Hexapod robot

Abstract

The utility model discloses a hexapod robot, which relates to the technical field of robots, and comprises a rack base, a robot swing leg mechanism and a robot thigh mechanism, the four corners of the top of the rack base are fixedly connected with the four corners of the bottom of a rack top cover through four supporting rods respectively, and the robot swing leg mechanism comprises a rack mounting frame. The left side and the right side of the rack base are each fixedly connected with three rack mounting frames, each rack mounting frame is fixedly connected with a bent frame, the side, away from the center of the rack base, of each bent frame is fixedly connected with a leg swinging motor through a motor base, and an output shaft at the top of each leg swinging motor is fixedly connected with a rotating disc. The rotating disc is fixedly connected with the top of the U-shaped frame, and the bottom of the U-shaped frame is rotationally connected with the bottom end of the leg swinging motor; the robot thigh mechanism is installed on the U-shaped frame. The hexapod robot can move longitudinally and transversely and is high in adaptability to different grounds.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a six-legged robot. Background Art

[0002] Since working in complex terrains or dangerous working environments poses great hazards to constructors, robots are generally used to replace manual work at present. However, the complexity of the environment and tasks requires robots to have good adaptability and flexible movement ability. Generally, multi-legged robots with stronger adaptability are used in the prior art. As one of the multi-legged robots, six-legged robots are more favored for their flexible degrees of freedom. For the existing six-legged robots, the feet in contact with the ground wear out relatively quickly, and the foot structure is single, so the adaptability to different ground conditions is poor. Content of the Utility Model

[0003] The technical problem to be solved by the utility model is to overcome the existing defects and provide a six-legged robot that can move longitudinally and laterally, has flexible movement, protects the foot disc with an anti-wear ring, the anti-wear ring with relatively fast wear is convenient to replace, and a telescopic control component can be used to control the telescopic disc and the anti-slip protrusions to extend downward to contact the ground, can adapt to relatively slippery ground, and has strong adaptability to different ground conditions, and can effectively solve the problems in the background art.

[0004] To achieve the above purpose, the utility model provides the following technical solution: A six-legged robot, including a frame base, the four corners of the top of the frame base are respectively fixedly connected to the four corners of the bottom of a frame top cover through four support rods, and further includes:

[0005] A robot leg swinging mechanism, including a frame mounting frame, a bent frame, a motor seat, a leg swinging motor, a turntable and a U-shaped frame. Three frame mounting frames are respectively fixedly connected to the left side and the right side of the frame base. A bent frame is respectively fixedly connected to each frame mounting frame. A leg swinging motor is respectively fixedly connected to one side of each bent frame away from the center of the frame base through a motor seat. The output shaft at the top of the leg swinging motor is fixedly connected to a turntable. The turntable is fixedly connected to the top of the U-shaped frame. The bottom of the U-shaped frame is rotatably connected to the bottom end of the leg swinging motor;

[0006] A robot thigh mechanism is installed on the U-shaped frame, and a robot calf mechanism is installed on the robot thigh mechanism. A robot foot is installed at the bottom of the robot calf mechanism.

[0007] The frame base, support rods, and frame top cover are used to form the body of the robot. Accessories of the robot are arranged between the frame base and the frame top cover. The frame mounting frame is connected to the bent frame by bolts, and the bent frame is connected to the motor base by bolts, so it is convenient to install or replace the swing leg motor. When the swing leg motor works, it can drive the turntable and the U-shaped frame to rotate, thereby driving the robot's thigh mechanism to swing back and forth in the horizontal direction, enabling the six-legged robot to move forward and backward. There are six robot thigh mechanisms and six robot calf mechanisms respectively. Therefore, they can cooperate with each other to lift and lower the thighs and calves, and cooperate with the robot thigh mechanism to enable the six-legged robot to move forward and backward coordinately. The robot feet are used to contact the ground.

