Passive type terrain following multi-connecting-rod robot walking mechanism
By designing the drive and steering mechanisms of the passive terrain-following multi-link robot walking mechanism, stable and flexible movement of the robot on complex terrain is achieved, solving the problems of inflexible turning and insufficient stability of existing multi-link robots, and improving the robot's passability and energy utilization on rugged terrain.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-31
- Publication Date
- 2026-03-17
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
Existing multi-link robots are not flexible enough when turning on complex terrain, lack stability, and are highly dependent on walking algorithms, which limits their applicability.
The passive terrain-following multi-link robot walking mechanism is adopted. Through the design of the drive mechanism and steering mechanism, the steering support leg and adaptive foot move alternately to achieve stable walking; the adaptive foot and rubber belt provide sufficient ground contact area and friction on rough ground.
It improves the robot's stability and flexibility in complex terrain, reduces its dependence on walking algorithms, and enhances its passability and energy utilization in rugged terrain.
Smart Images
Figure CN121671771A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of robot walking mechanism technology, specifically relating to a passive terrain-following multi-link robot walking mechanism. Background Technology
[0002] Passive terrain-following multi-link robot locomotion mechanisms utilize the passive degrees of freedom of mechanical structures (such as multi-link suspension systems) to enable the robot's legs or wheels to adaptively conform to undulating terrain. They require no complex active control or sensors, relying solely on their physical structure to passively adjust posture during movement, maintaining stability and achieving continuous contact. Their core application is to improve the robot's mobility, movement efficiency, and energy utilization in complex and rugged terrains (such as wilderness, ruins, and planetary surfaces), making them suitable for scenarios requiring efficient and reliable movement in unstructured environments, such as planetary rovers, disaster relief robots, and unmanned inspection platforms.
[0003] Currently, the mainstream multi-link robot locomotion mechanisms are quadruped and hexapod. Quadruped robots mainly rely on complex joint structures for movement and are highly dependent on locomotion algorithms. Hexapod robots, on the other hand, can always maintain support on both sides during locomotion, resulting in higher overall stability. However, hexapod robots are not flexible enough when facing turning scenarios, which greatly limits the robot's applicable range. Summary of the Invention
[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a passive terrain-following multi-link robot walking mechanism.
[0005] The technical solution adopted to solve the above technical problems is: a passive terrain-following multi-link robot walking mechanism, including a shell, a drive mechanism is provided on the shell, a turning mechanism is provided at both ends of the drive mechanism, a supplementary light is provided at one end of the shell, a battery is provided inside the shell, a camera is fixedly connected to the end of the shell near the supplementary light, and a dust cover is fixedly connected to the outside of the camera; The turning mechanism includes a pair of second fixed frames fixedly connected to both ends inside the housing. A hexagonal rod is slidably connected through each pair of second fixed frames. A round rod is fixedly connected to the end of the hexagonal rod away from the second fixed frame. A steering linkage is rotatably connected through the round rod. A fixed shaft is rotatably connected to the end of the steering linkage away from the round rod. A steering support leg is rotatably connected to the end of the fixed shaft away from the steering linkage. An adaptive foot is rotatably connected to the lower end of the steering support leg.
[0006] Through the above technical solution, the second motor drives the fourth active gear to rotate via the second output rod. The fourth active gear drives the second driven gear to rotate. The second driven gear drives the second drive linkage to rotate via the first drive shaft. The second drive linkage drives the second linkage, the third linkage, the fourth linkage, and the fifth linkage to rotate, causing the adaptive feet on the steering support leg, the third linkage, and the fifth linkage to move alternately. During the movement, the adaptive feet on both sides are always in contact with the ground, thus making the robot's movement more stable and less dependent on the walking algorithm.
[0007] Furthermore, a first motor is fixedly connected inside the housing, a first output rod is fixedly connected to the output end of the first motor, a first drive gear is fixedly connected to the end of the first output rod away from the first motor, a first fixed frame is fixedly connected inside the housing, a main shaft is rotatably connected through the first fixed frame, and a first driven gear is fixedly connected through the main shaft.
