Bionic quadruped robot with flexible spine
By designing a segmented flexible spine and steering mechanism, the problems of insufficient mobility and terrain adaptability of traditional quadruped robots are solved, achieving efficient energy utilization and lightweight structure, and improving the robot's environmental adaptability and reliability.
Patent Information
- Application Number
- CN202511955128.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-23
- Publication Date
- 2026-02-27
AI Technical Summary
Traditional quadruped robots suffer from poor mobility and terrain adaptability due to their rigid or simple flexible structures. They also have problems such as high energy consumption, redundant parts, high cost, and short service life.
The robot employs a segmented flexible spine, combined with a front and rear steering mechanism and a flexible shell. The flexible spine achieves two-dimensional bending through a front and rear drive gear set. With the addition of a high-definition wide-angle camera and anti-slip textured motion legs, the robot's environmental adaptability and energy utilization efficiency are improved, and redundant parts are reduced.
It improves the robot's motion continuity and flexibility, reduces manufacturing costs, extends service life, and enhances energy utilization efficiency and biomimetic effects.
Smart Images
Figure CN121573089A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the field of robots, in particular to a bionic quadruped robot with a flexible spine. BACKGROUND
[0002] Flexible spine technology is widely used in the field of bionic quadruped robots due to its high flexibility, high terrain adaptability, and dynamic stability. However, traditional quadruped robots mostly use rigid trunks or simple segmented spines, which are limited by structural design and transmission methods. They generally have poor terrain adaptability, large turning radius, and slow motion, and are prone to instability under extreme conditions due to delayed center of gravity adjustment, affecting the continuous operation of the robot. With the increasing demand for flexibility, motion efficiency, and multi-terrain adaptability of quadruped robots, traditional rigid structures cannot meet the higher performance requirements, thus promoting the development of flexible spine technology.
[0003] Existing flexible spine technology attempts to combine the spine with the driving mechanism to improve motion performance, but still has many shortcomings. For example, some spine structures only achieve limited bending through simple articulation, making it difficult to balance flexibility and load capacity, and prone to attitude deviation during motion. The mechanism driving method is redundant, relying on complex linkages or multiple motors to cooperate, resulting in high energy loss. The foot structure has insufficient anti-skid and cushioning design, poor contact stability in wet or rough terrain, and poor terrain adaptability. In addition, the existing robot has insufficient coordination between visual perception and spine and leg motion, and some structures have redundant parts, which not only increases the manufacturing cost but also reduces the reliability of the mechanism. Long-term use can cause wear and tear or jamming, affecting the service life and operational safety of the robot.
[0004] Therefore, it is necessary to improve the existing flexible spine technology. Not only can it solve the problems of poor motion flexibility and insufficient terrain adaptability caused by traditional rigid structures or simple flexible structures, but also can improve the environmental adaptability of the robot, enhance the motion continuity, improve the energy utilization efficiency, realize the lightweight of the structure, reduce the use of redundant parts, reduce the manufacturing cost, and on the basis of ensuring the stability of the motion performance, improve the flexibility and maneuverability of the robot, the operation reliability, and the high economic efficiency. SUMMARY
[0005] In view of the shortcomings of the current flexible spine technology, the purpose of the present application is to provide a bionic quadruped robot with a flexible spine, which not only solves the problems of poor movement flexibility and insufficient terrain adaptability caused by traditional rigid structures or simple flexible structures, improves the environmental adaptability of the robot, enhances the movement continuity, but also improves the energy utilization efficiency, realizes the lightweight of the structure, reduces the use of redundant parts, reduces the manufacturing cost, improves the flexible mobility and operation reliability of the robot on the basis of ensuring the stability of the movement performance, and has high economic efficiency.
[0006] The bionic quadruped robot with a flexible spine provided by the present application comprises a front body, a rear body and a flexible spine connecting the front body and the rear body, the flexible spine can be driven to deform in the vertical direction and the horizontal direction, a front steering mechanism is arranged on the front body, a rear steering mechanism is arranged on the flexible spine, the front steering mechanism comprises a front drive gear set, the rear steering mechanism comprises a rear drive gear set, the front drive gear set is fixedly connected near the front end of the flexible spine and can be controlled to rotate for driving the flexible spine to bend in the vertical direction, and the rear drive gear set is fixedly connected near the middle end of the flexible spine and can be controlled to rotate for driving the flexible spine to bend in the horizontal direction.