[0008] Further, the robot thigh mechanism includes a thigh movable seat, a thigh movable shaft, a thigh, and a thigh power component. A thigh movable seat is integrally formed and connected to the top of one side of the U-shaped frame away from the swing leg motor. One end of the thigh is movably connected to the thigh movable seat through the thigh movable shaft. The U-shaped frame is connected to the thigh through the thigh power component. The thigh can pitch relative to the thigh movable seat through the thigh movable shaft, and the thigh power component serves as the power component for the thigh's pitching movement.

[0009] Further, the thigh power component includes a hydraulic cylinder movable seat, a movable shaft one, a thigh hydraulic cylinder, and a movable shaft two. A hydraulic cylinder movable seat is fixedly connected to the bottom of one side of the U-shaped frame away from the swing leg motor. One end of the thigh hydraulic cylinder is movably connected to the hydraulic cylinder movable seat through the movable shaft one. The other end of the thigh hydraulic cylinder is movably connected to the lower side of the middle part of the thigh through the movable shaft two. When the thigh hydraulic cylinder extends, it can push the end of the thigh upward, thereby lifting the thigh, the robot calf mechanism, and the robot feet. When the thigh hydraulic cylinder contracts, the end of the thigh moves downward and the robot feet land on the ground.

[0010] Further, the robot calf mechanism includes a calf movable shaft, a calf, a calf bottom column, and a calf power component. The end of the thigh away from the swing leg motor is movably connected to the top of the calf through the calf movable shaft. The bottom end of the calf is fixedly connected to the top end of the calf bottom column. The calf is connected to the thigh through the calf power component. The calf power component can push the calf to tilt left and right relative to the calf movable shaft, thereby controlling the landing position of the robot feet, facilitating the six-legged robot to adapt to complex ground conditions, enabling the robot feet to avoid stones or potholes. At the same time, when the calf and the calf bottom column are tilted, the height of the robot's body can also be changed, enabling the six-legged robot to adapt to different height spaces.

[0011] Further, the calf power assembly includes a movable shaft three, a calf hydraulic cylinder, a calf top seat, and a movable shaft four. One end of the calf hydraulic cylinder is movably connected to the upper side of the middle part of the thigh through the movable shaft three. The top of the calf is integrally formed with a calf top seat, and the calf top seat is movably connected to the other end of the calf hydraulic cylinder through the movable shaft four. During normal use, the calf hydraulic cylinder maintains an appropriate length to keep the calf and the bottom column of the calf in a vertical state. When the calf hydraulic cylinder extends, the bottom end of the bottom column of the calf and the robot foot approach the base of the frame. When the calf hydraulic cylinder shortens, the bottom end of the bottom column of the calf and the robot foot move away from the base of the frame. Whether the calf hydraulic cylinder extends or shortens, it will lower the body of the hexapod robot. However, whether the calf hydraulic cylinder extends or shortens will change the landing position of the robot foot.

[0012] When the hexapod robot needs to walk to the right, the thigh power assembly raises the right thigh, and the calf power assembly moves the bottom of the calf and the bottom column of the calf to the right, causing the robot foot to land to the right. The coordinated cooperation of the six robot thigh mechanisms and the six robot calf mechanisms enables the body of the robot to move horizontally like a crab.

[0013] Further, the robot foot includes a conical platform and a foot disc. The bottom end of the bottom column of the calf is threadedly connected to the threaded hole at the top of the conical platform, and the bottom of the conical platform is fixedly connected to the foot disc. The conical platform is used for detachable connection with the bottom column of the calf, and the foot disc is used as the foot part in contact with the ground.

[0014] Further, the robot foot further includes an anti-wear ring, and the anti-wear ring is detachably installed on the bottom edge of the foot disc. The anti-wear ring is in direct contact with the ground and is used to protect the foot disc. It can be directly replaced when worn.

[0015] Further, the robot foot further includes a clamping post. The bottom edge of the foot disc is annularly provided with no less than three card slots, and the top of the anti-wear ring is provided with a clamping post that cooperates with the card slots for clamping. The cooperation of the clamping post and the card slots can quickly disassemble and assemble the anti-wear ring, which is conducive to replacing anti-wear rings of different sizes.

