CN108818551A - A kind of Bionic Ant six-leg robot - Google Patents

Abstract

The invention proposes a bionic ant hexapod detection robot, belonging to the technical field of multi-degree-of-freedom motion detection robots, including left and right legs and a main body, both of which are composed of three legs, the connection methods of the left and right legs are exactly the same, and the mirror image is symmetrical when assembled . In the left and right feet, the single-leg multi-degree-of-freedom movement is simplified to a two-degree-of-freedom movement, which is realized by the cooperation of a set of two steering gears. The single-leg steering gears are linear actuation steering gears and rotary actuation steering gears respectively. The two-phase motion of leg swing and leg lift is driven, which realizes the decoupling of leg motion, simplifies the control scheme and improves the stability of control. At the same time, the hexapod gait control law is also designed to realize the movement of the robot on different grounds, and the camera on the main body is used to obtain more environmental information, and the detection effect is better. The invention has rich and varied motion modes, fast switching of multi-legged motion, efficient adjustment of gait and step distance, accurate and fast adjustment of motion direction, and realization of multi-directional motion.

Description

A Bionic Ant Hexapod Detection Robot

technical field

The invention belongs to a multi-legged motion detection robot and relates to a bionic ant hexapod detection robot.

Background technique

The structure and movement characteristics of creatures in nature have many designs that are superior to those of people, and many fruitful results have been achieved by imitating the shape and function of creatures, such as the invention of radar based on the principle of bat ultrasonic positioning; The principle discovered invented the early camouflage uniform; invented the vibrating gyroscope based on the wings of the fly. Ants are a very common creature in life, with excellent teamwork and athletic ability. At the same time, multi-legged arthropods such as spiders, locusts, and longhorns have attracted extensive attention from researchers all over the world due to their efficient foot movement performance. In the past decade, many universities and scientific research institutions have developed multi-legged walking robots with various driving modes. The movement of the foot requires the use of appropriate driving power. Motors, hydraulic actuators, etc. are common power output units. Micro-moving robots are limited by their size and the load of the whole machine, so it is necessary to use high-power density and light-weight actuators. Mechanism, and the use of micro steering gear as the actuator has the advantages of simple control, simple wiring, and precise angle control. However, as a mechanical component, there is inevitably a certain amount of space difference, and the angle range is limited from 0 to 180°, and the limit position is not easy. It reaches and is prone to shaking, so when using the steering gear, it is rarely used to move at its limit position. The steering gear is mainly used for some joints in the robot. stability.

The movement modes of modern robots generally have the following types:

(1) Wheeled movement: The DC geared motor directly drives the wheels to move, and the control method is simple, but its movement is limited by the environment, and it can exert better mobility in a good environment. In some special and complex terrains, its The movement efficiency is low, and even the corresponding maneuvers cannot be completed.

(2) Tracked motion: The advantage of crawler motion is that it has a larger contact area, can provide greater forward power, and has better adaptability to complex environments, but the disadvantage of crawler motion is that it has poor maneuverability , cannot respond quickly.

(3) Bipedal movement: Bipedal movement is characterized by imitating human gait and has better adaptability, but bipedal movement has higher requirements for the adjustment of the center of gravity, and it is difficult to balance stability and speed.

Contents of the invention

Aiming at the problems existing in the prior art, the present invention proposes a single micro-robot that completes the detection task in a complex environment, that is, a bionic ant hexapod detection robot, which makes full use of the characteristics of the ant's body structure and uses a simple and efficient six-legged detection robot. The foot structure realizes the two-phase movements of natural ant legs lifting and leg swinging, and the rhythmic control law of the hexapod is designed to complete the actions that are difficult for ordinary robots to complete in complex environments.

The bionic ant hexapod detection robot of the present invention includes a main body part and a hexapod part; the hexapod part includes a left tripod part and a right tripod part, which are respectively installed at the front, middle and rear positions on the left and right sides of the main body part.

Among them, the hexapod structure and installation method in the hexapod part are the same, and have a leg structure and steering gear A and steering gear B for driving the leg structure.

