Multi-legged robot

Abstract

The utility model relates to the technical field of robots, and particularly discloses a multi-legged robot. The multi-legged robot comprises a robot body; the at least four supporting leg assemblies are arranged on the machine body; the posture detection device is used for detecting current posture information of the machine body; the controller is in communication connection with the supporting leg assembly and the posture detection device, and the controller is used for correspondingly adjusting the working state of the supporting leg assembly according to the received current posture information; the supporting leg assembly comprises a supporting leg main body, a driver and a base, the base is detachably connected to the machine body, the driver is arranged on the base, the supporting leg assembly is rotatably connected to the base through a positioning shaft, and the positioning shaft is in transmission connection with the driver; when the driver rotates, the supporting leg assembly can rotate with the positioning shaft as the rotation center, and the rotation range of the supporting leg assembly is at least 180 degrees. Therefore, the technical problems that in the prior art, a crawling robot is poor in stability in the crawling process, and light weight and good load capacity are difficult to achieve at the same time are solved.

Description

Technical Field

[0001] This utility model relates to the field of robotics, specifically to a multi-legged robot. Background Technology

[0002] Crawling robots have wide applications in various fields such as industrial manufacturing, logistics and warehousing, medical rehabilitation, military reconnaissance, and disaster relief. In the industrial manufacturing sector, intelligent welding crawling robots have shown promising application prospects due to their ability to perform high-precision welding tasks in complex and hazardous environments. However, existing crawling robots still face many technical challenges that urgently need to be addressed.

[0003] In complex outdoor terrain or unstructured environments, such as rugged mountain roads or rubble, crawling robots often face difficulties such as walking, falling, or getting trapped. Even though some quadruped robots claim to have strong terrain adaptability, they still struggle to maintain a stable walking posture and forward speed in extremely complex terrain. Furthermore, to ensure the flexibility and maneuverability of crawling robots, their structural design often prioritizes lightness, which limits their load-bearing capacity. When carrying heavy equipment or tools, their crawling ability and stability are affected. On the other hand, robots with higher load-bearing capacity, due to their bulky structure, are far less flexible and maneuverable in confined spaces or complex environments than small, lightweight robots, making it impossible to achieve rapid and agile movement and operation.

[0004] In conclusion, given the poor stability of crawling robots during crawling and the difficulty in simultaneously achieving lightweight design and good load-bearing capacity, further optimization and improvement of the robot structure are needed to solve the current technical problems. Utility Model Content

[0005] The purpose of this invention is to provide a multi-legged robot to solve the technical problem that existing crawling robots have poor stability during crawling and are difficult to achieve both lightweight and good load-bearing capacity at the same time.

[0006] This utility model is achieved through the following technical solution:

[0007] A multi-legged robot, comprising:

[0008] Organism;

[0009] At least four support leg assemblies are disposed on the body, and the support leg assemblies are used to drive the body to move on the base surface;

[0010] An attitude detection device, disposed on the machine body, is used to detect the current attitude information of the machine body; and,

[0011] A controller is communicatively connected to the outrigger assembly and the attitude detection device. The controller is used to adjust the working state of the outrigger assembly according to the received current attitude information.

[0012] The outrigger assembly includes an outrigger body, a driver, and a base. The base is detachably connected to the body, and the driver is disposed on the base. The outrigger assembly is rotatably connected to the base via a positioning shaft, which is drivenly connected to the driver. When the driver rotates, the outrigger assembly can rotate about the positioning shaft as the rotation center, wherein the rotation range of the outrigger assembly is at least 180°.

[0013] Alternatively, the outrigger body includes:

[0014] The positioning seat is fixedly connected to the positioning shaft;

[0015] Foot end rod, used to contact the base surface;

[0016] The first leg plate is connected to the positioning seat;

[0017] The second leg plate has one end rotatably connected to the first leg plate via a pin, and the other end is fixedly connected to the foot end rod;

[0018] A first linear drive element, one end of which is rotatably connected to the pin, and the other end of which is rotatably connected to the positioning seat; and,

[0019] The second linear drive has one end rotatably connected to the first leg plate and the other end rotatably connected to the second leg plate; both the first and second linear drives are communicatively connected to the controller.

