A gecko-like robot with a bionic spine

Abstract

The present invention discloses a gecko-like robot with a bionic spine, which belongs to the technical field of climbing robots. The gecko-like robot includes a shoulder girdle joint module, a pelvic girdle joint module, a bionic spine, a limb module, a hybrid attachment mechanism and a drive control module. The bionic spine includes a rigid linear guide mechanism and a flexible spinal joint mechanism. The linear guide mechanism includes a guide rail and a slider slidably mounted on the guide rail. The front end of the linear guide mechanism is mounted in the middle of the shoulder girdle frame and the rear end is mounted in the middle of the pelvic girdle frame. The spinal joint mechanism includes N spinal joint servos and N-1 joint connecting rods, where N is an integer greater than 2, and each joint connecting rod is respectively connected between two adjacent spinal joint servos. The bionic spine uses the gecko spine as a bionic prototype. During crawling, it can imitate the curved shape of the gecko spine, so that the robot can bend and crawl, and the robot can imitate the movement of the gecko spine, thereby increasing the robot's movement flexibility.

Description

Technical Field

[0001] The invention relates to a bionic climbing robot, in particular to a gecko-like robot with a bionic spine, belonging to the technical field of climbing robots. Background Art

[0002] Wall-climbing robots are controllable mobile platform systems capable of moving freely on the ground, walls, or ceilings. They are an important branch of special robots. They are in widespread and urgent demand in industries such as public and national security, confined space inspection, and urban appearance services. Currently, most wall-climbing robots have rigid trunks, which limit their flexibility, stability, and free movement trajectory and turning ability. They fail to achieve the desired free and unobstructed movement. This is mainly manifested in low climbing speeds, large turning radii resulting in poor flexibility, high energy consumption, poor movement stability, and poor environmental adaptability. They also have difficulty climbing on slopes greater than 90° and are unable to climb on ceilings. The main reason for this is the incomplete research on the robot's motion behavior and mechanical mechanisms, which limits further improvement in the robot's overall performance.

[0003] Currently, there is limited research and theoretical progress on bionic robots with flexible trunks and spinal joints, both domestically and internationally. Internationally, the Salamandra series of robots, developed by the Swiss Ijspeert team, features a flexible spine in its trunk. By varying the phase relationship between the trunk and limbs, the robots achieve varying speeds and turning trajectories. However, these robots are only suitable for amphibious environments and cannot climb vertical walls. The RISE V3 quadrupedal wall-climbing robot, developed in the United States, has a pitch degree of freedom in its trunk to adjust its posture during climbing, but it cannot turn on vertical walls. In China, the gecko-like robot developed by the Bionics Institute of Nanjing University of Aeronautics and Astronautics features three waist joints and utilizes CPG control and adaptive force-position hybrid control methods. It can climb slopes, but the control is relatively complex. Therefore, bionic robots with flexible spines developed by various countries either struggle to achieve vertical wall climbing or have limited trunk degrees of freedom, making it difficult to achieve stability and flexibility while climbing. Summary of the Invention

[0004] The purpose of the present invention is to provide a gecko-like robot with a bionic spine, which has the characteristics of simple structure, easy design, good crawling stability and easy control, so as to solve the technical problem of relatively complex structural control of bionic climbing robots in the prior art.

