Multi-motion-mode six-foot metamorphic robot

Abstract

The invention belongs to the technical field of robots, and relates to a multi-motion-mode six-foot metamorphic robot which comprises a robot body, four advancing legs and two clamping legs. Each foot group unit is formed by the four advancing legs and the two clamping legs in the mode that one advancing leg, one clamping leg and one advancing leg are combined, and the two foot group units are symmetrically arranged on the left side and the right side of the robot body respectively. The robot can adapt to the two complex environments of ground advancing and tree climbing at the same time, and has the active obstacle avoidance capacity in the ground high-speed moving and climbing process; the robot has five motion modes including a crawling mode, a crawler walking mode, a rolling mode, a vertical climbing mode and a circumferential surrounding obstacle avoidance mode, and efficient maneuvering and obstacle crossing operation can be achieved in various complex terrain environments.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology and relates to a multimodal hexapod variable cell robot. Background Technology

[0002] In the field of traditional robotics, wheeled structures, while suitable for flat ground, struggle with vertical climbing tasks; while gripper designs offer some grasping ability, they often perform poorly when moving on the ground. Faced with complex environments that simultaneously involve ground movement and tree climbing, both of these configurations exhibit significant limitations. Hexapod robots, developed based on biomimetic mechanics principles and drawing inspiration from the locomotion of spiders, achieve adaptability to various terrains through their multi-degree-of-freedom leg structure, demonstrating significant performance advantages in complex, unstructured environments.

[0003] Currently, Chinese patent CN119975598 A discloses a hexapod robot based on a heterogeneous bionic foot design. This mechanism shows significant advantages in terms of terrain adaptability, movement efficiency, and load capacity. However, the robot's range of motion is still limited to ground movement and it does not yet have the ability to climb vertical surfaces such as trees.

[0004] Currently, in the field of hexapod robot research, there is no comprehensive robot system that can adapt to both complex environments of ground movement and tree climbing, and also has the ability to actively avoid obstacles during high-speed ground movement and climbing. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a multi-modal hexapod morphobot that can adapt to both complex environments of ground movement and tree climbing, and has the ability to actively avoid obstacles during high-speed ground movement and climbing.

[0006] The technical solution of the present invention is: a multi-modal hexapod variable cell robot, comprising a body 1, four walking legs 2 and two clamping legs 3; the four walking legs 2 and the two clamping legs 3 form a leg group unit in the form of "one row of walking legs 2, one clamping leg 3, and one row of walking legs 2", and the two leg group units are symmetrically arranged on the left and right sides of the body 1 respectively.

[0007] The body 1 includes a base plate 4 and four first universal balls 5; the four first universal balls 5 are fixed to one side of the base plate 4 by bolts.

[0008] The traveling leg 2 includes a first small U-shaped frame 6, a first servo motor 7, a first large U-shaped frame 8, a second large U-shaped frame 9, a second servo motor 10, a first double U-shaped frame 11, a third servo motor 12, a third large U-shaped frame 13, a side clamp 14, a drive wheel 15, a driven wheel 16, a tension wheel 17, a DC motor 18, and a track 19. The first small U-shaped frame 6 is bolted to the base plate 4 of the fuselage 1. The first servo motor 7 is bolted to the first small U-shaped frame 6, and its output flange is bolted to the first large U-shaped frame 8. The first large U-shaped frame 8 is bolted to the second large U-shaped frame 9. The output flange of the second servo motor 10 is bolted to the second large U-shaped frame 9. The motor 10 and the third servo motor 12 are respectively fixed to the two ends of the first double U-shaped frame 11 by bolts. The output flange of the third servo motor 12 is fixedly connected to the third large U-shaped frame 13 by bolts. The two side clamps 14 are fixedly connected to the third large U-shaped frame 13 by bolts. The drive wheel 15 and multiple driven wheels 16 are arranged sequentially from top to bottom along the side clamps 14. The two side clamps 14 clamp and fix the drive wheel 15 and the driven wheels 16. A DC motor 18 is fixedly installed at the upper end of the side clamps 14 and is connected to the drive wheel 15 for transmission. The track 19 is wrapped around the drive wheel 15 and the driven wheels 16. Multiple tension wheels 17 are clamped and fixed on the outer side of the side clamps 14. The tension wheels 17 and the driven wheels 16 cooperate to clamp the track 19.

