CN115352549B - Multifunctional hexapod bionic robot based on metamorphic mechanism - Google Patents

Multifunctional hexapod bionic robot based on metamorphic mechanism Download PDF

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CN115352549B
CN115352549B CN202210915347.3A CN202210915347A CN115352549B CN 115352549 B CN115352549 B CN 115352549B CN 202210915347 A CN202210915347 A CN 202210915347A CN 115352549 B CN115352549 B CN 115352549B
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leg
connecting rod
metamorphic
frame
front leg
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CN115352549A (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

Abstract

The invention discloses a multifunctional hexapod bionic robot based on a metamorphic mechanism, which comprises a frame, a cam driving mechanism, a walking and steering metamorphic link mechanism, a front leg link mechanism, a middle leg metamorphic link mechanism and a rear leg metamorphic link mechanism, wherein the frame is provided with a cam driving mechanism; the cam driving mechanism and the walking and steering metamorphic connecting rod mechanism are distributed 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 link mechanism and the rear leg metamorphic link mechanism are respectively and rotatably connected with the revolving racks at the middle part and the two sides of the rear end of the 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 mutually matched mode through a sliding groove, a tension spring and a limiting stop pin, and the two driving parts realize 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, rescue, industry, agriculture, development of intelligent 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 robot technology, the demands of robots in military, rescue, industrial, agricultural and other occasions are increasing, wherein a bionic robot is a system simulating the external shape, movement principle and behavior of living things in nature, and can work with biological characteristics. The types of bionic robots are many, and are mainly three types of humanoid robots, bionic robots and biological robots.
In recent years, along with the development of science and technology, bionic machinery has also been rapidly developed, such as bionic dogs, bionic birds, bionic spiders, bionic fish, bionic frogs and the like. The bionic robot has exquisite action, can realize multiple degrees of freedom and exquisite and fine action, and in some occasions, the action required by the robot is more, the degree of freedom required by the robot is more, and most of the existing bionic robots are controlled by one motor to realize different actions. The six motors of six bionic C-shaped legs of the six bionic crawling robots are correspondingly configured, each degree of freedom is controlled by one motor, each leg can be controlled independently, the number of control structures is increased undoubtedly, and energy consumption is high.
Very few researches on the bionic cicada exist in the bionic machinery, the cicada has very high nutritive value, and the cicada slough has very high medicinal value, but along with ecological damage and capture of people, the number of the cicada slough is reduced year by year, the ecological balance is influenced, and the significance of researching the bionic cicada is that people are called for to protect the cicada and other reduced organisms.
To the design of bionical cicada, it needs to climb the action of different modes such as hole, go out the hole, climb ground, go up the tree and climb the tree, face different mode of operation, need design the mechanism of crawling that satisfies these modes simultaneously, if every joint department all designs the motor and drives, will lead to the whole volume grow of cicada, weight becomes heavy, the cost increases, has increased the control degree of difficulty moreover.
Disclosure of Invention
The invention aims to solve the problems of large number and large volume of the control structures of the degree of freedom of the traditional crawling robot, and provides a multifunctional hexapod bionic robot based on a metamorphic mechanism, wherein the hexapod of the bionic robot can move in a mutually matched mode under different working modes through two driving parts.
In order to achieve the above 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 walking and steering metamorphic link mechanism which are arranged in the center of the frame, a left front leg link mechanism and a right front leg link mechanism which are arranged at two sides of the front end of the frame, a left middle leg metamorphic link mechanism and a right middle leg metamorphic link mechanism which are arranged at two sides of the middle of the frame, and a left rear leg metamorphic link mechanism and a right rear leg metamorphic link mechanism which are arranged at 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 central length direction of the frame, the cam driving mechanism controls the leg lifting and falling of the six feet of the bionic robot and the switching actions of different movement modes, the walking and steering metamorphic connecting rod mechanism associates the six feet of the bionic robot, so that the walking and steering actions are realized, and the cam driving mechanism and the walking and steering metamorphic connecting rod mechanism are respectively and movably connected with the frame;
the left side and the right side of the front end of the frame are respectively provided with a side plate so as to form a rectangular hollow frame body structure, and the left front leg connecting rod mechanism and the right front leg connecting rod mechanism are respectively and movably connected with the frame through the side plates;
the middle part of the frame and the left and right sides of the rear end are respectively provided with a revolving frame, and 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 frame in a revolving way 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 first swing rod, a second swing rod, a third swing rod, a fourth swing rod, a fifth swing rod, a sixth swing rod, a first rope, a second rope, a third rope, a fourth rope, a fifth rope, a sixth rope, a first motor, a cam shaft, a first fixed pulley and a second fixed pulley;
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 rotary frame, a right rear leg rotary frame, a left middle leg driving connecting rod, a right middle leg driving connecting rod, a left middle leg rotary frame, a right middle leg rotary frame, a left front leg driving connecting rod, a right front leg driving connecting rod tension spring, a left middle leg rotary frame tension spring, a right middle leg rotary frame tension spring, a left rear leg driving connecting rod limiting stop pin, a right rear leg driving connecting rod limiting stop pin, a left middle leg rotary frame limiting stop pin, a right middle leg rotary frame limiting stop pin and a motor II.
Further, the first motor is transversely arranged at the front end of the frame, a coupler 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 frame 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 respectively correspondingly 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 to provide power for swing of the six swing rods.
Further, one end of 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 is hinged on the frame, and the other end of 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 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 fixed pulleys I and II are arranged on the left side and the right side of the frame to change the movement direction of the rope I and the rope II.
Further, the second motor is vertically arranged at the rear end of the frame, the crawling crank is arranged on the second motor rotating shaft, a left metamorphic connecting rod and a right metamorphic connecting rod are hinged at one end of the crawling crank at the same time, and the left metamorphic connecting rod and the right metamorphic connecting rod extend towards the left side and the right side of the frame respectively.
