CN110329381A - A kind of high performance bionic legged type robot - Google Patents

Abstract

The invention discloses a high-performance bionic legged robot, which comprises a main casing, a plurality of fixed limbs are uniformly arranged on the side end of the main casing, a first micro-motor is fixedly installed on the top of the fixed limb, and the motor of the first micro-motor is The shaft runs through the bottom of the fixed limb and is fixedly connected with a connecting frame. The inner cavity of the connecting frame is equipped with a walking foot with a crawler structure. Connect with all the first micro-motors and all the walking feet respectively, control the first micro-motors respectively through the control box, thereby independently control the steering of each walking foot; at the same time, the control box can directly control the walking of each walking foot on the ground, In this way, the whole device is driven to walk, and the mutual cooperation of the whole structure can meet the walking on rough or irregular terrain, and the load capacity is also greatly increased, and various detection equipment can be installed to cope with the detection work in complex environments.

Description

A high-performance bionic legged robot

technical field

The invention relates to the technical field of robots, in particular to a high-performance bionic legged robot.

Background technique

In nature and human society, there are some places that humans cannot reach and special occasions that may endanger human life. Such as the surface of the planet, disaster mines, disaster prevention and rescue, and anti-terrorism struggle, etc., to continuously explore and study these dangerous environments, and to seek a feasible way to solve problems has become the need for the development of science and technology and the progress of human society. Irregularity and rough terrain are common features of these environments. Thereby the application of wheeled robot and tracked robot is limited.

The multi-legged robot's multi-point contact with the ground can make it walk freely on these grounds, and carry various devices to complete a series of tasks that are difficult for humans to complete. However, this kind of robot requires relatively high precision and is light in weight. Observation equipment can only be installed with a small number of small ones. The exploration efficiency is limited, and it is difficult to meet the detection needs of complex environments. For this reason, the present invention provides a kind of high-performance bionic legged robot, is used for solving above-mentioned problem.

Contents of the invention

The purpose of the present invention is to provide a high-performance bionic legged robot to solve the problems raised in the above-mentioned background technology.

To achieve the above object, the present invention provides the following technical solutions:

A high-performance bionic legged robot, including a main shell, the main shell is a disc structure, the side end of the main shell is evenly provided with a number of fixed limbs, and the top of the fixed limbs is fixed with a first A micro motor, the motor shaft of the first micro motor runs through the bottom of the fixed limb and is fixedly connected with a connecting frame, the connecting frame is a U-shaped structure, and the inner cavity of the connecting frame is equipped with a walking foot of a crawler structure, and the walking The foot is fixedly installed in the inner cavity of the connecting frame through a fixed rod. The top of the main housing is fixedly connected with a control box. The control box is a disc structure. The axis of the control box coincides with the axis of the main housing. The top of the control box is fixedly equipped with an antenna rod, and the top of the antenna rod is fixedly connected with a wireless transceiver antenna. The first micro-motor is controlled separately through the control box, so as to independently control the steering of each walking foot; at the same time, the control box can directly control the walking of each walking foot on the ground, thereby driving the whole device to walk, and the mutual cooperation of the whole structure, It can meet the needs of walking on rough or irregular terrain, and the load capacity has also been greatly increased. It can be installed with a variety of detection equipment, and can cope with the detection work in complex environments;

The inner cavity of the control box is equipped with a controller and a storage battery, the controller is located on the right side of the storage battery, the controller is connected with the storage battery, the wireless transceiver antenna, the first micro motor and the walking feet respectively, and the control box One side of the battery is embedded with a charging interface connected to the battery, which provides electrical energy for the operation of the entire device through the battery, and supplements electrical energy for the battery through the charging interface to ensure that the entire device can be used repeatedly.

As a further solution of the present invention: the limb frame is an H-shaped structure, and the left and right inner cavities of the limb frame are symmetrically provided with walking rollers, and the walking rollers are connected to the limb frame through the rotation of the walking shaft, and one of the walking rollers is provided with The driven slot, the limb frame is fixedly installed with a second micro-motor close to the inner cavity of the driven slot, the second micro-motor is rotatably connected with a transmission shaft, and the other end of the transmission shaft is fixedly connected with the driven slot. The matching driving wheel, the driving wheel corresponds to the driven groove in the horizontal direction, the driving wheel is connected to the driven groove through the transmission belt, the two walking rollers are connected through the walking belt, and the second miniature The motor drives the driving wheel to rotate, and cooperates with the transmission belt to drive the walking roller to rotate. The walking roller cooperates with another walking roller to drive the walking belt to rotate, thereby driving the entire walking foot to move, and cooperates with other walking feet to directly drive the entire device to walk.

As a further solution of the present invention: the middle part of the limb frame is provided with a guide cavity, and a guide roller matched with the walking belt is arranged in the guide cavity, and the guide roller is connected in the guide cavity through the rotation of the guide shaft. The advanced guide roller cooperates with the rotation of the walking belt, which can effectively prevent the walking belt from rubbing against the limb frame, improve the running efficiency and control accuracy of the walking belt, and ensure the smooth operation of the whole device.

