CN210653416U - A bionic quadruped robot based on flexible spine technology - Google Patents

Abstract

The utility model discloses a bionic quadruped robot based on flexible spine technology, which comprises a head environment perception module, a control and communication module, a flexible spine and outriggers; the bionic quadruped robot uses the flexible spine and the synergistic effect in corresponding control It can realize actions that are difficult for existing quadruped robots, such as running with large strides, turning in situ, etc. Due to the function of the flexible spine, the robot can pass the elastic potential energy of the spring and the cycle of kinetic energy between the front and rear legs. The conversion makes the torso more stable, reduces the motion instability caused by the inertia of the torso on complex terrain, and improves the stability. And it also combines its motion performance with the environment perception module and the robot control and communication module to realize the functions of autonomous obstacle avoidance and path planning of the quadruped robot.

Description

A bionic quadruped robot based on flexible spine technology

technical field

The utility model relates to the technical field of robots, in particular to a bionic quadruped robot based on flexible spine technology.

Background technique

Footed robots are a hot research topic in the field of robotics at present. Footed robots are mainly divided into biped robots, quadruped robots and multi-legged robots. Among them, the series of robot dogs developed by Boston Dynamics in the United States represent the higher level of quadruped robots. However, the current research on quadruped robots mainly focuses on the motion and control of the legs, and the torso of most quadruped robots is a rigid body structure.

The patent document CN201711260907.1 discloses an "electrically driven quadruped robot with high load capacity that can adapt to complex and rugged terrain", which adopts a motor-driven quadruped robot structure with 12 degrees of freedom, and its torso is three metal rods and two front and rear The fixed structural form of the plate beam assembly is a relatively common fully rigid torso structure, and its torso flexibility is poor.

The patent document CN201810579078.1 discloses "a multi-degree-of-freedom quadruped bionic robot", the trunk of which adopts a six-degree-of-freedom parallel mechanism and a trunk structure scheme with four drivers, and the trunk has a certain flexibility. However, unlike animals that have only one flexible spine, this patent has six parallel mechanisms that can be retracted and rotated in a cross-arrangement. The structure is large, and the control is redundant and complex, and is not suitable for quadruped robots that require high-speed running.

At present, the torso of most quadruped robots is a rigid body structure. In order to improve the running speed of the quadruped robot, the motor torque of the robot must be increased. However, the motor torque is positively related to the volume weight of the motor. It is difficult to improve the running speed of a quadruped robot if it cannot be greatly improved. At the same time, the quadruped robot with rigid body is not flexible enough to turn and adapt to the environment, so it is easy to lose stability and fall when walking or running on rough roads. Moreover, the energy utilization rate of quadruped robots with rigid torso is relatively low. For quadruped robots that need to carry lithium batteries, the higher the energy utilization efficiency, the better.

SUMMARY OF THE INVENTION

In view of the deficiencies of the prior art, the present invention provides a bionic quadruped robot based on flexible spine technology, which has the ability to run at high speed and the robot body has high flexibility.

For achieving the above object, the technical scheme of the present invention is:

A bionic quadruped robot based on flexible spine technology, including flexible spine and outriggers; wherein,

The flexible spine is formed by connecting a plurality of vertebrae in series; the vertebrae include cranial vertebrae, coccyx vertebrae and middle vertebrae, the side of the cranial vertebrae and the middle vertebrae close to the coccyx vertebrae are convexly provided with ball joints, and the coccyx vertebrae are close to the middle vertebrae A convex block is protruded on one side of the head cone. The convex block is provided with a spherical groove matching the ball joint. Two pressure pads fixed by screws are added on the spherical groove. The two pressure pads are combined to form a washer to Assemble and combine ball joints and grooves to connect each vertebra two by two; each vertebra is provided with four bosses on the lateral plane, and the positions of the bosses of each two vertebrae correspond one-to-one and a compression spring is connected between them, and The bosses are provided with through holes for threading the steel wire rope. The steel wire rope is fixed at the head end of the flexible spine, and the other end passes through the through holes of the bosses located at the same corresponding position on all vertebrae. The tail end of the flexible spine is provided with a rope. The spine motor is driven, and the wire rope is connected to the main shaft of the rope drive spine motor after passing through the tail end of the flexible spine;