[0009] The clamping leg 3 includes a second small U-shaped frame 20, a fourth servo motor 21, a fourth large U-shaped frame 22, a fifth large U-shaped frame 23, a fifth servo motor 24, a second double U-shaped frame 25, a sixth servo motor 26, a sixth large U-shaped frame 27, a bending plate 28, and a second universal ball joint 29. The second small U-shaped frame 20 is bolted to the base plate 4 of the fuselage 1. The fourth servo motor 21 is bolted to the second small U-shaped frame 20, and its output flange is bolted to the fourth large U-shaped frame 22. The frame 22 is fixedly connected to the fifth large U-shaped frame 23 by bolts. The output flange of the fifth servo motor 24 is fixedly connected to the fifth large U-shaped frame 23 by bolts. The fifth servo motor 24 and the sixth servo motor 26 are respectively fixed to the two ends of the second double U-shaped frame 25 by bolts. The output flange of the sixth servo motor 26 is fixedly connected to the sixth large U-shaped frame 27 by bolts. The bending plate 28 is fixedly connected to the sixth large U-shaped frame 27 by bolts. The second universal ball 29 is fixed to the end of the bending plate 28 by bolts.

[0010] Compared with the prior art, the present invention has the following advantages: 1. Significantly enhanced environmental adaptability: The robot has five motion modes: crawling, tracked walking, rolling, vertical climbing, and circumferential obstacle avoidance. It can autonomously select the optimal motion mode according to the environment of flat, rugged, soft ground and tree trunks of different thicknesses with obstacles. This breaks through the limitation of the traditional robot's single motion mode and high environmental requirements, and greatly expands the robot's application scenarios.

[0011] 2. Simultaneous Improvement in Movement Efficiency and Stability: On flat areas, a rolling mode is adopted, which moves by arranging the foot units in a circular layout, achieving a walking speed far exceeding that of a foot-based gait, resulting in high movement efficiency. On rugged or soft ground, a crawling mode (multi-legged stable support) or a tracked walking mode (tracked ground contact) is used to ensure stability and passability during movement. During climbing, the vertical climbing mode provides power through the vertically arranged walking legs and clamping legs provide gripping force, achieving stable vertical ascent and descent along the tree trunk. When facing obstacles such as branches, the circumferential obstacle avoidance mode uses omnidirectional balls to contact the tree trunk and drive the tracks to achieve circumferential movement, effectively avoiding obstacles and ensuring the continuity and flexibility of the climbing process.

[0012] 3. Highly Synergistic Structural Design and Control Strategy: The innovative design divides and combines the traveling legs and clamping legs for functional reuse. The same mechanical structure (four traveling legs and two clamping legs) can achieve five different motion modes through different spatial configuration transformations and drive combinations. This avoids the problems of structural complexity, heavy weight, and difficult control caused by adding dedicated actuators for each function, demonstrating the advantages of the variable-cell structure.

[0013] 4. Flexible and precise steering and climbing control: In tracked walking, rolling and two climbing modes, steering or circumferential movement is achieved by controlling the speed difference between the left and right track / leg units. The control strategy is unified and the response is sensitive, enabling precise position and posture adjustment and flexible maneuverability in complex environments. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the crawling mode of the present invention;

[0015] Figure 2 This is a schematic diagram of the fuselage structure of the present invention;

[0016] Figure 3 This is a schematic diagram of the traveling leg structure of the present invention;

[0017] Figure 4 This is a schematic diagram of the clamping leg structure of the present invention;

[0018] Figure 5 This is a schematic diagram of the tracked walking mode of the present invention;

[0019] Figure 6 This is a schematic diagram of the scrolling mode of the present invention;

[0020] Figure 7 This is a schematic diagram of the vertical climbing mode of the present invention;

[0021] Figure 8 This is a schematic diagram of the circumferential obstacle avoidance mode of the present invention;

