CN108818551B - Bionic ant six-foot detection robot - Google Patents
Bionic ant six-foot detection robot Download PDFInfo
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- CN108818551B CN108818551B CN201810694932.9A CN201810694932A CN108818551B CN 108818551 B CN108818551 B CN 108818551B CN 201810694932 A CN201810694932 A CN 201810694932A CN 108818551 B CN108818551 B CN 108818551B
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- steering engine
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- motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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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 provides a bionic ant six-foot detection robot, which belongs to the technical field of detection robots with multi-degree-of-freedom motion and comprises a left foot, a right foot and a main machine body, wherein the left foot and the right foot are both composed of three feet, the connection modes of the left foot and the right foot are completely the same, and the left foot and the right foot are in mirror symmetry during assembly. In controlling the foot, single leg multi freedom motion simplifies to two degree of freedom motions, utilizes the cooperation of a set of 2 steering engines to realize, and a set of steering engine of single leg is the straight line respectively and actuates the steering engine and the rotatory steering engine that actuates, and the drive is swung the leg and is lifted the double-phase motion of leg, has realized the decoupling zero of shank motion, simplifies the control scheme and has improved the stability of control. Meanwhile, a hexapod step state control law is designed, so that the robot can move on different grounds, more environmental information can be acquired by using a camera on the main body, and the detection effect is better. The invention has rich and various motion modes, rapid switching of multi-foot motion, efficient adjustment of gait and step pitch, accurate and rapid adjustment of motion direction and realization of multi-directional motion.
Description
Technical Field
The invention belongs to a multi-foot motion detection robot, and relates to a bionic ant six-foot detection robot.
Background
The structure and movement characteristics of living beings in nature are much better than the design of people, and a lot of fruitful results have been achieved by imitating the shape and the function of the living beings, for example, the radar is invented according to the principle of bat ultrasonic positioning; the early camouflage clothes are invented by utilizing the principle that butterflies are not easy to be found in florists; a vibrating gyroscope is invented according to yellow wings of flies. Ants are a living organism, and have excellent team cooperation ability and sports ability. Meanwhile, multi-legged arthropods such as spiders, locusts and longicorn are widely concerned by researchers all over the world due to efficient foot motion performance, and various colleges and scientific research institutions develop multi-legged walking robots with various driving modes in the last decade. The micro-motion robot has the advantages that the micro-motion robot is limited by the size and the load of the whole robot, an execution mechanism with high power density and light weight needs to be selected, and a micro steering engine is adopted as the execution mechanism, so that the micro-motion robot has the advantages of simple control, concise wiring and accurate angle control, but certain space difference cannot be avoided as a mechanical element, the angle range is limited by 0-180 degrees, the limit position is not easy to reach and is easy to shake, therefore, when the steering engine is used, the steering engine is rarely used for moving by utilizing the limit position, the steering engine is mainly used for overlapping joints in the robot, the moving angle is an intermediate angle of 0-180 degrees, and the stability of the motion is ensured.
The modern robot motion modes generally include the following modes:
(1) wheel type movement: the direct-current speed reduction motor directly drives the wheels to move, the control mode is simple, but the movement of the direct-current speed reduction motor is limited by the environment, the direct-current speed reduction motor can play a better role in maneuverability in a good environment, the movement efficiency of the direct-current speed reduction motor is lower in some special complex terrains, and even the corresponding maneuverability cannot be finished.
(2) The crawler-type motion: the crawler-type motion has the advantages of larger contact area, capability of providing larger advancing power and better adaptability to complex environments, but the crawler-type motion has the disadvantages of poor maneuverability and incapability of making quick response.
(3) The motion of both feet: the biped sports have the characteristics of simulating the human sports gait and having better adaptability, but the biped sports have higher requirements on the adjustment of the gravity center, and the stability and the speed are difficult to be considered at the same time.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a micro robot monomer for completing a detection task in a complex environment, namely a bionic ant six-foot detection robot, which fully utilizes the characteristics of an ant body structure, realizes two-phase actions of lifting and swinging legs of natural ants by using a simple and efficient six-foot structure, designs a six-foot rhythmicity control law and completes actions which are difficult to complete by a common robot in the complex environment.
The invention relates to a bionic ant six-foot detection robot, which comprises a main machine body part and six-foot parts; the six-foot part comprises a left three-foot part and a right three-foot part which are respectively arranged at the front, middle and rear positions of the left side and the right side of the main body part.
