CN111186267A - Amphibious bionic hexapod robot - Google Patents
Amphibious bionic hexapod robot Download PDFInfo
- Publication number
- CN111186267A CN111186267A CN202010054459.5A CN202010054459A CN111186267A CN 111186267 A CN111186267 A CN 111186267A CN 202010054459 A CN202010054459 A CN 202010054459A CN 111186267 A CN111186267 A CN 111186267A
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- Prior art keywords
- connecting rod
- tail
- driving
- robot
- klann
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/003—Parts or details of the vehicle structure; vehicle arrangements not otherwise provided for
- B60F3/0038—Flotation, updrift or stability devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention discloses an amphibious bionic hexapod robot, which comprises a robot body, six legs symmetrically distributed on two sides of the robot body and a driving system for driving the legs to act, wherein the six legs are arranged on the robot body; the leg part comprises a spherical plastic foot and a Klann six-link mechanism for driving the spherical plastic foot to move; the driving system comprises a power source and a transmission mechanism; the transmission mechanism is used for distributing the power of a power source to the six leg parts and driving the connecting rod I of the Klann six-link mechanism in each leg part to rotate; the robot can realize stable movement in the land and water environments.
Description
Technical Field
The invention relates to a robot structure, which is particularly applied to an amphibious robot and meets the requirements of the robot on the movement in two completely different environments of land and water.
Background
From the existing research, three methods can be used for moving on the water surface. The first is water surface tension, and such bionic objects are generally light insects like water , water spiders, but are generally not used because the surface tension is usually too small. The second is the use of buoyancy, which generally generates a force greater than surface tension. Thirdly, the propulsion is generated by using the resistance of water, and the monster lizard moves on the water by using the principle. This patent imitates a strange lizard of snake design amphibious six-legged robot, can be on ground and the motion on water.
From the current research, most of the snakelike lizard-imitating robots adopt a four-link mechanism, for example, robot structures disclosed in patent 103318287a, "lizard-imitating amphibious robot" and document "lizard-imitating waterborne rapid movement robot basic technology research", wherein when the legs move, the track of the four-link mechanism is not parallel to the running plane, and the stability of the robot on the ground can be reduced. Therefore, in order to solve the problem, the Klann mechanism is adopted, but because the lifting force generated by the Klann mechanism on water is smaller than that of a four-bar linkage mechanism, a spherical foam plastic foot is added at the tail end of the Klann mechanism, and when the robot moves on water, the spherical foam plastic foot generates buoyancy to float on the water, and meanwhile, the robot moves forwards by using the water resistance to generate reverse thrust; when the walking stick is used for walking on the ground, the walking stick walks by the friction force between the ground and the feet. The robot movement focuses on stability and mobility, and if pitching and rolling are generated during the movement on water, the stability and the propelling force of the robot can be reduced; meanwhile, the robot sometimes needs to turn when moving on water. Therefore, the tail is designed at the tail of the robot body, which is inspired by a strange lizard. The steering movement and the pitching stability are realized by controlling the rotation of the tail to generate external force.
Disclosure of Invention
In view of the above, the present invention aims to overcome the defects in the prior art, and provide a novel hexapod bionic amphibious robot with a tail, which satisfies the stable motion of the robot in the land and water environments.
The amphibious bionic hexapod robot comprises a robot body, six legs symmetrically distributed on two sides of the robot body and a driving system for driving the legs to act;
the leg part comprises a spherical plastic foot and a Klann six-link mechanism for driving the spherical plastic foot to move; the Klann six-link mechanism comprises a connecting rod I, a connecting rod II, a connecting rod III, a connecting rod IV and a connecting rod V; the machine body, the connecting rod I, the connecting rod II, the connecting rod III and the connecting rod IV are sequentially hinged to form a five-connecting-rod mechanism, and the connecting rod V is hinged between the middle part of the connecting rod II and the machine body; the spherical plastic foot is fixed at the tail end of the connecting rod III;
the driving system comprises a power source and a transmission mechanism; the transmission mechanism is used for distributing the power of a power source to the six leg portions and driving the connecting rod I of the Klann six-link mechanism in each leg portion to rotate.
