A multifunctional biomimetic robot for field exploration

Abstract

This invention discloses a multifunctional biomimetic robot for field exploration, comprising a body structure, a variable-radius slewing wheel-leg mechanism, a variable-stiffness connection mechanism, a flexible tail mechanism, and a front-end actuator. The body structure includes multiple base plates; the variable-stiffness connection mechanism includes multiple variable-stiffness connection components, with adjacent base plates connected by these components; the variable-radius slewing wheel-leg mechanism includes multiple variable-radius slewing wheel-leg components, each capable of both wheel-based and leg-based movement; the flexible tail mechanism possesses degrees of freedom for circumferential rotation and vertical bending; and the front-end actuator has obstacle removal and / or data acquisition functions. This design achieves high movement speed on flat terrain while simultaneously meeting the requirement for high obstacle-crossing capability on complex terrain. Furthermore, the body stiffness can be automatically adjusted, and the tail structure exhibits high controllability and flexibility.

Description

Technical Field

[0001] This invention relates to the field of biomimetic robot technology, specifically to a multifunctional biomimetic robot for field exploration. Background Technology

[0002] Currently, workers often cannot safely reach and successfully complete tasks in complex and potentially dangerous environments, such as field exploration and military reconnaissance. Furthermore, most current machinery is only suitable for environments with ample space and few obstacles, and is somewhat inadequate in dynamic, unstructured environments. Therefore, researching a highly flexible, multi-gait machine suitable for complex terrain is of great significance.

[0003] Existing bionic robots have strong environmental adaptability, but they still have the following problems: 1. The leg movement is limited and cannot simultaneously meet the requirements of high movement speed on flat terrain and high obstacle crossing ability on complex terrain; 2. The rigidity of the body cannot be automatically adjusted, so it cannot improve the stability of movement and environmental adaptability; 3. The controllability and flexibility of the tail structure are low. Summary of the Invention

[0004] In view of the above-mentioned shortcomings of the existing technology, the technical problem to be solved by the present invention is: how to provide a multifunctional biomimetic robot for field exploration that can have a high movement speed on flat terrain and a high obstacle crossing ability on complex terrain, while the rigidity of the body can be automatically adjusted and the controllability and flexibility of the tail structure are high.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] A multifunctional biomimetic robot for field exploration includes a body structure, a variable radius rotating wheel-leg mechanism, a variable stiffness connection mechanism, a flexible tail mechanism, and a front-end actuator.

[0007] The fuselage mechanism includes multiple base plates distributed along the axial direction;

[0008] The variable stiffness connection mechanism includes a plurality of variable stiffness connection components distributed along the axial direction, and two adjacent base plates are connected by the variable stiffness connection components. The variable stiffness connection components are used to make a rigid connection or a flexible connection between two adjacent base plates.

[0009] The variable radius slewing wheel leg mechanism includes multiple variable radius slewing wheel leg assemblies, and at least one variable radius slewing wheel leg assembly is symmetrically provided on both longitudinal sides of the first and last base plates arranged along the axial direction. The variable radius slewing wheel leg assembly has two modes: wheel-type movement mode and leg-type movement mode.

[0010] The flexible tail mechanism is disposed on the last base plate arranged in the axial direction, and the flexible tail mechanism has a degree of freedom of rotation in the circumferential direction and a degree of freedom of bending in the vertical direction.

[0011] The front-end actuator is disposed on the first base plate arranged along the axial direction, and the front-end actuator has obstacle removal and / or data acquisition functions.

[0012] The working principle of this invention is as follows: When the bionic robot of this invention is in use, it can move in a wheeled mode by using the variable radius slewing wheel-leg assembly to meet the need for rapid movement on relatively flat terrain. When walking on complex terrain or when a strong obstacle-crossing ability is required, it can move in a legged mode by using the variable radius slewing wheel-leg assembly to meet the requirement for obstacle-crossing ability. Therefore, this solution can meet the needs of both high movement speed on flat terrain and high obstacle-crossing ability on complex terrain.

[0013] When navigating concave terrain, the variable stiffness connection assembly flexibly connects adjacent base plates to better adapt to uneven terrain, ensuring the robot's base plate fits more closely to the ground. Simultaneously, when overcoming obstacles or climbing steps, the flexible connection reduces stress, enhancing obstacle-crossing capabilities and providing effective protection for the robot. Conversely, when encountering deep ravines, the variable stiffness connection assembly rigidly connects adjacent base plates, maintaining overall rigidity and allowing the robot to easily traverse the ravine. Therefore, this solution effectively improves motion stability and environmental adaptability through stiffness adjustment. Furthermore, the variable stiffness connection mechanism, combined with the variable radius slewing wheel-leg mechanism, further enhances obstacle-crossing ability and better adapts to the functional requirements of concave and ravine terrain.

[0014] In addition, the flexible tail mechanism of the present invention has a degree of freedom of rotation in the circumferential direction and a degree of freedom of bending in the vertical direction, which makes the flexible tail mechanism more controllable and flexible. The front-end actuator is modularly designed and can be changed at any time according to actual needs to meet obstacle removal and / or collection functions, so that the bionic robot can remove obstacles in front of it (e.g., vines, weeds, branches, etc.), drill and collect samples of various shapes, etc., thereby meeting the working requirements under different usage conditions.

[0015] In summary, the bionic robot proposed in this design can achieve high movement speed on flat terrain while also meeting the requirement of high obstacle-crossing ability on complex terrain. Furthermore, the rigidity of the body can be automatically adjusted, and the controllability and flexibility of the tail structure are both high.

[0016] Preferably, the variable stiffness connection assembly includes a first connection assembly, a second connection assembly, and a variable stiffness power assembly. The first connection assembly is fixedly connected to one of the base plates, and the second connection assembly is fixedly connected to an adjacent base plate. The variable stiffness power assembly is connected to the first connection assembly. Under the action of the variable stiffness power assembly, the first connection assembly has axial movement freedom and circumferential rotation freedom relative to the second connection assembly. Under the action of the variable stiffness power assembly, the first connection assembly rotates circumferentially and can maintain contact with the second connection assembly so that the two adjacent base plates are in a rigid connection state. When the first connection assembly and the second connection assembly are separated, the two adjacent base plates are in a flexible connection state.

[0017] Preferably, the first connecting component includes a first locking member and a first longitudinal connecting shaft, and the second connecting component includes a connecting housing and a second locking member. The first longitudinal connecting shaft is axially slidably connected to the connecting housing, and the first locking member is rotatably sleeved on the first longitudinal connecting shaft. The variable stiffness power component is connected to the first locking member so that the first locking member has axial movement freedom and circumferential rotation freedom relative to the connecting housing under the action of the variable stiffness power component. The second locking member is disposed in the connecting housing. The end of the second locking member facing the first locking member can abut against the first locking member during the circumferential rotation of the first locking member, and the end of the second locking member away from the first locking member is provided with a first elastic member. The first elastic member is in a freely elongated state when the first locking member and the second locking member are separated.

[0018] Preferably, the variable stiffness power assembly includes a variable stiffness motor, a pull rope, and a winding wheel. The winding wheel is connected to the shaft of the variable stiffness motor so that the variable stiffness motor can drive the winding wheel to rotate. One end of the pull rope is wound around the winding wheel, and the other end of the pull rope passes through the second connecting assembly and is connected to the first connecting assembly so that when the variable stiffness motor rotates, the pull rope can be wound around the winding wheel and drive the first connecting assembly to rotate circumferentially or move axially.

[0019] Preferably, the first connecting assembly further includes a second longitudinal connecting shaft, the first clip is sleeved on the second longitudinal connecting shaft, and the end of the pull rope away from its connection to the winding wheel is connected to the second longitudinal connecting shaft;

[0020] A connecting through hole is formed on the first card in the longitudinal direction, and a plurality of connecting grooves are also formed on the first card in the longitudinal direction. The connecting grooves are all connected to the connecting through hole. The second longitudinal connecting shaft passes through the connecting through hole, and a sliding bearing is fitted on the second longitudinal connecting shaft at a position corresponding to the connecting groove. When the first card and the second card abut, the sliding bearing will also abut against the second card, so as to reduce the friction force during the abutment process of the first card and the second card through the sliding bearing.

[0021] Preferably, the second connecting component further includes a baffle, which is disposed in the connecting housing and on the side of the second clip opposite to the first clip, and the end of the first elastic member away from its connection to the second clip abuts against the baffle.

[0022] On the side of the second clip used to connect to the first elastic member, a clip protrusion is provided, and a clip protrusion groove is formed on the clip protrusion. The end of the first elastic member used to abut against the second clip is located in the clip protrusion groove. On the side of the baffle used to connect to the first elastic member, a protrusion limiting part is provided, and a protrusion limiting groove is formed on the protrusion limiting part. The end of the first elastic member used to abut against the baffle is located in the protrusion limiting groove, so as to limit the movement of the first elastic member by the clip protrusion groove and the protrusion limiting groove.

[0023] Preferably, two first elastic elements are provided in the vertical direction at the end of the second card that is away from the first card, and the first elastic elements are springs.

[0024] Preferably, a guide hole is provided on the side wall of the connecting box in the axial direction, and the first longitudinal connecting shaft passes through the guide hole and can move axially along the guide hole.

[0025] Preferably, the variable stiffness power assembly further includes a wire harness hole, which is located between the second connecting assembly and the variable stiffness motor and close to the variable stiffness motor. A wire harness hole is provided on the wire harness hole, and the end of the pull rope away from the winding wheel passes through the wire harness hole and the second connecting assembly in sequence and is connected to the second longitudinal connecting shaft.

