High-smoothness self-adaptive closed-chain multi-foot walking platform

Abstract

The invention discloses a high-smoothness self-adaptive closed-chain multi-foot walking platform. The high-smoothness self-adaptive closed-chain multi-foot walking platform is composed of a, b, c and d four-foot units (A, B, C and D) and a connecting frame (E), wherein the four-foot units (A, B, C and D) are completely identical. Each four-foot unit is driven by a single motor to walk, the platform compensates displacement fluctuation in the vertical direction and speed fluctuation in the walking direction when the platform moves through the transmission design of non-circular gears in gear boxes in the four-foot units, and high smoothness and high stability of walking of the platform are achieved. A cam system is designed, a leg mechanism self-adaptive reconstruction module is built, and the platform is endowed with passive obstacle crossing ability. The high-smoothness self-adaptive closed-chain multi-legged walking platform can realize detection and exploration tasks on complex road surfaces such as mountainous regions, and is richer in walking gaits and higher in terrain adaptability.

Description

Technical Field

[0001] The present invention relates to a highly smooth adaptive closed-chain multi-legged walking platform; specifically, a highly maneuverable leg mechanism walking platform; the closed-chain leg mechanism can achieve highly smooth walking, passive joint reconstruction for obstacles, and high terrain adaptability to obstacle crossing; the walking platform can be used for transportation and detection and reconnaissance. Background Art

[0002] The closed kinematic chain is applied to the leg mechanism of the walking carrier robot, 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 is mostly a typical two-force rod, so that the closed-chain leg mechanism has good stiffness and stability as a whole. Chinese patent CN110091934A discloses "an adaptive multi-legged walking platform", which proposes an adaptive multi-legged walking platform, which is composed of four groups of leg mechanisms, each leg mechanism is independently driven by a single motor, wherein 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, which is coupled with the driving crank to achieve passive adaptation to the terrain. This patent adopts a variable topology double-loop leg mechanism design to improve the terrain adaptability of the walking platform. This patent adopts a reconfigurable closed-chain leg mechanism, a non-circular gear transmission system and a reconfigurable limit cam system design to improve the robot's walking stability, motion smoothness and terrain adaptability, and reduce the control complexity. Summary of the invention

[0003] The problem to be solved by the present invention is to provide a highly smooth adaptive closed-chain multi-legged walking platform, which, compared with the existing leg-type walking platform, increases the walking stability of the robot, improves terrain adaptability, reduces the number of drive motors, reduces the complexity of the control system, and improves reliability.

[0004] The technical solution of the present invention:

[0005] A highly smooth adaptive closed-chain multi-legged walking platform consists of completely identical a, b, c, d four-legged units and a connecting frame, wherein the a, b, c, d four-legged units are fixedly connected to the frame respectively.

[0006] The a, b, c, d quadruped units of the high-smoothness adaptive closed-chain multi-legged walking platform are respectively equipped with a driving motor at the top position, and a single quadruped unit is driven to walk by a single motor.

[0007] The a quadruped unit is composed of the first to fourth groups of leg mechanisms, a gear box and a drive motor.

[0008] The rod composition, rod shape, mechanical structure and assembly method of the first group of leg mechanisms are in a mirror-symmetric relationship with the second group; the rod composition, rod shape, mechanical structure and assembly method of the third group of leg mechanisms are in a mirror-symmetric relationship with the fourth group.

[0009] The first group of leg mechanisms is composed of the first leg first rod to the first leg sixth rod, a right front leg top plate, a right front leg small lifting ear, a right front leg large lifting ear, a crank lifting ear, a cam, a cam push rod, a cam push rod limiting plate and a camshaft.

[0010] The third group of leg mechanisms is composed of the first rod of the third leg to the sixth rod of the third leg, a hip joint lifting eye, a crank lifting eye and a top plate of the right rear leg.

[0011] The gearbox is composed of a right side plate of the gearbox, a left side plate of the gearbox, a top plate of the gearbox, six top plate hanging ears of the gearbox, the first to the eighth gear shafts, the first to the fourth displacement compensation gear sets, and the first and second bearing seats.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] The present invention utilizes the non-circular gear transmission design in the gearbox of the quadruped unit to compensate for the vertical displacement fluctuation and the speed fluctuation in the walking direction during the platform movement, respectively, to achieve high smoothness and high stability of the platform walking; utilizes the gear transmission system for power coupling to reduce the number of motors and achieve the walking of a single quadruped unit of the single motor control platform; utilizes the leg mechanism adaptive reconstruction module based on the cam system to give the platform passive obstacle crossing capability, effectively improving the platform's obstacle crossing performance. It can be used in the fields of detection, reconnaissance, and transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 An overall three-dimensional diagram of a highly smooth adaptive closed-chain multi-legged walking platform;

[0015] Figure 2 a Three-dimensional diagram of the quadruped unit;

[0016] Figure 3 Three-dimensional diagram of the first group of leg mechanisms;

[0017] Figure 4 Three-dimensional image of the cam follower;

[0018] Figure 5 Three-dimensional diagram of the leg mechanism of group 3;

[0019] Figure 6 3D diagram of the gearbox;

[0020] Figure 7 3D image of a gearbox explosion;

[0021] Figure 83D image of a gearbox explosion;

[0022] Fig. 9 Three-dimensional diagram of the first displacement compensation gear set;

[0023] Fig.10 3D diagram of the first gear shaft;

[0024] Fig.11 Three-dimensional diagram of the second gear shaft;

[0025] Fig.12 3D diagram of the 3rd gear shaft;

[0026] Fig.13 3D image of the 4th gear shaft;

[0027] Fig.14 3D image of the 5th gear shaft;

[0028] Fig.15 3D image of the 6th gear shaft;

[0029] Fig.16 3D image of the 7th gear shaft;

[0030] Fig.17 3D image of the 8th gear shaft. DETAILED DESCRIPTION

[0031] The present invention will be further described below in conjunction with the accompanying drawings.

