Bionic eight-foot chassis and working method thereof

Abstract

The invention discloses a bionic eight-legged chassis and a working method thereof.The bionic eight-legged chassis comprises a frame body, bionic legs, a telescopic assembly and a wheel assembly, connecting tables are arranged on the two sides of the two ends of the frame body and used for being connected with the bionic legs, and the wheel assembly is detachably connected to the bottom of the frame body; the telescopic assemblies are arranged on the two sides of the bottom of the frame body at intervals, each telescopic assembly comprises a telescopic frame and a traction assembly, the telescopic frames are slidably connected to the frame body, bionic legs are arranged at the telescopic ends of the telescopic frames, and after the wheel type assemblies are detached, the traction assemblies are arranged on the telescopic ends of the telescopic frames. The traction assembly can drive the telescopic frame to axially move on the frame body, and then the positions of the bionic legs on the telescopic frame relative to the chassis are changed, so that the chassis integrally forms multiple supporting leg combination modes, and the overall flexibility and stability are improved.

Description

Technical Field

[0001] This invention relates to the field of biomimetic chassis technology, and more particularly to a biomimetic eight-legged chassis and its working method. Background Technology

[0003] A biomimetic chassis is a chassis system designed to mimic the structure, movement, or characteristics of organisms in nature. It features excellent adaptability, stability, and safety, and is widely used in automobiles, robotics, and other fields.

[0004] Typical biomimetic designs include a main body (torso) and limbs (mechanical legs). The limbs are connected to the main body and adjust the overall posture and maintain stability through the swinging of the limbs. However, such robots are generally used in mountainous or hilly areas. Relying solely on the swinging of the limbs to adjust the overall posture in complex terrain has certain limitations.

[0005] Currently, a Chinese patent, "A Bionic Eight-Legged Special Robot" (publication number CN110077486B), has been found. It includes a torso with four mechanical legs on each of the left and right sides. Each mechanical leg comprises a first walking mechanism and a second walking mechanism. The first walking mechanism is fixed to the torso via a frame. The second and first walking mechanisms are respectively connected to the rotor and stator of a motor 2. The first and second walking mechanisms cooperate to achieve stable torso movement. This bionic eight-legged special robot can mimic various eight-legged creatures, such as spiders and crabs, through mechanism adjustments. Its overall movement speed is adjustable, and it features a compact structure, reliable performance, flexible operation, and obstacle-crossing capabilities. However, its speed is relatively slow when operating on flat ground, which is not conducive to rapid operation. Furthermore, it cannot adjust its operating mode or the support position of each leg according to the usage scenario.

[0006] For example, the Chinese patent "An octagonal robot with biomimetic rigid-flexible coupling legs and a control method" (publication number CN113894822B) includes a frame, a housing, rigid-flexible coupling legs, a control processing module, a sensing unit, a wireless transmission module, a motor drive module, and a power supply module. The rigid-flexible coupling legs include eight identical structural legs: left leg one, left leg two, left leg three, and left leg four installed on the left side of the frame, and right leg one, right leg two, right leg three, and right leg four installed on the right side of the frame. Each leg is composed of rigid segments, joint axes, feet, torsion springs, linear actuators, connectors, and spring steel plates. The control method includes a step length control method, a step frequency control method, a height control method, a frame and rigid-flexible coupling leg coordination control method, a stable climbing gait control method, and a tunnel-crossing gait control method. The proposed eight-legged robot combines rigid segments with flexible spring steel sheets, possessing advantages such as compact structure, lightweight, and adaptive compliance, making it suitable for tasks such as search and rescue and exploration. However, its speed is relatively slow when operating on flat ground, which is not conducive to rapid operation, and it cannot adjust its operating mode or the support position of each leg according to the usage scenario. Summary of the Invention

[0008] In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a biomimetic eight-legged chassis and its working method. The biomimetic eight-legged chassis can change different operating modes by removing and installing wheels, thereby adapting to high-speed operation on flat ground and climbing operation on mountainous terrain. At the same time, it can improve the overall flexibility and stability of the chassis by changing the position of the biomimetic legs on the frame.