Compared with prior art, the beneficial effect of the present invention:

1. The control box disclosed in the present invention is respectively connected with all the first micro motors and all the walking feet, and the first micro motors are respectively controlled through the control box, thereby independently controlling the steering of each walking foot; at the same time, the control box can directly control the Each walking foot walks on the ground, thereby driving the whole device to walk. The mutual cooperation of the whole structure can meet the walking on rough or irregular terrain, and the load capacity is also greatly increased. Various detection equipment can be installed to cope with complex environments. detection work;

2. The present invention provides electric energy for the operation of the whole device through the battery, and supplements electric energy for the battery through the charging interface, so as to ensure that the whole device can be used repeatedly;

3. The present invention drives the drive wheel to rotate through the second micro motor, and drives the walking roller to rotate with the transmission belt. The walking roller cooperates with another walking roller to drive the walking belt to rotate, thereby driving the whole walking foot to move around, and cooperates with other walking feet. Directly drive the whole device to walk;

4. The invention can effectively prevent the walking belt from rubbing against the limb frame through the rotation of the rotating guide roller and the walking belt, improve the running efficiency and control accuracy of the walking belt, and ensure the smooth operation of the whole device.

Description of drawings

Fig. 1 is the structural representation of the top view of a kind of high-performance bionic legged robot;

Fig. 2 is the structural representation of the top view of the walking foot of a kind of high-performance bionic legged robot;

Fig. 3 is a schematic diagram of the internal structure of the walking foot of a high-performance bionic legged robot;

Fig. 4 is a structural schematic diagram of a control box of a high-performance bionic legged robot.

In the figure: 1-main housing, 2-control box, 21-antenna mast, 22-wireless transceiver antenna, 23-controller, 24-battery, 25-charging interface, 3-fixed limb, 4-connecting frame, 5 -The first micro motor, 6-walking foot, 61-limb frame, 62-guiding chamber, 63-guiding roller, 64-guiding shaft, 65-walking roller, 66-walking shaft, 67-driven groove, 68-transmission Belt, 69-driving wheel, 70-the second miniature motor, 71-transmission shaft, 72-walking belt, 7-fixed rod.

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, or in a specific orientation. construction and operation, and therefore cannot be construed as limiting the present invention; the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be construed as indicating or implying relative importance; in addition, unless otherwise Clearly stipulated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or a Electrical connection; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

Example 1

Please refer to Fig. 1 and Fig. 4, a kind of high-performance bionic legged robot, comprises main housing 1, and described main housing 1 is disc body structure, and the side end of main housing 1 is evenly provided with several fixed limbs 3 , the top of the fixed limb 3 is fixedly equipped with a first micro motor 5, the motor shaft of the first micro motor 5 runs through the bottom end of the fixed limb 3 and is fixedly connected with a connecting frame 4, and the connecting frame 4 is U-shaped structure, the inner cavity of the connecting frame 4 is equipped with a walking foot 6 of crawler structure, and the walking foot 6 is fixedly installed in the inner cavity of the connecting frame 4 through a fixed rod 7, and the top of the main housing 1 is fixedly connected with a control box 2 , the control box 2 is a disc structure, the axis of the control box 2 coincides with the axis of the main housing 1, the top of the control box 2 is fixedly installed with an antenna rod 21, and the top of the antenna rod 21 is fixedly connected with Wireless transceiver antenna 22, the control box 2 is connected to the wireless remote control device through the wireless transceiver antenna 22, the control box 2 is connected with all first micro-motors 5 and all walking feet 6 respectively, and the first micro-motors are respectively controlled by the control box 2 5, so as to independently control the steering of each walking foot 6; at the same time, the control box 2 can directly control the walking of each walking foot 6 on the ground, thereby driving the whole device to walk, and the mutual cooperation of the whole structure can meet the needs of rugged or irregular terrain. Walking, and the load capacity has also been greatly increased, and a variety of detection equipment can be installed to cope with the detection work in complex environments;

The inner chamber of described control box 2 is equipped with controller 23 and accumulator 24, and described controller 23 is located at the right side of accumulator 24, and described controller 23 is connected with accumulator 24, wireless transceiver antenna 22, first micromotor 5 respectively. Connected with the walking foot 6, one side of the control box 2 is embedded with a charging interface 25 connected to the battery 24, the battery 24 is used to provide electrical energy for the operation of the entire device, and the battery 24 is supplemented with electrical energy through the charging interface 25, Ensure the reusable recycling of the whole device.

