Crawling bionic robot and walking control method thereof

Abstract

The present application relates to the field of bionic robots, and particularly discloses a creeping bionic robot, which comprises a spine plate with guide grooves and long grooves, a connecting seat, a ring shell connected to the connecting seat, a trunk driving part, a connecting rod assembly, a tail shell connected to the spine plate, and a neck shell and a head shell capable of swinging, and a walking control method of the creeping bionic robot is also disclosed. The creeping bionic robot in the present application is provided with the spine plate with the guide grooves, the connecting seat and the tail shell are installed on the spine plate, the ring shell, the neck shell and the head shell are installed on the connecting seat, the trunk driving part and the connecting rod assembly are used to drive the tail shell and the ring shell to produce step-by-step expansion and contraction movement, so as to realize the creeping action, the swinging of the shells in the vertical direction during movement can be realized through the profiling part on the guide grooves, the synchronous twisting of the neck shell and the head shell can imitate the subtle action of insect creeping, the creeping bionic robot is more lifelike, and the structure is simple, light and flexible.

Description

Technical Field

[0001] This invention belongs to the field of biomimetic robots, and specifically relates to a crawling biomimetic robot and its walking control method. Background Technology

[0002] Bionic robot technology is widely used in various industries today, especially in teaching, props and toys, where there is an increasing pursuit of the realism and flexibility of bionic robots.

[0003] Among them, toys or educational robots based on silkworms and caterpillars need to mimic the wriggling movements of soft-bodied insects, that is, each joint moves forward sequentially, and has a certain degree of slight swaying and bending in all directions. Therefore, the robot's movement details need to be highly demanding to achieve a high degree of realism when wriggling. Existing crawling robots cannot achieve subtle wriggling movements, and their structures are relatively complex, failing to meet the requirements of lightweight construction for toys and props.

[0004] Patent application number CN201710328185.2 discloses a single-drive, bidirectional peristaltic pipe cleaning robot, comprising a front body assembly, a transmission assembly, and a rear body assembly. The transmission assembly is driven by a power source and, through the transmission action of a linkage mechanism, a gear mechanism, and an isothermal cam mechanism, achieves alternating radial contraction and support of the front and rear body assemblies, as well as axial extension and contraction between them. Simultaneously, it achieves synchronous rotation of the sludge-removing cutter head, thereby enabling the robot to perform peristaltic movement and pipe cleaning operations in both directions along the pipe. The device in this prior art achieves single-drive, bidirectional peristaltic movement and pipe cleaning in pipes with significant diameter variations; however, it only achieves simple peristaltic movements and cannot mimic the subtle peristaltic movements of insects, such as swaying and bending, resulting in a lack of realism. Furthermore, its complex structure fails to meet the requirements for portability.

[0005] The above background information is provided only to aid in understanding the inventive concept and technical solution of this invention. It does not necessarily belong to the prior art of this patent application. In the absence of clear evidence that the above information was disclosed on the filing date of this patent application, the above background information should not be used to evaluate the novelty and inventiveness of this application. Summary of the Invention

[0006] The purpose of this invention is to provide a crawling biomimetic robot and its walking control method, thereby overcoming the shortcomings of existing crawling mechanical structures that cannot imitate the subtle movements of insects and are too complex and not lightweight.

[0007] To achieve the above objectives, the present invention provides a worm-like bionic robot, comprising: a spine plate with a plurality of guide grooves spaced apart from one end to the other, the guide grooves including a plurality of contoured portions; multiple connecting seats, each slidably disposed within the guide grooves and with an annular shell fixedly disposed on the outer periphery of each connecting seat, the ends of each annular shell being interlocked with each other and having a certain gap; a torso drive unit on each connecting seat, the output end of the torso drive unit being connected to an adjacent connecting seat via a linkage assembly, so as to drive each connecting seat to slide along the guide grooves and move closer or further away from each other; a tail shell, fixedly connected to one end of the spine plate and connected to the output end of the torso drive unit via the linkage assembly; a neck shell and a head shell, the neck shell being connected to the connecting seat located at the other end of the spine plate via a neck drive unit, the neck drive unit being able to drive the neck shell to rotate to both sides of the spine plate, and the head shell being connected to the neck shell via a head drive unit and being able to rotate above and below the spine plate.

