623 results about "Leg mechanism" patented technology

A legged vehicle includes a body, wherein the body includes a major axis corresponding to a primary direction of travel; a plurality of leg mechanisms attached to the body, wherein each leg is attached at its proximal end at one or more discrete attachment points, wherein the attachment points are arranged in-line, one behind the other, with respect to the body, each of the legs including actuators attached between the legs and the body and between adjacent leg members, said legs being actuated for movement of a distal end in three dimensions; a control system in communication with the leg mechanisms to coordinate movements of the leg mechanisms according to approximately single track foot placement, and movement of the legged vehicle in three dimensions over the ground; and a power source connected to and driving the control system components and the plurality of actuators and joints which drive the legs.

A computer-controlled parallel-leg mechanism, with three pairs of remotely-actuated tendon legs, provides accurate six-degrees-of-freedom motion and positioning for a tool platform. Leg pair termination at a common point with three degrees of pivoting freedom is provided by a unique linkage joint. Non-intrusive tool-position feedback is enabled by nine shaft encoders mounted at the mechanism's base end.

A computer-controlled parallel-leg mechanism, with three pairs of remotely-actuated tendon legs, provides accurate six-degrees-of-freedom motion and positioning for a tool platform. Leg pair termination at a common point with three degrees of pivoting freedom is provided by a unique linkage joint. Non-intrusive tool-position feedback is enabled by nine shaft encoders mounted at the mechanism's base end.

The invention discloses a sitting horizontal type individual lower limb rehabilitation training robot. The robot comprises a leg part mechanism, a middle seat mechanism and a man-machine interface. The leg part mechanism comprises an electric control box, a leg part mechanism substrate, a leg part mechanism machinery arm and handrails; the middle seat mechanism comprises a seat, a seat lifting mechanism, a seat push mechanism and a seat angle adjusting mechanism. A thigh and a crus of the leg mechanism machinery arm of the robot are adjustable in length, the seat is adjustable in both width and height; the functions are helpful to meet the demand of a patient with different figures and provide a proper training guest for the patient. Every joint of the leg part mechanism is configured with a driving motor, a pull pressure sensor and a position sensor for providing multiple training tracks to the patient and also providing hardware support to a plurality training methods including passive training, active training and assistant training. In the process of training, the pull pressure sensor of every joint of the leg part mechanism can provide a joint force monitor in order to avoid the unexpected cases.

The invention relates to a lower limb structure of a two-leg robot, which belongs to the field of robot. Applying the characteristics of mechanical movement of parallel opposite sides in a parallel four-link, the invention designs the lower limb structure of the robot with two legs having ten degrees of freedom. Compared with the lower limb structure of the general two-leg robot having 12 degrees of freedom, two degrees of freedom of forward swinging on two ankle joints are decreased. In connection with the opposite driving method with two motors and the same axle applied by each forward swinging and sideward swinging, the invention increases a joint driving torque and decreases the rotation clearance when the mechanism is kept compact. Besides, two motors which realize the degrees of freedom of forward swinging on hip and knee joints are both designed and arranged at the knee joints, thus optimizing the quality distribution of leg mechanisms and reducing the design difficulty of the hip joints with 3 degrees of freedom. The invention uses the parallel four-link mechanism to realize the mechanism design of upper legs and lower legs of the robot, so bottoms of the two feet of the robot are always parallel with the ground during walking, and the effect on the walking stability of the robot due to the rotation clearance of output shafts of the motors is effectively decreased.

The invention provides a reversible and amphibious multi-legged robot with variable postures. The robot comprises three parts, i.e. a body bracket, a one-way input and vertical output module and a leg mechanism, wherein the one-way input and vertical output module is installed on the body bracket, and the leg mechanism is installed on the one-way input and vertical output module. The reversible and amphibious multi-legged robot with variable postures of the invention is formed by the parallel connection of a plurality of walking legs, and by controlling a posture adjustment motor, the real-time change of the standing and moving postures of the robot can be realized, thereby improving the capability of adapting to the complex amphibian environment; and each walking leg is formed by the serial connection of the one-way input and vertical output module and the leg mechanism. A tridimensional force sensor is installed at the leg end and is used for feeding back the stress of the leg end during movement, so as to realize the closed loop control of the stress of each leg of the robot.

