CN117984345A - Adopt bionical vibration isolation structure's robot based on vibration drive - Google Patents

Abstract

The invention discloses a robot based on vibration driving and adopting a bionic vibration isolation structure, and relates to the technical field of robots. The robot comprises a robot body, a vibration isolation structure, a vibration motor and vibration legs; the vibration isolation structure is fixed on the robot body; the vibration isolation structure comprises an inner frame and an outer frame; the inner frame is nested in the outer frame, and the axial direction of the inner frame is in the same direction as the axial direction of the outer frame; the inner frame is fixed with the outer frame through a bionic ostrich leg structure; the vibrating legs are fixedly connected with the inner frame; the vibrating legs are used for supporting the robot body; the vibration motor is arranged on the vibration leg; the robot body is used for sending a control instruction to the vibration motor; the control instruction comprises the rotating speed and the direction of the vibration motor; the vibration motor moves according to the control instruction and drives the vibration leg to generate vibration movement. The invention can improve the motion performance of the robot.

Description

Adopt bionical vibration isolation structure's robot based on vibration drive

Technical Field

The invention relates to the technical field of robots, in particular to a robot based on vibration driving and adopting a bionic vibration isolation structure.

Background

The advantages of flexibility and expandability make micro robots widely used in various advanced technical fields. Their small size enables them to traverse confined spaces such as caverns and pipes that are not accessible to larger robots. In addition, their lightweight and compact design enable them to traverse complex surfaces with excellent terrain adaptation. In addition, the micro-robot exhibits excellent maneuverability, enabling it to perform complex and accurate tasks. In recent years, extensive research into micro-robots has focused on classification based on different driving principles, such as material driving, magnetic field driving, pressure driving, and motor driving types. However, these micro-robot driving systems have challenges such as low energy efficiency, poor adaptability to complex environments, etc. of pressure driven micro-robots. Material-driven robots rely on the transmission of external high voltage power supplies, which limit the performance and motion capabilities of the micro-robot in complex environments. The magnetic control driving mode limits the movement range and the versatility of the micro-robot and has insufficient operation precision. The traditional motor driving mode can prevent the structural simplification and miniaturization of the micro-robot due to the transmission mechanism. The motor-based micro robot is widely used because of its energy efficiency and characteristics independent of external system assistance. They can be divided into two categories: a robot with and without a drive train. Zarouk et al describe a robot named "1STAR" having a drive train driven by a single motor that can move linearly or change direction under direct command without the need for preparatory actions. However, thanks to the presence of intermediate transmission systems, although they are driven by motors, with higher speeds and movements driven by two degrees of freedom, robots with complex transmission structure (D.Zarrouk and R.S.Fearing,"Controlled in-plane locomotion of a hexapod using a single actuator,"IEEE Transactions on Robotics,vol.31,no.1,pp.157-167,2015.).Vartholomeos et al propose a planar sliding robot without transmission system, driven by centripetal force generated by an onboard vibrating micromotor, the movements following a stick-slip mechanism, the maximum speed of which can be found 1.5mm/s(P.Vartholomeos and E.Papadopoulos,"Analysis,design and control of a planar micro-robot driven by two centripetal-force actuators,"in Proceedings 2006 IEEE International Conference on Robotics and Automation,2006.ICRA 2006.IEEE,2006,pp.649-654.)., the patent application number 201710639760.0 relates to a vibration-driven moving robot, four vibrating motors of which are arranged around the housing, two symmetrical vertically placed motors generating centrifugal forces for driving, and two other symmetrical horizontally arranged motors for reducing the friction of the robot with the ground, so that the robot achieves movements with minimal friction. The invention patent with the application number 201210023195.2 is a cilia-driven micro robot which is searched, and the micro robot consists of three layers, wherein the upper layer comprises a power supply module, a vibration motor, a control module and an operation module, the middle part is a supporting and connecting substrate, and the lower layer is provided with two groups of cilia-driven legs with different numbers, different diameters, symmetrical inclination angles and the same height. When the vibration motor rotates, the cilia driving legs at different positions at the bottom generate different vibration amplitudes, and the movement of the robot is realized by adjusting the vibration amplitudes of the cilia driving legs.

