Bionic robot

Abstract

The invention relates to a bionic robot, and relates to the technical field of robots. Comprising transverse wheels, a motor support, a first driving motor, triangular wheels, a steering engine, a vehicle body part, a second driving motor and a control assembly. The front end and the rear end of the vehicle body part are connected with motor supports through steering engines, and the transverse wheels are installed on the two sides of the motor supports and driven by first driving motors installed in the motor supports. The second driving motor and the control assembly are both installed in the vehicle body part, the control assembly is electrically connected with the first driving motor, the steering engine and the second driving motor, and the triangular wheels are installed on the two sides of the vehicle body part and driven by the second driving motor. The overall structure of the robot adopts a modular design idea, so that when the robot breaks down, the robot can be conveniently disassembled and maintained, and the robot has good expansibility. During work, the vehicle can move through the transverse wheels and the triangular wheels on the vehicle body, and the optimal mode of crossing obstacles can be selected, so that rescue personnel can conveniently carry out rescue actions, and the rescue efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, in particular to a bionic robot. Background Art

[0002] When an earthquake strikes, those who don't have time to flee the disaster area are buried under the rubble, putting them at risk of infection, blood loss, and water shortages. Rescuers are constantly at risk of aftershocks and secondary landslides. When geological disasters occur, rescue robots can provide timely and effective assistance, preventing unnecessary casualties.

[0003] Earthquake rescue is very complicated. Large excavation robots are often used for rescue according to the severity of the disaster. However, for rescue workers, these large equipment are of no use at all. They need flexible intelligent robots to cope with the complex ruins environment, help firefighters carry out effective rescue, and reduce unnecessary casualties. Summary of the Invention

[0004] To address at least one of the technical issues mentioned in the background art, the present invention provides a bionic robot with a modular design. This allows for easy disassembly and repair in the event of a malfunction, while also providing excellent scalability. During operation, the robot can be moved using its traverse and triangular wheels, enabling optimal obstacle traversal, thereby facilitating rescue operations and improving efficiency.

[0005] To achieve the above-mentioned purpose, the present invention provides a bionic robot, comprising: a transverse wheel, a motor bracket, a driving motor 1, a triangular wheel, a servo, a body part, a driving motor 2 and a control component; the front end and the rear end of the body part are connected to the motor bracket via the servo, the transverse wheel is installed on both sides of the motor bracket, and is driven by the driving motor 1 installed inside the motor bracket; the driving motor 2 and the control component are both installed in the body part, and the control component is electrically connected to the driving motor 1, the servo and the driving motor 2 respectively, the triangular wheel is installed on both sides of the body part, and is driven by the driving motor 2.

[0006] Furthermore, the transverse wheel includes a transverse wheel frame, a transverse wheel support member, a transverse wheel synchronous wheel, a transverse wheel rubber track, a drive shaft and an idler wheel; the transverse wheel synchronous wheel center is interference fit with a drive shaft, and the drive shaft is connected to the output end of the drive motor one through a coupling one; the transverse wheel synchronous wheel and the idler wheel are both rotatably connected to the transverse wheel support member and supported by the transverse wheel support member, and the transverse wheel support member is fixedly mounted on the transverse wheel frame; the transverse wheel rubber track is sleeved on the transverse wheel synchronous wheel and the idler wheel, and meshes with the transverse wheel synchronous wheel.

[0007] Furthermore, the transverse wheel support component includes a large wheel outer plate, bearing 1, a small wheel outer plate, an idler wheel shaft and bearing 2; large wheel outer plates are provided on both sides of the transverse wheel synchronous wheel, and the large wheel outer plates are rotatably connected to the transverse wheel synchronous wheel through bearing 1; small wheel outer plates are provided on both sides of the idler wheel, and the two small wheel outer plates are connected through an idler wheel shaft, and the idler wheel shaft passes through the idler wheel and is rotatably connected to the idler wheel through bearing 2.

[0008] Furthermore, the transverse wheel frame includes a transverse wheel outer plate, a transverse wheel inner plate and an intermediate bracket; the transverse wheel outer plate is connected to the transverse wheel inner plate through the intermediate bracket; the two large wheel outer plates are respectively fixed on the transverse wheel outer plate and the transverse wheel inner plate; the two small wheel outer plates are respectively fixed on the transverse wheel outer plate and the transverse wheel inner plate.

