Deformable multi-modal biomimetic spider robot and control method thereof

Abstract

The application provides a deformable multi-mode bionic spider robot and a control method thereof, relates to the technical field of deformable bionic robots, and comprises a deformable morphological reconstruction structure, a plurality of bionic legs and a telescopic joint morphological reconstruction structure; the bionic leg comprises a basal segment rotating part, an upper leg turning part and a lower leg turning part; the deformable morphological reconstruction structure is used for realizing opening or closing of the robot, and the telescopic joint morphological reconstruction structure is used for respectively controlling extension or retraction of a motion executing component of the robot, so that the working mode of the robot is switched. The application takes a bionic spider as a design prototype, constructs a robot with multiple motion capabilities, and can be used in multiple transportation fields and complex environment detection fields. Through innovative design of the bionic leg and the morphological reconstruction structure, and in combination with structural features such as turning, folding and telescoping of the joint, the robot realizes rapid switching between different motion modes, so that the passing capacity and the maneuvering performance of the robot in a complex environment are significantly improved.

Description

Technical Field

[0001] This invention relates to the field of deformable bionic robot technology, specifically to a deformable multi-mode bionic spider robot and its control method. Background Technology

[0002] In recent years, bionics and robotics have been increasingly integrated, and bionic robots have gradually become one of the important research directions in the field of robotics. By drawing inspiration from the body structure, movement mechanisms, and environmental adaptation strategies of organisms in nature, bionics provides crucial theoretical support for the innovative design of engineering systems, significantly promoting the iterative upgrading of robotics technology. Currently, robots are gradually breaking through the limitations of traditional structured work scenarios, expanding into unstructured, complex, and even extreme disaster environments. Their applications have extended to fields such as emergency rescue, complex environment detection, and special transportation, which places more stringent demands on the environmental adaptability and multi-task execution capabilities of robots.

[0003] However, existing multi-legged bionic robots still have significant limitations: most robots have a single movement pattern and a rigid body structure, making it difficult to dynamically adjust their movement strategies in real time according to complex terrain. In typical complex environments such as rubble, slopes, soft soil, and narrow passages, robots need to possess excellent posture stability and diverse support configurations; while on flat roads and open passages, they need to balance high-speed movement and agile maneuverability. Although current technologies can achieve stable walking on rugged terrain, in highly dynamic and time-sensitive mission scenarios such as emergency rescue, they often struggle to quickly switch between adapting to complex terrain and high-speed, efficient passage, resulting in insufficient overall response speed and greatly limiting their application effectiveness in practical engineering and emergency missions.

[0004] In contrast, motor-driven systems offer advantages such as high control precision, fast dynamic response, high energy conversion efficiency, and relatively simple system maintenance, leading to their widespread application in robotics and intelligent equipment. Motor-driven systems demonstrate good applicability in achieving multi-degree-of-freedom motion control of biomimetic legs, a wide range of posture adjustment, and switching between multiple motion modes, effectively meeting the comprehensive requirements for drive stability, control flexibility, and system reliability under complex terrain conditions. However, achieving efficient coupling between the motor-driven system and the robot's body structure, transmission structure, and control strategy to further enhance the robot's adaptability to complex terrain environments remains a crucial research challenge. Summary of the Invention

[0005] To address the shortcomings of the prior art, the present invention aims to provide a deformable multi-mode bionic spider robot and its control method. This addresses the technical problem of how to construct a multi-mode bionic robot based on motor drive that can actively adjust its bionic legs and movement modes according to terrain changes. This robot can achieve rapid switching between various movement modes, such as stable crawling in narrow and complex areas, high-speed rolling in open areas, rapid driving on flat roads, and obstacle-crossing and aerial flight in obstacle environments, thereby improving its adaptability and maneuverability in multi-terrain environments.

