CN115352549A - Multifunctional hexapod bionic robot based on metamorphic mechanism - Google Patents

Multifunctional hexapod bionic robot based on metamorphic mechanism Download PDF

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CN115352549A
CN115352549A CN202210915347.3A CN202210915347A CN115352549A CN 115352549 A CN115352549 A CN 115352549A CN 202210915347 A CN202210915347 A CN 202210915347A CN 115352549 A CN115352549 A CN 115352549A
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leg
connecting rod
front leg
metamorphic
driving
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CN115352549B (en
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程达
王一芳
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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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  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
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  • Mechanical Engineering (AREA)
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Abstract

The invention discloses a multifunctional hexapod bionic robot based on a metamorphic mechanism, which comprises a rack, a cam driving mechanism, a walking and steering metamorphic connecting rod mechanism, a front leg connecting rod mechanism, a middle leg metamorphic connecting rod mechanism and a rear leg metamorphic connecting rod mechanism, wherein the cam driving mechanism is connected with the rack; the cam driving mechanism and the walking and steering metamorphic connecting rod mechanism are arranged along the length direction of the center of the frame; the front leg connecting rod mechanism is movably connected with side plates at two sides of the front end of the frame; the middle leg metamorphic connecting rod mechanism and the rear leg metamorphic connecting rod mechanism are respectively and rotatably connected with the revolving frames at the middle part and the two sides of the rear end of the machine frame. The front leg connecting rod mechanism, the middle leg metamorphic connecting rod mechanism, the rear leg metamorphic connecting rod mechanism and the walking and steering metamorphic connecting rod mechanism move in a matched mode through the sliding groove, the tension spring and the limiting stop pin, and the two driving parts achieve leg lifting, leg falling, mode switching, walking and steering actions. The invention has the characteristics of multiple functions, compact structure, light weight, low cost, low energy consumption and the like, and can be applied to the occasions of military affairs, rescue, industry, agriculture, development of educational toys and the like.

Description

Multifunctional hexapod bionic robot based on metamorphic mechanism
Technical Field
The invention relates to the technical field of bionic robots, in particular to a multifunctional hexapod bionic robot based on a metamorphic mechanism.
Background
With the rapid development of the robot technology, the requirements of the robot on the occasions of military affairs, rescue, industry, agriculture and the like are increasing day by day, wherein the bionic robot is a system simulating the external shape, the motion principle and the behavior mode of organisms in nature and can work according to the characteristics of the organisms. The bionic robot has many types, mainly including humanoid, bionic and biological robots.
In recent years, with the development of science and technology, bionic machinery, such as bionic dogs, bionic birds, bionic spiders, bionic fish, bionic frogs and the like, has been rapidly developed. The bionic robot has exquisite motions, can realize multiple degrees of freedom and exquisite and fine motions, needs more motions to be finished by the robot in some occasions, needs more degrees of freedom of the robot, and realizes different motions by controlling one degree of freedom by one motor in most of the conventional bionic robots. For example, in the hexapod bionic crawling robot disclosed in application publication No. CN104802875A, six bionic C-shaped legs are correspondingly provided with six motors, each degree of freedom is controlled by one motor, and each leg can be independently controlled, so that the number of control structures is increased undoubtedly, and the energy consumption is also high.
The bionic cicada is rarely researched in the bionic machinery, the cicada has high nutritional value, and the cicada slough has high medicinal value, but with ecological damage and people's capture, the number of the cicada is reduced year by year, ecological balance is influenced, and the significance of researching the bionic cicada lies in calling for people to protect the cicada and other organisms with reduced number.
Aiming at the design of the bionic cicada, the actions of different modes such as hole climbing, hole exiting, ground climbing, tree climbing and the like need to be carried out, in the face of different working modes, a crawling mechanism meeting the modes simultaneously needs to be designed, if a motor is designed at each joint to drive, the whole volume of the cicada is enlarged, the weight is heavy, the cost is increased, and the control difficulty is increased.
Disclosure of Invention
The invention aims to solve the problems of large quantity and large volume of a degree-of-freedom control structure of the conventional crawling robot, provides a multifunctional hexapod bionic robot based on a metamorphic mechanism, and can realize the mutual matching motion of hexapods of the bionic robot under different working modes through two driving parts.
In order to realize the purpose, the technical scheme adopted by the invention is as follows:
the multifunctional hexapod bionic robot based on the metamorphic mechanism comprises a frame, a cam driving mechanism and a traveling and steering metamorphic connecting rod mechanism which are arranged in the center of the frame, a left front leg connecting rod mechanism and a right front leg connecting rod mechanism which are arranged on two sides of the front end of the frame, a left middle leg metamorphic connecting rod mechanism and a right middle leg metamorphic connecting rod mechanism which are arranged on two sides of the middle part of the frame, and a left rear leg metamorphic connecting rod mechanism and a right rear leg metamorphic connecting rod mechanism which are arranged on two sides of the rear end of the frame;
the cam driving mechanism and the walking and steering metamorphic connecting rod mechanism are arranged along the length direction of the center of the rack, the cam driving mechanism controls the leg lifting and leg falling of the six feet of the bionic robot and the switching action of different motion modes, the walking and steering metamorphic connecting rod mechanism associates the six feet of the bionic robot to enable the six feet of the bionic robot to have walking and steering actions, and the cam driving mechanism and the walking and steering metamorphic connecting rod mechanism are respectively movably connected with the rack;
the left side and the right side of the front end of the rack are both provided with side plates to form a rectangular hollow frame structure, and the left front leg connecting rod mechanism and the right front leg connecting rod mechanism are movably connected with the rack through the side plates respectively;
the left middle leg metamorphic connecting rod mechanism, the right middle leg metamorphic connecting rod mechanism, the left rear leg metamorphic connecting rod mechanism and the right rear leg metamorphic connecting rod mechanism are respectively connected with the rack in a rotating mode through the revolving frames.
Further, the cam driving mechanism comprises a left front leg driving cam, a right front leg driving cam, a left middle leg driving cam, a right middle leg driving cam, a left rear leg driving cam, a right rear leg driving cam, a swing rod I, a swing rod II, a swing rod III, a swing rod IV, a swing rod V, a swing rod VI, a rope I, a rope II, a rope III, a rope IV, a rope V, a rope VI, a motor I, a cam shaft, a fixed pulley I and a fixed pulley II;
the walking and steering metamorphic connecting rod mechanism comprises a crawling crank, a left metamorphic connecting rod, a right metamorphic connecting rod, a left rear leg driving connecting rod, a right rear leg driving connecting rod, a left rear leg rotating frame, a right rear leg rotating frame, a left middle leg driving connecting rod, a right middle leg driving connecting rod, a left middle leg rotating frame, a right middle leg rotating frame, a left front leg driving connecting rod, a right front leg driving connecting rod, a left front leg driving connecting rod tension spring, a right front leg driving connecting rod tension spring, a left middle leg rotating frame tension spring, a right middle leg rotating frame tension spring, a left rear leg driving connecting rod limiting blocking pin, a right rear leg driving connecting rod limiting blocking pin, a left middle leg rotating frame limiting blocking pin, a right middle leg rotating frame limiting blocking pin and a second motor.
Furthermore, the first motor is transversely arranged at the front end of the rack, a coupling is arranged between the first motor and one end of the cam shaft for transmission, and the other end of the cam shaft is connected to the rack in a rotating manner through a bearing;
the right front leg driving cam, the left middle leg driving cam, the right middle leg driving cam, the left rear leg driving cam and the right rear leg driving cam are sequentially arranged on the cam shaft and are respectively in corresponding contact with the swing rod II, the swing rod I, the swing rod III, the swing rod IV, the swing rod V and the swing rod VI, and power is provided for swinging of the six swing rods.
Furthermore, one end of the second swing rod, one end of the first swing rod, the third swing rod, the fourth swing rod, the fifth swing rod and the sixth swing rod are hinged to the rack, and the other end of the second swing rod, the first rope, the third rope, the fourth rope, the fifth rope and the sixth rope are correspondingly connected with the right front leg connecting rod mechanism, the left middle leg metamorphic connecting rod mechanism, the right middle leg metamorphic connecting rod mechanism, the left rear leg metamorphic connecting rod mechanism and the right rear leg metamorphic connecting rod mechanism respectively to transmit power;
the first fixed pulley and the second fixed pulley are arranged on the left side and the right side of the frame to change the moving directions of the first rope and the second rope.
Furthermore, the second motor is vertically arranged at the rear end of the rack, the crawling crank is arranged on a rotating shaft of the second motor, one end of the crawling crank is hinged to a left metamorphic connecting rod and a right metamorphic connecting rod, and the left metamorphic connecting rod and the right metamorphic connecting rod extend towards the left side and the right side of the rack respectively.
Furthermore, the left side of the rear end of the rack is connected with the left rear leg rotating frame in a switching mode, the left rear leg rotating frame and the left metamorphic connecting rod are hinged with the left rear leg driving connecting rod for transmission, and the left side of the rear end of the rack is provided with the left rear leg driving connecting rod limiting stop pin for limiting the swinging angle of the left rear leg driving connecting rod;
the left front leg driving connecting rod is hinged between the left rear leg rotating frame and the left front leg connecting rod mechanism, the left front leg driving connecting rod tension spring is arranged between the left front leg driving connecting rod and the rack, and meanwhile, the left front leg driving connecting rod always tends to move forwards under the action of the tension of the left front leg driving connecting rod tension spring, so that the left rear leg rotating frame always tends to swing forwards, and the front leg driving sliding block of the left front leg connecting rod mechanism always tends to slide forwards, so that the left metamorphic connecting rod and the left rear leg driving connecting rod are always in a straightened state;
the right middle leg rotary frame is rotatably connected to the right side of the middle part of the rack, the right middle leg driving connecting rod is hinged between the right middle leg rotary frame and the left rear leg rotary frame for transmission, a right middle leg rotary frame driving pin is arranged on the right middle leg rotary frame, the right middle leg rotary frame driving pin is connected in a sliding groove formed in one end part of the right middle leg driving connecting rod in a sliding mode, namely the position of a hinged point of one end of the right middle leg driving connecting rod and the left rear leg rotary frame is fixed, and the position of a hinged point of the other end of the right middle leg driving connecting rod and the right middle leg rotary frame is not fixed;
the right middle leg rotary frame tension spring is arranged between the rack and the right middle leg rotary frame, the right middle leg rotary frame always has a forward swing trend under the tension of the right middle leg rotary frame tension spring, and the rack is also provided with a limit stop pin of the right middle leg rotary frame to limit the rotary angle of the right middle leg rotary frame;
the right rear leg rotating frame is connected to the right side of the rear end of the rack in a switching mode, the right rear leg driving connecting rod is hinged between the right rear leg rotating frame and the right metamorphic connecting rod for transmission, and the right side of the rear end of the rack is provided with the right rear leg driving connecting rod limiting stop pin for limiting the swing angle of the right rear leg driving connecting rod;
the right front leg driving connecting rod is hinged between the right rear leg rotating frame and the right front leg connecting rod mechanism, the right front leg driving connecting rod tension spring is arranged between the right front leg driving connecting rod and the rack, and meanwhile, the right front leg driving connecting rod always tends to move forwards under the tension action of the right front leg driving connecting rod tension spring, so that the right rear leg rotating frame always tends to swing forwards, the front leg driving sliding block of the right front leg connecting rod mechanism always tends to slide forwards, and the right metamorphic connecting rod and the right rear leg driving connecting rod can be always in a straightened state;
the left side of the middle part of the rack is in switching connection with the left middle leg rotating frame, the left middle leg rotating frame and the right rear leg rotating frame are hinged with the left middle leg driving connecting rod for transmission, a left middle leg rotating frame driving pin is arranged on the left middle leg rotating frame, the left middle leg rotating frame driving pin is connected in a sliding groove formed in one end part of the left middle leg driving connecting rod in a sliding mode, namely the position of a hinged point of one end of the left middle leg driving connecting rod and the right rear leg rotating frame is fixed, and the position of a hinged point of the other end of the left middle leg driving connecting rod and the left middle leg rotating frame is not fixed;
the left middle leg rotary frame tension spring is arranged between the rack and the left middle leg rotary frame, the left middle leg rotary frame always has a forward swinging trend under the tension action of the left middle leg rotary frame tension spring, and the left middle leg rotary frame limiting stop pin is arranged on the rack to limit the rotary angle of the left middle leg rotary frame.
Furthermore, the left front leg link mechanism and the right front leg link mechanism have the same structure, and the right front leg link mechanism comprises a front leg overturning swing rod arranged on the inner side of the rack, a front leg overturning swing rod tension spring arranged above the rack, and a front leg thigh, a front leg calf, a front leg link rod I, a front leg link rod II, a front leg small swing rod, a front leg link rod III, a front leg link rod IV, a front leg large swing rod pin, a front leg driving slide block and a front leg swing link rod arranged on the outer side of the rack;
the utility model discloses a curb plate, including curb plate, upper chute, lower chute, the curb plate top has been seted up "W" shape upper chute, the smooth transition of upper chute bending department circular arc, upper chute one end is perpendicular upwards extended, and the curb plate below has been seted up "one" font lower chute, the lower chute is transversely arranged.