[0005] The present invention adopts the following technical solution: a gecko-like robot with a bionic spine, comprising a shoulder girdle joint module, a pelvic girdle joint module, a bionic spine, a limb module and a drive control module, wherein the shoulder girdle joint module comprises a shoulder girdle frame, a shoulder girdle support frame and a shoulder girdle joint servo, the shoulder girdle support frame is hinged to the shoulder girdle frame, a shoulder girdle servo fixing seat located above the shoulder girdle frame is fixedly connected to the shoulder girdle support frame, the shoulder girdle joint servo is fixed to the shoulder girdle servo fixing seat, a driving gear is connected to the output end of the shoulder girdle joint servo, a driven gear meshing with the driving gear is provided on the shoulder girdle frame, the driven gear is fixed to the hinge shaft between the shoulder girdle frame and the shoulder girdle support frame, and the shoulder girdle joint servo is used to drive the shoulder girdle frame to rotate; the pelvic girdle joint module The pelvic belt frame comprises a pelvic belt joint steering gear, a ball head pull rod and two pull rods. The pelvic belt frame and the ball head pull rod are spaced apart in front and back. The two ends of each pull rod are respectively hinged between the ball head pull rod and the pelvic belt frame. The pelvic belt frame, the ball head pull rod and the two pull rods form a frame-type connecting rod structure. The ball head pull rod is fixed with a pelvic belt support frame. The pelvic belt joint steering gear is installed on the pelvic belt support frame. The output end of the pelvic belt joint steering gear is connected to the middle part of the ball head pull rod to drive the pelvic belt frame to rotate. The bionic spine is connected between the shoulder strap joint module and the pelvic belt joint module. The bionic spine comprises a rigid linear guide mechanism and a flexible spinal joint mechanism. The linear guide mechanism comprises a guide rail and a slider slidably installed on the guide rail. The front of the linear guide mechanism The first end is installed in the middle of the shoulder belt frame and the rear end is installed in the middle of the pelvic belt frame; the spinal joint mechanism includes N spinal joint servos and N-1 joint connecting rods, N is an integer greater than 2, each joint connecting rod is respectively connected between two adjacent spinal joint servos, the output end of the first spinal joint servo is connected to the shoulder belt servo fixing seat to drive the shoulder belt support frame to rotate, the first spinal joint servo is fixed to the front end of the first joint connecting rod, the output shaft of the last spinal joint servo is hinged to the rear end of the last joint connecting rod, the last spinal joint servo is installed at the rear end of the linear guide mechanism, the middle spinal joint servo is fixed to the front end of the last joint connecting rod, the output shaft of the middle spinal joint servo is It is hinged to the rear end of the previous joint connecting rod; there are four limb modules in total, and each limb module includes two joint connecting rods and two servos, wherein the two limb modules are respectively connected to the two ends of the shoulder belt frame to form two front limb modules, and the other two limb modules are respectively connected to the two ends of the pelvic belt frame to form two rear limb modules; the two joint connecting rods in each front limb module are respectively a shoulder-elbow connecting rod and an elbow-foot connecting rod, and the two servos in each front limb module are respectively a shoulder joint servo and an elbow-off servo, and the shoulder joint servos in the two front limb modules are respectively fixed to the two ends of the shoulder belt frame, and the elbow joint servos are connected to the shoulder joint servo through the shoulder-elbow connecting rod, and the output end of each elbow joint servo is connected to the foot through the elbow-foot connecting rod;The two joint links in the hind limb module constitute the hip-knee link and the knee-foot link respectively. The two servos in the hind limb module are the hip servo and the knee servo. The hip servos in the two hind limb modules are fixed to the two ends of the pelvic girdle frame respectively. The knee servos are connected to the hip servos via the hip-knee link. Each knee servo is connected to the foot via the knee-foot link.

[0006] In the linear guide rail mechanism, the slider is located at the front and the guide rail is located at the rear; the front end of the slider is rotatably mounted on the middle part of the shoulder belt frame, and the rear end of the guide rail is rotatably mounted on the middle part of the pelvic belt frame.

[0007] The number of the spinal joint servos is 5, and the number of the joint connecting rods is 4.

[0008] The output shaft of the first spinal joint servo coincides with the axis of the driven gear.

[0009] The shoulder strap servo fixed seat is fixedly connected with a fixing frame, the output shaft of the first spinal joint servo is connected to the fixing frame, and the fixing frame rotates under the drive of the first spinal joint servo.

[0010] The shoulder strap support frame is an L-shaped structure, and the shoulder strap support frame includes a first end and a second end arranged vertically. The first end is rotatably matched with the shoulder strap frame through a hinge shaft, the first end is connected to the front end of the second end, and the second end is perpendicular to the plane where the first end and the shoulder strap frame are located, and the shoulder strap servo fixing seat is fixed on the second end.

[0011] The drive control module is installed on the pelvic belt support frame.

[0012] The rear end of the pelvic belt support frame is provided with a tail extending forward and backward.