[0026] Preferably, the second connecting assembly further includes a connecting cover, and a receiving chamber is formed between the connecting box and the connecting cover and fixedly connected to the base plate respectively, wherein the second clip and the baffle are both located in the receiving chamber;

[0027] Both the first longitudinal connecting shaft and the second longitudinal connecting shaft are made of stainless steel rivets;

[0028] The second card has a slot, and the first card can move axially into the slot when it rotates circumferentially to the corresponding position.

[0029] Preferably, the variable radius slewing wheel leg assembly includes a power component, a clutch component, an active component, a tilting component, and a rotating wheel component. The power component and the clutch component are both installed at the bottom of the base plate. The power component is connected to the active component to drive the active component to rotate. The active component is connected to the rotating wheel component via a belt component to drive the rotating wheel component to roll around its own axis to achieve a wheel-like movement mode. The tilting component is connected to both the active component and the rotating wheel component. When energized, the clutch component can engage with the tilting component to drive the tilting component to rotate circumferentially around the rotation center of the active component. The tilting component drives the rotating wheel component to rotate circumferentially around the rotation center of the active component to achieve a leg-like movement mode. When de-energized, the clutch component disengages from the tilting component.

[0030] Preferably, the active component includes a drive shaft and a drive gear. The drive shaft is connected to the power output end of the power component. The drive gear is sleeved on the drive shaft and rotates synchronously with the drive shaft. The clutch component includes a clutch, a first clutch gear, and a second clutch gear. The second clutch gear meshes with the drive gear. The tilting component includes a tilting gear, a connecting flange, and a tilting bracket. The tilting gear is sleeved outside the drive shaft, and there is a gap between the inner diameter of the tilting gear and the outer diameter of the drive shaft. The tilting gear can mesh with the first clutch gear when the clutch is energized, and the tilting... When the clutch is de-energized, the gear disengages from the first clutch gear. The flipping gear is connected to the flipping bracket via the connecting flange, so that when the flipping gear meshes with the first clutch gear and rotates around the drive shaft, it can drive the flipping bracket to rotate circumferentially around the drive shaft via the connecting flange. The rotating wheel component includes a rotating shaft and rotating wheels connected to both longitudinal sides of the rotating shaft. The lower end of the flipping bracket is movably sleeved on the rotating shaft between the two rotating wheels, so that when the flipping bracket rotates circumferentially around the drive shaft, it can synchronously drive the rotating wheel component to rotate circumferentially around the drive shaft.

[0031] Preferably, the flipping bracket includes vertically arranged legs, a housing is slidably connected to the legs, the housing is fixed to the connecting flange, an axle box is provided at one end of the legs near the rotating wheel component, the rotating shaft moves through the axle box, a second elastic element is sleeved on the legs between the housing and the axle box, and the second elastic element is in a compressed state in the wheel movement mode.

[0032] Preferably, a leg cap is provided at the end of the leg rod away from the axle box. The leg cap can abut against the housing when the second elastic element is reset, so as to limit the vertical movement of the housing.

[0033] Preferably, the belt assembly includes a driving synchronous pulley, a driven synchronous pulley, and a transmission belt. The driving synchronous pulley is mounted on the driving shaft, the driven synchronous pulley is mounted on the rotating shaft, and the transmission belt is sequentially mounted on the driving synchronous pulley and the driven synchronous pulley.

[0034] Preferably, the belt component further includes two parallelogram brackets, which are arranged longitudinally. Each parallelogram bracket includes a first bracket, a second bracket, a third bracket, and a fourth bracket. One end of each of the two first brackets is respectively sleeved on the drive shaft at both ends of the drive synchronous pulley via bearings. The other end of each of the two first brackets is connected to the second bracket in the corresponding parallelogram bracket. The corresponding ends of the two first brackets and the two second brackets are connected by a first connector. The ends of the two second brackets away from their connection to the first brackets are respectively sleeved on the rotating shaft at both ends of the driven synchronous pulley via bearings.

[0035] One end of each of the two third supports is respectively mounted on the drive shaft at both ends of the drive synchronous pulley via bearings. The other end of each of the two third supports is connected to the fourth support in the corresponding parallelogram support. The corresponding ends of the two third supports and the two fourth supports are connected by a second connector. The ends of the two fourth supports away from their connection to the third supports are respectively mounted on the rotating shaft at both ends of the driven synchronous pulley via bearings.

[0036] A first rolling bearing is fitted onto the first connecting member between the two parallelogram brackets, and a first tensioning pulley is fitted onto the outer ring of the first rolling bearing. A second rolling bearing is fitted onto the second connecting member between the two parallelogram brackets, and a second tensioning pulley is fitted onto the outer ring of the second rolling bearing. The transmission belt is sequentially fitted onto the driving synchronous pulley, the first tensioning pulley, the driven synchronous pulley, and the second tensioning pulley.

[0037] Preferably, in the wheel-type movement mode, the distance between the axis of the drive shaft and the axis of the rotating wheel is R, and in the leg-type movement mode, the maximum distance between the axis of the drive shaft and the axis of the rotating wheel is H, then H / R≥2.5.

[0038] Preferably, the flexible tail mechanism includes a circumferential rotation component, a bending component, a tail base, and a flexible tail. The circumferential rotation component is mounted on the base plate, and the bending component and the flexible tail are mounted on the tail base. The circumferential rotation component is used to drive the flexible tail to rotate circumferentially, and the bending component is used to drive the flexible tail to bend.

[0039] Preferably, the circumferential rotation assembly includes a circumferential rotation motor, a circumferential driving rotation gear, and a circumferential driven rotation gear. The circumferential rotation assembly is mounted on the base plate. The circumferential driving rotation gear is connected to the shaft of the circumferential rotation motor, so that the circumferential rotation motor can drive the circumferential driving rotation gear to rotate. The circumferential driving rotation gear and the circumferential driven rotation gear mesh, so that the circumferential driving rotation gear can drive the circumferential driven rotation gear to rotate. The circumferential driven rotation gear is disposed on the tail base, and the flexible tail is mounted on the tail base, so that the circumferential driven rotation gear can drive the tail base to rotate, and the tail base drives the flexible tail to rotate.

[0040] The bending assembly is mounted on the tail base. The bending assembly includes a bending motor, a pull wire, and a pull wire shaft. The pull wire shaft is sleeved on the rotating shaft of the bending motor so that the bending motor can drive the pull wire shaft to rotate. One end of the pull wire is wound around the pull wire shaft, and the other end of the pull wire is wound around the flexible tail so that the pull wire can drive the flexible tail to bend.

[0041] Preferably, the flexible tail includes a plurality of flexible segments arranged vertically, each flexible segment including a connecting portion and a tail portion, the tail portion being connected to the connecting portion of the adjacent flexible segments, and a flexible spring being provided between two adjacent tail portions, and the end of the pull cable away from its connection to the pull cable shaft being connected to the upper end of the flexible tail.

[0042] Preferably, a wire hole is provided at a corresponding position of each of the tail sections, and the end of the pull wire away from its connection to the pull wire shaft passes through the wire hole of each of the tail sections sequentially from bottom to top.

[0043] Preferably, the tail section has a structure in which the radius gradually decreases from the base of the tail to the tip of the tail.

[0044] Preferably, a camera assembly is also provided at the top of the flexible tail section. The camera assembly includes a camera mounting base and a camera. The camera mounting base is installed at the top of the flexible tail section, and the camera is installed on the camera mounting base.

[0045] Preferably, a pull cable converter is also installed in the tail base, and one end of the pull cable that is connected to the pull cable shaft passes through the pull cable converter before connecting to the pull cable shaft.

[0046] Preferably, two flexible springs are provided between each of the two adjacent tail sections, and the two flexible springs are respectively located at both ends of the pull wire.

[0047] Preferably, the front-end actuator includes a two-degree-of-freedom rotation component and an execution component. The two-degree-of-freedom rotation component is mounted on the base plate and connected to the execution component, and is used to drive the execution component to select between the horizontal and vertical directions. The execution component includes an execution power component and an actuator, and the execution power component is used to drive the actuator to move.

[0048] Preferably, the two-degree-of-freedom rotational assembly includes a first base, a vertical rotation motor, a second base, and a horizontal rotation motor. The first base is connected to the base plate, the vertical rotation motor is mounted on the first base, the second base is connected to the shaft of the vertical rotation motor, and the horizontal rotation motor is mounted on the second base.

[0049] The actuation component also includes a third base, which is connected to the shaft of the horizontal rotary motor, and the actuation power component is mounted on the third base.

[0050] Compared with the prior art, the present invention has the following advantages:

[0051] 1. This invention meets our needs by mimicking the functional form of scorpions in nature. The bionic robot is mainly composed of four innovative modular mechanisms: six variable radius rotating wheel leg components, variable stiffness connection mechanism, flexible tail mechanism, and front-end execution mechanism. The whole is divided into three sections connected by the variable stiffness connection mechanism. With the help of an independently designed control system, the robot can be remotely controlled to conduct field reconnaissance in complex terrain.

[0052] 2. This invention solves the problems of existing bionic robots, such as the inability to simultaneously achieve obstacle-crossing ability and high efficiency, complex control, high energy consumption, and low stability, and achieves the requirements of adapting to complex environments and completing multiple tasks, while also satisfying remote control and real-time video transmission.