[0006] Specifically, on the one hand, the present invention provides a deformable multi-mode bionic spider robot, which includes a deformable morphological reconstruction structure, multiple bionic legs disposed on the deformable morphological reconstruction structure, and telescopic joint morphological reconstruction structures disposed at the ends of each bionic leg. Among them, bionic legs include: Base section rotating part: mounted on the deformable shape reconfigurable structure, including a first motor, a base section driven by the first motor to rotate laterally, and a first connecting member mounted on the base section; Upper leg flipping part: Rotatably mounted above the first connecting member and driven by a motor to flip along a horizontal axis, the upper leg flipping part is equipped with an upper leg rolling support ball with an arc-shaped outer surface; Lower leg flipping part: It is rotatably mounted below the first connector and is driven by a motor to flip along a horizontal axis. The lower leg flipping part is equipped with a lower leg rolling support ball with an arc-shaped outer surface. The deformable reconfigurable structure is used to enable the robot to open or close. The telescopic reconfigurable structure can be telescopically installed on the inner surfaces of the upper leg tumbling support ball and the lower leg tumbling support ball, respectively, to control the extension or retraction of the robot's motion execution components, thereby switching the robot to crawling mode, tumbling mode, driving mode or flying mode.

[0007] Furthermore: Deformable morphological reconfigurable structures include: Support plate; Eighth motor: Fixedly mounted on the support plate; Intermediate gear: Fixedly installed at the output end of the eighth motor, and driven to rotate by the eighth motor; Small gears: multiple small gears are mounted on the support plate and are arranged around the circumference of the intermediate gear and mesh with the intermediate gear respectively, and rotate with the intermediate gear; Drive shafts: There are multiple drive shafts, and the first end of each drive shaft is mounted on a small gear and rotates with it; Rotating plates: Multiple plates are provided and are fixedly installed at the second end of each transmission shaft. When the rotating plates rotate around the axis of the corresponding transmission shaft, the rotating plates move closer or further away from each other, so that the multiple rotating plates as a whole are in an open or closed state. Upper and lower fixing plates: respectively set above and below multiple rotating plates, used to limit the movement of multiple rotating plates. Multiple mounting holes are opened at corresponding positions on the upper and lower fixing plates, so as to be rotatably installed on the outside of multiple drive shafts.

[0008] Furthermore: the telescopic joint morphological reconstruction structure includes an upper leg reconstruction structure and a lower leg reconstruction structure. The upper leg reconstruction structure includes an upper leg telescopic joint mounted on the inner surface of the upper leg tumbling support ball and a fourth motor mounted on the upper leg telescopic joint. The output shaft of the fourth motor is connected to a propeller.

[0009] Furthermore, the lower leg reconfiguration structure includes a lower leg telescopic joint mounted on the inner surface of the lower leg tumbling support ball and a fifth motor mounted on the lower leg telescopic joint, with the output shaft of the fifth motor connected to a roller.

[0010] Furthermore, both the upper and lower leg telescopic joints are driven by motors to rotate lead screws, thereby causing the robot motion execution components that are threadedly connected to the lead screws to extend or retract.

[0011] Furthermore: the upper leg flipping unit includes a second motor mounted on the first connector, an upper leg flippable thigh joint driven to rotate by the second motor, a third motor mounted on the upper leg flippable thigh joint, and a component driven to rotate by the third motor. The upper leg can rotate to the lower leg joint; the output shafts of the second and third motors are parallel to each other and horizontally arranged.

[0012] Furthermore: the lower leg flipping part includes a sixth motor mounted on the first connector, a lower leg flipping thigh joint driven to rotate by the sixth motor, a seventh motor mounted on the lower leg flipping thigh joint, and a lower leg flipping calf joint driven to rotate by the seventh motor; wherein the output shafts of the sixth motor and the seventh motor are parallel to each other and horizontally arranged.

[0013] Furthermore, the deformable reconfigurable structure also includes a support frame. The diameter of the bottom cylinder of the drive shaft is larger than the diameter of the rest of the drive shaft. Multiple through holes are opened in the support frame. The support frame is sleeved on the outside of multiple drive shafts and is mounted on the top surface of the bottom cylinder of each drive shaft.

[0014] Furthermore, a visual signal acquisition unit is also installed, which is electrically connected to the main controller. The main controller controls the movement of the deformable morphology reconstruction structure and the telescopic joint morphology reconstruction structure, and is used to switch the robot's crawling mode, rolling mode, driving mode or flying mode.

