A quadrilateral metamorphic mechanism and a quadruped walking robot thereof

Abstract

This invention discloses a quadrilateral variable-cell mechanism and its quadrupedal walking robot, relating to the field of robotics. The quadrilateral variable-cell mechanism includes a first servo motor, a fixed rod, and a connecting assembly. One end of the fixed rod is fixedly connected to the housing of the first servo motor. The connecting assembly includes a first link, a second link, and a third link that are hinged sequentially. The end of the first link away from the second link is fixedly connected to the power output end of the first servo motor, and the end of the third link away from the second link is hinged to the end of the fixed rod away from the first servo motor. The first link, the second link, the third link, and the fixed rod form a quadrilateral frame. The quadrilateral frame can be controlled by the first servo motor to rotate the first link relative to the fixed rod to change the geometry of the quadrilateral frame. This invention also provides a quadrilateral walking robot that, based on the configurational transformation of the quadrilateral variable-cell mechanism, can achieve multiple motion modes such as crawling on flat ground, crawling through pipes, crawling through cracks in rocks, crawling through narrow cavities, and bipedal upright walking.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically to a quadrilateral variable cell mechanism and its quadrupedal walking robot. Background Technology

[0002] Traditional legged robots are widely used in special operations and exploration fields due to their excellent terrain adaptability. In existing technologies, researchers are constantly optimizing the leg structure and motion control strategies of walking robots through biomimetic design to improve their adaptability in complex environments.

[0003] Chinese patent document CN112744314A discloses a quadrupedal bionic walking robot, which includes a control base and four identical walking mechanisms. The robot's walking mechanism includes a lateral swing assembly, a longitudinal fixed support, and walking components. The lateral swing assembly allows the legs to swing horizontally, and the longitudinal fixed support is hinged to the lateral swing assembly, allowing the legs to swing vertically. The feet of the walking components adopt a bionic eagle claw structure and are equipped with ultrasonic and acoustic components. The coupling effect of sound waves and ultrasonic waves increases the impact force of the feet on the ground, thereby improving the grip on smooth rock surfaces. This technical solution, through multi-degree-of-freedom leg design and bionic foot structure, improves the robot's walking stability in complex terrain to a certain extent; however, the above-mentioned prior art still has the following technical problems:

[0004] 1. Fixed torso structure, lacking overall deformability: The robot's control base is a fixed structure, unable to change its shape according to environmental changes. When encountering narrow pipes, low gaps, or obstacles that need to be climbed, the robot has difficulty passing through or adapting due to its fixed torso size.

[0005] 2. Insufficient environmental adaptability and task generalization ability: Although the legs have multiple degrees of freedom, the robot's overall configuration is fixed after design and manufacturing, and it cannot reconstruct its own form in real time and actively according to the environment and task requirements like a living organism. For example, when high-speed movement is required on flat ground, the robot cannot adjust its torso into a streamlined low posture; when it needs to pass through narrow gaps, it cannot narrow its torso; and when it needs to cross large drops, it cannot switch to a bipedal upright posture.

[0006] 3. Limited Motion Modes, Unable to Cope with Complex and Varied Environments: This robot can only achieve a conventional quadrupedal walking mode and lacks multimodal motion capabilities. In practical applications, robots often need to deal with a combination of various environments such as flat ground, pipes, rock crevices, tree trunks, and steep slopes, and a single motion mode is insufficient to meet task requirements.

[0007] Therefore, how to provide a quadrupedal walking robot that can actively deform and adaptively adjust its torso configuration according to the environment is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0008] In view of this, the present invention provides a quadrilateral variable cell mechanism and a quadrupedal walking robot thereof, aiming to solve the above-mentioned technical problems.

[0009] To achieve the above objectives, the present invention adopts the following technical solution: A quadrilateral variable cell mechanism, comprising: First servo A fixing rod, one end of which is fixedly connected to the housing of the first servo motor; A linkage assembly includes a first link, a second link, and a third link that are hinged sequentially. The end of the first link away from the second link is fixedly connected to the power output end of the first servo motor. The end of the third link away from the second link is hinged to the end of the fixed rod away from the first servo motor. The first link, the second link, the third link, and the fixed rod form a quadrilateral frame, and the quadrilateral frame can control the first link to rotate relative to the fixed rod under the drive of the first servo motor, so as to change the geometry of the quadrilateral frame.