[0016] Further, the robot foot further includes a circular groove, a telescopic control assembly, a telescopic disc, and anti-slip protrusions. A circular groove is opened at the center of the bottom of the foot disc. The telescopic disc is vertically slidably connected to the inner bottom of the circular groove. The top of the telescopic disc is connected to the telescopic control assembly, and the bottom of the telescopic disc is evenly provided with anti-slip protrusions. The telescopic control assembly is used to control the telescopic disc to move up and down along the circular groove. When the anti-slip protrusions at the bottom of the telescopic disc extend from the bottom of the circular groove, the anti-slip protrusions will contact the ground instead of the anti-wear ring. The anti-slip performance of the anti-slip protrusions is good, which is suitable for relatively slippery ground and is conducive to the stable walking of the hexapod robot on the wet and slippery ground.

[0017] Further, the telescopic control component includes a foot motor, a lead screw, an arch frame, and a lead screw nut. The foot motor is installed at the top inside the circular groove, and the output shaft at the bottom of the foot motor is fixedly connected to the top end of the lead screw. The top of the telescopic disc is installed with a lead screw nut through the arch frame, and the lead screw nut is in mating connection with the lead screw. When the foot motor works to drive the lead screw to rotate clockwise, the threaded action between the lead screw and the lead screw nut drives the telescopic disc to slide downward along the circular groove. When the foot motor works to drive the lead screw to rotate counterclockwise, the telescopic disc moves upward along the circular groove.

[0018] Compared with the prior art, the beneficial effects of this hexapod robot are as follows:

[0019] 1. When the leg swing motor works, it can drive the turntable and the U-shaped frame to rotate, thereby driving the robot's thigh mechanism to swing back and forth in the horizontal direction, enabling the hexapod robot to move forward and backward.

[0020] 2. When the hexapod robot needs to walk to the right, the thigh power component raises the right thigh, and the calf power component moves the bottom of the calf and the calf bottom column to the right, causing the robot's foot to land on the right. The coordinated cooperation of the six robot thigh mechanisms and the six robot calf mechanisms enables the robot's body to move horizontally like a crab.

[0021] 3. The anti-wear ring is used to protect the foot disc. The anti-wear ring that wears out quickly is convenient to replace. Moreover, the telescopic control component can control the telescopic disc and the anti-slip protrusions to extend downward to contact the ground, which can adapt to relatively slippery ground and has strong adaptability to different ground conditions. Description of the Drawings

[0022] Figure 1 is a schematic structural diagram of the present utility model;

[0023] Figure 2 is the present utility model Figure 1 a partially enlarged schematic structural diagram;

[0024] Figure 3 is a schematic cross-sectional structure diagram of the robot foot of the present utility model;

[0025] In the figure: 1 is the frame base, 2 is the support rod, 3 is the frame top cover, 4 is the universal wheel, 5 is the robot leg swinging mechanism, 51 is the frame mounting frame, 52 is the bent frame, 53 is the motor base, 54 is the leg swinging motor, 55 is the turntable, 56 is the U-shaped frame, 6 is the robot thigh mechanism, 61 is the thigh movable seat, 62 is the thigh movable shaft, 63 is the thigh, 64 is the hydraulic cylinder movable seat, 65 is the movable shaft one, 66 is the thigh hydraulic cylinder, 67 is the movable shaft two, 7 is the robot calf mechanism, 71 is the calf movable shaft, 72 is the calf, 73 is the movable shaft three, 74 is the calf hydraulic cylinder, 75 is the calf top seat, 76 is the movable shaft four, 77 is the calf bottom column, 8 is the robot foot, 81 is the conical platform, 82 is the foot disk, 83 is the clamping column, 84 is the anti-wear ring, 85 is the circular groove, 86 is the foot motor, 87 is the lead screw, 88 is the arched frame, 89 is the lead screw nut, 810 is the telescopic disk, 811 is the anti-slip protrusion. Detailed implementation manners