[0015] On the other hand, the present invention also provides a robot control method for controlling a deformable multi-mode biomimetic spider robot, which includes the following steps: S1. The current terrain information is collected through the visual signal acquisition unit and uploaded to the main controller. The main controller analyzes the terrain to determine the most suitable robot target working mode for the current terrain. S2. After the main controller selects the robot target working mode most suitable for the current terrain, it controls multiple motors of the motor system to deform multiple bionic legs. After the multiple bionic legs deform in sequence, the robot switches to crawling mode, rolling mode, driving mode or flying mode.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) This invention provides a motor-driven deformable multi-mode biomimetic spider robot. Based on a biomimetic spider, it constructs a robot structure with multiple movement capabilities such as crawling, driving, high-speed rolling, and aerial flight, which can be used in multiple transportation fields and complex environment exploration fields. Through innovative design of the leg mechanical structure and innovative design of the morphological reconstruction structure, combined with the structural features of the joints such as flipping, retraction, and extension, the robot realizes rapid switching between different movement modes, thereby significantly improving its mobility and maneuverability in complex environments, and can be used for transportation, rescue, etc. in various environments.

[0017] (2) This invention uses an electronic control system to drive the robot, which improves the flexibility of motion control. It also allows for independent control of multiple motors, enabling multiple bionic legs to work collaboratively. Through a deformable structure, the bionic spider robot possesses multiple motion modes. The six bionic legs coordinate their triangular gait. By adjusting the linkage between the base segments of the six bionic legs and the rotating thigh joints, the robot's posture is adjusted, achieving stable crawling or high-speed rolling. By adjusting the angles of the rotating lower leg joints and the rotating thigh joints of the six bionic legs, and simultaneously adjusting the movement of the telescopic joints, the leg configuration of the six bionic legs is changed, allowing for flat-ground movement or aerial flight. The leg deformation forms a rolling profile, driving the base segments of the six bionic legs to apply torque sequentially, achieving continuous rolling motion. Thus, the robot can switch target motion modes for various terrains to complete its movement tasks.

[0018] (3) By setting up a deformable shape reconstruction structure and a telescopic joint shape reconstruction structure, the deformable shape reconstruction structure is responsible for the overall opening or closing of the robot's multiple bionic legs, and the telescopic joint shape reconstruction structure is responsible for the extension and retraction of the robot's motion execution components. Thus, when the robot switches working modes, other motion execution components or bionic legs are in a retracted state, which can better protect the motion execution components and bionic legs in the non-working state, and can reasonably adjust the space occupied by the robot, making it more suitable for storage or work in special terrains. Attached Figure Description

[0019] Figure 1This is a three-dimensional structural schematic diagram of the deformable multi-mode biomimetic spider robot of the present invention; Figure 2 This is a schematic diagram of the bionic leg structure of the present invention; Figure 3 This is a schematic diagram of the deformable morphological reconstruction structure of the present invention; Figure 4 This is a schematic diagram of the crawling mode structure of the deformable multi-mode biomimetic spider robot of the present invention; Figure 5 This is a schematic diagram of the rolling mode structure of the deformable multi-mode biomimetic spider robot of the present invention; Figure 6 This is a schematic diagram of the driving mode structure of the deformable multi-mode biomimetic spider robot of the present invention; Figure 7 This is a schematic diagram of the flight mode structure of the deformable multi-mode biomimetic spider robot of the present invention; Figure 8 This is a schematic diagram of the electrical control system of the deformable multi-mode biomimetic spider robot of the present invention.