[0020] Alternatively, both ends of the second linear drive member are connected to the first leg plate and the second leg plate respectively via mounting shafts.

[0021] Alternatively, the positioning seat has a mounting hole adapted to the positioning shaft, and the positioning seat is sleeved on the positioning shaft and fixedly connected to the positioning shaft.

[0022] Alternatively, the positioning shaft is provided with a through hole, and the positioning seat is provided with an insertion hole that corresponds to the through hole;

[0023] The multi-legged robot also includes a locking element inserted into the insertion hole and through hole to lock the positioning seat onto the positioning shaft.

[0024] Optionally, multiple through holes are provided and spaced apart along the axial direction of the positioning shaft; multiple insertion holes and locking members are provided corresponding to the through holes.

[0025] Alternatively, the connection point between the first linear drive and the positioning seat is located above the connection point between the first leg plate and the positioning seat.

[0026] Alternatively, the bottom of the foot end rod is provided with a foot pad, which is fixedly connected to the end of the foot end rod.

[0027] Alternatively, the second leg plate is provided with a connecting block, the foot end rod is fixedly connected to the connecting block, and the connecting block is detachably connected to the second leg plate by fasteners.

[0028] Alternatively, the multi-legged robot may also include an environment detection device and a position detection device that are communicatively connected to the controller;

[0029] The environmental detection device includes one or more of a camera, a thermal imager, a temperature sensor, and a humidity sensor.

[0030] The position detection device includes one or more of radar, infrared ranging sensors, and laser displacement sensors.

[0031] Compared with the prior art, this utility model has the following advantages and beneficial effects:

[0032] The above technical solution optimizes and improves the structure of the multi-legged robot. This robot mainly consists of a body and leg components, forming a modular, detachable structure. The base is connected to the body using bolts and other fasteners, shortening the assembly / disassembly time of individual leg components and facilitating mass assembly on production lines or on-site maintenance and replacement. Different specifications of leg components (such as long-legged, short-legged, and drive-wheeled types) can be interchanged through a unified base interface to meet the needs of various scenarios (e.g., high-strength metal legs for industrial scenarios and non-slip rubber legs for agricultural scenarios).

[0033] Because the leg components are independent modules, they can be pre-assembled simultaneously with the main body assembly. During assembly, the leg installation angle is adjusted based on the positioning axis, ensuring assembly efficiency and quality. If a leg component malfunctions (such as abnormal noise from the actuator), it can be directly disassembled and replaced without disassembling the entire machine structure, effectively shortening maintenance time. This multi-legged robot achieves a balance between mobility, environmental adaptability, and engineering practicality through a collaborative design of "large-angle rotating legs, real-time posture feedback, and modular assembly." Its core value lies not only in improving mobility in complex terrains but also in solving the pain points of complex assembly and difficult maintenance of traditional multi-legged robots through a detachable base and standardized interfaces, making it more suitable for industrial mass production and scenario-based applications (such as warehousing and logistics, disaster relief, and special operations). Attached Figure Description

[0034] To more clearly illustrate the technical solutions of the exemplary embodiments of this utility model, the drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of this utility model and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort. In the drawings:

[0035] Figure 1 A three-dimensional structural schematic diagram of the multi-legged robot provided by this utility model in one embodiment;

[0036] Figure 2 This is a three-dimensional structural diagram of a multi-legged robot provided by this utility model in one embodiment, wherein... Figure 2 and Figure 1 Different perspectives;

[0037] Figure 3 for Figure 2 A magnified structural diagram of part A in the middle;

[0038] Figure 4 This is an exploded structural diagram of another embodiment of the multi-legged robot provided by this utility model (with six leg assemblies), in which the other leg assemblies are hidden.

