Desert robot based on four-footed bionic structure

Abstract

The desert robot based on the four-footed bionic structure comprises a robot machine shell, cover plates are installed at the top end and the bottom end of the robot machine shell, first steering engines are fixedly installed at the four corners in the robot machine shell, and the top ends of the first steering engines extend out of the top end of the robot machine shell. The output ends of the four first steering engines are fixedly connected with first steering wheels, the four first steering wheels are fixedly connected with horizontal connecting pieces A, and the four corners of the bottom end of the lower cover plate are rotationally connected with horizontal connecting pieces C. According to the desert robot based on the four-footed bionic structure, the mechanical structure of the desert robot can effectively adapt to the desert environment; the sand sinking risk is reduced, the movement stability is improved, appropriate modules are selected for hardware of a control system, accurate control over the robot is achieved, the robot can move more flexibly and efficiently in the desert terrain through the diagonal gait design, and the robot can be protected through the rat and insect repelling function.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, concretely is a desert robot based on four foot bionical structure. BACKGROUND

[0002] Desert areas contain rich resources, and are also important regions for ecological research, however, the desert environment is extremely harsh, with characteristics such as soft surface, large diurnal temperature difference, strong sand disturbance, high temperature, strong wind and sand, soft sand, etc. The conditions of high temperature, strong wind and sand, and soft sand bring great challenges to the operation of traditional mechanical equipment. Ordinary vehicles have difficulty in traveling in the desert, are easy to sink in sand, and have poor reliability and adaptability, and traditional wheeled or tracked robots are easy to sink in sand and have high energy consumption.

[0003] For example, the application number CN202310489732.0 provides a leg-skid type desert robot, which can realize the switching of foot end ground contact and skid plate ground contact, so that the robot has two forward moving modes, namely hoof stepping forward and skid plate sliding forward. The leg-skid type leg includes a hip joint part fixedly connected with the body, a thigh joint part rotatably connected with the hip joint part, a lower leg joint part rotatably connected with the thigh joint part, a thigh part fixedly connected with the lower leg joint part, a lower leg part rotatably connected with the thigh part, and a leg-skid switching mechanism. The leg-skid switching mechanism includes a skid plate and an electric push rod. One end of the electric push rod is hinged to the middle of the lower leg part, and the other end is hinged to the front end of the skid plate. The rear end of the skid plate is hinged to the tail end of the lower leg part.

[0004] However, the existing bionic robot still has the following problems:

[0005] (1) Some six-legged robots can adapt to complex terrain, but the multi-degree-of-freedom design leads to high mechanical complexity and high energy consumption, making it difficult to work in the desert for a long time;

[0006] (2) The existing gait control relies on pre-set programs, and it is difficult to dynamically adjust the leg lifting height and stride according to the softness of the sand, resulting in insufficient walking stability;

[0007] (3) Wheel encoder odometry is invalid due to sand slippage, and GPS single positioning is easily disturbed by signals, making it difficult to meet the demand for precise navigation;

[0008] (4) Lack of multi-sensor coordination mechanism, unable to avoid obstacles or correct path deviation in real time. Utility model content

[0009] The utility model discloses a purpose at providing a kind of desert robot based on four-foot bionic structure, to solve the problem that part six-legged robot in the background art proposed although adapt complex terrain, but multiple degree of freedom design leads to high mechanical complexity, energy loss is big, difficult to work in desert for long time;Existing gait control is mostly dependent on preset program, it is difficult to dynamically adjust leg-lifting height and stride according to sand softness, leading to insufficient walking stability;Sand skidding leads to wheel encoder odometer failure, GPS single positioning is susceptible to signal interference, difficult to meet the demand of accurate navigation;Lack of multi-sensor cooperative mechanism, cannot avoid obstacle or correct path deviation in real time.

