A scorpion-like robot and its control method

Abstract

The present invention discloses a scorpion-like robot and a control method thereof, wherein the robot comprises: a trunk structure; at least one pincer structure connected to the head end of the trunk structure; a tail structure connected to the tail end of the trunk structure; at least two leg structures, the two leg structures being respectively connected to both sides of the trunk structure; a sensor structure connected to the trunk structure; a control system connected to the trunk structure, and the control system being respectively electrically connected to the leg structure, the pincer structure, the tail structure and the sensor structure. The scorpion-like robot of the present invention can simulate various behaviors of a scorpion by imitating the legs, pincers and tail of a scorpion from the leg structure, the pincer structure and the tail structure, thereby realizing comprehensive simulation and improving detection accuracy when used for detecting terrain and automatically avoiding obstacles.

Description

Technical Field

[0001] The invention relates to the field of robots, and in particular to a scorpion-like robot and a control method thereof. Background Art

[0002] In the existing scorpion-like design and implementation scheme, it is currently impossible to fully imitate the various actions of the scorpion. The simulation effect of the scorpion-like robot is poor, which leads to its low accuracy in terrain surveying or reconnaissance.

[0003] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, an object of the present invention is to provide a scorpion-like robot and a control method thereof, aiming to improve the simulation performance of the scorpion-like robot and thereby improve its accuracy in terrain surveying or reconnaissance.

[0005] The technical solution of the present invention is as follows:

[0006] In a first aspect, the present invention provides a scorpion-like robot, comprising:

[0007] Trunk structure;

[0008] At least one clamp structure connected to the head end of the trunk structure, the clamp structure is used to control a target within a first preset range;

[0009] a tail structure connected to the tail end of the trunk structure, the tail structure being used to swing to control a target within a second preset range;

[0010] At least two leg structures, the two leg structures are respectively connected to two sides of the trunk structure, and the leg structures are used to drive the trunk structure, the clamp structure and the tail structure to move;

[0011] A sensor structure connected to the trunk structure, and used to obtain distance information between the trunk structure, the clamp structure, and the tail structure and the target respectively; wherein the target includes obstacles and objects to be controlled;

[0012] A control system is connected to the trunk structure, and the control system is electrically connected to the leg structure, the clamp structure, the tail structure and the sensor structure respectively, and is used to control the clamp structure and / or the tail structure to control the target according to the relationship between the first preset range, the second preset range and the distance information.

[0013] In some embodiments, the clamp structure includes:

[0014] A first arm body connected to the trunk structure;

[0015] A second arm body connected to the first arm body;

[0016] A clamp body connected to the second arm body;

[0017] The clamp body comprises:

[0018] A first clamping jaw connected to the second arm body;

[0019] A second clamping jaw connected to the second arm body;

[0020] Wherein, the first clamping jaw and the second clamping jaw can move relative to each other synchronously.

[0021] In some embodiments, the tail structure comprises:

[0022] A driving member, disposed on the trunk structure;

[0023] A tail body connected to the driving member;

[0024] Wherein, the tail body is connected to the trunk structure, and the driving member is used to drive the tail body to swing.

[0025] In some embodiments, the leg structure comprises:

[0026] A driver, disposed on the trunk structure;

[0027] a first leg assembly connected to the trunk structure;

[0028] a second leg assembly connected to the trunk structure;

[0029] A connecting rod assembly connected to the driver;

[0030] Wherein, the connecting rod assembly connects the first leg assembly and the second leg assembly, and the first leg assembly and the second leg assembly are located on the same side of the trunk structure.

[0031] In some embodiments, the driving member comprises:

[0032] A tail servo, arranged at the tail end of the trunk structure;

[0033] A reel connected to the tail steering gear;

[0034] The tail body comprises:

[0035] A plurality of tail joints connected in sequence, the first tail joint being connected to the tail end of the trunk structure;

[0036] a caudal spine connected to the last of said caudal joints;

[0037] A connecting rope structure, connected to the tail joint and the tail stinger respectively;

[0038] Wherein, the connecting rope structure is connected to the reel.

[0039] In some embodiments, the first leg assembly comprises:

[0040] a first rotating rod, one end of which is connected to the trunk structure;

[0041] a first leg rod, the other end of the first rotating rod being hinged to the first leg rod;

[0042] The second leg assembly comprises:

[0043] a second rotating rod, one end of which is connected to the trunk structure;

[0044] a second leg rod, the other end of the second rotating rod being hinged to the second leg rod;

[0045] The connecting rod assembly comprises:

[0046] A first connecting rod, one end of which is connected to the trunk structure, and the other end of which is hinged to the first leg rod;

[0047] a second connecting rod, one end of which is hinged to the first leg rod, and the other end of which is hinged to the second leg rod;

[0048] There is a distance between the first leg rod and the second leg rod, and there is an angle between the first connecting rod and the second connecting rod.

[0049] In some embodiments, the torso structure comprises:

[0050] a first bottom plate and a second bottom plate;

[0051] a first top plate and a second top plate;

[0052] A connecting plate assembly, connecting the first bottom plate and the second bottom plate, and connecting the first top plate and the second top plate;

[0053] A column assembly, connecting the first bottom plate and the first top plate, and connecting the second bottom plate and the second top plate;

[0054] Wherein, the clamp structure is connected to the second bottom plate, the tail structure is connected to the first bottom plate and the second bottom plate, and the leg structure is connected to the first bottom plate and the first top plate.

[0055] In a second aspect, the present invention provides a control method for a scorpion-like robot, wherein the method is applied to the scorpion-like robot as described in any one of the above items, and the method comprises:

[0056] Determine the location information of the target in the environment area; wherein the target includes obstacles and objects to be controlled;

[0057] According to the position information of the target, control the movement of the multiple leg structures so that the clamp structure is located in a first preset range and / or the tail structure is located in a second preset range, and control the sensor structure to obtain the distance information between the clamp structure, the tail structure and the target respectively;

[0058] According to the relationship between the first preset range, the second preset range and the distance information, the clamp structure and / or the tail structure is controlled to control the target.

[0059] In some embodiments, controlling the movement of the plurality of leg structures according to the position information of the target so that the clamp structure is located in a first preset range and / or the tail structure is located in a second preset range includes:

[0060] When the target is determined to be an obstacle, obtaining the straight-line distances between the trunk structure, the clamp structure, and the tail structure and the obstacle respectively;

[0061] If the straight-line distance is less than the preset distance, the leg structure on one side of the trunk structure and the leg structure on the other side are controlled to move at different speeds so that the trunk structure, the clamp structure and the tail structure bypass the obstacle.