Further, the left side of the rear end of the frame is connected with the left rear leg rotating frame in a switching mode, the left rear leg rotating frame is hinged with the left metamorphic connecting rod to drive the left rear leg driving connecting rod, and the left side of the rear end of the frame is provided with the left rear leg driving connecting rod limiting stop pin to limit the swing angle of the left rear leg driving connecting rod;
The left front leg driving connecting rod is hinged between the left rear leg revolving 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 frame, and meanwhile, the left front leg driving connecting rod is acted by the left front leg driving connecting rod tension spring and always has a forward movement trend, so that the left rear leg revolving frame always has a forward swinging trend, and the front leg driving sliding block of the left front leg connecting rod mechanism always has a forward sliding trend, so that the left metamorphic connecting rod and the left rear leg driving connecting rod are always in a straightened state;
the right side of the middle part of the frame is connected with the right middle leg revolving frame in a switching way, the right middle leg revolving frame and the left rear leg revolving frame are hinged with the right middle leg driving connecting rod for transmission, the right middle leg revolving frame is provided with a right middle leg revolving frame driving pin, the right middle leg revolving frame driving pin is slidingly connected in a chute formed in one end part of the right middle leg driving connecting rod, namely, the position of a hinging point between one end of the right middle leg driving connecting rod and the left rear leg revolving frame is fixed, and the position of a hinging point between the other end of the right middle leg driving connecting rod and the right middle leg revolving frame is not fixed;
the right middle leg revolving frame is arranged between the frame and the right middle leg revolving frame, the right middle leg revolving frame always has a forward swinging trend under the tension action of the right middle leg revolving frame tension spring, and the right middle leg revolving frame limiting stop pin is also arranged on the frame so as to limit the revolving angle of the right middle leg revolving frame;
The right side of the rear end of the frame is connected with the right rear leg rotating frame in a switching way, 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 frame is provided with the limit stop pin of the right rear leg driving connecting rod 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 revolving frame and the right front leg connecting rod mechanism, a right front leg driving connecting rod tension spring is arranged between the right front leg driving connecting rod and the frame, and meanwhile, the right front leg driving connecting rod is acted by the right front leg driving connecting rod tension spring and always has a forward movement trend, so that the right rear leg revolving frame always has a forward swinging trend, and the front leg driving sliding block of the right front leg connecting rod mechanism always has a forward sliding trend, so that the right metamorphic connecting rod and the right rear leg driving connecting rod are always in a straightened state;
the left middle leg rotary frame is connected to the left side of the middle part of the frame in a switching way, the left middle leg rotary frame and the right rear leg rotary frame are hinged with the left middle leg driving connecting rod for transmission, a left middle leg rotary frame driving pin is arranged on the left middle leg rotary frame and is slidingly connected in a sliding groove formed in one end part of the left middle leg driving connecting rod, namely, the position of a hinge point of one end of the left middle leg driving connecting rod and the position of a hinge point of the right rear leg rotary frame are fixed, and the position of a hinge point of the other end of the left middle leg driving connecting rod and the left middle leg rotary frame is not fixed;
The left middle leg revolving frame is provided with a left middle leg revolving frame tension spring, the left middle leg revolving frame always has a forward swinging trend under the tension action of the left middle leg revolving frame tension spring, and the left middle leg revolving frame limiting stop pin is also arranged on the frame so as to limit the revolving angle of the left middle leg revolving frame.
Further, the left front leg connecting rod mechanism and the right front leg connecting rod mechanism have the same structure, and the right front leg connecting rod mechanism comprises a front leg overturning oscillating bar arranged on the inner side of the frame, a front leg overturning oscillating bar tension spring arranged above the frame, a front leg thigh, a front leg shank, a front leg connecting rod I, a front leg connecting rod II, a front leg shank oscillating bar, a front leg connecting rod III, a front leg connecting rod IV, a front leg big oscillating bar pin, a front leg driving sliding block and a front leg oscillating connecting rod which are arranged on the outer side of the frame;
the upper sliding groove is arranged above the side plate, the bending part of the upper sliding groove is in arc smooth transition, one end of the upper sliding groove extends vertically upwards, the lower sliding groove is arranged below the side plate in a straight shape, and the lower sliding grooves are transversely distributed.
The front leg overturning oscillating bar is connected to the inner side of the side plate in an adapting way, the front leg overturning oscillating bar consists of a wheel body and an oscillating bar with a sliding groove, the wheel body is rotationally connected in the side plate, the wheel body is rotationally driven by a rope on one side to provide tension, a front leg overturning oscillating bar tension spring provides rotary force, a front leg overturning oscillating bar tension spring 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 oscillating bar;
One end of the second rope is connected with the swing rod II, the other end of the second rope bypasses the fixed pulley II and is connected with the front leg overturning swing rod of the right front leg connecting rod mechanism to rotate, one end of the first rope is connected with the swing rod I, and the other end of the first rope bypasses the fixed pulley I and is connected with the front leg overturning swing rod of the left front leg connecting rod mechanism to rotate;
the outer side of the side plate is hinged with the front leg big swing rod, the upper end of the front leg big swing rod is provided with a swing rod chute, and the lower end of the front leg big swing rod is hinged on the side plate after being bent;
the upper end of the front leg small swing rod is hinged to 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 frame;
the front leg thigh, the front leg connecting rod II, the front leg shank and the front leg connecting rod I are sequentially hinged end to form a quadrilateral mechanism, the hinge joint of the front leg thigh and the front leg connecting rod I is hinged with the front leg big swinging rod pin, the front leg big swinging rod pin is arranged between the swinging rod sliding groove, the upper sliding groove and the sliding groove of the front leg overturning swinging rod in a penetrating manner, and then the front leg big swinging rod pin can slide in the swinging rod sliding groove, the upper sliding groove and the sliding groove of the front leg overturning swinging rod at the same time;
The hinge joint of the front leg connecting rod I and the front leg lower leg is also hinged with the front leg connecting rod III, and the hinge joint of the front leg thigh and the front leg connecting rod II is also hinged with the front leg connecting rod IV;
the front leg driving slide block is slidingly connected in the lower chute, the left front leg driving connecting rod is hinged on the front leg driving slide block of the left front leg connecting rod mechanism for transmission, and the right front leg driving connecting rod is hinged on the front leg driving slide block of the right front leg connecting rod mechanism for transmission; the front leg driving sliding block is hinged with one end of the front leg swinging connecting rod, and the hinged position of the front leg small swing rod, the front leg connecting rod III and the front leg connecting rod IV is also hinged with the other end of the front leg swinging connecting rod.
Further, the right front leg connecting rod mechanism comprises a big front leg, a small front leg, a big front leg connecting rod, a small front leg connecting rod, a guide pulley, a pull rope and a diagonal spring;
the front thigh, the shank, the front thigh connecting rod and the shank connecting rod are hinged to form a parallelogram mechanism, the front thigh and the shank are vertically arranged outside the side plates left and right, the front thigh connecting rod and the shank connecting rod are vertically and transversely arranged outside the side plates, the upper end of the front thigh is hinged to the side plates, the middle part of the front thigh is hinged to the front leg swinging connecting rod, the lower end of the front thigh extends out of the bottom of the frame and is hinged to one end of the shank connecting rod, the other end of the shank connecting rod is hinged to the middle part of the shank, and the front thigh connecting rod is hinged between the upper end of the shank and the middle part of the front thigh;
The thigh connecting rod one end outwards extends in order to constitute the extension section, be provided with on the curb plate the guide pulley, guide pulley intercommunication curb plate inside and outside both sides, pendulum rod two is connected to stay cord one end, and the stay cord other end walks around guide pulley and connects the extension section top, set up between extension section below and the curb plate below oblique extension spring.
Further, the left middle leg metamorphic link mechanism is arranged on the left middle leg revolving frame, the right middle leg metamorphic link mechanism is arranged on the right middle leg revolving frame, the left rear leg metamorphic link mechanism is arranged on the left rear leg revolving frame, and the right rear leg metamorphic link 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.
