Biomimetic multi-legged robot

Abstract

The utility model relates to a kind of bionic multi-legged robot, including electric rotary table, the surface of the electric rotary table is equipped with the control cabin for installing battery and electronic components, the bottom side wall of the electric rotary table is linked with several first drive motor, the rotating shaft end of each the first drive motor is connected with leg adjusting mechanism, the end of the leg adjusting mechanism is connected with support leg mechanism, the bottom of the support leg mechanism is connected with the angle of fine adjustment gripper mechanism;The support leg mechanism in the utility model can realize four angles adjustment simultaneously, so that the robot adjusts leg angle to cross above or bypass side when facing obstacle, improve the traffic ability in complex environment.

Description

Technical Field

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

[0002] Mobile robots are an important branch of robotics technology, mainly classified into three types: tracked, wheeled, and legged. Tracked and wheeled robots have advantages such as structural stability and high movement speed, but they require a high degree of ground flatness and are difficult to adapt to uneven, muddy, or soft unstructured terrain. In complex environments such as field exploration and disaster relief, a robot that combines motion stability, high mobility, and terrain adaptability is needed, making legged robots a research hotspot.

[0003] However, the development of legged robots, especially multi-legged robots, has long been constrained by several key technological bottlenecks. First, balancing load-bearing capacity and mobility is considered a significant challenge. Traditional designs often employ open-chain leg structures composed of multiple servo mechanisms to achieve complex foot movements, but this often results in insufficient system rigidity, making it difficult to support heavy loads. While some research has attempted to introduce electromechanical-hydraulic servo drives or closed-chain mechanisms to improve load capacity, compromises are frequently made regarding mobility and environmental adaptability. Second, there are significant shortcomings in adaptability to extreme terrains. For example, when facing complex surfaces such as vertical walls, most robots have limited leg freedom adjustment ranges and lack effective end-effector adhesion or gripping mechanisms, severely limiting their application scenarios.

[0004] The amphibious bionic robot disclosed in patent CN110281718B is a specific manifestation of the aforementioned technological limitations. Its legs are driven by three rotating servo motors, which achieve basic movement functions but have limited load-bearing capacity; its degree of freedom configuration also makes it difficult to achieve fine adjustment and large swing of the leg posture, and it is not equipped with an end effector for climbing, thus making it unable to perform tasks such as heavy-load transportation and vertical climbing. Summary of the Invention

[0005] This invention addresses the problems existing in the design of the aforementioned hexapod robots by proposing a biomimetic multi-legged robot. The system utilizes the control of a first drive motor, along with the effective coordination and adjustment between a second drive motor, a first hydraulic cylinder, a second hydraulic cylinder, and a third hydraulic cylinder. Simultaneously, the second drive motor rotates the support leg mechanism relative to its support axis to adjust its angle; the first hydraulic cylinder tilts the support leg mechanism relative to the axis of the first drive motor; the first drive motor's shaft rotates the entire leg adjustment mechanism and support leg mechanism to adjust their angles; and the second and third hydraulic cylinders adjust the angles of the fifth and fourth leg support plates. All four angle adjustments can be performed simultaneously.

[0006] The objective of this invention is achieved through the following technical solution: a biomimetic multi-legged robot, comprising an electric turntable, wherein the surface of the electric turntable is provided with a control compartment for mounting a battery and electronic components, a plurality of first drive motors are connected to the bottom sidewall of the electric turntable, a leg adjustment mechanism is connected to the end of the shaft of each first drive motor, a support leg mechanism is connected to the end of the leg adjustment mechanism, and a gripper mechanism capable of fine-tuning the angle is connected to the bottom of the support leg mechanism.

[0007] Preferably, the support leg mechanism includes a first leg assembly, a second leg assembly, and a third leg assembly. One end of the second leg assembly is angularly connected to one end of the first leg assembly, and the other end of the second leg assembly is angularly connected to one end of the third leg assembly. The angle between the first leg assembly, the second leg assembly, and the third leg assembly is adjusted by a hydraulic cylinder.

