CN103395457B - A kind of polypody mobile device based on hybrid drive - Google Patents

Abstract

A multi-leg mobile device based on a hybrid drive mechanism, consisting of a body (1) and multiple hybrid drive leg structures (2); the hybrid drive leg structures (2) are installed on the body (1), and each The hybrid drive leg structure (2) includes a base (5), a main drive motor (6), a motor base (7), a coupling (8), a crank shaft (9), a crank (10), a crank connecting rod shaft ( 11), transmission link (12), rocker shaft (13), gearbox shaft (14), linear drive unit (15), rocker (16), rocker calf shaft (17) and calf unit (18) , connecting rod-leading screw nut sleeve rotating shaft (19), connecting rod shank rotating shaft (20). The invention realizes fast and efficient gait swing, thereby realizing efficient walking and running of the mobile device; at the same time, it realizes flexible control, and further realizes the adaptability of the mobile device to complex terrains such as hillsides, grasslands, potholes and the like.

Description

A multi-leg mobile device based on hybrid drive mechanism

technical field

The invention relates to the technical field of bionic mobile platforms, in particular to a multi-legged mobile device using a hybrid drive mechanism as a leg structure.

Background technique

In the fields of military, exploration and rescue, traditional tracked and wheeled mobile devices are limited in complex terrain applications such as mountains, jungles, and wastelands, while bionic footed mobile devices have better mobility and flexibility. Sex, stronger environmental adaptability, so it has broad application prospects. In the past research on footed mobile devices, most of them adopted the leg structure based on the open-chain series mechanism, which has good multi-degree-of-freedom controllable flexibility. For example, the "BigDog" and "LittleDog" of BostonDynamics in the United States, the "StarlETH" of ETH in Switzerland, and the "Scorpoin" eight-legged planetary exploration robot of NASA in the United States, etc., all adopt the leg structure design of the open-chain multi-degree-of-freedom series mechanism. It has good terrain adaptability and can pass through various complex terrains. However, most of the joints of the open-chain series mechanism require a servo drive system, which requires high drive performance. At the same time, the control algorithm is complex, the servo rigidity is high, and the drive needs to perform frequent reciprocating movements. As the swing frequency of the legs increases, the drive frequently moves forward and backward The impact and energy loss caused by switching are greatly increased, which greatly restricts the moving speed and moving efficiency of the leg-like mobile device. Therefore, improving the speed and efficiency of legged mobile devices and obtaining high-efficiency, fast-moving legged mobile mechanisms has become an important development trend in the current research on legged robots.

At present, there are many different research ideas in the study of improving the mobile efficiency of legged robots. One is to add a wheeled mobile device to the legged robot to combine multiple moving modes, such as the "HYBTOR" wheel-legged quadruped robot of Harbin Institute of Technology, and the "ATHLETE" hexapod robot of NASA in the United States. Terrain environment, while using wheels to move quickly on flat ground, the movement efficiency has been improved to a certain extent. However, the combination of legged and wheeled mobile mechanisms, on the one hand, increases the complexity and cost of the mechanism, and reduces the reliability of the system; Resistance, to a certain extent, affects the terrain adaptability of the robot. Another research idea is to change the reciprocating swing driven by the legs into a continuous rotational motion to avoid frequent forward and reverse switching of the drive, thereby improving the speed and efficiency of movement. The "RHex" hexapod robot of BostonDynamics adopts simple arc-shaped legs, and realizes foot movement through continuous rotation of arc-shaped legs, which achieves high moving efficiency and has good performance in grassland, mud, rocks and other environments. Applicability, but it essentially abandons the high center of gravity obstacle-surmounting function and leg flexibility of the legged robot; Theo Jansen's "Strandbeests" and the American "WaterRunner" use a crank-driven linkage mechanism as the leg structure. The continuous rotational motion of the crank is converted into the reciprocating swing of the legs, enabling efficient locomotion of the robot. Among them, "Strandbeests" can use the sea breeze for beach walking, and "WaterRunner" can run quickly on the water. However, the leg structure of the single-degree-of-freedom crank-link mechanism does not have the adaptability to complex terrains due to only a fixed foot-end trajectory.

