Posture-adjustable multi-legged robot and motion method thereof

Abstract

This invention discloses an adjustable-posture multi-legged robot and its motion method. The multi-legged robot includes a motion module, a connecting shaft, and a posture adjustment mechanism. The motion module includes a housing and two symmetrically arranged drive components. Each drive component includes a transmission shaft and a swing mechanism. The swing mechanism is located on the side of the housing, and the transmission shaft drives the swing mechanism to swing. The two ends of the connecting shaft are respectively connected to the transmission shafts of two adjacent motion modules. The posture adjustment mechanism includes a servo motor and a rope. A servo disk is mounted on the rotation shaft of the servo motor, and the rope is wound around the servo disk. The rope includes a first rope segment and a second rope segment. The first rope segment is connected to the top of each housing, and the second rope segment is connected to the bottom of each housing. Torque transmission and modular connection of the motion modules are achieved through the connecting shaft. Moreover, the connecting shaft adopts a helical topology, which can transmit torque while also being flexible, thus preventing interference when the posture adjustment mechanism drives the multi-legged robot to pitch and deform.

Description

Technical Field

[0001] This invention relates to the field of amphibious robot technology, and in particular to a posture-adjustable multi-legged robot and its motion method. Background Technology

[0002] Among aquatic organisms, arthropods (such as shrimp) exhibit extremely high swimming efficiency. They possess multiple legs that continuously generate propulsion through alternating oscillations, propelling the arthropod body forward. This driving method has significant biomimetic value in the field of robotics. Firstly, its multi-legged actuation provides continuous and stable propulsion; secondly, its simple control logic facilitates simplification of mechanical structures and control methods.

[0003] However, this phase-difference locomotion method in arthropods is only used for swimming in water. Whether it can be applied to terrestrial movement to adapt to amphibious robots, and whether it will still maintain high mobility on land, remains to be studied. Furthermore, this multi-legged actuation method involves multiple driving legs, and reducing the number of power sources is a major challenge in reducing energy consumption. In addition, traditional phase-difference multi-legged locomotion methods tend to have poor maneuverability in complex terrain; improving the maneuverability of amphibious robots is also an urgent problem to be solved. Summary of the Invention

[0004] The present invention aims to at least solve one of the aforementioned technical problems existing in the prior art. To this end, this application proposes a posture-adjustable multi-legged robot that can complete multi-legged phase difference movement with fewer power sources, and is suitable for swimming in water and walking on land, and can adjust its posture according to the actual terrain to improve its mobility.

[0005] This application also proposes a motion method for the aforementioned posture-adjustable multi-legged robot.

[0006] The posture-adjustable multi-legged robot according to a first aspect embodiment of this application includes: At least two motion modules, each motion module including a housing and two symmetrically arranged drive components, each drive component including a drive shaft and a swing mechanism, the swing mechanism being disposed on the side of the housing, the drive shaft driving the swing mechanism to swing; A connecting shaft, whose two ends are respectively connected to the drive shafts of two adjacent motion modules, the connecting shaft includes a left-handed fiber bundle and a right-handed fiber bundle, the left-handed fiber bundle and the right-handed fiber bundle together form a bidirectional helical topology; An attitude adjustment mechanism includes a servo motor and a rope. A servo disk is mounted on the rotation shaft of the servo motor, and the rope is wound around the servo disk. The rope includes a first rope segment and a second rope segment. The first rope segment is connected to the top of each of the housings, and the second rope segment is connected to the bottom of each of the housings.

[0007] The attitude-adjustable multi-legged robot according to the embodiments of this application has at least the following beneficial effects: the torque transmission and motion module are modularly connected through the connecting shaft, and the connecting shaft adopts a helical topology structure, which can transmit torque and bend at the same time, so that no interference will be caused when the attitude adjustment mechanism drives the multi-legged robot to pitch deformation, thereby improving the passability of the multi-legged robot in complex environments.

[0008] According to some embodiments of this application, the swing mechanism is detachably connected to the housing. The swing mechanism includes webbed feet, a crank rod, and a connecting rod. The webbed feet are hinged to the side of the housing. The drive shaft drives the crank rod to rotate. The two ends of the connecting rod are respectively hinged to the webbed feet and the crank rod. The webbed feet, the crank rod, and the connecting rod together constitute a crank-connecting rod mechanism.