The invention discloses a reservoir culvert detection robot. A special pipeline robot aiming at the reservoir culvert detection work is not designed in the prior art. The reservoir culvert detection robot comprises a driving wheel group, a steering system, a connecting mechanism, a driven wheel group and a control system, wherein the driving wheel group and the driven wheel group are connected through the connecting mechanism, the steering system controls the steering of the driving wheel group, the driving wheel group comprises wheel leg mechanisms and a transfer system, the three wheel leg mechanisms are uniformly distributed and arranged on the side wall of a first main installing plate, the transfer system is arranged in the center part of the first main installing plate, and drives the three wheel leg mechanisms, and the steering system comprises a rope, a steering rope roller, a steering motor, a steering reset spring, an initial position stop pin, a pull arm and a terminal position stop pin. The reservoir culvert detection robot is suitable for the work environment of a reservoir culvert, and can do autoroatation around the pipeline center in situ in the pipeline for avoiding obstacles; two rows of wheel groups including the front row and the back row and a telescopic diameter change mechanism are adopted, the telescopic quantity of each wheel leg is respectively independent, and the pipeline diameter change adapting capability is high.

A robot having a leg mechanism having high rigidity, so as to enable moving on wheels, on the leveled ground, and also moving on the bipedalism, on the unleveled ground, and also enabling to execute exchanging between the wheel running and the bipedalism in a short time, comprising: a body; and left and right leg portions in lower portion of the body, wherein each leg portion has a wheel, which can be drive, at a tip thereof, and a supporting portion, which is movable in roll and pitch directions, the each leg portion has three (3) degrees of freedom, roll, pitch and pitch from the body side, and the supporting portion has at least two (2) of contact points to be in contact with a ground, and makes up a stable region by a contact point of the wheel and the contact point of the supporting body, and thereby oscillating the left and right leg portions, alternately, so as to make bipedalism, and further operating the supporting body, so as to run on the wheels.

The invention discloses a wheel-leg hexapod robot with a suspension system. The wheel-leg hexapod robot comprises a machine body and six single leg structures; six single leg mechanisms are uniformly distributed in the circumferential direction of the machine body; each single leg structure comprises a heel joint, a hip joint and a knee joint, wherein each heel joint is connected with the machine body and is driven to rotate around a vertical Z axis through a motor; and each hip joint is connected with the corresponding heel joint through the suspension system. According to the suspension system, the shock-absorbing buffer effect in two directions can be achieved by using only one shock absorber. The hip joints and the knee joints are directly driven through the motor to rotate around a horizontal Y axis, and are connected through thigh structures; each knee joint is connected with the tail end of a shank structure and a wheeled locomotion mechanism is arranged at the tail end of each shank structure; and a foot end buffer mechanism is arranged at the front end of each shank. According to the wheel-leg hexapod robot with the suspension system, the integrity of the internal environment of the machine body in the motion process can be ensured, and meanwhile, the carrying capacity of the robot and the stability of the load in the motion process can be improved.

The invention provides a multifunctional detachable physiotherapy massage device which comprises a massage helmet, a neck mechanism, a backrest and a leg mechanism. The massage helmet is internally provided with a plurality of cylinders similar to the curve of the head part, a piston, a massage head and a physiotherapy device; the cylinders are connected with an air distributing valve, an air pressure adjusting valve, an air pump and a control circuit through air ducts; the top end of the backrest is provided with the neck mechanism; the neck mechanism comprises two groups of symmetrical herringbone massage heads, eccentric cams and drive motors; the shape of the backrest is similar to the shape of the waist of the human body, the backrest is provided with a plurality of bulges and connected with a physiotherapy belt capable of automatically folding and unfolding and a plurality of massage wheels connected with an up-down moving control device, the lower end of the backrest is connected with a chair and the leg mechanism, the leg mechanism is provided with a power shaft and the eccentric wheels connected with the power shaft; and the eccentric wheels are connected with a connecting rod which is connected with a transmission belt, the transmission belt is connected with a drive wheel and a massage wheel, and the massage wheel is arranged in a slide rail.

