Bionic crawling device

Abstract

The invention relates to the technical field of bionics, in particular to a bionic crawling device which comprises a support, a driving unit and at least one pair of crawling mechanisms, and each pair of crawling mechanisms comprises two space crank structures; a phase difference exists between actions of the two space crank structures, and the tail ends of the outer sides of the two space crank structures are located at low positions in turn to bear the support; the space crank structure comprises an inner crank, a first fulcrum and an outer crank which are sequentially connected, the driving unit is used for driving the inner crank to do conical motion, the first fulcrum is rotationally connected to the support, the inner crank is arranged in the support in a translational motion mode, and the outer crank is arranged outside the support in a translational motion mode. Each pair of crawling mechanisms can be driven to act through one driving unit, the number of driving sources is small, the production and manufacturing cost is low, the space crank structure is good in working stability and small in occupied space, use of connecting rods and exposure of unnecessary parts are reduced, the bionic crawling device can be made more refined, and the service life of the bionic crawling device is prolonged. During crawling, the fluctuation range is small, and the crawling stability is good.

Description

Technical Field

[0001] The present invention relates to the field of bionic technology, in particular to a bionic crawling device. Background Art

[0002] There are two major directions for existing bionic walking toys or bionic crawling devices. One direction is to set a servo motor for independent control of each joint. For example, the Chinese patent document with application number 202211277368.3 discloses a four-legged bionic mechanical lizard. The advantage of this is that there are fewer restrictions on action design and many actions can be made. However, the cost is very high, and the actions between multiple joints are inherently related. In this way, it becomes dependent on algorithms to achieve, which makes the control very complicated. The other direction is to achieve it through the connection of multiple connecting rods, such as the Chinese patent document with application number 2013 Chinese patent document 20219669.0 discloses a connecting rod type quadruped crawling robot. This brings about problems such as the large number of connecting rods, complex structure, large range of motion of the connecting rods, and difficulty in enclosing all the connecting rods in the shell. As a result, many connecting rods extend out of the body, resulting in a decrease in the bionic effect. Moreover, these connecting rods have a certain height, which is acceptable for biomimetic quadrupeds or hexapod insects with relatively high legs, but more difficult for biomimetic reptiles that stay close to the ground. Even if all the connecting rods can be enclosed in the shell, the product will be relatively large and cannot be made refined. Therefore, the defects are very obvious and a solution is urgently needed. Summary of the Invention

[0003] In order to solve the above technical problems, the purpose of the present invention is to provide a bionic crawling device.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A bionic crawling device comprises a support, a drive unit and at least a pair of crawling mechanisms, each pair of crawling mechanisms comprising two spatial crank structures; the movements of the two spatial crank structures have a phase difference, and the outer ends of the two spatial crank structures are alternately in a low position to support the support; the spatial crank structure comprises an inner crank, a first fulcrum and an outer crank connected in sequence, and the drive unit is used to drive the inner crank to perform conical motion.

[0006] Furthermore, a flat hole is opened at the first fulcrum, and a limiting shaft is provided on the bracket, which extends into the flat hole, and there is a movable space between the inner wall of the flat hole and the outer wall of the limiting shaft; the limiting shaft limits the rotation of the spatial crank structure only in its circumferential direction, and the first fulcrum is rotatably connected to the bracket, the inner crank is linearly arranged inside the bracket, and the outer crank is linearly arranged outside the bracket.

[0007] Furthermore, the driving unit includes a driver mounted on the bracket and a transmission assembly arranged on the bracket. Each pair of crawling mechanisms also includes a rotating part rotatably connected to the bracket. The driver drives the rotating part to rotate via the transmission assembly, and the end of the inner crank away from the first fulcrum is rotatably connected to the eccentric position of the rotating part; the rotating rotating part can drive the inner crank to perform conical motion.

[0008] Furthermore, each pair of crawling mechanisms has one or two rotating parts. When the number of rotating parts is one, drive holes are provided at eccentric positions on both sides of the rotating part; when the number of rotating parts is two, drive holes are provided at eccentric positions on the side away from each other of the two rotating parts; the two drive holes are distributed on the outer periphery of the side of the crawling drive gear at an interval of 180° along the same circumferential direction, and a second fulcrum is provided at the end of the inner crank away from the first fulcrum, and the second fulcrum is rotatably provided in the drive hole.