[0053] 3. The variable radius slewing wheel-leg mechanism of this invention, combined with the variable stiffness connection mechanism, can adapt to complex terrain, and each leg requires only one drive. For example, when crossing steps, the two adjacent base plates are in flexible mode, and the variable radius slewing wheel-leg assembly is in leg-like movement mode to cross the steps; when traversing concave terrain, the two adjacent base plates are in flexible mode, and the variable radius slewing wheel-leg assembly is in wheel-like movement mode to adapt to concave terrain and pass quickly; when crossing ditches, the two adjacent base plates are in rigid mode, and the variable radius slewing wheel-leg assembly is in wheel-like movement mode, so that the bionic robot always maintains at least four wheels on the ground for support, ensuring that the bionic robot passes quickly and smoothly; the flexible tail mechanism of this invention can realize continuous and stable changes in the reconnaissance perspective of the camera device, and in conjunction with the modular front-end execution mechanism, realize multiple functions such as remote control reconnaissance, sampling, and obstacle removal; this invention independently designs a robot-compatible PCB board and control system to realize the integration of the bionic robot circuitry; and a mobile Bluetooth app is developed to realize remote control and real-time video transmission.

[0054] 4. The variable radius slewing wheel-leg mechanism of this invention has a wheel-type movement mode for high-speed travel and a leg-type movement mode for turning and overcoming obstacles, enabling it to adapt to complex terrain; a variable stiffness connection mechanism is designed with a spring-hinge mechanism, using line drive, and has a solid line variable stiffness function; a flexible tail mechanism is composed of a multi-segment mechanism and springs, using line drive, and working with the tail gimbal to achieve flexible tail movement; a modular front-end actuator adopts a modular design, enabling quick replacement of the front-end actuator, and the two front-end mechanisms can cooperate with each other to complete multiple tasks. Attached Figure Description

[0055] Figure 1 This is a three-dimensional structural schematic diagram of the multifunctional biomimetic robot for field exploration of the present invention;

[0056] Figure 2 This is a front view of the multifunctional biomimetic robot for field exploration of the present invention;

[0057] Figure 3 This is a partially enlarged schematic diagram of the variable stiffness connection component in the multifunctional biomimetic field exploration robot of the present invention;

[0058] Figure 4 This is a schematic diagram of the structure of the first connecting component and the second connecting component in the multifunctional biomimetic robot for field exploration of the present invention;

[0059] Figure 5 This is an exploded schematic diagram of the first and second connecting components in the multifunctional biomimetic robot for field exploration of the present invention.

[0060] Figure 6 This is a schematic diagram of the structure of the first connecting component in the multifunctional biomimetic robot for field exploration of the present invention;

[0061] Figure 7 This is a schematic diagram of the state of the first and second clamping parts mating in the multifunctional biomimetic robot for field exploration of the present invention. (a) is a rigid connection, and (b) is a flexible connection.

[0062] Figure 8 This is a schematic diagram of the variable radius rotating wheel leg assembly in the multifunctional biomimetic robot for field exploration of the present invention;

[0063] Figure 9 This is a front view of the variable radius rotating wheel-leg assembly in the multifunctional biomimetic robot for field exploration of the present invention;

[0064] Figure 10 This is a bottom view of the variable radius rotating wheel leg assembly in the multifunctional biomimetic field exploration robot of the present invention;

[0065] Figure 11 This is a schematic diagram of power transmission in two movement modes of the multifunctional biomimetic robot for field exploration of the present invention. (a) is the wheeled movement mode, and (b) is the legged movement mode.

[0066] Figure 12 This is a schematic diagram showing the change in length of the second elastic element of the multifunctional biomimetic robot for field exploration under two states: (a) is the relaxed state, and (b) is the gravitational compression state.

[0067] Figure 13 This is a schematic diagram showing the length change of the variable radius rotating wheel leg assembly in the multifunctional biomimetic field exploration robot of the present invention during circumferential rotation.

[0068] Figure 14 This is a schematic diagram of the flexible tail mechanism in the multifunctional biomimetic robot for field exploration of the present invention;

[0069] Figure 15 This is a front view of the flexible tail mechanism in the multifunctional biomimetic robot for field exploration of the present invention;

[0070] Figure 16 This is a partial cross-sectional view of the flexible tail section of the multifunctional biomimetic robot for field exploration of the present invention.

[0071] Figure 17 This is a schematic diagram of the structure of the multifunctional biomimetic robot for field exploration of the present invention when the front-end actuator is a mechanical clamp;

[0072] Figure 18 This is a schematic diagram of the structure of the multifunctional biomimetic robot for field exploration of the present invention, when the front-end actuator is an electric drill.

[0073] Explanation of reference numerals in the attached drawings: Variable radius slewing wheel leg assembly 1, rotating wheel 101, second elastic element 102, housing 103, leg rod 104, leg cap 105, wheel and axle box 106, parallelogram bracket 107, first bracket 1071, second bracket 1072, third bracket 1073, fourth bracket 1074, reversing gear 108, first clutch gear 109, second clutch gear 110, clutch 111, connecting flange 112, first tensioning wheel 113, power component 114, driving gear 115, coupling 116, transmission belt 117, driven synchronous pulley 118, rotating shaft 119, driving synchronous pulley 120, base plate 2, variable stiffness connecting assembly 3, winding wheel 301, wire harness hole 302, connecting box 303, guide hole 3031 1. Connecting cover 304, first clamp 305, first longitudinal connecting shaft 306, second longitudinal connecting shaft 307, second clamp 308, baffle 309, protruding limiting part 310, clamp protrusion part 311, first elastic element 312, sliding bearing 313, flexible tail mechanism 4, camera 401, camera mounting base 402, flexible tail 403, tail base 404, active rotating gear 405, flexible joint 406, connecting part 4061, tail part 4062, flexible spring 407, pull wire 408, circumferential rotating motor 409, bending motor 410, driven rotating gear 411, pull wire converter 412, pull wire shaft 413, front end actuator 5, first base 501, second base 502, third base 503, actuator 504. Detailed Implementation

[0074] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the scope of protection of the present invention. Unless otherwise defined, the technical or scientific terms used herein should have the ordinary meaning understood by those skilled in the art to which this invention pertains.

[0075] The terms "first," "second," and similar words used in the specification and claims of this patent application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, unless the context clearly indicates otherwise, the singular forms of "an," "a," or "the," etc., do not indicate a quantity limitation, but rather indicate the presence of at least one. Terms such as "comprising" or "including" mean that the element or object preceding "comprising" encompasses the features, integrals, steps, operations, elements, and / or components listed following "comprising" or "including," and do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or collections thereof. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; these relative positional relationships may change accordingly when the absolute position of the described object changes.

[0076] As attached Figure 1 To the attached Figure 18 As shown, a multifunctional biomimetic robot for field exploration includes a body mechanism, a variable radius rotating wheel-leg mechanism, a variable stiffness connection mechanism, a flexible tail mechanism 4, and a front-end actuator 5.

[0077] The fuselage structure includes multiple base plates 2 distributed along the axial direction;

[0078] The variable stiffness connection mechanism includes multiple variable stiffness connection components 3 distributed along the axial direction, and two adjacent base plates 2 are connected by the variable stiffness connection components 3. The variable stiffness connection components 3 are used to make rigid or flexible connections between two adjacent base plates 2.

[0079] The variable radius slewing wheel leg mechanism includes multiple variable radius slewing wheel leg assemblies 1, and at least one variable radius slewing wheel leg assembly 1 is symmetrically provided on both longitudinal sides of the first base plate 2 and the last base plate 2 arranged along the axial direction. The variable radius slewing wheel leg assembly 1 has two modes: wheel-type movement mode and leg-type movement mode.

[0080] The flexible tail mechanism 4 is located on the last base plate 2 arranged along the axial direction, and the flexible tail mechanism 4 has a degree of freedom of rotation in the circumferential direction and a degree of freedom of bending in the vertical direction.

[0081] The front-end actuator 5 is located on the first base plate 2 arranged along the axial direction, and the front-end actuator 5 has obstacle removal and / or data acquisition functions.

[0082] The working principle of this invention is as follows: When the bionic robot of this invention is in use, it can move in a wheeled mode by using the variable radius slewing wheel-leg assembly 1 to meet the need for rapid movement when moving on relatively flat terrain. When walking on complex terrain or when a strong obstacle-crossing ability is required, the variable radius slewing wheel-leg assembly 1 can be used in a legged mode to meet the obstacle-crossing ability requirement. Therefore, this solution can meet the needs of both high movement speed on flat terrain and high obstacle-crossing ability on complex terrain.

[0083] When navigating concave terrain, to ensure the bionic robot's base plate 2 adheres more closely to the ground, the variable stiffness connection component 3 flexibly connects adjacent base plates 2 to better adapt to uneven terrain. Simultaneously, when overcoming obstacles or ascending steps, the flexible connection between base plates 2 reduces stress during obstacle crossing, better enabling obstacle-crossing and effectively protecting the bionic robot. Conversely, when encountering deep ravines, the variable stiffness connection component 3 rigidly connects adjacent base plates 2, allowing the bionic robot to maintain overall rigidity when crossing ravines, thus easily traversing them. Therefore, this solution, through stiffness adjustment, effectively improves motion stability and environmental adaptability. Furthermore, the variable stiffness connection mechanism, combined with the variable radius slewing wheel-leg mechanism, further enhances obstacle-crossing ability and better adapts to the functional requirements of concave and ravine terrain.