[0010] To achieve the above object, the utility model provides the following technical scheme: a kind of desert robot based on four-foot bionic structure, including robot shell, the top end and bottom end of the robot shell are equipped with cover plate, four corners in the robot shell are fixedly installed with the first steering gear of top end extension top end of robot shell, the output end of four first steering gears is fixedly connected with first rudder disc, four first rudder discs are fixedly connected with horizontal connecting piece A, the bottom end of the cover plate is rotatably connected with horizontal connecting piece C in four corners, four horizontal connecting piece A is respectively and four horizontal connecting piece C one-to-one correspondence, horizontal connecting piece B and second steering gear are fixedly installed between four horizontal connecting piece A and corresponding horizontal connecting piece C, one end of four horizontal connecting piece A is rotatably connected with auxiliary connecting piece, one end of four auxiliary connecting pieces away from horizontal connecting piece A is rotatably connected with robot foot, the middle part of four horizontal connecting piece B is rotatably connected with vertical connecting piece A, the output end of four second steering gears is connected with second rudder disc, four second rudder discs are connected with vertical connecting arm, one end of four vertical connecting arms away from horizontal connecting piece B is rotatably connected with four robot feet respectively, the bottom end of the inner wall of four robot feet is fixedly connected with antiskid component, the middle part of the bottom end of the cover plate below is fixedly connected with lower shield, ultrasonic wave mouse driver is fixedly installed in the lower shield.

[0011] Preferably, four antiskid components all include shell, the shell is fixed at the bottom end of the inner wall of robot foot, one end of the shell is fixedly installed with telescopic cylinder, the inside of the lower shield is fixedly connected with mounting plate, the ultrasonic wave mouse driver is fixedly installed in the middle part of mounting plate, the ultrasonic wave emission end of the ultrasonic wave mouse driver is vertically downward, the lower of the lower shield is fixedly connected with arc-shaped cover for protecting ultrasonic wave emission end of ultrasonic wave mouse driver, a plurality of strip-shaped openings are formed in the bottom of the lower shield.

[0012] Preferably, the output end of the telescopic air cylinder is fixedly connected with a sliding plate sliding in the shell, the bottom of the sliding plate is fixedly connected with a plurality of three-pronged anti-skid protrusions penetrating through the other end of the shell, the four corners of the inner wall of the shell are fixedly connected with limiting rods, the four corners of the sliding plate are respectively in sliding connection with the four limiting rods, and the plurality of three-pronged anti-skid protrusions are uniformly distributed.

[0013] Preferably, the top and bottom of the inner wall of the robot shell are respectively fixedly connected with an upper buffer pad and a lower buffer pad, the top of the lower buffer pad is fixedly connected with a base, the top of the base is fixedly installed with a circuit board, and the bottom of the upper buffer pad is fixedly connected with a protective cover protecting the circuit board.

[0014] Preferably, a heat insulation frame is arranged between the upper buffer pad and the lower buffer pad, and the heat insulation frame is located outside the protective cover.

[0015] Preferably, the circuit board is installed with a microcontroller module, an ultrasonic module, a positioning module, a Bluetooth module, a power module and a driving module, the Bluetooth module, the positioning module, the ultrasonic module, the driving module and the ultrasonic mouse driver are electrically connected with the microcontroller module, the microcontroller module and the driving module are electrically connected with the power module, the driving module is electrically connected with the four first steering wheels and the four second steering wheels, the microcontroller module uses an Arduino UNO R3 development board, the ultrasonic module selects an HC-SR ultrasonic module, the wiring of the HC-SR ultrasonic module and a single-chip microcomputer or other controllers usually includes four pins: a power positive pole VCC, a power negative pole GND, a trigger pin Trig and an echo pin Echo, the positioning module selects a NEO-M GPS module, the NEO-M GPS module is a high-performance GNSS receiving module based on a new generation of U-blox chips, the Bluetooth module selects an HC-05 Bluetooth module, the HC-05 is a Bluetooth serial communication module and can be used for realizing simple wireless serial communication, the power module is a lithium battery, and the driving module selects a PCA driving board, the PCA is a PWM driver chip, a pulse width modulation signal and can be used for controlling the second steering wheel, the chip is connected with the microcontroller in communication through an IC bus, and can realize control of multiple PWM signals.

[0016] Preferably, the four corners of the robot shell are threadedly connected with first inner hexagonal head screws, the robot shell is fixedly connected with the two cover plates through the first inner hexagonal head screws, the four first rudders are threadedly connected with second inner hexagonal head screws, the four first rudders are fixedly connected with the four horizontal connecting pieces A through the second inner hexagonal head screws respectively, the four horizontal connecting pieces B are threadedly connected with two third inner hexagonal head screws respectively, the four horizontal connecting pieces B are fixedly connected with the horizontal connecting piece A and the horizontal connecting piece C through the two third inner hexagonal head screws respectively, the top ends of the four robot feet are threadedly connected with fourth inner hexagonal head screws respectively, the four robot feet are rotatably connected with the four auxiliary connecting pieces through the fourth inner hexagonal head screws respectively, the user screws the first inner hexagonal head screws to assemble the cover plates and the robot shell together, the user screws the second inner hexagonal head screws to assemble the first rudders and the horizontal connecting piece A together, the user screws the third inner hexagonal head screws to assemble the horizontal connecting piece B and the horizontal connecting piece A and the horizontal connecting piece C together, and the user screws the fourth inner hexagonal head screws to assemble the auxiliary connecting pieces and the robot feet together.