[0007] Further, a flexible shell is further arranged, the flexible shell is fixedly sleeved on the flexible spine and bends synchronously with the flexible spine in the vertical direction and the horizontal direction.
[0008] Further, the front drive gear set comprises a front driving gear on the front body and a front driven gear near the front end of the flexible spine, the front steering mechanism further comprises a front drive power source, the front driving gear is in transmission cooperation with the front driven gear, and the front drive power source can be controlled to drive the front driving gear to rotate for driving the flexible spine to bend in the vertical direction.
[0009] Further, the rear drive gear set comprises a rear driving gear and a rear driven gear, the rear steering mechanism further comprises a rear drive power source, the rear driving gear is in transmission cooperation with the rear driven gear, and the rear drive power source can be controlled to drive the rear driving gear to rotate for driving the flexible spine to bend in the horizontal direction.
[0010] Further, the flexible spine comprises a first vertebra and a second vertebra, the rear driving gear comprises a first rear driving gear on the first vertebra and a second rear driving gear on the second vertebra, the rear driven gear comprises a first rear driven gear on the first vertebra and a second rear driven gear on the second vertebra, the rear driving power source comprises a first rear driving power source and a second rear driving power source, the first rear driving gear is in transmission with the second rear driven gear, the second rear driving gear is in transmission with the first rear driven gear, the first rear driving power source and the second rear driving power source can be controlled to drive the first rear driving gear and the second rear driving gear to rotate respectively, which are used to drive the first vertebra and the second vertebra to rotate relatively in the horizontal direction, so that the flexible spine bends in the horizontal direction.
[0011] Further, the first vertebra and the second vertebra are both arc-shaped shells, the front end of the first vertebra extends outward in the transverse direction to form an extension, and the rear end is recessed inward in the transverse direction to form a recess, the front driven gear is installed on the extension of the first vertebra, and the first rear driving gear and the first rear driven gear are both installed on the recess of the first vertebra.
[0012] Further, the front end of the second vertebra is recessed inward in the transverse direction to form a recess, and the second rear driving gear and the second rear driven gear are both installed on the recess of the second vertebra.
[0013] Further, it further comprises a first mounting seat and a second mounting seat, the first rear driving power source is installed on the recess of the first vertebra through the first mounting seat, and the second rear driving power source is installed on the recess of the second vertebra through the second mounting seat.
[0014] Further, it further comprises a front mounting plate on the front body and a rear mounting plate on the rear body, the outer surface of the front mounting plate and the outer surface of the rear mounting plate are respectively provided with a shell mounting groove, and the two ends of the flexible shell are respectively embedded in the shell mounting grooves to form fixation.
[0015] Further, the front body is provided with a visual unit, the visual unit comprises a high-definition wide-angle camera, and the high-definition wide-angle camera can be controlled to rotate in the horizontal direction and the vertical direction.
[0016] It further comprises a plurality of movement legs, the movement legs are in transmission connection with the front body and the rear body, the foot of the movement leg is a circular structure and is provided with anti-skid lines in the circumferential direction.
[0017] The beneficial effects of this invention are as follows: The bionic quadruped robot with a flexible spine of this invention adopts a structure in which a steering mechanism is set at the front end and inside of the flexible spine. This not only solves the problems of poor movement flexibility and insufficient terrain adaptability caused by traditional rigid structures or simple flexible structures, but also improves the robot's environmental adaptability and enhances the continuity of movement. It also improves energy utilization efficiency, achieves structural lightweighting, reduces the use of redundant parts, and lowers manufacturing costs. On the basis of ensuring stable movement performance, it improves the robot's flexibility, mobility, operational reliability, and has high economic efficiency. Attached Figure Description
[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments:
[0019] Figure 1 This is a schematic diagram of the structure of the bionic quadruped robot with a flexible spine according to the present invention;
[0020] Figure 2 A schematic diagram of a bionic quadruped robot with a flexible spine, without its flexible outer shell. Figure I ;
[0021] Figure 3 for Figure 2 Enlarged view of point A in the middle;
[0022] Figure 4 A schematic diagram of a bionic quadruped robot with a flexible spine, without its flexible outer shell. Figure II ;
[0023] Figure 5 for Figure 4 Enlarged view of point B in the middle;
[0024] Figure 6 This is a schematic diagram of the structure of a flexible spine;
[0025] Figure 7 This is a schematic diagram of the flexible shell structure.
