CN112123351A - Bionic ant detection robot - Google Patents
Bionic ant detection robot Download PDFInfo
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- CN112123351A CN112123351A CN202011037505.7A CN202011037505A CN112123351A CN 112123351 A CN112123351 A CN 112123351A CN 202011037505 A CN202011037505 A CN 202011037505A CN 112123351 A CN112123351 A CN 112123351A
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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
Abstract
The invention discloses a bionic ant detection robot, wherein a first steering engine and a second steering engine drive a human body infrared sensor and an infrared distance measurement sensor to rotate to detect and search nearby vital signs in real time, a first auxiliary foot and a second auxiliary foot can cope with the difficult environment to walk under the driving of a third steering engine and a fourth steering engine, a head servo motor drives a head shell to move back and forth in a telescopic way, a base and a clutch device steering engine drive a lower ant foot and an upper ant foot to move back and forth, a chest servo motor drives the ant feet to move back and forth, a steering engine is used for turning to drive the chest shell to turn, and a lifting device steering engine enables the head shell to adjust the angle up and down through a crank linkage mechanism. The robot has high running precision, good sensitivity and powerful obstacle crossing function.
Description
Technical Field
The invention relates to a bionic ant detection robot, and belongs to the technical field of bionic robots.
Background
From ancient times to present, people have various technical ideas, various inventions and source springs of engineering design as natural organisms. In 1960, 9 months, the united states air force aviation administration held the first world bionics congress in ohio. Steel defines bionics as "the science of building technical systems by mimicking biological principles, or artificial technical systems with mimicking biological properties". In summary, bionics is a science that models living things.
Bionic mechanics is a branch of bionics, and mainly works to study the structure and motion characteristics of a living body simulated by a mechanical device or an electromechanical device, so as to design an electromechanical device similar to a living body, serve the human society and promote the development of the human society.
Application of bionics in the field of robots has facilitated the development of the adaptability of robots to unstructured unknown environments. The research field of modern robots has emerged from fixed-point operations in structured environments and has evolved in the direction of autonomous operation in non-structured environments, such as aerospace, military reconnaissance, resource exploration, underwater exploration, pipeline maintenance, disease inspection, emergency rescue, and the like. This requires that the robot has a high adaptability to not only known regular environments but also unknown irregular environments.
China has various natural disasters, wide distribution and high frequency, and is one of the most serious countries in the world. Natural disasters greatly affect normal life of people, disaster prevention and reduction are closely related to people, and the function of the detection robot is also obvious. This enables the fastest and safest response to a disaster.
Although the heavy machinery in China is developed rapidly at present, the heavy machinery cannot play much role due to extremely fragile ruins in disaster sites, so that the research of a light flexible detection robot with rapid response is particularly necessary.
The bionic detection robot is designed according to the movement characteristics of the physiological structure of a natural organism, and is provided with various sensors to react to the environment, so that the bionic detection robot has the advantages of high flexibility and high environmental adaptability, ensures the working capacity of the bionic detection robot under a severe environment, has strong obstacle avoidance capacity and can react differently to cross obstacles when facing different obstacles. The bionic detection robot is distinguished in the research field of the bionic robot by virtue of the advantages, is widely applied in various fields such as industry, emergency rescue and disaster relief, and the like, and can often execute dangerous work to prove that the bionic detection robot can play a role and has strong function. Therefore, there is a need for a bionic probe robot.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a bionic ant detection robot.
In order to achieve the purpose, the invention provides a bionic ant detection robot which comprises a head, a chest and an abdomen, wherein the head comprises a head shell, a detection device, a head auxiliary walking device and a head and chest expansion device;
the chest comprises a chest shell, a walking device and a transmission device for driving the walking device to move, and the walking device and the transmission device are arranged on the chest shell;
the abdomen comprises an abdomen shell, an abdomen auxiliary walking device and an abdomen and chest expansion device, wherein the abdomen auxiliary walking device and the abdomen and chest expansion device are arranged on the abdomen shell.
Preferentially, detection device includes human infrared inductor, infrared distance measuring sensor, tentacle one number, tentacle two numbers, steering wheel one and steering wheel two fixed mounting in the head casing, tentacle one number coaxial fixed connection steering wheel output shaft, tentacle two numbers coaxial fixed connection steering wheel output shaft, tentacle one number and tentacle two numbers fixed setting at the head casing upside, human infrared inductor fixed mounting is on tentacle one number, infrared distance measuring sensor fixed mounting is on tentacle two numbers.