[0008] Preferably, the above technical solution further includes a telescopic shell, wherein there are multiple telescopic shells and they are slidably connected to the spine plate. Each telescopic shell is located between the tail shell and the ring shell and is inserted into each other. The end of the tail shell is inserted into the interior of the adjacent telescopic shell, and the ring shell is inserted into the interior of the adjacent telescopic shell.

[0009] Preferably, in the above technical solution, a long groove is formed on the ridge plate, and the telescopic shell is slidably installed in the long groove, with the long groove being parallel to the guide groove.

[0010] Preferably, in the above technical solution, the contouring part is an arched structure and its middle part bends upward toward the spine plate.

[0011] Preferably, in the above technical solution, the ends of each of the contouring parts are connected to each other.

[0012] Preferably, in the above technical solution, the torso drive unit is composed of two torso servo mechanisms, which are symmetrically arranged on both sides of the spine plate, and the output end of the torso servo mechanism is connected to the end of the linkage assembly.

[0013] Preferably, in the above technical solution, the connecting rod assembly includes a crank and a telescopic rod. One end of the crank is fixedly connected to the output end of the torso servo motor. The distance between the two ends of the telescopic rod is adjustable. One end of the telescopic rod is spherically hinged to the other end of the crank, and the other end of the telescopic rod is spherically hinged to the annular shell.

[0014] Preferably, in the above technical solution, the connecting seat is provided with a mounting groove, a passage groove, and a support groove. The mounting groove is located in the middle of the connecting seat, and the torso servo is fixedly installed in the mounting groove. The passage groove is located on the side of the connecting seat, and the spine plate passes through the passage groove. A pin is provided in the passage groove, and the pin passes through the guide groove. The support groove is located at the bottom of the connecting seat, one end of the support groove is connected to the passage groove, and the top of the spine plate is engaged in the support groove and can slide along it.

[0015] Preferably, in the above technical solution, the neck drive unit includes a neck servo and a neck bracket, the neck servo is fixedly connected to the connecting seat, one end of the neck bracket is fixedly connected to the output end of the neck servo, and the neck shell is connected to the neck bracket; the head drive unit includes a head servo and a head bracket, the head servo is fixedly installed at the other end of the neck bracket, one end of the head bracket is fixedly connected to the output end of the head servo, and the other end of the head bracket is connected to the head shell.

[0016] On the other hand, to achieve the above objectives, the present invention also provides a walking control method for a crawling bionic robot, which is implemented using the crawling bionic robot described above, and includes the following steps:

[0017] Extend the head shell forward, keeping the ring shell and the tail shell stationary, and drive the connecting rod assembly of the connecting seat located at the other end of the spine plate to extend the connecting seat forward, thereby driving the neck shell and head shell to move forward;

[0018] The tail shell is retracted, while the neck shell, head shell, and ring shell remain stationary. The torso drive unit closest to the tail shell pulls the tail shell toward the head shell via a linkage assembly, and drives the spine plate to move forward as a whole. When the spine plate moves, it can drive the tail shell to bounce upwards simultaneously via the contouring part.

[0019] The peristaltic ring shell keeps the tail shell and the head shell stationary, and causes each of the torso driving parts in the direction from the tail shell to the head shell to sequentially drive the connecting rod assembly to extend, thereby pushing the ring shells to move forward in sequence. When each of the ring shells moves forward, the contouring part can cause each ring shell to bounce upward.

[0020] When the neck shell is twisted, as the annular shell near the neck shell moves forward, the neck drive unit drives the neck shell to swing left and right, and the head drive unit drives the head shell to swing up and down.

[0021] Compared with existing technologies, the present invention has the following advantages:

[0022] 1. The peristaltic biomimetic robot of this invention is equipped with a ridge plate with guide grooves, on which a connecting seat and a tail shell are installed. A ring shell, a neck shell, and a head shell are installed on the connecting seat. The tail shell and the ring shell are driven by the trunk drive unit and the linkage assembly to produce step-by-step extension and retraction, thereby realizing peristaltic movement. Furthermore, the contouring part on the guide groove can realize the vertical swing of each shell during movement, and the synchronous twisting of the neck shell and the head shell can imitate the subtle movements of insect peristalsis, making it more realistic. Moreover, the structure is simple, lightweight, and flexible.

