CN111152263B - Six-foot bionic robot and method thereof - Google Patents
Six-foot bionic robot and method thereof Download PDFInfo
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- CN111152263B CN111152263B CN202010001649.0A CN202010001649A CN111152263B CN 111152263 B CN111152263 B CN 111152263B CN 202010001649 A CN202010001649 A CN 202010001649A CN 111152263 B CN111152263 B CN 111152263B
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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
- 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
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
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Abstract
The invention discloses a hexapod bionic robot and a method thereof, wherein the hexapod bionic robot comprises a body frame and a circuit mounting plate, the circuit mounting plate is positioned above the body frame, an annular slide rail is fixedly embedded at the top of the body frame, two symmetrically arranged arc-shaped slide blocks are connected onto the annular slide rail in a sliding manner, a lifting assembly is fixedly arranged at the top of each arc-shaped slide block, the top of each lifting assembly is fixedly connected with the bottom of the circuit mounting plate, a driving assembly is fixedly arranged at the top of the body frame, the top of each driving assembly and the bottom of the circuit mounting plate are fixedly arranged, and a storage battery and an adjusting box are fixedly arranged at the top of the circuit mounting plate. The six-foot bionic robot has a simple structure, has practical functions of lifting, rotating and the like, improves the severe field investigation environment of the six-foot bionic robot, and can convert light energy into electric energy by using the solar cell panel, so that the six-foot bionic robot cannot have the condition of insufficient electric energy in the field.
Description
Technical Field
The invention relates to the technical field of mobile robots, in particular to a hexapod bionic robot and a method thereof.
Background
Under outdoor scenes such as military investigation, geological exploration, field rescue and the like, the environment is complex, the landform is unknown and changeable, and the special robot suitable for field terrain can be transported by oneself. The current robots which can be used in field scenes mainly have the forms of wheels, crawler belts, bionic multi-legged types and the like. Because the legs are products of natural evolution and have natural adaptability to field complex terrains, the multi-legged robot has the best terrain adaptability, but has the defects of complex structure, heavy weight, more joints, difficult maintenance and the like.
The Chinese patent with publication number CN205632719U discloses a novel hexapod bionic robot, which comprises a body frame, a controller and a power supply which are arranged in the body frame, and six groups of walking devices; the walking device comprises a transmission device and a walking device, the walking device is fixedly connected with the power output end of the transmission device, and the walking device is driven by the transmission device to rotate; the six groups of walking devices are respectively fixed on the two sides of the front part, the middle part and the rear part of the body frame, and the walking devices on the two sides of the front part, the two sides of the middle part and the two sides of the rear part are arranged in a staggered mode. The robot has the advantages of greatly improved mobility and flexibility and stronger adaptability.
The hexapod bionic robot in the technical scheme has single function, and people have higher requirements on the use of the hexapod bionic robot along with the development of the society, so the hexapod bionic robot is provided for solving the problems.
Disclosure of Invention
The invention aims to provide a hexapod bionic robot to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a hexapod bionic robot comprises a body frame and a circuit mounting plate, wherein the circuit mounting plate is positioned above the body frame, an annular slide rail is fixedly embedded in the top of the body frame, two arc-shaped slide blocks which are symmetrically arranged are connected on the annular slide rail in a sliding manner, a lifting component is fixedly mounted at the top of each arc-shaped slide block, the top of each lifting component is fixedly connected with the bottom of the circuit mounting plate, a driving component is fixedly mounted at the top of the body frame, the top of each driving component and the bottom of the circuit mounting plate are fixedly mounted, a storage battery and an adjusting box are fixedly mounted at the top of the circuit mounting plate, the inner walls at two sides of the adjusting box are connected with a same sliding plate in a sliding manner, a locking component is fixedly connected onto each sliding plate, a rack is fixedly mounted at the top of each sliding plate, a power component is fixedly connected onto each rack, the top of each rack penetrates through, and the top of rack rotates and is connected with the connecting axle, rotate on the top intermediate position of regulating box and be connected with solar cell panel, solar cell panel and battery electric connection, the top of connecting axle and solar cell panel's bottom rotate and are connected, solar cell panel's bottom fixed mounting has extension spring, and extension spring's bottom and circuit mounting panel's top fixed connection.