Preferentially, the head auxiliary walking device comprises an auxiliary foot front foot I, an auxiliary foot front foot II, a steering engine III, a steering engine IV, a head auxiliary supporting frame and a supporting frame steering engine, wherein the auxiliary foot front foot I is positioned on the left side of the head shell, the auxiliary foot front foot II is positioned on the right side of the head shell, the steering engine III and the steering engine IV are fixedly arranged on the head shell, an output shaft of the steering engine III penetrates through the left side wall of the head shell and is fixedly connected with the rear end of the auxiliary foot front foot I, an output shaft of the steering engine IV penetrates through the right side wall of the head shell and is fixedly connected with the rear end of the auxiliary foot front;
the support frame steering wheel is fixedly arranged on the head shell, and the support frame steering wheel output shaft is fixedly connected with one end of the head auxiliary support frame.
Preferably, the cephalothorax telescopic device comprises a head servo motor, a driving gear, a driven gear, a head nut, a head connecting rod and a lead screw; head servo motor fixed mounting is inside the head casing, head servo motor output shaft passes the coaxial fixed connection driving gear of head casing front side wall, inside head nut lower extreme slip connection head casing, coaxial fixed connection driven gear behind the lead screw front end spiral passes the head nut, the lead screw is located head auxiliary support frame upper end, head connecting rod front end fixed connection head nut, head connecting rod rear end fixed connection chest casing, set up the head through-hole of cooperation head connecting rod on the head casing, set up the lead screw through-hole of cooperation lead screw on the head casing, driven gear front end rotates the inside front side wall of connection head casing.
Preferentially, the chest shell is hollow inside, the walking device comprises six ant foot steering engines, six lower ant feet, six upper ant feet, six bases, six clutch steering engines and six ant foot ends, one side of each ant foot end is in contact with the ground, the other side of each ant foot end is fixedly connected with the lower end of each lower ant foot, the ant foot steering engines are fixedly installed at the upper ends of the lower ant feet, output shafts of the ant foot steering engines are fixedly connected with the outer ends of the upper ant feet, the six bases are fixedly installed on the chest shell, one clutch steering engine is fixedly installed on each base, the inner ends of the upper ant feet are fixedly connected with output shafts of the clutch steering engines, and the six bases are sequentially arranged into a first base, a second base, a third base, a fourth base, a fifth base and a sixth base by taking the head shell as a base point.
Preferably, the transmission device comprises two chest servo motors, two harmonic reducers, a plurality of transmission gears with connecting shafts, two steering engines for turning, six base lower gears and a clutch device, wherein the lower ends of the six bases are fixedly provided with one base lower gear, the chest shell is provided with a plurality of grooves matched with the transmission gear connecting shafts, the lower ends of the plurality of transmission gear connecting shafts are rotatably connected with the grooves, the base lower gear fixedly connected with the lower end of the first base is in meshing transmission with the base lower gear fixedly connected with the lower end of the fifth base, the base lower gear fixedly connected with the lower end of the third base is in meshing transmission with the base lower gear fixedly connected with the lower end of the fifth base, the base lower gear fixedly connected with the lower end of the second base is in meshing transmission with the base lower gear fixedly connected with the lower end of the fourth base, the base lower gear fixedly connected with the lower end of the second base is in meshing transmission with the, the transmission gears are rotatably arranged on the chest shell, the two turning steering gears, the two chest servo motors and the two harmonic reducers are fixedly arranged in the chest shell, an output shaft of the chest servo motor is horizontally connected with an input end of one harmonic reducer, an output shaft of one turning steering gear is fixedly connected with a lower base gear fixedly connected with the lower end of the first base, and an output shaft of the other turning steering gear is fixedly connected with a lower base gear fixedly connected with the lower end of the third base;
the first base, the third base and the fifth base are positioned on the same horizontal plane, a base lower gear fixedly connected with the lower end of the first base, a base lower gear fixedly connected with the lower end of the third base and a base lower gear fixedly connected with the lower end of the fifth base are mutually meshed through a plurality of transmission gears and positioned on the same horizontal plane, the first base and the third base are rotatably arranged on the chest shell, and the output end of one harmonic reducer is vertically and fixedly connected with the base lower gear fixedly connected with the lower end of the fifth base;
the No. two bases, No. four bases and No. six bases are located on the same horizontal plane, No. two base lower extreme fixed connection's base lower gear, No. four base lower extreme fixed connection's base lower gear and No. six base lower extreme fixed connection's base lower gear pass through a plurality of drive gear intermeshing and are located same horizontal plane, No. four bases and No. six bases rotate and set up on the chest casing, the vertical fixed connection No. two base lower extreme fixed connection's of output of another harmonic speed reducer base lower gear, No. five base lower extreme fixed connection's base lower gear height is higher than No. two base lower extreme fixed connection's base lower gear or No. five base lower extreme fixed connection's base lower gear height is less than No. two base lower extreme fixed connection's base lower gear.