[0062] In some embodiments, the distance information includes a first spatial distance between the clamp structure and the target and first size data of an obstacle between the clamp structure and the target;

[0063] The controlling the clamp structure and / or the tail structure to control the target according to the relationship between the first preset range, the second preset range and the distance information comprises:

[0064] When it is determined that the target is an object to be controlled, a control path of the clamp structure is determined according to the first spatial distance and the first size data;

[0065] According to the control path of the clamp structure, the clamp structure is controlled to control the object to be controlled.

[0066] Beneficial effects: The present invention provides a scorpion-like robot and a control method thereof, wherein the robot comprises: a trunk structure; at least one pincer structure connected to the head end of the trunk structure; a tail structure connected to the tail end of the trunk structure; at least two leg structures, the two leg structures being respectively connected to the two sides of the trunk structure; a sensor structure connected to the trunk structure; a control system connected to the trunk structure, and the control system being respectively electrically connected to the leg structure, the pincer structure, the tail structure and the sensor structure. The scorpion-like robot of the present invention imitates the legs, pincers and tail of a scorpion from the leg structure, the pincer structure and the tail structure respectively, and can simulate various behaviors of a scorpion, thereby achieving comprehensive simulation, and further improving detection accuracy when used for detecting terrain and automatically avoiding obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1 It is a three-dimensional structural diagram of the scorpion-like robot of the present invention.

[0068] Figure 2 This is a three-dimensional structural diagram of the scorpion-like robot of the present invention from a second viewing angle.

[0069] Figure 3 It is a three-dimensional structural diagram of the pliers structure of the present invention.

[0070] Figure 4 It is a three-dimensional structural diagram of the pliers structure of the present invention at a second viewing angle.

[0071] Figure 5 It is a three-dimensional structural schematic diagram of the clamp body and the mounting seat of the present invention.

[0072] Figure 6 It is a three-dimensional structural diagram of the tail structure and the trunk structure of the present invention.

[0073] Figure 7 It is a three-dimensional structural diagram of the fixed joint and the tail joint of the present invention.

[0074] Figure 8 It is a schematic diagram of disassembling the fixed joint and the tail joint of the present invention.

[0075] Fig. 9 It is a schematic diagram of the disassembly of the tail stinger and tail joint of the present invention.

[0076] Fig.10 It is a disassembly schematic diagram of the tail joint of the present invention.

[0077] Fig.11 It is a three-dimensional structural diagram of the tail joint of the present invention.

[0078] Fig.12 It is a three-dimensional structural diagram of the leg structure of the present invention in the first state.

[0079] Fig.13 For the present invention Fig.12 Front view in

[0080] Fig.14 It is a three-dimensional structural diagram of the present invention under another viewing angle in the first state.

[0081] Fig.15 It is a three-dimensional structural diagram of the second state of the present invention.

[0082] Fig.16 It is a three-dimensional structural diagram of the present invention in the third state.

[0083] Fig.17 It is a three-dimensional structural diagram of the first hinge shaft of the present invention.

[0084] Fig.18 It is a three-dimensional structural diagram of the first rotating shaft or the second rotating shaft of the present invention.

[0085] Fig.19 The figure is a flow chart of the control method of the scorpion-like robot of the present invention.

[0086] Description of reference numerals:

[0087] 1000, pliers structure; 1100, first arm body; 1110, first driving structure; 1120, mounting frame; 1121, second bracket; 1130, second driving structure; 1140, first bracket; 1200, second arm body; 1210, power structure; 1220, mounting seat; 1221, third bracket; 1300, pliers body; 1311, first clamping jaw; 1312, first transmission structure; 1313, first connecting rod; 1321, second clamping jaw; 1322, second transmission structure; 1323, second connecting rod; 1330, third driving structure;

[0088] 2000, tail structure; 2100, driving member; 2110, tail servo; 2120, reel; 2200, tail body; 2210, fixed joint; 2220, tail joint; 2221, joint body; 2222, cross shaft; 2223, first fastener; 2224, second fastener; 2230, tail stinger;

[0089] 3000, leg structure; 3140, first bearing seat; 3150, second bearing seat; 3200, driver; 3300, first leg assembly; 3310, first rotating rod; 3320, first leg rod; 3321, first connecting shaft; 3322, first rotating shaft; 3400, second leg assembly; 3410, second rotating rod; 3420, second leg rod; 3421, second connecting shaft; 3422, second rotating shaft; 3500, connecting rod assembly; 3510, first connecting rod; 3511, first hinge shaft; 3520, second connecting rod; 3521, second hinge shaft;

[0090] 6000, trunk structure; 6110, first bottom plate; 6120, first top plate; 6130, first column; 6140, first connecting plate; 6210, second bottom plate; 6220, second top plate. DETAILED DESCRIPTION

[0091] The present invention provides a scorpion-like robot and a control method thereof. To make the purpose, technical solution and effect of the present invention clearer and more specific, the present invention is further described in detail below. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0092] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or indirectly on the other component. When a component is referred to as being "connected to" another component, it can be directly connected to the other component or indirectly connected to the other component.

[0093] It should also be noted that the same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0094] Existing bionic robots cannot fully imitate the movements of scorpions and their application areas are limited.

[0095] In order to solve the above problems, the present invention provides a scorpion-like robot, which can imitate the legs, pincers and tail of a scorpion respectively through the leg structure, the pincer structure and the tail structure, so as to fully simulate various behaviors of the scorpion, realize comprehensive simulation, and then improve the detection accuracy when used for detecting terrain and automatically avoiding obstacles, such as Figure 1 As shown, the scorpion-like robot includes:

[0096] Trunk structure 6000;

[0097] At least one clamp structure 1000, connected to the head end of the trunk structure 6000, the clamp structure 1000 is used to control a target within a first preset range;

[0098] A tail structure 2000, connected to the tail end of the trunk structure 6000, the tail structure 2000 is used to swing to control a target within a second preset range;

[0099] At least two leg structures 3000, the two leg structures 3000 are respectively connected to the two sides of the trunk structure 6000, and the leg structures 3000 are used to drive the trunk structure 6000, the clamp structure 1000 and the tail structure 2000 to move;

[0100] A sensor structure (not shown in the figure), connected to the trunk structure 6000, is used to obtain distance information between the trunk structure 6000, the clamp structure 1000 and the tail structure 2000 and the target respectively; wherein the target includes obstacles and objects to be controlled;

[0101] A control system (not shown in the figure) is connected to the trunk structure 6000, and the control system is electrically connected to the leg structure 3000, the clamp structure 1000, the tail structure 2000 and the sensor structure, respectively, and is used to control the clamp structure 1000 and / or the tail structure 2000 to control the target according to the relationship between the first preset range, the second preset range and the distance information.