Disclosure of Invention

The invention aims to provide a robot based on vibration driving by adopting a bionic vibration isolation structure, which can improve the motion performance of the robot.

In order to achieve the above object, the present invention provides the following solutions:

A robot based on vibration driving adopting a bionic vibration isolation structure comprises a robot body, a vibration isolation structure, a vibration motor and vibration legs;

the vibration isolation structure is fixed on the robot body;

The vibration isolation structure comprises an inner frame and an outer frame; the inner frame is nested in the outer frame, and the axial direction of the inner frame and the axial direction of the outer frame are arranged in the same direction; the inner frame is fixed with the outer frame through a bionic ostrich leg structure;

The vibrating legs are fixedly connected with the inner frame; the vibrating legs are used for supporting the robot body;

The vibration motor is arranged on the vibration leg;

The robot body is used for sending a control instruction to the vibration motor; the control instruction comprises the rotating speed and the direction of the vibration motor;

and the vibration motor moves according to the control instruction and drives the vibration leg to generate vibration movement.

Optionally, the robot body includes a robot housing, a control module, and a drive module;

The vibration isolation structure is fixed on the robot shell; the driving module and the control module are arranged inside the robot shell;

the control module is connected with the driving module;

The control module is used for generating a control signal according to the control instruction and sending the control signal to the driving module;

and the driving module is used for outputting a preset PWM waveform to drive the vibration motor to move according to the control signal.

Optionally, the vibration isolation structure is embedded on the robot housing.

Optionally, the inner frame is a hollow cylinder structure; the vibrating leg is fixed to the inner frame by being inserted into a hollow portion of the inner frame.

Optionally, the inner frame and the outer frame are hollow quadrangular prism structures;

The outer side surface of the inner frame comprises a first outer side surface, a second outer side surface, a third outer side surface and a fourth outer side surface;

The inner side surface of the outer frame comprises a first inner side surface, a second inner side surface, a third inner side surface and a fourth inner side surface;

The bionic ostrich leg structure comprises a first bionic ostrich leg type, a second bionic ostrich leg type, a third bionic ostrich leg type and a fourth bionic ostrich leg type;

the first outer side face is opposite to the first inner side face; the second outer side face is opposite to the second inner side face; the third outer side face is opposite to the third inner side face; the fourth outer side face is opposite to the fourth inner side face;

The first outer side surface is fixedly connected with the first inner side surface through the first bionic ostrich leg type; the second outer side surface is fixedly connected with the second inner side surface through the second bionic ostrich leg type; the third outer side surface is fixedly connected with the third inner side surface through the third bionic ostrich leg type; the fourth outer side surface is fixedly connected with the fourth inner side surface through the fourth bionic ostrich leg type.

Optionally, the bionic ostrich leg structure comprises a plurality of bionic ostrich leg types;

each bionic ostrich leg comprises N linear structures; wherein N is a positive integer greater than 1;

one end of the 1 st linear structure is fixedly connected with the outer surface of the inner frame; the other end of the 1 st linear structure is fixedly connected with one end of the 2 nd linear structure;

The other end of the ith linear structure is fixedly connected with one end of the (i+1) th linear structure; wherein i is more than 1 and less than N;

The other end of the Nth linear structure is fixedly connected with the inner surface of the outer frame.

Optionally, the vibration leg includes a motor placement portion;

The motor placing part comprises a groove and a motor cover; the vibration motor is placed in the groove; the motor cover covers the opening of the groove; the motor cover is used for fixing the vibrating motor in the groove.

Optionally, the material of the vibration isolation structure is polylactic acid material.