[0008] Preferably, the leg adjustment mechanism includes an adjustment support base, a hydraulic pump, a first hydraulic cylinder, an adjustment collar, and a leg support shaft. The side wall of the adjustment support base is connected to a fixed clamp at the end of the first drive motor. A hydraulic pump is provided on one side surface of the adjustment support base, and a plurality of rotating shaft support blocks are provided on the other side surface of the adjustment support base. A first hydraulic cylinder is hinged to the inside of each rotating shaft support block. An adjustment collar is hinged to the piston rod end of the first hydraulic cylinder. The leg support shaft is locked to the inside of the adjustment collar. The leg support shaft is connected to the top of the first leg assembly. The leg support shaft and the top of the first leg assembly are rotatable. When the piston rod ends of the plurality of first hydraulic cylinders cooperate to extend and retract, they can drive the angle of the adjustment collar to change.

[0009] Preferably, the first leg assembly includes a first leg support plate, a second leg support plate, a third leg support plate, and a second hydraulic cylinder. The second leg support plate and the third leg support plate extend outward from the side of the first leg support plate. The first leg support plate is rotatably connected to the surface of the leg support shaft. A plurality of second hydraulic cylinders are hinged to the surface of the second leg support plate. The piston rod end of each second hydraulic cylinder is hinged to the top of the third leg assembly. The third leg support plate is hinged to the bottom of the second leg assembly.

[0010] Preferably, a second drive motor is also provided on the side of the first leg support plate. The shaft of the second drive motor passes through the surface of the first leg support plate and is fixedly connected to the inside of the leg support shaft. There is a gap between the shaft of the second drive motor and the inside of the first leg support plate. The driving force generated between the shaft of the second drive motor and the inside of the leg support shaft during the rotation of the shaft can drive the first leg support plate to rotate.

[0011] Preferably, the second leg assembly includes a fourth leg support plate and a third hydraulic cylinder. The bottom of the second leg support plate is hinged to the interior of the third leg support plate, and the top of the second leg support plate is hinged to the surface of the third leg assembly. A plurality of third hydraulic cylinders are hinged to the middle of the second leg support plate, and the piston rod end of each third hydraulic cylinder is hinged to the middle of the third leg assembly.

[0012] Preferably, the third leg assembly includes a fifth leg support plate, a hinged support block, and an air pump. The fifth leg support plate has a hinged support block on its top, and the angle between the centerline of the hinged support block and the centerline of the fifth leg support plate is greater than 90 degrees. The piston rod end of the second hydraulic cylinder is hinged to the inside of the hinged support block. The bottom side of the fifth leg support plate has an air pump, and the air pump port is connected to the inside of the gripper mechanism.

[0013] Preferably, the gripper mechanism includes a gripper support, a fourth hydraulic cylinder, a gripper mounting base, a first gripper, and a second gripper. A plurality of fourth hydraulic cylinders are hinged to the bottom surface of the gripper support. Each fourth hydraulic cylinder has its end hinged to a gripper mounting base. The gripper mounting base contains a plurality of first and second grippers that can rotatably extend. The rotation of the first and second grippers is limited by a torsion spring inside the gripper mounting base. The length of the first gripper is greater than the length of the second gripper. When the piston rods of the plurality of fourth hydraulic cylinders extend and retract in coordination, they can drive the angle of the gripper mounting base to change.

[0014] Preferably, the bottom surface of the first gripper is provided with a silicone ring, and the inside of the first gripper is provided with an air extraction channel. The air hole at the top of the air extraction channel is connected to the air extraction port of the air pump through a pipe.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. Significantly improves the flexibility and adjustment range of leg movements. The support leg mechanism, which supports the entire robot, can still tilt along its axis while the first drive motor is rotating. During the rotation of the first drive motor shaft, the piston rod ends of each first hydraulic cylinder cooperate to extend and retract, driving the angle of the adjusting collar to change. The adjusting collar drives the entire support leg mechanism to tilt and adjust its angle through the leg support shaft, thus allowing for a wider angle adjustment range.

