Mechanical structure of hexapod bionic robot

Abstract

The utility model discloses a mechanical structure of a hexapod bionic robot, and relates to the technical field of robots, in particular to the mechanical structure of the hexapod bionic robot. The robot comprises a six-foot part, a robot body part, a steering mechanism and a walking mechanism, six groups of parts are assembled at the lower part of the machine body part; and the steering mechanism is fixedly arranged in the machine body part and is connected with the walking mechanism assembled in the machine body part and the six-foot part. The appearance structure is bionic, the mechanical structure controls the robot to walk and steer, non-stress parts of the appearance structure are made of light materials, the overall structure is of a circular structure, six legs are evenly arranged, and it is guaranteed that the three legs forming 120-degree angles with one another touch the ground during walking. According to the technical scheme, the problem that the body weight, the structural stability and the appearance bionic technology of a bionic robot in the prior art need to be improved is solved.

Description

Technical Field

[0001] This utility model relates to the mechanical structure of a six-legged bionic robot, and in particular to a mechanical structure of a six-legged bionic robot. Background Technology

[0002] Existing hexapod bionic robots typically have multiple degrees of freedom (2-4) per leg, enabling complex movement patterns such as crawling, obstacle crossing, and adapting to uneven terrain. Many hexapod robots employ modular structures for easy maintenance and functional expansion. For example, the mechanical legs can be replaced or upgraded independently to adapt to different task requirements. Equipped with various sensors (such as accelerometers, gyroscopes, force sensors, and cameras), they can perceive the environment in real time and adjust their gait to achieve autonomous obstacle avoidance and path planning. Hexapod robots can maintain stable walking even when one leg is damaged, thanks to their multi-legged support structure and intelligent gait control algorithms.

[0003] While biomimetic robotics has made significant progress, several technical, application, and ethical shortcomings and challenges remain. Although biomimetic robots can mimic the movement and behavior of living organisms, their mechanical structure results in significant weight, limitations in biomimetic shape, and the fact that their six legs are often evenly distributed on both sides of the body means that only two legs on one side and one leg on the other can touch the ground during walking, posing a potential stability risk. Therefore, improvements are needed in manufacturing costs, weight, structural stability, and biomimetic design techniques for hexapod biomimetic robots.

[0004] In view of the problems existing in the above-mentioned existing technologies, it is necessary to study and design a new type of hexapod bionic robot mechanical structure to overcome the problems existing in the existing technologies. Summary of the Invention

[0005] To address the technical issues raised by the existing technology regarding the need for improvement in the body weight, structural stability, and biomimetic shape of bionic robots, a six-legged bionic robot mechanical structure is provided.

[0006] The technical means adopted in this utility model are as follows:

[0007] A hexapod bionic robot mechanical structure includes: a hexapod part, a body part, a steering mechanism, and a walking mechanism;

[0008] Furthermore, the lower part of the fuselage is equipped with six sets of components;

[0009] Furthermore, the steering mechanism is fixedly installed inside the fuselage component and connected to the walking mechanism assembled in the fuselage and the six-legged part.

[0010] Furthermore, the six-legged section consists of six legs evenly distributed on the lower part of the fuselage;

[0011] Furthermore, each leg includes: foot structure, ankle joint, calf, and thigh;

[0012] Furthermore, a disc-shaped suction cup made of elastic material is installed at the lower end of the foot structure. It deforms under the action of gravity, and a negative pressure is formed inside the suction cup to adhere tightly to the ground, thereby increasing the anti-slip effect.

[0013] Furthermore, the top of the foot structure is connected to the bottom of the ankle joint by a spring, which acts as a cushion when the foot structure hits the ground;

[0014] Furthermore, the ankle joint and the lower leg are connected by threads;

[0015] Furthermore, the upper and lower ends of the knee joint of the lower leg are hinged to the upper and lower ends of the thigh; the hinge point between the lower end of the knee joint of the lower leg and the thigh is also hinged to the walking mechanism.

[0016] Furthermore, an arc-shaped elongated hole is machined at the hinge at the lower end of the thigh, which allows the lower leg to rotate inward and outward relative to the thigh along the upper hinge under the action of the walking mechanism, thereby realizing the lifting of the front leg and the movement of the foot.

