CN205854318U - Bionical regular hexagon Hexapod Robot - Google Patents

Abstract

The utility model provides a bionic regular hexagonal hexapod robot, which belongs to the technical field of walking robots. The robot includes a regular hexagonal fuselage, a walking mechanism and a closed-loop control system that controls the walking mechanism. The walking mechanism is a regular hexagonal frame, including three pairs of mechanical feet. The horizontal adjustment assembly used to drive the mechanical foot to rotate in the horizontal direction. The horizontal adjustment assembly rotates within the horizontal range to drive the robot forward and backward; the short arm rotates within the vertical range to achieve the rise and fall of the mechanical foot ; Through the rotation of the long arm in the vertical range, the mechanical feet are driven to perform stretching motions in the horizontal range; the mutual motion of the six mechanical feet forms a kinematic mechanism to drive the robot to achieve various actions. The robot has a strong ability to adapt to the terrain, and can be applied to the detection of dangerous areas, and can also be used in aerospace and unknown planet survey environments.

Description

Bionic regular hexagonal hexapod robot

technical field

The utility model relates to the technical field of walking robots, in particular to a bionic regular hexagonal hexapod robot.

Background technique

The idea of the walking machine is mainly based on the uneven terrain changes in nature. The bionic walking robot is a robot that imitates the movement form of animals and uses a leg structure to complete various moving functions. Although wheeled and tracked robots have been widely used in mobile robots, walking robots have very low requirements on the road surface. The large number of degrees of freedom of the robot's feet can make the robot's movement more flexible and adapt to uneven terrain. The ability is stronger; the foothold of the walking-footed robot is discrete, and the contact area with the ground is small, and the optimal support point can be selected on the accessible ground. It can also walk freely; it can be applied to the detection of dangerous areas, or places that humans cannot reach, and can also be used in aerospace and unknown planet survey environments.

At present, the common walking robots are bipedal and quadrupedal, and the number of legs of the bipedal and quadrupedal is less than that of the hexapodal, and the degree of freedom of the leg joints is less, and the transportation is not flexible enough. , poor dynamic stability. The body structure of some irregular hexapod robots is uneven, resulting in unstable walking and prone to rollover during the forward process. And the walking gait of most existing walking robots is fixed, so the joints of the body will be subjected to a large impact force when walking on rough and uneven roads, which may damage the joints and drive elements.

Due to the leg structure design, most walking robots have poor load capacity.

The control systems of most quadruped walking robots are nonlinear multi-input and multi-output unstable systems with time-varying and intermittent dynamics. At present, most of the walking motions of quadruped robots are based on gait geometry position trajectory planning, joint position control planning and control strategy. However, the simple geometric position planning and control of the robot will cause the robot to become unstable due to factors such as inertia and foot force imbalance.

And most of the existing walking robots adopt centralized control, that is, the whole control of the robot is completed by a microcomputer, which may not be processed in time in the complex road surface walking process. Some joints are controlled by a state machine composed of logic circuits, so the behavior of the robot is limited to a fixed form of motion.

Utility model content

The technical problem to be solved by the utility model is to provide a bionic regular hexagonal hexapod robot, which includes a regular hexagonal body, a walking mechanism and a closed-loop control system for controlling the walking mechanism. The walking mechanism is a regular hexagonal frame, including Three pairs of mechanical feet, each of which includes a composite rotating arm, a short arm, a long arm and a horizontal adjustment assembly for driving the mechanical foot to rotate in the horizontal direction. The composite rotating arm is installed on a regular hexagonal machine through the horizontal adjustment assembly. On the body, one end of the short arm is movably connected with the composite rotating arm through the first vertical adjustment assembly, and the other end of the short arm is movably connected with one end of the long arm through the second vertical adjustment assembly, and a steering gear is installed on the composite rotating arm at the same time. With steering gear two, steering gear three is installed on the long arm, and the lower plate of the composite rotating arm is equipped with miniature rolling bearings, and the composite rotating arm is connected with the lower base plate of the regular hexagonal fuselage through miniature rolling bearings.