Further, the right middle leg metamorphic link mechanism comprises a middle leg thigh, a middle leg shank, a middle leg swing rod, a middle leg link I, a middle leg link II, a middle leg link III, a middle leg thigh tension spring and a middle leg shank tension spring;
the middle leg rotating frame is connected to the right side of the middle part of the frame and can swing back and forth relative to the frame, the upper end of the middle leg thigh is hinged to the middle leg rotating frame, the middle leg thigh tension springs are arranged between the middle leg thigh and the middle leg rotating frame, and the middle leg thigh tension springs are pulled by the middle leg thigh tension springs, so that the middle leg thigh always has a tendency of swinging upwards, and a large limit stop pin is arranged on the middle leg thigh to limit the swinging angle;
The middle lower end of the middle thigh is hinged with the middle thigh shank through a middle leg connecting rod II and a middle leg connecting rod III respectively to form a parallelogram mechanism, so that the middle thigh shank can stretch and retract relative to the middle thigh, and a middle thigh shank tension spring is arranged between the middle leg connecting rod II and the middle leg connecting rod III, so that the middle thigh shank always has a shrinkage trend, and a small limiting stop pin is arranged on the middle leg connecting rod III to limit the stretching range of the middle thigh shank;
the middle leg swing rod is hinged to the hinged position of the thigh of the middle leg and the revolving frame of the right middle leg, one end of the rope four is connected with the swing rod four, the other end of the rope four is connected with the middle leg swing rod of the metamorphic link mechanism of the right middle leg, one end of the rope three is connected with the swing rod three, and the other end of the rope three is connected with the middle leg swing rod of the metamorphic link mechanism of the left middle leg;
the lower end of the middle leg swing rod 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 mechanism, and the middle leg connecting rod II can perform 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 leg lifting and leg falling actions under different modes of climbing a plane and climbing a hole by a driving part, namely a 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 the six driving cams are uniformly driven by one motor, so that the structure of the six feet bionic robot is more compact, the volume of the six feet bionic robot is greatly reduced, the weight of the six feet bionic robot is lightened, and the cost of the six feet bionic robot is reduced.
2. The rope is used for realizing traction between each swing rod of the cam driving mechanism and the hexapod of the bionic robot, the rope is of a flexible structure, the interference between the hexapod and parts in the rotation process is avoided, the rope is equivalent to a spherical hinge, the hexapod of the bionic robot swings more conveniently, and meanwhile, the adjustment is convenient, and the cost is reduced.
3. The six feet of the bionic robot are mutually related through the walking and steering metamorphic connecting rod mechanisms, the crawling action of the six feet can be realized only by controlling the rotation angle of the motor II, namely, the rotation angle of the crawling crank, namely, the staggered swing of the six feet can be realized by the motor II, and the leg-taking and walking actions are realized. Meanwhile, under the cooperation of the left metamorphic connecting rod, the right metamorphic connecting rod, the left rear leg driving connecting rod limit stop pin, the right chute formed at one end of the left middle leg driving connecting rod, the right middle leg rotating frame limit stop pin and the left middle leg rotating frame tension spring, the left rotating and right rotating actions of the bionic robot can be realized through the second motor, so that the structure of the bionic robot is more compact, the volume 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 the principle of a multi-link mechanism, and the floating amplitude of the tail end of the front leg is very small in the swing process of the front leg, and the tail end of the front leg is close to a straight line, so that the six-foot bionic robot walks more stably. The designed upper sliding groove structure of the front leg overturning swinging rod component and the side plate enables the front leg overturning swinging rod component and the side plate to move in a matched mode with the front leg big swinging rod and the front leg big swinging rod pin, so that the front leg can realize leg lifting and leg falling actions of the front leg under different modes of climbing a plane and climbing a tree and switching actions between the climbing plane and the climbing tree modes by one driving piece, the structure of the hexapod bionic robot is more compact, the volume of the hexapod bionic robot is greatly reduced, and the weight of the hexapod bionic robot is reduced.
5. The designed front leg big swing rod component enables the front leg big leg to swing backwards, and simultaneously enables the front leg small swing rod rotation center to swing backwards, so that the front leg driving sliding block can drive the swing motion of the front leg connecting rod mechanism under different modes in the same stroke, the front leg connecting rod mechanism and other feet can realize leg-taking and walking motions together under different modes, so that the motion driving of the bionic robot is conveniently integrated into two motors, 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 lightened.
6. The designed middle and rear leg metamorphic connecting rod mechanisms can realize the leg lifting, leg falling and leg contraction and extension actions under different modes of climbing a plane and climbing a hole by a corresponding tension spring and a corresponding limit motor, so that the structure of the hexapod robot is more compact, the volume 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 isometric view of the overall structure of a multifunctional hexapod bionic robot based on a metamorphic mechanism of the present invention.
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 a metamorphic mechanism.
Fig. 4 is a schematic diagram of a camshaft of the multifunctional hexapod bionic robot based on a metamorphic mechanism.
Fig. 5 is a schematic diagram of connection between a cam driving mechanism and a right front leg link mechanism of the multifunctional hexapod bionic robot based on a metamorphic mechanism.
Fig. 6 is a schematic diagram of the connection between the cam driving mechanism and the left front leg link mechanism of the multifunctional hexapod bionic robot based on the metamorphic mechanism.
Fig. 7 is a schematic diagram showing connection between a cam driving mechanism and a left middle leg metamorphic link mechanism of the multifunctional hexapod biomimetic robot based on metamorphic mechanism.
Fig. 8 is a schematic diagram showing connection between a cam driving mechanism and a right middle leg metamorphic link mechanism of the multifunctional hexapod biomimetic robot based on metamorphic mechanism.
Fig. 9 is a schematic diagram showing connection between a cam driving mechanism and a left rear leg metamorphic link mechanism of the multifunctional hexapod biomimetic robot based on metamorphic mechanism.
Fig. 10 is a schematic diagram showing connection between a cam driving mechanism and a right rear leg metamorphic link mechanism of the multifunctional hexapod biomimetic robot based on metamorphic mechanism.
FIG. 11 is a schematic diagram of a walking and steering metamorphic link mechanism of the multifunctional hexapod biomimetic robot based on metamorphic mechanism of the present invention.
FIG. 12 is a second schematic view of a walking and steering metamorphic link mechanism of the multifunctional hexapod biomimetic robot based on metamorphic mechanism of the present invention.
Fig. 13 is a schematic view of a route in an embodiment of the multifunctional hexapod bionic robot based on a metamorphic mechanism according to the present invention.
Fig. 14 is a schematic diagram of a second route in an embodiment of the multifunctional hexapod bionic robot based on a metamorphic mechanism of the present invention.
Fig. 15 is one of schematic diagrams of a right front leg link mechanism of the multifunctional hexapod bionic robot based on the metamorphic mechanism of the present invention.
Fig. 16 is a second schematic view of a right front leg link mechanism of the multifunctional hexapod bionic robot based on a metamorphic mechanism of the present invention, and a side plate is not shown.
Fig. 17 is an exploded view of a right front leg link mechanism of the multifunctional hexapod bionic robot based on the metamorphic mechanism of the present invention.
Fig. 18 is a schematic diagram of a right middle leg metamorphic link mechanism of the multifunctional hexapod-based biomimetic robot of the present invention.
Fig. 19 is a second schematic view of a metamorphic link mechanism of the right middle leg of the multifunctional hexapod bionic robot based on metamorphic mechanism of the present invention.
FIG. 20 is a third schematic view of a right mid-leg metamorphic link mechanism of the multi-functional hexapod biomimetic robot based on metamorphic mechanism of the present invention.