[0084] In addition, the flexible tail mechanism 4 of the present invention has a degree of freedom of rotation in the circumferential direction and a degree of freedom of bending in the vertical direction, which makes the flexible tail mechanism 4 more controllable and flexible. The front-end actuator 5 is modularly designed and can be functionally replaced at any time according to actual needs to meet obstacle removal and / or collection functions, so that the bionic robot can remove obstacles in front of it (e.g., vines, weeds, branches, etc.), drill and collect samples of various shapes when moving, thereby meeting the working requirements under different usage conditions.

[0085] In summary, the bionic robot proposed in this design can achieve high movement speed on flat terrain while also meeting the requirement of high obstacle-crossing ability on complex terrain. Furthermore, the rigidity of the body can be automatically adjusted, and the controllability and flexibility of the tail structure are both high.

[0086] In this embodiment, the variable stiffness connection assembly 3 includes a first connection assembly, a second connection assembly, and a variable stiffness power assembly. The first connection assembly is fixedly connected to one of the base plates 2, and the second connection assembly is fixedly connected to the adjacent base plate 2. The variable stiffness power assembly is connected to the first connection assembly. Under the action of the variable stiffness power assembly, the first connection assembly has axial movement freedom and circumferential rotation freedom relative to the second connection assembly. Under the action of the variable stiffness power assembly, the first connection assembly rotates circumferentially and can maintain contact with the second connection assembly so that the two adjacent base plates 2 are in a rigid connection state. When the first connection assembly and the second connection assembly are separated, the two adjacent base plates 2 are in a flexible connection state.

[0087] In this way, when a rigid connection is required between the two base plates 2, the variable stiffness power component drives the first connecting component to rotate circumferentially to abut against the second connecting component. Then, the variable stiffness power component continues to act on the first connecting component, causing the first connecting component to continue to move axially along the second connecting component. The variable stiffness power component maintains its action on the first connecting component, thereby maintaining the abutment effect between the first and second connecting components. At this time, the two adjacent base plates 2 will be in a rigid connection state. When the variable stiffness power component stops acting on the first connecting component, the first connecting component will rotate circumferentially to reset to the position separated from the second connecting component, thereby enabling a flexible connection between the two adjacent base plates 2.

[0088] In this embodiment, the first connecting component includes a first locking member 305 and a first longitudinal connecting shaft 306, and the second connecting component includes a connecting housing 303 and a second locking member 308. The first longitudinal connecting shaft 306 is axially slidably connected to the connecting housing 303, and the first locking member 305 is rotatably sleeved on the first longitudinal connecting shaft 306. The variable stiffness power component is connected to the first locking member 305 so that the first locking member 305 has axial movement freedom and circumferential rotation freedom relative to the connecting housing 303 under the action of the variable stiffness power component. The second locking member 308 is disposed in the connecting housing 303. One end of the second locking member 308 facing the first locking member 305 can abut against the first locking member 305 during the circumferential rotation of the first locking member 305, and the other end of the second locking member 308 away from the first locking member 305 is provided with a first elastic member 312. The first elastic member 312 is in a free extension state when the first locking member 305 and the second locking member 308 are separated.

[0089] Thus, when a rigid connection is required between the two base plates 2, the variable stiffness power assembly drives the first clamping member 305 to rotate circumferentially around the first longitudinal connecting axis 306 until it abuts against the second clamping member 308. Then, the variable stiffness power assembly continues to act on the first clamping member 305, causing it to move axially and apply an axial force to the second clamping member 308. The second clamping member 308 moves axially and compresses the first elastic member 312. The variable stiffness power assembly maintains its action on the first clamping member 305, thereby maintaining the abutment effect between the first clamping member 305 and the second clamping member 308. At this time, the first elastic member 312 is in a compressed state, and the two adjacent base plates 2 will be in a rigid connection state (as shown in the attached figure). Figure 7 As shown in Figure a), when the variable stiffness power assembly stops acting on the first locking member 305, under the action of the first elastic member 312, the second locking member 308 pushes the first locking member 305 outward along the axial direction. At the same time, in conjunction with the movement of the base plate 2, the first locking member 305 separates from the second locking member 308 and rotates circumferentially back to the position where it is separated from the second locking member 308. This allows for a flexible connection between the two adjacent base plates 2 (as shown in the attached figure). Figure 7 (as shown in b in the text).

[0090] In this embodiment, the variable stiffness power assembly includes a variable stiffness motor, a pull rope (not shown in the figure), and a winding wheel 301. The winding wheel 301 is connected to the shaft of the variable stiffness motor, enabling the variable stiffness motor to drive the winding wheel 301 to rotate. One end of the pull rope is wound around the winding wheel 301, and the other end of the pull rope passes through the second connecting component and is connected to the first connecting component. This allows the pull rope to wind around the winding wheel 301 and drive the first connecting component to rotate circumferentially or move axially when the variable stiffness motor rotates. In practical use, the variable stiffness motor can be installed in the middle section of the three-section base plate 2 of the bionic robot, i.e., one drive, simultaneously controlling the stiffness-flexibility switching of the entire base plate 2. However, considering that different base plates 2 may need to be in rigid or flexible states respectively, two variable stiffness motors can also be installed in the middle section of the base plate 2. The two variable stiffness motors drive the stiffness-flexibility mode switching of the front-middle and rear-middle base plates 2 respectively.

[0091] Thus, when a rigid connection is required between two adjacent base plates 2, the rotation of the variable stiffness motor drives the winding wheel 301 to rotate. The rotation of the winding wheel 301 causes the pull rope to continuously wind around the winding wheel 301, and the length of the pull rope continuously shortens. This causes the pull rope to exert a force on the first connecting component toward the second connecting component. Under this force, the first connecting component will first rotate circumferentially to a position that abuts against the second connecting component, and then drive the second connecting component to move axially synchronously to achieve a rigid connection between the two base plates 2.

[0092] In this embodiment, the first connecting component further includes a second longitudinal connecting shaft 307, a first clip 305 is sleeved on the second longitudinal connecting shaft 307, and one end of the pull rope away from its connecting winding wheel 301 is connected to the second longitudinal connecting shaft 307.

[0093] A connecting through hole is provided on the first clamp 305 in the longitudinal direction. A plurality of connecting grooves are also provided on the first clamp 305 in the longitudinal direction. All connecting grooves communicate with the connecting through hole. The second longitudinal connecting shaft 307 passes through the connecting through hole. A sliding bearing 313 is also sleeved on the second longitudinal connecting shaft 307 at the position corresponding to the connecting groove. When the first clamp 305 and the second clamp 308 abut, the sliding bearing 313 will also abut with the second clamp 308, so as to reduce the friction force during the abutment process of the first clamp 305 and the second clamp 308 through the sliding bearing 313.

[0094] In this way, when making a rigid connection, the pull rope exerts a force on the second longitudinal connecting shaft 307, which drives the first clamp 305 to rotate towards the second clamp 308 through the action of the second longitudinal rotating shaft 119. When the first clamp 305 and the second clamp 308 abut, the sliding bearing 313 will reduce the friction during the abutment process of the first clamp 305 and the second clamp 308.

[0095] In this embodiment, the second connecting component further includes a baffle 309, which is disposed inside the connecting housing 303 and on the side of the second latch 308 away from the first latch 305. The end of the first elastic member 312 away from its connection to the second latch 308 abuts against the baffle 309.

[0096] On the side of the second locking member 308 used to connect the first elastic member 312, a locking member protrusion 311 is provided, and a locking member protrusion groove is formed on the locking member protrusion 311. The end of the first elastic member 312 used to abut against the second locking member 308 is located in the locking member protrusion groove. On the side of the baffle 309 used to connect the first elastic member 312, a protrusion limiting part 310 is provided, and a protrusion limiting groove is formed on the protrusion limiting part 310. The end of the first elastic member 312 used to abut against the baffle 309 is located in the protrusion limiting groove, so as to limit the movement of the first elastic member 312 by the locking member protrusion groove and the protrusion limiting groove.

[0097] In this way, the protruding groove and the protruding limiting groove can limit and guide the entire compression or reset movement of the first elastic element 312, ensuring that it always travels along the predetermined route.

[0098] In this embodiment, two first elastic members 312 are provided in the vertical direction at the end of the second card 308 away from the first card 305, and the first elastic members 312 are springs.

[0099] In this way, the two vertically arranged first elastic elements 312 can improve the stability of the movement process.

[0100] In this embodiment, a guide hole 3031 is provided on the side wall of the connecting housing 303 in the axial direction. The first longitudinal connecting shaft 306 passes through the guide hole 3031 and can move axially along the guide hole 3031.

[0101] In this way, the guide hole 3031 guides the axial movement of the first longitudinal connector.

[0102] In this embodiment, the variable stiffness power assembly also includes a wire harness hole 302. The wire harness hole 302 is located between the second connecting assembly and the variable stiffness motor and is close to the variable stiffness motor. A wire harness hole is provided on the wire harness hole 302. The end of the pull rope away from the winding wheel 301 passes through the wire harness hole and the second connecting assembly in sequence and is connected to the second longitudinal connecting shaft 307.

[0103] In this way, the cable harness hole on the cable harness 302 can limit the pull rope.

[0104] In this embodiment, the second connecting assembly further includes a connecting cover 304, a receiving chamber is formed between the connecting box 303 and the connecting cover 304 and they are respectively fixedly connected to the bottom plate 2, and the second clip 308 and the baffle 309 are both located in the receiving chamber;

[0105] Both the first longitudinal connecting shaft 306 and the second longitudinal connecting shaft 307 are stainless steel rivets.