[0026] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0027] Embodiment 1, please refer to Figures 1 to 3 , the present invention provides a technical solution: a six-legged robot, including a frame base 1, the four corners of the top of the frame base 1 are respectively fixedly connected to the four corners of the bottom of the frame top cover 3 through four support rods 2, and further includes a robot leg swinging mechanism 5 and a robot thigh mechanism 6;

[0028] The robot leg swinging mechanism 5 includes a frame mounting frame 51, a bent frame 52, a motor base 53, a leg swinging motor 54, a turntable 55 and a U-shaped frame 56. Three frame mounting frames 51 are fixedly connected to each of the left and right sides of the frame base 1. A bent frame 52 is fixedly connected to each frame mounting frame 51. A leg swinging motor 54 is fixedly connected to the side of each bent frame 52 away from the center of the frame base 1 through a motor base 53. The output shaft at the top of the leg swinging motor 54 is fixedly connected to the turntable 55. The turntable 55 is fixedly connected to the top of the U-shaped frame 56. The bottom of the U-shaped frame 56 is rotatably connected to the bottom end of the leg swinging motor 54;

[0029] The robot thigh mechanism 6 is installed on the U-shaped frame 56, and a robot calf mechanism 7 is installed on the robot thigh mechanism 6. The bottom of the robot calf mechanism 7 is installed with a robot foot 8.

[0030] The robot thigh mechanism 6 includes a thigh movable seat 61, a thigh movable shaft 62, a thigh 63 and a thigh power component. On the top of one side of the U-shaped frame 56 away from the swing leg motor 54, a thigh movable seat 61 is integrally formed and connected. The thigh movable seat 61 is movably connected to one end of the thigh 63 through the thigh movable shaft 62. The U-shaped frame 56 is connected to the thigh 63 through the thigh power component. The thigh 63 can pitch relative to the thigh movable seat 61 through the thigh movable shaft 62, and the thigh power component serves as the power component for the pitching movement of the thigh 63.

[0031] The thigh power component includes a hydraulic cylinder movable seat 64, a first movable shaft 65, a thigh hydraulic cylinder 66 and a second movable shaft 67. On the bottom of one side of the U-shaped frame 56 away from the swing leg motor 54, a hydraulic cylinder movable seat 64 is fixedly connected. The hydraulic cylinder movable seat 64 is movably connected to one end of the thigh hydraulic cylinder 66 through the first movable shaft 65. The other end of the thigh hydraulic cylinder 66 is movably connected to the lower side of the middle part of the thigh 63 through the second movable shaft 67. When the thigh hydraulic cylinder 66 extends, it can push the end of the thigh 63 upward, thereby lifting the thigh 63, the robot calf mechanism 7 and the robot foot 8. When the thigh hydraulic cylinder 66 shortens, the end of the thigh 63 moves downward and the robot foot 8 lands on the ground.

[0032] The robot calf mechanism 7 includes a calf movable shaft 71, a calf 72, a calf bottom column 77 and a calf power component. One end of the thigh 63 away from the swing leg motor 54 is movably connected to the top end of the calf 72 through the calf movable shaft 71. The bottom end of the calf 72 is fixedly connected to the top end of the calf bottom column 77. The calf 72 is connected to the thigh 63 through the calf power component. The calf power component can push the calf 72 to tilt left and right relative to the calf movable shaft 71, thereby being able to control the landing position of the robot foot 8, which is beneficial for the hexapod robot to adapt to complex ground conditions, enabling the robot foot 8 to avoid stones or potholes. At the same time, when the calf 72 and the calf bottom column 77 are tilted, the height of the robot body can also be changed, allowing the hexapod robot to adapt to different height spaces.

