Multiple modifiable modular robots

Abstract

The present invention provides a multi-modular robot, which relates to the field of robotics. The multi-modular robot includes a robot module; the robot module includes a trunk and three legs; the trunk includes five connecting rods that are connected end to end and enclosed in a ring shape, and a first actuator and a second actuator are respectively installed on both sides of the fifth connecting rod. The first actuator is connected to the first connecting rod in a transmission connection to drive the first connecting rod to rotate around the connection point with the fifth connecting rod, and the second actuator is connected to the fourth connecting rod in a transmission connection to drive the fourth connecting rod to rotate around the connection point with the fifth connecting rod; the three legs are respectively rotatably installed on the fifth connecting rod, the second connecting rod and the third connecting rod, and are evenly distributed along the circumference of the trunk; the legs include two rotating joints connected in a rotational manner. The multi-modular robot provided by the present invention solves the technical problems existing in the prior art that multiple groups of robots are prone to losing balance, have a single movement mode, and are complex to design and control.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a multi-modular robot. Background Art

[0002] Bionic robots are robotic systems that mimic the intricate structures, motion principles, and behaviors of natural organisms. They represent a fusion of the application requirements of bionics and robotics. From a robotics perspective, bionic robots represent an advanced stage in robotics development; from a bionics perspective, they represent the perfect synthesis and comprehensive application of bionic technologies.

[0003] The bionic multi-legged robots currently on the market include four-legged robot dogs, six-legged robot spiders and four-legged robots. Since the torsos of the above bionic multi-legged robots are mostly rigid, they cannot adapt to complex and changeable terrain environments. When walking on uneven terrain, they are prone to losing balance and require complex algorithms to achieve stability control; even on flat ground, mechanical failures or control problems may cause the robot to lose balance, and it cannot complete movement in environments such as slopes, pipes, steps or culverts; due to the single movement mode, a large amount of energy is required to maintain its movement and behavior when walking, resulting in a short battery life of the robot, requiring frequent charging or battery replacement; due to the design and control complexity of multi-legged robots, multi-legged robots move slower than other types of robots, limiting the application areas of multi-legged robots. Summary of the Invention

[0004] The purpose of the present invention is to provide a multi-modular robot to alleviate the technical problems existing in the prior art, such as the easy loss of balance of multiple groups of robots, single movement mode, and complex design and control.

[0005] In order to solve the above technical problems, the technical solution provided by the present invention is:

[0006] The multi-modular robot provided by the present invention includes a robot module;

[0007] The robot module includes a trunk and three legs;

[0008] The trunk includes a first link, a second link, a third link, a fourth link, and a fifth link that are connected end to end to form a ring. A first actuator and a second actuator are respectively installed on both sides of the fifth link. The first actuator is in transmission connection with the first link to drive the first link to rotate around a connection point with the fifth link. The second actuator is in transmission connection with the fourth link to drive the fourth link to rotate around a connection point with the fifth link.

[0009] The three legs are rotatably mounted on the fifth connecting rod, the second connecting rod and the third connecting rod respectively, and are evenly distributed along the circumference of the trunk;

[0010] The leg foot comprises two rotating joints connected in rotation.

[0011] Furthermore, the length of the first connecting rod is equal to the length of the fourth connecting rod, and the length of the second connecting rod is equal to the length of the third connecting rod.

[0012] Furthermore, the first actuator and the second actuator are both configured as gear motors.

[0013] Furthermore, the first connecting rod has an initial state extending along the length direction of the fifth connecting rod, an overlapping state overlapping with the fifth connecting rod, and a locked state stationary relative to the fifth connecting rod;

[0014] The first actuator drives the first link to switch among the initial state, the overlap state, and the locked state.

[0015] Furthermore, the fourth link has an initial state extending along the length direction of the fifth link, an overlapping state overlapping with the fifth link, and a locked state stationary relative to the fifth link;

[0016] The second actuator drives the fourth link to switch among the initial state, the overlap state, and the locked state.