[0102] It is worth mentioning that the scorpion-like robot can be applied to terrain survey and military reconnaissance. The scorpion-like robot of the present invention imitates the legs, pincers and tail of a scorpion respectively from the leg structure, pincers structure and tail structure, and can simulate various behaviors of the scorpion, thereby realizing comprehensive simulation. It can be used to detect terrain and automatically avoid obstacles, and then control the object to be controlled at the destination.

[0103] Specifically, a clamp structure 1000 is provided on both sides of the head end of the trunk structure 6000 of the present invention, a tail structure 2000 is provided at the rear end of the trunk structure 6000, and two leg structures 3000 are provided on both sides of the trunk structure 6000, so that the entire robot can be driven to move through the four leg structures 3000 on both sides, and the robot can turn and automatically avoid obstacles through the differential movement of the leg structures 3000 on both sides. The two clamp structures 1000 and the tail structure 2000 can control the object to be grasped separately or together to achieve the purpose of detection and reconnaissance.

[0104] Furthermore, the sensor structure includes a rangefinder and a camera, and the rangefinder is specifically a laser rangefinder and / or ultrasonic wave, so that the control system can identify the distance to the target and issue corresponding commands to the leg structure, the pincer structure and the tail structure (pincer grasping, tail stinging, leg movement); in another preferred embodiment, the sensor structure is a laser radar to achieve more comprehensive obstacle avoidance, and can be combined with a GPS module to achieve autonomous movement to the specified coordinates outdoors without manual remote control.

[0105] In this embodiment, the trunk structure 6000 includes:

[0106] A first bottom plate 6110 and a second bottom plate 6210;

[0107] A first top plate 6120 and a second top plate 6220;

[0108] A connecting plate assembly, connecting the first bottom plate 6110 and the second bottom plate 6210, and connecting the first top plate 6120 and the second top plate 6220;

[0109] A column assembly, connecting the first bottom plate 6110 and the first top plate 6120, and connecting the second bottom plate 6210 and the second top plate 6220;

[0110] The pliers structure 1000 is connected to the second bottom plate 6210 , the tail structure 2000 is connected to the first bottom plate 6110 and the second bottom plate 6210 , and the leg structure 3000 is connected to the first bottom plate 6110 and the first top plate 6120 .

[0111] Specifically, the first bottom plate 6110 and the first top plate 6120 located above the first bottom plate 6110; the first column 6130 connects the first bottom plate 6110 and the first top plate 6120; the connecting plate assembly includes the first connecting plate 6140 and the second connecting plate connecting the first bottom plate and the second bottom plate, and the third connecting plate and the fourth connecting plate connecting the first top plate and the second top plate; the column assembly includes the first column 6130 and the second column connecting the first bottom plate and the first top plate, and the third column and the fourth column connecting the second bottom plate and the second top plate. Further, the first bottom plate 6110 is arranged in parallel with the first top plate 6120, and the first column 6130 connects the first bottom plate 6110 and the first top plate 6120.

[0112] It should be noted that the first bottom plate 6110, the second bottom plate 6210, the first top plate 6120 and the second top plate 6220 are all aluminum alloy plates. The present invention replaces the existing frame with four plates and columns, thereby achieving the purpose of reducing weight and increasing internal volume space.

[0113] The trunk structure 6000 of the present invention is connected by four aluminum alloy plates and four columns, replacing the common box-shaped closed body frame. The two middle cross beams (i.e., the connecting plate components) are used to place the control system of the mechanical scorpion. The motor that controls the leg structure and the motor support seat are placed on two bottom plates with screws and nuts. The base point of the crank rocker is connected with a bearing seat, and the bearing seat is installed on the upper plate, which makes full use of the space while greatly reducing the overall weight of the mechanical scorpion.

[0114] In a preferred embodiment of the present invention, Figures 3 to 5 As shown, the pliers structure 1000 includes:

[0115] A first arm 1100 connected to the trunk structure 6000;

[0116] A second arm 1200 connected to the first arm 1100;

[0117] A clamp body 1300 connected to the second arm body 1200;

[0118] The clamp body 1300 includes:

[0119] A first clamping jaw 1311 connected to the second arm body 1200;

[0120] A second clamping jaw 1312 connected to the second arm body 1200;

[0121] The first clamping jaw 1311 and the second clamping jaw 1312 can move relative to each other synchronously.

[0122] It is worth noting that the pliers structure 1000 of the present invention can improve the flexibility of the pliers structure, thereby achieving the purpose of quickly clamping the object to be controlled at different angles; the trunk structure 6000 is a base plate, which is displayed in a square shape. In actual production, the trunk structure 6000 can be set to a variety of shapes. Those skilled in the art can understand that the diagram only reflects the structural principle; the trunk structure 6000 is a body part, the first arm body 1100 is an upper arm, and the second arm body 1200 is a forearm. The pliers structure of this embodiment includes at least three degrees of freedom, namely, the upper arm is connected to the body part, the forearm is connected to the upper arm (i.e., the elbow joint) and the pliers body, which can realize the target grasping in the largest possible clamping space range, so that the targets at different angles can be grasped through the pliers body, thereby improving the flexibility of the pliers structure.

[0123] Specifically, the pincer structure of the scorpion-like robot has pincer structures on the left and right sides, and this embodiment only describes the pincer structure on one side; the present invention realizes the purpose of flexibly moving and positioning the target in the spatial range at a suitable angle and quickly clamping it through the setting method of the first arm 1100 being rotatably connected to the trunk structure 6000, the second arm 1200 being rotatably connected to the first arm 1100, and the pincer body 1300 being connected to the second arm 1200, in conjunction with the first clamping jaw 1311 and the second clamping jaw 1321 of the clamp body 1300 to move synchronously relative to each other.

[0124] In this embodiment, if Figure 3 or Figure 5 As shown, the clamp body 1300 also includes:

[0125] A first transmission structure 1312 connected to the second arm 1200;

[0126] A first connecting rod 1313, connected to the second arm 1200;

[0127] A second transmission structure 1322 connected to the second arm 1200;

[0128] A second connecting rod 1323, connected to the second arm 1200;

[0129] The first transmission structure 1312 and the first connecting rod 1313 are respectively hinged to the first clamping jaw 1311 , the second transmission structure 1322 and the second connecting rod 1323 are respectively hinged to the second clamping jaw 1321 , and the first transmission structure 1312 is connected to the second transmission structure 1322 .

