Umbrella-skink-imitating quadruped robot

Abstract

The invention provides an umbrella skink imitating quadruped robot. The umbrella skink imitating quadruped robot comprises a single-steering-engine rotary control type neck umbrella head module, a line-driven multi-degree-of-freedom trunk module, a space connecting rod transmission front leg module, a space connecting rod and ratchet wheel transmission rear leg module and a line-driven elastic piece rigidity controllable type bionic tail module. The single-steering-engine rotation control type neck umbrella head module comprises a connecting rod mechanism, and the connecting rod mechanism enables the neck of the robot to have the function of unfolding and folding the neck of umbrella skids. The line-driven multi-degree-of-freedom trunk module adopts a double-motor independent driving framework and controls the trunk to move in the horizontal direction and the vertical direction respectively. The invention provides the bionic umbrella-skink quadruped robot which is simple in mechanical structure, convenient to use and maintain, simplified in control system and stable in structure.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of umbrella lizard four-legged robot, and particularly relates to an umbrella lizard four-legged robot. BACKGROUND

[0002] In the field of bionic robot technology, robots that imitate the movement mechanism of organisms in nature have unique adaptability to complex environments and have irreplaceable important value in many practical application scenarios such as detection and reconnaissance, disaster rescue, and popular science education. As a typical representative of terrestrial moving organisms, lizards have always been a research hotspot in the field of bionic robots. Lizards can not only move quickly on flat ground, but also can flexibly cope with complex scenes such as climbing obstacles in rugged mountains and smooth walking on soft ground. Their flexible and extensible spine structure, naturally optimized four-limb joint connection mode, and special foot structure with anti-skid or adsorption performance, combined with an efficient dynamic control system that can quickly perceive environmental changes and adjust motion parameters in real time, together constitute an important source of inspiration for bionic design.

[0003] Currently, bionic robot technology based on the movement mechanism of lizards has shown a diversified development trend. Among them, there are special propulsion mechanisms that specifically imitate the water movement posture of a particular lizard, there are multi-legged robots or gecko-like robots that achieve complex gaits and flexible crawling ability by setting up multiple independent driving joints, and there are collaborative optimization algorithms abstracted from the collaborative behavior of lizard populations, which provide new ideas for the motion control of robots. Most of these studies are committed to further improving the motion flexibility and adaptability of robots in complex environments by increasing the number of driving units and expanding the degrees of freedom of motion, but the existing technology still has bottlenecks that have not been broken through in terms of lightweight and flexible adaptation of structure, environmental adaptive adjustment of control algorithm, etc. Therefore, continuous and in-depth exploration of the movement mechanism and structural characteristics of lizards and overcoming the existing technical problems have important theoretical significance and practical value for promoting the overall upgrade of bionic robot technology and further expanding the application scenarios.

[0004] Existing lizard robots generally share a common problem: each leg requires multiple servos or motors to achieve crawling or rapid walking movements, resulting in a complex overall structure, high manufacturing costs, susceptibility to external interference, and stringent requirements on the coordination algorithms of the control system, significantly increasing the difficulty of development and maintenance. More importantly, existing research largely focuses on mimicking the basic locomotion functions of lizards, neglecting the unique morphological characteristics of specific species such as frilled lizards and their application value in display and interactive scenarios; furthermore, the active regulatory role of the tail in maintaining balance is not fully utilized. The patent application number 202320460558.2, "Twisting-Waist Bionic Lizard," relies on lizard-like twisting movements for locomotion, but the legs cannot move actively, resulting in low locomotion efficiency. The patent application number 202410252655.1, "Lizard-like Robot Adapted to Sand," relies primarily on leg movement for locomotion, but suffers from a large number of servos, complex collaborative control, and strong dependence on the control system. In the "quadrupedal bionic mechanical lizard" disclosed in patent CN115626230A, a servo motor is used to drive the power to each leg through a gear, crank, and rocker transmission mechanism. The linear guide rail constrains the trajectory of the foot end. Although it achieves bionic crawling on a macro scale, the leg transmission chain is relatively long and the overall structure is still relatively complex. The "bionic lizard filming robot system for jungle camouflage photography" disclosed in patent CN116852387A uses a double slide and parallelogram mechanism to form the legs. It aims to meet the bionic stealth movement requirements under the camera task and is a typical task-oriented design. However, this solution is a mechanism to achieve a specific motion trajectory optimization, but it also has the defects of many joint degrees of freedom, many parts, and insufficient mechanism compactness.