[0017] 2. Significantly enhanced load-bearing capacity and overall stability of the leg structure. When the piston rods of the second and third hydraulic cylinders are both in the active state, if the piston rod of the second hydraulic cylinder shortens, then the piston rod of the third hydraulic cylinder needs to extend, and vice versa. Under the premise of achieving angle adjustment, the fourth and fifth leg support plates have better load-bearing capacity than the first and second leg support plates. Better leg support means that each leg can more effectively distribute the robot's weight, thereby improving the overall load capacity. When carrying heavy objects or carrying more equipment, the robot can walk more stably and will not become unstable due to insufficient leg support.

[0018] 3. The robot's adaptability to extreme terrain has been expanded, particularly its vertical climbing capability. Efficient, cooperative motion control with multiple degrees of freedom has been achieved. Through the integration and coordinated control of the first drive motor, the second drive motor, and multiple sets of hydraulic cylinders, the decoupling and compounding of motion in four dimensions of the support leg mechanism has been successfully realized: rotation around the drive axis, axial tilting, rotation around the leg support axis, and end joint bending. These adjustments can be performed synchronously, enabling the robot to adjust the spatial posture of each leg smoothly and in real time, greatly enhancing its real-time obstacle avoidance and adaptive passage capabilities in complex unstructured environments.

[0019] 4. The robot's adaptability to extreme terrain has been expanded, especially its vertical climbing capability. Combined with the adjustable angle range of the support leg mechanism, the piston rods of several fourth hydraulic cylinders can drive changes in the angle of the gripper mounting base when they extend and retract in coordination. This allows for better utilization of the second gripper's support during flat ground movement, while better utilization of the first gripper's suction effect during wall climbing. Attached Figure Description

[0020] Figure 1 This is a perspective view of the present utility model;

[0021] Figure 2 This is a perspective view of the present invention after the control cabin has been installed;

[0022] Figure 3 This is a perspective view of the present utility model;

[0023] Figure 4 For the present utility model in Figure 3 A magnified view of a portion of region A in the image;

[0024] Figure 5 This is a perspective view of the support leg mechanism of this utility model;

[0025] Figure 6 This is a cross-sectional view of the leg adjustment mechanism of this utility model;

[0026] Figure 7 This is a perspective view of the gripper mechanism of this utility model.

[0027] In the diagram, the markings are: 1. Electric turntable; 2. Control cabin; 3. First drive motor; 31. Fixed clamp; 4. Leg adjustment mechanism; 41. Adjustment support seat; 42. Hydraulic oil pump; 43. Rotary shaft support block; 44. First hydraulic cylinder; 45. Adjustment collar; 46. Leg support shaft; 5. Support leg mechanism; 51. First leg assembly; 52. Second leg assembly; 53. Third leg assembly; 511. First leg support plate; 512. Second leg support plate. 513. Support plate; 514. Third leg support plate; 515. Second hydraulic cylinder; 521. Second drive motor; 522. Fourth leg support plate; 523. Third hydraulic cylinder; 534. Fifth leg support plate; 535. Hinge support block; 536. Air pump; 6. Gripper mechanism; 61. Gripper support seat; 62. Fourth hydraulic cylinder; 63. Gripper mounting seat; 64. First gripper; 65. Second gripper; 646. Silicone ring; 647. Air extraction channel. Detailed Implementation

[0028] The present invention will be further described below with reference to the embodiments shown in the accompanying drawings:

[0029] like Figures 1 to 7 As shown, a biomimetic multi-legged robot includes an electric turntable 1, the surface of which is provided with a control compartment 2 for mounting batteries and electronic components. The electric turntable 1 uses a lightweight direct-drive turntable, with the motor directly connected to the turntable, eliminating the need for intermediate transmission components such as gears and belts. However, it requires precision ball bearings internally to reduce friction, ensure smooth rotation, and prevent the turntable from tilting or shifting.

[0030] In this embodiment, six first drive motors 3 are connected to the bottom sidewall of the electric turntable 1. Each first drive motor 3 has a leg adjustment mechanism 4 connected to its shaft end, and a support leg mechanism 5 is connected to the end of each leg adjustment mechanism 4. The support leg mechanism 5 provides support for the entire biomimetic robot.

