CN111098952A - Bionic mechanical leg and hexapod bionic robot - Google Patents
Bionic mechanical leg and hexapod bionic robot Download PDFInfo
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- CN111098952A CN111098952A CN202010025529.4A CN202010025529A CN111098952A CN 111098952 A CN111098952 A CN 111098952A CN 202010025529 A CN202010025529 A CN 202010025529A CN 111098952 A CN111098952 A CN 111098952A
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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
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Abstract
A bionic mechanical leg and hexapod bionic robot comprises a first stepping motor, a second stepping motor, a third stepping motor, a fourth stepping motor, a thigh structural part, a shank structural part, a first foot structural part, a second foot structural part and a mechanical leg mounting part; the thigh structural part is hinged with one end of the shank structural part through a first rotating shaft, and the other end of the leg structural part is hinged with the first foot structural part through a second rotating shaft; the first stepping motor drives the thigh structural part to rotate relative to the mechanical leg mounting part; the second stepping motor drives the lower leg structural part to rotate relative to the upper leg structural part; a third step of driving the first foot structural member to rotate relative to the lower leg structural member by the motor; and the fourth stepping motor drives the second foot structural member to do lifting movement relative to the first foot structural member. The invention can realize that the action plane of the rotating force of the motor is rotated to the vertical plane thereof, and the transmission mode from rotation to straight line and then to rotation is realized.
Description
Technical Field
The invention relates to the technical field of bionic robots, in particular to a bionic robot leg and a hexapod bionic robot with the same.
Background
The motion pattern and leg structure of living things in nature have been gradually applied to the fields of mechanical motion and robot motion, and many robots use leg structures similar to a number of arthropods such as spiders, ants, etc. They possess efficient foot motion and are of particular interest in the field of robotic development.
Due to the special leg structure of the multi-foot walking robot, proper driving power needs to be used, and a steering engine and hydraulic pressure are commonly used as drivers. The micro multi-legged walking robot is limited by the size and the load of the whole machine, and a motion execution mechanism with higher power density and lighter weight needs to be selected. The miniature steering engine is used as an actuating mechanism, and the miniature steering engine has the advantages of simple control and concise wiring. However, in the existing execution mode of the miniature steering engine, the execution angle range is limited to 0-180 degrees or 0-270 degrees, the mechanical position of the steering engine support limits the actual angle movement range to be smaller, the limit position is not easy to reach, the phenomena such as shaking and the like which are not beneficial to controlling the posture often occur, the movement range of the robot is limited to a certain extent, and the control of the robot is influenced.
Chinese patent publication No. CN207790920U describes a bionic robot leg and a hexapod bionic robot. The utility model discloses a bionic robot leg and six sufficient bionic robot belongs to bionic robot technical field, aims at providing a technical scheme of bionic robot leg to realize the flexibility and the stability of robot leg.
The key points of the technical scheme are as follows: the driving part mainly comprises a first steering engine, a second steering engine and a third steering engine which are arranged in relative positions to realize that each machine leg has three degrees of freedom and eighteen degrees of freedom of six legs, and a ball bearing is used for connecting two leg mechanism parts in the corresponding position of an output shaft of the steering engine to achieve higher flexibility; the fixed part, the steering wheel is in the fixed cooperation of steering wheel support to interference fit when adopting the structure that has the flange and construction bolt realizes stability and intensity of structure.
However, the solutions disclosed in the above documents have the following problems:
(1) the obvious defects of the micro steering engine as a driver of the movable joint are as follows: if a common steering engine is used, the idle stroke difference between a steering wheel and an output shaft exists, the response is not carried out in the minimum reaction pulse, the motion range of an output angle is limited to 0-180 degrees or 0-270 degrees, and the problems of shaking and the like exist at the limit position. If use control accuracy height, the high biax digital steering wheel of stability, then will make whole platform robot cost greatly increased.
(2) The foot structural part has low adaptability to complex terrains: when going up and down a slope, the posture is completely adjusted by the angle of each steering engine, is limited by the mechanical position and has smaller adaptable gradient; in a depression, when the foot falls into the depression, the joint cannot be driven by the rotational output of the steering engine alone to reliably lift the foot off the depression.
Disclosure of Invention
In order to overcome the problems, the invention provides a bionic mechanical leg and a hexapod bionic robot.