The six-foot structure in the six-foot part is the same as the installation mode, and the six-foot part is provided with a leg structure, and a steering engine A and a steering engine B which are used for driving the leg structure.
The steering engine A is fixed on the body through a steering engine support A, and the axis of the output shaft is perpendicular to the horizontal plane. The steering engine B is arranged on the steering engine bracket B, and the axis of the output shaft is perpendicular to the axis of the output shaft of the steering engine A. The steering engine bracket B is arranged on an output shaft of the driving steering engine A through a connecting end.
The front end of the leg structure is used for supporting, and the tail end of the leg structure is hinged with the steering engine bracket B through a hinge joint. The middle section of the leg structure is fixed with an output shaft of the steering engine B through two connecting rods hinged to the end parts of the leg structure. Therefore, the leg structure can rotate around the axis of the output shaft of the steering engine A by controlling the steering engine A, and the leg structure can swing back and forth; the leg structure rotates around the axis of the hinge shaft of the leg structure and the hinge shaft of the steering engine bracket B by controlling the steering engine B, and the leg structure is lifted up and put down.
When in exercise control, the six feet are divided into two groups, the front foot, the rear foot and the middle foot on the left side of the main body part form one group, and the remaining three feet form one group. When the robot moves each time, firstly, the steering engines B in one group of the three feet are controlled to lift the leg structure upwards at the same height, then the steering engines A in the other group of the three feet are controlled to drive the leg structure to rotate backwards at the same angle, then the first group of the three feet steering engines put down the leg structure until the supporting feet touch the ground, and at the moment, one forward movement is completed; then, controlling a steering engine B in the second group of three feet to drive the leg structure to lift upwards at an equal angle, then controlling a steering engine A in the second group of three feet to drive the leg structure to rotate forwards at the same height and return to the initial position, and then controlling the steering engine A in the first group of three feet to rotate backwards at an equal angle to complete one-time forward movement; thus, a group of actions is completed; the robot is then controlled to perform the same actions, and so on. The curve walking can be realized by adjusting the rotation angle of the steering engine A in the two groups of the tripodia.
The invention has the advantages that:
(1) the bionic ant six-foot detection robot has a single-leg original mechanical structure with two degrees of freedom, and is simple in structure and high in reliability;
(2) the bionic ant six-foot detection robot has rich movement gaits, so that the robot has strong adaptability in a complex terrain environment, multiple purposes of obstacle crossing, gully crossing, turning and reversing are achieved, and the environmental adaptability is strong;
(3) according to the bionic ant six-foot detection robot, the mode that a group of steering engines drives a single leg to move is adopted, the problem of coupling of leg movement is solved, the leg movement is decoupled to the two steering engines to be controlled, the implementation mode is simple, and the control is accurate.
(4) Compared with the traditional multi-foot robot, the bionic ant six-foot detection robot has the advantages of smaller volume, lower power consumption and more ingenious structural design. The diversified hexapod structure of gait can realize the adjustment of each gesture of organism, carries on miniature camera head, can carry out the task in more complicated narrow and small space.
(5) The bionic ant hexapod detection robot has a hexapod structure with diversified gaits, can realize the adjustment of each posture of a machine body, is provided with a miniature camera, and can execute tasks in a more complicated narrow space.
Drawings
Fig. 1 is a partial three-dimensional explosion diagram of a bionic ant six-foot detection robot of the invention;
fig. 2 is an assembly view of the overall structure of the bionic ant six-foot detection robot of the invention;
fig. 3 is a schematic structural view of the upper part of the head of the bionic ant six-foot detection robot of the invention;
fig. 4 is a schematic structural view of the lower part of the head of the bionic ant six-foot detection robot;
FIG. 5 is a schematic diagram of the skeleton structure of the body of the bionic ant six-foot detection robot
FIG. 6 is a schematic view of the lower half structure of the middle tail of the bionic ant six-foot detection robot of the present invention;
FIG. 7 is a schematic structural view of a steering engine bracket A in the bionic ant six-foot detection robot of the invention;
fig. 8 is a schematic structural view of a steering engine bracket B in the bionic ant six-foot detection robot.