[0017] Furthermore, the fifth connecting rod, the second connecting rod and the third connecting rod are installed with a hinge structure, and the leg foot is connected to the hinge structure.

[0018] Furthermore, a gyroscope is installed inside the torso.

[0019] Furthermore, an adsorption structure is installed at the tail of the leg.

[0020] Furthermore, the robot modules are provided in plurality, and the trunks of the plurality of robot modules are connected in series or in parallel.

[0021] Furthermore, there are three robot modules.

[0022] Based on the above technical solutions, the technical effects achieved by the present invention are analyzed as follows:

[0023] The multi-configuration modular robot provided by the present invention includes a robot module; the robot module includes a torso and three legs; the torso includes a first link, a second link, a third link, a fourth link and a fifth link that are rotatably connected head to tail and enclosed in a ring shape, and a first actuator and a second actuator are respectively installed on both sides of the fifth link, the first actuator is transmission-connected to the first link to drive the first link to rotate around the connection point with the fifth link, and the second actuator is transmission-connected to the fourth link to drive the fourth link to rotate around the connection point with the fifth link; the three legs are respectively rotatably installed on the fifth link, the second link and the third link, and are evenly distributed along the circumference of the torso; the legs include two rotatably connected rotary joints.

[0024] The multi-modular robot includes robot modules, which realize modular processing and facilitate assembly and modification of the multi-modular robot.

[0025] The robot module consists of a trunk and three legs. The trunk is a ring-shaped structure consisting of a five-bar linkage. A first actuator and a second actuator, located at the joint of the fifth link, drive the first and fourth links, respectively, giving the trunk two degrees of freedom. The two actuators are used to adjust the trunk's configuration. The first actuator rotates the first link so that it overlaps the fifth link, forming a four-bar linkage in its inherent deformation phase; alternatively, the second actuator rotates the fourth link so that it overlaps the fifth link, forming a four-bar linkage in its inherent deformation phase. Alternatively, locking either the first or second actuator transforms the trunk into a four-bar linkage with one degree of freedom. Alternatively, locking both actuators renders the trunk rigid. Thus, the trunk can change from two degrees of freedom to one, to zero, and vice versa. The three legs are mounted on the fifth, second, and third links. Each leg has two rotational joints, providing two degrees of freedom, but only flexion and extension, not abduction or adduction. The trunk's metamorphic motion compensates for the lack of abduction or adduction, providing dexterous maneuverability and movement through a trunk configuration that adapts to various environments. The trunk is formed by five rotating links, capable of two, one, and zero degrees of freedom. Maintaining the trunk's stable equilibrium requires no energy input, resulting in low energy consumption. The simple structure and ease of fabrication make it easy to operate, assemble, and malfunction-prone. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 A schematic structural diagram of the torso in the robot module provided in an embodiment of the present invention;

[0028] Figure 2 A schematic structural diagram of a robot module provided in an embodiment of the present invention;

[0029] Figure 3 A schematic diagram of the structure of a multi-modular robot in a foot-type walking mode (five-link) provided by an embodiment of the present invention;

[0030] Figure 4 A schematic diagram of the structure of a multi-modular robot in a planar rolling mode provided by an embodiment of the present invention;

[0031] Figure 5 A schematic diagram of the structure of a multi-modular robot in peristaltic mode provided by an embodiment of the present invention;

[0032] Figure 6 A schematic diagram of the structure of a multi-modular robot in a legged walking mode (trunk parallel connection) provided by an embodiment of the present invention;

[0033] Figure 7 A schematic diagram of the structure of a multi-modular robot in a legged walking mode (three-link) provided by an embodiment of the present invention;

[0034] Figure 8 A schematic diagram of the structure of a multi-modular robot in climbing mode provided by an embodiment of the present invention;

[0035] Figure 9 A schematic diagram of the structure of a multi-modular robot in an aerial climbing mode provided by an embodiment of the present invention;

[0036] Figure 10 A schematic diagram of the structure of a multi-modular robot in a legged walking mode (four-link) provided by an embodiment of the present invention.