[0010] Through the above technical solution, this invention discloses a quadrilateral variable-cell mechanism. A first servo motor drives a first link to rotate relative to a fixed link, enabling the quadrilateral frame's geometry to actively change. This transforms the robot's torso from a fixed structure to a variable structure. Using a single servo motor to drive the deformation of the entire quadrilateral frame results in a simple and efficient structure, avoiding the control complexity and weight increase caused by multiple drives. It achieves the variable-cell characteristic of fewer drives and multiple forms. The geometric change of the quadrilateral frame forms the structural basis for the subsequent switching of five motion modes, providing support for the robot's environmental adaptability.

[0011] Preferably, in the aforementioned quadrilateral variable-cell mechanism, the hinge joints between the first and second connecting rods, and between the third connecting rod and the fixed rod, are all bent rods with bending angles, and are hinged to each other at their ends. The design of the bent rods allows the connecting rods to be staggered at the hinge joints, avoiding motion interference and enabling the quadrilateral frame to be folded to a smaller geometric size, facilitating passage through narrow spaces. The end-hinged structure allows for a larger relative rotation angle between the connecting rods, achieving richer configuration changes.

[0012] Preferably, in the aforementioned quadrilateral deformable cell mechanism, there are two fixed rods, two first connecting rods, two second connecting rods, and two third connecting rods, forming two sets of parallel and opposing quadrilateral frames. The first servo motor has two symmetrically arranged power output ends, which are fixedly connected to the ends of the two first connecting rods respectively. This upgrades the mechanism from a planar structure to a three-dimensional structure, significantly improving overall rigidity and load-bearing capacity. The first servo motor has two symmetrically arranged power output ends, which drive the two first connecting rods respectively, ensuring synchronous deformation of the two side frames, avoiding twisting and uneven loading. A larger accommodating space is formed between the two sets of parallel frames, providing sufficient installation position for the electronic control power module.

[0013] Preferably, the aforementioned quadrilateral variable cell mechanism further includes an electronically controlled power module, which is embedded within the accommodating space formed by the two quadrilateral frames. Embedding the electronically controlled power module within the accommodating space of the two quadrilateral frames fully utilizes the internal space of the mechanical structure, making the entire machine more compact. Because the control system and battery are embedded within the rods, the overall size of the robot is reduced, enabling it to traverse narrower and more rugged terrain.

[0014] This invention also discloses a quadrupedal walking robot, comprising: A connecting mechanism, wherein both sides of the connecting mechanism are respectively connected to the quadrilateral frame of the aforementioned quadrilateral variable cell mechanism; The robot has four walking legs, each connected to the second and third links of the two quadrilateral frames. A connecting mechanism is located in the middle, with two quadrilateral variable-cell mechanisms connected to either side, forming a symmetrical torso structure to ensure the robot's balance and stability on various terrains. Each leg can be independently controlled, allowing for flexible movement. The electronically controlled power module is electrically connected to the connecting mechanism, the walking legs, and the first servo motor. The variable-cell mechanism, connecting mechanism, and walking legs combine to form a complete robot with a clear structure, facilitating assembly and maintenance.

[0015] Preferably, in the above-mentioned quadrupedal walking robot, the connecting mechanism includes: Second servo motor Two third servos are mounted on either side of the second servo via connectors. Each third servo has a power output end at the end furthest from the second servo. The power output end of the third servo is fixedly connected to the first connecting rod of the corresponding quadrilateral variable-cell mechanism via a second connecting rod. The second servo serves as the core, with two third servos mounted on either side, enabling the two quadrilateral variable-cell mechanisms to move independently or work collaboratively. The power output end of the third servos is connected to the first connecting rod via the second connecting rod, allowing for dynamic adjustment of the quadrilateral variable-cell mechanism's shape during movement. The second servo and the two third servos work together to drive complex movements such as standing up and turning, providing power for switching between various motion modes.