Fig. 21 is a schematic diagram of step 1 in an embodiment of the multifunctional hexapod bionic robot based on a metamorphic mechanism of the present invention.
Fig. 22 is a schematic diagram of step 2 in an embodiment of the multifunctional hexapod bionic robot based on a metamorphic mechanism according to the invention.
Fig. 23 is a schematic diagram of step 3 in an embodiment of the multifunctional hexapod bionic robot based on a metamorphic mechanism of the present invention.
Fig. 24 is a schematic view of step 4 in an embodiment of the multifunctional hexapod bionic robot based on a metamorphic mechanism according to the invention.
Fig. 25 is a schematic diagram showing the limited thigh of the leg in step 11 in the embodiment of the multifunctional hexapod bionic robot based on the metamorphic mechanism of the present invention.
Fig. 26 is a schematic diagram showing leg calf contraction in step 12 in the embodiment of the multifunctional hexapod bionic robot based on metamorphic mechanism of the present invention.
Fig. 27 is a schematic diagram of step 21 in an embodiment of the multifunctional hexapod bionic robot based on a metamorphic mechanism according to the invention.
FIG. 28 is a second schematic diagram of step 21 in an embodiment of the metamorphic mechanism-based multifunctional hexapod bionic robot of the present invention.
Fig. 29 is a schematic view of step 22 in an embodiment of the multifunctional hexapod bionic robot based on a metamorphic mechanism according to the invention.
Fig. 30 is a schematic diagram of step 23 in an embodiment of the multifunctional hexapod bionic robot based on a metamorphic mechanism according to the invention.
Fig. 31 is a schematic diagram of step 24 in an embodiment of the multifunctional hexapod bionic robot based on a metamorphic mechanism according to the 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 of the present invention.
Fig. 33 is a second schematic view of a hexapod walking state in an embodiment of the multifunctional hexapod bionic robot based on a metamorphic mechanism of the present invention.
Fig. 34 is a schematic view showing the beginning of extension of the shank of the leg in step 31 in the embodiment of the multifunctional hexapod bionic robot based on the metamorphic mechanism according to the present invention.
Fig. 35 is a schematic view showing the extension of the lower leg in step 31 in the embodiment of the multifunctional hexapod bionic robot based on the metamorphic mechanism according to the present invention.
Fig. 36 is a schematic diagram showing the extreme position of the shank of the leg in step 32 in the embodiment of the multifunctional hexapod bionic robot based on the metamorphic mechanism according to the present invention.
Fig. 37 is a schematic view of leg switching climbing plane in step 32 in an embodiment of the multifunctional hexapod bionic robot based on metamorphic mechanism of the present invention.
Fig. 38 is a schematic diagram of step 41 in an embodiment of the multifunctional hexapod bionic robot based on a metamorphic mechanism according to the invention.
Fig. 39 is a schematic diagram of step 42 in an embodiment of the multifunctional hexapod bionic robot based on a metamorphic mechanism according to the invention.
Fig. 40 is a schematic diagram of step 43 in an embodiment of the multifunctional hexapod bionic robot based on a metamorphic mechanism according to the invention.
Fig. 41 is a schematic diagram of step 44 in an embodiment of the multifunctional hexapod bionic robot based on a metamorphic mechanism according to the invention.
Fig. 42 is a schematic diagram of step 51 in an embodiment of the multifunctional hexapod bionic robot based on a metamorphic mechanism according to the invention.
Fig. 43 is a schematic diagram of step 52 in an embodiment of the multifunctional hexapod bionic robot based on a metamorphic mechanism according to the invention.
Fig. 44 is a schematic diagram of step 53 in an embodiment of the multifunctional hexapod bionic robot based on a metamorphic mechanism according to the invention.
Fig. 45 is a schematic diagram of step 54 in an embodiment of the multifunctional hexapod bionic robot based on a metamorphic mechanism according to the invention.
Fig. 46 is a schematic diagram of step 61 in an embodiment of the multifunctional hexapod bionic robot based on a metamorphic mechanism according to the invention.
Fig. 47 is a schematic diagram of a left rear leg driving link swinging to a limit position in a straight-running mode in an embodiment of the multifunctional hexapod bionic robot based on a metamorphic mechanism of the present invention.
Fig. 48 is a schematic diagram showing the superposition of the left metamorphic link and the crawling crank in the straight-running mode in the embodiment of the multifunctional hexapod bionic robot based on the metamorphic mechanism.
Fig. 49 is a schematic diagram of the crawling crank continuing to rotate and the straight running mode switching to the micro steering mode in the embodiment of the multifunctional hexapod bionic robot based on the metamorphic mechanism.
Fig. 50 is a schematic sliding view of a left middle leg driving link along a middle leg turret driving pin in a micro steering mode in an embodiment of the multifunctional hexapod bionic robot based on a metamorphic mechanism of the present invention.
FIG. 51 is a schematic diagram of a crawling crank turning in micro-steering mode in an embodiment of a multifunctional hexapod bionic robot based on a metamorphic mechanism of the present invention.
Fig. 52 is a schematic diagram of the re-superposition of the left metamorphic link and the crawling crank in the micro steering mode in the embodiment of the multifunctional hexapod bionic robot based on metamorphic mechanism of the present invention.
Fig. 53 is a schematic diagram of switching a micro-steering mode to a straight-running mode in an embodiment of the multifunctional hexapod bionic robot based on a metamorphic mechanism according to the invention.
Fig. 54 is a schematic diagram of a right front leg link mechanism in a second embodiment of the multifunctional hexapod bionic robot based on a metamorphic mechanism of the present invention.
Fig. 55 is a schematic diagram of a second right front leg link mechanism in a second embodiment of the multifunctional hexapod bionic robot based on a metamorphic mechanism of the present invention.
The reference numerals in the drawings are: a left front leg link mechanism 100, a right front leg link mechanism 200, a front leg flip lever 212, a front leg flip lever tension spring 213, 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 knee lever 205, a front leg link three 206, a front leg link four 207, a front leg thigh lever 208, a front leg thigh lever pin 209, a front leg drive 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 thigh 401, a middle leg calf 402, a middle leg swing lever 403, a middle leg link one 404, a middle leg link two 405, a middle leg link three 406, a middle leg thigh tension spring 407, a middle leg tension spring 408, a left rear leg metamorphic link mechanism 500, a right rear leg metamorphic link mechanism 600, a cam drive mechanism 700, a left front leg drive cam 701, a right front leg drive cam 702, a left middle leg drive cam 703, a right middle leg drive cam 704, left rear leg drive cam 705, right rear leg drive cam 706, swing link one 711, swing link two 712, swing link three 713, swing link four 714, swing link five 715, swing link six 716, rope one 721, rope two 722, rope three 723, rope four 724, rope five 725, rope six 726, motor one 731, cam shaft 732, fixed pulley one 733, fixed pulley two 734, walk and steer metamorphic link mechanism 800, crawling crank 801, left metamorphic link 802, right metamorphic link 803, left rear leg drive link 804, right rear leg drive link 805, left rear leg swing frame 509, right rear leg swing frame 609, left middle leg drive link 806, right middle leg drive link 807, left middle leg swing frame 309, right middle leg swing frame 409, left front leg drive link 808, right front leg drive link 809, left front leg drive link tension spring 810, right front leg drive link tension spring 811, left middle leg swing frame 812, right middle leg tension spring 813, left rear leg drive link limit stop pin 814, right rear leg drive link limit stop pin 815, left middle leg swing frame limit stop pin 816, right middle leg swing frame limit stop pin 817, left middle leg swing frame drive pin 818, right middle leg swing frame drive pin 819, motor two 820, frame 900, upper chute 10, lower chute 20, swing link chute 30, large limit stop pin 40, small limit stop pin 50, large front leg 1, small front leg 2, large front leg link 3, small front leg link 4, guide pulley 5, pull rope 6, cable-stayed spring 7, extension 8.