[0037] icon:

[0038] l1-first connecting rod; l2-second connecting rod; l3-third connecting rod; l4-fourth connecting rod; l5-fifth connecting rod. DETAILED DESCRIPTION

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0040] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0041] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0042] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" and the like indicate positions or locations based on the positions shown in the accompanying drawings, or the positions or locations in which the inventive product is typically placed when in use. These terms are intended solely to facilitate the description of the present invention and to simplify the description, and are not intended to indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third," etc., are used solely to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0043] Furthermore, terms such as "horizontal," "vertical," and "overhanging" do not necessarily imply that a component must be absolutely horizontal or overhanging, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted.

[0044] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0045] The following embodiments of the present invention are described in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments may be combined with each other.

[0046] Currently, most biomimetic multi-legged robots on the market include the four-legged robot dog developed by the Boston Dynamics research team and the PhantomX MK series hexapod robot spiders produced by Interbotix-Trossen Robotics. Research projects also include four-legged robots based on metamorphic mechanisms. However, due to their rigid trunks, these four-legged robot dogs, hexapod robot spiders, and existing metamorphic robots are unable to adapt to complex and changing terrain. They are prone to losing balance when navigating uneven terrain, requiring complex algorithms for stability control. Even on flat ground, mechanical failures or control issues can cause the robots to lose balance, making them unable to complete movement on slopes, in pipes, on steps, or in culverts. Due to their limited locomotion, they require a significant amount of energy to maintain their movement and behavior. This can result in a short battery life, necessitating frequent charging or replacement. Furthermore, due to the complexity of their design and control, multi-legged robots are generally slower than other types of robots. This can limit their use in certain applications.

[0047] In view of this, an embodiment of the present invention provides a multi-configuration modular robot comprising a robot module; the robot module comprises a trunk and three legs; the trunk comprises a first link L1, a second link L2, a third link L3, a fourth link L4, and a fifth link L5, which are rotatably connected end-to-end and form a ring. A first actuator and a second actuator are mounted on either side of the fifth link L5, respectively. The first actuator is transmission-connected to the first link L1 to drive the first link L1 to rotate about its connection point with the fifth link L5, and the second actuator is transmission-connected to the fourth link L4 to drive the fourth link L4 to rotate about its connection point with the fifth link L5. The three legs are rotationally mounted on the fifth link L5, the second link L2, and the third link L3, respectively, and are evenly distributed along the circumference of the trunk; the legs include two rotationally connected revolute joints. The multi-configuration modular robot comprises the robot module, enabling modular processing and facilitating assembly and configuration of the multi-configuration modular robot. The robot module consists of a trunk and three legs. The trunk is a ring-shaped structure consisting of a five-bar linkage. A first actuator and a second actuator, located at the joint of the fifth link, l5, drive the first link, l1, and the fourth link, l4, respectively, giving the trunk two degrees of freedom. The two actuators adjust the trunk's configuration. The first actuator rotates the first link, l1, so that it overlaps the fifth link, l5, forming a four-bar linkage in its inherent deformation phase. Alternatively, the second actuator rotates the fourth link, l4, so that it overlaps the fifth link, l5, forming a four-bar linkage in its inherent deformation phase. Alternatively, locking either the first or the second actuator transforms the trunk into a four-bar linkage with one degree of freedom. Alternatively, locking both actuators renders the trunk rigid. Thus, the trunk can change from two degrees of freedom to one, to zero, and vice versa. The three legs are mounted on the fifth link L5, the second link L2, and the third link L3. Each leg has two revolute joints, providing two degrees of freedom, but only flexion and extension, not abduction or adduction. The trunk's metamorphic motion compensates for the lack of abduction or adduction, providing dexterity and mobility through a trunk configuration that adapts to various environments. The trunk is formed by five rotating links, capable of two, one, and zero degrees of freedom. Maintaining the trunk's stable equilibrium requires no energy input, resulting in low energy consumption. The simple structure and ease of fabrication make it easy to operate, easily assembled, and prone to malfunction.