[0033] The calf power component includes a third movable shaft 73, a calf hydraulic cylinder 74, a calf top seat 75 and a fourth movable shaft 76. The upper side of the middle part of the thigh 63 is movably connected to one end of the calf hydraulic cylinder 74 through the third movable shaft 73. A calf top seat 75 is integrally formed and connected to the top of the calf 72. The calf top seat 75 is movably connected to the other end of the calf hydraulic cylinder 74 through the fourth movable shaft 76. During normal use, the calf hydraulic cylinder 74 maintains an appropriate length to keep the calf 72 and the calf bottom column 77 in a vertical state. When the calf hydraulic cylinder 74 extends, the bottom end of the calf bottom column 77 and the robot foot 8 approach the frame base 1. When the calf hydraulic cylinder 74 shortens, the bottom end of the calf bottom column 77 and the robot foot 8 move away from the frame base 1. Whether the calf hydraulic cylinder 74 extends or shortens, the body height of the hexapod robot will be reduced, but the extension or shortening of the calf hydraulic cylinder 74 will change the landing position of the robot foot 8.

[0034] When the hexapod robot needs to walk to the right, the thigh power assembly raises the right thigh 63, and the calf power assembly moves the bottoms of the calf 72 and the calf bottom column 77 to the right, causing the robot foot 8 to land on the right. The six robot thigh mechanisms 6 and the six robot calf mechanisms 7 cooperate to enable the robot's body to move horizontally like a crab.

[0035] The robot foot 8 includes a conical platform 81 and a foot disk 82. The bottom end of the calf bottom column 77 is threadedly connected to the threaded hole at the top of the conical platform 81, and the bottom of the conical platform 81 is fixedly connected to the foot disk 82. The conical platform 81 is used for detachable connection with the calf bottom column 77, and the foot disk 82 serves as the foot part in contact with the ground.

[0036] The frame base 1, the support rod 2, and the frame top cover 3 are used to form the robot's body. Accessories of the robot are arranged between the frame base 1 and the frame top cover 3. The frame mounting frame 51 is connected to the bent frame 52 by bolts, and the bent frame 52 is connected to the motor base 53 by bolts. Therefore, it is convenient to install or replace the swing leg motor 54. When the swing leg motor 54 works, it can drive the turntable 55 and the U-shaped frame 56 to rotate, thereby driving the robot thigh mechanism 6 to swing back and forth in the horizontal direction, enabling the hexapod robot to move forward and backward. There are six robot thigh mechanisms 6 and six robot calf mechanisms 7 respectively. Therefore, they can cooperate with each other to realize the lifting and lowering of the thighs and calves. Cooperating with the robot thigh mechanism 6, the hexapod robot can move forward and backward coordinately, similar to an insect. The robot foot 8 is used to contact the ground.

[0037] Embodiment 2. Please refer to Figures 1 to 3 , the present invention provides a technical solution: a hexapod robot. This embodiment is substantially the same as Embodiment 1, except for the robot foot 8;

[0038] The robot foot 8 further includes an anti-wear ring 84. The bottom edge of the foot disk 82 is detachably installed with the anti-wear ring 84. The anti-wear ring 84 is in direct contact with the ground and is used to protect the foot disk 82. When the anti-wear ring 84 is worn, it can be directly replaced.

[0039] The robot foot 8 further includes a clamping post 83. The bottom edge of the foot disk 82 is annularly arrayed with no less than three clamping grooves, and the top of the anti-wear ring 84 is provided with a clamping post 83 that cooperates with the clamping grooves for clamping. The cooperation of the clamping post 83 and the clamping grooves can quickly disassemble and assemble the anti-wear ring 84, which is beneficial to replacing anti-wear rings 84 of different sizes.

[0040] Embodiment 3. Please refer to Figures 1 to 3 , the present invention provides a technical solution: a hexapod robot. This embodiment is substantially the same as Embodiment 2, except for the robot foot 8;

[0041] The robot foot 8 further includes a circular groove 85, a telescopic control component, a telescopic disc 810 and anti-slip protrusions 811. A circular groove 85 is provided at the center of the bottom of the foot disc 82. A telescopic disc 810 is vertically slidably connected to the inner bottom of the circular groove 85. The top of the telescopic disc 810 is connected to the telescopic control component, and anti-slip protrusions 811 are uniformly arranged at the bottom of the telescopic disc 810.