The outriggers are provided with four, and two are assembled at the head end and the tail end of the flexible spine; each of the outriggers has three degrees of freedom, so as to realize the lateral swing of the hip joint, the positive swing and the rotation of the knee joint, The movement of three degrees of freedom is driven by three outrigger motors.

The outrigger includes a hip joint positive swing motor, a thigh rod, a calf rod, a knee joint motor, a hip joint side swing motor, a knee joint rocker and a knee joint drive link; the rotor and the outrigger of the hip joint positive swing motor The thigh rod is assembled and fixed, the thigh rod is assembled and connected to the calf rod through the knee joint rotation shaft, and the calf rod rotates relative to the thigh rod; the rotor main shaft of the knee joint motor and the knee joint rocker are assembled by flat key interference, and the knee joint drive link passes through One end of the rotating pin is connected to the knee joint rocker and the other end is connected to the calf rod; the knee joint rocker, the knee joint drive link and the calf rod form a double rocker mechanism. When the knee joint motor rotor rotates, the knee joint rocker is synchronized. Rotate, push the knee joint drive link and the calf rod to follow the movement; the knee joint motor is coaxial with the hip joint forward swing motor, the hip joint side swing motor main shaft and the hip joint forward swing motor main shaft are at 90°, and the two are connected by the hip joint. The fixing piece assembles and fixes the rotor of the hip joint side swing motor and the stator of the hip joint forward swing motor.

The bionic quadruped robot based on flexible spine technology further includes a head environment perception module, a control and communication module;

The head environment perception module is used to monitor the surrounding obstacles at the position of the robot and transmit it to the control and communication module;

The control and communication module includes sixteen motor drive boards and a robot central controller; the sixteen motor drive boards are composed of twelve outrigger motor drive boards and four rope-driven spine motor drive boards; the robot The central controller is used to control the twelve outrigger motor drive boards and the four rope-driven spine motor drive boards according to the situation monitored by the head environment perception module, so as to control the movements of the flexible spine and outriggers.

The control and communication module further includes an electric control box, a power management circuit board and a lithium battery. The sixteen motor drive boards, the robot central controller, the power management circuit board and the lithium battery are all installed in the electric control box. The electric control box is installed at the front end of the flexible spine, and the power management circuit board and the lithium battery are used to provide power distribution to the sixteen motor drive boards and the robot central controller.

Compared with the prior art, the present invention has the following advantages:

a has an intelligent bionic flexible spine, which can enhance the motion performance of the quadruped robot with the motion of the legs:

1. Increase the stride length: The bionic quadruped robot makes full use of the length change caused by the extension and bending of the spine to increase the stride length, thereby increasing the running speed.

2. Energy storage and transmission: In the high-speed running of the bionic robot, a large number of compression springs in the flexible spine structure are used to convert the elastic potential energy of the compression spring and the kinetic energy between the front and rear legs of the bionic robot to assist the leg movement mechanism in energy The absorption and release of the feet reduces the contact force and energy loss of the foot, thereby improving the energy utilization efficiency and running speed.

b: The in-situ steering motion of the quadruped robot under narrow terrain can be controlled by controlling the lateral bending of the flexible spine and the side-swinging motion of the hip joint.

c: By actively controlling the pitch and bending of the flexible spine, the quadruped robot can be controlled to climb hills or stairs with steeper angles.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of a bionic quadruped robot based on flexible spine technology;

Figure 2 is a schematic diagram of the overall structure of the flexible spine;

Figure 3 is a schematic cross-sectional structure diagram of a flexible spine;

