A vibration-driven robot using a bionic vibration isolation structure

Abstract

The present invention discloses a vibration-driven robot that utilizes a biomimetic vibration isolation structure, relating to the field of robotics. The robot comprises a robot body, a vibration isolation structure, a vibration motor, and a vibration leg. The vibration isolation structure is fixed to the robot body. The vibration isolation structure comprises an inner frame and an outer frame. The inner frame is nested within the outer frame, with the inner frame and the outer frame axially aligned in the same direction. The inner frame is fixed to the outer frame via a biomimetic ostrich leg structure. The vibration leg is fixedly connected to the inner frame. The vibration leg supports the robot body. The vibration motor is mounted on the vibration leg. The robot body sends control commands to the vibration motor. The control commands include the speed and direction of the vibration motor. The vibration motor moves according to the control commands, driving the vibration leg to generate vibration motion. This invention can improve the robot's motion performance.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, in particular to a vibration-driven robot adopting a bionic vibration isolation structure. Background Art

[0002] The advantages of flexibility and scalability make microrobots widely applicable in various advanced technologies. Their small size enables them to traverse confined spaces such as caves and pipes, which are inaccessible to larger robots. Furthermore, their lightweight and compact design enables them to traverse complex surfaces, demonstrating excellent terrain adaptability. Furthermore, microrobots exhibit exceptional maneuverability, enabling them to perform complex and precise tasks. In recent years, extensive research on microrobots has focused on different actuation principles, categorized by material-based, magnetic-field-based, pressure-based, and motor-based actuation. However, the actuation systems of these microrobots still face several challenges. Pressure-based microrobots suffer from low energy efficiency and poor adaptability to complex environments. Material-based robots rely on external high-voltage power, a power supply that limits their performance and ability to navigate complex environments. Magnetic control actuation restricts the range and versatility of microrobots, as well as their operational precision. Traditional motor-based actuation, due to its inherent transmission mechanism, hinders the simplification and miniaturization of microrobots. Motor-based microrobots are widely used due to their energy efficiency and independence from external systems. They can be divided into two categories: robots with and without transmission systems. Zarrouk et al. introduced a robot called "1STAR" that has a transmission system and is driven by a single motor. The robot can move in a straight line or change direction on direct command without preparatory movements. However, due to the presence of an intermediate transmission system, although these robots are driven by motors, have high speeds, and move with two degrees of freedom, they have a complex transmission structure (D. Zarrouk and R. S. Fearing, "Controlled in-plane locomotion of a hexapod using a single actuator," IEEE Transactions on Robotics, vol. 31, no. 1, pp. 157-167, 2015).Vartholomeos et al. proposed a planar sliding robot without a transmission system. The robot is driven by the centripetal force generated by an onboard vibrating micromotor. Its motion follows a stick-slip mechanism and can reach a maximum speed of 1.5 mm / s (P. Vartholomeos and E. Papadopoulos, “Analysis, design and control of a planar micro-robot driven by two centripetal-force actuators,” in Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006. IEEE, 2006, pp. 649-654). A search revealed that patent application number 201710639760.0 relates to a vibration-driven motion robot. The robot's four vibration motors are arranged around the periphery of the housing. Two symmetrical vertically positioned motors generate centrifugal force for driving, while two symmetrical horizontally arranged motors reduce friction between the robot and the ground, enabling the robot to move when friction is minimized. A search revealed that patent application number 201210023195.2 describes a cilia-driven microrobot. The robot consists of three layers: the upper layer includes a power module, a vibration motor, a control module, and an operating module. The middle layer is a supporting baseplate. The lower layer has two sets of cilia-driven legs with different diameters, symmetrical inclinations, and the same height. When the vibration motor rotates, the cilia-driven legs at different positions on the bottom generate different vibration amplitudes. This adjustment of the vibration amplitude of the cilia-driven legs enables the robot to move. Summary of the Invention