[0032] like Figure 1 As shown, a highly smooth adaptive closed-chain multi-legged walking platform is composed of completely identical a, b, c, d four-legged units A, B, C, D and a connecting frame E, and the a, b, c, d four-legged units A, B, C, D are fixedly connected to the frame E respectively.

[0033] like Figure 2 As shown, a quadruped unit A consists of the 1st to 4th group of leg mechanisms A-1, A-2, A-3, A-4, a gear box A-5 and a drive motor Aa; the 1st to 4th group of leg mechanisms A-1, A-2, A-3, A-4 are arranged on both sides of the gear box A-5 through mounting holes and transmission shafts respectively; the drive motor Aa is fixed to the top of the gear box A-5 through the motor mounting hole.

[0034] The rod composition, rod shape, mechanical structure and assembly method of the first and second groups of leg mechanisms A-1 and A-2 are in a mirror-symmetric relationship; the rod composition, rod shape, mechanical structure and assembly method of the third and fourth groups of leg mechanisms A-3 and A-4 are in a mirror-symmetric relationship; the first group A-1 and the third group of leg mechanisms A-3, the second group A-2 and the fourth group of leg mechanisms A-4 are respectively arranged in a mirror-image manner about the longitudinal symmetry plane of the gear box A-5.

[0035] like Figure 3 As shown, the first group of leg mechanisms A-1 consists of the first leg first rod to the first leg sixth rod A-1-1, A-1-2, A-1-3, A-1-4, A-1-5, A-1-6, the right front leg top plate A-1-7, the right front leg small lifting ear A-1-8, the right front leg large lifting ear A-1-9, the crank lifting ear A-1-10, the cam A-1-11, the cam push rod A-1-12, the cam push rod limit plate A-1-13 and the camshaft A-1-14.

[0036] The connection method of the components in the first group of leg mechanisms A-1 is as follows: the sixth rod A-1-6 of the first leg is a broken line rod, and mounting holes are arranged at both ends and the bending point; the fifth rod A-1-5 of the first leg is a triple rod, and mounting holes are arranged at three vertex positions; the three mounting holes of the fifth rod A-1-5 of the first leg are respectively rotatably connected with the mounting hole at one end of the fourth rod A-1-4 of the first leg and the mounting hole at the bending point of the sixth rod A-1-6 of the first leg through an assembly axis; the mounting hole at one end of the sixth rod A-1-6 of the first leg is rotatably connected with the mounting hole at one end of the second rod A-1-2 of the first leg through an assembly axis; the mounting hole at the other end of the second rod A-1-2 of the first leg is rotatably connected with the mounting hole at one end of the first rod A-1-1 of the first leg through an assembly axis; The mounting hole at the other end of A-1-1 is rotatably connected with the mounting hole of the crank lug A-1-10 through an assembly shaft; the mounting hole at the other end of the fourth rod A-1-4 of the first leg is rotatably connected with the mounting hole at one end of the third rod A-1-3 of the first leg through an assembly shaft; the right front leg top plate A-1-7 is fixedly connected with the right front leg small lug A-1-8, the right front leg large lug A-1-9, the crank lug A-1-10 and the cam top rod limit plate A-1-13 through mounting holes; the cam A-1-11 is fixedly connected with the camshaft A-1-14 through the mounting hole; the camshaft A-1-14 is rotatably connected with the mounting holes of the right front leg small lug A-1-8 and the mounting holes at one end of the right front leg large lug A-1-9 through mounting holes.

[0037] like Figure 4 As shown, the cam follower A-1-12 is composed of two identical cam follower side plates A-1-12-1 and rollers A-1-12-2.

[0038] The connection method of the components in the cam push rod A-1-12 is as follows: a mounting hole is set at both ends and the middle of the cam push rod side plate A-1-12-1; the middle mounting holes of the two cam push rod side plates A-1-12-1 are respectively connected to the mounting holes of the roller A-1-12-2 through the assembly shaft to achieve rotational connection; the mounting holes at one end of the two cam push rod side plates A-1-12-1 are connected to the mounting holes of the right front leg large ear A-1-9 through the assembly shaft to achieve rotational connection; the connection between the cam push rod A-1-12 and the right front leg large ear A-1-9 is achieved; the mounting holes at the other ends of the two cam push rod side plates A-1-12-1 are connected to the mounting holes at one end of the fifth rod A-1-5 through the assembly shaft to achieve rotational connection, thereby realizing the connection between the cam push rod A-1-12 and the fifth rod A-1-5.

