CN218858575U - Bionic dog robot - Google Patents

Abstract

The utility model discloses a bionical dog robot relates to bionical robot technical field, including the main tributary strut, install first rotating member, second rotating member, interlock driver part, the bionical head that is connected on the main tributary strut, through being connected first rotating member the second rotating member interlock driver part realizes the rotation of bionical head, luffing motion, horizontal hunting and interlock action. The utility model discloses a set up main tributary strut, bionical head, bionical afterbody, bionical shank, improve the whole degree of similarity with the canine animal appearance of robot, increase the holistic vividness of robot, simultaneously, this robot is in the use, through lower jaw portion and first casing simulation canine animal's interlock action to in the realization presss from both sides the clamp to the target object or spacing, thereby drive the target object and remove, improved the vividness and the practicality of this robot.

Description

Bionic dog robot

Technical Field

The utility model relates to a bionic robot technical field, in particular to bionic dog robot.

Background

"bionic robot" refers to a robot that simulates living things and performs the work of the characteristics of living things. For example, the existing bionic robot dog can play a role in guiding blind, solves the problems of high price, long training period, difficulty in popularization and the like of the guide dog, and has wide development prospect

For example, an intelligent bionic dog disclosed in Chinese patent with publication number CN214451424U relates to the field of intelligent robots. The utility model discloses in, first pendulum rod, second pendulum rod, first connecting rod, second connecting rod and the supporting rod in each mechanical leg subassembly constitute parallelogram's drive mechanism, change the contained angle between first pendulum rod and the second pendulum rod through first motor and second motor, can realize lifting the leg action and open the leg motion. The walking task and the steering task are completed by lifting and stretching the legs among the four mechanical leg assemblies in a matching way, so that the simulation of quadruped biological actions is realized. The third motor drives the fixing seat to swing, so that the first motor, the second motor, the first swing rod, the second swing rod, the first connecting rod, the second connecting rod and the supporting rod are lifted synchronously, the supporting rod can be lifted directly and quickly, the lifting range of the supporting rod is increased, the capability of the intelligent bionic dog for crossing obstacles is greatly improved, and the technical problem that the mechanical foot cannot cross the obstacles due to the fact that the lifting speed is low and the lifting range is limited is effectively solved.

Above-mentioned device has improved the ability that bionical dog strideed across the obstacle through the perfection to robot shank function, but the canine animal is got or is spacing to target object through the cooperation of upper and lower jaw mostly in the life process, thereby it moves to drive the target object, and the device is whole does not contain the head of dog class robot or similar stop gear, make its bionical part lively inadequately, the holistic practicality of device has also been influenced simultaneously, therefore, this application provides a bionical dog robot and satisfies the demand.

SUMMERY OF THE UTILITY MODEL

An object of the application is to provide a bionical dog robot, through setting up the main tributary strut, bionical head, bionical afterbody, bionical shank, improve the whole similarity with the canine animal appearance of robot, increase the holistic vividness of robot, and simultaneously, this robot is in the use, through lower jaw portion and first casing simulation canine animal's interlock action, so that the realization is got or is spacing to the clamp of target object, thereby it removes to drive the target object, the vividness and the practicality of this robot have been improved.

In order to achieve the above purpose, the present application provides the following technical solutions: a bionic dog robot comprises a main support frame, wherein a first rotating part, a second rotating part, an occlusion driving part and a bionic head which are connected are arranged on the main support frame, the rotation, the up-and-down swing, the left-and-right swing and the occlusion action of the bionic head are realized through the first rotating part, the second rotating part and the occlusion driving part which are connected, and a bionic tail part and four bionic leg parts are also arranged on the main support frame; bionic head includes second link, first casing, chin, interlock driver part include with the second link rotates the third fixed axle that cup joints, first casing with the third fixed axle is fixed to cup joint, fixedly connected with third steering wheel on the second link, the output of third steering wheel runs through the second link, the fixed cover of output of third steering wheel has connect the fourth gear, the third fixed axle runs through the second link, the fixed cover of one end of third fixed axle connect with the fifth gear of fourth gear looks adaptation, rotate on the first casing and be connected with first connecting rod, the one end of first connecting rod rotates and is connected with the second connecting rod, first connecting rod with the middle part of second connecting rod rotates and is connected, the one end of second connecting rod rotates and is connected with the sector, fixedly connected with fixed block on the second link, the arcwall face of sector with conflict, the second connecting rod with chin fixed connection, rotate on the sector and have cup jointed the fourth fixed axle, the fourth fixed axle with the first casing rotates and cup joints.

