Lizard-like robot adapted to multiple environments

Abstract

This invention provides a lizard-like crawling robot adapted to various environments, comprising a torso assembly, leg assemblies, claw assemblies, a spine assembly, and a tail assembly. The leg assemblies are symmetrically arranged below the torso assembly, the claw assemblies are located below the leg assemblies, the torso assemblies are located at both ends of the spine assembly, and the tail assembly is located on one side of the torso assembly. This invention achieves crawling on narrow substrates and vertical or horizontal walls through the cooperation of these components, adapting to various environments. Gear transmission in the claw assembly enables the gripper to move horizontally or bend, and rotate in the direction of the suction cup, allowing for switching between claws for crawling on narrow substrates and claws for crawling on vertical walls. The oscillation of the spine assembly and tail assembly enhances the robot's balance when crawling on narrow substrates. Simultaneously, the spine assembly can also achieve vertical displacement, enhancing the robot's walking ability on uneven surfaces.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically to a lizard-like robot adapted to crawling in various environments. Background Technology

[0002] Unlike wheeled and tracked robots, which are limited by their movement environment and can adapt to various uneven terrains such as slopes, stairs, and jungles, legged reptiles are a type of legged robot modeled after reptiles. They are better suited to various rugged surfaces and vertical walls in nature. Lizard reptiles such as geckos, chameleons, and sand lizards possess extremely strong environmental adaptability and can move stably in harsh environments such as vertical surfaces and narrow substrates. Currently, biomimetic robots designed for both types of reptiles operate on vertical walls or narrow substrates and cannot effectively move in complex environments such as forests and ruins.

[0003] Patent application CN110316274B discloses a lizard-like robot with walking and rolling capabilities, relating to the field of robotics. The robot includes a walking module, a torso module, a deformable module, and a cushioning module. Walking is achieved by adjusting the gait via a motor drive. The torso module connects the walking module and the deformable module vertically. The deformable module allows the robot's body to fold and unfold according to different terrains, enabling the robot to deform. The cushioning module, composed of a spring system and a shell, prevents rigid collisions with the ground during rolling. By combining the walking module, torso module, deformable module, and cushioning module, the robot's adaptability and application range are improved, realizing the integration of different movement forms.

[0004] The aforementioned published literature can only achieve two different walking modes on horizontal or rugged surfaces, but cannot achieve walking on vertical walls or narrow substrates. Therefore, it is necessary to propose a lizard-like crawling robot that can adapt to multiple environments. Summary of the Invention

[0005] To address the problems existing in the prior art, this invention provides a lizard-like crawling robot adapted to multiple environments. Through the cooperation of various components, it can achieve crawling on narrow substrates and vertical or horizontal walls, adapting to multiple environments. Through gear transmission of the claw component, the horizontal or bending of the gripper and the rotation of the suction cup direction can be realized, realizing the switching between the narrow substrate crawling claw and the vertical wall crawling claw. The swinging of the spine component and tail component enhances the robot's balance performance when crawling on narrow substrates. At the same time, the spine component can also realize vertical displacement, enhancing the robot's walking ability on relatively rugged surfaces.

