A bionic lizard robot

Abstract

The present invention discloses a bionic lizard robot, which includes a head module, a torso module, limb modules and a tail module. The head module is installed at the front end of the torso module, the tail module is installed at the rear end of the torso module, and multiple limb modules are installed in pairs on both sides of the torso module. Drivers are provided at the joints of each module. The robot also includes sensors and a controller. The controller is communicatively connected to the drivers and the sensors, and controls the operation of the drivers based on the detection results of the sensors. By connecting and cooperating multiple modules with each other and providing a variety of sensors, the degree of freedom and control accuracy are improved, and target recognition and automatic obstacle avoidance are realized, and the adaptability and flexibility in harsh and complex environments are relatively good.

Description

Technical Field

[0001] The invention relates to the field of robots, in particular to a bionic lizard robot. Background Art

[0002] The body of a lizard is generally divided into four parts: head, neck, trunk, and tail. Lizards have slender bodies, strong and well-developed hind limbs, and membranes at the bottom of their feet that can be opened or closed. When they run on the water, these membranes will open, greatly increasing the contact area between the soles of their feet and the water surface. The movement of lizards is to put the left front limb on the upper right hind limb and the head looking to the left, and to put the right front limb on the upper left hind limb and the head looking to the right, that is, swaying left and right. With their unique body structure and movement characteristics, lizards can quickly shuttle in most harsh and complex environments.

[0003] Conventional transport and search and rescue work is difficult to achieve in many harsh and complex environments, and the passability is poor. In order to obtain good passability and adaptability under harsh and complex working conditions, a lizard-like desert quadruped robot can be used. However, the existing robots have few degrees of freedom, simple structure, poor flexibility, low control accuracy, and are only designed for desert environments. The scope of application is limited, open-loop control has no feedback, poor safety and stability, and the main body is an integral whole, with poor flexibility and applicability.

[0004] Therefore, how to provide a flexible and stable bionic lizard robot is a technical problem that technicians in this field currently need to solve. Summary of the invention

[0005] The purpose of the present invention is to provide a bionic lizard robot, which is interconnected by multiple modules and equipped with multiple sensors to improve the degree of freedom and control accuracy, realize target recognition and automatic obstacle avoidance, and has good adaptability and flexibility in harsh and complex environments.

[0006] In order to solve the above technical problems, the present invention provides a bionic lizard robot, including a head module, a trunk module, a limb module and a tail module, the head module is installed at the front end of the trunk module, the tail module is installed at the rear end of the trunk module, and a plurality of limb modules are installed in pairs on both sides of the trunk module. A driver is provided at the joint of each module, and the present invention also includes a sensor and a controller. The controller is communicatively connected to the driver and the sensor, and controls the operation of the driver according to the detection results of the sensor.

[0007] Preferably, the head module includes a chassis, a cage, and a bracket. The side end of the chassis is fixedly connected to the cage, and the side end of the chassis is hinged to the bracket. A camera is installed on the bracket. A head pitch driver is installed on the head pitch seat of the chassis. The head pitch driver is connected to the bracket and drives the bracket to swing vertically. The rear end of the chassis is hinged to the head yaw seat at the front end of the torso module. A head yaw driver is installed on the head yaw seat. The head yaw driver is connected to the cage and drives the cage to swing horizontally.

[0008] Preferably, the torso module includes a head connection module, a front limb connection module, a front torso module, at least one middle torso module, a rear torso module, and a rear limb connection module that are sequentially hinged. The head yaw seat is provided at the front end of the head connection module. The front limb connection module and the rear limb connection module are respectively connected to the limb module.