[0016] Preferably, in the above-mentioned quadrupedal walking robot, the connecting member includes: Two connecting plates are located on both sides of the second servo, and one of the connecting plates is fixedly connected to the housing of the second servo via a first right-angle plate; Two second right-angle plates, one end of each second right-angle plate is fixedly connected to the power output end of the second servo motor, and the other end is fixedly connected to the connecting plate; Two T-shaped connecting plates are provided, with one end of each T-shaped connecting plate fixedly connected to the connecting plate and the other end fixedly connected to the housing of the third servo motor. The combination of the connecting plate, the first right-angle plate, the second right-angle plate, and the T-shaped connecting plates forms multiple force transmission paths, ensuring structural strength and stability. Preferably, in the above-described quadrupedal walking robot, each of the walking legs includes: The fourth servo motor, the housing of which is fixedly connected to the second link or the third link on the corresponding side; A cross-shaped U-shaped bracket, one end of which is fixedly connected to the power output shaft of the fourth servo motor; The fifth servo motor, wherein the power output end of the fifth servo motor is fixedly connected to the end of the cross-shaped U-shaped frame away from the power output end of the fourth servo motor; The sixth servo motor, the housing of which is fixedly connected to the housing of the fifth servo motor by two side clamps; The foot is fixedly connected to the power output end of the sixth servo motor. Through the cascading arrangement of the fourth, fifth, and sixth servos, each leg has three independent degrees of freedom, enabling complex spatial motion trajectories. A cross-shaped U-shaped frame connects the output ends of both the fourth and fifth servos, allowing the two servos to work together for more flexible and precise leg movement. The sixth servo motor independently drives the foot's swing, allowing for fine-tuning of the foot angle upon landing based on terrain, improving terrain adaptability. Two parallel, spaced side plates stably transmit the motion of the fifth servo motor to the sixth servo motor, ensuring structural rigidity.

[0017] Preferably, in the above-described quadrupedal walking robot, the housing of the fourth servo motor is connected to the second or third link via a second connecting rod, which is vertically fixed to the second or third link. The second connecting rod vertically connects the fourth servo motor housing to the second or third link, allowing for more efficient transmission of leg drive force to the quadrilateral deformable mechanism. The length and angle of the connecting rod can be designed to adjust the leg's mounting position and initial posture, adapting to different terrain requirements.

[0018] Preferably, in the aforementioned quadrupedal walking robot, the quadrilateral variable-cell mechanism has at least five geometric configurations. Through cooperation with the connecting mechanism and the walking legs, the robot can achieve five motion modes: crawling on flat ground, crawling through pipes, crawling through cracks, crawling through narrow openings, and bipedal upright walking. In the first unfolded state, the quadrilateral frame has four walking legs in contact with the ground, enabling efficient movement on flat terrain. In the second state, the quadrilateral frame is elongated, reducing the overall size of the robot and adapting to narrow pipe environments. In the third state, the quadrilateral frame is folded, and the connecting mechanism drives the robot to stand upright, allowing it to move through narrow cracks. In the fourth state, the quadrilateral frame has its long side perpendicular to the ground, and the connecting mechanism drives the robot to stand upright, with the four walking legs supporting it by contacting the ground laterally, enabling bipedal upright walking on terrain with significant elevation differences. These five motion modes cover a variety of scenarios, from flat ground to complex unstructured environments, allowing the robot to autonomously select the optimal motion mode based on the environment, greatly expanding its application range.

[0019] As can be seen from the above technical solution, compared with the prior art, the present invention discloses a quadrilateral variable-cell mechanism and its quadrupedal walking robot, which has the following beneficial effects: 1. This invention overcomes the limitations of the fixed torso structure of traditional quadrupedal walking robots by transforming the configuration of a quadrilateral variable cell mechanism. This mechanism drives the first link to rotate relative to the fixed link with a single servo motor, enabling the quadrilateral frame composed of the fixed link, the first link, the second link, the third link, and the first servo mechanism to actively change its geometry, realizing the transition of the robot's torso from a fixed structure to a variable structure. Combined with the end hinge design of the bent rod and the double-layer rod structure, it not only achieves compact folding and a larger range of motion, but also embeds the electronic control power module in the internal space of the double-layer rod, improving space utilization and enabling the whole machine to pass through narrower and more rugged terrain, providing a structural basis for multimodal motion.

[0020] 2. This invention employs two symmetrically arranged quadrilateral variable cell mechanisms and four three-degree-of-freedom tandem walking legs to form a foot group unit, achieving bilateral linkage through a connecting mechanism; each walking leg adopts a cross-shaped U-shaped frame to simultaneously connect the output ends of the second and third servo motors, realizing flexible and precise control of the leg's three degrees of freedom; the connecting mechanism, through the coordinated work of the fifth servo motor and two sixth servo motors, drives the first link to dynamically adjust the shape of the quadrilateral variable cell mechanism; this highly coordinated structural design enables the robot to reconstruct its posture in real time according to environmental changes during walking.

