CN110329381B - High-performance bionic foot type robot - Google Patents
High-performance bionic foot type robot Download PDFInfo
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- CN110329381B CN110329381B CN201910696525.6A CN201910696525A CN110329381B CN 110329381 B CN110329381 B CN 110329381B CN 201910696525 A CN201910696525 A CN 201910696525A CN 110329381 B CN110329381 B CN 110329381B
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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
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Abstract
The invention discloses a high-performance bionic foot type robot which comprises a main shell, wherein a plurality of fixing limbs are uniformly arranged at the side end of the main shell, a first micro motor is fixedly installed at the top ends of the fixing limbs, a motor shaft of the first micro motor penetrates through the bottom ends of the fixing limbs and is fixedly connected with a connecting frame, a walking foot of a crawler structure is installed in an inner cavity of the connecting frame, a control box is fixedly connected to the top end of the main shell, and an antenna rod is fixedly installed at the top end of the control box; the control box is respectively connected with all the first micro motors and all the walking feet, and the first micro motors are respectively controlled through the control box, so that the steering of each walking foot is independently controlled; the control box can directly control each walking foot to walk on the ground respectively simultaneously to drive the whole device to walk, the cooperation of whole structure can satisfy the walking of rugged or irregular topography, and the weight also promotes by a wide margin, can install multiple detection equipment, can deal with the detection work of complex environment.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a high-performance bionic foot type robot.
Background
There are places in nature and human society that humans cannot reach and special occasions where human life may be endangered. Such as planet surfaces, mines in which disasters occur, disaster prevention and rescue, counterterrorism and fighting, and the like, the continuous exploration and research of the dangerous environments, and the search for a feasible way for solving the problems become the needs of scientific and technical development and human social progress. Terrain irregularities and bumpiness are common features of these environments. Thereby limiting the applicability of wheeled and tracked robots.
The multi-point contact mode of the mechanical foot of the multi-foot robot can lead the robot to freely walk on the ground, and a series of tasks which are difficult to be completed by human self can be completed by carrying various devices. However, such a robot has a high precision requirement, is portable and light, has a small number of observation devices, is small in size, has a limited search efficiency, and is difficult to meet the detection requirement of a complex environment. Therefore, the invention provides a high-performance bionic foot type robot which is used for solving the problems.
Disclosure of Invention
The invention aims to provide a high-performance bionic foot type robot to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a high-performance bionic foot type robot comprises a main shell, wherein the main shell is of a disc body structure, a plurality of fixed limbs are uniformly arranged at the side end of the main shell, a first micro motor is fixedly arranged at the top end of each fixed limb, a motor shaft of the first micro motor penetrates through the bottom ends of the fixed limbs and is fixedly connected with a connecting frame, the connecting frame is of a U-shaped structure, a walking foot of a crawler belt structure is arranged in an inner cavity of the connecting frame and is fixedly arranged in the inner cavity of the connecting frame through a fixed rod, a control box is fixedly connected to the top end of the main shell and is of a disc body structure, the axis of the control box coincides with the axis of the main shell, an antenna rod is fixedly arranged at the top end of the control box, a wireless receiving and transmitting antenna is fixedly connected to the top end of the antenna rod, the control box is connected with a wireless remote control device through a wireless receiving and transmitting antenna, and, the first micro motor is respectively controlled through the control box, so that the steering of each walking foot is independently controlled; meanwhile, the control box can directly control each walking foot to walk on the ground respectively so as to drive the whole device to walk, the mutual matching of the whole structures can meet the walking of rugged or irregular terrain, the load weight is greatly improved, various detection devices can be installed, and the detection work of complex environment can be dealt with;
controller and battery are installed to the inner chamber of control box, the right side at the battery is established to the controller, the controller is connected with battery, wireless transceiver antenna, first micro motor and walking foot respectively, one side end of control box inlays and is equipped with the interface that charges that is connected with the battery, provides the electric energy for the work of whole device through the battery, and supplements the electric energy for the battery through the interface that charges, guarantees the repeatedly cyclic use of whole device.