[0017] Preferably, the four vertical connecting pieces A and the four second rudders are threadedly connected with fifth inner hexagonal head screws respectively, the four vertical connecting pieces A correspond to the four second rudders one by one, and the four vertical connecting pieces A and the corresponding second rudders are fixedly connected through the fifth inner hexagonal head screws, the ends of the four vertical connecting arms are threadedly connected with sixth inner hexagonal head screws respectively, the four vertical connecting arms are fixedly connected with the four robot feet through the sixth inner hexagonal head screws respectively, one side of the four horizontal connecting pieces A is threadedly connected with a seventh inner hexagonal head screw, the four horizontal connecting pieces A are rotatably connected with the four auxiliary connecting pieces through the seventh inner hexagonal head screw respectively, both sides of the front ends of the four second rudders are threadedly connected with eighth inner hexagonal head screws, and the four second rudders are fixedly connected with the horizontal connecting piece A and the horizontal connecting piece C through the two eighth inner hexagonal head screws respectively, the user screws the fifth inner hexagonal head screws to fix the vertical connecting piece A and the second rudder together, so that the vertical connecting piece A and the vertical connecting arm rotate synchronously, the user screws the sixth inner hexagonal head screws to assemble the vertical connecting arm and the robot foot together, the user screws the seventh inner hexagonal head screws to assemble the horizontal connecting piece A and the auxiliary connecting piece together, and the user screws the eighth inner hexagonal head screws to install the second rudder between the horizontal connecting piece A and the horizontal connecting piece C.

[0018] Compared with the prior art, the robot has the advantages that: the mechanical structure can effectively adapt to the desert environment, reduce the risk of sinking into sand, improve the motion stability, the control system hardware selects appropriate modules, precise control of the robot is realized, the diagonal gait design makes the robot more flexible and efficient in the desert terrain, and the robot is protected by the mouse and insect repelling function. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is the three-dimensional structure of the utility model Figure 1 ;

[0020] Figure 2 is the three-dimensional structure of the utility model Figure 2 ;

[0021] Figure 3 is the three-dimensional structure of the utility model robot foot Figure 1 ;

[0022] Figure 4 is the three-dimensional structure of the utility model robot foot Figure 2 ;

[0023] Figure 5 is the side view of the utility model;

[0024] Figure 6 is the connection diagram of the second steering wheel and the robot foot of the utility model;

[0025] Figure 7 is the internal structure schematic diagram of the utility model robot shell;

[0026] Figure 8 is the cross-sectional view of the utility model robot foot;

[0027] Figure 9 is the bottom view of the utility model anti-skid assembly;

[0028] Figure 10 is the cross-sectional view of the lower shield;

[0029] Figure 11 is the three-dimensional view of the lower shield of the utility model;

[0030] Figure 12 is the circuit diagram of the utility model.

[0031] In the figure: 1, third hexagonal head cylinder bolt; 2, first hexagonal head cylinder bolt; 3, cover plate; 4, horizontal connecting piece A; 5, second hexagonal head cylinder bolt; 6, horizontal connecting piece B; 7, auxiliary connecting piece; 8, robot foot; 9, vertical connecting piece A; 10, fifth hexagonal head cylinder bolt; 11, horizontal connecting piece C; 12, robot shell; 13, second steering disc; 14, vertical connecting arm; 15, sixth hexagonal head cylinder bolt; 16, fourth hexagonal head cylinder bolt; 17, anti-skid assembly; 171, shell; 172, telescopic air cylinder; 173, sliding plate; 174, three-pronged anti-skid protrusion; 175, limiting rod; 18, microcontroller module; 19, ultrasonic module; 20, positioning module; 21, Bluetooth module; 22, power module; 23, driving module; 24, first steering gear; 25, second steering gear; 26, first steering disc; 27, seventh hexagonal head cylinder bolt; 28, eighth hexagonal head cylinder bolt; 29, lower buffer pad; 30, base; 31, circuit board; 32, protective cover; 33, heat insulation frame; 34, upper buffer pad; 35, lower protective cover; 36, strip-shaped opening; 37, mounting plate; 38, ultrasonic mouse driver; 39, arc-shaped cover. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model.