[0021] 3. This invention enables the robot to possess at least five differentiated motion modes: a flat-ground crawling mode adapting to flat or rugged terrain, a pipe crawling mode suitable for narrow pipe environments, a rock crevice crawling mode allowing movement in relatively narrow rock crevice environments, a narrow cavity crawling mode suitable for caves or scenarios requiring turning in confined spaces, and a bipedal upright walking mode enabling movement in terrains with significant elevation differences. These five modes cover a variety of scenarios from flat ground to complex unstructured environments, allowing the robot to autonomously select the optimal motion mode according to the environment, greatly expanding its application range and enhancing its environmental adaptability and task generalization ability. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0023] Figure 1 The attached figure is a schematic diagram of the quadrilateral variable cell mechanism provided by the present invention; Figure 2 The attached figure is a structural schematic diagram of the quadrupedal walking robot provided by the present invention; Figure 3 The attached figure is a schematic diagram of the connection mechanism provided by the present invention; Figure 4 The attached figure is a schematic diagram of the structure of the traveling leg provided by the present invention; Figure 5 The attached figure is a structural schematic diagram of the connector provided by the present invention; Figure 6 The attached figure is a structural schematic diagram of the first right-angle plate and the connecting plate provided by the present invention; Figure 7 The attached figure is a schematic diagram of the flat ground crawling mode provided by the present invention; Figure 8 The attached figure is a schematic diagram of the pipe crawling mode of the present invention; Figure 9The attached figure is a schematic diagram of the rock crevice crawling mode of the present invention; Figure 10 The attached figure is a schematic diagram of the narrow cavity crawling mode of the present invention; Figure 11 The attached figure is a schematic diagram of the bipedal upright walking mode of the present invention.

[0024] Wherein: 1-First servo; 2-Fixed rod; 3-First connecting rod; 4-Second connecting rod; 5-Third connecting rod; 6-Electrical control power module; 7-Connecting mechanism; 71-Second servo; 72-Third servo; 73-Connector; 731-Connecting plate; 732-First right-angle plate; 733-Second right-angle plate; 734-T-shaped connecting clamp; 74-Second connecting rod; 8-Traveling leg; 81-Fourth servo; 82-Cross U-shaped frame; 83-Fifth servo; 84-Sixth servo; 85-Side clamp; 86-Foot; 87-Second connecting rod. Detailed Implementation

[0025] 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.

[0026] See appendix Figure 1 As shown, an embodiment of the present invention discloses a quadrilateral variable cell mechanism, comprising: First servo motor 1, Fixed rod 2, one end of fixed rod 2 is fixedly connected to the housing of the first servo motor 1; The linkage assembly includes a first link 3, a second link 4, and a third link 5 that are hinged sequentially. The end of the first link 3 away from the second link 4 is fixedly connected to the power output end of the first servo motor 1. The end of the third link 5 away from the second link 4 is hinged to the end of the fixed rod 2 away from the first servo motor 1. The first link 3, the second link 4, the third link 5, and the fixed rod 2 form a quadrilateral frame, and the quadrilateral frame can control the first link 3 to rotate relative to the fixed rod 2 under the drive of the first servo motor 1, so as to change the geometry of the quadrilateral frame.

[0027] In some specific examples, the hinge joints between the first link 3 and the second link 4, and between the third link 5 and the fixed rod 2, are all bent rods with bending angles, and are hinged to each other through the ends of the bent rods. The bending angle is preferably 30°-60°; however, the bending angle is not limited to this range and can be adjusted according to the actual link length and the required folding ratio; the hinge joints between each link adopt a structure of stainless steel pins and self-lubricating bushings, and the two ends of the pins are axially limited by snap rings to ensure flexible hinge rotation and wear resistance.

[0028] Specifically, there are two fixed rods 2, two first connecting rods 3, two second connecting rods 4 and two third connecting rods 5, which form two sets of parallel and opposite quadrilateral frames. The first servo motor 1 has two symmetrically arranged power output ends, which are fixedly connected to the ends of the two first connecting rods 3 respectively.

[0029] In some other embodiments, an electronically controlled power module 6 is also included, which is embedded in the receiving space formed by two quadrilateral frames. The width of the receiving space formed between the two parallel and opposite quadrilateral frames is adapted to the electronically controlled power module 6. The electronically controlled power module 6 is fixed to the inner wall between the two frames by shock-absorbing pads and bolts, which not only ensures a secure fixation but also provides a buffering and shock-absorbing function.