[0042] Two vertical sliding rails are respectively arranged on the left and right sides inside the circular groove 85. Two sliders are respectively arranged on both sides of the telescopic disc 810, and the two sliders are respectively vertically slidably connected to the corresponding sliding rails.

[0043] The telescopic control component is used to control the telescopic disc 810 to move up and down along the circular groove 85. When the anti-slip protrusions 811 at the bottom of the telescopic disc 810 extend out from the bottom of the circular groove 85, the anti-slip protrusions 811 will contact the ground instead of the wear-resistant ring 84. The anti-slip performance of the anti-slip protrusions 811 is good, which is suitable for relatively slippery ground and is conducive to the stable walking of the hexapod robot on the wet and slippery ground.

[0044] The telescopic control component includes a foot motor 86, a lead screw 87, an arched frame 88 and a lead screw nut 89. A foot motor 86 is installed at the top inside the circular groove 85. The output shaft at the bottom of the foot motor 86 is fixedly connected to the top end of a vertical lead screw 87. The top of the telescopic disc 810 is installed with a lead screw nut 89 through an arched frame 88, and the lead screw nut 89 is in mating connection with the lead screw 87. When the foot motor 86 works to drive the lead screw 87 to rotate clockwise, the threaded action between the lead screw 87 and the lead screw nut 89 drives the telescopic disc 810 to slide down along the circular groove 85. When the foot motor 86 works to drive the lead screw 87 to rotate counterclockwise, the telescopic disc 810 moves up along the circular groove 85.

[0045] In other embodiments, please refer to Figure 1 , four universal wheels 4 are respectively installed at the four corners of the bottom of the frame base 1. Wheel brakes are installed on the universal wheels 4. When maintenance and repair of the hexapod robot are required, the robot thigh mechanism 6 and the robot calf mechanism 7 are both lifted, and the universal wheels 4 replace the robot feet 8 to contact the ground, facilitating the movement of the hexapod robot by means of the universal wheels 4.

[0046] It should be noted that in the above embodiments, the input end of the swing leg motor 54 is electrically connected to the output end of the power supply through a controller. The controller and the power supply are both installed on the frame base 1. The swing leg motor 54 is a servo motor. The thigh hydraulic cylinder 66 and the calf hydraulic cylinder 74 are also controlled by the controller to work. Solenoid valves are respectively installed on the thigh hydraulic cylinder 66 and the calf hydraulic cylinder 74, and the hydraulic pumps, hydraulic tanks and hydraulic oil circuits matching the thigh hydraulic cylinder 66 and the calf hydraulic cylinder 74 are all installed on the frame base 1. The controller controls the swing leg motor 54, the thigh hydraulic cylinder 66 and the calf hydraulic cylinder 74 to work by using the methods commonly used in the prior art.

[0047] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0048] Although embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A hexapod robot, comprising a frame base (1), and four corners at the top of the frame base (1) are respectively fixedly connected to four corners at the bottom of a frame top cover (3) through four support rods (2), characterized in that, It further includes: A robot leg swinging mechanism (5), which includes a frame mounting frame (51), a bent frame (52), a motor base (53), a leg swinging motor (54), a turntable (55) and a U-shaped frame (56). Three frame mounting frames (51) are fixedly connected to the left and right sides of the frame base (1) respectively. A bent frame (52) is fixedly connected to each frame mounting frame (51). A leg swinging motor (54) is fixedly connected to the side of each bent frame (52) far from the center of the frame base (1) through a motor base (53). The output shaft at the top of the leg swinging motor (54) is fixedly connected to a turntable (55). The turntable (55) is fixedly connected to the top of the U-shaped frame (56). The bottom of the U-shaped frame (56) is rotatably connected to the bottom end of the leg swinging motor (54). A robot thigh mechanism (6) is installed on the U-shaped frame (56), and a robot calf mechanism (7) is installed on the robot thigh mechanism (6). A robot foot (8) is installed at the bottom of the robot calf mechanism (7).