[0039] The attached diagram shows the markings and corresponding component names: 1-body, 11-clearance opening, 2-leg body, 21-positioning seat, 22-foot end rod, 23-first leg plate, 24-second leg plate, 25-first linear drive component, 26-second linear drive component, 27-foot pad, 28-connecting block, 29-mounting shaft, 3-driver, 4-base. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of this utility model are only used to explain this utility model and are not intended to limit this utility model.

[0041] According to a specific embodiment of this disclosure, a multi-legged robot is provided. Figures 1 to 4 Specific embodiments thereof are shown.

[0042] See Figures 1 to 4As shown, the multi-legged robot includes: a body 1; at least four leg assemblies mounted on the body 1, the leg assemblies being used to move the body 1 on a base surface; a posture detection device mounted on the body 1, used to detect the current posture information of the body 1; and a controller, communicatively connected to the leg assemblies and the posture detection device, the controller being used to adjust the working state of the leg assemblies accordingly based on the received current posture information; wherein, the leg assembly includes a leg body 2, a driver 3, and a base 4, the base 4 being detachably connected to the body 1, the driver 3 being mounted on the base 4, and the leg assembly being rotatably connected to the base 4 via a positioning shaft, the positioning shaft being drively connected to the driver 3; when the driver 3 rotates, the leg assembly can rotate around the positioning shaft as the rotation center, wherein the rotation range of the leg assembly is at least 180°.

[0043] Attitude detection devices (such as gyroscopes and accelerometers) collect attitude information such as tilt angle and angular velocity of the robot body 1 in real time and transmit it to the controller via a communication link. The controller, based on a preset control algorithm (existing technology such as PID control and adaptive control), calculates the required adjustment parameters (such as rotation angle and driving torque) for each leg component and drives the corresponding actuator 3 (such as a servo motor) to achieve closed-loop control of "detection-calculation-execution". Each leg component is connected to the base 4 via a positioning axis. The actuator 3 (such as a motor and reducer) drives the positioning axis to rotate, causing the leg body 2 to rotate around the positioning axis. With a rotation range ≥180°, the legs can swing forward and backward, sideways, and switch gait (such as the diagonal gait and triped gait of a quadruped robot), adapting to the movement needs of different terrains.

[0044] Four legs are evenly distributed under the body 1, and the attitude detection device indicates that the body 1 is level. The controller triggers a diagonal gait (e.g., the left front leg and right hind leg swing first, followed by the right front leg and left hind leg swinging later). The left front leg actuator 3 drives the positioning shaft to rotate 90° counterclockwise (swinging forward), while the right hind leg actuator 3 rotates 90° synchronously (swinging backward), causing both legs to lift and move forward / backward. After landing, the right front leg and left hind leg repeat the above actions, achieving alternating forward movement. When the body 1 is detected to be tilted to the side, the controller increases the supporting torque of the right leg while reducing the swing amplitude of the left leg until the attitude is restored to balance. During the crossing of the leg assembly, the controller adjusts the support angle of the rear legs to shift the center of gravity of the body 1 backward, preventing it from tilting forward and tipping over. After the front legs land, the rear legs repeat the obstacle-crossing action, while the controller fine-tunes the supporting force of each leg through attitude feedback to ensure the stability of the body 1.

[0045] Through the above technical solution, the structure of the multi-legged robot has been optimized and improved. The multi-legged robot mainly consists of a body 1 and leg components, forming a modular, detachable structure. The base 4 is connected to the body 1 via bolts or other fasteners, shortening the assembly / disassembly time of individual leg components and facilitating mass assembly on the production line or on-site maintenance and replacement. Different specifications of leg components (such as long-legged, short-legged, and drive-wheeled types) can be interchanged through a unified base 4 interface to meet the needs of various scenarios (e.g., high-strength metal legs for industrial scenarios and non-slip rubber legs for agricultural scenarios). The driver 3 (motor, reducer) can be connected to the positioning shaft via a coupling, reducing calibration steps during assembly and lowering maintenance costs. This allows the leg components to directly transmit driving force to the base 4 through the positioning shaft, reducing wear at joint connections and extending the service life of the multi-legged robot compared to traditional linkage transmission structures.