The front leg overturning swing rod is rotatably connected to the inner side of the side plate, the front leg overturning swing rod is composed of a wheel body and a swing rod with a sliding groove, the wheel body is rotatably connected into the side plate, the wheel body is provided with pulling force by a rope on one side to enable the wheel body to rotate, a front leg overturning swing rod tension spring is provided with rotating force and is connected with the wheel body to enable the wheel body to rotate, and one end of the wheel body is fixedly connected with the swing rod;
one end of the rope II is connected with the swing rod II, the other end of the rope II is connected with the front leg overturning swing rod of the right front leg connecting rod mechanism by bypassing the fixed pulley II to rotate, one end of the rope I is connected with the swing rod I, and the other end of the rope I is connected with the front leg overturning swing rod of the left front leg connecting rod mechanism by bypassing the fixed pulley I to rotate;
the outer side of the side plate is hinged with the front leg large swing rod, the upper end of the front leg large swing rod is provided with a swing rod chute, and the lower end of the front leg large swing rod is hinged on the side plate after being bent;
the upper end of the front leg small swing rod is hinged at the bending part of the front leg large swing rod, the lower end of the front leg small swing rod is respectively hinged with a front leg connecting rod III and a front leg connecting rod IV, and the front leg connecting rod III and the front leg connecting rod IV respectively extend towards the front side and the rear side of the rack;
the front leg thigh, the front leg connecting rod II, the front leg calf and the front leg connecting rod I are sequentially hinged end to form a quadrilateral mechanism, a hinged part of the front leg thigh and the front leg connecting rod I is hinged with the front leg large swing rod pin, the front leg large swing rod pin penetrates through a swing rod sliding groove, an upper sliding groove and a sliding groove of the front leg overturning swing rod, and then the front leg large swing rod pin can simultaneously slide in the swing rod sliding groove, the upper sliding groove and the sliding groove of the front leg overturning swing rod;
the hinged part of the first front leg connecting rod and the lower front leg is further hinged with a third front leg connecting rod, and the hinged part of the upper front leg and the second front leg connecting rod is further hinged with a fourth front leg connecting rod;
the front leg driving sliding block is connected in the lower sliding groove in a sliding mode, the left front leg driving connecting rod is hinged to the front leg driving sliding block of the left front leg connecting rod mechanism to transmit, and the right front leg driving connecting rod is hinged to the front leg driving sliding block of the right front leg connecting rod mechanism to transmit; the front leg driving slide block is hinged with one end of the front leg swinging connecting rod, and the hinged parts of the front leg small swing rod, the front leg connecting rod III and the front leg connecting rod IV are further hinged with the other end of the front leg swinging connecting rod.
Furthermore, the right front leg connecting rod mechanism comprises a large front leg, a small front leg, a large front leg connecting rod, a small front leg connecting rod, a guide pulley, a pull rope and a diagonal tension spring;
the large front leg, the small front leg, the large front leg connecting rod and the small front leg connecting rod are hinged to form a parallelogram mechanism, the large front leg and the small front leg are vertically arranged outside the side plate from left to right, the large front leg connecting rod and the small front leg connecting rod are transversely arranged outside the side plate from top to bottom, the upper end of the large front leg is hinged to the side plate, the middle part of the large front leg is hinged to the front leg swinging connecting rod, the lower end of the large front leg extends out of the bottom of the rack and is hinged to one end of the small front leg connecting rod, the other end of the small front leg connecting rod is hinged to the middle part of the small front leg, and the large front leg connecting rod is hinged between the upper end of the small front leg and the middle part of the large front leg;
one end of the large front leg connecting rod extends outwards to form an extending section, the guide pulley is arranged on the side plate and is communicated with the inner side and the outer side of the side plate, one end of the pull rope is connected with the second swing rod, the other end of the pull rope bypasses the guide pulley to be connected with the upper part of the extending section, and the oblique tension spring is arranged between the lower part of the extending section and the lower part of the side plate.
Furthermore, the left middle leg metamorphic connecting rod mechanism is arranged on the left middle leg revolving frame, the right middle leg metamorphic connecting rod mechanism is arranged on the right middle leg revolving frame, the left rear leg metamorphic connecting rod mechanism is arranged on the left rear leg revolving frame, and the right rear leg metamorphic connecting rod mechanism is arranged on the right rear leg revolving frame;
the left middle leg metamorphic connecting rod mechanism, the right middle leg metamorphic connecting rod mechanism, the left rear leg metamorphic connecting rod mechanism and the right rear leg metamorphic connecting rod mechanism are identical in structure, and the rear leg metamorphic connecting rod mechanism and the middle leg metamorphic connecting rod mechanism are different in part size.
Furthermore, the right middle leg metamorphic connecting rod mechanism comprises a middle leg thigh, a middle leg shank, a middle leg swing rod, a middle leg connecting rod I, a middle leg connecting rod II, a middle leg connecting rod III, a middle leg thigh tension spring and a middle leg shank tension spring;
the right middle leg rotary frame is connected to the right side of the middle part of the rack in a rotating mode and can swing back and forth relative to the rack, the upper end of a thigh of the middle leg is hinged to the right middle leg rotary frame, a thigh tension spring of the middle leg is arranged between the thigh of the middle leg and the right middle leg rotary frame and pulled by the thigh tension spring of the middle leg, so that the thigh of the middle leg always tends to swing upwards, and a large limiting stop pin is arranged on the thigh of the middle leg to limit the swing angle;
the middle lower end of the thigh of the middle leg is hinged with the shank of the middle leg through a second middle leg connecting rod and a third middle leg connecting rod to form a parallelogram mechanism, so that the shank of the middle leg can stretch out and draw back relative to the thigh of the middle leg;
the hinged part of the thigh of the middle leg and the right middle leg rotary frame is also hinged with the swing rod of the middle leg, one end of the four ropes is connected with the swing rod IV, the other end of the four ropes is connected with the swing rod of the middle leg of the right middle leg metamorphic connecting rod mechanism, one end of the three ropes is connected with the swing rod III, and the other end of the three ropes is connected with the swing rod of the middle leg of the left middle leg metamorphic connecting rod mechanism;
the lower end of the middle leg oscillating bar is hinged with the upper end of a middle leg connecting rod II through a middle leg connecting rod I, the middle part of the middle leg connecting rod II is hinged with the middle part of a middle leg thigh to form a four-bar linkage, and the middle leg connecting rod II can make rotary motion on the middle leg thigh;
the lower end of the middle leg connecting rod II is hinged with the upper end of the middle leg shank, and the middle leg connecting rod III is hinged between the lower end of the middle leg thigh and the middle part of the middle leg shank.
Through the technical scheme, the invention has the beneficial effects that:
1. the designed cam driving mechanism can realize the leg lifting and leg falling actions under different modes of climbing planes and holes by one driving link, namely the motor I. The leg lifting and falling actions and the different mode switching actions of the six feet of the bionic robot are respectively controlled by six driving cams, the six driving cams are integrated on one cam shaft and are uniformly driven by one motor, so that the structure of the six-foot bionic robot is more compact, the size of the six-foot bionic robot is greatly reduced, the weight of the six-foot bionic robot is lightened, and the cost of the six-foot bionic robot is reduced.
2. Utilize the rope to realize pulling between each pendulum rod of cam actuating mechanism and bionic robot's the six feet, the rope is flexible structure, has avoided six feet to take place to interfere with the part at the in-process rope of gyration, and the rope is equivalent to spherical hinge, makes bionic robot's six feet swing more convenient, is convenient for adjust simultaneously again, reduce cost.
3. Six feet of the bionic robot are mutually associated through a walking and steering metamorphic connecting rod mechanism, and the crawling action of the six feet can be realized only by controlling the rotation angle of the second motor, namely the rotation angle of the crawling crank, namely the staggered swinging of the six feet can be realized by one second motor, so that the leg-taking and walking actions are realized. Meanwhile, under the matching action of the left metamorphic connecting rod, the right metamorphic connecting rod, the left rear leg driving connecting rod limiting stop pin, the left middle leg driving connecting rod and the right middle leg driving connecting rod, the left rotation and the right rotation of the bionic robot can be realized by the motor II under the matching action of the left middle leg rotating frame limiting stop pin, the right middle leg rotating frame tension spring and the left middle leg rotating frame tension spring, so that the structure of the bionic robot is more compact, the size of the bionic robot is greatly reduced, the weight of the bionic robot is reduced, and the cost of the bionic robot is reduced.
4. The designed left and right front leg link mechanisms adopt a multi-link mechanism principle, the amplitude of up-and-down floating of the tail ends of the front legs is very small in the swing process of the front legs, and the tail ends of the front legs are close to a straight line, so that the six-legged bionic robot can walk more stably. The designed upper chute structures of the front leg overturning swing rod component and the side plate enable the front leg overturning swing rod component and the front leg large swing rod pin to move in a matched mode, so that the front leg overturning swing rod component, the front leg large swing rod pin and the front leg large swing rod pin can realize leg lifting and falling actions of the front leg in different modes of climbing a plane and climbing a tree and switching actions between the modes of climbing the plane and climbing the tree by one driving part, the structure of the six-foot bionic robot is more compact, the size of the six-foot bionic robot is greatly reduced, and the weight of the six-foot bionic robot is reduced.
5. The designed large swing rod component of the front leg can drive the front leg connecting rod mechanism to swing in different modes while the thigh of the front leg swings backwards, so that the front leg connecting rod mechanism can swing with other feet together in different modes, and the motion driving of the bionic robot is integrated into two motors, so that the structure of the six-foot bionic robot is more compact, the size of the six-foot bionic robot is greatly reduced, and the weight of the six-foot bionic robot is reduced.
6. The designed middle and rear leg metamorphic connecting rod mechanism is characterized in that a first motive power piece, namely a motor, can climb a plane and climb leg lifting, leg falling and shank contraction and extension actions in different modes of a hole through related tension springs and limiting, so that the structure of the hexapod robot is more compact, the size of the hexapod robot is greatly reduced, the weight of the hexapod robot is reduced, and the cost of the hexapod robot is reduced.
Drawings
FIG. 1 is an axonometric view of the overall structure of the multifunctional hexapod bionic robot based on the metamorphic mechanism.
FIG. 2 is a top view of the overall structure of the multifunctional hexapod bionic robot based on the metamorphic mechanism.
FIG. 3 is a schematic diagram of a cam driving mechanism of the multifunctional hexapod bionic robot based on the metamorphic mechanism.
FIG. 4 is a schematic view of a camshaft of the multifunctional hexapod bionic robot based on the metamorphic mechanism.
FIG. 5 is a schematic connection diagram of a cam driving mechanism and a right front leg link mechanism of the multifunctional hexapod bionic robot based on the metamorphic mechanism.
FIG. 6 is a schematic connection diagram of a cam driving mechanism and a left front leg connecting rod mechanism of the multifunctional hexapod bionic robot based on the metamorphic mechanism.
FIG. 7 is a schematic connection diagram of a cam driving mechanism and a left middle leg metamorphic connecting rod mechanism of the multifunctional hexapod bionic robot based on the metamorphic mechanism.
FIG. 8 is a schematic connection diagram of a cam driving mechanism and a right middle leg metamorphic connecting rod mechanism of the multifunctional hexapod bionic robot based on the metamorphic mechanism.
FIG. 9 is a schematic connection diagram of the cam driving mechanism and the left rear leg metamorphic connecting rod mechanism of the multifunctional hexapod bionic robot based on the metamorphic mechanism.
FIG. 10 is a schematic connection diagram of the cam driving mechanism and the right rear leg metamorphic connecting rod mechanism of the multifunctional hexapod bionic robot based on the metamorphic mechanism.
FIG. 11 is a schematic view of a walking and steering metamorphic linkage mechanism of the multifunctional hexapod bionic robot based on the metamorphic mechanism.
FIG. 12 is a second schematic diagram of a walking and steering metamorphic linkage mechanism of the multifunctional hexapod bionic robot based on the metamorphic mechanism.
FIG. 13 is a schematic diagram of a route of a multifunctional hexapod bionic robot based on a metamorphic mechanism according to an embodiment of the invention.
FIG. 14 is a schematic diagram of a second structure of a route in an embodiment of the multifunctional hexapod bionic robot based on the metamorphic mechanism.
FIG. 15 is a schematic diagram of a right front leg linkage mechanism of the multifunctional hexapod bionic robot based on the metamorphic mechanism.
Fig. 16 is a second schematic diagram of a right front leg link mechanism of the multifunctional hexapod bionic robot based on the metamorphic mechanism, and a side plate is not shown.
FIG. 17 is an exploded view of the right front leg linkage mechanism of the multifunctional hexapod bionic robot based on the metamorphic mechanism.
FIG. 18 is one of the schematic diagrams of the right middle leg metamorphic connecting rod mechanism of the multifunctional hexapod bionic robot based on the metamorphic mechanism.
Fig. 19 is a second schematic diagram of a right middle leg metamorphic connecting rod mechanism of the multifunctional hexapod bionic robot based on the metamorphic mechanism.