Contents of the invention

The technical solution of the present invention is to overcome the deficiencies of the prior art and provide a multi-legged mobile device based on a hybrid drive mechanism to realize fast and efficient gait swing, thereby realizing efficient walking and running of the mobile device; at the same time, it realizes flexible control, In turn, the adaptability of the mobile device to complex terrain such as hillsides, grasslands, and potholes is realized.

The purpose of the present invention is achieved through the following technical solutions: a multi-legged mobile device based on a hybrid drive mechanism, consisting of a body 1 and a plurality of hybrid drive leg structures 2; the hybrid drive leg structures 2 are installed on the body 1 , each hybrid drive leg structure 2 includes a base 5, a main drive motor 6, a motor base 7, a coupling 8, a crank shaft 9, a crank 10, a crank connecting rod shaft 11, a transmission link 12, a rocker shaft 13. Gear box rotating shaft 14, linear drive unit 15, rocker 16, rocking rod calf rotating shaft 17 and calf unit 18, connecting rod-lead screw nut sleeve rotating shaft 19, connecting rod calf rotating shaft 20; the main drive motor 6 is installed on the motor On the base 7, the motor base 7 is rigidly connected to the base 5, the crank 10, the linear drive unit 15 and the rocker 16 are respectively installed on the base 5 through the crank shaft 9, the gear box shaft and the rocker shaft 13, and the transmission link 12 are respectively connected with the crank 10, the linear drive unit 15 and the lower leg unit 18 through the crank connecting rod rotating shaft 11, the connecting rod-lead screw nut sleeve rotating shaft 19 and the connecting rod lower leg rotating shaft 20, and the rocker 16 and the lower leg unit 18 are connected through the rocker lower leg The rotating shaft 17 is connected.

Each hybrid driving leg structure in the plurality of hybrid driving leg structures 2 is installed on the frame 1 in a rectangular shape, and the installation method is an external elbow type, an internal elbow type or a parallel elbow type; The driving leg structure 2 is distributed on the body in a horizontal, vertical, array or circular manner, and the front and rear feet are distributed in an outer elbow, inner elbow or parallel elbow.

Described linear drive unit 15 comprises servomotor 21, gear case 22, motor gear 24, gear case cover 25, screw shaft 27, leading screw nut 29 and leading screw gear 34; On the seat 5, the gear box 22 and the gear box cover 25 are fixed by screws 26, the servo motor 21 is fixed on the gear box and fixed with the motor gear 24 by the motor gear set screw 23, the motor gear 24 meshes with the lead screw gear 34, and the screw The screw gear 34 is fixed to the screw shaft 27 through the positioning pin 33, the screw shaft 27 is axially fixed by the gear 22 and the gear box cover 25 through the angular contact bearing 32, and the screw nut 29 is fixed to the screw nut sleeve 30 by the screw 28. Then, the lead screw nut sleeve 30 is hinged with the transmission link 12 through the connecting rod-lead screw nut sleeve rotating shaft 19, and the nut 31 is installed on the end of the lead screw shaft 27 to limit the lead screw nut 29.

Described shank unit 18 comprises shank top 35, buffer spring 36, shank stop bar 37, M8 nut 38, shank bottom 39 and sole 40; Connecting rod 12 and rocking bar 16 are hinged, and shank upper part 35 and shank lower part 39 cooperate by hole shaft, can move up and down, and the center is buffer spring 36, and shank stop bar 37 is installed between shank upper part 35 and shank lower part 39, and two The end M8 nut 38 and the sole 40 are installed at the bottom of the lower leg 39 .

The sole 40 is made of shock-absorbing material.

The dynamic working process of the present invention is as follows: the main drive motor 6 transmits the rotation to the crank shaft 9 through the coupling 7, and the rotation of the crank 10 drives the transmission connecting rod 12 and the linear drive unit 15 to swing, and then drives the rocker and the lower leg unit to swing , the bottom of the calf realizes the closed-loop movement track of the foot end; the servo motor 21 in the linear drive unit drives the motor gear 24 to rotate, and then drives the screw shaft 27 to rotate through the screw gear 34, thereby driving the screw nut 29 and the screw nut sleeve 30 to perform Axial movement, so as to adjust the swing of the transmission link 12 and the entire linear drive unit 15, and realize real-time adjustment of the movement trajectory of the foot end, thereby changing the movement gait of the multi-legged mobile device and adjusting the posture of the entire body. To improve the maneuverability and terrain adaptability of the multi-leg mobile device; when the sole of the foot touches the ground, the buffer spring 36 can buffer the impact force and reduce the force on the upper part of the calf.