In the figure:
1-main body part 2-six feet part 3-camera
101-head 102-body 103-tail
101 a-camera head part mounting hole 101 b-camera support fixing groove 101 c-body fixing head
102 a-head mounting seat 102 b-tail fixing hole 102 c-steering engine bracket fixing hole
102 d-battery case fixing hole 103 a-image transmission device mounting groove 103 b-body connecting hole
201-forefoot 202-midfoot 203-hind foot
204-steering engine A205-steering engine B206-steering engine bracket A
207-steering engine bracket B208-connecting rod A209-connecting rod B
210-leg Structure 211-lugs 207 a-Beam
207 b-support plate
Detailed Description
The present invention will be described in further detail below with reference to the accompanying drawings.
The bionic ant six-foot detection robot comprises a main body part 1 and six-foot parts 2, and is shown in figure 1.
The main body part 1 includes a head part 101, a body part 102 and a tail part 103. Wherein, the head 101 is divided into an upper part structure and a lower part structure; a camera head mounting hole 101a is designed at the front end of the upper part of the head 101, and a camera head is arranged in the camera head to realize the positioning of the head of the camera 3, as shown in fig. 3; the lower part of the head 101 is designed with a camera support fixing groove 101b, the inside of which is tightly clamped with the camera support to realize the fixing of the camera 3 support, as shown in fig. 4. The upper portion and the lower portion of the head 101 are connected and fixed by M2 bolts through screw fixing holes in the circumferential direction, thereby forming the integral head 101. The end of the head 101 is designed with a body fixing head 101c for connecting the head 101 and the body 102.
The body 102 is divided into two parts, a body skeleton and a body cover. As shown in fig. 5, the front end of the body skeleton part is provided with a head mounting seat 102a, and the head 101 and the body 102 are fixed by an M2.5 bolt through the cooperation between the head mounting seat 102a and the body fixing head 101 c; and the pitch angle of the head can be adjusted by loosening the bolts. The tail end of the body skeleton is provided with a tail fixing hole 102b for realizing the connection between the body 102 and the tail. A steering engine bracket fixing hole 102c, a battery box fixing hole 102d and a main control panel limiting groove are further formed in the body framework; the steering engine bracket fixing hole 102c and the battery box fixing hole 102d are respectively used for fixing the steering engine bracket and the battery box on the body framework; the main control board limiting groove is used for embedding and installing the main control board and positioning the main control board. The body cover protects the internal components of the body 102 by being mounted on top of the body armature. The battery box is of a frame structure, is located at the bottom of the body 102, carries a battery inside, and is connected with the body through an M2.5 bolt.
The tail 103 is divided into an upper part and a lower part. Wherein, the bottom of the lower part is provided with a drawing transmission equipment installation groove 103a for installing drawing transmission equipment; a body connecting hole 103b is further designed, and as shown in fig. 6, the tail part 103 and the body 102 are fixed by matching an M2.5 bolt with the tail part fixing hole 102b through the body connecting hole 103 b; the upper part and the lower part are connected by M2 bolts through connecting holes on the circumference to form an integral tail part 103.
The hexapod 2 includes left and right tripods, which are respectively installed on the left and right sides of the body 102 of the main body 1. The left three-foot part and the right three-foot part are respectively composed of a front foot 201, a middle foot 202 and a rear foot 203; are respectively arranged at the left and right symmetrical positions of the front part, the middle part and the rear part of the body 102, as shown in figure 2.
The front foot 201, the middle foot 202 and the rear foot 203 are identical in structure and respectively comprise a steering engine A204, a steering engine B205, a steering engine support A206, a steering engine support B207, a connecting rod A208, a connecting rod B209 and a leg structure 210. The steering engine bracket a206 is a plate-shaped frame structure and is arranged parallel to the horizontal plane, as shown in fig. 7; a lug 211 is arranged at the tail end of the steering engine bracket A206, and an M2 screw passes through the lug 211 and a steering engine bracket A206 fixing hole at a corresponding position on the body framework to realize the connection between the steering engine bracket A206 and the body framework; and the body skeleton lateral part lug 211 hookup location design has the constant head tank, when connecting lug 211, connects behind the lug 211 card income constant head tank, and then realizes steering wheel support A206 swing restriction from beginning to end through the constant head tank. The steering engine A204 output shaft is arranged in the vertical direction and is fixed on the steering engine support A206 through an M2 bolt. The steering engine bracket A is fixed with the body framework through screws through steering engine bracket fixing holes 102c in corresponding positions on the body framework, and connection between the hexapod part 2 and the body 102 is achieved.
