Single-degree-of-freedom bionic quadruped crawling robot based on coupling plane connecting rod device

Abstract

The invention provides a single-degree-of-freedom bionic four-foot crawling robot based on a coupling plane connecting rod device, and relates to the technical field of robot mechanisms, the single-degree-of-freedom bionic four-foot crawling robot comprises a frame body and four mechanical legs connected to the frame body; a driving system is arranged on the frame body, the driving system is connected with a planar connecting rod mechanism, and the planar connecting rod mechanism is connected with the mechanical legs; the plane connecting rod mechanism comprises a crank rocker mechanism, a parallelogram mechanism and a driving component which are arranged in a coupled mode. The crank rocker mechanism comprises a crank, one end of the crank and one end of the driving component are connected with the driving system, the other end of the crank and the other end of the driving component are connected with the parallelogram mechanism, and the mechanical legs are connected to the parallelogram mechanism. The driving system operates to synchronously drive the crank and the driving component to rotate, so that the mechanical legs are driven to realize crawling movement. The robot has the beneficial effects that the complexity and the energy consumption of a control system are reduced by fusing a planar connecting rod mechanism, so that the movement of the robot is more coordinated and accurate, and the complex crawling action is conveniently realized.

Description

Technical Field

[0001] The present invention relates to the technical field of robot mechanism, in particular to a single-degree-of-freedom bionic quadruped crawling robot based on a coupled plane connecting rod device. Background Art

[0002] A quadruped crawling robot is a robot that imitates the walking style of animals (such as dogs, spiders, etc.). It moves through four mechanical legs, which can greatly reduce the manpower burden. Therefore, it is widely used in military reconnaissance, disaster relief, agricultural monitoring, and household services.

[0003] Chinese patent document CN118238916A discloses a pneumatic artificial muscle driven crawling robot, which relates to the application field of pneumatic artificial muscles; it comprises a main body structure and six groups of crawling driving limbs evenly arranged on the outside of the main body structure, the six groups of crawling driving limbs can be controlled individually, and each two adjacent groups of crawling driving limbs determine the forward direction, so the crawling robot has six forward directions; the main body structure comprises a lower support plate and an upper support plate arranged in parallel, a plurality of studs are arranged between the lower support plate and the upper support plate, and the two ends of each stud are respectively threadedly connected to the lower support plate and the upper support plate; the main body of the crawling driving limb is pneumatic The part includes a main body pneumatic muscle fixedly installed with a thread on the lower support plate, and a pull block is fixed to the top output end of the main body pneumatic muscle; during the movement of the crawling robot, the two groups of crawling drive limbs in the front direction of the forward movement are set to drive the forelimbs, and the two groups of crawling drive limbs in the rear direction of the forward movement are set to drive the hind limbs, and the remaining two groups of crawling drive limbs are used for auxiliary support and are not in a working state; each group of crawling drive limbs includes a main body pneumatic part, an upper limb pneumatic part and a lower limb pneumatic part; through the bionic design of the crawling robot, six groups of crawling drive limbs are set to cooperate in movement, and pneumatic muscles are used to drive the upper limb part and the lower limb part.