[0048] The structure and shape of the robot module are described in detail below:

[0049] In an optional solution of the embodiment of the present invention, the length of the first connecting rod 11 is equal to the length of the fourth connecting rod 14, and the length of the second connecting rod 12 is equal to the length of the third connecting rod 13.

[0050] The lengths of the first link l1 and the fourth link l4 are equal, and the lengths of the second link l2 and the third link l3 are equal, so that the trunk has a symmetrical structure.

[0051] In an optional solution of the embodiment of the present invention, the first actuator and the second actuator are both configured as gear motors.

[0052] Specifically, the connection point between the first link 11 and the fifth link 15 is A, the connection point between the fourth link 14 and the fifth link 15 is E, the first actuator is installed at A, and the second actuator is installed at E.

[0053] The first actuator drives the first link 11, and the second actuator drives the fourth link 14, thereby switching the shape of the torso.

[0054] In an optional solution of an embodiment of the present invention, the first link l1 has an initial state extending along the length direction of the fifth link l5, an overlapping state overlapping with the fifth link l5, and a locked state stationary relative to the fifth link l5; the first actuator drives the first link l1 to switch between the initial state, the overlapping state and the locked state.

[0055] Specifically, the length of the first link l1 is smaller than the length of the fifth link l5.

[0056] The first connecting rod l1 switches between different states to enable the trunk to switch between different forms.

[0057] In an optional solution of an embodiment of the present invention, the fourth link l4 has an initial state extending along the length direction of the fifth link l5, an overlapping state overlapping with the fifth link l5, and a locked state stationary relative to the fifth link l5; the second actuator drives the fourth link l4 to switch between the initial state, the overlapping state and the locked state.

[0058] Specifically, the length of the fourth link l4 is smaller than the length of the fifth link l5.

[0059] The fourth link 14 switches between different states, enabling the trunk to switch between different forms.

[0060] In an optional solution of the embodiment of the present invention, the fifth connecting rod 15, the second connecting rod 12 and the third connecting rod 13 are installed with a hinge structure, and the legs are connected to the hinge structure.

[0061] Specifically, see Figure 1 , Figure 1 The figure shows the geometry of the torso formed by five links. In the torso, joints A and E are active joints, and their joint angles are θ p1 ,θ p5 , joints B, C, and D are passive joints, and their joint angles are θ p2 ,θp3 and θ p4 To study the kinematics of a reconfigurable torso, Figure 1 The coordinate system is established in the figure. For all the trunk coordinate system links 1 to 5, their origin is point O. p , Z pi The Y axis passes through this point. pi The axis is Z pi+1 ×Z pi , i=1,2,3,4,X pi The Y axis pi and Z pi Determined by the right-hand rule. p Create a global coordinate system with its Z axis aligned with the joint A axis and its Y axis pointing to the Z axis. p1 ×Z p5 , and Y p5 The joint A axis and its Y axis point to Z p1 ×Z p5 , and Y p5 On this basis, the given angle θ p1 and θ p5 The value of the passive joint angle θ can be obtained from the relationship between α4=α1 and α3= α2 p2 ,θ p3 and θ p4 They are:

[0062] θ p2 = cos -1 (cotα1cotα2-Z C / sα1sα2);

[0063] in , A=V 2 +Q 2 +1, B=2 (UV+PQ), C=U 2 +P 2 -1, U, V, P and Q are U=cα2(y D -y B ) / (x B y D -y B x D )、V=(y B z D -z B y D ) / (x B y D -y B x D )、P=cα2(x B -x D ) / (x B y D-y B x D )、Q=(z B x D -x B z D ) / (x B y D -y B x D ). The coordinate x B 、y B 、z B and x D 、y D 、z D It can be obtained from the global coordinate system, (x B 、y B 、z B ) = (-sα1cθ p1 , -sα1sθ p1 , cα1) and (x D ,y D , z D )=(cα1sα5+sα1cα5cθ p5 ,sα1sθp5,cα1cα5-sα1sα5cθ p5 ).