[0009] This invention relates to a biomimetic eight-legged chassis, comprising a frame, biomimetic legs, a telescopic assembly, and a wheel assembly. Connecting platforms are provided on both ends of the frame, with the biomimetic legs connected to these platforms. The wheel assembly is detachably connected to the bottom of the frame. The telescopic assemblies are spaced apart on both sides of the bottom of the frame, each telescopic assembly including a telescopic frame and a traction component. The telescopic frame is slidably connected to the frame, and a connecting platform is also provided at the telescopic end of the telescopic frame, with the biomimetic legs connected to these platforms. After removing the wheel assembly, the traction component can drive the telescopic frame to move axially on the frame. The space where the wheel assembly is installed frees up space for the telescopic frame, thereby changing the position of the biomimetic legs mounted on the telescopic frame relative to the chassis. This allows the chassis to form multiple leg combination modes, improving overall flexibility and stability.

[0010] Specifically, the frame includes an outer crossbeam and an inner crossbeam, and the telescopic assembly is provided with a retaining arm. The telescopic assembly is held onto the inner crossbeam by the retaining arm and can slide on the inner crossbeam.

[0011] Specifically, the upper part of the inner crossbeam is concave and forms an "L"-shaped beam, while the arm is inverted "L" shape. The concave and protruding parts of the two complement each other. In the wheel mode, the concave part of the inner crossbeam and the protruding part of the telescopic assembly hug each other, thereby ensuring the stability of the bionic leg support. In the bionic walking mode, the upper surface of the telescopic assembly lifts the frame, thereby supporting the frame. The stress points of the frame are different in the two support modes, which effectively improves the service life of the frame during the switching of walking modes.

[0012] Specifically, the lower part of the arm is welded and fixed to the upper surface of the telescopic assembly. The lower surface of the protruding part of the upper arm forms a first distance 'a' with the upper surface of the outer frame. The upper surface of the concave part of the inner crossbeam has a second distance 'b' with its bottom surface. The first distance 'a' is greater than the second distance 'b', so that when the device is running on flat ground with wheels, the telescopic assembly can hook onto the concave part of the inner crossbeam through the protruding part of the arm, allowing the two to slide relative to each other. Also, when in the bionic walking mode, the upper surface of the outer frame can support the lower surface of the inner crossbeam for operation.

[0013] Specifically, the telescopic frame includes an outer frame, an inner frame, and a telescopic drive. The bionic legs are located at the ends of the inner frame. The inner frame is telescopically mounted on both sides of the outer frame. The telescopic end of the telescopic drive is connected to the inner frame. Extending or shortening the telescopic drive can cause the inner frames on both sides to extend or retract to the outer frame, thereby changing the distance between the inner frames on both sides. By using the telescopic drive to extend the inner frame from the outer frame, the overall structure becomes more stable during operation and less prone to tipping over.

[0014] Specifically, the telescopic drive is a double-headed hydraulic cylinder.

[0015] Specifically, the traction assembly includes a traction cylinder, one end of which is connected to the middle of the frame and the other end is connected to the telescopic frame. Extending or retracting the traction cylinder can drive the telescopic frame to move along the axial direction of the frame.

[0016] Specifically, the wheel assembly includes an axle, wheels, and a steering hydraulic cylinder. The wheels are rotatably connected to both ends of the axle, and the steering hydraulic cylinder is fixed to the side of the axle. Its output shaft is connected to the wheels, and driving the steering hydraulic cylinder can drive the wheels at both ends to rotate in the same direction.

[0017] Specifically, the bionic leg includes a rotating disk that can rotate relative to the connecting platform, a fixed seat fixedly mounted on the rotating disk, a first hydraulic cylinder and a swing arm rotatably connected to both sides of the fixed seat. The free end of the telescopic rod of the first hydraulic cylinder is rotatably connected to the first side of the swing arm, and a second hydraulic cylinder is rotatably connected to the second side of the swing arm. The free end of the telescopic rod of the second hydraulic cylinder is rotatably connected to the leg tube frame, and the leg tube frame is also rotatably connected to the first side of the swing arm. An inner tube frame with its lower end extending out of the leg tube frame is slidably fitted inside the leg tube frame. Telescopic hydraulic cylinders are installed inside the leg tube frame and the inner tube frame. The upper end of the telescopic hydraulic cylinder is rotatably connected to the upper inner part of the leg tube frame, and the lower end of the telescopic rod of the telescopic hydraulic cylinder is rotatably connected to the lower end of the inner tube frame.