[0023] 2. In this invention, a telescopic shell is also provided between the tail shell and the ring shell, which can be inserted into each other and slide. When the tail shell moves closer to or away from the ring shell, the telescopic shell can freely extend and retract by the drive of the spine plate, so that the crawling process of the robot's tail structure is more detailed and realistic.

[0024] 3. The contouring part of the guide groove in this invention is composed of multiple arched structures with interconnected ends. The connecting seat is connected to the ridge plate through a pin passing through the guide groove. When the pin slides along the contouring part, it can move along the path of the contouring part, so that when the ridge plate and the connecting seat move laterally, it can also drive the tail shell and the ring shell to float up and down. Thus, during the robot's crawling process, the torso can also float up and down at the same time, which can simulate more details in the crawling process of a reptile and make the movement more realistic.

[0025] 4. The torso drive unit of the present invention is composed of two torso servo mechanisms. When necessary, the two torso servo mechanisms can be rotated asynchronously, so that the movement distance between the two ends of the connecting rod assembly on both sides is different, thereby causing the ring shell to rotate slightly. This allows the torso to form left and right swinging motion details while crawling forward, and also provides a certain steering function.

[0026] 5. In the linkage assembly of the present invention, the connection between the telescopic rod and the end of the crank is a spherical hinge structure, which can provide a certain degree of freedom in the vertical direction when the robot is crawling, thereby allowing the robot's torso to swing vertically when it swings vertically, so that the ring shell and tail shell will not interfere with each other when performing detailed movements.

[0027] 6. The connecting seat in this invention is not only provided with a through groove for mounting the ridge plate, but also has a certain gap between the two to meet a certain left and right swing. A support groove is provided on the connecting seat. When the connecting seat is installed on the ridge plate, the top edge of the ridge plate can be inserted into the support groove, thereby preventing the connecting seat from shifting left and right and falling off the ridge plate when it moves along the ridge plate.

[0028] 7. The neck shell and head shell in this invention can be driven to swing by the neck drive part and the head drive part respectively, so that the head can sway left and right and up and down during the robot's forward crawling, thereby making the crawling action more realistic. Attached Figure Description

[0029] Figure 1 This is an internal structural diagram of the crawling bionic robot in Example 1.

[0030] Figure 2 This is a structural diagram of the ridge plate in Example 1.

[0031] Figure 3 This is a structural diagram of the connector in Embodiment 1.

[0032] Figure 4 This is a structural diagram of the neck drive unit and the head drive unit in Embodiment 1.

[0033] Figure 5 This is a partial cross-sectional view of the crawling bionic robot in Example 1.

[0034] Explanation of key figure labels:

[0035] 100-Spine plate, 110-Guide groove, 120-Shaped part, 130-Long groove;

[0036] 200-Connecting seat, 210-Ring shell, 220-Mounting groove, 230-Pass groove, 240-Support groove, 250-Protrusion;

[0037] 300 - Torso drive unit, 310 - Torso servo motor;

[0038] 400 - Linkage assembly, 410 - Crank, 420 - Telescopic rod;

[0039] 500-tail shell;

[0040] 600-Neck housing, 610-Neck drive unit, 620-Neck servo, 630-Neck bracket;

[0041] 700-Head housing, 710-Head drive unit, 720-Head servo motor, 730-Head bracket;

[0042] 800-Telescopic Shell. Detailed Implementation

[0043] 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 embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] In the description of this invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "top surface," "bottom surface," "inner," "outer," "inner side," and "outer side," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0045] In the description of this invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. Where the terms "first," "second," and "third" are used for descriptive purposes and to distinguish technical features, they should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the sequential relationship of the indicated technical features.

[0046] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. The embodiments of this invention will now be described according to its overall structure.

[0047] Example 1

[0048] like Figures 1 to 5As shown, the crawling bionic robot in this embodiment includes: a spine plate 100, a guide groove 110, a contouring part 120, a long groove 130, a connecting seat 200, a ring shell 210, a mounting groove 220, a passage groove 230, a support groove 240, a torso drive part 300, a torso servo motor 310, a connecting rod assembly 400, a crank 410, a telescopic rod 420, a tail shell 500, a neck shell 600, a neck drive part 610, a neck servo motor 620, a neck support 630, a head shell 700, a head drive part 710, a head servo motor 720, a head support 730, and a telescopic shell 800.