[0106] The second card 308 is provided with a card slot, and the first card 305 can move axially into the card slot when it rotates circumferentially to the corresponding position.

[0107] In this way, both the second clamp 308 and the baffle 309 are located in the receiving cavity, which can avoid the influence of external objects on the use of the second clamp 308 and the baffle 309 during use, thereby ensuring the reliability of the variable stiffness connection mechanism.

[0108] In this embodiment, the variable radius slewing wheel leg assembly 1 includes a power component 114, a clutch component, an active component, a tilting component, and a rotating wheel component. The power component 114 is a power motor. Both the power component 114 and the clutch component are installed at the bottom of the base plate 2. The power component 114 is connected to the active component and is used to drive the active component to rotate. The active component is connected to the rotating wheel component through a belt component, so that the rotating wheel component can be driven to roll around its own axis to achieve a wheel-like movement mode. The tilting component is connected to both the active component and the rotating wheel component. When the clutch component is energized, it can engage with the tilting component to drive the tilting component to rotate circumferentially around the rotation center of the active component. The tilting component drives the rotating wheel component to rotate circumferentially around the rotation center of the active component to achieve a leg-like movement mode. When the power is off, the clutch component is disengaged from the tilting component.

[0109] In this way, when the variable radius slewing wheel-leg assembly 1 travels on relatively flat ground, the clutch component is de-energized, and the power component 114 drives the active component to rotate. The active component drives the rotating wheel component to rotate around its own axis through the belt component. At this time, the rotating wheel component rotates on the ground to achieve wheel-like movement mode, which meets the requirement of high movement speed on flat ground. However, when crossing complex terrain or obstacles, the clutch component is energized and engages with the flipping component. At this time, the clutch component drives the flipping component to rotate circumferentially around the rotation center of the active component. In turn, the flipping component drives the rotating wheel component to rotate circumferentially around the rotation center of the active component. At this time, it is leg-like movement mode. Leg-like movement mode can cross larger obstacles. At this time, combined with the rotation of the rotating wheel component, it can easily cross obstacles.

[0110] In this embodiment, the driving component includes a driving shaft and a driving gear 115. The driving shaft is connected to the power output end of the power component 114. The driving gear 115 is sleeved on the driving shaft and rotates synchronously with the driving shaft. The clutch component includes a clutch 111, a first clutch gear 109, and a second clutch gear 110. The second clutch gear 110 meshes with the driving gear 115. The flipping component includes a flipping gear 108, a connecting flange 112, and a flipping bracket. The flipping gear 108 is sleeved outside the driving shaft, and there is a gap between the inner diameter of the flipping gear 108 and the outer diameter of the driving shaft. When the clutch 111 is energized, the flipping gear 108 can engage with the first clutch gear 109. The rotating gear 108 is engaged with the first clutch gear 109 when the clutch 111 is de-energized. The rotating gear 108 is connected to the rotating bracket through the connecting flange 112, so that when the rotating gear 108 and the first clutch gear 109 are engaged and rotate around the drive shaft, the rotating bracket can be driven to rotate around the drive shaft circumferentially through the connecting flange 112. The rotating wheel component includes a rotating shaft 119 and rotating wheels 101 connected on both longitudinal sides of the rotating shaft 119. The lower end of the rotating bracket is movably sleeved on the rotating shaft 119 between the two rotating wheels 101, so that when the rotating bracket rotates around the drive shaft circumferentially, it can synchronously drive the rotating wheel component to rotate around the drive shaft circumferentially.

[0111] In this way, during wheeled movement mode, clutch 111 is de-energized, the first clutch gear 109 disengages from the reversing gear 108, the power unit 114 drives the drive shaft to rotate, the drive shaft then drives the rotating shaft 119 to rotate via the belt assembly, and the rotating shaft 119 in turn drives the rotating wheel 101 to rotate, thus achieving the wheeled movement mode effect (its power transmission path is shown in the attached figure). Figure 11 (As shown in a) In leg-type movement mode, clutch 111 is energized, and the first clutch gear 109 and the tilting gear 108 mesh. On one hand, the power component 114 drives the rotating wheel 101 to rotate through the drive shaft and the rotating shaft 119. On the other hand, the power of the power component 114 is transmitted to the second clutch gear 110 through the drive gear 115. The second clutch gear 110 further transmits the power to the first clutch gear 109, and the first clutch gear 109 transmits the power to the tilting gear 108. The tilting gear 108 rotates around the drive shaft and drives the tilting bracket to rotate synchronously around the drive shaft through the connecting flange 112. The rotation of the tilting bracket also drives the rotating wheel component to rotate around the drive shaft (its power transmission path is shown in the attached figure). Figure 11 (as shown in b) thus causes the rotating wheel component to rotate upwards as a whole to achieve the purpose of crossing large obstacles in leg movement mode.

[0112] In this embodiment, the flipping bracket includes a vertically arranged leg 104, a housing 103 is vertically slidably connected to the leg 104, the housing 103 is fixed to the connecting flange 112, and an axle box 106 is provided at one end of the leg 104 near the rotating wheel component. The rotating shaft 119 moves through the axle box 106. A second elastic member 102 is sleeved on the leg 104 between the housing 103 and the axle box 106, and the second elastic member 102 is in a compressed state in the wheel-type movement mode.

[0113] Thus, in wheeled movement mode, the rotating wheel 101 is in contact with the ground and is subjected to the gravity of the bionic robot, while the second elastic element 102 is in a compressed state. However, in legged movement mode, the rotating wheel 101 leaves the ground and rotates. At this time, the second elastic element 102 is no longer subjected to the gravity of the bionic robot and returns to its original position. This increases the distance between the rotating wheel 101 and the drive shaft, meaning the radius of rotation of the rotating wheel 101 increases, achieving a variable radius rotation function. This allows it to overcome larger obstacles. At the same time, in wheeled movement mode, when encountering smaller obstacles, the rotating wheel component can achieve a shock absorption effect through the leg 104 and the second elastic element 102.

[0114] In this embodiment, a leg cap 105 is provided at the end of the leg rod 104 away from the axle box 106. The leg cap 105 can abut against the housing 103 when the second elastic member 102 is reset, so as to limit the vertical movement of the housing 103. A linear bearing is provided inside the housing 103, and the housing 103 is slidably connected to the leg rod 104 through the linear bearing.

[0115] In this way, the leg cap 105 can limit the movement of the housing 103 when the second elastic member 102 is reset, ensuring that the housing 103 moves within a limited range.

[0116] In this embodiment, the belt assembly includes a driving synchronous pulley 120, a driven synchronous pulley 118, and a transmission belt 117. The driving synchronous pulley 120 is sleeved on the driving shaft, the driven synchronous pulley 118 is sleeved on the rotating shaft 119, and the transmission belt 117 is sequentially sleeved on the driving synchronous pulley 120 and the driven synchronous pulley 118.

[0117] In this way, when the drive shaft rotates, it drives the drive synchronous pulley 120 to rotate. When the drive synchronous pulley 120 rotates, it drives the transmission belt 117 to rotate. When the transmission belt 117 rotates, it drives the driven synchronous pulley 118 to rotate. When the driven synchronous pulley 118 rotates, it drives the rotating shaft 119 to rotate. When the rotating shaft 119 rotates, it further drives the rotating wheel 101 to rotate.

[0118] In this embodiment, the belt component further includes two parallelogram brackets 107. The two parallelogram brackets 107 are arranged longitudinally, and each parallelogram bracket 107 includes a first bracket 1071, a second bracket 1072, a third bracket 1073, and a fourth bracket 1074. One end of each of the two first brackets 1071 is respectively sleeved on the drive shaft at both ends of the drive synchronous pulley 120 through bearings. The other end of each of the two first brackets 1071 is connected to the second bracket 1072 in the corresponding parallelogram bracket 107. The corresponding ends of the two first brackets 1071 and the two second brackets 1072 are connected by a first connector. The ends of the two second brackets 1072 away from their connection to the first brackets 1071 are respectively sleeved on the rotating shafts 119 at both ends of the driven synchronous pulley 118 through bearings.

[0119] One end of each of the two third supports 1073 is respectively sleeved on the drive shaft at both ends of the drive synchronous pulley 120 via bearings. The other end of each of the two third supports 1073 is connected to the fourth support 1074 in the corresponding parallelogram support 107. The corresponding ends of the two third supports 1073 and the two fourth supports 1074 are connected by the second connector. The ends of the two fourth supports 1074 away from their connection to the third supports 1073 are respectively sleeved on the rotating shafts 119 at both ends of the driven synchronous pulley 118 via bearings.

[0120] A first rolling bearing is fitted onto the first connecting member between the two parallelogram brackets 107, and a first tensioning pulley 113 is fitted onto the outer ring of the first rolling bearing. A second rolling bearing is fitted onto the second connecting member between the two parallelogram brackets 107, and a second tensioning pulley is fitted onto the outer ring of the second rolling bearing. The transmission belt 117 is sequentially fitted onto the drive synchronous pulley 120, the first tensioning pulley 113, and the second tensioning pulley.

[0121] In this way, the two parallelogram brackets 107, together with the first tensioning pulley 113 and the second tensioning pulley, utilize the characteristic that the perimeter of the parallelogram remains unchanged, so that the transmission belt 117 is always in a taut state when rotating with a variable radius, thereby ensuring transmission efficiency.