[0020] Key reference numerals: 1. First motor; 2. Base section; 3. First connecting piece; 4. Second motor; 5. Upper leg with a rotatable thigh joint; 6. Third motor; 7. Upper leg with a rotatable lower leg joint; 8. Second connecting piece; 9. Upper leg telescopic joint; 10. Fourth motor; 11. Propeller; 12. Upper leg tumbling support ball; 13. Fifth motor; 14. Roller; 15. Sixth motor; 16. Lower leg with a rotatable thigh joint; 17. Seventh motor; 18. Lower leg tumbling support ball; 19. Third connecting piece; 20. Lower leg with a rotatable lower leg joint; 21. Lower leg telescopic joint; 22. Upper fixing plate; 23. Rotating plate; 24. Eighth motor; 25. Support frame; 26. Drive shaft; 27. Support plate; 28. Lower fixing plate; 29. ​​Intermediate gear; 30. Small gear; 100. Bionic leg; 101. Deformable shape reconfigurable structure; 102. Telescopic joint shape reconfigurable structure. Detailed Implementation

[0021] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0022] like Figures 1 to 3 As shown, the present invention provides a deformable multi-mode bionic spider robot, which includes a deformable morphological reconstruction structure 101, a plurality of bionic legs 100 disposed on the deformable morphological reconstruction structure 101, and a telescopic joint morphological reconstruction structure 102 disposed at the end of each bionic leg 100.

[0023] like Figure 3As shown, the deformable reconfigurable structure 101 includes: a support plate 27 disposed at the center, the support plate 27 including an upper support plate and a lower support plate, the sides of the upper support plate and the lower support plate are both I-shaped, an eighth motor 24 is fixedly installed between the upper support plate and the lower support plate, the output shaft of the eighth motor 24 is fixedly connected to the intermediate gear 29, and is used to drive the intermediate gear 29 to rotate; a plurality of small gears 30 are installed on the top of the upper support plate, in this embodiment there are six small gears 30, and each of the six small gears 30 has a connecting hole in the center, for fixed connection with the first end of the transmission shaft 26. A rotating plate 23 is fixedly connected to the second end of the drive shaft 26. The rotating plate 23 is an arc-shaped rotating plate with one side protruding and the other side recessed. When the rotating plate 23 rotates around the axis of the corresponding drive shaft 26, the protruding side of the rotating plate 23 moves away from or closer to the recessed side of the adjacent rotating plate 23, so that the multiple rotating plates 23 are in an open or closed state as a whole. Each drive shaft 26 can also be rotatably mounted with an upper fixing plate 22 and a lower fixing plate 28. The upper fixing plate 22 and the lower fixing plate 28 can be mounted on the outer surface of the drive shaft 26 through bearings, and are respectively mounted on the upper and lower parts of the multiple rotating plates 23 to limit the position of each rotating plate 23. A support frame 25 is also mounted on the multiple drive shafts 26. The diameter of the bottom cylinder of the drive shaft 26 is larger than that of the rest. The support frame 25 has multiple through holes, so that the support frame 25 is sleeved on the outside of the multiple drive shafts 26 and supported on the upper bottom surface of the bottom cylinder of each drive shaft 26, thereby effectively improving the rigidity of the multiple drive shafts 26 and making them more integrated.

[0024] like Figure 2 As shown, the bionic leg 100 includes a base rotating part, an upper leg flipping part, and a lower leg flipping part. The base rotating part includes a first motor 1, a base 2 driven by the first motor 1 to rotate laterally, and a first connecting member 3 mounted on the base 2. The first motor 1 is fixedly mounted on one of the rotating plates 23 by bolts. The upper leg flipping part includes a second motor 4 mounted on the first connecting member 3, an upper leg flipping thigh joint 5 driven by the second motor 4 to rotate, a third motor 6 mounted on the upper leg flipping thigh joint 5, and an upper leg flipping lower leg joint 7 driven by the third motor 6 to rotate; wherein the output shafts of the second motor 4 and the third motor 6 are parallel to each other and horizontally arranged. The lower leg flipping part includes a sixth motor 15 mounted on the first connecting member 3, a lower leg flipping thigh joint 16 driven by the sixth motor 15 to rotate, a seventh motor 17 mounted on the lower leg flipping thigh joint 16, and a lower leg flipping lower leg joint 20 driven by the seventh motor 17 to rotate; wherein the output shafts of the sixth motor 15 and the seventh motor 17 are parallel to each other and horizontally arranged. The upper leg flipping part is equipped with an upper leg rolling support ball petal 12 with an arc-shaped outer surface; the lower leg flipping part is equipped with a lower leg rolling support ball petal 18 with an arc-shaped outer surface; thus, the upper leg flipping part and the lower leg flipping part can rotate around the first connecting member 3 along the horizontal axis to switch the robot leg shape.