The steering engine bracket B207 is composed of a cross beam 207a and a support plate 207B, and as shown in fig. 8, the support plate 207B is connected to the front end of the cross beam 207a to form an L-shaped structure. The tail end of the cross beam 207a is provided with a mounting hole, internal teeth are designed in the mounting hole, the internal teeth are coupled with rudder teeth of the steering engine A204, and the internal teeth and the rudder teeth are fixed through M1.5 screws, so that the steering engine support B207 has freedom degree of rotation around the vertical direction. An output shaft of the steering engine B205 is arranged in parallel with an output shaft of the steering engine A204, and the motion directions are mutually vertical (one is in linear motion along the longitudinal axis, and the other is in rotation around the longitudinal axis); steering engine B205 is fixed on supporting plate 207B of steering engine support B207 through M1.5 bolt.
The leg structure 210 is an L-shaped rod structure and is divided into three sections, wherein the tail end to the foot end of the leg structure are respectively an a section, a B section and a C section; wherein the included angle between the section A and the section B is 142.75 degrees; the included angle between the section B and the section C is 101.03 degrees; the C-end has an outwardly projecting portion 210 that acts as a support foot. The output end of the connecting rod A208 is hinged with the middle part of the section B, and the input end is hinged with the output end of the connecting rod B209. The leg structure, link a208 and link B209 are coplanar and disposed perpendicular to the horizontal plane; wherein, the tail end of the leg structure 210 is provided with a hinge table which is hinged to the middle part of the beam 207a of the steering engine bracket B207; the input end of the connecting rod B209 is coaxially fixed with the output shaft of the steering engine B205. Therefore, the leg structure 210 can rotate around the axis of the output shaft of the steering engine A204 by controlling the steering engine A204, and the leg structure 210 can swing back and forth; the leg structure 210 rotates around the axis of the hinge shaft between the tail end of the leg structure and the steering engine bracket B207 by controlling the steering engine B205, and then the leg structure 210 is lifted and put down.
The battery inside the body 102 is connected with the steering engine A204, the steering engine B205 and the main control board through wires, and is connected with the camera through a wiring hole formed in the head part 101, so that power supply of all devices is realized. The battery adopts the lithium cell of 7.4V output, and the lithium cell passes through steady voltage step-down module, with voltage stabilization to 5V's operating voltage. The main control board is a single chip microcomputer, preferably an arduino single chip microcomputer, the steering engine A204 and the steering engine B205 are both connected with the main control board through wires, and the rotation of the steering engine A204 and the linear motion of the steering engine B205 are controlled through the main control board. In the invention, a wireless module is also arranged in the body 102, so that the bionic ant six-foot detection robot monomer is communicated with an upper computer, and the remote control of the upper computer is further realized. The camera preferably adopts a wireless camera, the main body of the wireless camera is arranged in the head, and the data transmission module of the wireless camera is arranged in the tail, so that the integral structural parts of the bionic ant six-foot detection robot are more balanced; through the multi-degree-of-freedom stable movement of the bionic ant six-foot detection robot monomer, the shooting direction of the wireless camera is widened, and the purpose of acquiring images is fully achieved.
In order to improve the stability of the ant robot in the movement process, the six feet are divided into two groups, namely, the front foot and the rear foot on the right side of the body structure and the middle foot on the left side of the body structure form one group, and the remaining three feet form one group which respectively form a first group of three feet and a second group of three feet. When the robot moves every time, the three feet in one group simultaneously move correspondingly; the process of the movement is as follows:
firstly, the steering engines B205 in the three feet are controlled to lift the leg structure upwards to the same height, at the moment, the whole weight of the ants is uniformly distributed on the other group of three feet which do not act, and the lifted steering engines B205 in the three feet only need to overcome the gravity of the single leg structure 1. After the leg structure 210 is lifted up by the steering engine B205 in the first group of three feet, the steering engine A204 in the second group of three feet is controlled to drive the leg structure 210 to rotate backwards at equal angles, then the leg structure 210 is put down by the first group of three-foot steering engines B205 until the supporting feet touch the ground, and at the moment, the whole bionic ant six-foot detection robot moves forwards for a certain distance; and controlling a steering engine B205 in the second group of three feet to drive the leg structure 210 to be lifted upwards at the same height, then controlling a steering engine A204 in the second group of three feet to drive the leg structure 210 to rotate forwards by the same angle and return to the initial position, then controlling the steering engine A204 in the first group of three feet to drive the leg structure 210 to rotate backwards by the same distance, and moving the bionic ant six-foot detection robot forwards by a certain distance. At this time, a group of actions is completed, and the ants move forward for a certain distance. The bionic ant six-foot detection robot can move forwards by reciprocating in this way; and the rotation angle of the steering engine A204 in the two groups of three feet is adjusted, so that different motion effects can be realized. Such as: the steering engines A204 in the two groups of three feet rotate at the same angle, the motion state is the same as the above, and the ants move forwards and straightly; if the steering engines A204 in the two groups of three-feet are controlled to rotate at different angles, the bionic ant six-foot detection robot walks in a curve.