[0009] Furthermore, the triangular wheel includes a triangular wheel frame, two triangular wheel synchronous wheels, a belt transmission mechanism, a narrow synchronous wheel, a pulley drive shaft and a triangular rubber track; the belt transmission mechanism is interference fit with the pulley drive shaft, and the pulley drive shaft is connected to the reduction gearbox of the drive motor 2 through a second coupling; the narrow synchronous wheel is installed on both sides of the belt transmission mechanism, and the narrow synchronous wheel and the two triangular wheel synchronous wheels are rotatably connected to the triangular wheel frame; the position between the narrow synchronous wheel and the two triangular wheel synchronous wheels forms an equilateral triangle, and the triangular rubber track is sleeved on the narrow synchronous wheel and the two triangular wheel synchronous wheels.

[0010] Furthermore, the triangular wheel frame includes a triangular wheel outer plate, a wheel outer plate, a triangular wheel inner plate, an inner connecting plate, an outer connecting plate and three idler shafts; wheel outer plates are installed on the left and right sides of the two triangular wheel synchronous wheels, wherein the two idler shafts pass through the center of the triangular wheel synchronous wheel and are rotatably connected to the triangular wheel synchronous wheel through bearings, and the two ends of the idler shaft are respectively fixedly mounted on the triangular wheel outer plate and the triangular wheel inner plate; the inner connecting plate and the outer connecting plate are respectively fixed on both sides of the triangular wheel inner plate, and are rotatably connected to the pulley drive shaft through bearings; one end of the other idler shaft is rotatably connected to the narrow synchronous wheel through a bearing, and the other end is fixed on the triangular wheel outer plate.

[0011] Furthermore, the belt transmission mechanism includes a small pulley, a V-belt and a large pulley; the small pulley is interference fit with the pulley drive shaft, the narrow synchronous pulley is installed on both sides of the large pulley, and the large pulley is rotatably connected to the idler shaft through a bearing; the V-belt is sleeved on the small pulley and the large pulley.

[0012] Furthermore, the vehicle body portion includes a vehicle body shell and a bottom plate; the vehicle body shell is fixed on the bottom plate, and a cavity is formed between the vehicle body shell and the bottom plate, and the second drive motor and the control component are both arranged in the cavity.

[0013] Furthermore, the control component includes an L298N drive board, a servo drive board, a transformer board, a motor drive board, a main control board and a battery; the L298N drive board, the servo drive board, the transformer board, the motor drive board and the main control board are all installed on the vehicle body shell, the battery is installed on the bottom plate, the L298N drive board, the servo drive board, the transformer board, the motor drive board, the main control board, the drive motor 1, the servo and the drive motor 2 are all electrically connected to the transformer board, and the transformer board is electrically connected to the battery; the main control board is electrically connected to the L298N drive board, the servo drive board and the motor drive board respectively; the L298N drive board is electrically connected to the drive motor 1, the servo drive board is electrically connected to the servo, and the motor drive board is electrically connected to the drive motor 2.

[0014] The beneficial effects of the present invention are:

[0015] The present invention provides a bionic robot that is symmetrical front to back and left to right. The robot's horizontal wheels and their drive motors form a rotating pair with a servo through motor brackets. Four sets of horizontal wheel modules are arranged on the left and right sides of the front and rear bodies, each with an independent drive motor. Two sets of triangular wheels are symmetrically distributed on either side of the body. The overall structure adopts a modular design concept, making it easy to disassemble and repair the robot if it encounters a malfunction, and also providing good scalability. During operation, the robot can be moved using the horizontal and triangular wheels on the body, allowing the optimal method of navigating obstacles to be selected, thereby facilitating rescue operations and improving rescue efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0017] Figure 2 It is a structural schematic diagram of the transverse wheel of the present invention;

[0018] Figure 3 This is an exploded view of the transverse wheel of the present invention;

[0019] Figure 4 It is a structural schematic diagram of the triangular wheel of the present invention;

[0020] Figure 5 This is an exploded view of the triangular wheel of the present invention;

[0021] Figure 6 It is a structural schematic diagram of the vehicle body portion of the present invention;

[0022] Figure 7 Schematic diagram of the internal structure of the vehicle body of the present invention;

[0023] Figure 8 This is a diagram of the crawler-type obstacle crossing process of the present invention;

[0024] Figure 9 This is a process diagram of the flip-over obstacle crossing of the present invention;

[0025] Figure 10 It is a process diagram of the rolling downhill of the present invention.