[0122] In this embodiment, the distance between the axis of the drive shaft and the axis of the rotating wheel 101 in the wheel-type movement mode is R, and the maximum distance between the axis of the drive shaft and the axis of the rotating wheel 101 in the leg-type movement mode is H, then H / R≥2.5.

[0123] Thus, the ratio of the distance between the axis of the drive shaft and the axis of the rotating wheel 101 in wheel-type movement mode and the maximum distance between the axis of the drive shaft and the axis of the rotating wheel 101 in leg-type movement mode is called the deformation ratio (as shown in the appendix). Figure 13As shown in the figure, the deformation ratio is an important design parameter of the variable radius slewing wheel leg mechanism. The deformation ratio can directly reflect the strength and magnitude of the deformation capability of the variable radius slewing wheel leg mechanism, and can also indirectly reflect its obstacle crossing capability. Therefore, a deformation ratio greater than 2.5 can ensure that the bionic robot has a strong obstacle crossing capability and can basically meet the driving needs of various terrains.

[0124] In this embodiment, the flexible tail mechanism 4 includes a circumferential rotation component, a bending component, a tail base 404, and a flexible tail 403. The circumferential rotation component is mounted on the base plate 2, and the bending component and the flexible tail 403 are mounted on the tail base 404. The circumferential rotation component is used to drive the flexible tail 403 to rotate circumferentially, and the bending component is used to drive the flexible tail 403 to bend.

[0125] In this way, the circumferential rotation component can drive the flexible tail 403 to rotate circumferentially, and the bending component can drive the flexible tail 403 to bend, thereby giving the flexible tail 403 the freedom of circumferential rotation and vertical bending, improving the controllability and flexibility of the flexible tail mechanism 4.

[0126] In this embodiment, the circumferential rotation assembly includes a circumferential rotation motor 409, a circumferential driving rotation gear 405, and a circumferential driven rotation gear 411. The circumferential rotation assembly is mounted on the base plate 2. The circumferential driving rotation gear 405 is connected to the shaft of the circumferential rotation motor 409 so that the circumferential rotation motor 409 can drive the circumferential driving rotation gear 405 to rotate. The circumferential driving rotation gear 405 and the circumferential driven rotation gear 411 mesh so that the circumferential driving rotation gear 405 can drive the circumferential driven rotation gear 411 to rotate. The circumferential driven rotation gear 411 is disposed on the tail base 404. The flexible tail 403 is mounted on the tail base 404 so that the circumferential driven rotation gear 411 can drive the tail base 404 to rotate, and the tail base 404 drives the flexible tail 403 to rotate.

[0127] The bending assembly is mounted on the tail base 404. The bending assembly includes a bending motor 410, a pull wire 408, and a pull wire shaft 413. The pull wire shaft 413 is sleeved on the rotating shaft of the bending motor 410 so that the bending motor 410 can drive the pull wire shaft 413 to rotate. One end of the pull wire 408 is wound around the pull wire shaft 413, and the other end of the pull wire 408 is wound around the flexible tail 403 so that the pull wire 408 can drive the flexible tail 403 to bend.

[0128] Thus, when the flexible tail 403 needs to rotate circumferentially, the circumferential rotation motor 409 rotates, driving the circumferential active rotation gear 405 to rotate. The rotation of the circumferential active rotation gear 405 then drives the circumferential driven rotation gear 411 to rotate. The rotation of the circumferential driven rotation gear 411 drives the tail base 404 to rotate circumferentially. The circumferential rotation of the tail base 404 then drives the flexible tail 403 to rotate circumferentially, thereby achieving the circumferential rotation effect of the flexible tail 403.

[0129] When the flexible tail 403 needs to be bent vertically, the bending motor 410 rotates, driving the pull shaft 413 to rotate. The rotation of the pull shaft 413 causes the pull wire 408 to wrap around the pull shaft 413, shortening the length of the pull wire 408. The end of the pull wire 408 connected to the flexible tail 403 applies a force to the flexible tail 403, causing the flexible tail 403 to bend vertically. When the flexible tail 403 needs to be reset, the bending motor 410 drives the pull shaft 413 to rotate in the opposite direction, causing the pull wire 408 to fall off the pull shaft 413. The force of the pull wire 408 on the flexible tail 403 is eliminated, and the flexible tail 403 resets.

[0130] In this embodiment, the flexible tail 403 includes a plurality of flexible segments 406 arranged vertically. Each flexible segment 406 includes a connecting portion 4061 and a tail portion 4062. The tail portion 4062 is connected to the connecting portion 4061 of the adjacent flexible segments 406. A flexible spring 407 is provided between two adjacent tail portions 4062. The end of the pull line 408 away from its connecting pull line shaft 413 is connected to the upper end of the flexible tail 403.

[0131] In this way, the flexible tail 403 adopts a structure in which multiple flexible joints 406 are connected, which can achieve a more precise control effect when the flexible tail 403 bends, while the flexible spring 407 between two adjacent tail sections 4062 can achieve the automatic reset effect of the flexible tail 403.

[0132] In this embodiment, a wire hole is provided at the corresponding position of each tail 4062, and the end of the pull wire 408 away from its connecting pull wire shaft 413 passes through the wire hole of each tail 4062 from bottom to top.

[0133] In this way, the wire hole can limit the corresponding position of the pull wire 408.

[0134] In this embodiment, the tail 4062 has a structure in which the radius gradually decreases from the base of the tail to the tip of the tail.

[0135] In this way, the above-mentioned structural form of the tail 4062 can achieve a more precise control effect.

[0136] In this embodiment, a camera assembly is also provided on the top of the flexible tail 403. The camera assembly includes a camera mounting base 402 and a camera 401. The camera mounting base 402 is installed on the top of the flexible tail 403, and the camera 401 is installed on the camera mounting base 402.

[0137] In this way, by setting up the camera component, the camera 401 can conduct all-round reconnaissance of the entire environment during the circumferential rotation or vertical bending of the flexible tail 403.

[0138] In this embodiment, a pull cable converter 412 is also installed in the tail base 404. The pull cable 408 is used to connect to the pull cable shaft 413. One end of the pull cable passes through the pull cable converter 412 and then connects to the pull cable shaft 413.

[0139] In this way, the draw cable converter 412 can change the draw cable 408 from a vertical to a horizontal direction. Its cylindrical shape reduces wear on the draw cable 408 during use and extends its service life.

[0140] In this embodiment, two flexible springs 407 are provided between each of the two adjacent tail sections 4062, and the two flexible springs 407 are located at the two ends of the pull line 408 respectively.

[0141] In this embodiment, the front-end actuator 5 includes a two-degree-of-freedom rotation component and an actuator component. The two-degree-of-freedom rotation component is mounted on the base plate 2 and connected to the actuator component, and is used to drive the actuator component to select the horizontal and vertical directions. The actuator component includes an actuator power component and an actuator 504. The actuator power component is used to drive the actuator 504 to move.

[0142] In this embodiment, the two-degree-of-freedom rotational assembly includes a first base 501, a vertical rotation motor, a second base 502, and a horizontal rotation motor. The first base 501 is connected to the base plate 2, the vertical rotation motor is mounted on the first base 501, the second base 502 is connected to the shaft of the vertical rotation motor, and the horizontal rotation motor is mounted on the second base 502.

[0143] The actuation component also includes a third base 503, which is connected to the shaft of a horizontal rotary motor, and the actuation power unit is mounted on the third base 503.

[0144] In this way, when the vertical rotary motor rotates, it drives the second base 502 to rotate vertically via its shaft. The second base 502 then drives the horizontal rotary motor and the actuator assembly to rotate vertically together, ultimately achieving the vertical rotation of the actuator 504. When the horizontal rotary motor rotates, it drives the actuator assembly to rotate horizontally via its shaft, ultimately achieving the horizontal rotation of the actuator 504. The actuation power component can then drive the actuator 504 to move. Thus, this solution can realize the vertical, horizontal, and self-movement of the actuator 504. The actuator 504 can be selected according to needs to meet the working requirements in different environments. Specifically, the actuator 504 can be a mechanical clamp (as shown in the attached diagram). Figure 17 (As shown), mechanical shears, flexible mechanical pliers, flexible mechanical shears, electric drills and electric saws (as attached) Figure 18 (As shown), etc., the specific selection is made according to the needs. In this specific solution, the front end of the body mechanism is equipped with two front-end actuators 5. One of the actuators 504 is a mechanical clamp. The mechanical clamp has two halves, one half of which is driven by the actuator. The actuator drives one half of the mechanical clamp to move, thereby realizing the clamping and releasing action of the two halves of the mechanical clamp, so as to clamp large objects. In specific use, a detachable cutter head can also be designed inside the clamp head, so that it can use the "clamping" action to realize "cutting", thus converting it into a mechanical shearing mode to realize the cutting function. When the actuator 504 is a chainsaw or electric drill, in order to enable the modular drilling and sawing robotic arm to have precise positioning capabilities and realize the drilling and sawing function, the team abandoned the use of a transmission mechanism to realize the movement of the robotic arm. Instead, the actuator end is directly connected to the actuator, reducing the error caused by the transmission mechanism, thereby realizing the precise drilling and sawing function of the robotic arm and increasing the reliability of the "obstacle removal + data collection" function in the field.