Optionally, the vibration isolation structure is fabricated by a 3D printing technique.

Optionally, the robot further comprises an upper computer;

The upper computer sends a control signal to the robot body in a wireless communication mode; the control signals include forward, reverse, steering and stationary;

and the robot body generates a control instruction according to the received control signal. .

According to the specific embodiment provided by the invention, the invention discloses the following technical effects:

The invention adopts a vibration driving mode, removes a transmission mechanism, and simplifies and miniaturizes the structure of the robot; in addition, an ostrich leg-like vibration isolation structure is introduced, so that the vibration coupling effect between motors in the vibration driving micro-robot is reduced, the motion performance of the robot is improved, the motion speed, including the linear motion speed and the turning angular speed, is improved, and the use scene of the vibration driving micro-robot is expanded.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic diagram of the overall structure of a vibration-driven robot using a bionic vibration isolation structure according to the present invention;

fig. 2 is a schematic side view of the overall structure of the vibration-driven robot using the bionic vibration isolation structure;

Fig. 3 is a schematic side view of the overall structure of the vibration-driven robot using the bionic vibration isolation structure according to the second embodiment of the present invention;

Fig. 4 is a schematic front view of a vibration isolation structure provided by the present invention;

fig. 5 is an oblique view of a vibration isolation structure provided by the present invention;

Fig. 6 is a schematic diagram of an internal structure of a vibration-driven robot using a bionic vibration isolation structure according to the present invention;

Fig. 7 is an exploded view of a vibration-driven-based robot structure using a bionic vibration isolation structure according to the present invention;

Fig. 8 is a schematic diagram of an internal control system of a vibration-driven robot using a bionic vibration isolation structure according to the present invention;

Fig. 9 is a schematic diagram of an external control system of a vibration-driven robot using a bionic vibration isolation structure according to the present invention.

Symbol description:

The robot comprises an outer frame-1, a first outer side face-2, an inner frame-3, a fourth inner side face-4, a third inner side face-5, a second outer side face-6, a1 st linear structure-7, a2 nd linear structure-8, a3 rd linear structure-9, a4 th linear structure-10, a robot shell-11, a shell cover-12, a vibration isolation structure-13, a motor cover-14 and vibration legs-15.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The invention aims to provide a robot based on vibration driving by adopting a bionic vibration isolation structure, and aims to improve the motion performance of the robot.

In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.

Example 1

As shown in fig. 1 to 9, a vibration-driven robot using a bionic vibration isolation structure in the present embodiment includes a robot body, a vibration isolation structure 13, a vibration motor, and vibration legs 15.

The vibration isolation structure 13 is fixed to the robot body.

The vibration isolation structure 13 comprises an inner frame 3 and an outer frame 1; the inner frame 3 is nested in the outer frame 1, and the axial direction of the inner frame 3 and the axial direction of the outer frame 1 are arranged in the same direction; the inner frame 3 is fixed with the outer frame 1 through a bionic ostrich leg structure.

The vibrating legs 15 are fixedly connected with the inner frame 3; the vibration legs 15 are used to support the robot body.

The vibration motor is provided on the vibration leg 15.

The robot body is used for sending a control instruction to the vibration motor; the control command includes a rotational speed and a direction of the vibration motor.

The vibration motor moves according to the control instruction and drives the vibration leg 15 to generate vibration motion.

Specifically, the robot body includes a robot housing 11, a control module, and a driving module.

The vibration isolation structure 13 is fixed on the robot housing 11; the drive module and the control module are arranged inside the robot housing 11. The control module is connected with the driving module. The control module is used for generating a control signal according to the control instruction and sending the control signal to the driving module. And the driving module is used for outputting a preset PWM waveform to drive the vibration motor to move according to the control signal.

Further, the vibration isolation structure 13 is embedded in the robot housing 11.

As a specific embodiment, the inner frame 3 is a hollow cylinder structure; the vibration legs 15 are fixed to the inner frame 3 by being inserted into the hollow portion of the inner frame 3.