[0009] Furthermore, there are two pairs of crawling mechanisms, the transmission assembly is located between the two pairs of crawling mechanisms, and the transmission assembly is respectively driven and connected to the rotating parts of the two pairs of crawling mechanisms; a crawling foot is provided at the outer end of the outer crank, the two crawling feet on the same side have a phase difference of 180°, and the two crawling feet on the diagonal side have the same phase.

[0010] Furthermore, the transmission assembly is a transmission gear set, the rotating member is a creeping drive gear, the driver is used to drive the transmission gear set to rotate, and the creeping drive gear is meshed with the transmission gear set for transmission.

[0011] Furthermore, the bracket includes a first base body and a second base body rotatably connected to the first base body, a pair of crawling mechanisms are arranged on the first base body, another pair of crawling mechanisms are arranged on the second base body, and a transmission assembly is arranged on the first base body and the second base body; there is a pair of front and rear connecting gears in the transmission assembly, and the meshing teeth of the pair of front and rear connecting gears are located at the rotation axis of the first base body and the second base body, and the center distance of the pair of front and rear connecting gears is greater than the standard center distance of the transmission gear set.

[0012] Furthermore, a swing drive mechanism is provided between the first base and the second base, and the swing drive mechanism is used to drive the first base and the second base to swing relative to each other.

[0013] Furthermore, the swing drive mechanism includes a coil and a magnet; the coil is installed on the first base or the second base, and correspondingly, the magnet is installed on the second base or the first base; the electromagnetic field generated by the energized coil interacts with the magnetic field of the magnet to generate attraction or repulsion.

[0014] Furthermore, there are two magnets; the coil is located between the two magnets, and the two magnets are opposite to each other with the same polarity.

[0015] The beneficial effects of the present invention are as follows: in actual application, the outer ends of the two spatial crank structures of each pair of crawling mechanisms support the bracket. When the driving unit drives each pair of crawling mechanisms to work, the two spatial crank structures respectively make translational motions, that is, the driving unit drives the inner crank to make a conical motion. The first fulcrum serves as the fulcrum for the linkage between the inner crank and the outer crank, so that the outer crank also makes a conical motion. Since the movements of the two spatial crank structures have a phase difference, the outer ends of the spatial crank structures are in a low position in turn to bear the bracket, and can push the bracket to move forward or backward, so that the bionic crawling device crawls forward or backward. The present invention can drive each pair of crawling mechanisms to move through a single driving source (driving unit), which reduces the number of driving sources used and the cost of production. In addition, the spatial crank structure has good working stability and occupies little space, reduces the use of connecting rods and the exposure of unnecessary parts, so that the bionic crawling device can be made more refined, with a small fluctuation amplitude during crawling and good crawling stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0017] Figure 2 It is a schematic diagram of the internal structure of the present invention.

[0018] Figure 3 This is a schematic diagram of the internal structure of the present invention from another perspective.

[0019] Figure 4 for Figure 2 Schematic diagram of the decomposition structure.

[0020] Figure 5 It is a schematic diagram of the three-dimensional structure of the spatial crank structure and crawling foot of the present invention.

[0021] Figure 6 It is a cross-sectional view of the rotating member of the present invention.

[0022] Figure 7 It is a front view schematic diagram of the motion trajectories of the two spatial crank structures of the present invention having a phase difference.

[0023] Figure 8 for Figure 7 A side view schematic diagram of the motion trajectory of the inner and outer end points of one of the spatial crank structures.

[0024] Description of reference numerals:

[0025] 1. Bracket; 2. Transmission assembly; 3. Driver; 4. Crawling mechanism; 5. Rotating part; 6. Spatial crank structure; 7. Crawling foot; 8. Driving hole; 9. Second fulcrum; 10. Inner crank; 11. First fulcrum; 12. Outer crank; 13. Transfer position; 14. Flat hole; 15. Limiting shaft; 16. First seat; 17. Second seat; 18. Front and rear connecting gears; 19. Swinging drive mechanism; 20. Coil; 21. Magnet; 23. Swinging arc guide section; 24. Swinging space; 25. Transfer hole; 26. Transfer shaft; 27. Transfer structure. DETAILED DESCRIPTION

[0026] In order to facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and drawings. The contents mentioned in the embodiments are not intended to limit the present invention.

