CN203094218U

CN203094218U - Bionic hexapod robot

Info

Publication number: CN203094218U
Application number: CN 201320014922
Authority: CN
Inventors: 管荣强
Original assignee: Individual
Current assignee: Individual
Priority date: 2013-01-12
Filing date: 2013-01-12
Publication date: 2013-07-31
Anticipated expiration: 2023-01-12

Abstract

A bionic hexapod robot is manufactured through imitation of flexible structure characteristics of a cockroach and has the advantages which human beings can not compare. The bionic hexapod robot can flexibly pass through a disorderly ruin and conduct works such as search and rescue. The bionic hexapod robot is small in size and the size of the bionic hexapod robot can be adjusted appropriately according to environments. Each foot has three degrees of freedom. The feet are driven by three steering engines and have 18 degrees of freedom in total, four gaits are adopted so that the gaits of the bionic hexapod robot are various, various and complex environments can be adapted, and even through the bionic hexapod robot is turned over, the bionic hexapod robot can move under the condition that work is not influenced.

Description

A kind of bionical six biped robots

Technical field

The utility model is a kind of robot field, is specifically related to a kind of bionical six biped robots.

Background technology

After disasters such as earthquake took place, the living space that the building that collapses causes was narrow and small, no lamp in the ruins, and the problems such as dangerous substance that may exist cause rescue worker and the search and rescue scope of rescuing dog to be confined to the surface, ruins.For unsettled building, rescue group's small action causes more large-area caving in probably.Meanwhile, rescue group's health and lives security presence huge risk.A lot of six biped robots are arranged at present, can move ahead, retreat, but in the complex environment in ruins,, just can not normally move ahead in case the space is narrow and small or overturning.Bionical six biped robots are copied cockroach structure feature flexibly exactly, has human incomparable advantage, for example can carry out the searching rescue task continuously, still can enter small space at unsafe conditionss such as dense smoke, big fire searches and rescues, can go deep into ruins and carry out life detection, be breakdown gang's contention valuable time.Its weight is little, can not cause that in the search and rescue process secondary caves in.

Summary of the invention

In order to overcome the robot obstacle that reason such as big and overturning can not normally be walked owing to volume in ruins, the utility model provides a kind of bio-robot.For reach the purpose that can take action flexibly in ruins, the utility model adopts following technical scheme: bio-robot also has the three couples foot that is symmetrically distributed to form by two layers of plastic up and down.Every foot structure all is the same, and three degree of freedom is arranged, and each degree of freedom is all driven by a steering wheel.6 steering wheels are housed between two circuit cards drive 6 foots, i.e. corresponding one first steering wheel (1) of each foot, it can drive sufficient arm and rotate with the free left rotation and right rotation of 180 degree, makes robot advance, retreat.Another second steering wheel (2), this steering wheel upwards epipodium arm of arc of ining succession, it can allow epipodium arm freedom rotate up and down, robot is reduced highly advance.Two copper posts are housed on second steering wheel (2), the copper post is fixing with first steering wheel (1) by bracing frame above the steering wheel, simultaneously second steering wheel (2) is connecting bracing frame below the steering wheel, and the lower support frame is installed on the base plate with screw, makes whole foot be subjected to first steering wheel (1) control.At the epipodium arm other end the 3rd steering wheel (3) is housed, it can allow down sufficient arm inwardly, outwards rotate, and so sufficient arm just can indentation in narrow and small place, does not also delay normal walking, thus very big limit dwindled robot and taken up space the space of shuttling back and forth flexibly.In addition, when in the robot traveling process during overturning, the epipodium arm and the junction of sufficient arm down, promptly the level and smooth place of the following sufficient arm on the 3rd steering wheel (3) top can be also as the foot of robot, allows robot walk upon one's hands and does not delay normal operation.

[0004]A kind of bionical six biped robots have 18 steering wheels, each foot all has first steering wheel (1), second steering wheel (2), the 3rd steering wheel (3), first steering wheel (1) is connected with circuit card (7), second steering wheel (2) is connected with base plate (8) and epipodium arm (5), and with first steering wheel (1) motion, the 3rd steering wheel (3) sufficient arm up and down links to each other.Its characteristics are: each foot of robot has three degree of freedom, rotate all around up and down, the upper arm and the underarm of foot all are sweeping, when the angle of second steering wheel (2), the 3rd steering wheel (3) hour can make sufficient arm roll up, and minimum that robot takes up space.On the other hand, the junction of foot arm can be regarded another foot (18) as when robot turns around, still can move ahead under the situation that robot stands upside down.