The invention discloses a multiple-pose lower limb rehabilitation training robot which comprises a robot base and a training bed. The training bed comprises two leg mechanisms, a seat, a seat width adjusting mechanism, a human body gravity center adjusting mechanism, a back cushion, a weight reduction system and a seat back cushion angle adjusting mechanism. The robot base comprises a bed body angle adjusting mechanism, and the bed body angle adjusting mechanism is matched with a seat angle adjusting mechanism and can provide multiple pose training modes including lying, sitting, standing and the like for a paralysis patient. Each leg mechanism comprises a hip joint, a knee joint and an ankle joint. The hip joint, the knee joints and the ankle joints are driven by a motor and are provided with angle and force sensors, can be used for recognizing motion intention of the patient and facilitate active and aiding training of the patient. The human body gravity center adjusting mechanism, the leg mechanisms and the weight reduction system are mutually matched, bionic gaits approximating to natural walking of a human body can be achieved, and gait training effect can be improved.

The invention relates to the technical field of robots, and provides a mobile modularized self-reconfigurable robot. The mobile modularized self-reconfigurable robot comprises a U-shaped outer frame, a U-shaped inner frame, a motor rack, motors, an inner frame connecting shaft part, a driving connecting mechanism, driven connecting mechanisms and a driving leg mechanism. The driving connecting mechanism comprises a connecting plate, a large gear, a connecting pin, a fixing sleeve, a small gear and the motors, wherein the connecting plate is fixedly arranged on the bottom of the U-shaped inner frame, the large gear is fixedly arranged on the connecting plate through the fixing sleeve, the connecting pin is mounted in a groove formed in the large gear and makes reciprocating motion in the groove, the outer side of one side of the U-shaped outer frame is connected with the first driven connecting mechanism, the inner side of one side of the U-shaped outer frame is connected with the U-shaped inner frame through the inner frame connecting shaft part, the other side of the U-shaped outer frame is connected with the U-shaped inner frame through the second driven connecting mechanism, the motor rack is fixedly mounted on the second driven connecting mechanism, and the two sides of the U-shaped outer frame are connected with driving legs through the fixed connection between the two sides of the U-shaped outer frame and direct current motors. Therefore, a single robot can make front-back motion and steering motion, the bottom of the U-shaped outer frame is connected with the third driven connecting mechanism through a stepping motor, and the rotational degree of freedom is supplied to the mobile modularized self-reconfigurable robot.

The invention discloses a wheelchair device which can help a patient to perform lower limb rehabilitation training, can achieve adjustment of three postures, and can be applied to the field of medical rehabilitation apparatuses. The lower limb rehabilitation wheelchair includes a flexible adjustment mechanism arranged on a chair back, a three-posture adjustment mechanism which is arranged on a base and is fixedly connected to the chair back, a leg mechanism which is fixedly connected to a three-posture adjustment frame, and a leg auxiliary support system. A step function section is driven by a push rod, and bionics steps of human body natural walking are simulated through a preset program to achieve a training effect. The leg auxiliary support system can support legs in a seat posture through coordination of bevel gears, screw rods and support plates, and can automatically move backward in a stand posture and will not affect the legs. The chair back adjustment mechanism has the function of multi-dimension automatic flexible adjustment, and can adjust the chair back according to the demands of a user. The three-posture adjustment mechanism can adjust a stand posture, a seat posture and a lie posture. The lower limb rehabilitation wheelchair can provide various posture training manners.

The invention provides a wheel-legged obstacle crossing robot, and belongs to the field of mobile robots. The wheel-legged obstacle crossing robot comprises a frame and a wheel leg mechanism, connected with each other; the wheel leg mechanism comprises a frame joint, a mechanical arm steering device, a mechanism arm, a wheel body steering device and a wheel body device; the mechanical arm steeringdevice is rotationally connected with the frame joint; one end of the mechanical arm is connected with the mechanical arm steering device, and the other end of the mechanical arm is connected with the wheel body steering device; the wheel body device is rotationally connected with the wheel body steering device; the mechanical arm comprises a telescopic driving device and a quadrangular mechanismcapable of being folded and deformed; and a fixed end and an expansion end of the telescopic driving device are separately connected with the two ends of a diagonal of the quadrangular mechanism. Themechanical arm steering device can be used for driving the mechanical arm to rotate horizontally, the wheel body steering device can drive the wheel body device to rotate horizontally, and the mechanical arm moves in the height direction through the telescopic driving device of the mechanical arm, so that the wheel-legged obstacle crossing robot achieves the omnibearing driving of multiple degrees of freedom, thereby having high obstacle crossing performance.