[0009] Preferably, the front limb connection module includes a front center block. The two sides of the front center block are connected to the limb module. The front swing driver at the rear end of the front center block is hinged to the front end of the front torso cavity of the front torso module. The middle torso module includes a middle torso cavity. The middle swing driver at the front end of the middle torso cavity is hinged to the V-shaped block at the rear end of the front torso cavity. The rear torso module includes a rear torso cavity. The rear swing driver at the front end of the rear torso cavity is hinged to the rear end of the middle torso. The rear limb connection module includes a rear center block. The two sides of the rear center block are connected to the limb module. The final swing driver at the front end of the rear center block is hinged to the rear end of the rear torso cavity. The front swing driver, the middle swing driver, the rear swing driver, and the final swing driver drive the connected components to swing horizontally.

[0010] Preferably, the lower computer of the controller is installed in the front torso cavity, the upper computer of the controller is installed in the middle torso cavity, and the power source is installed in the rear torso cavity.

[0011] Preferably, the limb module includes a large arm and a small arm. One end of the large arm is connected to the two sides of the front center block or the two sides of the rear center block through a limb one driver and a limb two driver, and drives the large arm to swing longitudinally and vertically. The other end of the large arm is connected to the small arm through a limb three driver and a limb four driver, and drives the small arm to swing vertically and horizontally.

[0012] Preferably, the large arm includes a driving rocker, a driven rocker, and a connecting rod hinging the two. The small arm includes a small arm leg, a joint ball, and a grounding claw.

[0013] Preferably, a pressure sensor is provided on the joint ball, an angular displacement sensor is provided on each driver, and an ultrasonic sensor is provided on the head module and the torso module.

[0014] Preferably, the limb modules are connected to both sides of the middle torso module.

[0015] Preferably, the tail module includes a plurality of tail joints hinged in sequence. A tail swing driver for connecting the rear end of the torso module is provided on the frontmost tail joint, and an extension block is connected to the rearmost tail joint. An extension hole for connecting other modules is provided on the extension block.

[0016] The present invention provides a bionic lizard robot, which includes a head module, a torso module, limb modules, and a tail module. The head module is installed at the front end of the torso module, the tail module is installed at the rear end of the torso module, and a plurality of the limb modules are installed in pairs on both sides of the torso module. Drivers are provided at the joints of each module. The robot also includes sensors and a controller. The controller is communicatively connected to the drivers and the sensors, and controls the operation of the drivers based on the detection results of the sensors. Through the interconnection and cooperation of multiple modules and the setting of various sensors, the degrees of freedom and control accuracy are improved, target recognition and automatic obstacle avoidance are achieved, and the adaptability and flexibility in harsh and complex environments are relatively good. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic structural diagram of a specific embodiment of the bionic lizard robot provided by the present invention;

[0018] Figure 2 is a schematic structural diagram of the head module in a specific embodiment of the bionic lizard robot provided by the present invention;

[0019] Figure 3 is an exploded schematic diagram of the head module in a specific embodiment of the bionic lizard robot provided by the present invention;

[0020] Figure 4 is a schematic structural diagram of the torso module in a specific embodiment of the bionic lizard robot provided by the present invention;

[0021] Figure 5 is a schematic structural diagram of the front limb connection module in a specific embodiment of the bionic lizard robot provided by the present invention;

[0022] Figure 6 is a schematic structural diagram of the front torso module in a specific embodiment of the bionic lizard robot provided by the present invention;

[0023] Figure 7 is a schematic structural diagram of the middle torso module in a specific embodiment of the bionic lizard robot provided by the present invention;

[0024] Figure 8 is a schematic structural diagram of the rear torso module in a specific embodiment of the bionic lizard robot provided by the present invention;

[0025] Figure 9 Schematic diagram of the structure of the hind limb connection module in a specific embodiment of the bionic lizard robot provided by the present invention;

[0026] Figure 10 Schematic diagram of the structure of the limb module in a specific embodiment of the bionic lizard robot provided by the present invention;

[0027] Figure 11 Exploded view of the limb module in a specific embodiment of the bionic lizard robot provided by the present invention;

[0028] Figure 12 Schematic diagram of the structure of the tail module in a specific embodiment of the bionic lizard robot provided by the present invention;

[0029] Figure 13 Overall machine control flowchart of a specific embodiment of the bionic lizard robot provided by the present invention. Specific embodiment

[0030] The core of the present invention is to provide a bionic lizard robot, which is connected and cooperated with multiple modules, and is provided with a variety of sensors to improve the degree of freedom and control accuracy, realize target recognition and automatic obstacle avoidance, and has good adaptability and flexibility in harsh and complex environments.