Detailed Description
The following detailed description of specific embodiments of the invention refers to the accompanying drawings:
as shown in fig. 1 to 53, the multifunctional hexapod bionic robot based on the metamorphic mechanism includes a frame 900, a cam driving mechanism 700 and a walking and steering metamorphic link mechanism 800 arranged at the center of the frame 900, a left front leg link mechanism 100 and a right front leg link mechanism 200 arranged at 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 arranged at 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 arranged at both sides of the rear end of the frame 900.
Overall, the frame 900 is a bearing main body of the bionic robot; the left front leg link mechanism 100, the right front leg link mechanism 200, 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 are six feet of the bionic robot; the cam driving mechanism 700 provides power for leg lifting and leg falling of the six feet of the bionic robot; the walking and steering metamorphic link mechanism 800 provides power for walking of the hexapod of the present biomimetic robot, as shown in fig. 1-2.
In this embodiment, the cam driving mechanism 700 is disposed along the central length direction of the frame 900, and the cam driving mechanism 700 is movably connected with the frame 900. The cam driving mechanism 700 controls the leg lifting and falling of the six feet of the bionic robot and the switching actions of different movement modes.
Cam drive mechanism 700 includes left front leg drive cam 701, right front leg drive cam 702, left middle leg drive cam 703, right middle leg drive cam 704, left rear leg drive cam 705, right rear leg drive cam 706, swing link one 711, swing link two 712, swing link three 713, swing link four 714, swing link five 715, swing link six 716, rope one 721, rope two 722, rope three 723, rope four 724, rope five 725, rope six 726, motor one 731, cam shaft 732, fixed pulley one 733, and fixed pulley two 734, as shown in fig. 3.
The following are the connection relationships of the various components of the cam drive mechanism 700: the first motor 731 is transversely arranged at the front end of the frame 900, a coupler 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 frame 900 through a bearing in a switching mode, so that the first motor 731 drives the cam shaft 732 to rotate at the center 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 sequentially arranged on the cam shaft 732, and the six driving cams at different positions and the cam shaft 732 perform rotary motion together, so as to respectively power the swing 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 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 respectively in corresponding contact with the swing link two 712, the swing link one 711, the swing link three 713, the swing link four 714, the swing link five 715, and the swing link six 716.
One end of 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 is hinged on the frame 900, and the other end is 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 through a rope two 722, a rope one 721, a rope three 723, a rope four 724, a rope five 725 and a rope six 726 respectively so as to transmit power. That is, the plurality of swing rods are connected with the feet of the corresponding bionic robot through the corresponding ropes to realize the driving of the feet, and meanwhile, the fixed pulleys one 733 and two 734 are arranged on the left side and the right side of the frame 900 to change the movement directions of the rope one 721 and the rope two 722.
The following is the six-foot driving structure of the bionic robot: the driving structure of the right front leg link mechanism 200 is formed by mutually matching a right front leg driving cam 702, a swing rod II 712 and a rope II 722. The right front leg driving cam 702 is abutted against the second swing rod 712, the second swing rod 712 is transversely arranged on the frame 900, the left end of the second swing rod 712 is hinged to the left side of the frame 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 bypasses the second fixed pulley 734 to be connected with the right front leg link mechanism 200, as shown in fig. 5.
The driving structure of the left front leg link mechanism 100 is formed by the mutual cooperation of a left front leg driving cam 701, a swing link one 711 and a rope one 721. The left front leg driving cam 701 abuts against the first swing rod 711, the first swing rod 711 is transversely arranged on the frame 900, the right end of the first swing rod 711 is hinged to the right side of the frame 900, the left end of the first swing rod 711 is obliquely connected with the first rope 721 in the left upper direction, and the first rope 721 upwards bypasses the first fixed pulley 733 to be connected with the left front leg connecting rod mechanism 100, as shown in fig. 6.
The driving structure of the left middle leg metamorphic link mechanism 300 is formed by mutually matching a left middle leg driving cam 703, a swinging rod III 713 and a rope III 723. The left middle leg driving cam 703 is abutted against the swing rod three 713, the swing rod three 713 is vertically arranged on the right side of the frame 900, the upper end of the swing rod three 713 is hinged with the frame 900, the lower end of the swing rod three 713 is connected with a rope three 723, and the rope three 723 is extended and connected with the left middle leg metamorphic link mechanism 300 in the left upper direction, as shown in fig. 7.
The driving structure of the right middle leg metamorphic link 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 is abutted against the swing rod IV 714, the swing rod IV 714 is vertically arranged on the left side of the frame 900, the upper end of the swing rod IV 714 is hinged to the frame 900, the lower end of the swing rod IV 714 is connected with a rope IV 724, and the rope IV 724 is connected with the right middle leg metamorphic link mechanism 400 in an extending mode in the right upper direction, as shown in fig. 8.
The driving structure of the left rear leg metamorphic link 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 the swing rod five 715, the swing rod five 715 is vertically arranged on the right side of the frame 900, the upper end of the swing rod five 715 is hinged to the frame 900, the lower end of the swing rod five 715 is connected with a rope five 725, and the rope five 725 extends to the left and the upper direction and is connected with the left rear leg metamorphic link mechanism 500, as shown in fig. 9.
The driving structure of the right rear leg metamorphic link mechanism 600 is formed by mutually matching a right rear leg driving cam 706, a swing rod six 716 and a rope six 726. The right rear leg driving cam 706 is abutted against the swing rod six 716, the swing rod six 716 is vertically arranged on the left side of the frame 900, the upper end of the swing rod six 716 is hinged with the frame 900, the lower end of the swing rod six 716 is connected with a rope six 726, and the rope six 726 is connected with the right rear leg metamorphic link mechanism 600 in an extending mode in the right upper direction, as shown in fig. 10.
In this embodiment, the walking and steering metamorphic link mechanism 800 is arranged along the central length direction of the frame 900, and the walking and steering metamorphic link mechanism 800 is movably connected with the frame 900. The walking and steering metamorphic link mechanism 800 associates and links the hexapod of the bionic robot to realize the walking action.
The walk and steer metamorphic link mechanism 800 includes a creeper crank 801, a left metamorphic link 802, a right metamorphic link 803, a left rear leg drive link 804, a right rear leg drive link 805, a left rear leg swing frame 509, a right rear leg swing frame 609, a left middle leg drive link 806, a right middle leg drive link 807, a left middle leg swing frame 309, a right middle leg swing frame 409, a left front leg drive link 808, a right front leg drive link 809, a left front leg drive link tension spring 810, a right front leg drive link tension spring 811, a left middle leg swing frame tension spring 812, a right middle leg swing frame tension spring 813, a left rear leg drive link limit stop pin 814, a right rear leg drive link limit stop pin 815, a left middle leg swing frame limit stop pin 816, a right middle leg swing frame limit stop pin 817, and a motor two 820, as shown in fig. 11 to 12.