[0009] According to some embodiments of this application, the motion module further includes a transmission mechanism, which includes a first bevel gear and a second bevel gear meshing with each other, the first bevel gear being connected to the transmission shaft, and the second bevel gear being connected to the crank rod.

[0010] According to some embodiments of this application, the motion module includes an active motion module and a passive motion module. The active motion module is further equipped with a drive motor, which drives the transmission shaft to rotate.

[0011] According to some embodiments of this application, the servo motor is installed in one of the motion modules, and the rope passes through each of the motion modules.

[0012] According to some embodiments of this application, a pulley is installed in the housing, and the rope is wound around the pulley.

[0013] According to some embodiments of this application, a hinge support is provided on the outer side of the housing, and two adjacent housings are hinged to each other through the hinge support.

[0014] According to some embodiments of this application, the posture-adjustable multi-legged robot further includes a sealing cover, which is disposed between two adjacent motion modules. The sealing cover and the two adjacent motion modules together form a sealed space, and the connecting shaft is disposed in the sealed space.

[0015] The motion method according to the second aspect of this application, which is based on the above-described posture-adjustable multi-legged robot, includes a forward motion method and a turning motion method. The forward motion method includes: The drive shafts in the motion modules rotate in the same direction and at the same speed, and the connecting shafts transmit torque to each of the motion modules. The two swinging mechanisms in each of the motion modules swing in the same direction and at the same speed. The swinging mechanism generates a force on the ground or water, and the reaction force of the ground or water drives the posture-adjustable multi-legged robot forward. The servo motor pulls each of the motion modules via the rope, and each of the motion modules bends upward or downward to adapt to the environment; The direction of the turning motion includes: The drive shaft in the motion module rotates at different speeds or in different directions, and the connecting shaft transmits torque to each of the motion modules. The two swinging mechanisms in each of the motion modules swing at different speeds or in different directions; The swinging mechanism generates a force on the ground or water, and the reaction force of the ground or water drives the posture-adjustable multi-legged robot to turn. The servo motor pulls each of the motion modules via the rope, and each of the motion modules bends upward or downward to adapt to the environment.

[0016] The motion method according to the embodiments of this application has at least the following beneficial effects: by controlling the driving direction and driving speed of the driving components on both sides, the speed difference of the swing mechanism on both sides of the multi-legged robot can be controlled, thereby completing forward or turning movements, and it has high propulsion efficiency whether walking on the ground or swimming in water; in addition, by the additional posture adjustment mechanism, the multi-legged robot can be adjusted to bend upward or downward, thereby better crossing complex environments and improving the passability of the multi-legged robot.

[0017] The motion method according to the third aspect of this application, which is based on the above-described posture-adjustable multi-legged robot, includes an inchworm-like motion method; The inchworm-like movement method includes: The motion module located at the foremost end activates the swing mechanism, which then rests against the ground. The motion module located at the rear end activates the swing mechanism, which then disengages from contact with the ground. The servo motor rotates, pulling the second segment of the rope and releasing the first segment of the rope; The posture-adjustable multi-legged robot arches upwards as a whole, and the motion module located at the rear end is pulled forward. The motion module located at the foremost end activates the swing mechanism, causing the swing mechanism to detach from contact with the ground; The motion module located at the rear end activates the swing mechanism, which then rests against the ground. The servo motor rotates, pulling the first segment of the rope and releasing the second segment of the rope; The posture-adjustable multi-legged robot fully recovers its extension, and the motion module at the foremost end is pushed forward; Repeat the above actions to keep moving forward.

[0018] The motion method according to the embodiments of this application has at least the following beneficial effects: by using the posture adjustment mechanism as the power source for forward motion, this inchworm-like motion method is applicable to complex road conditions with multiple obstacles and low friction coefficients, further improving the passability of this multi-legged robot.

[0019] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0020] The accompanying drawings are used to provide a further understanding of the technical solutions disclosed in this application and form part of the specification. They are used together with the embodiments disclosed in this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions disclosed in this application.