[0005] The aforementioned and similar existing biomimetic lizard robot technologies generally suffer from the following drawbacks: First, to achieve basic crawling movements, frilled lizards typically require multiple servo motors or complex transmission mechanisms deployed on a single leg. This results in a complex overall structure, a large number of parts, high manufacturing costs, and places high demands on the coordination algorithms of the control system, increasing the difficulty of development and maintenance. Second, existing research mainly focuses on imitating the basic climbing functions of lizards, while neglecting the unique morphological characteristics of frilled lizards, such as upright walking and the umbrella-shaped opening structure of their necks, and their application value in science popularization and human-computer interaction. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a frilled lizard-like quadruped robot, comprising: a single servo motor-controlled rotating neck-and-fly head module, a line-driven multi-degree-of-freedom torso module, a spatial linkage-driven front leg module, a spatial linkage and ratchet-driven rear leg module, and a line-driven spring-stiffness-controllable bionic tail module. The single-servo rotary control neck umbrella head module includes a linkage mechanism, which enables the robot's neck to have the function of unfolding and retracting the umbrella lizard's neck. The line-driven multi-degree-of-freedom torso module adopts a dual-motor independent drive architecture, which controls the horizontal and vertical movements of the torso separately.

[0007] Preferably, the single-servo rotary control type neck umbrella head module includes a cover, a head main plate, a servo, a turntable, a rotating link, a deployment link A, a deployment link B, and a deployment link C. The servo is mounted on the head main plate, and the servo output end is connected to the turntable. The turntable is connected to the deployment link A using a hinged hole bolt. The deployment link A is connected to the deployment link B using a hinged hole bolt. The deployment link A converts the horizontal movement into vertical movement and transmits it to the deployment link B. The deployment link B is connected to the end of the deployment link C using a hinged hole bolt. The deployment link C is connected to the head main plate at a reserved position in the middle of the deployment link C using a hinged hole bolt. The front end of the deployment link C is flat and used to attach the required flexible bionic skin.

[0008] Preferably, the front leg modules of the spatial linkage transmission are arranged symmetrically on the left and right.

[0009] Preferably, the spatial linkage transmission front leg module includes a first motor, a drive rod, a bearing, a short optical shaft, a swing block A, a swing block B, a front leg connecting rod A, a front leg connecting rod B, a front leg connecting rod C, an upper front torso block, and a lower front torso block; the irregular hole at the left end of the drive rod is connected to the D-shaped shaft of the first motor; the outer side of the bearing is connected to the front end of the drive shaft; the inner side of the bearing is connected to the short optical shaft; the optical shaft is connected to the swing block B; the swing block B is hinged to the swing block A; the front leg connecting rod B is hinged to the swing block A; the front leg connecting rod A is hinged to the reserved position at the right end of the swing block B; the "L"-shaped bend of the leg connecting rod is hinged to the swing block A; the right end of the front leg connecting rod C is connected to the hole at the upper end of the leg connecting rod; the front leg connecting rod A, the front leg connecting rod B, and the front leg connecting rod C are hinged through unconnected holes.

[0010] Preferably, the space linkage and ratchet drive rear leg module includes a spring, a rear torso lower block, a rear torso lower block, a ball bearing, a second motor, a drive rod, a bearing, a short optical shaft, a swing block A, a swing block B, a rear leg rod A, a rear leg rod B, a ratchet housing A, a ratchet housing B, a ratchet A, and a ratchet B; The hind leg, while functioning as the foreleg swinging motion, also features a double ratchet structure. The relative rotation of the ratchet and ratchet housing allows for inward and outward rotation of the leg. When the torso is raised and the pressure exceeds a preset value, the ratchet locks relative to ratchet housing A, while ratchet housing B rotates relative to the ratchet, causing the leg to extend outward. When the force decreases or the leg is raised, the spring pulls the leg back, the ratchet locks relative to ratchet housing B, and the relative movement between ratchet housing A and the ratchet returns the leg to its original position, thus adjusting the center of gravity.