[0004] However, the aforementioned crawling robots are complex in structure, with complex kinematic and dynamic models and high control difficulty associated with multi-degree-of-freedom serial mechanisms. Extremely precise control algorithms are required to achieve precise position and posture control of the end effector. Otherwise, cumulative errors are likely to occur, leading to significant increases in end position deviations. Furthermore, most current crawling robots suffer from certain common problems. First, each leg of a multi-degree-of-freedom crawling robot is equipped with at least one motor, which requires highly precise synchronous control to ensure a stable and smooth gait. However, in actual operation, the use of multiple motors requires more wiring and interfaces for connection and control. This not only increases system complexity but also makes problems such as wiring failures and loose interfaces more likely to occur. Once these problems occur, they can easily affect the normal operation of the robot and even cause it to completely lose functionality. Second, bipedal crawling robots have inherent design limitations. These robots typically have a pair of mirrored legs mounted on either end of a frame. While they can simulate human gait to a certain extent, they often struggle to adjust their center of gravity quickly enough when navigating complex terrain or when walking quickly, making them prone to loss of balance. Furthermore, even within the speed range a robot can withstand, its balance can be greatly challenged by emergencies such as natural disasters, making it extremely easy for it to lose balance and fail to complete its assigned tasks. Thirdly, while multi-legged robots offer certain advantages in terms of stability, they also present their own challenges. These robots typically utilize six or more mechanical legs mounted on either side of a frame. Their control algorithms are extremely complex, requiring precise coordination of the movements of each leg. Furthermore, due to their relatively small span, they are often limited in their ability to traverse obstacles of varying sizes and shapes. This, to a certain extent, affects the robot's ability to move normally and reduces its adaptability in complex environments. Summary of the Invention

[0005] The present invention overcomes the shortcomings of the prior art and provides a single-degree-of-freedom bionic quadruped crawling robot based on a coupled planar link device, which has multiple advantages such as stable walking, simplified structure, and strong carrying capacity.

[0006] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0007] A single-degree-of-freedom bionic quadruped crawling robot based on a coupled planar linkage device comprises a frame and four mechanical legs connected to the frame; two of the mechanical legs are located on one side of the frame, and the other two are located on the other side of the frame; a drive system is provided on the frame, the drive system is connected to the planar linkage mechanism, and the planar linkage mechanism is connected to the mechanical legs;

[0008] The planar connecting rod mechanism includes a crank-rocker mechanism, a parallelogram mechanism and an active component, which are coupled together; the crank-rocker mechanism includes a crank, which is arranged parallel to the active component and whose rotation planes coincide with each other; one end of the crank and the active component are respectively connected to the drive system, and the other end is respectively connected to the parallelogram mechanism, and the mechanical leg is connected to the parallelogram mechanism; the operation of the drive system synchronously drives the crank and the active component to rotate, thereby driving the mechanical leg to achieve crawling motion.

[0009] Furthermore, the parallelogram mechanism includes a first component, a second component, a third component and a fourth component connected end to end in sequence; the crank is connected at the connection point between the first component and the fourth component, and the active component is connected at the connection point between the first component and the second component; it also includes a fifth component, one end of the fifth component is rotatably connected to the frame, and the other end is rotatably connected to the connection between the third component and the fourth component; the crank, the fourth component and the fifth component together constitute the crank rocker mechanism.

[0010] Furthermore, the drive system includes a driving gear, which is respectively engaged with the first driven gear A and the first driven gear B; the first driven gear A is engaged with the second driven gear A, the second driven gear A is coaxially connected to the third driven gear A through the first transmission shaft A, the third driven gear A is engaged with the fourth driven gear A, and the fourth driven gear A is engaged with the fifth driven gear A; the fourth driven gear A is connected to the second transmission shaft A, and the fifth driven gear A is connected to the third transmission shaft A;

[0011] The first driven gear B is meshed with the second driven gear B, the second driven gear B is coaxially connected to the third driven gear B via the first transmission shaft B, the third driven gear B is meshed with the fourth driven gear B, and the fourth driven gear B is meshed with the fifth driven gear B; the fourth driven gear B is connected to the second transmission shaft B, and the fifth driven gear B is connected to the third transmission shaft B;

[0012] The first transmission shaft A, the second transmission shaft A, the third transmission shaft A, the first transmission shaft B, the second transmission shaft B, and the third transmission shaft B are all rotatably connected to the frame; for the two front mechanical legs, their cranks are connected to the third transmission shaft A, and the active component is connected to the first transmission shaft A; for the two rear mechanical legs, their cranks are connected to the third transmission shaft B, and the active component is connected to the first transmission shaft B.