[0033] Please refer to Figures 1-12 The utility model provides a kind of desert robot based on four-foot bionics structure, including robot shell 12, the top end and bottom end of robot shell 12 are equipped with cover plate 3, first steering gear 24 is fixedly installed in the four corners in robot shell 12, the output end of four first steering gears 24 is fixedly connected with first steering disc 26, four first steering discs 26 are fixedly connected with horizontal connecting piece A 4, the four corners of the bottom end of lower cover plate 3 are rotatably connected with horizontal connecting piece C 11, four horizontal connecting pieces A 4 are respectively corresponding with four horizontal connecting pieces C 11 one to one, horizontal connecting piece B 6 and second steering gear 25 are fixedly installed between four horizontal connecting pieces A 4 and corresponding horizontal connecting piece C 11, one end of four horizontal connecting pieces A 4 is rotatably connected with auxiliary connecting piece 7, one end of four auxiliary connecting pieces 7 away from horizontal connecting piece A 4 is rotatably connected with robot foot 8, the middle part of four horizontal connecting pieces B 6 is rotatably connected with vertical connecting piece A 9, the output end of four second steering gears 25 is connected with second steering disc 13, four second steering discs 13 are connected with vertical connecting arm 14, one end of four vertical connecting arms 14 away from horizontal connecting piece B 6 is rotatably connected with four robot feet 8, the middle part of the bottom end of lower cover plate 3 is fixedly connected with lower protective cover 35, ultrasonic mouse driver 38 is fixedly installed in lower protective cover 35.

[0034] The four anti-skid assemblies 17 each include a shell 171 fixed at the bottom end of the inner wall of the robot foot 8, one end of the shell 171 is fixedly installed with a telescopic air cylinder 172, the inside of the lower guard cover 35 is fixedly connected with a mounting plate 37, an ultrasonic mouse repellent device 38 is fixedly installed at the middle of the mounting plate 37, the ultrasonic wave emitting end of the ultrasonic mouse repellent device 38 is vertically downward, an arc-shaped cover 39 protecting the ultrasonic wave emitting end of the ultrasonic mouse repellent device 38 is fixedly connected below the lower guard cover 35, a plurality of strip-shaped openings 36 are formed at the bottom of the lower guard cover 35, the lower guard cover 35 protects the bottom of the robot casing 12, avoiding friction between the bottom of the robot casing 12 and the ground, the ultrasonic mouse repellent device 38 is of a model of Lanxinda W27, and is controlled to work regularly, emits ultrasonic waves to repel mice, and has a certain insect repellent function, so that small animals and insects cannot damage the robot, thereby protecting the robot, and the arc-shaped cover 39 protects the ultrasonic wave emitting end of the ultrasonic mouse repellent device 38.

[0035] The bottom end of the inner wall of each of the four robot feet 8 is fixedly connected with an anti-skid assembly 17, the four anti-skid assemblies 17 each include a shell 171 fixed at the bottom end of the inner wall of the robot foot 8, one end of the shell 171 is fixedly installed with a telescopic air cylinder 172, the output end of the telescopic air cylinder 172 is fixedly connected with a sliding plate 173 sliding in the shell 171, the bottom of the sliding plate 173 is fixedly connected with a plurality of three-pronged anti-skid protrusions 174 penetrating through the other end of the shell 171, four limit rods 175 are fixedly connected to the four corners of the inner wall of the shell 171, the four corners of the sliding plate 173 are respectively in sliding connection with the four limit rods 175, and the plurality of three-pronged anti-skid protrusions 174 are uniformly distributed, so as to play an anti-skid role, reduce wear of the robot foot 8, and prolong the service life of the robot foot 8.

[0036] The top and bottom of the inner wall of the robot casing 12 are respectively fixedly connected with an upper buffer pad 34 and a lower buffer pad 29, the top of the lower buffer pad 29 is fixedly connected with a base 30, the top of the base 30 is fixedly installed with a circuit board 31, the bottom of the upper buffer pad 34 is fixedly connected with a protective cover 32 protecting the circuit board 31, the upper buffer pad 34 and the lower buffer pad 29 play a buffering role, and the protective cover 32 protects the circuit board 31, so as to safely protect the electronic equipment.