[0046] Because the leg components are independent modules, they can be pre-assembled simultaneously with the main body assembly. During assembly, the leg installation angle is adjusted based on the positioning axis, ensuring assembly efficiency and quality. If a leg component malfunctions (such as abnormal noise from driver 3), it can be directly disassembled and replaced without disassembling the entire machine structure, effectively shortening maintenance time. This multi-legged robot achieves a balance between mobility, environmental adaptability, and engineering practicality through the collaborative design of "large-angle rotating legs, real-time posture feedback, and modular assembly." Its core value lies not only in improving mobility in complex terrains but also in solving the pain points of complex assembly and difficult maintenance of traditional multi-legged robots through the detachable base 4 and standardized interfaces, making it more suitable for industrial mass production and scenario-based applications (such as warehousing and logistics, disaster relief, and special operations).

[0047] It should be noted that the directional terms used, such as "inner" and "outer," refer to "inner" and "outer" relative to the multi-legged robot. The direction facing the robot's axis is "inner," and vice versa. Furthermore, it should be noted that the terms used, such as "first" and "second," are used to distinguish one element from another and do not indicate sequence or importance. Moreover, in the following descriptions with accompanying drawings, the same reference numerals in different drawings represent the same elements.

[0048] Furthermore, the body 1 is provided with a clearance opening 11 that is adapted to the base 4. Both the body 1 and the base 4 are provided with multiple connection holes, and the base 4 is set in the clearance opening 11. Bolts are inserted into the connection holes of the base 4 and the body 1, thereby fastening the base 4 to the body 1, thus forming the outrigger assembly and the body into a complete structure and improving the overall assembly efficiency.

[0049] In one embodiment provided in this disclosure, the leg body 2 includes: a positioning seat 21 fixedly connected to a positioning shaft; a foot end rod 22 for contacting a base surface; a first leg plate 23 connected to the positioning seat 21; a second leg plate 24, one end of which is rotatably connected to the first leg plate 23 via a pin, and the other end of which is fixedly connected to the foot end rod 22; a first linear drive member 25, one end of which is rotatably connected to the pin, and the other end of which is rotatably connected to the positioning seat 21; and a second linear drive member 26, one end of which is rotatably connected to the first leg plate 23, and the other end of which is rotatably connected to the second leg plate 24; both the first linear drive member 25 and the second linear drive member 26 are communicatively connected to a controller.

[0050] The positioning seat 21 is fixed to the positioning shaft, which is driven to rotate by the driver 3, enabling the outrigger body 2 to swing significantly in the horizontal plane (such as forward and backward, left and right), for crossing ditches or adjusting the support span. The first leg plate 23 is fixedly connected to the positioning seat 21, and the second leg plate 24 is hinged to the first leg plate 23 by a pin, forming a knee-joint type rotating joint, allowing the foot-end rod 22 to swing up and down in the vertical plane. By controlling the pitch angle of the second leg plate 24, the foot-end rod 22 can be raised and lowered vertically (such as raising the foot to cross obstacles). Adjusting the angle between the two leg plates changes the overall length and ground contact angle of the outrigger, adapting to terrains such as slopes and steps.

[0051] When the controller detects that the body 1 is tilted (e.g., climbing a slope), it drives the first linear drive component 25 to extend, raising the foot end bar 22 of the rear outrigger to increase the support force; at the same time, the second linear drive component 26 shortens, causing the front outrigger to tilt forward and enhance the traction force. When encountering an obstacle, the controller first drives the outrigger to swing horizontally across the obstacle area via the positioning axis, and then adjusts the foot end bar 22 to rise and fall vertically via the first and second linear drive components 26 to avoid collisions (e.g., the "lift-cross-land" avoidance action).

