CN115636031A

CN115636031A - Scorpion-shaped bionic robot

Info

Publication number: CN115636031A
Application number: CN202211472784.9A
Authority: CN
Inventors: 张振山; 张磊; 罗宇杰; 杨企鑫; 张春燕; 黄豆; 王梦影
Original assignee: Shanghai University of Engineering Science
Current assignee: Shanghai University of Engineering Science
Priority date: 2022-11-17
Filing date: 2022-11-17
Publication date: 2023-01-24

Abstract

The invention discloses a scorpion-shaped bionic robot, which comprises: a trunk assembly mounted with a control unit; the six walking leg units are respectively arranged on two sides of the trunk assembly; the two front procoagulant assemblies are symmetrically arranged on two sides of the front end of the trunk assembly; a tail assembly mounted at the rear of the torso assembly; the tail end of the tail component is provided with a sensing component; the sensing assembly comprises an infrared probe and a multifunctional camera. The robot is designed by adopting a bionic technology, skillfully utilizes the advantages of the hexapod robot, has excellent obstacle crossing performance and adapts to complex geographical environments. The functions of free walking, obstacle avoidance, detection, article grabbing and the like can be realized through control, so that the functions of detecting a strange environment, groping in a narrow space, clamping articles at certain special positions and the like are realized. The method is suitable for real-time detection in various places such as families, parks, markets, fields and the like.

Description

Scorpion-shaped bionic robot

Technical Field

The invention relates to the field of robots, in particular to a scorpion-shaped bionic robot.

Background

There are places in nature and human society that humans cannot reach. Terrain irregularities and bumpiness are common features of these environments. Thereby limiting the applicability of wheeled and tracked robots. Previous researches show that when a wheel type moving mode runs on relatively flat terrain, the wheel type moving mode has the advantages of rapid and stable movement speed and simpler structure and control, but when the wheel type moving mode runs on uneven ground, the energy consumption is greatly increased, and on soft ground or severely uneven terrain, the action of wheels can seriously lose the movement efficiency and is greatly reduced. The multi-legged walking robot has unique and superior performance compared with a wheeled and crawler-type mobile robot on a rugged road, and the research on the multi-legged walking robot is vigorously developed on the background. The appearance of the bionic walking robot shows the advantages of the walking robot.

When the motion trail of the six-legged walking robot is a series of discrete footprint motions, the degree of damage to the environment is small only by discrete point contact, and the adaptability of the optimal supporting point to rugged terrain can be selected on the ground which can be reached. Because the six-legged walking robot is less harmful to the environment. The legs of the hexapod walking robot have multiple degrees of freedom to greatly enhance the mobility. According to the research background of the current foot type mobile robot and the superior practicability of the hexapod robot in real life, the invention researches an all-terrain hexapod bionic robot control system. A mechanical structure which is designed and manufactured independently is used as a system carrying platform, an electric control module is arranged to cooperate with and detect the environmental condition of an unknown field, and real-time motion control is performed. The multi-steering engine cooperative control can realize obstacle avoidance and detection action, and the developed six-footed scorpion bionic robot has important significance in emergency detection.

Disclosure of Invention

In view of the above defects in the prior art, the invention provides a scorpion-shaped bionic robot to realize free walking, obstacle avoidance, detection and object grabbing in a narrow space.

In order to achieve the above object, the present invention provides a scorpion-shaped bionic robot, characterized by comprising:

a trunk assembly mounted with a control unit;

the six walking leg units are respectively arranged on two sides of the trunk assembly;

the two front procoagulant assemblies are symmetrically arranged on two sides of the front end of the trunk assembly;

a tail assembly mounted at the rear of the torso assembly; the tail end of the tail component is provided with a sensing component; the sensing assembly comprises an infrared probe and a multifunctional camera.