The steering gear A is fixed on the body through the steering gear bracket A, and the axis of the output shaft is arranged perpendicular to the horizontal plane. The steering gear B is installed on the steering gear bracket B, and the axis of the output shaft is perpendicular to the axis of the output shaft of the steering gear A. The steering gear bracket B is installed on the output shaft of the driving steering gear A through the connecting end.

The front end of the leg structure is used for support, and the end is hinged to the steering gear bracket B through a hinged platform. The middle section of the leg structure is fixed to the output shaft of the steering gear B through two connecting rods whose ends are hinged. Therefore, by controlling the steering gear A, the leg structure can be realized to rotate around the axis of the output shaft of the steering gear A, and then the leg structure can swing back and forth; by controlling the steering gear B, the leg structure can be rotated around the axis of the hinge axis of itself and the steering gear bracket B , and then realize the lifting and lowering of the leg structure.

During motion control, divide the six legs into two groups, the right forefoot and rear foot of the main body and the left middle foot form a group, and the remaining three legs form a group. During each exercise, firstly control the steering gear B in one group of tripods to lift the leg structure up to the same height, and then control the steering gear A in the other group of tripods to drive the leg structure to rotate backwards at an equal angle, and then the first group The three-legged servo lowers the leg structure until the supporting foot touches the ground, at which point a forward movement is completed; then, control the second group of three-legged servo B to drive the leg structure up to an equal angle, and then control the second group of three-legged The steering gear A in the center drives the leg structure to rotate forward by the same angle, and returns to the initial position, and then controls the steering gear A in the first group of tripods to rotate backward by the same angle to complete a forward movement; a set of actions is completed at this point; then control The robot performs the same action, and so on. Curved walking can also be realized by adjusting the rotation angle of the steering gear A in the two groups of tripods.

The advantages of the present invention are:

(1) The bionic ant hexapod detection robot of the present invention has a single-leg original mechanical structure with two degrees of freedom, and the structure is simple and reliable;

(2) The bionic ant hexapod detection robot of the present invention has a rich movement gait, which makes the robot have strong adaptability in complex terrain environments, and achieves multiple purposes of overcoming obstacles, crossing ravines, turning and changing directions , strong environmental adaptability;

(3) The bionic ant hexapod detection robot of the present invention adopts a set of steering gears to drive the single-leg movement, which overcomes the coupling problem of leg motions, decouples the motion of the legs to two steering gears for control, and realizes Simple, precise control.

(4) The bionic ant hexapod detection robot of the present invention is smaller in volume, lower in power consumption and more ingenious in structural design than traditional multi-legged robots. The hexapod structure with diversified gaits can realize the adjustment of various postures of the body, equipped with a micro camera, and can perform tasks in more complex and narrow spaces.

(5) The bionic ant hexapod detection robot of the present invention has a hexapod structure with diversified gaits, which can realize the adjustment of various postures of the body, and is equipped with a miniature camera, which can perform tasks in more complex and narrow spaces.

Description of drawings

Fig. 1 is a partial three-dimensional exploded view of the bionic ant hexapod detection robot of the present invention;

Fig. 2 is the overall structural assembly diagram of the bionic ant hexapod detection robot of the present invention;

Fig. 3 is a structural schematic diagram of the upper part of the head in the bionic ant hexapod detection robot of the present invention;

Fig. 4 is a structural schematic diagram of the lower part of the head in the bionic ant hexapod detection robot of the present invention;

Fig. 5 is a schematic diagram of the body skeleton structure in the bionic ant hexapod detection robot of the present invention

Fig. 6 is a structural schematic diagram of the lower part of the tail in the bionic ant hexapod detection robot of the present invention;

Fig. 7 is a schematic structural diagram of the steering gear bracket A in the bionic ant hexapod detection robot of the present invention;

Fig. 8 is a schematic diagram of the structure of the steering gear bracket B in the bionic ant hexapod detection robot of the present invention.