Preferably, the lifting assembly comprises a threaded seat fixedly installed at the top of the annular sliding rail, the top of the threaded seat is in threaded connection with a screw rod, an adjusting groove is formed in the bottom of the circuit board mounting plate, the top of the screw rod is rotationally connected with the inner wall of the top of the adjusting groove, two driving motors symmetrically arranged are fixedly installed on the inner wall of the top of the adjusting groove, first gears are welded on output shafts of the driving motors, second gears are fixedly sleeved on the outer sides of the screw rod and are meshed with the two first gears respectively, when the height of the circuit mounting plate needs to be adjusted, the driving motors are started, the driving motors can drive the screw rod to rotate, the screw rod is in threaded connection with the threaded seat, and therefore the rotating motion can be converted into linear motion, and the height of the circuit mounting plate can be adjusted.
Preferably, the driving assembly comprises a driving shaft rotatably mounted on the body frame, a worm gear and a first bevel gear are fixedly sleeved outside the driving shaft, a step motor is fixedly arranged on the body frame, a worm is welded on an output shaft of the step motor, the worm is meshed with the worm wheel, the adjusting groove is connected with a lifting plate in a sliding way, the bottom of the lifting plate is fixedly provided with a rotating shaft, a second bevel gear is fixedly arranged at the bottom of the rotating shaft, the first bevel gear is meshed with the second bevel gear, when the rotation angle of the circuit mounting plate needs to be adjusted, the stepping motor is started, the stepping motor drives the worm to rotate, the worm is meshed with the worm wheel, so as to drive the first bevel gear to rotate, and the first bevel gear is meshed with the second bevel gear, the rotating shaft is driven to rotate, so that the rotating angle of the circuit mounting plate can be adjusted.
Preferably, power component includes the rotating electrical machines of fixed mounting on adjusting box top inner wall, the welding has the third gear on the output shaft of rotating electrical machines, and third gear and rack mesh mutually, and when starting rotating electrical machines, the rotating electrical machines can drive the third gear and rotate, and third gear and rack mesh mutually, so can promote solar cell panel and rotate, therefore be convenient for adjust solar cell panel's turned angle.
Preferably, the locking assembly includes a moving hole formed in the sliding plate, a first braking rack is fixedly mounted on an inner wall of one side of the moving hole, a second braking rack is slidably connected to an inner wall of the bottom of the adjusting box, a top of the second braking rack penetrates through the moving hole and is slidably connected to an inner wall of the top of the adjusting box, the second braking rack is engaged with the first braking rack, a push rod motor is fixedly mounted on an inner wall of the bottom of the adjusting box, an output shaft of the push rod motor is fixedly connected to one side of the second braking rack, the push rod motor is used for pushing the second braking rack to move, and when the first braking rack is engaged with the second braking rack, the sliding plate can be fixed so that the sliding plate can stably stay at a designated position.
Preferably, the top of the threaded seat is provided with a threaded groove, the bottom of the screw rod extends into the threaded groove and is in threaded connection with the threaded groove, and the screw rod can move longitudinally in the threaded groove by rotating the screw rod.
Preferably, two bearings which are symmetrically arranged are fixedly installed on the inner wall of the top of the adjusting groove, the tops of the two screws respectively extend to the inner rings of the bearings and are fixedly connected with the inner rings of the bearings, and the rotating friction force of the screws can be reduced by using the bearings.
Preferably, the top and the bottom of the second braking rack are both fixedly provided with a sliding block, the top inner wall and the bottom inner wall of the adjusting box are both fixedly provided with a sliding rail, the two sliding blocks are respectively connected with the two sliding rails in a sliding manner, and the sliding blocks and the sliding rails can prevent the second braking rack from shifting.