[0025] The deformable reconfigurable structure 101 is used to open or close the robot. The telescopic reconfigurable structure 102 is telescopically mounted on the inner surfaces of the upper leg tumbling support ball 12 and the lower leg tumbling support ball 18, respectively, and is used to control the extension or retraction of the robot's motion execution components, thereby switching the robot to crawling mode, tumbling mode, driving mode, or flight mode. The motion execution components include functional modules such as rollers 14 and propellers 11 for realizing robot movement.

[0026] The telescopic joint reconfiguration structure 102 includes an upper leg reconfiguration structure and a lower leg reconfiguration structure. The upper leg reconfiguration structure includes an upper leg telescopic joint 9 mounted on the inner surface of the upper leg tumbling support ball flap 12 and a fourth motor 10 mounted on the upper leg telescopic joint 9. The upper leg telescopic joint 9 is mounted on the upper leg rotatable lower leg joint 7 via a second connector 8. The output shaft of the fourth motor 10 is connected to a propeller 11. The lower leg reconfiguration structure includes a lower leg telescopic joint 21 mounted on the inner surface of the lower leg tumbling support ball flap 18 and a fifth motor 13 mounted on the lower leg telescopic joint 21. The lower leg telescopic joint 21 is mounted on the lower leg rotatable lower leg joint 20 via a third connector 19. The fifth motor 13 is a dual-axis motor, and rollers 14 are connected to the output shafts on both sides of the fifth motor 13. Both the upper leg telescopic joint 9 and the lower leg telescopic joint 21 are driven by motors to rotate a 60 mm stroke lead screw, thereby causing the robot motion execution components threadedly connected to the lead screw to extend or retract.

[0027] The robot is also equipped with a visual signal acquisition unit, which is electrically connected to the main controller. The main controller controls the movement of the deformable morphology reconstruction structure 101 and the telescopic joint morphology reconstruction structure 102, thereby switching the robot to crawling mode, rolling mode, driving mode or flying mode.

[0028] The present invention also provides a robot control method for a deformable multi-mode biomimetic spider robot, comprising the following steps: S1. The robot collects the current terrain information through the visual signal acquisition unit and uploads the terrain information to the main controller. The main controller analyzes the terrain and determines the robot target working mode most suitable for the current terrain.

[0029] S2. After the main controller selects the robot target working mode most suitable for the current terrain, it controls multiple motors of the motor system to deform the six bionic legs 100. After the six bionic legs 100 deform in sequence, the robot switches to crawling mode, rolling mode, driving mode or flying mode.

[0030] like Figure 8As shown, the robot acquires external environmental information through a visual signal acquisition unit, identifies and judges the environmental state, and then switches to the corresponding working mode: when the visual signal detects a change in the environment, and the robot needs to change its posture or perform high-power operations such as flight, tumbling, or driving, the main controller triggers the first power mode. The main controller sends high-power output commands to the battery pack and power supply unit, controlling the battery pack and power supply unit to work together to output high instantaneous power to the first motor 1, the fourth motor 10, the fifth motor 13, the eighth motor 24, the second motor 4, the third motor 6, the sixth motor 15, and the seventh motor 17. The power supply unit is a supercapacitor bank, connected in parallel with the battery pack, providing the robot with the instantaneous power required for takeoff, posture switching, tumbling, or driving.

[0031] When the visual signal does not detect environmental changes requiring special handling, and the robot only needs to perform routine tasks such as crawling or standing, the main controller triggers the second power mode. The main controller sends a low-speed, stable power output command to the battery pack, controlling the battery pack to output stable low-power electrical energy to the second motor 4, the third motor 6, the sixth motor 15, and the seventh motor 17, providing the robot with the continuous power required for routine actions such as crawling and standing.