The main drive motor 6 transmits the rotation to the crank shaft 9 through the coupling 7, the rotation of the crank 10 drives the transmission link 12 and the linear drive unit 15 to swing, and then drives the rocker and the calf unit to swing, and the bottom of the calf realizes the movement track of the foot end In the linear drive unit, the servo motor 21 drives the motor gear 24 to rotate, and then drives the screw shaft 27 to rotate through the screw gear 34, thereby driving the screw nut 29 and the screw nut sleeve 30 to move axially, so as to transfer the connecting rod 12 and the swing of the entire linear drive unit 15 are adjusted to realize real-time adjustment of the foot end trajectory; when the sole of the foot touches the ground, the buffer spring 36 buffers the impact force to reduce the force on the upper part of the calf.

The principle of the present invention: the present invention mainly includes the hybrid drive leg structure and the topological installation of multiple legs of the mobile device; wherein the hybrid drive leg structure adopts a multi-degree-of-freedom hybrid drive closed-chain linkage mechanism, one of which is a one-way The crank driven at a constant speed provides the active force of the leg mechanism, and the remaining degrees of freedom are the servo control degrees of freedom of reciprocating motion, which are used for servo adjustment control of the leg mechanism. The end point or extension end of the connecting rod in the connecting rod mechanism is used as the foot end of the leg mechanism; the crank is driven by an ordinary high-power rotary driver (including high-power motor, hydraulic motor, engine, etc.) to perform one-way rotation at a constant speed to realize The gait swing of the entire leg link mechanism realizes the walking trajectory of the foot end; the servo drive performs servo drive during the foot-like walking process, and adjusts the trajectory of the foot end in real time to achieve adaptability under complex terrain.

The topological installation of multiple legs of the mobile device is mainly through the arrangement of multiple hybrid drive leg structure modules in different positions on the rigid and flexible body to obtain different forms of multi-legged mobile devices to achieve different travel performances. Terrain remains adaptable and flexible.

The advantage of the present invention compared with prior art is:

(1) The present invention adopts the hybrid drive mechanism as the leg mechanism of the mobile device, and effectively combines the high-power ordinary rotary power source with continuous unidirectional rotation and the servo power input with high frequency response: the one-way rotation power source of the active power source is used The rotation drives the leg mechanism to achieve fast and efficient gait swing, thereby realizing the efficient walking and running of the mobile device; at the same time, the high-frequency servo drive is used to adjust the trajectory of the leg mechanism to achieve flexible control, and then the mobile device can control the hillside, Adaptability to complex terrain such as grassland and potholes.

(2) The hybrid driving leg structure of the present invention adopts a modular design, and through different topological installations, different mobile device configurations can be realized and different comprehensive performances can be obtained.

Description of drawings

Fig. 1 is the structural principle diagram of hybrid driving mechanism of the present invention;

Fig. 2 is three different topological installations of the quadruped mobile device based on the hybrid drive mechanism of the present invention; where a, b, and c are the installation diagrams of the parallel elbow, inner elbow, and outer elbow structures of the leg structure respectively;

Fig. 3 is the topological installation diagram of the hybrid drive leg structure of the multi-legged mobile device based on the hybrid drive mechanism; where a is the horizontal direction, b is the vertical direction, c is the array, and d is the topological installation diagram of the circular leg structure;

Fig. 4a, Fig. 4b, Fig. 4c respectively show the application examples of a multi-leg mobile device based on a hybrid drive in which the main drive and the servo drive are both DC motors of the present invention, wherein 4a is the quadruped inner elbow type, 4b is the hexapod longitudinal direction, 4c is eight-legged horizontal;

Fig. 5 is a leg mechanism design diagram of an application example of a quadruped mobile device in the present invention;

Fig. 6 is a linear servo drive design diagram of an application example of a quadruped mobile device in the present invention;

Fig. 7 is a design diagram of the lower leg unit of the application example of the quadruped mobile device in the present invention.