[0018] The lower part of the inner tube frame is equipped with an upper flange, and a ball head is installed on the lower end face of the upper flange. The ball head is limited and rotated inside the lower flange. The lower end face of the lower flange is provided with a plurality of serrated plates arranged in a circular array. The serrated plates are vertically installed on the lower end face of the lower flange, and the lower edge of the serrated plates has serrations.

[0019] The working method of the bionic eight-legged chassis of the present invention is as follows: when running on flat ground, the chassis is lifted up by each bionic leg, and the traction component is extended to its maximum length, thereby driving the telescopic frame to move closer to the end, making room for the wheel assembly. Then the wheel assembly is moved to the bottom of the chassis and fixed. After the oil circuit is connected, the bionic legs can be retracted and the wheeled movement can be performed. When walking using bionic legs is required, the bionic legs lift the entire assembly and lift the wheel assembly off the ground. After disconnecting the oil circuit of the wheel assembly, the wheel assembly is removed. Depending on the road conditions, if the road conditions are good, a conventional arrangement of bionic legs is used, that is, two sets of bionic legs at the front and two at the rear, for alternating walking. During walking, the top of the telescopic frame rests against the bottom of the outer and inner crossbeams, thereby distributing the overall weight evenly on the inner and outer crossbeams and reducing the risk of overload. During operation, the telescopic frame is pulled by the traction component, which causes the bionic legs on both sides to slide axially, so that the bionic legs of each group are evenly distributed on the frame in the longitudinal direction. Then, the extension and telescopic drive causes the inner frame on both sides to extend outward, causing the bionic legs to move laterally, thereby making the support area formed by each bionic leg larger, so as to maintain the stability during operation.

[0020] The beneficial effects of this invention are: 1. By setting the bionic legs at the ends of the telescopic frame, after the wheel assembly is removed, they can slide on the traction frame of the traction component, thereby changing the position of the bionic legs on the frame, so that the chassis as a whole can form a combination mode of multiple support legs, improving the overall flexibility and stability.

[0021] 2. In wheel mode, the chassis is driven by wheels, which allows for high-speed operation on flat ground. In bionic walking mode, it is suitable for crawling on mountainous terrain.

[0022] 3. In wheel mode, the concave part of the inner crossbeam and the protruding part of the telescopic assembly engage with each other to ensure the stability of the bionic leg support. In bionic walking mode, the upper surface of the telescopic assembly lifts the frame to support it. The stress points of the frame are different in the two support modes, which effectively improves the service life of the frame during the switching of walking modes. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention; Figure 2 yes Figure 1 A top-down structural diagram; Figure 3 yes Figure 1 A schematic diagram of the side structure; Figure 4 yes Figure 3 A schematic diagram of the structure after removing the wheel assembly; Figure 5 This is a top view of the frame structure of the present invention (i.e., the traction component in the extended state). Figure 6 This is a schematic diagram of the telescopic frame of the present invention in a state where the components are evenly distributed on the frame (i.e., the traction component is in the retracted state). Figure 7 This is a cross-sectional structural diagram of the arm and inner crossbeam of the present invention in a coordinated state (wheel type). Figure 8 yes Figure 7 A schematic diagram of the decomposition process; Figure 9 This is a cross-sectional structural diagram of the arm and inner crossbeam of the present invention in a coordinated state (bionic walking mode). Figure 10 This is a structural schematic diagram of the wheel assembly; Figure 11 This is a three-dimensional schematic diagram (partial exploded view) of a bionic leg; Figure 12 yes Figure 11 A partial view; Figure 13 It is a 3D model of the lower part of the bionic leg; The components are as follows: 10. Frame; 101. Outer crossbeam; 102. Inner crossbeam; 20. Bionic leg; 30. Telescopic assembly; 301. Telescopic frame; 3011. Outer frame; 3012. Inner frame; 3013. Telescopic drive; 3014. Arm; 302. Traction assembly; 40. Wheel assembly; 401. Travel motor; 402. Wheel; 403. Bogie; 404. Axle; 405. Steering hydraulic cylinder; 50. Connecting platform; 201. Turntable; 202. Fixed seat; 203. First hydraulic cylinder; 204. Swing arm; 205. Second hydraulic cylinder; 206. Leg tube frame; 207. Inner tube frame; 208. Telescopic hydraulic cylinder; 209. Upper flange; 210. Ball joint; 211. Lower flange; 212. Serrated plate. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0027] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0028] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention.