Preferably, the clutch device comprises two lifting rods II, a lifting rod I, a lifting driven rod, a lifting driving rod and a lifting device steering engine; the lifting device steering engine is fixedly arranged on the chest shell, an output shaft of the lifting device steering engine is fixedly connected with the upper end of a lifting driving rod, the lower end of the lifting driving rod is rotatably connected with the upper end of a lifting driven rod, two lifting rods II and a lifting rod I are positioned in the chest shell, the lower end of the lifting driven rod is rotatably connected with the middle end of a lifting rod I, the middle end of the lifting driven rod penetrates through the chest shell, the left end and the right end of the lifting rod I are respectively and fixedly connected with a lifting rod II, the lower end of the lifting rod II is sleeved and rotatably connected with a base lower gear fixedly connected with the lower end of a first base, a base lower gear fixedly connected with the lower end of a third base and a base lower gear fixedly connected with the lower end of a fifth base, a plurality of transmission gears which are mutually meshed are arranged between the lifting rod II, the lifting, the lifting rod is fixed with four transmission gears among the first base, the third base and the fifth base.
Preferably, the cephalothoracic and abdominal thoracic retractors are identical in construction.
Preferentially, the abdomen auxiliary walking device and the head auxiliary walking device are the same in structure, the abdomen shell is a hollow frame body with a cross-shaped cross section, the abdomen-chest expansion device and the head-chest expansion device are symmetrically arranged on the chest shell, and the abdomen auxiliary walking device and the head auxiliary walking device are symmetrically distributed.
The invention achieves the following beneficial effects:
the first steering engine and the second steering engine drive the human body infrared sensor and the infrared distance measuring sensor to rotate to detect and search nearby vital signs in real time, the first auxiliary foot and the second auxiliary foot can cope with the difficult environment to walk under the driving of the third steering engine and the fourth steering engine, the head servo motor drives the head shell to move back and forth in a telescopic way, the base and the clutch device drive the lower section ant foot and the upper section ant foot to move back and forth in a telescopic way, the chest servo motor drives the robot to move forward and backward, the lifting device drives the transmission gear to move upwards or downwards to separate from the first base, the third base and the fifth base through the crank linkage mechanism, so that the steering engine drives the first base and the third base to steer, the bionic ant detection robot solves the problems of difficult rescue after disasters, uncertain purposiveness, untimely rescue and the like, and provides great help for rescue workers, the robot saves a lot of time, and is low in cost, high in running precision, good in sensitivity and powerful in obstacle crossing function.
Drawings
FIG. 1 is an overall schematic view of the present invention;
FIG. 2 is a schematic head view of the present invention;
FIG. 3 is a schematic representation of the chest portion of the present invention;
FIG. 4 is a schematic view of the abdomen and chest stretching device of the present invention;
FIG. 5 is a schematic view of the drive gear and the lower gear of the base in the present invention;
fig. 6 is a schematic view of a pulling apparatus of the present invention.
The reference number means 1-steering engine I; 2-steering engine two; 3-auxiliary forefoot; 4-lower ant feet; 5-upper ant feet; 6-a base; 7-clutch steering engine; 8-abdominal shell; 9-abdominal auxiliary support frame; 10-auxiliary foot joint steering engine; 11-ant podia; 12-a chest housing; 13-human body infrared sensor; 14-an infrared ranging sensor; 15-head servo motor; 16-a drive gear; 17-a driven gear; 18-a nut; 19-a lead screw; 20-head auxiliary support; 21-harmonic reducers; 22-chest servo motor; 23-a transmission gear; 24-steering engine for turning; 25-base lower gear; 26-lifting a second pull rod; 27-lifting the first pull rod; 28-lifting the driven rod; 29-pulling the active rod; 30-a lifting device steering engine.
Detailed Description
The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
It should be noted that, if there is a directional indication (such as up, down, left, right, front, and back) in the embodiment of the present invention, it is only used to explain the relative position relationship between the components, the motion situation, and the like in a certain posture, and if the certain posture is changed, the directional indication is changed accordingly.
In addition, if the description of "first", "second", etc. is referred to in the present invention, it is used for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
A bionic ant detection robot comprises a head, a chest and an abdomen, wherein the head comprises a head shell, a detection device, a head auxiliary walking device and a head and chest expansion device, the detection device and the head auxiliary walking device are fixedly arranged on the head shell, one end of the head and chest expansion device is arranged on the head shell, and the other end of the head and chest expansion device is arranged on the chest;
the chest comprises a chest shell, a walking device and a transmission device for driving the walking device to move, and the walking device and the transmission device are arranged on the chest shell;
the abdomen comprises an abdomen shell, an abdomen auxiliary walking device and an abdomen and chest expansion device, wherein the abdomen auxiliary walking device and the abdomen and chest expansion device are arranged on the abdomen shell.