The invention is further improved in that: each walking leg unit comprises a walking leg connecting seat, an upper arm rod, a lower arm rod, a joint connecting rod, a landing foot, a lower arm spring buffer rod, an upper arm spring buffer rod and an upper arm damping rod;

the walking leg connecting seat is rotationally connected with the trunk assembly; the walking leg connecting seat is in transmission connection with a deflection steering engine; the deflection steering engines are used for driving the corresponding walking leg units to swing back and forth;

one end of the upper arm rod is connected with the walking leg connecting seat through the pitching driving mechanism, and the other end of the upper arm rod is rotatably connected with the top end of the lower arm rod;

the landing foot is rotatably connected with the bottom end of the lower arm rod;

the middle part of the joint connecting rod is rotationally connected with the joint of the upper arm rod and the lower arm rod, and the joint connecting rod is divided into an upper supporting arm and a lower supporting arm by the joint; two ends of the lower arm spring buffer rod are respectively in rotary connection with the lower support arm and the landing foot; two ends of the upper arm spring buffer rod are respectively rotatably connected with the upper arm and the walking leg connecting seat; two ends of the upper arm damping rod are respectively rotatably connected with the upper arm and the walking leg connecting seat;

the pitching driving mechanism is used for driving the upper arm rod to swing up and down so as to drive the lower arm rod and the landing feet to be lifted up and put down; when falling to the ground during foot and ground contact, if the regional unevenness of falling to the ground sole face contact, fall to the ground the foot and rotate in order to adapt to the topography, drive simultaneously underarm spring buffer bar extension or shrink, underarm spring buffer bar passes through the joint connecting rod drives upper arm spring buffer bar and upper arm damping rod extension or shrink, thereby make fall to the ground the foot fully laminates with ground.

The invention is further improved in that: the front procoagulant assembly comprises a plurality of connecting plates which are sequentially connected and extend along the horizontal direction, a clamp steering engine is installed on the connecting plate at the foremost end, and the clamp steering engine drives two four-bar mechanisms through a gear set, so that clamping jaws arranged on the two four-bar mechanisms synchronously move in the opposite direction or in the opposite direction, and the grabbing or loosening action is realized.

The invention is further improved in that: the opposite side surfaces of the two clamping jaws are provided with ball pair nested self-adaptive clamping block assemblies, and the ball pair nested self-adaptive clamping block assemblies of the two clamping jaws form a self-adaptive clamping structure in the clamping process.

The invention is further improved in that: the ball pair nested self-adaptive clamping block assembly comprises a main clamping block, is arranged on the clamping jaw and forms a ball pair with the clamping jaw;

at least two mounting sockets are arranged on one side of the main clamping block facing the other clamping jaw, a hemispherical secondary clamping block is accommodated in each mounting socket, and the secondary clamping blocks and the main clamping block form a spherical pair;

at least three mounting sockets are arranged on one side of the hemispherical secondary clamping block facing the other clamping jaw, a hemispherical tertiary clamping block is accommodated in each mounting socket, and the tertiary clamping block and the secondary clamping block form a spherical pair;

in the clamping process, the main clamping block, the hemispherical secondary clamping block and the tertiary clamping block can rotate in interaction and fully contact with the clamped object after contacting with the clamped object, so that self-adaptive clamping is realized.

The invention is further improved in that: the tail assembly comprises a horizontal rotary gear and a swinging mechanism; the horizontal rotary gear is rotatably arranged at the tail part of the trunk assembly and is driven by a tail part rotary steering engine; the starting end of the swing mechanism is fixedly connected with the horizontal rotary gear, and the tail end of the swing mechanism is provided with the sensing assembly.

The invention is further improved in that: the swing mechanism comprises a plurality of identical duplicate gears; each duplicate gear comprises two identical first single gears and second single gears which are fixedly connected or integrally formed;

for a duplicate gear at the starting end of the swing mechanism, a first single gear of the duplicate gear is fixedly connected with the horizontal rotary gear; the first single gear is coaxially connected with a swing driving gear which can rotate freely; the swing driving gear is driven by a swing steering engine;

for each duplicate gear behind the starting end duplicate gear, a first single gear of the duplicate gear is coaxially and rotatably connected with a second single gear of a previous-stage duplicate gear, and is meshed with a gear which is coaxially and rotatably connected with a first single gear of a preceding-stage duplicate gear;

for the second duplicate gear from the starting end, the gear which is coaxially and rotationally connected with the first single gear of the preceding duplicate gear refers to the swing driving gear; for each duplicate gear behind the second duplicate gear, the gear coaxially rotationally connected to the first single gear of the preceding duplicate gear refers to; the second single gear of the front stage duplicate gear and the previous stage duplicate gear.