[0145] The working principle of the variable radius slewing wheel leg mechanism in this invention is as follows: Wheel-type movement mode: The rotation of the power motor transmits the motion to the active synchronous pulley 120 through the coupling 116, and then the motion is transmitted to the execution end - the rotating wheel 101 by the combination of the transmission belt 117 and the driven synchronous pulley 118, so as to realize the rapid movement of the bionic robot on relatively flat terrain. During this process, the clutch 111 is in the disengaged state. When encountering small obstacles, the variable radius slewing wheel leg assembly 1 can cross them through the shock absorption device formed by the leg 104 and the second elastic element 102. However, at this time, the second elastic element 102 is compressed. By utilizing the principle of the constant perimeter of the parallelogram, the transmission belt 117 is always in a taut state to ensure the efficiency of motion transmission. Legged movement mode: The same power motor rotates, and the active gear 115 transmits the motion to the clutch 111. The clutch 111 is engaged, and the motion is transmitted to the flipping bracket through the clutch 111 and the flipping gear 108 meshing with it, so that the flipping bracket and its end mechanism complete a full rotation. During this process, when the rotating wheel 101 rotates off the ground, it is no longer subject to the robot's gravity, and the compressed second elastic element 102 recovers. At this time, the turning radius of the end of the rotating wheel 101 becomes larger, enabling it to cross larger obstacles. Therefore, this solution realizes two modes of movement driven by one power motor through the clutch 111.

[0146] The working principle of the variable stiffness connection mechanism in this invention is as follows: The variable stiffness connection mechanism uses a wire-driven method to allow the bionic robot to switch between rigid and flexible modes in the vertical direction. Rigid mode: The pull rope is connected to the rotating shaft of the variable stiffness motor and the first locking member 305. The variable stiffness motor outputs rotational motion, and the first locking member 305, under the tension of the pull rope, rotates around the hinged first longitudinal connecting shaft 306, bringing the three sections of the bionic robot's base plate 2 to the same horizontal plane. At this time, the first locking member 305 abuts against the second locking member 308. The variable stiffness motor further operates, and the first locking member 305 compresses the first elastic member 312 and enters the slot, achieving the effect of rigidity for the entire base plate 2. Flexible mode: In this mode, the variable stiffness motor does not operate. The elastic force of the first elastic member 312 controls the differential movement of the three sections of the base plate 2, causing the first locking member 305 to exit the slot. The variable stiffness motor resets the pull rope, leaving some clearance. The hinge-like mechanism is in a movable state, achieving the effect of flexibility for the entire base plate 2.

[0147] The working principle of the flexible tail mechanism 4 in this invention is as follows: the pull wire 408 connects the motor and the top of the flexible tail 403. The bending motor 410 rotates and transmits tension to the flexible tail 403 through the pull wire 408, causing the entire flexible tail 403 to bend. Another circumferential rotating motor 409 works and transmits the motion to the tail base 404 through the circumferential active rotating gear 405 and the circumferential driven rotating gear 411, realizing the 360° rotation of the entire tail. The camera 401 installed at the top of the flexible tail 403 can conduct all-round reconnaissance of the entire environment.

[0148] The working principle of the front-end actuator 5 in this invention is as follows: two rotary motors respectively realize the two degrees of freedom of the actuator 504 in space, namely the rotation in the horizontal and vertical directions. The execution end is driven by the execution power component. Through a self-designed card, the various actuators 504 can be quickly switched to meet the needs of performing multiple tasks. The specific actuator 504 can be a mechanical pliers, mechanical shears, flexible mechanical pliers, flexible mechanical shears, electric drill, and electric saw, etc., and can be selected according to specific needs.

[0149] Meanwhile, based on the mechanical structure and functional requirements of the biomimetic robot, and to achieve rapid movement in complex terrain, accurate obstacle removal in the field, and sample collection, the team also researched and designed a control system. The control system mainly consists of a power supply module, a step-down module, a microcontroller main control module, a wireless module, a Bluetooth module, a relay module, a servo control module, and a motor drive module. Due to the large number of drives in this system, the wiring is complex. To optimize the wiring, the team used LCSC EDA professional version for PCB design. An LM2596 chip was used to step down the 12V input power to 5V to meet the power supply needs of each module. In addition, a fuse circuit and a power switch were designed to prevent excessive current from burning out the circuit in case of motor stall or other unexpected situations. The main difficulty in PCB design lies in the PCB layout. The PCB board area of ​​the biomimetic scorpion's body platform was strictly measured during the design phase to determine the final PCB board size. The system uses KeiluVision5 software for the biomimetic scorpion control system design and C language for programming. The mobile Bluetooth app was created using the MIT App Inventor platform, and the video module was programmed using the Arduino software development platform.

[0150] The multifunctional biomimetic robot for field exploration of the present invention consists of six variable radius rotating wheel leg assemblies 1, two variable stiffness body mechanisms, a flexible tail mechanism 4, and a modular front-end actuator 5. The three-section base plate 2 is connected into a whole by the two variable stiffness body mechanisms. This invention utilizes an innovatively designed variable-radius rotating wheel-leg assembly 1 to divide the robot's movement into two modes in complex outdoor environments: a wheeled movement mode for rapid travel and a legged movement mode for significant obstacle crossing. Simultaneously, it achieves both legged movement modes with only one drive unit without sacrificing the robot's obstacle-crossing performance. This invention enhances the robot's adaptability to complex outdoor environments. The innovatively designed variable-stiffness connection mechanism allows the bionic robot's body to switch between rigidity and flexibility, working in conjunction with the variable-radius rotating wheel-leg mechanism to achieve legged obstacle crossing and better adapt to concave and ravine terrain. This invention enables remote control of the robot and real-time reconnaissance of its environment. The innovatively designed flexible tail mechanism 4 allows for continuous and stable adjustment of the camera's viewing angle, and the tail base 404 allows the flexible multi-segment mechanism to rotate 360°, achieving comprehensive reconnaissance of the entire space and reducing the number of drives. This invention can be equipped with various actuators, integrating sampling, obstacle removal, and other functions, enabling the robot to perform diverse tasks outdoors.

[0151] When the bionic robot of this design moves to a large obstacle or step, the variable stiffness motor resets, and the body formed by the entire base plate 2 becomes flexible. The variable radius slewing wheel leg assembly 1 at the front of the bionic robot works in leg-like movement mode, while the other variable radius slewing wheel leg assemblies 1 remain stationary as support, keeping the bionic robot in a stable state. In the leg-like movement mode, the power motor in the variable radius slewing wheel leg assembly 1 outputs power, and the motion is transmitted to the clutch 111 through the coupling 116 and the drive gear 115. The clutch 111 works, and then the motion is transmitted to the flipping bracket through the flipping gear 108, thereby driving the entire rotating wheel assembly to rotate. At this point, the rotating wheel 101 of the front variable radius slewing wheel-leg assembly 1 rotates off the ground and is no longer compressed by the weight of the machine body. The second elastic element 102 resets, and the slewing radius of the wheel 101 increases, thereby increasing the obstacle-crossing effect. After the front variable radius slewing wheel-leg assembly 1 flips over and crosses the step, the power motor continues to work, cooperating with the variable stiffness connection mechanism to support its front end as it crosses the step, and continues to move in wheel-like mode. When the middle variable radius slewing wheel-leg assembly 1 reaches the step, it continues to move up the step in the same leg-like mode until... After traversing the steps, the entire bionic robot encounters flat terrain and moves quickly using a wheeled locomotion mode. The power motor outputs motion, which is transmitted through the coupling 116 to the active synchronous pulley 120 fixed on the drive shaft. The active synchronous pulley 120 works under the tension of the parallelogram bracket 107, transmitting motion to the driven synchronous pulley 118 fixed on the rotating shaft 119 in the wheel and axle box 106, driving the rotating wheel 101 to rotate. The entire bionic robot moves quickly in wheeled locomotion mode. When encountering a ditch, the robot body, under the action of the variable stiffness connecting mechanism, switches from a flexible mode to a rigid mode. The rotation of the variable stiffness motor generates tension on the first locking member 305 through the pull rope. The first locking member 305 rotates around the first longitudinal connecting shaft 306 to the position where it abuts against the second locking member 308, so that the three base plates 2 are on the same horizontal plane. The variable stiffness motor further acts, causing the first locking member 305 to be compressed by the tension and enter the locking slot. The variable stiffness motor stops acting, and the entire body formed by the base plates 2 changes from a flexible mode to a rigid mode. At this time, the bionic robot continues to move forward. When the front rotating wheel 101 is suspended in the air, the other rotating wheels 101 are on the ground for support, and the entire bionic robot remains stable. When the middle rotating wheel 101 is suspended in the air, the front and rear rotating wheels 101 are on the ground to keep the bionic robot stable. Similarly, the robot can still remain stable when the rear rotating wheel 101 is suspended, realizing the function of the bionic robot quickly crossing the ditch.