[0011] Preferably, the irregular hole at the left end of the active rod is connected to the D-shaped shaft of the second motor, the outer side of the bearing is connected to the round hole at the front end of the active shaft, the inner side of the bearing is connected to the short optical shaft, the optical shaft is connected to the reserved hole on the end face of the swing block B, the swing block B is hinged to the lower end of the swing block A, the front leg connecting rod B is limited by a copper bushing on the swing block A, the connecting rod A is hinged to the reserved position on the right end of the swing block B, the "L"-shaped bend of the rear leg connecting rod A is hinged to the swing block A and limited by a copper bushing, the other end of the rear leg connecting rod A is inserted into the ratchet housing, the rear leg connecting rod B is inserted into the ratchet housing B, the ratchet B is sleeved on the ratchet A, the combined ratchet is placed inside the ratchet housing A and the ratchet housing B, and the front leg connecting rod A, the front leg connecting rod B, and the front leg connecting rod C are hinged; the ball bearing is installed at the threaded part at the bottom of the rear torso lower block, the second motor is placed on the rear torso lower block; the spring is installed at the reserved hole on the rear leg connecting rod A and the rear leg connecting rod B.

[0012] Preferably, the line-driven multi-degree-of-freedom torso module includes a traction line, a reel, a spring, a third motor, an upper rear torso block, a lower rear torso block, a rear torso adapter block, a lower front torso block, a front torso fixing auxiliary support, a front torso adapter block, torso block A, and torso block B. Two third motors are placed at the lower end of the front torso lower block, and the front torso fixing auxiliary support covers the third motors; the D-shaped hole in the middle of the reel is interference-fitted with the third motor; the front torso adapter block, torso block A, torso block B, and rear torso lower block are connected together using springs; one end of each of the two traction lines is fixed to the upper and right holes of the rear torso adapter block, and they pass through the upper and right holes of the front torso adapter block in sequence through torso block B, torso block A, and torso block A, and are wound onto the left and right reels respectively; the front torso adapter block, torso block A, torso block B, and rear torso adapter block are connected in sequence using bolts with reamed holes; the traction lines pass through the lower left hole of the front torso adapter block, torso block A, torso block B, and rear torso adapter block, and are fixed to the rear torso adapter block; the hole of the rear torso adapter block is aligned with the reserved hole of the rear torso lower block, the rear torso upper block is covered, and the connection is made using bolts.

[0013] Preferably, the wire-driven, four-stiffness controllable bionic tail module consists of a tail base, a traction wire, a reel, a fourth motor, spring plates, tail plates A, B, C, D, and E, a rear torso fixing auxiliary support, and a rear torso lower block. The fourth motor is located at the lower end of the rear torso lower block, and the rear torso fixing auxiliary support is positioned. The irregular hole in the middle of the reel is interference-fitted with the D-shaped shaft of the fourth motor. Tail plates A, B, C, D, and E are sequentially bolted to both ends of the spring plates. The spring plates are bolted to the tail base, and the tail base is bolted to the rear torso lower block. One end of the traction wire is fixed to tail plate E, passes sequentially through tail plates D, C, B, A, and the tail base, and is wound around the reel. The other end exits sequentially, passes through tail plate E, and is fixed. Beneficial effects 1. Single-servo rotary control type neck umbrella head deployment head structure: The core innovation of this biomimetic neck structure lies in its use of a single servo motor to drive a linkage mechanism, enabling the robot's neck to extend and retract like that of a frilled lizard. Power is transmitted through three pairs of centrally symmetrical links, ensuring stable operation and completely avoiding jamming or structural stress caused by asynchrony.

[0014] 2. Wire-driven multi-degree-of-freedom torso module: The line-driven multi-DOF torso module employs a dual-motor independent drive architecture, controlling the horizontal and vertical movements of the torso separately. To further optimize motion performance and structural rigidity, an innovative adaptive spring mechanism is introduced. This spring assembly provides variable steering damping and return torque at different torso positions, effectively suppressing vibration and overshoot during movement. This electromechanical coupling design ensures high reliability, high precision, and long service life while achieving multi-DOF motion capabilities.

[0015] 3. Spatial linkage transmission front leg module: The single-motor centralized drive scheme significantly reduces the rotational inertia of the leg's moving parts by concentrating the majority of the mass in the motor, creating a prerequisite for achieving high acceleration and high-speed motion. Compared to the high inertia and hysteresis caused by the motor's mass being distributed at the joint in a servo-driven scheme, this invention makes the leg lighter and more responsive. Simultaneously, the integrated rigid transmission chain gives the leg a higher structural intrinsic frequency, effectively suppressing harmful vibrations that are prone to occur during high-speed motion, thus maintaining excellent attitude stability and trajectory tracking accuracy even in the high-speed domain.