According to a first aspect of the present invention, there is provided a biomimetic mechanical leg, comprising a first stepping motor, a second stepping motor, a third stepping motor, a fourth stepping motor, a thigh structural member arranged substantially in a vertical direction, a calf structural member arranged substantially in a horizontal direction, and a first foot structural member and a second foot structural member arranged substantially in the vertical direction; one end of the shank structural member is hinged with the right end of the lower part of the thigh structural member, the other end of the shank structural member is hinged with the left end of the upper part of the first foot structural member, the lower part of the first foot structural member is also movably connected with a second foot structural member, and the second foot structural member can do lifting movement relative to the first foot structural member;
the first stepping motor is arranged on the rear surface of the thigh-shaped structural part through a first stepping motor mounting seat, the output end of the first stepping motor is vertically upward and is in transmission connection with a mechanical leg mounting part, the mechanical leg mounting part is used for connecting or disassembling the bionic mechanical leg and the bionic robot main body, and the first stepping motor drives the thigh-shaped structural part to rotate around the axis of the first stepping motor relative to the mechanical leg mounting part;
the second stepping motor is arranged on the front surface of the thigh part structure through a second stepping motor mounting seat, the output end of the second stepping motor is connected with the first ball screw module through a first universal joint, and a shank part structural part is mounted on a first sliding block on the first ball screw module;
the left end of the shank structural part is movably hinged with the thigh structural part through a first rotating shaft, the top end of the middle part of the shank structural part is fixedly connected with a first sliding block, and the right end of the shank structural part is hinged with the first foot structural part through a second rotating shaft;
the third step motor is arranged on the front surface of the shank structural part through a third motor mounting seat, the output end of the third step motor is connected with a second ball screw module through a second universal joint, and a second sliding block on the second ball screw module is provided with a first foot structural part;
the second stepping motor drives the shank structural member to rotate around the first rotating shaft relative to the thigh structural member, and the third stepping motor drives the first foot structural member to rotate around the second rotating shaft relative to the shank structural member;
the fourth stepping motor is arranged on the rear surface of the first foot structural part through a fourth stepping motor mounting seat, the output end of the fourth stepping motor is connected with the third ball screw module through a third universal joint, and a second foot structural part is mounted on a third sliding block on the third ball screw module;
the lower end of the front surface of the first foot structural member is provided with a first connecting seat used for being connected with a second foot structural member, and the upper end of the front surface of the second foot structural member is provided with a second connecting seat corresponding to the position of the first connecting seat; the first connecting seat is of a rectangular structure, a rectangular sliding cavity is vertically arranged in the middle of the first connecting seat, and inserting holes are vertically arranged at the left end and the right end of the first connecting seat respectively; the second connecting seat and the first connecting seat have the same structure, and a connecting sliding plate is arranged in the second connecting seat and the first connecting seat;
the connecting sliding plate comprises a transverse plate, a vertical plate and a guide rail column; the transverse plate is consistent with the outer contour of the second connecting seat, a vertical plate is vertically arranged on the upper surface of the transverse plate corresponding to the position of the sliding cavity, and the vertical plate is matched with the sliding cavity; the upper surface of the transverse plate is vertically inserted at the position corresponding to the insertion hole respectively, and the guide rail column is matched with the insertion hole; the height of the guide rail column is consistent with that of the vertical plate, and the height is greater than the sum of the heights of the first connecting seat and the second connecting seat; the top end of the guide rail column is in threaded connection with the screw cap, a first spring is sleeved between the screw cap and the first connecting seat of the guide rail column, and a second spring is sleeved between the first connecting seat and the second connecting seat of the guide rail column; the connecting sliding plate is inserted into the second connecting seat and the first connecting seat from the bottom end of the second connecting seat in sequence.
Furthermore, the thigh structural part and the first foot structural part are both plate-shaped structures with irregular pentagonal longitudinal sections; the shank structural part is a plate-shaped structure with a convex longitudinal section; the second foot structural part is of a plate-shaped structure with a longitudinal section of a unfilled-corner rectangle, and the bevel edge of the unfilled-corner rectangle is positioned at the right lower part of the second foot structural part.
According to a second aspect of the present invention, a hexapod bionic robot is further provided, which includes a main control board base, wherein the main control board base is of a rectangular structure, the bionic mechanical legs according to the first aspect of the present invention are respectively disposed at four corners and a midpoint of two long sides of the main control board base, and mechanical leg mounting portions of the six bionic mechanical legs are respectively connected with the main control board base.