4 is a schematic diagram of the axial side structure of the intermediate vertebra;

Fig. 5 is the bottom view structure schematic diagram of the middle vertebra;

6 is a schematic top view of the middle vertebra;

Figure 7 is a schematic diagram of the overall structure of the outrigger part at the rear (the thigh part of the right rear leg is cut away);

Fig. 8 is the enlarged structural representation of part A in Fig. 7;

9 is a schematic diagram of the connection structure of the head, the environment perception module, and the robot control and communication module of the bionic quadruped robot;

Figure 10 is a schematic diagram of the internal structure of the robot control and communication module;

Figure 11 is a schematic diagram 1 of the leaping gait of the bionic robot;

Figure 12 is a schematic diagram II of the leaping gait of the bionic robot;

Fig. 13 is the control principle diagram of the robot central controller;

Description of reference numerals: 1. Two-degree-of-freedom head; 11. Mounting frame; 12. Pitch joint; 13. Mounting base; 14. Swivel joint; 15. Rotation stage; 2. Head environment perception module; 21. Binocular Camera; 22. Millimeter wave radar; 3. Robot control and communication module; 31. Electric control box; 32. Power management circuit board; 33. Lithium battery; 34. Sixteen motor drive boards; 35. Robot central controller ;4, flexible spine; 41, head cone; 42, coccyx; 43, middle vertebra; 431, ball joint; 432, bump; 433, spherical groove; 434, through hole; 435, boss; 436, Pressure pad; 44. Rope-driven spine motor; 45. Electronic gyroscope; 46. Torque sensor; 47. Steel wire rope; 48. Compression spring; 5. Outrigger; 51. Front leg fixed plate frame; ; 53, thigh; 531, side swing joint of hip joint; 532, hip joint fixer; 533, positive swing joint of hip joint; 534, thigh rod; 54, calf; 541, calf rod; 542, knee joint; 543, knee Joint drive link; 544, knee rocker.

Detailed ways

In order to make the above objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

Example

As shown in FIG. 1, a bionic quadruped robot based on flexible spine technology includes a flexible spine 4, a head environment perception module 2, a robot control and communication module 3, and four legs 5. The robot control and communication module 3 is arranged in The head end of the flexible spine 4, the head environment perception module 2 is set on the robot control and communication module 3, the head end of the flexible spine 4 is connected to the back of the robot control and communication module 3, and the front of the robot control and communication module 3 is connected to the front. The leg fixing plate frame 51, the rear end of the flexible spine 4 is provided with a rear leg fixing plate frame 52, and the four outriggers 5 are provided with two on the front leg fixing plate frame 51 and the rear leg fixing plate frame 52. The head end, the middle part and the tail end are all equipped with electronic gyroscopes 45 (not fully illustrated in the accompanying drawings), the electronic gyroscopes installed at the head end position are used as the base point gyroscopes, and the three electronic gyroscopes are used to measure the bionic spine. Posture change; torque sensors 46 (not fully illustrated in the accompanying drawings) are provided at both the head end and the tail end of the flexible spine 4 .