Further, detection device includes human infrared inductor 13, infrared distance measuring sensor 14, the tentacle is one number, the tentacle is two numbers, steering wheel 1 and steering wheel two 2 fixed mounting are in the head casing, the coaxial fixed connection steering wheel 1 output shaft of tentacle is one number, the coaxial fixed connection steering wheel 2 output shaft of tentacle is two numbers, the tentacle is one number and the tentacle is two numbers fixed the setting at the head casing upside, human infrared inductor 13 fixed mounting is on tentacle is one number, infrared distance measuring sensor 14 fixed mounting is on tentacle is two numbers.
Further, the head auxiliary walking device comprises an auxiliary foot front foot I3, an auxiliary foot front foot II, a steering engine III, a steering engine IV, a head auxiliary support frame 20 and a support frame steering engine, wherein the auxiliary foot front foot I3 is positioned on the left side of the head shell, the auxiliary foot front foot II is positioned on the right side of the head shell, the steering engine III and the steering engine IV are fixedly arranged on the head shell, an output shaft of the steering engine III penetrates through the left side wall of the head shell and is fixedly connected with the rear end of the auxiliary foot front foot I3, four output shafts of the steering engine penetrates through the right side wall of the head shell and is fixedly connected with the rear end of the auxiliary foot front foot II, and;
the support frame steering wheel is fixedly arranged on the head shell, and the support frame steering wheel output shaft is fixedly connected with one end of the head auxiliary support frame 20.
Further, the cephalothorax telescopic device comprises a head servo motor 15, a driving gear 16, a driven gear 17, a head nut 18, a head connecting rod and a lead screw 19; head servo motor 15 fixed mounting is inside the head casing, head servo motor 15 output shaft passes head casing front side wall coaxial fixed connection driving gear 16, head nut 18 lower extreme slip connection head casing is inside, coaxial fixed connection driven gear 17 behind screw 19 front end spiral pass head nut 18, screw 19 is located head auxiliary stay 20 upper ends, head connecting rod front end fixed connection head nut 18, head connecting rod rear end fixed connection chest casing, set up the head through-hole of cooperation head connecting rod on the head casing, set up the lead screw through-hole of cooperation lead screw on the head casing, driven gear front end rotates the inside front side wall of connection head casing.
Furthermore, the chest shell is hollow, the walking device comprises six ant foot steering gears, six lower ant feet 4, six upper ant feet 5, six bases 6, six clutch device steering gears 7 and six ant foot ends 11, one side of each ant foot end 11 is in contact with the ground, the other side of each ant foot end 11 is fixedly connected with the lower end of each lower ant foot 4, the upper ends of the lower ant feet 4 are fixedly provided with the ant foot steering gears, output shafts of the ant foot steering gears are fixedly connected with the outer ends of the upper ant feet 5, the six bases 6 are fixedly arranged on the chest shell, one clutch device steering gear 7 is fixedly arranged on each base 6, the inner ends of the upper ant feet 5 are fixedly connected with output shafts of the clutch device steering gears 7, and the six bases 6 are sequentially arranged into a first base, a second base, a third base, a fourth base, a fifth base and a sixth base by taking the head shell as a clockwise ordering.