The invention has the beneficial effects that: the bionic mechanical leg can rotate the action plane of the rotating force of the motor to the vertical plane of the motor, and a transmission mode from rotation to straight line and then to rotation is realized. The problem that the leg operation is limited by a mechanical structure under the driving mode of a traditional steering engine can be avoided, and the defect of poor structural stability caused by the shaking of a miniature steering engine can be overcome. When the foot portion falls into the depression, the operation of lifting the foot portion from the depression can be reliably realized. The motion range of the bionic robot is greatly increased, and the capability of adapting to complex terrains is improved.
Drawings
Fig. 1 is a schematic structural diagram of a bionic mechanical leg of the invention.
Fig. 2 is a schematic view of the connection between the thigh structural member and the lower leg structural member according to the present invention.
FIG. 3 is a schematic view of the connection of the lower leg structure to the first foot structure of the present invention.
Fig. 4 is a schematic illustration of the connection of a first foot member to a second foot member in accordance with the present invention.
FIG. 5 is a schematic structural diagram of the hexapod bionic robot of the invention.
FIG. 6 is an angle schematic of the present invention robot leg in a first position when submerged in a depression.
FIG. 7 is a schematic view of another angle of the present invention robot leg in the first state when submerged in a depression.
FIG. 8 is an angle schematic of the robot leg of the present invention in a second state when submerged in a depression.
FIG. 9 is a schematic view of another angle of the robot leg of the present invention in the second state when submerged in a depression.
FIG. 10 is an angled view of the robot leg of the present invention in a third position when submerged in a depression.
FIG. 11 is a schematic view of another angle of the robot leg of the present invention in a third state when submerged in a depression.
Description of reference numerals: 1.1, thigh structural parts; 1.2, a first stepping motor mounting seat; 1.3, a first stepping motor; 1.4, a second stepping motor; 1.5, a second stepping motor mounting seat; 1.6, a mechanical leg mounting part; 1.7, a first universal joint connecting piece; 1.8, a first universal joint; 1.9, a first ball screw module; 2.1, a shank structural part; 2.2, a third step motor; 2.3, a third step motor mounting seat; 2.4, a second universal joint connecting piece; 2.5, a second universal joint; 2.6, a second ball screw module; 3.1, a first foot structure; 3.2, connecting a sliding plate; 3.3, a spring; 3.4, a second foot structure; 3.5, a fourth stepping motor; 3.6, a fourth stepper motor mounting seat; 3.7, a third universal joint connecting piece; 3.8, a third ball screw module;
1.1-a, 1.1-b, 1.1-c and 1.1-d are respectively corresponding to 1.2-a, 1.2-b, 1.2-c and 1.2-d and are mounting holes for assembling the thigh-part structural member and the first stepping motor mounting seat;
1.1-e, 1.1-f, 1.1-g and 1.1-h respectively correspond to 1.5-e, 1.5-f, 1.5-g and 1.5-h and are mounting holes of a second stepping motor mounting seat;
1.1-i and 2.1-i are mounting holes for assembling the thigh structural part and the shank structural part;
1.9-j and 2.1-j are mounting columns and mounting holes for assembling a first sliding block of the first ball screw module and a shank structural part;
2.1-a and 2.1-b correspond to 2.3-a and 2.3-b respectively and are mounting holes for assembling the third stepping motor mounting seat and the shank structural part;
2.1-c corresponds to 3.1.c is a mounting hole for assembling the lower leg structural part and the first foot structural part;
2.6-d is a mounting column and a mounting hole for assembling a second sliding block on the second ball screw module and the first foot structural part, corresponding to 3.1-d;
3.1-e, 3.1-f, 3.1-g and 3.1-h correspond to 3.6-e, 3.6-f, 3.6-g and 3.6-h respectively and are mounting holes for assembling the first foot structural part and the fourth stepping motor mounting seat;
3.2-b and 3.2-c are two guide rail columns; 3.3-b and 3.3-c are two groups of springs;
3.4-a and 3.8-a are mounting holes for assembling the second foot structural part and a third sliding block of a third ball screw module;
3.8-b and 3.8-c correspond to 3.2-b and 3.2-c and are mounting holes for assembling the first connecting seat and the second connecting seat with the guide rail columns on two sides of the connecting sliding plate.
