Deformable multi-legged robot for complex terrains

Abstract

The invention relates to a deformable multi-legged robot, in particular to a deformable multi-legged robot for complex terrains, and belongs to the field of robotics, mechanical structures and bionic structures. In order to solve the problems that an existing ball leg composite motion robot is limited in autonomous obstacle avoidance capacity, unstable in mode switching posture, insufficient in motion collaboration and free of a response mechanism for ball leg damage, the robot comprises a robot body and six deformation walking mechanisms. The deformation walking mechanism comprises a hip joint structure, a double-leg connecting structure and two walking motion structures; the deformation walking mechanisms are evenly distributed on the robot body in the circumferential direction, the connecting ends of the six hip joint structures are evenly distributed and installed on the robot body in the circumferential direction, the robot body drives the six hip joint structures to rotate around the robot body in the axial direction, each hip joint structure is provided with one double-leg connecting structure, and the hip joint structures drive the double-leg connecting structures to rotate. The two walking motion structures are installed on the two-leg connecting structure, and each walking motion structure achieves inward or outward stretching motion.

Description

Technical Field

[0001] This invention relates to deformable multi-legged robots, specifically to a deformable multi-legged robot for complex terrain. This invention belongs to the fields of robotics, mechanical structures, and biomimetic structures. Background Technology

[0002] In complex terrain scenarios, the mobility stability, environmental adaptability, and operational reliability of robots are core technical requirements. Various mobile robots have been widely used in disaster relief, field exploration, and complex site inspection. Among them, hexapod robots, with their multi-legged support structure, possess the ability to walk stably and perform operations in complex environments, and have achieved rapid development in related fields in recent years. Compared with wheeled robots, multi-rotor robots, and other types of legged robots, hexapod robots exhibit significant advantages in stability and operability, and can flexibly adapt to complex operating scenarios such as narrow gaps and unstable structures, effectively making up for the technical shortcomings of wheeled robots' poor terrain adaptability and multi-rotor robots' susceptibility to environmental interference.

[0003] Besides hexapod robots, spherical robots, as another new type of mobile robot, also have unique advantages in specific terrain scenarios: on sloping terrain, they can greatly improve their movement efficiency by rolling down quickly, and on relatively flat roads, they can achieve high-speed and stable operation with the help of their built-in power system; at the same time, spherical robots also have technical characteristics that legged robots cannot achieve, such as fixed-point rotation, rapid recovery of balance, and effective protection of internal core systems, making them irreplaceable in some special operation scenarios.

[0004] Currently, research on ball-leg composite motion modes has been conducted in related fields both domestically and internationally, initially verifying the potential of multi-motion mode fusion in improving the robot's environmental adaptability. However, existing technical solutions still have many technical problems that urgently need to be solved, severely limiting their practical engineering applications: First, their autonomous obstacle avoidance capabilities are limited, making it difficult to flexibly cope with sudden obstacles in complex environments, resulting in insufficient operational safety; second, impact phenomena are prone to occur during motion mode switching, leading to robot posture instability and affecting the stability of movement and operation; third, there is a lack of a sound motion coordination strategy, and the coordination between various motion structures is poor, further reducing the robot's motion reliability; fourth, existing structural designs have defects, and when the ball-leg structure is damaged, there is a lack of effective risk response mechanisms, which cannot guarantee the robot's continuous and stable operation, easily causing operation interruptions and equipment damage. Summary of the Invention

[0005] In order to solve the problems of limited autonomous obstacle avoidance ability, unstable posture during mode switching, insufficient motion coordination and lack of response mechanism for damaged ball legs in existing ball-leg composite motion robots, this invention provides a deformable multi-legged robot for complex terrain.

[0006] The technical solution provided by this invention to solve the above problems is as follows:

[0007] A deformable multi-legged robot for complex terrain includes a body and six deformable locomotion mechanisms; each deformable locomotion mechanism includes a hip joint structure, a double leg connection structure and two locomotion structures.