[0013] The beneficial effects of the present invention are as follows: when the gecko-like robot moves, the shoulder joint servo and the hip joint servo are used to control the rotation of the shoulder-elbow link and the hip-knee link respectively, and the knee joint servo and the elbow joint servo are used to control the movement of the elbow-foot link and the knee-foot link respectively, so that the movement of the four feet can realize the forward or backward movement of the gecko-like robot; when the shoulder of the gecko-like robot moves, the shoulder belt joint servo controls the rotation of the driving gear, the driving gear drives the rotation of the driven gear, and when the driven gear rotates, the shoulder belt frame is driven to rotate, and the shoulder movement realizes the steering of the gecko-like robot; the pelvic belt frame of the gecko-like robot moves When the robot is in motion, the pelvic belt joint servo drives the ball head pull rod to rotate. When the ball head pull rod rotates, it drives the pull rods at both ends to move. The movement of the two pull rods causes the pelvic belt frame to rotate, thereby simulating the pelvic movement of the gecko. The movement of the pelvis cooperates with the steering of the gecko-like robot. The spinal joint mechanism of the gecko-like robot can imitate the swing of the gecko's spinal joint. During operation, the rear spinal joint servo drives the front joint link to swing. As each joint link swings, the slider moves back and forth along the guide rail to extend and retract the linear guide mechanism, so that the length of the linear guide mechanism is adapted to the length of the spinal joint mechanism. The output end of the first spinal joint servo is connected to the shoulder strap servo fixed seat to drive the shoulder strap support frame to rotate, thereby driving the shoulder strap servo fixed seat and the shoulder strap support frame to swing together, realizing the simulated gecko head swing.

[0014] The present invention utilizes a bionic spine that utilizes a guide rail and slider mechanism in conjunction with spinal joints. Composed of a rigid guide rail and slider mechanism and a flexible spinal joint mechanism, the bionic spine exhibits a lateral bending and swinging pattern similar to that of a gecko, increasing the robot's mobility. The robot's structure is easy to design, exhibits excellent crawling stability, and is easily controllable.

[0015] Furthermore, the shoulder strap frame support frame adopts an L-shaped structure perpendicular to the shoulder strap frame, the shoulder strap support frame and the shoulder strap servo fixing seat form an integral structure, the shoulder strap servo fixing seat is fixedly connected to a fixing frame, the output shaft of the first spinal joint servo is connected to the fixing frame, the fixing frame rotates under the drive of the first spinal joint servo, and at the same time drives the shoulder strap servo fixing seat and the shoulder strap support frame to rotate, the shoulder strap servo fixing seat and the shoulder strap support frame simulate the head of a gecko, and the swing of the robot head is realized by the first spinal joint servo. When the head swings, in order to prevent the shoulder strap frame from following the movement of the active gear, the shoulder strap joint servo can be used to drive the active gear to move in the opposite direction to achieve fine-tuning of the shoulder strap frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic diagram of a gecko-like robot with a bionic spine according to an embodiment of the present invention;

[0017] Figure 2 yes Figure 1 Plan view of

[0018] Figure 3yes Figure 2 Side view of;

[0019] Figure 4 yes Figure 1 Schematic diagram of the middle shoulder girdle joint module;

[0020] Figure 5 yes Figure 1 Schematic diagram of the mid-pelvic girdle joint module;

[0021] Figure 6 yes Figure 1 Schematic diagram of the bionic spine;

[0022] Figure 7 yes Figure 1 Schematic diagram of the mid-limb module.

[0023] In the figure: 1-shoulder strap joint module; 101-shoulder strap support frame; 102-shoulder strap joint servo; 103-driving gear; 104-shoulder strap frame; 105-shoulder strap servo fixing seat; 2-limb module; 201-shoulder joint servo; 202-shoulder-elbow connecting rod; 203-elbow joint servo; 204-elbow-foot connecting rod; 205-foot; 3-bionic spine; 301-spinal joint servo; 302-slider; 303-joint connecting rod; 304-guide rail; 4-pelvic belt joint module; 401-pull rod; 402-ball head pull rod; 403-pelvic belt support frame; 404-pelvic belt joint servo; 405-pelvic belt frame; 5-tail; 6-drive control module; 7-fixing frame. DETAILED DESCRIPTION

[0024] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] The structure of the gecko-like robot with a bionic spine according to one embodiment of the present invention is as follows: Figures 1 to 7 As shown, the gecko-like robot with a bionic spine in this embodiment includes a shoulder girdle joint module 1, a pelvic girdle joint module 4, a bionic spine 3, a limb module 2, and a drive control module 6. The drive control module 6 is mounted on a pelvic girdle support frame 403. The rear end of the pelvic girdle support frame 403 is provided with a tail 5 extending forward and backward, which is fixed to the pelvic girdle joint module 4 using screws and nuts.