Preferably, one side of the push rod motor is fixedly provided with a steel plate, and the bottom of the steel plate is fixedly connected with the inner wall of the bottom of the adjusting box.
Preferably, the specific using method is as follows:
(A1) when this six sufficient bionic robot need cross darker rivers, for preventing that water from overflowing the circuit mounting panel, need rise the circuit mounting panel, start driving motor this moment, driving motor can drive the screw rod and rotate, and screw rod and screw thread seat threaded connection, so can trun into rotary motion into linear motion, and then can adjust the height of circuit mounting panel, the effectual circuit mounting panel that prevents that rivers from overflowing.
(A2) When making things convenient for six sufficient bionic robot to carry out the reconnaissance to surrounding environment, start step motor this moment, step motor can drive the worm and rotate, and worm wheel mesh mutually, so can drive first bevel gear and rotate, and first bevel gear and second bevel gear mesh mutually, so can drive the rotation axis and rotate, therefore can adjust the rotation angle of circuit mounting panel, made things convenient for six sufficient bionic robot to carry out comprehensive reconnaissance to surrounding environment greatly.
(A3) When the inclination angle of the solar cell panel is required to be adjusted, the rotating motor is started at the moment, the rotating motor can drive the third gear to rotate, and the third gear is meshed with the rack, so that the solar cell panel can be pushed to rotate, the rotating angle of the solar cell panel is convenient to adjust, and the solar cell panel can convert more light energy into electric energy.
(A4) When the first braking rack and the second braking rack are meshed, the sliding plate can be fixed, so that the solar cell panel can stably stay at a specified position and cannot deviate.
Compared with the prior art, the invention has the beneficial effects that:
1. when this hexapod bionic robot need cross darker rivers, for preventing that water from overflowing the circuit mounting panel, can raise the circuit mounting panel this moment, can adjust the height of circuit mounting panel through starting driving motor, the effectual circuit mounting panel that prevents that rivers from overflowing, when making things convenient for hexapod bionic robot to reconnaissance the surrounding environment, can adjust the rotation angle of circuit mounting panel through starting step motor, made things convenient for hexapod bionic robot to carry out comprehensive reconnaissance to the surrounding environment greatly.
2. When the inclination angle of solar cell panel was adjusted to needs, when starting the rotating electrical machines this moment, alright rotate in order to promote solar cell panel, therefore be convenient for adjust solar cell panel's turned angle for solar cell panel converts more light energy into the electric energy, and with the electric energy storage in the battery.
The six-foot bionic robot has a simple structure, has practical functions of lifting, rotating and the like, improves the severe field investigation environment of the six-foot bionic robot, and can convert light energy into electric energy by using the solar cell panel, so that the six-foot bionic robot cannot have the condition of insufficient electric energy in the field.
Drawings
FIG. 1 is a schematic view of the main structure of the present invention;
FIG. 2 is an enlarged schematic view of FIG. 1 at A according to the present invention;
FIG. 3 is an enlarged view of the structure of FIG. 1 at B according to the present invention;
FIG. 4 is a schematic top view of a portion of FIG. 1 in accordance with the present invention;
FIG. 5 is a schematic top view of a portion of FIG. 1 in accordance with the present invention;
fig. 6 is a schematic three-dimensional structure of the second brake rack of fig. 1 according to the present invention.
In the figure: 1. a body frame; 2. a circuit mounting board; 3. an adjustment groove; 4. a drive motor; 5. a first gear; 6. a screw; 7. a second gear; 8. an annular slide rail; 9. an arc-shaped sliding block; 10. a threaded seat; 11. a stepping motor; 12. a worm; 13. a drive shaft; 14. a worm gear; 15. a first bevel gear 16, a rotating shaft; 17. a second bevel gear 18, a storage battery; 19. an extension spring; 20. a solar panel; 21. an adjusting box; 22. a sliding plate; 23. a rack; 24. a rotating electric machine; 25. a third gear; 26. a connecting shaft; 27. a first brake rack; 28. a second brake rack; 29. a push rod motor.