Among them, the single arrow arc in Fig. 1 and Fig. 2 represents the one-way constant speed rotation drive, and the double arrow arc and straight line represent the high frequency servo drive. The thick line in Fig. 2 and Fig. 3 is the body of the mobile device. In Figures 4, 5, 6 and 7: 1 is the body of the mobile device, 2 is the leg mechanism of the hybrid mechanism, 3 is the protective cover of the control system, 4 is the laser radar, 5 is the base, 6 is the main driving motor, and 7 is the motor 8 is the coupling, 9 is the crank shaft, 10 is the crank, 11 is the crank connecting rod shaft, 12 is the transmission link, 13 is the rocker shaft, 14 is the gearbox shaft, 15 is the linear drive unit, 16 is Rocker, 17 is the rocker calf shaft, 18 is the calf unit, 19 is the connecting rod-screw nut bushing shaft, 20 is the connecting rod calf shaft, 21 is the servo motor, 22 is the gearbox, 23 is the motor gear tightening Screws, 24 is the motor gear, 25 is the gearbox cover, 26 is the M3 screw, 27 is the screw shaft, 28 is the M5 screw, 29 is the screw nut, 30 is the screw nut sleeve, 31 is the M12 nut, 32 is Angular contact bearing, 33 is the positioning pin with a diameter of 4, 34 is the screw gear, 35 is the upper part of the calf, 36 is the buffer spring, 37 is the limit rod of the calf, 38 is the M8 nut, 39 is the lower part of the calf, and 40 is the sole of the foot .

detailed description

As shown in Figure 1, the hybrid drive leg mechanism is a multi-degree-of-freedom crank-rocker mechanism, one of which uses unidirectional constant-speed rotational drive (unidirectional arrow arc curve), and the remaining degrees of freedom use linear servo Drive or rotary servo drive (two-way arrow straight line or arc curve); one-way rotary drive drives the crank to rotate at high speed to realize the gait swing of the hybrid drive mechanism, and realize the rapidity and efficiency of the mechanism; the servo drive is based on the main drive Adjust the legs above, and further adjust the trajectory of the foot end, so that the mechanism has good flexibility and adapts to different and complex terrains. As shown in Figure 2 and Figure 3, the thick black solid line represents the body of the mobile device. Different topological installations of the hybrid drive leg mechanisms constitute different forms of mobile devices, and the forward or reverse movement of the hybrid drive mechanism is used to make Mobile devices have different fast-moving performances; Figure 2 shows the topological installation of four legs in 3 of quadruped mobile devices based on the hybrid drive mechanism, a, b, and c are the parallel elbow, inner elbow and outer elbow structures of the leg structure, respectively The installation method simulates the walking gait of various mammals with different leg structures; Figure 3 shows the topological installation (top view) of the mobile device with hybrid drive leg structure above quadrupeds, and the black arrow in the figure indicates the forward direction of the mobile device , the black rectangle represents the top view of the hybrid driving leg structure, and the multi-legged mechanism can take a horizontal (a in Figure 3), a vertical (b in Figure 3), an array (c in Figure 3) or a ring (d in Figure 3 ) for topological installation of the leg structure, through stable gait design, multiple sets of legs (each group can independently keep the mobile device stable) alternately touch the ground to move the mobile device forward, and the multi-legged mobile device based on the hybrid drive mechanism can obtain High-efficiency high-speed travel (one-way high-speed drive of the main drive), and better flexibility and adaptability to complex terrain (high-frequency adjustment of the servo drive).

Fig. 4a shows an embodiment of an all-motor-driven multi-leg mobile device based on a hybrid drive mechanism. The servo drive degree of freedom of the hybrid drive leg structure is 1, and a moving pair is used. The position is the position of the rocker in the middle of Fig. 1; The device is mainly composed of a body 1 and a hybrid drive leg structure 2, where Fig. 4a is a quadruped mobile device whose leg structure is installed using the topological installation of Fig. 4c is an eight-legged mobile device installed in a horizontal topology, and Figures 4b and 4c show a hexapod vertically and an eight-legged horizontally. The range of multi-legged mobile devices is 4-20, regardless of odd or even numbers. The following uses 4a as an example to describe in detail, and the specific implementation methods of 4b and 4b are the same as 4a.