[0027] like Figures 1 to 8 As shown, the present invention provides a bionic crawling device, which includes a bracket 1, a driving unit and at least a pair of crawling mechanisms 4, each pair of crawling mechanisms 4 includes two spatial crank structures 6; the movements of the two spatial crank structures 6 have a phase difference, and the outer ends of the two spatial crank structures 6 are in a low position in turn to support the bracket 1; the spatial crank structure 6 includes an inner crank 10, a first fulcrum 11 and an outer crank 12 connected in sequence, the driving unit is used to drive the inner crank 10 to perform conical motion, and the first fulcrum 11 is rotatably connected to the bracket 1; specifically, the angle between the inner crank 10 and the outer crank 12 is an obtuse angle; the first fulcrum 11 can adopt a ball joint, and the movements of the two spatial crank structures 6 have a phase difference of 180°.

[0028] In actual application, the outer ends of the two spatial crank structures 6 of each pair of crawling mechanisms 4 support the bracket 1. When the driving unit drives each pair of crawling mechanisms 4 to work, the two spatial crank structures 6 respectively make translational motions, that is, the driving unit drives the inner crank 10 to make a conical motion. The first fulcrum 11 serves as the fulcrum for the linkage between the inner crank 10 and the outer crank 12, causing the outer crank 12 to also make a conical motion. Since the movements of the two spatial crank structures 6 have a phase difference, the outer ends of the spatial crank structures 6 are alternately in a low position to support the bracket 1 and can push the bracket 1 forward or backward, so that the bionic crawling device crawls forward or backward. The present invention can drive each pair of crawling mechanisms 4 to move through a single driving source (driving unit), reducing the number of driving sources used and the cost of manufacturing. In addition, the spatial crank structures 6 have good working stability and occupy little space, reducing the use of connecting rods and the exposure of unnecessary parts, so that the bionic crawling device can be made more refined, with a small fluctuation amplitude during crawling and good crawling stability.

[0029] In this embodiment, the first fulcrum 11 is provided with a flat hole 14, and the bracket 1 is provided with a limiting shaft 15. The limiting shaft 15 extends into the flat hole 14, and there is a movable space between the inner wall of the flat hole 14 and the outer wall of the limiting shaft 15. The first fulcrum 11 can move relative to the limiting shaft 15, and the limiting shaft 15 limits the rotation of the spatial crank structure 6 only in its circumferential direction. The inner crank 10 is arranged in a translational manner inside the bracket 1, and the outer crank 12 is arranged in a translational manner outside the bracket 1. The limiting shaft 15 limits the points on the spatial crank structure 6 to only translational motion. In actual application, when the inner crank 10 and the outer crank 12 perform conical motion, the first fulcrum 11 is located on the axis of the limiting shaft 15. Due to the cooperation between the limiting shaft 15 and the flat hole 14, the points on the spatial crank structure 6 can only perform translational motion, so as to complete the crawling action.

[0030] In another embodiment, the outer surface of the bracket 1 is wrapped with a wrapping layer having a certain degree of elasticity. The wrapping layer is attached to the outer surface of the first fulcrum 11 and is sleeved onto the outer crank 12. The friction between the wrapping layer and the first fulcrum 11 ensures that the points on the spatial crank structure 6 can only perform translational motion. In this way, the provision of the limit shaft 15 and the flat hole 14 can be eliminated, further simplifying the structure and reducing the difficulty and cost of production. Specifically, the wrapping layer can be made of a fleece or rubber layer.

[0031] Specifically, a transfer position 13 is provided on the side wall of the bracket 1, the first fulcrum 11 is rotatably disposed at the transfer position 13, and the limit shaft 15 is disposed at the transfer position 13. In actual application, the first fulcrum 11 moves at the transfer position 13 to serve as a fulcrum for the conical motion of the inner crank 10 and the outer crank 12, and can limit the axial movement of the spatial crank structure 6.

[0032] In this embodiment, the drive unit includes a driver 3 mounted on a bracket 1 and a transmission assembly 2 mounted on the bracket 1. Each pair of crawling mechanisms 4 also includes a rotating member 5 rotatably connected to the bracket 1. The driver 3 drives the rotating member 5 via the transmission assembly 2, and the end of the inner crank 10, away from the first fulcrum 11, is rotatably connected to the rotating member 5 at an eccentric position. The rotating rotating member 5 can drive the inner crank 10 to perform a conical motion. Specifically, the rotating member 5 is disc-shaped. In actual application, the driver 3 drives the transmission assembly 2, which in turn drives the rotating member 5 to rotate, and the rotating rotating member 5 drives the inner crank 10 to perform a conical motion.