[0031] The leg adjustment mechanism 4 includes an adjustment support base 41, a hydraulic oil pump 42, a first hydraulic oil cylinder 44, an adjustment collar 45, and a leg support shaft 46. The side wall of the adjustment support base 41 is connected to the fixed clamp 31 at the end of the first drive motor 3. The hydraulic oil pump 42 is provided on one side surface of the adjustment support base 41, and a plurality of rotating shaft support blocks 43 are provided on the other side surface of the adjustment support base 41. The first hydraulic oil cylinder 44 is hinged to the inside of each rotating shaft support block 43. The piston rod end of the first hydraulic oil cylinder 44 is hinged to the adjustment collar 45. The leg support shaft 46 is locked to the inside of the adjustment collar 45. The leg support shaft 46 is connected to the top of the first leg assembly 51 and can rotate between the leg support shaft 46 and the top of the first leg assembly 51.

[0032] During the rotation of the shaft of the first drive motor 3, the entire leg adjustment mechanism 4 and the support leg mechanism 5 can be driven to rotate and adjust the angle. During the angle adjustment process, the support leg mechanism 5 always rotates in the axial direction of the first drive motor 3. If the leg adjustment mechanism 4 is not working, the support leg mechanism 5 cannot be tilted relative to the axial direction of the first drive motor 3.

[0033] During the rotation of the shaft of the first drive motor 3, the piston rod ends of each first hydraulic cylinder 44 extend and retract in coordination, driving the adjustment collar 45 to change its angle. The adjustment collar 45, through the leg support shaft 46, drives the entire support leg mechanism 5 to tilt and adjust its angle. At this time, the angle adjustment range of the support leg mechanism 5 is larger.

[0034] In this embodiment, the support leg mechanism 5 includes a first leg assembly 51, a second leg assembly 52, and a third leg assembly 53. One end of the second leg assembly 52 is angularly connected to one end of the first leg assembly 51, and the other end of the second leg assembly 52 is angularly connected to one end of the third leg assembly 53. The angle between the first leg assembly 51, the second leg assembly 52, and the third leg assembly 53 is adjusted by a hydraulic cylinder.

[0035] The first leg assembly 51 includes a first leg support plate 511, a second leg support plate 512, a third leg support plate 513, and a second hydraulic cylinder 514. The second leg support plate 512 and the third leg support plate 513 are provided on the side of the first leg support plate 511. The first leg support plate 511 is rotatably connected to the surface of the leg support shaft 46. A plurality of second hydraulic cylinders 514 are hinged to the surface of the second leg support plate 512. The piston rod end of each second hydraulic cylinder 514 is hinged to the top of the third leg assembly 53. The third leg support plate 513 is hinged to the bottom of the second leg assembly 52.

[0036] The second leg assembly 52 includes a fourth leg support plate 521 and a third hydraulic cylinder 522. The bottom of the second leg support plate 512 is hinged to the interior of the third leg support plate 513, and the top of the second leg support plate 512 is hinged to the surface of the third leg assembly 53. A plurality of third hydraulic cylinders 522 are hinged to the middle of the second leg support plate 512, and the piston rod end of each third hydraulic cylinder 522 is hinged to the middle of the third leg assembly 53.

[0037] The third leg assembly 53 includes a fifth leg support plate 531, a hinged support block 532, and an air pump 533. The fifth leg support plate 531 has a hinged support block 532 on its top. The angle between the center line of the hinged support block 532 and the center line of the fifth leg support plate 531 is greater than 90 degrees. The piston rod end of the second hydraulic cylinder 514 is hinged to the inside of the hinged support block 532. The bottom side of the fifth leg support plate 531 has an air pump 533. The air pump port of the air pump 533 is connected to the inside of the gripper mechanism 6.