Among them, the closed-loop control system includes pc, MCS-51 single-chip microcomputer, steering gear controller, steering gear 1, steering gear 2, steering gear 3, miniature wireless transmission camera and pressure sensor, and the PC is connected to the regular hexagonal body The MCS-51 single-chip microcomputer, the MCS-51 single-chip microcomputer is connected to the steering gear controller, the steering gear controller controls the steering gear 1, the steering gear 2 and the steering gear 3, the pressure sensor is connected to the MCS-51 single-chip microcomputer, and the camera is connected to the MCS-51 single-chip microcomputer. The miniature wireless transmission camera is installed on the regular hexagonal body, and the pressure sensor is installed on the long arm.

The first steering gear and the second steering gear are installed on the composite rotating arm, and the first and second steering gears are clamped by two upper and lower thin plates. The first steering gear is placed vertically and connected with the regular hexagonal body through the horizontal adjustment component; Placed horizontally, connected with the short arm through the first vertical adjustment component.

The robot's legs have multiple degrees of freedom, which greatly enhances the flexibility of movement. It can keep the body level by adjusting the length of the legs, and can also adjust the position of the center of gravity by adjusting the extension of the legs, so it is not easy to turn over and has higher stability.

The robot has a total of six miniature rolling bearings, which are installed at the connecting part of the legs and the fuselage, so that the legs can be firmly fixed between the upper and lower bottom plates of the fuselage by using the fixing plate, which greatly increases the load capacity of the robot and expands the use of the robot The range makes up for the shortcomings of most robots with poor load capacity.

The bionic regular hexagonal hexapod robot adopts decentralized (level) control, that is, multiple microcomputers are used to share the control of the robot. Management, communication, kinematics and dynamics calculations, and send instruction information to the lower-level microcomputer; as a lower-level slave, perform interpolation operations and servo control processing to achieve a given movement, and feed back information to the host.

The buffer device of the leg mechanism is essential, and its leg joints are similar to animal leg joints, and its movement is controlled by a steering gear. It is equipped with pressure sensors on the bottom of the feet, which can automatically detect the state of contact with the ground. Pressure sensors and attitude control systems make control decisions based on sensory information to achieve adaptive static walking on uneven ground.

The robot is able to achieve adaptive dynamic walking on irregular ground, showing the advantage of bioinspired control with adaptive ability to unknown irregular ground. Another feature of it is that it uses a miniature wireless camera to navigate, which can identify and avoid obstacles in front of it, and can realize fast walking without collision in a closed corridor.

The robot has strong maneuverability and responsiveness, excellent balance and strong load capacity.

The beneficial effects of the above-mentioned technical solution of the utility model are as follows:

The robot has very low requirements on the road surface. The large number of degrees of freedom of the robot's feet makes the robot's movement more flexible and has a stronger adaptability to uneven terrain; the foothold of the walking-footed robot is discrete, and the contact with the ground The area is small, and the optimal support point can be selected on the accessible ground. Even in the case of extremely irregular surfaces, by strictly selecting the support point of the foot, it is possible to walk freely; in terms of load, stability, flexibility and The performance of ground adaptability and other aspects has been greatly improved, and the autonomous and intelligent capabilities have been highlighted. It can be applied to the detection of dangerous areas, or places that humans cannot reach, and can also be used in aerospace and unknown planet survey environments. It well solves the limitation that existing wheeled and tracked robots cannot reach complex ground, and the defects of other existing legged robots that walk unstable.

Description of drawings

Fig. 1 is the top view of the structure of the bionic regular hexagonal hexapod robot of the present utility model;

Fig. 2 is the front view of the bionic regular hexagonal hexapod robot structure of the utility model;

Fig. 3 is the top view of the mechanical foot of the bionic regular hexagonal hexapod robot of the present utility model;

Fig. 4 is the front view of the mechanical foot of the bionic regular hexagonal hexapod robot of the present utility model;

Fig. 5 is a schematic diagram of the closed-loop control system of the bionic regular hexagonal hexapod robot of the present invention.