[0013] Furthermore, the mechanical leg includes two mirror-image upper limb parts and a support part connected below the two upper limb parts; the upper limb part includes a sixth component, one end of which is connected to the third component, and the other end is rotatably connected to one end of the seventh component, and the other end of the seventh component is rotatably connected to the support part; it also includes a first support rib and a second support rib, one end of the first support rib is rotatably connected to the sixth component, and the other end is rotatably connected to the seventh component; one end of the second support rib is rotatably connected to the seventh component, and the other end is rotatably connected to the support part.

[0014] Furthermore, the connection between the sixth component and the third component forms a moving pair; the third component has a rod body with a square cross-section, and the sixth component has a mounting opening matching the cross-sectional shape of the rod body, and the mounting opening can be slidably sleeved on the rod body of the third component.

[0015] Furthermore, the crank is equal to the active component in length and can rotate 360 degrees relative to the frame.

[0016] Furthermore, the ends of the third transmission shaft A, the first transmission shaft A, the third transmission shaft B, and the first transmission shaft B are provided with keys, and the active component and the crank are provided with key positions correspondingly.

[0017] Furthermore, the support component extends downward and is gathered into an inverted cone foot-shaped structure.

[0018] Furthermore, the frame body includes a protruding bow-shaped frame, and the driving gear, the first driven gear A and the first driven gear B are all rotatably mounted on the bow-shaped frame.

[0019] Furthermore, the driving gear, the first driven gear A, the first driven gear B, the second driven gear A, and the second driven gear B are all located in the same plane; the third driven gear A, the fourth driven gear A, the fifth driven gear A, the third driven gear B, the fourth driven gear B, and the fifth driven gear B are located in another plane; and the two planes are parallel to each other.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] (1) By integrating the parallelogram mechanism with the crank rocker mechanism, the robotic leg can accurately simulate human walking movements, achieve smooth and efficient movement, and easily adjust its posture and gait to cross complex obstacles, significantly improving its environmental adaptability and obstacle crossing performance.

[0022] (2) The mechanical legs are based on the structure of long-legged spiders to achieve large spans and high flexibility. The first and second support ribs improve the stability and load-bearing capacity of the mechanism, allowing the robot to remain stable even in complex terrain and under heavy loads.

[0023] (3) The drive system has only one degree of freedom, which simplifies the control logic, reduces the complexity and energy consumption of the control system, makes the robot movement more coordinated and precise, and facilitates the realization of complex crawling actions.

[0024] (4) The four sets of consistent mechanical leg layout can evenly distribute the weight of heavy objects, avoid local overload, effectively improve the robot's carrying capacity, and ensure the efficient completion of the task. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are used to provide a further understanding of the present invention and are used to explain the present invention together with the embodiments of the present invention, but do not constitute a limitation of the present invention. In the accompanying drawings:

[0026] Figure 1 The present invention is an overall diagram of a quadruped crawling robot;

[0027] Figure 2 It is a structural diagram of the frame and drive system;

[0028] Figure 3 It is a structural diagram of the drive system;

[0029] Figure 4 This is a diagram of the crawling motion of the robotic leg. Figure 1 , at this time it is in a supporting state;

[0030] Figure 5 This is a diagram of the crawling motion of the robotic leg. Figure 1 , which is in the lifted state at this time;

[0031] Figure 6 This is a schematic diagram of the structure of the mechanical leg;

[0032] Figure 7 It is a structural diagram of a planar linkage mechanism;

[0033] Figure 8 is a schematic diagram of a state where the third component and the sixth component are separated;

[0034] Figure 9 This is a schematic diagram of the structure of a quadruped crawling robot. Figure 1 , at this time the driving gear rotates 0°;

[0035] Figure 10 This is a schematic diagram of the structure of a quadruped crawling robot. Figure 2 , at this time the driving gear rotates 90°;

[0036] Figure 11 This is a schematic diagram of the structure of a quadruped crawling robot. Figure 2 , at this time the driving gear rotates 180°;

[0037] Figure 12This is a schematic diagram of the structure of a quadruped crawling robot. Figure 2 At this time, the driving gear rotates 270°.

