A multi-legged metamorphic robot and a stability control system thereof

Abstract

The application relates to the technical field of multi-legged robots, and discloses a multi-legged metamorphic robot and a stable control system thereof, which comprises a robot and four traveling legs; the top of the robot is provided with a tray; a weighing sensor is arranged at the connection position of the robot and the tray and fixedly connected through the weighing sensor; a controller is fixedly installed on one side of the robot; first servo motors for driving the traveling legs are arranged on the two sides of the robot body; and a supporting block is slidably connected in the traveling leg; when the tray on the top of the robot is placed with goods, the weighing sensor sends a signal to the controller, the built-in PLC module of the controller starts the metamorphic mechanism, the robot is controlled to move by using a reduction motor to drive a driving wheel in a metamorphic mode, the stability of the robot in the transportation process is effectively improved, and the phenomenon that the robot falls down due to the gravity center offset during the transportation of goods is avoided.

Description

Technical Field

[0001] This invention relates to the field of multi-legged robot technology, specifically to a multi-legged variable-cell robot and its stable control system. Background Technology

[0002] Multilegged robots are a type of biomimetic robot that mimics the locomotion of arthropods (such as insects). They typically have two or more pairs of legs and achieve stable movement through coordinated gait. Their design is inspired by the efficient locomotion capabilities of organisms in rugged terrain and aims to overcome the adaptability limitations of wheeled or tracked robots in complex environments.

[0003] A search revealed a multi-legged, variable-cell robot disclosed in Chinese patent literature [Announcement No.: CN217554058U]. It includes a traveling device for movement and a movement drive device for driving the traveling device to move. The traveling device includes multiple first traveling legs and multiple second traveling legs for support and movement, and a support frame supporting the multiple first and second traveling legs. The movement drive device includes a first horizontal drive device for driving the multiple first traveling legs to swing horizontally, a second horizontal drive device for driving the multiple second traveling legs to swing horizontally, a first vertical drive device for driving each first traveling leg to swing vertically, and a second vertical drive device for driving each second traveling leg to swing vertically. This invention provides more synchronized and coordinated movement of the first and second traveling legs, making the robot's overall operation more stable and improving its overall performance.

[0004] Multi-legged robots are often used for search and rescue and transporting supplies. When driven, they are generally driven by servo motors to control the swinging of the walking legs to achieve the function of walking. However, during the transportation of supplies, the robot's back is placed with supplies. The way the walking is done by swinging the walking legs can easily cause the robot's center of gravity to shift during movement, resulting in a fall and affecting the normal use of the robot.

[0005] To address this problem, we propose a multi-legged variable-cell robot and its stable control system. Summary of the Invention

[0006] The purpose of this invention is to provide a multi-legged variable-cell robot and its stable control system to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a multi-legged morphological robot, comprising a robot and four walking legs, a tray is provided on the top of the robot, a weighing sensor is provided at the connection between the robot and the tray and is fixedly connected through the weighing sensor, a controller is fixedly installed on one side of the robot, first servo motors for driving the walking legs are provided on both sides of the robot body, a support block is slidably connected inside the walking leg, a reduction motor is fixedly installed on one side of the support block, the output end of the reduction motor passes through to one side of the support block and is fixedly connected to a drive wheel, a drive box is fixedly installed on one side of the walking leg, a first piston plate is slidably connected inside the drive box, a pressing rod is fixedly installed at the bottom of the first piston plate, one end of the pressing rod passes through to the bottom of the drive box and is fixedly connected to the top of the support block;

[0008] A variable-cell mechanism, which is fixedly mounted on the robot;

[0009] An extension mechanism is fixedly mounted on the variable cell mechanism;

[0010] An auxiliary mechanism is fixedly mounted on the robot.