[0017] Furthermore, the thigh is hinged to the walking mechanism in the middle position;

[0018] Furthermore, the thigh is hinged to the seat plate via a vertical pin, and under the action of the walking mechanism, it can swing 15 degrees to the left and right relative to the seat plate to achieve side-leg steps.

[0019] Furthermore, the fuselage includes: a base plate and a housing;

[0020] Furthermore, the main body of the seat is a cylindrical structure, which is hinged to six thighs along its circumference by a vertical pin;

[0021] Furthermore, the lower end of the housing is mounted to the base plate with a clearance fit and can rotate 360 ​​degrees along the base plate.

[0022] Furthermore, an internal gear ring is machined in the middle of the inner wall of the housing, which is connected to the steering mechanism and rotates 360 degrees under the action of the steering mechanism.

[0023] Furthermore, the steering mechanism includes: housing, gear IV, servo motor, gear V, support shaft III, gear VI, and support shaft IV;

[0024] Furthermore, gear IV is mounted on the output shaft of the servo motor;

[0025] Furthermore, the servo motor is fixedly installed inside the housing;

[0026] Furthermore, the support shaft III is supported by a bearing housing fixedly mounted inside the housing, on which gear V is mounted;

[0027] Furthermore, gear V is a double gear with more teeth at the lower end and fewer teeth at the upper end. Gear IV meshes with the lower teeth of gear V.

[0028] Furthermore, the support shaft IV is supported by a bearing housing fixedly mounted inside the housing, on which gear VI is mounted;

[0029] Furthermore, the upper teeth of gear VI and gear V mesh with each other, and at the same time mesh with the internal gear ring inside the housing, causing the housing to rotate 360 ​​degrees.

[0030] Furthermore, the walking mechanism includes: bearing housing, support shaft I, support shaft II, gear I, servo motor, gear II, gear III, pin shaft, crank mechanism, connecting rod, slider mechanism, leg I connecting rod, leg I connecting plate, leg I intermediate connecting block, leg I connecting shaft block, leg II connecting rod, leg II connecting plate, leg II intermediate connecting block and leg II connecting shaft block;

[0031] Furthermore, the bearing housing is fixed to the inside of the housing by bolts;

[0032] Furthermore, one end of the support shaft I is inserted into the bearing housing, and the other end is connected to the crank mechanism;

[0033] Furthermore, the support shaft II is horizontally positioned, with both ends supported by bearing seats fixedly installed inside the housing;

[0034] Furthermore, gear I and gear III are mounted on support shaft II via a flat key;

[0035] Furthermore, the servo motor is fixedly mounted inside the housing by bolts, and gear II is mounted on its output shaft;

[0036] Furthermore, gear II meshes with gear I;

[0037] Furthermore, gear III meshes with the crank mechanism;

[0038] Furthermore, the crank mechanism is a gear structure, with the gear hinged to the connecting rod through a hole on the hub. The power of the crank rotation is transmitted through gear III meshing with the gear on the circumference of the crank mechanism.

[0039] Furthermore, the crank mechanism is connected to the connecting rod via a pin;

[0040] Furthermore, the upper end of the slider mechanism is connected to the connecting rod;

[0041] Furthermore, the connecting blocks of leg I and leg II are fitted with the lower end of the slider mechanism through holes with clearance.

[0042] Furthermore, the connecting block of leg I is located at the lower end of the connecting block of leg II, and the two serve as guides.

[0043] Furthermore, one end of the leg I connecting rod is hinged to the knee joint of the lower leg, and the other end is hinged to the leg I connecting plate;

[0044] Furthermore, the left end of the middle connecting block of leg I is hinged to the connecting rod of leg I through the connecting plate of leg I; a square hole is machined at the center of the right end of the middle connecting block of leg I, and the connecting block of leg I is inserted into the hole. Both are machined with pin holes in the vertical direction, and the inserted pin ensures that the middle connecting block of leg I swings horizontally relative to the connecting block of leg I.

[0045] Furthermore, one end of the leg II connecting rod is hinged to the lower leg, and the other end is hinged to one end of the leg II connecting plate;

[0046] Furthermore, the other end of the leg II connecting plate is hinged to the middle connecting block of leg II, the middle position is hinged to the thigh, and the other end is hinged to the leg II connecting shaft block.