Specifically, as shown in fig. 5, the inner frame 3 and the outer frame 1 are hollow quadrangular prism structures.

The outer side surfaces of the inner frame 3 comprise a first outer side surface 2, a second outer side surface 6, a third outer side surface and a fourth outer side surface. The inner side surfaces of the outer frame 1 comprise a first inner side surface, a second inner side surface, a third inner side surface 5 and a fourth inner side surface 4. The bionic ostrich leg structure comprises a first bionic ostrich leg type, a second bionic ostrich leg type, a third bionic ostrich leg type and a fourth bionic ostrich leg type. The first outer side surface 2 is opposite to the first inner side surface; the second outer side 6 is opposite to the second inner side; the third outer side face is opposite to the third inner side face 5; the fourth lateral side is opposite to the fourth medial side 4. The first outer side surface 2 is fixedly connected with the first inner side surface through the first bionic ostrich leg type; the second outer side surface 6 is fixedly connected with the second inner side surface through the second bionic ostrich leg type; the third outer side surface is fixedly connected with the third inner side surface 5 through the third bionic ostrich leg type; the fourth outer side surface is fixedly connected with the fourth inner side surface 4 through the fourth bionic ostrich leg type.

Further, the cross sections of the inner frame and the outer frame are of regular quadrilateral structures; and the inner frame and the outer frame are coaxially arranged.

As a specific embodiment, the bionic ostrich leg structure comprises a plurality of bionic ostrich leg types; each bionic ostrich leg comprises N linear structures; wherein N is a positive integer greater than 1; one end of the 1 st linear structure 7 is fixedly connected with the outer surface of the inner frame 3; the other end of the 1 st linear structure 7 is fixedly connected with one end of the 2 nd linear structure 8; the other end of the ith linear structure is fixedly connected with one end of the (i+1) th linear structure; wherein i is more than 1 and less than N; the other end of the Nth linear structure is fixedly connected with the inner surface of the outer frame 1.

As shown in fig. 4, when N is equal to 4, one end of the 1 st linear structure 7 is fixedly connected with the outer surface of the inner frame 3; the other end of the 1 st linear structure 7 is fixedly connected with one end of the 2 nd linear structure 8; the other end of the 2 nd linear structure 8 is fixedly connected with one end of the 3 rd linear structure 9; the other end of the 3 rd linear structure 9 is fixedly connected with one end of the 4 th linear structure 10; the other end of the 4 th linear structure 10 is fixedly connected with the inner surface of the outer frame 1.

As a specific embodiment, the vibration leg 15 includes a motor placement portion; the motor placement portion includes a recess and a motor cover 14; the vibration motor is placed in the groove; the motor cover 14 covers the opening of the groove; the motor cover 14 is used to secure the vibration motor within the recess.

In addition, the contact part of the vibrating leg and the sports ground adopts an arc-shaped design.

As a specific embodiment, the material of the vibration isolation structure 13 is a polylactic acid material. The vibration isolation structure 13 is manufactured by a 3D printing technology.

As a specific embodiment, the robot further comprises an upper computer; the upper computer sends a control signal to the robot body in a wireless communication mode; the control signals include forward, reverse, steering and stationary; and the robot body generates a control instruction according to the received control signal.

In practical application, as shown in fig. 6 and 7, the invention provides a miniature vibration driving robot adopting a bionic vibration isolation structure, which consists of a robot main body, four vibration isolation structures, four vibration legs, four vibration motors and four motor covers; all components were manufactured using 3D printing technology, the printing material selected being polylactic acid (PLA).

The robot main body comprises a robot shell 11, a shell cover 12, a control board, a Wi-Fi module, a power supply module and a driving module, wherein the control board is connected with the WIFI module and the driving module, the power supply module is connected with the control board and the driving module, and the hardware is uniformly distributed in the robot shell 11.