[0037] A heat insulation frame 33 is arranged between the upper buffer pad 34 and the lower buffer pad 29, the heat insulation frame 33 is located outside the protective cover 32, the heat insulation frame 33 reduces the transmission of high temperature of a desert environment to electronic elements on the circuit board 31, and prolongs the service life of the electronic equipment.

[0038] The microcontroller module 18, the ultrasonic module 19, the positioning module 20, the Bluetooth module 21, the power module 22 and the driving module 23 are mounted on the circuit board 31, the Bluetooth module 21, the positioning module 20, the ultrasonic module 19, the driving module 23 and the ultrasonic mouse 38 are electrically connected with the microcontroller module 18, the microcontroller module 18 and the driving module 23 are electrically connected with the power module 22, the driving module 23 is electrically connected with the four first steering wheels 24 and the four second steering wheels 13, the microcontroller module 18 uses the Arduino UNO R33 development board, the ultrasonic module 19 selects the HC-SR04 ultrasonic module, the wiring of the HC-SR04 ultrasonic module with a single-chip microcomputer or other controllers usually includes four pins: the positive electrode VCC of the power supply, the negative electrode GND of the power supply, the trigger pin Trig and the echo pin Echo, the positioning module 20 selects the NEO-7M GPS module, the NEO-7M GPS module is a high-performance GNSS receiving module based on a new generation of U-blox chips, the Bluetooth module 21 selects the HC-05 Bluetooth module, the HC-05 is a Bluetooth serial communication module, which can be used to realize simple wireless serial communication, the power module 22 is a lithium battery, and the driving module 23 selects the PCA9685 driving board, the PCA9685 is a PWM driver chip, a pulse width modulation signal, which can be used to control the second steering wheel 13, the chip is connected with the microcontroller through the I2C bus for communication, and multiple PWM signal control can be realized.

[0039] The first internal hexagonal cylindrical head screw 2 is threadedly connected to each corner of the robot shell 12, the robot shell 12 is fixedly connected with the two cover plates 3 through the first internal hexagonal cylindrical head screw 2, the second internal hexagonal cylindrical head screw 5 is threadedly connected to each of the four first steering wheels 26, the four first steering wheels 26 are fixedly connected with the four horizontal connecting pieces A4 through the second internal hexagonal cylindrical head screw 5 respectively, the third internal hexagonal cylindrical head screw 1 is threadedly connected to each of the four horizontal connecting pieces B6, and the four horizontal connecting pieces B6 are fixedly connected with the horizontal connecting piece A4 and the horizontal connecting piece C11 through the two third internal hexagonal cylindrical head screws 1. The fourth internal hexagonal cylindrical head screw 16 is threadedly connected to the top end of each of the four robot feet 8, and the four robot feet 8 are rotatably connected with the four auxiliary connecting pieces 7 through the fourth internal hexagonal cylindrical head screw 16 respectively. The user assembles the cover plate 3 and the robot shell 12 together by rotating the first internal hexagonal cylindrical head screw 2, the user assembles the first steering wheel 26 and the horizontal connecting piece A4 together by rotating the second internal hexagonal cylindrical head screw 5, the user assembles the horizontal connecting piece B6 and the horizontal connecting piece A4 and the horizontal connecting piece C11 together by rotating the third internal hexagonal cylindrical head screw 1, and the user assembles the auxiliary connecting piece 7 and the robot foot 8 together by rotating the fourth internal hexagonal cylindrical head screw 16.

[0040] The fourth vertical connecting piece A9 and the fourth second steering disc 13 are threadedly connected with the fifth internal hexagonal head screw 10, the fourth vertical connecting piece A9 and the fourth second steering disc 13 are fixedly connected through the fifth internal hexagonal head screw 10, the end of the fourth vertical connecting arm 14 is threadedly connected with the sixth internal hexagonal head screw 15, the fourth vertical connecting arm 14 is fixedly connected with the four robot feet 8 through the sixth internal hexagonal head screw 15, one side of the fourth horizontal connecting piece A4 is threadedly connected with the seventh internal hexagonal head screw 27, the fourth horizontal connecting piece A4 is rotatably connected with the four auxiliary connecting pieces 7 through the seventh internal hexagonal head screw 27, the two sides of the front end of the four second steering motors 25 are threadedly connected with the eighth internal hexagonal head screw 28, the fourth horizontal connecting piece A4 and the horizontal connecting piece C11 are fixedly connected with the four second steering motors 25 through the two eighth internal hexagonal head screws 28, the user twists the fifth internal hexagonal head screw 10 to fix the vertical connecting piece A9 and the second steering disc 13 together, so that the vertical connecting piece A9 rotates synchronously with the vertical connecting arm 14, the user twists the sixth internal hexagonal head screw 15 to assemble the vertical connecting arm 14 and the robot foot 8 together, the user twists the seventh internal hexagonal head screw 27 to assemble the horizontal connecting piece A4 and the auxiliary connecting piece 7 together, and the user twists the eighth internal hexagonal head screw 28 to install the second steering motor 25 between the horizontal connecting piece A4 and the horizontal connecting piece C11.