[0031] In order to enable those skilled in the art to better understand the solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] Please refer to Figure 1 , Figure 1 Schematic diagram of the structure of a specific embodiment of the bionic lizard robot provided by the present invention.

[0033] The specific embodiment of the present invention provides a bionic lizard robot, which includes a head module 1, a torso module 2, limb modules 3 and a tail module 4. The head module 1 is installed at the front end of the torso module 2, the tail module 4 is installed at the rear end of the torso module 2, and multiple limb modules 3 are installed in pairs on both sides of the torso module 2. Four limb modules 3 can be set, or more limb modules 3 can be set according to the situation to increase the carrying capacity and flexibility.

[0034] Drivers are provided at the joints of each module. Among them, the driver can be a servo motor, or it can also be a motor, a hydraulic motor, etc., all within the protection scope of the present invention. It also includes sensors and a controller. The controller is communicatively connected to the driver and the sensors, and controls the operation of the driver based on the detection results of the sensors. The sensor part includes a camera, an ultrasonic sensor, a pressure sensor, an angular displacement sensor, etc. Other types of sensors can also be added, such as a temperature sensor, etc., to facilitate searching for humans. The controller consists of an upper computer and a lower computer. The upper computer directly issues control commands. The commands issued are first given to the lower computer, and the lower computer then interprets these commands into corresponding timing signals to directly control devices such as the driver and the sensors. In this embodiment, the power source part uses several 8.4V, 5000mA batteries to supply power to the whole machine. It should be noted here that it is not limited to using batteries, and a suitable power source can also be used according to the specific actual situation.

[0035] By connecting and cooperating multiple modules with each other and setting multiple sensors, the degree of freedom and control accuracy are improved, target recognition and automatic obstacle avoidance are achieved, and the adaptability and flexibility in harsh and complex environments are relatively good.

[0036] Please refer to Figure 2 and Figure 3 , Figure 2 is a schematic structural diagram of the head module in a specific embodiment of the bionic lizard robot provided by the present invention; Figure 3 is an exploded view of the head module in a specific embodiment of the bionic lizard robot provided by the present invention.

[0037] In the bionic lizard robot provided by the specific embodiment of the present invention, the head module 1 includes a chassis 11, a retaining frame 12 and a bracket 13. The side end of the chassis 11 is fixedly connected to the retaining frame 12. The retaining frame 12 is located above the chassis 11. At the same time, the side end of the chassis 11 is hinged to the bracket 13. The bracket 13 is located in front of the chassis 11. A camera is installed on the bracket 13 for target detection. A head pitch base 111 is provided on the chassis 11. A head pitch driver A1 is installed on the head pitch base 111. The head pitch driver A1 is connected to the bracket 13 through a head pitch arm A11. When the head pitch driver A1 works, it drives the bracket 13 and the camera to swing vertically, that is, to swing in the XZ plane. The rear end of the chassis 11 is hinged to the head yaw base 211 at the front end of the torso module 2. A head yaw driver A2 is installed on the head yaw base 211. The head yaw driver A2 is connected to the retaining frame 12 through a head yaw arm A21 and drives the retaining frame 12, the driving bracket 13 and the camera to swing horizontally, that is, to swing in the XY plane, realizing the movement of the head with two degrees of freedom.