[0021] Figure 1 This is a schematic diagram of the appearance of a posture-adjustable multi-legged robot according to the first aspect of this application; Figure 2 This is a schematic diagram of the structure of a posture-adjustable multi-legged robot according to the first aspect of this application; Figure 3 This is a schematic diagram showing the connection between the motion module and the connecting axis in a posture-adjustable multi-legged robot according to the first aspect of this application. Figure 4 This is a schematic diagram of the active motion module in the posture-adjustable multi-legged robot according to the first aspect of this application; Figure 5 This is a schematic diagram of the connecting axis structure in the posture-adjustable multi-legged robot according to the first aspect of this application; Figure 6 This is a schematic diagram of the structure of the housing of the posture-adjustable multi-legged robot according to the first aspect of this application; Figure 7 This is a schematic diagram of the installation of the sealing cover in the posture-adjustable multi-legged robot according to the first aspect of this application; Figure 8 This is a schematic diagram of an adjustable multi-legged robot bending upwards in the motion method of the second aspect embodiment of this application; Figure 9 This is a schematic diagram of a posture-adjustable multi-legged robot bending downwards in the motion method of the second aspect embodiment of this application; Figure 10 This is a schematic diagram of a posture-adjustable multi-legged robot arching upwards in the motion method of the third aspect embodiment of this application.

[0022] Reference numerals: 100-motion module, 110-housing, 111-pulley, 112-articular support, 120-drive assembly, 130-drive shaft, 140-swing mechanism, 141-webbed feet, 142-crank lever, 143-connecting rod, 150-transmission mechanism, 151-first bevel gear, 152-second bevel gear, 160-active motion module, 161-drive motor, 170-passive motion module, 200-connecting shaft, 310-servo motor, 320-servo disc, 400-sealing cover, 500-sealing ring. Detailed Implementation

[0023] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0024] In the description of this application, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, 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 application 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 application.

[0025] In the description of this application, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0026] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0027] In the description of this application, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0028] Among aquatic organisms, arthropods (such as shrimp) exhibit extremely high swimming efficiency. They possess multiple legs that continuously generate propulsion through alternating oscillations, propelling the arthropod body forward. This driving method has significant biomimetic value in the field of robotics. Firstly, its multi-legged actuation provides continuous and stable propulsion; secondly, its simple control logic facilitates simplification of mechanical structures and control methods.

[0029] However, this phase-difference locomotion method in arthropods is only used for swimming in water. Whether it can be applied to terrestrial movement to adapt to amphibious robots, and whether it will still maintain high mobility on land, remains to be studied. Furthermore, this multi-legged actuation method involves multiple driving legs, and reducing the number of power sources is a major challenge in reducing energy consumption. In addition, traditional phase-difference multi-legged locomotion methods tend to have poor maneuverability in complex terrain; improving the maneuverability of amphibious robots is also an urgent problem to be solved.

[0030] In response, this application proposes a posture-adjustable multi-legged robot that achieves torque transmission and modular connection of motion modules through a connecting shaft. Moreover, the connecting shaft adopts a helical topology structure, which can transmit torque while also bending, so as not to cause interference when the posture adjustment mechanism drives the multi-legged robot to pitch deformation, thereby improving the multi-legged robot's passability in complex environments.

[0031] In addition, the present application also proposes two motion methods. One relies on the swing of the swing mechanism for movement. By controlling the rotation direction and rotation speed of the drive components on both sides, the speed difference and wave transmission direction of the swing mechanisms on both sides of the multi-legged robot can be adjusted respectively, thereby completing forward or turning movements. It has a high propulsion efficiency whether walking on the ground or swimming in water. Additionally, through an additionally provided attitude adjustment mechanism, the multi-legged robot can be adjusted to bend upward or downward, thereby better crossing complex environments and improving the passing ability of the multi-legged robot in complex terrains and underwater environments. The other motion method relies on the cooperation between the attitude adjustment mechanism and the swing mechanism to achieve inchworm-like movement, with the attitude adjustment mechanism as the power source for forward movement. Thus, the inchworm-like motion method is applicable to complex road conditions with many obstacles and low friction coefficients, further enhancing the passing ability of the present multi-legged robot. By combining the two types of motion methods, the attitude-adjustable multi-legged robot of the present invention can more easily pass through different environments.