[0029] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0030] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0031] The following disclosure provides numerous different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. Additionally, examples of various specific processes and materials are provided in this invention; however, those skilled in the art will recognize the applicability of other processes and / or the use of other materials.

[0032] Example 1: The bionic eight-legged chassis of the present invention includes a frame 10, bionic legs 20, a telescopic assembly 30, and a wheel assembly 40. Connecting platforms 50 are provided on both ends of the frame 10, and the bionic legs 20 are connected to the connecting platforms 50. The wheel assembly 40 is detachably connected to the bottom of the frame 10. The telescopic assemblies 30 are spaced apart on both sides of the bottom of the frame 10. The telescopic assembly 30 includes a telescopic frame 301 and a traction component 302. The telescopic frame 301 is slidably connected to the frame 10, and a connecting platform 50 is also provided at the telescopic end of the telescopic frame 301. The connecting platform 50 is used to connect the bionic leg 20. After the wheel assembly 40 is removed, the traction component 302 can drive the telescopic frame 301 to move axially on the frame 10, thereby changing the position of the bionic leg 20 on the telescopic frame 301 relative to the chassis. By setting the bionic leg 20 at the end of the telescopic frame 301, it can slide on the traction frame 10 of the traction component 302 after the wheel assembly 40 is removed, thereby changing the position of the bionic leg 20 on the frame 10. This allows the chassis to form a combination of multiple support legs, improving the overall flexibility and stability.

[0033] Furthermore, the frame 10 includes an outer crossbeam 101 and an inner crossbeam 102. The telescopic assembly 30 is provided with a holding arm 3014. The telescopic assembly 30 is held onto the inner crossbeam 102 by the holding arm 3014 and can slide on the inner crossbeam 102.

[0034] It is understandable that rollers (not shown in the figure) are embedded in the arm 3014. Therefore, when the arm 3014 contacts the inner crossbeam 102, the rolling of the rollers reduces the wear between the arm 3014 and the inner crossbeam 102, thereby improving the overall service life.

[0035] Furthermore, the upper part of the inner crossbeam 102 is concave (i.e., the concave portion) and forms an L-shaped beam. The arm 3014 is inverted L-shaped (i.e., the upper part of the arm 3014 has an outward protrusion). The concave and outward protrusions of the two complement each other. In the wheel mode, the concave portion of the inner crossbeam 102 and the outward protrusion of the telescopic assembly 30 engage with each other, thereby ensuring the stability of the support for the bionic leg 20. In the bionic walking mode, the upper surface of the telescopic assembly 30 lifts the frame 10, thereby supporting the frame 10. The stress on the frame 10 is different in the two support modes, thus effectively improving the service life of the frame 10 during the switching of walking modes.

[0036] Figure 7 and 8 As shown, the lower part of the arm 3014 is welded and fixed to the upper surface of the telescopic assembly 30 (specifically the outer frame 3011). A first distance a is formed between the lower surface of the protruding part of the upper part of the arm 3014 and the upper surface of the outer frame 3011. A second distance b is formed between the upper surface of the concave part of the inner crossbeam 102 and its bottom surface. The first distance a is greater than the second distance b, so that when the device is running on flat ground with wheels, the telescopic assembly 30 can hook onto the concave part of the inner crossbeam 102 through the protruding part of the arm 3014 (so that the two can slide relative to each other). And when in the bionic walking mode, the upper surface 3015 of the outer frame 3011 can support the lower surface of the inner crossbeam 102 (and the frame 10) to perform the movement.

[0037] Through the above structural design, when using the wheeled model, the concave part of the inner crossbeam and the protruding part of the telescopic assembly hug each other, thereby ensuring the stability of the bionic leg support. In the bionic walking mode, the upper surface of the telescopic assembly lifts the frame, thereby supporting the frame. The stress points of the frame are different in the two support modes, thus effectively improving the service life of the frame during the switching of walking modes.

[0038] It is understood that the overall height of the inner crossbeam 102 and the arm 3014 is lower than the height of the outer crossbeam 101, so that the components installed on the chassis can be supported on the outer crossbeam 101, thus not interfering with the sliding of the arm 3014, etc. In addition, the arm 3014, the outer frame (3011) and the inner crossbeam (102) can be limited by pins to make them more stable and reliable in the corresponding installation positions.