[0047] The traveling principle and traveling process of this utility model are as follows:

[0048] 1. Walking principle:

[0049] 1) The six-legged walking structure of this utility model is divided into legs according to the sequence of steps taken during walking. Ⅰ With legs Ⅱ ,leg Ⅰ There are 3 in total, legs Ⅱ There are 3 in total, legs Ⅰ When taking a step, the legs Ⅱ Landing, legs Ⅱ When taking a step, the legs Ⅰ Landing on the ground ensures stability during walking. Each leg has a different structure for achieving walking. Ⅰ The stepping motion uses a crank-slider mechanism, with the legs... Ⅱ The stepping mechanism employs a crank-slider mechanism and a four-bar linkage, with power generated by the slider.

[0050] 2) The servo motor drives the crank-slider mechanism through a set of gear meshing transmission, which converts the rotational motion into linear motion. The linear motion of the slider drives the two sets of mechanical leg walking mechanisms to make the lower leg 3 rotate, thereby realizing leg lifting and stepping.

[0051] 3) The fuselage is equipped with an internal gear, which is driven by a servo motor to mesh with the transmission mechanism and achieve fuselage steering;

[0052] 4) The foot structure is equipped with suction cups and springs to enhance friction with the ground and provide cushioning, enabling it to walk on slopes.

[0053] II. Traveling process:

[0054] 1) The lower leg, the connecting rod of leg I, the intermediate connecting block of leg I, and the connecting shaft block of leg I constitute a crank-slider mechanism;

[0055] 2) The lower leg, the connecting rod of leg II, and half of the connecting plate of leg II constitute a four-bar linkage; the connecting block of leg II, the intermediate connecting block of leg II, and the other half of the connecting plate of leg II constitute a crank-slider mechanism.

[0056] 3) During movement, the servo motor starts, driving gear II to rotate. Gear II, through gear meshing, drives gear I to rotate. Gear I, through a key connection, drives support shaft II to rotate. Gear III is installed on the right end of support shaft II. Support shaft II, through a key, drives gear III to rotate. Gear III, through gear meshing, drives the crank mechanism to rotate. The rotational motion of the connecting rod drives the connecting piece to move linearly. The connecting piece drives the connecting blocks of leg I and leg II to move upward. At this time, the crank-slider mechanism inside leg I allows all three legs of leg I to touch the ground, providing support. Simultaneously, leg II, through an internal crank-slider mechanism and a four-bar linkage, lifts all three legs of leg II, achieving a step. When the crank mechanism completes the first half of its rotation, leg II lifts its leg and steps forward. When the crank mechanism completes the second half of its rotation, leg I lifts its leg and steps forward. When turning is required, the servo motor starts rotating, driving the gears inside the housing to rotate through gear IV, the servo motor, gear V, support shaft III, gear VI, and support shaft IV, thereby achieving turning.

[0057] Compared with the prior art, the present invention has the following advantages:

[0058] 1. The mechanical structure of the six-legged bionic robot provided by this utility model uses a disc-shaped suction cup made of elastic material installed on the foot structure. Under the action of gravity, the suction cup deforms and forms a negative pressure inside, which adheres tightly to the ground, thereby increasing the anti-slip effect.

[0059] 2. The six-legged bionic robot mechanical structure provided by this utility model has suction cups and springs in the leg structure to enhance friction and cushioning with the ground, enabling it to walk on inclined surfaces;

[0060] 3. The hexapod bionic robot mechanical structure provided by this utility model has a spring connection between the foot structure and the ankle joint, which plays a buffering role when the foot structure touches the ground;

[0061] 4. The mechanical structure of the six-legged bionic robot provided by this utility model adopts a circular structure with six legs evenly arranged. The six-legged walking structure is divided into legs I and legs II according to the walking and stepping sequence. There are three legs I and three legs II, all arranged in a triangle. When leg I steps, leg II touches the ground, and when leg II steps, leg I touches the ground, ensuring that the three legs at a 120-degree angle to each other touch the ground during walking, which improves the stability during walking.

[0062] 5. The robot's external structure is biomimetic, and its mechanical structure controls its walking and turning. The non-load-bearing parts of the external structure are made of lightweight materials, which reduces the robot's weight.

[0063] In summary, the technical solution of this utility model solves the problems in the existing bionic robots regarding the need for improvement in weight, stability, and bionic shape technology. Attached Figure Description

[0064] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0065] Figure 1 This is a schematic diagram of the structure of this utility model;

[0066] Figure 2 This is a schematic diagram of the internal structure of the walking mechanism of this utility model;

[0067] Figure 3 This is a top view of the external structure of this utility model.