[0008] Through the above technical solution, the first motor drives the first output rod to rotate, the first output rod drives the first driving gear to rotate, the first driving gear drives the first driven gear to rotate, the first driven gear drives the main shaft to rotate, and the main shaft drives the second driving gear and the third driving gear to rotate.
[0009] Furthermore, a second drive gear is fixedly connected to one end of the main shaft, and a third drive gear is fixedly connected to the end of the main shaft away from the second drive gear. A rack is fixedly connected between the hexagonal rods. Both the second and third drive gears mesh with the rack. A pair of limiting plates are fixedly connected to the end of the round rod near the steering linkage, and the steering linkage is located between the limiting plates.
[0010] Through the above technical solution, the second and third drive gears drive the rack to move, the rack drives the round rod to move through the hexagonal rod, the round rod drives the steering linkage to translate through the limiting plate, and the steering linkage drives the steering support leg to rotate around the slide rod and deflect to one side through the ball head on the fixed shaft, thereby driving the outer shell to turn.
[0011] Furthermore, ball joints are fixedly connected to both ends of the fixed shaft, and the steering linkage and steering support leg are movably connected to the ball joints respectively. A pair of retainers are fixedly connected to both sides of the outer surface of the outer shell, and a first link is rotatably connected to each retainer. A strip-shaped hole is opened at the end of the first link away from the retainer, and a slide rod is slidably connected through the strip-shaped hole. Limit blocks are fixedly connected to both ends of the slide rod, and a first steering shaft and a second steering shaft are rotatably connected through the slide rod. The first steering shaft and the second steering shaft rotate and cooperate with each other. The second steering shaft is rotatably connected through the end of the steering support leg away from the adaptive foot. Through holes are opened on both the first steering shaft and the second steering shaft, and the slide rod is movably connected through the through holes.
[0012] Through the above technical solution, the first motor drives the rack to move left and right, the rack drives the steering linkage to move, and the steering linkage pushes the steering support leg to shift to one side, thereby realizing the turning of the six-legged robot. At the same time, by using the cage, the through holes of the first steering shaft and the second steering shaft are fixed in the vertical direction by the slide bar, so that the support leg can shift around the slide bar and avoid the support leg getting stuck.
[0013] Furthermore, the drive mechanism includes a second motor fixed inside the housing, a second output rod fixedly connected to the output end of the second motor, a fourth drive gear rotatably connected to the end of the second output rod away from the second motor, a pair of third fixed frames fixedly connected to the end of the housing near the second motor, a pair of fourth fixed frames fixedly connected to the end of the housing away from the third fixed frames, a first drive shaft rotatably connected through the third fixed frames, a second driven gear fixedly connected through the first drive shaft, and the second driven gear and the fourth drive gear meshing with each other.
[0014] Through the above technical solution, the second motor drives the second output rod to rotate, the second output rod drives the fourth driving gear to rotate, the fourth driving gear drives the second driven gear to rotate, and the second driven gear drives the first drive shaft to rotate.
[0015] Furthermore, a second drive shaft is rotatably connected through the fourth fixed frame. Both ends of the second drive shaft are fixedly connected to a first drive link. The first drive links at both ends of the second drive shaft are symmetrically arranged at 180 degrees. Both ends of the first drive shaft are fixedly connected to a second drive link. The second drive links are symmetrically arranged at 180 degrees.
[0016] The above technical solution allows the steering support legs on both sides to move differently. When one steering support leg is raised, the second and third links on the same side cause the adaptive foot to contact the ground. When the second and third links on the other side are raised, the steering support leg causes the adaptive foot to contact the ground, thus achieving three-point support. The three points determine a surface, ensuring that at any given time, at least three different adaptive feet are in contact with the ground, providing stable support force.
[0017] Furthermore, the end of the second drive link away from the first drive shaft is rotatably connected to the first steering shaft. A third link is rotatably connected to the first steering shaft. A fourth link is rotatably connected to the third link. A pin is rotatably connected to the end of the fourth link away from the third link. A fifth link is rotatably connected to the pin. A second link is rotatably connected to the end of the fifth link away from the pin. An adaptive foot is rotatably connected to the end of the second link near the third link. The end of the second link away from the adaptive foot is rotatably connected to the first steering shaft. The end of the first steering shaft away from the second link is rotatably connected to the first drive link.