[0039] The bionic leg 20 includes a rotating disk 201 rotatable relative to the connecting platform 50, a fixed base 202 fixedly mounted on the rotating disk, a first hydraulic cylinder 203 and a swing arm 204 rotatably connected to both sides of the fixed base. The free end of the telescopic rod of the first hydraulic cylinder 203 is rotatably connected to the first side of the swing arm 204, and a second hydraulic cylinder 205 is rotatably connected to the second side of the swing arm 204. The free end of the telescopic rod of the second hydraulic cylinder 205 is rotatably connected to the leg tube frame 206, and the leg tube frame 206 is also rotatably connected to the first side of the swing arm 204. A lower... An inner tube frame 207 extends out of the leg tube frame. A telescopic hydraulic cylinder 208 is installed inside the leg tube frame 206 and the inner tube frame 207. The upper end of the telescopic hydraulic cylinder 208 is rotatably connected to the upper inner part of the leg tube frame 206, and the lower end of the telescopic rod of the telescopic hydraulic cylinder 208 is rotatably connected to the lower end of the inner tube frame 207. During operation, the leg tube frame 206 and the inner tube frame 207 swing through the telescopic actions of the first hydraulic cylinder 203 and the second hydraulic cylinder 205. The chassis moves in mountainous areas through the intermittent movements of multiple bionic legs 20 and the rotation of the rotating disk 201.

[0040] The telescopic hydraulic cylinder 208 is installed inside the leg tube frame 206 and the inner tube frame 207 to prevent the intrusion of external rainwater or dirt from affecting its service life and operational stability.

[0041] An upper flange 209 is installed at the lower part of the inner tube frame 207. A ball head 210 is installed on the lower end face of the upper flange. The ball head 210 is limited and rotated within the lower flange 211. A plurality of serrated plates 212 are arranged in a circular array on the lower end face of the lower flange. The serrated plates 212 are vertically installed on the lower end face of the lower flange. The lower edge of the serrated plates 212 has serrations. The ball head 210 allows the lower flange to swing omnidirectionally relative to it, thereby making it more adaptable to slopes of different angles and more conducive to the stability of mountain travel. The serrations on the lower edge of the serrated plates 212 can improve the grip on the mountain ground and improve the stability of mountain travel.

[0042] Furthermore, the telescopic frame 301 includes an outer frame 3011, an inner frame 3012, and a telescopic drive 3013. The inner frame 3012 has a fixed frame 50 at its end, and the bionic legs 20 are mounted on the fixed frame 50 of the inner frame 3012. The inner frame 3012 is telescopically mounted on both sides of the outer frame 3011. The telescopic end of the telescopic drive 3013 is connected to the inner frame 3012. Extending or shortening the telescopic drive 3013 (which can be a double-headed hydraulic cylinder) can cause the inner frame 3012 on both sides to extend or retract to the outer frame 3011, thereby changing the distance between the inner frame 3012 on both sides. By using the telescopic drive 3013 to extend the inner frame 3012 out of the outer frame 3011, the overall stability during operation is improved, making it less prone to tipping over.

[0043] The traction assembly 302 includes a traction cylinder, one end of which is connected to the middle of the frame 10 and the other end is connected to the telescopic frame 301. Extending or retracting the traction cylinder can drive the telescopic frame 301 to move axially along the frame 10.

[0044] The wheel assembly 40 includes an axle 404, wheels, and a steering hydraulic cylinder 405. The wheels are rotatably connected to both ends of the axle 404. The steering hydraulic cylinder 405 is fixed to the side of the axle 404, and its output shaft is connected to the wheels. Driving the steering hydraulic cylinder 405 can drive the wheels at both ends to rotate in the same direction.

[0045] It is understandable that the wheels are existing technology, mainly including a travel motor 401, a bogie 403, and wheels 402. The travel motor 401 is fixed on the bogie 403, and the wheels 402 are fixed on the output end of the travel motor 401. The bogie 403 is connected to the output end of the steering hydraulic cylinder 405. Therefore, when steering is required, the steering hydraulic cylinder 405 can be extended or shortened. With the integrated wheel assembly 40, wheel travel can be achieved by simply connecting the steering hydraulic cylinder 405 and the travel motor 401, which makes disassembly and assembly very convenient and improves the overall convenience and mode switching efficiency.