[0038] In the figure: 1-frame; 101-bow frame; 201, 202, 203, 204-mechanical legs; 2011-upper limb component; 20111-sixth component; 201111-mounting port; 20112-seventh component; 20113-first supporting rib; 20114-second supporting rib; 2012-support component; 3-drive system; 301-driving gear; 302-first driven gear A; 303-first driven gear B; 304-second driven gear A; 305-first transmission shaft A; 306-third driven gear A; 307 -Fourth driven gear A; 308-Fifth driven gear A; 309-Second transmission shaft A; 310-Third transmission shaft A; 311-Second driven gear B; 312-First transmission shaft B; 313-Third driven gear B; 314-Fourth driven gear B; 315-Fifth driven gear B; 316-Second transmission shaft B; 317-Third transmission shaft B; 4-Active component; 401-Key position; 5-Crank; 6-First component; 7-Second component; 8-Third component; 801-Rod body; 9-Fourth component; 10-Fifth component; 11-Key. DETAILED DESCRIPTION

[0039] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0040] like Figures 1 to 3 As shown, the present invention claims protection for a single-degree-of-freedom bionic quadruped crawling robot based on a coupled planar linkage mechanism, comprising a frame 1 and four mechanical legs (mechanical legs 201, 202, 203, and 204) connected to the frame 1. Mechanical legs 201 and 203 are located on one side of the frame 1, while mechanical legs 202 and 204 are located on the other side of the frame 1. A drive system 3 is provided on the frame 1, which is connected to the planar linkage mechanism, which in turn is connected to the four mechanical legs.

[0041] The planar linkage mechanism is composed of a crank-rocker mechanism, a parallelogram mechanism, and an active member 4 coupled together. Specifically, one end of the crank 5 and active member 4 are each connected to the drive system 3, and the other end is connected to the parallelogram mechanism. The four robotic legs are then connected to the parallelogram mechanism. When the drive system 3 is in operation, it synchronously drives the crank 5 and active member 4 to rotate, thereby driving the four robotic legs to achieve crawling motion.

[0042] like Figures 4 to 8As shown, the parallelogram mechanism includes a first member 6, a second member 7, a third member 8 and a fourth member 9 connected end to end in sequence. The ends of the first member 6, the second member 7, the third member 8 and the fourth member 9 are rotatably connected to form a parallelogram shape. The crank 5 is connected at the connection point between the first member 6 and the fourth member 9, and the active member 4 is connected at the connection point between the first member 6 and the second member 7. It also includes a fifth member 10, one end of the fifth member 10 is rotatably connected to the frame 1, and the other end is rotatably connected to the connection between the third member 8 and the fourth member 9. The above-mentioned rotation or rotation connection can be connected by inserting a pin at the connection part. Combined Figure 7 As can be seen, the crank 5 , the fourth component 9 and the fifth component 10 together form a crank and rocker mechanism.

[0043] The drive system 3 includes a driving gear 301, which is meshed with a first driven gear A302 and a first driven gear B303 respectively; the first driven gear A302 is meshed with a second driven gear A304, the second driven gear A304 is coaxially connected to a third driven gear A306 via a first transmission shaft A305, the third driven gear A306 is meshed with a fourth driven gear A307, and the fourth driven gear A307 is meshed with a fifth driven gear A308; the fourth driven gear A307 is connected to a second transmission shaft A309, and the fifth driven gear A308 is connected to a third transmission shaft A310;

[0044] The first driven gear B303 meshes with the second driven gear B311, which is coaxially connected to the third driven gear B313 via the first transmission shaft B312. The third driven gear B313 meshes with the fourth driven gear B314, which in turn meshes with the fifth driven gear B315. The fourth driven gear B314 is connected to the second transmission shaft B316, and the fifth driven gear B315 is connected to the third transmission shaft B317.