Further, a tail adjusting device is arranged at the tail of the machine body; the tail adjusting device comprises a tail body and a tail control mechanism for controlling the tail body to swing left and right or in pitch; the tail body comprises two circular plates which are vertically and alternately fixed; the tail control mechanism comprises a tail connecting frame of a U-shaped structure, a connecting column fixed between the tail connecting frame and the tail body, two bevel gears I which are coaxially arranged and are in rotating connection with the inner side of the tail connecting frame, two bevel gears II which are coaxially arranged and are meshed between the two bevel gears I, and two tail control motors which are fixed on the tail connecting frame and are used for driving the two bevel gears II to rotate.
Furthermore, the transmission mechanism comprises three driving shafts arranged transversely along the machine body, and two ends of each driving shaft are respectively fixed on a connecting rod I of the Klann six-link mechanism on two sides of the machine body; the power source transmits power to the front driving shaft through the bevel gear pair, and the adjacent driving shafts are driven by the synchronous belt mechanism to realize synchronous rotation.
Further, the Klann six-link mechanism also comprises a fixing rod I and a fixing rod II which are used for connecting the inner ends of the connecting rod IV and the connecting rod V with the machine body; the outer ends of the fixing rod I and the fixing rod II are matched with the end parts of the connecting rod IV and the connecting rod V through bearings; the fixing rod I, the fixing rod II and the driving shaft are connected with each other through a connecting block.
Furthermore, the machine body comprises two side plates arranged in parallel and a plurality of cross beams fixed between the two side plates; the synchronous belt mechanism is positioned between the two side plates; the driving shaft penetrates through the two side plates along the transverse direction.
The invention has the beneficial effects that:
1. according to the hexapod bionic amphibious robot, the whole body structure adopts a frame structure, and meanwhile most parts can be formed through 3D printing, so that the quality of the robot can be reduced, and the cost is saved.
2. The hexapod bionic amphibious robot adopts six identical leg structures which are symmetrically distributed on two sides of a robot body, so that the stability of the robot is improved.
3. The hexapod bionic amphibious robot adopts six identical leg structures, the complexity of the robot structure is reduced, and the universality and interchangeability of parts are improved.
4. The hexapod bionic amphibious robot provided by the invention adopts spherical foam plastic feet, generates buoyancy on water, can play a role in damping on the ground, and improves the stability of the robot.
5. The hexapod bionic amphibious robot adopts a single motor to control the six legs to finish the advancing action, thereby reducing the control difficulty and effectively reducing the robot quality.
6. The hexapod bionic amphibious robot is provided with the tail adjusting device, and the double steering engines are adopted to drive the bevel gears to control the robot to rotate in two directions according to the differential mechanism principle, so that the pitching motion and the yawing motion of the robot on water are controlled, and the motion performance of the robot is enhanced.
Drawings
The invention is further described below with reference to the following figures and examples:
FIG. 1 is a schematic diagram of the robot of the present invention;
FIG. 2 is a schematic view of the Klann six-bar linkage mechanism of the present invention;
FIG. 3 is a schematic diagram of a robot leg configuration of the present invention;
FIG. 4 is a schematic structural diagram of a drive system of the present invention;
FIG. 5 is a schematic structural view of a tail adjusting device of the present invention;
FIG. 6 is a top view of the robot of the present invention;
fig. 7 is a schematic diagram of the trajectory of the spherical plastic foot motion of the robot of the present invention.
Detailed Description
As shown in fig. 1, the amphibious bionic hexapod robot of the embodiment comprises a body, six leg portions (leg 1, leg 2, leg 3, leg 4, leg 5 and leg 6) symmetrically distributed on two sides of the body, and a driving system for driving the leg portions to act; the six leg parts have the same structure and are symmetrically distributed on two sides of the robot body, so that the stability of the robot can be improved; the fuselage comprises two side plates 21 arranged parallel to each other and two cross beams 22 fixed between the two side plates 21.