Description of drawings

In conjunction with the accompanying drawings the utility model is further specified:

Fig. 1 is the birds-eye view of robot, first foot (15), second foot (18), the 3rd foot (14), the 4th foot (17), the 5th foot (9), the 6th foot (16)

Fig. 2 is the front elevation of robot, second steering wheel (2), epipodium arm (4), following sufficient arm (5), circuit card (7), base plate (8), second foot (18).

Fig. 3 is the block diagram of robot, the 3rd steering wheel (3), circuit card (7), base plate (8).

Fig. 4 is the local figure of the foot of robot, first steering wheel (1), steering wheel (2), steering wheel (3), epipodium arm (4), following sufficient arm (5), lower support frame (10), copper post (11), upper support frame (12), screw (13)

The specific embodiment

The utility model implementation with reference to the accompanying drawings is described as follows: the utility model comprises 18 steering wheels, and sufficient up and down arm and last plastic flagstone and base plate, its walking manner have six kinds, first kind, and the tripodia gait; Second kind, the four-footed gait; The third, horizontal gait; The 4th kind, swivel gait.After robot starts, robot is kept straight on forward under first kind of situation, the following sufficient arm that the 3rd steering wheel (3) drives foot (15), (17), (9) lifts, and these three foots are rotated forward by second steering wheel (2), second steering wheel (2) rotates backward the arm of foot (18), (14), (16) simultaneously, and sufficient then arm (15), (17), (9) fall.Second steering wheel (2) drives sufficient arm rotates foot (14), (18), (16) forward, and by first steering wheel (1) foot (16) is fallen, and this moment, robot was finished to back.By first steering wheel (1) foot (16) is lifted again, second steering wheel (2) drives foot (15), (17), (9) is rotated backward, first steering wheel (1) drives the foot that will lift and falls then, the foot that falls lifts, make the foot that lifts go back to original position by second steering wheel (2) at last, finished for two steps and walked, as the circulation of walking forward of a robot.Under second kind of situation, keep straight on, preceding two foots lift under the driving of first steering wheel (1), by second steering wheel (2) these two foots are rotated forward again, four foots are rotated backward by second steering wheel (2) after when falling, make preceding two foots return to virgin state, two foots lift and turn to virgin state then, then are back two same programs of foot operation.Finish the step of advancing like this, so the cycle machine people can advance.Robot is laterally walked under the third situation, allowing foot (14), (16), (18) be driven by first steering wheel (1) earlier lifts, the underarm of foot (14) inwardly rotates suitable angle by the 3rd steering wheel (3), meanwhile sufficient arm outwards rotates equal angular under foot (16), (18), it is that fuselage moves right that the foot that does not lift is clockwise rotated by first steering wheel (1), these three foots fall, three foots move identical steps in addition, the circulation robot that goes down just can laterally be creeped to the right, and the steering wheel of in like manner creeping left is to counter-rotation.Under the 4th kind of situation, foot (14), (16), (18) are as supporting foot, the robot center is in the stabilized zone of gusseted, can not overturn, foot (15), (9), (17) stride backward, meanwhile, support foot to drive the rotation of body anticlockwise direction, each foot swings to end position and changes the support foot, supports the reciprocal robot of sufficient exchange cycles then and constantly rotatablely moves.When running into concavo-convex ground, can adopt robot horizontal gait that moving velocity is accelerated.Step when robot turns walking is the same with normal step.When running into narrow and small local time, robot is by first steering wheel (1), second steering wheel (2) control, and steering wheel suitably rotates, and makes foot be deflated state, and at this moment the robot volume is minimum can also normal walking.Robot can be crossed different obstacles, complex environment in the flexible adaptation ruins according to the different environment automatic compensation steering wheel anglecs of rotation.

Claims

1. bionical six biped robots have 18 steering wheels, each foot all has first steering wheel (1), second steering wheel (2), the 3rd steering wheel (3), first steering wheel (1) is connected with circuit card (7), second steering wheel (2) is connected with base plate (8) and epipodium arm (5), and move with first steering wheel (1), the 3rd steering wheel (3) sufficient arm up and down links to each other, its characteristics are: each foot of robot has three degree of freedom, before and after can be up and down, left-right rotation, the upper arm and the underarm of foot all are sweeping, when second steering wheel (2), the angle of the 3rd steering wheel (3) hour can make sufficient arm roll up, minimum that robot takes up space, on the other hand, the junction of foot arm can be regarded another foot (18) as when robot turns around, still can move ahead under the situation that robot stands upside down.