CN105151157A - Hexapod bionic robot - Google Patents

Abstract

The invention relates to a robot, in particular to a hexapod bionic robot, comprising an upper base plate, a lower base plate, a fire extinguisher, an upper cover, an obstacle avoidance sensor, a controller, and six legs; The upper cover is installed; the controller is installed in the upper cover, and the body is octagonal, in which a pair of opposite sides are two ends, and the other six sides are respectively located on both sides to form a side waist, the first leg, the second The first leg and the third leg are installed at one end, the middle and the other end of the side waist in turn, and the fourth, fifth and sixth legs are installed symmetrically on the other side of the waist in sequence; the fire extinguisher is installed at one end of the fuselage On the head; an obstacle avoidance sensor is installed between each two legs. The hexapod bionic robot provided by the invention has strong adaptability to the environment, can realize real-time obstacle avoidance, reasonably plans walking routes, has a stable body, flexible and diverse leg movements, and can adapt to various terrains, different speeds and load requirements.

Description

Hexapod Bionic Robot

technical field

The invention relates to a robot, in particular to a hexapod bionic robot.

Background technique

With the complexity of the robot's working environment and tasks, the robot is required to have higher motion flexibility and adaptability in special and unknown environments. The simple wheel and track moving mechanism of the robot can no longer adapt to the changing and complex environmental requirements. For example, a forest environment with frequent fires.

Contents of the invention

In view of the above technical problems, the present invention provides a hexapod bionic robot, which provides a mobile platform with stable motion in a complex terrain environment.

The specific technical solutions are:

Hexapod bionic robot, including upper base plate, lower base plate, fire extinguisher, upper cover, obstacle avoidance sensor, controller, and six legs, namely the first leg, the second leg, and the third leg , the fourth leg, the fifth leg, and the sixth leg; the upper base plate and the lower base plate form the fuselage, and the upper cover is installed above the upper base plate; the controller is installed in the upper cover, and the fuselage is octagonal , where a pair of opposite sides are two ends respectively, and the other six sides are respectively located on both sides to form a side waist, and the first leg, the second leg, and the third leg are installed at one end, middle and At the other end, the fourth leg, the fifth leg, and the sixth leg are symmetrically installed on the other side of the waist; the fire extinguisher is installed on one end of the fuselage; a fire extinguisher is installed between each two legs Obstacle avoidance sensor.

The legs include an upper leg, a middle leg and a lower leg, the upper leg is hinged on the fuselage to form a root joint, the upper leg and the middle leg are hinged to form a hip joint; the middle leg and the lower leg are hinged to form a knee joint; the upper leg takes the root joint as a fulcrum There is a degree of freedom of rotation on the horizontal plane, the middle leg has a degree of freedom of swing on the vertical plane with the hip joint as the fulcrum, and the lower leg has a degree of freedom of swing on the vertical plane with the knee joint as the fulcrum; the end of the lower leg has a shock-absorbing spring device.

The moving method of the hexapod bionic robot is that the first leg, the third leg, and the fifth leg form the first set of legs, and the second leg, the fourth leg, and the sixth leg form the first set of legs. The second set of legs; when the second set of legs is supported, the first set of legs will take a step forward. After touching the ground and fixed, the first set of legs will act as the support of the fuselage, and the second set of legs will move forward and follow up to restore the initial six-legged support state. Complete one step forward; repeat the above process when walking continuously.

The turning method of the hexapod bionic robot is as follows: firstly, the second group of legs is used as support, and the first group of legs respectively moves to the designated ground. Fixed on the ground as the support of the fuselage, the second set of legs moves to the designated ground, and at the same time the center of gravity of the fuselage is adjusted accordingly to achieve the purpose of turning angle.

The hexapod bionic robot provided by the present invention has strong adaptability to the environment, and the obstacle avoidance sensors distributed around the fuselage can realize real-time obstacle avoidance and reasonably plan the walking route; the fuselage is octagonal, which improves the stability of the robot It increases the turning space of the legs and avoids the mutual collision and movement interference between the legs; each leg includes three joints, which are flexible in movement and diverse in form, adaptable to various terrains, and have a variety of gaits, which can be adapted to Different speed and load requirements. Driven by servo motor, it has higher precision and more stability than steering gear drive.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is a top view structural representation of the present invention;

Fig. 3 is a schematic diagram of the leg structure of the present invention;

Fig. 4 is the forward state analysis diagram of the hexapod bionic robot of the present invention;

Fig. 5 is a turning gait analysis diagram of the hexapod bionic robot of the present invention.

Detailed ways

The specific embodiment of the present invention will be described with reference to the accompanying drawings.

As shown in Figures 1 and 2, the hexapod bionic robot includes an upper base plate 2, a lower base plate 3, a fire extinguisher 4, an upper cover 5, an obstacle avoidance sensor 6, a controller 7, and six legs. A leg 101, a second leg 102, a third leg 103, a fourth leg 104, a fifth leg 105, a sixth leg 106;

The upper base plate 2 and the lower base plate 3 form a fuselage, and an upper cover 5 is installed above the upper base plate 2; a controller 7 is installed in the upper cover 5, and the fuselage is octagonal, wherein a pair of opposite sides are respectively two ends, In addition, the six sides are respectively located on both sides to form a side waist. The first leg 101, the second leg 102, and the third leg 103 are successively installed at one end, the middle and the other end of the side waist, and the fourth leg 104, The fifth leg 105 and the sixth leg 106 are symmetrically installed on the other side of the waist in turn;

The fire extinguisher 4 is installed on one end of the fuselage to extinguish the fire when a fire source is found; an obstacle avoidance sensor 6 is installed between each two legs to detect obstacles during the movement of the hexapod bionic robot, The obstacle avoidance sensors 6 are respectively arranged around the fuselage to reduce detection blind spots, provide timely feedback of position information, and plan walking routes.