Claims (3)
1. A bionic ant six-foot detection robot comprises a main body part and six-foot parts; the six-foot part comprises three feet on the left side
The left three-foot part and the right three-foot part respectively comprise a front foot, a middle foot and a rear foot, and are respectively arranged at the front, middle and rear positions of the left and right symmetrical sides of the main body part; the method is characterized in that: the main body part comprises a head part, a body part and a tail part; wherein, the head is provided with a camera; the tail part is internally provided with a picture transmission device; six-foot parts are arranged on two sides of the body;
the body is divided into a body framework and a body cover; the front end of the body framework part is provided with a head mounting seat, and the head mounting seat is matched and connected with a body fixing head through a bolt to realize the fixation between the head and the body; the pitching angle of the head part is adjustable; the tail end of the body framework is provided with a tail fixing hole to realize the connection between the body and the tail;
a steering engine bracket fixing hole, a battery box fixing hole and a main control panel limiting groove are further formed in the body framework; the steering engine support fixing hole and the battery box fixing hole are respectively used for fixing the steering engine support and the battery box on the body framework; the main control board is embedded and installed in the main control board limiting groove, and the positioning of the main control board is realized; the body cover is arranged at the top of the body framework to protect the internal parts of the body;
the front foot, the middle foot and the rear foot have the same structure and respectively comprise a steering engine A, a steering engine B, a steering engine bracket A, a steering engine bracket B, a connecting rod A, a connecting rod B and leg structures; the steering engine bracket A is of a plate-shaped frame structure and is arranged in parallel with a horizontal plane; the tail end of the steering engine support A is provided with a lug, and a screw passes through the lug and a steering engine support fixing hole at a corresponding position on the body framework to realize the connection between the steering engine support A and the body framework; positioning grooves are formed in the connecting positions of the lugs at the side parts of the body framework, when the lugs are connected, the lugs are clamped into the positioning grooves and then connected, and therefore the limitation of front and back swing of the steering engine support A is achieved through the positioning grooves; an output shaft of the steering engine A is arranged in the vertical direction and is fixed on a steering engine bracket A through a bolt; the steering engine bracket A is fixed with the body framework through a screw through a steering engine bracket fixing hole in a corresponding position on the body framework, so that the connection between the hexapod part and the body is realized;
the steering engine support B is composed of a cross beam and a support plate, and the support plate is connected with the front end of the cross beam to form an L-shaped structure; the tail end of the cross beam is provided with a mounting hole, internal teeth are designed in the mounting hole and are coupled with the steering gear of the steering engine A through the internal teeth, and the internal teeth and the steering gear A are fixed through screws, so that the steering engine bracket B has freedom degree of rotation around the vertical direction; an output shaft of the steering engine B is perpendicular to the axis of an output shaft of the steering engine A, and the motion directions are perpendicular to each other; the steering engine B is fixed on a supporting plate of the steering engine bracket B through a bolt; the leg structure is divided into three sections, and the tail end to the foot end of the leg structure are respectively an A section, a B section and a C section; wherein, the section A and the section B form an included angle between the section B and the section C; the end part of the section C is provided with an outward protruding part which is used as a supporting foot;
the output end of the connecting rod A is hinged with the middle part of the section B, and the input end of the connecting rod A is hinged with the output end of the connecting rod B; the leg structure, the connecting rod A and the connecting rod B are coplanar and are arranged perpendicular to the horizontal plane; the tail end of the leg structure is provided with a hinge table which is hinged to the middle of a cross beam of the steering engine bracket B; the input end of the connecting rod B and the output shaft of the steering engine B are coaxially fixed; the leg structure is controlled to rotate around the axis of an output shaft of the steering engine A by controlling the steering engine A, so that the leg structure swings back and forth; the leg structure rotates around the tail end of the leg structure and the axis of a hinged shaft of the steering engine bracket B by controlling the steering engine B, so that the leg structure is lifted up and put down;
the battery in the body is connected with the steering engine A, the steering engine B and the main control board through wires and is connected with the camera through a wiring hole formed in the head part, so that power supply of all equipment is realized; the main control board is a single chip microcomputer, the steering engine A and the steering engine B are both connected with the main control board through wires, and the rotation of the steering engine A and the linear motion of the steering engine B are controlled through the main control board; the body is provided with the wireless module, so that the bionic ant six-foot detection robot monomer is communicated with the upper computer, and the remote control of the upper computer is further realized.