[0038] Please refer to Figures 4 to 9 , Figure 4Schematic diagram of the structure of the trunk module in a specific embodiment of the bionic lizard robot provided by the present invention; Figure 5 Schematic diagram of the structure of the front limb connection module in a specific embodiment of the bionic lizard robot provided by the present invention; Figure 6 Schematic diagram of the structure of the front trunk module in a specific embodiment of the bionic lizard robot provided by the present invention; Figure 7 Schematic diagram of the structure of the middle trunk module in a specific embodiment of the bionic lizard robot provided by the present invention; Figure 8 Schematic diagram of the structure of the rear trunk module in a specific embodiment of the bionic lizard robot provided by the present invention; Figure 9 Schematic diagram of the structure of the rear limb connection module in a specific embodiment of the bionic lizard robot provided by the present invention.

[0039] Further, the trunk module 2 includes a head connection module 21, a front limb connection module 22, a front trunk module 23, at least one middle trunk module 24, a rear trunk module 25, and a rear limb connection module 26 that are sequentially hinged. A head yaw base 211 is provided at the front end of the head connection module 21. The front limb connection module 22 and the rear limb connection module 26 are respectively connected to the limb module 3.

[0040] Specifically, the front limb connection module 22 includes a front center block 221, a front adapter block 222, and a front swing base 223. The two sides of the front center block 221 are connected to the limb module 3 through the front adapter block 222. The front swing base 223 is provided on the front center block 221. A front swing driver B1 is installed on the front swing base 223, and the front swing driver B1 is hinged to the front end of the front trunk module 23 through a front swing arm B11 and a front link 224.

[0041] The front trunk module 23 includes a front trunk cavity 231 and a V-shaped block 232. The front link 224 is hinged to the column at the front end of the front trunk cavity 231, and the V-shaped block 232 is connected to the column at the rear end of the front trunk cavity 231.

[0042] The middle trunk module 24 includes a middle trunk cavity 241, a middle swing base 242, a middle plate 243, a middle adapter block 244, and a middle link 245. The middle swing base 242 is provided at the front end of the middle trunk cavity 241. A middle swing driver B2 is installed on the middle swing base 242 and is connected to the tip of the V-shaped block 232 through a middle swing arm B21. One side of the middle plate 243 is connected to the rear trunk module 25 through the middle adapter block 244 and the middle link 245.

[0043] The rear torso module 25 includes a rear torso cavity 251, a rear swing base 252, a rear vertical plate 253, a rear adapter block 254, and a rear connecting rod 255. The rear swing base 252 is arranged at the front end of the rear torso cavity 251. The rear swing driver B3 is installed on the rear swing base 252 and is connected to the middle connecting rod 245 through a rear swing arm B31. One side of the rear vertical plate 253 is connected to the front end of the rear limb connection module 26 through the rear adapter block 254 and the rear connecting rod 255.

[0044] The rear limb connection module 26 includes a rear center block 261, a final swing base 262, and a final adapter block 263. Both sides of the rear center block 261 are connected to the limb module 3 through the final adapter block 263. The final swing base 262 is arranged on the rear center block 261. The final swing driver B4 is installed on the final swing base 262, and the final swing driver B4 is connected to the rear connecting rod 255 through a final swing arm B41.

[0045] Among them, the front swing driver B1, the middle swing driver B2, the rear swing driver B3, and the final swing driver B4 drive the connected components to swing laterally, that is, to make each component of the torso swing in the XY plane. The drives cooperate with each other to achieve the body swing of the lizard robot in the XY plane, imitate the movement of the lizard, and improve its flexibility. With the swing of the body, it is conducive to flexible turning and easy to pass through rugged sections, etc. Further, the limb modules 3 are connected to both sides of the middle torso module 24 to increase the number of limb modules 3. Corresponding connection structures can be arranged on both sides of the middle torso module 24.

[0046] Preferably, the lower computer of the controller is installed in the front torso cavity 231, the upper computer of the controller is installed in the middle torso cavity 241, and the power source is installed in the rear torso cavity 251. Or adjust the arrangement and connection methods of each component according to the situation, which are all within the protection scope of the present invention.