The lower bottom plate 3 is formed by connecting three plates to reduce deformation under extreme temperature conditions. There is enough space inside the fuselage for placing the servo driver and power supply. The controller 7 is placed above the upper base plate 2, and is used to collect the information collected by the obstacle avoidance sensor 6, and independently selects the control mode according to the actual situation to drive the operation of each joint of the hexapod robot.

As shown in Figures 1, 2 and 3, the legs include an upper leg 11, a middle leg 12 and a lower leg 13, the upper leg 11 is hinged on the fuselage to form a root joint 14, and the upper leg 11 and the middle leg 12 are hinged to form a The hip joint 15; the middle leg 12 and the lower leg 13 are hinged to form the knee joint 16; the upper leg 11 has a degree of freedom of rotation on the horizontal plane with the root joint 14 as the fulcrum, and the upper leg 11 can drive the whole leg to swing back and forth; the middle leg 12 uses the hip The joint 15 is the fulcrum and has a degree of freedom of swing on the vertical plane. The swing of the middle leg 12 completes the movement of raising the leg and the action of falling support; the lower leg 13 has a degree of freedom of swing on the vertical plane with the knee joint 16 as the fulcrum. Adjust the corner in time to land smoothly; the end of the lower leg 13 has a shock-absorbing spring device to reduce the vibration generated by the robot when it moves quickly and keep the body stable. In order to reduce friction with the ground, the ends of the lower legs 13 are rounded.

The legs at both ends of one side of the waist and the legs in the middle of the other side of the waist form two sets of legs respectively. When walking forward, one set of legs supports and the other set of legs moves. As shown in Figure 4, the first leg 101, the third leg 103, and the fifth leg 105 form the first set of legs, the second leg 102, the fourth leg 104, the sixth leg The legs 106 form the second group of legs; when the second group of legs supports, the first group of legs takes a step forward. After contacting the ground and fixing, the first group of legs serves as the body support, and the second group of legs moves forward to restore the initial hexapod Support state, complete one step forward. Repeat the above process while walking continuously.

As shown in Figure 5, turning is equivalent to the fuselage moving forward on a track with a certain arc, and each step needs to properly fine-tune the posture of the fuselage. First, the second set of legs is used as support, the first set of legs are moved to the designated ground, and at the same time the center of gravity of the fuselage is tilted to the direction of the second set of legs, the first set of legs is fixed on the ground as the support of the fuselage The second set of legs moves to the designated ground, and at the same time, the center of gravity of the fuselage is adjusted accordingly to achieve the purpose of turning angle. This turning gait requires only two steps to complete a turn at a certain angle.

Claims (4)

1. bionic 6-leg robot, it is characterized in that: comprise upper plate (2), lower shoe (3), fire extinguisher (4), upper cover (5), keep away barrier sensor (6), controller (7), also have six legs, be respectively Article 1 leg (101), Article 2 leg (102), third leg (103), Article 4 leg (104), Article 5 leg (105), Article 6 leg (106);

Upper plate (2) and lower shoe (3) composition fuselage, upper plate (2) top is provided with upper cover (5); Controller (7) is installed in upper cover (5), fuselage is octagon, wherein a pair opposite side is respectively two terminations, hexagon lays respectively at formation side, both sides waist in addition, Article 1, leg (101), Article 2 leg (102), third leg (103) are arranged on waist one end, side, centre and the other end successively, and Article 4 leg (104), Article 5 leg (105), Article 6 leg (106) symmetry are arranged on another avris waist successively;

Fire extinguisher (4) is arranged on fuselage termination; Be provided with one between every two legs and keep away barrier sensor (6).

2. bionic 6-leg robot according to claim 1, it is characterized in that: described leg comprises leg (11), middle leg (12) and lower leg (13), upper leg (11) is hinged on fuselage and forms root joint (14), upper leg (11) and the hinged formation hip joint (15) of middle leg (12); Middle leg (12) and the hinged formation knee joint (16) of lower leg (13); Upper leg (11) with root joint (14) for fulcrum has rotational freedom in the horizontal plane, middle leg (12) with hip joint (15) for fulcrum has swing degree of freedom on the vertical plane, lower leg (13) with knee joint (16) for fulcrum has swing degree of freedom on the vertical plane; Lower leg (13) end has damping spring device.

3. bionic 6-leg robot according to claim 1 and 2, it is characterized in that: the moving method of bionic 6-leg robot is, Article 1, leg (101), third leg (103), Article 5 leg (10) 5 form first group of leg, and Article 2 leg (102), Article 4 leg (104), Article 6 leg (106) form second group of leg; When second group of leg supports, first group of leg takes a step forward, and after kiss the earth is fixing, first group of leg is as supporting fuselage, and second group of leg moves ahead follow-up, recovers initial six sufficient holding states, completes a step and move ahead; Said process is repeated during continuous walking.

4. bionic 6-leg robot according to claim 3, it is characterized in that: the turning method of bionic 6-leg robot is, first by second group of leg as support, first group of leg moves to the ground of specifying respectively, body nodal point is to the direction tilt adjustments of second group of leg simultaneously, and be fixed on the support of ground as fuselage after first group of leg execution, second group of leg moves to the ground of specifying, the servo-actuated adjustment of body nodal point, reaches the object of angle of turn simultaneously.