[0152] Compared with existing technologies, this invention meets our needs by mimicking the functional morphology of a scorpion in nature. The biomimetic robot mainly consists of four innovative modular mechanisms: six variable-radius rotating wheel legs 1, a variable stiffness connection mechanism, a flexible tail mechanism 4, and a front-end actuator 5. The whole is divided into three sections connected by the variable stiffness connection mechanism. Combined with an independently designed control system, it enables remote control of the robot to conduct reconnaissance in complex terrain. This invention solves the problems of existing biomimetic robots, such as the inability to simultaneously achieve obstacle-crossing ability and efficiency, complex control, high energy consumption, and low stability. It meets the requirements of adapting to complex environments and completing multiple tasks, while also satisfying remote control and real-time video transmission. The variable radius slewing wheel-leg mechanism of this invention, combined with a variable stiffness connection mechanism, can adapt to complex terrain, and each leg requires only one drive. For example, when crossing steps, the two adjacent base plates 2 are in flexible mode, and the variable radius slewing wheel-leg assembly 1 is in leg-like movement mode to cross the steps; when traversing concave terrain, the two adjacent base plates 2 are in flexible mode, and the variable radius slewing wheel-leg assembly 1 is in wheel-like movement mode to adapt to concave terrain and pass quickly; when crossing ditches, the two adjacent base plates 2 are in rigid mode, and the variable radius slewing wheel-leg assembly 1 is in wheel-like movement mode, so that the bionic robot always maintains at least four wheels on the ground for support, ensuring that the bionic robot passes quickly and smoothly; the flexible tail mechanism 4 of this invention can realize continuous and stable changes in the reconnaissance perspective of the camera device, and in conjunction with the modular front-end execution mechanism 5, realize multiple functions such as remote control reconnaissance, sampling, and obstacle removal; this invention independently designs a robot-compatible PCB board and control system to realize the integration of the bionic robot circuitry; and a mobile Bluetooth app is developed to realize remote control and real-time video transmission. The variable radius slewing wheel-leg mechanism of this invention has a wheel-type movement mode for high-speed travel and a leg-type movement mode for turning and overcoming obstacles, enabling it to adapt to complex terrain; a variable stiffness connection mechanism is designed with a spring-hinge mechanism, using line drive, and has a solid line variable stiffness function; a flexible tail mechanism 4, composed of a multi-segment mechanism and springs, uses line drive and works with a tail gimbal to achieve flexible tail movement; a modular front-end actuator 5 adopts a modular design to achieve quick replacement of the front-end actuator, and the two front-end mechanisms can cooperate with each other to complete a variety of tasks.

[0153] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit the technical solutions. Those skilled in the art should understand that any modifications or equivalent substitutions to the technical solutions of the present invention without departing from the spirit and scope of the present invention should be covered within the scope of the claims of the present invention.

Claims

1. A multifunctional biomimetic robot for field exploration, characterized in that, This includes the fuselage mechanism, the variable radius slewing wheel leg mechanism, the variable stiffness connection mechanism, the flexible tail mechanism, and the front-end actuator mechanism; The fuselage mechanism includes multiple base plates distributed along the axial direction; The variable stiffness connection mechanism includes a plurality of variable stiffness connection components distributed along the axial direction, and two adjacent base plates are connected by the variable stiffness connection components. The variable stiffness connection components are used to make a rigid connection or a flexible connection between two adjacent base plates. The variable radius slewing wheel leg mechanism includes multiple variable radius slewing wheel leg assemblies, and at least one variable radius slewing wheel leg assembly is symmetrically provided on both longitudinal sides of the first and last base plates arranged along the axial direction. The variable radius slewing wheel leg assembly has two modes: wheel-type movement mode and leg-type movement mode. The flexible tail mechanism is disposed on the last base plate arranged in the axial direction, and the flexible tail mechanism has a degree of freedom of rotation in the circumferential direction and a degree of freedom of bending in the vertical direction. The front-end actuator is disposed on the first base plate arranged along the axial direction, and the front-end actuator has obstacle removal and / or data acquisition functions; The variable stiffness connection assembly includes a first connection assembly, a second connection assembly, and a variable stiffness power assembly. The first connection assembly is fixedly connected to one of the base plates, and the second connection assembly is fixedly connected to an adjacent base plate. The variable stiffness power assembly is connected to the first connection assembly. Under the action of the variable stiffness power assembly, the first connection assembly has axial movement freedom and circumferential rotation freedom relative to the second connection assembly. Under the action of the variable stiffness power assembly, the first connection assembly rotates circumferentially and can maintain contact with the second connection assembly so that the two adjacent base plates are in a rigid connection state. When the first connection assembly is separated from the second connection assembly, the two adjacent base plates are in a flexible connection state. The first connecting component includes a first locking member and a first longitudinal connecting shaft. The second connecting component includes a connecting housing and a second locking member. The first longitudinal connecting shaft is axially slidably connected to the connecting housing, and the first locking member is rotatably sleeved on the first longitudinal connecting shaft. The variable stiffness power component is connected to the first locking member so that the first locking member has axial movement freedom and circumferential rotation freedom relative to the connecting housing under the action of the variable stiffness power component. The second locking member is disposed in the connecting housing. The end of the second locking member facing the first locking member can abut against the first locking member during the circumferential rotation of the first locking member, and the end of the second locking member away from the first locking member is provided with a first elastic member. The first elastic member is in a freely elongated state when the first locking member and the second locking member are separated.

2. The multifunctional biomimetic robot for field exploration according to claim 1, characterized in that, The variable radius slewing wheel leg assembly includes a power component, a clutch component, an active component, a tilting component, and a rotating wheel component. The power component and the clutch component are both mounted on the bottom of the base plate. The power component is connected to the active component to drive its rotation. The active component is connected to the rotating wheel component via a belt component, which drives the rotating wheel component to roll around its own axis to achieve wheel-like movement. The tilting component is connected to both the active component and the rotating wheel component. When energized, the clutch component engages with the tilting component, driving the tilting component to rotate circumferentially around the rotation center of the active component. The tilting component drives the rotating wheel component to rotate circumferentially around the rotation center of the active component to achieve leg-like movement. When de-energized, the clutch component disengages from the tilting component.

3. The multifunctional biomimetic robot for field exploration according to claim 2, characterized in that, The active component includes a drive shaft and a drive gear. The drive shaft is connected to the power output end of the power component. The drive gear is sleeved on the drive shaft and rotates synchronously with it. The clutch component includes a clutch, a first clutch gear, and a second clutch gear. The second clutch gear meshes with the drive gear. The tilting component includes a tilting gear, a connecting flange, and a tilting bracket. The tilting gear is sleeved outside the drive shaft, and there is a gap between the inner diameter of the tilting gear and the outer diameter of the drive shaft. When the clutch is energized, the tilting gear can mesh with the first clutch gear. When the clutch is de-energized, it disengages from the first clutch gear. The flipping gear is connected to the flipping bracket via the connecting flange, so that when the flipping gear meshes with the first clutch gear and rotates around the drive shaft, it can drive the flipping bracket to rotate circumferentially around the drive shaft via the connecting flange. The rotating wheel component includes a rotating shaft and rotating wheels connected to both longitudinal sides of the rotating shaft. The lower end of the flipping bracket is movably sleeved on the rotating shaft between the two rotating wheels, so that when the flipping bracket rotates circumferentially around the drive shaft, it can synchronously drive the rotating wheel component to rotate circumferentially around the drive shaft.

4. The multifunctional biomimetic robot for field exploration according to claim 3, characterized in that, The flipping bracket includes vertically arranged legs, on which a housing is slidably connected. The housing is fixed to the connecting flange. An axle box is also provided at one end of the leg near the rotating wheel component. The rotating shaft moves through the axle box. A second elastic element is sleeved on the leg between the housing and the axle box. The second elastic element is in a compressed state during wheel-type movement mode.

5. The multifunctional biomimetic robot for field exploration according to claim 1, characterized in that, The flexible tail mechanism includes a circumferential rotation component, a bending component, a tail base, and a flexible tail. The circumferential rotation component is mounted on the base plate, and the bending component and the flexible tail are mounted on the tail base. The circumferential rotation component is used to drive the flexible tail to rotate circumferentially, and the bending component is used to drive the flexible tail to bend.

6. The multifunctional biomimetic robot for field exploration according to claim 5, characterized in that, The circumferential rotation assembly includes a circumferential rotation motor, a circumferential driving rotation gear, and a circumferential driven rotation gear. The circumferential driving rotation gear is connected to the rotating shaft of the circumferential rotation motor so that the circumferential rotation motor can drive the circumferential driving rotation gear to rotate. The circumferential driving rotating gear and the circumferential driven rotating gear mesh so that the circumferential driving rotating gear can drive the circumferential driven rotating gear to rotate. The circumferential driven rotating gear is disposed on the tail base, and the flexible tail is mounted on the tail base so that the circumferential driven rotating gear can drive the tail base to rotate, and the tail base drives the flexible tail to rotate. The bending assembly is mounted on the tail base. The bending assembly includes a bending motor, a pull wire, and a pull wire shaft. The pull wire shaft is sleeved on the rotating shaft of the bending motor so that the bending motor can drive the pull wire shaft to rotate. One end of the pull wire is wound around the pull wire shaft, and the other end of the pull wire is wound around the flexible tail so that the pull wire can drive the flexible tail to bend.

7. The multifunctional biomimetic robot for field exploration according to claim 1, characterized in that, The front-end actuator includes a two-degree-of-freedom rotation component and an execution component. The two-degree-of-freedom rotation component is mounted on the base plate and connected to the execution component, and is used to drive the execution component to select between the horizontal and vertical directions. The execution component includes an execution power component and an actuator, and the execution power component is used to drive the actuator to move.

8. The multifunctional biomimetic robot for field exploration according to claim 7, characterized in that, The two-degree-of-freedom rotational assembly includes a first base, a vertical rotation motor, a second base, and a horizontal rotation motor. The first base is connected to the base plate, the vertical rotation motor is mounted on the first base, the second base is connected to the shaft of the vertical rotation motor, and the horizontal rotation motor is mounted on the second base. The actuation component also includes a third base, which is connected to the shaft of the horizontal rotary motor, and the actuation power component is mounted on the third base.

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