The invention is further improved in that: the control unit is a single chip microcomputer and is in communication connection with each steering engine and each sensing assembly.

The robot provided by the invention has the following technical effects: the bionic technology is adopted for design, and the advantages of the hexapod robot are ingeniously utilized, so that the obstacle crossing performance is excellent, and the bionic robot is suitable for complex geographical environments. The functions of free walking, obstacle avoidance, detection, article grabbing and the like can be realized through control, so that the functions of detecting strange environments, groping narrow spaces, clamping articles at certain special positions and the like are realized. The method is suitable for real-time detection in various places such as families, parks, markets, fields and the like.

The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.

Drawings

FIG. 1 is a perspective view of a scorpion-shaped bionic robot;

FIG. 2 is a schematic view of the tail assembly;

FIG. 3 is another schematic view of the tail assembly;

FIG. 4 is a perspective view of the walking leg unit;

fig. 5 is a schematic view of a front chelate assembly;

figure 6 is another schematic diagram of the front chelate assembly.

Detailed Description

The following embodiments of the present invention are provided by way of specific examples, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.

It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.

Some exemplary embodiments of the invention have been described for illustrative purposes, and it is to be understood that the invention may be practiced otherwise than as specifically described.

As shown in fig. 1, an embodiment of the present invention provides a scorpion-shaped bionic robot, including: the trunk assembly 10 is mounted with a control unit. The six walking leg units 60 are respectively arranged at two sides of the trunk component 10, three walking leg units 60 are arranged at one side of the trunk component 10, and in the walking process, all the walking leg units 60 alternately lift and swing, so that the walking function is realized. Two front chelating assemblies 30 are symmetrically installed at both sides of the front end of the trunk assembly 10 for grasping objects. A tail assembly 40 mounted to the rear of the torso assembly 10; the tail component 40 is provided with a sensing component 50 at the tail end; the sensing assembly 50 includes an infrared probe and a multi-function camera. The tail assembly 40 allows for flexibility in adjusting the orientation of the sensing assembly 50.

As shown in fig. 1 and 4, each walking leg unit 60 includes a walking leg connecting seat 61, an upper arm lever 62, a lower arm lever 63, a joint link 64, a ground foot 65, a lower arm spring buffer lever 67, an upper arm spring buffer lever 68, and an upper arm damping lever 69. Specifically, the method comprises the following steps:

the walking leg connecting seat 61 is rotationally connected with the trunk component 10; the walking leg connecting seat 61 is in transmission connection with a deflection steering engine 66; the yaw steering engine 66 is used for driving the corresponding walking leg unit 60 to swing back and forth.

One end of the upper arm rod 62 is connected with the walking leg connecting seat 61 through the pitching driving mechanism 70, and the other end is rotatably connected with the top end of the lower arm rod 63; in this embodiment, the pitch driving mechanism 70 is a steering engine. The landing foot 65 is rotatably connected to the bottom end of the lower arm bar 63.

The middle part of the joint connecting rod 64 is rotationally connected with the joint of the upper arm rod 62 and the lower arm rod 63, and the joint connecting rod 64 is divided into an upper supporting arm and a lower supporting arm by the joint; two ends of the lower arm spring buffer rod 67 are respectively connected with the lower arm and the landing foot 65 in a rotating way; two ends of the upper arm spring buffer rod 68 are respectively connected with the upper arm and the walking leg connecting seat 61 in a rotating way; the two ends of the upper arm damping rod 69 are respectively connected with the upper arm and the walking leg connecting seat 61 in a rotating way;

the pitching driving mechanism 70 is used for driving the upper arm rod 62 to swing up and down, so as to drive the lower arm rod 63 and the landing foot 65 to be lifted up and down; when falling to the ground foot 65 and ground contact, if fall to the ground the regional unevenness of foot 65 bottom surface contact, fall to the ground foot 65 and rotate in order to adapt to the topography, drive lower arm spring buffer bar 67 extension or shrink simultaneously, lower arm spring buffer bar 67 passes through joint connecting rod 64 and drives upper arm spring buffer bar 68 and upper arm damping rod 69 extension or shrink to make and fall to the ground foot 65 and fully laminate with ground.