[0032] Referring to Figures 1 to 3 , the attitude-adjustable multi-legged robot in the first aspect embodiment of the present application includes a motion module 100, a connecting shaft 200, and an attitude adjustment mechanism. Among them, the number of motion modules 100 is at least two, and each motion module 100 together constitutes the main structure of the attitude-adjustable multi-legged robot. The connecting shaft 200 is arranged between two adjacent motion modules 100, which serves to connect the two adjacent motion modules 100 together and can also transmit torque to complete the linkage of each motion module 100, so as to control the entire attitude-adjustable multi-legged robot with less power sources. The attitude adjustment mechanism drives the entire multi-legged robot to bend upward or downward based on the principle of rope traction, so that it can cross obstacles through pitching movements when traveling on land and control floating or diving through pitching movements when swimming in water.

[0033] Specifically, referring to Figure 4 , the motion module 100 includes a housing 110 and two symmetrically arranged drive components 120. The drive components 120 are used to control the motion mode of the corresponding side of the housing 110. Thus, by separately controlling the two groups of drive components 120, motion modes such as forward, backward, and turning of the motion module 100 can be achieved. The drive component 120 includes a transmission shaft 130 and a swing mechanism 140. The swing mechanism 140 is arranged on the side of the housing 110, and it can directly contact the ground or interact with the water body to generate a propulsion force. The transmission shaft 130 is rotatably arranged in the housing 110, and it is linked with the swing mechanism 140 to drive the swing mechanism 140 to swing.

[0034] The two ends of the connecting shaft 200 are respectively connected to the drive shafts 130 of two adjacent motion modules 100, thereby transmitting power to each motion module 100 and ensuring the linkage of the motion modules 100. (Refer to...) Figure 5 The connecting shaft 200 includes left-handed and right-handed fiber bundles, which together form a bidirectional helical topology. This structure ensures that the connecting shaft 200 has sufficient torque transmission capacity, and that it can adaptively bend during attitude adjustment by the attitude adjustment mechanism to reduce interference with the attitude adjustment. Furthermore, in this embodiment, the connecting shaft 200 is detachably connected to the motion module 100, allowing the user to increase or decrease the number of motion modules 100 according to actual needs. The user can also replace connecting shafts 200 with different lengths, widths, and structures to better adapt the multi-legged robot to different working environments.

[0035] Reference Figure 6 The attitude adjustment mechanism includes a servo motor 310 and a rope. A servo disk 320 is mounted on the rotation axis of the servo motor 310, and the rope is wound around the servo disk 320. When the servo disk 320 rotates due to the servo motor 310, the rope can be pulled. Notably, the rope includes a first rope segment and a second rope segment. The first rope segment is located above the servo disk 320, and the second rope segment is located below the servo disk 320. The first rope segment is connected to the top of each housing 110, and the second rope segment is connected to the bottom of each housing 110. Thus, when the servo disk 320 rotates and the first rope segment is tightened, the second rope segment relaxes, and the multi-legged robot tends to bend upward; when the servo disk 320 rotates and the second rope segment is tightened, the first rope segment relaxes, and the multi-legged robot tends to bend downward.

[0036] Furthermore, the swing mechanism 140 includes webbed feet 141, a crank 142, and a connecting rod 143. The webbed feet 141 are hinged to the side of the housing 110. The drive shaft 130 drives the crank 142 to rotate. The two ends of the connecting rod 143 are respectively hinged to the webbed feet 141 and the crank 142. The webbed feet 141, crank 142, and connecting rod 143 together constitute a crank-connecting rod mechanism. Thus, when the drive shaft 130 rotates, the crank 142 rotates accordingly, causing the webbed feet 141 to swing. After the webbed feet 141 swing, they can contact the ground or water and generate a force. The reaction force drives the motion module 100 to move as a whole. When all the motion modules 100 work together, the entire multi-legged robot moves.

[0037] It is worth noting that the swing mechanism 140 is detachably connected to the housing 110, so that by replacing different swing mechanisms 140, the swing amplitude and motion envelope range of the web foot 141 can be changed; by adjusting the installation angle between the crank rod 142 and its rotation axis, the phase difference between adjacent motion modules 100 can be configured.