[0030] See appendix Figure 2-11 This embodiment discloses a quadrupedal walking robot, comprising: The connecting mechanism 7 is connected to the quadrilateral frame of the quadrilateral variable cell mechanism on both sides. The four traveling legs 8 are respectively connected to the second link 4 and the third link 5 of the two quadrilateral frames.

[0031] In a specific example, such as Figure 3 As shown, the connecting mechanism 7 includes: Second servo motor 71, Two third servo motors 72 are respectively installed on both sides of the second servo motor 71 via connectors 73. Each third servo motor 72 has a power output end at the end away from the second servo motor 71. The power output end of the third servo motor 72 is fixedly connected to the first link 3 of the quadrilateral variable cell mechanism on the corresponding side via the second connecting rod 74.

[0032] In some examples, such as Figure 5 As shown, connector 73 includes: Two connecting plates 731 are located on both sides of the second servo 71, and one of the connecting plates 731 is fixedly connected to the housing of the second servo 71 through the first right-angle plate 732. Two second right-angle plates 733, one end of each second right-angle plate 733 is fixedly connected to the power output end of the second servo motor 71, and the other end is fixedly connected to the connecting plate 731; Two T-shaped connecting plates 734, one end of each T-shaped connecting plate 734 is fixedly connected to the connecting plate 731, and the other end is fixedly connected to the housing of the third servo motor 72.

[0033] More specifically, such as Figure 4 As shown, each traveling leg 8 includes: The fourth servo motor 81 has its housing fixedly connected to the second link 4 or the third link 5 on the corresponding side. A cross-shaped U-shaped bracket 82, one end of which is fixedly connected to the power output shaft of the fourth servo motor 81; The fifth servo motor 83 is fixedly connected to the end of the cross-shaped U-shaped frame 82 that is away from the power output end of the fourth servo motor 81. The housing of the sixth servo motor 84 is fixedly connected to the housing of the fifth servo motor 83 by two side clamps 85. The foot 86 is fixedly connected to the power output end of the sixth servo motor 84. The foot 86 is made of wear-resistant polyurethane material in one piece, and the bottom is provided with crisscrossing anti-slip patterns to provide stable grip on smooth ground or rock surfaces.

[0034] In some specific examples, such as Figure 4 As shown in Figure 7, the housing of the fourth servo motor 81 is connected to the second link 4 or the third link 5 via a second connecting rod 87, which is fixed perpendicularly to the second link 4 or the third link 5.

[0035] like Figure 7-11 As shown, the quadrilateral variable cell mechanism has at least five geometric configurations. By cooperating with the connecting mechanism 7 and the walking leg 8, the robot can realize five motion modes: crawling on flat ground, crawling through pipes, crawling through cracks in rocks, crawling through narrow cavities, and bipedal walking.

[0036] The embodiments of the present invention are as follows: The core of this invention lies in providing a quadrilateral variable-cell mechanism and its quadrupedal walking robot. Its overall working principle revolves around the coordinated operation of the quadrilateral variable-cell mechanism's configurational deformation, the linkage adjustment of the connecting mechanism, and the multi-degree-of-freedom motion of the walking legs. The implementation process of this invention will now be described in detail with reference to the accompanying drawings.

[0037] 1. Deformation driving principle of quadrilateral deformable cell mechanism As attached Figure 1-2As shown, the quadrilateral variable-cell mechanism, serving as the core structure of the robot, consists of a first servo motor 1, a fixed rod 2, a first connecting rod 3, a second connecting rod 4, and a third connecting rod 5. One end of the fixed rod 2 is fixedly connected to the housing of the first servo motor 1. The two symmetrically arranged power output ends of the first servo motor 1 are respectively fixedly connected to one end of the first connecting rod 3 on both sides. The other end of the first connecting rod 3 is hinged to one end of the second connecting rod 4, the other end of the second connecting rod 4 is hinged to one end of the third connecting rod 5, and the other end of the third connecting rod 5 is hinged to the end of the fixed rod 2 away from the first servo motor 1, thus forming two sets of parallel and opposing quadrilateral frames.