[0033] In this embodiment, each pair of crawling mechanisms 4 has one or two rotating members 5. When there is only one rotating member 5, drive holes 8 are provided at eccentric positions on both sides of the rotating member 5. The two drive holes 8 are distributed 180° apart along the same circumferential direction on the outer circumference of the side of the crawling drive gear. A second fulcrum 9 is provided at the end of the inner crank 10 away from the first fulcrum 11, and the second fulcrum 9 is rotatably disposed within the drive holes 8. When there are two rotating members 5, the two rotating members 5 are coaxially arranged, and the drive holes 8 are provided at eccentric positions on the sides of the two rotating members 5 away from each other. The two drive holes 8 are distributed 180° apart along the same circumferential direction on the outer circumference of the side of the crawling drive gear. A second fulcrum 9 is provided at the end of the inner crank 10 away from the first fulcrum 11, and the second fulcrum 9 is rotatably disposed within the drive holes 8. Specifically, the second fulcrum 9 can be a ball joint. This structural design ensures that the movements of the two spatial crank structures 6 of each pair of crawling mechanisms 4 have a phase difference of 180°. The outer ends of the two spatial crank structures 6 are alternately in a low position to support the bracket 1 and can push the bracket 1 forward or backward, so that the bionic crawling device crawls forward or backward.

[0034] In this embodiment, there are two pairs of crawling mechanisms 4, with the transmission assembly 2 located between the two pairs of crawling mechanisms 4. The transmission assembly 2 is respectively connected to the rotating members 5 of the two pairs of crawling mechanisms 4. A crawling foot 7 is provided at the outer end of the outer crank 12. The crawling foot 7 is arranged at an angle to the outer crank 12. The two crawling feet 7 on the same side have a 180° phase difference, and the two crawling feet 7 on the diagonal sides have the same phase. This structural design ensures that the left front crawling foot 7 and the right rear crawling foot 7 have the same phase, and the right front crawling foot 7 and the left rear crawling foot 7 have the same phase. That is, the left front crawling foot 7 and the right rear crawling foot 7 crawl synchronously, and the right front crawling foot 7 and the left rear crawling foot 7 crawl synchronously, so that the bionic crawling device can stably crawl close to the ground or nearly close to the ground.

[0035] In this embodiment, the transmission assembly 2 comprises a transmission gear set, the rotating member 5 comprises a creeper drive gear, and the driver 3 is used to drive the transmission gear set in rotation, with the creeper drive gear meshing with the transmission gear set for transmission. Specifically, the driver 3 can be a motor. In practice, the driver 3 drives the transmission gear set in rotation, which in turn acts as a speed reducer and drives the creeper drive gear in rotation. Due to the provision of the spatial crank structure 6, the transmission gear set can simultaneously achieve speed reduction and drive the creeper drive gear, achieving dual purposes. This simplifies the structure of the transmission assembly 2, reduces the number of connecting rods, and improves transmission stability.

[0036] In this embodiment, the bracket 1 includes a first base body 16 and a second base body 17 rotatably connected to the first base body 16, a pair of crawling mechanisms 4 are arranged on the first base body 16, and another pair of crawling mechanisms 4 are arranged on the second base body 17, and the transmission assembly 2 is arranged on the first base body 16 and the second base body 17; there is a pair of front and rear connecting gears 18 in the transmission assembly 2, and the meshing teeth of the pair of front and rear connecting gears 18 are located at the rotation axis of the first base body 16 and the second base body 17; in the pair of front and rear connecting gears 18, one gear is rotatably arranged on the first base body 16, and the other gear is rotatably arranged on the second base body 17; the center distance of the pair of front and rear connecting gears 18 is greater than the standard center distance of the transmission gear set. This structural design ensures that when the first seat body 16 and the second seat body 17 swing back and forth relative to each other, the two gears of a pair of front and rear connecting gears 18 can shift relative to each other without affecting the normal meshing transmission of the two gears, thereby ensuring that the relative reciprocating swinging of the first seat body 16 and the second seat body 17 and the meshing transmission of the transmission gear set do not affect each other, and the transmission gear set will not be stuck due to the relative swinging of the first seat body 16 and the second seat body 17.