Preferably, first rotating part includes fixed connection and is in first steering wheel on the main tributary strut, the output of first steering wheel runs through the main tributary strut, the fixed cover of the output of first steering wheel has cup jointed first gear, rotate on the main tributary strut be connected with two with the second gear of first gear looks adaptation, the second gear is kept away from one side fixedly connected with axis of rotation of main tributary strut, two rotate in the axis of rotation and cup joint same pinion rack, rotate on the main tributary strut and cup joint first fixed axle, the fixed cover of one end of first fixed axle connect with the third gear of pinion rack looks adaptation, first fixed axle is kept away from the fixed cover of one end of third gear has connected first link span.

Preferably, the second rotating part comprises a second steering engine fixedly connected to the first connecting frame, the output end of the second steering engine penetrates through the first connecting frame, a first connecting block is fixedly connected to the output end of the second steering engine in a sleeved mode, a second connecting block is connected to one end of the first connecting block in a rotating mode, a second fixed shaft is connected to the first connecting frame in a rotating mode in a sleeved mode, the second connecting frame is connected with the second fixed shaft in a rotating mode in a sleeved mode, and the second connecting block is connected with the second connecting frame in a rotating mode.

Preferably, the bionic tail comprises a plurality of first combination gears, a plurality of second combination gears and a third connecting frame fixedly connected to the main support frame, a fourth steering gear is fixedly connected to the third connecting frame, a sixth gear is fixedly connected to the third connecting frame, the output end of the fourth steering gear penetrates through the third connecting frame, the output end of the fourth steering gear is coaxial with the sixth gear, the first combination gears and the second combination gears are fixedly connected through two gears, the distance between the two fixedly connected gears is larger than the sum of the maximum radii of the two gears, the first combination gears and the second combination gears are connected in a staggered and rotating mode, the first combination gears close to the third connecting frame are fixedly connected with the output end of the fourth steering gear in a sleeved mode, and the second combination gears close to the third connecting frame are matched with the sixth gear.

Preferably, the bionic leg comprises four fifth steering gears fixedly connected to the main support frame, a fourth connecting frame is fixedly sleeved at the output ends of the fifth steering gears, the fourth connecting frame is far away from one end of each fifth steering gear and is rotatably connected with the fifth connecting frame, the fourth connecting frame is far away from one side of each fifth steering gear and is fixedly connected with a sixth steering gear, the output end of each sixth steering gear penetrates through the fourth connecting frame, a third connecting rod is fixedly sleeved at the output end of each sixth steering gear, the third connecting rod is far away from one end of each sixth steering gear and is rotatably connected with a fourth connecting rod, and the fourth connecting rod is far away from one end of the third connecting rod and the end of each fifth connecting frame.

Preferably, one end of the fifth connecting frame, which is far away from the fourth connecting frame, is fixedly connected with a sphere.

Preferably, a control unit is installed on the main support frame, and the control unit is electrically connected with the first steering engine, the second steering engine, the third steering engine, the fourth steering engine, the fifth steering engine and the sixth steering engine.