As shown in Fig. 2, the flexible spine 4 is composed of a plurality of vertebrae. The vertebrae include the head cone 41, the coccyx 42 and the middle vertebra 43. The number of vertebrae can be selected according to the needs of the robot. Generally, 7 to 15 pieces can form a complete bionic spine. As shown in FIG. 3 to FIG. 6 , a ball joint 431 is protruded on the side of the cranial vertebra 41 and the middle vertebra 43 close to the coccyx 42 , and a convex block 432 is provided on the side of the coccyx 42 and the middle vertebra 43 close to the cranial vertebra 41 . , the convex block 432 is provided with a spherical groove 433 that matches the ball joint 431, and two pressure pads 436 fixed by screws can be added on the spherical groove 433, and the two pressure pads 436 are combined to form a washer to combine the ball joint. 431 and grooves 433 connect each vertebra in pairs, and the overall flexible spine 4 can be greatly bent. The sides of each vertebra are protruded with four bosses 435 , and each two bosses 435 are in one-to-one correspondence and are connected with a compression spring 48 , and the bosses 435 are provided with through holes 434 for passing through them. The wire rope 47, the wire rope 47 is fixed at the head end of the flexible spine 4, the other end passes through the through holes 434 of the bosses 435 at the same corresponding position on all the vertebrae, and the tail end of the flexible spine 4 is provided with a rope drive spine motor 44, the wire rope 47 After the tail end of the flexible spine 4 is pierced, it is connected to the main shaft of the cord-driven spine motor 44 , and a rotary encoder is installed on the cord-driven spine motor 44 . In this way, the wire rope 47 can be driven by the rope-driven spine motor 44, and the flexible spine 4 can be actively driven to bend by pulling the wire rope 47 at different positions, thereby simulating animal muscles and bending the spine.

As shown in FIG. 7 , the selection of the outriggers 5 can be various, and in this embodiment, the outriggers with three degrees of freedom are selected. The three-degree-of-freedom outrigger mainly includes a thigh 53 and a calf 54. The thigh 53 includes a hip joint side swing joint 531, a hip joint fixing member 532, a hip joint positive swing joint 533 and a thigh rod 534, which are mainly used to control the side swing of the outrigger 5. and a positive pendulum to simulate the motion mode of a real animal; and the calf 54 includes a knee joint 542 and a calf rod 541, which are mainly used to control the swing of the calf 54 itself. Each joint is equipped with a servo motor, and the rotation or swing of the joint is controlled by the servo motor, that is to say, the movement of the three degrees of freedom of the outrigger is driven by three independent servo motors. A rotary encoder is installed on both.

The hip joint fixing member 532 is installed on the front leg fixing plate frame 51 or the rear leg fixing plate frame 52, and is rotated through the hip joint side swing joint 531; the thigh rod 534 is installed on the hip joint fixing member 532, and passes through the hip joint. Positive swing joint 533 to achieve rotation. The servo motor of the hip joint side swing joint 531 is installed on the front leg fixed plate frame 51 or the rear leg fixed plate frame 52 to control the lateral swing of the entire outrigger 5 (that is, in the direction of the left and right sides of the robot); the hip joint is swinging forward The main axis of the servo motor of the joint 533 and the main axis of the servo motor of the hip joint 531 are at 90° to control the positive swing of the thigh bar 534 (ie, to the front and rear sides of the robot).

As shown in FIG. 8 , the calf rod 541 is hinged with the thigh rod 534 through the knee joint 542, and in order to analyze the inertia and force of the entire outrigger 5 during the movement, the servo motor of the knee joint 542 and the hip joint are oscillating joints. The servo motor of 533 is coaxially arranged, and the calf rod 541 is also connected with a knee joint drive link 543 and a knee joint rocker 544. One end of the rod 544 is hinged, and the other end of the knee joint rocker 544 rotates coaxially with the servo motor rotating shaft of the knee joint 542 . rod mechanism, thereby driving the lower leg rod 541 to swing forward (ie, in the direction of the front and rear sides of the robot). The end of the calf rod 541 used for stepping on the ground is the foot end, and the foot end is equipped with a natural rubber foot pad, which can reduce the impact force of the foot end landing and increase the friction force during walking to prevent the foot end from slipping.

The head environment perception module is used to monitor the surrounding obstacles at the position of the robot and transmit it to the robot control and communication module 3 .