2. The hexapod robot according to claim 1, wherein: The robot thigh mechanism (6) includes a thigh movable seat (61), a thigh movable shaft (62), a thigh (63) and a thigh power assembly. A thigh movable seat (61) is integrally formed and connected to the top of the side of the U-shaped frame (56) far from the leg swinging motor (54). The thigh movable seat (61) is movably connected to one end of the thigh (63) through a thigh movable shaft (62). The U-shaped frame (56) is connected to the thigh (63) through a thigh power assembly.

3. A six-legged robot according to claim 2, characterized in that: The thigh power assembly includes a hydraulic cylinder movable seat (64), a movable shaft one (65), a thigh hydraulic cylinder (66) and a movable shaft two (67). A hydraulic cylinder movable seat (64) is fixedly connected to the bottom of the side of the U-shaped frame (56) far from the leg swinging motor (54). The hydraulic cylinder movable seat (64) is movably connected to one end of the thigh hydraulic cylinder (66) through a movable shaft one (65). The other end of the thigh hydraulic cylinder (66) is movably connected to the lower side of the middle part of the thigh (63) through a movable shaft two (67).

4. The hexapod robot according to claim 3, characterized in that: The robot calf mechanism (7) includes a calf movable shaft (71), a calf (72), a calf bottom column (77) and a calf power assembly. One end of the thigh (63) far from the leg swinging motor (54) is movably connected to the top end of the calf (72) through a calf movable shaft (71). The bottom end of the calf (72) is fixedly connected to the top end of the calf bottom column (77). The calf (72) is connected to the thigh (63) through a calf power assembly.

5. A six-legged robot according to claim 4, characterized in that: The calf power assembly includes a movable shaft three (73), a calf hydraulic cylinder (74), a calf top seat (75) and a movable shaft four (76). One end of the calf hydraulic cylinder (74) is movably connected to the upper side of the middle part of the thigh (63) through a movable shaft three (73). A calf top seat (75) is integrally formed and connected to the top of the calf (72). The calf top seat (75) is movably connected to the other end of the calf hydraulic cylinder (74) through a movable shaft four (76).

6. A hexapod robot according to claim 4, wherein: The robot foot (8) includes a frustum (81) and a foot disc (82). The bottom end of the calf bottom column (77) is threadedly connected to the threaded hole at the top of the frustum (81), and the bottom of the frustum (81) is fixedly connected to the foot disc (82).

7. A hexapod robot according to claim 6, characterized in that: The robot foot (8) further includes an anti-wear ring (84), and the anti-wear ring (84) is detachably installed at the bottom edge of the foot disc (82).

8. A six-legged robot according to claim 7, characterized in that: The robot foot (8) further includes a clamping post (83). The bottom edge of the foot disc (82) is annularly arrayed with no less than three clamping grooves, and the top of the anti-wear ring (84) is provided with a clamping post (83) that is fitted and clamped with the clamping grooves.

9. A six-legged robot according to claim 6, characterized in that: The robot foot (8) further includes a circular groove (85), a telescopic control component, a telescopic disc (810), and anti-slip protrusions (811). The center of the bottom of the foot disc (82) is provided with a circular groove (85). A telescopic disc (810) is vertically slidably connected to the inner bottom of the circular groove (85). The top of the telescopic disc (810) is connected to the telescopic control component, and the bottom of the telescopic disc (810) is evenly provided with anti-slip protrusions (811).

10. A six-legged robot according to claim 9, characterized in that: The telescopic control component includes a foot motor (86), a lead screw (87), an arch frame (88), and a lead screw nut (89). The foot motor (86) is installed at the inner top of the circular groove (85). The output shaft at the bottom of the foot motor (86) is fixedly connected to the top end of the lead screw (87). The top of the telescopic disc (810) is provided with a lead screw nut (89) through the arch frame (88), and the lead screw nut (89) is cooperatively connected with the lead screw (87).

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