As shown in fig. 3, the leg portion comprises a spherical plastic foot 7 and a Klann six-bar linkage mechanism for driving the spherical plastic foot 7 to move; as shown in fig. 2, the Klann six-link mechanism comprises a connecting rod I11, a connecting rod II 12, a connecting rod III 14, a connecting rod IV 15 and a connecting rod V13; the machine body, the connecting rod I11, the connecting rod II 12, the connecting rod III 14 and the connecting rod IV 15 are sequentially hinged to form a five-connecting-rod mechanism, and the connecting rod V13 is hinged between the middle part of the connecting rod II 12 and the machine body; the spherical plastic foot 7 is fixed at the tail end of the connecting rod III 14; each leg part is connected with the machine body through a leg and machine body connecting assembly 9, and each leg part comprises a fixing rod I18, a fixing rod II 17 and a rectangular strip 20, wherein the fixing rods I, the fixing rods II 17 and the rectangular strip 20 are fixed on the outer wall of a side plate 21 of the machine body; the connecting rod I11 is hinged to the connecting rod II 12 through a pin shaft, the connecting rod II 12 is hinged to the connecting rod III 14 and the connecting rod V13 through pin shafts respectively, the connecting rod V13 is hinged to the fixing rod I18 through a bearing, the connecting rod III 14 is hinged to the connecting rod IV 15 through a pin shaft, and the connecting rod IV 15 is hinged to the fixing rod II 17 through a bearing.
As shown in fig. 4, the drive system includes a power source (dc motor 23) and a transmission mechanism 8; the transmission mechanism 8 is used for distributing the power of a power source to the six legs and driving the connecting rod I11 of the Klann six-link mechanism in each leg to rotate; the transmission mechanism 8 comprises three driving shafts (a front driving shaft 25, a middle driving shaft 16 and a rear driving shaft 27) arranged along the transverse direction of the machine body, a bevel gear pair 24 used for inputting power to the front driving shaft 15 and a synchronous belt mechanism 28 arranged between the adjacent driving shafts; two ends of the driving shaft are respectively fixed on connecting rods I11 of the Klann six-bar mechanism at two sides of the machine body so as to drive the connecting rods I11 serving as cranks to rotate; the fixing rod I18, the fixing rod II 17, the driving rod and the rectangular strip 20 are connected with each other through the connecting block 19 to increase the rigidity of the driving shaft; wherein the connecting block 19 is provided with a through hole for each rod to pass through and a rectangular groove for matching with the rectangular strip 20.
As shown in fig. 5, the tail part of the fuselage is provided with a tail adjusting device 10; the tail adjusting device 10 comprises a tail body 29 and a tail control mechanism for controlling the left-right or pitch swing of the tail body 29; the tail body 29 comprises two circular plates which are vertically and alternately fixed with each other; the tail control mechanism comprises a tail connecting frame 31 with a U-shaped structure, a connecting column fixed between the tail connecting frame 31 and the tail body 29, two bevel gears I34 which are coaxially arranged and are rotatably connected to the inner side of the tail connecting frame 31, two bevel gears II 33 which are coaxially arranged and are meshed between the two bevel gears I34, and two tail control motors (30,32) which are respectively used for driving the two bevel gears II 33 to rotate; the axial mutually perpendicular of bevel gear I34 and bevel gear II 33, two afterbody control motors (30,32) coaxial setting and pass through screw thread and afterbody link 31 rigid coupling respectively, when two afterbody control motors (30,32) drive two bevel gear II 33 syntropy with fast rotation, afterbody body 29 will realize the pitch swing, and when two afterbody control motors (30,32) antiport, afterbody body 29 will the horizontal hunting to improve the mobility stability and the mobility of robot.