As shown in FIG. 10 , the robot control and communication module 3 includes an electric control box 31 , a power management circuit board 32 installed in the electric control box, a lithium battery 33 , sixteen motor drive boards 34 and a robot central controller 35 Specifically, the sixteen motor drive plates 34 are made up of twelve outrigger motor drive plates and four rope-driven spine motor drive plates; as shown in Figure 13, the robot central controller 35 is mainly used to receive each electronic The information detected by the gyroscope, torque sensor and rotary encoder is communicated with the upper computer to generate the gait plan of the robot at the next moment, and is also used to generate the gait plan according to the obstacles monitored by the head environment perception module. The obstacle-avoiding walking route of the robot is determined, and the control instructions are issued to the rope-driven spine motor driving board and the outrigger motor driving board to implement the above-generated gait planning robot's obstacle-avoiding walking route; and the electric control box 31 is installed in the flexible In the spine 4 , the power management circuit board 32 and the lithium battery 33 are used to provide power distribution to the sixteen motor drive boards and the robot central controller 35 .

Specifically, as shown in FIG. 9 , the environment perception module 2 includes a two-degree-of-freedom pan/tilt 1, a binocular camera 21, a millimeter-wave radar 22 and a processor; the two-degree-of-freedom pan/tilt 1 is installed on the electronic control box 31 Above, the two-degree-of-freedom head includes a mounting frame 11, a pitch joint 12, a mounting seat 13, a swivel joint 14 and a rotating table 15. On the mounting frame 11, the rotary table 15 is mounted on the mounting seat 13 through the rotary joint 14 and is driven by two servo motors. The two servo motors are also equipped with rotary encoders, and the actions of the two servo motors are also controlled by the central controller 35. , so as to realize the movement of the head 1 in pitch and rotation with two degrees of freedom. The binocular camera 21 is installed on the two-degree-of-freedom PTZ. The binocular camera 21 is mainly used for ranging and positioning the surrounding environment in an environment with sufficient light and no obstruction, and then the processor can reasonably plan the walking route and avoid obstacles; The millimeter-wave radar 22 is mainly used to generate a three-dimensional map of the surrounding environment and plan a walking route through the processor when the light is insufficient or the line of sight is blocked. The environment perception module 2 works together with the binocular camera 21 and the millimeter-wave radar 22, and the redundant perception capabilities of the two can make the robot's environment perception and positioning capabilities more accurate and more stable.

Specifically, the generation of the robot's gait plan at the next moment is mainly realized through position control and torque control.

The specific principle of the position control mode is as follows:

By assembling an electronic gyroscope on the inner wall of the control box of the quadruped robot to become the base point gyroscope (that is, the electronic gyroscope installed at the head end of the flexible spine 4), an electronic gyroscope is installed at the middle position and the tail end of the flexible spine 4. The gyroscope can be used to calculate the posture state of the flexible spine 4 at the head and tail ends through the posture data of the three gyroscopes. Then, by obtaining the rotary encoder data of the three motors of the hip joint and the knee joint, it can be calculated to obtain the foot end of the front and rear legs. The spatial position provides accurate and timely spatial position feedback information for the position control mode of the bionic quadruped robot.

The specific principle of torque control mode is as follows:

A miniature torque sensor 46 is installed at each end of the flexible spine 4, and a miniature torque sensor 46 is installed at each of the foot ends of the four legs. At the moment when each leg touches the ground, the vector difference between the moment received at the foot end of the front and rear legs and the moment at both ends of the flexible spine 4 is the minimum moment that must be provided by the hip joint and the knee joint. The dynamic model of the coupling motion of the flexible spine 4 and the quadrupeds can be determined according to the simulation simulation of the jumping gait to determine the torque output of the leg motor, so as to obtain the best torque control effect.

Specifically, when the bionic quadruped robot is in the leaping gait, the motion states of the two front legs are consistent, and the motion states of the two rear legs are consistent, and the following states are the actions of the bionic quadruped robot of the present application when running state:

State 1: When the hind legs of the bionic quadruped robot are about to touch the ground, as shown in Figure 11, the hind legs move toward the center of the trunk, the front legs also move toward the center of the trunk, the distance between the front and rear legs is shortened, and the wire rope 47 at the lower end of the flexible spine 4 is retracted. When the compression spring 48 is in a compressed state, and the upper wire rope 47 relaxes and the compression spring 48 is in a tension state, the flexible spine 4 is in a convex state with high middle and low ends, and the flexible spine 4 is full of elastic potential energy.