[0018] Through the above technical solution, the first drive shaft drives the second drive link to rotate, the second drive link drives the steering support leg and the third link to rotate through the first steering shaft and the second steering shaft, the third link drives the second link to rotate through the fourth link, the fifth link provides a limit for the second link, and the second link drives the steering support leg at the other end to rotate through the first steering shaft and the second steering shaft.
[0019] Furthermore, the adaptive foot includes a rotating joint, a rotating frame is rotatably connected to the lower end of the rotating joint, a fixed frame is fixedly connected to the lower end of the rotating frame, a plurality of rubber strips are fixedly connected inside the fixed frame, a plurality of fixed blocks are fixedly connected to the rubber strips, and anti-slip rubber is fixedly connected to the lower surface of the fixed frame and the fixed blocks.
[0020] The above technical solutions enable the adaptive foot to maintain sufficient contact area when facing uneven ground. By using rotating joints and rotating frames, the adaptive foot can adapt to different angles of the ground. Furthermore, by using rubber bands and fixing blocks, it can adapt to raised surfaces, pressing the anti-slip rubber onto the raised surface to greatly increase friction.
[0021] The beneficial effects of the present invention are as follows: (1) Through the use of the driving mechanism, the second motor drives the fourth active gear to rotate through the second output rod, the fourth active gear drives the second driven gear to rotate, the second driven gear drives the second driving link to rotate through the first drive shaft, and the second driving link drives the second link, the third link, the fourth link and the fifth link to rotate, so that the adaptive feet on the steering support leg, the third link and the fifth link move alternately. During the movement, the adaptive feet on both sides are always grounded, so that the robot's movement is more stable and the dependence on the walking algorithm is lower; (2) Through the use of the steering mechanism, the first motor drives the rack to move left and right, and the rack The steering linkage moves, and the steering linkage pushes the steering support leg to shift to one side, thereby realizing the turning of the six-legged robot. At the same time, by using the retainer, the through holes of the first steering shaft and the second steering shaft are fixed in the vertical direction by the slide bar, so that the support leg can shift around the slide bar and avoid the support leg getting stuck. (3) By using the adaptive foot, the adaptive foot can still have enough ground contact area when facing the uneven ground. By using the rotating joint and the rotating frame, the adaptive foot can adapt to different angles of the ground. By using the rubber band and the fixing block, it can adapt to the raised road surface. Press the anti-slip rubber on the raised road surface to greatly improve the friction. Attached Figure Description
[0022] Figure 1 This is a first-view structural diagram of the present invention; Figure 2 This is a second-view structural diagram of the present invention; Figure 3 yes Figure 2 Enlarged view of point A; Figure 4 This is an internal sectional view of the present invention; Figure 5 This is a diagram of the internal structure of the present invention; Figure 6 This is an exploded structural diagram of one side of the present invention; Figure 7 This is a structural diagram of the turning linkage of the present invention; Figure 8 This is a structural diagram of the cage of the present invention; Figure 9 This is an exploded view of the adaptive foot structure of the present invention; Figure 10 This is a diagram of the adaptive foot sole structure of the present invention.
[0023] Reference numerals: 1. Housing; 2. Battery; 3. Turning mechanism; 31. First motor; 32. First output rod; 33. First drive gear; 34. First fixed frame; 35. Main shaft; 36. First driven gear; 37. Second drive gear; 38. Third drive gear; 39. Second fixed frame; 310. Rack; 311. Hexagonal rod; 312. Round rod; 313. Limiting plate; 314. Steering link; 315. Fixed shaft; 316. Ball joint; 317. Steering support leg; 318. First steering shaft; 319. Second steering shaft; 320. Cage; 321. First link; 322. Through hole; 323. Strip hole; 324. Slide 325. Limiting block; 4. Adaptive foot; 41. Rotating joint; 42. Rotating frame; 43. Fixing frame; 44. Anti-slip rubber; 45. Rubber belt; 46. Fixing block; 5. Drive mechanism; 51. Second motor; 52. Second output rod; 53. Fourth driving gear; 54. Second driven gear; 55. Third fixing frame; 56. First drive shaft; 57. Fourth fixing frame; 58. Second drive shaft; 59. First drive link; 510. Second drive link; 511. Second link; 512. Third link; 513. Fourth link; 514. Pin; 515. Fifth link; 6. Fill light; 7. Camera; 8. Dust cover. Detailed Implementation
[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.