[0045] As can be seen from the above structure, it is only necessary to connect the motor to the driving gear 301 to drive the rotation, so that the first transmission shaft A305, the second transmission shaft A309, the third transmission shaft A310, the first transmission shaft B312, the second transmission shaft B316, and the third transmission shaft B317 can be rotated at the same time, so that the overall posture of the robot also changes regularly, and the driving structure is simplified.

[0046] The first transmission shaft A305, the second transmission shaft A309, the third transmission shaft A310, the first transmission shaft B312, the second transmission shaft B316, and the third transmission shaft B317 are all rotatably connected to the frame 1; for the front mechanical legs 201 and 202, their cranks 5 are connected to the third transmission shaft A310, and the active component 4 is connected to the first transmission shaft A305; for the rear mechanical legs 203 and 204, their cranks 5 are connected to the third transmission shaft B317, and the active component 4 is connected to the first transmission shaft B312. Taking the mechanical legs 201 and 202 as an example, the third transmission shaft A310 and the first transmission shaft A305 correspondingly drive the crank 5 and the active component 4 to rotate; in order to enhance the stability of the transmission, the ends of the third transmission shaft A310, the first transmission shaft A305, the third transmission shaft B317, and the first transmission shaft B312 are provided with keys 11, and the active component 4 and the crank 5 are correspondingly provided with key positions 401, so that the transmission will not slip, which is beneficial to improving the stability of the transmission.

[0047] The mechanical legs 201, 202, 203 and 204 include two mirror-image upper limb parts 2011 and a support part 2012 connected to the bottom of the two upper limb parts 2011; the upper limb part 2011 includes a sixth component 20111, one end of which is connected to the third component 8, and the other end is rotatably connected to one end of the seventh component 20112, and the other end of the seventh component 20112 is rotatably connected to the support part 2012; it also includes a first support rib 20113 and a second support rib 20114, one end of the first support rib 20113 is rotatably connected to the sixth component 20111, and the other end is rotatably connected to the seventh component 20112; one end of the second support rib 20114 is rotatably connected to the seventh component 20112, and the other end is rotatably connected to the support part 2012. The first support rib 20113 and the second support rib 20114 not only play a role in fixing, but also further strengthen the rigidity of the support. The mirror image arrangement of the upper limb component 2011 is conducive to improving the overall rigidity of the support.

[0048] A moving pair is formed at the connection between the sixth component 20111 and the third component 8, which is conducive to limiting the motion trajectory; the third component 8 has a rod body 801 with a square cross-section, and the sixth component 20111 has a mounting port 201111 that matches the cross-sectional shape of the rod body 801, and the mounting port 201111 can be slidably mounted on the rod body 801 of the third component 8; thereby, the two upper limb components 2011 that are mirror-set can be assembled on the rod body 801 through the mounting port 201111 when the force changes, and the two upper limb components on the same mechanical leg can move closer to and away from each other to relieve the force.

[0049] Combine Figure 4 、 Figure 5 as well as Figure 7 As can be seen, the crank-rocker mechanism includes a crank 5, which is arranged parallel to the active member 4, with their rotation planes coinciding. Furthermore, the crank 5 and the active member 4 are of equal length and can rotate 360° relative to the frame 1. Therefore, when the crank-rocker mechanism, including crank 5, rotates, the parallelogram mechanism connected to it also begins to move. Due to the characteristics of the parallelogram, the active member 4 also rotates synchronously, thereby driving the robotic leg 201 to lift, swing, and move forward.

[0050] In addition, the support component 2012 extends downward and gathers into an inverted cone-shaped foot structure. This structure can achieve support for the mechanical leg by using only a very small support surface, which is conducive to stable walking even on highly uneven and rugged roads.