[0039] like Figure 5 As shown, the third group of leg mechanisms A-3 consists of the first rod of the third leg to the sixth rod of the third leg A-3-1, A-3-2, A-3-3, A-3-4, A-3-5, A-3-6, the hip joint lifting eye A-3-7, the crank lifting eye A-3-8 and the right rear leg top plate A-3-9.

[0040] The connection method of the components in the third group of leg mechanisms A-3 is as follows: the sixth rod A-3-6 of the third leg is a broken line rod, with mounting holes arranged at both ends and the inflection point; the fifth rod A-3-5 of the third leg is a triple rod, with mounting holes arranged at three vertex positions; the three mounting holes of the fifth rod A-3-5 of the third leg are respectively connected to the mounting hole at one end of the fourth rod A-3-4 of the third leg, the mounting hole at the inflection point of the sixth rod A-3-6 of the third leg, and the mounting hole of the hip joint hanging ear A-3-7 through the assembly shaft to realize rotation connection; the mounting hole at one end of the sixth rod A-3-6 of the third leg is connected to the mounting hole at one end of the second rod A-3-2 of the third leg The mounting holes are rotationally connected through an assembly axis; the mounting hole at the other end of the second rod A-3-2 of the third leg and the mounting hole at one end of the first rod A-3-1 of the third leg are rotationally connected through an assembly axis; the mounting hole at the other end of the first rod A-3-1 of the third leg and the crank ear A-3-8 are rotationally connected through the mounting holes; the mounting hole at the other end of the fourth rod A-3-4 of the third leg and the mounting hole at one end of the third rod A-3-3 of the third leg are rotationally connected through the assembly axis; the top plate A-3-9 of the right rear leg is fixedly connected with the crank ear A-3-8 and the hip joint ear A-3-7 respectively through the mounting holes.

[0041] like Figure 6 , 7As shown in Figure 8, the gearbox A-5 consists of the gearbox right side plate A-5-1, the gearbox left side plate A-5-2, the gearbox top plate A-5-3, six gearbox top plate hanging ears A-5-4, the 1st to the 8th gear shafts A-5-5, A-5-10, A-5-11, A-5-12, A-5-13, A-5-14, A-5-15, A-5-18, the 1st to the 4th displacement compensation gear sets A-5-6, A-5-7, A-5-8, A-5-9, and the 1st and 2nd bearing seats A-5-16 and A-5-17.

[0042] The 1st and 2nd bearing seats (A-5-16, A-5-17) are fixedly connected to the right side plate (A-5-1) and the left side plate (A-5-2) of the gear box through mounting holes; the right side plate (A-5-1) of the gear box is fixedly connected to the left side plate (A-5-2) of the gear box through an assembly shaft; three mounting holes are respectively provided on the left and right sides of the gear box top plate (A-5-3), which are fixedly connected to the six gear box top plate ears (A-5-4) respectively; the three gear box top plate ears (A-5-4) installed on the left and right sides are fixedly connected to the right side plate (A-5-1) and the left side plate (A-5-2) of the gear box through mounting holes respectively.

[0043] like Fig. 9 As shown, the first displacement compensation gear set A-5-6 is composed of the first inner plate A-5-6-1, the fifth displacement compensation gear A-5-6-2, the first reversing gear A-5-6-3, the second reversing gear A-5-6-4 and the first displacement compensation gear set shaft 2A-5-6-5; the connection method of the components in the first displacement compensation gear set A-5-6 is as follows: the third displacement compensation gear A-5-6-2 is fixedly connected with the first reversing gear A-5-6-3 through the assembly shaft, and is rotationally connected with the first inner plate A-5-6-1; the first displacement compensation gear The wheel set shaft 2A-5-6-5 is fixedly connected with the second reversing gear A-5-6-4 through the mounting hole; the second reversing gear A-5-6-4 is rotationally connected with the first inner plate A-5-6-1 through the first displacement compensation gear set shaft 2A-5-6-5; the first reversing gear A-5-6-3 and the second reversing gear A-5-6-4 are meshed for transmission; the first inner plate A-5-6-1 is fixedly connected with the right side plate A-5-1 of the gear box through the assembly shaft, thereby realizing the connection between the first displacement compensation gear set A-5-6 and the right side plate A-5-1 of the gear box.

[0044] The 1st to 4th displacement compensation gear sets A-5-6, A-5-7, A-5-8, and A-5-9 have exactly the same gear composition, mechanical structure, and assembly method. The 1st and 4th displacement compensation gear sets A-5-6, A-5-9 and the 2nd and 3rd displacement compensation gear sets A-5-7, A-5-8 are symmetrically arranged on both sides of the gear box A-5.

[0045] like Fig.10 As shown, the first gear shaft A-5-5 is composed of the first transmission gear A-5-5-1, the first displacement compensation gear A-5-5-2, the second displacement compensation gear A-5-5-3 and the shaft 1A-5-5-4; the connection method of the components in the first gear shaft A-5-5 is as follows: the first transmission gear A-5-5-1, the first displacement compensation gear A-5-5-2 and the second displacement compensation gear A-5-5-3 are respectively fixedly connected to the shaft 1A-5-5-4 through mounting holes; the shaft 1A-5-5-4 is connected to the right side plate A-5-5-4 of the gear box through mounting holes. -1 is rotated and connected, thereby realizing the rotational connection between the first gear shaft A-5-5 and the right side plate A-5-1 of the gear box; the first displacement compensation gear A-5-5-2 is meshed and transmitted with the fifth displacement compensation gear A-5-6-2, thereby realizing the transmission connection between the first gear shaft A-5-5 and the first displacement compensation gear set A-5-6; the second displacement compensation gear A-5-5-3 is meshed and transmitted with the sixth displacement compensation gear A-5-7-2, thereby realizing the transmission connection between the first gear shaft A-5-5 and the second displacement compensation gear set A-5-7.