The control board is used for processing a driving instruction sent by the upper computer, controlling signal output of the driving module according to the instruction, storing PWM value data of an output port of the driving module, and transmitting the PWM value data back to the upper computer through WiFi, so that real-time states of all vibration motors of the robot are obtained.

The driving module converts the voltage provided by the power supply module into corresponding PWM signals and outputs the corresponding PWM signals to the vibration motor through receiving instructions from the control panel, including forward, backward, steering and static commands, and the vibration motor can show different rotating speeds and steering under different PWM signals.

The Wi-Fi module is used for communication between the robot and the upper computer, the robot can receive instructions through the WIFI module, and meanwhile real-time state information of the robot is fed back to the upper computer through the WIFI, and the real-time state information comprises current electric quantity of the robot and motion states of all vibration motors.

The power module is used for supplying power to the control panel and the driving module.

The grooves of each vibration leg 15 are provided with a vibration motor, the motor is fixed by a motor cover 14, and the vibration legs 15 are connected to the robot housing 11 through a special vibration isolation structure 13, so that the transmission of vibration between the four vibration legs 15 and the central body is prevented, and the effective vibration isolation is maintained. Each vibration isolation structure 13 is square in shape, wherein the vibration isolation part is an ostrich-like leg, and the structure has certain elasticity and damping characteristics, so that vibration can be isolated, and vibration generated by the vibration motor can not be transmitted to other vibration motors. Meanwhile, vibration is concentrated on a single vibration leg 15, so that the vibration amplitude of the vibration leg 15 is increased, and the movement performance of the robot is improved.

The motion principle of the robot based on vibration driving adopting the bionic vibration isolation structure provided by the invention is as follows:

Taking the movement of a single vibrating leg as an example, in one rotation period of the eccentric rotor of the vibrating motor, the eccentric rotor passes through four quadrants, and the horizontal force generated by the rotor continuously pushes the driving leg to move in the positive direction from the fourth quadrant. Upon entering the first quadrant, the horizontal force decreases, causing the vibrating leg to decelerate. In the second quadrant, the horizontal force of the rotor increases and the direction is reversed, moving the vibrating leg in the negative direction. Finally, in the third quadrant, the horizontal force gradually decreases in the negative direction, and eventually the movement of the vibrating leg is stopped by the friction force. During one rotation cycle of the eccentric rotor, the vibrating leg undergoes a reciprocating motion. When the vibrating leg moves in the forward direction, the downward vertical force gradually decreases, resulting in a decrease in frictional resistance. When it moves in the negative direction, the vertical force steadily increases, increasing the frictional resistance. This difference in friction results in a displacement in the positive direction that is greater than in the negative direction, thereby moving the vibrating leg forward. The final forward movement of the four vibrating legs achieves forward movement of the entire robot. The backing and steering movements of the robot are equally available, and are realized by changing the rotating speed and steering of the vibration motor.

The control system of the robot based on vibration driving adopting the bionic vibration isolation structure mainly comprises an upper computer and a lower computer provided with a control module, a driving module, a power module and an executing mechanism. As shown in fig. 8 and 9.

The control module of the robot is equipped with TensilicaLX dual core processors using a simplified version of FireBeetle-ESP32 (BeetleESP) and specifically the ESP32-WROOM-32D model. The control module is equipped with a Wi-Fi module. Through the Wi-Fi module, the robot can communicate with the host computer, receive various commands and provide feedback of its actual state. The control module is powered by the power supply module, receives motion instructions from the host through the WiFi module, and comprises forward, backward, steering and static commands, the control module sends signals to the driving module through the IO port according to the received commands, and controls the output port of the driving module to output PWM values corresponding to the signals.

The driving module is a double-bridge motor driving module (DRV 8833) which is connected with the IO port of the control module and the power module and generates a pulse width modulation signal (PWM) to drive the vibration motor according to the signal output by the control module.