To sum up, the utility model discloses a technological effect and advantage:

1. the utility model discloses it is rational in infrastructure, through setting up the main tributary strut, bionical head, bionical afterbody, bionical shank, improve the whole similarity with the canine animal appearance of robot, increase the holistic vividness of robot, and simultaneously, this robot is in the use, accessible third steering wheel drive fourth gear revolve, the fourth gear passes through the fifth gear, the third fixed axle drives first casing and rotates, thereby make first casing luffing motion, in the process, first casing drives the second connecting rod through first connecting rod under the action of gravity, the sector plate motion, the second connecting rod drives jaw motion down, simultaneously under the conflict effect of sector plate and fixed block, through the interlock action of jaw and first casing simulation canine animal down, so that the realization is got or is spacing to the clamp of target object, thereby it removes to drive the target object, vividness and practicality of this robot have been improved.

2. The utility model discloses in, through setting up first rotating part, the second rotating part, drive first casing through the second link as needs, when chin portion rotates, the first gear of accessible steering wheel drive, first gear passes through the second gear, the axis of rotation drives the pinion rack motion, thereby make the third gear pass through first fixed axle, first link drives the second link and rotates, when needs make first casing, when chin portion horizontal hunting, the first link of accessible second steering wheel drive rotates, first link passes through the second link and drives the second link and rotate under the spacing of second fixed axle, thereby realize first casing, the effect swing of chin portion, improve the vividness of this robot, improved its scope of pressing from both sides and getting or spacing target simultaneously, further improve the device's suitability.

3. The utility model discloses in, through setting up bionical afterbody, when the luffing motion of needs robot simulation canine animal afterbody, the first composite gear of accessible fourth steering wheel drive rotates to make a plurality of first composite gear, second composite gear carry out the luffing motion under the meshing effect of sixth gear and second composite gear, simple structure, the simple operation makes this robot more lively.

4. The utility model discloses in, through setting up bionical shank, when needing the robot to remove, accessible fifth steering wheel drive fourth link, fifth link drives the spheroid motion, through a plurality of spheroidal staggered movement, realize the removal of this robot, moreover, the steam generator is simple in structure, it is convenient to use, in this process, accessible sixth steering wheel drive third connecting rod, the fourth connecting rod makes the fifth link buckle, the ability of robot crossing over the obstacle has been ensured, and simultaneously, through the point contact of spheroid and ground, the wearing and tearing that produce in the robot motion process have been reduced, the life of robot wearing parts is improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic perspective view of a bionic dog robot;

FIG. 2 is an enlarged perspective view of the main support frame and the first rotating member;

FIG. 3 is a schematic view of a second rotating member and a bionic head assembled in a three-dimensional enlarged structure;

FIG. 4 is a schematic view of a third rotating member and a bionic head after being assembled, showing a partial three-dimensional enlarged structure;

FIG. 5 is a schematic view of a multi-view stereo enlarged structure of a bionic tail;

FIG. 6 is a schematic view of a three-dimensional enlarged structure of a bionic leg;

fig. 7 is a schematic view of the main support frame and the bionic leg assembly.