The hybrid driving leg structure is effectively damped through the body 1 of the base 5 mobile device. At the same time, because of the modular design of the leg structure (as shown in Figure 5), the configuration of the quadruped mobile device in Figure 2a and Figure 2c and the longitudinal , lateral, array and circular multi-leg mobile devices can be realized simultaneously. In the hybrid driving leg structure, the crank 10, the linear drive unit 15 and the rocker 16 respectively pass through the crank shaft 9, the gear box shaft 14 and the rocker shaft 13 to form a rotating pair with the base through the bearing; the crank 10, the base 5, the transmission connection The rod 12 and the linear drive unit 15 form a four-bar first closed chain. The crank 10 and the transmission connecting rod 12 form a rotating pair through the crank connecting rod shaft 11 through the bearing. The linear drive unit 15 and the transmission connection rod 12 pass through the connecting rod-screw nut The sleeve rotating shaft 19 forms a rotating pair; the base 5, the linear drive unit 15, the transmission link 12, the shank unit 18 and the rocking bar 16 form a second closed chain of five bars, and the transmission link 12 passes through the connecting rod shank shaft 20 through the bearing and The shank unit 16 forms a revolving pair, and the rocking bar 16 forms a revolving pair with the shank by the rocking rod shank rotating shaft 17 . The crank 10 rotates at a high speed to drive the first closed chain to realize the periodical swing of the transmission link 12 and the linear drive unit 15. At the same time, the linear drive unit 16 performs linear servo to adjust the movement of the first closed chain, fine-tuning the linear drive unit 15 and the transmission The swing of the link 12; the swing of the linear drive unit 15 and the transmission link 12 drives the second closed chain to realize the swing of the shank unit 18 and the rocker 16, and the shank realizes the foot end track of the whole hybrid driving leg structure through the sole 40, Realize walking and running.

The crank 10 is driven by a high-power, one-way constant-speed rotating main motor 6, the main motor 6 is fixedly mounted on the base 5 through the motor seat 7, and the high-speed, one-way constant-speed rotation of the output shaft of the main motor 6 passes through the coupling The device 8 is transmitted to the crank shaft 9, thereby driving the crank 10 to rotate; the linear drive unit 15 (as shown in FIG. 6 ) is driven by a low-power servo drive motor 21, and the servo drive motor 21 is installed on the gear box 22, and the gear The box 22 rotates through the gear box shaft 14 and the base 5, and the servo rotation of the motor output shaft is transmitted to the screw gear 34 through the motor gear 24, and the screw shaft 27 is driven to move through the positioning pin 33, and the screw shaft passes through two angles at the same time. The contact ball bearing 32 is axially limited and transmitted by the gear case 22 and the gear case cover 25, and the screw shaft 27 rotates to drive the lead screw nut sleeve 30 fixedly connected with the lead screw nut 29 to move axially (the nut 31 limit the axial movement of the lead screw nut), the shape and size of the first closed chain change, adjust the swing of the servo linear drive unit 15 and the transmission link 12, and then adjust the foot end trajectory; the calf unit (as shown in Figure 7 ) The upper part 35 of the middle calf and the lower part 39 of the calf are formed to do linear displacement through the cooperation of the hole shaft, and the buffer spring 36 is installed in the middle, and the movement is guided and limited by the calf limit rod 37 at the same time, and the lower part 39 of the calf is made of shock-absorbing material The sole 40 is fixed. When the sole of the foot touches the ground and forms an impact force, the sole 40 transmits the attenuated impact force after energy absorption to the lower leg 39, and then to the buffer spring 36 for energy absorption. The upper leg 35 receives it twice. The impact force after weakening reduces the impact of ground impact on the driver.

When the multi-legged mobile device based on hybrid drive walks or runs quickly on a flat ground, it does not need to adjust the servo drive to move straight; when turning, the track of the left and right legs is adjusted through the servo drive, and the height of the track is inconsistent. Realize the speed difference of the foot type and form the turning radius for turning; when the mobile device encounters obstacles while walking slowly under complex terrain, adjust the foot trajectory of each foot through the servo drive to realize the adaptability of the mobile device to the complex ground and cross the small Obstacles; In addition, sensors such as LiDAR 4 can also be used to identify large obstacles, so as to turn around and avoid them.

In a word, the present invention adopts the hybrid drive closed-chain link mechanism as the leg structure of the mobile device, organically combines the common rotary power source with one-way rotation and the servo drive with high-frequency response, and uses the active power source to drive the leg mechanism with one-way rotation The gait swing is used to realize the efficient and fast walking of the mobile device. At the same time, the servo drive is used to adjust the trajectory of the leg mechanism to achieve flexible control of the movement, and to realize the adaptability of the mobile device to complex terrain and the ability to overcome obstacles.