The actuating mechanism comprises four vibration motors, the control module converts the digital signal of voltage into an analog signal, different PWM signals are output by the driving module to adjust the rotating speed and the steering direction of the vibration motors, and the duty ratio of the PWM signals determines the average voltage of the vibration motors. The higher the duty ratio is, the higher the average voltage received by the vibration motor is, the faster the rotating speed is, and the rotating speed of the vibration motor is reduced when the PWM signal is smaller. When the positive and negative of the PWM signal are changed, the direction of the average voltage applied to the vibration motor is changed, and the current steering direction of the vibration motor is changed. Because the selected control module and the driving module can only control two vibrating motors at the same time, the whole lower computer uses two identical control systems, and when the robot moves, the two control systems start to work at the same time and receive instructions of the upper computer, and each system independently manages the left motor and the right motor. When the robot starts to move linearly, the two systems output the same voltage to the vibration motor, and when the robot turns, one of the systems reduces the voltage to the vibration motor.

As a specific embodiment, the control system performs closed loop control with the aid of a top mounted camera that provides a global view. After the computer sends a running instruction to the robot along a section of expected path, the camera continuously monitors the actual position of the robot, the upper part of the robot is stuck with a two-dimensional code, the camera transmits a real-time position picture of the robot to the computer through identifying the two-dimensional code, the computer uses an image processing technology to generate a fixed map coordinate system for the global environment, then extracts a position target point and a moving direction of the robot, the position point is represented by (x, y) coordinates, and compares the detected position target point of the robot with an expected position target point to calculate a distance error and a direction error between the current position point of the robot and the expected target point. When the robot starts to deviate from the expected position, the computer sends an instruction to the control module of the robot through WiFi, the control module sends an instruction to the driving module again, the PWM value output to the vibration motor by the driving module is adjusted, so that the rotating speed of the left and right vibration motors of the robot is adjusted, the moving direction of the robot is corrected, and when the position point of the robot returns to the expected target point, the computer sends an instruction to stop the adjusting process of the robot. This ensures accurate and efficient navigation along a predetermined path, demonstrating the potential of robots in group robotic applications.

The technical effects of the robot based on vibration driving adopting the bionic vibration isolation structure provided by the invention are as follows:

The invention adopts a vibration driving mode, removes a transmission mechanism, simplifies and miniaturizes the structure of the robot, is more convenient to manufacture, and reduces the production cost of the robot. Meanwhile, the bionic vibration isolation structure imitating ostrich legs is designed, vibration of vibration motors on 4 legs is reduced through the vibration isolation structure and transmitted to a robot body, so that the vibration influence of different vibration motors is avoided, vibration decoupling is realized, the motion capability of the robot is improved (the motion speed is improved, and the vibration isolation structure comprises a linear motion speed and a turning angular speed), and the use scene of the vibration driving micro-robot is expanded.

Furthermore, the invention designs the bionic vibration isolation structure imitating the ostrich legs, which is manufactured by adopting PLA material 3D printing, so that vibration decoupling is realized, and the vibration generated by each vibration motor is not transmitted to other vibration motors but is concentrated on the vibration legs arranged on the vibration motors, so that the vibration amplitude of the vibration legs is improved, and the motion capability of the robot is improved. The use scene of the vibration driving micro robot is expanded, and the robot can move under various terrains, including wood, marble, glass, rubber, iron plates and other materials. Meanwhile, the robot has the capabilities of obstacle surmounting, loading, climbing and the like.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.

Claims (10)

1. The robot based on vibration driving adopts a bionic vibration isolation structure and is characterized by comprising a robot body, a vibration isolation structure, a vibration motor and vibration legs;

the vibration isolation structure is fixed on the robot body;

The vibration isolation structure comprises an inner frame and an outer frame; the inner frame is nested in the outer frame, and the axial direction of the inner frame and the axial direction of the outer frame are arranged in the same direction; the inner frame is fixed with the outer frame through a bionic ostrich leg structure;

The vibrating legs are fixedly connected with the inner frame; the vibrating legs are used for supporting the robot body;

The vibration motor is arranged on the vibration leg;

The robot body is used for sending a control instruction to the vibration motor; the control instruction comprises the rotating speed and the direction of the vibration motor;

and the vibration motor moves according to the control instruction and drives the vibration leg to generate vibration movement.