[0008] Six deformable walking mechanisms are evenly distributed around the body in the circumferential direction. The body moves forward in a triangular gait by exchanging the motion phase and the support phase through the six deformable walking mechanisms. The six hip joint structure connection ends are evenly distributed around the body in the circumferential direction. The body drives the six hip joint structures to rotate around the body in the axial direction. Each hip joint structure is equipped with a double leg connection structure. The hip joint structure drives the double leg connection structure to rotate. The double leg connection structure is equipped with two walking motion structures. Each walking motion structure realizes an inward or outward extension movement.

[0009] Furthermore, the fuselage includes an upper center plate, a lower center plate, and six fuselage dual-axis servos;

[0010] Each fuselage dual-axis servo has a fuselage servo disk fixedly mounted on its output shaft. The upper center plate and the lower center plate of the fuselage are positioned opposite each other. The six fuselage dual-axis servos are radially distributed between the upper center plate and the lower center plate of the fuselage, and each fuselage dual-axis servo is fixedly mounted on the upper center plate and the lower center plate of the fuselage respectively by bolts.

[0011] Furthermore, the hip joint structure includes a hip joint servo mount, a hip joint single-axis servo, a hip joint servo disc, and two servo pads;

[0012] The hip joint single-axis servo is fixedly mounted on the hip joint servo mount by two servo pads and bolts. The hip joint servo disk is fixedly mounted on the output shaft of the hip joint single-axis servo. The two connecting side plates on the hip joint servo mount are mounted on the fuselage.

[0013] Furthermore, the dual-leg connection structure includes a fixed steering plate and two travel servo motor connection seats;

[0014] Two travel servo connectors are symmetrically installed at both ends of the fixed steering plate, which is installed on the output end of the hip joint structure. Each travel motion structure is installed on a corresponding travel servo connector.

[0015] Furthermore, the structures involved in walking include the thigh, lower leg, and foot.

[0016] The thigh connects to the calf and drives the calf to rotate; the calf connects to the foot and the foot rotates around the calf.

[0017] Furthermore, the thigh includes two thigh dual-axis servos and two thigh servo mounts;

[0018] The thigh servo base has a 'U' - shaped structure. Each double - axis thigh servo is fixedly installed on the thigh servo base through bolts. A thigh steering wheel is fixedly installed on the output shaft of each double - axis thigh servo. The two thigh servo bases are arranged facing away from each other and are fixedly connected through bolts.

[0019] Further, the calf includes two calf servo bases;

[0020] The calf servo base has a 'U' - shaped structure. The two calf servo bases are arranged facing away from each other and are fixedly connected through bolts.

[0021] Further, the foot end includes a foot - end double - axis servo, a foot - end servo base, a foot - connecting bent plate, a foot - end connecting sleeve, and a foot;

[0022] The foot - end servo base has a 'U' - shaped structure. The foot - end double - axis servo is fixedly installed on the foot - end servo base. A foot - end steering wheel is fixedly installed on the output shaft of the foot - end double - axis servo. The foot - end servo base is fixedly connected to one end of the foot - connecting bent plate. The other end of the foot - connecting bent plate is fixedly connected to the foot through the foot - end connecting sleeve.

[0023] Further, the two connecting side plates on each hip - joint servo base are respectively fixedly connected to the body steering wheels of the corresponding body double - axis servo. The body double - axis servo drives the hip - joint servo base to rotate.

[0024] The middle of each fixed steering plate is installed on the hip - joint steering wheel of the corresponding hip - joint single - axis servo. The hip - joint single - axis servo drives the fixed steering plate to rotate.

[0025] The two connecting side plates of each walking - servo connecting seat are respectively fixedly connected to the thigh steering wheels of a double - axis thigh servo on the corresponding thigh. The double - axis thigh servo rotates on the walking - servo connecting seat.

[0026] The two thigh steering wheels of the other double - axis thigh servo on the thigh are respectively installed on the two connecting side plates of the leg - servo base at one end of the corresponding calf. The double - axis thigh servo drives the calf to rotate.