[0025] like Figures 1-10 As shown, a passive terrain-following multi-link robot walking mechanism of this embodiment includes a housing 1, a supplementary light 6 is provided at one end of the housing 1, a battery 2 is provided inside the housing 1, a camera 7 is fixedly connected to the end of the housing 1 near the supplementary light 6, and a dust cover 8 is fixedly connected to the outside of the camera 7. The supplementary light 6 provides illumination, the camera 7 takes pictures, and the battery 2 provides power.
[0026] like Figure 4 and Figure 5As shown, a drive mechanism 5 is provided on the outer casing 1. The drive mechanism 5 includes a second motor 51 fixed inside the outer casing 1. A second output rod 52 is fixedly connected to the output end of the second motor 51. A fourth drive gear 53 is rotatably connected to the end of the second output rod 52 away from the second motor 51. A pair of third fixing brackets 55 are fixedly connected to the end of the outer casing 1 near the second motor 51. A pair of fourth fixing brackets 57 are fixedly connected to the end of the outer casing 1 away from the third fixing brackets 55. A first drive shaft 56 is rotatably connected through the third fixing brackets 55. A second driven gear 54 is fixedly connected through the first drive shaft 56. The second driven gear 54 and the fourth drive gear 53 mesh with each other. The second motor 51 drives the second output rod 52 to rotate. The second output rod 52 drives the fourth drive gear 53 to rotate. The fourth drive gear 53 drives the second driven gear 54 to rotate. The second driven gear 54 drives the first drive shaft 56 to rotate.
[0027] A second drive shaft 58 is rotatably connected through the fourth fixed frame 57. Both ends of the second drive shaft 58 are fixedly connected to a first drive link 59, which are symmetrically arranged at 180 degrees. Both ends of the first drive shaft 56 are fixedly connected to a second drive link 510, which are symmetrically arranged at 180 degrees. The first drive shaft 56 drives the second drive link 510 to rotate. The second drive link 510 drives the steering support leg 317 and the third link 512 to rotate through the first steering shaft 318 and the second steering shaft 319. The third link 512 drives the second link 511 to rotate through the fourth link 513. The fifth link 515 provides a limit for the second link 511. The second link 511 drives the steering support leg 317 at the other end to rotate through the first steering shaft 318 and the second steering shaft 319.
[0028] The end of the second drive link 510 away from the first drive shaft 56 is rotatably connected to the first steering shaft 318. The first steering shaft 318 is rotatably connected to the third link 512. The third link 512 is rotatably connected to the fourth link 513. The end of the fourth link 513 away from the third link 512 is rotatably connected to the pin 514. The pin 514 is rotatably connected to the fifth link 515. The end of the fifth link 515 away from the pin 514 is rotatably connected to the second link 511. The end of the second link 511 near the third link 512 is rotatably connected to the adaptive foot 4. The end of the second link 511 away from the adaptive foot 4 is rotatably connected to the first steering shaft 318. The end of the first steering shaft 318 away from the second link 511 is rotatably connected to the first drive link 59. The quadrilateral formed by the second link 511, the third link 512, the fourth link 513 and the fifth link 515 can drive the steering support leg 317 at the other end to swing.
[0029] like Figures 2-8As shown, the drive mechanism 5 is provided with a turning mechanism 3 at both ends. The turning mechanism 3 includes a pair of second fixed frames 39 fixedly connected to both ends inside the outer shell 1. A hexagonal rod 311 is slidably connected through each pair of second fixed frames 39. A round rod 312 is fixedly connected to the end of the hexagonal rod 311 away from the second fixed frame 39. A steering link 314 is rotatably connected through the round rod 312. A fixed shaft 315 is rotatably connected to the end of the steering link 314 away from the round rod 312. A steering support leg 317 is rotatably connected to the end of the fixed shaft 315 away from the steering link 314. The steering link 314 drives the steering support leg 317 to rotate and shift to one side around the slide rod 324 through the ball head 316 on the fixed shaft 315, thereby driving the outer shell 1 to turn.