[0130] Specifically, Figure 5 As shown, a friction layer is provided on the opposite side of the end of the first clamping jaw 1311 and the end of the second clamping jaw 1321, so that the target can be effectively clamped when the first clamping jaw 1311 and the second clamping jaw 1321 move close to each other; the first clamping jaw 1311, the first transmission structure 1312, and the first connecting rod 1313 are symmetrically arranged with the second clamping jaw 1321, the second transmission structure 1322, and the second connecting rod 1323, respectively, and the connection relationship between the first clamping jaw 1311, the first transmission structure 1312, and the first connecting rod 1313 corresponds to the connection relationship between the second clamping jaw 1321, the second transmission structure 1322, and the second connecting rod 1323. Here, the connection between the first clamping jaw 1311, the first transmission structure 1312, and the first connecting rod 1313 is explained.

[0131] like Figure 5As shown, the first connecting rod 1313 is rotatably connected to the mounting base 1220 of the second arm 1200, and the first connecting rod 1313 is connected to the middle part of the first clamping jaw 1311, and the first transmission structure 1312 is connected to the head end of the first clamping jaw 1311. Through the rotation of the first transmission structure 1312 and cooperation with the first connecting rod 1313, the first clamping jaw 1311 is moved in the direction close to or away from the second clamping jaw 1321, thereby achieving the purpose of clamping close to or opening and closing the target; further, the first connecting rod 1313 and the mounting base 1220, the first connecting rod 1313 and the first clamping jaw 1311, and the first transmission structure 1312 and the first clamping jaw are respectively hinged through pins.

[0132] It should be noted that when the first jaw 1311 and the second jaw 1321 move towards each other, their friction layers can fit together; when the first jaw 1311 and the second jaw 1321 are at the maximum opening and closing angle, the friction layer of the first jaw 1311 and the friction layer of the second jaw 1321 are exactly parallel, that is, the extreme opening and closing positions just achieve parallel opening and closing clamping, thereby adapting to the target object to achieve effective clamping of targets in different spaces.

[0133] In this embodiment, if Figure 5 As shown, the clamp body 1300 also includes:

[0134] The third driving structure 1330 is connected to the first transmission structure 1312 .

[0135] Specifically, the second driving structure 1330 is a steering gear, and a terminal end thereof is connected to the first transmission structure 1312 .

[0136] In this embodiment, if Figure 5 As shown, the first transmission structure 1312 and the second transmission structure 1322 are both provided with partial gear teeth, and the partial gear teeth of the first transmission structure 1312 are meshedly connected with the partial gear teeth of the second transmission structure 1322 .

[0137] Specifically, the first transmission structure 1312 and the second transmission structure 1322 are both incomplete gears, that is, they have partial gear teeth, and the meshing initial end and meshing end of the partial gear teeth respectively correspond to the fitting state (i.e., the clamping state) and the opening and closing state (i.e., the parallel state at the limit) of the first clamp 1311 and the second clamp 1321, thereby limiting the clamping and closing state (i.e., the clamping angle between the two) of the first clamp 1311 and the second clamp 1321 through the partial gear teeth of the first transmission structure 1312 and the second transmission structure 1322, thereby improving the flexibility of clamping the target and achieving effective clamping of the target.

[0138] It should be noted that the clamp body 1300 drives the first transmission structure 1312 and the second transmission structure 1322 with gear teeth through the connecting rod group and the servo, and realizes the symmetrical movement of the two jaws through the meshing of some gear teeth. The connecting rod is located in the middle of the jaws so that the extreme positions of the jaws can be parallel to each other.

[0139] In other embodiments, the first transmission structure 1312 and the second transmission structure 1322 can also be configured as a movable plate, the movable plate is connected to the corresponding clamping jaws through a slider, a track groove is provided on the movable plate, the slider on the clamping jaw slides in the track groove on the movable plate, thereby driving the clamping jaws to move relative to each other through the movement of the movable plate, and cooperating with the connecting rod to realize the clamping or opening and closing of the clamping jaws.

[0140] In this embodiment, if Figure 3 As shown, the second arm 1200 includes:

[0141] A power structure 1210, disposed on the first arm 1100;

[0142] A mounting seat 1220 connected to the power structure 1210;

[0143] The mounting seat 1220 can be rotatably connected relative to the first arm body 1100 along a first direction.

[0144] Specifically, the power structure 1210 is a steering gear, and the power structure 1210 can drive the mounting seat 1220 to rotate relative to the first arm body 1100 along the first direction. Figure 3 As shown, the first arm body 1100 is in a horizontal position, and the first direction is the horizontal direction relative to the first arm body 1100, that is, the mounting seat 1220 drives the clamp body 1300 to rotate around the first arm body 1100 on a horizontal plane. When the first arm body 1100 is in a tilted state, the first direction is still the horizontal direction relative to the first arm body 1100, and it is in a tilted state in space at this time; but not limited to this, the first direction can also be a vertical direction or an inclined direction to the first arm body 1100, which can be modified according to actual conditions and is not specifically limited here.

[0145] In this embodiment, if Figure 3 or Figure 4 As shown, the second arm 1200 further includes:

[0146] The third bracket 1221 is connected to both ends of the power structure 1210 , and the third bracket 1221 is disposed on the mounting seat 1220 .

[0147] Specifically, if Figure 5As shown, a mounting groove for mounting the third driving structure is provided in the mounting seat 1220, and the side away from the two clamps is U-shaped and inclined at 90°, and the shape of the third bracket 1221 is the same as the U-shaped bracket on the side of the mounting seat 1220 away from the clamps and with the opening facing the same direction. The third bracket 1221 is connected to both ends of the power structure 1210 to improve the connection strength and reduce the overall weight.

[0148] In this embodiment, the first arm 1100 includes:

[0149] A first driving structure 1110 connected to the trunk structure 6000;

[0150] A mounting frame 1120 connected to the first driving structure 1110;

[0151] The mounting frame 1120 can be rotatably connected relative to the trunk structure 6000 along a second direction, and an angle is formed between the first direction and the second direction.

[0152] Specifically, Figure 3 or Figure 4 As shown, the mounting frame 1120 is a cuboid with an opening, and the opening faces one side of the trunk structure 6000. The first driving structure 1110 can drive the mounting frame 1120 to rotate along the second direction relative to the trunk structure 6000. In this embodiment, the first direction and the second direction are 90 degrees, that is, Figure 3 In this state, the second direction is the vertical direction relative to the trunk structure 6000 (i.e., rotation on the vertical plane), so that the position of the pliers body 1300 is driven to be adjusted at different angles through the mounting frame 1120 and the mounting seat 1220, thereby improving the flexibility of the pliers structure.