[0038] Furthermore, the drive assembly 120 also includes a transmission mechanism 150, through which the drive shaft 130 drives the crank 142 to rotate. The transmission mechanism 150 can be configured to transmit power via belt drive, chain drive, or gear drive. In this embodiment, the transmission mechanism 150 uses a gear drive, specifically including a meshing first bevel gear 151 and a second bevel gear 152. The first bevel gear 151 is connected to the drive shaft 130, and the second bevel gear 152 is connected to the crank 142. The advantage of using a bevel gear drive is not only that it can smoothly transmit power, but also that it can change the direction of power transmission while transmitting power, redirecting the rotational power transmitted along the torso axis to the swing mechanism 140, thus facilitating the structural layout within the motion module 100.

[0039] Furthermore, the motion module 100 includes an active motion module 160 and a passive motion module 170. The active motion module 160 houses a power source, which transmits power to the passive motion module 170 via a connecting shaft 200, enabling coordinated control of the entire amphibious robot. To reduce power loss during transmission, the active motion module 160 is positioned in the middle of the amphibious robot, while the passive motion modules 170 are located at both ends of the active motion module 160. Regarding the power source configuration of the active motion module 160, in this embodiment, a drive motor 161 is also installed within the active motion module 160. The drive motor 161 drives the transmission shaft 130 to rotate, thereby transmitting power to both the swing mechanism 140 within the active motion module 160 and the connecting shaft 200 to drive the passive motion module 170 in coordinated motion.

[0040] Furthermore, a servo motor 310 is installed in one of the motion modules 100, and a rope runs through each motion module 100 to achieve posture control of the entire multi-legged robot.

[0041] Furthermore, a pulley 111 is installed in the housing 110, and the rope is wound around the pulley 111. The function of the pulley 111 is to guide the extension direction of the rope, thereby avoiding other components inside the housing 110 and preventing interference.

[0042] Furthermore, a hinge support 112 is provided on the outer side of the housing 110. Two adjacent housings 110 are hinged together by the hinge support 112, thereby improving the connection strength between the housings 110 and preventing the motion modules 100 from becoming loose. It is worth noting that the extension direction of the hinge axis in the hinge support 112 is horizontal, and it can be flipped due to the adjustment of the attitude adjustment mechanism.

[0043] Furthermore, referring to Figure 6 This posture-adjustable multi-legged robot also includes a sealing cover 400, which is disposed between two adjacent motion modules 100. The sealing cover 400 and the two adjacent motion modules 100 together form a sealed space. The connecting shaft 200 is disposed in the sealed space, thereby preventing external dust or water from affecting the transmission effect of the connecting shaft 200 through the sealing cover 400.

[0044] Furthermore, a sealing ring 500 is installed between the sealing cover 400 and the motion module 100. The sealing ring 500 is elastic and can fill the connection gap between the sealing cover 400 and the motion module 100, thereby playing a role in sealing and waterproofing.

[0045] Furthermore, the sealing cover 400 adopts a bellows design, which serves two purposes: it provides a sealing effect and it can deform according to the movement of the amphibious robot, thereby reducing interference with the robot's movement. The cross-section of the sealing cover 400 is elliptical, further optimizing the flexibility of the bellows.

[0046] Furthermore, a flange is provided between the sealing cover 400 and the motion module 100. The flange is fixedly connected to the end of the sealing cover 400, and the flange is tightly connected to the motion module 100 by bolts. It is worth noting that a sealing groove is provided on the end face of the housing 110. This sealing groove is used to install the sealing ring 500. After the flange is installed and fixed, it applies a pressing force to the sealing ring 500, so that the sealing ring 500 forms a sealing fit with the sealing groove and adjacent structures.

[0047] Furthermore, for the motion module 100, its housing 110 adopts a sealed design. Sealing rings are provided at the housing seams of the housing 110, the electronic interface, and the hinge point between the crankshaft 142 and the housing 110 to prevent water from seeping into the housing 110 and causing the electronic components inside to malfunction. Specifically, refer to... Figure 10The housing 110 adopts an upper and lower shell splicing design, with a sealing groove at the joint of the upper and lower shells for installing a sealing ring. The sealing groove extends according to the shape of the joint seam between the upper and lower shells, and the sealing ring also adopts an adaptive design to ensure sealing performance. Exposed electronic components such as switches and charging ports also adopt a static sealing design. At the crankshaft 142, the dynamic sealing assembly is axially pressed by a sealing gland and bolts, so that the dynamic sealing assembly forms a pressing contact with the outer surface of the rotating shaft in the circumferential direction, thereby forming a continuous sealing interface between the rotating shaft and the housing 110. Static sealing is used at the joint of the sealing gland.