Detailed Description
The embodiment of the application solves the problems in the prior art by providing the hexapod bionic robot. The following will clearly and completely describe the technical solutions in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Referring to fig. 1-6, the present embodiment provides a hexapod bionic robot, including a body frame 1 and a circuit mounting plate 2, wherein the circuit mounting plate 2 is located above the body frame 1, an annular slide rail 8 is fixedly embedded on the top of the body frame 1, two symmetrically arranged arc slide blocks 9 are slidably connected on the annular slide rail 8, a lifting component is fixedly installed on the top of the arc slide block 9, the top of the lifting component is fixedly connected with the bottom of the circuit mounting plate 2, a driving component is fixedly installed on the top of the body frame 1, the top of the driving component and the bottom of the circuit mounting plate 2 are fixedly installed, a storage battery 18 and an adjusting box 21 are fixedly installed on the top of the circuit mounting plate 2, the same sliding plate 22 is slidably connected on the inner walls on both sides of the adjusting box 21, a locking component is fixedly connected on the sliding plate 22, a rack 23 is fixedly installed on the top of the sliding plate 22, rack 23 fixedly connected with power component, the top inner wall of regulating box 21 is run through and extends to the top of regulating box 21 at the top of rack 23, and the top of rack 23 is rotated and is connected with connecting axle 26, it is connected with solar cell panel 20 to rotate on the top intermediate position of regulating box 21, solar cell panel 20 and battery 18 electric connection, the top of connecting axle 26 and the bottom of solar cell panel 20 are rotated and are connected, the bottom fixed mounting of solar cell panel 20 has extension spring 19, and the bottom of extension spring 19 and the top fixed connection of circuit mounting panel 2.
Wherein, the lifting component comprises a threaded seat 10 fixedly arranged at the top of the annular slide rail 8, the top of the threaded seat 10 is in threaded connection with a screw rod 6, the bottom of the circuit board mounting plate 2 is provided with an adjusting groove 3, the top of the screw rod 6 is rotationally connected with the inner wall of the top of the adjusting groove 3, the inner wall of the top of the adjusting groove 3 is fixedly provided with two driving motors 4 which are symmetrically arranged, the output shaft of the driving motor 4 is welded with a first gear 5, the outer side of the screw rod 6 is fixedly sleeved with a second gear 7, and the two first gears 5 are respectively meshed with the two second gears 7, when the height of the circuit mounting plate 2 needs to be adjusted, the driving motor 4 is started, the driving motor 4 drives the screw rod 6 to rotate, the screw rod 6 is in threaded connection with the threaded seat 10, the rotational motion can be converted into the linear motion, and the height of the circuit mounting board 2 can be adjusted.
Wherein, the driving assembly comprises a driving shaft 13 rotatably mounted on the body frame 1, a worm wheel 14 and a first bevel gear 15 are fixedly sleeved outside the driving shaft 13, a stepping motor 11 is fixedly mounted on the body frame 1, a worm 12 is welded on an output shaft of the stepping motor 11, the worm 12 is meshed with the worm wheel 14, a lifting plate is slidably connected in the adjusting groove 3, a rotating shaft 16 is fixedly mounted at the bottom of the lifting plate, a second bevel gear 17 is fixedly mounted at the bottom of the rotating shaft 16, the first bevel gear 15 is meshed with the second bevel gear 17, when the rotating angle of the circuit mounting plate 2 needs to be adjusted, the stepping motor 11 is started, the stepping motor 11 drives the worm 12 to rotate, the worm 12 is meshed with the worm wheel 14, the first bevel gear 15 is driven to rotate, the first bevel gear 15 is meshed with the second bevel gear 17, and the rotating shaft 16 is driven to rotate, the rotation angle of the circuit-mounting board 2 can be adjusted.