[0026] 1, front body; 2, rear body; 3, flexible spine; 4, first vertebral member; 401, extension of first vertebral member; 402, recess of first vertebral member; 5, second vertebral member; 501, recess of second vertebral member; 6, flexible shell; 7, front steering mechanism; 701, front driving gear; 702, front driven gear; 703, front driving power source; 8, rear steering mechanism; 801, first rear driving gear; 802, second rear driving gear; 803, first rear driven gear; 804, second rear driven gear; 805, first rear driving power source; 806, second rear driving power source; 9, first mounting seat; 10, second mounting seat; 11, front mounting plate; 1101, shell mounting groove of front mounting plate; 12, rear mounting plate; 1201, shell mounting groove of rear mounting plate; 13, high-definition wide-angle camera; 14, motion leg; 1401, foot of motion leg; 1402, anti-skid pattern; 15, servo gimbal; 16, loading box. DETAILED DESCRIPTION
[0027] The following will be described in detail below with reference to the accompanying drawings. Figures 1-7 The application will be further described in detail.
[0028] The embodiment of the application discloses a bionic quadruped robot with a flexible spine, which comprises a front body 1, a rear body 2 and a flexible spine 3 connecting the front body 1 and the rear body 2, the flexible spine 3 can be driven to deform in the vertical direction and the horizontal direction, the front body 1 is provided with a front steering mechanism 7, the flexible spine 3 is provided with a rear steering mechanism 8, the front steering mechanism 7 comprises a front driving gear set, the rear steering mechanism 8 comprises a rear driving gear set, the front driving gear set is fixedly connected to the vicinity of the front end of the flexible spine 3 and can be controlled to rotate for driving the flexible spine 3 to bend in the vertical direction, the rear driving gear set is fixedly connected to the vicinity of the middle end of the flexible spine 3 and can be controlled to rotate for driving the flexible spine 3 to bend in the horizontal direction, the flexible spine 3 can bend in the vertical direction, realizes the pitching and lifting actions of the robot body, adjusts the posture when the robot climbs or surmounts obstacles, the rear steering mechanism enables the flexible spine 3 to bend and turn left and right, improves the turning ability and steering maneuverability of the robot in narrow space, and the double-dimension cooperative motion mechanism makes the body action of the robot more close to the biological gait. Figure 2As shown, the flexible spine 3 adopts a segmented structure, has a clear transmission path when rotating horizontally, avoids stress concentration caused by a whole rigid structure, makes the action smoother, and is independently controllable in vertical bending and horizontal rotation. The single dimension or coordinated action can be accurately adjusted according to the movement requirements, and the accuracy and repeatability of posture control are improved. The segmented flexible spine 3 is more portable than the whole rigid structure, reduces the overall energy consumption of the robot, and prolongs the endurance time. The front drive gear set is fixedly connected near the front end of the flexible spine 3, that is, at the front end of the flexible spine 3 or near the front end of the flexible spine 3. The rear drive gear set is fixedly connected near the middle end of the flexible spine 3, that is, at the middle end of the flexible spine 3 or near the middle end of the flexible spine 3. Details are not repeated here.