[0038] During operation, the first servo motor 1 receives the drive signal from the electronically controlled power module 6, causing the first connecting rod 3 to rotate relative to the fixed rod 2 around the hinge point. Since the hinge points between the first connecting rod 3 and the second connecting rod 4, and between the third connecting rod 5 and the fixed rod 2, are all bent rods with bending angles and are hinged together at their ends, there is no motion interference during rotation. The first connecting rod 3 drives the second connecting rod 4 through the bent rods, and the second connecting rod 4 in turn pulls the third connecting rod 5 to rotate around its hinge point with the fixed rod 2, ultimately achieving continuous changes in the geometric configuration of the entire quadrilateral frame, enabling various configuration transformations such as unfolding, shrinking, and folding. The first servo motor 1 symmetrically drives the two side frames, ensuring the overall rigidity and coaxiality of the mechanism during deformation and avoiding torsion or uneven loading. The electronically controlled power module 6 is embedded within the space formed by the two quadrilateral frames, providing power and control support for the entire mechanism and achieving a compact structural design.

[0039] 2. The linkage adjustment principle of the connecting mechanism As attached Figure 4-6 As shown, the connecting mechanism 7 serves as the core of the robot's torso linkage, connecting the two sets of quadrilateral variable-cell mechanisms; it includes a second servo motor 71, two third servo motors 72, and a connector 73. The second servo motor 71 serves as the main drive, and its housing is fixedly connected to the connecting plate 731 via a first right-angle plate 732; the power output end of the second servo motor 71 is connected to the connecting plate 731 via a second right-angle plate 733 to achieve power transmission. The two third servo motors 72 are respectively fixed to the outside of the connecting plates 731 on both sides via T-shaped connecting clamps 734, and the power output end of each third servo motor 72 is fixedly connected to the first connecting rod 3 of the corresponding quadrilateral variable-cell mechanism via a second connecting rod 74.

[0040] During operation, the second servo motor 71 can drive the connecting plates 731 on both sides to rotate as a whole, realizing the overall lifting, turning, or standing up of the robot's torso; the two third servo motors 72 can independently drive the first link 3 on one side, assisting the quadrilateral variable cell mechanism in making differentiated configuration adjustments, and working with the first servo motor 1 to achieve precise control of the torso's posture in complex terrain. The electric control power module 6 is electrically connected to the second servo motor 71 and the third servo motor 72 to achieve precise programmable control of the connecting mechanism's movements.

[0041] 3. The principle of multi-degree-of-freedom movement of the walking leg As attached Figure 3 , 7 As shown, the four walking legs 8 are connected in pairs to the second link 4 and the third link 5 of the quadrilateral frame on both sides, forming a symmetrical foot group unit. Each walking leg 8 is a three-degree-of-freedom series drive structure: the fourth servo motor 81 is vertically fixed to the second link 4 or the third link 5 through the second connecting rod 87, and its power output shaft is fixedly connected to one end of the cross U-shaped frame 82, providing the walking leg with the first degree of freedom (lateral swing) rotational power; the other end of the cross U-shaped frame 82 is fixedly connected to the power output end of the fifth servo motor 83, and the fifth servo motor 83 provides the walking leg with the second degree of freedom (longitudinal lifting) rotational power; the housing of the fifth servo motor 83 is fixedly connected to the housing of the sixth servo motor 84 through two parallel and spaced side clamps 85, and the power output end of the sixth servo motor 84 is fixedly connected to the foot 86, providing the foot with the third degree of freedom (foot end swing) independent adjustment power.

[0042] During operation, the electronically controlled power module 6 independently controls each servo motor of the four traveling legs 8. The three servos work together: during the leg-lifting phase, the fifth servo motor 83 rotates forward, causing the side clamp 85, the sixth servo motor 84, and the foot 86 to swing upward as a whole. At the same time, the sixth servo motor 84 rotates in the opposite direction, causing the foot 86 to retract backward to avoid interference with the ground. During the forward swing phase, the fourth servo motor 81 rotates forward, driving the entire leg to swing forward through the cross-shaped U-shaped frame 82. During the landing phase, the fifth servo motor 83 rotates in the opposite direction, causing the side clamp 85, the sixth servo motor 84, and the foot 86 to fall as a whole. At the same time, the sixth servo motor 84 rotates forward, causing the foot 86 to extend forward, adapting to the terrain and improving grip stability.