In the figure: 1. a main supporting frame; 2. a first rotating member; 3. a second rotating member; 4. an occlusion drive component; 5. a bionic head; 6. a bionic tail; 7. simulating legs; 8. a first steering engine; 9. a first gear; 10. a second gear; 11. a rotating shaft; 12. a toothed plate; 13. a third gear; 14. a first fixed shaft; 15. a first connecting frame; 16. a second steering engine; 17. a first connection block; 18. a second connecting block; 19. a second fixed shaft; 20. a second link frame; 21. a third steering engine; 22. a fourth gear; 23. a fifth gear; 24. a first housing; 25. a lower jaw portion; 26. a fixed block; 27. a third fixed shaft; 28. a first link; 29. a second link; 30. a sector plate; 31. a fourth fixed shaft; 32. a third connecting frame; 33. a fourth steering engine; 34. a sixth gear; 35. a first composite gear; 36. a second composite gear; 37. a fifth steering engine; 38. a fourth link; 39. a fifth link; 40. a sixth steering engine; 41. a third link; 42. and a fourth link.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Example (b): referring to fig. 1-4, a bionic dog robot comprises a main support frame 1, wherein a first rotating part 2, a second rotating part 3, an occlusion driving part 4 and a bionic head 5 which are connected are arranged on the main support frame 1, the rotation, up-and-down swing, left-and-right swing and occlusion action of the bionic head 5 are realized through the first rotating part 2, the second rotating part 3 and the occlusion driving part 4 which are connected, and a bionic tail 6 and four bionic legs 7 are also arranged on the main support frame 1; the bionic head 5 comprises a second connecting frame 20, a first shell 24 and a lower jaw 25, the occlusion driving part 4 comprises a third fixed shaft 27 rotatably sleeved with the second connecting frame 20, the first shell 24 is fixedly sleeved with the third fixed shaft 27, a third steering engine 21 is fixedly connected to the second connecting frame 20, the output end of the third steering engine 21 penetrates through the second connecting frame 20, a fourth gear 22 is fixedly sleeved at the output end of the third steering engine 21, the third fixed shaft 27 penetrates through the second connecting frame 20, a fifth gear 23 matched with the fourth gear 22 is fixedly sleeved at one end of the third fixed shaft 27, a first connecting rod 28 is rotatably connected to the first shell 24, a second connecting rod 29 is rotatably connected to one end of the first connecting rod 28, the first connecting rod 28 is rotatably connected to the middle of the second connecting rod 29, a sector plate 30 is rotatably connected to one end of the second connecting rod 29, a fixed block 26 is fixedly connected to the second connecting frame 20, an arc-shaped surface of the sector plate 30 is abutted to the fixed block 26, the second connecting rod 29 is fixedly connected to the lower jaw 25, the fourth connecting rod 30 is rotatably sleeved with a fourth fixed shaft 31, and the fourth fixed shaft 24 is rotatably sleeved with the first fixed shaft 31.

Through setting up main support frame 1, bionical head 5, bionical afterbody 6, bionical shank 7, improve the whole similarity with the canine animal appearance of robot, increase the holistic vividness of robot, simultaneously, this robot is in the use, accessible third steering wheel 21 drives fourth gear 22 and rotates, fourth gear 22 passes through fifth gear 23, third fixed axle 27 drives first casing 24 and rotates, thereby make first casing 24 luffing motion, in this process, first casing 24 drives second connecting rod 29 through first connecting rod 28 under the action of gravity, sector plate 30 moves, second connecting rod 29 drives jaw 25 motion down, simultaneously under the conflict effect of sector plate 30 and fixed block 26, the interlock action of canine animal is simulated through jaw 25 and first casing 24, so that the realization is got or is spacing to the clamp of target object, thereby drive the target object and remove, the vividness and the practicality of this robot have been improved.

As shown in fig. 1-4, the first rotating part 2 includes a first steering engine 8 fixedly connected to the main support frame 1, an output end of the first steering engine 8 penetrates through the main support frame 1, an output end of the first steering engine 8 is fixedly sleeved with a first gear 9, two second gears 10 matched with the first gear 9 are rotatably connected to the main support frame 1, one sides of the second gears 10 far away from the main support frame 1 are fixedly connected with rotating shafts 11, two rotating shafts 11 are rotatably sleeved with a same toothed plate 12, a first fixing shaft 14 is rotatably sleeved on the main support frame 1, one end of the first fixing shaft 14 is fixedly sleeved with a third gear 13 matched with the toothed plate 12, one end of the first fixing shaft 14 far away from the third gear 13 is fixedly sleeved with a first connecting frame 15, the second rotating part 3 includes a second steering engine 16 fixedly connected to the first connecting frame 15, an output end of the second steering engine 16 penetrates through the first connecting frame 15, an output end of the second steering engine 16 is fixedly sleeved with a first connecting block 17, one end of the first connecting block 17 is rotatably connected to a second connecting block 18, a second connecting frame 15 is rotatably sleeved with a second connecting block 19, and a second connecting block 20 is rotatably connected to the second fixing shaft 19.