[0029] In this embodiment, a flexible shell 6 is also included, which is fixedly sleeved on the flexible spine 3 and bends synchronously with the flexible spine 3 in the vertical and horizontal directions. The flexible shell 6 is wrapped around the flexible spine 3, can isolate external dust and water vapor, avoid erosion or jamming of the internal transmission structure, can also buffer external collision impact, reduce the wear or deformation risk of the flexible spine 3 when moving in complex terrain, and protect the internal transmission matching precision. The flexible characteristics of the flexible shell 6 can assist in maintaining the posture of the flexible spine 3 after bending, reduce the shape deformation rebound, improve the action stability and repeatability, and at the same time, the flexible shell 6 makes the body line of the robot more smooth, is closer to the appearance form of the biological spine, and improves the bionic effect. The flexible shell 6 can adopt a silica gel material, which is a conventional setting in the prior art, and details are not repeated here.
[0030] In the embodiment, the front driving gear set comprises a front driving gear 701 on the front body 1 and a front driven gear 702 near the front end of the flexible spine 3, the front steering mechanism 7 further comprises a front driving power source 703, the front driving gear 701 is in transmission cooperation with the front driven gear 702, the front driving power source 703 can be controlled to drive the front driving gear 701 to rotate for driving the flexible spine 3 to bend in the vertical direction, the front driving gear 701 is engaged with the front driven gear 702 to drive the flexible spine 3 to bend in the vertical direction with the output power of the front driving power source 703, and there is no sliding in the gear engagement, the transmission gap is small, the action repeatability is strong, and the posture control precision is high; the energy loss of the gear transmission is generally low, the power of the front driving power source 703 can be directly transmitted to the flexible spine 3, so that the bending action in the vertical direction is quickly completed, and the response delay is low; the power output of the engagement transmission mode is uniform, so that the bending process of the flexible spine 3 is stable and impact-free, and imbalance caused by the body pitching or posture mutation is avoided; the front driven gear 702 can adopt a helical gear, and the front driving power source 703 can adopt a driving motor, which is a conventional setting in the prior art; the front driven gear 702 is arranged near the front end of the first vertebra 4, that is, at the front end of the first vertebra 4 or a position close to the front end of the first vertebra 4, and details are not repeated here.
[0031] In the embodiment, the rear driving gear set comprises a rear driving gear and a rear driven gear, the rear steering mechanism 8 further comprises a rear driving power source, the rear driving gear is in transmission cooperation with the rear driven gear, the rear driving power source can be controlled to drive the rear driving gear to rotate for driving the flexible spine 3 to bend in the horizontal direction, the rear driving gear is engaged with the rear driven gear to drive the flexible spine 3 to bend in the horizontal direction with the output power of the rear driving power source, and there is no sliding in the gear engagement, the transmission gap is small, the action repeatability is strong, and the posture control precision is high; the energy loss of the gear transmission is generally low, the power of the rear driving power source can be directly transmitted to the flexible spine 3, so that the bending action in the vertical direction is quickly completed, and the response delay is low; the power output of the engagement transmission mode is uniform, so that the bending process of the flexible spine 3 is stable and impact-free, and imbalance caused by the body pitching or posture mutation is avoided, and details are not repeated here.
[0032] In this embodiment, the flexible spine 3 includes a first vertebra 4 and a second vertebra 5, the rear driving gear includes a first rear driving gear 801 on the first vertebra 4 and a second rear driving gear 802 on the second vertebra 5, the rear driven gear includes a first rear driven gear 803 on the first vertebra 4 and a second rear driven gear 804 on the second vertebra 5, the rear driving power source includes a first rear driving power source 805 and a second rear driving power source 806, the first rear driving gear 801 is in transmission cooperation with the second rear driven gear 804, the second rear driving gear 802 is in transmission cooperation with the first rear driven gear 803, the first rear driving power source 805 and the second rear driving power source 806 can be controlled to respectively drive the first rear driving gear 801 and the second rear driving gear 802 to rotate, which are used to drive the first vertebra 4 and the second vertebra 5 to rotate relatively in the horizontal direction, so that the flexible spine 3 bends in the horizontal direction, the rear steering mechanism 8 provides a dedicated transmission path for the horizontal relative rotation between the first vertebra 4 and the second vertebra 5, avoids interference with the bending drive in the vertical direction, and the targeted transmission design enables the horizontal rotation angle to be accurately quantified, has high action repeatability, and improves the control accuracy of the robot steering or side tilt posture; the rear steering mechanism 8 is independently responsible for horizontal bending, and the division of labor with the front steering mechanism 7 is clear, so that the flexible spine 3 can complete vertical pitching and horizontal steering at the same time to form a compound motion posture, which is closer to the motion characteristics of the biological spine and meets the needs of flexible adjustment on complex terrain; the rear driving gear and the rear driven gear form cross meshing transmission, and the power of the first rear driving power source 805 and the second rear driving power source 806 is superimposed and output, which can accurately control the relative rotation speed and angle between the first vertebra 4 and the second vertebra 5, avoid power shortage or steering lag caused by single driving, improve the response sensitivity and action repeatability of horizontal bending, disperse the stress load of a single gear through cross meshing, reduce meshing wear, reduce the risk of gear jamming or breaking, and prolong the service life of the rear steering mechanism; the double driving mechanism can realize flexible steering of the first vertebra 4 and the second vertebra 5 through differential control, such as acceleration on one side and deceleration on the other side, or even small-angle fine adjustment; the first rear driving power source 805 and the second rear driving power source 806 can adopt driving motors, which are conventional settings in the prior art and will not be described here.