[0037] In this embodiment, a swing drive mechanism 19 is provided between the first base 16 and the second base 17. The swing drive mechanism 19 is used to drive the first base 16 and the second base 17 to swing relative to each other. When the four crawling legs 7 crawl, the swing drive mechanism 19 drives the first base 16 and the second base 17 to swing relative to each other, thereby achieving the effect of turning when the bionic crawling device crawls.

[0038] In this embodiment, the swing drive mechanism 19 includes a coil 20 and a magnet 21. The coil 20 is mounted on the first base 16 or the second base 17, and the magnet 21 is mounted on the second base 17 or the first base 16, respectively. When energized, the electromagnetic field generated by the coil 20 interacts with the magnetic field of the magnet 21 to produce an attractive or repulsive force. In practice, controlling the direction of the current flowing in the coil 20 can control the direction of the force acting between the coil 20 and the magnet 21, thereby controlling the direction in which the bionic crawling device bends and thus the direction in which it crawls.

[0039] In this embodiment, there are two magnets 21; the coil 20 is located between the two magnets 21, with the two magnets 21 facing each other with the same polarity. When the electromagnetic field of the coil 20 generates an attractive force on one magnet 21, the electromagnetic field of the coil 20 generates a repulsive force on the other magnet 21, further increasing the force that drives the bionic crawling device to bend.

[0040] Specifically, the magnets 21 are arranged at an angle relative to the end surface of the coil 20, with the angle between the two magnets 21 oriented toward the rotation axis of the first and second base bodies 16, 17. A swinging arc guide section 23 is formed on the inner wall of the front end of the second base body 17, extending outward. The swinging arc guide section 23 extends into the first base body 16 and is slidably connected to the inner wall of the first base body 16. The center of the swinging arc guide section 23 is on the rotation axis of the first and second base bodies 16, 17. A swinging space 24 is defined between the rear end surface of the first base body 16 and the front end surface of the second base body 17. This structural design facilitates the stable reciprocating swing of the second base body 17 relative to the first base body 16, and allows the second base body 17 to swing back and forth within a predetermined angle range.

[0041] Specifically, the middle portion of the swinging arc guide segment 23 is rotatably connected to the middle portion of the first base body 16 via an adapter structure 27. The adapter structure 27 includes an adapter hole 25 and an adapter shaft 26 rotatably connected to the adapter hole 25. The adapter hole 25 is located in the middle portion of the swinging arc guide segment 23 or the middle portion of the first base body 16. Correspondingly, the adapter shaft 26 is located in the middle portion of the first base body 16 or the middle portion of the swinging arc guide segment 23. The cooperation between the adapter shaft 26 and the adapter hole 25 not only ensures a secure connection between the first base body 16 and the second base body 17, but also ensures the stability of the relative swinging of the first base body 16 and the second base body 17.

[0042] Specifically, the bracket 1 has a built-in circuit board and a power supply. The power supply, the driver 3 and the coil 20 are all electrically connected to the circuit board. The power supply supplies power to the coil 20 via the circuit board. The circuit board is provided with an MCU. The MCU can control the direction of the current in the coil 20 to achieve the polarity change of the electromagnetic field of the coil 20. The power supply supplies power to the driver 3 via the circuit board; the power supply can be a rechargeable battery.

[0043] Specifically, a microcontroller unit (MCU) is also called a single-chip microcomputer (SingleChip Microcomputer) or a single-chip microcomputer.

[0044] Specifically, the bracket 1 is made of plastic material and is a contoured shell; the first seat body 16 includes a front half back shell and a front half bottom shell assembled with the front half back shell, the second seat body 17 includes a rear half back shell and a rear half bottom shell assembled with the rear half back shell, and a tail is provided at the rear end of the second seat body 17.

[0045] All technical features in this embodiment can be freely combined according to actual needs.

[0046] The above embodiments are preferred implementation schemes of the present invention. In addition, the present invention can also be implemented in other ways. Any obvious replacement without departing from the concept of the present technical solution is within the scope of protection of the present invention.

Claims

1. A bionic crawling device, characterized by: The invention comprises a support (1), a driving unit and at least one pair of crawling mechanisms (4), each pair of crawling mechanisms (4) comprising two spatial crank structures (6); the movements of the two spatial crank structures (6) have a phase difference, and the outer ends of the two spatial crank structures (6) are alternately in a low position to support the support (1); the spatial crank structure (6) comprises an inner crank (10), a first fulcrum (11) and an outer crank (12) connected in sequence, the driving unit is used to drive the inner crank (10) to perform conical motion, and the first fulcrum (11) is rotatably connected to the support (1).