[0052] Based on the setup of two linear drive components, a certain length can be maintained while the main body of the outrigger swings periodically around the positioning axis (similar to the gait of a quadruped), making it suitable for flat terrain. The first linear drive component 25 extends significantly, while the second linear drive component 26 shortens, causing the foot-end rod 22 to tilt forward, increasing the contact area with the slope and improving grip. The positioning axis drives the outrigger to swing laterally to expand the support surface, while the dual linear drive components work together to make the foot-end rod 22 "lift-translate-lower," bypassing protruding obstacles (such as rocks) or crossing ditches.

[0053] Specifically, both ends of the second linear drive member 26 are connected to the first leg plate 23 and the second leg plate 24 respectively via mounting shafts 29. The mounting shafts 29 serve as the connection hub between the second linear drive member 26 and the first leg plate 23 and the second leg plate 24, providing a low-friction, high-degree-of-freedom rotational fulcrum for the relative movement of the first leg plate 23 and the second leg plate 24.

[0054] Specifically, the second linear drive component 26 (such as a hydraulic cylinder, electric push rod, etc.) is hinged to the first leg plate 23 and the second leg plate 24 respectively via the mounting shaft 29, forming a linkage structure similar to a "knee joint". When the drive component extends or retracts, the mounting shaft 29 allows the two leg plates to rotate around its axis, realizing the bending or extending movements of the legs (similar to the flexion and extension of biological joints), so that the leg body 2 can adjust the contact position and angle of the foot end rod 22 with the ground through the "folding-unfolding" action, adapting to the terrain undulations (such as adjusting the leg posture when crossing obstacles or climbing slopes).

[0055] The rotational characteristics of the mounting shaft 29 allow the robot to absorb impact energy through the passive rotation of the leg plates when it touches the ground or collides (e.g., when the foot rod 22 touches a protrusion, the second leg plate 24 can temporarily rotate around the mounting shaft 29 to relieve the force), thus avoiding structural damage or posture imbalance caused by rigid connections. This improves the robot's impact resistance in unstructured terrain and reduces wear and tear on mechanical components.

[0056] By controlling the extension and retraction length of the second linear drive component 26, the angle between the first leg plate 23 and the second leg plate 24 (i.e., the "knee joint" angle) is changed, thereby adjusting the ground contact direction and support force distribution of the foot-end pole 22. For example, when encountering concave terrain, the drive component extends, increasing the angle between the two leg plates, allowing the foot-end pole 22 to penetrate deeper into the concave area for stable support; when climbing steps, the drive component shortens, reducing the angle between the two leg plates, allowing the foot-end pole 22 to rise upwards to cross obstacles. This enhances adaptability to complex terrain (such as potholes, steps, and slopes).

[0057] In the specific embodiments provided in this disclosure, the positioning seat 21 has a mounting hole adapted to the positioning shaft. The positioning seat 21 is sleeved on the positioning shaft and fixedly connected to it. The positioning hole on the positioning seat 21 is interference-fitted or keyed to the positioning shaft to ensure that the positioning seat 21 rotates synchronously with the positioning shaft and transmits the power of the driver 3. The hole diameter is precisely adapted to the positioning shaft, and the inner wall may be designed with keyways or anti-slip textures to prevent relative sliding between the positioning seat 21 and the shaft. The positioning seat 21 is fixed to the positioning shaft by bolts or welding, forming a rigid connection.

[0058] The fixed connection (such as a key connection) between the positioning base 21 and the positioning shaft allows the torque of the driver 3 to be transmitted to the leg body 2 without loss, driving the leg to perform lifting, swinging, and supporting actions. Through rigid transmission, high power transmission efficiency is maintained even with a lightweight structure, increasing the effective load. This reduces energy loss and extends the robot's endurance.

[0059] Furthermore, the positioning shaft is provided with through holes, and the positioning seat 21 is provided with insertion holes that correspond one-to-one with the through holes; the multi-legged robot also includes a locking member, which is inserted into the insertion holes and through holes to lock the positioning seat 21 onto the positioning shaft.

