CN114475112B - A robot that can adapt to all-terrain walking - Google Patents

Abstract

The invention discloses a robot that can adapt to all-terrain walking, including a walking robot base, a placement groove is opened inside the walking robot base, and an overall stable support mechanism is provided at both ends of the walking robot base. The driving motor drives the rotating rod to rotate, and through the cooperation of the driving gear, driven gear, sprocket and chain, the power is transmitted, driving the air cushion wheel to rotate, and pushing the base of the walking robot to move. The structure of the invention is scientific and reasonable, and it is safe and convenient to use. The overall stable support mechanism is established, the rotating rod is driven to rotate through the driving motor, and the power is transmitted through the cooperation of the driving gear and the driven gear, which drives the sprocket and the chain to rotate, and then transmits the power again to drive the air cushion wheel to rotate and promote walking. The base of the robot moves, and the top plate and the support vertical rod are pulled to slide through the retractable characteristics of the return spring, changing the positions of the fixed plate and the air cushion wheel.

Description

A robot that can adapt to all-terrain walking

technical field

The invention relates to the technical field of walking robots, in particular to a robot that can adapt to all-terrain walking.

Background technique

As robots are getting closer to people's lives, people's requirements for robots are getting higher and higher. In addition to traditional industrial robots, household robots, and medical robots, robots that can complete work under complex conditions have become the focus of researchers. focus;

However, the existing walking robots cannot flexibly move under rough terrain conditions, which reduces the efficiency of the walking robot's movement and work. Therefore, in order to avoid the above-mentioned technical problems in these situations, it is necessary to provide a robot that can adapt to the entire environment. Terrain-walking robot to overcome the defects in the prior art.

Contents of the invention

The present invention provides a robot that can adapt to all-terrain walking, which can effectively solve the problem of being unable to move flexibly under rough terrain conditions and reducing the efficiency of moving and working of the walking robot proposed in the background art.

In order to achieve the above object, the present invention provides the following technical solutions: a robot that can adapt to all-terrain walking, including a walking robot base, a placement slot is opened inside the walking robot base, and the placement slots are connected to two ends of the walking robot base. All are equipped with an overall stable support mechanism, the driving motor drives the rotating rod to rotate, and through the cooperation of the driving gear, driven gear, sprocket and chain, the power is transmitted, driving the air cushion wheel to rotate, pushing the base of the walking robot to move, and moving During the process, the expansion and contraction characteristics of the return spring are used to drive the movement of the top plate, support vertical rod, fixed plate and air-cushion wheel, so that the air-cushion wheel always keeps in touch with the road surface;

Both ends of the walking robot base are provided with a floating anti-tilt mechanism in the middle, and the base of the walking robot is supported by the cooperation of the air cushion, the first air bag and the second air bag, so that the walking robot base can float on the water surface, and the rotating motor belt Rotate the vertical cylinder and the push rod, push the lifting grid and the air cushion to move, force the lifting grid to push the extension plate and the rotating plate to rotate, and open the first airbag on both sides of the walking robot base;

The bottom of the walking robot base is provided with a water propulsion mechanism, which uses the cooperation of the driving gear and the driven gear to drive the crossbar to rotate, and through the cooperation of the worm and the worm wheel, drives the transmission rod and the water wheel to rotate to generate thrust, which is convenient for the walking robot. The base moves on the water surface, and the rotation speed of the two crossbars is adjusted as required, which changes the rotation speed of the two water wheels.

According to the above technical solution, the overall stable support mechanism includes a mounting plate, a support vertical rod, a top plate, a return spring, a fixed plate, an air cushion wheel, a transmission chamber, a driving motor, a rotating rod, a driving gear, a driven gear, a chute, an adjusting blocks, tension springs, sprockets and chains;

Both ends of the base of the walking robot are fixedly connected with a mounting plate by bolts, and the top of the mounting plate is symmetrically and movably connected with a support vertical rod, and the top of the support vertical rod is clamped with a top plate, and the outer side of the support vertical rod corresponds to the top plate and the mounting plate A return spring is socketed between them, and the bottom end of the support vertical bar is clamped with a fixed plate, and one end of the fixed plate is rotatably connected to an air cushion wheel;