Wherein, power component includes the rotating electrical machines 24 of fixed mounting on the inner wall of regulating box 21 top, the welding has third gear 25 on the output shaft of rotating electrical machines 24, and third gear 25 and rack 23 mesh mutually, when starting rotating electrical machines 24, rotating electrical machines 24 can drive third gear 25 and rotate, and third gear 25 and rack 23 mesh mutually, so can promote solar cell panel 20 and rotate, therefore be convenient for adjust solar cell panel 20's turned angle.
The locking assembly comprises a moving hole formed in the sliding plate 22, a first braking rack 27 is fixedly mounted on the inner wall of one side of the moving hole, a second braking rack 28 is connected to the inner wall of the bottom of the adjusting box 21 in a sliding mode, the top of the second braking rack 28 penetrates through the moving hole and is connected with the inner wall of the top of the adjusting box 21 in a sliding mode, the second braking rack 28 is meshed with the first braking rack 27, a push rod motor 29 is fixedly mounted on the inner wall of the bottom of the adjusting box 21, the output shaft of the push rod motor 29 is fixedly connected with one side of the second braking rack 28, the push rod motor 29 is used for pushing the second braking rack 28 to move, and when the first braking rack 27 is meshed with the second braking rack 28, the sliding plate 22 can be fixed, and can be stably stopped at a designated position.
In this embodiment, when the hexapod bionic robot needs to cross a deeper water flow, in order to prevent the water from crossing the circuit mounting plate 2, the circuit mounting plate 2 may be lifted, the driving motor 4 is started, the driving motor 4 drives the screw rod 6 to rotate, the screw rod 6 is in threaded connection with the threaded seat 10, so that the rotational motion may be converted into a linear motion, and further, the height of the circuit mounting plate 2 may be adjusted, and the water flow is effectively prevented from crossing the circuit mounting plate 2, in order to facilitate the hexapod bionic robot to survey the surrounding environment, the stepping motor 11 is started, the stepping motor 11 drives the worm 12 to rotate, the worm 12 is engaged with the worm wheel 14, so that the first bevel gear 15 is driven to rotate, and the first bevel gear 15 is engaged with the second bevel gear 17, so that the rotating shaft 16 is driven to rotate, and thus the rotating angle of the circuit mounting plate 2 may be adjusted, make things convenient for hexapod bionic robot to carry out comprehensive reconnaissance to surrounding environment greatly, when needs adjust solar cell panel 20's inclination, start rotating electrical machines 24 this moment, rotating electrical machines 24 can drive third gear 25 and rotate, and third gear 25 and rack 23 mesh mutually, so can promote solar cell panel 20 and rotate, therefore be convenient for adjust solar cell panel 20's turned angle, solar cell panel 20 converts more light energy into the electric energy, when first braking rack 27 and second braking rack 28 mesh mutually, can fix sliding plate 22, make the stop that solar cell panel 20 can stabilize on appointed position, the skew can not take place.
Example two
Referring to fig. 1-6, a further improvement is made on the basis of embodiment 1:
the top of the threaded seat 10 is provided with a threaded groove, the bottom of the screw 6 extends into the threaded groove and is in threaded connection with the threaded groove, and the screw 6 can be moved longitudinally in the threaded groove by rotating the screw 6.
Two bearings which are symmetrically arranged are fixedly installed on the inner wall of the top of the adjusting groove 3, the tops of the two screw rods 6 respectively extend to the inner rings of the bearings and are fixedly connected with the inner rings of the bearings, and the rotating friction force of the screw rods 6 can be reduced by utilizing the bearings.
The top and the bottom of second brake rack 28 all have the slider, and all fixed mounting has the slide rail on the top inner wall of regulating box 21 and the bottom inner wall, and two sliders respectively with two slide rail sliding connection, utilize slider and slide rail can not take place the skew when making second brake rack 28 remove.