[0026] like Figure 4As shown, the shoulder strap joint module 1 includes a shoulder strap frame 104, a shoulder strap support frame 101 and a shoulder strap joint servo 102. The shoulder strap support frame 101 is hinged to the shoulder strap frame 104. The shoulder strap support frame 101 is fixedly connected to a shoulder strap servo fixing seat 105 located above the shoulder strap frame 104. The shoulder strap joint servo 102 is fixed on the shoulder strap servo fixing seat 105. A driving gear 103 is connected to the output end of the shoulder strap joint servo 102. The shoulder strap frame 104 is provided with a driven gear meshing with the driving gear 103. The driven gear is fixed on the hinge shaft between the shoulder strap frame 104 and the shoulder strap support frame 101. The shoulder strap joint servo 102 is used to drive the shoulder strap frame 104 to rotate. When the gecko-like robot's shoulder moves, the shoulder joint servo 102 controls the driving gear 103 to rotate, and the driving gear 103 drives the driven gear to rotate. When the driven gear rotates, it drives the shoulder strap frame 104 to rotate. The shoulder movement realizes the steering of the gecko-like robot.

[0027] The shoulder strap support frame 101 is an L-shaped structure, and the shoulder strap support frame 101 includes a first end and a second end that are vertically arranged. The first end is rotatably matched with the shoulder strap frame 104 through a hinge shaft, the first end is connected to the front end of the second end, and the second end is perpendicular to the plane where the first end and the shoulder strap frame 104 are located. The shoulder strap servo fixing seat 105 is fixed on the second end.

[0028] like Figure 5 As shown, the pelvic belt joint module 4 includes a pelvic belt frame 405, a pelvic belt joint servo 404, a ball head pull rod 402 and two pull rods 401. The pelvic belt frame 405 and the ball head pull rod 402 are arranged at intervals in the front and back, and the two ends of each pull rod 401 are respectively hinged between the ball head pull rod 402 and the pelvic belt frame 405. The pelvic belt frame 405, the ball head pull rod 402 and the two pull rods 401 form a frame-type connecting rod structure. The ball head pull rod 402 is fixed with a pelvic belt support frame 403, and the pelvic belt joint servo 404 is installed on the pelvic belt support frame 403. The output end of the pelvic belt joint servo 404 is connected to the middle part of the ball head pull rod 402 to drive the pelvic belt frame 405 to rotate. When the pelvic girdle of the gecko-like robot moves, the pelvic girdle joint servo 404 drives the ball-end pull rod to rotate. When the ball-end pull rod rotates, it drives the pull rods at both ends to move. The movement of the two pull rods causes the pelvic girdle to rotate, thereby simulating the pelvic movement of the gecko. The movement of the pelvis cooperates with the steering of the gecko-like robot.

[0029] like Figure 6As shown, the bionic spine 3 is connected between the shoulder strap joint module 1 and the pelvic strap joint module 4. The bionic spine 3 includes a rigid linear guide mechanism and a flexible spinal joint mechanism. The linear guide mechanism includes a guide rail 304 and a slider 302 slidably mounted on the guide rail 304. The front end of the linear guide mechanism is mounted on the middle part of the shoulder strap frame 104, and the rear end is mounted on the middle part of the pelvic strap frame 405. In the linear guide mechanism, the slider 302 is located at the front and the guide rail 304 is located at the rear. The front end of the slider 302 is rotatably mounted on the middle part of the shoulder strap frame 104, and the rear end of the guide rail 304 is rotatably mounted on the middle part of the pelvic strap frame 405.

[0030] The spinal joint mechanism includes N spinal joint servos 301 and N-1 joint connecting rods 303, where N is an integer greater than 2. In this embodiment, the number of the spinal joint servos 301 is 5, and the number of the joint connecting rods 303 is 4. Each joint connecting rod 303 is respectively connected between two adjacent spinal joint servos 301, the output end of the first spinal joint servo 301 is connected to the shoulder strap servo fixing seat 105 for driving the shoulder strap support frame 101 to rotate, the first spinal joint servo 301 is fixed to the front end of the first joint connecting rod 303, the output shaft of the last spinal joint servo 301 is hinged to the rear end of the last joint connecting rod 303, the last spinal joint servo 301 is installed at the rear end of the linear guide mechanism, the spinal joint servo 301 located in the middle is fixed to the front end of the next joint connecting rod 303, and the output shaft of the spinal joint servo 301 located in the middle is hinged to the rear end of the previous joint connecting rod 303.