[0046] like Fig.11 As shown, the second gear shaft A-5-10 is composed of the first speed compensation gear A-5-10-1, the second transmission gear A-5-10-2 and the shaft 3A-5-10-3; the connection method of the components in the second gear shaft A-5-10 is as follows: the first speed compensation gear A-5-10-1 and the second transmission gear A-5-10-2 are fixedly connected to the shaft 3A-5-10-3 through mounting holes respectively; the shaft 3A-5-10-3 is rotationally connected to the first inner plate A-5-6-1 through the mounting hole, thereby realizing the connection between the second gear shaft A-5-10 and the first displacement compensation gear set A-5-6; the second transmission gear A-5-10-2 is meshed with the first transmission gear A-5-5-1 for transmission, thereby realizing the transmission connection between the second gear shaft A-5-10 and the first gear shaft A-5-5.

[0047] like Fig.12 As shown, the 3rd gear shaft A-5-11 is composed of the 3rd transmission gear A-5-11-1 and the shaft 4A-5-11-2; the connection method of the components in the 3rd gear shaft A-5-11 is: the 3rd transmission gear A-5-11-1 is fixedly connected with the shaft 4A-5-11-2 through the mounting hole; the 3rd transmission gear A-5-11-1 is meshed with the 2nd transmission gear A-5-10-2 for transmission, thereby realizing the transmission connection between the 3rd gear shaft A-5-11 and the 2nd gear shaft A-5-10; the shaft 4A-5-11-2 is rotationally connected with the right side plate A-5-1 of the gear box through the mounting hole, thereby realizing the rotational connection between the 3rd gear shaft A-5-11 and the right side plate A-5-1 of the gear box.

[0048] like Fig.13 As shown, the 4th gear shaft A-5-12 is composed of the 2nd speed compensation gear A-5-12-1, the 3rd speed compensation gear A-5-12-2, the 1st bevel gear A-5-12-3 and the shaft 5A-5-12-4; the connection method of the components in the 4th gear shaft A-5-12 is: the 2nd speed compensation gear A-5-12-1, the 3rd speed compensation gear A-5-12-2 and the 1st bevel gear A-5-12-3 are respectively connected to the shaft 5A-5-12-4 through the mounting holes. A-5-12-4 realizes a fixed connection; the second speed compensation gear A-5-12-1 meshes with the first speed compensation gear A-5-10-1 for transmission, thereby realizing the transmission connection between the fourth gear shaft A-5-12 and the second gear shaft A-5-10; the shaft 5A-5-12-4 realizes a rotational connection with the right side plate A-5-1 of the gear box through the mounting hole, thereby realizing the rotational connection between the fourth gear shaft A-5-12 and the right side plate A-5-1 of the gear box.

[0049] like Fig.14 As shown, the 5th gear shaft A-5-13 is composed of the 4th speed compensation gear A-5-13-1, the 4th transmission gear A-5-13-2 and the shaft 6A-5-13-3; the connection method of the components in the 5th gear shaft A-5-13 is as follows: the 4th speed compensation gear A-5-13-1 and the 4th transmission gear A-5-13-2 are fixedly connected with the shaft 6A-5-13-3 through mounting holes respectively; the shaft 6A-5-13-3 is rotationally connected with the right side plate A-5-1 of the gear box through the mounting hole, thereby realizing the rotational connection between the 5th gear shaft A-5-13 and the right side plate A-5-1 of the gear box; the 4th speed compensation gear A-5-13-1 is meshed with the 3rd speed compensation gear A-5-12-2 for transmission, thereby realizing the transmission connection between the 5th gear shaft A-5-13 and the 4th gear shaft A-5-12.

[0050] like Fig.15 As shown, the 6th gear shaft A-5-14 is composed of the 2nd bevel gear A-5-14-1, the 1st input gear A-5-14-2 and the shaft 7A-5-14-3; the connection method of the components in the 6th gear shaft A-5-14 is: the 2nd bevel gear A-5-14-1 and the 1st input gear A-5-14-2 are fixedly connected with the shaft 7A-5-14-3 through mounting holes respectively; the shaft 7A-5-14-3 is rotationally connected with the 1st and 2nd bearing seats A-5-16 and A-5-17 respectively through mounting holes, thereby realizing the rotational connection between the 6th gear shaft A-5-14 and the 1st and 2nd bearing seats A-5-16 and A-5-17; the 2nd bevel gear A-5-14-1 is meshed with the 1st bevel gear A-5-12-3 for transmission, thereby realizing the transmission connection between the 6th gear shaft A-5-14 and the 4th gear shaft A-5-12.