FIG. 20 is a third schematic diagram of a right middle leg metamorphic connecting rod mechanism of the multifunctional hexapod bionic robot based on the metamorphic mechanism.
FIG. 21 is a schematic view of step 1 in an embodiment of the multifunctional hexapod biomimetic robot based on metamorphic mechanism of the present invention.
FIG. 22 is a schematic view of step 2 in the embodiment of the multifunctional hexapod bionic robot based on the metamorphic mechanism.
FIG. 23 is a schematic view of step 3 in the embodiment of the multifunctional hexapod bionic robot based on the metamorphic mechanism.
FIG. 24 is a schematic view of step 4 in the embodiment of the multifunctional hexapod bionic robot based on metamorphic mechanism of the present invention.
FIG. 25 is a schematic diagram of the position of the thigh of the leg being limited in step 11 in the embodiment of the multifunctional hexapod bionic robot based on the metamorphic mechanism.
FIG. 26 is a schematic diagram of leg and calf contraction in step 12 of the multifunctional hexapod bionic robot based on metamorphic mechanism in the embodiment of the invention.
FIG. 27 is a schematic view of step 21 in an embodiment of the multifunctional hexapod bionic robot based on metamorphic mechanism of the present invention.
Fig. 28 is a second schematic view of step 21 of the multifunctional hexapod biomimetic robot based on metamorphic mechanism in accordance with an embodiment of the present invention.
FIG. 29 is a schematic diagram of step 22 in an embodiment of the multifunctional hexapod biomimetic robot based on metamorphic mechanism according to the present invention.
FIG. 30 is a schematic diagram of step 23 in an embodiment of the multifunctional hexapod bionic robot based on the metamorphic mechanism.
FIG. 31 is a schematic diagram of step 24 in an embodiment of the multifunctional hexapod bionic robot based on metamorphic mechanism of the present invention.
FIG. 32 is a schematic diagram of a hexapod walking state in an embodiment of the multifunctional hexapod bionic robot based on a metamorphic mechanism according to the invention.
FIG. 33 is a second schematic diagram of a hexapod walking state in an embodiment of the multifunctional hexapod bionic robot based on metamorphic mechanism of the present invention.
FIG. 34 is a schematic view of the leg and calf stretching out in step 31 of the multifunctional hexapod bionic robot based on the metamorphic mechanism in the embodiment of the invention.
FIG. 35 is a schematic diagram of the leg and calf extension in step 31 of the multifunctional hexapod bionic robot based on the metamorphic mechanism in the embodiment of the invention.
FIG. 36 is a schematic view of a leg and a calf to an extreme position in step 32 of an embodiment of a multifunctional hexapod biomimetic robot based on metamorphic mechanism in accordance with the present invention.
FIG. 37 is a schematic diagram of a leg switching climbing plane in step 32 of the multifunctional hexapod bionic robot based on the metamorphic mechanism in the embodiment of the invention.
FIG. 38 is a schematic diagram of step 41 in an embodiment of the multifunctional hexapod bionic robot based on metamorphic mechanism of the present invention.
FIG. 39 is a schematic diagram of step 42 in an embodiment of the multifunctional hexapod biomimetic robot based on metamorphic mechanism according to the present invention.
FIG. 40 is a schematic diagram of step 43 in an embodiment of the multifunctional hexapod bionic robot based on metamorphic mechanism of the present invention.
FIG. 41 is a schematic diagram of step 44 in an embodiment of the multifunctional hexapod bionic robot based on metamorphic mechanism.
FIG. 42 is a schematic diagram of step 51 in an embodiment of the multifunctional hexapod bionic robot based on metamorphic mechanism of the present invention.
FIG. 43 is a schematic diagram of step 52 in an embodiment of the multifunctional hexapod bionic robot based on metamorphic mechanism of the present invention.
FIG. 44 is a schematic diagram of step 53 in an embodiment of the multifunctional hexapod bionic robot based on metamorphic mechanism of the present invention.
FIG. 45 is a schematic view of step 54 in the embodiment of the multifunctional hexapod bionic robot based on metamorphic mechanism of the present invention.
FIG. 46 is a schematic diagram of step 61 in an embodiment of the multifunctional hexapod biomimetic robot based on metamorphic mechanism according to the present invention.
FIG. 47 is a schematic diagram of the left hind leg driving link swinging to a limit position in a straight-traveling mode in an embodiment of the multifunctional hexapod bionic robot based on the metamorphic mechanism of the present invention.
FIG. 48 is a schematic diagram showing the coincidence of the left metamorphic connecting rod and the crawling crank in the straight-moving mode of the multifunctional hexapod bionic robot based on the metamorphic mechanism.
FIG. 49 is a schematic diagram of the multifunctional hexapod bionic robot based on the metamorphic mechanism, wherein the crawling crank is continuously rotated and the straight-going mode is switched to the micro-steering mode in the embodiment of the multifunctional hexapod bionic robot based on the metamorphic mechanism.
FIG. 50 is a schematic view of the left middle leg driving link sliding along the middle leg rotary frame driving pin in the micro-steering mode of the multifunctional hexapod bionic robot based on the metamorphic mechanism.
FIG. 51 is a schematic view of a crawling crank rotating in a micro-steering mode in an embodiment of the multifunctional hexapod bionic robot based on the metamorphic mechanism.
FIG. 52 is a schematic diagram of the re-superposition of the left metamorphic connecting rod and the crawling crank in the micro-steering mode of the multifunctional hexapod bionic robot based on the metamorphic mechanism.
FIG. 53 is a schematic view showing the switching of the micro-steering mode to the straight-traveling mode in the embodiment of the multi-functional hexapod biomimetic robot based on metamorphic mechanism according to the present invention.
FIG. 54 is a schematic view of a right front leg linkage mechanism in a second embodiment of the multifunctional hexapod bionic robot based on a metamorphic mechanism according to the present invention.
Fig. 55 is a second schematic view of a right front leg linkage mechanism in a second embodiment of the multifunctional hexapod bionic robot based on the metamorphic mechanism according to the present invention.
The reference numbers in the drawings are as follows: a left front leg link mechanism 100, a right front leg link mechanism 200, a front leg-flipping swing link 212, a front leg-flipping swing link tension spring 213, a front leg upper leg 201, a front leg lower leg 202, a front leg link one 203, a front leg link two 204, a front leg small swing link 205, a front leg link three 206, a front leg link four 207, a front leg large swing link 208, a front leg large swing link pin 209, a front leg driving slider 210, a front leg swing link 211, a side plate 214, a left middle leg metamorphic link mechanism 300, a right middle leg metamorphic link mechanism 400, a middle leg upper leg 401, a middle leg lower leg 402, a middle leg swing link one 404, a middle leg link two 405, a middle leg link three 406, a middle leg upper leg tension spring 407, a middle leg lower leg, a left rear leg metamorphic link mechanism 500, a right rear leg metamorphic link mechanism 600, a cam driving mechanism 700, a left front leg driving cam 701, a right front leg driving cam 702, a left middle leg driving cam 703, a right middle leg driving cam 408, a left rear leg driving cam 705, a right rear leg driving cam 706, a swing link one 711, a swing link two 712, a swing link three 713, a swing link four 714, a swing link five 715, a swing link six 716, a rope one 721, a rope two 722, a rope three 723, a rope four 724, a rope five 725, a rope six 726, a motor one 731, a cam shaft 732, a fixed pulley one 733, a fixed pulley two 734, a walking and steering metamorphic linkage 800, a crawling crank 801, a left metamorphic link 802, a right metamorphic link 803, a left rear leg driving link 804, a right rear leg driving link 805, a left rear leg swing frame 509, a right rear leg swing frame 609, a left center leg driving link 806, a right center leg driving link 807, a left center leg swing frame 309, a right center leg swing frame 409, a left front leg driving link 808, a right front leg driving link 809, a left front leg driving link tension spring 810, a right front leg driving link tension spring 811, a left center leg swing frame tension spring 812, a right center leg swing frame tension spring 813, the device comprises a left rear leg driving connecting rod limiting stop pin 814, a right rear leg driving connecting rod limiting stop pin 815, a left middle leg rotating frame limiting stop pin 816, a right middle leg rotating frame limiting stop pin 817, a left middle leg rotating frame driving pin 818, a right middle leg rotating frame driving pin 819, a motor II 820, a rack 900, an upper chute 10, a lower chute 20, a swing rod chute 30, a large limiting stop pin 40, a small limiting stop pin 50, a large front leg 1, a small front leg 2, a large front leg connecting rod 3, a small front leg connecting rod 4, a guide pulley 5, a pull rope 6, a diagonal spring 7 and an extension section 8.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings in which:
as shown in fig. 1 to 53, the multifunctional hexapod bionic robot based on the metamorphic mechanism comprises a frame 900, a cam driving mechanism 700 and a walking and steering metamorphic link mechanism 800 which are arranged in the center of the frame 900, a left front leg link mechanism 100 and a right front leg link mechanism 200 which are arranged on both sides of the front end of the frame 900, a left middle leg metamorphic link mechanism 300 and a right middle leg metamorphic link mechanism 400 which are arranged on both sides of the middle of the frame 900, and a left rear leg metamorphic link mechanism 500 and a right rear leg metamorphic link mechanism 600 which are arranged on both sides of the rear end of the frame 900.
Overall, the frame 900 is a main bearing body of the bionic robot; the left front leg connecting rod mechanism 100, the right front leg connecting rod mechanism 200, the left middle leg metamorphic connecting rod mechanism 300, the right middle leg metamorphic connecting rod mechanism 400, the left rear leg metamorphic connecting rod mechanism 500 and the right rear leg metamorphic connecting rod mechanism 600 are six feet of the bionic robot; the cam driving mechanism 700 provides power for the leg lifting and falling of the six feet of the bionic robot; the walking and steering metamorphic connecting rod mechanism 800 provides power for walking of six feet of the bionic robot, as shown in fig. 1-2.
In this embodiment, the cam driving mechanism 700 is disposed along the central length direction of the rack 900, and the cam driving mechanism 700 is movably connected to the rack 900. The cam driving mechanism 700 controls leg lifting and leg falling of six feet of the bionic robot and switching actions of different motion modes.
The cam driving mechanism 700 comprises a left front leg driving cam 701, a right front leg driving cam 702, a left middle leg driving cam 703, a right middle leg driving cam 704, a left rear leg driving cam 705, a right rear leg driving cam 706, a first swing link 711, a second swing link 712, a third swing link 713, a fourth swing link 714, a fifth swing link 715, a sixth swing link 716, a first rope 721, a second rope 722, a third rope 723, a fourth rope 724, a fifth rope 725, a sixth rope 726, a first motor 731, a camshaft 732, a first fixed pulley 733 and a second fixed pulley 734, as shown in fig. 3.
The connection relationship of the respective components of the cam driving mechanism 700 is as follows: the first motor 731 is transversely arranged at the front end of the rack 900, a coupling is arranged between the first motor 731 and one end of the cam shaft 732 for transmission, and the other end of the cam shaft 732 is connected to the rack 900 through a bearing in a rotating manner, so that the first motor 731 drives the cam shaft 732 to rotate at the central position of the rack 900.
The right front leg driving cam 702, the left front leg driving cam 701, the left middle leg driving cam 703, the right middle leg driving cam 704, the left rear leg driving cam 705 and the right rear leg driving cam 706 are sequentially arranged on the cam shaft 732, and the driving cams at the six different positions and the cam shaft 732 rotate together to respectively provide power for the swinging of six corresponding swing rods, as shown in fig. 4.
The right front leg driving cam 702, the left front leg driving cam 701, the left middle leg driving cam 703, the right middle leg driving cam 704, the left rear leg driving cam 705 and the right rear leg driving cam 706 are arranged in this order from the front end to the rear end of the frame 900.
The right front leg driving cam 702, the left front leg driving cam 701, the left middle leg driving cam 703, the right middle leg driving cam 704, the left rear leg driving cam 705 and the right rear leg driving cam 706 are in corresponding contact with a second swing link 712, a first swing link 711, a third swing link 713, a fourth swing link 714, a fifth swing link 715 and a sixth swing link 716 respectively.
One end of the second swing rod 712, the first swing rod 711, the third swing rod 713, the fourth swing rod 714, the fifth swing rod 715 and the sixth swing rod 716 is hinged to the rack 900, and the other end of the second swing rod 716, the first swing rod 721, the third swing rod 723, the fourth swing rod 724, the fifth swing rod 725 and the sixth swing rod 726 are correspondingly connected with the right front leg link mechanism 200, the left front leg link mechanism 100, the left middle leg metamorphic link mechanism 300, the right middle leg metamorphic link mechanism 400, the left rear leg metamorphic link mechanism 500 and the right rear leg metamorphic link mechanism 600 to transmit power. Namely, the plurality of swing rods are connected with the corresponding feet of the bionic robot through the corresponding ropes to drive the feet, and meanwhile, the first fixed pulley 733 and the second fixed pulley 734 are arranged on the left side and the right side of the rack 900 to change the moving directions of the first rope 721 and the second rope 722.