Further, the transmission device comprises two chest servo motors 22, two harmonic reducers 21, a plurality of transmission gears 23 with connecting shafts, two turning steering engines 24, six base lower gears 25 and a clutch device, wherein the lower ends of six bases 6 are fixedly provided with one base lower gear 25, the chest shell is provided with a plurality of grooves matched with the connecting shafts of the transmission gears 23, the lower ends of the connecting shafts of the plurality of transmission gears 23 are rotatably connected with the grooves, the base lower gear 25 fixedly connected with the lower end of the first base is in meshing transmission with the base lower gear 25 fixedly connected with the lower end of the fifth base, the base lower gear 25 fixedly connected with the lower end of the third base is in meshing transmission with the base lower gear 25 fixedly connected with the lower end of the fifth base, the base lower gear 25 fixedly connected with the lower end of the second base is in meshing transmission with the base lower gear 25 fixedly connected with the lower end of the fourth base, the base lower gear 25 fixedly connected with the lower end of the second base is in 25, a plurality of transmission gears 23 are rotatably arranged on the chest shell, two turning steering gears 24, two chest servo motors 22 and two harmonic reducers 21 are fixedly arranged in the chest shell, an output shaft of each chest servo motor 22 is horizontally connected with an input end of one harmonic reducer 21, an output shaft of one turning steering gear 24 is fixedly connected with a lower base gear 25 fixedly connected with the lower end of the first base, and an output shaft of the other turning steering gear 24 is fixedly connected with a lower base gear 25 fixedly connected with the lower end of the third base;
the first base, the third base and the fifth base are positioned on the same horizontal plane, a base lower gear 25 fixedly connected with the lower end of the first base, a base lower gear 25 fixedly connected with the lower end of the third base and a base lower gear 25 fixedly connected with the lower end of the fifth base are mutually meshed through a plurality of transmission gears 23 and positioned on the same horizontal plane, the first base and the third base are rotatably arranged on the chest shell, and the output end of one harmonic reducer 21 is vertically and fixedly connected with the base lower gear 25 fixedly connected with the lower end of the fifth base;
the second base, No. four base and No. six base are located on the same horizontal plane, No. two base lower extreme fixed connection's base lower gear 25, No. four base lower extreme fixed connection's base lower gear 25 and No. six base lower extreme fixed connection's base lower gear 25 pass through a plurality of drive gear 23 intermeshing and are located on the same horizontal plane, No. four base and No. six base rotate and set up on the chest casing, the vertical fixed connection No. two base lower extreme fixed connection's base lower gear 25 of the output of another harmonic speed reducer 21, No. five base lower extreme fixed connection's base lower gear 25 height is higher than No. two base lower extreme fixed connection's base lower gear 25 or No. five base lower extreme fixed connection's base lower gear 25 height is lower than No. two base lower extreme fixed connection's base lower gear 25.
Further, the clutch device comprises two lifting rods 26, a lifting rod 27, a lifting driven rod 28, a lifting driving rod 29 and a lifting device steering engine 30; the lifting device steering gear 30 is fixedly arranged on the chest shell, an output shaft of the lifting device steering gear 30 is fixedly connected with the upper end of a lifting driving rod 29, the lower end of the lifting driving rod 29 is rotatably connected with the upper end of a lifting driven rod 28, two lifting rods 26 and a lifting rod 27 are positioned in the chest shell, the lower end of the lifting driven rod 28 is rotatably connected with the middle end of the lifting rod 27, the middle end of the lifting driven rod 28 penetrates through the chest shell, the left end and the right end of the lifting rod 27 are respectively and fixedly connected with the lifting rods 26, the lower end of the lifting rod 26 is sleeved and rotatably connected with a base lower gear 25 fixedly connected with the lower end of a first base, a base lower gear 25 fixedly connected with the lower end of a third base and a base lower gear 25 fixedly connected with the lower end of a fifth base, and a plurality of transmission gears 23 which are mutually meshed are arranged among the lifting rods 26, the lifting rods 27, the lifting rods 28, the lifting rod is fixed with four transmission gears among the first base, the third base and the fifth base.
Further, the structure of the cephalothorax telescopic device is the same as that of the abdomen-chest telescopic device.
Further, the abdomen auxiliary walking device and the head auxiliary walking device have the same structure, the abdomen shell 8 is a hollow frame body with a cross-shaped cross section, the abdomen-chest expansion device and the head-chest expansion device are symmetrically arranged on the chest shell, and the abdomen auxiliary walking device and the head auxiliary walking device are symmetrically distributed.
The chest shell is a hollow container, tentacles I and tentacles II are rod pieces with L-shaped cross sections, six bases 6 are hollow cuboids, six ant foot ends 11 are cylindrical, the head shell is hollow cuboids, a head connecting rod is a cuboid rod piece, six lower ant feet 4 and six upper ant feet 5 are rod pieces, a lifting device steering gear 30, six clutch steering gears 7, a head servo motor 15, a driving gear 16, a driven gear 17, a head nut 18, a lead screw 19, six ant foot steering gears, a human body infrared sensor 13, an infrared distance measuring sensor 14, a steering gear I1 and a steering gear II 2 are in the prior art, the components can be in various types in the prior art, and a person skilled in the art can select a proper type according to actual requirements. Eight transmission gears 23 and six base lower gears 25 are included in the present embodiment. The second lifting rod 26 is a rod with a U-shaped cross section, the first lifting rod 27 is a Y-shaped rod, the driven lifting rod 28 is a planar plate, the upper end of the driving lifting rod 29 is circular, and the lower end of the driving lifting rod 29 extends and protrudes.