Each corner of the base of the walking robot is provided with a transmission chamber, and a drive motor is symmetrically embedded in the placement groove, and the output shaft of the drive motor is connected to a rotating rod, and the bottom end of the rotating rod corresponds to the inside of the transmission chamber. A drive gear is clamped at the position, and a driven gear is rotatably connected to a position corresponding to the side of the drive gear on the inner wall of the transmission cavity. The inside of the slot is movably connected with an adjustment block, and one end of the adjustment block is symmetrically connected with a tension spring at the position corresponding to the inner position of the chute. A sprocket is connected, and a chain is sleeved on the outside of the sprocket.

According to the above technical solution, the bottom end of the support vertical bar passes through the bottom end of the installation plate, and the drive motors are powered by an internal power supply, and there are four drive motors in total.

According to the above technical solution, both the driving gear and the driven gear are bevel gears, and the driving gear and the driven gear mesh with each other, and the outer side of the sprocket meshes with the inner wall of the chain.

According to the above technical solution, the floating anti-tilt mechanism includes a storage slot, a notch, a rotating plate, an extension plate, a connecting plate, a rotating motor, a vertical tube, a push rod, a lifting grille, an air cushion, a supporting plate, a first air bag, an installation frame and second airbag;

The bottom end of the walking robot base is provided with a storage slot, and the inner wall of the storage slot is symmetrically provided with a notch, and the inner wall of the notch is rotatably connected to a rotating plate, and the top position of one end of the rotating plate is fixedly connected to an extension plate by bolts, The other end of the extension plate is hinged with a connecting plate, and a rotating motor is fixedly connected to the central position inside the storage tank through bolts, and the output shaft of the rotating motor is clamped with a vertical tube at the position corresponding to the internal position of the storage tank, and the bottom of the vertical tube The bottom end of the push rod is connected with a push rod through a screw thread, and the bottom end of the push rod is connected with a lifting grid corresponding to the rotation inside the storage tank. The bottom end of the lifting grid is connected with an air cushion through bolts. Rotate connection at one end;

The bottom end of the rotating plate is fixedly connected with a supporting plate through bolts, and the top end of the supporting plate is fixedly connected with a first air bag through bolts. A second airbag is attached.

According to the above technical solution, the width of the rotating plate is equal to the width of the notch, the angle between the extension plate and the rotating plate is 90 degrees, and the rotating motor is powered by an internal power supply.

According to the above technical solution, the limit block is welded symmetrically to the outer side of the lifting grid, and the limit slot is opened on the inner wall of the storage groove corresponding to one side of the limit block, and one end of the limit block is slidably connected to the inner wall of the limit slot. The outer side of the lifting grid is attached to the inner wall of the storage tank, and the top of the supporting plate is attached to the bottom end of the base of the walking robot.

According to the above technical solution, the water propulsion mechanism includes a bottom groove, a vertical plate, a horizontal plate, a transmission rod, a water wheel, a worm wheel, a fixed shaft seat, a cross bar and a worm;

The bottom of the walking robot base is provided with a bottom groove corresponding to the inner side of the second air bag, and a vertical plate is fixedly connected to the inside of the bottom groove by bolts, and a horizontal plate is fixedly connected to the bottom position of one end of the vertical plate by bolts. One end of the horizontal plate corresponds to the position on both sides of the vertical plate and is rotatably connected with a transmission rod. One end of the two transmission rods is connected to a water wheel, and the other end of the two transmission rods is connected to a worm wheel at the position corresponding to the inner side of the horizontal plate. , the inner wall of the riser is clamped with a fixed shaft seat, both ends of the fixed shaft seat are rotatably connected to a cross bar, and the outer side of the cross bar is fixedly sleeved with a worm at a position corresponding to the inside of the bottom groove.

According to the above technical solution, one end of the crossbar runs through the base of the walking robot and is engaged with one end of the driving gear, and a waterproof rubber ring is sleeved at the joint between the outer side of the crossbar and the inner wall of the base of the walking robot.