[0027] The two connecting side plates of the calf - servo base at the other end of the calf are respectively fixedly connected to the foot - end steering wheels of the corresponding foot - end double - axis servo. The foot - end double - axis servo rotates around the calf - servo base.

[0028] Further, six deformable walking mechanisms are arranged radially on the fuselage. When three of the deformable walking mechanisms arranged at intervals are in the motion phase, the other three deformable walking mechanisms are in the support phase. The six deformable walking mechanisms continuously exchange between the motion phase and the support phase to achieve forward movement in a triangular gait.

[0029] This application has the following technical effects compared with the prior art:

[0030] 1. This application features six independently controllable deformable walking mechanisms, a triangular gait design, and a flexible walking motion structure, which can adjust the walking trajectory in real time and avoid various sudden obstacles. Compared with existing technologies, it significantly improves the efficiency of autonomous obstacle avoidance and effectively ensures operational safety.

[0031] 2. This application achieves a smooth and shock-free transition between the motion phase and the support phase by coordinating the hip joint structure and the leg connection structure, in conjunction with the stretching and cushioning of the walking movement structure, thus avoiding postural instability and significantly improving the stability and smoothness of the motion transition.

[0032] 3. This application controls six deformable walking mechanisms through the body, clarifies the periodic alternation logic of the motion phase and the support phase, forms a complete motion coordination mechanism, solves the problem of uncoordinated cooperation in existing technologies, and greatly improves the reliability of robot motion.

[0033] 4. The six transforming walking mechanisms in this application work independently. If one of them fails, the remaining mechanisms can be adjusted to ensure continuous and stable operation, completely solving the problem of easy interruption of operation in existing technology and improving the continuity of equipment operation.

[0034] In summary, this application specifically addresses the core shortcomings of existing technologies, achieving breakthrough improvements in environmental adaptability, motion stability, operational reliability, and fault handling capabilities compared to existing ball-legged hybrid motion robots, making it more suitable for complex terrain operations. In its multi-legged state, this application can stably move forward on complex terrains such as slopes and broken walls, while its spherical state protects the internal system, increases movement speed, and maintains balance. Furthermore, its structure allows for the connection of each mechanical leg to form a unified whole, enabling timely adjustments to the center of gravity to ensure overall stability and guarantee normal operation of the robot in various complex environments, providing reliable support for the application and exploration of this type of robot. Attached Figure Description

[0035] Figure 1 This is a schematic diagram showing the connection of the fuselage 1, hip joint structure 2, double leg connection structure 3, and two walking movement structures 4 of the present invention;

[0036] Figure 2 This is a schematic diagram of the fuselage 1 structure of the present invention;

[0037] Figure 3 This is a schematic diagram of the hip joint structure 2 of the present invention;

[0038] Figure 4 This is a schematic diagram of the double-leg connection structure 3 of the present invention;

[0039] Figure 5 This is a schematic diagram of the walking motion structure 4 of the present invention;

[0040] Figure 6 This is a schematic diagram of the connection structure of the two small leg servo mounts 411 of the present invention;

[0041] Figure 7 This is a schematic diagram of the foot end 42 of the present invention;

[0042] Figure 8 This is a schematic diagram of the overall structure of the present invention. Detailed Implementation

[0043] Specific implementation method one: Combining Figure 1 and Figure 8 This embodiment describes a deformable multi-legged robot for complex terrain, which includes a body 1 and six deformable walking mechanisms; each deformable walking mechanism includes a hip joint structure 2, a double leg connection structure 3 and two walking motion structures 4;

[0044] Six deformable walking mechanisms are evenly distributed around the body 1. The body 1 moves forward in a triangular gait by exchanging the motion phase and the support phase through the six deformable walking mechanisms. The connecting ends of six hip joint structures 2 are evenly distributed around the body 1. The body 1 drives the six hip joint structures 2 to rotate around the body 1 along the axis. Each hip joint structure 2 is equipped with a double leg connecting structure 3. The hip joint structure 2 drives the double leg connecting structure 3 to rotate. Two walking motion structures 4 are installed on the double leg connecting structure 3. Each walking motion structure 4 realizes an inward or outward extension movement.