The steering engine for turning is only arranged below the first base and the third base, and the steering engine for turning is directly connected with the lower gears of the first base and the third base to control the rotation of the steering engine; the base gear is positioned below the base and fixedly connected, when the middle transmission gear is disengaged by the lifting device, only the second ant foot and the fifth ant foot can be controlled by the servo motor to rotate, so that a steering engine for turning is added below the first ant foot base and the third ant foot base, and the first base, the third base and the fifth base can also work under the condition that the middle transmission gear is disengaged, so that the precision is not high, and the first base, the third base and the fifth base only can be used for turning; when the middle transmission gear participates in meshing, the steering engine for turning does not work, the second ant foot, the fourth ant foot and the sixth ant foot are driven by the servo motor to walk during the movement of the ant feet, and the fifth ant foot, the first ant foot and the third ant foot are driven by the servo motor to walk during the other group.
The lower base gear 25 fixedly connected with the lower end of the first base, the lower base gear 25 fixedly connected with the lower end of the third base and the lower base gear 25 fixedly connected with the lower end of the fifth base are mutually meshed through four transmission gears 23 and are positioned on the same horizontal plane, and the transmission gears 23 are positioned on the same plane; the base lower gear fixedly connected with the lower end of the second base, the base lower gear fixedly connected with the lower end of the fourth base and the base lower gear fixedly connected with the lower end of the sixth base are meshed with each other through a plurality of transmission gears and are located on the same horizontal plane, and the plurality of transmission gears 23 are located on the same plane.
The clutch device is equivalent to a crank slider mechanism, when the crank and the connecting rod are collinear, the two limit positions of the lifting driving rod enable the transmission gear 23 to be separated from the position of the lower gear of the meshing base and the position of the lower gear of the meshing base, the upper end of the second lifting rod 26 is sleeved with and rotatably connected with the upper end of the connecting shaft of the transmission gear 23, the upper end of the connecting shaft of the transmission gear 23 can be provided with a protrusion for limiting the separation of the transmission gear 23 from the second lifting rod 26, two ends of the second lifting rod 26 are provided with circular grooves, and the inner side of each circular groove can be provided with a groove matched with the protrusion to enable.
The working principle is as follows:
when the walking robot normally walks, the four auxiliary feet on the head shell and the abdomen shell rotate to be folded towards the chest and abdomen direction, six ants can walk in a triangular gait mode, when a deep groove needs to be spanned or the current road condition is not suitable for the ant feet to work, the six ant feet are tightened and contracted, and the four auxiliary feet perform matched movement. The first and second tentacles will rotate periodically to detect if there is a survivor nearby.
When the turning is needed, the transmission gear is lifted by the steering engine of the lifting (clutch) device, the transmission gear connected with the transmission gear is separated from transmission, and the turning steering engine under the base 6 controls the base 6 to rotate to complete turning action.
When the auxiliary feet are needed to replace the ant feet to work, the ant feet are folded, the four auxiliary feet are in contact with the ground, the four auxiliary feet are in contact with or leave the ground at the same time, and the auxiliary support frame supports the ground when the four auxiliary feet leave the ground.
The bionic ant detection robot solves the problems of difficulty in rescue after disasters, unclear purpose, untimely rescue and the like, provides great help for rescuers, saves a lot of time, and has the advantages of low cost, high robot operation precision, good sensitivity and strong obstacle crossing function.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (9)
1. A bionic ant detection robot is characterized by comprising a head, a chest and an abdomen, wherein the head comprises a head shell, a detection device, a head auxiliary walking device and a head and chest expansion device;
the chest comprises a chest shell, a walking device and a transmission device for driving the walking device to move, and the walking device and the transmission device are arranged on the chest shell;
the abdomen comprises an abdomen shell, an abdomen auxiliary walking device and an abdomen and chest expansion device, wherein the abdomen auxiliary walking device and the abdomen and chest expansion device are arranged on the abdomen shell.
2. The bionic ant detection robot as claimed in claim 1, wherein the detection device comprises a human body infrared sensor (13), an infrared distance measurement sensor (14), a tentacle I, a tentacle II, a steering engine I (1) and a steering engine II (2), the steering engine I (1) and the steering engine II (2) are fixedly installed in the head shell, the tentacle I is coaxially and fixedly connected with an output shaft of the steering engine I (1), the tentacle II is coaxially and fixedly connected with an output shaft of the steering engine II (2), the tentacle I and the tentacle II are fixedly arranged on the upper side of the head shell, the human body infrared sensor (13) is fixedly installed on the tentacle I, and the infrared distance measurement sensor (14) is fixedly installed on the tentacle II.