State 2: When the hind leg of the bionic quadruped robot touches the ground, the servo motor of the hind leg gives the hind leg a grounding torque, and the wire rope 47 at the lower end of the flexible spine 4 controls the motor to loosen the wire rope 47, and the wire rope 47 at the upper end controls the motor to tighten the wire rope 47. The spine 4 gradually returns to the normal long straight state from the convex state of the middle high and the low ends. The elastic potential energy of the flexible spine 4 is converted into the kinetic energy of the front legs stepping forward in the air, so that the bionic robot can jump higher and step forward. The step distance is larger.

State 3: When the front legs of the bionic quadruped robot are about to touch the ground, as shown in Figure 12, the front legs stretch forward, trying to take a larger step, and the rear legs continue to swing back. The wire rope 47 at the upper end of the flexible spine 4 tightens the compression spring 48 and is in a compressed state, and the wire rope 47 at the lower end relaxes the compression spring 48 and is in a pulled state. Continue to be full of elastic potential energy.

State 4: When the front leg of the bionic quadruped robot touches the ground, the front leg motor gives the front leg a grounding torque, while the upper wire rope 47 of the flexible spine 4 controls the motor to loosen the wire rope 47, and the lower wire rope 47 controls the motor to tighten the wire rope 47, and the flexible spine 4 4. The concave state with low middle and high ends gradually returns to the normal long straight state, and the elastic potential energy of the flexible spine 4 is converted into the kinetic energy of the front and rear legs stretching from the two ends of the trunk to the center of the trunk.

When the front leg lifts off the ground again, it returns to the described state 1 process, and the cycle repeats, which is the leaping gait of the bionic quadruped robot based on the flexible spine technology. During the entire running process of the bionic quadruped robot landing and kicking the ground, the elastic potential energy in the flexible spine 4 and the kinetic energy of the quadruped robot are continuously converted, and during the continuous change of the bending state of the flexible spine 4, the center of gravity of the quadruped robot changes. The curve is smoother, the landing angle of the front and rear legs is optimized, the impact force and energy loss at the foot end are reduced, the motion stability of the quadruped robot is optimized when running at high speed, the running step and the kicking height of the robot are increased, and the bionic quadruped is effectively improved. The running speed of the robot.

In front of some narrow corridors or obstacles, the bionic quadruped robot based on the flexible spine 4 can turn on the spot and continue to travel around obstacles with a minimum radius. When turning, the control motors of the wire ropes 47 on the left and right sides of the flexible spine 4 can control the lateral bending shape of the flexible spine 4. Combined with the side-swing motion of the left and right leg hip joints, the bionic quadruped robot can turn more compliantly or detour around obstacles. thing.

The bionic quadruped robot of the present invention, through the flexible spine 4 and the coordinated action of the corresponding control, can realize the actions that are difficult to be completed by the existing quadruped robot, such as running with a large stride, turning in situ and other actions. The role of spine 4, the robot can make the torso more stable through the cyclic conversion of the elastic potential energy of the compression spring 48 and the kinetic energy between the front and rear legs, reduce the movement instability caused by the inertia of the body on complex terrain, and improve the stability . In addition, the combination of its motion performance with the environment perception module 2 and the robot control and communication module 3 can autonomously complete various tasks, thus achieving a major breakthrough in the field of bionic quadruped robots.

The above-mentioned embodiments are only to illustrate the technical concept and characteristics of the present invention, and the purpose thereof is to enable those of ordinary skill in the art to understand the content of the present invention and implement them accordingly, and not to limit the protection scope of the present invention. All equivalent changes or modifications made according to the essence of the present invention shall be included within the protection scope of the present invention.