The following are the connection relationships of the various components of the walk and steer metamorphic linkage 800: the second motor 820 is vertically arranged at the rear end of the frame 900, a crawling crank 801 is arranged on a rotating shaft of the second motor 820, a left metamorphic connecting rod 802 and a right metamorphic connecting rod 803 are hinged at one end of the crawling crank 801 at the same time, 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 frame 900 respectively.
The walking and steering metamorphic link mechanism 800 performs six-foot driving 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 link mechanism 500, the right middle leg metamorphic link mechanism 400 and the left front leg link mechanism 100 to walk, the route one takes the left metamorphic link 802 as the main part, and the driving structure of the route one is as follows:
for the walking driving of the left rear leg metamorphic link mechanism 500, a left rear leg revolving frame 509 is connected to the left side of the rear end of the frame 900, a left rear leg driving link 804 is hinged between the left rear leg revolving frame 509 and the left metamorphic link 802 for transmission, and a left rear leg driving link limiting stop pin 814 is arranged on the left side of the rear end of the frame 900 and used for limiting the swinging angle of the left rear leg driving link 804.
For the walking driving of the left front leg link mechanism 100, a left front leg driving link 808 is hinged between the left rear leg revolving frame 509 and the left front leg link mechanism 100, a left front leg driving link tension spring 810 is arranged between the left front leg driving link 808 and the frame 900, and the left front leg driving link tension spring 810 is positioned at the left bottom of the frame 900. The left front leg drive link 808 always has a tendency to move forward under the tension of the left front leg drive link tension spring 810, so that the left rear leg swing frame 509 always has a tendency to swing forward.
For the walking driving of the right middle leg metamorphic link mechanism 400, a right middle leg revolving frame 409 is connected to the right side of the middle part of the frame 900, a right middle leg driving link 807 is hinged between the right middle leg revolving frame 409 and the left rear leg revolving frame 509 for transmission, and when the right middle leg revolving frame 409 is connected, a right middle leg revolving frame driving pin 819 is arranged on the right middle leg revolving frame 409, and the right middle leg revolving frame driving pin 819 can slide in a chute formed at one end part of the right middle leg driving link 807. A right middle leg revolving frame tension spring 813 is arranged between the frame 900 and the right middle leg revolving frame 409, the right middle leg revolving frame 409 always has a trend of swinging forwards under the tension action of the right middle leg revolving frame tension spring 813, and a right middle leg revolving frame limit stop pin 817 is also arranged on the frame 900 and used for limiting the revolving angle of the right middle leg revolving frame 409.
As shown in fig. 14, the second route drives the right rear leg metamorphic link mechanism 600, the left middle leg metamorphic link mechanism 300, and the right front leg link mechanism 200 to travel, and the second route includes the right metamorphic link 803 as follows:
for the walking drive of the right rear leg metamorphic link mechanism 600, a right rear leg revolving frame 609 is connected to the right side of the rear end of the frame 900, a right rear leg driving link 805 is hinged between the right rear leg revolving frame 609 and the right metamorphic link 803 for transmission, and a right rear leg driving link limiting stop pin 815 is arranged on the right side of the rear end of the frame 900 and used for limiting the swinging angle of the right rear leg driving link 805.
For the walking drive of the right front leg link mechanism 200, a right front leg driving link 809 is hinged between the right rear leg revolving frame 609 and the right front leg link mechanism 200, a right front leg driving link tension spring 811 is arranged between the right front leg driving link 809 and the frame 900, and the right front leg driving link tension spring 811 is located at the right bottom of the frame 900. The right front leg driving link 809 always has a tendency to move forward by the tension of the right front leg driving link tension spring 811, so that the right rear leg swing frame 609 always has a tendency to swing forward.
For the walking driving of the left middle leg metamorphic link mechanism 300, a left middle leg revolving frame 309 is connected to the left side of the middle part of the frame 900, a left middle leg driving link 806 is hinged between the left middle leg revolving frame 309 and a right rear leg revolving frame 609 for transmission, and when the left middle leg revolving frame 309 is connected, a 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 chute formed at one end of the left middle leg driving link 806. A left middle leg revolving frame tension spring 812 is arranged between the frame 900 and the left middle leg revolving frame 309, the left middle leg revolving frame 309 always has a forward swinging trend under the tension of the left middle leg revolving frame tension spring 812, and a left middle leg revolving frame limit stop pin 816 is also arranged on the 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 frame 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 with the frame 900 through the side plates 214 respectively. The left front leg link mechanism 100 and the right front leg link mechanism 200 have the same structure and can also realize the same functions.
Taking the right front leg link mechanism 200 as an example, the right front leg link mechanism 200 includes a front leg flip swing lever 212 disposed inside the frame 900, a front leg flip swing lever 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 calf 205, a front leg link three 206, a front leg link four 207, a front leg thigh swing lever 208, a front leg thigh swing lever pin 209, a front leg driving 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 bending part of the upper chute 10 is in smooth transition, and one end of the upper chute 10 extends vertically upwards; meanwhile, a straight-line-shaped lower chute 20 is arranged below the side plate 214, and the lower chute 20 is transversely arranged as shown in fig. 17.
The following are the connection relationships of the respective components of the right front leg link mechanism 200: the inner side of the side plate 214 is connected with a front leg overturning swinging rod 212, the front leg overturning swinging rod 212 is composed of a wheel body and a swinging rod with a sliding groove, the wheel body is rotationally connected in the side plate 214, the wheel body is rotationally driven by a rope to provide tension, a front leg overturning swinging rod tension spring 213 is connected with the wheel body to provide rotary force to rotate, one end of the wheel body is fixedly connected with the swinging rod, and the swinging rod rotates along with the rotation of the wheel body when the wheel body rotates.
The outer side of the side plate 214 is hinged with a front leg big swing rod 208, the upper end of the front leg big swing rod 208 is provided with a swing rod chute 30, and the lower end of the front leg big 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 position of the front leg big swing rod 208, the lower end of the front leg small swing rod 205 is respectively hinged with a front leg connecting rod III 206 and a front leg connecting rod IV 207, and the front leg connecting rod III 206 and the front leg connecting rod IV 207 respectively extend towards the front side and the rear side of the frame 900.
The front leg thigh 201, the front leg connecting rod two 204, the front leg shank 202 and the front leg connecting rod one 203 are sequentially hinged end to form a quadrilateral mechanism, a front leg big swing rod pin 209 is hinged at the hinged position between the front leg thigh 201 and the front leg connecting rod one 203, the front leg big swing rod pin 209 is arranged between the swing rod sliding groove 30, the upper sliding groove 10 and the sliding groove of the front leg overturning swing rod 212 in a penetrating manner, and then the front leg big swing rod pin 209 can be arranged in the swing rod sliding groove 30, the upper sliding groove 10 and the sliding groove of the front leg overturning swing rod 212 to slide.