[0026] Among them, in the figure: 1-traverse wheel; 2-motor bracket; 3-triangular wheel; 4-servo; 5-vehicle body; 201-traverse wheel outer plate; 202-large wheel outer plate; 203-traverse wheel synchronous wheel; 204-traverse wheel rubber track; 205-bearing 1; 206-drive shaft; 207-traverse wheel inner plate; 208-coupling 1; 209-small wheel outer plate; 210-idler shaft; 211-bearing 2; 212-idler; 301-triangular wheel outer plate; 302-wheel outer plate; 303-triangular synchronous wheel; 304-large pulley; 305-small pulley; 306-V-belt; 307-narrow synchronous wheel; 308-triangular rubber track wheel; 309-inner connecting plate; 310-triangular wheel inner plate; 311-outer connecting plate; 312-coupling 2; 313-pulley drive shaft; 314-idler shaft; 401-body shell; 403-reduction gearbox; 404-L298N drive board; 405-drive motor 2; 406-servo drive board; 407-transformer board; 408-motor drive board; 409-main control board; 410-battery; 411-base plate. DETAILED DESCRIPTION

[0027] The following is a clear and complete description of the technical solutions in the embodiments of the present invention. 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 any creative efforts are within the scope of protection of the present invention.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] In this application, terms such as "upper," "lower," "left," "right," "front," "back," "top," "bottom," "inner," "outer," "center," "vertical," "horizontal," "transverse," and "longitudinal" indicate positions or locations based on the positions or locations shown in the accompanying drawings. These terms are primarily intended to better describe this application and its embodiments and are not intended to limit the devices, elements, or components indicated to having a specific orientation, or to being constructed or operated in a specific orientation.

[0030] Furthermore, some of the above terms may be used to express other meanings besides indicating a position or location. For example, the term "on" may also be used to indicate a dependency or connection in certain circumstances. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0031] Furthermore, the terms "installed," "disposed," "provided with," "connected," "connected," and "socketed" should be interpreted broadly. For example, they can refer to fixed connections, removable connections, or integral structures; mechanical connections or electrical connections; direct connections, indirect connections through an intermediary, or internal communication between two devices, elements, or components. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0032] like Figure 1-7 As shown, the present invention provides a bionic robot, comprising: a transverse wheel 1, a motor bracket 2, a driving motor 1, a triangular wheel 3, a steering gear 4, a body part 5, a driving motor 2 405 and a control component; the front end and the rear end of the body part are connected to the motor bracket 2 via the steering gear, the transverse wheel 1 is mounted on both sides of the motor bracket 2, and is driven by the driving motor 1 mounted inside the motor bracket 2; the driving motor 2 405 and the control component are both mounted in the body part 5, and the control component is electrically connected to the driving motor 1, the steering gear 4 and the driving motor 2 405 respectively, the triangular wheel 3 is mounted on both sides of the body part 5, and is driven by the driving motor 2 405.

[0033] refer to Figure 2 and Figure 3The transverse wheel 1 includes a transverse wheel frame, a transverse wheel support member, a transverse wheel synchronous wheel 203, a transverse wheel rubber track 204, a drive shaft 206 and an idler wheel 212; the transverse wheel synchronous wheel 203 has an interference fit with the drive shaft 206 at the center, and a positioning accessory is installed on the drive shaft 206 to limit the relative position of the drive shaft 206 and the transverse wheel synchronous wheel 203, and the drive shaft 206 is connected to the output end of the drive motor 1 through a coupling 208; the transverse wheel synchronous wheel 203 and the idler wheel 212 are both rotatably connected to the transverse wheel support member and supported by the transverse wheel support member, and the transverse wheel support member is fixedly installed on the transverse wheel frame; the transverse wheel rubber track 204 is sleeved on the transverse wheel synchronous wheel 203 and the idler wheel 212, and meshes with the transverse wheel synchronous wheel 203.