The following is the drive structure of six feet of the bionic robot: the driving structure of the right front leg linkage mechanism 200 is formed by mutually matching a right front leg driving cam 702, a second swing rod 712 and a second rope 722. The right front leg driving cam 702 abuts against the second swing rod 712, the second swing rod 712 is transversely arranged on the rack 900, the left end of the second swing rod 712 is hinged to the left side of the rack 900, the right end of the second swing rod 712 is obliquely connected with the second rope 722 in the right-upper direction, and the second rope 722 upwards rounds the second fixed pulley 734 to be connected with the right front leg linkage mechanism 200, as shown in fig. 5.
The driving structure of the left front leg linkage mechanism 100 is formed by mutually matching a left front leg driving cam 701, a swing rod I711 and a rope I721. The left front leg driving cam 701 abuts against the first swing link 711, the first swing link 711 is transversely arranged on the rack 900, the right end of the first swing link 711 is hinged to the right side of the rack 900, the left end of the first swing link 711 is obliquely connected with the first rope 721 in the left-upper direction, and the first rope 721 is connected with the left front leg link mechanism 100 by passing through the first fixed pulley 733 upwards, as shown in fig. 6.
The driving structure of the left middle leg metamorphic connecting rod mechanism 300 is formed by mutually matching a left middle leg driving cam 703, a swing link III 713 and a rope III 723. The left middle leg driving cam 703 abuts against a third swing rod 713, the third swing rod 713 is vertically arranged on the right side of the rack 900, the upper end of the third swing rod 713 is hinged with the rack 900, the lower end of the third swing rod 713 is connected with a third rope 723, and the third rope 723 extends leftwards and upwards and is connected with the left middle leg metamorphic connecting rod mechanism 300 as shown in fig. 7.
The driving structure of the right middle leg metamorphic connecting rod mechanism 400 is formed by mutually matching a right middle leg driving cam 704, a swing rod IV 714 and a rope IV 724. The right middle leg driving cam 704 abuts against a swing rod four 714, the swing rod four 714 is vertically arranged on the left side of the rack 900, the upper end of the swing rod four 714 is hinged with the rack 900, the lower end of the swing rod four 714 is connected with a rope four 724, and the rope four 724 extends towards the right upper direction and is connected with the right middle leg metamorphic connecting rod mechanism 400, as shown in fig. 8.
The driving structure of the left rear leg metamorphic connecting rod mechanism 500 is formed by mutually matching a left rear leg driving cam 705, a swing rod five 715 and a rope five 725. The left rear leg driving cam 705 abuts against a five oscillating rods 715, the five oscillating rods 715 are vertically arranged on the right side of the rack 900, the upper ends of the five oscillating rods 715 are hinged to the rack 900, the lower ends of the five oscillating rods 715 are connected with a five rope 725, and the five rope 725 extends leftwards and upwards and is connected with the left rear leg metamorphic connecting rod mechanism 500 as shown in fig. 9.
The right rear leg metamorphic connecting rod mechanism 600 driving structure is formed by the mutual matching of a right rear leg driving cam 706, a swinging rod six 716 and a rope six 726. The right rear leg driving cam 706 abuts against a swing rod six 716, the swing rod six 716 is vertically arranged on the left side of the rack 900, the upper end of the swing rod six 716 is hinged with the rack 900, the lower end of the swing rod six 716 is connected with a rope six 726, and the rope six 726 extends towards the right upper direction to be connected with the right rear leg metamorphic connecting rod mechanism 600, as shown in fig. 10.
In this embodiment, the traveling and steering metamorphic linkage mechanism 800 is arranged along the length direction of the center of the rack 900, and the traveling and steering metamorphic linkage mechanism 800 is movably connected to the rack 900. The walking and steering metamorphic connecting rod mechanism 800 links the six feet of the bionic robot and carries out linkage to realize walking action.
The walking and steering metamorphic linkage 800 comprises a crawling crank 801, a left metamorphic linkage 802, a right metamorphic linkage 803, a left rear leg driving linkage 804, a right rear leg driving linkage 805, a left rear leg rotating frame 509, a right rear leg rotating frame 609, a left middle leg driving linkage 806, a right middle leg driving linkage 807, a left middle leg rotating frame 309, a right middle leg rotating frame 409, a left front leg driving linkage 808, a right front leg driving linkage 809, a left front leg driving linkage tension spring 810, a right front leg driving linkage tension spring 811, a left middle leg rotating frame tension spring 812, a right middle leg rotating frame tension spring 813, a left rear leg driving linkage limit stop pin 814, a right rear leg driving linkage limit stop pin 815, a left middle leg rotating frame limit stop pin 816, a right middle leg rotating frame limit stop pin 817 and a second motor 820, as shown in fig. 11-12.
The connection relationship of the components of the traveling and steering metamorphic linkage 800 is as follows: the second motor 820 is vertically arranged at the rear end of the rack 900, a crawling crank 801 is arranged on a rotating shaft of the second motor 820, one end of the crawling crank 801 is hinged with a left metamorphic connecting rod 802 and a right metamorphic connecting rod 803, and the left metamorphic connecting rod 802 and the right metamorphic connecting rod 803 extend towards the left side and the right side of the rack 900 respectively.
The walking and steering metamorphic linkage 800 drives six feet by two driving routes, namely a route one and a route two, as shown in fig. 13, the route one drives the left rear leg metamorphic linkage 500, the right middle leg metamorphic linkage 400 and the left front leg linkage 100 to walk, the route one takes the left metamorphic linkage 802 as a head, and the driving structure of the route one is as follows:
aiming at the walking drive of the left rear leg metamorphic connecting rod mechanism 500, a left rear leg rotating frame 509 is connected to the left side of the rear end of the rack 900 in a switching mode, a left rear leg driving connecting rod 804 is hinged between the left rear leg rotating frame 509 and the left metamorphic connecting rod 802 for transmission, and a left rear leg driving connecting rod limiting stop pin 814 is arranged on the left side of the rear end of the rack 900 and used for limiting the swinging angle of the left rear leg driving connecting rod 804.
For the walking drive of the left front leg linkage mechanism 100, a left front leg driving link 808 is hinged between the left rear leg rotary frame 509 and the left front leg linkage mechanism 100, a left front leg driving link tension spring 810 is arranged between the left front leg driving link 808 and the rack 900, and the left front leg driving link tension spring 810 is positioned at the bottom of the left side of the rack 900. The left front leg driving link 808 is always pulled by the left front leg driving link tension spring 810 to have a tendency to move forward, so that the left rear leg pivoting frame 509 always has a tendency to swing forward.
Aiming at the walking drive of the right middle leg metamorphic connecting rod mechanism 400, a right middle leg rotary frame 409 is rotatably connected to the right side of the middle part of the machine frame 900, a right middle leg driving connecting rod 807 is hinged between the right middle leg rotary frame 409 and the left rear leg rotary frame 509 for transmission, when the right middle leg rotary frame 409 is connected, a right middle leg rotary frame driving pin 819 is arranged on the right middle leg rotary frame 409, and the right middle leg rotary frame driving pin 819 can slide in a sliding groove formed in one end part of the right middle leg driving connecting rod 807. A right middle leg rotary frame tension spring 813 is arranged between the rack 900 and the right middle leg rotary frame 409, the right middle leg rotary frame 409 always tends to swing forwards under the action of the tension of the right middle leg rotary frame tension spring 813, and a right middle leg rotary frame limiting stop pin 817 is also arranged on the rack 900 and used for limiting the rotary angle of the right middle leg rotary frame 409.
As shown in fig. 14, the second route drives the right rear leg metamorphic linkage 600, the left middle leg metamorphic linkage 300 and the right front leg linkage 200 to move, the second route takes the right metamorphic linkage 803 as a starting point, and the second route has the following driving structure:
for the walking drive of the right rear leg metamorphic connecting rod mechanism 600, a right rear leg rotating frame 609 is connected to the right side of the rear end of the rack 900 in a switching mode, a right rear leg driving connecting rod 805 is hinged between the right rear leg rotating frame 609 and the right metamorphic connecting rod 803 for transmission, and a right rear leg driving connecting rod limiting stop pin 815 is arranged on the right side of the rear end of the rack 900 and used for limiting the swinging angle of the right rear leg driving connecting rod 805.
For the walking drive of the right front leg linkage mechanism 200, a right front leg driving connecting rod 809 is hinged between the right front leg rotary frame 609 and the right front leg linkage mechanism 200, a right front leg driving connecting rod tension spring 811 is arranged between the right front leg driving connecting rod 809 and the machine frame 900, and the right front leg driving connecting rod tension spring 811 is positioned at the bottom of the right side of the machine frame 900. The right front leg driving link 809 always tends to move forward under the pulling force of the right front leg driving link tension spring 811, so that the right rear leg turning frame 609 always tends to swing forward.
Aiming at the walking drive of the left middle leg metamorphic connecting rod mechanism 300, the left middle leg revolving frame 309 is rotatably connected to the left side of the middle part of the rack 900, the left middle leg revolving frame 309 and the right rear leg revolving frame 609 are hinged with the left middle leg driving connecting rod 806 for transmission, when the left middle leg revolving frame 309 is connected with the left middle leg revolving frame, the left middle leg revolving frame driving pin 818 is arranged on the left middle leg revolving frame 309, and the left middle leg revolving frame driving pin 818 can slide in a sliding groove formed in one end part of the left middle leg driving connecting rod 806. A left middle leg revolving frame tension spring 812 is arranged between the machine frame 900 and the left middle leg revolving frame 309, the left middle leg revolving frame 309 always tends to swing forwards under the pulling force of the left middle leg revolving frame tension spring 812, and a left middle leg revolving frame limiting stop pin 816 is also arranged on the machine frame 900 and used for limiting the revolving angle of the left middle leg revolving frame 309.
In this embodiment, the left and right sides of the front end of the rack 900 are provided with side plates 214 to form a rectangular hollow frame structure, and the left front leg link mechanism 100 and the right front leg link mechanism 200 are movably connected to the rack 900 through the side plates 214 respectively. The left front leg linkage 100 and the right front leg linkage 200 are identical in structure and can also achieve the same function.
Taking the right front leg link mechanism 200 as an example for specific description, the right front leg link mechanism 200 includes a front leg flip swing link 212 disposed inside the frame 900, a front leg flip swing link tension spring 213 disposed above the frame 900, and a front leg thigh 201, a front leg calf 202, a front leg link one 203, a front leg link two 204, a front leg small swing link 205, a front leg link three 206, a front leg link four 207, a front leg large swing link 208, a front leg large swing link pin 209, a front leg drive slider 210, and a front leg swing link 211 disposed outside the frame 900, as shown in fig. 15 to 16.
A W-shaped upper chute 10 is arranged above the side plate 214, the arc at the bent part of the upper chute 10 is in smooth transition, and one end of the upper chute 10 extends vertically upwards; meanwhile, a linear lower chute 20 is arranged below the side plate 214, and the lower chutes 20 are transversely arranged, as shown in fig. 17.
The connection relationship of the respective components of the right front leg link mechanism 200 is as follows: a front leg turning swing rod 212 is connected to the inner side of the side plate 214 in a switching mode, the front leg turning swing rod 212 is composed of a wheel body and a swing rod with a sliding groove, the wheel body is connected in the side plate 214 in a rotating mode, the wheel body is provided with pulling force through a rope to enable the wheel body to rotate, a front leg turning swing rod tension spring 213 is connected with the wheel body to provide rotating force to enable the wheel body to rotate, one end of the wheel body is fixedly connected with the swing rod, and the swing rod rotates along with the wheel body.
The outer side of the side plate 214 is hinged with a front leg large swing rod 208, the upper end of the front leg large swing rod 208 is provided with a swing rod sliding groove 30, and the lower end of the front leg large swing rod 208 is hinged on the side plate 214 after being bent. The upper end of the front leg small swing rod 205 is hinged at the bending part of the front leg large swing rod 208, the lower end of the front leg small swing rod 205 is respectively hinged with a front leg connecting rod three 206 and a front leg connecting rod four 207, and the front leg connecting rod three 206 and the front leg connecting rod four 207 respectively extend towards the front side and the rear side of the rack 900.
The front leg thigh 201, the front leg connecting rod II 204, the front leg calf 202 and the front leg connecting rod I203 are sequentially hinged end to form a quadrilateral mechanism, a front leg large swing rod pin 209 is hinged at the hinged position between the front leg thigh 201 and the front leg connecting rod I203, the front leg large swing rod pin 209 penetrates through the swing rod chute 30, the upper chute 10 and the chute of the front leg overturning swing rod 212, and then the front leg large swing rod pin 209 can be arranged in the chutes of the swing rod chute 30, the upper chute 10 and the front leg overturning swing rod 212 to slide.
A third front leg connecting rod 206 is hinged at the hinged part between the first front leg connecting rod 203 and the first front leg connecting rod 202, and a fourth front leg connecting rod 207 is hinged at the hinged part between the thigh 201 of the front leg and the second front leg connecting rod 204, so that the connection of the small front leg swing rod 205 with the thigh 201 of the front leg, the second front leg connecting rod 204, the shank 202 of the front leg and the first front leg connecting rod 203 is realized.