[0047] Please refer to Figure 10 and Figure 11 , Figure 10 which is a schematic structural diagram of the limb module in a specific embodiment of the bionic lizard robot provided by the present invention; Figure 11 which is an exploded schematic diagram of the limb module in a specific embodiment of the bionic lizard robot provided by the present invention.

[0048] In the bionic lizard robot provided by the specific embodiment of the present invention, the limb module 3 includes a large arm 31 and a small arm 35. One end of the large arm 31 is connected to both sides of the front center block 221 or the rear center block 261 through a limb one driver C1 and a limb two driver C2, and drives the large arm 31 to swing longitudinally and vertically. The other end of the large arm 31 is connected to the small arm 35 through a limb three driver C3 and a limb four driver C4, and drives the small arm 35 to swing vertically and laterally.

[0049] Specifically, the upper arm 31 includes an active rocker 311, a passive rocker 313, and a connecting rod 312 that articulates the two. The forearm 35 includes a forearm leg 351, a spherical joint 352, and a grounding claw 353. When the active rocker 311 swings, it drives the passive rocker 313 to swing through the connecting rod 312. The active rocker 311 is fixedly connected to the output shaft of the limb two actuator C2. One end of the passive rocker 313 is articulated with the lower output shaft of the limb one actuator C1 through a front adapter block 222, and the other end is articulated with the limb three base 33. The grounding claw 353 is composed of multiple small claws, which increases the contact area with the ground, thereby reducing the pressure, increasing the friction force, and enhancing the supporting ability.

[0050] The limb two base 32 is fixedly connected to the upper output shaft of the limb one actuator C1, and the limb two base 32 houses the limb two actuator C2. The limb three base 33 houses the limb three actuator C3, and the output shaft of the limb three actuator C3 is fixedly connected to the limb four base 34. The limb four base 34 houses the limb four actuator C4, and the output shaft of the limb four actuator C4 is connected to the upper end of the extension plate. The lower end of the extension plate is connected to the upper end of the forearm leg 351 by screws. The two extension plates are symmetrically arranged, clamping the limb four actuator C4, and the lower ends of the two extension plates are joined together to commonly connect to the upper end of the forearm leg 351. When the limb one actuator C1 operates, it drives the limb module 3 to swing in the XY plane. When the limb two actuator C2 operates, it drives the upper arm 31 to swing in the YZ plane. When the limb three actuator C3 operates, it drives the forearm 35 to swing in the XZ plane. When the limb four actuator C4 operates, it drives the forearm 35 to swing in the YZ plane.

[0051] To improve the reliability of the device, a pressure sensor is provided on the spherical joint 352 for detecting the ground pressure, and angular displacement sensors are provided on each actuator for detecting the angular state of each actuator. Ultrasonic sensors are provided on the head module 1 and the torso module 2 for ranging and obstacle avoidance. The camera is mounted on the bracket 13 of the head module 1 and is driven by the upper computer to transmit the collected image information back to the upper computer.

[0052] Please refer to Figure 12 , Figure 12 which is a schematic structural diagram of the tail module in a specific embodiment of the bionic lizard robot provided by the present invention.

[0053] Based on the bionic lizard robot provided in the above specific embodiments, the tail module 4 includes a plurality of tail joints 41 articulated in sequence. A tail swing actuator D for connecting the rear end of the torso module 2 is provided on the front tail joint 41, which is used to drive the tail module 4 to swing in the XY plane. The rear tail joint 41 is connected with an extension block 42, and an extension hole 421 for connecting other modules is provided on the extension block 42. For example, an external small cargo hold can be loaded with rescue supplies, or an external detector can be used for detection and search and rescue, etc.

[0054] Please refer to Figure 13, Figure 13 This is the overall control flowchart of a specific implementation of the bionic lizard robot provided by the present invention.