[0034] The transverse wheel support component includes a large wheel outer plate 202, a bearing 1 205, a small wheel outer plate 209, an idler shaft 210 and a bearing 2 211; large wheel outer plates 202 are provided on both sides of the transverse wheel synchronous wheel 203, and the large wheel outer plates 202 are rotatably connected to the transverse wheel synchronous wheel 203 through the bearing 1 205; small wheel outer plates 209 are provided on both sides of the idler wheel 212, and the two small wheel outer plates 209 are connected through the idler shaft 210, and the idler shaft 210 passes through the idler wheel 212 and is rotatably connected to the idler wheel 212 through the bearing 211.

[0035] The transverse wheel frame includes a transverse wheel outer plate 201, a transverse wheel inner plate 207 and an intermediate bracket 213; the transverse wheel outer plate 201 is connected to the transverse wheel inner plate 207 through the intermediate bracket 213; the two large wheel outer plates 202 are respectively fixed on the transverse wheel outer plate 201 and the transverse wheel inner plate 207; the two small wheel outer plates 209 are respectively fixed on the transverse wheel outer plate 201 and the transverse wheel inner plate 207.

[0036] refer to Figure 4 and Figure 5 The triangular wheel 3 includes a triangular wheel frame, two triangular wheel synchronous wheels 303, a belt transmission mechanism, a narrow synchronous wheel 307, a pulley drive shaft 313 and a triangular rubber track 308; the belt transmission mechanism is interference fit with a pulley drive shaft 313, and the pulley drive shaft 313 is transmission-connected to the reduction box 403 of the drive motor 2 405 through a second coupling 312; the narrow synchronous wheel 307 is installed on both sides of the belt transmission mechanism, and the narrow synchronous wheel 307 and the two triangular wheel synchronous wheels 303 are rotationally connected to the triangular wheel frame; the position between the narrow synchronous wheel 307 and the two triangular wheel synchronous wheels 303 forms a regular triangle, and the triangular rubber track 308 is sleeved on the narrow synchronous wheel 307 and the two triangular wheel synchronous wheels 303.

[0037] The working method of the transverse wheel group: the drive motor 1 installed on the motor bracket 2 is connected to the transverse wheel through a coupling 1. When the drive motor 1 rotates, it can drive the drive shaft 206 to rotate together, and the parts on its wheel system will also rotate, thereby driving the entire transverse wheel to rotate.

[0038] The triangular wheel frame includes a triangular wheel outer plate 301, a wheel outer plate 302, a triangular wheel inner plate 310, an inner connecting disk 309, an outer connecting disk 311 and three idler shafts 314; the wheel outer plates 302 are installed on the left and right sides of the two triangular wheel synchronous wheels 303, wherein the two idler shafts 314 both pass through the center of the triangular wheel synchronous wheel 303 and are rotatably connected to the triangular wheel synchronous wheel 303 through bearings, and the two ends of the idler shaft 314 are respectively fixed on the triangular wheel outer plate 301 and the triangular wheel inner plate 310; the inner connecting disk 309 and the outer connecting disk 311 are respectively fixed on both sides of the triangular wheel inner plate 310, and are rotatably connected to the pulley drive shaft 313 through bearings, and the radial position of the pulley drive shaft 313 is limited by screws and a small cover plate at the shaft end; one end of the other idler shaft 314 is rotatably connected to the narrow synchronous wheel 307 through a bearing, and the other end is fixed on the triangular wheel outer plate 301.

[0039] The belt transmission mechanism includes a small pulley 305, a V-belt 306 and a large pulley 304; the small pulley 305 is interference fit with the pulley drive shaft 313, the narrow synchronous pulley 307 is installed on both sides of the large pulley 304, and the large pulley 304 is rotatably connected to the idler shaft 314 through a bearing; the V-belt 306 is sleeved on the small pulley 305 and the large pulley 304.