Through setting up first rotating member 2, second rotating member 3, drive first casing 24 through second link 20 as required, jaw 25 rotates, first gear 9 of accessible first steering wheel 8 drive, first gear 9 passes through second gear 10, axis of rotation 11 drives pinion rack 12 motion, thereby make third gear 13 pass through first fixed axle 14, first link 15 drives second link 20 and rotates, when needs make first casing 24, jaw 25 horizontal hunting, accessible second steering wheel 16 drives first connecting block 17 and rotates, first connecting block 17 drives second link 20 through second connecting block 18 and rotates under the spacing of second fixed axle 19, thereby realize first casing 24, jaw 25's effect swing, improve the vividness of this robot, improved its scope of pressing from both sides or spacing target object simultaneously, further improve the suitability of this device.

As shown in fig. 5, the bionic tail 6 includes a plurality of first combination gears 35, a plurality of second combination gears 36, and a third connecting frame 32 fixedly connected to the main support frame 1, a fourth steering gear 33 is fixedly connected to the third connecting frame 32, a sixth gear 34 is fixedly connected to the third connecting frame 32, an output end of the fourth steering gear 33 penetrates through the third connecting frame 32, an output end of the fourth steering gear 33 is coaxial with the sixth gear 34, the first combination gears 35 and the second combination gears 36 are both formed by fixedly connecting two gears, a distance between the two fixedly connected gears is larger than a sum of maximum radii of the two gears, the two gears on the first combination gears 35 and the second combination gears 36 are connected in a staggered and rotating manner, the first combination gear 35 close to the third connecting frame 32 is fixedly sleeved with the output end of the fourth steering gear 33, and the second combination gear 36 close to the third connecting frame 32 is matched with the sixth gear 34.

Through setting up bionical afterbody 6, when the luffing motion of needs robot simulation canine animal afterbody, the first composite gear 35 of accessible fourth steering wheel 33 drive rotates to make a plurality of first composite gears 35, second composite gear 36 carry out the luffing motion under sixth gear 34 and second composite gear 36's meshing effect, simple structure, the simple operation makes this robot more lively.

As shown in fig. 1, 6, and 7, the bionic leg 7 includes four fifth steering engines 37 fixedly connected to the main support frame 1, fourth connecting frames 38 are fixedly sleeved on output ends of the four fifth steering engines 37, one ends of the fourth connecting frames 38 far away from the fifth steering engines 37 are rotatably connected with fifth connecting frames 39, one sides of the fourth connecting frames 38 far away from the fifth steering engines 37 are fixedly connected with sixth steering engines 40, output ends of the sixth steering engines 40 penetrate through the fourth connecting frames 38, output ends of the sixth steering engines 40 are fixedly sleeved with third connecting rods 41, one ends of the third connecting rods 41 far away from the sixth steering engines 40 are rotatably connected with fourth connecting rods 42, one ends of the fourth connecting rods 42 far away from the third connecting rods 41 are rotatably connected with end portions of the fifth connecting frames 39, one ends of the fifth connecting frames 39 far away from the fourth connecting frames 38 are fixedly connected with spheres, a control unit is installed on the main support frame 1, and the control unit is electrically connected with the first steering engines 8, the second steering engines 16, the third steering engines 21, the fourth steering engines 33, the fifth steering engines 37, and the sixth steering engines 40.

Through setting up bionical shank 7, when needing the robot to remove, accessible fifth steering wheel 37 drive fourth link 38, fifth link 39 drives the spheroid motion, through a plurality of spheroidal staggered movement, realize the removal of this robot, moreover, the steam generator is simple in structure, it is convenient to use, in the process, accessible sixth steering wheel 40 drives third connecting rod 41, fourth connecting rod 42 makes fifth link 39 buckle, the ability that the robot stridees across the obstacle has been ensured, and simultaneously, through the point contact of spheroid and ground, the wearing and tearing that produce among the robot motion process have been reduced, the life of robot wearing parts is improved.