According to the above technical solution, the rotation directions of the two water wheels are opposite, and the worm wheel is engaged with the worm.

Compared with the prior art, the beneficial effect of the present invention is that the structure of the present invention is scientific and reasonable, and the use is safe and convenient:

1. The overall stable support mechanism is set up, the rotating rod is driven to rotate through the driving motor, and the power is transmitted through the cooperation of the driving gear and the driven gear, driving the sprocket and the chain to rotate, and then transmitting the power again to drive the air cushion wheel to rotate , to push the base of the walking robot to move, and through the telescopic characteristics of the return spring, pull the top plate and the support vertical bar to slide, change the position of the fixed plate and the air cushion wheel, and keep the air cushion wheel missing and the road surface to prevent the phenomenon of suspension. The mobile effect can also be guaranteed on the road;

In addition, through the expansion and contraction characteristics of the tension spring, the pulling adjustment block slides inside the chute, thereby adjusting the position of the sprocket, keeping the chain tight all the time, facilitating power transmission, and ensuring the moving effect of the walking robot. The four drive motors individually control the four air-cushion wheels, which can ensure the rotation effect of the air-cushion wheels on different road conditions.

2. A floating anti-tilt mechanism is set up to support the base of the walking robot through the cooperation of the air cushion, the first airbag and the second airbag, so that the base of the walking robot can float on the water surface, and the vertical cylinder is rotated by the rotating motor to push the push rod, The lifting grille and the air cushion move inside the storage tank. At the same time, when the lifting grille is descending, through the cooperation of the connecting plate, the extension plate and the rotating plate are pushed to rotate, so that the rotating plate rotates with the supporting plate and the first air bag, and the second An airbag is opened on both sides of the base of the walking robot to further support the base of the walking robot, prevent the base of the walking robot from shifting, and improve the stability of floating.

3. The water propulsion mechanism is set up, through the cooperation of the driving gear and the driven gear, the power is transmitted to drive the crossbar to rotate, and the crossbar to rotate with the worm, and then through the cooperation of the worm gear, the power is transmitted again to drive the The transmission rod rotates and the water wheel rotates to generate thrust, forcing the base of the walking robot to move on the water surface, which improves the adaptability of the walking robot and can move on the water surface and land respectively;

In addition, by fixing the separation of the crossbar from the shaft seat, the two crossbars can rotate without interfering with each other, which is convenient for adjusting the rotation speed of the two crossbars according to the needs, changing the rotation speed of the two water wheels, and adjusting the rotation speed of the walking robot base. direction of movement.

In summary, through the mutual cooperation of the floating anti-tilt mechanism and the water propulsion mechanism, the walking robot can not only drive on land, but also move on the water surface, so that the walking robot can move and work on different road conditions, improving the Adaptability, at the same time, through the overall stable support mechanism, the gripping effect is guaranteed and the stability of the movement is improved during the movement of the walking robot.

Description of drawings

The accompanying drawings are used to provide a further understanding of the present invention, and constitute a part of the description, and are used together with the embodiments of the present invention to explain the present invention, and do not constitute a limitation to the present invention.

In the attached picture:

Fig. 1 is a structural representation of the present invention;

Fig. 2 is the installation structure schematic diagram of chain of the present invention;

Fig. 3 is a schematic structural view of the overall stable support mechanism of the present invention;

Fig. 4 is a schematic diagram of the installation structure of the air cushion of the present invention;

Fig. 5 is a structural schematic diagram of the floating anti-tilt mechanism of the present invention;

Fig. 6 is a structural schematic diagram of the water propulsion mechanism of the present invention;

Figure 7 is a schematic diagram of the installation structure of the fixed shaft seat of the present invention.