The whole motion process of the robot is as follows: the bevel gear pair 24 is driven to rotate by controlling the direct current motor 23 as a power source to rotate, the front driving shaft 25, the middle driving shaft 16 and the rear driving shaft 27 are driven to synchronously rotate through the synchronous belt mechanism 28, and the six legs are driven to simultaneously act through the three driving shafts. The six legs are divided into a front pair, a middle pair and a rear pair, the distance between the middle pair of legs and the rack is slightly longer than that between the front pair of legs and the rear pair of legs, but the structure and the installation mode are completely the same, so that interference between the two pairs of legs is avoided, and the end of the tail end of each leg is provided with a spherical plastic foot 7 with the same specification. When the robot moves, one group of legs 1, 4 and 5, one group of legs 2, 3 and 6 and two groups of legs have a phase difference of 180 degrees (namely the phase difference of 180 degrees of a connecting rod I11 of the Klann six-link mechanism), and at least one group of legs are contacted with the ground or the water surface at every moment, so that the motion stability of the robot is ensured. When the robot moves on the ground, the friction force between the spherical plastic feet 7 and the ground makes the robot have a few front sides; when the robot moves on the water surface, a part of the spherical plastic feet 7 sinks into the water to generate buoyancy and balance with the gravity of the robot body, and meanwhile, the resistance between the spherical plastic feet 7 and the water is utilized to generate reverse thrust to enable the robot to move forwards. When the robot generates pitching motion underwater, the tail part can be controlled to swing up and down to ensure the pitching stability; when steering is needed, the tail part can be controlled to swing left and right to reach a specific angle.
Since the six legs are identical and the connecting parts of the legs and the frame are basically identical, the whole robot is basically symmetrical about the machine body, as shown in the top view of the robot in fig. 6, the running track of the tail ends of the legs is shown in fig. 7, the broken lines represent the motion track of the rod 14 (namely the motion track of the spherical plastic foot 7), and the arrows represent the advancing direction of the robot.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (5)
1. An amphibious bionic hexapod robot is characterized in that: the robot comprises a robot body, six leg parts symmetrically distributed on two sides of the robot body and a driving system for driving the leg parts to act;
the leg part comprises a spherical plastic foot and a Klann six-link mechanism for driving the spherical plastic foot to move; the Klann six-link mechanism comprises a connecting rod I, a connecting rod II, a connecting rod III, a connecting rod IV and a connecting rod V; the machine body, the connecting rod I, the connecting rod II, the connecting rod III and the connecting rod IV are sequentially hinged to form a five-connecting-rod mechanism, and the connecting rod V is hinged between the middle part of the connecting rod II and the machine body; the spherical plastic foot is fixed at the tail end of the connecting rod III;
the driving system comprises a power source and a transmission mechanism; the transmission mechanism is used for distributing the power of a power source to the six leg portions and driving the connecting rod I of the Klann six-link mechanism in each leg portion to rotate.
2. The amphibious bionic hexapod robot according to claim 1, wherein: the tail part of the machine body is provided with a tail part adjusting device; the tail adjusting device comprises a tail body and a tail control mechanism for controlling the tail body to swing left and right or in pitch; the tail body comprises two circular plates which are vertically and alternately fixed; the tail control mechanism comprises a tail connecting frame of a U-shaped structure, a connecting column fixed between the tail connecting frame and the tail body, two bevel gears I which are coaxially arranged and are in rotating connection with the inner side of the tail connecting frame, two bevel gears II which are coaxially arranged and are meshed between the two bevel gears I, and two tail control motors which are fixed on the tail connecting frame and are used for driving the two bevel gears II to rotate.
3. The amphibious bionic hexapod robot according to claim 2, wherein: the transmission mechanism comprises three driving shafts arranged along the transverse direction of the machine body, and two ends of each driving shaft are respectively fixed on connecting rods I of the Klann six-link mechanisms on two sides of the machine body; the power source transmits power to the front driving shaft through the bevel gear pair, and the adjacent driving shafts are driven by the synchronous belt mechanism to realize synchronous rotation.