[0011] Preferably, the variable cell mechanism includes two connecting frames fixedly connected to the bottom of the robot. A second servo motor is fixedly installed at the bottom of the connecting frame. The output end of the second servo motor extends through to the top of the connecting frame and is fixedly connected to a drive gear. An air box is provided on both sides of the drive gear. The top of the air box is fixedly connected to the bottom of the robot. A transmission hose is fixedly connected to one side of the air box. One end of the transmission hose is fixedly connected to one side of the drive box. A second piston plate is slidably connected inside the air box. Tooth plates are meshed on both sides of the drive gear. A linkage block is fixedly connected to the side of the tooth plate near the air box. Two linkage rods are fixedly connected to one side of the linkage block. One end of the linkage rod extends through to the inside of the air box and is fixedly connected to one side of the second piston plate.

[0012] Preferably, the extension mechanism includes two transmission slots inside the robot. A first bevel gear is rotatably connected inside the transmission slot. A connecting rod is fixedly connected to the bottom of the first bevel gear. The bottom of the connecting rod extends through to the bottom of the robot and is fixedly connected to the bottom of the drive gear. Second bevel gears are meshed on both sides of the first bevel gear. A threaded rod is fixedly connected to one side of the second bevel gear. A sleeve is drivenly connected to the surface of the threaded rod. A threaded hole for cooperating with the threaded rod is opened on one side of the sleeve. One end of the sleeve extends through to one side of the robot and is fixedly connected to one side of the first servo motor.

[0013] Preferably, the auxiliary mechanism includes two mating blocks symmetrically and fixedly connected to the bottom of the robot. Two support rods are fixedly connected to the bottom of the mating blocks. An auxiliary leg is hinged to one side of each support rod. An auxiliary wheel is provided on one side of each auxiliary leg. An electric push rod is fixedly installed on one side of each support rod. A connecting rod is provided at the output end of the electric push rod and is hinged to the top of the auxiliary leg through the connecting rod. A buffer mechanism is provided on one side of each auxiliary leg.

[0014] Preferably, the buffer mechanism includes a buffer groove formed on one side of the auxiliary leg, a spring is fixedly connected to the inner wall of the buffer groove, a buffer block is fixedly connected to the bottom of the spring, and one side of the buffer block is rotatably connected to one side of the auxiliary wheel.

[0015] Preferably, the top and bottom of the sleeve are fixedly connected to sliding blocks, and the inner wall of the transmission groove is provided with a sliding groove that cooperates with the sliding blocks.

[0016] Preferably, two stabilizing frames are symmetrically fixedly connected to the inner wall of the transmission groove. The stabilizing frames are equipped with bearings inside and are rotatably connected to the surface of the threaded rod through the bearings.

[0017] Preferably, one side of the traveling foot is fixedly connected to a limiting member by screws, which can limit the movement of the transmission hose.

[0018] Preferably, a tension spring is fixedly connected to the top of the support block, and the top of the tension spring is fixedly connected to the bottom of the drive box.

[0019] Preferably, a stabilization control system for a multi-legged morphological robot includes a weighing sensor for transmitting signals and a controller for driving, and further includes a morphological mechanism, an extension mechanism and an auxiliary mechanism controlled by the controller.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0021] 1. This invention, by setting up a variable cell mechanism, when materials are placed on the tray on top of the robot, the weighing sensor sends a signal to the controller, and the controller's built-in PLC module will activate the variable cell mechanism. By changing the cell, the robot is controlled to move by using a geared motor to drive the drive wheel, which effectively improves the stability of the robot during transportation and avoids the phenomenon of falling over due to the shift of the center of gravity when transporting materials.

[0022] 2. By setting up an extension mechanism, when the drive gear rotates, it will drive the connecting rod and the first bevel gear to rotate. The first bevel gear will then drive the second bevel gear and the threaded rod to rotate. When the threaded rod rotates, its external thread will squeeze the internal thread of the threaded hole, causing the two sleeve rods to move to the side away from each other. The sleeve rods will then drive the first servo motor and the traveling legs to unfold to the side away from the robot, thereby effectively improving the stability of the robot during the movement and transportation process.