[0060] The positioning seat 21 is fitted onto the positioning shaft through the mounting hole, forming a shaft-hole mating structure. The two are fixedly connected by locking components (such as pins or bolts). Simultaneously, the mating of the mounting hole and the positioning shaft allows for rapid installation of the leg body 2 onto the body 1, reducing assembly errors and ensuring the initial position consistency of each leg body 2 (e.g., uniform angle and height of symmetrically distributed legs). This allows the rotational power of the actuator 3 to be directly and efficiently transmitted to the leg body 2, avoiding power interruption or reduced transmission efficiency due to loose connections. When the robot crawls, the legs may experience ground reaction forces (such as friction and impact). The rigid structure of the shaft-hole mating structure transmits these forces to the body 1 through the positioning shaft, preventing relative displacement between the leg body 2 and the body 1 and improving the overall structural strength.

[0061] In one embodiment provided in this disclosure, multiple through holes are provided and spaced apart along the axial direction of the positioning axis; multiple insertion holes and locking members are provided corresponding to the through holes. When the robot needs to cross obstacles of different heights (such as steps, ditches), the overall installation height of the leg body 2 can be raised or lowered by changing the position of the locking member inserted into the through hole, thereby changing the vertical distance between the foot end rod 22 and the body 1. This avoids the foot end being unable to reach the ground due to a fixed height (such as being suspended in the air) or being excessively pressed down (such as getting stuck), improving the robot's passability on unstructured terrain (such as undulating roads, slopes). By adjusting the installation position of the legs, the force distribution of each leg can be changed (such as installing the heavier leg in the middle through hole of the positioning axis to reduce the overload risk of the edge legs), preventing damage to a single leg due to excessive load.

[0062] In one embodiment provided in this disclosure, the connection point between the first linear drive member 25 and the positioning seat 21 is located above the connection point between the first leg plate 23 and the positioning seat 21.

[0063] The connection point (denoted as point A) between the first linear drive component 25 (such as a hydraulic cylinder, electric push rod, etc.) and the positioning seat 21 is located above the connection point (denoted as point B) between the first leg plate 23 and the positioning seat 21 (with the robot body 1 as the reference coordinate system, usually "above" refers to the direction closer to the center of mass of the body 1, and "below" refers to the direction closer to the foot end).

[0064] With positioning base 21 as the fulcrum, the vertical distance between points A and B forms a lever arm difference. When point A is higher than point B, the thrust direction of the driving component and the movement direction of the leg plate form a favorable torque relationship, equivalent to a force-saving lever (the driving lever arm is greater than the resistance arm), which can reduce the load pressure on the driving component, especially reducing energy consumption during leg lifting. When the foot touches the ground, the ground reaction force is transmitted to point B through the leg plate. At this time, the driving component at point A, due to its higher position, can absorb part of the impact through its own elastic deformation (such as the flexible connection of the electric push rod), avoiding the direct transmission of rigid impact to the body 1, and improving motion stability. Thus, this multi-legged robot achieves a balance between driving efficiency, motion stability, and maintenance convenience. This structure is particularly suitable for multi-legged robot scenarios that require frequent gait adjustments, cope with complex terrain, or are sensitive to energy efficiency, and is one of the key interface designs connecting mechanical structure design and motion control algorithms.

[0065] In this disclosure, a foot pad 27 is provided at the bottom of the foot end rod 22, and the foot pad 27 is fixedly connected to the end of the foot end rod 22. The foot pad 27 serves as the "contact interface" of the multi-legged robot, and through the physical properties of the flexible material, it achieves the functions of impact buffering, stable walking, and noise reduction. This can reduce the instantaneous load on the leg body 2 and reduce the wear of parts.

[0066] The foot pads 27 can be made of any suitable material such as silicone or rubber. For example, if silicone foot pads 27 are used, the high viscosity of silicone can provide stronger grip when climbing slopes and prevent the feet from slipping backward.