3. The bionic ant detection robot as claimed in claim 2, wherein the head auxiliary walking device comprises an auxiliary foot first (3), an auxiliary foot second, a steering engine third, a steering engine fourth, a head auxiliary support frame (20) and a support frame steering engine, the auxiliary foot first (3) is positioned on the left side of the head shell, the auxiliary foot second is positioned on the right side of the head shell, the steering engine third and the steering engine fourth are fixedly installed on the head shell, an output shaft of the steering engine third penetrates through the left side wall of the head shell and is fixedly connected with the rear end of the auxiliary foot first (3), an output shaft of the steering engine fourth penetrates through the right side wall of the head shell and is fixedly connected with the rear end of the auxiliary foot second, and the head auxiliary support frame (20) is fixedly arranged on the chest shell;
the support frame steering wheel is fixedly arranged on the head shell, and the support frame steering wheel output shaft is fixedly connected with one end of a head auxiliary support frame (20).
4. The bionic ant detection robot as claimed in claim 3, wherein the cephalothorax extension device comprises a head servo motor (15), a driving gear (16), a driven gear (17), a head nut (18), a head connecting rod and a lead screw (19); head servo motor (15) fixed mounting is inside the head casing, head servo motor (15) output shaft passes head casing front side wall coaxial fixed connection driving gear (16), inside head nut (18) lower extreme slip connection head casing, coaxial fixed connection driven gear (17) behind lead screw (19) front end screw pass head nut (18), lead screw (19) are located head auxiliary support frame (20) upper end, head connecting rod front end fixed connection head nut (18), head connecting rod rear end fixed connection chest casing, set up the head through-hole of cooperation head connecting rod on the head casing, set up the lead screw through-hole of cooperation lead screw (19) on the head casing, driven gear (17) front end rotates the inside front side wall of connection head casing.
5. The bionic ant detection robot as claimed in claim 1, wherein the chest shell is hollow, the walking device comprises six ant foot steering gears, six lower ant feet (4), six upper ant feet (5), six bases (6), six clutch steering gears (7) and six ant foot ends (11), one side of each ant foot end (11) is in contact with the ground, the other side of each ant foot end (11) is fixedly connected with the lower end of each lower ant foot (4), the upper end of each lower ant foot (4) is fixedly provided with the ant foot steering gear, an output shaft of each ant foot steering gear is fixedly connected with the outer end of each upper ant foot (5), the six bases (6) are fixedly arranged on the chest shell, each clutch steering gear (7) is fixedly arranged on each base (6), the inner end of each upper ant foot (5) is fixedly connected with an output shaft of the clutch steering gear (7), and the six bases (6) are sequentially arranged into a first base when the head shell is taken as a base point, No. two bases, No. three bases, No. four bases, No. five bases and No. six bases.
6. The bionic ant detection robot as claimed in claim 5, wherein the transmission device comprises two chest servo motors (22), two harmonic reducers (21), a plurality of transmission gears (23) with connecting shafts, two turning steering engines (24), six base lower gears (25) and a clutch device, the lower ends of the six bases (6) are fixedly provided with one base lower gear (25), the chest shell is provided with a plurality of grooves matched with the connecting shafts of the transmission gears (23), the lower ends of the connecting shafts of the transmission gears (23) are rotatably connected with the grooves, the base lower gear (25) fixedly connected with the lower end of the first base is in meshing transmission with the base lower gear (25) fixedly connected with the lower end of the fifth base, the base lower gear (25) fixedly connected with the lower end of the third base is in meshing transmission with the base lower gear (25) fixedly connected with the lower end of the fifth base, a base lower gear (25) fixedly connected with the lower end of the second base is in meshing transmission with a base lower gear (25) fixedly connected with the lower end of the fourth base, the base lower gear (25) fixedly connected with the lower end of the second base is in meshing transmission with a base lower gear (25) fixedly connected with the lower end of the sixth base, a plurality of transmission gears (23) are rotationally arranged on the chest shell, two steering gears (24) for turning are arranged, two chest servo motors (22) and two harmonic reducers (21) are fixedly arranged in the chest shell, an output shaft of each chest servo motor (22) is horizontally connected with an input end of one harmonic reducer (21), an output shaft of one turning steering engine (24) is fixedly connected with a base lower gear (25) fixedly connected with the lower end of a first base, and an output shaft of the other turning steering engine (24) is fixedly connected with a base lower gear (25) fixedly connected with the lower end of a third base;
the first base, the third base and the fifth base are positioned on the same horizontal plane, a base lower gear (25) fixedly connected with the lower end of the first base, a base lower gear (25) fixedly connected with the lower end of the third base and a base lower gear (25) fixedly connected with the lower end of the fifth base are mutually meshed through a plurality of transmission gears (23) and positioned on the same horizontal plane, the first base and the third base are rotatably arranged on the chest shell, and the output end of one harmonic reducer (21) is vertically and fixedly connected with the base lower gear (25) fixedly connected with the lower end of the fifth base;
the second base, the fourth base and the sixth base are positioned on the same horizontal plane, the base lower gear (25) fixedly connected with the lower end of the second base, the base lower gear (25) fixedly connected with the lower end of the fourth base and the base lower gear (25) fixedly connected with the lower end of the sixth base are mutually meshed through a plurality of transmission gears (23) and positioned on the same horizontal plane, the fourth base and the sixth base are rotatably arranged on the chest shell, the output end of the other harmonic reducer (21) is vertically and fixedly connected with the base lower gear (25) fixedly connected with the lower end of the second base, the height of the base lower gear (25) fixedly connected with the lower end of the fifth base is higher than that of the base lower gear (25) fixedly connected with the lower end of the second base or the height of the base lower gear (25) fixedly connected with the lower end of the fifth base is lower than that of the base lower gear (25) fixedly connected with the lower end of the second base.