As a further scheme of the invention: the limb frame is of an H-shaped structure, the left inner cavity and the right inner cavity of the limb frame are symmetrically provided with walking rollers, the walking rollers are rotationally connected on the limb frame through walking rotating shafts, one walking roller is provided with a driven groove, a second micro motor is fixedly arranged in the inner cavity of the limb frame close to the driven groove, a transmission shaft is rotatably connected on the second micro motor, the other end of the transmission shaft is fixedly connected with a driving wheel matched with the driven groove, the driving wheel corresponds to the driven groove in the horizontal direction, the driving wheel is connected with the driven groove through a transmission belt, the two walking rollers are connected through a walking belt, the driving wheel is driven to rotate by the second micro motor and drives the walking roller to rotate by matching with the transmission belt, the walking roller is matched with another walking roller to drive the walking belt to rotate, so that the whole walking foot is driven to walk, and the whole device can be directly driven to walk by being matched with other walking feet.
As a further scheme of the invention: the middle part of limbs frame is equipped with the direction chamber, be equipped with in the direction chamber with walking area matched with guide roll, the guide roll rotates through the direction pivot and connects in the direction intracavity, and the walking area rotates through the pivoted guide roll cooperation, can effectually prevent that the walking area from rubbing limbs frame, improves the operating efficiency and the control accuracy of walking area, guarantees whole device even running.
Compared with the prior art, the invention has the beneficial effects that:
1. the control box disclosed by the invention is respectively connected with all the first micro motors and all the walking feet, and the first micro motors are respectively controlled by the control box, so that the steering of each walking foot is independently controlled; meanwhile, the control box can directly control each walking foot to walk on the ground respectively so as to drive the whole device to walk, the mutual matching of the whole structures can meet the walking of rugged or irregular terrain, the load weight is greatly improved, various detection devices can be installed, and the detection work of complex environment can be dealt with;
2. the storage battery supplies electric energy for the work of the whole device, and the charging interface supplements the electric energy for the storage battery, so that the repeated recycling of the whole device is ensured;
3. the driving wheel is driven to rotate by the second micro motor, the walking roller is driven to rotate by matching with the transmission belt, the walking roller is matched with the other walking roller to drive the walking belt to rotate, so that the whole walking foot is driven to walk, and the whole device can be directly driven to walk by matching with other walking feet;
4. the rotating guide roller is matched with the walking belt to rotate, so that the walking belt can be effectively prevented from rubbing the limb frame, the running efficiency and the control precision of the walking belt are improved, and the stable running of the whole device is ensured.
Drawings
FIG. 1 is a schematic structural diagram of a top view of a high-performance bionic foot robot;
FIG. 2 is a schematic structural diagram of a top view of a walking foot of a high-performance bionic foot type robot;
FIG. 3 is a schematic diagram of the internal structure of a walking foot of a high-performance bionic foot type robot;
fig. 4 is a schematic structural diagram of a control box of a high-performance bionic foot type robot.
In the figure: 1-a main shell, 2-a control box, 21-an antenna rod, 22-a wireless transceiving antenna, 23-a controller, 24-a storage battery, 25-a charging interface, 3-a fixed limb, 4-a connecting frame, 5-a first micro motor, 6-a walking foot, 61-a limb frame, 62-a guide cavity, 63-a guide roller, 64-a guide rotating shaft, 65-a walking roller, 66-a walking rotating shaft, 67-a driven groove, 68-a transmission belt, 69-a driving wheel, 70-a second micro motor, 71-a transmission shaft, 72-a walking belt and 7-a fixed rod.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; furthermore, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, as they may be fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1