[0040] The working method of the triangular wheel group is as follows: the drive motor 2 405 installed on the vehicle body is output through the reduction box 403, and the output end shaft of the reduction box 403 is connected to the coupling 2 312, so that the pulley drive shaft rotates, and the narrow synchronous wheels 307 on both sides of the large pulley 304 are rotated through the belt transmission, thereby causing the entire triangular wheel group to rotate.

[0041] refer to Figure 6 and Figure 7 The vehicle body portion 5 includes a vehicle body shell 401 and a bottom plate 411; the vehicle body shell 401 is fixed on the bottom plate 411, and a cavity is formed between the vehicle body shell 401 and the bottom plate 411, and the drive motor 2 405 and the control component are both arranged in the cavity.

[0042] The control assembly includes an L298N drive board 404, a steering gear drive board 406, a transformer board 407, a motor drive board 408, a main control board 409 and a battery 410; the L298N drive board 404, the steering gear drive board 406, the transformer board 407, the motor drive board 408 and the main control board 409 are all mounted on the vehicle body shell 401 through plastic mounting nails, and glue needs to be applied under the mounting nails. The two batteries 410 are mounted on the bottom plate 411. 8. The main control board 409, drive motor 1, servo 4, and drive motor 2 405 are all electrically connected to the transformer board 407. The transformer board 407 is electrically connected to the battery 410, which provides power for the entire bionic robot. The main control board 409 is electrically connected to the L298N drive board 404, servo drive board 406, and motor drive board 408, respectively. The L298N drive board 404 is electrically connected to drive motor 1, the servo drive board 406 is electrically connected to servo 4, and the motor drive board 408 is electrically connected to drive motor 2 405. The control board is mounted to the inner wall of the vehicle body using plastic mounting pins, which require glue to be applied underneath. Two batteries 410 are mounted on the base plate 411 to provide power for the entire robot. The servos 4 mounted on either side of the vehicle body are primarily used to control the rotation of the traversing wheels, enabling form transformation and enhancing the robot's obstacle-crossing capabilities.

[0043] refer to Figure 8 The process of crawler-type obstacle crossing of the present invention is as follows:

[0044] The terrain is rough and there are many obstacles, so tracked propulsion has strong adaptability. The robot tracks can enable it to pass low obstacles, which mainly simulate complex uneven roads, gravel and low steps. When the front end of the rubber track of the traversing wheel contacts an obstacle, the obstacle blocks its progress. Under the push of the robot, the front traversing wheel and the synchronous wheel of the front traversing wheel are tilted up, and under the control of the servo, the front traversing wheel is made to cross the obstacle. The downward support force of the servo is used to make the triangular wheel form a certain angle with the ground. When the angle reaches a certain value, the triangular wheel can cross the obstacle. Then, through the rotation of the rear servo and the pulling force of the whole vehicle, the rear traversing wheel is made to cross the obstacle. Finally, the robot successfully crosses the obstacle and resumes its forward movement.

[0045] refer to Figure 9 The process of the flip obstacle crossing of the present invention is as follows:

[0046] The robot may encounter relatively high obstacles on rough roads. These obstacles are primarily used to simulate high steps and stairs. If a simple tracked obstacle course is difficult to overcome, the robot must utilize the triangular track wheels to flip over. When the robot encounters a high obstacle, the servo lifts the front traverse wheels. Simultaneously, the vehicle's forward motion propels the front traverse wheels over the obstacle first. Then, the triangular wheels contact the obstacle, and the front and rear traverse wheels, combined with the robot's forward motion, cause the front wheels to flip over the obstacle. Finally, the vehicle's forward motion propels the rear traverse wheels over the obstacle.

[0047] refer to Figure 10 The rolling downhill process of the present invention is as follows:

[0048] On a rugged mountain road, a robot may encounter steep inclines. If the slope is gentle and there are no other significant obstacles, the robot can simply negotiate it. However, if the slope reaches a certain value, the robot can use its retractable function to negotiate the incline. When the robot reaches the top of the incline, the servos control the front and rear traverse wheels, positioning the entire robot in a nearly circular shape. Driven forward by the triangular wheels, the robot then smoothly descends the incline through its own rolling motion and the rotation of the triangular wheels. After descending the incline, the robot maintains its retracted form and finds a flatter surface to resume its original motion.