[0023] 3. When the weighing sensor sends a signal to the controller, the built-in PLC module of the controller will start the electric push rod. The electric push rod will then drive the auxiliary support leg to unfold around the hinge point with the support rod through the connecting rod, and the auxiliary wheel will contact the ground, further improving the stability of the robot during movement. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the three-dimensional structure in this invention;

[0025] Figure 2 For the present invention Figure 1 A magnified view of a section at point A in the middle;

[0026] Figure 3 This is a perspective view of the auxiliary wheel from the side in this invention;

[0027] Figure 4 This is a perspective view taken from below in this invention;

[0028] Figure 5 This is a perspective view taken in cross-section in this invention;

[0029] Figure 6 In this invention Figure 5 A magnified view of a section at point B in the middle;

[0030] Figure 7 This is a perspective view of a partial structure of the variable cell mechanism in this invention;

[0031] Figure 8 This is a perspective view of a partial structure in this invention;

[0032] Figure 9 This is a perspective view of the drive box in the present invention, taken from an overhead section.

[0033] Figure 10 This is a system block diagram of the present invention.

[0034] In the diagram: 1. Robot; 2. Walking leg; 3. Pallet; 4. Weighing sensor; 5. Controller; 6. First servo motor; 7. Support block; 8. Gear motor; 9. Drive wheel; 10. Drive box; 11. First piston plate; 12. Pressing rod; 13. Connecting frame; 14. Second servo motor; 15. Drive gear; 16. Inflation box; 17. Transmission hose; 18. Second piston plate; 19. Gear plate; 20. Linkage block; 21. Linkage rod; 22. Transmission groove; 23. First bevel gear; 24. Connecting rod; 25. Second bevel gear; 26. Threaded rod; 27. Sleeve rod; 28. Threaded hole; 29. ​​Mating block; 30. Support rod; 31. Auxiliary support leg; 32. Auxiliary wheel; 33. Electric push rod; 34. Connecting rod; 35. Buffer groove; 36. Spring; 37. Buffer block; 38. Sliding block; 39. Sliding groove; 40. Stabilizer; 41. Bearing; 42. Limiting component; 43. Tension spring. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] Please see Figure 1 - Figure 10 As shown,

[0037] Example 1:

[0038] A multi-legged, variable-cell robot includes a robot 1 and four walking legs 2. A tray 3 is provided on the top of the robot 1. A weighing sensor 4 is provided at the connection between the robot 1 and the tray 3 and is fixedly connected through the weighing sensor 4. A controller 5 is fixedly installed on one side of the robot 1. First servo motors 6 for driving the walking legs 2 are provided on both sides of the robot body. A support block 7 is slidably connected inside the walking legs 2. A reduction motor 8 is fixedly installed on one side of the support block 7. The output end of the reduction motor 8 extends through to one side of the support block 7 and is fixedly connected to a drive wheel 9. A drive box 10 is fixedly installed on one side of the walking legs 2. A first piston plate 11 is slidably connected inside the drive box 10. A pressing rod 12 is fixedly installed at the bottom of the first piston plate 11. One end of the pressing rod 12 extends through to the bottom of the drive box 10 and is fixedly connected to the top of the support block 7.

[0039] A variable-cell mechanism is fixedly mounted on robot 1.

[0040] An extension mechanism is fixedly mounted on the variable cell mechanism.

[0041] The auxiliary mechanism is fixedly mounted on robot 1.

[0042] Preferably, the variable cell mechanism includes two connecting frames 13 fixedly connected to the bottom of the robot 1. A second servo motor 14 is fixedly installed at the bottom of the connecting frame 13. The output end of the second servo motor 14 extends through to the top of the connecting frame 13 and is fixedly connected to a drive gear 15. An air box 16 is provided on both sides of the drive gear 15. The top of the air box 16 is fixedly connected to the bottom of the robot 1. A transmission hose 17 is fixedly connected to one side of the air box 16. One end of the transmission hose 17 is fixedly connected to one side of the drive box 10. A second piston plate 18 is slidably connected inside the air box 16. Tooth plates 19 are meshed on both sides of the drive gear 15. A linkage block 20 is fixedly connected to the side of the tooth plate 19 near the air box 16. Two linkage rods 21 are fixedly connected to one side of the linkage block 20. One end of the linkage rod 21 extends through to the inside of the air box 16 and is fixedly connected to one side of the second piston plate 18.