[0016] 4. Spatial Linkage-Ratchet Drive Rear Leg Module: This structure creatively utilizes a combined ratchet mechanism, which automatically adjusts the leg's inward and outward rotation angles during movement by controlling the relative phase of the two ratchet housings. Furthermore, the built-in elastic element of the ratchet mechanism allows the system to naturally absorb impact loads without the need for additional damping components, significantly improving dynamic stability.

[0017] 5. Line-driven spring stiffness controllable bionic tail module: Unlike traditional multi-link mechanisms or direct-drive servo systems, this design innovatively employs a single-piece, flexible, hollow structure to control the tail's swaying attitude. This significantly simplifies the mechanical structure, reduces weight, and, in addition to simplification and reliability, endows the tail with excellent agility and adaptability.

[0018] This invention provides a biomimetic frilled lizard quadruped robot with a simple mechanical structure, convenient use and maintenance, a simplified control system, and a stable structure. Addressing the problems of redundant motor deployment and complex transmission links in existing technologies, which lead to difficulties in control coordination and insufficient structural stability, this invention innovatively designs a single-drive integrated leg drive mechanism. This significantly reduces the number of actuators, shortens the transmission path, and reduces the cumulative error caused by servo motors, thereby improving the rigidity and operational stability of the overall structure. Simultaneously, the deployable frilled neck structure in the head module is highly biomimetic to the unique morphology of lizards, which is beneficial for expanding its application scenarios for performing covert tasks. Furthermore, based on the simplified actuator layout, the modular design of each functional area, and the loosely coupled control system, the multi-component collaborative control logic is simplified, which helps reduce the computational load and debugging difficulty of the control algorithm, achieving a simplified and reliable control process. Ultimately, this solves the problems of redundant servo motors, complex control, structural instability, and limited functionality in current lizard robots. Its leg structure uses a single motor drive, which is not only simple in structure and reliable in operation, but also enables high-speed movement. The hind legs employ a flexible double ratchet mechanism, which combines shock absorption and center of gravity adjustment, enabling the robot to adapt to various complex terrains while maintaining excellent movement speed on flat ground. The head features a highly biomimetic neck umbrella structure, which is beneficial for future use in concealed environments. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall assembly structure of the present invention; Figure 2 A schematic diagram of a single-servo rotary control neck umbrella head module; Figure 3 Another structural diagram of the single-servo rotary control neck umbrella head module; Figure 4 This is a structural schematic diagram of the front leg module of the space linkage transmission; Figure 5 for Figure 4 A schematic diagram of a partial structure; Figure 6 A schematic diagram of the structure of a line-driven multi-degree-of-freedom torso module from one perspective; Figure 7 for Figure 6 A structural diagram from another perspective; Figure 8 This is a structural diagram of the space linkage and ratchet drive rear leg module; Figure 9 yes Figure 8 A schematic diagram of a partial structure; Figure 10 This is a schematic diagram of a wire-driven spring stiffness controllable bionic tail module. Among them, 01, single servo motor rotation control type neck umbrella head module; 011, cover; 012, head main body plate; 013, deployment link A; 014, deployment link B; 015, deployment link C; 016, deployment link D; 017, turntable; 018, head fixing block; 019, servo motor; 02. Spatial linkage transmission front leg module; 021. Upper front torso block; 022. Lower front torso block; 023. Swing block A; 024. Active rod; 025. Optical axis; 026. Swing block B; 027. Front leg link B; 028. Front leg link C; 029. Front leg link A; 0210. Leg rod; 0211. First motor; 0212. Bearing; 03. Wire-driven multi-degree-of-freedom torso module; 031. Rear torso adapter block; 032. Torso block B; 033. Torso block A; 034. Front torso adapter block; 035. Pulley; 036. Compression spring; 037. Rear torso fixing auxiliary support; 04. Spatial linkage and ratchet-driven rear leg module; 041. Upper rear torso block; 042. Lower rear torso block; 043. Ball bearing; 044. Ratchet housing A; 045. Ratchet B; 046. Ratchet A; 047. Ratchet housing B; 048. Rear leg rod A; 049. Rear leg rod B; 0410. Tension spring; 05. Line-driven spring stiffness controllable bionic tail module; 051. Tail base; 052. Spring plate; 053. Tail plate E; 054. Tail plate D; 055. Tail plate C; 056. Tail plate B; 057. Tail plate A. Detailed Implementation

[0020] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention. These all fall within the scope of protection of the present invention.