[0006] This invention provides a lizard-like crawling robot adapted to multiple environments, comprising a torso assembly, leg assemblies, claw assemblies, a spine assembly, and a tail assembly. The leg assemblies are symmetrically arranged below the torso assembly, the claw assemblies are located below the leg assemblies, the spine assembly has torso assemblies at both ends, and the tail assembly is located on one side of the torso assembly. The torso assembly includes a support plate, a scapular link, an electric cylinder, and a sleeve. The scapular link is symmetrically arranged on both sides of the support plate and rotatably connected to it. The output end of the electric cylinder is rotatably connected to the end of the scapular link, and the fixed end of the electric cylinder is connected via... The sleeve is rotatably connected to the support plate; the leg assembly includes a first lateral swing motor, a pitch fixing block, a pitch motor, a connecting frame, a second lateral swing motor, a lateral swing fixing block, a first connecting plate, a second connecting plate, a forearm rotation motor, a rotation connecting frame, a forearm lateral swing motor, a forearm pitch fixing block, a forearm pitch motor, and a forearm connecting frame. The first lateral swing motor is fixedly connected to the first end of the scapular link of the torso assembly. The first end of the pitch fixing block is fixedly connected to the output shaft of the first lateral swing motor. The second end of the pitch fixing block is rotatably connected to the second end of the scapular link. The pitch motor is disposed on the pitch fixing block. In this configuration, the connecting frame is fixedly connected to the output shaft of the pitch motor, the second lateral swing motor is fixedly connected to the connecting frame via the lateral swing fixing block, the first connecting plate is rotatably connected to the connecting frame, the second connecting plate is fixedly connected to the output shaft of the second lateral swing motor, the first end face and the second end face of the forearm rotation motor are fixedly connected to the first connecting plate and the second connecting plate respectively, the rotating connecting frame is connected to the output shaft of the forearm rotation motor via gears, the forearm lateral swing motor is fixedly connected to the rotating connecting frame, and the first end of the forearm pitch fixing block is fixedly connected to the output shaft of the forearm lateral swing motor. The second end of the forearm pitch fixing block is rotatably connected to the second end of the rotating connecting frame. The forearm pitch motor is disposed in the forearm pitch fixing block, and the forearm connecting frame is fixedly connected to the output shaft of the forearm pitch motor. The claw assembly includes a fixing plate, side plates, a suction cup mechanism, a gripper motor, and a gripper. The fixing plate is fixedly connected to the second connecting plate of the leg assembly. The side plates are symmetrically disposed on both sides of the fixing plate. The suction cup mechanism is disposed on the fixing plate. The output shaft of the gripper motor is fixedly connected to the first end of the transmission shaft of the suction cup mechanism. The gripper is symmetrically disposed on both sides below the fixing plate.

[0007] Preferably, the suction cup mechanism includes a drive shaft, a drive gear, a first driven gear, an incomplete gear, a large gear, a large bevel gear, a small bevel gear, a T-shaped shaft, and a suction cup. The middle part of the drive shaft is rotatably connected to the fixing plate of the claw assembly. The drive gear is fixedly connected to the second end of the drive shaft. The first driven gear meshes with the drive gear. The incomplete gear is coaxially arranged with the first driven gear. The large gear meshes with the incomplete gear. The large bevel gear is coaxially arranged with the large gear. The small bevel gear meshes with the large bevel gear. The first end of the T-shaped shaft is fixedly connected to the small bevel gear. The suction cup is fixedly connected to the second end of the T-shaped shaft.

[0008] Preferably, the gripper includes a second driven gear, a first gear, a second gear, a worm, a first finger joint, a second finger joint, and a third finger joint. The second driven gear meshes with the drive gear of the suction cup mechanism, the first gear meshes with the second driven gear, the second gear meshes with the first gear, the worm is fixedly connected to the center of the second gear, the first finger joint is disposed at both ends of the worm and fixedly connected to the worm, the second finger joint is rotatably connected to the first finger joint, and the third finger joint is rotatably connected to the second finger joint.

[0009] Preferably, the spinal assembly includes a spinal body and actuators. The two ends of the spinal body are fixedly connected to the support plate of the trunk assembly, and the actuators are symmetrically distributed on both sides of the spinal body and are fixedly connected to the spinal body at equal intervals.

[0010] Preferably, the tail assembly includes a tail motor, a tail bracket, and a tail connector. The first end of the tail motor is fixedly connected to the support plate of the torso assembly, the second end of the tail motor is rotatably connected to the first end of the tail bracket, and its output shaft is fixedly connected to the second end of the tail bracket. The tail connector is rotatably connected to the third end of the tail bracket.

[0011] Preferably, the rotation axes of the second and third phalanges are both in the same direction as the axis of the worm.

