bracket, a fixed sleeve, a roller, a swing shaft and a swing wheel shaft. The fixed sleeve is used to limit the axial movement of the swing shaft. The roller is installed on the swing wheel shaft, the swing wheel shaft is installed on the swing shaft, and the swing shaft is installed on the pulley bracket.

3. The stride-type walking mechanism for low-pressure non-structured terrain according to claim 1, characterized in that: The support leg assembly includes a primary leg, a secondary leg, a support oil cylinder and a foot end base plate; the support oil cylinder rod is respectively connected to the primary leg and the secondary leg to drive the primary leg and the secondary leg to slide relative to each other, and the foot end base plate is connected to the secondary leg through a flange seat.

4. The stride-type walking mechanism for low-pressure non-structured terrain according to claim 1, characterized in that: The air bag is fixedly connected to the lower surface of the foot end bottom plate.

5. The stride-type walking mechanism for low-pressure non-structured terrain according to claim 1, characterized in that: The frame comprises a first angle steel, a first I-steel and a second I-steel connected in sequence end to end, and the first angle steel is fixedly connected between the two first I-steels.

6. The stride-type walking mechanism for low-pressure non-structured terrain according to claim 1, characterized in that: The frame comprises a square frame formed by a third I-beam fixedly connected, a first steel plate, a second steel plate, a second channel steel and a first channel steel are fixedly connected transversely in the square frame, and an intermediate beam is fixedly connected longitudinally in the square frame.

7. The stride-type walking mechanism for low-pressure non-structured terrain according to claim 1, characterized in that: A nylon pad is fixedly connected to the inner side of the pulley bracket.

8. A robot for low-pressure unstructured terrain, characterized by: It comprises the stride-type walking mechanism for low-pressure non-structured terrain as described in claim 1.

9. The control method of the stride-type walking mechanism for low-pressure non-structured terrain according to claim 1, comprising: When the travel drive demand is raised, the travel drive motor drives the drive wheel to rotate, thereby driving the crawler to move slowly; The controller determines whether the moving speed of the stride motion mechanism meets the requirements. If so, the speed of the travel drive motor is increased to accelerate the crawler belt drive; if not, the next step is to stop the crawler belt drive; the displacement cylinder located on the front side of the stride motion mechanism in the forward direction extends outward, driving the frame assembly together with the four support leg assemblies to slide forward to the front end; The supporting oil cylinder drives the four secondary legs to extend downward until the walking assembly is lifted upward; the displacement oil cylinder located at the rear side of the forward direction of the striding motion mechanism extends outward to drive the walking assembly to slide forward to the front end; When the stride-type motion mechanism proposes a steering drive requirement, the controller determines whether the pressure at the ball joint of the foot end bottom plate is greater than the initial threshold value. If not, the steering motor drives the slewing bearing to realize the relative rotation of the travel component and other components; If yes, next step; The displacement cylinder extends upward, driving the four secondary legs to extend upward until they are fully retracted; the relative rotation of the travel component and other components is achieved through the slewing bearing.

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