This practical theory of operation:

through setting up the main tributary strut, bionical head, bionical afterbody, bionical shank, improve the whole similarity with the canine animal appearance of robot, increase the holistic vividness of robot, simultaneously, this robot is in the use, accessible third steering wheel drive fourth gear rotates, the fourth gear passes through the fifth gear, the third fixed axle drives first casing and rotates, thereby make first casing luffing motion, in the process, first casing drives the second connecting rod through first connecting rod under the action of gravity, the sector plate motion, the second connecting rod drives jaw motion down, simultaneously under the conflict effect of sector plate and fixed block, through jaw and the interlock action of first casing simulation canine animal, so that realize pressing from both sides the clamp of target object or spacing, thereby it removes to drive the target object, the vividness and the practicality of this robot have been improved.

Through setting up first rotating part, the second rotating part, drive first casing through the second link as required, chin when rotating, the first gear of accessible steering wheel drive, first gear passes through the second gear, the axis of rotation drives the pinion rack motion, thereby make the third gear pass through first fixed axle, first link drives the second link and rotates, when needs make first casing, during chin horizontal hunting, the first link of accessible second steering wheel drive rotates, first link drives the second link through the second link and rotates under the spacing of second fixed axle, thereby realize first casing, the effect swing of chin, improve the vividness of this robot, improved its scope of pressing from both sides and getting or spacing target object simultaneously, further improve the device's suitability.

Through setting up bionical afterbody, when the luffing motion of needs robot simulation canine animal afterbody, the first composite gear of accessible fourth steering wheel drive rotates to make a plurality of first composite gear, second composite gear carry out the luffing motion under the meshing effect of sixth gear and second composite gear, simple structure, the simple operation makes this robot more lively.

Through setting up bionical shank, when the needs robot removes, accessible fifth steering wheel drive fourth link, the fifth link drives the spheroid motion, through a plurality of spheroidal crisscross motions, realize the removal of this robot, moreover, the steam generator is simple in structure, it is convenient to use, this in-process, accessible sixth steering wheel drive third connecting rod, the fourth connecting rod makes the fifth link buckle, the ability of robot crossing over the obstacle has been ensured, and simultaneously, through the point contact of spheroid and ground, the wearing and tearing that produce among the robot motion process have been reduced, the life of robot wearing parts is improved.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications and variations can be made in the embodiments or in part of the technical features of the embodiments without departing from the spirit and the scope of the invention.

Claims (7)

1. The utility model provides a bionical dog robot which characterized in that: the bionic head support comprises a main support frame (1), wherein a first rotating part (2), a second rotating part (3), an occlusion driving part (4) and a bionic head (5) which are connected are arranged on the main support frame (1), the rotation, up-and-down swing, left-and-right swing and occlusion action of the bionic head (5) are realized through the first rotating part (2), the second rotating part (3) and the occlusion driving part (4) which are connected, and a bionic tail part (6) and four bionic leg parts (7) are also arranged on the main support frame (1);

the bionic head (5) comprises a second connecting frame (20), a first shell (24) and a lower jaw (25), the occlusion driving part (4) comprises a third fixed shaft (27) which is rotatably sleeved with the second connecting frame (20), the first shell (24) is fixedly sleeved with the third fixed shaft (27), a third steering gear (21) is fixedly connected to the second connecting frame (20), the output end of the third steering gear (21) penetrates through the second connecting frame (20), a fourth gear (22) is fixedly sleeved at the output end of the third steering gear (21), the third fixed shaft (27) penetrates through the second connecting frame (20), a fifth gear (23) matched with the fourth gear (22) is fixedly sleeved at one end of the third fixed shaft (27), a first connecting rod (28) is rotatably connected to the first shell (24), one end of the first connecting rod (28) is rotatably connected with a second abutting connecting rod (29), the first connecting rod (28) is rotatably connected with the middle of the second connecting rod (29), one end of the second connecting rod (29) is fixedly connected with a second connecting rod (30), and a second connecting rod (26) is fixedly connected with a second fixing plate (26), the fan-shaped plate (30) is rotatably sleeved with a fourth fixed shaft (31), and the fourth fixed shaft (31) is rotatably sleeved with the first shell (24).