[0043] In this embodiment, by setting a variable-cell mechanism, when materials are placed on the tray 3 on top of the robot 1, the weighing sensor 4 sends a signal to the controller 5. The built-in PLC module of the controller 5 will start the second servo motor 14, which will drive the drive gear 15 to rotate. While the drive gear 15 rotates, it will transmit power to the toothed plates 19, causing the two toothed plates 19 to move to both sides respectively. The toothed plates 19 will also drive the linkage block 20, linkage rod 21, and second piston plate 18 to move. The first piston plate 11 will compress the gas in the air tank 16, causing the gas to enter the drive box 10 through the transmission hose 17. Then, the gas will compress the first piston plate 11, causing the first piston plate 11 to drive the pressing rod 12 and other mechanisms to move downward. Then, the pressing rod 12 will drive the support block 7, reduction motor 8, and drive wheel 9 and other structures to move downward. Figure 1 As shown in the diagram, by changing the cell method, the robot 1 is controlled to move by using the geared motor 8 to drive the drive wheel 9, which effectively improves the stability of the robot 1 during transportation and avoids the phenomenon of falling over due to the shift of the center of gravity when transporting materials.

[0044] One side of the traveling foot 2 is fixedly connected to a limiting member 42 by screws, which can limit the transmission hose 17.

[0045] In this embodiment, by setting a limiting member 42, the transmission hose 17 can be limited to avoid the travel foot 2 and drive wheel 9 from getting tangled with the transmission hose 17 during operation.

[0046] A tension spring 43 is fixedly connected to the top of the support block 7, and the top of the tension spring 43 is fixedly connected to the bottom of the drive box 10.

[0047] In this embodiment, by setting a tension spring 43, when the drive gear 15 rotates in the opposite direction, causing the toothed plate 19 to drive the linkage block 20, linkage rod 21 and second piston plate 18 to reset, the gas in the drive box 10 will return to the inflation box 16 through the transmission hose 17. Then, under the tension of the tension spring 43, the support block 7, the reduction motor 8 and the drive wheel 9 will move upward, thus achieving the reset function.

[0048] Example 2:

[0049] The extension mechanism includes two transmission slots 22 inside the robot 1. A first bevel gear 23 is rotatably connected inside the transmission slots 22. A connecting rod 24 is fixedly connected to the bottom of the first bevel gear 23. The bottom of the connecting rod 24 extends through to the bottom of the robot 1 and is fixedly connected to the bottom of the drive gear 15. A second bevel gear 25 is meshed with both sides of the first bevel gear 23. A threaded rod 26 is fixedly connected to one side of the second bevel gear 25. A sleeve 27 is drivenly connected to the surface of the threaded rod 26. A threaded hole 28 is opened on one side of the sleeve 27 to cooperate with the threaded rod 26. One end of the sleeve 27 extends through to one side of the robot 1 and is fixedly connected to one side of the first servo motor 6.

[0050] In this embodiment, by setting an extension mechanism, when the drive gear 15 rotates, it will drive the connecting rod 24 and the first bevel gear 23 to rotate. The first bevel gear 23 will then drive the second bevel gear 25 and the threaded rod 26 to rotate. When the threaded rod 26 rotates, its external thread will press against the internal thread of the threaded hole 28, causing the two sleeve rods 27 to move away from each other. The sleeve rods 27 will then drive the first servo motor 6 and the traveling leg 2 and other mechanisms to unfold away from the robot 1, thereby effectively improving the stability of the robot 1 during the movement and transportation process.