The invention discloses a buffer landing leg for a planet detector, which comprises an outer cylinder, an inner cylinder and a foot cushion, wherein a guide rail is arranged on the inner wall of the outer cylinder, a rotating motor is arranged at the upper end of the inner cylinder, an output rotating shaft of the rotating motor is fixedly connected with the inner cylinder, a compression spring is arranged on the upper end of the rotating motor, the upper end of the compression spring is in contact with the top of the outer cylinder, two sides of the rotating motor are also provided with guide wheels matched with the guide rail; and the foot cushion is arranged at the lower end of the outer cylinder, helical convex teeth are arranged on the outer peripheral surface of the inner cylinder, and a pawl matched with the helical convex teeth is arranged on the outer cylinder and compressed in the helical convex teeth through an external elastic member. The invention has the advantages of no interference in processes of installation and movement of the landing leg mechanism, good structural rigidity, lighter mass, simple structure, convenience of processing, long service life, high reliability and capability of absorbing higher impact energy and realizing self-repairing function of buffer postures.

A four-degree-of-freedom multi-pose lower limb rehabilitation robot mainly comprises a base mechanism, a seat mechanism, a left mechanical leg mechanism and a right mechanical leg mechanism, and is characterized in that the upper part of the base mechanism is fixedly connected with the seat mechanism through bolts, mechanical leg width adjusting parts of the seat mechanism are connected with left and right mechanical legs, leg part sliding block connecting pieces of the two mechanical leg width adjusting parts are respectively connected with handle connecting pieces of a thigh mechanism through bolts. According to the robot provided by the invention, a tri-branch parallel mechanism UPU-UPS-U is adopted at hip joint parts of the mechanical legs for realizing flexion and extension and side-sway, knee joints and ankle joints are realized through serial mechanisms, and all joints form a series-parallel hybrid four-degree-of-freedom space mechanism; the length of each of shanks and thighs of the mechanical legs can be adjusted, and an adjusting device is a push rod sliding block four-bar mechanism; the robot can realize the multi-pose change such as standing posture, lying posture and user-defined angles by a parallel mechanism formed by multiple electric cylinders between a seat and a bottom seat plate.

The invention discloses an asymmetrical gear six-rod bionic bouncing mechanism. The asymmetrical gear six-rod mechanism with unequal connecting rod length and different gear parameters is developed according to the bionics principle. The mechanism comprises a foot plate, a leg mechanism, a fuselage and an energy storage and release device, wherein the length of each connecting rod of the leg mechanism conforms to the reasonable jumping lime structural ratio of a kangaroo. The parameters of two pairs of gears are selected according to the jumping attitude and the jumping force mechanism of the kangaroo, the whole mechanism is a closed-loop parallel mechanism, and the simulation of the smooth takeoff process of the kangaroo with feet together can be well realized with only one degree of freedom. The mechanism has the characteristics of simple structure and control and free movement, can be applicable to complex geographic and geomorphic conditions and is especially applicable to cruise exploration in small gravity environment on the surface of a planet, particularly a minor planet.

The invention discloses a leg bouncing mechanism for a frog-type robot. A tension spring is sleeved on a guide rod. The tail end of the spring is connected with a hip joint, and the upper end of the spring is connected with a slider. The guide rod, the slider, an oblique support rod, a thigh and joints form a crank slider structure. The leg part consists of a thigh, a shank, a connecting rod and joints; and the leg structure comprises the combination of two four-rod mechanisms. The stretch and contraction of the leg mechanism can be adjusted by controlling the slide of the slider on the guide rod. The sole of the robot is arc-shaped, and an arch support is arranged on the sole. The mechanical structure of the invention simulates skeletons of a frog, optimizes the leg structure, improves the utilization ratio of energy of power elements, improves the flexibility of the mechanical structure, and improves the jumping ability of the robot.

The invention relates to a leg mechanism for four-legged robots, the leg mechanism comprises a drive motor, a femur mechanism, a knee-joint hinge, a tibia mechanism, a naked joint hinge and a metatarsus mechanism, wherein the femur mechanism is hinged with the tibia mechanism by the knee-joint hinge; the drive motor is fixed on the femur mechanism, and an output shaft of the drive motor drives the tibia mechanism to rotate by a bevel gear transmission mechanism in the knee-joint hinge; the tibia mechanism is hinged with the metatarsus mechanism by the naked joint hinge; and the drive motor drives the metatarsus mechanism to rotate by the bevel gear transmission mechanism in the knee-joint hinge and a bevel gear transmission mechanism in the naked joint hinge. In the invention, the number of joints of a leg structure is increased under the condition of not increasing the degree of freedom, so that the leg movement of the robot is more flexible, and the leg mechanism has the advantage of better movement performance.