Labels in the figure: 1. Walking robot base; 2. Placement slot;

3. Overall stable support mechanism; 301, mounting plate; 302, support vertical bar; 303, top plate; 304, return spring; 305, fixed plate; 306, air cushion wheel; 307, transmission cavity; Rod; 310, driving gear; 311, driven gear; 312, chute; 313, adjustment block; 314, tension spring; 315, sprocket wheel; 316, chain;

4. Floating anti-tilt mechanism; 401, storage slot; 402, notch; 403, rotating plate; 404, extension plate; 405, connecting plate; 406, rotating motor; 407, vertical cylinder; 408, push rod; 409, lifting Grille; 410, air cushion; 411, pallet; 412, first airbag; 413, installation frame; 414, second airbag;

5, water propulsion mechanism; 501, bottom groove; 502, vertical plate; 503, horizontal plate; 504, transmission rod; 505, water wheel; 506, worm wheel; 507, fixed shaft seat;

Detailed ways

The preferred embodiments of the present invention will be described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.

Embodiment: As shown in Figures 1-7, the present invention provides a technical solution, a robot that can adapt to all-terrain walking, including a walking robot base 1, and a placement groove 2 is opened inside the walking robot base 1, and the placement groove 2 is Both ends of the walking robot base 1 are provided with an overall stable support mechanism 3, and the driving motor 308 drives the rotating rod 309 to rotate, and through the cooperation of the driving gear 310, the driven gear 311, the sprocket wheel 315 and the chain 316, the power is transmitted to drive Air cushion wheel 306 rotates, and promotes walking robot base 1 to move, and in the process of moving, utilizes the characteristic of back-moving spring 304 telescopic, drives the movement of top plate 303, support vertical bar 302, fixed plate 305 and air cushion wheel 306, makes air cushion wheel 306 Always adhere to the road surface;

Both ends of the walking robot base 1 are provided with a floating anti-tilt mechanism 4 in the middle, and the air cushion 410, the first airbag 412 and the second airbag 414 are used to support the walking robot base 1, so that the walking robot base 1 floats on the water surface , the rotating motor 406 rotates with the vertical tube 407 and the push rod 408, pushing the lifting grid 409 and the air cushion 410 to move, forcing the lifting grid 409 to push the extension plate 404 and the rotating plate 403 to rotate, and the first air bag 412 is placed on the base of the walking robot 1 open on both sides;

The bottom end of the walking robot base 1 is provided with a water propulsion mechanism 5, which drives the cross bar 508 to rotate through the cooperation of the driving gear 310 and the driven gear 311, and drives the transmission rod 504 and the water wheel 505 to rotate through the cooperation of the worm 509 and the worm wheel 506. , to generate thrust, to facilitate the movement of the walking robot base 1 on the water surface, adjust the rotation speed of the two horizontal plates 503 as required, and change the rotation speed of the two water wheels 505;

The overall stable support mechanism 3 includes a mounting plate 301, a support vertical bar 302, a top plate 303, a return spring 304, a fixed plate 305, an air cushion wheel 306, a transmission chamber 307, a driving motor 308, a rotating rod 309, a driving gear 310, and a driven gear 311 , chute 312, adjustment block 313, tension spring 314, sprocket 315 and chain 316;

Both ends of the walking robot base 1 are fixedly connected with a mounting plate 301 by bolts, and the top of the mounting plate 301 is symmetrically and movably connected with a support vertical bar 302, and the top of the support vertical bar 302 is clamped with a top plate 303, and the outside of the support vertical bar 302 corresponds to the top plate 303 and A return spring 304 is sleeved between the mounting plates 301, a fixed plate 305 is clamped on the bottom end of the support vertical bar 302, and an air cushion wheel 306 is connected to one end of the fixed plate 305 in rotation, and a transmission is provided at each corner position inside the walking robot base 1. Cavity 307, the drive motor 308 is symmetrically embedded in the placement groove 2, in order to support the walking robot base 1, the bottom end of the support vertical bar 302 runs through the bottom end of the mounting plate 301, the drive motor 308 is powered by an internal power supply, and the drive motor There are four of 308;