[0051] like Fig.16 As shown, the 7th gear shaft A-5-15 is composed of the 5th transmission gear A-5-15-1, the 3rd displacement compensation gear A-5-15-2, the 4th displacement compensation gear A-5-15-3 and the shaft 8A-5-15-4; the connection method of the components in the 7th gear shaft A-5-15 is: the 5th transmission gear A-5-15-1, the 3rd displacement compensation gear A-5-15-2 and the 4th displacement compensation gear A-5-15-3 are respectively fixedly connected to the shaft 8 through the mounting holes; the 5th transmission gear A-5-15-1 and the 4th transmission gear A-5-13 -2 meshing transmission, thereby realizing the transmission connection between the 7th gear shaft A-5-15 and the 5th gear shaft A-5-13; the 3rd displacement compensation gear A-5-15-2 and the 8th displacement compensation gear A-5-9-2 meshing transmission, thereby realizing the transmission connection between the 7th gear shaft A-5-15 and the 4th displacement compensation gear set A-5-9; the 4th displacement compensation gear A-5-15-3 and the 7th displacement compensation gear A-5-8-2 meshing transmission, thereby realizing the transmission connection between the 7th gear shaft A-5-15 and the 3rd displacement compensation gear set A-5-8.

[0052] like Fig.17 As shown, the 8th gear shaft A-5-18 is composed of the 2nd input gear A-5-18-2 and the shaft 9A-5-18-2; the connection method of the components in the 8th gear shaft A-5-18 is: the 2nd input gear A-5-18-2 is fixedly connected with the shaft 9A-5-18-2 through the mounting hole; the shaft 9A-5-18-2 is rotationally connected with the 1st bearing seat A-5-16 through the mounting hole, thereby realizing the rotational connection between the 8th gear shaft A-5-18 and the 1st bearing seat A-5-16; the 2nd input gear A-5-18-2 is meshed with the 1st input gear A-5-14-2 for transmission, thereby realizing the transmission connection between the 8th gear shaft A-5-18 and the 6th gear shaft A-5-14.

Claims

1. A highly smooth adaptive closed-chain multi-legged walking platform, characterized in that: A highly smooth adaptive closed-chain multi-legged walking platform is composed of completely identical a, b, c, d quadruped units (A, B, C, D) and a connecting frame (E), wherein the a, b, c, d quadruped units (A, B, C, D) are fixedly connected to the frame (E) respectively; The a, b, c, d quadruped units (A, B, C, D) of the highly smooth adaptive closed-chain multi-legged walking platform are each equipped with a driving motor at the top, and a single quadruped unit is driven to walk by a single motor; the platform compensates for the vertical displacement fluctuation and the walking direction speed fluctuation during the platform movement through the non-circular gear transmission design in the gear box inside the quadruped unit, thereby achieving high smoothness and high stability of the platform walking; Design a cam system and build an adaptive reconstruction module of the leg mechanism to give the platform passive obstacle surmounting capability.

2. The highly smooth adaptive closed-chain multi-legged walking platform according to claim 1, characterized in that: The a quadruped unit (A) is composed of the first to fourth leg mechanisms (A-1, A-2, A-3, A-4), a gear box (A-5) and a drive motor (Aa); the first to fourth leg mechanisms (A-1, A-2, A-3, A-4) are arranged on both sides of the gear box (A-5) through mounting holes and transmission shafts respectively; the drive motor (Aa) is fixed to the top of the gear box (A-5) through the motor mounting hole; The rod composition, rod shape, mechanical structure and assembly method of the first and second groups of leg mechanisms (A-1, A-2) are in a mirror-symmetric relationship; the rod composition, rod shape, mechanical structure and assembly method of the third and fourth groups of leg mechanisms (A-3, A-4) are in a mirror-symmetric relationship; the first group (A-1) and the third group of leg mechanisms (A-3), and the second group (A-2) and the fourth group of leg mechanisms (A-4) are respectively arranged in a mirror-symmetric manner about the longitudinal symmetry plane of the gear box (A-5).

3. The highly smooth adaptive closed-chain multi-legged walking platform according to claim 2, characterized in that: The first group of leg mechanisms (A-1) is composed of the first leg first rod to the first leg sixth rod (A-1-1, A-1-2, A-1-3, A-1-4, A-1-5, A-1-6), the right front leg top plate (A-1-7), the right front leg small lifting ear (A-1-8), the right front leg large lifting ear (A-1-9), the crank lifting ear (A-1-10), the cam (A-1-11), the cam push rod (A-1-12), the cam push rod limit plate (A-1-13) and the cam shaft (A-1-14); The connection method of the components in the first group of leg mechanisms (A-1) is: The sixth rod (A-1-6) of the first leg is a broken line rod, with mounting holes arranged at both ends and the inflection point; the fifth rod (A-1-5) of the first leg is a triple rod, with mounting holes arranged at three vertex positions; the three mounting holes of the fifth rod (A-1-5) of the first leg are rotatably connected with the mounting holes at one end of the fourth rod (A-1-4) of the first leg and the mounting holes at the inflection point of the sixth rod (A-1-6) of the first leg through assembly shafts; the mounting hole at one end of the sixth rod (A-1-6) of the first leg is rotatably connected with the mounting hole at one end of the second rod (A-1-2) of the first leg through an assembly shaft; the mounting hole at the other end of the second rod (A-1-2) of the first leg is rotatably connected with the mounting hole at one end of the first rod (A-1-1) of the first leg through an assembly shaft; the mounting hole at the other end of the first rod (A-1-1) of the first leg The mounting hole of the crank lifting ear (A-1-10) is rotatably connected via an assembly shaft; the mounting hole at the other end of the fourth rod (A-1-4) of the first leg is rotatably connected with the mounting hole at one end of the third rod (A-1-3) of the first leg via an assembly shaft; the top plate (A-1-7) of the right front leg is fixedly connected with the small lifting ear (A-1-8) of the right front leg, the large lifting ear (A-1-9) of the right front leg, the crank lifting ear (A-1-10) and the cam push rod limit plate (A-1-13) via mounting holes; the cam (A-1-11) is fixedly connected with the camshaft (A-1-14) via mounting holes; the camshaft (A-1-14) is rotatably connected with the mounting holes of the small lifting ear (A-1-8) of the right front leg and the mounting holes at one end of the large lifting ear (A-1-9) of the right front leg via mounting holes.