[0031] The spinal joint mechanism of the gecko-like robot can imitate the swing of the gecko's spinal joints. During operation, the servo of the rear spinal joint drives the front joint link to swing. As each joint link swings, the slider moves back and forth along the guide rail to make the linear guide mechanism extend and retract, so that the length of the linear guide mechanism is adapted to the length of the spinal joint mechanism.

[0032] In this embodiment, the output shaft of the first spinal joint servo 301 coincides with the axis of the driven gear, and the shoulder strap servo fixing seat 105 is fixedly connected to the fixing frame 7. The output shaft of the first spinal joint servo 301 is connected to the fixing frame 7. The fixing frame 7 rotates under the drive of the first spinal joint servo 301, and at the same time drives the shoulder strap servo fixing seat 105 and the shoulder strap support frame 101 to rotate. The shoulder strap servo fixing seat 105 and the shoulder strap support frame 101 simulate the head of a gecko, and the swing of the robot's head is realized through the first spinal joint servo 301. When the head swings, in order to prevent the shoulder strap frame 104 from following the movement of the driving gear 103, the shoulder strap joint servo 102 can be used to drive the driving gear in the opposite direction to achieve fine-tuning of the shoulder strap frame.

[0033] There are four limb modules 2, each of which includes two joint links and two servos, wherein two limb modules are connected to the two ends of the shoulder belt frame 104, respectively, to form two front limb modules, and the other two limb modules are connected to the two ends of the pelvic belt frame 405, respectively, to form two rear limb modules; Figure 7 As shown, the two joint links in each forelimb module are respectively the shoulder-elbow link 202 and the elbow-foot link 204, and the two servos in each forelimb module are respectively the shoulder joint servo 201 and the elbow-foot servo 203, the shoulder joint servos 201 in the two forelimb modules are respectively fixed at the two ends of the shoulder belt frame 104, the elbow joint servo 201 is connected to the shoulder joint servo 203 through the shoulder-elbow link 202, and the output end of each elbow joint servo 201 is respectively connected to the foot 205 through the elbow-foot link 204; the two joint links in the hind limb module constitute the hip-knee link and the knee-foot link, and the two servos in the hind limb module are respectively the hip joint servo and the knee joint servo, the hip joint servos in the two hind limb modules are respectively fixed at the two ends of the pelvic belt frame 405, the knee joint servo is connected to the hip joint servo through the hip-knee link, and each knee joint servo is respectively connected to the foot through the knee-foot link.

[0034] When the gecko-like robot moves, the shoulder joint servo and hip joint servo are used to control the rotation of the shoulder-elbow link and the hip-knee link respectively, and the knee joint servo and elbow joint servo are used to control the movement of the elbow-foot link and the knee-foot link respectively, so that the four feet can move forward or backward to realize the gecko-like robot.

[0035] The gecko-like robot of the present embodiment needs to control for having 15 steering gears, utilizes the action of driving control module to control each steering gear, wherein bionic spine has 5 steering gears, each limb module has 2 steering gears, four limb modules have 8 steering gears, shoulder girdle joint module has 1 steering gear, and pelvic girdle joint module has 1 steering gear.Each steering gear is by bus and motor driver serial port communication, and the output of regulation and control steering gear is made the robot bend and crawl on the wall.In crawling process, can imitate the gecko spine curved shape, make the robot bend and crawl, improve the motion flexibility of robot.Each joint of gecko-like robot of the present invention adopts digital steering gear as driver, by bus and motor driver serial port communication.

[0036] The above embodiment is a preferred embodiment of the present invention. The above embodiment and description are only for explaining the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements fall within the scope of the present invention to be protected.