[0049] The spine plate 100 is a long strip-shaped thin metal sheet structure. Several guide grooves 110 and long grooves 130 are spaced apart along one end of the spine plate 100 to the other end. The long grooves 130 are located near one end of the spine plate 100 and have an elongated waist-shaped hole structure. The guide grooves 110 include two contoured parts 120, which are arched groove structures. The middle part of the contoured part 120 bends upward toward the spine plate 100, and the ends of the two contoured parts 120 are connected to each other.

[0050] A connecting seat 200 is mounted on the spine plate 100. A shell and torso drive unit 300 are fixedly mounted on the connecting seat 200. The shell is fixedly connected to a fixed seat via screws, and the fixed seat is located in the middle of the ring shell 210. The diameter of the ring shell 210 gradually increases from one end of the spine plate 100 to the other, and their ends interlock. There is a certain gap between each ring shell 210, allowing the ring shells 210 to not only slide relative to each other along the axial direction but also to swing to a certain extent. The torso drive unit 300 includes two torso servos 310, which are symmetrically arranged on both sides of the spine plate 100. The output ends of the torso servos 310 are connected to adjacent connecting seats 200 via a connecting rod assembly 400, enabling each connecting seat 200 to slide along the guide groove 110 and move closer or further away from each other. The connecting seat 200 is... The structure is rectangular. A protrusion 250 extending to the bottom of the connector 200 is provided at one end. The connector 200 is provided with a mounting groove 220, a through groove 230 and a support groove 240. The mounting groove 220 is provided in the middle of the connector 200 and passes through the top and bottom surfaces of the connector 200. The torso servo 310 is fixedly installed in the mounting groove 220. The through groove 230 is provided on the protrusion 250 and passes through both sides of the protrusion 250. The spine plate 100 passes through the through groove 230. A pin is installed in the through groove 230. The pin passes through the guide groove 110 and can slide along the guide groove 110. The support groove 240 is provided at the bottom of the connector 200. One end of the support groove 240 is connected to the through groove 230. The top of the spine plate 100 is engaged in the support groove 240 and can slide along it.

[0051] More specifically, the linkage assembly 400 includes a crank 410 and a telescopic rod 420. One end of the crank 410 is fixedly connected to the output end of the torso servo 310. The two ends of the telescopic rod 420 are connected by studs so that the distance between the two ends is adjustable. One end of the telescopic rod 420 is spherically hinged to the other end of the crank 410, and the other end of the telescopic rod 420 is spherically hinged to the ring housing 210, thereby enabling the end of the telescopic rod 420 to have multiple force directions.

[0052] Additionally, a tail shell 500 is installed at one end of the spine plate 100. The tail shell 500 is fixedly connected to one end of the spine plate 100 by screws, and the tail shell 500 is connected to the output end of the nearest torso drive unit 300 via a connecting rod assembly 400. Two telescopic shells 800 are installed between the tail shell 500 and the nearest annular shell 210. The telescopic shells 800 are connected to the elongated groove 130 by pins and can slide along the direction of the elongated groove 130. The two telescopic shells 800 have different diameters and can be inserted into each other. The telescopic shell 800 closest to the tail shell 500 can be fitted outside the tail shell 500, and the telescopic shell 800 closest to the annular shell 210 can be fitted inside the annular shell 210. When the tail shell 500 moves closer to or further away from the annular shell 210, the telescopic shells 800 can slide and extend slightly.

[0053] In addition, a neck shell 600 and a head shell 700 are installed at the other end of the spine plate 100. The neck shell 600 is connected to the connecting seat 200 at the other end near the spine plate 100 via a neck drive part 610. The neck drive part 610 can drive the neck shell 600 to rotate to both sides of the spine plate 100. The head shell 700 is connected to the neck shell 600 via a head drive part 710 and can rotate above and below the spine plate 100.