The hinge between the first front leg link 203 and the second front leg link 202 is further hinged with a third front leg link 206, and the hinge between the first front leg thigh 201 and the second front leg link 204 is further hinged with a fourth front leg link 207, so that the connection between the front leg shank 205 and the first front leg thigh 201, the second front leg link 204, the front leg shank 202 and the first front leg link 203 is realized.
The front leg driving slider 210 is slidingly connected in the lower chute 20, and the front leg driving slider 210 is hinged to one end of the front leg swing link 211, and the common hinge of the front leg swing link 205, the front leg link three 206 and the front leg link four 207 is also hinged to the other end of the front leg swing link 211.
In order to perform leg lifting and leg falling driving on the right front leg link mechanism 200, the specific connection between the cam driving mechanism 700 and the right front leg link mechanism 200 is as follows: one end of the second rope 722 is connected with the second swing rod 712, the other end of the second rope 722 bypasses the second fixed pulley 734 to be connected with the front leg overturning swing rod 212 of the right front leg link mechanism 200, and the rotating force of the front leg overturning swing rod 212 on the right side of the frame 900 is provided.
Specifically, the right front leg driving cam 702 pulls the second rope 722 through the second swing rod 712, the second rope 722 winds 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 big swing rod pin 209 to slide, so that the front leg lifting and falling actions are realized.
In order to perform leg lifting and leg dropping driving on the left front leg link mechanism 100, the cam driving mechanism 700 is specifically connected to the left front leg link mechanism 100 as follows: one end of the first rope 721 is connected with the first swing rod 711, and the other end of the first rope 721 bypasses the first fixed pulley 733 to be connected with the front leg overturning swing rod 212 of the left front leg link mechanism 100, so that the rotating force of the front leg overturning swing rod 212 on the left side of the frame 900 is provided.
The front leg turning pendulum rods 212 of the right front leg link mechanism 200 and the left front leg link mechanism 100 rotate, so that the front leg big pendulum rod pin 209 slides in the pendulum rod sliding grooves 30, the upper sliding groove 10 and the sliding grooves of the front leg turning pendulum rods 212, and further the right front leg link mechanism 200 and the left front leg link mechanism 100 generate leg lifting and leg falling actions.
To walk-drive the right front leg link mechanism 200, the specific connection of the walk and steer metamorphic link mechanism 800 and the right front leg link mechanism 200 is: the right front leg drive link 809 is hinged to the front leg drive slider 210 of the right front leg linkage 200 for transmission. The front leg driving slide block 210 is driven to slide by the action of the right front leg driving link 809, and the front leg driving slide block 210 drives the right front leg link mechanism 200 to generate a walking action.
In order to drive the left front leg link mechanism 100 in a walking manner, the walking and steering metamorphic link mechanism 800 is connected to the left front leg link mechanism 100 in a specific manner: the left front leg drive link 808 is hinged to the front leg drive slide 210 of the left front leg link mechanism 100 for transmission. The left front leg driving slide block 210 is also driven to slide by the action of the left front leg driving connecting rod 808, and the left front leg driving slide block 210 drives the left front leg connecting rod mechanism 100 to generate walking action.
In this embodiment, the middle part of the frame 900 and the left and right sides of the rear end are respectively provided with a revolving frame, and 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 are respectively connected with the frame 900 in a revolving manner through respective revolving frames.
The left middle leg metamorphic link mechanism 300 is arranged on the left middle leg revolving frame 309, and the left middle leg metamorphic link mechanism 300 swings back and forth relative to the frame 900 through the left middle leg revolving frame 309. The right middle leg metamorphic link mechanism 400 is arranged on the right middle leg revolving frame 409, and the right middle leg metamorphic link mechanism 400 swings back and forth relative to the frame 900 through the right middle leg revolving frame 409. The left rear leg metamorphic link mechanism 500 is arranged on the left rear leg swivel 509, and the left rear leg metamorphic link mechanism 500 swings back and forth relative to the frame 900 through the left rear leg swivel 509. The right rear leg metamorphic link mechanism 600 is arranged on the right rear leg revolving frame 609, and the front and rear swinging of the right rear leg metamorphic link mechanism 600 relative to the frame 900 is realized through the right rear leg revolving frame 609.
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 are identical in structure, and can also realize the same functions.
Taking the right mid-leg metamorphic link mechanism 400 as an example, the right mid-leg metamorphic link mechanism 400 includes a mid-leg thigh 401, a mid-leg shank 402, a mid-leg swing link 403, a mid-leg link one 404, a mid-leg link two 405, a mid-leg link three 406, a mid-leg thigh tension spring 407, and a mid-leg shank tension spring 408, as shown in fig. 18 to 20.
The right middle leg rotating frame 409 is connected to the right side of the middle part of the frame 900 and can swing back and forth relative to the frame 900, the upper end of the middle leg thigh 401 is hinged to the right middle leg rotating frame 409, and a middle leg thigh tension spring 407 is arranged between the middle leg thigh 401 and the right middle leg rotating 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 has a tendency of swinging upwards. The middle leg thigh 401 is provided with a large limit stop pin 40, and when the large limit stop pin 40 abuts against the right middle leg swivel bracket 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 shank 402 through a middle leg connecting rod II 405 and a middle leg connecting rod III 406 respectively to form a parallelogram mechanism, specifically, the lower end of the middle leg connecting rod II 405 is hinged with the upper end of the middle leg shank 402, and the middle leg connecting rod III 406 is hinged between the lower end of the middle leg thigh 401 and the middle part of the middle leg shank 402, so that the middle leg shank 402 can stretch and retract relative to the middle leg thigh 401.
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 the middle leg calf tension spring 408 enables the middle leg calf 402 to always have a shrinkage tendency, wherein the tension of the middle leg calf tension spring 408 is smaller than that of the middle leg thigh tension spring 407. A small limit stop pin 50 is provided on the mid-leg link three 406 for limiting the extension and retraction amplitude of the mid-leg calf 402.
The middle leg swing rod 403 is hinged at the hinge joint of the middle leg thigh 401 and the upper 409 of the right middle leg revolving frame, the lower end of the middle leg swing rod 403 is hinged with the upper end of the middle leg connecting rod II 405 through the 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 a four-bar mechanism is formed by connecting 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. Wherein, the middle hole of the second middle leg link 405 is hinged at the middle hole of the middle leg thigh 401, so that the second middle leg link 405 performs a rotary motion on the middle leg thigh 401.
In order to perform leg lifting and leg falling driving on the right middle leg metamorphic link mechanism 400, the specific connection between the cam driving mechanism 700 and the right middle leg metamorphic link mechanism 400 is as follows: one end of the rope IV 724 is connected with the swing rod IV 714, and the other end of the rope IV 724 is connected with the middle leg swing rod 403 of the right middle leg metamorphic link mechanism 400, so that the rotating force of the middle leg swing rod 403 on the right side of the frame 900 is provided.
To perform leg lifting and leg dropping driving on the left middle leg metamorphic link mechanism 300, the specific connection between the cam driving mechanism 700 and the left middle leg metamorphic link mechanism 300 is as follows: 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 link mechanism 300 to provide the rotating force of the middle leg swing rod 403 on the left side of the frame 900.