[0043] 4. The principle of coordinated realization of five motion modes The quadrilateral variable-cell mechanism can achieve at least five geometric configurations under the drive of the first servo motor 1. Combined with the attitude adjustment of the connecting mechanism 7 and the multi-degree-of-freedom motion of the traveling legs 8, the robot can complete five motion modes adapted to different environments (see appendix). Figure 7-11 The specific work process is as follows: As attached Figure 7 As shown, in the flat-ground crawling mode, the four legs 8 of the quadruped robot serve as supporting elements, with their feet 86 contacting the ground to form a stable multi-legged support configuration. The quadrilateral variable cell mechanism remains in its conventional deployed state, and the connecting mechanism 7 keeps the torso horizontal. The robot coordinates the movement of the fourth servo motor 81, the fifth servo motor 83, and the sixth servo motor 84 of each leg 8 via the electronically controlled power module 6, achieving a smooth forward shift of the body's center of gravity.

[0044] As attached Figure 8As shown, in the pipe crawling mode, the quadrilateral deformable mechanism is driven by the first servo motor 1 to become elongated, thus narrowing the overall size of the robot's torso. The four walking legs 8 serve as support elements, with their feet 86 contacting the ground or the inner wall of the pipe to form a stable multi-legged support configuration. The robot controls the joints of each walking leg 8 to coordinate their movements through the electronic power module 6, achieving a smooth forward shift of the body's center of gravity and adapting to the slender pipe environment.

[0045] As attached Figure 9 As shown, in the rock crevice crawling mode, the second servo motor 71 and the third servo motor 72 of the connecting mechanism 7 drive the robot body to stand up, and the two leg units are symmetrically arranged on the left and right sides of the body. The four walking legs 8 serve as support elements, and their feet 86 contact the ground or the inner wall of the rock crevice to form a stable multi-leg support configuration. The robot controls the joints of each walking leg 8 to coordinate their movements through the electronic power module 6, so as to achieve a smooth forward shift of the body's center of gravity and move through the relatively narrow rock crevice.

[0046] As attached Figure 10 As shown, in the crawling mode within a confined space, the second servo motor 71 and the third servo motor 72 of the connecting mechanism 7 drive the robot to stand upright. The quadrilateral morphological mechanism, driven by the first servo motor 1, folds into a quadrilateral structure with its short side perpendicular to the ground. Two leg units are symmetrically arranged on the left and right sides of the robot body. The four walking legs 8 serve as support elements, with their feet 86 contacting the ground to form a stable multi-legged support configuration. The robot uses the electronically controlled power module 6 to control the joints of each walking leg 8 to coordinate their movements, achieving a smooth forward shift of the body's center of gravity, making it suitable for environments such as caves or confined spaces requiring turning.

[0047] As attached Figure 11 As shown, in the bipedal upright walking mode, the second servo motor 71 and the third servo motor 72 of the connecting mechanism 7 drive the robot body to stand upright. The quadrilateral variable cell mechanism is driven by the first servo motor 1 to fold into a quadrilateral structure with its long side perpendicular to the ground. Each quadrilateral variable cell mechanism and the two walking legs 8 on the corresponding side form a motion unit, and the two motion units are symmetrically arranged on the left and right sides of the robot body. The four walking legs 8 use the sides contacting the ground as support elements. The robot drives the third servo motor 72 on both sides of the connecting mechanism 7 through the electronic power module 6 to control the motion units to coordinate their movements, achieving bipedal upright walking, which is suitable for terrain with large elevation differences.

[0048] In summary, this invention achieves flexible deformation of the torso configuration through the single drive of the first servo motor 1, combined with the dual-side linkage of the connecting mechanism 7 and the three-degree-of-freedom independent control of the traveling legs 8, realizing a motion effect with fewer drives, multiple configurations, and multiple modes. The electronically controlled power module 6 is embedded in the space of the double quadrilateral frame, which greatly improves the space utilization rate, making the overall structure of the robot compact and adaptable to various complex environments such as flat ground, pipes, rock crevices, narrow cavities, and terrain with elevation differences, thereby improving environmental adaptability and task generalization ability.

[0049] Furthermore, all components of this invention are connected by bolts, flanges, or hinges. The fixed rod 2, first connecting rod 3, second connecting rod 4, and third connecting rod 5 are standardized bent rod structures. The connecting plate 731, first right-angle plate 732, second right-angle plate 733, and T-shaped connecting clamp 734 of the connecting mechanism 7 are all standardized sheet metal parts. The servos and connecting parts of the traveling leg 8 are modularly designed for easy assembly, disassembly, and maintenance. In practical applications, different specifications of the legs 86 can be replaced or the connecting rod length adjusted according to operational needs, further expanding the robot's application scenarios.