2. The vibration-driven robot employing the bionic vibration isolation structure according to claim 1, wherein the robot body comprises a robot housing, a control module, and a driving module;

The vibration isolation structure is fixed on the robot shell; the driving module and the control module are arranged inside the robot shell;

the control module is connected with the driving module;

The control module is used for generating a control signal according to the control instruction and sending the control signal to the driving module;

and the driving module is used for outputting a preset PWM waveform to drive the vibration motor to move according to the control signal.

3. The vibration-driven robot employing a biomimetic vibration isolation structure according to claim 2, wherein the vibration isolation structure is embedded on the robot housing.

4. The vibration-driven robot using a bionic vibration isolation structure according to claim 1, wherein the inner frame is a hollow cylinder structure; the vibrating leg is fixed to the inner frame by being inserted into a hollow portion of the inner frame.

5. The vibration-driven robot using a bionic vibration isolation structure according to claim 4, wherein the inner frame and the outer frame are hollow quadrangular prism structures;

The outer side surface of the inner frame comprises a first outer side surface, a second outer side surface, a third outer side surface and a fourth outer side surface;

The inner side surface of the outer frame comprises a first inner side surface, a second inner side surface, a third inner side surface and a fourth inner side surface;

The bionic ostrich leg structure comprises a first bionic ostrich leg type, a second bionic ostrich leg type, a third bionic ostrich leg type and a fourth bionic ostrich leg type;

the first outer side face is opposite to the first inner side face; the second outer side face is opposite to the second inner side face; the third outer side face is opposite to the third inner side face; the fourth outer side face is opposite to the fourth inner side face;

The first outer side surface is fixedly connected with the first inner side surface through the first bionic ostrich leg type; the second outer side surface is fixedly connected with the second inner side surface through the second bionic ostrich leg type; the third outer side surface is fixedly connected with the third inner side surface through the third bionic ostrich leg type; the fourth outer side surface is fixedly connected with the fourth inner side surface through the fourth bionic ostrich leg type.

6. The vibration-driven robot using a bionic vibration isolation structure according to claim 1, wherein the bionic ostrich leg structure comprises a plurality of bionic ostrich leg types;

each bionic ostrich leg comprises N linear structures; wherein N is a positive integer greater than 1;

one end of the 1 st linear structure is fixedly connected with the outer surface of the inner frame; the other end of the 1 st linear structure is fixedly connected with one end of the 2 nd linear structure;

The other end of the ith linear structure is fixedly connected with one end of the (i+1) th linear structure; wherein i is more than 1 and less than N;

The other end of the Nth linear structure is fixedly connected with the inner surface of the outer frame.

7. The vibration-driven robot using the bionic vibration isolation structure according to claim 1, wherein the vibration legs include a motor placement portion;

The motor placing part comprises a groove and a motor cover; the vibration motor is placed in the groove; the motor cover covers the opening of the groove; the motor cover is used for fixing the vibrating motor in the groove.

8. The vibration-driven robot using a bionic vibration isolation structure according to claim 1, wherein the material of the vibration isolation structure is a polylactic acid material.

9. The vibration-driven robot employing a biomimetic vibration isolation structure according to claim 1, wherein the vibration isolation structure is fabricated by 3D printing technology.

10. The vibration-driven robot using the bionic vibration isolation structure according to claim 1, further comprising an upper computer;

The upper computer sends a control signal to the robot body in a wireless communication mode; the control signals include forward, reverse, steering and stationary;

and the robot body generates a control instruction according to the received control signal.