[0153] In this embodiment, the first arm 1100 further includes:

[0154] The second bracket 1121 is connected to two ends of the second driving structure 1110 , and the second bracket 1121 is disposed on the installation frame 1120 .

[0155] Specifically, the first drive structure 1110 is a servo, the second bracket 1121 is in a U-shape similar to the third bracket 1221, and the straight lines connecting the two ends of the second bracket 1121 and the third bracket 1221 are perpendicular to each other. The second bracket 1121 is connected to the two ends of the first drive structure 1110 to improve the connection strength and reduce the overall weight.

[0156] In this embodiment, the first arm 1100 further includes:

[0157] A second driving structure 1130 connected to the trunk structure 6000;

[0158] A first bracket 1140 connected to two ends of the second driving structure;

[0159] The first bracket 1140 can rotate relative to the trunk structure 6000 along a third direction, and an angle is formed between the third direction and the second direction.

[0160] Specifically, an L-shaped plate is provided on the trunk structure 6000, and the L-shaped plate is fixedly connected to the second driving structure 1130 (i.e., the steering gear). Figure 3 In the shown state, the third direction is the horizontal direction relative to the trunk structure 6000 (ie, rotation on the vertical plane).

[0161] In this embodiment, the first direction is perpendicular to the second direction, and the third direction is perpendicular to the second direction.

[0162] Specifically, the first direction is arranged in parallel with the third direction. When the first arm body 1100 is in an inclined state, the first direction is still a horizontal direction relative to the first arm body 1100, and it is in an inclined state in space at this time; but not limited to this, the first direction can also be a vertical direction or an inclined direction to the first arm body 1100, which can be modified according to actual conditions and is not specifically limited here.

[0163] In other embodiments, the third direction is at an angle of ninety degrees to the first direction and the second direction, that is, the second driving structure 1130 drives the mounting frame 1120 to rotate through the first bracket 1140 (i.e. Figure 3 The left and right direction is the X-axis direction, the up and down direction is the Z-axis direction, the front and back direction is the Y-axis direction, and the third direction rotates in the YOZ plane), thereby achieving rapid clamping of targets at different angles.

[0164] It should be noted that the first arm 1100, the second arm 1200 and the clamp body 1300 are controlled by the above-mentioned four servos, and the clamp body 1300 is controlled by a disc with gear teeth and a connecting rod group. Through a bilaterally symmetrical mechanism, one servo realizes the same characteristic movement of the two jaws, thereby achieving rapid opening and closing.

[0165] In a preferred embodiment of the present invention, Figures 6 to 11 As shown, the tail structure 2000 includes:

[0166] A driving member 2100, disposed on the trunk structure 6000;

[0167] The tail body 2200 is connected to the driving member 2100;

[0168] The tail body 2200 is connected to the trunk structure 6000 , and the driving member 2100 is used to drive the tail body 2200 to swing.

[0169] It is worth noting that the tail body 2200 of the present invention adopts a structure similar to a universal joint, and its appearance is similar to the tail of the biological prototype scorpion. The center of the tail body adopts a steel wire rope with a certain rigidity as the supporting body, so that the tail body can move more smoothly. The tail body is driven and controlled by control ropes connected all around. One end of the control rope is connected to the reel structure driven by the servo. The contraction of the rope is controlled by driving the reel to rotate, so that the tail can bend.

[0170] In this embodiment, the driving member 2100 includes:

[0171] The tail servo 2110 is arranged at the tail end of the trunk structure 6000;

[0172] The reel 2120 is connected to the tail steering gear 2110;

[0173] The tail body 2200 includes:

[0174] A plurality of tail joints 2220 connected in sequence, wherein the first tail joint 2220 is connected to the tail end of the trunk structure 6000;

[0175] A tail spike 2230 connected to the last tail joint 2220;

[0176] A connecting rope structure (not shown in the figure) is connected to the tail joint 2220 and the tail stinger 2230 respectively;

[0177] Wherein, the connecting rope structure is connected to the reel 2120 .

[0178] It should be noted that if Figure 6 As shown, the present invention is provided with two driving members 2100, which are respectively arranged on the first bottom plate and the second bottom plate, and two rollers 2120 are arranged opposite to each other up and down.

[0179] In this embodiment, the connecting rope structure 2300 includes a steel wire rope and a plurality of control ropes. Further, the control rope is set to four strands, and a connecting plate (not marked in the figure) is provided on the first bottom plate 6110 and the second bottom plate 6210. The connecting plate is provided with four through holes for penetrating the control ropes and one through hole for penetrating the steel wire rope, and the through holes are located at the centers of the four through holes.

[0180] In this embodiment, if Figure 7 As shown, the tail body 2200 also includes a fixed joint 2210, which is connected to the first tail joint 2220. The number of tail joints 2220 is set according to actual needs, so that the tail body 2200 can control the object to be controlled within the first preset range.

[0181] In this embodiment, the tail joint 2220 includes:

[0182] Joint body 2221;

[0183] A cross shaft 2222 connected to the joint body 2221;

[0184] A first fastener 2223 is disposed at one end of the joint body 2221 (ie, the end close to the fixed joint 2210);

[0185] The second fastener 2224 is disposed at the other end of the joint body 2221 (ie, the end away from the fixed joint 2210 ).

[0186] Specifically, Fig.10 As shown in or 11, the joint body 2221 is provided with through connection holes for the control rope to pass through, and through connection holes for the wire rope to pass through, the connection holes are located at the centers of the four connection holes, the first fastener 2223 is two plates installed on the head end of the joint body 2221, each plate is provided with a hemispherical groove, so as to cooperate with the hemispherical groove of the joint body 2221 to form a rotating groove connected to the cross shaft 2222; and the second fastener 2224 has the same structure as the first fastener and is arranged at the tail end of the joint body 2221, so that the previous joint body 2221 can be connected to the cross shaft of the next joint body through the second fastener 2224, thereby realizing the joint body 2221 through the cross shaft 2222. The flexible bending movement of the joint body 2221 and the other joint body.

[0187] like Figure 7 or Fig. 9 As shown, the fixed joint 2210 and the tail thorn 2230 both have a body structure and fasteners connected to the cross axis, which will not be repeated here, so that the fixed joint 2210, multiple tail joints 2220 and the tail thorn 2230 are connected in sequence to form the tail body. It should be noted that the end of the tail thorn 2230 is a spike structure, which is used to control the object to be controlled.