[0041] In use, the embodiment of the application adopts diagonal gait, which is one of the commonly used gaits of quadruped robots, two legs on the same diagonal are divided into a group, the two legs in the group keep the same phase, and there is a fixed phase difference between different groups. In the walking process, the quadruped robot alternately generates diagonal gait to realize stable walking and obstacle crossing. The forward movement and rotation movement are designed based on diagonal gait, and eight action steps are planned in detail respectively, which are realized through the cooperative rotation of the second steering disc 13. The control system software is written in the PC end using the ArduinoIDE environment, and is composed of motion control and Bluetooth communication. In terms of Bluetooth communication, the button on the HC-05 is pressed to enter the AT mode, the parameters are configured, the program is written to realize the bidirectional data forwarding between the serial port and Bluetooth, which is convenient for remote control. The motion control program is designed according to the diagonal gait, including forward, backward, left, right, clockwise rotation, counterclockwise rotation and stop functions. The program completes the initialization setting through referencing related header files, macro definition and writing setup() function. In the loop() function, the switch() case statement is used to realize the processing of different motion instructions, and the ultrasonic detection distance and GPS positioning output program segments are also included.

[0042] Although the utility model has been explained in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments or make equivalent replacement to part of the technical features, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A desert robot based on four-legged bionic structure comprising a robot housing (12) characterized in that: The top and bottom ends of the robot shell (12) are provided with cover plates (3), and the four corners of the robot shell (12) are fixedly provided with first rudders (24) extending out of the top end of the robot shell (12), the output ends of the four first rudders (24) are fixedly connected with first rudder plates (26), the four first rudder plates (26) are fixedly connected with horizontal connecting pieces A (4), the four corners of the bottom end of the lower cover plate (3) are rotatably connected with horizontal connecting pieces C (11), the four horizontal connecting pieces A (4) correspond to the four horizontal connecting pieces C (11) respectively, the horizontal connecting pieces A (4) and the corresponding horizontal connecting pieces C (11) are fixedly provided with horizontal connecting pieces B (6) and second rudders (25) therebetween, one end of each of the four horizontal connecting pieces A (4) is rotatably connected with an auxiliary connecting piece (7), one end of each of the four auxiliary connecting pieces (7) away from the horizontal connecting piece A (4) is rotatably connected with a robot foot (8), the middle portions of the four horizontal connecting pieces B (6) are rotatably connected with vertical connecting pieces A (9), the output ends of the four second rudders (25) are connected with second rudder plates (13), the four second rudder plates (13) are connected with vertical connecting arms (14), one end of each of the four vertical connecting arms (14) away from the horizontal connecting piece B (6) is rotatably connected with a robot foot (8), the bottom end of the inner wall of each of the four robot feet (8) is fixedly connected with an anti-skid assembly (17), the middle portion of the bottom end of the lower cover plate (3) is fixedly connected with a lower protective cover (35), and the lower protective cover (35) is fixedly provided with an ultrasonic mouse repeller (38) therein.

2. The desert robot based on quadruped biomimetic structure as claimed in claim 1, wherein: Each of the four anti-skid assemblies (17) comprises a shell (171) fixed to the bottom end of the inner wall of the robot foot (8), one end of the shell (171) is fixedly provided with a telescopic cylinder (172), the inside of the lower protective cover (35) is fixedly connected with a mounting plate (37), the ultrasonic mouse repeller (38) is fixedly mounted in the middle portion of the mounting plate (37), the ultrasonic wave emitting end of the ultrasonic mouse repeller (38) is vertically downwardly arranged, the lower portion of the lower protective cover (35) is fixedly connected with an arc-shaped cover (39) for protecting the ultrasonic wave emitting end of the ultrasonic mouse repeller (38), and a plurality of strip-shaped openings (36) are formed in the bottom of the lower protective cover (35).