[0012] Preferably, the spine body is made of a flexible material and has rectangular slots at equal intervals. The actuator is located at the rectangular slot and is a dielectric elastomer actuator. The actuators on the same side are connected in series.

[0013] Preferably, the first driven gear, the second driven gear, the first gear, and the second gear are all located on the same side as the driving gear and are rotatably connected to the fixed plate via a central shaft.

[0014] Preferably, both the spine assembly and the tail assembly are located on the central axis of the torso assembly.

[0015] Preferably, the side plates of the gearbox are L-shaped and symmetrically arranged on both sides of the fixed plate, with a certain gap reserved between the two side plates, allowing the T-shaped shaft to swing along the gap.

[0016] The features and beneficial effects of this invention are:

[0017] 1. This invention is a lizard-like crawling robot adapted to various environments. Through the torso component, the leg component can swing, and through the leg component, the legs can swing forward, backward, left, and right. Through the gear transmission of the claw component, the gripper can be horizontal or bent, and the suction cup can be rotated. Through the cooperation of each component, it can crawl on narrow substrates and vertical or horizontal walls, adapting to crawling in various environments.

[0018] 2. This invention is adapted to a multi-environment crawling lizard-like robot. By driving the gear to rotate clockwise, the claw bends towards the narrow substrate, enabling it to grasp the narrow substrate and cooperate with the leg mechanism to walk on the narrow substrate. By driving the gear to rotate counterclockwise, the claw bends in the opposite direction of the narrow substrate, enabling the gripper to retract. At the same time, the incomplete gear in the gear set engages, driving the suction cup shaft of the claw to rotate, so that the suction cup acts as a crawling foot, enabling wall crawling. This allows for the switching between the narrow substrate crawling claw and the vertical wall crawling claw.

[0019] 3. This invention is adapted to a multi-environment crawling lizard-like robot. By swinging the spinal column and tail column, the robot's balance performance when crawling on narrow substrates is enhanced. At the same time, the spinal column can also achieve vertical displacement, which enhances the robot's ability to walk on relatively rugged surfaces. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the lizard-like crawling robot adapted to multiple environments according to the present invention;

[0021] Figure 2 This is a schematic diagram of the structure of the torso component in this invention;

[0022] Figure 3 This is a schematic diagram of the structure of the leg components in this invention;

[0023] Figure 4 This is a schematic diagram of the structure of a partial leg component in this invention;

[0024] Figure 5 This is a schematic diagram of the claw assembly in this invention;

[0025] Figure 6This is a schematic diagram of the suction cup mechanism in this invention;

[0026] Figure 7 This is a partial structural diagram of the gripper in this invention;

[0027] Figure 8 This is a schematic diagram of the spinal component in this invention;

[0028] Figure 9 This is a schematic diagram of the tail assembly in this invention;

[0029] Figure 10 This is a single limb pose diagram of the robot climbing a vertical wall in this invention;

[0030] Figure 11 This is a single limb pose diagram of the robot crawling on a horizontal road surface in this invention.

[0031] Key reference numerals:

[0032] Torso assembly 1, support plate 11, scapular link 12, electric cylinder 13, sleeve 14, leg assembly 2, first lateral swing motor 201, pitch fixing block 202, pitch motor 203, connecting frame 204, second lateral swing motor 205, lateral swing fixing block 206, first connecting plate 207, second connecting plate 208, forearm rotation motor 209, rotation connecting frame 210, forearm lateral swing motor 211, forearm pitch fixing block 212, forearm pitch motor 213, forearm connecting frame 214, claw assembly 3, fixing plate 31, side plate 32, suction cup mechanism 3 3. Drive shaft 331, drive gear 332, first driven gear 333, incomplete gear 334, large gear 335, large bevel gear 336, small bevel gear 337, T-shaft 338, suction cup 339, gripper motor 34, gripper 35, second driven gear 351, first gear 352, second gear 353, worm gear 354, first joint 355, second joint 356, third joint 357, spine assembly 4, spine body 41, driver 42, tail assembly 5, tail motor 51, tail bracket 52, tail connector 53. Detailed Implementation

[0033] To fully describe the technical content, structural features, objectives, and effects of this invention, a detailed description will be provided below in conjunction with the accompanying drawings.