[0064] ;

[0065] Among them, E=sα2(cα1sα2+sα1cα2cθ p2 ), F = -sα2sα1sθ p2 and G=cα2(cα1cα2-sα1sα2cθ p2 )-cα1cα5+sα1sα5cθ p5 .

[0066] ,(;

[0067] Among them, L=sα2(sα1sα5+cα1sα5cθ p5 ), M = -sα2sα5sθ p5 , N = cα2 (cα1cα5-sα1sα5cθp5) + (B∓ ) / 2A.

[0068] The above introduces the geometry and kinematics of the trunk of the robot module, laying the foundation for the connection between multiple trunk units. Next, we will analyze the integrated kinematics of the trunk and legs.

[0069] Figure 2A design with a three-legged metamorphic unit is shown, with three two-fingered legs integrated into the trunk, and as mentioned above, the three legs are evenly distributed around the trunk at points F1, F2, and F3. Figure 2 As shown, point F1 is located at the middle point of the fifth link, O p B and O p The angle of F2 is γ2, O p D and O p The angle of F3 is γ3, the three legs are identical, and the lengths of the proximal and distal phalanges are a f1 and a f2 In order to combine the kinematics of the trunk unit with the kinematics of the legs and feet, the points F i Establish a new coordinate system at i=1,2,3,z i1 Pointing to O p F i direction, y 11 Pointing to the y-axis direction, y 12 Point to z p3 ×z p2 ,y 13 Point to z p4 ×z p3 , x i1 is determined by the right-hand rule.

[0070] Based on the above structural parameters and coordinate systems, we first proposed the leg and foot base coordinate system in the global coordinate system of the trunk unit. The direction of the leg and foot base coordinate system frame can be relative to O p The coordinate system is expressed as:

[0071] R OpF1 =R(y,α5 / 2);

[0072] R OpF2 =R(z p1 ,θ p1 )R(y p1 ,-α1)R(z p2 ,θ p2 )R(y p2 ,-δ2);

[0073] R OpF3 =R(y,α5)R(z p5 ,θ p5 )R(y p4 ,α4)R(z p4 ,θ p4 )R(y p3 ,δ3);

[0074] Among them, θ p2 and θ p4It can be found in the front, and according to the formula, the coordinate system of the base of the leg and foot can be expressed in the global coordinate system as:

[0075] TOpFi= , (i=1,2, 3);

[0076] Where d = [0, 0, R] T and Given F i The position vector of the point in the global reference frame. R is the theoretical radius of an imaginary sphere that includes all the links.

[0077] In the reference frame of the leg base, the coordinates of the leg tip are:

[0078] ;

[0079] Among them, for each leg and foot, the zero point in its corresponding reference frame has ωi1 = ωi2 = (1, 0, 0). For the axis of joint i1, choose ri1 = (0, 0, 0), and νi1 = ri1×ωi1 = (0, 0, 0), which produces Si1 = (ωi1, νi1). Similarly, for the axis of joint i2, choose ri2 = (0, 0, af1), so that vi2 = ri2×ωi2 = (0, af1, 0). In addition, in the reference frame of the leg and foot, we have , where I is the 3rd-order identity matrix, .

[0080] Combining the kinematics of the legs and feet with the kinematics of the trunk unit, the complete kinematics of the tripod arthropod can be expressed in the global coordinate system as:

[0081]

[0082] The above gives the kinematic equations of the multi-modular robot as a whole, which provides a method for further analysis of the robot's workspace, operability and flexibility.

[0083] In an optional solution of the embodiment of the present invention, a gyroscope is installed inside the torso.

[0084] In an optional solution of the embodiment of the present invention, an adsorption structure is installed at the tail of the leg.