3. The desert robot based on quadruped biomimetic structure as claimed in claim 2, wherein: The output end of the telescopic cylinder (172) is fixedly connected with a sliding plate (173) sliding in the shell (171), the bottom of the sliding plate (173) is fixedly connected with a plurality of three-pronged anti-skid protrusions (174) penetrating through the other end of the shell (171), the four corners of the inner wall of the shell (171) are fixedly connected with limiting rods (175), the four corners of the sliding plate (173) are slidably connected with the four limiting rods (175), and the plurality of three-pronged anti-skid protrusions (174) are uniformly distributed.

4. The desert robot based on quadruped bionic structure as claimed in claim 1, wherein: The top and bottom of the inner wall of the robot shell (12) are fixedly connected with an upper buffer pad (34) and a lower buffer pad (29), respectively, the top of the lower buffer pad (29) is fixedly connected with a base (30), the top of the base (30) is fixedly installed with a circuit board (31), and the bottom of the upper buffer pad (34) is fixedly connected with a protective cover (32) for protecting the circuit board (31).

5. The desert robot based on quadruped biomimetic structure as claimed in claim 4, wherein: A heat insulation frame (33) is arranged between the upper buffer pad (34) and the lower buffer pad (29), and the heat insulation frame (33) is located outside the protective cover (32).

6. The desert robot based on quadruped biomimetic structure as claimed in claim 4, wherein: The circuit board (31) is installed with a microcontroller module (18), an ultrasonic module (19), a positioning module (20), a Bluetooth module (21), a power module (22) and a driving module (23), the Bluetooth module (21), the positioning module (20), the ultrasonic module (19), the driving module (23) and the ultrasonic mouse driver (38) are electrically connected with the microcontroller module (18), the microcontroller module (18) and the driving module (23) are electrically connected with the power module (22), and the driving module (23) is electrically connected with four first steering wheels (24), four second steering wheels (13) and four telescopic cylinders (172).

7. The desert robot based on quadruped biomimetic structure as claimed in claim 1, wherein: The four corners of the robot shell (12) are threadedly connected with first inner hexagonal cylindrical head screws (2), the robot shell (12) is fixedly connected with two cover plates (3) through the first inner hexagonal cylindrical head screws (2), the four first steering wheels (26) are threadedly connected with second inner hexagonal cylindrical head screws (5), the four first steering wheels (26) are fixedly connected with four horizontal connecting pieces A (4) through the second inner hexagonal cylindrical head screws (5), the four horizontal connecting pieces B (6) are threadedly connected with two third inner hexagonal cylindrical head screws (1), the four horizontal connecting pieces B (6) are fixedly connected with the horizontal connecting pieces A (4) and the horizontal connecting pieces C (11) through the two third inner hexagonal cylindrical head screws (1), and the top ends of the four robot feet (8) are threadedly connected with fourth inner hexagonal cylindrical head screws (16), and the four robot feet (8) are rotatably connected with four auxiliary connecting pieces (7) through the fourth inner hexagonal cylindrical head screws (16).

8. The desert robot based on quadruped bionic structure as claimed in claim 1, wherein: Four vertical connectors A (9) and four second steering discs (13) are all threadedly connected with fifth internal hexagonal head screws (10), four vertical connectors A (9) and four second steering discs (13) are one-to-one corresponding, four vertical connectors A (9) and corresponding second steering discs (13) are fixedly connected through fifth internal hexagonal head screws (10), the ends of four vertical connecting arms (14) are all threadedly connected with sixth internal hexagonal head screws (15), four vertical connecting arms (14) are respectively fixedly connected with four robot foot parts (8) through sixth internal hexagonal head screws (15), one side of four horizontal connectors A (4) is threadedly connected with seventh internal hexagonal head screws (27), four horizontal connectors A (4) are respectively rotatably connected with four auxiliary connectors (7) through seventh internal hexagonal head screws (27), the two sides of the front ends of four second steering motors (25) are all threadedly connected with eighth internal hexagonal head screws (28), four second steering motors (25) are respectively fixedly connected with horizontal connector A (4) and horizontal connector C (11) through two eighth internal hexagonal head screws (28).

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