[0034] This invention is applicable to lizard-like crawling robots in various environments, such as... Figure 1 and Figure 2As shown, it includes a torso assembly 1, leg assembly 2, claw assembly 3, spine assembly 4, and tail assembly 5. The leg assembly 2 is symmetrically arranged below the torso assembly 1, the claw assembly 3 is arranged below the leg assembly 2, the spine assembly 4 is provided with the torso assembly 1 at both ends, and the tail assembly 5 is arranged on one side of the torso assembly 1. The torso assembly 1 includes a support plate 11, a scapular connecting rod 12, an electric cylinder 13, and a sleeve 14. The scapular connecting rod 12 is symmetrically arranged on both sides of the support plate 11 and is rotatably connected to the support plate 11. The output end of the electric cylinder 13 is rotatably connected to the end of the scapular connecting rod 12, and the fixed end of the electric cylinder 13 is rotatably connected to the support plate 11 through the sleeve 14.

[0035] like Figure 3 and Figure 4 As shown, the leg assembly 2 includes a first lateral swing motor 201, a pitch fixing block 202, a pitch motor 203, a connecting frame 204, a second lateral swing motor 205, a lateral swing fixing block 206, a first connecting plate 207, a second connecting plate 208, a forearm rotation motor 209, a rotation connecting frame 210, a forearm lateral swing motor 211, a forearm pitch fixing block 212, a forearm pitch motor 213, and a forearm connecting frame 214. The first lateral swing motor 201 is fixedly connected to the first end of the scapular link 12 of the torso assembly 1. The first end of the pitch fixing block 202 is fixedly connected to the output shaft of the first lateral swing motor 201. The second end of the pitch fixing block 202 is rotatably connected to the second end of the scapular link 12. The pitch motor 203 is disposed in the pitch fixing block 202. The connecting frame 204 is fixedly connected to the output shaft of the pitch motor 203. The second lateral swing motor 205... 05 is fixedly connected to the connecting frame 204 via the side swing fixing block 206, the first connecting plate 207 is rotatably connected to the connecting frame 204, the second connecting plate 208 is fixedly connected to the output shaft of the second side swing motor 205, the first end face and the second end face of the forearm rotation motor 209 are fixedly connected to the first connecting plate 207 and the second connecting plate 208 respectively, the rotating connecting frame 210 is connected to the output shaft of the forearm rotation motor 209 via gears, the forearm side swing motor 211 is fixedly connected to the rotating connecting frame 210, the first end of the forearm pitch fixing block 212 is fixedly connected to the output shaft of the forearm side swing motor 211, the second end of the forearm pitch fixing block 212 is rotatably connected to the second end of the rotating connecting frame 210, the forearm pitch motor 213 is set in the forearm pitch fixing block 212, and the forearm connecting frame 214 is fixedly connected to the output shaft of the forearm pitch motor 213.