Parts not described in detail in the present invention belong to the well-known technology in the art.

The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments. It cannot be determined that the specific embodiments of the present invention are limited thereto. Under the circumstances, some simple deduction or replacement can also be made, all of which should be regarded as belonging to the scope of patent protection determined by the submitted claims of the present invention.

Claims (5)

1. A multi-leg mobile device based on a hybrid drive mechanism, characterized in that: it is made up of a body (1) and a plurality of hybrid drive leg structures (2); the hybrid drive leg structure (2) is installed on the body (1 ), each hybrid drive leg structure (2) includes a base (5), a main drive motor (6), a motor seat (7), a coupling (8), a crank shaft (9), a crank (10 ), crank connecting rod shaft (11), transmission link (12), rocker shaft (13), gearbox shaft (14), linear drive unit (15), rocker (16), rocker leg shaft (17 ) and shank unit (18), connecting rod-lead screw nut sleeve rotating shaft (19), connecting rod shank rotating shaft (20); the main drive motor (6) is installed on the motor base (7), and the motor base (7) is rigid Connected to the base (5), the crank (10), the linear drive unit (15) and the rocker (16) are respectively installed on the base (5) through the crank shaft (9), the gear box shaft and the rocker shaft (13). ), the transfer connecting rod (12) is connected to the crank (10), linear drive unit (15) respectively through the crank connecting rod shaft (11), the connecting rod-screw nut sleeve shaft (19) and the connecting rod calf shaft (20) ) is connected with the shank unit (18), and the rocking bar (16) is connected with the shank unit (18) by the rocking bar shank rotating shaft (17). 2. The multi-leg mobile device based on the hybrid drive mechanism according to claim 1, characterized in that: each hybrid drive leg structure in the plurality of hybrid drive leg structures (2) is installed in a rectangular shape on the body (1) Above, the installation method is external elbow type, internal elbow type or parallel elbow type; the hybrid driving leg structure (2) of the four-legged mobile device is distributed on the body in a horizontal, vertical, array or circular manner, and the front and rear feet are simultaneously used. Elbow, inside elbow or parallel elbow distribution. 3. The multi-leg mobile device based on a hybrid drive mechanism according to claim 1, characterized in that: the linear drive unit (15) includes a servo motor (21), a gear box (22), a motor gear (24), Gear box cover (25), leading screw shaft (27), leading screw nut (29) and leading screw gear (34); Gear box (22) is installed on the base (5) by gear box rotating shaft (14), and gear The box (22) and the gear box cover (25) are fixed by screws (26), the servo motor (21) is fixed on the gear box and fixed by the motor gear set screw (23) and the motor gear (24), and the motor gear (24) ) meshes with the lead screw gear (34), the lead screw gear (34) is fixed with the lead screw shaft (27) through the positioning pin (33), and the lead screw shaft (27) is fixed by the gear box (22) through the angular contact bearing (32) and the gear box cover (25) are axially fixed, the lead screw nut (29) is fixedly connected with the lead screw nut sleeve (30) through the screw (28), and the lead screw nut sleeve (30) is passed through the connecting rod-lead screw nut sleeve The cylinder rotating shaft (19) is hinged with the transmission connecting rod (12), and the end of the nut (31) installed on the screw shaft (27) is limited to the screw nut (29). 4. The multi-legged mobile device based on a hybrid drive mechanism according to claim 1, characterized in that: the lower leg unit (18) includes an upper part of the lower leg (35), a buffer spring (36), a lower leg limit rod (37) , M8 nut (38), shank bottom (39) and sole (40); shank top (35) passes connecting rod shank shaft (20) and rocker shank shaft (17) and transmission link (12) and rocker respectively The rod (16) is hinged, the upper part of the calf (35) and the lower part of the calf (39) can move up and down through the cooperation of the hole shaft, and the buffer spring (36) is in the middle, and the calf limit rod (37) is installed on the upper part of the calf (35) and the calf Between the bottom (39), the M8 nuts (38) and the soles of the feet (40) at both ends are installed on the lower leg bottom (39) bottom. 5. The multi-leg mobile device based on a hybrid driving mechanism according to claim 4, characterized in that: the sole (40) is made of shock-absorbing material.