[0030] A first motor 31 is fixedly connected inside the outer casing 1. A first output rod 32 is fixedly connected to the output end of the first motor 31. A first drive gear 33 is fixedly connected to the end of the first output rod 32 away from the first motor 31. A first fixed frame 34 is fixedly connected inside the outer casing 1. A main shaft 35 is rotatably connected through the first fixed frame 34. A first driven gear 36 is fixedly connected through the main shaft 35. The first motor 31 drives the first output rod 32 to rotate. The first output rod 32 drives the first drive gear 33 to rotate. The first drive gear 33 drives the first driven gear 36 to rotate. The first driven gear 36 drives the main shaft 35 to rotate. The main shaft 35 drives the second drive gear 37 and the third drive gear 38 to rotate.
[0031] A second drive gear 37 is fixedly connected to one end of the main shaft 35, and a third drive gear 38 is fixedly connected to the end of the main shaft 35 away from the second drive gear 37. A rack 310 is fixedly connected between the hexagonal rods 311. The second drive gear 37 and the third drive gear 38 are both meshed with the rack 310. A pair of limiting plates 313 are fixedly connected to the end of the round rod 312 near the steering linkage 314. The steering linkage 314 is located between the limiting plates 313. The second drive gear 37 and the third drive gear 38 drive the rack 310 to move. The rack 310 drives the round rod 312 to move through the hexagonal rod 311. The round rod 312 drives the steering linkage 314 to translate through the limiting plates 313. The steering linkage 314 drives the steering support leg 317 to rotate and shift to one side around the slide rod 324 through the ball head 316 on the fixed shaft 315, thereby driving the outer casing 1 to turn.
[0032] Both ends of the fixed shaft 315 are fixedly connected to ball joints 316. The steering linkage 314 and the steering support leg 317 are movably connected to the ball joints 316 respectively. A pair of retainers 320 are fixedly connected to both sides of the outer surface of the housing 1. A first link 321 is rotatably connected to each retainer 320. A strip-shaped hole 323 is opened at the end of the first link 321 away from the retainer 320. A slide rod 324 is slidably connected through the strip-shaped hole 323. Limit blocks 325 are fixedly connected to both ends of the slide rod 324. A first steering shaft 318 and a second steering shaft are rotatably connected through the slide rod 324. 319, the first steering shaft 318 and the second steering shaft 319 rotate with each other. The second steering shaft 319 passes through and rotatably connects to the end of the steering support leg 317 away from the adaptive foot 4. Both the first steering shaft 318 and the second steering shaft 319 are provided with through holes 322. The slide rod 324 passes through and is movably connected to the through hole 322. The retainer 320 keeps the slide rod 324 on the first connecting rod 321 in a vertical state, so that the through holes 322 on the first steering shaft 318 and the second steering shaft 319 are always kept in a vertical state, and the rotation direction of the steering support leg 317 is controllable.
[0033] like Figure 9 and Figure 10 As shown, the lower end of the steering support leg 317 is rotatably connected to an adaptive foot 4. The adaptive foot 4 includes a rotating joint 41. The lower end of the rotating joint 41 is rotatably connected to a rotating frame 42. The lower end of the rotating frame 42 is fixedly connected to a fixed frame 43. Several rubber strips 45 are fixedly connected inside the fixed frame 43. Several fixed blocks 46 are fixedly connected to the rubber strips 45. Anti-slip rubber 44 is fixedly connected to the lower surfaces of the fixed frame 43 and the fixed blocks 46. The fixed blocks 46 connected by the rubber strips 45 are pressed tightly against the ground, so that the anti-slip rubber 44 is in full contact with the ground, thereby providing sufficient grip.