[0032] The two power modes mentioned above achieve on-demand power allocation under different working conditions through unified scheduling by the main controller: the high-power mode meets the instantaneous power requirements of the robot under special working conditions through the coordinated output of the battery pack and the power supply unit; the low-power mode ensures the continuous operation of the robot under normal working conditions through the stable output of the battery pack, thereby optimizing energy utilization efficiency.

[0033] The following describes the various working modes and switching methods of the deformable multi-mode bionic spider robot of the present invention: Crawling and Tumbling Modes: The six bionic legs 100 employ a triangular gait for coordinated movement. Through the coordinated adjustment of the base segments, extension joints, and the rotating thigh joints of the six bionic legs 100, stride length and gait height are achieved, enabling crawling movement. The morphological reconstruction structure is connected to the base segments via rotating plates, thereby driving the six bionic legs 100 to rotate at equal amplitudes, achieving the opening and closing of the entire body and enabling rapid switching between tumbling and crawling modes.

[0034] Among them, crawling mode such as Figure 4As shown, the robot's transformation process is as follows: The upper leg telescopic joint 9 is housed inside the upper leg tumbling support ball 12. The upper leg flippable thigh joint 5 and the upper leg flippable calf joint 7 are rotated to predetermined positions by the second motor 4 and the third motor 6, respectively, completing the upper leg transformation. The lower leg telescopic joint 21 is housed inside the lower leg tumbling support ball 18. The lower leg flippable thigh joint 16 and the lower leg flippable calf joint 20 are rotated to predetermined positions by the sixth motor 15 and the seventh motor 17, respectively, completing the lower leg transformation. Simultaneously, the deformable structure's movement is driven by the eighth motor 24, which drives the intermediate gear 29, further driving the pinion 30, causing the rotating plate 23 to rotate counterclockwise and open to the predetermined position, completing the deformable structure's transformation and enabling the entire robot to unfold into a crawling posture. Throughout the process, the motor self-locking mechanism ensures that the joints maintain stable and accurate positions during the transformation process, while the tumbling support ball 12 acts as the foot support to achieve crawling motion.

[0035] Among them, the rolling mode is as follows Figure 5 As shown, the robot's transformation process is as follows: the upper leg's flippable thigh joint 5 and upper leg's flippable lower leg joint 7 are rotated to predetermined positions by the second motor 4 and the third motor 6, respectively, completing the upper leg's transformation; the lower leg's flippable thigh joint 16 and lower leg's flippable lower leg joint 20 are rotated to predetermined positions by the sixth motor 15 and the seventh motor 17, respectively, completing the lower leg's transformation; simultaneously, the base segment 2 is rotated to a predetermined position by motor 1; at the same time, the deformable structure moves, driving the intermediate gear 29 via the eighth motor 24, which in turn drives the pinion 30, causing the rotating plate to rotate clockwise and close to a predetermined position, completing the deformable structure's transformation and achieving the closure of the entire robot into a sphere; throughout the process, the motor self-locking mechanism ensures that the joints maintain stable and accurate positions during the transformation process, while the motor adjusts the spherical shell to push the ground to achieve the rolling motion. Specifically, the first motor 1 drives the base section to rotate, and the second motor 4, the third motor 6, the sixth motor 15 and the seventh motor 17 adjust the leg posture, so that the tumbling support ball petals periodically contact and detach from the ground, generating tangential thrust, and using the ground reaction force to drive the robot to tumble as a whole.

[0036] Driving mode: The lower leg telescopic joint 21 is equipped with a roller module. By adjusting the angle of the flip-up lower leg joint and the flip-up thigh joint of the six bionic legs 100 of the lower leg flipping part, the roller module is linearly displaced through the telescopic joint, and the driving mode is switched to achieve rapid movement.

[0037] Driving modes such as Figure 6As shown, the robot's transformation process is as follows: The upper leg telescopic joint 9 retracts the propeller 11 to its shortest position, and the upper leg's flip-up thigh joint 5 and upper leg's flip-up calf joint 7 rotate to their predetermined positions via the second motor 4 and the third motor 6, respectively, completing the upper leg transformation; the lower leg's flip-up thigh joint 16 and lower leg's flip-up calf joint 20 rotate to their predetermined positions via the sixth motor 15 and the seventh motor 17, respectively; at this time, the lower leg's tumbling support ball 18 contacts the ground; the lower leg telescopic joint 21 extends the roller 14 to its predetermined position, at which point the lower leg's tumbling support ball 18 lifts off the ground, and the roller 14 contacts the ground, completing the lower leg transformation; after the transformation is complete, the roller 14 supports the ground, and the robot is driven by the fifth motor 13 to achieve the driving action.