The output shaft of the driving motor 308 is connected with a rotating rod 309, and the bottom end of the rotating rod 309 is clamped with a driving gear 310 at a position corresponding to the inside of the transmission chamber 307, and a driven gear 311 is rotatably connected to a position on the inner wall of the transmission chamber 307 corresponding to the side of the driving gear 310. There is a chute 312 at the two ends of the walking robot base 1 corresponding to one side of the driven gear 311, and the inside of the chute 312 is movably connected with an adjustment block 313, and one end of the adjustment block 313 is symmetrically snapped to the inner position of the chute 312. Spring 314, one end of adjustment block 313 is connected with sprocket 315 in rotation, one end of driven gear 311 rotating shaft and one end of air cushion wheel 306 are clamped with sprocket 315, and the outer side of sprocket 315 is sleeved with chain 316. In order to transmit power, the active Both the gear 310 and the driven gear 311 are bevel gears, and the driving gear 310 and the driven gear 311 mesh with each other, and the outside of the sprocket 315 meshes with the inner wall of the chain 316;

The floating anti-tilt mechanism 4 includes a storage slot 401, a notch 402, a rotating plate 403, an extension plate 404, a connecting plate 405, a rotating motor 406, a vertical cylinder 407, a push rod 408, a lifting grid 409, an air cushion 410, a supporting plate 411, The first airbag 412, the installation frame 413 and the second airbag 414;

The bottom end of the walking robot base 1 is provided with a receiving groove 401, and the inner wall of the receiving groove 401 is symmetrically provided with a notch 402, and the inner wall of the notch 402 is rotatably connected with a rotating plate 403, and the top position of one end of the rotating plate 403 is fixedly connected with an extension plate 404 by bolts, The other end of the extension plate 404 is hinged with a connecting plate 405, and a rotating motor 406 is fixedly connected to the central position of the storage slot 2 by bolts. The output shaft of the rotating motor 406 corresponds to a vertical tube 407 at the inner position of the storage slot 401, and the bottom of the vertical tube 407 The end of the push rod 408 is connected with a push rod 408 through a screw thread, and the bottom end of the push rod 408 is connected to the internal rotation of the storage tank 401 with a lifting grid 409. One end of the plate 405 is rotatably connected, in order to facilitate the rotation of the rotatable plate 403, the width of the rotatable plate 403 is equal to the width of the notch 402, the angle between the extension plate 404 and the rotatable plate 403 is 90 degrees, and the rotating motor 406 is powered by an internal power supply;

The bottom end of the rotating plate 403 is fixedly connected to the supporting plate 411 by bolts, the top of the supporting plate 411 is fixedly connected to the first airbag 412 by bolts, the two ends of the walking robot base 1 are fixedly connected to the installation frame 413 by bolts, and the installation frame 413 is clamped inside There is a second air bag 414. In order to limit the lifting grid 409, the outer side of the lifting grid 409 is symmetrically welded with a limit block, and the inner wall of the receiving groove 401 is provided with a limit slot at the position corresponding to one side of the limit block. One end of the limit block is connected to the limit block. The inner wall of the slot is slidingly connected, the outer side of the lifting grid 409 fits with the inner wall of the storage tank 401, and the top of the supporting plate 411 fits with the bottom of the walking robot base 1;

The water propulsion mechanism 5 includes a bottom groove 501, a vertical plate 502, a horizontal plate 503, a transmission rod 504, a water wheel 505, a worm wheel 506, a fixed shaft seat 507, a cross bar 508 and a worm 509;

A bottom groove 501 is provided at the bottom end of the base 1 of the walking robot corresponding to the inner side of the second airbag 414. The inside of the bottom groove 501 is fixedly connected with a vertical plate 502 by bolts. One end of the plate 503 corresponds to the position on both sides of the vertical plate 502 and is connected to the transmission rod 504. One end of the two transmission rods 504 is connected to the water wheel 505, and the other end of the two transmission rods 504 is connected to the inner position of the horizontal plate 503. There is a worm wheel 506, and the inner wall of the vertical plate 502 is clamped with a fixed shaft seat 507, and both ends of the fixed shaft seat 507 are rotatably connected with a cross bar 508. In order to improve the utilization rate of power, one end of the cross bar 508 runs through the walking robot base 1 and the driving gear. 310 is clamped at one end, and a waterproof rubber ring is sleeved on the joint between the outer side of the cross bar 508 and the inner wall of the walking robot base 1, and a worm 509 is fixedly sleeved on the outer side of the cross bar 508 corresponding to the inner position of the bottom groove 501. For the convenience of moving on water, the two The rotation directions of the two water wheels 505 are opposite, and the worm wheel 506 is engaged with the worm 509.