[0033] In this embodiment, the first and second vertebral members 4 and 5 are arc-shaped shells. The front end of the first vertebral member 4 extends outward in the transverse direction to form an extension 401, and the rear end is recessed inward in the transverse direction to form a recessed portion 402. The front driven gear 702 is mounted on the extension 401 of the first vertebral member 4. The first rear driving gear 801 and the first rear driven gear 803 are both mounted on the recessed portion 402 of the first vertebral member 4. The gear assemblies are arranged in a specific area of the first vertebral member 4, without occupying too much space inside the flexible spine 3, avoiding interference with the horizontal and vertical bending actions. The first vertebral member 4 adopts an arc-shaped shell structure, which has good bending and torsional stiffness, can stably bear the force during gear transmission, and avoids deformation. The extension 401 and the recessed portion 402 of the first vertebral member 4 provide a clear installation reference for the gear assemblies, facilitating the control of the center distance and meshing gap of the gears, improving the transmission accuracy, and simplifying the assembly process. The gears are directly mounted on the integrated structure of the first vertebral member 4, without the need for separate adjustment of the installation position during assembly. The extension 401 mounts the front driven gear 702, and the recessed portion 402 mounts the first rear driving gear 801 and the first rear driven gear 803. The two groups of gear assemblies are arranged separately to avoid transmission interference, which will not be described here. Figure 6 As shown in FIG. 8, the first vertebral member 4 is similar to a crescent structure, and the recessed portion 402 of the first vertebral member 4 and the recessed portion 501 of the second vertebral member 5 are similar to C-shaped when viewed from the front direction, which will not be described here.
[0034] In this embodiment, the front end of the second vertebral member 5 is recessed inward in the transverse direction to form a recessed portion 501. The second rear driving gear 802 and the second rear driven gear 804 are both mounted on the recessed portion 501 of the second vertebral member 5. The recessed portion 501 of the second vertebral member 5 corresponds to the recessed portion 402 of the first vertebral member 4 in the horizontal direction, so that the cross-meshing structure of the two gear sets is concentrated and symmetrical. The gear assemblies are recessed inside the second vertebral member 5 without protruding outward, avoiding interference with the vertical bending and horizontal rotation of the flexible spine 3, and reserving sufficient space for the flexible shell 6. The recessed portion 501 of the second vertebral member 5 provides a clear installation reference for the gear assemblies, reducing the debugging workload during assembly, improving the assembly accuracy, simplifying the assembly process, reducing the risk of loose parts, and improving the overall structural reliability. The recessed portion 501 of the second vertebral member 5 corresponds to the recessed portion 402 of the first vertebral member 4 in structure, so that the overall mechanism is balanced in force, avoiding turning deviation caused by unilateral bias.