Detailed Description
The invention will be further described with reference to specific examples, but the scope of the invention is not limited thereto:
referring to the drawings, according to a first aspect of the present invention, there is provided a biomimetic mechanical leg comprising a first stepper motor 1.3, a second stepper motor 1.4, a third stepper motor 2.2, a fourth stepper motor 3.5, a thigh structural member 1.1 arranged substantially in a vertical direction, a calf structural member 2.1 arranged substantially in a horizontal direction, and a first foot structural member 3.1 and a second foot structural member 3.4 arranged substantially in a vertical direction; one end of the lower leg structural part 2.1 is hinged with the right end of the lower part of the thigh structural part 1.1, the other end of the lower leg structural part 2.1 is hinged with the left end of the upper part of the first foot structural part 3.1, the lower part of the first foot structural part 3.1 is also movably connected with a second foot structural part 3.4, and the second foot structural part 3.4 can do lifting movement relative to the first foot structural part 3.1;
the thigh structural part 1.1 and the first foot structural part 3.1 are both plate-shaped structures with irregular pentagonal longitudinal sections; the lower leg structural part 2.1 is a plate-shaped structure with a convex longitudinal section; the second foot structural member 3.4 is a plate-shaped structure with a longitudinal section in a truncated rectangle, and the bevel edge of the truncated rectangle is positioned at the lower right part of the second foot structural member 3.4.
The first stepping motor 1.3 is arranged on the rear surface of the thigh structural part 1.1 through a first stepping motor mounting seat 1.2, the output end of the first stepping motor 1.3 is vertically upward and is in transmission connection with a mechanical leg mounting part 1.6, the mechanical leg mounting part 1.6 is used for fixedly connecting or disassembling the bionic mechanical leg and the bionic robot main body, and the first stepping motor 1.3 drives the thigh structural part 1.1 to rotate around the axis of the first stepping motor 1.3 relative to the mechanical leg mounting part 1.6;
the second stepping motor 1.4 is arranged on the front surface of the thigh structure 1.1 through a second stepping motor mounting base 1.5, the output end of the second stepping motor 1.4 is connected with the first ball screw module 1.9 through a first universal joint 1.8, the output end of the second stepping motor 1.4 is connected with the first universal joint 1.8 through a first universal joint connecting piece 1.7, and a first slide block on the first ball screw module 1.9 is provided with a shank structure member 2.1;
the left end of the shank structural part 2.1 and the thigh structural part 1.1 are connected with a first rotating shaft through a first rolling bearing, and the shank structural part 2.1 can rotate relative to the thigh structural part 1.1 through the first rotating shaft; the top end of the middle part of the calf structural part 2.1 is fixedly connected with the first sliding block, the right end of the calf structural part 2.1 and the first foot structural part 3.1 are connected with a second rotating shaft through a second rolling bearing, and the first foot structural part 3.1 can rotate relative to the calf structural part 2.1 through the second rotating shaft;
a third step motor 2.2 is arranged on the front surface of the lower leg structural part 2.1 through a third motor mounting seat 2.3, the output end of the third step motor 2.2 is connected with a second ball screw module 2.6 through a second universal joint 2.5, the output end of the third step motor 2.2 is connected with the second universal joint 2.5 through a second universal joint connecting piece 2.4, and a second sliding block on the second ball screw module 2.6 is provided with a first foot structural part 3.1;
a second stepping motor 1.4 drives the lower leg structural member 2.1 to rotate around a first rotating shaft relative to the upper leg structural member 1.1, and a third stepping motor 2.2 drives the first foot structural member 3.1 to rotate around a second rotating shaft relative to the lower leg structural member 2.1;
a fourth stepping motor 3.5 is arranged on the rear surface of the first foot structural part 3.1 through a fourth stepping motor mounting seat 3.6, the output end of the fourth stepping motor 3.5 is connected with a third ball screw module 3.8 through a third universal joint, the output end of the fourth stepping motor 3.5 is connected with the third universal joint through a third universal joint connecting piece 3.7, and a third sliding block on the third ball screw module 3.8 is provided with a second foot structural part 3.4;
a first connecting seat used for being connected with a second foot structural part 3.4 is arranged at the lower end of the front surface of the first foot structural part 3.1, and a second connecting seat is arranged at the position, corresponding to the first connecting seat, of the upper end of the front surface of the second foot structural part 3.4; the first connecting seat is of a rectangular structure, a rectangular sliding cavity is vertically arranged in the middle of the first connecting seat, and inserting holes are vertically arranged at the left end and the right end of the first connecting seat respectively; the second connecting seat and the first connecting seat have the same structure, and a connecting sliding plate 3.2 is arranged in the second connecting seat and the first connecting seat;
the connecting sliding plate 3.2 comprises a transverse plate, a vertical plate, two guide rail columns 3.2-c, 3.2-b and a spring 3.3; the transverse plate is consistent with the outer contour of the second connecting seat, a vertical plate is vertically arranged on the upper surface of the transverse plate corresponding to the position of the sliding cavity, and the vertical plate is matched with the sliding cavity; the upper surface of the transverse plate is respectively and vertically provided with two guide rail columns 3.2-c and 3.2-b corresponding to the jacks, and the two guide rail columns 3.2-c and 3.2-b are respectively matched with the corresponding jacks; the height of the guide rail columns 3.2-c and 3.2-b is consistent with that of the vertical plate, and the height is greater than the sum of the heights of the first connecting seat and the second connecting seat; the top ends of the two guide rail columns 3.2-c and 3.2-b are respectively in threaded connection with the screw caps, a first spring 3.3-c is sleeved between the screw caps and the first connecting seat of the two guide rail columns 3.2-c and 3.2-b, and a second spring 3.3-b is sleeved between the first connecting seat and the second connecting seat of the two guide rail columns 3.2-c and 3.2-b; the connecting sliding plate 3.2 is inserted into the second connecting seat and the first connecting seat from the bottom end of the second connecting seat in sequence.