[0045] In this embodiment, the fuselage 1 and the hip joint structure 2 are connected by a revolute joint. The hip joint structure 2 rotates around the fuselage 1 in the horizontal plane. The hip joint structure 2 and the double leg connection structure 3 are connected by a revolute joint. The double leg connection structure 3 rotates around the hip joint structure 2 in the vertical plane.

[0046] The robot body 1, hip joint structure 2, and walking motion structure 4 are connected to the electronic control system. The electronic control system controls the operation of the robot body 1, hip joint structure 2, and walking motion structure 4. Data is collected in real time through the upper-level computer component of the electronic control system, analyzing the robot's pitch angle, roll angle, and angular velocity information. The lower-level computer component of the electronic control system uses a PID algorithm and a center of gravity adjustment mechanism to achieve switching and stable control between multi-legged walking and spherical rolling. Triangular gait planning is used as the core motion logic, dividing the six deformable walking mechanisms into two alternating motion groups. Each group of three deformable walking mechanisms forms a stable support triangle, with one group fixed and the other raised. The two groups are interchanged, repeating cyclically. In the spherical state, when a specific change in the robot's posture is detected, the six deformable walking mechanisms synchronously retract to a predetermined spherical contour. Subsequently, through time-sequential foot extension and retraction, the center of gravity is actively shifted, using gravitational potential energy to drive forward tilting. Compared to traditional hexapod robots, the deformable multi-legged robot of this application can autonomously avoid obstacles, accurately match complex terrain, and balance endurance and motion performance.

[0047] Combination Figure 2As shown, the fuselage 1 includes an upper center plate 101, a lower center plate 102, and six fuselage dual-axis servos 103;

[0048] Each fuselage dual-axis servo 103 has a fuselage servo disk 104 fixedly mounted on its output shaft. The upper center plate 101 and the lower center plate 102 of the fuselage are arranged opposite each other. The six fuselage dual-axis servos 103 are evenly distributed radially between the upper center plate 101 and the lower center plate 102 of the fuselage, and each fuselage dual-axis servo 103 is fixedly mounted on the upper center plate 101 and the lower center plate 102 of the fuselage by bolts.

[0049] In this embodiment, the fuselage dual-axis servo motor 103 is a servo motor that rotates in both directions. The axes of the output shafts of the six fuselage dual-axis servo motors 103 are arranged in parallel. The upper center plate 101 and the lower center plate 102 of the fuselage are used to fix the six fuselage dual-axis servo motors 103. The fuselage dual-axis servo motors 103 drive the hip joint structure 2 to rotate through the fuselage servo disk 104.

[0050] Combination Figure 3 As shown, the hip joint structure 2 includes a hip joint servo mount 201, a hip joint single-axis servo 202, a hip joint servo disc 203, and two servo pads 204.

[0051] The hip joint single-axis servo motor 202 is fixedly mounted on the hip joint servo motor base 201 by two servo motor pads 204 and bolts. The hip joint servo disk 203 is fixedly mounted on the output shaft of the hip joint single-axis servo motor 202. The two connecting side plates on the hip joint servo motor base 201 are mounted on the fuselage 1.

[0052] In this embodiment, the hip joint single-axis servo 202 is a servo that rotates in both forward and reverse directions. The axis of the output shaft of the hip joint single-axis servo 202 is perpendicular to the axis of the output shaft of the fuselage dual-axis servo 103. The hip joint single-axis servo 202 drives the dual-leg connection structure 3 to rotate via the hip joint servo disc 203.