The front leg driving sliding block 210 is connected in the lower sliding chute 20 in a sliding manner, the front leg driving sliding block 210 is hinged with one end of a front leg swinging connecting rod 211, and the common hinged part of the front leg small swinging rod 205, the front leg connecting rod three 206 and the front leg connecting rod four 207 is also hinged with the other end of the front leg swinging connecting rod 211.
In order to drive the right front leg link mechanism 200 to raise and lower the legs, the specific connections between the cam driving mechanism 700 and the right front leg link mechanism 200 are as follows: one end of the second rope 722 is connected with the second swing rod 712, and the other end of the second rope 722 is connected with the front leg overturning swing rod 212 of the right front leg link mechanism 200 by passing around the second fixed pulley 734, so as to provide a rotating force for the front leg overturning swing rod 212 on the right side of the rack 900.
Specifically, the right front leg driving cam 702 pulls the second rope 722 through the second swing rod 712, the second rope 722 passes through the second fixed pulley 734 to pull the front leg overturning swing rod 212 to swing, and the front leg overturning swing rod 212 drives the front leg large swing rod pin 209 to slide, so that the front leg lifting and falling actions are realized.
In order to drive the left front leg link mechanism 100 to raise or lower the legs, the specific connections between the cam driving mechanism 700 and the left front leg link mechanism 100 are as follows: one end of the first rope 721 is connected with the first swing link 711, and the other end of the first rope 721 goes around the first fixed pulley 733 to be connected with the front leg overturning swing link 212 of the left front leg link mechanism 100, so as to provide rotating force for the front leg overturning swing link 212 on the left side of the rack 900.
The front leg turning swing link 212 of the right front leg link mechanism 200 and the left front leg link mechanism 100 is rotated, so that the front leg large swing link pin 209 slides in the swing link sliding groove 30, the upper sliding groove 10 and the sliding groove of the front leg turning swing link 212, and the right front leg link mechanism 200 and the left front leg link mechanism 100 generate leg lifting and leg falling actions.
In order to drive the right front leg link mechanism 200 to travel, the specific connections of the traveling and steering metamorphic link mechanism 800 and the right front leg link mechanism 200 are: the right front leg driving link 809 is hinged to the front leg driving slider 210 of the right front leg link mechanism 200 to transmit. The front leg driving slider 210 is driven to slide by the action of the right front leg driving link 809, and the front leg driving slider 210 drives the right front leg link mechanism 200 to generate walking action.
In order to drive the left front leg link mechanism 100 to travel, the specific connections between the traveling and steering metamorphic link mechanism 800 and the left front leg link mechanism 100 are as follows: the left front leg driving link 808 is hinged to the front leg driving slider 210 of the left front leg link mechanism 100 for transmission. The left front leg driving slider 210 is also driven to slide by the action of the left front leg driving link 808, and the left front leg driving slider 210 drives the left front leg link mechanism 100 to generate walking action.
In this embodiment, the middle part and the left and right sides of the rear end of the rack 900 are provided with a revolving rack, and the left middle leg metamorphic connecting rod mechanism 300, the right middle leg metamorphic connecting rod mechanism 400, the left rear leg metamorphic connecting rod mechanism 500 and the right rear leg metamorphic connecting rod mechanism 600 are respectively rotatably connected with the rack 900 through the respective revolving rack.
The left middle leg metamorphic connecting rod mechanism 300 is arranged on a left middle leg revolving frame 309, and the left middle leg metamorphic connecting rod mechanism 300 swings back and forth relative to the rack 900 through the left middle leg revolving frame 309. The right middle leg metamorphic linkage mechanism 400 is arranged on a right middle leg rotating frame 409, and the right middle leg metamorphic linkage mechanism 400 swings back and forth relative to the rack 900 through the right middle leg rotating frame 409. The left rear leg metamorphic linkage 500 is arranged on the left rear leg rotating frame 509, and the left rear leg metamorphic linkage 500 swings back and forth relative to the rack 900 through the left rear leg rotating frame 509. The right rear leg metamorphic linkage mechanism 600 is arranged on the right rear leg rotating frame 609, and the right rear leg metamorphic linkage mechanism 600 swings back and forth relative to the rack 900 through the right rear leg rotating frame 609.
The left middle leg metamorphic linkage mechanism 300, the right middle leg metamorphic linkage mechanism 400, the left rear leg metamorphic linkage mechanism 500 and the right rear leg metamorphic linkage mechanism 600 are identical in structure and can also achieve the same functions.
Taking the right middle leg metamorphic linkage mechanism 400 as an example for specific explanation, the right middle leg metamorphic linkage mechanism 400 includes a middle leg upper leg 401, a middle leg lower leg 402, a middle leg swing rod 403, a middle leg link one 404, a middle leg link two 405, a middle leg link three 406, a middle leg upper leg tension spring 407 and a middle leg lower leg tension spring 408, as shown in fig. 18-20.
The right middle leg rotary frame 409 is connected to the right side of the middle part of the machine frame 900 in a transferring mode and can swing back and forth relative to the machine frame 900, the upper end of the middle leg thigh 401 is hinged to the right middle leg rotary frame 409, a middle leg thigh tension spring 407 is arranged between the middle leg thigh 401 and the right middle leg rotary frame 409, and the middle leg thigh 401 is pulled by the right middle leg thigh tension spring 407, so that the middle leg thigh 401 always tends to swing upwards. The middle leg thigh 401 is provided with a large limiting stop pin 40, and when the large limiting stop pin 40 abuts against the right middle leg rotary frame 409, the swing angle of the middle leg thigh 401 can be limited.
The middle lower end of the middle leg thigh 401 is hinged with the middle leg lower leg 402 through a middle leg connecting rod two 405 and a middle leg connecting rod three 406 respectively to form a parallelogram mechanism, specifically, the lower end of the middle leg connecting rod two 405 is hinged with the upper end of the middle leg lower leg 402, and the middle leg connecting rod three 406 is hinged between the lower end of the middle leg thigh 401 and the middle of the middle leg lower leg 402, so that the middle leg lower leg 402 can extend and retract relative to the middle leg thigh 401.
A middle leg and lower leg tension spring 408 is arranged between the middle leg link II 405 and the middle leg link III 406, the middle leg and lower leg tension spring 408 enables the middle leg and lower leg 402 to always have a contraction trend, and the tension of the middle leg and lower leg tension spring 408 is smaller than that of the middle leg and upper leg tension spring 407. The third middle leg connecting rod 406 is provided with a small limiting stop pin 50 for limiting the extension and contraction amplitude of the lower leg 402 of the middle leg.
The hinged part of the middle leg thigh 401 and the right middle leg rotary frame 409 is also hinged with a middle leg swing rod 403, the lower end of the middle leg swing rod 403 is hinged with the upper end of a middle leg connecting rod II 405 through a middle leg connecting rod I404, the middle part of the middle leg connecting rod II 405 is hinged with the middle part of the middle leg thigh 401, and the middle leg swing rod 403, the middle leg connecting rod I404, the middle leg connecting rod II 405 and the middle leg thigh 401 are connected to form a four-bar linkage. The middle hole of the second middle leg connecting rod 405 is hinged to the middle hole of the thigh 401 of the middle leg, so that the second middle leg connecting rod 405 makes a rotary motion on the thigh 401 of the middle leg.
In order to perform leg lifting and leg falling driving on the right middle leg metamorphic connecting rod mechanism 400, the specific connection between the cam driving mechanism 700 and the right middle leg metamorphic connecting rod mechanism 400 is as follows: one end of the fourth rope 724 is connected with the fourth swing rod 714, and the other end of the fourth rope 724 is connected with the middle leg swing rod 403 of the right middle leg metamorphic connecting rod mechanism 400, so that the rotating force of the middle leg swing rod 403 on the right side of the rack 900 is provided.
In order to drive the left middle leg metamorphic link mechanism 300 to raise and lower legs, the specific connection between the cam driving mechanism 700 and the left middle leg metamorphic link mechanism 300 is as follows: one end of a rope III 723 is connected with a swing rod III 713, and the other end of the rope III 723 is connected with a middle leg swing rod 403 of the left middle leg metamorphic connecting rod mechanism 300, so that rotating force of the middle leg swing rod 403 on the left side of the rack 900 is provided.
Similarly, the right middle leg metamorphic linkage mechanism 400 and the right rear leg metamorphic linkage mechanism 600 have the same structure, and parts have different sizes, so that the right rear leg metamorphic linkage mechanism 600 also comprises a rear leg thigh, a rear leg calf, a rear leg swing rod, a rear leg linkage I, a rear leg linkage II, a rear leg linkage III, a rear leg thigh tension spring and a rear leg calf tension spring. In contrast, the middle leg 402 of the right middle leg metamorphic linkage 400 is a straight rod, and the rear leg of the right rear leg metamorphic linkage 600 is a bent rod, which is bent toward the rear end of the rack 900.
In order to lift and drop the legs of the right rear leg metamorphic connecting rod mechanism 600, the specific connections of the cam driving mechanism 700 and the right rear leg metamorphic connecting rod mechanism 600 are as follows: one end of the six rope 726 is connected with the six swing rod 716, and the other end of the six rope 726 is connected with the rear leg swing rod of the right rear leg metamorphic connecting rod mechanism 600, so as to provide a rotating force for the rear leg swing rod on the left side of the rack 900.
In order to drive the left rear leg metamorphic connecting rod mechanism 500 to lift and fall legs, the specific connection between the cam driving mechanism 700 and the left rear leg metamorphic connecting rod mechanism 500 is as follows: one end of the five rope 725 is connected with the five swing rod 715, and the other end of the five rope 725 is connected with the rear leg swing rod of the left rear leg metamorphic connecting rod mechanism 500, so that the rotating force of the rear leg swing rod on the left side of the rack 900 is provided.
The bionic robot has two groups of three staggered feet, wherein one group comprises a left front leg link mechanism 100, a right middle leg metamorphic link mechanism 400 and a left rear leg metamorphic link mechanism 500, and the other group comprises a right front leg link mechanism 200, a left middle leg metamorphic link mechanism 300 and a right rear leg metamorphic link mechanism 600. The front and back swinging actions of the six feet can be realized through the walking and steering metamorphic connecting rod mechanism 800, wherein when the three-foot left front leg connecting rod mechanism 100, the right middle leg metamorphic connecting rod mechanism 400 and the left back leg metamorphic connecting rod mechanism 500 swing forwards, the three-foot right front leg connecting rod mechanism 200, the left middle leg metamorphic connecting rod mechanism 300 and the right back leg metamorphic connecting rod mechanism 600 swing backwards, namely, the two groups of staggered three-foot walking actions are opposite. The walking and steering metamorphic connecting rod mechanism 800 is matched with the cam driving mechanism 700 to realize the staggered lifting, forward swinging, falling and backward swinging of the six feet.
This bionic robot's left and right middle leg metamorphic linkage mechanism 300, right middle leg metamorphic linkage mechanism 400 have climb the plane mode and climb the hole mode, wherein climb the plane mode overall action flow for the middle leg lift up, to the front pendulum, fall down again, finally backward pendulum can, concrete action flow as follows:
step 1, leg lifting action: in an initial state, the middle leg contacts the ground, the right middle leg drives the cam 704 to rotate clockwise by a certain angle when the leg is lifted, the swing rod IV 714 swings anticlockwise, the rope IV 724 becomes loose, the swing rod 403 of the middle leg swings anticlockwise, and the tension of the thigh tension spring 407 of the middle leg is greater than that of the shank tension spring 408 of the middle leg, so that the thigh 401 of the middle leg, the shank 402 of the middle leg, the swing rod 403 of the middle leg, the first connecting rod 404 of the middle leg, the second connecting rod 405 of the middle leg and the third connecting rod 406 of the middle leg swing upwards to realize the leg lifting action, as shown in fig. 21;
step 2, swinging forwards: after the middle leg lifts up, the second motor 820 of the walking and steering metamorphic connecting rod mechanism 800 drives the right middle leg rotary frame 409 to swing forwards through the right middle leg driving connecting rod 807, and as the middle parts of the right middle leg rotary frame 409 and the middle leg oscillating rod 403 are connected through the fourth rope 724, interference cannot occur, as shown in fig. 22;
step 3, leg falling action: after the middle leg swings forwards, the right middle leg drives the cam 704 to rotate anticlockwise, the swing rod IV 714 swings clockwise, the rope IV 724 is tensioned, and when the tension of the rope IV 724 is greater than that of the thigh tension spring 407 of the middle leg, the middle leg metamorphic connecting rod mechanism swings downwards to realize leg falling, so that the middle leg contacts the ground, as shown in fig. 23;
step 4, swinging backwards to walk: after the middle leg contacts the ground, the second motor 820 of the walking and steering metamorphic connecting rod mechanism 800 pulls back the right middle leg rotating frame 409 through the right middle leg driving connecting rod 807, so that the middle leg metamorphic connecting rod mechanism swings backwards, and the bionic robot walks forwards by one step, as shown in fig. 24.
The bionic robot can continuously walk forwards according to the action processes of the circulation steps 1, 2, 3 and 4, and the operation of the middle leg climbing mode is realized.