The invention discloses a quadruped walking mobile device used for target searching and transport operation under the conditions of complex terrains such as ruins and the like and narrow spaces. The invention aims to design a quadruped walking robot which is suitable for severe environment and comprises a centrosymmetric stand and four serial-parallel hybrid 3-DOF leg mechanisms which are connected with the stand. Each leg mechanism component consists of a connecting rod, a rotational joint, a drive motor and a coupling, the output shaft of each motor is connected with a driving connecting rod through each coupling, all the driving connecting rods are arranged on a same plane, and a transmissin pair is formed between each connecting rod vertical to the stand and the stand; two motors are fixed on each rotational connecting rod to drive two driving connecting rods of a plane five-rod mechanism and convert turnover motion of the motors to plane motion of each foot end, and three-motor input realizes 3-DOF motion output of each foot end. The four leg mechanisms coordinately move to realize actual omnidirectional walking output of the quadruped walking mobile device. The device integrates application places of quadruped walking motion and is a novel outdoor unmanned operation general mobile platform mechinery.

The invention discloses a multifunctional tunnel construction trolley. The multifunctional tunnel construction trolley comprises a chassis, a walking driving mechanism, a hoisting mechanism, a transporting mechanism, a lifting mechanism and a supporting leg mechanism, wherein a platform is arranged at the top of the chassis; the hoisting mechanism is arranged on the front surface of the chassis and is used for hoisting a steel arch; the transporting mechanism is arranged on the platform and is used for transporting the steel arch hoisted by the hoisting mechanism; the lifting mechanism is fixedly arranged on the transporting mechanism and is used for lifting a top arch to a mounting position; the supporting leg mechanism is arranged on the chassis and is used for regulating the position of the chassis; the walking driving mechanism is arranged at the bottom of the chassis and is used for driving the chassis to move. The multifunctional tunnel construction trolley can be applied to steel arch mounting, anchor bolt spraying and hole drilling operations, and can stimulate a steel arch manual mounting manner and a relative flow of the original simple trolley; the manual mounting manner is replaced with a mechanical mounting manner, no special requirement on the construction organization and the construction site exists, and operations are simple.

A sucker-type integrated robot in the field of robot technology, comprising: a frame, a hole-making mechanism, a control module and six sets of leg mechanisms, the six leg mechanisms are respectively fixed around the frame and the output ends of the sensing mechanism Connected with the control module to output six-dimensional force sensor data, the hole making mechanism and the control module are fixedly arranged on the frame, and the control end of the hole making mechanism is connected to the output end of the control module to receive control instructions. The present invention adopts the integrated design scheme of walking hole-making operation, which can be used for butt jointing and circular automatic hole making of various sections of the fuselage (such as the docking between the sections of the nose, front fuselage, middle fuselage, middle and rear fuselage), machine Automatic hole making for longitudinal splicing of body wall panels, automatic hole making on the surface of wall panels for airfoil components (such as the connection of wing skin and ribs), etc. The robot system has the advantages of good flexibility, adaptability to various workpieces, short implementation period, low cost, light weight and convenient use.

The invention provides a hydraulic driving four-footed robot with a space hybrid leg structure. The hydraulic drive space four-footed robot is composed of a rack and space hybrid legs which are symmetrical in structure; each hybrid leg comprises three hydraulic driving oil cylinders, a leg rack, a swing rod, a connection rod, thighs, shanks and feet; each hybrid leg is provided with three drivingdegrees of freedom; the hydraulic driving oil cylinder A drives the whole leg to carry out side swing movement; and the hydraulic driving oil cylinder B and the hydraulic driving oil cylinder C are capable of cooperatively driving the feet to carry out plane parallel movement output in the plane of a leg mechanism. The feet are connected through buffering so that vibration absorption, energy storage and reutilization can be finished in a striding period. Four legs are symmetrically distributed or equidirectionally distributed so that an omnibearing movement of the robot can be realized through a certain tread. The hydraulic driving four-footed robot with the space hybrid leg structure provided by the invention is simple in structure, easy to control and high in kinematic accuracy, has a high-speed response capability and a high bearing capability, and is applicable to high-speed and high-load transportation work and dangerous environment work under complicated non-structure topographic conditions in the wild.