[0003] The purpose of the present invention is to provide a vibration-driven robot adopting a bionic vibration isolation structure, which can improve the movement performance of the robot.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] A vibration-driven robot using a bionic vibration isolation structure, the robot comprising a robot body, a vibration isolation structure, a vibration motor and a vibration leg;

[0006] The vibration isolation structure is fixed on the robot body;

[0007] The vibration isolation structure includes an inner frame and an outer frame; the inner frame is nested in the outer frame and the axial direction of the inner frame is arranged in the same direction as the axial direction of the outer frame; the inner frame is fixed to the outer frame through a bionic ostrich leg structure;

[0008] The vibration legs are fixedly connected to the inner frame; the vibration legs are used to support the robot body;

[0009] The vibration motor is arranged on the vibration leg;

[0010] The robot body is used to send control instructions to the vibration motor; the control instructions include the speed and direction of the vibration motor;

[0011] The vibration motor moves according to the control instruction and drives the vibration leg to generate vibration movement.

[0012] Optionally, the robot body includes a robot shell, a control module and a drive module;

[0013] The vibration isolation structure is fixed on the robot housing; the driving module and the control module are arranged inside the robot housing;

[0014] The control module is connected to the drive module;

[0015] The control module is used to generate a control signal according to the control instruction and send the control signal to the driving module;

[0016] The driving module is used to output a preset PWM waveform according to the control signal to drive the vibration motor to move.

[0017] Optionally, the vibration isolation structure is embedded in the robot housing.

[0018] Optionally, the inner frame is a hollow cylindrical structure; the vibration leg is fixed to the inner frame by being inserted into the hollow part of the inner frame.

[0019] Optionally, the inner frame and the outer frame are both hollow quadrangular prism structures;

[0020] The outer side surfaces of the inner frame include a first outer side surface, a second outer side surface, a third outer side surface and a fourth outer side surface;

[0021] The inner side surface of the outer frame includes a first inner side surface, a second inner side surface, a third inner side surface and a fourth inner side surface;

[0022] The bionic ostrich leg structure includes a first bionic ostrich leg shape, a second bionic ostrich leg shape, a third bionic ostrich leg shape and a fourth bionic ostrich leg shape;

[0023] The first outer side surface is opposite to the first inner side surface; the second outer side surface is opposite to the second inner side surface; the third outer side surface is opposite to the third inner side surface; and the fourth outer side surface is opposite to the fourth inner side surface;

[0024] The first outer side surface is fixedly connected to the first inner side surface via the first bionic ostrich leg shape; the second outer side surface is fixedly connected to the second inner side surface via the second bionic ostrich leg shape; the third outer side surface is fixedly connected to the third inner side surface via the third bionic ostrich leg shape; and the fourth outer side surface is fixedly connected to the fourth inner side surface via the fourth bionic ostrich leg shape.

[0025] Optionally, the bionic ostrich leg structure includes a plurality of bionic ostrich leg shapes;

[0026] Each of the bionic ostrich legs comprises N linear structures; wherein N is a positive integer greater than 1;

[0027] One end of the first linear structure is fixedly connected to the outer surface of the inner frame; the other end of the first linear structure is fixedly connected to one end of the second linear structure;

[0028] The other end of the i-th linear structure is fixedly connected to one end of the i+1-th linear structure; wherein 1<i<N;

[0029] The other end of the Nth linear structure is fixedly connected to the inner surface of the outer frame.

[0030] Optionally, the vibration leg includes a motor placement portion;

[0031] The motor placement part includes a groove and a motor cover; the vibration motor is placed in the groove; the motor cover covers the opening of the groove; and the motor cover is used to fix the vibration motor in the groove.

[0032] Optionally, the vibration isolation structure is made of polylactic acid material.

[0033] Optionally, the vibration isolation structure is manufactured by 3D printing technology.