[0051] The frame 1 includes a raised bow-shaped frame 101, on which the driving gear 301, first driven gear A302, and first driven gear B303 are rotatably mounted. The driving gear 301, first driven gear A302, first driven gear B303, second driven gear A304, and second driven gear B311 are all located on the same plane; the third driven gear A306, fourth driven gear A307, fifth driven gear A308, third driven gear B313, fourth driven gear B314, and fifth driven gear B315 are located on another plane, and the two planes are parallel to each other. This ensures that the drive system has only one degree of freedom. This drive system is sequentially connected to the four mechanical legs, resulting in the entire crawling robot having only one degree of freedom. This design simplifies the control logic, making the robot's movements more coordinated and precise, facilitating complex crawling maneuvers. It also reduces the complexity and energy consumption of the control system, improving the robot's adaptability in complex environments.

[0052] By integrating a parallelogram mechanism with a crank-rocker mechanism in the design of mechanical legs 201, 202, 203, and 204, this unique combination enables the robotic legs to accurately simulate the leg-lifting and leg-dropping motions of human walking, achieving smooth and efficient movement. Facing complex obstacles of varying heights and shapes, the robot, relying on the flexible movement of its legs, can easily adjust its leg posture and gait, allowing it to smoothly and efficiently traverse them. This design significantly enhances the robot's environmental adaptability, enabling it to demonstrate excellent obstacle-crossing performance in complex terrain and meet the needs of diverse application scenarios. Furthermore, four sets of structurally identical mechanical legs are mounted on the robot frame. This layout allows the robot to evenly distribute the total weight of the load across the legs when carrying heavy objects, effectively avoiding instability caused by localized overload. This design allows the robot to maintain a smooth and orderly crawling state even with extremely heavy loads, demonstrating excellent performance. This innovative layout effectively increases the robot's load-bearing capacity and provides a strong guarantee for efficient task completion.

[0053] The robotic legs draw inspiration from the structural characteristics of long-legged spiders, achieving not only a large span but also enhanced overall flexibility. Furthermore, the first and second support ribs 20113 and 20114 further enhance the stability and load-bearing capacity of the mechanism. This design ensures the robot maintains stability during crawling, demonstrating excellent performance even on complex terrain or under heavy loads, providing a strong guarantee for efficient crawling operations.

[0054] by Figure 9For example, the walking principle of a crawling robot is further explained. When the crawling robot's mechanical legs 201 and 204 swing forward, the crawling robot's mechanical legs 202 and 203 act as support, placing the robot's center of gravity on the line connecting the two legs. As the swung mechanical legs 201 and 204 take a step forward, the two legs drive the corresponding joints, causing the robot to move forward, causing the model's center of gravity to tilt forward, precisely placing the center of gravity within the diagonal stability zone of the two legs. When the robot moves into position, the two legs immediately lower themselves, landing on all fours to maintain a balanced standing position. Next, the original mechanical legs 202 and 203 lift up and step forward, with the two legs 201 and 204 acting as support. Robotic legs 201 and 204 drive the joints to move the body forward, and the model's center of gravity begins to tilt forward, precisely within the diagonal stability zone of legs 201 and 204. Then, legs 202 and 203 immediately lower themselves, landing on all fours to maintain balance, thus completing the entire walking cycle. The swing angles of legs 201 and 204 are synchronized, and similarly, the swing angles of legs 202 and 203 are synchronized. For example, using legs 201 and 202 as an example (and similarly for legs 203 and 204), the rotation angles of the crank 5 and active component 4 on leg 201 differ by 180° from those on leg 202. This allows legs 201 and 202 to be positioned one higher than the other, with one supporting the other while the other is lifting and swinging forward, thus cyclically crawling forward.