[0068] In the diagram: 1. Foot structure; 2. Ankle joint; 3. Lower leg; 4. Thigh; 5. Seat plate; 6. Bearing seat; 7. Support shaft I; 8. Support shaft II; 9. Gear I; 10. Servo motor; 11. Gear II; 12. Housing; 13. Gear III; 14. Gear IV; 15. Servo motor; 16. Gear V; 17. Support shaft III; 18. Gear VI; 19. Support shaft IV; 20. Pin; 21. Crank mechanism; 22. Connecting rod; 23. Slider mechanism; 101. Leg I connecting rod; 102. Leg I connecting plate; 103. Leg I intermediate connecting block; 104. Leg I connecting shaft block; 201. Leg II connecting rod; 202. Leg II connecting plate; 203. Leg II intermediate connecting block; 204. Leg II connecting shaft block. Detailed Implementation

[0069] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other. The present utility model will now be described in detail with reference to the accompanying drawings and embodiments.

[0070] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this utility model or its application or use. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0071] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to the present invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0072] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0073] In the description of this utility model, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this utility model and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this utility model. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0074] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0075] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this utility model.

[0076] like Figure 1 As shown, this utility model provides a six-legged bionic robot mechanical structure including: a six-legged part, a body part, a steering mechanism, and a walking mechanism; the lower part of the body part is equipped with six sets of parts; the steering mechanism is fixedly installed inside the body part and connected to the walking mechanism assembled in the body part and the six-legged part.

[0077] like Figure 1 , 3 As shown, the six-legged section consists of six legs evenly distributed on the lower part of the fuselage. Each leg includes: a foot structure 1, an ankle joint 2, a lower leg 4, and a thigh 4. The lower end of the foot structure 1 is equipped with a disc-shaped suction cup made of elastic material. This suction cup deforms under gravity, creating negative pressure inside to adhere to the ground, increasing slip resistance. The top of the foot structure 1 is connected to the bottom of the ankle joint 2 by a spring, providing cushioning when the foot structure 1 touches the ground. The ankle joint 2 is connected to the lower leg 3 by a threaded connection. The knee joint of the lower leg 3... The upper and lower ends of the calf 3 are hinged to the upper and lower ends of the thigh 4; the lower end of the calf 3 at the knee joint is also hinged to the thigh 4 at the hinge point, which is also hinged to the walking mechanism; the lower end of the thigh 4 has an arc-shaped long hole, which allows the calf 3 to rotate inward and outward relative to the thigh 4 along the upper hinge point under the action of the walking mechanism, realizing the lifting of the front leg and the movement of the leg; the thigh 4 is hinged to the walking mechanism in the middle position; the thigh 4 is hinged to the seat plate 5 through a vertical pin, and can swing 15 degrees to the left and right relative to the seat plate 5 under the action of the walking mechanism, realizing the side leg stepping.

[0078] like Figure 1As shown, the body includes: a base plate 5 and a housing 12; the main body of the base plate 5 is a cylindrical structure, which is hinged to six legs 4 by vertical pins along its circumference; the lower end of the housing 12 is installed together with the base plate 5 by clearance fit, and can rotate 360 ​​degrees along the base plate 5.

[0079] like Figure 1 As shown, an internal gear ring is machined in the middle of the inner wall of the housing 12. The internal gear ring is connected to the steering mechanism and rotates 360 degrees under the action of the steering mechanism.

[0080] like Figure 1 As shown, the steering mechanism includes: housing 12, gear IV 14, servo motor 15, gear V 16, support shaft III 17, gear VI 18, and support shaft IV 19; gear IV 14 is mounted on the output shaft of servo motor 15; servo motor 15 is fixedly installed inside housing 12; support shaft III 17 is supported by a bearing seat fixedly installed inside housing 12, and gear V 16 is mounted on it; gear V 16 is a double gear with more teeth at the lower end and fewer teeth at the upper end, and gear IV 14 meshes with the lower teeth of gear V 16; support shaft IV 19 is supported by a bearing seat fixedly installed inside housing 12, and gear VI 18 is mounted on it; gear VI 18 meshes with the upper teeth of gear V 16, and also meshes with the internal gear ring inside housing 12, driving housing 12 to rotate 360 ​​degrees.