In the picture:

1-Main body part 2-Hexapod part 3-Camera

101-head 102-body 103-tail

101a-camera head mounting hole 101b-camera support fixing slot 101c-body fixing head

102a-head mount 102b-tail fixing hole 102c-steering gear bracket fixing hole

102d-Fixing hole for battery box 103a-Installing slot for image transmission equipment 103b-Connecting hole for body

201-forefoot 202-middle foot 203-rear foot

204-Steering gear A 205-Steering gear B 206-Steering gear bracket A

207-Steering gear bracket B 208-Connecting rod A 209-Connecting rod B

210-leg structure 211-lug 207a-beam

207b-support plate

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings.

The bionic ant hexapod detection robot of the present invention includes a main body part 1 and a hexapod part 2, as shown in FIG. 1 .

The main body part 1 includes a head 101 , a body 102 and a tail 103 . Wherein, the head 101 is divided into upper and lower parts; the front end of the upper part of the head 101 is designed with a camera head installation hole 101a, and the camera head is arranged inside it to realize the positioning of the camera 3 heads, as shown in Figure 3; The lower part of the part 101 is designed with a camera support fixing groove 101b, which clamps the camera support inside to realize the fixation of the camera 3 support, as shown in FIG. 4 . The upper part and the lower part of the head 101 are connected and fixed by M2 bolts passing through the screw fixing holes in the circumferential direction to form the integral head 101 . The end of the head 101 is designed with a body fixing head 101c for realizing the connection between the head 101 and the body 102 .

The body 102 is divided into two parts, the body skeleton and the body cover. As shown in Figure 5, the front end of the skeleton part of the body has a head mounting seat 102a, and M2.5 bolts are used to cooperate with the body fixing head 101c through the head mounting seat 102a to realize the fixing between the head 101 and the body 102; The head pitch angle can be adjusted by opening the bolt. The end of the body frame is designed with a tail fixing hole 102b for realizing the connection between the body 102 and the tail. The body frame is also designed with a steering gear bracket fixing hole 102c, a battery box fixing hole 102d, and a main control board limiting groove; The fixing on the main control board is used to insert and install the main control board in the limit slot of the main control board, and realize the positioning of the main control board. The body cover realizes the protection of the inner parts of the body 102 by being installed on the top of the body frame. The above-mentioned battery box is a frame structure, located at the bottom of the body 102, with batteries inside, and connected to the body through M2.5 bolts.

Tail 103 is divided into upper and lower parts. Among them, the bottom part of the lower part is designed with a picture transmission equipment installation groove 103a, which is used to install the picture transmission equipment; a body connection hole 103b is also designed, as shown in Figure 6, an M2.5 bolt passes through the body connection hole 103b and the tail fixing hole 102b The tail part 103 and the body 102 are fixed by cooperating between them; the upper part and the lower part are connected by M2 bolts through the connecting holes in the circumferential direction to form the whole tail part 103.

The six-legged part 2 includes a left three-legged part and a right three-legged part, respectively mounted on the left and right sides of the body 102 of the main body part 1 . The left three-legged part and the right three-legged part are both composed of a forefoot 201, a middle foot 202 and a rear foot 203; they are respectively installed at symmetrical positions on the left and right sides of the front, middle and rear of the body 102, as shown in FIG. 2 .

The front foot 201, the middle foot 202 and the rear foot 203 have the same structure, and all include a steering gear A204, a steering gear B205, a steering gear bracket A206, a steering gear bracket B207, a connecting rod A208, a connecting rod B209 and a leg structure 210. Among them, the steering gear bracket A206 is a plate-shaped frame structure, which is set parallel to the horizontal plane, as shown in Figure 7; the end of the steering gear bracket A206 is designed with a lug 211, and the M2 screw passes through the lug 211 and the corresponding position of the steering gear bracket on the body frame. A206 fixing hole realizes the connection between the steering gear bracket A206 and the body frame; and a positioning groove is designed at the connection position of the lug 211 on the side of the body frame. When connecting the lug 211, the lug 211 is snapped into the positioning groove and then connected , and then realize the front and rear swing limitation of the steering gear bracket A206 through the positioning slot. The output shaft of the steering gear A204 is set vertically, and is fixed on the steering gear bracket A206 by M2 bolts. The above-mentioned steering gear bracket A is fixed to the body frame by screws through the steering gear bracket fixing holes 102c at the corresponding positions on the body frame, so as to realize the connection between the hexapod 2 and the body 102 .