In a connector including an insulator and a contact held by the insulator, a fixing member is coupled to the insulator for fixing the insulator to an object. The fixing member includes a main body received in a receiving portion formed to the insulator. A leg mechanism extends from the main body for being fixed to the object. In addition, a first engaging mechanism extends from the main body and is engaged with the receiving portion in a first direction. On the other hand, the second engaging mechanism extends from the main body and is engaged with the insulator in a second direction opposite to the first direction.

The invention discloses a reconfigurable wheel leg combination type wheelchair. The wheelchair adopts a modular design and is characterized by comprising front leg mechanisms, front leg adjusting mechanisms, a front leg power transmission mechanism, an adjustable pedal plate, a wheelchair rack, a seat adjusting mechanism, a stair climbing mechanism, a seat, a safety belt, driving wheels, universal wheels and a controller, wherein the wheelchair rack is a central member connecting all mechanisms of the wheelchair, two groups of front leg adjusting mechanisms are symmetrically installed on a front end suspending arm of the wheelchair rack and are connected with the front leg power transmission mechanism, the front leg power transmission mechanism is arranged on the front portion inside the wheelchair rack, the seat adjusting mechanism is hinged with an outer slide way on the upper portion of the wheelchair rack through four connecting rods, the seat is fixed on the seat adjusting mechanism, a handle controller is installed on a seat armrest and connected with the controller, the stair climbing mechanism is installed at the bottom of the rear end of the wheelchair rack, two driving wheels are installed on two sides of the middle portion of the wheelchair rack respectively, and two universal wheels are symmetrically fixed on a rear suspending arm of the wheelchair rack.

The invention provides a reconfigurable device for a walking robot with four / two parallel legs, belonging to the technical field of robots. The leg mechanism of the robot is structurally designed in a modularization way, and the legs are of a same structure. When four-leg walking is carried out, the leg mechanism is a 3-UPU, and when two-leg walking is carried out, the leg mechanism is a 3-SPU (Synergistic Processing Unit), wherein the conversion between the two leg mechanisms is realized through a rotation-pair retaining device, and the conversion between four legs and two legs is realized through a merging device. The rotation-pair retaining device comprises an electromagnet, an electromagnetic chuck base, friction plates, a friction plate carrier, a support column, a spring and a rotation-pair retaining plate, a rotation pair in a pair S is controlled to be locked and unlocked through the lamination and the separation of the friction plates, and the lamination and the separation of the friction plates are controlled by the sucker type electromagnet. The merging device comprises an electromagnetic chuck, a guiding device, a push-pull type electromagnet and a locking clamp, and the merging device is locked by controlling the positions of two legs to be merged, merging the soles through the electromagnetic chuck and the guiding device, and driving the locking clamp to act by the push-pull type electromagnet.

The invention discloses a mechanical structure of a three-dimensional human-simulate biped walking robot. The mechanical structure comprises a trunk, two hip joints arranged in symmetry, an angle bisection mechanism, an arm-thigh coupling mechanism, and leg mechanisms arranged in symmetry in sequence from top to bottom, wherein the leg mechanism at each side comprises a thigh, a knee joint, a shank, an ankle joint, and a vola in sequence from top to bottom, and the trunk is provided with a master control chip. According to the mechanical structure, based on related principle of passive mechanics, the human-simulation degree is high, the problems of low energy efficiency and stiff gait of the conventional robot are effectively solved, the robot can serve as exoskeleton to help the disabled to realize walking and serve as walking equipment in future wars, and the individual combat ability is improved. The invention also discloses a waking method for the mechanical structure of the three-dimensional human-simulated biped walking robot.

The invention relates to a flexible body of a bionic robot, and belongs to the technical field of bionic robots. The flexible body comprises a front body, a back body, an artificial spine, and pneumatic artificial muscles, wherein the artificial spine is formed by sequentially arranging a plurality of bionic spine units from small to large, the bionic spine units are completely same in structure and are different in size, and each bionic spine unit consists of a bionic spine, a bionic intervertebral disc soft cushion and a spring. The flexible body has the advantages that a leg mechanism is assisted to realize the flexible and in-place steering function of the bionic robot, the mobility of the robot adapting to the complicated environment is improved, the flexibility is high, the bionic effect is good, and the like.