[0038] The first method involves locking the piston rod of the third hydraulic cylinder 522. The extension and retraction of the piston rod of the second hydraulic cylinder 514 adjusts the position of the hinged support block 532. During this adjustment, the positions of the fifth leg support plate 531 and the fourth leg support plate 521 also change. In this process, the end of the piston rod of the second hydraulic cylinder 514 rotates hingedly within the hinged support block 532, while the fourth leg support plate 521 rotates hingedly within the third leg support plate 513.

[0039] It enables rotation relative to the third leg support plate 513 while keeping the angle between the fourth leg support plate 521 and the fifth leg support plate 531 constant.

[0040] The second method: When the piston rods of both the second hydraulic cylinder 514 and the third hydraulic cylinder 522 are in an active state, if the piston rod of the second hydraulic cylinder 514 is shortened, then the piston rod of the third hydraulic cylinder 522 needs to be extended, and vice versa. During this adjustment process, the third leg support plate 513 and the fourth leg support plate 521 are hinged and rotated. The end of the piston rod of the third hydraulic cylinder 522 is hinged and rotated on the surface of the third leg support plate 513. The end of the piston rod of the second hydraulic cylinder 514 is hinged and rotated inside the hinged support block 532. The fourth leg support plate 521 and the third leg support plate 513 are hinged and rotated.

[0041] The angle of the entire fifth leg support plate 531 relative to the first leg support plate 511 is adjusted.

[0042] In this embodiment, a second drive motor 515 is also provided on the side of the first leg support plate 511. The shaft of the second drive motor 515 passes through the surface of the first leg support plate 511 and is fixedly connected to the inside of the leg support shaft 46. There is a gap between the shaft of the second drive motor 515 and the inside of the first leg support plate 511.

[0043] When the piston rods of each of the first hydraulic cylinders 44 extend and retract in coordination, they can drive the angle of the adjusting collar 45 to change. The adjusting collar 45 drives the entire support leg mechanism 5 to tilt and adjust its angle via the leg support shaft 46. At this time, the driving force generated between the rotating shaft of the second drive motor 515 and the inside of the leg support shaft 46 can drive the first leg support plate 511 to rotate.

[0044] This achieves coordinated adjustment among the first drive motor 3, the second drive motor 515, the first hydraulic cylinder 44, the second hydraulic cylinder 514, and the third hydraulic cylinder 522: the second drive motor 515 drives the support leg mechanism 5 to rotate around the leg support shaft 46; the first hydraulic cylinder 44 causes the support leg mechanism 5 to tilt relative to the axis of the first drive motor 3; the first drive motor 3 drives the entire leg adjustment mechanism 4 and the support leg mechanism 5 to rotate around their own axes; simultaneously, the second hydraulic cylinder 514 and the third hydraulic cylinder 522 drive the fifth leg support plate 531 and the fourth leg support plate 521 to adjust their angles. These four adjustments can be performed synchronously or independently. While the second drive motor 515 rotates the support leg mechanism 5 relative to the leg support shaft 46 to adjust its angle, the first hydraulic cylinder 44 tilts the support leg mechanism 5 relative to the axis of the first drive motor 3. Simultaneously, the shaft of the first drive motor 3 rotates the entire leg adjustment mechanism 4 and the support leg mechanism 5 to adjust their angles. At the same time, the second hydraulic cylinder 514 and the third hydraulic cylinder 522 adjust the angles of the fifth leg support plate 531 and the fourth leg support plate 521. These four angle adjustments can be performed simultaneously or separately, resulting in a wider range of adjustment angles for the support leg mechanism 5.

[0045] In this embodiment, the bottom of the support leg mechanism 5 is connected to a gripper mechanism 6 capable of fine-tuning the angle. The gripper mechanism 6 includes a gripper support base 61, a fourth hydraulic cylinder 62, a gripper mounting base 63, a first gripper 64, and a second gripper 65. A plurality of fourth hydraulic cylinders 62 are hinged to the bottom surface of the gripper support base 61, and the end of each fourth hydraulic cylinder 62 is hinged to the gripper mounting base 63. A plurality of first grippers 64 and second grippers 65 are rotatably mounted inside the gripper mounting base 63. The rotation of the first grippers 64 and second grippers 65 is limited by a torsion spring inside the gripper mounting base 63. The length of the first gripper 64 is greater than the length of the second gripper 65. A silicone ring 641 is provided on the bottom surface of the first gripper 64, and an air extraction channel 642 is provided inside the first gripper 64. The air hole at the top of the air extraction channel 642 is connected to the air extraction port of the air extraction pump 533 via a pipe.