[0036] like Figures 5-7As shown, the claw assembly 3 includes a fixed plate 31, side plates 32, a suction cup mechanism 33, a gripper motor 34, and grippers 35. The fixed plate 31 is fixedly connected to the second connecting plate 208 of the leg assembly 2. The side plates 32 are symmetrically arranged on both sides of the fixed plate 31. The suction cup mechanism 33 is mounted on the fixed plate 31. The output shaft of the gripper motor 34 is fixedly connected to the first end of the transmission shaft of the suction cup mechanism 33. The grippers 35 are symmetrically arranged on both sides below the fixed plate 31. The suction cup mechanism 33 includes a transmission shaft 331, a drive gear 332, a first driven gear 333, and an incomplete gear. Wheel 334, large gear 335, large bevel gear 336, small bevel gear 337, T-shaft 338, and suction cup 339; the middle part of the drive shaft 331 is rotatably connected to the fixing plate 31 of the claw assembly 3; the drive gear 332 is fixedly connected to the second end of the drive shaft 331; the first driven gear 333 meshes with the drive gear 332; the incomplete gear 334 is coaxially arranged with the first driven gear 333; the large gear 335 meshes with the incomplete gear 334; the large bevel gear 336 is coaxially arranged with the large gear 335; and the small bevel gear 337 is coaxial with the large bevel gear 336. The meshing transmission mechanism includes a T-shaped shaft 338, a first end of which is fixedly connected to a small bevel gear 337, and a suction cup 339 is fixedly connected to the second end of the T-shaped shaft 338. The gripper 35 includes a second driven gear 351, a first gear 352, a second gear 353, a worm gear 354, a first finger joint 355, a second finger joint 356, and a third finger joint 357. The second driven gear 351 meshes with the drive gear 332 of the suction cup mechanism 33, the first gear 352 meshes with the second driven gear 351, the second gear 353 meshes with the first gear 352, and the worm gear 354 meshes with the second driven gear 355. The two gears 353 are fixedly connected at their center. The first finger joint 355 is located at both ends of the worm 354 and is fixedly connected to the worm 354. The second finger joint 356 is rotatably connected to the first finger joint 355, and the third finger joint 357 is rotatably connected to the second finger joint 356. The rotation axes of the second finger joint 356 and the third finger joint 357 are in the same direction as the axis of the worm 354. The first driven gear 333, the second driven gear 351, the first gear 352, and the second gear 353 are all located on the same side as the driving gear 332 and are rotatably connected to the fixed plate 31 through the central shaft. The side plates 32 are L-shaped and symmetrically arranged on both sides of the fixed plate 31. A certain gap is reserved between the two side plates 32, and the T-shaped shaft 338 can swing along the gap.

[0037] like Figure 8As shown, the spinal assembly 4 includes a spinal body 41 and an actuator 42. The two ends of the spinal body 41 are fixedly connected to the support plate 11 of the trunk assembly 1. The actuators 42 are symmetrically distributed on both sides of the spinal body 41 and are fixedly connected to the spinal body 41 at equal intervals. The spinal body 41 is made of flexible material and has rectangular slots at equal intervals. The actuators 42 are located at the rectangular slots. The actuators 42 are dielectric elastomer actuators, and the actuators 42 on the same side are connected in series.

[0038] like Figure 9 As shown, the tail assembly 5 includes a tail motor 51, a tail bracket 52, and a tail connector 53. The first end of the tail motor 51 is fixedly connected to the support plate 11 of the body assembly 1, the second end of the tail motor 51 is rotatably connected to the first end of the tail bracket 52, and its output shaft is fixedly connected to the second end of the tail bracket 52. The tail connector 53 is rotatably connected to the third end of the tail bracket 52.

[0039] The following describes the present invention, a lizard-like crawling robot adapted to multiple environments, in further detail with reference to embodiments. The usage process of the lizard-like crawling robot adapted to multiple environments of the present invention is as follows:

[0040] First, when crawling on a narrow substrate, the robot's limbs are initially in the following state: Figure 1 As shown, the initial position of the second lateral swing motor 205 keeps the robot's upper and lower arms in a vertical state, and the suction cup mechanism 33 keeps the suction cup 339 in a raised state. During the robot's crawling process, the first lateral swing motor 201, the pitch motor 203, and the second lateral swing motor 205 rotate, causing the four mechanical legs to be distributed backward, and the ends of the leg components to be in a straight line. At the same time, the forearm rotation motor 209, the forearm lateral swing motor 211, the forearm pitch motor 213, and the gripper 35 work together to complete the gripper 35 at the end of the leg to grasp the narrow substrate. When crawling on the narrow substrate, in order to maintain balance, the spine component 4 and the tail component 5 also bend and rotate with the crawling rhythm.