[0055] The controller part consists of an upper computer and a lower computer, and serial communication is used between the upper computer and the lower computer. The upper computer directly issues control commands, and the issued commands are transmitted to the lower computer. The lower computer then interprets these commands into corresponding timing signals to directly control the servo motors, ultrasonic sensors, pressure sensors, and angular displacement sensor modules.

[0056] The upper computer drives the camera, and the camera converts the captured image information into binary data and transmits it to the upper computer through serial communication. The lower computer drives the ultrasonic sensor to emit ultrasonic waves and receive the returned waves, and calculates the distance from the module to the obstacle in front using the time difference and the speed of sound propagation, and then transmits the information to the upper computer. After receiving the information, the upper computer makes a decision and returns the decision result to the lower computer. The lower computer drives the corresponding servo motors according to the received signal, thereby causing the mechanical structure to perform corresponding movements.

[0057] The lower computer drives the pressure sensor, and the pressure sensor module converts the pressure received on the joint ball 352 in the limb module 3 into an electrical signal and then transmits it to the lower computer. The lower computer analyzes the electrical signal, converts it into corresponding pressure value information, and then transmits it to the upper computer. After receiving the information, the upper computer makes a decision and returns the decision result to the lower computer. The lower computer drives the corresponding servo motors according to the received signal, thereby causing the mechanical structure to perform corresponding movements.

[0058] The lower computer drives the angular displacement sensor, and the angular displacement sensor converts the angular displacement information of each servo motor into an electrical signal and then transmits it to the lower computer. The lower computer analyzes the electrical signal, converts it into corresponding angular displacement information, and then transmits it to the upper computer. After receiving the information, the upper computer makes a decision and returns the decision result to the lower computer. The lower computer drives the corresponding servo motors according to the received signal to correct the deviation, forming a closed-loop control.

[0059] When it is determined that the target is directly in front, the four servo motors of each mechanical leg of the limb module 3 rotate according to the same rule. The left front limb and the right hind limb move simultaneously, and the right front limb and the left hind limb move simultaneously, but the two groups are staggered by half a cycle, and the other servo motors remain stationary. When it is determined that the target is on the side and it is necessary to turn left, the four servo motors of each mechanical leg of the limb module 3 still move according to the above rule, and the servo motors of the trunk module 2 and the tail module 4 work to deflect the entire lizard robot by a certain angle towards the target side, thereby completing the turn. When it is determined that it is necessary to turn right, the servo motors of the trunk module 2 and the tail module 4 work and rotate in the opposite direction to when it is determined that it is necessary to turn left, and the other servo motors work and remain unchanged.