For example, if the lateral side of the ground engaging foot 65 is higher than the medial side when contacting the ground, the toe of the ground engaging foot 65 may tilt up to conform to the ground; during cocking, lower arm spring buffer rod 67 contracts, transmitting force through articulation link 64 to upper arm spring buffer rod 68 and upper arm damping rod 69, causing both to contract. In this embodiment, lower arm spring buffer rod 67, upper arm spring buffer rod 68 and upper arm damping rod 69 not only can play a role in shock absorption, but also can make walking leg unit 60 more stable, adapt to different topography to a certain extent.

During walking, first, lower arm bar 63 and landing foot 65 of walking leg unit 60 are raised; then the yaw steering engine 66 drives the walking leg unit 60 to swing forwards, then the pitch driving mechanism 70 drives the lower arm rod 63 and the landing foot 65 to descend and support on the ground, and then the yaw steering engine 66 drives the walking leg unit 60 to swing backwards, so that the trunk assembly 10 moves forwards. In addition, as the walking leg units 60 on either side of torso assembly 10 simultaneously swing in opposite directions, the orientation of torso assembly 10 may be adjusted to achieve pivot steering.

As shown in fig. 1, 5 and 6, the front deck assembly 30 includes a plurality of connecting plates connected in sequence and extending in the horizontal direction, and a clamp steering gear 31 is installed on the connecting plate at the foremost end. The clamp steering gear 31 drives the two four-bar mechanisms 32 through a gear set, so that clamping jaws 33 arranged on the two four-bar mechanisms synchronously move towards or away from each other to realize the grabbing or loosening action.

The opposite sides of the two clamping jaws 33 are provided with ball pair nested self-adaptive clamping block assemblies 34, and the ball pair nested self-adaptive clamping block assemblies 34 of the two clamping jaws form a self-adaptive clamping structure in the clamping process.

In one embodiment, the ball set nesting adaptive clamp block assembly 34 includes a main clamp block 35 mounted on the clamp jaw 33 to form a spherical pair with the clamp jaw 33. The main clamping block 35 rotates up and down or left and right at the same time, and has two degrees of freedom.

At least two mounting sockets are arranged on one side of the main clamping block 35 facing the other clamping jaw 33, each mounting socket contains a hemispherical secondary clamping block 36, and the secondary clamping blocks 36 and the main clamping block 35 form a spherical pair; at least three mounting sockets are arranged on one side of the hemispherical secondary clamping block 36 facing the other clamping jaw 33, a hemispherical tertiary clamping block 37 is accommodated in each mounting socket, and the tertiary clamping block 37 and the secondary clamping block 36 form a spherical pair;

the main clamping block 35, the hemispherical secondary clamping block 36 and the tertiary clamping block 37 can swing up and down, left and right, and have larger degree of freedom. In the clamping process, the main clamping block 35, the hemispherical secondary clamping block 36 and the tertiary clamping block 37 rotate in interaction after being contacted with a clamped object and are fully contacted with the clamped object, so that self-adaptive clamping is realized.

The self-adaptive clamping structure can stably clamp various articles which are complex in shape and easy to slip, for example, for articles such as stones, the traditional clamping structure can only clamp two points and is easy to slip. In the adaptive clamping structure of the embodiment, the multi-stage clamping blocks can rotate, so that a plurality of multi-level contact points exist between the ball pair nested adaptive clamping block assembly 34 and the clamped object, and the clamping is more stable.

As shown in fig. 1, 2 and 3, in the present embodiment, the tail assembly 40 includes a horizontal rotary gear 41 and a swing mechanism 42; the horizontal rotary gear is rotatably arranged at the tail part of the trunk component 10 and is driven by a tail part rotary steering engine; the initial end of the swing mechanism 42 is fixedly connected with the horizontal rotary gear 41, and the tail end thereof is provided with a sensing assembly 50.