When the middle leg climbing mode needs to be switched to the hole climbing mode after the middle leg climbing mode is finished, the switching process is as follows:
step 11, after the middle leg thigh 401 is lifted, the right middle leg driving cam 704 continues to rotate clockwise, the swing rod four 714 continues to swing anticlockwise, the rope four 724 becomes loose, the middle leg swing rod 403 continues to swing anticlockwise, the middle leg thigh 401 continues to lift upwards due to the fact that the tension of the middle leg thigh tension spring 407 is larger than the tension of the middle leg shank tension spring 408, and when the large limiting stop pin 40 of the middle leg thigh 401 contacts the right middle leg rotary frame 409, the middle leg thigh 401 does not lift upwards any more, as shown in fig. 25.
Step 12, the right middle leg driving cam 704 continues to rotate clockwise, the swing rod IV 714 continues to swing anticlockwise, the rope IV 724 becomes loose, the swing rod 403 of the middle leg continues to swing anticlockwise, the middle leg 402 starts to contract under the action of the middle leg tension spring 408, and therefore the climbing mode is switched to the hole climbing mode, as shown in fig. 26, the climbing mode can be switched to the hole climbing mode through one cam.
The hole climbing mode and the plane climbing mode are different, the hole is sunken for the bionic robot, and no force application point can be grabbed, so that the feet of the bionic robot need to be outwards supported in the hole climbing mode, and then the body is supported in the hole to climb outwards step by step. The overall action process of the hole climbing mode comprises the steps of shrinking the middle leg and the lower leg, swinging the middle leg and the lower leg forwards, extending the middle leg and the lower leg outwards, and finally swinging the middle leg and the lower leg backwards, wherein the specific action process comprises the following steps:
step 21, contracting the lower legs of the middle legs: the right mid-leg drive cam 704 continues to rotate clockwise, causing the mid-leg calf 402 to continue to contract, as shown in fig. 27-28;
step 22, swinging the middle leg and the lower leg forwards: after the middle leg and the lower leg 402 are contracted, the second motor 820 of the walking and steering metamorphic connecting rod mechanism 800 drives the right middle leg rotating frame 409 to swing forwards through the right middle leg driving connecting rod 807 to realize the leg stepping action, as shown in fig. 29;
step 23, stretching out the lower legs of the middle legs: after the middle leg and the lower leg 402 step forward, the right middle leg drives the cam 704 to rotate counterclockwise, the swing rod IV 714 pulls the middle leg swing rod 403 to swing clockwise through the rope IV 724, and the tension of the middle leg and the lower leg tension spring 407 is larger than that of the middle leg and the lower leg tension spring 408, so that the middle leg and the lower leg 402 are supported on the inner wall of the hole at the moment, as shown in fig. 30;
step 24, swinging the middle leg and the lower leg backwards: after the lower leg 402 of the middle leg is supported on the inner wall of the tunnel, the second motor 820 pulls the right middle leg rotary frame 409 through the right middle leg driving connecting rod 807 to enable the right middle leg rotary frame 409 to swing anticlockwise, and therefore walking is achieved, as shown in fig. 31.
The bionic robot can continuously walk forwards according to the actions of the circulation steps 21, 22, 23 and 24; the three staggered feet in the six feet of the bionic robot form a group, and the actions of stepping, extending, walking and contracting are sequentially and alternately completed, so that the operation of a middle leg climbing mode is realized, as shown in fig. 32-33.
Well leg climbs and need switch to when climbing the plane mode again after the hole mode ends, this bionic robot needs right well leg drive cam 704 to rotate certain angle after accomplishing to climb the hole mode, can make well leg switch to climbing the plane mode by climbing the hole mode, and the switching flow is as follows:
step 31, when the middle leg 402 is in a contracted state, the right middle leg drives the cam 704 to rotate counterclockwise, the swing rod IV 714 pulls the middle leg swing rod 403 to swing through the rope IV 724, and as the tension of the middle leg lower leg tension spring 408 is smaller than that of the middle leg thigh tension spring 407, the lower leg extends out first, as shown in fig. 34-35;
step 32, when the middle leg lower leg 402 extends to the limit position, the middle leg lower leg 402 stops extending, as shown in fig. 36, at this time, the right middle leg driving cam 704 continues to rotate counterclockwise, the tension of the rope four 724 continuously increases, and when the tension is greater than the tension of the middle leg upper leg tension spring 407, the middle leg upper leg 401 starts to be pulled to swing downwards, so that the hole climbing mode is switched to the plane climbing mode, as shown in fig. 37, so that the switching from the hole climbing mode to the plane climbing mode is realized by one cam.
This bionic robot's left front leg link mechanism 100, right front leg link mechanism 200 have climb the plane mode and climb the tree mode, wherein climb plane mode overall action flow for lift up, forward swing, fall again, last backward swing can, concrete action flow as follows:
step 41, lifting the front legs: the right front leg driving cam 702 rotates clockwise, the swing link two 712 swings counterclockwise, the rope two 722 becomes loose, the front leg turning swing link 212 rotates counterclockwise under the action of the tension of the front leg turning swing link tension spring 213, the front leg large swing link pin 209 is lifted upwards, and therefore the tail end of the front leg is lifted upwards through the front leg link mechanism, and the front leg lifting action is realized, as shown in fig. 38;
step 42, swinging the front legs forwards to step the legs: the second motor 820 of the walking and steering metamorphic link mechanism 800 drives the front leg driving slider 210 to slide forward through the right front leg driving link 809, and the front leg driving slider 210 drives the link mechanism to swing forward through the front leg swinging link 211 to realize a leg stepping action, as shown in fig. 39;
step 43, front leg falling: the right front leg driving cam 702 rotates anticlockwise, the swing rod II 712 swings clockwise, the rope II 722 is tensioned, when the tension of the rope II 722 is greater than that of the front leg overturning swing rod tension spring 213, the front leg overturning swing rod 212 rotates clockwise, the front leg large swing rod pin 209 slides downwards, the tail end of the front leg moves downwards through the front leg connecting rod mechanism to contact the ground, and the front leg falling action is realized, as shown in fig. 40;
step 44, the front legs swing backwards to walk: when the tail end of the front leg contacts the ground, the second motor 820 drives the front leg driving slider 210 to slide backwards through the right front leg driving connecting rod 809 to realize walking action, as shown in fig. 41.
The bionic robot can continuously walk forwards according to the action processes of the cyclic steps 41, 42, 43 and 44, and the operation of the front leg climbing plane mode can be realized.
When the front leg needs to be switched to the tree climbing mode after the front leg plane climbing mode is finished, the switching process is as follows:
the right front leg driving cam 702 rotates anticlockwise to enable the second swing rod 712 to rotate clockwise, so that the second rope 722 is used for pulling the second front leg overturning swing rod 212 to rotate clockwise, the second front leg overturning swing rod 212 is used for driving the big front leg swing rod pin 209 to rotate, the big front leg swing rod pin 209 is arranged in the upper chute 10 of the side plate 214, the big front leg swing rod pin 209 can slide along the upper chute 10, and in the process that the big front leg swing rod pin 209 slides backwards, the big front leg swing rod 208 can be driven to overturn and overturn for a certain angle, so that the tree climbing mode is switched.
The tree climbing mode has the general action flows that the front leg is lifted, the front leg is swung forwards, the front leg falls down again, and finally the front leg is swung backwards, and the specific action flows are as follows:
step 51, lifting the front legs: the right front leg driving cam 702 continues to rotate anticlockwise, the front leg overturning swing rod 212 is pulled to rotate clockwise through the rope II 722, the front leg large swing rod pin 209 continues to slide along the upper chute 10, at the moment, the swing rod chute 30 on the front leg large swing rod 208 is overlapped with the upper chute 10 on the side plate 214, so that the front leg large swing rod 208 cannot swing, at the moment, the rotation center of the front leg small swing rod 205 is fixed again, and as the front leg large swing rod pin 209 slides upwards in an inclined mode, and the rotation center of the front leg small swing rod 205 and the front leg driving slide block 210 are both fixed, the tail end of the front leg can be lifted upwards, and the leg lifting action is realized, as shown in fig. 42;
step 52, swinging the front legs forwards to step the legs forward: the second motor 820 drives the front leg driving slider 210 to slide forwards through the right front leg driving link 809, and the front leg driving slider 210 drives the front leg link mechanism to swing forwards through the front leg swinging link 211 to realize a leg striding action, as shown in fig. 43;
step 53, the front legs fall down: the right front leg drives the cam 702 to rotate clockwise, the swing rod II 712 swings anticlockwise, the rope II 722 becomes loose, the tension of the rope II 722 is smaller than that of the front leg overturning swing rod tension spring 213, the front leg overturning swing rod 212 rotates anticlockwise, the front leg large swing rod pin 209 slides downwards obliquely, so that the tail end of the front leg moves downwards obliquely through the front leg connecting rod mechanism to contact with a trunk, and the front leg falling action in a tree climbing mode is realized, as shown in fig. 44;
step 54, front leg back swing walking: when the tail end of the front leg contacts the trunk, the second motor 820 drives the front leg driving slider 210 to slide backwards through the right front leg driving link 809, and the front leg driving slider 210 drives the front leg link mechanism to swing downwards through the front leg swinging link 211, so as to realize tree climbing, as shown in fig. 45.
The bionic robot can continuously walk forwards according to the action processes of the circulation steps 51, 52, 53 and 54, and the operation of a front leg climbing mode is realized, wherein the front leg, the middle leg and the rear leg are required to be matched with each other in the climbing mode.
When the front leg tree climbing mode is finished and needs to be switched to the plane climbing mode, the switching process is as follows:
step 61, the right front leg driving cam 702 rotates clockwise to enable the second swing rod 712 to rotate anticlockwise, the second rope 722 becomes loose, the pulling force is smaller than that of the front leg overturning swing rod tension spring 213, the front leg overturning swing rod 212 rotates anticlockwise, the front leg overturning swing rod 212 drives the front leg large swing rod pin 209 to rotate, the front leg large swing rod pin 209 slides along the upper chute 10 due to the fact that the front leg large swing rod pin 209 is located in the upper chute 10 of the side plate 214, the front leg large swing rod pin 209 can be driven to overturn and overturn for a certain angle in the process that the front leg large swing rod pin 209 slides forwards, and the climbing mode is switched to, as shown in fig. 46.
The bionic robot has a micro-steering function under the action of the walking and steering metamorphic connecting rod mechanism 800, the right-turning action and the left-turning action of the bionic robot are the same in principle, six-legged leg stepping, walking, left-turning and right-turning actions are realized by the same motor II 820, and the micro-steering principle is as follows by taking left-turning fine adjustment as an example:
1. the front lift makes the stride of the right rear leg metamorphic connecting rod mechanism 600 and the stride of the right front leg connecting rod mechanism 200 larger than the stride of the left middle leg metamorphic connecting rod mechanism 300: when the right rear leg metamorphic connecting rod mechanism 600, the left middle leg metamorphic connecting rod mechanism 300 and the right front leg connecting rod mechanism 200 advance forwards, if the bionic robot is slightly turned to the left, the forward advancing step of the right rear leg metamorphic connecting rod mechanism 600 and the right front leg connecting rod mechanism 200 of the bionic robot is larger than the forward advancing step of the left middle leg metamorphic connecting rod mechanism 300, so that the right rear leg metamorphic connecting rod mechanism 600 and the right front leg connecting rod mechanism 200 need to swing forwards a little more, and the left middle leg metamorphic connecting rod mechanism 300 can keep the original amplitude.
Aiming at the requirements, one end of the left and right middle leg driving connecting rods is provided with a sliding groove, so that the left and right middle leg rotary frame driving pins can slide in the sliding groove. Meanwhile, the limit stop pins of the middle leg slewing frames are respectively designed in front of the two middle leg slewing frames, so that the slewing angle of the middle leg slewing frames is limited. Meanwhile, one end of each of the two middle leg rotary frames is provided with a middle leg rotary frame tension spring, so that the middle leg rotary frames always have the tendency of swinging forwards, namely, the driving pin of the middle leg rotary frame is always attached to the farthest end of the middle leg driving connecting rod unless the middle leg rotary frame is limited by the limit stop pin of the middle leg rotary frame.
With the above structure, the right rear leg metamorphic link mechanism 600 and the right front leg link mechanism 200 can realize different stride lengths from the left middle leg metamorphic link mechanism 300, and at this time, the right rear leg metamorphic link mechanism 600 and the right front leg link mechanism 200 need to realize a certain stride length. Since the hexapods of the bionic robot are related to each other, the left rear leg rotating frame 509 swings backwards by a certain angle when the right rear leg rotating frame 609 swings forwards by a certain angle, and if the left rear leg rotating frame 509 swings backwards by a certain angle, the swinging action is easily influenced. Therefore, the left front leg driving connecting rod and the right front leg driving connecting rod are designed, the two front leg driving connecting rods are always driven to move forwards by the tension of the front leg driving connecting rod tension springs, and the two rear leg rotary frames are always driven to swing forwards, so that the metamorphic connecting rod and the rear leg driving connecting rod are always in a straightened state, and the metamorphic connecting rod and the rear leg driving connecting rod can be regarded as a rod in a straight line crawling state.