[0053] Combination Figure 4 As shown, the dual-leg connection structure 3 includes a fixed steering plate 301 and two walking servo motor connection seats 302;

[0054] Two travel servo connectors 302 are symmetrically mounted at both ends of a fixed steering plate 301. The fixed steering plate 301 is mounted on the output end of the hip joint structure 2. Each travel motion structure 4 is correspondingly mounted on one travel servo connector 302. When the fixed steering plate 301 moves, it drives the two travel servo connectors 302 and the travel motion structure 4 to move synchronously.

[0055] Combination Figure 1 As shown, the walking motion structure 4 includes a thigh 40, a lower leg 41, and a foot 42;

[0056] The thigh 40 is connected to the calf 41 and drives the calf 41 to rotate. The calf 41 is connected to the foot end 42, and the foot end 42 rotates around the calf 41.

[0057] In this embodiment, relative rotation occurs between the thigh 40 and the walking servo motor connecting seat 302. The thigh 40 drives the calf 41 and the foot end 42 to move. Relative rotation between the thigh 40 and the calf 41 is generated to enable the calf 41 to drive the foot end 42 to move. Relative rotation between the foot end 42 and the calf 41 is generated to achieve the movement of the foot end 42 rotating around the calf 41.

[0058] Combined Figure 5 As shown, the thigh 40 includes two thigh double-axis servo motors 401 and two thigh servo motor seats 403;

[0059] The thigh servo motor seat 403 has a 'U'-shaped structure. Each thigh double-axis servo motor 401 is fixedly installed on the thigh servo motor seat 403 by bolts. A thigh servo disc 4Q2 is fixedly installed on the output shaft of each thigh double-axis servo motor 401. The two thigh servo motor seats 403 are arranged back to back and are fixedly connected by bolts.

[0060] In this embodiment, the thigh double-axis servo motor 401 is a servo motor that rotates in both forward and reverse directions. The axis of the output shaft of the thigh double-axis servo motor 401 is perpendicular to the axis of the output shaft of the hip joint single-axis servo motor 202 and the axis of the output shaft of the fuselage double-axis servo motor 103. One thigh double-axis servo motor 401 drives the thigh double-axis servo motor 401 to rotate relative to the walking servo motor connecting seat 302 through the thigh servo disc 402. The other thigh double-axis servo motor 401 drives the calf 41 to rotate relative to the output shaft of the thigh double-axis servo motor 401 through the thigh servo disc 402.

[0061] Combined Figure 6 As shown, the calf 41 includes two calf servo motor seats 411;

[0062] The calf servo motor seat 411 has a 'U'-shaped structure. The two calf servo motor seats 411 are arranged back to back and are fixedly connected by bolts.

[0063] Combined Figure 7 As shown, the foot end 42 includes a foot end double-axis servo motor 421, a foot end servo motor seat 423, a foot connecting bent plate 424, a foot end connecting sleeve 425, and a foot 426;

[0064] The foot-end servo mount 423 has a 'U'-shaped structure. The foot-end dual-axis servo 421 is fixedly mounted on the foot-end servo mount 423. A foot-end servo disk 422 is fixedly mounted on the output shaft of the foot-end dual-axis servo 421. The foot-end servo mount 423 is fixedly connected to one end of the foot connecting elbow 424. The other end of the foot connecting elbow 424 is fixedly connected to the foot 426 through the foot-end connecting sleeve 425.

[0065] In this embodiment, the foot-end dual-axis servo 421 is a servo that rotates in both directions. The axis of the output shaft of the foot-end dual-axis servo 421 is set parallel to the axis of the output shaft of the thigh dual-axis servo 401. The foot-end dual-axis servo 421 drives the foot-end servo base 423 to rotate through the foot-end servo disk 422. The foot 426 is an arc-shaped plate structure.

[0066] Combination Figures 2 to 7 As shown, the two connecting side plates on each hip joint servo mount 201 are fixedly connected to the fuselage servo disk 104 of the corresponding fuselage dual-axis servo 103. The fuselage dual-axis servo 103 drives the hip joint servo mount 201 to rotate.