[0034] Optionally, the robot further includes a host computer;

[0035] The host computer sends a control signal to the robot body via wireless communication; the control signal includes forward, backward, turn and stop;

[0036] The robot body generates control instructions according to the received control signal.

[0037] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0038] The present invention adopts a vibration-driven method and removes the transmission mechanism, thereby simplifying and miniaturizing the robot structure; in addition, an ostrich-leg-like vibration isolation structure is introduced to reduce the vibration coupling effect between motors in the vibration-driven micro-robot, thereby improving the robot's motion performance and increasing the motion speed, including linear motion speed and turning angular velocity, and expanding the application scenarios of the vibration-driven micro-robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0040] Figure 1 A schematic diagram of the overall structure of a vibration-driven robot using a bionic vibration isolation structure provided by the present invention;

[0041] Figure 2 A side view of the overall structure of a vibration-driven robot using a bionic vibration isolation structure provided by the present invention Figure 1 ;

[0042] Figure 3 A side view of the overall structure of a vibration-driven robot using a bionic vibration isolation structure provided by the present invention Figure 2 ;

[0043] Figure 4 A schematic front view of the vibration isolation structure provided by the present invention;

[0044] Figure 5 An oblique view of the vibration isolation structure provided by the present invention;

[0045] Figure 6 A schematic diagram of the internal structure of a vibration-driven robot using a bionic vibration isolation structure provided by the present invention;

[0046] Figure 7 An exploded diagram of the vibration-driven robot structure using a bionic vibration isolation structure provided by the present invention;

[0047] Figure 8 A schematic diagram of the internal control system of a vibration-driven robot using a bionic vibration isolation structure provided by the present invention;

[0048] Figure 9 This is a schematic diagram of the external control system of a vibration-driven robot using a bionic vibration isolation structure provided by the present invention.

[0049] Explanation of symbols:

[0050] Outer frame—1, first outer side surface—2, inner frame—3, fourth inner side surface—4, third inner side surface—5, second outer side surface—6, first linear structure—7, second linear structure—8, third linear structure—9, fourth linear structure—10, robot housing—11, housing cover—12, vibration isolation structure—13, motor cover—14, vibration leg—15. DETAILED DESCRIPTION

[0051] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0052] The purpose of the present invention is to provide a vibration-driven robot adopting a bionic vibration isolation structure, aiming to improve the movement performance of the robot.

[0053] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0054] Example 1

[0055] like Figures 1-9 As shown, a vibration-driven robot using a bionic vibration isolation structure in this embodiment includes a robot body, a vibration isolation structure 13 , a vibration motor and a vibration leg 15 .

[0056] The vibration isolation structure 13 is fixed on the robot body.

[0057] The vibration isolation structure 13 includes an inner frame 3 and an outer frame 1; the inner frame 3 is nested in the outer frame 1 and the axial direction of the inner frame 3 is arranged in the same direction as the axial direction of the outer frame 1; the inner frame 3 is fixed to the outer frame 1 through a bionic ostrich leg structure.

[0058] The vibration legs 15 are fixedly connected to the inner frame 3 ; the vibration legs 15 are used to support the robot body.

[0059] The vibration motor is disposed on the vibration leg 15 .

[0060] The robot body is used to send control instructions to the vibration motor; the control instructions include the speed and direction of the vibration motor.

[0061] The vibration motor moves according to the control instruction and drives the vibration leg 15 to generate vibration movement.

[0062] Specifically, the robot body includes a robot shell 11, a control module and a drive module.

[0063] The vibration isolation structure 13 is fixed to the robot housing 11; the drive module and the control module are disposed within the robot housing 11. The control module is connected to the drive module. The control module is configured to generate a control signal based on the control instruction and transmit the control signal to the drive module. The drive module is configured to output a preset PWM waveform based on the control signal to drive the vibration motor.

[0064] Furthermore, the vibration isolation structure 13 is embedded in the robot housing 11 .