[0049] The bionic robot of the present invention adopts a crawler-type walking mode. The transverse wheels are a two-wheel crawler wheel structure, and the triangular wheels are a four-wheel crawler wheel structure. The bionic robot also has two forms of obstacle crossing. This design makes the bionic robot have good adaptability. The main functions are:

[0050] (1) Smooth driving function on complex terrain, which is the basic requirement for the normal operation of rescue robots, including forward, backward and turning.

[0051] (2) Complex terrain obstacle crossing function. Bionic robots are able to work in unknown and complex geographical environments. They need to have good obstacle crossing capabilities. When working, they can move through the horizontal track wheels and triangular track wheels on the vehicle body. They can be equipped with acoustic sensors and camera image recognition to avoid obstacles. When working in complex terrain, they have three main obstacle crossing methods and two operating modes. They can locate obstacles on complex roads through image recognition and then choose the best way to cross the obstacle.

[0052] (3) Curling and unfolding functions. The bionic robot is designed based on the movement characteristics of woodlice. When encountering destructive emergencies such as steep slopes and falling rocks on mountain tops, the robot is required to be able to curl up autonomously and have self-protection capabilities to prevent emergencies from damaging the important structures and functions of the robot.

[0053] (4) Environmental exploration: The bionic robot measures some necessary data of the rescue environment through the specific detection equipment installed on it, and goes deep into the disaster area to collect information such as terrain, environment, water quality, and life characteristics, which is beneficial for rescue personnel to carry out rescue operations and improve rescue efficiency.

[0054] The above description is merely a preferred embodiment of the present invention and does not limit the technical scope of the present invention. Therefore, any minor modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A bionic robot, characterized in that: include: A transverse wheel (1), a motor bracket (2), a first drive motor, a triangular wheel (3), a steering gear (4), a vehicle body (5), a second drive motor (405) and a control component; the front end and the rear end of the vehicle body are both connected to the motor bracket (2) via the steering gear; the transverse wheel (1) is mounted on both sides of the motor bracket (2) and is driven by the first drive motor mounted inside the motor bracket (2); the second drive motor (405) and the control component are both mounted inside the vehicle body (5), and the control component is electrically connected to the first drive motor, the steering gear (4) and the second drive motor (405) respectively; the triangular wheel (3) is mounted on both sides of the vehicle body (5) and is driven by the second drive motor (405).

2. A bionic robot according to claim 1, characterized in that: The transverse wheel (1) comprises a transverse wheel frame, a transverse wheel support member, a transverse wheel synchronous wheel (203), a transverse wheel rubber track (204), a drive shaft (206) and an idler wheel (212); the transverse wheel synchronous wheel (203) is interference-fitted with a drive shaft (206) at its center, and the drive shaft (206) is connected to the output end of the drive motor (1) via a coupling (208); the transverse wheel synchronous wheel (203) and the idler wheel (212) are both rotatably connected to the transverse wheel support member and supported by the transverse wheel support member, and the transverse wheel support member is fixedly mounted on the transverse wheel frame; the transverse wheel rubber track (204) is sleeved on the transverse wheel synchronous wheel (203) and the idler wheel (212), and is meshed with the transverse wheel synchronous wheel (203).

3. A bionic robot according to claim 2, characterized in that: The transverse wheel supporting member comprises a large wheel outer plate (202), a bearing 1 (205), a small wheel outer plate (209), an idler wheel shaft (210) and a bearing 2 (211); large wheel outer plates (202) are provided on both the left and right sides of the transverse wheel synchronous wheel (203), and the large wheel outer plates (202) are rotatably connected to the transverse wheel synchronous wheel (203) through the bearing 1 (205); small wheel outer plates (209) are provided on both the left and right sides of the idler wheel (212), and the two small wheel outer plates (209) are connected through the idler wheel shaft (210); the idler wheel shaft (210) passes through the idler wheel (212) and is rotatably connected to the idler wheel (212) through the bearing 2 (211).

4. A bionic robot according to claim 3, characterized in that: The transverse wheel frame comprises a transverse wheel outer plate (201), a transverse wheel inner plate (207) and an intermediate bracket (213); the transverse wheel outer plate (201) is connected to the transverse wheel inner plate (207) via the intermediate bracket (213); the two large wheel outer plates (202) are respectively fixed on the transverse wheel outer plate (201) and the transverse wheel inner plate (207); and the two small wheel outer plates (209) are respectively fixed on the transverse wheel outer plate (201) and the transverse wheel inner plate (207).