[0050] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0051] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A quadrilateral variable cell mechanism, characterized in that, include: First servo (1) A fixing rod (2) is fixedly connected at one end to the housing of the first servo motor (1); The linkage assembly includes a first link (3), a second link (4), and a third link (5) that are hinged in sequence. The end of the first link (3) away from the second link (4) is fixedly connected to the power output end of the first servo motor (1). The end of the third link (5) away from the second link (4) is hinged to the end of the fixed rod (2) away from the first servo motor (1). The first link (3), the second link (4), the third link (5), and the fixed rod (2) form a quadrilateral frame. The quadrilateral frame can control the first link (3) to rotate relative to the fixed rod (2) under the drive of the first servo motor (1) to change the geometry of the quadrilateral frame.

2. The quadrilateral variable cell mechanism according to claim 1, characterized in that, The hinge joints of the first link (3) and the second link (4), and the hinge joints of the third link (5) and the fixed rod (2) are all bent rods with bending angles, and are hinged to each other through the ends of the bent rods.

3. The quadrilateral variable cell mechanism according to claim 1, characterized in that, The number of the fixed rod (2), the first connecting rod (3), the second connecting rod (4) and the third connecting rod (5) are all two, and they form two sets of parallel and opposite quadrilateral frames. The first servo motor (1) has two symmetrically arranged power output ends, which are respectively fixedly connected to the ends of the two first connecting rods (3).

4. A quadrilateral variable cell mechanism according to claim 3, characterized in that, It also includes an electric power module (6), which is embedded in the accommodating space formed by the two quadrilateral frames.

5. A quadrupedal walking robot, characterized in that, include: The connecting mechanism (7) is connected to the quadrilateral frame of the quadrilateral variable cell mechanism according to any one of claims 1-4 on both sides. Four traveling legs (8) are respectively connected to the second link (4) and the third link (5) of the two quadrilateral frames.

6. A quadrupedal walking robot according to claim 5, characterized in that, The connecting mechanism (7) includes: Second servo (71). Two third servos (72) are respectively mounted on both sides of the second servo (71) via connectors (73). Each third servo (72) has a power output end at the end away from the second servo (71). The power output end of the third servo (72) is fixedly connected to the first connecting rod (3) of the quadrilateral deformable cell mechanism on the corresponding side via a second connecting rod (74).

7. A quadrupedal walking robot according to claim 6, characterized in that, The connector (73) includes: Two connecting plates (731) are located on both sides of the second servo (71), and one of the connecting plates (731) is fixedly connected to the housing of the second servo (71) through a first right-angle plate (732); Two second right-angle plates (733), one end of each second right-angle plate (733) is fixedly connected to the power output end of the second servo motor (71), and the other end is fixedly connected to the connecting plate (731); Two T-shaped connecting plates (734), one end of each T-shaped connecting plate (734) is fixedly connected to the connecting plate (731), and the other end is fixedly connected to the housing of the third servo (72).

8. A quadrupedal walking robot according to claim 5, characterized in that, Each of the aforementioned traveling legs (8) includes: The fourth servo (81) has its housing fixedly connected to the second link (4) or the third link (5) on the corresponding side. A cross-shaped U-shaped bracket (82), one end of which is fixedly connected to the power output shaft of the fourth servo motor (81); The fifth servo (83) has its power output end fixedly connected to the end of the cross U-shaped frame (82) away from the power output end of the fourth servo (81). The housing of the sixth servo (84) is fixedly connected to the housing of the fifth servo (83) by two side clamps (85); The foot (86) is fixedly connected to the power output end of the sixth servo (84).

9. A quadrupedal walking robot according to claim 8, characterized in that, The housing of the fourth servo (81) is connected to the second link (4) or the third link (5) via a second connecting rod (87), which is vertically fixed to the second link (4) or the third link (5).

10. A quadrupedal walking robot according to claim 5, characterized in that, The quadrilateral variable cell mechanism has at least five geometric configurations, which, in conjunction with the connecting mechanism (7) and the traveling leg (8), enable the robot to achieve five motion modes: crawling on flat ground, crawling through pipes, crawling through cracks in rocks, crawling through narrow cavities, and bipedal walking.

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