[0081] like Figure 1-3As shown, the walking mechanism includes: bearing housing 6, support shaft I 7, support shaft II 8, gear I 9, servo motor 10, gear II 11, gear III 13, pin 20, crank mechanism 21, connecting rod 22, slider mechanism 23, leg I connecting rod 101, leg I connecting plate 102, leg I intermediate connecting block 103, leg I connecting shaft block 104, leg II connecting rod 201, leg II connecting plate 202, leg II intermediate connecting block 203, and leg II connecting shaft block 204; bearing housing 6 is fixed to the inside of housing 12 by bolts; one end of support shaft I 7 is inserted into bearing housing 6. The other end is connected to the crank mechanism 21; the support shaft II 8 is horizontally arranged, and both ends are supported by bearing seats 6 fixedly installed in the housing 12; gear I 9 and gear III 13 are installed on the support shaft II 8 by a flat key; the servo motor 10 is fixedly installed inside the housing 12 by bolts, and gear II 11 is installed on its output shaft; gear II 11 meshes with gear I 9; gear III 13 meshes with the crank mechanism 21; the crank mechanism 21 is a gear structure, and the gear is hinged to the connecting rod 22 through a hole on the gear hub, and the power of the crank rotation is transmitted through gear III. 13 is connected to the crank mechanism 21 by a gear meshing on the circumference; the crank mechanism is connected to the connecting rod 22 via pin 20; the upper end of the slider mechanism 23 is connected to the connecting rod 22; the leg I connecting block 104 and the leg II connecting block 204 are fitted with the lower end of the slider mechanism 23 through holes; the leg I connecting block 104 is located at the lower end of the leg II connecting block 204, and both serve as guides; one end of the leg I connecting rod 101 is hinged to the knee joint of the lower leg 3, and the other end is hinged to the leg I connecting plate 102; the left end of the leg I middle connecting block 103 is connected to the leg I connecting plate 102 via the leg I connecting plate 102. Leg I connecting rod 101 is hinged together; a square hole is machined at the center of the right end of the middle connecting block 103 of leg I, and the connecting shaft block 104 of leg I is inserted into the hole. Both have pin holes machined in the vertical direction. The inserted pin ensures that the middle connecting block 103 of leg I swings horizontally relative to the connecting shaft block 104 of leg I; one end of the connecting rod 201 of leg II is hinged to the lower leg 3, and the other end is hinged to one end of the connecting plate 202 of leg II; the other end of the connecting plate 202 of leg II is hinged to the middle connecting block 203 of leg II, the middle position is hinged to the upper thigh 4, and the other end is hinged to the connecting shaft block 204 of leg II.

[0082] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A mechanical structure for a hexapod bionic robot, characterized in that: The mechanical structure of the hexapod bionic robot includes: a hexapod section, a body section, a steering mechanism, and a walking mechanism; The lower part of the fuselage is equipped with a six-legged section; The steering mechanism is fixedly installed inside the fuselage component and connected to the walking mechanism assembled in the fuselage and the six-legged part; The six-legged section consists of six legs evenly distributed on the lower part of the fuselage. Each leg described includes: foot structure (1), ankle joint (2), lower leg (3) and thigh (4); The foot structure (1) has a suction cup made of an elastic material in a disc shape at the lower end. It deforms under the action of gravity, and a negative pressure is formed inside the suction cup to stick to the ground, thereby increasing the anti-slip effect. The top of the foot structure (1) is connected to the bottom of the ankle joint (2) by a spring, which serves as a buffer when the foot structure (1) touches the ground. The ankle joint (2) and the lower leg (3) are connected by threads; The lower and upper ends of the knee joint of the lower leg (3) are hinged to the upper and lower ends of the thigh (4); the hinge point between the lower end of the knee joint of the lower leg (3) and the thigh (4) is also hinged to the walking mechanism. The lower end of the thigh (4) is machined with an arc-shaped long hole, which allows the lower leg (3) to rotate inward and outward relative to the thigh (4) along the upper end hinge under the action of the walking mechanism, so as to realize the lifting of the front leg and the movement of the foot. The thigh (4) is hinged to the walking mechanism at the middle position; The thigh (4) is hinged to the seat plate (5) by a vertical pin. Under the action of the walking mechanism, it can swing 15 degrees to the left and right relative to the seat plate (5) to realize side leg stepping.