[0041] Then, when crawling on a vertical wall, the posture of a single limb is as follows: Figure 10 As shown, the second side swing motor 205 of the robot leg keeps the upper arm and the lower wall at a 90° angle. In the initial position, the first side swing motor 201 makes the upper arm horizontal. At the same time, the suction cup mechanism 33 makes the suction cup 339 fall down and the gripper 35 bend upward. During the robot's crawling process, the electric cylinder 13 drives the limb to swing forward and the first side swing motor 201 rotates to realize the adsorption and detachment of the suction cup 339. The electric cylinder 13 and the first side swing motor 201 are controlled to realize the vertical wall crawling gait.

[0042] Finally, when crawling on a level surface, the posture of a single limb is as follows: Figure 11As shown, the second lateral swing motor 205 of the robot leg keeps the upper arm and the lower wall at a 90° angle. The first lateral swing motor 201 in the initial position keeps the upper arm horizontal. At the same time, the suction cup mechanism 33 keeps the suction cup 339 in a raised state. During the robot's crawling process, the electric cylinder 13 drives the limb to swing forward, and the first lateral swing motor 201 rotates to realize the lifting and lowering of the leg. Control the electric cylinder 13 and the first lateral swing motor 201. At the same time, the spinal component 4 bends in coordination with the crawling gait to increase the robot's crawling stride length and speed up the crawling, thus completing the crawling gait on the horizontal road.

[0043] This invention is adapted to a multi-environment crawling lizard-like robot. Through the cooperation of various components, it can achieve crawling on narrow substrates and vertical or horizontal walls. Through the gear transmission of the claw component 3, the gripper 35 can be horizontal or bent and the suction cup 339 can be rotated in the direction of rotation, realizing the switching between the narrow substrate crawling claw and the vertical wall crawling claw. Through the swinging of the spine component 4 and the tail component 5, the robot's balance performance when crawling on narrow substrates is enhanced. At the same time, the spine component 4 can also realize vertical displacement, which enhances the robot's walking ability on relatively rugged surfaces.