4. The highly smooth adaptive closed-chain multi-legged walking platform according to claim 3, characterized in that: The cam push rod (A-1-12) is composed of two completely identical cam push rod side plates (A-1-12-1) and a roller (A-1-12-2); The connection method of the components in the cam push rod (A-1-12) is as follows: A mounting hole is respectively arranged at both ends and in the middle of the cam push rod side plate (A-1-12-1); the middle mounting holes of the two cam push rod side plates (A-1-12-1) are rotationally connected with the mounting holes of the roller (A-1-12-2) through an assembly shaft; the mounting holes at one end of the two cam push rod side plates (A-1-12-1) are rotationally connected with the mounting holes of the right front leg large lifting lug (A-1-9) through an assembly shaft, thereby realizing the connection between the cam push rod (A-1-12) and the right front leg large lifting lug (A-1-9); the mounting holes at the other ends of the two cam push rod side plates (A-1-12-1) are rotationally connected with the mounting holes at one end of the fifth rod (A-1-5) through an assembly shaft, thereby realizing the connection between the cam push rod (A-1-12) and the fifth rod (A-1-5).

5. The highly smooth adaptive closed-chain multi-legged walking platform according to claim 2, characterized in that: The third group of leg mechanisms (A-3) is composed of the first rod of the third leg to the sixth rod of the third leg (A-3-1, A-3-2, A-3-3, A-3-4, A-3-5, A-3-6), a hip joint eye (A-3-7), a crank eye (A-3-8) and a top plate of the right rear leg (A-3-9); The connection method of the components in the third leg mechanism (A-3) is: The sixth rod (A-3-6) of the third leg is a broken line rod, with mounting holes arranged at both ends and the inflection point; the fifth rod (A-3-5) of the third leg is a triple rod, with mounting holes arranged at three vertex positions; the three mounting holes of the fifth rod (A-3-5) of the third leg are rotatably connected with the mounting hole at one end of the fourth rod (A-3-4) of the third leg, the mounting hole at the inflection point of the sixth rod (A-3-6) of the third leg, and the mounting hole of the hip joint hanging ear (A-3-7) through an assembly shaft; the mounting hole at one end of the sixth rod (A-3-6) of the third leg is rotatably connected with the mounting hole at one end of the second rod (A-3-2) of the third leg through an assembly shaft. The mounting hole at the other end of the second rod (A-3-2) of the third leg and the mounting hole at one end of the first rod (A-3-1) of the third leg are rotationally connected through an assembly shaft; the mounting hole at the other end of the first rod (A-3-1) of the third leg and the crank ear (A-3-8) are rotationally connected through the mounting hole; the mounting hole at the other end of the fourth rod (A-3-4) of the third leg and the mounting hole at one end of the third rod (A-3-3) of the third leg are rotationally connected through the assembly shaft; the top plate (A-3-9) of the right rear leg is fixedly connected with the crank ear (A-3-8) and the hip joint ear (A-3-7) respectively through the mounting holes.

6. The highly smooth adaptive closed-chain multi-legged walking platform according to claim 2, characterized in that: The gearbox (A-5) is composed of a gearbox right side plate (A-5-1), a gearbox left side plate (A-5-2), a gearbox top plate (A-5-3), six gearbox top plate hanging ears (A-5-4), the first to eighth gear shafts (A-5-5, A-5-10, A-5-11, A-5-12, A-5-13, A-5-14, A-5-15, A-5-18), the first to fourth displacement compensation gear sets (A-5-6, A-5-7, A-5-8, A-5-9), and the first and second bearing seats (A-5-16, A-5-17).