[0046] To further optimize the adaptability of the end effector, based on the extensive adjustments to the support leg mechanism 5, the piston rod ends of several fourth hydraulic cylinders 62 can drive the angle of the gripper mounting base 63 to change when they extend and retract in coordination. This allows for better utilization of the support from the second gripper 65 during flat walking, and better utilization of the suction effect of the first gripper 64 during wall climbing.

[0047] Working principle and usage of this utility model:

[0048] Walking mode: The three support leg mechanisms on the left and right sides are divided into two groups. When the angle of the third leg support plate 513 on one side increases, the angle of the third leg support plate 513 on the other side decreases. Then, the angle of the third leg support plate 513 on the side with the largest angle gradually decreases, while the angle of the third leg support plate 513 on the side with the smallest angle gradually increases. This cycle repeats, driving the robot forward.

[0049] During this process, the rotation of the shaft of the first drive motor 3 drives the entire leg adjustment mechanism 4 and the support leg mechanism 5 to rotate and adjust their angles. The support leg mechanism 5 rotates along the axis of the first drive motor 3 during the angle adjustment process. When the piston rod ends of each first hydraulic cylinder 44 extend and retract in cooperation, they drive the angle of the adjusting collar 45 to change, thereby causing the support leg mechanism 5 to tilt and expand its adjustment range.

[0050] Wall-climbing mode: The first drive motor 3 first rotates the bottom of any one of the front support leg mechanisms 5 so that it faces the wall. The effective coordination between the first hydraulic cylinder 44, the second hydraulic cylinder 514, and the third hydraulic cylinder 522 adjusts the silicone ring 641 at the bottom of the first gripper 64 to adhere to the wall. The air pump 533 on the first support leg mechanism 5 then starts working, causing the silicone ring 641 to adhere to the wall. The first support leg mechanism 5 then uses the first drive motor 3 to adjust the robot's overall posture. Next, the first drive motor 3 drives the bottom of the entire support leg mechanism 5 to face the wall, and the adhesion process continues in the same way.

[0051] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to replace them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

Claims

1. A biomimetic multi-legged robot, comprising an electric turntable (1), characterized in that, The surface of the electric turntable (1) is provided with a control compartment (2) for installing batteries and electronic components. The bottom side wall of the electric turntable (1) is connected to a number of first drive motors (3). The end of the shaft of each first drive motor (3) is connected to a leg adjustment mechanism (4). The end of the leg adjustment mechanism (4) is connected to a support leg mechanism (5). The bottom of the support leg mechanism (5) is connected to a gripper mechanism (6) that can finely adjust the angle.

2. The biomimetic multi-legged robot according to claim 1, characterized in that, The support leg mechanism (5) includes a first leg assembly (51), a second leg assembly (52), and a third leg assembly (53). One end of the second leg assembly (52) is angularly connected to one end of the first leg assembly (51), and the other end of the second leg assembly (52) is angularly connected to one end of the third leg assembly (53). The angle between the first leg assembly (51), the second leg assembly (52), and the third leg assembly (53) is adjusted by a hydraulic cylinder.