The working principle and application process of the present invention: firstly, start the driving motor 308, so that the driving motor 308 drives the rotating rod 309 to rotate, and then cooperate with the driving gear 310 and the driven gear 311 to form an assembly, transmit the power, and drive the sprocket 315 Rotate, and then through the cooperation of the sprocket 315 and the chain 316, the power is further transmitted, and the air cushion wheel 306 is driven to rotate, which facilitates the movement of the walking robot base 1. In addition, in the process of moving, the retractable characteristics of the return spring 304 pull the top plate 303, so that the top plate 303 pushes the support vertical bar 302 to move, changing the positions of the fixed plate 305 and the air cushion wheel 306, so that the air cushion wheel 306 can also keep fit with the road surface on the rough road surface, preventing the phenomenon of suspension, The moving efficiency of the walking robot is improved, and the moving speed can be guaranteed on different road surfaces. At the same time, in the process of fast moving, the vibration to the walking robot base 1 can be slowed down, the walking robot base 1 is prevented from being damaged, and the service life is improved;

Then, when the support vertical bar 302 pushes the fixed plate 305 and the air wheel 306 to move, the tension spring 314 stretches and pulls the adjustment block 313 to slide inside the chute 312, thereby adjusting the position of the sprocket 315, so that the chain 316 is always kept tight, which is convenient for power transmission and ensures the moving effect of the walking robot. In addition, the four air-cushion wheels 306 are individually controlled by the four drive motors 308, which can ensure the smoothness of the air-cushion wheels 306 on different road conditions. rotation effect;

Then, through the cooperation of the air cushion 410, the first air bag 412 and the second air bag 414, the walking robot base 1 is supported to facilitate the walking robot base 1 to float on the water surface, and at the same time start the rotating motor 406, so that the rotating motor 406 carries the vertical tube 407 Rotate to push the push rod 408 down, and adjust the positions of the lifting grille 409 and the air cushion 410 inside the storage tank 401. In addition, when the lifting grille 409 is descending, the extension plate 404 is pushed and rotated through the cooperation of the connecting plate 405. The plate 403 rotates, and then the rotating plate 403 is rotated with the supporting plate 411 and the first air bag 412, and the first air bag 412 is opened on both sides of the walking robot base 1, further supporting the walking robot base 1, preventing the walking robot base 1 from If there is an offset, the stability of floating is improved. If it is not used, the rotating motor 406 rotates in the opposite direction, and the first airbag 412 and the air cushion 410 are folded inside the storage tank 401 again, which is convenient for moving on land;

Finally, when the walking robot base 1 is floating on the water, through the cooperation of the driving gear 310 and the driven gear 311, the power is transmitted, driving the cross bar 508 to rotate, forcing the cross bar 508 to rotate with the worm 509, and further transmitting the power. Drive the worm wheel 506 and the transmission rod 504 to rotate, force the water wheel 505 to rotate, generate propulsion, facilitate the movement of the walking robot base 1 on the water surface, improve the adaptability of the walking robot, and can move on the water surface and land respectively. 507 separates the cross bar 508 so that the two cross bars 508 can rotate without interfering with each other, which is convenient for adjusting the rotating speed of the two cross bars 508 as needed, changing the rotation speed of the two water wheels 505, and adjusting the rotation speed of the walking robot base 1. direction of movement.