[0035] In the embodiment, the first mounting seat 9 and the second mounting seat 10 are further included, the first rear driving power source 805 is mounted to the recessed portion 402 of the first vertebra piece 4 through the first mounting seat 9, the second rear driving power source 806 is mounted to the recessed portion 501 of the second vertebra piece 5 through the second mounting seat 10, the first mounting seat 9 and the second mounting seat 10 serve as transition connecting components of the driving power source and the recessed portion, increase the contact area, disperses the vibration load when the driving power source works, avoids loosening caused by direct mounting, the first mounting seat 9 and the second mounting seat 10 can be fixed by multiple points through fasteners such as bolts, limit the radial and axial displacement of the driving power source, ensure the stable meshing gap between the driving gear and the driven gear, and improve the transmission precision; the structural parameters of the mounting seat can be fine-tuned according to the size of the driving power source, adapt to driving power sources of different specifications, and improve the component universality and design flexibility; the first mounting seat 9 and the second mounting seat 10 isolate the vibration of the driving power source and the bending stress of the vertebra piece, protect the mounting surface of the recessed portion 402 of the first vertebra piece 4 and the recessed portion 501 of the second vertebra piece 5 from being abraded, and details are not repeated here.
[0036] In the embodiment, the front mounting plate 11 located at the front body 1 and the rear mounting plate 12 located at the rear body 2 are further included, the outer surfaces of the front mounting plate 11 and the rear mounting plate 12 are respectively provided with a shell mounting groove, the two ends of the flexible shell 6 are respectively embedded in the shell mounting groove to form fixation, the shell mounting groove provides an embedding positioning reference for the two ends of the flexible shell 6, further increases the contact area, uniformly bears the force, avoids loosening or falling of the flexible shell 6 caused by pulling and vibration when the flexible spine 3 bends, the embedded fixation mode limits the axial and radial displacement of the flexible shell 6, and ensures that the flexible shell 6 always moves synchronously with the flexible spine 3; the shell mounting groove 1101 of the front mounting plate 11 is directly provided on the front mounting plate 11, the shell mounting groove 1201 of the rear mounting plate 12 is directly provided on the rear mounting plate 12, no additional components such as fixed buckles or bolts are needed, the flexible shell 6 can be directly embedded to complete fixation, and the assembly process is simplified; after the two ends of the flexible shell 6 are embedded in the shell mounting groove, a closed connection structure is formed, dust and water vapor can be effectively blocked from entering from the gap between the flexible shell 6 and the mounting plate, and the internal components such as the flexible spine 3 and the driving mechanism are protected, and details are not repeated here.
[0037] In the embodiment, the front body 1 is provided with a visual unit, which includes a high-definition wide-angle camera 13 that can be controlled to rotate in the horizontal direction and the vertical direction; the high-definition wide-angle camera 13 can be rotated in the horizontal direction and the vertical direction by using a rudder platform 15, the high-definition wide-angle camera 13 is hinged with the rotating platform through a linkage form of the pitch driving mechanism in the rudder platform 15 and is installed at the front end of the robot, which is a conventional setting in the prior art and will not be described here; the rear body 2 is also provided with a loading box 16 for loading articles, which is a conventional setting in the prior art and will not be described here;
[0038] Further comprising several motion legs 14, which are drivingly connected with the front body 1 and the rear body 2, the foot 1401 of the motion leg 14 is a circular structure and is circumferentially distributed with anti-skid lines 1402, the number of the motion leg 14 is two pairs, each motion leg 14 adopts a four-bar linkage structure and has a degree of freedom of 2, each motion leg 14 is controlled by two stepping motors and is arranged on the corresponding motion leg 14, and is flexibly connected through joint hinging, the foot 1401 of each motion leg 14 is arranged as a circular support structure with anti-skid lines 1402, which is used to increase the contact area with the ground and improve the stability, and will not be described here.
[0039] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present application but not limit the present application, although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced equivalently without departing from the purpose and scope of the present application, and all of them should be covered in the scope of the claims of the present application.