[0188] The tail body 2200, the reel 2120 and the tail steering gear 2110 of the present invention are all fixed on a connecting plate (i.e., a fixed cross bar), and the connecting plate is fixed on an aluminum plate, thereby connecting the tail to the body; the tail body 2200 is composed of a fixed joint 2210, a tail joint 2220, a cross shaft 2222 between the joints, a tail thorn 2230, a supporting steel rope and four control ropes. Relying on the design of the cross shaft, the joints of the tail can rotate with each other, thereby achieving the effect of making the tail swing back and forth, and the supporting steel rope mainly plays a supporting role, so that the tail as a whole has a certain rigidity, which is easy to control. The four control ropes are connected to the lowest reel 2120 respectively through the connection holes on each joint from the tail thorn 2230, and the reel 2120 is controlled to rotate by the tail steering gear 2110, so that the swing of the tail as a whole can be controlled by controlling the contraction and relaxation of the control rope.

[0189] In a preferred embodiment of the present invention, the leg structure 3000 comprises:

[0190] A driver 3200 is provided in the trunk structure 6000;

[0191] A first leg assembly 3300 connected to the trunk structure 6000;

[0192] A second leg assembly 3400 connected to the trunk structure 6000;

[0193] A connecting rod assembly 3500 connected to the driver 3200;

[0194] The connecting rod assembly 3500 connects the first leg assembly 3300 and the second leg assembly 3400 , and the first leg assembly 3300 and the second leg assembly 3400 are located on the same side of the trunk structure 6000 .

[0195] It is worth noting that the present invention can control two leg assemblies on one side through one driver, thereby reducing the number of drivers and achieving the effect of reducing costs; the robot usually has multiple legs on both sides. The present invention connects two adjacent legs on one side with one driver, so that one driver controls two legs, thereby reducing the number of drivers and achieving the effect of reducing the production cost of the leg structure and the robot; one driver of the present invention corresponds to the synchronous movement of two leg assemblies (i.e., legs), the leg structure (including two legs) adopts a crank rocker mechanism, and ensures that the trajectory curves of adjacent legs have a certain gap to prevent mutual interference. A group of crank rockers (i.e., one leg structure) is used as a unit design, which can reduce the complexity of the mechanical structure, make the structural design, debugging and maintenance operations convenient and fast, and thus reduce the production and maintenance costs. In addition, the leg structure adopts a crank rocker mechanism to achieve smooth movement, and the two legs do not interfere with each other, and can move on complex road conditions (such as climbing stairs).

[0196] The present invention controls the first leg assembly 3300 and the second leg assembly 3400 at the same time through the driver 3200. The movement trajectories of the first leg assembly 3300 and the second leg assembly 3400 are opposite, thereby realizing a stable upright, forward and backward movement state of the leg structure, thereby reducing the number of drivers and achieving the effect of reducing costs.

[0197] In this embodiment, if Fig.12 or Fig.13 As shown, the first leg assembly 3300 includes:

[0198] A first rotating rod 3310, one end of which is connected to the trunk structure 6000;

[0199] A first leg rod 3320, the other end of the first rotating rod 3310 being hinged to the first leg rod 3320;

[0200] The second leg assembly 3400 includes:

[0201] A second rotating rod 3410, one end of which is connected to the trunk structure 6000;

[0202] A second leg rod 3420, the other end of the second rotating rod 3410 is hinged to the second leg rod 3420;

[0203] There is a distance between the first leg rod 3320 and the second leg rod 3420 .

[0204] Specifically, Fig.13As shown, the first leg rod 3320 and the second leg rod 3420 are both designed in an inverted "V" shape, the corresponding top ends of the leg rods are V-shaped tips, the head ends of the leg rods are connected to the driver, and the end ends of the leg rods are used to abut against the driving surface. The driving surface can be the ground (horizontal surface, slope surface) and complex road conditions such as stairs, which are not specifically limited here; in order to prevent interference during the movement of each leg, it is necessary to ensure that there is a certain distance between the trajectory curves of the foot ends of two adjacent legs (that is, the distance between the two mutually parallel first leg rods 3320 and the second leg rods 3420, that is, Fig.12 The longitudinal distance between the two), this spacing can be set to a rocker with consistent thickness (i.e., the thickness of the edge of the first hinge shaft 3511 and the second rotating rod 3520), so as to make the structure compact and improve the overall stability; and for robots, climbing stairs is a more complex obstacle-crossing environment. In order for the robot to smoothly climb stairs of a certain specification, the foot end trajectory in a suspended state must be able to cross the corner of the stair steps without interference, that is, through the crank rocker structure, each leg can be lifted to a certain height to cross the steps. The specific setting is based on actual needs and is not specifically limited here. Further, the V-shaped leg rod angle is set to 40 degrees to improve stability and achieve driving on complex roads.

[0205] It should be noted that the robot structure requires that the movement trajectories of the front, middle and rear feet on one side of the robot are completely consistent with those of the front, middle and rear feet on the other side, and the forefoot trajectory and the midfoot trajectory on the same side are about the Y axis (i.e. Fig.12 The axis direction of the driving shaft of the middle driver) is symmetrical to achieve the triangular gait requirements of the robot.

[0206] In this embodiment, the end portions of the first leg rod 3320 and the second leg rod 3420 are straight, so that the ends of the first leg rod 3320 and the second leg rod 3420 in the supporting state are perpendicular to the driving surface.

[0207] Specifically, the ends of the first leg rod 3320 and the second leg rod 3420 are straight, that is, one side of the V-shape is upright, so that the trajectory curve is as straight as possible when the foot end of the leg is in a supporting state, so that the robot can move smoothly as a whole through the leg structure. Further, the head ends of the two leg rods can be set to be straight or arc-shaped, as long as there is no interference in the movement process, and no specific limitation is made here.

[0208] In this embodiment, the connecting rod assembly 3500 includes:

[0209] A first connecting rod 3510, one end of which is connected to the driver 3200, and the other end of which is hinged to the first end of the first leg rod 3320;

[0210] a second connecting rod 3520, one end of which is hinged to the first leg rod 3510, and the other end of which is hinged to the head end of the second leg rod 3420;

[0211] Wherein, the first connecting rod 3510 and the second connecting rod 3520 have an included angle.