7. The bionic ant detection robot as claimed in claim 6, wherein the clutch device comprises two lifting rods II (26), a lifting rod I (27), a lifting driven rod (28), a lifting driving rod (29) and a lifting device steering engine (30); a lifting device steering engine (30) is fixedly arranged on the chest shell, an output shaft of the lifting device steering engine (30) is fixedly connected with the upper end of a lifting driving rod (29), the lower end of the lifting driving rod (29) is rotatably connected with the upper end of a lifting driven rod (28), two lifting rods II (26) and a lifting rod I (27) are positioned in the chest shell, the lower end of the lifting driven rod (28) is rotatably connected with the middle end of the lifting rod I (27), the middle end of the lifting driven rod (28) penetrates through the chest shell, the left end and the right end of the lifting rod I (27) are respectively and fixedly connected with a lifting rod II (26), the lower end of the lifting rod II (26) is sleeved and rotatably connected with a plurality of transmission gears (23) which are mutually meshed with a base lower gear (25) fixedly connected with the lower end of a first base, a base lower gear (25) fixedly connected with the lower end of a third base and a base lower gear (25) fixedly, the second lifting rod (26), the first lifting rod (27), the driven lifting rod (28) and the driving lifting rod (29) form a slider-crank mechanism, and the lifting rods are fixed with four transmission gears among the first base, the third base and the fifth base.
8. The bionic ant detection robot as claimed in claim 7, wherein the cephalothoracic extension device and the abdominal thoracic extension device are identical in structure.
9. The bionic ant detection robot as claimed in claim 1, wherein the abdomen auxiliary walking device and the head auxiliary walking device have the same structure, the abdomen housing (8) is a frame body with a hollow inside and a cross-shaped cross section, the abdomen-chest expansion device and the head-chest expansion device are symmetrically installed on the chest housing, and the abdomen auxiliary walking device and the head auxiliary walking device are symmetrically distributed.
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| CN202011037505.7A CN112123351B (en) | 2020-09-28 | 2020-09-28 | Bionic ant detection robot |
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|---|---|---|---|---|
| CN1709655A (en) * | 2005-08-12 | 2005-12-21 | 郑世杰 | Multi-foot walking bionic robot |
| US20070126387A1 (en) * | 2003-11-27 | 2007-06-07 | Honda Motor Co., Ltd. | Control device for mobile body |
| CN108818551A (en) * | 2018-06-29 | 2018-11-16 | 北京航空航天大学 | A kind of Bionic Ant six-leg robot |
| CN209682202U (en) * | 2019-03-06 | 2019-11-26 | 江南大学 | A kind of ant bio-robot |
| CN111348118A (en) * | 2020-03-23 | 2020-06-30 | 河海大学常州校区 | Bionic ant detection robot |
| US20200206905A1 (en) * | 2017-08-01 | 2020-07-02 | Fangyuan HAN | Parallel-Series Connection Walking Robot and Construction Method Thereof |
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2020
- 2020-09-28 CN CN202011037505.7A patent/CN112123351B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070126387A1 (en) * | 2003-11-27 | 2007-06-07 | Honda Motor Co., Ltd. | Control device for mobile body |
| CN1709655A (en) * | 2005-08-12 | 2005-12-21 | 郑世杰 | Multi-foot walking bionic robot |
| US20200206905A1 (en) * | 2017-08-01 | 2020-07-02 | Fangyuan HAN | Parallel-Series Connection Walking Robot and Construction Method Thereof |
| CN108818551A (en) * | 2018-06-29 | 2018-11-16 | 北京航空航天大学 | A kind of Bionic Ant six-leg robot |
| CN209682202U (en) * | 2019-03-06 | 2019-11-26 | 江南大学 | A kind of ant bio-robot |
| CN111348118A (en) * | 2020-03-23 | 2020-06-30 | 河海大学常州校区 | Bionic ant detection robot |
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