2. The biomimetic canine robot of claim 1, wherein: first rotating member (2) including fixed connection first steering wheel (8) on main tributary strut (1), the output of first steering wheel (8) runs through main tributary strut (1), the fixed cover of output of first steering wheel (8) has connected first gear (9), rotate on main tributary strut (1) be connected with two with second gear (10) of first gear (9) looks adaptation, keep away from second gear (10) one side fixedly connected with axis of rotation (11) of main tributary strut (1), two it has cup jointed same pinion rack (12) to rotate on axis of rotation (11), it has cup jointed first fixed axle (14) to rotate on main tributary strut (1), the fixed cover in one end of first fixed axle (14) have connect with third gear (13) of pinion rack (12) looks adaptation, keep away from first fixed axle (14) the fixed cover in one end of third gear (13) has connected first link (15).

3. The biomimetic canine robot of claim 2, wherein: second rotatable parts (3) are including fixed connection second steering wheel (16) on first link (15), the output of second steering wheel (16) runs through first link (15), the fixed cover of output of second steering wheel (16) is connected with first connecting block (17), the one end of first connecting block (17) is rotated and is connected with second connecting block (18), it has cup jointed second fixed axle (19) to rotate on first link (15), second link (20) with second fixed axle (19) are rotated and are cup jointed, second connecting block (18) with second link (20) are rotated and are connected.

4. The biomimetic canine robot of claim 3, wherein: bionic tail (6) include a plurality of first composite gear (35), a plurality of second composite gear (36), fixed connection third link (32) on main tributary strut (1), fixedly connected with fourth steering wheel (33) on third link (32), fixedly connected with sixth gear (34) on third link (32), the output of fourth steering wheel (33) runs through third link (32), the output of fourth steering wheel (33) with sixth gear (34) are coaxial, first composite gear (35), second composite gear (36) are formed by two gear fixed connection, and the interval between two gears of fixed connection is greater than the sum of two gear maximum radii, and is a plurality of first composite gear (35), a plurality of two gears crisscross rotation on second composite gear (36) are connected, are close to third link (32) first composite gear (35) with the output socket of fourth composite gear (33), are close to third composite gear (32) the fixed connection gear (36) with sixth composite gear (34) adaptation.

5. The biomimetic canine robot of claim 4, wherein: bionic leg (7) include fixed connection four fifth steering wheel (37), four on main support frame (1) the fixed cover of output of fifth steering wheel (37) is connected with fourth link (38), keep away from fourth link (38) the one end rotation of fifth steering wheel (37) is connected with fifth link (39), keep away from in fourth link (38) one side fixedly connected with sixth steering wheel (40) of fifth steering wheel (37), the output of sixth steering wheel (40) runs through fourth link (38), the fixed cover of output of sixth steering wheel (40) is connected with third connecting rod (41), third connecting rod (41) are kept away from the one end rotation of sixth steering wheel (40) is connected with fourth connecting rod (42), fourth connecting rod (42) are kept away from the one end of third connecting rod (41) with the tip of fifth link (39) rotates and is connected.

6. The biomimetic canine robot of claim 5, wherein: one end, far away from the fourth connecting frame (38), of the fifth connecting frame (39) is fixedly connected with a sphere.

7. The biomimetic canine robot of claim 5, wherein: a control unit is installed on the main support frame (1), and the control unit is electrically connected with the first steering engine (8), the second steering engine (16), the third steering engine (21), the fourth steering engine (33), the fifth steering engine (37) and the sixth steering engine (40).

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