Among them: 1-regular hexagonal fuselage; 2-closed-loop control system; 3-mechanical foot; 4-composite rotating arm; 5-short arm; 6-long arm; 7-level adjustment component; 8-first vertical adjustment Components; 9-second vertical adjustment assembly; 10-steering gear one; 11-steering gear two; 12-steering gear three; 13-miniature rolling bearing.

detailed description

In order to make the technical problems, technical solutions and advantages to be solved by the utility model clearer, the following will describe in detail with reference to the drawings and specific embodiments.

The utility model provides a bionic regular hexagonal hexapod robot aiming at the limitation that the existing wheeled and crawler robots cannot reach the complex ground, and the defect that other existing legged robots are unstable in walking.

As shown in Figure 1 and Figure 2, it is a schematic diagram of the structure of the robot. The robot includes a regular hexagonal body 1, a running mechanism and a closed-loop control system 2 for controlling the running mechanism. The running mechanism is a regular hexagonal frame, including three pairs of mechanical Foot 3, as shown in Figures 3 and 4, each mechanical foot 3 includes a composite rotating arm 4, a short arm 5, a long arm 6, and a horizontal adjustment assembly 7 for driving the mechanical foot 3 to rotate in the horizontal direction. The arm 4 is installed on the regular hexagonal body 1 through the horizontal adjustment assembly 7, one end of the short arm 5 is movably connected with the composite rotating arm 4 through the first vertical adjustment assembly 8, and the other end of the short arm 5 is adjusted through the second vertical adjustment Component 9 is movably connected with one end of long arm 6, steering gear 1 10 and steering gear 2 11 are installed on composite rotating arm 4, steering gear 3 12 is installed on long arm 6, and miniature rolling bearing 13 is installed on the lower plate of composite rotating arm 4 , the composite rotating arm 4 is connected with the lower base plate of the regular hexagonal body 1 through the miniature rolling bearing 13, which plays the role of reinforcing the mechanical skeleton and can make the robot more stable when moving.

Among them, the closed-loop control system 2 includes pc, MCS-51 single-chip microcomputer, steering gear controller, steering gear 1 10, steering gear 2 11, steering gear 3 12, miniature wireless transmission camera and pressure sensor. The MCS-51 single-chip microcomputer on the shaped body 1, the MCS-51 single-chip microcomputer is connected to the steering gear controller, and the steering gear controller controls the steering gear 10, the steering gear 2 11 and the steering gear 3 12, the pressure sensor is connected to the MCS-51 single-chip microcomputer, and the camera Connect MCS-51 one-chip computer. The miniature wireless transmission camera is installed on the regular hexagonal body 1, and the pressure sensor is installed on the long arm 6. The miniature wireless transmission camera and the pressure sensor feed back the captured information to the MCS-51 single-chip microcomputer, and the MCS-51 single-chip microcomputer processes the information and feeds it back to the PC, and then the PC changes the program in the MCS-51 single-chip microcomputer to control the three steering gears. Control the movement of the robot, and at the same time, the miniature wireless transmission camera transmits the image information through the wireless module for the operator to observe.

The composite rotating arm 4 includes a steering gear 10 and a steering gear 2 11, which are clamped by two thin plates. The steering gear 10 is placed vertically and connected with the regular hexagonal fuselage 1 through a horizontal adjustment component 7; the steering gear 2 11 is placed horizontally , connected to the short arm 5 through the first vertical adjustment assembly 8 . The robot has six miniature rolling bearings 13 in total.