The oscillating mechanism 42 comprises a plurality of identical duplicate gears 43; each duplicate gear 43 comprises two identical first single gears 44 and second single gears 45 fixedly connected or integrally formed;

for the duplicate gear 43 at the starting end of the swinging mechanism 42, the first single gear 44 of the duplicate gear 43 is fixedly connected with the horizontal rotating gear 41; the first single gear 44 is coaxially connected with a swing driving gear 46 which can rotate freely; the swing driving gear 46 is driven by a swing steering gear 47;

for each duplicate gear 43 behind the start end duplicate gear 43, the first single gear 44 is coaxially and rotationally connected with the second single gear 45 of the previous-stage duplicate gear, and is meshed with the gear which is coaxially and rotationally connected with the first single gear 44 of the previous-stage duplicate gear 43;

for the second dual gear 43 from the beginning, the gear coaxially rotationally connected on the first single gear 44 of the preceding dual gear 43 is referred to as the swing drive gear 46; for each double gear 43 subsequent to the second double gear 43, the coaxially rotationally connected gear on the first single gear 44 of the preceding double gear 43 means; the second single gear 45 of the preceding stage double gear 43 and the double gear 43 of the preceding stage.

When the swing driving gear 46 rotates, each dual gear 43 rotates synchronously, so that the included angle of the adjacent dual gears 43 changes, and the tail end of the swing mechanism 42 swings, and the orientation of the tail end changes accordingly. In this embodiment, the swing mechanism 42 not only is for bionic, but also can rapidly and synchronously adjust the height and the direction of the tail end of the swing mechanism 42 through such a rapid swing structure, and for the bionic robot in this embodiment, the tail end of the swing mechanism 42 can face the front or the back of the robot; by setting the starting end angle, the total length of the oscillating mechanism 42 and the number of the duplicate gears 43, the sensing assembly 50 at the end thereof can be switched between the respective important positions of interest.

The control unit is a single chip microcomputer and is in communication connection with each steering engine and the sensing assembly 50. The control unit is an STM32F106 singlechip. On the top and bottom surfaces of the middle part of the trunk, the STM32F106 singlechip (16) controls each unit to execute corresponding actions.

The scheme of the invention is designed by adopting a bionic technology, and the robot serving as a hexapod robot has excellent obstacle crossing performance and is suitable for complex geographical environments. The functions of free walking, obstacle avoidance, detection, article grabbing and the like can be realized through control, and the functions of detection of strange environments, exploration of narrow spaces, article clamping at certain special positions and the like can be realized. The method is suitable for real-time detection in various places such as families, parks, markets, fields and the like.

The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims

1. A scorpion-shaped bionic robot is characterized by comprising:

a trunk assembly (10) on which a control unit is mounted;

six walking leg units (60) respectively installed at both sides of the trunk assembly (10);

two front chelant components (30) symmetrically arranged at two sides of the front end of the trunk component (10);

a tail assembly (40) mounted to the rear of the torso assembly (10); the tail end of the tail component (40) is provided with a sensing component (50); the sensing assembly (50) comprises an infrared probe and a multifunctional camera.

2. The scorpion-shaped bionic robot as claimed in claim 1, wherein: each walking leg unit (60) comprises a walking leg connecting seat (61), an upper arm rod (62), a lower arm rod (63), a joint connecting rod (64), a landing foot (65), a lower arm spring buffer rod (67), an upper arm spring buffer rod (68) and an upper arm damping rod (69);

the walking leg connecting seat (61) is rotatably connected with the trunk component (10); the walking leg connecting seat (61) is in transmission connection with a deflection steering engine (66); the deflection steering engines (66) are used for driving the corresponding walking leg units (60) to swing back and forth;

one end of the upper arm lever (62) is connected with the walking leg connecting seat (61) through a pitching driving mechanism (70), and the other end of the upper arm lever is rotatably connected with the top end of the lower arm lever (63);

the landing foot (65) is rotatably connected with the bottom end of the lower arm rod (63);

the middle part of the joint connecting rod (64) is rotationally connected with the joint of the upper arm rod (62) and the lower arm rod (63), and the joint connecting rod (64) is divided into an upper supporting arm and a lower supporting arm by the joint; two ends of the lower arm spring buffer rod (67) are respectively and rotatably connected with the lower support arm and the ground foot (65); two ends of the upper arm spring buffer rod (68) are respectively and rotatably connected with the upper arm and the walking leg connecting seat (61); two ends of the upper arm damping rod (69) are respectively rotatably connected with the upper arm and the walking leg connecting seat (61);

the pitching driving mechanism (70) is used for driving the upper arm rod (62) to swing up and down so as to drive the lower arm rod (63) and the landing foot (65) to lift up and down; when falling to the ground sufficient (65) and ground contact, if fall to the ground regional unevenness of sufficient (65) bottom surface contact, fall to the ground sufficient (65) and rotate in order to adapt to the topography, drive simultaneously underarm spring buffer bar (67) extension or shrink, underarm spring buffer bar (67) pass through joint connecting rod (64) drive upper arm spring buffer bar (68) and upper arm damping rod (69) extension or shrink, thereby make fall to the ground sufficient laminating of sufficient (65) and ground.