[0021] Reference Figures 1 to 10 This invention provides a frilled lizard-like quadruped robot, comprising a single-servo rotary-controlled frilled head module 01, a line-driven multi-DOF torso module 03, a spatial linkage-driven front leg module 02, a spatial linkage-ratchet-driven rear leg module 04, and a line-driven, spring-loaded, stiffness-controllable bionic tail module 05. The single-servo rotary-controlled frilled head module 01 is mounted on the upper front torso block 022 via a head fixing block 018. The spatial linkage-driven front leg module 02 is constrained and mounted on both sides by the upper front torso blocks 022 and 021. The spatial linkage-ratchet-driven rear leg module 04 is constrained and mounted on both sides by the lower rear torso block 042 and 041. The line-driven, spring-loaded, stiffness-controllable bionic tail module 05 is bolted to the through holes at the rear ends of the upper rear torso block 041 and the lower rear torso block 042. (Reference) Figure 2 and Figure 3 The single servo-driven rotating control type neck umbrella head module 01 includes a cover 011, a head body plate 012, a servo motor 019, a turntable 017, a deployment link A013A, a deployment link B014, a deployment link C015, and a deployment link D016. Servo motor 019 is bolted to the head body plate 012. Servo motor 019 is directly interference-fitted with turntable 017. Turntable 017 is connected to deployment link B014 using reamed hole bolts. Deployment link B014 is connected to deployment link C015 using reamed hole bolts. Deployment link B014 converts horizontal motion into vertical motion and transmits it to deployment link C015. Deployment link C015 is connected to the end connection of deployment link D016 using reamed hole bolts. Deployment link D016 is connected to the head body plate 012 at a reserved position in the middle of deployment link D016 using reamed hole bolts. The front end of deployment link D016 is flat and used for attaching the required flexible equipment. The link assembly is arranged in a centrally symmetrical three-part circular array. After the link assembly is installed, the cover 011 is installed using round-headed washer screws. Then, using bolts, the servo motor 019 is installed into the pre-drilled square hole at the front end of the forebody block 022. The single servo motor rotation-controlled neck umbrella head deployment head structure is then secured to the servo motor using the head fixing block 018. (Reference) Figure 4 and Figure 5The spatial linkage transmission front leg mold 02 consists of a first motor 0211, a drive rod 024, an optical shaft 025, a swing block A023, a swing block B026, front leg connecting rods A029, B027, and C028, and a leg rod 0210. The irregular hole at the left end of the drive rod 024 is interference-fitted to the D-shaped shaft of the motor. The outer side of the bearing 0212 is interference-fitted to the round hole at the front end of the drive shaft, and the inner side of the bearing 0212 is interference-fitted to the optical shaft 025. The optical shaft 025 is interference-fitted to the pre-drilled hole on the end face of the swing block B026. The swing block B026 is fixed to the hole at the lower end of the swing block A023 using a reamer bolt. The front leg connecting rod B027 is fixed to the swing block A023 using a reamer bolt. Using a copper bushing for limiting, connect rod A is fixed to the reserved position on the right end of swing block B026 using a reamed bolt. The hole at the "L"-shaped bend of leg rod 0210 is connected to the hole on the right end of swing block A023 using a reamed bolt, and then limited by a copper bushing. Next, the right end of front leg connect rod C028 is connected to the hole at the upper end of leg rod 0210. The unconnected holes of front leg connect rods A029, B027, and C028 are then connected together using a reamed bolt. (Reference) Figure 8 and Figure 9The spatial linkage-ratchet drive rear leg module 04 consists of a tension spring 0410, a rear torso lower block 042, a ball bearing 043, a second motor, a drive rod 024, a bearing 0212, an optical shaft 025, a swing block A023, a swing block B026, a front leg link A029, a front leg link B027, a front leg link C028, a rear leg link A048, a rear leg link B049, a ratchet housing A044, a ratchet housing B047, a ratchet A046, and a ratchet B045. The irregular hole at the left end of the drive rod 024 is interference-fitted with the D-shaped shaft of the second motor. The outer side of the bearing 0212 is interference-fitted with the round hole at the front end of the drive shaft. The inner side of the bearing 