[0055] This single-degree-of-freedom bionic quadruped crawling robot based on a coupled planar linkage mechanism primarily consists of a frame 1, four robotic legs, a drive system 3, and a planar linkage mechanism. The drive system's driving gear 301 connects to a motor and rotates. Through a series of gears, this simultaneously rotates the first, second, and third transmission shafts A305, A309, A310, B312, B316, and B317, thereby moving the parallelogram mechanism and, consequently, the four robotic legs. During walking, as robotic legs 201 and 204 swing forward, they are supported by legs 202 and 203, aligning their center of gravity along the line connecting them. This drives the joints, shifting the robot forward and tilting its center of gravity forward to a stable region. Legs 201 and 204 are then lowered, while legs 202 and 203 are raised to take a step, completing the walking cycle.

[0056] By integrating the parallelogram mechanism and the crank rocker mechanism, the present invention enables the mechanical legs to accurately simulate human walking movements, achieve smooth and efficient movements, and easily adjust posture and gait to cross complex obstacles, significantly improving environmental adaptability and obstacle crossing performance; in addition, the mechanical legs draw on the long-legged spider structure to achieve a large span and high flexibility, and the first support rib 20113 and the second support rib 20114 improve the stability and load-bearing capacity of the mechanism, so that the robot can remain stable even under complex terrain and large loads; the drive system 3 has only one degree of freedom, which simplifies the control logic, reduces the complexity and energy consumption of the control system, makes the robot movement more coordinated and precise, and facilitates the realization of complex crawling movements; the four sets of consistent mechanical leg layouts can evenly distribute the weight of heavy objects, avoid local overload, effectively improve the robot's carrying capacity, and ensure the efficient completion of the task.

[0057] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent replacements for some of the technical features therein. However, any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A single-degree-of-freedom bionic quadruped crawling robot based on a coupled planar linkage device, characterized by: The invention comprises a frame (1) and four mechanical legs (201, 202, 203, 204) connected to the frame (1); wherein two mechanical legs (201, 203) are located on one side of the frame (1), and the other two mechanical legs (202, 204) are located on the other side of the frame (1); a drive system (3) is provided on the frame (1), the drive system (3) is connected to a planar linkage mechanism, and the planar linkage mechanism is connected to the mechanical legs (201, 202, 203, 204); The planar connecting rod mechanism comprises a crank-rocker mechanism, a parallelogram mechanism and an active component (4), which are coupled and arranged; the crank-rocker mechanism comprises a crank (5), which is arranged in parallel with the active component (4) and whose rotation planes coincide with each other; one end of the crank (5) and the active component (4) are respectively connected to the drive system (3), and the other end is respectively connected to the parallelogram mechanism, and the mechanical legs (201, 202, 203, 204) are connected to the parallelogram mechanism; the operation of the drive system (3) synchronously drives the crank (5) and the active component (4) to rotate, thereby driving the mechanical legs (201, 202, 203, 204) to achieve crawling motion.

2. The single-degree-of-freedom bionic quadruped crawling robot based on a coupled planar linkage device according to claim 1, characterized in that: The parallelogram mechanism comprises a first member (6), a second member (7), a third member (8) and a fourth member (9) which are connected end to end in sequence; a crank (5) is connected at the connection point between the first member (6) and the fourth member (9), and an active member (4) is connected at the connection point between the first member (6) and the second member (7); and further comprises a fifth member (10), one end of which is rotatably connected to the frame (1), and the other end of which is rotatably connected to the connection point between the third member (8) and the fourth member (9); the crank (5), the fourth member (9) and the fifth member (10) together constitute the crank rocker mechanism.