3. The scorpion-shaped bionic robot as claimed in claim 1, wherein: the front procoagulant assembly (30) comprises a plurality of connecting plates which are sequentially connected and extend along the horizontal direction, a clamp steering gear (31) is installed on the connecting plate at the foremost end, and the clamp steering gear (31) drives two four-bar mechanisms (32) through a gear set, so that clamping jaws (33) arranged on the two four-bar mechanisms synchronously move in the opposite direction or in the opposite direction to realize grabbing or loosening actions.

4. The scorpion-shaped bionic robot as claimed in claim 3, wherein: and ball pair nested self-adaptive clamping block assemblies (34) are arranged on opposite side surfaces of the two clamping jaws (33), and the ball pair nested self-adaptive clamping block assemblies (34) of the two clamping jaws form a self-adaptive clamping structure in the clamping process.

5. The scorpion-shaped bionic robot as claimed in claim 4, wherein: the ball pair nested self-adaptive clamping block assembly (34) comprises a main clamping block (35) which is arranged on the clamping jaw (33) and forms a spherical pair with the clamping jaw (33);

at least two mounting sockets are arranged on one side, facing the other clamping jaw (33), of the main clamping block (35), a hemispherical secondary clamping block (36) is accommodated in each mounting socket, and the secondary clamping blocks (36) and the main clamping block (35) form a spherical pair;

at least three mounting sockets are arranged on one side of the hemispherical secondary clamping block (36) facing the other clamping jaw (33), each mounting socket contains a hemispherical tertiary clamping block (37), and the tertiary clamping block (37) and the secondary clamping block (36) form a spherical pair;

in the clamping process, the main clamping block (35), the hemisphere secondary clamping block (36) and the tertiary clamping block (37) can rotate in interaction and fully contact with the clamped object after contacting the clamped object, so that self-adaptive clamping is realized.

6. The scorpion-shaped bionic robot as claimed in claim 1, wherein: the tail assembly (40) comprises a horizontal rotary gear (41) and a swinging mechanism (42); the horizontal rotary gear is rotatably arranged at the tail part of the trunk component (10) and is driven by a tail part rotary steering engine; the starting end of the swing mechanism (42) is fixedly connected with the horizontal rotary gear (41), and the tail end of the swing mechanism is provided with the sensing assembly (50).

7. The scorpion-shaped bionic robot as claimed in claim 1, wherein: the swing mechanism (42) comprises a plurality of identical duplicate gears (43); each duplicate gear (43) comprises two identical first single gears (44) and a second single gear (45) which are fixedly connected or integrally formed;

for a duplicate gear (43) at the starting end of the swing mechanism (42), a first single gear (44) of the duplicate gear (43) is fixedly connected with the horizontal rotary gear (41); the first single gear (44) is coaxially connected with a swing driving gear (46) which can rotate freely; the swing driving gear (46) is driven by a swing steering engine (47);

for each duplicate gear (43) behind the starting end duplicate gear (43), a first single gear (44) of the duplicate gear is coaxially and rotationally connected with a second single gear (45) of the previous duplicate gear, and is meshed with a gear which is coaxially and rotationally connected with the first single gear (44) of the preceding duplicate gear (43);

for the second duplicate gear (43) from the starting end, the gear which is coaxially and rotationally connected with the first single gear (44) of the front-stage duplicate gear (43) is referred to as the swinging driving gear (46); for each duplicate gear (43) subsequent to the second duplicate gear (43), the gears on the first single gear (44) of the preceding duplicate gear (43) that are coaxially rotationally connected refer to; a second single gear (45) of the front stage duplex gear (43) and the previous stage duplex gear (43).

8. The scorpion-shaped bionic robot as claimed in claim 1, wherein: the control unit is a single chip microcomputer and is in communication connection with the steering engines and the sensing assembly (50).