[0038] Flight mode: The upper leg telescopic joint 9 is equipped with a propeller module. By adjusting the angle of the upper leg flip-up lower leg joint 7 and the upper leg flip-up thigh joint 5 of the six bionic legs 100 of the upper leg flip-up part, the propeller module is linearly displaced through the telescopic joint, and the flight mode is switched to overcome obstacles.

[0039] Flight mode such as Figure 7 As shown, the robot's transformation process is as follows: the upper leg's flip-up thigh joint 5 and upper leg's flip-up calf joint 7 are driven to rotate to a predetermined position by the second motor 4 and the third motor 6, respectively; the lower leg's flip-up thigh joint 16 and lower leg's flip-up calf joint 20 are driven to rotate to a predetermined position by the sixth motor 15 and the seventh motor 17, respectively, and the lower leg transformation is completed; at this time, the lower leg's tumbling support ball petal 18 contacts the ground; at this time, the upper leg's 60mm stroke telescopic joint 9 drives the extension of the propeller 11, which is driven by the fourth motor 10, and the upper leg transformation is completed; after the transformation is completed, the fourth motor 10 drives the propeller 11 to rotate, generating lift and thrust, and realizing obstacle-crossing flight.

[0040] The above embodiments are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A deformable, multi-mode biomimetic spider robot, characterized in that: It includes a deformable morphological reconstruction structure (101), multiple bionic legs (100) disposed on the deformable morphological reconstruction structure (101), and a telescopic morphological reconstruction structure (102) disposed at the end of each bionic leg (100). Among them, the bionic leg (100) includes: Base section rotating part: mounted on the deformable shape reconfigurable structure (101), including a first motor (1), a base section (2) driven by the first motor (1) to rotate laterally, and a first connecting member (3) mounted on the base section (2). Upper leg flipping part: It is rotatably mounted above the first connector (3) and is driven by a motor to flip along the horizontal axis. The upper leg flipping part is equipped with an upper leg rolling support ball (12) with an arc-shaped outer surface. Lower leg flipping part: It is rotatably installed below the first connector (3) and is driven by a motor to flip along the horizontal axis. The lower leg flipping part is equipped with a lower leg rolling support ball (18) with an arc-shaped outer surface. The deformable shape reconfiguration structure (101) is used to realize the opening or closing of the robot. The telescopic joint shape reconfiguration structure (102) is telescopically installed on the inner surfaces of the upper leg tumbling support ball (12) and the lower leg tumbling support ball (18) respectively, and is used to control the extension or retraction of the robot's motion execution components, thereby switching the robot to crawling mode, tumbling mode, driving mode or flying mode. The telescopic joint morphological reconstruction structure (102) includes an upper leg reconstruction structure and a lower leg reconstruction structure. The upper leg reconstruction structure includes an upper leg telescopic joint (9) installed on the inner surface of the upper leg tumbling support ball (12) and a fourth motor (10) installed on the upper leg telescopic joint (9). The output shaft of the fourth motor (10) is connected to a propeller (11). By adjusting the angle between the upper leg flip-up lower leg joint (7) and the upper leg flip-up thigh joint (5) of the six bionic legs (100) of the upper leg flipping part, the propeller (11) is linearly displaced through the telescopic joint, and the flight mode is switched to overcome obstacles. The upper leg flipping part includes a second motor (4) mounted on the first connector (3), an upper leg flipping thigh joint (5) driven to rotate by the second motor (4), a third motor (6) mounted on the upper leg flipping thigh joint (5), and an upper leg flipping calf joint (7) driven to rotate by the third motor (6); wherein the output shafts of the second motor (4) and the third motor (6) are parallel to each other and horizontally arranged; The lower leg flipping part includes a sixth motor (15) mounted on the first connector (3), a lower leg flipping thigh joint (16) driven to rotate by the sixth motor (15), a seventh motor (17) mounted on the lower leg flipping thigh joint (16), and a lower leg flipping calf joint (20) driven to rotate by the seventh motor (17); wherein the output shafts of the sixth motor (15) and the seventh motor (17) are parallel to each other and horizontally arranged; The base section is driven to rotate by the first motor (1), and the leg posture is adjusted by the second motor (4), the third motor (6), the sixth motor (15) and the seventh motor (17), so that the tumbling support ball petals make periodic contact and separation with the ground, and generate tangential thrust, and use the ground reaction force to drive the robot to tumble as a whole.