0212 is interference-fitted with the optical shaft 025. The optical shaft is interference-fitted with the reserved hole on the end face of the swing block B026. The swing block B026 is fixed to the hole at the lower end of the swing block A023 using a reamer bolt. The front leg connecting rod B027 is fixed to the swing block A023 using a reamer bolt. A copper bushing is used for limiting. The connecting rod A is fixed to the right side of the swing block B026 using a reamer bolt. At the reserved position at the end, connect the hole at the "L"-shaped bend of the rear leg rod A048 to the hole at the right end of the swing block A023 using a reamed bolt, and use a copper bushing for limiting. Insert the other end of the rear leg rod A048 into the ratchet housing, then insert the rear leg rod B049 into the ratchet housing B047. Place ratchet B045 onto ratchet A046, and then place the combined ratchet inside ratchet housings A044 and B047, connecting them using a reamed bolt. Connect the unconnected holes of the front leg connecting rods A029, B027, and C028 together using a reamed bolt. Install ball bearing 043 at the threaded bottom of the rear torso lower block 042, and place the third motor on the rear torso lower block 042. Install tension spring 0410 at the reserved holes on the rear leg rods A048 and B049. (Reference) Figure 8The wire-driven, spring-stiffness-controllable bionic tail module 50 consists of a tail base 051, a traction line, a pulley 035, a fourth motor, a C-shaped spring plate, tail plates A057, B056, C055, D054, and E053, a rear torso fixing auxiliary support 037, and a rear torso lower block 042. During installation, the fourth motor is placed at the lower end of the rear torso support lower block, limited by the rear torso fixing auxiliary support 037, and secured with bolts. The irregular hole in the center of the rotating wheel is interference-fitted with the D-shaped shaft of the fourth motor. Secure tailpieces A057, B056, C055, D054, and E053 sequentially to both ends of spring plate 052 using bolts. Secure spring plate 052 to the tail support base using bolts. Install tail base 051 onto the lower rear section block 042 using bolts. Secure one end of the traction cable to tailpiece E053, then pass it sequentially through tailpieces D054, C055, B056, A057, and tail base 051, winding it around pulley 035. Then, pass it out sequentially from the other end, through tailpiece E053, and secure it. Remove any excess cable. (Reference) Figure 6 and Figure 7 The line-driven multi-degree-of-freedom torso module 03 consists of a traction line, pulley 035, compression spring 036, fourth motor, upper rear torso block 041, lower rear torso block 042, rear torso adapter block 031, upper front torso block 021, upper front torso block 022, front torso fixing auxiliary support, front torso adapter block 39, torso block A033, and torso block B032. During assembly, the two fourth motors are placed at the lower end of the upper front torso block 022, the fourth motors are covered by the front torso fixing auxiliary support, and bolts are used to connect them. The D-shaped hole in the middle of the pulley 035 is interference-fitted with the fourth motor. Connect the front torso adapter block 39, torso block A033, torso block B032, and rear torso lower block 042 together using compression spring 036. Fix one end of each of the two traction lines to the upper and right holes of the rear torso adapter block. Pass them through the upper and right holes of the front torso adapter block 39 in sequence, passing them through torso block B032, torso block A033, and front torso adapter block 39. Then, wind them onto the left and right pulleys 035 respectively. Connect the front torso adapter block 39, torso block A033, torso block B032, and rear torso adapter block 031 in sequence using bolts with hinged holes. Pass the remaining traction lines through the lower left hole of the front torso adapter block 39, torso block A033, torso block B032, and rear torso adapter block 031, and fix them to the rear torso adapter block 031. Cut off any excess length. Then, align the hole of the rear torso adapter block 031 with the reserved hole of the rear torso lower block 042, and place the space link drive front leg module and the space link-ratchet drive rear leg module on the reserved positions on both sides of the front torso upper block 021 and front torso upper block 022, rear torso upper block 041 and rear torso lower block 042 respectively. Snap the fourth motor into the motor mount, cover the rear torso upper block 041 and front torso upper block 021, and connect them with bolts.