[0065] As a specific implementation, the inner frame 3 is a hollow cylindrical structure; the vibration leg 15 is fixed to the inner frame 3 by being inserted into the hollow part of the inner frame 3 .

[0066] Specifically, if Figure 5 As shown, the inner frame 3 and the outer frame 1 are both hollow quadrangular prism structures.

[0067] The outer side surfaces of the inner frame 3 include a first outer side surface 2, a second outer side surface 6, a third outer side surface, and a fourth outer side surface. The inner side surfaces of the outer frame 1 include a first inner side surface, a second inner side surface, a third inner side surface 5, and a fourth inner side surface 4. The bionic ostrich leg structure includes a first bionic ostrich leg shape, a second bionic ostrich leg shape, a third bionic ostrich leg shape, and a fourth bionic ostrich leg shape. The first outer side surface 2 is opposite to the first inner side surface; the second outer side surface 6 is opposite to the second inner side surface; the third outer side surface is opposite to the third inner side surface 5; and the fourth outer side surface is opposite to the fourth inner side surface 4. The first outer side surface 2 is fixedly connected to the first inner side surface via the first bionic ostrich leg shape; the second outer side surface 6 is fixedly connected to the second inner side surface via the second bionic ostrich leg shape; the third outer side surface is fixedly connected to the third inner side surface 5 via the third bionic ostrich leg shape; and the fourth outer side surface is fixedly connected to the fourth inner side surface 4 via the fourth bionic ostrich leg shape.

[0068] Furthermore, the cross sections of the inner frame and the outer frame are both regular quadrilateral structures; and the inner frame and the outer frame are coaxially arranged.

[0069] As a specific implementation method, the bionic ostrich leg structure includes multiple bionic ostrich leg shapes; each bionic ostrich leg shape includes N linear structures; wherein N is a positive integer greater than 1; one end of the first linear structure 7 is fixedly connected to the outer surface of the inner frame 3; the other end of the first linear structure 7 is fixedly connected to one end of the second linear structure 8; the other end of the i-th linear structure is fixedly connected to one end of the i+1-th linear structure; wherein 1<i<N; the other end of the N-th linear structure is fixedly connected to the inner surface of the outer frame 1.

[0070] like Figure 4 As shown, when N is equal to 4, one end of the first linear structure 7 is fixedly connected to the outer surface of the inner frame 3; the other end of the first linear structure 7 is fixedly connected to one end of the second linear structure 8; the other end of the second linear structure 8 is fixedly connected to one end of the third linear structure 9; the other end of the third linear structure 9 is fixedly connected to one end of the fourth linear structure 10; and the other end of the fourth linear structure 10 is fixedly connected to the inner surface of the outer frame 1.

[0071] As a specific implementation, the vibration leg 15 includes a motor placement part; the motor placement part includes a groove and a motor cover 14; the vibration motor is placed in the groove; the motor cover 14 covers the opening of the groove; the motor cover 14 is used to fix the vibration motor in the groove.

[0072] In addition, the part of the vibration leg that contacts the moving ground adopts an arc design.

[0073] As a specific embodiment, the material of the vibration isolation structure 13 is polylactic acid material. The vibration isolation structure 13 is manufactured by 3D printing technology.

[0074] As a specific implementation method, the robot also includes a host computer; the host computer sends a control signal to the robot body through wireless communication; the control signal includes forward, backward, turn and still; the robot body generates a control instruction based on the received control signal.

[0075] In practical applications, such as Figure 6 and Figure 7 As shown, the present invention provides a micro vibration-driven robot adopting a bionic vibration isolation structure, which consists of a robot body, four vibration isolation structures, four vibration legs, four vibration motors and four motor covers; all components are manufactured using 3D printing technology, and the selected printing material is polylactic acid (PLA).

[0076] The robot body consists of a robot shell 11, a shell cover 12, a control board, a Wi-Fi module, a power module and a drive module. The control board is connected to the Wi-Fi module and the drive module, and the power module is connected to the control board and the drive module. All of these hardware are arranged in the robot shell 11.