[0212] It should be noted that since the crank in the crank-rocker mechanism needs to perform a rotary motion, interference will be formed during the motion, so the crank is designed by splitting a rod into two parts (i.e., a first connecting rod 3510 and a second connecting rod 3520). Fig.14 As shown, through holes are provided at both ends of the first connecting rod 3410, and fixing holes are provided at both ends of the side, and the second connecting rod 3520 is configured as a stepped rod, through holes are provided at both ends, and a fixing hole is provided at the side of one end.

[0213] Furthermore, in this embodiment, the angle is set to 45 degrees so that the two leg movement trajectories can be used for driving on complex roads.

[0214] In this embodiment, if Fig.12 As shown, a first bearing seat 3140 and a second bearing seat 3150 are provided on the first top plate 6120 , and the first bearing seat 3140 and the second bearing seat 3150 are arranged opposite to each other.

[0215] Specifically, the first bottom plate 6110 is arranged parallel to the first top plate 6120, the first column 6130 connects the first bottom plate 6110 and the first top plate 6120, and the height of the first bearing seat 3140 is consistent with that of the second bearing seat 3150, so that the first rotating rod 3310 and the second rotating rod 3410 are connected at the same height of the trunk structure 6000, so that the first leg rod 3320 and the second leg rod 3420 of the same shape and size can stably abut against the driving surface.

[0216] In this embodiment, the leg structure further includes:

[0217] The first hinge axis 3511, such as Fig.14 As shown, it passes through the first end of the first leg rod 3320 and the other end of the first connecting rod 3510;

[0218] A second hinge shaft 3521 passes through the first end of the second leg rod 3420 and the other end of the second connecting rod 3520;

[0219] Wherein, the front and rear ends of the first hinge shaft 3511 and the second hinge shaft 3521 are respectively provided with abutment members (ie screws and nuts, not indicated in the figure).

[0220] Specifically, the driver 3200 is arranged on the first base plate 6110, and the driving shaft of the driver 3200 is fixedly connected to one end of the first connecting rod 3510 through a coupling (not indicated in the figure); the first connecting rod 3510, the driving shaft of the driver and the first hinge shaft 3511 are connected through an abutment member, and the second connecting rod 3520, the first hinge shaft 3511 and the second hinge shaft 3521 are connected through an abutment member, one end of the first hinge shaft 3511 is connected to the first connecting rod 3510, and the other end has a larger outer diameter and is connected to the second connecting rod 3520, so as to prevent dislocation and further improve the stability of the leg structure.

[0221] Furthermore, the abutment is a hexagon socket head screw and a nut, thereby locking the corresponding connecting rod to prevent the two connecting rods from axial displacement, so as to avoid falling off and improve the overall stability. It should be noted that the walking mode of the leg rod can be adjusted by adjusting the length of the first connecting rod 3510 and the second connecting rod 3520 and the position of the end points of the two connecting rods, which is not specifically limited here.

[0222] In this embodiment, if Fig.14 As shown, the leg structure also includes:

[0223] A first connecting shaft 3321 passes through the other end of the first rotating rod 3310 and the top end of the first leg rod 3320;

[0224] The second connecting shaft 3421 passes through the other end of the second rotating rod 3410 and the top end of the second leg rod 3420;

[0225] The front and rear ends of the first connecting shaft 3321 and the second connecting shaft 3421 are respectively provided with fixing parts (ie screws and nuts, not indicated in the figure).

[0226] It should be noted that the second hinge shaft 3521, the first connecting shaft 3321 and the second connecting shaft 3421 have the same shape, and the fixing member has the same function as the above-mentioned abutment member. The fixing member is connected to both ends of the two connecting shafts to fix them, thereby preventing axial displacement.

[0227] In this embodiment, the first leg assembly 3300 further includes:

[0228] A first rotating shaft 3322 connected to the first bearing seat 3140;

[0229] The second leg assembly 3400 further includes:

[0230] The second rotating shaft 3422 is connected to the second bearing seat 3150;

[0231] One end of the first rotating rod 3310 is hinged to the first rotating shaft 3322 , and one end of the second rotating rod 3410 is hinged to the second rotating shaft 3422 .

[0232] Specifically, Fig.12 As shown, the first rotating shaft 3322 and the second rotating shaft 3422 are the same in size and shape, and a pin shaft (i.e., two rotating shafts) is used for axial positioning. The side with a larger outer diameter of the rotating shaft is rotatably connected to the bearing seat, and the rotating shaft protrudes from the bearing seat and is fixed by screws and nuts to prevent axial movement. By adopting a connection method between the bearing seat and the rotating shaft instead of using a heavy aluminum plate, the overall weight of the leg structure is reduced, thereby reducing the production cost.

[0233] In this embodiment, if Fig.13 As shown, anti-slip sleeves are provided at the ends of the first leg rod 3320 and the second leg rod 3420.

[0234] It should be noted that the positioning and fastening used on the through holes in the structure of the present invention uniformly use a combination of hexagon socket screws and nuts to achieve the purpose of convenience and reliability, thereby achieving the purpose of more flexible detection by the robot. The scorpion-like robot of the present invention can be used for military reconnaissance, exploration and rescue operations on relatively rugged roads, which can be achieved by correspondingly controlling the sensor structure, leg structure, clamp structure and tail structure of the robot control system.

[0235] Based on the above embodiments, the present invention provides a control method for a scorpion-like robot, characterized in that it is applied to any of the above scorpion-like robots, such as Fig.19 As shown, the method includes:

[0236] Step S100: Determine the location information of targets in the environment area; wherein the targets include obstacles and objects to be controlled.

[0237] Step S200, according to the position information of the target, control the movement of multiple leg structures so that the clamp structure is located in a first preset range and / or the tail structure is located in a second preset range, and control the sensor structure to obtain the distance information between the clamp structure, the tail structure and the target respectively.

[0238] In some implementations, step S200 includes the steps of:

[0239] Step S210: when it is determined that the target is an obstacle, obtaining the straight-line distances between the trunk structure, the clamp structure, and the tail structure and the obstacle respectively;

[0240] Step S220: If the straight-line distance is less than a preset distance, control the leg structure on one side of the trunk structure and the leg structure on the other side to move at different speeds so that the trunk structure, the clamp structure and the tail structure bypass the obstacle.

[0241] Step S300: Control the clamp structure and / or the tail structure to control the target according to the relationship between the first preset range, the second preset range and the distance information.