[0067] Furthermore, adding raised ridges, particles, or biomimetic suction cup structures (such as octopus tentacle suction cups) to the bottom surface of the foot pad 27 further enhances the adhesion to complex terrain.

[0068] In this disclosure, a connecting block 28 is provided on the second leg plate 24, and the foot end rod 22 is fixedly connected to the connecting block 28. The connecting block 28 is detachably connected to the second leg plate 24 by fasteners. The foot end rod 22 is connected to the second leg plate 24 through the connecting block 28, and the connecting block 28 and the leg plate are fixed by fasteners (such as bolts and screws) to form a detachable mechanical interface. When the foot pad 27 is worn or the foot end rod 22 is deformed by impact, only the fasteners of the connecting block 28 need to be removed to replace the foot end assembly separately, without disassembling the entire leg structure. When the connecting block 28 or the foot end rod 22 malfunctions (such as stripped threads or deformation), the module can be quickly located and replaced, preventing the fault from spreading to the leg drive components (such as the motor and reducer) and reducing the risk of damage to the entire machine.

[0069] In one embodiment provided in this disclosure, the multi-legged robot further includes an environmental detection device and a position detection device communicatively connected to the controller; wherein, the environmental detection device includes one or more of a camera, a thermal imager, a temperature sensor, and a humidity sensor; and the position detection device includes one or more of a radar, an infrared ranging sensor, and a laser displacement sensor.

[0070] The camera (visual sensor) has the function of acquiring environmental images, identifying obstacles, terrain textures, and target objects (such as survivors in rescue scenarios or parts in industrial scenarios). It uses visual algorithms (such as SIFT feature matching and deep learning object detection) to identify obstacles ahead and plan detour paths.

[0071] Thermal imagers can detect the distribution of heat radiation in the environment, identifying high-temperature sources (such as fire hazard points) or living beings (utilizing the infrared radiation characteristics of the human body). In dense smoke environments, thermal imaging can locate trapped individuals (its ability to penetrate smoke is superior to visible light). Temperature / humidity sensors can monitor environmental temperature and humidity parameters in real time, constructing an environmental condition model. The power output of the leg drive motors can be adjusted based on temperature (e.g., preheating the motor in low-temperature environments to prevent start-up delays).

[0072] In complex outdoor terrain (such as grasslands and gravel roads), lidar can penetrate gaps in vegetation, accurately identify ground undulations, and assist robots in adjusting their stride and foothold (such as high-low leg coordinated movement).

[0073] Infrared ranging sensors utilize the principle of infrared light reflection to measure the distance to nearby obstacles (effective range typically 0.1-10 meters). In scenarios such as pipes and caves, multiple sets of infrared sensors (e.g., in an array configuration) monitor the distance to the pipe wall in real time, controlling the robot to maintain its centered movement. As a supplement to LiDAR, they detect transparent obstacles (such as glass) in low-light environments, avoiding missed detections by visual sensors.

[0074] Laser displacement sensors achieve sub-millimeter accuracy distance measurement using laser triangulation or Time-of-Flight (ToF) principles. They can guide tools (such as mechanical grippers) on the foot-end rod 22 to precisely grasp minute parts (positioning accuracy ±0.1mm).

[0075] The environmental and position detection device, through the collaborative work of multi-dimensional sensors, constructs a complete intelligent link for multi-legged robots, encompassing "environmental perception, localization and mapping, and behavioral decision-making." It prevents robot collisions and damage or accidental entry into high-risk areas through real-time obstacle detection and hazardous environment identification; it enables autonomous navigation in complex environments without human intervention based on SLAM and path planning algorithms; and it dynamically adjusts its motion strategy according to environmental parameters such as temperature, humidity, and terrain, enhancing the robot's operational capabilities in diverse scenarios.

[0076] In this disclosure, the controller is configured as a central processing unit (CPU).