[0046] Working principle: When running on flat ground, the chassis is lifted up by each bionic leg 20. The traction component 302 extends to its maximum length, which in turn drives the telescopic frame 301 to move towards the end, making room for the wheel assembly 40. Then the wheel assembly is moved to the bottom of the chassis and fixed. After the oil circuit is connected, the bionic legs 20 can be retracted and the vehicle can move on wheels.

[0047] When walking is required using the bionic legs 20, the bionic legs 20 lift the entire structure and cause the wheel assembly 40 to leave the ground. After the technicians disconnect the oil circuit of the wheel assembly 40, the wheel assembly 40 is removed. It is understood that the two are connected by bolts. The connection between the bridge body 404 and the frame 10 is existing technology and will not be described in detail here. Then, depending on the road conditions, if the road conditions are good, the conventional arrangement of the bionic legs 20 is adopted, that is, two sets of bionic legs 20 in the front and two in the rear, for alternating walking. During the walking process, the top of the telescopic frame 301 rests against the bottom of the outer crossbeam 101 and the inner crossbeam 102, thereby evenly distributing the overall weight on the inner crossbeam 102 and the outer crossbeam 101, reducing the risk of overload.

[0048] During operation, the traction component 302 pulls the telescopic frame 301 to slide, causing the bionic legs 20 on both sides to slide axially, so that the bionic legs 20 in each group are evenly distributed on the frame 10 in the longitudinal direction. Then, the extension and telescopic drive 3013 drives the inner frame 3012 on both sides to extend outward, causing the bionic legs 20 to move laterally, thereby making the support area formed by each bionic leg 20 larger, which is conducive to maintaining stability during operation.

[0049] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A biomimetic eight-legged chassis, comprising a frame (10), biomimetic legs (20), a telescopic assembly (30), and a wheel assembly (40), characterized in that: Both ends of the frame (10) are provided with connecting platforms (50), and bionic legs (20) are connected to the connecting platforms (50). The wheel assembly (40) is detachably connected to the bottom of the frame (10). The telescopic assembly (30) is spaced apart on both sides of the bottom of the frame (10). The telescopic assembly (30) includes a telescopic frame (301) and a traction component (302). The telescopic frame (301) is slidably connected to the frame (10). The traction component (302) can drive the telescopic frame (301) to move axially on the frame (10). After the wheel assembly (40) is removed, the position where the wheel assembly (40) is installed is freed up to set up the telescopic frame (301) to change the position of the bionic legs (20) installed on the telescopic frame (301) relative to the chassis.

2. The biomimetic eight-legged chassis according to claim 1, characterized in that: The telescopic frame (301) includes an outer frame (3011), an inner frame (3012), and a telescopic drive (3013). The bionic leg (20) is disposed at the end of the inner frame (3012). The inner frame (3012) is telescopically disposed on both sides of the outer frame (3011). The telescopic end of the telescopic drive (3013) is connected to the inner frame (3012). Extending or shortening the telescopic drive (3013) can drive the inner frames (3012) on both sides to extend or retract to the outer frame (3011), thereby changing the distance between the inner frames (3012) on both sides.

3. The biomimetic eight-legged chassis according to claim 2, characterized in that: The frame (10) includes an outer crossbeam (101) and an inner crossbeam (102). The telescopic assembly (30) is provided with a grab arm (3014). The telescopic assembly (30) is held onto the inner crossbeam (102) by the grab arm (3014) and can slide on the inner crossbeam (102).

4. The biomimetic eight-legged chassis according to claim 3, characterized in that: The upper part of the inner crossbeam (102) is concave and forms an "L" shaped beam. The arm (3014) is inverted "L" shaped. The concave part and the protruding part of the two complement each other.

5. The biomimetic eight-legged chassis according to claim 4, characterized in that: The lower part of the arm (3014) is welded and fixed to the upper surface (3015) of the telescopic assembly (30). The lower surface of the protruding part of the upper part of the arm (3014) forms a first distance a with the upper surface of the outer frame (3011). The upper surface of the concave part of the inner crossbeam (102) and its bottom surface have a second distance b. The first distance a is greater than the second distance b, so that when the device is running on flat ground with wheels, the telescopic assembly (30) can hook onto the concave part of the inner crossbeam (102) through the protruding part of the arm (3014) to achieve relative sliding between the two. When in the bionic walking mode, the upper surface (3015) of the outer frame (3011) can support the lower surface of the inner crossbeam (102) for operation.