[0022] The labels in the diagram are as follows: 1-Fuselage; 2-Traveling Leg; 3-Clamping Leg; 4-Baseboard; 5-First Universal Joint; 6-First Small U-Shaped Frame; 7-First Servo Motor; 8-First Large U-Shaped Frame; 9-Second Large U-Shaped Frame; 10-Second Servo Motor; 11-First Double U-Shaped Frame; 12-Third Servo Motor; 13-Third Large U-Shaped Frame; 14-Side Clamping Plate; 15-Drive Wheel; 16-Driven Wheel; 17-Tension Wheel; 18-DC Motor; 19-Track; 20-Second Small U-Shaped Frame; 21-Fourth Servo Motor; 22-Fourth Large U-Shaped Frame; 23-Fifth Large U-Shaped Frame; 24-Fifth Servo Motor; 25-Second Double U-Shaped Frame; 26-Sixth Servo Motor; 27-Sixth Large U-Shaped Frame; 28-Bending Plate; 29-Second Universal Joint Detailed Implementation

[0023] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "positive", "negative", "axial", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0024] Furthermore, the terms "first," "second," "third," "fourth," "fifth," and "sixth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0025] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0026] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0027] like Figure 1-4As shown, a multi-modal hexapod variable cell robot includes a body 1, four walking legs 2 and two clamping legs 3; the four walking legs 2 and the two clamping legs 3 form a leg group unit in the form of "one row of walking legs 2, one clamping leg 3, and one row of walking legs 2", and the two leg group units are symmetrically arranged on the left and right sides of the body 1 respectively.

[0028] Furthermore, the body 1 includes a base plate 4 and four first universal balls 5; the four first universal balls 5 are fixed to one side of the base plate 4 by bolts.

[0029] Further, the traveling leg 2 includes a first small U-shaped frame 6, a first servo motor 7, a first large U-shaped frame 8, a second large U-shaped frame 9, a second servo motor 10, a first double U-shaped frame 11, a third servo motor 12, a third large U-shaped frame 13, a side clamping plate 14, a drive wheel 15, a driven wheel 16, a tension wheel 17, a DC motor 18, and a track 19; the first small U-shaped frame 6 is fixed to the base plate 4 of the fuselage 1 by bolts, the first servo motor 7 is fixed to the first small U-shaped frame 6 by bolts, and its output flange is fixedly connected to the first large U-shaped frame 8 by bolts; the first large U-shaped frame 8 is fixedly connected to the second large U-shaped frame 9 by bolts; the output flange of the second servo motor 10 is fixedly connected to the second large U-shaped frame 9 by bolts; the first small U-shaped frame 6 is fixed to the base plate 4 of the fuselage 1 by bolts; the first servo motor 7 is fixed to the first small U-shaped frame 6 by bolts; its output flange is fixedly connected to the first large U-shaped frame 8 by bolts; the first large U-shaped frame 8 is fixedly connected to the second large U-shaped frame 9 by bolts; the second large U-shaped frame 10 is fixedly connected to the second large U-shaped frame 9 by bolts; the second small U-shaped frame 6 is fixed to the base plate 4 of the fuselage 14, a drive wheel 15, a driven wheel 16, a tension wheel 17, a DC motor 18, and a track 19; the first small U-shaped frame 6 is fixed to the base plate 4 of the fuselage 14 by bolts; the first servo motor 7 is fixed to the base plate 6 by bolts; its output flange is fixedly connected to The second servo motor 10 and the third servo motor 12 are respectively fixed to both ends of the first double U-shaped frame 11 by bolts. The output flange of the third servo motor 12 is fixedly connected to the third large U-shaped frame 13 by bolts. The two side clamps 14 are fixedly connected to the third large U-shaped frame 13 by bolts. The drive wheel 15 and multiple driven wheels 16 are arranged sequentially from top to bottom along the side clamps 14. The two side clamps 14 clamp and fix the drive wheel 15 and the driven wheels 16. A DC motor 18 is fixedly installed at the upper end of the side clamps 14 and is connected to the drive wheel 15 for transmission. The track 19 is wrapped around the drive wheel 15 and the driven wheels 16. Multiple tension wheels 17 are clamped and fixed on the outer side of the side clamps 14. The tension wheels 17 and the driven wheels 16 cooperate to clamp the track 19.