Claims (4)

1. a bionic quadruped robot based on flexible spine technology, is characterized in that, comprises flexible spine and outrigger; Wherein, The flexible spine is formed by connecting a plurality of vertebrae in series; the vertebrae include cranial vertebrae, coccyx vertebrae and middle vertebrae, the side of the cranial vertebrae and the middle vertebrae close to the coccyx vertebrae are convexly provided with ball joints, and the coccyx vertebrae are close to the middle vertebrae A convex block is protruded on one side of the head cone. The convex block is provided with a spherical groove matching the ball joint. Two pressure pads fixed by screws are added on the spherical groove. The two pressure pads are combined to form a washer to Assemble and combine ball joints and grooves to connect each vertebra two by two; each vertebra is provided with four bosses on the lateral plane, and the positions of the bosses of each two vertebrae correspond one-to-one and a compression spring is connected between them, and The bosses are provided with through holes for threading the steel wire rope. The steel wire rope is fixed at the head end of the flexible spine, and the other end passes through the through holes of the bosses located at the same corresponding position on all vertebrae. The tail end of the flexible spine is provided with a rope. The spine motor is driven, and the wire rope is connected to the main shaft of the rope drive spine motor after passing through the tail end of the flexible spine; The outriggers are provided with four, and two are assembled at the head end and the tail end of the flexible spine; each of the outriggers has three degrees of freedom, so as to realize the lateral swing of the hip joint, the positive swing and the rotation of the knee joint, The movement of three degrees of freedom is driven by three outrigger motors. 2. The bionic quadruped robot based on flexible spine technology as claimed in claim 1, wherein the outrigger comprises a hip joint positive swing motor, a thigh rod, a calf rod, a knee joint motor, a hip joint side swing motor, Knee joint rocker and knee joint drive link; the rotor of the hip joint positive swing motor is assembled and fixed with the thigh rod of the outrigger, the thigh rod is assembled and connected with the calf rod through the knee joint rotation shaft, and the calf rod rotates relative to the thigh rod; The rotor main shaft of the joint motor and the knee joint rocker are assembled by flat key interference, and one end of the knee joint drive link is assembled and connected to the knee joint rocker by rotating the pin shaft and the other end is assembled and connected to the calf rod; The rod and the calf rod form a double rocker mechanism. When the rotor of the knee joint motor rotates, the knee joint rocker rotates synchronously, and pushes the knee joint drive link and the calf rod to follow the movement; the knee joint motor and the hip joint positive swing motor are coaxial , The main shaft of the hip joint side swing motor and the hip joint positive swing motor main shaft are at 90°, and the two are assembled and fixed by the hip joint fixing part to the rotor of the hip joint side swing motor and the stator of the hip joint positive swing motor. 3. The bionic quadruped robot based on flexible spine technology as claimed in claim 1, further comprising a head environment perception module, a control and communication module; The head environment perception module is used to monitor the surrounding obstacles at the position of the robot and transmit it to the control and communication module; The control and communication module includes sixteen motor drive boards and a robot central controller; the sixteen motor drive boards are composed of twelve outrigger motor drive boards and four rope-driven spine motor drive boards; the robot The central controller is used to control the twelve outrigger motor drive boards and the four rope-driven spine motor drive boards according to the situation monitored by the head environment perception module, so as to control the movements of the flexible spine and outriggers. 4. The bionic quadruped robot based on flexible spine technology according to claim 3, wherein the control and communication module further comprises an electric control box, a power management circuit board and a lithium battery, and the sixteen motors The drive board, the robot central controller, the power management circuit board and the lithium battery are all installed in the electric control box, and the electric control box is installed at the front end of the flexible spine. The power management circuit board and the lithium battery are used to The sixteen motor drive boards and the robot central controller provide power distribution.

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