Finally, it should be noted that: the above is only a preferred example of the present invention, and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, it can still The technical solutions recorded in the foregoing embodiments are modified, or some of the technical features are equivalently replaced. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (10)

1. The utility model provides an adaptable all terrain walking's robot, includes walking robot base (1), its characterized in that: the walking robot base (1) is internally provided with a placing groove (2), the placing groove (2) is formed in the two ends of the walking robot base (1) are respectively provided with an integral stable supporting mechanism (3), a driving motor (308) drives a rotating rod (309) to rotate, power is transmitted through the cooperation of a driving gear (310), a driven gear (311), a chain wheel (315) and a chain (316), an air cushion wheel (306) is driven to rotate, the walking robot base (1) is pushed to move, and in the moving process, the movement of a top plate (303), a supporting vertical rod (302), a fixing plate (305) and the air cushion wheel (306) is driven by the telescopic characteristic of a return spring (304), so that the air cushion wheel (306) is always kept in fit with a road surface;

the floating anti-tilting mechanism (4) is arranged at the middle positions of two ends of the walking robot base (1), the air cushion (410), the first air bag (412) and the second air bag (414) are matched to support the walking robot base (1), the walking robot base (1) floats on the water surface conveniently, the rotating motor (406) drives the vertical cylinder (407) and the push rod (408) to rotate, the lifting grid (409) and the air cushion (410) are pushed to move, the lifting grid (409) is forced to push the extension plate (404) and the rotation plate (403) to rotate, and the first air bag (412) is opened at two sides of the walking robot base (1);

the walking robot base (1) bottom is provided with water propulsion mechanism (5), utilizes the cooperation of driving gear (310) and driven gear (311), drives horizontal pole (508) rotation to through the cooperation of worm (509) and worm wheel (506), drive transfer line (504) and water wheels (505) rotation, produce thrust, make things convenient for walking robot base (1) to remove on the surface of water, adjust the rotational speed of two diaphragm (503) as required, changed the rotational speed of two water wheels (505).

2. An all-terrain walking adaptable robot as defined in claim 1, wherein: the integral stable supporting mechanism (3) comprises a mounting plate (301), a supporting vertical rod (302), a top plate (303), a reset spring (304), a fixing plate (305), an air cushion wheel (306), a transmission cavity (307), a driving motor (308), a rotating rod (309), a driving gear (310), a driven gear (311), a sliding groove (312), an adjusting block (313), a tensioning spring (314), a chain wheel (315) and a chain (316);

the walking robot base (1) is characterized in that mounting plates (301) are fixedly connected to two ends of the walking robot base through bolts, supporting vertical rods (302) are symmetrically and movably connected to the top ends of the mounting plates (301), top plates (303) are clamped to the top ends of the supporting vertical rods (302), reset springs (304) are sleeved between the corresponding top plates (303) on the outer sides of the supporting vertical rods (302) and the mounting plates (301), fixing plates (305) are clamped to the bottom ends of the supporting vertical rods (302), and air cushion wheels (306) are rotatably connected to one ends of the fixing plates (305);

the walking robot base (1) is inside each corner position department has all offered drive chamber (307), driving motor (308) are installed in inside symmetry embedding of standing groove (2), driving motor (308) output shaft has bull stick (309), bull stick (309) bottom corresponds drive chamber (307) inside position department joint and has driving gear (310), driving chamber (307) inner wall corresponds driving gear (310) one side position department rotation and is connected with driven gear (311), spout (312) have been seted up at walking robot base (1) both ends corresponding driven gear (311) one side position department, spout (312) inside swing joint has regulating block (313), and regulating block (313) one end corresponds spout (312) inside position department symmetry joint have tensioning spring (314), regulating block (313) one end rotation is connected with sprocket (315), driven gear (311) pivot one end and air cushion wheel (306) one end all joint have sprocket (315), sprocket (315) outside has cup jointed chain (316).

3. An all-terrain walking robot as defined in claim 2, wherein: the bottom of support montant (302) runs through the bottom of mounting panel (301), driving motor (308) are supplied power through internal power source, driving motor (308) are four altogether, driving gear (310) and driven gear (311) are the bevel gear, and driving gear (310) and driven gear (311) intermeshing, sprocket (315) outside and chain (316) inner wall meshing.

4. An all-terrain walking robot as defined in claim 2, wherein: one end of the cross rod (320) is clamped with one end of the driving gear (310), and a waterproof lantern ring is sleeved at the joint of the cross rod (320) and the walking robot base (1).