7. The highly smooth adaptive closed-chain multi-legged walking platform according to claim 6, characterized in that: The first displacement compensation gear set (A-5-6) is composed of the first inner plate (A-5-6-1), the fifth displacement compensation gear (A-5-6-2), the first reversing gear (A-5-6-3), the second reversing gear (A-5-6-4) and the first displacement compensation gear set shaft 2 (A-5-6-5); the connection method of the components in the first displacement compensation gear set (A-5-6) is as follows: the third displacement compensation gear (A-5-6-2) is fixedly connected to the first reversing gear (A-5-6-3) through the assembly shaft, and is rotationally connected to the first inner plate (A-5-6-1); the first displacement compensation gear The group shaft 2 (A-5-6-5) is fixedly connected with the second reversing gear (A-5-6-4) through the mounting hole; the second reversing gear (A-5-6-4) is rotationally connected with the first inner plate (A-5-6-1) through the first displacement compensation gear group shaft 2 (A-5-6-5); the first reversing gear (A-5-6-3) and the second reversing gear (A-5-6-4) are meshed for transmission; the first inner plate (A-5-6-1) is fixedly connected with the right side plate (A-5-1) of the gear box through the assembly shaft, thereby realizing the connection between the first displacement compensation gear group (A-5-6) and the right side plate (A-5-1) of the gear box; The first to fourth displacement compensation gear sets (A-5-6, A-5-7, A-5-8, A-5-9) have completely the same gear composition, mechanical structure and assembly method. The first and fourth displacement compensation gear sets (A-5-6, A-5-9) and the second and third displacement compensation gear sets (A-5-7, A-5-8) are symmetrically arranged on both sides of the gear box (A-5); The first gear shaft (A-5-5) is composed of the first transmission gear (A-5-5-1), the first displacement compensation gear (A-5-5-2), the second displacement compensation gear (A-5-5-3) and the shaft 1 (A-5-5-4); the connection method of the components in the first gear shaft (A-5-5) is as follows: the first transmission gear (A-5-5-1), the first displacement compensation gear (A-5-5-2) and the second displacement compensation gear (A-5-5-3) are respectively fixedly connected to the shaft 1 (A-5-5-4) through mounting holes; the shaft 1 (A-5-5-4) is connected to the right side plate (A-5-5-4) of the gear box through mounting holes. 5-1) is rotatably connected, thereby realizing the rotatable connection between the first gear shaft (A-5-5) and the right side plate (A-5-1) of the gear box; the first displacement compensation gear (A-5-5-2) is meshed with the fifth displacement compensation gear (A-5-6-2) for transmission, thereby realizing the transmission connection between the first gear shaft (A-5-5) and the first displacement compensation gear set (A-5-6); the second displacement compensation gear (A-5-5-3) is meshed with the sixth displacement compensation gear (A-5-7-2) for transmission, thereby realizing the transmission connection between the first gear shaft (A-5-5) and the second displacement compensation gear set (A-5-7); The second gear shaft (A-5-10) is composed of the first speed compensation gear (A-5-10-1), the second transmission gear (A-5-10-2) and the shaft 3 (A-5-10-3); the connection method of the components in the second gear shaft (A-5-10) is as follows: the first speed compensation gear (A-5-10-1) and the second transmission gear (A-5-10-2) are fixedly connected with the shaft 3 (A-5-10-3) through mounting holes respectively. The shaft 3 (A-5-10-3) is connected to the first inner plate (A-5-6-1) through the mounting hole to realize the connection between the second gear shaft (A-5-10) and the first displacement compensation gear set (A-5-6); the second transmission gear (A-5-10-2) is meshed with the first transmission gear (A-5-5-1) to realize the transmission connection between the second gear shaft (A-5-10) and the first gear shaft (A-5-5); The third gear shaft (A-5-11) is composed of the third transmission gear (A-5-11-1) and shaft 4 (A-5-11-2); the connection method of the components in the third gear shaft (A-5-11) is as follows: the third transmission gear (A-5-11-1) is fixedly connected with shaft 4 (A-5-11-2) through the mounting hole; the third transmission gear (A-5-11-1) and the second transmission gear (A-5-10-2) are meshed for transmission, thereby realizing the transmission connection between the third gear shaft (A-5-11) and the second gear shaft (A-5-10); shaft 4 (A-5-11-2) is rotationally connected with the right side plate (A-5-1) of the gear box through the mounting hole, thereby realizing the rotation connection between the third gear shaft (A-5-11) and the right side plate (A-5-1) of the gear box; The fourth gear shaft (A-5-12) is composed of the second speed compensation gear (A-5-12-1), the third speed compensation gear (A-5-12-2), the first bevel gear (A-5-12-3) and the shaft 5 (A-5-12-4); the connection method of the components in the fourth gear shaft (A-5-12) is: the second speed compensation gear (A-5-12-1), the third speed compensation gear (A-5-12-2) and the first bevel gear (A-5-12-3) are respectively connected to the shaft 5 through the mounting holes. (A-5-12-4) realizes fixed connection; the second speed compensation gear (A-5-12-1) is meshed with the first speed compensation gear (A-5-10-1) to realize transmission connection between the fourth gear shaft (A-5-12) and the second gear shaft (A-5-10); shaft 5 (A-5-12-4) realizes rotation connection with the right side plate (A-5-1) of the gear box through the mounting hole, thereby realizing rotation connection between the fourth gear shaft (A-5-12) and the right side plate (A-5-1) of the gear box; The fifth gear shaft (A-5-13) is composed of the fourth speed compensation