4. The amphibious bionic hexapod robot according to claim 3, wherein: the Klann six-link mechanism also comprises a fixing rod I and a fixing rod II which are used for connecting the inner ends of the connecting rod IV and the connecting rod V with the machine body; the outer ends of the fixing rod I and the fixing rod II are matched with the end parts of the connecting rod IV and the connecting rod V through bearings; the fixing rod I, the fixing rod II and the driving shaft are connected with each other through a connecting block.
5. The amphibious bionic hexapod robot according to claim 4, wherein: the machine body comprises two side plates arranged in parallel and a plurality of cross beams fixed between the two side plates; the synchronous belt mechanism is positioned between the two side plates; the driving shaft penetrates through the two side plates along the transverse direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010054459.5A CN111186267A (en) | 2020-01-17 | 2020-01-17 | Amphibious bionic hexapod robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010054459.5A CN111186267A (en) | 2020-01-17 | 2020-01-17 | Amphibious bionic hexapod robot |
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| CN111186267A true CN111186267A (en) | 2020-05-22 |
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| CN202010054459.5A Pending CN111186267A (en) | 2020-01-17 | 2020-01-17 | Amphibious bionic hexapod robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108725624A (en) * | 2018-05-28 | 2018-11-02 | 佛山科学技术学院 | A kind of the multistep state running gear and its traveling method of polypody robot |
| CN112265420A (en) * | 2020-11-15 | 2021-01-26 | 浙江工业大学 | Amphibious robot |
| CN112265421A (en) * | 2020-11-15 | 2021-01-26 | 浙江工业大学 | Gear-type transmission-based amphibious robot |
| CN114889749A (en) * | 2022-06-07 | 2022-08-12 | 浙江理工大学 | Water wave active adaptation overwater operation robot and water wave adaptation method thereof |
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| US4527650A (en) * | 1983-03-18 | 1985-07-09 | Odetics, Inc. | Walking machine |
| CN104590419A (en) * | 2015-01-29 | 2015-05-06 | 吉林大学 | Walking mechanism like crab |
| CN108032919A (en) * | 2017-12-12 | 2018-05-15 | 重庆大学 | A kind of hopping robot with posture balancing adjusting mechanism |
| CN109733136A (en) * | 2019-01-14 | 2019-05-10 | 浙江理工大学 | A kind of imitative die Schwimmhaut crawl stroke formula propulsion robot |
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2020
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| US4527650A (en) * | 1983-03-18 | 1985-07-09 | Odetics, Inc. | Walking machine |
| CN104590419A (en) * | 2015-01-29 | 2015-05-06 | 吉林大学 | Walking mechanism like crab |
| CN108032919A (en) * | 2017-12-12 | 2018-05-15 | 重庆大学 | A kind of hopping robot with posture balancing adjusting mechanism |
| CN109733136A (en) * | 2019-01-14 | 2019-05-10 | 浙江理工大学 | A kind of imitative die Schwimmhaut crawl stroke formula propulsion robot |
Non-Patent Citations (1)
| Title |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108725624A (en) * | 2018-05-28 | 2018-11-02 | 佛山科学技术学院 | A kind of the multistep state running gear and its traveling method of polypody robot |
| CN108725624B (en) * | 2018-05-28 | 2023-06-20 | 佛山科学技术学院 | Multi-step walking device of multi-legged robot and walking method thereof |
| CN112265420A (en) * | 2020-11-15 | 2021-01-26 | 浙江工业大学 | Amphibious robot |
| CN112265421A (en) * | 2020-11-15 | 2021-01-26 | 浙江工业大学 | Gear-type transmission-based amphibious robot |
| CN112265420B (en) * | 2020-11-15 | 2024-02-23 | 浙江工业大学 | Amphibious robot |
| CN112265421B (en) * | 2020-11-15 | 2024-02-23 | 浙江工业大学 | Amphibious robot based on gear type transmission |
| CN114889749A (en) * | 2022-06-07 | 2022-08-12 | 浙江理工大学 | Water wave active adaptation overwater operation robot and water wave adaptation method thereof |
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Application publication date: 20200522 |
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