[0022] Workflow Single-servo rotary control neck parachute head deployment structure: The neck extension action is controlled by a servo motor: the servo motor drives the turntable to rotate, and the turntable in turn pushes the extension link A; the extension link A transmits the motion to the extension link B, and the extension link B converts the horizontal motion into vertical motion, which is then transmitted to the extension link C; finally, the extension link C drives the extension link D to move, thereby realizing the extension and retraction function of the neck.

[0023] Wire-driven multi-degree-of-freedom torso module: This device uses two RWG1812 motors to control horizontal and vertical movement respectively. Each motor drives a corresponding reel by rotation, and the reel transmits power to the forequarter adapter block via a transmission line. When the forequarter adapter block is subjected to force, it drives the rest of the body to follow suit. Combined with the synergistic effect of springs and motors, it precisely adjusts the degree of bending of the torso, thereby simulating the crawling and running posture of a frilled lizard and controlling the direction of movement.

[0024] Space linkage leg structure: Each leg's swing posture is controlled by a single motor. The motor drives the active lever to rotate, and the left-right movement of the active lever is converted into the left-right swing of pendulum block 1, while the up-down movement is converted into the up-down swing of pendulum block B. The swing of pendulum block B is then transmitted to the leg linkage by a linkage group consisting of front leg linkage A, front leg linkage B, and front leg linkage C, enabling it to complete the leg-stepping motion. The hind leg has a double ratchet structure, which can perform inward and outward rotation through the relative rotation of the ratchet and ratchet housing. When the torso is raised, if the pressure exceeds a preset value, the ratchet locks relative to ratchet housing A, and ratchet housing B rotates relative to the ratchet, causing the leg to extend outward. When the force decreases or the leg is raised, the spring pulls back the leg structure, the ratchet locks relative to ratchet housing B, and the relative movement between ratchet housing A and the ratchet returns the leg to its original position, achieving the purpose of adjusting the center of gravity.

[0025] Wire-driven spring stiffness controllable bionic tail module: The tail section's movement is driven by a motor, which rotates a pulley and transmits power directly to the tail section E via a transmission line, causing the remaining parts to move accordingly. The flexible, hollowed-out structure and the motor effectively control the tail section's main swing posture, ensuring coordinated and controllable movements.

[0026] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," 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.

[0027] Furthermore, the terms "first" and "second" 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. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0028] 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 connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0029] The above description, in conjunction with specific embodiments, provides a further detailed explanation of the present invention, but it should not be construed as limiting the specific implementation of the invention to these descriptions. For those skilled in the art, several simple deductions or substitutions can be made without departing from the concept of the present invention.

Claims

1. A frilled lizard-like quadruped robot, characterized in that, include: Single servo rotary control type neck umbrella head module, line-driven multi-degree-of-freedom torso module, spatial linkage transmission front leg module, spatial linkage and ratchet transmission rear leg module, and line-driven spring stiffness controllable bionic tail module. The single-servo rotary control neck umbrella head module includes a linkage mechanism, which enables the robot's neck to have the function of unfolding and retracting the umbrella lizard's neck. The line-driven multi-degree-of-freedom torso module adopts a dual-motor independent drive architecture, which controls the horizontal and vertical movements of the torso separately.

2. The frilled lizard-like quadruped robot according to claim 1, characterized in that: The single-servo rotary-controlled neck umbrella head module includes a cover, a head body plate, a servo motor, a turntable, a rotating link, a deployment link A, a deployment link B, and a deployment link C. The servo motor is mounted on the head body plate, and its output end is connected to the turntable. The turntable is connected to the deployment link A using a hinged-hole bolt. The deployment link A is connected to the deployment link B using a hinged-hole bolt, and the deployment link A converts the horizontal motion into the vertical motion and transmits it to the deployment link B. The deployment link B is connected to the end of the deployment link C using a hinged-hole bolt. The deployment link C is connected to the head body plate at a pre-reserved position in the middle using a hinged-hole bolt. The front end of the deployment link C is flat and used to attach the required flexible bionic skin.

3. The frilled lizard-like quadruped robot according to claim 1, characterized in that: The front leg modules of the spatial linkage transmission are arranged symmetrically on the left and right.

4. The frilled lizard-like quadruped robot according to claim 1, characterized in that: The spatial linkage transmission front leg module includes a first motor, a drive rod, a bearing, a short optical shaft, a swing block A, a swing block B, a front leg connecting rod A, a front leg connecting rod B, a front leg connecting rod C, an upper front torso block, and a lower front torso block. The irregular hole at the left end of the drive rod connects to the D-shaped shaft of the first motor. The outer side of the bearing is connected to the front end of the drive shaft, and the inner side of the bearing is connected to the short optical shaft. The optical shaft is connected to the swing block B. The swing block B is hinged to the swing block A. The front leg connecting rod B is hinged to the swing block A. The front leg connecting rod A is hinged to the reserved position at the right end of the swing block B. The "L"-shaped bend of the leg connecting rod is hinged to the swing block A. The right end of the front leg connecting rod C is connected to the hole at the upper end of the leg connecting rod. The front leg connecting rods A, B, and C are hinged through unconnected holes.