[0054] More specifically, the neck drive unit 610 includes a neck servo 620 and a neck bracket 630. The neck servo 620 is fixedly connected to a connecting seat 200 near the other end of the spine plate 100. One end of the neck bracket 630 is fixedly connected to the output end of the neck servo 620. The neck servo 620 can drive the neck bracket 630 to swing left and right to the spine plate 100. The neck shell 600 is also fitted around the outer periphery of the neck bracket 630 and connected to the neck bracket 630. The head drive unit 710 includes a head servo 720 and a head bracket 730. The head servo 720 is fixedly installed at the other end of the neck bracket 630. One end of the head bracket 730 is fixedly connected to the output end of the head servo 720. The other end of the head bracket 730 is connected to the head shell 700. The head shell 700 and the neck shell 600 are also interlocked with a certain gap.

[0055] Example 2

[0056] This embodiment provides a walking control method for a crawling bionic robot, which requires the crawling bionic robot described in the above embodiment to implement. The crawling process specifically includes the following steps:

[0057] The head shell 700 extends forward, keeping the ring shell 210 and the tail shell 500 stationary, causing the trunk drive part 300 of the connecting seat 200 located at the other end of the spine plate 100 to extend the drive linkage assembly 400, pushing the connecting seat 200 forward, thereby driving the neck shell 600 and the head shell 700 to move forward.

[0058] The tail shell 500 is retracted, while the neck shell 600, head shell 700, and ring shell 210 remain stationary. The torso drive unit 300, which is closest to the tail shell 500, pulls the tail shell 500 toward the head shell 700 via the linkage assembly 400, and drives the spine plate 100 to move forward as a whole. When the spine plate 100 moves, it can drive the tail shell 500 to bounce upwards simultaneously via the contouring part 120. At the same time, the telescopic shell 800 can also move along with the tail shell 500 and the spine plate 100, and can also slide along the long groove 130 to play a certain telescopic role.

[0059] The peristaltic ring shell 210 keeps the tail shell 500 and head shell 700 stationary, and causes each trunk drive part 300 in the direction from the tail shell 500 to the head shell 700 to drive the connecting rod assembly 400 to extend in sequence, thereby pushing the ring shell 210 to move forward in sequence. When each ring shell 210 moves forward, the contour part 120 can make each ring shell 210 jump upward, thereby imitating the subtle upward movement of the insect body when it is crawling.

[0060] When the neck shell 600 is twisted, the ring shell 210 near the neck shell 600 moves forward. At the same time, the neck drive part 610 drives the neck shell 600 to swing left and right, and the head drive part 710 drives the head shell 700 to swing up and down, thereby mimicking the tentative movements of the head and neck of an insect during crawling.

[0061] In summary, the crawling biomimetic robot of this invention features a spine plate 100 with guide grooves 110, a connecting seat 200 and a tail shell 500 mounted on the spine plate 100, and an annular shell 210, a neck shell 600, and a head shell 700 mounted on the connecting seat 200. The tail shell 500 and annular shell 210 are driven by servo motors and a linkage assembly 400 to perform progressively extending and retracting movements, thereby achieving crawling motion. Furthermore, the contouring part 120 on the guide grooves 110 enables the vertical oscillation of each shell during movement, and the synchronized twisting of the neck shell 600 and head shell 700 mimics the subtle movements of insect crawling. Multiple servo motors independently control the robot, resulting in richer details and greater realism during crawling. The key component, the spine plate 100, is made of lightweight materials and has a simple structure, which is beneficial for cost control and improved portability.

[0062] The foregoing description of specific exemplary embodiments of the present invention is for illustrative and explanatory purposes. These descriptions are not intended to limit the invention to the precise forms disclosed, and it is obvious that many changes and variations can be made based on the above teachings. Although embodiments of the invention have been shown and described, these specific embodiments are merely explanations of the invention and are not intended to limit it. The specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. The purpose of selecting and describing exemplary embodiments is to explain the specific principles of the invention and its practical application, so that those skilled in the art, after reading this specification, can make modifications, substitutions, variations, and various choices and changes to the embodiments as needed without departing from the principles and spirit of the invention, provided that such modifications, substitutions, variations, and choices and changes are within the scope of the claims of the invention and are protected by patent law.