[0060] The above has introduced the bionic lizard robot provided by the present invention in detail. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. A bionic lizard robot, characterized in that, It includes a head module (1), a torso module (2), limb modules (3) and a tail module (4). The head module (1) is installed at the front end of the torso module (2), the tail module (4) is installed at the rear end of the torso module (2), and multiple pairs of the limb modules (3) are installed on both sides of the torso module (2). Drivers are provided at the joints of each module. It also includes sensors and a controller. The controller is communicatively connected to the drivers and the sensors, and controls the operation of the drivers based on the detection results of the sensors. The torso module (2) includes a head connection module (21), a front limb connection module (22), a front torso module (23), at least one middle torso module (24), a rear torso module (25) and a rear limb connection module (26) that are sequentially hinged. A head yaw base (211) is provided at the front end of the head connection module (21). The front limb connection module (22) and the rear limb connection module (26) are respectively connected to the limb modules (3). The front limb connection module (22) includes a front center block (221). The two sides of the front center block (221) are connected to the limb modules (3). The front swing driver (B1) at the rear end of the front center block (221) is hinged to the front end of the front torso cavity (231) of the front torso module (23). The middle torso module (24) includes a middle torso cavity (241). The middle swing driver (B2) at the front end of the middle torso cavity (241) is hinged to the V-shaped block (232) at the rear end of the front torso cavity (231). The rear torso module (25) includes a rear torso cavity (251). The rear swing driver (B3) at the front end of the rear torso cavity (251) is hinged to the rear end of the middle torso cavity (241). The rear limb connection module (26) includes a rear center block (261). The two sides of the rear center block (261) are connected to the limb modules (3). The final swing driver (B4) at the front end of the rear center block (261) is hinged to the rear end of the rear torso cavity (251). The front swing driver (B1), the middle swing driver (B2), the rear swing driver (B3) and the final swing driver (B4) drive the connected components to swing laterally. The limb module (3) includes a large arm (31) and a small arm (35). One end of the large arm (31) is connected to the two sides of the front center block (221) and the two sides of the rear center block (261) through a limb one driver (C1) and a limb two driver (C2), and drives the large arm (31) to swing longitudinally and vertically. The other end of the large arm (31) is connected to the small arm (35) through a limb three driver (C3) and a limb four driver (C4), and drives the small arm (35) to swing vertically and laterally. The large arm (31) includes a driving rocker (311), a driven rocker (313) and a connecting rod (312) that hinges the two. The small arm (35) includes a small arm leg (351), a joint ball (352) and a grounding claw (353). When the active rocker (311) swings, it drives the passive rocker (313) to swing through the connecting rod (312). The active rocker (311) is fixedly connected to the output shaft of the limb two actuator (C2). One end of the passive rocker (313) is hinged to the lower output shaft of the limb one actuator (C1) through the front adapter block (222), and the other end is hinged to the limb three base (33). The limb two base (32) is fixedly connected to the upper output shaft of the limb one actuator (C1). The limb two actuator (C2) is loaded inside the limb two base (32). The limb three actuator (C3) is loaded inside the limb three base (33). The output shaft of the limb three actuator (C3) is fixedly connected to the limb four base (34). The limb four actuator (C4) is loaded inside the limb four base (34). The output shaft of the limb four actuator (C4) is connected to the upper end of the extension plate. The lower end of the extension plate is connected to the upper end of the small arm leg (351) by screws. The two extension plates are symmetrically arranged, clamping the limb four actuator (C4), and the lower ends of the two extension plates are joined together and commonly connected to the upper end of the small arm leg (351).

2. The bionic lizard robot according to claim 1, wherein The head module (1) includes a chassis (11), a cage (12) and a bracket (13). The side end of the chassis (11) is fixedly connected to the cage (12). The side end of the chassis (11) is hinged to the bracket (13). A camera is installed on the bracket (13). A head pitch actuator (A1) is installed on the head pitch base (111) of the chassis (11). The head pitch actuator (A1) is connected to the bracket (13) and drives the bracket (13) to swing vertically. The rear end of the chassis (11) is hinged to the head yaw base (211) at the front end of the torso module (2). A head yaw actuator (A2) is installed on the head yaw base (211). The head yaw actuator (A2) is connected to the cage (12) and drives the cage (12) to swing horizontally.

3. The bionic lizard robot according to claim 1, characterized in that, The lower computer of the controller is installed in the front torso cavity (231). The upper computer of the controller is installed in the middle torso cavity (241). The power source is installed in the rear torso cavity (251).

4. The bionic lizard robot according to claim 1, wherein A pressure sensor is provided on the joint ball (352). Angular displacement sensors are provided on each of the actuators. Ultrasonic sensors are provided on the head module (1) and the torso module (2).

5. The bionic lizard robot according to claim 4, characterized in that, The limb modules (3) are connected to both sides of the middle torso module (24).

6. The bionic lizard robot according to any one of claims 1 to 5, characterized in that, The tail module (4) includes a plurality of tail joints (41) hinged in sequence. A tail swing actuator (D) connecting the rear end of the torso module (2) is provided on the front tail joint (41). The rear tail joint (41) is connected to an extension block (42). An extension hole (421) for connecting other modules is provided on the extension block (42).

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