Claims
1. A biomimetic quadruped robot with a flexible spine, characterized in that: The device includes a forebody, a hindbody, and a flexible spine connecting the forebody and the hindbody. The flexible spine can be driven to deform in both vertical and horizontal directions. The forebody is provided with a front steering mechanism, and the flexible spine is provided with a rear steering mechanism. The front steering mechanism includes a front drive gear set, and the rear steering mechanism includes a rear drive gear set. The front drive gear set is fixedly connected near the front end of the flexible spine and can be rotated in a controlled manner to drive the flexible spine to bend in the vertical direction. The rear drive gear set is fixedly connected near the middle end of the flexible spine and can be rotated in a controlled manner to drive the flexible spine to bend in the horizontal direction.
2. The bionic quadruped robot with a flexible spine according to claim 1, characterized in that: It also includes a flexible outer shell, which is fixedly fitted onto the flexible spine and bends synchronously with the flexible spine in the vertical and horizontal directions.
3. The bionic quadruped robot with a flexible spine according to claim 1, characterized in that: The front drive gear set includes a front drive gear located on the forebody and a front driven gear located near the front end of the flexible spine. The front steering mechanism also includes a front drive power source. The front drive gear and the front driven gear are in transmission engagement. The front drive power source can be controlled to drive the front drive gear to rotate in order to drive the flexible spine to bend in the vertical direction.
4. The bionic quadruped robot with a flexible spine according to claim 1, characterized in that: The rear drive gear set includes a rear driving gear and a rear driven gear. The rear steering mechanism also includes a rear drive power source. The rear driving gear and the rear driven gear are in transmission cooperation. The rear drive power source can be controlled to drive the rear driving gear to rotate in order to drive the flexible spine to bend in the horizontal direction.
5. The bionic quadruped robot with a flexible spine according to claim 4, characterized in that: The flexible spine includes a first vertebral member and a second vertebral member. The rear drive gear includes a first rear drive gear located on the first vertebral member and a second rear drive gear located on the second vertebral member. The rear driven gear includes a first rear driven gear located on the first vertebral member and a second rear driven gear located on the second vertebral member. The rear drive power source includes a first rear drive power source and a second rear drive power source. The first rear drive gear and the second rear driven gear are in transmission engagement, and the second rear drive gear and the first rear driven gear are in transmission engagement. The first rear drive power source and the second rear drive power source can be controlled to drive the first rear drive gear and the second rear drive gear to rotate respectively, which together drive the first vertebral member and the second vertebral member to rotate relative to each other in the horizontal direction, so that the flexible spine bends in the horizontal direction.
6. The bionic quadruped robot with a flexible spine according to claim 5, characterized in that: Both the first and second vertebral components are arc-shaped shells. The front end of the first vertebral component extends outward in a horizontal direction to form an extension portion, and the rear end is recessed in a horizontal direction to form a recessed portion. The front driven gear is mounted on the extension portion of the first vertebral component, and the first rear driving gear and the first rear driven gear are both mounted on the recessed portion of the first vertebral component.
7. The bionic quadruped robot with a flexible spine according to claim 6, characterized in that: The front end of the second vertebral member is recessed inward along the lateral direction to form a recessed portion, and both the second rear driving gear and the second rear driven gear are mounted on the recessed portion of the second vertebral member.
8. The bionic quadruped robot with a flexible spine according to claim 5, characterized in that: It also includes a first mounting base and a second mounting base, wherein the first rear drive power source is mounted on the recess of the first vertebral member via the first mounting base, and the second rear drive power source is mounted on the recess of the second vertebral member via the second mounting base.
9. The bionic quadruped robot with a flexible spine according to claim 1, characterized in that: It also includes a front mounting plate located in the front body and a rear mounting plate located in the rear body. The outer surfaces of the front mounting plate and the rear mounting plate are respectively provided with shell mounting grooves, and the two ends of the flexible shell are respectively embedded into the shell mounting grooves to form a fixed shape.
10. The biomimetic quadruped robot with a flexible spine according to claim 1, characterized in that: The forebody is provided with a vision unit, which includes a high-definition wide-angle camera that can be controlled to rotate in both the horizontal and vertical directions. It also includes several moving legs, which are connected to the forebody and the rearbody via transmission. The feet of the moving legs have a circular structure and anti-slip patterns distributed along the circumference.