[0085] In an optional solution of the embodiment of the present invention, a plurality of robot modules are provided, and the trunks of the plurality of robot modules are connected in series or in parallel.

[0086] In an optional solution of the present invention, three robot modules are provided. Each module is equipped with a fixed hinge and actuator at the C position. The different modules are connected to each other in a homogeneous manner. The actuators are controlled to switch to different operating modes, and the coordinated movement between the modules is maintained while connected. This design makes the multi-modular robot highly flexible and adaptable, capable of performing various tasks in different scenarios. In terms of homogeneous heterogeneous connection, each robot module has the same structure and hinge mounting points. Through these mounting points, the modules can be connected to each other to form a whole. When connected, the fixed hinge at the C position of each module is connected to the corresponding hinge of the adjacent module, ensuring coherence and coordination between the modules. This homogeneous connection method makes the robot structure more flexible and scalable, and the number of modules can be increased or decreased as needed. The actuator in each module is responsible for controlling the movement of its adjacent hinges. By changing the angle and position of the hinges, movement in different operating modes is achieved. By switching the state of the actuators, the robot can switch between different operating modes, such as foot-like walking mode, flat rolling mode, confined space crawling mode, climbing mode, etc. When the robot needs to execute the legged walking mode, the actuators control the hinges of adjacent modules to coordinate their movements appropriately, enabling the robot to walk. In the planar rolling mode, the actuators change the center of gravity of the entire robot, allowing it to roll on a flat surface. In the confined space crawling mode, the actuators adjust the expansion and contraction between the modules, allowing the robot to crawl through tight spaces.

[0087] This multi-modular robot is a type of robot designed to mimic the biological characteristics of arthropods such as insects and spiders. Due to its flexible mechanical structure and high adaptability, the multi-modular robot has broad application prospects in various scenarios. We have designed seven different working modes:

[0088] Foot-type walking mode (five-link), such as Figure 3 In this mode, each trunk unit has two degrees of freedom, which provides higher flexibility and maneuverability compared to the three-link and four-link structures, enabling the robot to walk in more complex terrains.

[0089] Metamorphic robot plane rolling mode, such as Figure 4In this mode, the robots are connected end to end to form a shape similar to a cylinder. By continuously coordinating the deformation of the torso and the gait of the legs and feet, the center of gravity of the multi-modular robot as a whole is changed. In addition, a gyroscope is contained inside to detect the center of gravity position and motion state of the robot, thereby helping to control the balance and movement of the robot. If the internal components of the robot move forward, the center of gravity of the robot will also move forward. This will cause the front of the robot to lift and the back to sink, causing the robot to roll forward. If the internal components move backward, the center of gravity moves backward, the front of the robot sinks, and the back lifts, causing the robot to roll backward. In this way, the multi-modular robot can roll quickly along a certain trajectory on a plane. This method is suitable for relatively flat terrain, such as indoor floors, outdoor roads or downhill ground.

[0090] Small space peristaltic mode, such as Figure 5 In this mode, the legs and feet of the metamorphic robot are recycled to form three annular unit modules. First, the multi-modular robot is fixed to the ground through a unidirectional friction device, so that the robot can only move in one direction. Then, the expansion and contraction of the torso unit module completes the unidirectional movement of the robot, thereby realizing crawling in a small space.

[0091] Foot-type walking mode (trunk parallel structure), such as Figure 6 In this mode, the trunks of the multi-modular robots are connected to each other in parallel. The mode involves lifting the legs: the robot first lifts one leg up to lift it off the ground. While lifting the leg, the robot's body tilts to maintain balance; swinging the leg forward: the robot swings the lifted leg forward so that it can touch the ground. During this process, the robot's body continues to tilt to maintain balance. Landing: when the leg reaches the right position, the robot touches the ground so that it bears the weight of the robot. At the same time, the robot's body moves forward to maintain the balance of the entire robot. Pushing the body: the robot pulls the lifted leg back while lifting the other leg forward. During this process, the robot's body continues to move forward to maintain balance. A stable plane is formed above the robot, which is usually used to complete the lifting of square heavy objects.