Claims

1. A gecko-like robot with a bionic spine, comprising a shoulder girdle joint module, a pelvic girdle joint module, a bionic spine, a limb module, and a drive control module, characterized in that: The shoulder strap joint module includes a shoulder strap frame, a shoulder strap support frame and a shoulder strap joint servo, the shoulder strap support frame is hinged to the shoulder strap frame, the shoulder strap support frame is fixedly connected to a shoulder strap servo fixing seat located above the shoulder strap frame, the shoulder strap joint servo is fixed to the shoulder strap servo fixing seat, a driving gear is connected to the output end of the shoulder strap joint servo, the shoulder strap frame is provided with a driven gear meshing with the driving gear, the driven gear is fixed to a hinge shaft between the shoulder strap frame and the shoulder strap support frame, and the shoulder strap joint servo is used to drive the shoulder strap frame to rotate; The pelvic belt joint module includes a pelvic belt frame, a pelvic belt joint steering gear, a ball head pull rod and two pull rods. The pelvic belt frame and the ball head pull rod are arranged at intervals in front and back. The two ends of each pull rod are respectively hinged between the ball head pull rod and the pelvic belt frame. The pelvic belt frame, the ball head pull rod and the two pull rods form a frame-type connecting rod structure. The ball head pull rod is fixed with a pelvic belt support frame. The pelvic belt joint steering gear is installed on the pelvic belt support frame. The output end of the pelvic belt joint steering gear is connected to the middle part of the ball head pull rod to drive the pelvic belt frame to rotate. The bionic spine is connected between the shoulder strap joint module and the pelvic strap joint module. The bionic spine includes a rigid linear guide mechanism and a flexible spinal joint mechanism. The linear guide mechanism includes a guide rail and a slider slidably installed on the guide rail. The front end of the linear guide mechanism is installed in the middle of the shoulder strap frame and the rear end is installed in the middle of the pelvic strap frame; the spinal joint mechanism includes N spinal joint servos and N-1 joint connecting rods, N is an integer greater than 2, each joint connecting rod is respectively connected between two adjacent spinal joint servos, the output end of the first spinal joint servo is connected to the shoulder strap servo fixing seat to drive the shoulder strap support frame to rotate, the first spinal joint servo is fixed at the front end of the first joint connecting rod, the output shaft of the last spinal joint servo is hinged to the rear end of the last joint connecting rod, the last spinal joint servo is installed at the rear end of the linear guide mechanism, the spinal joint servo located in the middle is fixed at the front end of the latter joint connecting rod, and the output shaft of the spinal joint servo located in the middle is hinged to the rear end of the previous joint connecting rod; There are four limb modules in total, and each limb module includes two joint links and two servos, wherein the two limb modules are respectively connected to the two ends of the shoulder belt frame to form two front limb modules, and the other two limb modules are respectively connected to the two ends of the pelvic belt frame to form two rear limb modules; the two joint links in each front limb module are respectively a shoulder-elbow link and an elbow-foot link, and the two servos in each front limb module are respectively a shoulder joint servo and an elbow-foot servo, the shoulder joint servos in the two front limb modules are respectively fixed at the two ends of the shoulder belt frame, the elbow joint servo is connected to the shoulder joint servo through the shoulder-elbow link, and the output end of each elbow joint servo is respectively connected to the foot through the elbow-foot link; the two joint links in the rear limb module constitute a hip-knee link and a knee-foot link, the two servos in the rear limb module are respectively a hip joint servo and a knee joint servo, the hip joint servos in the two rear limb modules are respectively fixed at the two ends of the pelvic belt frame, the knee joint servo is connected to the hip joint servo through the hip-knee link, and each knee joint servo is respectively connected to the foot through the knee-foot link.

2. The gecko-like robot with a bionic spine according to claim 1, characterized in that: In the linear guide rail mechanism, the slider is located at the front and the guide rail is located at the rear; the front end of the slider is rotatably mounted on the middle part of the shoulder belt frame, and the rear end of the guide rail is rotatably mounted on the middle part of the pelvic belt frame.

3. The gecko-like robot with a bionic spine according to claim 1, characterized in that: The number of the spinal joint servos is 5, and the number of the joint connecting rods is 4.

4. The gecko-like robot with a bionic spine according to claim 1, characterized in that: The output shaft of the first spinal joint servo coincides with the axis of the driven gear.

5. The gecko-like robot with a bionic spine according to claim 1, characterized in that: The shoulder strap servo fixed seat is fixedly connected with a fixing frame, the output shaft of the first spinal joint servo is connected to the fixing frame, and the fixing frame rotates under the drive of the first spinal joint servo.

6. The gecko-like robot with a bionic spine according to claim 1, characterized in that: The shoulder strap support frame is an L-shaped structure, and the shoulder strap support frame includes a first end and a second end arranged vertically. The first end is rotatably matched with the shoulder strap frame through a hinge shaft, the first end is connected to the front end of the second end, and the second end is perpendicular to the plane where the first end and the shoulder strap frame are located, and the shoulder strap servo fixing seat is fixed on the second end.

7. The gecko-like robot with a bionic spine according to claim 1, characterized in that: The drive control module is installed on the pelvic belt support frame.

8. The gecko-like robot with a bionic spine according to claim 1, characterized in that: The rear end of the pelvic belt support frame is provided with a tail extending forward and backward.

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