[0077] The control board is used to process the drive instructions sent by the host computer, control the signal output of the drive module according to the instructions, and also save the PWM value data of the drive module output port and transmit it back to the host computer via WiFi, so as to obtain the real-time status of each vibration motor of the robot.

[0078] The drive module receives instructions from the control board, including forward, backward, turn and stop commands, and converts the voltage provided by the power module into corresponding PWM signals and outputs them to the vibration motor. The vibration motor will exhibit different speeds and directions under different PWM signals.

[0079] The Wi-Fi module is used for communication between the robot and the host computer. The robot can receive instructions through the Wi-Fi module and also feedback the real-time status information of the robot to the host computer through Wi-Fi, including the current battery level of the robot and the motion status of each vibration motor.

[0080] The power supply module is used to supply power to the control board and the drive module.

[0081] A vibration motor is installed in the groove of each vibration leg 15, and the motor is fixed by a motor cover 14. The vibration leg 15 is connected to the robot housing 11 through a dedicated vibration isolation structure 13, thereby preventing the transmission of vibration between the four vibration legs 15 and the central body, maintaining effective vibration isolation. Each vibration isolation structure 13 is square as a whole, and the vibration isolation part thereof is shaped like an ostrich leg. This structure has certain elasticity and damping properties, so it can block vibration, so that the vibration generated by the vibration motor will not be transmitted to the other vibration motors. At the same time, the vibration is concentrated on a single vibration leg 15, so that the vibration amplitude of the vibration leg 15 becomes larger, thereby improving the robot's movement performance.

[0082] The motion principle of the vibration-driven robot using a bionic vibration isolation structure provided by the present invention is as follows:

[0083] Let's take the movement of a single vibrating leg as an example. During one rotational cycle of the vibration motor's eccentric rotor, the eccentric rotor passes through four quadrants. Assuming that starting in the fourth quadrant, the horizontal force generated by the rotor continuously propels the driving leg in the positive direction. Entering the first quadrant, the horizontal force decreases, causing the vibrating leg to decelerate. In the second quadrant, the horizontal force increases and reverses, causing the vibrating leg to move in the negative direction. Finally, in the third quadrant, the horizontal force gradually decreases in the negative direction, and the movement of the vibrating leg eventually stops due to friction. During one rotational cycle of the eccentric rotor, the vibrating leg undergoes reciprocating motion. When the vibrating leg moves in the positive direction, the downward vertical force gradually decreases, resulting in a decrease in frictional resistance. When it moves in the negative direction, the vertical force steadily increases, increasing frictional resistance. This friction difference results in a greater displacement in the positive direction than in the negative direction, causing the vibrating leg to move forward. Ultimately, the forward movement of the four vibrating legs realizes the forward motion of the entire robot. The robot's backward and turning motion can be achieved similarly by varying the speed and direction of the vibration motor.

[0084] The control system of the vibration-driven robot using a bionic vibration isolation structure provided by the present invention mainly consists of a host computer and a slave computer equipped with a control module, a drive module, a power module and an actuator. Figure 8 and Figure 9 shown.

[0085] The robot's control module uses a simplified version of the FireBeetle-ESP32 (BeetleESP32), specifically the ESP32-WROOM-32D model, equipped with a Tensilica LX6 dual-core processor. The control module is equipped with a Wi-Fi module. Through the Wi-Fi module, the robot can communicate with the host computer, receive various commands, and provide feedback on its real-time status. The control module is powered by a power module and receives motion commands from the host computer via the Wi-Fi module, including forward, backward, turn, and stop commands. Based on the received commands, the control module sends signals to the driver module through the IO port, controlling the driver module's output port to output the corresponding PWM value. Simultaneously, the control module uses the IO port to collect the driver module's output data. By converting the analog PWM value into a digital signal, the control module obtains the voltage corresponding to the current PWM value. This collected data is then fed back to the computer via the Wi-Fi module, thereby determining the current motion status of each vibration motor.