When the right rear leg turret 609 swings to the maximum position in the linear crawling state, the left rear leg drive link 804 just contacts the left rear leg drive link limit stop pin 814, as shown in fig. 47; the metamorphic connecting rod and the crawling crank 801 are equal in length, so that the rotating shafts of the left rear leg driving connecting rod 804 and the left metamorphic connecting rod 802 are just collinear with the shaft of the motor II 820 at this time, namely the left metamorphic connecting rod 802 and the crawling crank 801 are overlapped at this time, so that the crawling crank 801 can continuously drive the left metamorphic connecting rod 802 to rotate anticlockwise, the left rear leg driving connecting rod 804 and the left rear leg rotating frame 509 are kept still, namely the left rear leg metamorphic connecting rod mechanism 500, the right middle leg metamorphic connecting rod mechanism 400 and the left front leg connecting rod mechanism 100 are kept still, as shown in fig. 48; since the right rear leg turret 609 and the right front leg driving link 805 are under tension, the creeper crank 801 continues to rotate counterclockwise, causing the right rear leg turret 609 to continue to swing forward, causing the right front leg driving link 809 and the front leg driving slider 210 to continue to slide forward, even though the right rear leg metamorphic link mechanism 600 and the right front leg link mechanism 200 continue to swing forward, as shown in fig. 49; the step length of the left middle leg metamorphic connecting rod mechanism 300 is kept unchanged as shown in fig. 50 because the left middle leg metamorphic connecting rod mechanism is blocked by the left middle leg rotary frame limiting stop pin 816, so that the process is realized by one motor II 820, namely the right rear leg metamorphic connecting rod mechanism 600 and the right front leg connecting rod mechanism 200 only step forward for a certain step length, and the rest four feet keep different actions.
2. And (3) turning: when the right rear leg metamorphic linkage mechanism 600 and the right front leg linkage mechanism 200 have a certain stride length, the right front leg linkage mechanism 200, the left middle leg metamorphic linkage mechanism 300 and the right rear leg metamorphic linkage mechanism 600 fall down, and the walking operation is started at this time. The second motor 820 starts to rotate clockwise, the crawling crank 801 pulls the right rear leg rotating frame 609 through the right metamorphic connecting rod 803 and the right rear leg driving connecting rod 805 to swing backwards, the right rear leg rotating frame 609 pulls the right front leg connecting rod mechanism 200 through the right front leg driving connecting rod 809 and the front leg driving sliding block 210 to swing backwards, the right rear leg rotating frame 609 pulls the left middle leg driving connecting rod 806, the left middle leg driving connecting rod 806 slides on the left middle leg rotating frame 818 because the left middle leg rotating frame driving pin 818 is not arranged at the farthest end of the left middle leg driving connecting rod 806, the right rear leg metamorphic connecting rod mechanism 600 and the right front leg connecting rod mechanism 200 swing backwards, and the left middle leg metamorphic connecting rod mechanism keeps still under the pulling force of the left middle leg rotating frame tension spring 812, so that the robot can slightly steer leftwards at this time, as shown in fig. 51-52:
3. a straight line crawling process: when the motor II 820 rotates clockwise until the crawling crank 801 is collinear with the left rear leg driving connecting rod 804, the farthest end of the left middle leg driving connecting rod 806 is just in contact with the left middle leg rotating frame driving pin 818, at the moment, the motor II 820 continues to rotate clockwise, the right metamorphic connecting rod 803 and the right rear leg driving connecting rod 805 continue to pull the right rear leg rotating frame 609 to swing backwards, meanwhile, the right rear leg rotating frame 609 continues to pull the right front leg connecting rod mechanism 200 to swing backwards through the right front leg driving connecting rod 809 and the front leg driving sliding block 210, and the left middle leg rotating frame 309 is pulled to swing backwards through the left middle leg driving connecting rod 806, so that the linear crawling action is continuously realized.
Meanwhile, the left metamorphic connecting rod 802 and the left rear leg driving connecting rod 804 return to the collinear position again, the motor II 820 rotates clockwise, meanwhile, the traction on the left rear leg rotating frame 509 is released, the left rear leg rotating frame 509, the left front leg driving connecting rod 808, the left front leg driving sliding block and the right middle leg rotating frame 409 swing forwards under the tension of respective tension springs, the forward leg stepping actions of the left rear leg metamorphic connecting rod mechanism 500, the left front leg connecting rod mechanism 100 and the right middle leg metamorphic connecting rod mechanism 400 are achieved, the leg stepping walking actions on the left side and the right side are connected, and the linear crawling mode is returned again, as shown in fig. 53.
Example two:
the present embodiment is substantially the same as the first embodiment, and the same parts are not described again, but the differences are: as shown in fig. 54 to 55, in the present embodiment, the right front leg link mechanism 200 includes a large front leg 1, a small front leg 2, a large front leg link 3, a small front leg link 4, a guide pulley 5, a pull rope 6, and a diagonal tension spring 7.
The large front leg 1, the small front leg 2, the large front leg connecting rod 3 and the small front leg connecting rod 4 are connected in a hinged mode, and a parallelogram mechanism is formed after connection. The specific connection layout is as follows: the large front leg 1 and the small front leg 2 are vertically arranged outside the side plate 214 from left to right, the large front leg connecting rod 3 and the small front leg connecting rod 4 are transversely arranged outside the side plate 214 from top to bottom, and the large front leg connecting rod 3 and the small front leg connecting rod 4 have a certain inclination angle.
The upper end of a large front leg 1 is hinged with a side plate 214, the middle part of the large front leg 1 is hinged with a front leg swinging connecting rod 211, the front leg swinging connecting rod 211 can drive the large front leg 1 to swing back and forth, the lower end of the large front leg 1 extends out of the bottom of a rack 900 and exceeds the lower plane of the rack 900, the lower end of the large front leg 1 is hinged with one end of a small front leg connecting rod 4, the other end of the small front leg connecting rod 4 is hinged with the middle part of a small front leg 2, the small front leg 2 is arranged in front of the rack 900, the small front leg 2 is in a bent knife shape bent inwards in an arc shape, the lower end of the small front leg 2 extends downwards to be far away from the lower plane of the rack 900, a large front leg connecting rod 3 is hinged between the upper end of the small front leg 2 and the middle part of the large front leg 1, the large front leg connecting rod 3 is in a chicken-leg shape, and one end of the large front leg connecting rod is thicker and the other end is thinner.
One end of the large front leg connecting rod 3 extends outwards to form an extension section 8, the extension section 8 is the thinner end of the large front leg connecting rod 3, and the extension section 8 is obliquely arranged towards the back of the side plate 214. The side plate 214 is provided with a guide pulley 5, the guide pulley 5 is positioned above the extension section 8, and the guide pulley 5 penetrates through the side plate 214, namely the guide pulley 5 is communicated with the inner side and the outer side of the side plate 214. Two 712 of pendulum rods are connected to 6 one ends of stay cord, the guide pulley 5 is walked around to the 6 other end of stay cord, pass curb plate 214 and connect the top of extension section 8, set up oblique extension spring 7 between extension section 8 below and the curb plate 214 below, make extension section 8 have the trend of downswing under the effect of oblique extension spring 7, little foreleg 2 has the trend of upwards lifting, also make stay cord 6 be in the state of flare-outing all the time, the atress of stay cord 6 makes two 712 of pendulum rods and right foreleg drive cam 702 contact.
The right front leg linkage 200 and the left front leg linkage 100 have the same structure, and the working principle is as follows: firstly, lifting legs and stepping forwards: when the cam shaft 732 rotates forward, the right front leg driving cam 702 and the left front leg driving cam 701 on the cam shaft rotate together, and then the second swing link 712 and the first swing link 711 respectively swing, the second swing link 712 swings to enable the right pull rope 6 to be loosened, the right front leg link mechanism 200 moves upwards under the action of the right oblique pull spring 7, and on the contrary, the first swing link 711 swings to enable the left pull rope 6 to be tensioned, and the left front leg link mechanism 100 moves downwards under the action of the left oblique pull spring 7; meanwhile, the walking and steering metamorphic linkage 800 operates, the right front leg driving slider 210 slides forward, the right front leg linkage 200 is driven to move forward by the right front leg swing link 211, and conversely, the left front leg driving slider 210 slides backward, the left front leg linkage 100 is driven to move backward by the left front leg swing link 211.
And then, carrying out leg falling and backward swinging: when the cam shaft 732 rotates in the reverse direction, the right front leg link mechanism 200 moves downward and the left front leg link mechanism 100 moves upward; meanwhile, the walking and steering metamorphic connecting rod mechanism 800 acts to enable the current motion to be opposite to the original motion, namely the right front leg connecting rod mechanism 200 moves backwards, the left front leg connecting rod mechanism 100 moves forwards, and the whole motion cycle of front leg lifting, forward stepping, leg falling and backward swinging is completed.
By adopting the left and right front leg connecting rod mechanisms in the embodiment, the bionic robot can be more fit with real insects in appearance and structure, and the walking motion is also fit with the motion postures of the insects.
The present invention and the embodiments thereof have been described above without limitation, and the actual structure shown in the drawings is only one of the embodiments of the present invention, and should not be limited thereto, and in conclusion, if those skilled in the art should be informed by the teachings of the present invention, the technical scheme and the embodiments similar to the technical scheme should not be designed without inventive changes, and thus the present invention should fall into the protection scope of the present invention.

Claims (10)

1. The multifunctional hexapod bionic robot based on the metamorphic mechanism is characterized by comprising a rack (900), a cam driving mechanism (700) and a walking and steering metamorphic connecting rod mechanism (800) which are arranged in the center of the rack (900), a left front leg connecting rod mechanism (100) and a right front leg connecting rod mechanism (200) which are arranged on two sides of the front end of the rack (900), a left middle leg metamorphic connecting rod mechanism (300) and a right middle leg metamorphic connecting rod mechanism (400) which are arranged on two sides of the middle of the rack (900), and a left rear leg metamorphic connecting rod mechanism (500) and a right rear leg metamorphic connecting rod mechanism (600) which are arranged on two sides of the rear end of the rack (900);
the cam driving mechanism (700) and the walking and steering metamorphic connecting rod mechanism (800) are arranged along the length direction of the center of the rack (900), and the cam driving mechanism (700) and the walking and steering metamorphic connecting rod mechanism (800) are respectively movably connected with the rack (900);
the left side and the right side of the front end of the rack (900) are respectively provided with a side plate (214) to form a rectangular hollow frame structure, and the left front leg connecting rod mechanism (100) and the right front leg connecting rod mechanism (200) are movably connected with the rack (900) through the side plates (214);
the left middle leg metamorphic connecting rod mechanism (300), the right middle leg metamorphic connecting rod mechanism (400), the left rear leg metamorphic connecting rod mechanism (500) and the right rear leg metamorphic connecting rod mechanism (600) are respectively in rotating connection with the rack (900) through the rotary frames.
2. The multifunctional hexapod bionic robot based on the metamorphic mechanism as claimed in claim 1, wherein the cam driving mechanism (700) comprises a left front leg driving cam (701), a right front leg driving cam (702), a left middle leg driving cam (703), a right middle leg driving cam (704), a left rear leg driving cam (705), a right rear leg driving cam (706), a first swing link (711), a second swing link (712), a third swing link (713), a fourth swing link (714), a fifth swing link (715), a sixth swing link (716), a first rope (721), a second rope (722), a third rope (723), a fourth rope (724), a fifth rope (725), a sixth rope (731), a first motor (731), a camshaft (732), a first fixed pulley (733) and a second fixed pulley (734);
the walking and steering metamorphic connecting rod mechanism (800) comprises a crawling crank (801), a left metamorphic connecting rod (802), a right metamorphic connecting rod (803), a left rear leg driving connecting rod (804), a right rear leg driving connecting rod (805), a left rear leg rotating frame (509), a right rear leg rotating frame (609), a left middle leg driving connecting rod (806), a right middle leg driving connecting rod (807), a left middle leg rotating frame (309), a right middle leg rotating frame (409), a left front leg driving connecting rod (808), a right front leg driving connecting rod (809), a left front leg driving connecting rod tension spring (810), a right front leg driving connecting rod tension spring (811), a left middle leg rotating frame tension spring (812), a right middle leg rotating frame tension spring (813), a left rear leg driving connecting rod limiting blocking pin (814), a right rear leg driving connecting rod limiting blocking pin (815), a left middle leg rotating frame limiting blocking pin (816), a right middle leg rotating frame limiting blocking pin (817) and a second motor (820).
3. The multifunctional hexapod bionic robot based on the metamorphic mechanism as claimed in claim 2, wherein the motor I (731) is transversely arranged at the front end of the frame (900), a coupling is arranged between the motor I (731) and one end of the cam shaft (732) for transmission, and the other end of the cam shaft (732) is rotatably connected to the frame (900) through a bearing;
the right front leg driving cam (702), the left front leg driving cam (701), the left middle leg driving cam (703), the right middle leg driving cam (704), the left rear leg driving cam (705) and the right rear leg driving cam (706) are sequentially arranged on the cam shaft (732) and are respectively in corresponding contact with the swing rod two (712), the swing rod one (711), the swing rod three (713), the swing rod four (714), the swing rod five (715) and the swing rod six (716).