2. The bionic ant six-foot detection robot as claimed in claim 1, wherein: during motion control, the six feet are divided into two groups, the right front foot, the right rear foot and the left middle foot of the main body part form a first group, and the remaining three feet form a second group; when the robot moves each time, firstly, the steering engines B in the first group of three feet are controlled to lift the leg structures upwards at the same height, then the steering engines A in the second group of three feet are controlled to drive the leg structures to rotate backwards at the same angle, then the leg structures are placed down by the first group of three-foot steering engines B until the supporting feet touch the ground, and at the moment, one-time forward movement is completed; then, controlling a steering engine B in the second group of three feet to drive the leg structure to be lifted upwards at the same height, then controlling a steering engine A in the second group of three feet to drive the leg structure to rotate forwards at the same angle and return to the initial position, and controlling the steering engine A in the first group of three feet to rotate backwards at the same angle to complete one-time forward movement; thus, a group of actions is completed; then the two groups of three feet are controlled to perform the same action, and the operation is repeated.
3. The bionic ant six-foot detection robot as claimed in claim 2, wherein: and the rotation angles of the steering engines A in the two groups of three feet are adjusted to realize curve walking.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810694932.9A CN108818551B (en) | 2018-06-29 | 2018-06-29 | Bionic ant six-foot detection robot |
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| CN201810694932.9A CN108818551B (en) | 2018-06-29 | 2018-06-29 | Bionic ant six-foot detection robot |
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| CN108818551A CN108818551A (en) | 2018-11-16 |
| CN108818551B true CN108818551B (en) | 2021-02-02 |
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| CN111361655A (en) * | 2018-12-25 | 2020-07-03 | 河南中科散料技术咨询有限公司 | Automatic climbing type ant robot |
| CN109552580B (en) * | 2018-12-26 | 2020-11-17 | 武汉需要智能技术有限公司 | Underwater multifunctional mechanical leg |
| CN109871018B (en) * | 2019-02-25 | 2020-03-10 | 北京航空航天大学 | Control method of quadruped robot with waist degree of freedom |
| CN111251314A (en) * | 2020-02-19 | 2020-06-09 | 青岛新起点文化科技有限公司 | Bionic ant robot and information system based on same |
| CN111348118B (en) * | 2020-03-23 | 2021-06-25 | 河海大学常州校区 | Bionic ant detection robot |
| CN112123351B (en) * | 2020-09-28 | 2022-02-11 | 河海大学常州校区 | Bionic ant detection robot |
| CN113460190B (en) * | 2021-08-05 | 2022-06-14 | 山东大学 | Six-foot clamping robot and working method |
| CN115070819A (en) * | 2022-05-31 | 2022-09-20 | 北京电子科技职业学院 | Bionic detector |
| CN115649319A (en) * | 2022-11-21 | 2023-01-31 | 成都理工大学 | Bionic mechanical ant search and rescue robot |
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| CN202115613U (en) * | 2011-04-22 | 2012-01-18 | 华磊 | Hexapod robot capable of realizing automatic obstacle crossing |
| CN204197098U (en) * | 2014-11-14 | 2015-03-11 | 福建省泉州市第七中学 | Based on the bionical spider of path planning design |
| CN205674212U (en) * | 2016-06-14 | 2016-11-09 | 广州骏威电子科技有限公司 | A kind of six foot spiders printing based on 3D |
| CN205675128U (en) * | 2016-06-22 | 2016-11-09 | 浙江机电职业技术学院 | A kind of bionic 6-leg robot |
| CN106741288A (en) * | 2017-01-20 | 2017-05-31 | 哈尔滨工业大学深圳研究生院 | A kind of bio-robot of changeable motor pattern |
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2018
- 2018-06-29 CN CN201810694932.9A patent/CN108818551B/en not_active Expired - Fee Related
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