[0086] The driver module selected is a dual-bridge motor driver module (DRV8833), which is connected to the IO port of the control module and the power module. According to the signal output by the control module, a pulse width modulation signal (PWM) is generated to drive the vibration motor.

[0087] The actuator consists of four vibration motors. The control module converts the digital voltage signal into an analog signal, which is then output via the driver module to adjust the motor's speed and direction. The duty cycle of the PWM signal determines the average voltage applied to the vibration motor. A higher duty cycle results in a higher average voltage applied to the vibration motor and a faster speed. A smaller PWM signal results in a slower speed. Changing the sign of the PWM signal changes the direction of the average voltage applied to the vibration motor, thereby changing the direction of the motor's rotation. Because the selected control and driver modules can only control two vibration motors simultaneously, the lower computer uses two identical control systems. When the robot is in motion, both control systems operate simultaneously and receive commands from the upper computer, with each system independently managing the left and right motors. When the robot begins linear motion, both systems output the same voltage to the vibration motors. However, when the robot turns, one of the systems reduces the voltage output to the vibration motor.

[0088] In a specific embodiment, the control system performs closed-loop control with the assistance of a top-mounted camera, which provides a global view. When a computer sends a command to the robot to follow a desired path, the camera continuously monitors the robot's actual position. The camera recognizes a QR code affixed to the robot's top and transmits the robot's real-time position to the computer. The computer uses image processing techniques to generate a fixed map coordinate system from the global environment. The computer then extracts the robot's target location and direction of movement, represented by (x, y) coordinates. The detected target location is compared with the desired target location, and the distance and direction errors between the current robot location and the desired target are calculated. If the robot begins to deviate from the desired location, the computer sends a command via WiFi to the robot's control module. The control module then sends a command to the driver module, which adjusts the PWM value output by the driver module to the vibration motors, thereby adjusting the speed of the left and right vibration motors to correct the robot's direction of movement. When the robot's position returns to the desired target, the computer sends a command to stop the robot's adjustment process. This ensures accurate and efficient navigation along the desired path, demonstrating the robot's potential in swarm robotics applications.

[0089] The technical effects of the vibration-driven robot using a bionic vibration isolation structure provided by the present invention are as follows:

[0090] This invention utilizes a vibration-driven approach, eliminating the transmission mechanism. This simplifies and miniaturizes the robot's structure, making it easier to manufacture and reducing production costs. Furthermore, a bionic vibration isolation structure, modeled after an ostrich's leg, is designed. This isolation reduces the transmission of vibration from the vibration motors in the four legs to the robot's body, thereby preventing the vibrations of the different vibration motors from interfering with each other. This achieves vibration decoupling, improves the robot's motion capabilities (increasing both linear speed and turning angular velocity), and expands the application scenarios of vibration-driven microrobots.

[0091] Furthermore, the present invention has designed a bionic vibration isolation structure shaped like an ostrich leg. This structure is 3D-printed from PLA material, achieving vibration decoupling. The vibrations generated by each vibration motor are not transmitted to other vibration motors, but are instead concentrated on the vibration leg where the vibration motor is mounted, increasing the vibration amplitude of the vibration leg and thus improving the robot's mobility. This expands the use cases of vibration-driven microrobots, enabling them to move in a variety of terrains, including wood, marble, glass, rubber, and iron plates. Furthermore, the robot has the ability to traverse obstacles, carry loads, and climb slopes.