[0051] The top and bottom of the sleeve rod 27 are fixedly connected with sliding blocks 38, and the inner wall of the transmission groove 22 is provided with a sliding groove 39 that cooperates with the sliding blocks 38.

[0052] In this embodiment, by setting the sliding block 38 and the sliding groove 39, the movement trajectory of the sleeve 27 can be restricted while the threaded rod 26 transmits power to the sleeve 27, thereby improving its stability during movement.

[0053] Two stabilizers 40 are symmetrically fixedly connected to the inner wall of the transmission groove 22. The stabilizers 40 are equipped with bearings 41 inside and are rotatably connected to the surface of the threaded rod 26 through the bearings 41.

[0054] In this embodiment, by setting a stabilizer 40 and a bearing 41, the mechanism such as the thread and the second bevel gear 25 can be supported, while improving the smoothness and stability of its rotation process.

[0055] Example 3:

[0056] The auxiliary mechanism includes two mating blocks 29 symmetrically fixedly connected to the bottom of the robot 1. Two support rods 30 are fixedly connected to the bottom of the mating blocks 29. An auxiliary leg 31 is hinged to one side of the support rod 30. An auxiliary wheel 32 is provided on one side of the auxiliary leg 31. An electric push rod 33 is fixedly installed on one side of the support rod 30. A connecting rod 34 is provided at the output end of the electric push rod 33, and it is hinged to the top of the auxiliary leg 31 through the connecting rod 34. A buffer mechanism is provided on one side of the auxiliary leg 31.

[0057] In this embodiment, an auxiliary mechanism is provided. When the weighing sensor 4 sends a signal to the controller 5, the built-in PLC module of the controller 5 will activate the electric push rod 33. The electric push rod 33 will then drive the auxiliary support leg 31 to unfold around the hinge point with the support rod 30 via the connecting rod 34. Figure 1 In this state, the auxiliary wheel 32 will contact the ground, further improving the stability of the robot 1 during movement.

[0058] The buffer mechanism includes a buffer groove 35 opened on one side of the auxiliary support leg 31. A spring 36 is fixedly connected to the inner wall of the buffer groove 35. A buffer block 37 is fixedly connected to the bottom of the spring 36. One side of the buffer block 37 is rotatably connected to one side of the auxiliary wheel 32.

[0059] In this embodiment, by setting a buffer mechanism, the spring 36 can play a buffering role when the auxiliary wheel 32 contacts the protruding ground, thereby improving the stability of the robot 1 during movement.

[0060] A stabilization control system for a multi-legged morphological robot includes a weighing sensor 4 for transmitting signals and a controller 5 for driving, as well as a morphological mechanism, an extension mechanism, and an auxiliary mechanism controlled by the controller 5.

[0061] The working principle and usage process of this invention: When materials are placed on the tray 3 on top of the robot 1, the weighing sensor 4 sends a signal to the controller 5. The built-in PLC module of the controller 5 starts the second servo motor 14, which in turn drives the drive gear 15 to rotate. Simultaneously, the drive gear 15 drives the toothed plates 19, causing them to move to opposite sides. The toothed plates 19 also drive the linkage block 20, linkage rod 21, and second piston plate 18 to move. The first piston plate 11 then compresses the gas in the inflation box 16, allowing it to enter the drive box 10 through the transmission hose 17. The gas then compresses the first piston plate 11, causing it to drive the pressing rod 12 and other mechanisms downwards. The pressing rod 12 then drives the support block 7, reduction motor 8, and drive wheel 9 to move downwards. Figure 1As shown in the figure, by changing the cell method, the robot 1 is controlled to move by using the geared motor 8 to drive the drive wheel 9, which effectively improves the stability of the robot 1 during transportation and avoids the phenomenon of falling over due to the shift of the center of gravity when transporting materials.