Referring to fig. 1 and 4, a high-performance bionic foot robot comprises a main housing 1, wherein the main housing 1 is a disc body structure, a plurality of fixing limbs 3 are uniformly arranged at the side end of the main housing 1, a first micro motor 5 is fixedly arranged at the top ends of the fixing limbs 3, a motor shaft of the first micro motor 5 penetrates through the bottom ends of the fixing limbs 3 and is fixedly connected with a connecting frame 4, the connecting frame 4 is a U-shaped structure, a walking foot 6 of a crawler belt structure is arranged in an inner cavity of the connecting frame 4, the walking foot 6 is fixedly arranged in the inner cavity of the connecting frame 4 through a fixing rod 7, a control box 2 is fixedly connected at the top end of the main housing 1, the control box 2 is a disc body structure, the axis of the control box 2 is overlapped with the axis of the main housing 1, an antenna rod 21 is fixedly arranged at the top end of the control box 2, a wireless transceiving antenna 22 is fixedly connected, the control box 2 is connected with a wireless remote control device through a wireless transceiving antenna 22, the control box 2 is respectively connected with all the first micro motors 5 and all the walking feet 6, and the control box 2 is used for respectively controlling the first micro motors 5, so that the steering of each walking foot 6 is independently controlled; meanwhile, the control box 2 can directly control each walking foot 6 to walk on the ground respectively, so that the whole device is driven to walk, the walking on rugged or irregular terrains can be met due to the mutual matching of the whole structures, the load weight is greatly improved, various detection devices can be installed, and the detection work of complex environments can be dealt with;
Example 2
Referring to fig. 2-3, this embodiment is further illustrated on the basis of embodiment 1, the limb frame 61 is an H-shaped structure, the left and right inner cavities of the limb frame 61 are symmetrically provided with walking rollers 65, the walking rollers 65 are rotatably connected to the limb frame 61 through a walking rotating shaft 66, one walking roller 65 is provided with a driven groove 67, the inner cavity of the limb frame 61 close to the driven groove 67 is fixedly provided with a second micro motor 70, the second micro motor 70 is rotatably connected with a transmission shaft 71, the other end of the transmission shaft 71 is fixedly connected with a driving wheel 69 matched with the driven groove 67, the driving wheel 69 corresponds to the driven groove 67 in the horizontal direction, the driving wheel 69 is connected with the driven groove 67 through a transmission belt 68, the two walking rollers 65 are connected through a walking belt 72, the driving wheel 69 is driven to rotate by the second micro motor 70, and the walking rollers 65 are driven to rotate by the transmission belt 68, the walking roller 65 cooperates with another walking roller 65 to drive the walking belt 72 to rotate, thereby driving the whole walking foot 6 to walk, and cooperates with other walking feet 6 to directly drive the whole device to walk.
The middle part of the limb frame 61 is provided with a guide cavity 62, a guide roller 63 matched with the walking belt 72 is arranged in the guide cavity 62, the guide roller 63 is rotatably connected in the guide cavity 62 through a guide rotating shaft 64, and the rotating guide roller 63 is matched with the walking belt 72 to rotate, so that the walking belt 72 can be effectively prevented from rubbing the limb frame 61, the running efficiency and the control precision of the walking belt 72 are improved, and the stable running of the whole device is ensured.
The working principle of the embodiment 1-2 is that the control box 2 is used for respectively controlling the first micro motor 5, so that the steering of each walking foot 6 is independently controlled; meanwhile, the control box 2 can directly control each walking foot 6 to walk on the ground respectively, so that the whole device is driven to walk, the walking on rugged or irregular terrains can be met due to the mutual matching of the whole structures, the load weight is greatly improved, various detection devices can be installed, and the detection work of complex environments can be dealt with; the working process of the walking foot 6 is as follows: the driving wheel 69 is driven to rotate by the second micro motor 70, the walking roller 65 is driven to rotate by the aid of the transmission belt 68, the walking roller 65 is matched with the other walking roller 65 to drive the walking belt 72 to rotate, accordingly, the whole walking foot 6 is driven to walk, and the whole device can be directly driven to walk by the aid of the other walking feet 6.
Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.