gear (A-5-13-1), the fourth transmission gear (A-5-13-2) and the shaft 6 (A-5-13-3); the connection method of the components in the fifth gear shaft (A-5-13) is as follows: the fourth speed compensation gear (A-5-13-1) and the fourth transmission gear (A-5-13-2) are fixedly connected to the shaft 6 (A-5-13-3) through mounting holes respectively; the shaft 6 (A-5-13-3) realizes rotation connection with the right side plate (A-5-1) of the gear box through the mounting hole, thereby realizing the rotation connection between the 5th gear shaft (A-5-13) and the right side plate (A-5-1) of the gear box; the 4th speed compensation gear (A-5-13-1) and the 3rd speed compensation gear (A-5-12-2) are meshed for transmission, thereby realizing the transmission connection between the 5th gear shaft (A-5-13) and the 4th gear shaft (A-5-12); The sixth gear shaft (A-5-14) is composed of the second bevel gear (A-5-14-1), the first input gear (A-5-14-2) and the shaft 7 (A-5-14-3); the connection method of the components in the sixth gear shaft (A-5-14) is as follows: the second bevel gear (A-5-14-1) and the first input gear (A-5-14-2) are fixedly connected to the shaft 7 (A-5-14-3) through mounting holes respectively; the shaft 7 (A-5-14-3 ) realizes the rotation connection with the 1st and 2nd bearing seats (A-5-16, A-5-17) respectively through the mounting holes, thereby realizing the rotation connection between the 6th gear shaft (A-5-14) and the 1st and 2nd bearing seats (A-5-16, A-5-17); the 2nd bevel gear (A-5-14-1) and the 1st bevel gear (A-5-12-3) are meshed for transmission, thereby realizing the transmission connection between the 6th gear shaft (A-5-14) and the 4th gear shaft (A-5-12); The 7th gear shaft (A-5-15) is composed of the 5th transmission gear (A-5-15-1), the 3rd displacement compensation gear (A-5-15-2), the 4th displacement compensation gear (A-5-15-3) and the shaft 8 (A-5-15-4); the connection method of the components in the 7th gear shaft (A-5-15) is as follows: the 5th transmission gear (A-5-15-1), the 3rd displacement compensation gear (A-5-15-2) and the 4th displacement compensation gear (A-5-15-3) are respectively fixedly connected to the shaft 8 through mounting holes; the 5th transmission gear (A-5-15-1) and the 4th transmission gear (A-5-13 -2) meshing transmission, thereby realizing the transmission connection between the 7th gear shaft (A-5-15) and the 5th gear shaft (A-5-13); the 3rd displacement compensation gear (A-5-15-2) and the 8th displacement compensation gear (A-5-9-2) meshing transmission, thereby realizing the transmission connection between the 7th gear shaft (A-5-15) and the 4th displacement compensation gear set (A-5-9); the 4th displacement compensation gear (A-5-15-3) and the 7th displacement compensation gear (A-5-8-2) meshing transmission, thereby realizing the transmission connection between the 7th gear shaft (A-5-15) and the 3rd displacement compensation gear set (A-5-8); The 8th gear shaft (A-5-18) is composed of the 2nd input gear (A-5-18-2) and shaft 9 (A-5-18-2); the connection method of the components in the 8th gear shaft (A-5-18) is as follows: the 2nd input gear (A-5-18-2) is fixedly connected with the shaft 9 (A-5-18-2) through the mounting hole; the shaft 9 (A-5-18-2) is rotationally connected with the 1st bearing seat (A-5-16) through the mounting hole, thereby realizing the rotational connection between the 8th gear shaft (A-5-18) and the 1st bearing seat (A-5-16); the 2nd input gear (A-5-18-2) is meshed with the 1st input gear (A-5-14-2) for transmission, thereby realizing the transmission connection between the 8th gear shaft (A-5-18) and the 6th gear shaft (A-5-14); The first and second bearing seats (A-5-16, A-5-17) are fixedly connected to the right side plate (A-5-1) and the left side plate (A-5-2) of the gear box through mounting holes; the right side plate (A-5-1) of the gear box is fixedly connected to the left side plate (A-5-2) of the gear box through an assembly shaft; three mounting holes are respectively provided on the left and right sides of the gear box top plate (A-5-3), which are fixedly connected to the six gear box top plate ears (A-5-4) respectively; the three gear box top plate ears (A-5-4) installed on the left and right sides are fixedly connected to the right side plate (A-5-1) and the left side plate (A-5-2) of the gear box through mounting holes respectively; The drive motor (Aa) is fixedly connected to the gear box top plate (A-5-3) through the mounting hole, and the output shaft of the drive motor (Aa) is fixedly connected to the 8th gear shaft (A-5-18) through a coupling, thereby realizing the connection between the drive motor (Aa) and the gear box (A-5); the 1st gear shaft (A-5-5) is fixedly connected to the first rod (A-1-1) of the first leg through a key, the 1st displacement compensation gear set shaft 2 (A-5-6-5) is connected to the third rod (A-1-3) of the first leg through a key, and the 3rd gear shaft (A-5-11) is fixedly connected to the camshaft (A-1-14) through a key, and the gear The right side plate (A-5-1) of the box is fixedly connected to the top plate of the right front leg (A-1-7) through the mounting hole, thereby realizing the connection between the first group of leg mechanisms (A-1) and the gear box (A-5); the seventh gear shaft (A-5-15) is fixedly connected to the first rod (A-3-1) of the third leg through a key, and the fourth displacement compensation gear group shaft 2 (A-5-9-5) is fixedly connected to the third rod (A-3-3) of the third leg through a key. The right side plate (A-5-1) of the gear box is fixedly connected to the top plate (A-3-9) of the right rear leg through the mounting hole, thereby realizing the connection between the third group of leg mechanisms (A-3) and the gear box (A-5).

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