5. A bionic robot according to claim 1 or 4, characterized in that: The triangular wheel (3) comprises a triangular wheel frame, two triangular wheel synchronous wheels (303), a belt transmission mechanism, a narrow synchronous wheel (307), a pulley drive shaft (313) and a triangular rubber crawler (308); the belt transmission mechanism is interference-fitted with a pulley drive shaft (313), and the pulley drive shaft (313) is transmission-connected to the reduction box (403) of the second drive motor (405) through a second coupling (312); the narrow synchronous wheel (307) is mounted on both sides of the belt transmission mechanism, and the narrow synchronous wheel (307) and the two triangular wheel synchronous wheels (303) are both rotationally connected to the triangular wheel frame; the position between the narrow synchronous wheel (307) and the two triangular wheel synchronous wheels (303) forms an equilateral triangle, and the triangular rubber crawler (308) is sleeved on the narrow synchronous wheel (307) and the two triangular wheel synchronous wheels (303).

6. A bionic robot according to claim 5, characterized in that: The triangular wheel frame comprises a triangular wheel outer plate (301), a wheel outer plate (302), a triangular wheel inner plate (310), an inner connecting disk (309), an outer connecting disk (311) and three idler wheel shafts (314); the wheel outer plates (302) are installed on the left and right sides of the two triangular wheel synchronous wheels (303), wherein the two idler wheel shafts (314) both pass through the center of the triangular wheel synchronous wheels (303) and are rotatably connected to the triangular wheel synchronous wheels (303) through bearings, and the idler wheels The two ends of the shaft (314) are respectively fixedly mounted on the triangular wheel outer plate (301) and the triangular wheel inner plate (310); the inner connecting disc (309) and the outer connecting disc (311) are respectively fixed on both sides of the triangular wheel inner plate (310), and are rotationally connected to the pulley drive shaft (313) through bearings; one end of the other idler shaft (314) is rotationally connected to the narrow synchronous wheel (307) through a bearing, and the other end is fixed to the triangular wheel outer plate (301).

7. A bionic robot according to claim 6, characterized in that: The belt transmission mechanism comprises a small pulley (305), a V-belt (306) and a large pulley (304); the small pulley (305) is interference-fitted with the pulley drive shaft (313); the narrow synchronous wheel (307) is installed on both sides of the large pulley (304), and the large pulley (304) is rotatably connected to the idler shaft (314) through a bearing; the V-belt (306) is sleeved on the small pulley (305) and the large pulley (304).

8. The bionic robot according to claim 1, characterized in that: The vehicle body portion (5) comprises a vehicle body shell (401) and a bottom plate (411); the vehicle body shell (401) is fixed on the bottom plate (411), and a cavity is formed between the vehicle body shell (401) and the bottom plate (411), and the second drive motor (405) and the control component are both arranged in the cavity.

9. A bionic robot according to claim 8, characterized in that: The control assembly comprises an L298N drive board (404), a steering gear drive board (406), a transformer board (407), a motor drive board (408), a main control board (409) and a battery (410); the L298N drive board (404), the steering gear drive board (406), the transformer board (407), the motor drive board (408) and the main control board (409) are all mounted on the vehicle body shell (401); the battery (410) is mounted on the bottom plate (411); the L298N drive board (404), the steering gear drive board (406), the transformer board (407), the motor drive board (408) and the main control board (409) are all mounted on the vehicle body shell (401); the battery (410) is mounted on the bottom plate (411); 08), the main control board (409), the driving motor 1, the steering gear (4) and the driving motor 2 (405) are all electrically connected to the transformer board (407), and the transformer board (407) is electrically connected to the battery (410); the main control board (409) is electrically connected to the L298N driving board (404), the steering gear driving board (406) and the motor driving board (408) respectively; the L298N driving board (404) is electrically connected to the driving motor 1, the steering gear driving board (406) is electrically connected to the steering gear (4), and the motor driving board (408) is electrically connected to the driving motor 2 (405).

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