2. The bionic crawling device according to claim 1, characterized in that: The first fulcrum (11) is provided with a flat hole (14), the bracket (1) is provided with a limiting shaft (15), the limiting shaft (15) extends into the flat hole (14), and there is a movable space between the inner wall of the flat hole (14) and the outer wall of the limiting shaft (15); the limiting shaft (15) limits the rotation of the spatial crank structure (6) in its circumferential direction, the inner crank (10) is arranged in translation inside the bracket (1), and the outer crank (12) is arranged in translation outside the bracket (1).

3. The bionic crawling device according to claim 1, characterized in that: The driving unit comprises a driver (3) mounted on a bracket (1) and a transmission assembly (2) mounted on the bracket (1). Each pair of crawling mechanisms (4) further comprises a rotating member (5) rotatably connected to the bracket (1). The driver (3) drives the rotating member (5) to rotate via the transmission assembly (2). An end of the inner crank (10) away from the first fulcrum (11) is rotatably connected to the eccentric position of the rotating member (5). The rotating rotating member (5) can drive the inner crank (10) to perform a conical motion.

4. The bionic crawling device according to claim 3, characterized in that: Each pair of crawling mechanisms (4) has one or two rotating members (5). When the number of the rotating members (5) is one, driving holes (8) are provided at eccentric positions on both sides of the rotating member (5); when the number of the rotating members (5) is two, driving holes (8) are provided at eccentric positions on the sides of the two rotating members (5) that are away from each other; the two driving holes (8) are distributed on the outer periphery of the side of the crawling drive gear at intervals of 180 degrees along the same circumferential direction, and a second fulcrum (9) is provided at one end of the inner crank (10) away from the first fulcrum (11), and the second fulcrum (9) is rotatably provided in the driving hole (8).

5. A bionic crawling device according to claim 3 or 4, characterized in that: There are two pairs of crawling mechanisms (4), the transmission assembly (2) is located between the two pairs of crawling mechanisms (4), and the transmission assembly (2) is respectively connected to the rotating parts (5) of the two pairs of crawling mechanisms (4); the outer end of the outer crank (12) is provided with a crawling foot (7), the two crawling feet (7) on the same side have a phase difference of 180 degrees, and the two crawling feet (7) at the opposite corners have the same phase.

6. The bionic crawling device according to claim 5, characterized in that: The transmission assembly (2) is a transmission gear set, the rotating member (5) is a creeping drive gear, the driver (3) is used to drive the transmission gear set to rotate, and the creeping drive gear is meshed with the transmission gear set for transmission.

7. The bionic crawling device according to claim 6, characterized in that: The bracket (1) comprises a first base body (16) and a second base body (17) rotatably connected to the first base body (16); a pair of crawling mechanisms (4) are arranged on the first base body (16); another pair of crawling mechanisms (4) are arranged on the second base body (17); a transmission assembly (2) is arranged on the first base body (16) and the second base body (17); a pair of front and rear connecting gears (18) are provided in the transmission assembly (2); the meshing teeth of the pair of front and rear connecting gears (18) are located at the rotation axis of the first base body (16) and the second base body (17); and the center distance of the pair of front and rear connecting gears (18) is greater than the standard center distance of the transmission gear set.

8. The bionic crawling device according to claim 7, characterized in that: A swing drive mechanism (19) is provided between the first seat body (16) and the second seat body (17), and the swing drive mechanism (19) is used to drive the first seat body (16) and the second seat body (17) to swing relative to each other.

9. The bionic crawling device according to claim 8, characterized in that: The swing drive mechanism (19) comprises a coil (20) and a magnet (21); the coil (20) is mounted on the first base (16) or the second base (17), and the magnet (21) is mounted on the second base (17) or the first base (16) accordingly; the electromagnetic field generated by the energized coil (20) interacts with the magnetic field of the magnet (21) to generate an attractive force or a repulsive force.

10. The bionic crawling device according to claim 9, characterized in that: There are two magnets (21); the coil (20) is located between the two magnets (21), and the two magnets (21) are opposite to each other with the same polarity.

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