[0048] A motion method according to the second aspect of this application, which is performed on the above-mentioned posture-adjustable multi-legged robot, includes a forward motion method and a turning motion method.

[0049] The forward motion method includes the following steps: S110. The drive shaft 130 in the motion module 100 rotates in the same direction and at the same speed, and the connecting shaft 200 transmits torque to each motion module 100; S120. The two swing mechanisms 140 in each motion module 100 swing in the same direction and at the same speed; S130. The swing mechanism 140 generates a force on the ground or water body, and the reaction force of the ground or water body drives the posture-adjustable multi-legged robot forward. S140. The servo motor 310 pulls each motion module 100 via a rope, causing each motion module 100 to bend upwards (see reference). Figure 8 ) or bend downwards (see reference) Figure 9 To adapt to the environment.

[0050] The directions of turning motion include: S210. The drive shaft 130 in the motion module 100 rotates at different speeds or in different directions, and the connecting shaft 200 transmits torque to each motion module 100; S220. The two swing mechanisms 140 in each motion module 100 swing at different speeds or in different directions; S230. The swing mechanism 140 generates a force on the ground or water body, and the reaction force of the ground or water body drives the posture-adjustable multi-legged robot to turn. S240. The servo motor 310 pulls each motion module 100 via a rope, causing each motion module 100 to bend upwards (see reference). Figure 8 ) or bend downwards (see reference) Figure 9 To adapt to the environment.

[0051] When moving on land and needing to turn, the two drive motors 161 drive the transmission shaft 130 to rotate in the same direction but at different speeds, and the two sets of drive components 120 move at different speeds. When swimming in water and needing to turn, the two drive motors 161 can drive the transmission shaft 130 to rotate in the same direction but at different speeds, or in different directions (at the same or different speeds). As a result, one set of drive components 120 generates a propulsive vortex backward while the other set of drive components 120 generates a propulsive vortex forward, accelerating the turning process of the multi-legged robot and making the multi-legged robot more flexible when swimming in water.

[0052] Furthermore, the methods of forward movement can specifically include synchronous forward movement and alternating forward movement.

[0053] In the synchronous forward movement method, the two swing mechanisms 140 in each motion module 100 swing synchronously, and the two swing mechanisms 140; In the alternating forward method, the two swing mechanisms 140 in each motion module 100 swing in a phase difference manner.

[0054] A motion method according to a third aspect of this application, which is based on the above-mentioned posture-adjustable multi-legged robot, includes an inchworm-like motion method.

[0055] This inchworm-like movement method includes: S310. The foremost motion module 100 activates the swing mechanism 140, which abuts against the ground, thereby fixing the foremost motion module 100 to the ground; S320. The motion module 100 at the rear end starts the swing mechanism 140, the swing mechanism 140 disengages from the ground, and is ready to move. S330. The servo disc 320 of the servo motor 310 rotates, pulling the second segment of the rope and releasing the first segment of the rope; S340. Reference Figure 10 The entire posture-adjustable multi-legged robot arches upwards. Since the foremost motion module 100 is fixed to the ground, the rearmost motion module 100 is pulled forward. S350. The motion module 100 at the foremost position activates the swing mechanism 140, which disengages from the ground and prepares to move. S360. The motion module 100 at the rear end activates the swing mechanism 140, which abuts against the ground, thereby fixing the motion module 100 at the rear end to the ground; S370. The servo disc 320 of the servo motor 310 rotates, pulling the first segment of the rope and releasing the second segment of the rope; S380. The entire posture-adjustable multi-legged robot resumes extension. Since the rearmost motion module 100 is fixed to the ground, the foremost motion module 100 is pushed forward. S390. Repeat the above actions to continue moving forward.

[0056] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application 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 this application. Furthermore, unless otherwise specified, the embodiments and features described in the embodiments of this application can be combined with each other.