One side of the push rod motor 29 is fixedly provided with a steel plate, and the bottom of the steel plate is fixedly connected with the inner wall of the bottom of the adjusting box 21.
In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, "first," "second," "third," and "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be further noted that, unless otherwise specifically stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, integrally connected, mechanically connected, electrically connected, directly connected, connected through an intermediate medium, or connected through the insides of two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides a six sufficient bionic robot, includes body frame (1) and circuit mounting panel (2), and circuit mounting panel (2) are located the top of body frame (1), its characterized in that: the top of the body frame (1) is fixedly embedded with an annular slide rail (8), the annular slide rail (8) is connected with two symmetrical arc-shaped slide blocks (9) in a sliding manner, the top of each arc-shaped slide block (9) is fixedly provided with a lifting component, the top of the lifting component is fixedly connected with the bottom of the circuit mounting plate (2), the top of the body frame (1) is fixedly provided with a driving component, the top of the driving component is fixedly mounted with the bottom of the circuit mounting plate (2), the top of the circuit mounting plate (2) is fixedly provided with a storage battery (18) and an adjusting box (21), the inner walls of two sides of the adjusting box (21) are connected with a same sliding plate (22) in a sliding manner, the sliding plate (22) is fixedly connected with a locking component, the top of the sliding plate (22) is fixedly provided with a rack (23), and the rack (23) is fixedly connected with a power component, the top of the rack (23) penetrates through the inner wall of the top of the adjusting box (21) and extends to the upper side of the adjusting box (21), the top of the rack (23) is rotatably connected with a connecting shaft (26), the middle position of the top of the adjusting box (21) is rotatably connected with a solar cell panel (20), the solar cell panel (20) is electrically connected with the storage battery (18), the top of the connecting shaft (26) is rotatably connected with the bottom of the solar cell panel (20), the bottom of the solar cell panel (20) is fixedly provided with an extension spring (19), and the bottom of the extension spring (19) is fixedly connected with the top of the circuit mounting plate (2);
the lifting assembly comprises a threaded seat (10) fixedly mounted at the top of an annular sliding rail (8), the top of the threaded seat (10) is in threaded connection with a screw rod (6), an adjusting groove (3) is formed in the bottom of the circuit mounting plate (2), the top of the screw rod (6) is rotationally connected with the inner wall of the top of the adjusting groove (3), two driving motors (4) which are symmetrically arranged are fixedly mounted on the inner wall of the top of the adjusting groove (3), a first gear (5) is welded on an output shaft of each driving motor (4), a second gear (7) is fixedly sleeved on the outer side of the screw rod (6), and the two first gears (5) are respectively meshed with the two second gears (7);
the driving assembly comprises a driving shaft (13) rotatably installed on a body frame (1), a worm wheel (14) and a first bevel gear (15) are fixedly sleeved on the outer side of the driving shaft (13), a stepping motor (11) is fixedly installed on the body frame (1), a worm (12) is welded on an output shaft of the stepping motor (11), the worm (12) is meshed with the worm wheel (14), a lifting plate is connected in the adjusting groove (3) in a sliding mode, a rotating shaft (16) is fixedly installed at the bottom of the lifting plate, a second bevel gear (17) is fixedly installed at the bottom of the rotating shaft (16), and the first bevel gear (15) is meshed with the second bevel gear (17);
the locking assembly comprises a moving hole formed in the sliding plate 22, a first braking rack (27) is fixedly mounted on the inner wall of one side of the moving hole, a second braking rack (28) is connected to the inner wall of the bottom of the adjusting box (21) in a sliding mode, the top of the second braking rack (28) penetrates through the moving hole and is connected with the inner wall of the top of the adjusting box (21) in a sliding mode, the second braking rack (28) is meshed with the first braking rack (27), a push rod motor 29 is fixedly mounted on the inner wall of the bottom of the adjusting box (21), and an output shaft of the push rod motor 29 is fixedly connected with one side of the second braking rack (28);
the power assembly comprises a rotating motor (24) fixedly installed on the inner wall of the top of the adjusting box (21), a third gear (25) is welded on an output shaft of the rotating motor (24), and the third gear (25) is meshed with the rack (23).