[0044] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A lizard-like crawling robot adapted to multiple environments, characterized in that, It includes a torso assembly, leg assemblies, claw assemblies, a spine assembly, and a tail assembly. The leg assemblies are symmetrically arranged below the torso assembly, the claw assemblies are located below the leg assemblies, the spine assembly has torso assemblies at both ends, and the tail assembly is located on one side of the torso assembly. The torso assembly includes a support plate, a scapular link, an electric cylinder, and a sleeve. The scapular link is symmetrically arranged on both sides of the support plate and is rotatably connected to the support plate. The output end of the electric cylinder is rotatably connected to the end of the scapular link, and the fixed end of the electric cylinder is rotatably connected to the support plate through the sleeve. The leg assembly includes a first lateral swing motor, a pitch fixing block, a pitch motor, a connecting frame, a second lateral swing motor, a lateral swing fixing block, a first connecting plate, a second connecting plate, a forearm rotation motor, a rotation connecting frame, a forearm lateral swing motor, a forearm pitch fixing block, a forearm pitch motor, and a forearm connecting frame. The first lateral swing motor is fixedly connected to the first end of the scapular link of the torso assembly. The first end of the pitch fixing block is fixedly connected to the output shaft of the first lateral swing motor. The second end of the pitch fixing block is rotatably connected to the second end of the scapular link. The pitch motor is disposed in the pitch fixing block. The connecting frame is fixedly connected to the output shaft of the pitch motor. The second lateral swing motor is connected to the connecting frame via the lateral swing fixing block. The frame is fixedly connected, the first connecting plate is rotatably connected to the connecting frame, the second connecting plate is fixedly connected to the output shaft of the second side swing motor, the first end face and the second end face of the forearm rotation motor are fixedly connected to the first connecting plate and the second connecting plate respectively, the rotating connecting frame is connected to the output shaft of the forearm rotation motor through gears, the forearm side swing motor is fixedly connected to the rotating connecting frame, the first end of the forearm pitch fixing block is fixedly connected to the output shaft of the forearm side swing motor, the second end of the forearm pitch fixing block is rotatably connected to the second end of the rotating connecting frame, the forearm pitch motor is disposed in the forearm pitch fixing block, and the forearm connecting frame is fixedly connected to the output shaft of the forearm pitch motor; The claw assembly includes a fixed plate, side plates, a suction cup mechanism, a gripper motor, and grippers. The fixed plate is fixedly connected to the forearm connecting frame of the leg assembly. The side plates are symmetrically arranged on both sides of the fixed plate. The suction cup mechanism is arranged on the fixed plate. The output shaft of the gripper motor is fixedly connected to the first end of the transmission shaft of the suction cup mechanism. The grippers are symmetrically arranged on both sides below the fixed plate. The suction cup mechanism includes a drive shaft, a drive gear, a first driven gear, an incomplete gear, a large gear, a large bevel gear, a small bevel gear, a T-shaped shaft, and a suction cup. The middle part of the drive shaft is rotatably connected to the fixing plate of the claw assembly. The drive gear is fixedly connected to the second end of the drive shaft. The first driven gear meshes with the drive gear. The incomplete gear is coaxially arranged with the first driven gear. The large gear meshes with the incomplete gear. The large bevel gear is coaxially arranged with the large gear. The small bevel gear meshes with the large bevel gear. The first end of the T-shaped shaft is fixedly connected to the small bevel gear. The suction cup is fixedly connected to the second end of the T-shaped shaft. The gripper includes a second driven gear, a first gear, a second gear, a worm, a first finger joint, a second finger joint, and a third finger joint. The second driven gear meshes with the drive gear of the suction cup mechanism. The first gear meshes with the second driven gear, and the second gear meshes with the first gear. The worm is fixedly connected to the center of the second gear. The first finger joint is located at both ends of the worm and is fixedly connected to the worm. The second finger joint is rotatably connected to the first finger joint, and the third finger joint is rotatably connected to the second finger joint.

2. The lizard-like crawling robot adapted to multiple environments according to claim 1, characterized in that, The spinal assembly includes a spinal body and actuators. The two ends of the spinal body are fixedly connected to the support plate of the trunk assembly. The actuators are symmetrically distributed on both sides of the spinal body and are arranged at equal intervals and fixedly connected to the spinal body.

3. The lizard-like crawling robot adapted to multiple environments according to claim 1, characterized in that, The tail assembly includes a tail motor, a tail bracket, and a tail connector. The first end of the tail motor is fixedly connected to the support plate of the torso assembly. The second end of the tail motor is rotatably connected to the first end of the tail bracket, and its output shaft is fixedly connected to the second end of the tail bracket. The tail connector is rotatably connected to the third end of the tail bracket.

4. The lizard-like crawling robot adapted to multiple environments according to claim 1, characterized in that, The rotation axes of the second and third phalanges are both in the same direction as the axis of the worm.

5. The lizard-like crawling robot adapted to multiple environments according to claim 2, characterized in that, The spine body is made of flexible material and has rectangular slots at equal intervals. The actuator is located at the rectangular slot and is a dielectric elastomer actuator. The actuators on the same side are connected in series.

6. The lizard-like crawling robot adapted to multiple environments according to claim 1, characterized in that, The first driven gear, the second driven gear, the first gear, and the second gear are all located on the same side as the driving gear and are rotatably connected to the fixed plate via a central shaft.

7. The multi-environment crawling lizard-like robot according to claim 1, 2, or 3, characterized in that, Both the spinal column assembly and the tail assembly are located on the central axis of the torso assembly.

8. The lizard-like crawling robot adapted to multiple environments according to claim 1, characterized in that, The side plates are L-shaped and symmetrically arranged on both sides of the fixed plate, with a certain gap reserved between the two side plates, and the T-shaped shaft can swing along the gap.

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