4. The multifunctional hexapod bionic robot based on the metamorphic mechanism according to claim 3, wherein one end of the second swing rod (712), the first swing rod (711), the third swing rod (713), the fourth swing rod (714), the fifth swing rod (715) and the sixth swing rod (716) are hinged to the frame (900), and the other end of the six swing rod (716) is correspondingly connected with the right front leg linkage mechanism (200), the left front leg linkage mechanism (100), the left middle leg metamorphic linkage mechanism (300), the right middle leg metamorphic linkage mechanism (400), the left rear leg metamorphic linkage mechanism (500) and the right rear leg metamorphic linkage mechanism (600) through the second rope (722), the first rope (721), the third rope (723), the fourth rope (724), the fifth rope (725) and the sixth rope (726) respectively so as to transmit power;
the fixed pulley I (733) and the fixed pulley II (734) are arranged on the left side and the right side of the rack (900) to change the moving directions of the rope I (721) and the rope II (722).
5. The multifunctional hexapod bionic robot based on metamorphic mechanism as claimed in claim 2 is characterized in that the second motor (820) is vertically arranged at the rear end of the frame (900), the crawling crank (801) is arranged on the rotating shaft of the second motor (820), one end of the crawling crank (801) is hinged with a left metamorphic connecting rod (802) and a right metamorphic connecting rod (803), and the left metamorphic connecting rod (802) and the right metamorphic connecting rod (803) respectively extend towards the left side and the right side of the frame (900).
6. The multifunctional hexapod bionic robot based on metamorphic mechanism according to claim 5, characterized in that the left side of the back end of the frame (900) is connected with the left back leg revolving frame (509), the left back leg revolving frame (509) is hinged with the left back leg driving connecting rod (804) between the left back leg revolving frame (509) and the left metamorphic connecting rod (802) for transmission, and the left side of the back end of the frame (900) is provided with the left back leg driving connecting rod limit stop pin (814) for limiting the swing angle of the left back leg driving connecting rod (804);
the left front leg driving connecting rod (808) is hinged between the left rear leg rotating frame (509) and the left front leg connecting rod mechanism (100), and the left front leg driving connecting rod tension spring (810) is arranged between the left front leg driving connecting rod (808) and the rack (900);
the right middle leg rotary frame (409) is connected to the right side of the middle of the rack (900) in a switching mode, the right middle leg rotary frame (409) and the left rear leg rotary frame (509) are hinged to the right middle leg driving connecting rod (807) for transmission, a right middle leg rotary frame driving pin (819) is arranged on the right middle leg rotary frame (409), and the right middle leg rotary frame driving pin (819) is connected into a sliding groove formed in one end part of the right middle leg driving connecting rod (807) in a sliding mode; a right middle leg revolving frame tension spring (813) is arranged between the rack (900) and the right middle leg revolving frame (409), and the rack (900) is also provided with a right middle leg revolving frame limiting stop pin (817) to limit the revolving angle of the right middle leg revolving frame (409);
the right rear leg rotating frame (609) is connected to the right side of the rear end of the rack (900) in a switching mode, the right rear leg driving connecting rod (805) is hinged between the right rear leg rotating frame (609) and the right metamorphic connecting rod (803) for transmission, and the right side of the rear end of the rack (900) is provided with the right rear leg driving connecting rod limiting stop pin (815) for limiting the swing angle of the right rear leg driving connecting rod (805);
the right front leg driving connecting rod (809) is hinged between the right rear leg revolving frame (609) and the right front leg connecting rod mechanism (200), and the right front leg driving connecting rod tension spring (811) is distributed between the right front leg driving connecting rod (809) and the rack (900);
the left middle leg rotary frame (309) is connected to the left side of the middle of the rack (900) in a switching mode, the left middle leg rotary frame (309) and the right rear leg rotary frame (609) are hinged to the left middle leg driving connecting rod (806) for transmission, a left middle leg rotary frame driving pin (818) is arranged on the left middle leg rotary frame (309), and the left middle leg rotary frame driving pin (818) is connected in a sliding groove formed in one end portion of the left middle leg driving connecting rod (806) in a sliding mode; and a tension spring (812) of the left middle leg rotary frame is arranged between the rack (900) and the left middle leg rotary frame (309), and a limit stop pin (816) of the left middle leg rotary frame is also arranged on the rack (900) to limit the rotary angle of the left middle leg rotary frame (309).
7. The multifunctional hexapod bionic robot based on the metamorphic mechanism according to claim 2, wherein the left front leg linkage (100) and the right front leg linkage (200) are identical in structure, and the right front leg linkage (200) comprises a front leg turning swing rod (212) arranged on the inner side of the rack (900), a front leg turning swing rod tension spring (213) arranged above the rack (900), and a front leg thigh (201), a front leg calf (202), a front leg linkage I (203), a front leg linkage II (204), a front leg small swing rod (205), a front leg linkage III (206), a front leg linkage IV (207), a front leg large swing rod (208), a front leg large swing rod pin (209), a front leg driving slider (210) and a front leg swing linkage (211) arranged on the outer side of the rack (900);
a W-shaped upper chute (10) is formed above the side plate (214), the bent part of the upper chute (10) is in arc smooth transition, one end of the upper chute (10) extends vertically upwards, a straight lower chute (20) is formed below the side plate (214), and the lower chutes (20) are transversely arranged;
the inner side of the side plate (214) is connected with the front leg overturning swing rod (212) in a transferring mode, the front leg overturning swing rod (212) is composed of a wheel body and a swing rod with a sliding groove, the wheel body is connected in the side plate (214) in a rotating mode, a front leg overturning swing rod tension spring (213) is connected with the wheel body to enable the wheel body to rotate, and one end of the wheel body is fixedly connected with the swing rod;
one end of the rope II (722) is connected with the swing rod II (712), the other end of the rope II (722) rounds the fixed pulley II (734) and is connected with the front leg overturning swing rod (212) of the right front leg link mechanism (200) to rotate, one end of the rope I (721) is connected with the swing rod I (711), and the other end of the rope I (721) rounds the fixed pulley I (733) and is connected with the front leg overturning swing rod (212) of the left front leg link mechanism (100) to rotate;
the outer side of the side plate (214) is hinged with the front leg large swing rod (208), the upper end of the front leg large swing rod (208) is provided with a swing rod sliding groove (30), and the lower end of the front leg large swing rod (208) is hinged on the side plate (214) after being bent;
the upper end of the front leg small swing rod (205) is hinged at the bending part of the front leg large swing rod (208), the lower end of the front leg small swing rod (205) is respectively hinged with a front leg connecting rod three (206) and a front leg connecting rod four (207), and the front leg connecting rod three (206) and the front leg connecting rod four (207) respectively extend towards the front side and the rear side of the rack (900);
the front leg thigh (201), the front leg connecting rod II (204), the front leg calf (202) and the front leg connecting rod I (203) are sequentially hinged end to form a quadrilateral mechanism, the hinged part of the front leg thigh (201) and the front leg connecting rod I (203) is hinged with the front leg large swing rod pin (209), and the front leg large swing rod pin (209) penetrates through the positions among the swing rod sliding groove (30), the upper sliding groove (10) and the sliding groove of the front leg overturning swing rod (212);
the hinged part of the first front leg connecting rod (203) and the lower front leg (202) is further hinged with a third front leg connecting rod (206), and the hinged part of the upper front leg (201) and the second front leg connecting rod (204) is further hinged with a fourth front leg connecting rod (207);
the front leg driving sliding block (210) is connected in the lower sliding chute (20) in a sliding mode, the left front leg driving connecting rod (808) is hinged to the front leg driving sliding block (210) of the left front leg connecting rod mechanism (100) for transmission, and the right front leg driving connecting rod (809) is hinged to the front leg driving sliding block (210) of the right front leg connecting rod mechanism (200) for transmission; the front leg driving sliding block (210) is hinged with one end of the front leg swinging connecting rod (211), and the hinged position of the front leg small swinging rod (205), the front leg connecting rod three (206) and the front leg connecting rod four (207) is further hinged with the other end of the front leg swinging connecting rod (211).
8. The multifunctional hexapod bionic robot based on metamorphic mechanism as claimed in claim 7, wherein the right front leg link mechanism (200) comprises a big front leg (1), a small front leg (2), a big front leg link (3), a small front leg link (4), a guide pulley (5), a pull rope (6) and a diagonal pull spring (7);
the large front leg (1), the small front leg (2), the large front leg connecting rod (3) and the small front leg connecting rod (4) are hinged to form a parallelogram mechanism, the large front leg (1) and the small front leg (2) are vertically arranged outside the side plate (214) from left to right, the large front leg connecting rod (3) and the small front leg connecting rod (4) are transversely arranged outside the side plate (214) from top to bottom, the upper end of the large front leg (1) is hinged to the side plate (214), the middle of the large front leg (1) is hinged to the front leg swinging connecting rod (211), the lower end of the large front leg (1) extends out of the bottom of the rack (900) and is hinged to one end of the small front leg connecting rod (4), the other end of the small front leg connecting rod (4) is hinged to the middle of the small front leg (2), and the large front leg connecting rod (3) is hinged between the upper end of the small front leg (2) and the middle of the large front leg (1);
big foreleg connecting rod (3) one end is outwards extended in order to constitute extension section (8), be provided with on curb plate (214) leading pulley (5), leading pulley (5) intercommunication curb plate (214) inside and outside both sides, pendulum rod two (712) are connected to stay cord (6) one end, and stay cord (6) other end is walked around leading pulley (5) and is connected extension section (8) top sets up between extension section (8) below and curb plate (214) below oblique extension spring (7).
9. The multifunctional hexapod bionic robot based on metamorphic mechanism as claimed in claim 2, characterized in that the left middle leg metamorphic connecting rod mechanism (300) is arranged on the left middle leg revolving frame (309), the right middle leg metamorphic connecting rod mechanism (400) is arranged on the right middle leg revolving frame (409), the left rear leg metamorphic connecting rod mechanism (500) is arranged on the left rear leg revolving frame (509), and the right rear leg metamorphic connecting rod mechanism (600) is arranged on the right rear leg revolving frame (609);
the left middle leg metamorphic connecting rod mechanism (300), the right middle leg metamorphic connecting rod mechanism (400), the left rear leg metamorphic connecting rod mechanism (500) and the right rear leg metamorphic connecting rod mechanism (600) are identical in structure.
10. The multifunctional hexapod bionic robot based on metamorphic mechanism as claimed in claim 9, wherein the right middle leg metamorphic linkage mechanism (400) comprises a middle leg thigh (401), a middle leg calf (402), a middle leg swing rod (403), a middle leg linkage I (404), a middle leg linkage II (405), a middle leg linkage III (406), a middle leg thigh tension spring (407) and a middle leg calf tension spring (408);
the right middle leg rotary frame (409) is connected to the right side of the middle part of the frame (900) in a transferring mode to swing back and forth, the upper end of the middle leg thigh (401) is hinged to the right middle leg rotary frame (409), a middle leg thigh tension spring (407) is arranged between the middle leg thigh (401) and the right middle leg rotary frame (409), and a large limiting stop pin (40) is arranged on the middle leg thigh (401) to limit the swing angle;
the middle lower end of the middle leg thigh (401) is hinged with the middle leg calf (402) through a middle leg connecting rod II (405) and a middle leg connecting rod III (406) to form a parallelogram mechanism, a middle leg calf tension spring (408) is arranged between the middle leg connecting rod II (405) and the middle leg connecting rod III (406), and a small limiting stop pin (50) is arranged on the middle leg connecting rod III (406) to limit the extension amplitude of the middle leg calf (402);
the hinged part of the middle leg thigh (401) and the right middle leg rotary frame (409) is also hinged with the middle leg swing rod (403), one end of the rope four (724) is connected with the swing rod four (714), the other end of the rope four (724) is connected with the middle leg swing rod (403) of the right middle leg metamorphic connecting rod mechanism (400), one end of the rope three (723) is connected with the swing rod three (713), and the other end of the rope three (723) is connected with the middle leg swing rod (403) of the left middle leg metamorphic connecting rod mechanism (300);
the lower end of the middle leg swing rod (403) is hinged with the upper end of a middle leg connecting rod II (405) through a middle leg connecting rod I (404), and the middle part of the middle leg connecting rod II (405) is hinged with the middle part of a middle leg thigh (401) to form a four-bar linkage;
the lower end of the middle leg connecting rod II (405) is hinged with the upper end of the middle leg lower leg (402), and the middle leg connecting rod III (406) is hinged between the lower end of the middle leg upper leg (401) and the middle part of the middle leg lower leg (402).
CN202210915347.3A 2022-05-27 2022-07-30 Multifunctional hexapod bionic robot based on metamorphic mechanism Active CN115352549B (en)

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JP2000157751A (en) * 1998-11-30 2000-06-13 Bandai Co Ltd Walking device
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