5. The frilled lizard-like quadruped robot according to claim 4, characterized in that: The space linkage and ratchet drive rear leg module includes a spring, a rear torso lower block, a rear torso lower block, a ball bearing, a second motor, a drive rod, a bearing, a short optical shaft, a swing block A, a swing block B, a rear leg rod A, a rear leg rod B, a ratchet housing A, a ratchet housing B, a ratchet A, and a ratchet B; The hind leg, while functioning as the foreleg swinging motion, also features a double ratchet structure. The relative rotation of the ratchet and ratchet housing allows for inward and outward rotation of the leg. When the torso is raised and the pressure exceeds a preset value, the ratchet locks relative to ratchet housing A, while ratchet housing B rotates relative to the ratchet, causing the leg to extend outward. When the force decreases or the leg is raised, the spring pulls the leg back, the ratchet locks relative to ratchet housing B, and the relative movement between ratchet housing A and the ratchet returns the leg to its original position, thus adjusting the center of gravity.

6. The frilled lizard-like quadruped robot according to claim 5, characterized in that: The irregular hole at the left end of the active rod connects to the D-shaped shaft of the second motor. The outer side of the bearing connects to the round hole at the front end of the active shaft, and the inner side of the bearing connects to the short optical shaft. The optical shaft connects to the reserved hole on the end face of the swing block B. The swing block B is hinged to the lower end of the swing block A. The front leg connecting rod B is limited by a copper bushing on the swing block A. The connecting rod A is hinged to the reserved position on the right end of the swing block B. The "L"-shaped bend of the rear leg connecting rod A is hinged to the swing block A and limited by a copper bushing. The other end of the rear leg connecting rod A is inserted into the ratchet housing, and the rear leg connecting rod B is inserted into the ratchet housing B. The ratchet B is fitted on the ratchet A. The combined ratchet is placed inside the ratchet housing A and the ratchet housing B. The front leg connecting rod A, the front leg connecting rod B, and the front leg connecting rod C are hinged together. The ball bearing is installed at the threaded part at the bottom of the lower rear torso block. The second motor is placed on the lower rear torso block. The spring is installed in the reserved hole on the rear leg connecting rod A and the rear leg connecting rod B.

7. The frilled lizard-like quadruped robot according to claim 1, characterized in that: The wire-driven multi-degree-of-freedom torso module includes a traction cable, a reel, a spring, a third motor, an upper rear torso block, a lower rear torso block, a rear torso adapter block, a lower front torso block, a front torso fixing auxiliary support, a front torso adapter block, torso block A, and torso block B. Two third motors are placed at the lower end of the front torso lower block, and the front torso fixing auxiliary support covers the third motors; the D-shaped hole in the middle of the reel is interference-fitted with the third motor; the front torso adapter block, torso block A, torso block B, and rear torso lower block are connected together using springs; one end of each of the two traction lines is fixed to the upper and right holes of the rear torso adapter block, and they pass through the upper and right holes of the front torso adapter block in sequence through torso block B, torso block A, and torso block A, and are wound onto the left and right reels respectively; the front torso adapter block, torso block A, torso block B, and rear torso adapter block are connected in sequence using bolts with reamed holes; the traction lines pass through the lower left hole of the front torso adapter block, torso block A, torso block B, and rear torso adapter block, and are fixed to the rear torso adapter block; the hole of the rear torso adapter block is aligned with the reserved hole of the rear torso lower block, the rear torso upper block is covered, and the connection is made using bolts.

8. The frilled lizard-like quadruped robot according to claim 1, characterized in that: The wire-driven, four-stiffness controllable bionic tail module consists of a tail base, traction wire, reel, fourth motor, spring plates, tail plates A, B, C, D, and E, a rear torso fixing auxiliary support, and a rear torso lower block. The fourth motor is located at the lower end of the rear torso lower block, and the rear torso fixing auxiliary support is positioned. The irregular hole in the middle of the reel is interference-fitted with the D-shaped shaft of the fourth motor. Tail plates A, B, C, D, and E are sequentially bolted to both ends of the spring plates. The spring plates are bolted to the tail base, and the tail base is bolted to the rear torso lower block. One end of the traction wire is fixed to tail plate E, passes sequentially through tail plates D, C, B, A, and the tail base, and is wound around the reel. The other end exits sequentially, passes through tail plate E, and is fixed.

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