6. The biomimetic eight-legged chassis according to claim 2, characterized in that: The telescopic drive (3013) is a double-headed hydraulic cylinder.

7. The biomimetic eight-legged chassis according to claim 1, characterized in that: The traction assembly (302) includes a traction cylinder. One end of the traction cylinder is connected to the middle of the frame (10), and the other end is connected to the telescopic frame (301). Extending or retracting the traction cylinder can drive the telescopic frame (301) to move axially along the frame (10).

8. The biomimetic eight-legged chassis according to claim 1, characterized in that: The wheel assembly (40) includes an axle (404), wheels (402) and a steering hydraulic cylinder (405). The wheels (402) are rotatably connected to both ends of the axle (404). The steering hydraulic cylinder (405) is fixed to the side of the axle (404), and its output shaft is connected to the wheels (402). Driving the steering hydraulic cylinder (405) can drive the wheels (402) at both ends to rotate in the same direction.

9. The biomimetic eight-legged chassis according to claim 1, characterized in that: The bionic leg (20) includes a rotating disk (201) rotatable relative to the connecting platform (50), a fixed base (202) fixedly mounted on the rotating disk, a first hydraulic cylinder (203) rotatably connected to both sides of the fixed base, and a swing arm (204). The free end of the telescopic rod of the first hydraulic cylinder (203) is rotatably connected to the first side of the swing arm (204), and a second hydraulic cylinder (205) is rotatably connected to the second side of the swing arm (204). The free end of the telescopic rod of the second hydraulic cylinder (205) is connected to the leg tube frame (206). The leg tube frame (206) is rotatably connected to the first side of the swing arm (204); an inner tube frame (207) with its lower end extending out of the leg tube frame is slidably sleeved inside the leg tube frame (206); a telescopic hydraulic cylinder (208) is installed inside the leg tube frame (206) and the inner tube frame (207); the upper end of the telescopic hydraulic cylinder (208) is rotatably connected to the upper inner part of the leg tube frame (206); and the lower end of the telescopic rod of the telescopic hydraulic cylinder (208) is rotatably connected to the lower end of the inner tube frame (207). The lower part of the inner tube rack (207) is equipped with an upper flange (209), and a ball head (210) is installed on the lower end face of the upper flange. The ball head (210) is limited and installed in the lower flange (211) for rotation. The lower end face of the lower flange is provided with a plurality of serrated plates (212) arranged in a circular array. The serrated plates (212) are vertically installed on the lower end face of the lower flange, and the lower edge of the serrated plates (212) has serrations.

10. A method for operating the biomimetic eight-legged chassis as described in claims 1-9, characterized in that: When running on flat ground, the chassis is lifted up by each bionic leg (20), and the traction component (302) extends to its maximum length, thereby driving the telescopic frame (301) to move closer to the end, making room for the wheel assembly (40). Then the wheel assembly is moved to the bottom of the chassis and fixed. After connecting the oil circuit, the bionic legs (20) can be retracted and wheeled walking can be performed. When it is necessary to use the bionic legs (20) to walk, the bionic legs (20) lift the whole body and make the wheel assembly (40) leave the ground. After disconnecting the oil circuit of the wheel assembly (40), the wheel assembly (40) is removed. Depending on the road conditions, if the road conditions are good, the conventional arrangement of the bionic legs (20) is adopted, that is, two sets of bionic legs (20) in the front and two in the back, and they walk alternately. During the walking process, the top of the telescopic frame (301) rests against the bottom of the outer crossbeam (101) and the inner crossbeam (102), thereby distributing the weight of the whole body evenly on the inner crossbeam (102) and the outer crossbeam (101) to reduce the risk of overload. During operation, the telescopic frame (301) is pulled by the traction component (302) to slide, which causes the bionic legs (20) on both sides to slide axially, so that the bionic legs (20) of each group are evenly distributed on the frame (10) in the longitudinal direction. Then, the extension and telescopic drive (3013) drives the inner frame (3012) on both sides to extend outward, which drives the bionic legs (20) to move laterally, thereby making the support area formed by each bionic leg (20) larger, so as to maintain the stability during operation.

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