[0034] The working principle of this embodiment is as follows: powered by battery 2, the second motor 51 drives the second output rod 52 to rotate, the second output rod 52 drives the fourth drive gear 53 to rotate, the fourth drive gear 53 drives the second driven gear 54 to rotate, the second driven gear 54 drives the first drive shaft 56 to rotate, the first drive shaft 56 drives the second drive link 510 to rotate, the second drive link 510 drives the steering support leg 317 and the third link 512 to rotate through the first steering shaft 318 and the second steering shaft 319, the third link 512 drives the second link 511 to rotate through the fourth link 513, the fifth link 515 provides a limit for the second link 511, and the second link 511 drives the steering support leg 317 at the other end to rotate through the first steering shaft 318 and the second steering shaft 319.
[0035] The lower ends of the steering support leg 317, the second link 511 and the third link 512 are equipped with adaptive feet 4. The adaptive feet 4 on both sides of the outer shell 1 move alternately to drive the outer shell 1 forward. When encountering a raised ground, the fixed block 46 connected by the rubber band 45 presses tightly against the ground, so that the anti-slip rubber 44 makes full contact with the ground, thereby providing sufficient grip.
[0036] When a change of direction is required, the first motor 31 drives the first output rod 32 to rotate, the first output rod 32 drives the first drive gear 33 to rotate, the first drive gear 33 drives the first driven gear 36 to rotate, the first driven gear 36 drives the main shaft 35 to rotate, the main shaft 35 drives the second drive gear 37 and the third drive gear 38 to rotate, the second drive gear 37 and the third drive gear 38 drive the rack 310 to move, the rack 310 drives the round rod 312 to move through the hexagonal rod 311, the round rod 312 drives the steering linkage 314 to translate through the limiting piece 313, the steering linkage 314 drives the steering support leg 317 to rotate around the slide rod 324 and deflect to one side through the ball head 316 on the fixed shaft 315, thereby driving the outer shell 1 to turn.
[0037] Illumination is provided by supplementary light 6, and shooting is performed by camera 7. At the same time, the slide bar 324 on the first link 321 is kept in a vertical position by retainer 320, so that the through hole 322 on the first steering shaft 318 and the second steering shaft 319 is kept in a vertical position, and the rotation direction of steering support leg 317 is controllable.
[0038] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention.
Claims
1. A passive terrain following multi-link robot walking mechanism comprising a housing (1), characterised in that: The shell (1) is provided with a drive mechanism (5), both ends of the drive mechanism (5) are provided with a turning mechanism (3), one end of the shell (1) is provided with a light filling lamp (6), the shell (1) is provided with a battery (2), one end of the shell (1) close to the light filling lamp (6) is fixedly connected with a camera (7), the camera (7) is fixedly connected with a dust cover (8) outside; The turning mechanism (3) comprises a pair of second fixed frames (39) fixedly connected in the shell (1), a pair of the second fixed frames (39) are slidably connected with six prism rods (311), one end of the six prism rods (311) away from the second fixed frame (39) is fixedly connected with a round rod (312), the round rod (312) is rotatably connected with a steering connecting rod (314), one end of the steering connecting rod (314) away from the round rod (312) is rotatably connected with a fixed shaft (315), one end of the fixed shaft (315) away from the steering connecting rod (314) is rotatably connected with a steering support leg (317), and the lower end of the steering support leg (317) is rotatably connected with an adaptive sole (4).
2. The passive terrain-following multi-link robot walking mechanism according to claim 1, characterized in that, The shell (1) is fixedly connected with a first motor (31), the output end of the first motor (31) is fixedly connected with a first output rod (32), one end of the first output rod (32) away from the first motor (31) is fixedly connected with a first driving gear (33), the shell (1) is fixedly connected with a first fixed frame (34), the first fixed frame (34) is rotatably connected with a main shaft (35), and the main shaft (35) is fixedly connected with a first driven gear (36).
3. A passive terrain-following multi-link robot walking mechanism according to claim 2, wherein, One end of the main shaft (35) is fixedly connected with a second driving gear (37), one end of the main shaft (35) away from the second driving gear (37) is fixedly connected with a third driving gear (38), the six prism rods (311) are fixedly connected with a rack (310), the second driving gear (37) and the third driving gear (38) are in meshing connection with the rack (310), one end of the round rod (312) close to the steering connecting rod (314) is fixedly connected with a pair of limiting sheets (313), and the steering connecting rod (314) is located between the limiting sheets (313).