Claims (4)
1. The utility model provides a bionical sufficient formula robot of high performance, includes main casing body (1), its characterized in that, main casing body (1) is the disc body structure, and the side of main casing body (1) is even is equipped with a plurality of stationary limbs (3), the top fixed mounting of stationary limb (3) has first micro motor (5), the motor shaft of first micro motor (5) runs through the bottom and the fixedly connected with link (4) of stationary limb (3), and walking foot (6) of track structure are installed to the inner chamber of link (4), walking foot (6) are through dead lever (7) fixed mounting in the inner chamber of link (4), the top fixedly connected with control box (2) of main casing body (1), the top fixed mounting of control box (2) has antenna mast (21), the top fixedly connected with wireless transceiver antenna (22) of antenna mast (21), the control box (2) is connected with a wireless remote control device through a wireless transceiving antenna (22);
a controller (23) and a storage battery (24) are installed in an inner cavity of the control box (2), the controller (23) is arranged on the right side of the storage battery (24), the controller (23) is respectively connected with the storage battery (24), the wireless transceiving antenna (22), the first micro motor (5) and the walking foot (6), and a charging interface (25) connected with the storage battery (24) is embedded in one side end of the control box (2);
the limb frame (61) is of an H-shaped structure, walking rollers (65) are symmetrically arranged in the left inner cavity and the right inner cavity of the limb frame (61), the walking rollers (65) are rotatably connected to the limb frame (61) through walking rotating shafts (66), a driven groove (67) is formed in one walking roller (65), a second micro motor (70) is fixedly installed in the inner cavity, close to the driven groove (67), of the limb frame (61), a transmission shaft (71) is rotatably connected to the second micro motor (70), a driving wheel (69) matched with the driven groove (67) is fixedly connected to the other end of the transmission shaft (71), the driving wheel (69) is connected with the driven groove (67) through a transmission belt (68), and the two walking rollers (65) are connected through a walking belt (72);
the driving wheel (69) corresponds to the driven groove (67) in the horizontal direction;
a guide cavity (62) is formed in the middle of the limb frame (61), a guide roller (63) matched with the walking belt (72) is arranged in the guide cavity (62), and the guide roller (63) is rotatably connected in the guide cavity (62) through a guide rotating shaft (64);
the first micro motor (5) is respectively controlled by the control box (2), so that the steering of each walking foot (6) is independently controlled; meanwhile, the control box (2) can respectively and directly control each walking foot (6) to walk on the ground so as to drive the whole device to walk, the mutual matching of the whole structures can meet the walking of rugged or irregular terrain, the load weight is greatly improved, various detection devices can be installed, and the detection work of complex environment can be dealt with; wherein the working process of the walking foot (6) is as follows: the driving wheel (69) is driven to rotate by the second micro motor (70), the walking roller (65) is driven to rotate by the aid of the transmission belt (68), the walking roller (65) is matched with the other walking roller (65) to drive the walking belt (72) to rotate, accordingly, the whole walking foot (6) is driven to walk, and the whole device can be directly driven to walk by being matched with other walking feet (6).
2. The high-performance bionic legged robot according to claim 1, characterized in that the connecting frame (4) is a U-shaped structure.
3. A high performance biomimetic legged robot according to claim 2, characterized in that the control box (2) is a disc body structure.
4. A high performance biomimetic legged robot according to claim 3, characterized in that the axis of the control box (2) coincides with the axis of the main housing (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910696525.6A CN110329381B (en) | 2019-07-30 | 2019-07-30 | High-performance bionic foot type robot |
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| CN201910696525.6A CN110329381B (en) | 2019-07-30 | 2019-07-30 | High-performance bionic foot type robot |
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| CN110329381A CN110329381A (en) | 2019-10-15 |
| CN110329381B true CN110329381B (en) | 2020-10-13 |
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Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5681597A (en) * | 1996-02-06 | 1997-10-28 | Liquid Container L.P. | Vacuum conveyor picker for blow bottle container |
| CN101948011B (en) * | 2010-09-09 | 2013-06-26 | 北京航空航天大学 | Hexapod universal walking multifunctional moonshot robot |
| CN104590409B (en) * | 2015-01-06 | 2017-02-01 | 中国石油天然气集团公司 | Crawler-type drive mechanism of automatic welding machine for inner circumferential seam of pipeline |
| CN105905187A (en) * | 2016-06-22 | 2016-08-31 | 北京科技大学 | Bionic regular-hexagon hexapod robot |
| CN206781911U (en) * | 2017-04-07 | 2017-12-22 | 华南理工大学广州学院 | A kind of Hexapod Robot |
| CN207433679U (en) * | 2017-11-10 | 2018-06-01 | 安徽工程大学 | A kind of six-leg robot |
| CN108413177B (en) * | 2018-03-09 | 2020-01-31 | 武汉理工大学 | self-adaptive pipeline dredging robot |
| CN208930234U (en) * | 2018-11-02 | 2019-06-04 | 中国人民解放军陆军工程大学 | Four-wheel and six-foot deformable practical training robot device |
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