[0030] Further, the clamping leg 3 includes a second small U-shaped frame 20, a fourth servo motor 21, a fourth large U-shaped frame 22, a fifth large U-shaped frame 23, a fifth servo motor 24, a second double U-shaped frame 25, a sixth servo motor 26, a sixth large U-shaped frame 27, a bending plate 28, and a second universal ball joint 29; the second small U-shaped frame 20 is fixed to the base plate 4 of the fuselage 1 by bolts, the fourth servo motor 21 is fixed to the second small U-shaped frame 20 by bolts, and its output flange is fixedly connected to the fourth large U-shaped frame 22 by bolts. The four large U-shaped frames 22 and the fifth large U-shaped frame 23 are fixedly connected by bolts. The output flange of the fifth servo motor 24 is fixedly connected to the fifth large U-shaped frame 23 by bolts. The fifth servo motor 24 and the sixth servo motor 26 are respectively fixed to the two ends of the second double U-shaped frame 25 by bolts. The output flange of the sixth servo motor 26 is fixedly connected to the sixth large U-shaped frame 27 by bolts. The bending plate 28 is fixedly connected to the sixth large U-shaped frame 27 by bolts. The second universal ball 29 is fixed to the end of the bending plate 28 by bolts.

[0031] The working principle of this invention is as follows: The hexapod metamorphic robot has six independently controllable legs, namely four walking legs 2 and two clamping legs 3. Each leg has three degrees of freedom of motion and is driven by three servo motors to achieve flexible spatial posture adjustment. The walking legs 2 use three servo motors as the core directional power source and are equipped with a DC motor 18 to independently control the forward and reverse rotation of the track wheels, taking into account both precise directional adjustment and continuous walking power. The clamping legs 3 also use three servo motors as the core directional power source and are equipped with a universal ball structure at the end, which can roll in any direction with low resistance.

[0032] Specifically, during movement, the robot can flexibly switch between five motion modes based on the two complex environments of ground travel and tree climbing: a crawling mode adapted to flat or rugged terrain, a tracked walking mode suitable for soft or uneven ground, a rolling mode that can move efficiently in relatively flat areas, a vertical climbing mode for ascending vertically along tree trunks, and a circumferential obstacle avoidance mode that enables circumferential movement and obstacle avoidance among branches.

[0033] Crawling mode: such as Figure 1 As shown, the four walking legs 2 and two clamping legs 3 of the hexapod metamorphic robot all serve as support elements, forming a stable multi-leg support configuration in contact with the ground. The robot controls the joints of each support leg to coordinate their movements through its drive unit, thereby achieving a smooth forward shift of the body's center of gravity.

[0034] Tracked walking mode: such as Figure 5 As shown, the two clamping legs 3 are lifted off the ground, and the four traveling legs 2 are arranged in pairs in front and behind. The robot moves forward and backward by simultaneously rotating the left and right tracks in either direction. The robot's steering is controlled by adjusting the speed difference between the left and right tracks.

[0035] Scrolling mode: such as Figure 6 As shown, four traveling legs 2 and two clamping legs 3 form a foot group unit in the form of "one row of traveling legs 2, one clamping leg 3, and one row of traveling legs 2". After spatial posture adjustment, the foot group units are combined into a circular layout. The two foot group units are symmetrically arranged on the left and right sides of the body. By simultaneously rotating the left and right tracks in the forward or reverse direction, the robot can move forward and backward. By adjusting the speed difference between the left and right tracks, the robot can be turned.

[0036] Vertical climbing mode: such as Figure 7 As shown, the four walking legs 2 are arranged in pairs along the axis of the tree trunk, keeping in contact with the surface of the tree trunk; the two clamping legs 3 hug the tree trunk to provide stable support. By synchronously controlling the forward or reverse rotation of the four tracks, the robot can climb up and down along the tree trunk.