According to the second aspect of the invention, the hexapod bionic robot comprises a main control board base, wherein the main control board base is of a rectangular structure, the bionic mechanical legs according to claim 1 are respectively arranged at the four corners and the middle points of the two long sides of the main control board base, and the mechanical leg installation parts 1.6 of the six bionic mechanical legs are respectively connected with the main control board base.
The invention also provides a treatment mode for a second foot structural part sunk into a low-lying place in complex terrain by adopting the mechanical leg, which comprises the following specific implementation steps:
step 1, an output shaft of a fourth stepping motor 3.5 rotates, a third screw in a third ball screw module 3.8 is driven to rotate through a third universal joint connecting piece 3.7 and a third universal joint, the rotating power is converted into linear power through the third ball screw module 3.8, and a second foot structural part 3.4 is lifted off the ground until a connecting sliding plate is lifted to the maximum value of the travel of the guide rail column.
And 2, rotating an output shaft of the second stepping motor 1.4, driving a first screw rod in the first ball screw module 1.9 to rotate through the first knuckle connecting piece 1.7 and the first universal joint 1.8, converting the rotating power into linear power through the first ball screw module 1.9, and limiting the position of one end of the lower leg structural part 2.1 by the first rotating shaft, so that the effect of driving the lower leg structural part 2.1 to rotate upwards around the first rotating shaft and lifting the lower leg structural part 2.1 and the second foot structural part 3.4 away from a low-lying place is achieved.
Reference is made to fig. 6, 8, 10 or 7, 9, 11 for the above process of sinking the second foot structure into the depression.
The embodiments described in this specification are merely illustrative of implementations of the inventive concept and the scope of the present invention should not be considered limited to the specific forms set forth in the embodiments but rather by the equivalents thereof as may occur to those skilled in the art upon consideration of the present inventive concept.
Claims (3)
1. A bionic mechanical leg is characterized in that: the leg part structure comprises a first stepping motor, a second stepping motor, a third stepping motor, a fourth stepping motor, a thigh part structure member arranged along the vertical direction, a shank part structure member arranged along the horizontal direction, a first foot part structure member and a second foot part structure member arranged along the vertical direction; one end of the shank structural member is hinged with the right end of the lower part of the thigh structural member, the other end of the shank structural member is hinged with the left end of the upper part of the first foot structural member, the lower part of the first foot structural member is also movably connected with a second foot structural member, and the second foot structural member can do lifting movement relative to the first foot structural member;
the first stepping motor is arranged on the rear surface of the thigh-shaped structural part through a first stepping motor mounting seat, the output end of the first stepping motor is vertically upward and is in transmission connection with a mechanical leg mounting part, the mechanical leg mounting part is used for connecting or disassembling the bionic mechanical leg and the bionic robot main body, and the first stepping motor drives the thigh-shaped structural part to rotate around the axis of the first stepping motor relative to the mechanical leg mounting part;
the second stepping motor is arranged on the front surface of the thigh part structure through a second stepping motor mounting seat, the output end of the second stepping motor is connected with the first ball screw module through a first universal joint, and a shank part structural part is mounted on a first sliding block on the first ball screw module;
the left end of the shank structural part is hinged with the thigh structural part through a first rotating shaft, the top end of the middle part of the shank structural part is fixedly connected with a first sliding block, and the right end of the shank structural part is hinged with the first foot structural part through a second rotating shaft;
the third step motor is arranged on the front surface of the shank structural part through a third motor mounting seat, the output end of the third step motor is connected with a second ball screw module through a second universal joint, and a second sliding block on the second ball screw module is provided with a first foot structural part;