3. The single-degree-of-freedom bionic quadruped crawling robot based on a coupled planar linkage device according to claim 1, characterized in that: The driving system (3) includes a driving gear (301), the driving gear (301) is meshed with a first driven gear A (302) and a first driven gear B (303) respectively; the first driven gear A (302) is meshed with a second driven gear A (304), the second driven gear A (304) is coaxially connected to a third driven gear A (306) via a first transmission shaft A (305), the third driven gear A (306) is meshed with a fourth driven gear A (307), and the fourth driven gear A (307) is meshed with a fifth driven gear A (308); the fourth driven gear A (307) is connected to a second transmission shaft A (309), and the fifth driven gear A (308) is connected to a third transmission shaft A (310); The first driven gear B (303) is meshed with the second driven gear B (311), the second driven gear B (311) is coaxially connected to the third driven gear B (313) via the first transmission shaft B (312), the third driven gear B (313) is meshed with the fourth driven gear B (314), and the fourth driven gear B (314) is meshed with the fifth driven gear B (315); The fourth driven gear B (314) is connected to the second transmission shaft B (316), and the fifth driven gear B (315) is connected to the third transmission shaft B (317); The first transmission shaft A (305), the second transmission shaft A (309), the third transmission shaft A (310), the first transmission shaft B (312), the second transmission shaft B (316), and the third transmission shaft B (317) are all rotatably connected to the frame (1); for the two front mechanical legs (201, 202), their cranks (5) are connected to the third transmission shaft A (310), and the active component (4) is connected to the first transmission shaft A (305); for the two rear mechanical legs (203, 204), their cranks (5) are connected to the third transmission shaft B (317), and the active component (4) is connected to the first transmission shaft B (312).

4. The single-degree-of-freedom bionic quadruped crawling robot based on a coupled planar linkage device according to claim 1, characterized in that: The mechanical leg (201, 202, 203, 204) comprises two mirror-image upper limb parts (2011) and a support part (2012) connected below the two upper limb parts (2011); the upper limb part (2011) comprises a sixth component (20111), one end of which is connected to the third component (8), and the other end is rotatably connected to one end of the seventh component (20112), and the other end of the seventh component (20112) is rotatably connected to the support part (2012); the mechanical leg (20113) further comprises a first support rib (20113) and a second support rib (20114), one end of the first support rib (20113) is rotatably connected to the sixth component (20111), and the other end is rotatably connected to the seventh component (20112); one end of the second support rib (20114) is rotatably connected to the seventh component (20112), and the other end is rotatably connected to the support part (2012).

5. The single-degree-of-freedom bionic quadruped crawling robot based on a coupled planar linkage device according to claim 4, characterized in that: The connection between the sixth component (20111) and the third component (8) forms a moving pair; the third component (8) has a rod body (801) with a square cross-section, and the sixth component (20111) has a mounting opening (201111) that matches the cross-sectional shape of the rod body (801), and the mounting opening (201111) can be slidably sleeved on the rod body (801) of the third component (8).

6. The single-degree-of-freedom bionic quadruped crawling robot based on a coupled planar linkage device according to claim 4, characterized in that: The crank (5) is equal in length to the active component (4) and can rotate 360 degrees relative to the frame (1).

7. The single-degree-of-freedom bionic quadruped crawling robot based on a coupled planar linkage device according to claim 3, characterized in that: The ends of the third transmission shaft A (310), the first transmission shaft A (305), the third transmission shaft B (317), and the first transmission shaft B (312) are provided with keys (11), and the active component (4) and the crank (5) are provided with key positions (401) correspondingly.

8. The single-degree-of-freedom bionic quadruped crawling robot based on a coupled planar linkage device according to claim 4, characterized in that: The support component (2012) extends downward and is gathered into an inverted cone-shaped foot structure.

9. The single-degree-of-freedom bionic quadruped crawling robot based on a coupled planar linkage device according to claim 3, characterized in that: The frame body (1) comprises a protruding bow-shaped frame (101), on which a driving gear (301), a first driven gear A (302) and a first driven gear B (303) are all rotatably mounted.

10. The single-degree-of-freedom bionic quadruped crawling robot based on a coupled planar linkage device according to claim 3, characterized in that: The driving gear (301), the first driven gear A (302), the first driven gear B (303), the second driven gear A (304), and the second driven gear B (311) are all located in the same plane; the third driven gear A (306), the fourth driven gear A (307), the fifth driven gear A (308), the third driven gear B (313), the fourth driven gear B (314), and the fifth driven gear B (315) are located in another plane; and the two planes are parallel to each other.

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