[0092] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0093] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A vibration-driven robot using a bionic vibration isolation structure, characterized in that: The robot comprises a robot body, a vibration isolation structure, a vibration motor and a vibration leg; The vibration isolation structure is fixed on the robot body; The vibration isolation structure includes an inner frame and an outer frame; the inner frame is nested in the outer frame and the axial direction of the inner frame is arranged in the same direction as the axial direction of the outer frame; the inner frame is fixed to the outer frame through a bionic ostrich leg structure; The vibration legs are fixedly connected to the inner frame; the vibration legs are used to support the robot body; The vibration motor is arranged on the vibration leg; The robot body is used to send control instructions to the vibration motor; the control instructions include the speed and direction of the vibration motor; The vibration motor moves according to the control instruction and drives the vibration leg to generate vibration movement; The bionic ostrich leg structure includes a plurality of bionic ostrich leg shapes; Each of the bionic ostrich legs comprises N linear structures; wherein N is a positive integer greater than 1; One end of the first linear structure is fixedly connected to the outer surface of the inner frame; the other end of the first linear structure is fixedly connected to one end of the second linear structure; The other end of the i-th linear structure is fixedly connected to one end of the i+1-th linear structure; wherein 1<i<N; The other end of the Nth linear structure is fixedly connected to the inner surface of the outer frame.

2. The vibration-driven robot using a bionic vibration isolation structure according to claim 1, characterized in that: The robot body includes a robot shell, a control module and a drive module; The vibration isolation structure is fixed on the robot housing; the driving module and the control module are arranged inside the robot housing; The control module is connected to the drive module; The control module is used to generate a control signal according to the control instruction and send the control signal to the driving module; The driving module is used to output a preset PWM waveform according to the control signal to drive the vibration motor to move.

3. The vibration-driven robot using a bionic vibration isolation structure according to claim 2, characterized in that: The vibration isolation structure is embedded in the robot shell.

4. The vibration-driven robot using a bionic vibration isolation structure according to claim 1, characterized in that: The inner frame is a hollow cylindrical structure; the vibration leg is fixed to the inner frame by being inserted into the hollow part of the inner frame.

5. The vibration-driven robot using a bionic vibration isolation structure according to claim 4, characterized in that: The inner frame and the outer frame are both hollow quadrangular prism structures; The outer side surfaces of the inner frame include a first outer side surface, a second outer side surface, a third outer side surface and a fourth outer side surface; The inner side surface of the outer frame includes a first inner side surface, a second inner side surface, a third inner side surface and a fourth inner side surface; The bionic ostrich leg structure includes a first bionic ostrich leg shape, a second bionic ostrich leg shape, a third bionic ostrich leg shape and a fourth bionic ostrich leg shape; The first outer side surface is opposite to the first inner side surface; the second outer side surface is opposite to the second inner side surface; the third outer side surface is opposite to the third inner side surface; and the fourth outer side surface is opposite to the fourth inner side surface; The first outer side surface is fixedly connected to the first inner side surface via the first bionic ostrich leg shape; the second outer side surface is fixedly connected to the second inner side surface via the second bionic ostrich leg shape; the third outer side surface is fixedly connected to the third inner side surface via the third bionic ostrich leg shape; and the fourth outer side surface is fixedly connected to the fourth inner side surface via the fourth bionic ostrich leg shape.

6. The vibration-driven robot using a bionic vibration isolation structure according to claim 1, characterized in that: The vibrating leg includes a motor placement portion; The motor placement part includes a groove and a motor cover; the vibration motor is placed in the groove; the motor cover covers the opening of the groove; and the motor cover is used to fix the vibration motor in the groove.

7. The vibration-driven robot using a bionic vibration isolation structure according to claim 1, characterized in that: The material of the vibration isolation structure is polylactic acid material.

8. The vibration-driven robot using a bionic vibration isolation structure according to claim 1, characterized in that: The vibration isolation structure is manufactured by 3D printing technology.

9. The vibration-driven robot using a bionic vibration isolation structure according to claim 1, characterized in that: The robot also includes a host computer; The host computer sends a control signal to the robot body via wireless communication; the control signal includes forward, backward, turn and stop; The robot body generates a control instruction according to the received control signal.

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