3. The biomimetic multi-legged robot according to claim 2, characterized in that, The leg adjustment mechanism (4) includes an adjustment support base (41), a hydraulic oil pump (42), a first hydraulic oil cylinder (44), an adjustment collar (45), and a leg support shaft (46). The side wall of the adjustment support base (41) is connected to the fixed clamp (31) at the end of the first drive motor (3). The hydraulic oil pump (42) is provided on one side surface of the adjustment support base (41), and a plurality of rotating shaft support blocks (43) are provided on the other side surface of the adjustment support base (41). Each rotating shaft support block (43) is internally hinged to a... A first hydraulic cylinder (44) has an adjusting collar (45) hinged to the piston rod end. A leg support shaft (46) is locked inside the adjusting collar (45). The leg support shaft (46) is connected to the top of the first leg assembly (51). The leg support shaft (46) can rotate with the top of the first leg assembly (51). When the piston rod ends of several first hydraulic cylinders (44) cooperate to extend and retract, they can drive the angle of the adjusting collar (45) to change.

4. The biomimetic multi-legged robot according to claim 3, characterized in that, The first leg assembly (51) includes a first leg support plate (511), a second leg support plate (512), a third leg support plate (513), and a second hydraulic cylinder (514). The second leg support plate (512) and the third leg support plate (513) are provided on the side of the first leg support plate (511). The first leg support plate (511) is rotatably connected to the surface of the leg support shaft (46). A plurality of second hydraulic cylinders (514) are hinged to the surface of the second leg support plate (512). The piston rod end of each second hydraulic cylinder (514) is hinged to the top of the third leg assembly (53). The third leg support plate (513) is hinged to the bottom of the second leg assembly (52).

5. The biomimetic multi-legged robot according to claim 4, characterized in that, The side of the first leg support plate (511) is also provided with a second drive motor (515). The shaft of the second drive motor (515) passes through the surface of the first leg support plate (511) and is fixedly connected to the inside of the leg support shaft (46). There is a gap between the shaft of the second drive motor (515) and the inside of the first leg support plate (511). The driving force generated between the shaft of the second drive motor (515) and the inside of the leg support shaft (46) during the rotation of the shaft can drive the first leg support plate (511) to rotate.

6. The biomimetic multi-legged robot according to claim 5, characterized in that, The second leg assembly (52) includes a fourth leg support plate (521) and a third hydraulic cylinder (522). The bottom of the second leg support plate (512) is hinged to the interior of the third leg support plate (513), and the top of the second leg support plate (512) is hinged to the surface of the third leg assembly (53). A plurality of third hydraulic cylinders (522) are hinged to the middle of the second leg support plate (512), and the piston rod end of each third hydraulic cylinder (522) is hinged to the middle of the third leg assembly (53).

7. The biomimetic multi-legged robot according to claim 6, characterized in that, The third leg assembly (53) includes a fifth leg support plate (531), a hinged support block (532), and an air pump (533). The fifth leg support plate (531) has a hinged support block (532) at its top. The angle between the center line of the hinged support block (532) and the center line of the fifth leg support plate (531) is greater than 90 degrees. The piston rod end of the second hydraulic cylinder (514) is hinged to the inside of the hinged support block (532). The bottom side of the fifth leg support plate (531) has an air pump (533). The air pump (533) has an air intake port connected to the inside of the gripper mechanism (6).

8. The biomimetic multi-legged robot according to claim 7, characterized in that, The gripper mechanism (6) includes a gripper support (61), a fourth hydraulic cylinder (62), a gripper mounting base (63), a first gripper (64), and a second gripper (65). The bottom surface of the gripper support (61) is hinged to a plurality of fourth hydraulic cylinders (62). The end of each fourth hydraulic cylinder (62) is hinged to a gripper mounting base (63). The gripper mounting base (63) is rotatably provided with a plurality of first grippers (64) and second grippers (65). The rotation of the first grippers (64) and second grippers (65) is restricted by a torsion spring inside the gripper mounting base (63). The length of the first gripper (64) is greater than the length of the second gripper (65). When the piston rod ends of the plurality of fourth hydraulic cylinders (62) cooperate to extend and retract, they can drive the angle of the gripper mounting base (63) to change.

9. The biomimetic multi-legged robot according to claim 8, characterized in that, The bottom surface of the first gripper (64) is provided with a silicone ring (641), and the inside of the first gripper (64) is provided with an air extraction channel (642). The air hole at the top of the air extraction channel (642) is connected to the air extraction port of the air pump (533) through a pipe.

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