CN205034208U - Six sufficient bionic robot - Google Patents

Abstract

The utility model relates to a robot, in particular to a hexapod bionic robot, which comprises an upper base plate, a lower base plate, a fire extinguisher, an upper cover, an obstacle avoidance sensor, a controller, and six legs; An upper cover is installed on the upper side; a controller is installed in the upper cover, and the body is octagonal, in which a pair of opposite sides are respectively two ends, and the other six sides are respectively located on both sides to form a side waist, the first leg, the second The second leg and the third leg are installed on one end, the middle and the other end of the side waist in sequence, and the fourth, fifth and sixth legs are symmetrically installed on the other side of the waist in sequence; the fire extinguisher is installed on one side of the fuselage An obstacle avoidance sensor is installed between each two legs. The hexapod bionic robot provided by the utility model has strong adaptability to the environment, can realize real-time obstacle avoidance, reasonably plans the walking route, 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 utility model 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. Such as the forest environment with frequent fires.

Utility model content

Aiming at the above technical problems, the utility model provides a hexapod bionic robot, which provides a mobile platform with stable movement in 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, the third leg, and 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, and a pair of opposite sides are respectively Two ends, the other six sides are located on both sides to form the side waist, the first leg, the second leg, and the third leg are installed at one end, the middle and the other end of the side waist in turn, the fourth leg, the fifth The legs 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; an obstacle avoidance sensor is installed between every two legs.

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 group of legs, and the second leg, the fourth leg and the sixth leg form the second group 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 fixing it, the first set of legs will act as a support for the fuselage, and the second set of legs will follow up and restore the initial six-legged support state, completing one step forward; continuous Repeat the above process while walking.

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 utility model 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 robot's Stability increases the turning space of the legs and avoids collisions and movement interference between the legs; each leg includes three joints, flexible in movement, diverse in form, adaptable to various terrains, and has a variety of gaits. Adapt to different speed and load requirements. Driven by servo motor, the precision is higher and more stable.

Description of drawings

Fig. 1 is the structural representation of the utility model;

Fig. 2 is the top view structural representation of the utility model;

Fig. 3 is a schematic diagram of the leg structure of the utility model;

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

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

detailed description

The specific embodiment of the utility model is illustrated in conjunction with 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, which are respectively the first leg 101, the second leg 102, the third leg 103, the fourth leg 104, the fifth leg 105, the 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 installed at one end, the middle and the other end of the side waist in sequence, and the fourth leg 104 and the fifth leg 105. The sixth leg 106 is symmetrically installed on the other side of the waist;

The fire extinguisher 4 is installed on one end of the fuselage, and is used to extinguish the fire when a fire source is found; an obstacle avoidance sensor 6 is installed between every two legs, which is used for the detection of obstacles in the movement process of the hexapod bionic robot, and avoids obstacles. Obstacle sensors 6 are respectively arranged around the fuselage to reduce detection blind spots, provide timely feedback of location 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 joint The fulcrum 15 has a swing degree of freedom on the vertical plane, and 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 swing degree of freedom on the vertical plane with the knee joint 16 as the fulcrum, and the lower leg 13 can be adjusted in time according to the ground environment. Adjust the corner and 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 group of legs, and the second leg 102, the fourth leg 104, and the sixth leg 106 form the second group Legs; when the second set of legs is supported, the first set of legs will take a step forward. After touching the ground and fixing, the first set of legs will act as a support for the fuselage, and the second set of legs will move forward to follow up and restore the initial six-legged support state, completing one step before Row. 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 (2)

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.