[0062] When the drive gear 15 rotates, it will drive the connecting rod 24 and the first bevel gear 23 to rotate. The first bevel gear 23 will drive the second bevel gear 25 and the threaded rod 26 to rotate. When the threaded rod 26 rotates, its external thread will squeeze the internal thread of the threaded hole 28, causing the two sleeve rods 27 to move away from each other. The sleeve rods 27 will drive the first servo motor 6 and the traveling leg 2 and other mechanisms to unfold away from the robot 1, thereby effectively improving the stability of the robot 1 during the movement and transportation process.

[0063] When the load cell 4 sends a signal to the controller 5, the built-in PLC module of the controller 5 will activate the electric push rod 33. The electric push rod 33 will then drive the auxiliary support leg 31 to unfold around the hinge point with the support rod 30 via the connecting rod 34. Figure 1 In this state, the auxiliary wheel 32 will contact the ground, further improving the stability of the robot 1 during movement.

[0064] The structure used in this application can be additionally fitted with protective measures that are common knowledge in the field of this technology under different usage environments, including but not limited to the following methods, such as protective covers for equipment protection, dustproof nets for equipment dust prevention, and sealing components or waterproof coatings for equipment waterproofing, which are commonly used by those skilled in the art.

[0065] It should be noted that (weighing sensor 4, controller 5, first servo motor 6, geared motor 8 and second servo motor 14) are existing devices or equipment, or devices or equipment that can be implemented by existing technology. The power supply, connection method, usage method, power source, fixing method, installation method, control method, etc. of the equipment, as well as the materials of each accessory and the selection of various parameters are common knowledge to those skilled in the art, and therefore will not be described in detail in this application document.

[0066] It is important to note that the constructions and arrangements of this application shown in several different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who consult this disclosure will readily understand that many modifications are possible (e.g., changes in the size, dimensions, structure, shape, and proportions of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, orientation, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in this application). For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of elements may be inverted or otherwise altered, and the nature or number or position of discrete elements may be changed or altered. Therefore, all such modifications are intended to be included within the scope of the invention. The order or sequence of any process or method steps may be changed or rearranged according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure described herein that performs the function, and not only structurally equivalent but also equivalent in structure. Other substitutions, modifications, alterations, and omissions may be made in the design, operation, and arrangement of the exemplary embodiments without departing from the scope of the invention. Therefore, the present invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0067] Furthermore, in order to provide a concise description of exemplary embodiments, not all features of actual embodiments (i.e., those features that are not relevant to the best mode of carrying out the invention as currently considered, or those features that are not relevant to implementing the invention) may be omitted.

[0068] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine work of design, manufacturing, and production without requiring much experimentation.

[0069] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

[0070] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0071] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-legged, variable-cell robot, comprising a robot (1) and four walking legs (2), characterized in that: The top of the robot (1) is provided with a tray (3), and a weighing sensor (4) is provided at the connection between the robot (1) and the tray (3), and is fixedly connected through the weighing sensor (4). A controller (5) is fixedly installed on one side of the robot (1). The two sides of the robot (1) body are provided with a first servo motor (6) for driving the walking foot (2). A support block (7) is slidably connected inside the walking foot (2). A reduction motor (8) is fixedly installed on one side of the support block (7). The output end of the reduction motor (8) passes through to one side of the support block (7) and is fixedly connected to a drive wheel (9). A drive box (10) is fixedly installed on one side of the walking foot (2). A first piston plate (11) is slidably connected inside the drive box (10). A pressing rod (12) is fixedly installed at the bottom of the first piston plate (11). One end of the pressing rod (12) passes through to the bottom of the drive box (10) and is fixedly connected to the top of the support block (7). A variable cell mechanism is fixedly mounted on the robot (1); An extension mechanism is fixedly mounted on the variable cell mechanism; An auxiliary mechanism is fixedly mounted on the robot (1).