[0242] In some implementations, the distance information includes a first spatial distance between the clamp structure and the target and first size data of an obstacle between the clamp structure and the target; the distance information includes a second spatial distance between the tail structure and the target and second size data of an obstacle between the tail structure and the target;

[0243] The step S300 includes the following steps:

[0244] Step S310: when it is determined that the target is an object to be controlled, a control path of the clamp structure is determined according to the first spatial distance and the first size data; and a control path of the tail structure is determined according to the second spatial distance and the second size data;

[0245] Step S320: According to the control path of the clamp structure, control the clamp structure to control the object to be controlled; and according to the control path of the tail structure, control the tail structure to control the object to be controlled.

[0246] The control method of the scorpion-like robot provided by the present invention is applied to the above-mentioned scorpion-like robot, thereby having all the beneficial effects of the above-mentioned scorpion-like robot, which will not be repeated here.

[0247] In summary, the present invention provides a scorpion-like robot and a control method thereof, wherein the robot comprises: a trunk structure; at least one pincer structure connected to the head end of the trunk structure; a tail structure connected to the tail end of the trunk structure; at least two leg structures, the two leg structures being respectively connected to the two sides of the trunk structure; a sensor structure connected to the trunk structure; a control system connected to the trunk structure, and the control system being respectively electrically connected to the leg structure, the pincer structure, the tail structure and the sensor structure. The scorpion-like robot of the present invention imitates the legs, pincers and tail of a scorpion from the leg structure, the pincer structure and the tail structure respectively, and can simulate various behaviors of a scorpion, thereby achieving comprehensive simulation, and further improving detection accuracy when used for detecting terrain and automatically avoiding obstacles.

[0248] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A scorpion-like robot, characterized in that: include: Trunk structure; At least one clamp structure connected to the head end of the trunk structure, the clamp structure is used to control a target within a first preset range; a tail structure connected to the tail end of the trunk structure, the tail structure being used to swing to control a target within a second preset range; At least two leg structures, the two leg structures are respectively connected to two sides of the trunk structure, and the leg structures are used to drive the trunk structure, the clamp structure and the tail structure to move; A sensor structure connected to the trunk structure, and used to obtain distance information between the trunk structure, the clamp structure, and the tail structure and the target respectively; wherein the target includes obstacles and objects to be controlled; A control system connected to the trunk structure, the control system being electrically connected to the leg structure, the clamp structure, the tail structure and the sensor structure respectively, and configured to control the clamp structure and / or the tail structure to control the target according to the relationship between the first preset range, the second preset range and the distance information; The leg structure comprises: A driver, disposed on the trunk structure; a first leg assembly connected to the trunk structure; a second leg assembly connected to the trunk structure; A connecting rod assembly connected to the driver; Wherein, the connecting rod assembly connects the first leg assembly and the second leg assembly, and the first leg assembly and the second leg assembly are located on the same side of the trunk structure; The first leg assembly comprises: a first rotating rod, one end of which is connected to the trunk structure; a first leg rod, the other end of the first rotating rod being hinged to the first leg rod; The second leg assembly comprises: a second rotating rod, one end of which is connected to the trunk structure; a second leg rod, the other end of the second rotating rod being hinged to the second leg rod; The connecting rod assembly comprises: A first connecting rod, one end of which is connected to the trunk structure, and the other end of which is hinged to the first leg rod; a second connecting rod, one end of which is hinged to the first leg rod, and the other end of which is hinged to the second leg rod; There is a distance between the first leg rod and the second leg rod, and there is an angle between the first connecting rod and the second connecting rod.

2. The scorpion-like robot according to claim 1, characterized in that: The pliers structure comprises: A first arm body connected to the trunk structure; A second arm body connected to the first arm body; A clamp body connected to the second arm body; The clamp body comprises: A first clamping jaw connected to the second arm body; A second clamping jaw connected to the second arm body; Wherein, the first clamping jaw and the second clamping jaw can move relative to each other synchronously.

3. The scorpion-like robot according to claim 1, characterized in that: The tail structure comprises: A driving member, disposed on the trunk structure; A tail body connected to the driving member; Wherein, the tail body is connected to the trunk structure, and the driving member is used to drive the tail body to swing.

4. The scorpion-like robot according to claim 3, characterized in that: The driving member comprises: A tail servo, arranged at the tail end of the trunk structure; A reel connected to the tail steering gear; The tail body comprises: A plurality of tail joints connected in sequence, the first tail joint being connected to the tail end of the trunk structure; a caudal spine connected to the last of said caudal joints; A connecting rope structure, connected to the tail joint and the tail stinger respectively; Wherein, the connecting rope structure is connected to the reel.

5. The scorpion-like robot according to claim 1, characterized in that: The trunk structure comprises: a first bottom plate and a second bottom plate; a first top plate and a second top plate; A connecting plate assembly, connecting the first bottom plate and the second bottom plate, and connecting the first top plate and the second top plate; A column assembly, connecting the first bottom plate and the first top plate, and connecting the second bottom plate and the second top plate; Wherein, the clamp structure is connected to the second bottom plate, the tail structure is connected to the first bottom plate and the second bottom plate, and the leg structure is connected to the first bottom plate and the first top plate.

6. A control method for a scorpion-like robot, characterized in that: Applied to the scorpion-like robot according to any one of claims 1 to 5, the method comprises: Determine the location information of the target in the environment area; wherein the target includes obstacles and objects to be controlled; According to the position information of the target, control the movement of the multiple leg structures so that the clamp structure is located in a first preset range and / or the tail structure is located in a second preset range, and control the sensor structure to obtain the distance information between the clamp structure, the tail structure and the target respectively; According to the relationship between the first preset range, the second preset range and the distance information, the clamp structure and / or the tail structure is controlled to control the target.

7. The control method of the scorpion-like robot according to claim 6, characterized in that: According to the position information of the target, controlling the movement of the plurality of leg structures so that the clamp structure is located in a first preset range and / or the tail structure is located in a second preset range comprises: When the target is determined to be an obstacle, obtaining the straight-line distances between the trunk structure, the clamp structure, and the tail structure and the obstacle respectively; If the straight-line distance is less than the preset distance, the leg structure on one side of the trunk structure and the leg structure on the other side are controlled to move at different speeds so that the trunk structure, the clamp structure and the tail structure bypass the obstacle.

8. The control method of the scorpion-like robot according to claim 6, characterized in that: The distance information includes a first spatial distance between the clamp structure and the target and first size data of an obstacle between the clamp structure and the target; The controlling the clamp structure and / or the tail structure to control the target according to the relationship between the first preset range, the second preset range and the distance information comprises: When it is determined that the target is an object to be controlled, a control path of the clamp structure is determined according to the first spatial distance and the first size data; According to the control path of the clamp structure, the clamp structure is controlled to control the object to be controlled.

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