[0037] Circumferential obstacle avoidance mode: such as Figure 8 As shown, the first omnidirectional ball 5 in the body 1 maintains contact with the tree trunk surface, and the four traveling legs 2 are symmetrically arranged on both sides of the tree trunk axis in pairs, continuously adhering to the tree trunk surface; the two clamping legs 3 encircle the tree trunk to provide stable support. By controlling the forward or reverse rotation of the four tracks, the robot can move around the tree trunk in a circumferential direction, thereby flexibly avoiding obstacles such as tree branches.

[0038] The specific embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A multi-modal hexapod variable-cell robot, characterized in that, It includes a fuselage (1), four traveling legs (2) and two clamping legs (3); the four traveling legs (2) and the two clamping legs (3) form a foot group unit in the form of "one traveling leg (2), one clamping leg (3), one traveling leg (2)", and the two foot group units are symmetrically arranged on the left and right sides of the fuselage (1).

2. The multi-modal hexapod variable-cell robot according to claim 1, characterized in that, The body (1) includes a base plate (4) and a first universal ball (5); the four first universal balls (5) are fixed to one side of the base plate (4) by bolts.

3. The multi-modal hexapod variable-cell robot according to claim 1, characterized in that, The traveling leg (2) includes a first small U-shaped frame (6), a first servo motor (7), a first large U-shaped frame (8), a second large U-shaped frame (9), a second servo motor (10), a first double U-shaped frame (11), a third servo motor (12), a third large U-shaped frame (13), a side clamp (14), a drive wheel (15), a driven wheel (16), a tension wheel (17), a DC motor (18), and a track (19). The first small U-shaped frame (6) is bolted to the base plate (4) of the fuselage (1). The first servo motor (7) is bolted to the first small U-shaped frame (6), and its output flange is bolted to the first large U-shaped frame (8). The first large U-shaped frame (8) and the second large U-shaped frame (9) are bolted together. The output flange of the second servo motor (10) is bolted to the second large U-shaped frame (9). The servo motor (10) and the third servo motor (12) are respectively fixed to the two ends of the first double U-shaped frame (11) by bolts. The output flange of the third servo motor (12) is fixedly connected to the third large U-shaped frame (13) by bolts. The two side clamps (14) are fixedly connected to the third large U-shaped frame (13) by bolts. The drive wheel (15) and multiple driven wheels (16) are arranged sequentially from top to bottom along the side clamps (14). The two side clamps (14) clamp and fix the drive wheel (15) and the driven wheel (16). A DC motor (18) is fixedly installed at the upper end of the side clamps (14) and is connected to the drive wheel (15) for transmission. The track (19) is wrapped around the drive wheel (15) and the driven wheel (16). Multiple tensioning wheels (17) are clamped and fixed on the outer side of the side clamps (14). The tensioning wheels (17) and the driven wheels (16) cooperate to clamp the track (19).

4. The multi-modal hexapod variable-cell robot according to claim 1, characterized in that, The clamping leg (3) includes a second small U-shaped frame (20), a fourth servo motor (21), a fourth large U-shaped frame (22), a fifth large U-shaped frame (23), a fifth servo motor (24), a second double U-shaped frame (25), a sixth servo motor (26), a sixth large U-shaped frame (27), a bending plate (28), and a second universal ball (29); the second small U-shaped frame (20) is fixed to the base plate (4) of the fuselage (1) by bolts, the fourth servo motor (21) is fixed to the second small U-shaped frame (20) by bolts, and its output end flange is fixedly connected to the fourth large U-shaped frame (22) by bolts. The fourth large U-shaped frame (22) and the fifth large U-shaped frame (23) are fixedly connected by bolts. The output flange of the fifth servo motor (24) is fixedly connected to the fifth large U-shaped frame (23) by bolts. The fifth servo motor (24) and the sixth servo motor (26) are respectively fixed to the two ends of the second double U-shaped frame (25) by bolts. The output flange of the sixth servo motor (26) is fixedly connected to the sixth large U-shaped frame (27) by bolts. The bending plate (28) is fixedly connected to the sixth large U-shaped frame (27) by bolts. The second universal ball (29) is fixed to the end of the bending plate (28) by bolts.

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