[0077] In other embodiments, the controller may also be configured as a PLC logic controller. In other embodiments, the controller may also be configured as a digital signal processor (DSP), an application-specific integrated circuit (ASIC), or a field-programmable gate array (FPGA).

[0078] In this disclosure, the controller is communicatively connected to various sensors via cables. In other embodiments, the controller may also be connected to the sensors via wireless communication modules such as Wi-Fi or ZigBee modules. Those skilled in the art can flexibly configure the controller based on the concept of this disclosure.

[0079] It should also be noted that in this disclosure, various sensors, detectors and controllers (with preset software operation methods) and other components are all prior art. Even if not disclosed in detail in this disclosure, those skilled in the art can obtain related technologies (products) based on the prior art.

[0080] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this utility model. It should be understood that the above description is only a specific embodiment of this utility model and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the scope of protection of this utility model.

Claims

1. A multi-legged robot, characterized in that, include: Organism; At least four support leg assemblies are disposed on the body, and the support leg assemblies are used to drive the body to move on the base surface; An attitude detection device is installed on the machine body to detect the current attitude information of the machine body; as well as, A controller is communicatively connected to the outrigger assembly and the attitude detection device. The controller is used to adjust the working state of the outrigger assembly according to the received current attitude information. The outrigger assembly includes an outrigger body, a driver, and a base. The base is detachably connected to the body, and the driver is disposed on the base. The outrigger assembly is rotatably connected to the base via a positioning shaft, which is drivenly connected to the driver. When the driver rotates, the outrigger assembly can rotate about the positioning shaft as the rotation center, wherein the rotation range of the outrigger assembly is at least 180°.

2. The multi-legged robot according to claim 1, characterized in that, The support leg body includes: The positioning seat is fixedly connected to the positioning shaft; Foot end rod, used to contact the base surface; The first leg plate is connected to the positioning seat; The second leg plate has one end rotatably connected to the first leg plate via a pin, and the other end is fixedly connected to the foot end rod; A first linear drive element, one end of which is rotatably connected to the pin, and the other end of which is rotatably connected to the positioning seat; and, The second linear drive has one end rotatably connected to the first leg plate and the other end rotatably connected to the second leg plate; both the first and second linear drives are communicatively connected to the controller.

3. The multi-legged robot according to claim 2, characterized in that, Both ends of the second linear drive are connected to the first leg plate and the second leg plate respectively via mounting shafts.

4. The multi-legged robot according to claim 2, characterized in that, The positioning seat has a mounting hole that matches the positioning shaft, and the positioning seat is sleeved on the positioning shaft and fixedly connected to the positioning shaft.

5. The multi-legged robot according to claim 4, characterized in that, The positioning shaft is provided with a through hole, and the positioning seat is provided with a corresponding insertion hole; The multi-legged robot also includes a locking element inserted into the insertion hole and through hole to lock the positioning seat onto the positioning shaft.

6. The multi-legged robot according to claim 5, characterized in that, Multiple through holes are provided and spaced apart along the axial direction of the positioning shaft; multiple insertion holes and locking elements are provided corresponding to the through holes.

7. The multi-legged robot according to claim 2, characterized in that, The connection point between the first linear drive and the positioning seat is located above the connection point between the first leg plate and the positioning seat.

8. The multi-legged robot according to claim 2, characterized in that, The bottom of the foot end rod is provided with a foot pad, which is fixedly connected to the end of the foot end rod.

9. The multi-legged robot according to claim 2, characterized in that, The second leg plate is provided with a connecting block, and the foot end rod is fixedly connected to the connecting block. The connecting block is detachably connected to the second leg plate by fasteners.

10. The multi-legged robot according to any one of claims 1 to 9, characterized in that, The multi-legged robot also includes an environmental detection device and a position detection device that are communicatively connected to the controller; The environmental detection device includes one or more of a camera, a thermal imager, a temperature sensor, and a humidity sensor. The position detection device includes one or more of radar, infrared ranging sensors, and laser displacement sensors.

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