2. The deformable multi-mode biomimetic spider robot as described in claim 1, characterized in that: The deformable morphological reconfigurable structure (101) includes: Support plate (27); Eighth motor (24): Fixedly mounted on support plate (27); Intermediate gear (29): Fixedly installed at the output end of the eighth motor (24), and driven to rotate by the eighth motor (24); Small gears (30): are mounted on the support plate (27) and multiple small gears (30) are provided. Multiple small gears (30) are arranged around the intermediate gear (29) and mesh with the intermediate gear (29) respectively, and rotate with the intermediate gear (29); Drive shaft (26): Multiple drive shafts are provided, and the first end of each drive shaft (26) is mounted on a small gear (30) and rotates accordingly; Rotating plates (23): Multiple plates are provided and are fixedly installed on the second end of each transmission shaft (26). When the rotating plates (23) rotate around the axis of the corresponding transmission shaft (26), the rotating plates (23) move closer or further away from each other, so that the multiple rotating plates (23) move closer or further away from each other, thus realizing the overall open or closed state. Upper fixing plate (22) and lower fixing plate (28): respectively set above and below multiple rotating plates (23) for limiting the multiple rotating plates (23). Multiple mounting holes are opened at corresponding positions of the upper fixing plate (22) and lower fixing plate (28) for rotatably mounting on the outside of multiple drive shafts (26).

3. The deformable multi-mode biomimetic spider robot as described in claim 1, characterized in that: The lower leg reconstruction structure includes a lower leg telescopic joint (21) mounted on the inner surface of the lower leg tumbling support ball (18) and a fifth motor (13) mounted on the lower leg telescopic joint (21). The output shaft of the fifth motor (13) is connected to a roller (14).

4. The deformable multi-mode biomimetic spider robot as described in claim 3, characterized in that: Both the upper leg telescopic joint (9) and the lower leg telescopic joint (21) are driven by motors to rotate the lead screw, thereby causing the robot motion execution components that are threadedly connected to the lead screw to extend or retract.

5. The deformable multi-mode biomimetic spider robot as described in claim 2, characterized in that: The deformable reconfigurable structure (101) also includes a support frame (25). The diameter of the bottom cylinder of the drive shaft (26) is larger than the diameter of the rest of the drive shaft (26). Multiple through holes are opened in the support frame (25). The support frame (25) is sleeved on the outside of multiple drive shafts (26) and mounted on the top surface of the bottom cylinder of each drive shaft (26).

6. The deformable multi-mode biomimetic spider robot as described in any one of claims 1-5, characterized in that: It is also equipped with a visual signal acquisition unit, which is electrically connected to the main controller. The main controller controls the movement of the deformable morphology reconstruction structure (101) and the telescopic joint morphology reconstruction structure (102) to switch the robot's crawling mode, tumbling mode, driving mode or flying mode.

7. A method for controlling a robot, characterized in that: It is used to control the deformable multi-mode biomimetic spider robot of claim 6, and includes the following steps: S1. The current terrain information is collected through the visual signal acquisition unit and uploaded to the main controller. The main controller analyzes the terrain to determine the most suitable robot target working mode for the current terrain. S2. After the main controller selects the robot target working mode most suitable for the current terrain, it controls multiple motors of the motor system to deform multiple bionic legs (100). After the multiple bionic legs (100) deform in sequence, the robot is switched to crawling mode, rolling mode, driving mode or flying mode.

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