Claims

1. A crawling biomimetic robot, characterized in that, include: A ridge plate, with a plurality of guide grooves spaced apart from one end to the other, each guide groove including a plurality of contoured parts, the contoured parts being arched structures with their middle parts curving upward toward the ridge plate; The connecting seats are multiple in number and are slidably disposed in the guide groove. Each connecting seat has an annular shell fixedly disposed on its outer periphery. The ends of each annular shell are interlocked with each other and have a certain gap. Each connecting seat is provided with a torso driving part. The output end of the torso driving part is connected to the adjacent connecting seat through a linkage assembly so as to drive each connecting seat to slide along the guide groove and move closer or further away from each other. Tail shell, which is fixedly connected to one end of the spine plate and connected to the output end of the torso drive unit via the linkage assembly; The neck shell and head shell are provided. The neck shell is connected to the connecting seat located at the other end of the spine plate via a neck drive unit. The neck drive unit can drive the neck shell to rotate to both sides of the spine plate. The head shell is connected to the neck shell via a head drive unit and can rotate above and below the spine plate. The torso drive unit consists of two torso servo mechanisms, which are symmetrically arranged on both sides of the spine plate. The output end of the torso servo mechanism is connected to the end of the linkage assembly. The connecting rod assembly includes a crank and a telescopic rod. One end of the crank is fixedly connected to the output end of the torso servo motor. The distance between the two ends of the telescopic rod is adjustable. One end of the telescopic rod is spherically hinged to the other end of the crank, and the other end of the telescopic rod is spherically hinged to the annular shell. The connector is provided with a mounting slot, a passage slot, and a support slot. The mounting slot is located in the middle of the connector, and the torso servo is fixedly mounted in the mounting slot. The passage slot is located on the side of the connector, and the spine plate passes through the passage slot. A pin is provided in the passage slot, and the pin passes through the guide slot. The support slot is located at the bottom of the connector, one end of the support slot is connected to the passage slot, and the top of the spine plate is engaged in the support slot and can slide along it.

2. The crawling bionic robot according to claim 1, characterized in that, It also includes multiple telescopic shells that are slidably connected to the ridge plate. Each telescopic shell is located between the tail shell and the ring shell and is nested inside the other. The end of the tail shell is nested inside the adjacent telescopic shell, and the ring shell is nested inside the adjacent telescopic shell.

3. The crawling bionic robot according to claim 2, characterized in that, A long groove is formed on the ridge plate, and the telescopic shell is slidably installed in the long groove, which is parallel to the guide groove.

4. The crawling bionic robot according to claim 1, characterized in that, The ends of each of the contoured parts are connected to each other.

5. The crawling bionic robot according to claim 1, characterized in that, The neck drive unit includes a neck servo and a neck bracket. The neck servo is fixedly connected to the connecting seat. One end of the neck bracket is fixedly connected to the output end of the neck servo. The neck shell is connected to the neck bracket. The head drive unit includes a head servo and a head bracket. The head servo is fixedly installed at the other end of the neck bracket. One end of the head bracket is fixedly connected to the output end of the head servo. The other end of the head bracket is connected to the head shell.

6. A walking control method for a crawling bionic robot, implemented using the crawling bionic robot as described in any one of claims 1 to 5, characterized in that, Includes the following steps: Extend the head shell forward, keeping the ring shell and the tail shell stationary, and drive the connecting rod assembly of the connecting seat located at the other end of the spine plate to extend the connecting seat forward, thereby driving the neck shell and head shell to move forward; The tail shell is retracted, while the neck shell, head shell, and ring shell remain stationary. The torso drive unit closest to the tail shell pulls the tail shell toward the head shell via a linkage assembly, and drives the spine plate to move forward as a whole. When the spine plate moves, it can drive the tail shell to bounce upwards simultaneously via the contouring part. The peristaltic ring shell keeps the tail shell and the head shell stationary, and causes each of the torso driving parts in the direction from the tail shell to the head shell to sequentially drive the connecting rod assembly to extend, thereby pushing the ring shells to move forward in sequence. When each of the ring shells moves forward, the contouring part can cause each ring shell to bounce upward. When the neck shell is twisted, as the annular shell near the neck shell moves forward, the neck drive unit drives the neck shell to swing left and right, and the head drive unit drives the head shell to swing up and down.

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