Example 2

Please refer to Fig. 2-3, this embodiment is a further elaboration on the basis of Embodiment 1, the limb frame 61 is an H-shaped structure, and the left and right inner cavities of the limb frame 61 are symmetrically provided with walking rollers 65, and the walking rollers 65 is rotatably connected on the limb frame 61 by the walking rotating shaft 66, and one of the walking rollers 65 is provided with a driven groove 67, and the inner cavity of the limb frame 61 near the driven groove 67 is fixedly equipped with a second micro-motor 70, so The second micro motor 70 is rotatably connected with a transmission shaft 71, and the other end of the transmission shaft 71 is fixedly connected with a driving wheel 69 that matches the driven groove 67, and the driving wheel 69 is horizontally aligned with the driven groove. 67 corresponds, the driving wheel 69 is connected to the driven groove 67 through the transmission belt 68, the two walking rollers 65 are connected through the walking belt 72, and the driving wheel 69 is driven by the second micro motor 70 to rotate, and cooperate with the transmission belt 68 drives walking roller 65 to rotate, and this walking roller 65 cooperates another walking roller 65 to drive walking belt 72 to rotate, thus drives whole walking foot 6 to walk about, and cooperates other walking foot 6, can directly drive whole device walking.

The middle part of limb frame 61 is provided with guide chamber 62, and described guide chamber 62 is provided with the guide roller 63 that cooperates with walking belt 72, and described guide roller 63 is connected in guide chamber 62 by the rotation of guide shaft 64, through the rotating Guide roller 63 cooperates walking belt 72 to rotate, can effectively prevent walking belt 72 from rubbing limb frame 61, improves the operating efficiency and control precision of walking belt 72, guarantees that whole device runs smoothly.

The working principle of embodiment 1-2 is to control the first micro-motor 5 respectively through the control box 2, thereby independently controlling the steering of each walking foot 6; simultaneously the control box 2 can directly control the walking on the ground of each walking foot 6 respectively, thereby Drive the whole device to walk, and the mutual cooperation of the whole structure can meet the needs of walking on rough or irregular terrain, and the load capacity is also greatly increased. It can install a variety of detection equipment and can cope with the detection work in complex environments; the working process of walking is 6 It is: drive the driving wheel 69 to rotate through the second micro motor 70, and drive the walking roller 65 to rotate with the transmission belt 68, and the walking roller 65 cooperates with another walking roller 65 to drive the walking belt 72 to rotate, thereby driving the whole walking foot 6 to move, and Cooperating with other walking feet 6, the whole device can be directly driven to walk.

The preferred implementation of this patent has been described in detail above, but this patent is not limited to the above-mentioned implementation. Within the scope of knowledge of those of ordinary skill in the art, various implementations can be made without departing from the purpose of this patent. kind of change.

Claims (8)

1. A high-performance bionic legged robot, comprising a main housing (1), characterized in that the main housing (1) is a disc structure, and the side ends of the main housing (1) are uniformly arranged Several fixed limbs (3), the top of the fixed limbs (3) is fixedly installed with a first micro motor (5), the motor shaft of the first micro motor (5) runs through the bottom end of the fixed limbs (3) and is fixed A connecting frame (4) is connected, and the inner cavity of the connecting frame (4) is equipped with a walking foot (6) with a crawler structure, and the walking foot (6) is fixedly installed in the connecting frame (4) through a fixed rod (7). cavity, the top of the main housing (1) is fixedly connected with the control box (2), the top of the control box (2) is fixed with the antenna rod (21), and the top of the antenna rod (21) is fixedly connected with There is a wireless transceiver antenna (22), and the control box (2) is connected to a wireless remote control device through the wireless transceiver antenna (22). 2. A high-performance bionic legged robot according to claim 1, characterized in that a controller (23) and a battery (24) are installed in the inner cavity of the control box (2), and the controller ( 23) Set on the right side of the storage battery (24), the controller (23) is respectively connected with the storage battery (24), the wireless transceiver antenna (22), the first micro motor (5) and the walking foot (6), the One end of the control box (2) is embedded with a charging interface (25) connected to the battery (24). 3. A high-performance bionic legged robot according to claim 2, characterized in that, the limb frame (61) is an H-shaped structure, and the left and right inner cavities of the limb frame (61) are symmetrically provided with walking rollers (65 ), the walking rollers (65) are rotatably connected to the limb frame (61) through the walking shaft (66), one of the walking rollers (65) is provided with a driven groove (67), and the limb frame (61) A second micromotor (70) is fixedly installed near the inner cavity of the driven groove (67), and a transmission shaft (71) is rotatably connected to the second micromotor (70), and the other end of the transmission shaft (71) The driving wheel (69) is fixedly connected with the driven groove (67), the driving wheel (69) is connected to the driven groove (67) through the transmission belt (68), and the two walking rollers (65) Between are connected by walking belt (72). 4. A high-performance bionic legged robot according to claim 3, characterized in that, the driving wheel (69) corresponds to the driven groove (67) in the horizontal direction. 5. A high-performance bionic legged robot according to claim 3, characterized in that, the middle part of the limb frame (61) is provided with a guide cavity (62), and the guide cavity (62) is provided with a The guide roller (63) matched with the walking belt (72), the guide roller (63) is rotatably connected in the guide cavity (62) through the guide shaft (64). 6. A high-performance bionic legged robot according to any one of claims 1-5, characterized in that the connecting frame (4) is a U-shaped structure. 7. A high-performance bionic legged robot according to claim 6, characterized in that the control box (2) is a disc structure. 8. A high-performance bionic legged robot according to claim 6, characterized in that the axis of the control box (2) coincides with the axis of the main casing (1).