[0092] Foot-type walking mode (three-link), such as Figure 7 In this mode, the trunk unit of the multi-modular robot is locked into a stable state without freedom through the motor, and an anti-cylindrical surface is formed above the robot. In this mode, the robot can be used to carry spherical or cylindrical heavy objects with high stability.

[0093] Climbing mode, such as Figure 8In this mode, the multi-modular robot adopts a movement method similar to that of real arthropods, with electrostatic adsorption devices installed on its feet. It completes climbing movements through the following steps: Attachment: The robot uses its feet or other attachment devices to attach itself to the climbing surface. Stretch: The robot stretches its body upward to extend its feet and attachment devices so that they are fixed on the climbing surface. Release: The robot releases one foot and extends it forward to find the next attachment point. Reattachment: When the robot finds the next attachment point, it uses its feet or other attachment devices to reattach to the climbing surface. Push: The robot uses the swing of the attachment point and foot to propel its body forward. Climbing on a vertical plane is completed by repeating the above steps.

[0094] Air climbing mode, such as Figure 9 In this mode, the trunk units of the multi-modular robot are connected end to end to form a closed surface that encircles the cable or beam. The climbing movement is completed through the continuous movement of each trunk unit. This mode has the ability to overcome ground obstacles and is suitable for application scenarios such as high-altitude operations and bridge inspections. However, it is extremely difficult to control and has poor movement stability.

[0095] Foot-type walking mode (four-link), such as Figure 10 In this mode, the first link l1 or the fourth link l4 overlaps with the fifth link l5 to form a four-bar linkage in the inherent deformation phase. Each trunk unit has a single degree of freedom, which provides higher stability compared to the five-bar structure, making the robot easier to control and allowing it to walk quickly on flat terrain.

[0096] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-modular robot, characterized in that: include: Robot module; The robot module includes a trunk and three legs; The trunk includes a first link, a second link, a third link, a fourth link, and a fifth link that are connected end to end to form a ring. A first actuator and a second actuator are respectively installed on both sides of the fifth link. The first actuator is in transmission connection with the first link to drive the first link to rotate around a connection point with the fifth link. The second actuator is in transmission connection with the fourth link to drive the fourth link to rotate around a connection point with the fifth link. The three legs are rotatably mounted on the fifth connecting rod, the second connecting rod and the third connecting rod respectively, and are evenly distributed along the circumference of the trunk; The leg and foot include two rotating joints connected in rotation; The length of the first connecting rod is equal to the length of the fourth connecting rod, and the length of the second connecting rod is equal to the length of the third connecting rod; The robot modules are provided in plurality, and the trunks of the plurality of robot modules are connected in series or in parallel.

2. The multi-modular robot according to claim 1, characterized in that: The first actuator and the second actuator are both configured as gear motors.

3. The multi-modular robot according to claim 2, characterized in that: The first link has an initial state extending along the length direction of the fifth link, an overlapped state overlapping with the fifth link, and a locked state stationary relative to the fifth link; The first actuator drives the first link to switch among the initial state, the overlap state, and the locked state.

4. The multi-modular robot according to claim 2, characterized in that: The fourth link has an initial state extending along the length direction of the fifth link, an overlapped state overlapping with the fifth link, and a locked state stationary relative to the fifth link; The second actuator drives the fourth link to switch among the initial state, the overlap state, and the locked state.

5. The multi-modular robot according to claim 1, characterized in that: The fifth connecting rod, the second connecting rod and the third connecting rod are installed with a hinge structure, and the leg foot is connected to the hinge structure.

6. The multi-modular robot according to claim 1, characterized in that: A gyroscope is installed inside the torso.

7. The multi-modular robot according to claim 1, characterized in that: The tail of the leg is equipped with an adsorption structure.

8. The multi-modular robot according to claim 1, characterized in that: There are three robot modules.

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