4. The passive terrain-following multi-link robot walking mechanism according to claim 3, characterized in that, Both ends of the fixed shaft (315) are fixedly connected with ball heads (316), the steering connecting rod (314) and the steering support leg (317) are movably connected with the ball heads (316) respectively, both sides of the outer shell (1) are fixedly connected with a pair of retainer frames (320), first connecting rods (321) are rotatably connected to the retainer frames (320), strip-shaped holes (323) are formed in one end of the first connecting rods (321) away from the retainer frames (320), slide rods (324) are slidably connected in the strip-shaped holes (323), limit blocks (325) are fixedly connected to both ends of the slide rods (324), first steering shafts (318) and second steering shafts (319) are rotatably connected to the slide rods (324), the first steering shafts (318) and the second steering shafts (319) are rotatably matched with each other, one end of the steering support leg (317) away from the self-adapting instep (4) is rotatably connected with the second steering shaft (319), the first steering shafts (318) and the second steering shafts (319) are provided with through holes (322), and the slide rods (324) are movably connected with the through holes (322).
5. A passive terrain-following multi-link robot walking mechanism according to claim 4, wherein, The driving mechanism (5) comprises a second motor (51) fixed in the outer shell (1), the output end of the second motor (51) is fixedly connected with a second output rod (52), one end of the second output rod (52) away from the second motor (51) is rotatably connected with a fourth driving gear (53), one end of the outer shell (1) close to the second motor (51) is fixedly connected with a pair of third fixed frames (55), one end of the outer shell (1) away from the third fixed frames (55) is fixedly connected with a pair of fourth fixed frames (57), the third fixed frames (55) are rotatably connected with a first driving shaft (56), the first driving shaft (56) is rotatably connected with a second driven gear (54), and the second driven gear (54) and the fourth driving gear (53) are rotatably matched.
6. A passive terrain-following multi-link robot walking mechanism according to claim 5, wherein, The fourth fixed frames (57) are rotatably connected with a second driving shaft (58), the two ends of the second driving shaft (58) are fixedly connected with first driving connecting rods (59), and the first driving connecting rods (59) at the two ends of the second driving shaft (58) are symmetrically arranged at an angle of 180 degrees, the two ends of the first driving shaft (56) are fixedly connected with second driving connecting rods (510), and the second driving connecting rods (510) are symmetrically arranged at an angle of 180 degrees.
7. A passive terrain-following multi-link robot walking mechanism according to claim 6, wherein, The second driving link (510) penetrates and is rotationally connected to the first steering shaft (318) at one end away from the first driving shaft (56), the first steering shaft (318) penetrates and is rotationally connected to the third link (512), the third link (512) is rotationally connected to the fourth link (513), one end of the fourth link (513) away from the third link (512) penetrates and is rotationally connected to the pin (514), the pin (514) penetrates and is rotationally connected to the fifth link (515), one end of the fifth link (515) away from the pin (514) is rotationally connected to the second link (511), one end of the second link (511) close to the third link (512) is rotationally connected to the adaptive instep (4), one end of the second link (511) away from the adaptive instep (4) penetrates and is rotationally connected to the first steering shaft (318), one end of the first steering shaft (318) away from the second link (511) penetrates and is rotationally connected to the first driving link (59).
8. The passive terrain-following multi-link robot walking mechanism according to claim 7, characterized in that, The adaptive instep (4) comprises a rotary joint (41), the rotary joint (41) is rotationally connected to a rotary frame (42) at the lower end, the rotary frame (42) is fixedly connected to a fixed frame (43) at the lower end, a plurality of rubber bands (45) are fixedly connected in the fixed frame (43), a plurality of fixed blocks (46) are fixedly connected on the rubber bands (45), and antiskid rubbers (44) are fixedly connected to the lower surfaces of the fixed frame (43) and the fixed blocks (46).