[0067] The center of each fixed steering plate 301 is mounted on the hip joint servo disk 203 of the corresponding hip joint single-axis servo motor 202, and the hip joint single-axis servo motor 202 drives the fixed steering plate 301 to rotate.

[0068] The two connecting side plates of each travel servo connector 302 are respectively fixedly connected to the thigh servo disk 402 of a corresponding thigh dual-axis servo 401 on the thigh 40. The thigh dual-axis servo 401 rotates on the travel servo connector 302.

[0069] Two thigh servo discs 402 of another thigh dual-axis servo motor 401 on the thigh 40 are respectively mounted on the two connecting side plates of the corresponding lower leg 41 leg servo base 411. The thigh dual-axis servo motor 401 drives the lower leg 41 to rotate.

[0070] The two connecting side plates of the lower leg servo base 411 at the other end of the lower leg 41 are fixedly connected to the foot end servo disk 422 of the corresponding foot end dual-axis servo 421, and the foot end dual-axis servo 421 rotates around the lower leg servo base 411.

[0071] The connection between the hip joint structure 2 and the double leg connection structure 3 is provided with a rotating pair of a hip joint single-axis servo motor 202 and a hip joint servo disk 203. During the movement, the rotating pair is fixed and does not rotate, so as to always ensure that the length direction of the fixed steering plate 301 of the double leg connection structure 3 is parallel to the length direction of the hip joint servo motor seat 201.

[0072] Combination Figure 8As shown, six deformable walking mechanisms are arranged radially on the fuselage 1. When three of the deformable walking mechanisms are in motion phase, the other three deformable walking mechanisms are in support phase. The six deformable walking mechanisms continuously exchange between motion phase and support phase to achieve triangular gait.

[0073] Figure 8 The six deformable walking mechanisms are numbered as follows: 1, 2, 3, 4, 5 and 6. When 1, 3 and 5 are the moving phases, 2, 4 and 6 are the supporting phases.

Claims

1. A deformable multi-legged robot for complex terrain, characterized in that: It includes a fuselage (1) and six morphing walking mechanisms; each morphing walking mechanism includes a hip joint structure (2), a double leg connection structure (3) and two walking motion structures (4); Six deformable walking mechanisms are evenly distributed on the body (1) along the circumference. The body (1) moves forward in a triangular gait by exchanging the motion phase and the support phase through the six deformable walking mechanisms. The connecting ends of the six hip joint structures (2) are evenly distributed on the body (1) along the circumference. The body (1) drives the six hip joint structures (2) to rotate around the body (1) along the axis. Each hip joint structure (2) is equipped with a double leg connection structure (3). The hip joint structure (2) drives the double leg connection structure (3) to rotate. Two walking motion structures (4) are installed on the double leg connection structure (3). Each walking motion structure (4) realizes an inward or outward extension movement.

2. The deformable multi-legged robot for complex terrain according to claim 1, characterized in that: The fuselage (1) includes an upper center plate (101), a lower center plate (102), and six fuselage dual-axis servos (103). Each fuselage dual-axis servo (103) has a fuselage servo disk (104) fixedly mounted on its output shaft. The fuselage upper center plate (101) and the fuselage lower center plate (102) are arranged opposite to each other. The six fuselage dual-axis servos (103) are evenly distributed radially between the fuselage upper center plate (101) and the fuselage lower center plate (102), and each fuselage dual-axis servo (103) is fixedly mounted on the fuselage upper center plate (101) and the fuselage lower center plate (102) by bolts.

3. The deformable multi-legged robot for complex terrain according to claim 1, characterized in that: The hip joint structure (2) includes a hip joint servo mount (201), a hip joint single-axis servo (202), a hip joint servo disc (203), and two servo pads (204). The hip joint single-axis servo (202) is fixedly mounted on the hip joint servo mount (201) by two servo pads (204) and bolts. The hip joint servo disk (203) is fixedly mounted on the output shaft of the hip joint single-axis servo (202). The two connecting side plates on the hip joint servo mount (201) are mounted on the fuselage (1).