2. The hexapod bionic robot mechanical structure according to claim 1, characterized in that: The fuselage includes: a base plate (5) and a housing (12); The main body of the seat (5) is a cylindrical structure, which is hinged to the six thighs (4) by a vertical pin along its circumference; The lower end of the housing (12) is installed together with the base plate (5) by clearance fit and can rotate 360 ​​degrees along the base plate (5).

3. The hexapod bionic robot mechanical structure according to claim 2, characterized in that: The inner wall of the housing (12) is machined with an internal gear ring in the middle position. The internal gear ring is connected to the steering mechanism and rotates 360 degrees under the action of the steering mechanism.

4. The hexapod bionic robot mechanical structure according to claim 1, characterized in that: The steering mechanism includes: housing (12), gear IV (14), servo motor (15), gear V (16), support shaft III (17), gear VI (18) and support shaft IV (19). The gear IV (14) is mounted on the output shaft of the servo motor (15); The servo motor (15) is fixedly installed inside the housing (12); The support shaft Ⅲ (17) is supported by a bearing seat fixedly installed in the housing (12), and a gear Ⅴ (16) is installed on it. The gear V (16) is a double gear with more teeth at the lower end and fewer teeth at the upper end. Gear IV (14) meshes with the lower teeth of gear V (16). The support shaft Ⅳ (19) is supported by a bearing seat fixedly installed in the housing (12), and a gear Ⅵ (18) is installed on it. The upper teeth of gear VI (18) mesh with those of gear V (16) and simultaneously mesh with the internal gear ring inside the housing (12), causing the housing (12) to rotate 360 ​​degrees.

5. The hexapod bionic robot mechanical structure according to claim 1, characterized in that: The walking mechanism includes: bearing seat (6), support shaft I (7), support shaft II (8), gear I (9), servo motor (10), gear II (11), gear III (13), pin shaft (20), crank mechanism (21), connecting rod (22), slider mechanism (23), leg I connecting rod (101), leg I connecting plate (102), leg I intermediate connecting block (103), leg I connecting shaft block (104), leg II connecting rod (201), leg II connecting plate (202), leg II intermediate connecting block (203), and leg II connecting shaft block (204); The bearing housing (6) is fixed to the inside of the housing (12) by bolts; One end of the support shaft I (7) is inserted into the bearing housing (6), and the other end is connected to the crank mechanism (21); The support shaft II (8) is horizontally arranged, and both ends are supported by bearing seats (6) fixedly installed in the housing (12); The support shaft II (8) is mounted with gear I (9) and gear III (13) by means of a flat key; The servo motor (10) is fixedly installed inside the housing (12) by bolts, and a gear II (11) is installed on its output shaft. The gear II (11) meshes with gear I (9); The gear III (13) meshes with the crank mechanism (21); The crank mechanism (21) is a gear structure. The gear is hinged to the connecting rod (22) through the hole on the hub. The power of the crank rotation is transmitted through the meshing of gear III (13) with the gear on the circumference of the crank mechanism (21). The crank mechanism is connected to the connecting rod (22) via a pin (20); The upper end of the slider mechanism (23) is connected to the connecting rod (22); The leg I connecting block (104) and leg II connecting block (204) are fitted with the lower end of the slider mechanism (23) through holes; The leg I connecting block (104) is located at the lower end of the leg II connecting block (204), and the two serve as guides. One end of the leg I connecting rod (101) is hinged to the knee joint of the lower leg (3), and the other end is hinged to the leg I connecting plate (102); The left end of the intermediate connecting block (103) of leg I is hinged to the connecting rod (101) of leg I through the connecting plate (102) of leg I; a square hole is machined at the center of the right end of the intermediate connecting block (103) of leg I, and the connecting shaft block (104) of leg I is inserted into the hole. Both are machined with pin holes in the vertical direction. The inserted pin ensures that the intermediate connecting block (103) of leg I swings horizontally relative to the connecting shaft block (104) of leg I. One end of the leg II connecting rod (201) is hinged to the lower leg (3), and the other end is hinged to one end of the leg II connecting plate (202); The other end of the leg II connecting plate (202) is hinged to the leg II middle connecting block (203), the middle position is hinged to the thigh (4), and the other end is hinged to the leg II connecting shaft block (204).

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