the second stepping motor drives the shank structural member to rotate around the first rotating shaft relative to the thigh structural member, and the third stepping motor drives the first foot structural member to rotate around the second rotating shaft relative to the shank structural member;
the fourth stepping motor is arranged on the rear surface of the first foot structural part through a fourth stepping motor mounting seat, the output end of the fourth stepping motor is connected with the third ball screw module through a third universal joint, and a second foot structural part is mounted on a third sliding block on the third ball screw module;
the lower end of the front surface of the first foot structural member is provided with a first connecting seat used for being connected with a second foot structural member, and the upper end of the front surface of the second foot structural member is provided with a second connecting seat corresponding to the position of the first connecting seat; the first connecting seat is of a rectangular structure, a rectangular sliding cavity is vertically arranged in the middle of the first connecting seat, and inserting holes are vertically arranged at the left end and the right end of the first connecting seat respectively; the second connecting seat and the first connecting seat have the same structure, and a connecting sliding plate is arranged in the second connecting seat and the first connecting seat;
the connecting sliding plate comprises a transverse plate, a vertical plate and a guide rail column; the transverse plate is consistent with the outer contour of the second connecting seat, a vertical plate is vertically arranged on the upper surface of the transverse plate corresponding to the position of the sliding cavity, and the vertical plate is matched with the sliding cavity; guide rail columns are respectively vertically arranged on the upper surface of the transverse plate corresponding to the positions of the jacks, and the guide rail columns are matched with the jacks; the height of the guide rail column is consistent with that of the vertical plate, and the height is greater than the sum of the heights of the first connecting seat and the second connecting seat; the top end of the guide rail column is in threaded connection with the screw cap, a first spring is sleeved between the screw cap and the first connecting seat of the guide rail column, and a second spring is sleeved between the first connecting seat and the second connecting seat of the guide rail column; the connecting sliding plate is inserted into the second connecting seat and the first connecting seat from the bottom end of the second connecting seat in sequence.
2. A biomimetic mechanical leg as recited in claim 1, wherein: the thigh structural part and the first foot structural part are both plate-shaped structures with irregular pentagonal longitudinal sections; the shank structural part is a plate-shaped structure with a convex longitudinal section; the second foot structural part is of a plate-shaped structure with a longitudinal section of a unfilled-corner rectangle, and the bevel edge of the unfilled-corner rectangle is positioned at the right lower part of the second foot structural part.
3. A hexapod bionic robot is characterized in that: including the main control board base, the main control board base is the rectangle structure, four angles of main control board base and the mid point on two long limits do not are equipped with according to any claim 1 to 2 bionical machinery leg, six the mechanical leg installation department of bionical machinery leg is connected with the main control board base respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010025529.4A CN111098952A (en) | 2020-01-10 | 2020-01-10 | Bionic mechanical leg and hexapod bionic robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010025529.4A CN111098952A (en) | 2020-01-10 | 2020-01-10 | Bionic mechanical leg and hexapod bionic robot |
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| CN111098952A true CN111098952A (en) | 2020-05-05 |
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| CN202010025529.4A Pending CN111098952A (en) | 2020-01-10 | 2020-01-10 | Bionic mechanical leg and hexapod bionic robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112623058A (en) * | 2020-12-28 | 2021-04-09 | 广东工业大学 | Foot attaching and fixing mechanism of wall-climbing robot |
| CN115586787A (en) * | 2022-10-31 | 2023-01-10 | 安徽新华学院 | Wireless video multifunctional fire-fighting robot control system based on ant bionics |
-
2020
- 2020-01-10 CN CN202010025529.4A patent/CN111098952A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112623058A (en) * | 2020-12-28 | 2021-04-09 | 广东工业大学 | Foot attaching and fixing mechanism of wall-climbing robot |
| CN112623058B (en) * | 2020-12-28 | 2021-10-01 | 广东工业大学 | Foot attaching and fixing mechanism of wall-climbing robot |
| CN115586787A (en) * | 2022-10-31 | 2023-01-10 | 安徽新华学院 | Wireless video multifunctional fire-fighting robot control system based on ant bionics |
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