5. An all-terrain walking adaptable robot as defined in claim 1, wherein: the floating anti-tilting mechanism (4) comprises a storage groove (401), a notch (402), a rotating plate (403), an extension plate (404), a connecting plate (405), a rotating motor (406), a vertical cylinder (407), a push rod (408), a lifting grid (409), an air cushion (410), a supporting plate (411), a first air bag (412), a mounting frame (413) and a second air bag (414);

the walking robot base (1) bottom has been seted up and has been accomodate groove (401), accomodate groove (401) inner wall symmetry and seted up notch (402), notch (402) inner wall rotation is connected with rotor plate (403), rotor plate (403) one end top position department is through bolt fixedly connected with extension board (404), the extension board (404) other end articulates there is connecting plate (405), the inside central point department of standing groove (2) is through bolt fixedly connected with rotating electrical machines (406), rotating electrical machines (406) output shaft corresponds to accomodate groove (401) inside position department joint has vertical cylinder (407), vertical cylinder (407) bottom is through threaded connection there is push rod (408), push rod (408) bottom corresponds to accomodate groove (401) inside rotation and is connected with lifting grid (409), lifting grid (409) bottom is through bolt fixedly connected with air cushion (410), lifting grid (409) both ends all rotate with connecting plate (405) one end;

the walking robot base is characterized in that the bottom end of the rotating plate (403) is fixedly connected with a supporting plate (411) through bolts, the top end of the supporting plate (411) is fixedly connected with a first air bag (412) through bolts, two ends of the walking robot base (1) are fixedly connected with mounting frames (413) through bolts, and second air bags (414) are clamped inside the mounting frames (413).

6. An all-terrain walking robot as defined in claim 5, wherein: the width of the rotating plate (403) is equal to the width of the notch (402), the included angle between the extending plate (404) and the rotating plate (403) is ninety degrees, and the rotating motor (406) is powered by an internal power supply.

7. An all-terrain walking robot as defined in claim 5, wherein: the lifting grating (409) is symmetrically welded with a limiting block, a limiting groove is formed in the position of one side of the inner wall of the storage groove (401) corresponding to the limiting block, one end of the limiting block is slidably connected with the inner wall of the limiting groove, the outer side of the lifting grating (409) is attached to the inner wall of the storage groove (401), and the top end of the supporting plate (411) is attached to the bottom end of the walking robot base (1).

8. An all-terrain walking robot as defined in claim 5, wherein: the battery dampproof and buffering mechanism (5) is arranged in the placing groove (2), and the battery dampproof and buffering mechanism (5) comprises a bottom groove (501), a vertical plate (502), a transverse plate (503), a transmission rod (504), a water wheel (505), a worm wheel (506), a fixed shaft seat (507), a transverse rod (508) and a worm (509);

the walking robot base (1) bottom corresponds second gasbag (414) inboard position department and has seted up kerve (501), inside through bolt fixedly connected with riser (502) of kerve (501), riser (502) one end bottom position department passes through bolt fixedly connected with diaphragm (503), diaphragm (503) one end corresponds riser (502) both sides position department and all rotates and be connected with transfer line (504), two transfer line (504) one end equal joint has water wheels (505), two transfer line (504) other end corresponds that the equal joint of diaphragm (503) inboard position department has worm wheel (506), riser (502) inner wall joint has fixed axle bed (507), fixed axle bed (507) both ends all rotate and are connected with horizontal pole (508), worm (509) have been cup jointed in the horizontal pole (508) outside corresponding kerve (501) inside position department.

9. An all-terrain walking robot as defined in claim 7, wherein: one end of the cross rod (508) penetrates through the walking robot base (1) and is connected with one end of the driving gear (310) in a clamping mode, and a waterproof rubber ring is sleeved at the joint of the outer side of the cross rod (508) and the inner wall of the walking robot base (1).

10. An all-terrain walking robot as defined in claim 8, wherein: the rotation directions of the two water wheels (505) are opposite, and the worm wheel (506) is meshed with the worm (509).

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