2. The multi-legged variable-cell robot according to claim 1, characterized in that: The variable cell mechanism includes two connecting frames (13) fixedly connected to the bottom of the robot (1). A second servo motor (14) is fixedly installed at the bottom of the connecting frame (13). The output end of the second servo motor (14) extends through to the top of the connecting frame (13) and is fixedly connected to a drive gear (15). An air tank (16) is provided on both sides of the drive gear (15). The top of the air tank (16) is fixedly connected to the bottom of the robot (1). A transmission hose (17) is fixedly connected to one side of the air tank (16). One end of the transmission hose (17) is fixedly connected to one side of the drive box (10). The inside of the air box (16) is slidably connected to a second piston plate (18). Both sides of the drive gear (15) are meshed with toothed plates (19). A linkage block (20) is fixedly connected to the side of the toothed plate (19) near the air box (16). Two linkage rods (21) are fixedly connected to one side of the linkage block (20). One end of the linkage rod (21) penetrates into the inside of the air box (16) and is fixedly connected to one side of the second piston plate (18).

3. A multi-legged variable-cell robot according to claim 2, characterized in that: The extension mechanism includes two transmission slots (22) inside the robot (1). A first bevel gear (23) is rotatably connected inside the transmission slot (22). A connecting rod (24) is fixedly connected to the bottom of the first bevel gear (23). The bottom of the connecting rod (24) extends through to the bottom of the robot (1) and is fixedly connected to the bottom of the drive gear (15). A second bevel gear (25) is meshed with both sides of the first bevel gear (23). A threaded rod (26) is fixedly connected to one side of the second bevel gear (25). A sleeve rod (27) is drivenly connected to the surface of the threaded rod (26). A threaded hole (28) is opened on one side of the sleeve rod (27) to cooperate with the threaded rod (26). One end of the sleeve rod (27) extends through to one side of the robot (1) and is fixedly connected to one side of the first servo motor (6).

4. A multi-legged variable-cell robot according to claim 3, characterized in that: The auxiliary mechanism includes two mating blocks (29) symmetrically fixedly connected to the bottom of the robot (1). Two support rods (30) are fixedly connected to the bottom of the mating blocks (29). An auxiliary leg (31) is hinged to one side of the support rod (30). An auxiliary wheel (32) is provided on one side of the auxiliary leg (31). An electric push rod (33) is fixedly installed on one side of the support rod (30). A connecting rod (34) is provided at the output end of the electric push rod (33), and it is hinged to the top of the auxiliary leg (31) through the connecting rod (34). A buffer mechanism is provided on one side of the auxiliary leg (31).

5. A multi-legged, variable-cell robot according to claim 4, characterized in that: The buffer mechanism includes a buffer groove (35) opened on one side of the auxiliary support leg (31), a spring (36) is fixedly connected to the inner wall of the buffer groove (35), a buffer block (37) is fixedly connected to the bottom of the spring (36), and one side of the buffer block (37) is rotatably connected to one side of the auxiliary wheel (32).

6. A multi-legged variable-cell robot according to claim 3, characterized in that: The top and bottom of the sleeve rod (27) are fixedly connected with sliding blocks (38), and the inner wall of the transmission groove (22) is provided with a sliding groove (39) that cooperates with the sliding blocks (38).

7. A multi-legged variable-cell robot according to claim 3, characterized in that: The inner wall of the transmission groove (22) is symmetrically fixedly connected to two stabilizers (40). The stabilizers (40) are provided with bearings (41) inside and are rotatably connected to the surface of the threaded rod (26) through the bearings (41).

8. A multi-legged variable-cell robot according to claim 2, characterized in that: One side of the traveling foot (2) is fixedly connected to a limiting member (42) by screws, which can limit the transmission hose (17).

9. A multi-legged variable-cell robot according to claim 2, characterized in that: A tension spring (43) is fixedly connected to the top of the support block (7), and the top of the tension spring (43) is fixedly connected to the bottom of the drive box (10).

10. A stabilization control system for a multi-legged morphological robot, the system comprising a weighing sensor (4) for transmitting signals and a controller (5) for driving, and further comprising a morphological mechanism, an extension mechanism and an auxiliary mechanism controlled by the controller (5).

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