The steering gear bracket B207 is composed of a beam 207a and a support plate 207b. As shown in FIG. 8, the support plate 207b connects with the front end of the beam 207a to form an L-shaped structure. The end of the crossbeam 207a is designed with a mounting hole, and the mounting hole is designed with internal teeth, which are coupled with the rudder teeth of the steering gear A204 through the internal teeth, and the two are fixed by M1.5 screws, so that the steering gear bracket B207 has the ability to rotate around the vertical direction. degrees of freedom. The output shaft of the steering gear B205 is set parallel to the axis of the output shaft of the steering gear A204, and the movement directions are perpendicular to each other (one moves linearly along the longitudinal axis, and the other rotates around the longitudinal axis); the steering gear B205 is fixed on the steering gear bracket B207 by M1.5 bolts on the support plate 207b.

The leg structure 210 is an L-shaped rod-shaped structure, which is divided into three sections, so that the end to the foot end are sections A to C; the angle between section A and section B is 142.75°; the section between section B and section C is The angle is 101.03°; the end of the C end has a protruding part 210, which acts as a supporting foot. The output end of the connecting rod A208 is hinged with the middle part of the B section, and the input end is hinged with the output end of the connecting rod B209. The above-mentioned leg structure, connecting rod A208 and connecting rod B209 are coplanar, and are arranged perpendicular to the horizontal plane; wherein, the end of the leg structure 210 has a hinged platform, which is hinged to the middle part of the crossbeam 207a of the steering gear bracket B207 through the hinged platform; the input of the connecting rod B209 The end is coaxially fixed with the output shaft of the steering gear B205. Thus, by controlling the steering gear A204, the rotational movement of the leg structure 210 around the output shaft axis of the steering gear A204 can be realized, thereby realizing the front and rear swing of the leg structure 210; by controlling the steering gear B205, the leg structure 210 can be hinged around its own end with the steering gear bracket B207 The shaft axis rotates, thereby realizing the lifting and lowering of the leg structure 210 .

The battery inside the body 102 is connected to the steering gear A204, the steering gear B205, and the main control board through wires, and is connected to the camera through the wiring hole provided on the head 101 to realize power supply for each device. The battery uses a lithium battery with a 7.4V output, and the lithium battery stabilizes the voltage to a working voltage of 5V through a voltage regulator module. The main control board is a single-chip microcomputer, preferably an arduino single-chip microcomputer. Both the steering gear A204 and the steering gear B205 are connected to the main control board through wires, and the rotation of the steering gear A204 and the linear motion of the steering gear B205 are controlled by the main control board. In the present invention, a wireless module is also provided in the body 102 to realize the communication between the bionic ant hexapod detection robot and the host computer, and further realize the remote control of the host computer. In the present invention, the camera preferably adopts a wireless camera, the main body of the wireless camera is placed in the head, and the data transmission module of the wireless camera is placed in the tail, so that the overall structure of the bionic ant hexapod detection robot is more balanced; through the bionic ant six The multi-degree-of-freedom stable movement of the foot detection robot monomer makes the shooting position of the wireless camera wider and fully achieves the purpose of image collection.

In order to improve the stability of the ant robot during the movement, the hexapods are divided into two groups, that is, the right forefoot and rear foot of the body structure form a group with the left middle foot of the body structure, and the remaining three legs form a group, respectively. The first set of three-legged and the second set of three-legged. During each movement, the three legs in one group make corresponding movements at the same time; the movement process is:

First, control the three-legged steering gear B205 to lift the leg structure up to the same height. At this time, the overall weight of the ant is evenly distributed on the other group of three-legged legs that are not moving. The raised three-legged middle steering gear B205 only needs to overcome The gravity of the single leg structure 1 is enough. After the steering gear B205 in the first group of tripods raises the leg structure 210, control the steering gear A204 in the second group of tripods to drive the leg structure 210 to rotate backward at an equal angle, and then the first group of three-legged steering gears B205 will The leg structure 210 is put down until the supporting foot touches the ground. At this time, the bionic ant hexapod detection robot moves forward for a certain distance as a whole; control the steering gear B205 in the second group of three legs to drive the leg structure 210 to lift up at an equal angle, and then control the second The steering gear A204 in the second group of tripods drives the leg structure 210 to rotate forward by the same angle and returns to the initial position, and then controls the steering gear A204 in the first group of tripods to drive the leg structure 210 to rotate backwards by the same distance, bionic ant six Foot detection robot moves forward a certain distance. At this time, a set of actions is completed, and the ant moves forward for a certain distance. By reciprocating in this way, the bionic ant hexapod detection robot can move forward; and by adjusting the rotation angle of the steering gear A204 in the two groups of three legs, different motion effects can be realized. For example, if the steering gear A204 in the two groups of tripods has the same rotation angle, the motion state is the same as above, and the ant will go straight forward at this time; Curve walk.

Claims (6)

1. A bionic ant hexapod detection robot, including a main body part and a hexapod part; the hexapod part includes a left tripod part and a right tripod part, which are respectively installed in the front, middle and rear of the left and right sides of the main body part Position; It is characterized in that: the hexapod structure and installation method are the same, with a leg structure and steering gear A and steering gear B for driving the leg structure; The steering gear A is fixed on the body through the steering gear bracket A, and the output shaft axis is vertical to the horizontal plane; the steering gear B is installed on the steering gear bracket B, and the output shaft axis is perpendicular to the steering gear A output shaft axis; the steering gear bracket B Installed on the output shaft of the driving steering gear A through the connecting end; The front end of the leg structure is used for support, and the end is hinged between the hinged platform and the steering gear bracket B; the middle section of the leg structure is fixed to the output shaft of the steering gear B through two connecting rods hinged at the ends; thus, it can be realized by controlling the steering gear A The leg structure rotates around the axis of the output shaft of the steering gear A, and then realizes the front and rear swing of the leg structure; by controlling the steering gear B, the leg structure rotates around the axis of the hinge axis between itself and the steering gear bracket B, and then realizes the lifting of the leg structure. lay down. 2. A kind of bionic ant hexapod detection robot as claimed in claim 1, is characterized in that: the main body part comprises head, body and tail; Wherein, camera is installed on the head; Picture transmission equipment is installed in the tail; Body Mount the hexapods on both sides. 3. A bionic ant hexapod detection robot as claimed in claim 2, characterized in that: the main control board is installed in the body, and the battery is carried on the bottom through the battery box. 4. A bionic ant hexapod detection robot as claimed in claim 1, characterized in that: the leg structure is divided into three sections, so that the end to the foot end is respectively A～C sections; wherein A section and B section, B section It forms an angle with segment C; the end of segment C has a protruding part as a supporting foot. 5. A kind of bionic ant hexapod detection robot as claimed in claim 1, is characterized in that: during motion control, hexapod is divided into two groups, and main body part right front foot, rear foot and left middle foot form a group , and the remaining three legs form a group; each movement, first control the steering gear B in one group of three legs to lift the leg structure up to the same height, and then control the steering gear A in the other group of three legs to drive the leg structure to Then turn the same angle, and then the first group of three-legged servos will lower the leg structure until the supporting foot touches the ground, and then complete a forward movement; then, control the second group of three-legged servo B to drive the leg structure to lift up, etc. Then control the steering gear A in the second group of tripods to drive the leg structure to rotate forward by the same angle, return to the initial position, and then control the steering gear A in the first group of tripods to rotate backwards by the same angle to complete a forward movement ; So far complete a set of movements; then control two groups of tripods to perform the same movements, and so on. 6. A kind of bionic ant hexapod detection robot as claimed in claim 5, is characterized in that: adjust the rotation angle of steering gear A in two groups of three-legged, realize curve walking.