4. The deformable multi-legged robot for complex terrain according to claim 1, characterized in that: The dual-leg connection structure (3) includes a fixed steering plate (301) and two travel servo connecting seats (302); Two travel servo connectors (302) are symmetrically installed at both ends of a fixed steering plate (301). The fixed steering plate (301) is installed on the output end of the hip joint structure (2). Each travel motion structure (4) is installed on a corresponding travel servo connector (302).

5. The deformable multi-legged robot for complex terrain according to claim 1, characterized in that: The walking movement structure (4) includes the thigh (40), the lower leg (41) and the foot (42). The thigh (40) is connected to the calf (41) and drives the calf (41) to rotate. The calf (41) is connected to the foot (42) and the foot (42) rotates around the calf (41).

6. The deformable multi-legged robot for complex terrain according to claim 5, characterized in that: The thigh (40) includes two thigh dual-axis servos (401) and two thigh servo mounts (403). The thigh servo base (403) has a 'U' - shaped structure. Each thigh double - axis servo (401) is fixedly installed on the thigh servo base (403) by bolts. A thigh steering wheel (402) is fixedly installed on the output shaft of each thigh double - axis servo (401). The two thigh servo bases (403) are arranged facing away from each other and are fixedly connected by bolts.

7. The deformable multi-legged robot for complex terrain according to claim 5, characterized in that: The calf (41) includes two calf servo bases (411); The calf servo base (411) has a 'U' - shaped structure. The two calf servo bases (411) are arranged facing away from each other and are fixedly connected by bolts.

8. The deformable multi-legged robot for complex terrain according to claim 5, characterized in that: The foot end (42) includes a foot - end double - axis servo (421), a foot - end servo base (423), a foot connecting bent plate (424), a foot - end connecting sleeve (425), and a foot (426); The foot - end servo base (423) has a 'U' - shaped structure. The foot - end double - axis servo (421) is fixedly installed on the foot - end servo base (423). A foot - end steering wheel (422) is fixedly installed on the output shaft of the foot - end double - axis servo (421). The foot - end servo base (423) is fixedly connected to one end of the foot connecting bent plate (424). The other end of the foot connecting bent plate (424) is fixedly connected to the foot (426) through the foot - end connecting sleeve (425).

9. A deformable multi-legged robot for complex terrain according to claim 2, 3, 4, 6, 7 or 8, characterized in that: The two connecting side plates on each hip - joint servo base (201) are respectively fixedly connected to the body steering wheel (104) of the corresponding body double - axis servo (103). The body double - axis servo (103) drives the hip - joint servo base (201) to rotate. The middle part of each fixed steering plate (301) is installed on the hip - joint steering wheel (203) of the corresponding hip - joint single - axis servo (202). The hip - joint single - axis servo (202) drives the fixed steering plate (301) to rotate. The two connecting side plates of each walking - servo connecting seat (302) are respectively fixedly connected to the thigh steering wheel (402) of a thigh double - axis servo (401) on the corresponding thigh (40). The thigh double - axis servo (401) rotates on the walking - servo connecting seat (302). The two thigh steering wheels (402) of the other thigh double - axis servo (401) on the thigh (40) are respectively installed on the two connecting side plates of the leg - servo base (411) at one end of the corresponding calf (41). The thigh double - axis servo (401) drives the calf (41) to rotate. The two connecting side plates of the calf servo base (411) at the other end of the calf (41) are respectively fixedly connected to the foot - end steering wheel (422) of the corresponding foot - end double - axis servo (421). The foot - end double - axis servo (421) rotates around the calf servo base (411).

10. The deformable multi-legged robot for complex terrain according to claim 1, characterized in that: Six deformable walking mechanisms are arranged radially on the body (1). When three of the alternately - arranged deformable walking mechanisms are in the motion phase, the other three deformable walking mechanisms are in the support phase. The six deformable walking mechanisms continuously alternate between the motion phase and the support phase to achieve forward movement in a triangular gait.

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