2. The hexapod biomimetic robot of claim 1, wherein: the top of the threaded seat (10) is provided with a threaded groove, and the bottom of the screw rod (6) extends into the threaded groove and is in threaded connection with the threaded groove.
3. The hexapod biomimetic robot of claim 1, wherein: two bearings which are symmetrically arranged are fixedly installed on the inner wall of the top of the adjusting groove (3), and the tops of the two screws (6) respectively extend to the inner rings of the bearings and are fixedly connected with the inner rings of the bearings.
4. The hexapod biomimetic robot of claim 1, wherein: the top and the bottom of the second braking rack (28) are fixedly provided with sliding blocks, the inner wall of the top and the inner wall of the bottom of the adjusting box (21) are fixedly provided with sliding rails, and the two sliding blocks are respectively connected with the two sliding rails in a sliding manner.
5. The hexapod biomimetic robot of claim 1, wherein: and a steel plate is fixedly arranged on one side of the push rod motor (29), and the bottom of the steel plate is fixedly connected with the inner wall of the bottom of the adjusting box (21).
6. The hexapod biomimetic robot as recited in any one of claims 1 to 5, wherein the specific usage method is as follows:
(A1) when the hexapod bionic robot needs to cross deeper water flow, in order to prevent water from overflowing the circuit mounting plate (2), the circuit mounting plate (2) needs to be lifted, the driving motor (4) is started at the moment, the driving motor (4) can drive the screw rod (6) to rotate, and the screw rod (6) is in threaded connection with the threaded seat (10), so that rotary motion can be converted into linear motion, the height of the circuit mounting plate (2) can be adjusted, and water flow is effectively prevented from overflowing the circuit mounting plate (2);
(A2) when the six-legged bionic robot surveys the surrounding environment conveniently, the stepping motor (11) is started at the moment, the stepping motor (11) can drive the worm (12) to rotate, the worm (12) is meshed with the worm wheel (14), so that the first bevel gear (15) can be driven to rotate, the first bevel gear (15) is meshed with the second bevel gear (17), so that the rotating shaft (16) can be driven to rotate, the rotating angle of the circuit mounting plate (2) can be adjusted, and the six-legged bionic robot surveys the surrounding environment comprehensively;
(A3) when the inclination angle of the solar cell panel (20) needs to be adjusted, and the rotating motor (24) is started at the moment, the rotating motor (24) can drive the third gear (25) to rotate, and the third gear (25) is meshed with the rack (23), so that the solar cell panel (20) can be pushed to rotate, the rotating angle of the solar cell panel (20) can be adjusted conveniently, and more light energy can be converted into electric energy by the solar cell panel (20);
(A4) when the first brake rack (27) and the second brake rack (28) are meshed, the sliding plate (22) can be fixed, so that the solar panel (20) can stably stay at a specified position without deviation.
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| CN202010001649.0A CN111152263B (en) | 2020-01-02 | 2020-01-02 | Six-foot bionic robot and method thereof |
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| CN202010001649.0A CN111152263B (en) | 2020-01-02 | 2020-01-02 | Six-foot bionic robot and method thereof |
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| CN112223256A (en) * | 2020-09-02 | 2021-01-15 | 阜新市三合智能制造技术有限公司 | Lower limb auxiliary mechanical limiting device |
| CN113104224A (en) * | 2021-04-29 | 2021-07-13 | 金陵科技学院 | Unmanned aerial vehicle aerial fixed point device based on openmv |
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| CN109654340A (en) * | 2019-01-08 | 2019-04-19 | 陕西理工大学 | A kind of angle adjustment device for photography and vedio recording |
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