As shown in Figure 5, the rotation of the steering gear 10 is controlled by the steering gear controller, and the horizontal adjustment assembly 7 rotates around the regular hexagonal body 1 within a horizontal range, so that the entire mechanical foot 3 will rotate in the horizontal direction. It can drive the robot forward and backward; the steering gear 2 11 is controlled by the steering gear controller to rotate, the short arm 5 is driven to rotate in the vertical range by the first vertical adjustment assembly 8, and the mechanical foot 3 is driven to move in the vertical range, which can Achieve the rise and fall of the mechanical foot 3; the steering gear 3 12 is controlled by the steering gear controller to rotate, and the second vertical adjustment component 9 drives the long arm 6 to rotate in the vertical range, and drives the mechanical foot 3 to move in the horizontal range. Stretching exercise, to achieve the elongation and contraction of the mechanical foot 3; the three groups of movements have three degrees of freedom, and they cooperate with each other. The MCS-51 single-chip microcomputer receives the data collected by the micro wireless transmission camera and the pressure sensor, and transmits it to the main PC. And slave pc, main pc and slave pc after processing, transmit the control signal to MCS-51 single-chip microcomputer, and MCS-51 single-chip microcomputer transmits the control signal to the steering gear controller to realize various actions such as robot walking.

The above is a preferred embodiment of the utility model, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the utility model, some improvements and modifications can also be made. And retouching should also be regarded as the protection scope of the present utility model.

Claims (6)

1. A bionic regular hexagonal hexapod robot is characterized in that: the closed-loop control system (2) comprising regular hexagonal fuselage (1), running gear and control running gear, and running gear comprises three pairs of mechanical feet (3) , wherein each mechanical foot (3) includes a composite rotating arm (4), a short arm (5), a long arm (6) and a horizontal adjustment assembly (7) for driving the mechanical foot (3) to rotate in the horizontal direction , the composite rotating arm (4) is installed on the regular hexagonal fuselage (1) through the horizontal adjustment assembly (7), and one end of the short arm (5) is connected with the composite rotating arm (4) through the first vertical adjustment assembly (8) Flexible connection, the other end of the short arm (5) is movably connected with one end of the long arm (6) through the second vertical adjustment assembly (9), and the steering gear one (10) and the steering gear are installed on the composite rotating arm (4) simultaneously Two (11), three (12) of steering gears are installed on the long arm (6), and the miniature rolling bearing (13) is housed on the lower plate of the composite rotating arm (4), and the composite rotating arm (4) is connected with the positive six by the miniature rolling bearing (13) The lower base plate of the side-shaped fuselage (1) is connected. 2. The bionic regular hexagonal hexapod robot according to claim 1, characterized in that: the walking mechanism is a regular hexagonal frame. 3. bionic regular hexagonal hexagonal robot according to claim 1, is characterized in that: described closed-loop control system (2) comprises pc machine, MCS-51 single-chip microcomputer, steering gear controller, steering gear one (10), Steering gear two (11), steering gear three (12), miniature wireless transmission camera and pressure sensor, PC connected to the MCS-51 single-chip microcomputer mounted on the regular hexagonal body (1), MCS-51 single-chip connected to the steering gear control The steering gear controller controls steering gear one (10), steering gear two (11) and steering gear three (12), the pressure sensor is connected to the MCS-51 single-chip microcomputer, and the camera is connected to the MCS-51 single-chip microcomputer. 4. The bionic regular hexagonal hexapod robot according to claim 3, characterized in that: the miniature wireless transmission camera is installed on the regular hexagonal body (1), and the pressure sensor is installed on the long arm (6) superior. 5. The bionic regular hexagonal hexapod robot according to claim 1, characterized in that: said steering gear one (10) is vertically placed, connected with the regular hexagonal fuselage (1) by a horizontal adjustment assembly (7) The steering gear two (11) is placed horizontally, and is connected with the short arm (5) by the first vertical adjustment assembly (8). 6. The bionic regular hexagonal hexapod robot according to claim 1, characterized in that: the robot has six miniature rolling bearings (13) in total.