Claims

1. A posture-adjustable multi-legged robot, characterized in that, include: At least two motion modules, each motion module including a housing and two symmetrically arranged drive components, each drive component including a drive shaft and a swing mechanism, the swing mechanism being disposed on the side of the housing, the drive shaft driving the swing mechanism to swing; A connecting shaft, whose two ends are respectively connected to the drive shafts of two adjacent motion modules, the connecting shaft includes a left-handed fiber bundle and a right-handed fiber bundle, the left-handed fiber bundle and the right-handed fiber bundle together form a bidirectional helical topology; An attitude adjustment mechanism includes a servo motor and a rope. A servo disk is mounted on the rotation shaft of the servo motor, and the rope is wound around the servo disk. The rope includes a first rope segment and a second rope segment. The first rope segment is connected to the top of each of the housings, and the second rope segment is connected to the bottom of each of the housings.

2. The posture-adjustable multi-legged robot according to claim 1, characterized in that: The swing mechanism is detachably connected to the housing. The swing mechanism includes webbed feet, a crank rod, and a connecting rod. The webbed feet are hinged to the side of the housing. The drive shaft drives the crank rod to rotate. The two ends of the connecting rod are respectively hinged to the webbed feet and the crank rod. The webbed feet, the crank rod, and the connecting rod together constitute a crank-connecting rod mechanism.

3. The posture-adjustable multi-legged robot according to claim 2, characterized in that: The motion module further includes a transmission mechanism, which includes a first bevel gear and a second bevel gear that mesh with each other. The first bevel gear is connected to the transmission shaft, and the second bevel gear is connected to the crank rod.

4. The posture-adjustable multi-legged robot according to claim 1, characterized in that: The motion module includes an active motion module and a passive motion module. The active motion module is also equipped with a drive motor, which drives the transmission shaft to rotate.

5. The posture-adjustable multi-legged robot according to claim 1, characterized in that: The servo motor is installed in one of the motion modules, and the rope runs through each of the motion modules.

6. The posture-adjustable multi-legged robot according to claim 5, characterized in that: A pulley is installed in the housing, and the rope is wound around the pulley.

7. The posture-adjustable multi-legged robot according to claim 1, characterized in that: A hinge support is provided on the outer side of the housing, and two adjacent housings are hinged to each other through the hinge support.

8. The posture-adjustable multi-legged robot according to claim 1, characterized in that: The posture-adjustable multi-legged robot also includes a sealing cover, which is disposed between two adjacent motion modules. The sealing cover and the two adjacent motion modules together form a sealed space, and the connecting shaft is disposed in the sealed space.

9. A motion method, performed by a posture-adjustable multi-legged robot according to any one of claims 1 to 8, characterized in that, This includes methods of forward motion and methods of turning motion; The forward motion method includes: The drive shafts in the motion modules rotate in the same direction and at the same speed, and the connecting shafts transmit torque to each of the motion modules. The two swinging mechanisms in each of the motion modules swing in the same direction and at the same speed. The swinging mechanism generates a force on the ground or water, and the reaction force of the ground or water drives the posture-adjustable multi-legged robot forward. The servo motor pulls each of the motion modules via the rope, and each of the motion modules bends upward or downward to adapt to the environment; The direction of the turning motion includes: The drive shaft in the motion module rotates at different speeds or in different directions, and the connecting shaft transmits torque to each of the motion modules. The two swinging mechanisms in each of the motion modules swing at different speeds or in different directions; The swinging mechanism generates a force on the ground or water, and the reaction force of the ground or water drives the posture-adjustable multi-legged robot to turn. The servo motor pulls each of the motion modules via the rope, and each of the motion modules bends upward or downward to adapt to the environment.

10. A motion method, performed by a posture-adjustable multi-legged robot according to any one of claims 1 to 8, characterized in that, Including inchworm-like movement methods; The inchworm-like movement method includes: The motion module located at the foremost end activates the swing mechanism, which then rests against the ground. The motion module located at the rear end activates the swing mechanism, which then disengages from contact with the ground. The servo motor rotates, pulling the second segment of the rope and releasing the first segment of the rope; The posture-adjustable multi-legged robot arches upwards as a whole, and the motion module located at the rear end is pulled forward. The motion module located at the foremost end activates the swing mechanism, causing the swing mechanism to detach from contact with the ground; The motion module located at the rear end activates the swing mechanism, which then rests against the ground. The servo motor rotates, pulling the first segment of the rope and releasing the second segment of the rope; The posture-adjustable multi-legged robot fully recovers its extension, and the motion module at the foremost end is pushed forward; Repeat the above actions to keep moving forward.

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