Similarly, the right middle leg metamorphic link mechanism 400 and the right rear leg metamorphic link mechanism 600 have the same structure and different part sizes, and further the right rear leg metamorphic link mechanism 600 also comprises a rear leg thigh, a rear leg shank, a rear leg swing link, a rear leg link one, a rear leg link two, a rear leg link three, a rear leg thigh tension spring and a rear leg shank tension spring. Differently, the mid-leg calf 402 of the right mid-leg metamorphic linkage 400 is a straight bar and the rear-leg calf of the right rear-leg metamorphic linkage 600 is a bent bar that is bent toward the rear end of the frame 900.
In order to perform leg lifting and leg falling driving on the right rear leg metamorphic link mechanism 600, the specific connection between the cam driving mechanism 700 and the right rear leg metamorphic link mechanism 600 is as follows: one end of the rope six 726 is connected with the swing rod six 716, and the other end of the rope six 726 is connected with the rear leg swing rod of the right rear leg metamorphic link mechanism 600, so that the rotating force of the rear leg swing rod on the left side of the frame 900 is provided.
In order to perform leg lifting and leg falling driving on the left rear leg metamorphic link mechanism 500, the specific connection between the cam driving mechanism 700 and the left rear leg metamorphic link mechanism 500 is as follows: one end of the rope five 725 is connected with the swing rod five 715, and the other end of the rope five 725 is connected with the rear leg swing rod of the left rear leg metamorphic link mechanism 500, so that the rotating force of the rear leg swing rod on the left side of the frame 900 is provided.
The six feet of the bionic robot are divided into two groups, wherein one group is 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 is 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 six-foot swing-forward and swing-backward motion can be achieved by the walking and steering metamorphic linkage 800, wherein when the three-foot left front leg linkage 100, the right middle leg metamorphic linkage 400 and the left rear leg metamorphic linkage 500 swing forward, the other three-foot right front leg linkage 200, the left middle leg metamorphic linkage 300 and the right rear leg metamorphic linkage 600 swing backward, i.e. the two groups of staggered three-foot walking motions are opposite. The walking and steering metamorphic link mechanism 800 cooperates with the cam driving mechanism 700 to realize staggered lifting, forward swinging, falling and backward swinging actions of the hexapod.
The left middle leg metamorphic link mechanism 300 and the right middle leg metamorphic link mechanism 400 of the bionic robot have a climbing plane mode and a climbing hole mode, wherein the overall action flow of the climbing plane mode is that the middle leg lifts, swings forwards, falls down again and swings backwards finally, and the specific action flow is as follows:
step 1, leg lifting action: in the initial state, the middle leg contacts the ground, and when the leg is lifted, the right middle leg driving cam 704 rotates clockwise by a certain angle to enable the swing rod IV 714 to swing anticlockwise, the rope IV 724 to loosen, and the middle leg swing rod 403 to swing anticlockwise, and because the tension of the middle leg thigh tension spring 407 is larger than that of the middle leg shank tension spring 408, the middle leg thigh 401, the middle leg shank 402, the middle leg swing rod 403, the middle leg connecting rod I404, the middle leg connecting rod II 405 and the middle leg connecting rod III 406 swing upwards at the moment, so that the leg lifting action is realized, as shown in fig. 21;
step 2, swinging forwards: after the middle leg is lifted upwards, a motor two 820 of the walking and steering metamorphic link mechanism 800 drives a right middle leg revolving frame 409 to swing forwards through a right middle leg driving link 807, and as the middle of the right middle leg revolving frame 409 and the middle leg swinging rod 403 is connected by a rope four 724, interference cannot occur, as shown in fig. 22;
step 3, leg falling actions: after the middle leg swings forwards, the right middle leg driving cam 704 rotates anticlockwise, the swing rod IV 714 swings clockwise, the rope IV 724 is tensioned, and when the tension of the rope IV 724 is larger than that of the middle leg thigh tension spring 407, the middle leg metamorphic link mechanism swings downwards to realize leg falling action, so that the middle leg contacts the ground, as shown in fig. 23;
Step 4, backward swing walking: after the middle leg contacts the ground, the second motor 820 of the walking and steering metamorphic link mechanism 800 pulls the right middle leg revolving frame 409 back through the right middle leg driving link 807, so that the middle leg metamorphic link mechanism swings backwards, and the action of the walking forward by one step of the bionic robot is realized, as shown in fig. 24.
According to the action processes of the circulating steps 1, 2, 3 and 4, the continuous forward walking action of the bionic robot can be realized, and the middle leg climbing plane mode operation is realized.
When the middle leg climbing plane mode is required to be switched to the climbing hole mode after finishing, the switching flow is as follows:
in step 11, after the middle leg thigh 401 is lifted, the right middle leg driving cam 704 continues to rotate clockwise, the swing rod IV 714 swings anticlockwise, the rope IV 724 becomes loose, the middle leg swing rod 403 swings anticlockwise, and because the tension of the middle leg thigh tension spring 407 is greater than that of the middle leg shank tension spring 408, the middle leg thigh 401 continues to lift upwards, and when the big limit stop pin 40 of the middle leg thigh 401 contacts the right middle leg revolving frame 409, the middle leg thigh 401 does not lift upwards any more, as shown in fig. 25.
In 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 is loosened, the middle leg swing rod 403 continues to swing anticlockwise, and the middle leg calf 402 starts to shrink under the acting force of the middle leg calf tension spring 408, so that the climbing plane mode is switched to the climbing hole mode, as shown in fig. 26, and thus the climbing plane mode can be switched to the climbing hole mode by one cam.
The climbing hole mode is different from the climbing plane mode, the hole is concave for the bionic robot, and no grabbing force points exist, so that the foot of the bionic robot needs to be supported outwards in the climbing hole mode, and then the body is supported in the hole, and the bionic robot climbs outwards step by step. The overall action flow of the climbing hole mode is that the shank of the middle leg contracts, the shank of the middle leg swings forward, the shank of the middle leg stretches out, and finally the shank of the middle leg swings backward, and the specific action flow is as follows:
step 21, mid-leg calf constriction: the right mid-leg drive cam 704 continues to rotate clockwise, causing the mid-leg calf 402 to continue to collapse as shown in fig. 27-28;
step 22, the mid-leg shank swings forward: after the mid-leg calf 402 is contracted, the motor two 820 of the walking and steering metamorphic link mechanism 800 drives the right mid-leg revolving frame 409 to swing forwards through the right mid-leg driving link 807, so as to realize leg-stepping action, as shown in fig. 29;
step 23, mid-leg calf extension: the middle leg shank 402 is forwards and backwards, the right middle leg driving cam 704 rotates anticlockwise, 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 thigh tension spring 407 is larger than that of the middle leg shank tension spring 408, so that the middle leg shank 402 is supported on the inner wall of the hole at the moment, as shown in fig. 30;
Step 24, the mid-leg shank swings backwards: after the mid-leg calf 402 is supported on the inner wall of the hole, the motor two 820 pulls the right mid-leg revolving frame 409 through the right mid-leg driving link 807, so that the right mid-leg revolving frame 409 swings counterclockwise, thereby realizing the walking action, as shown in fig. 31.
The continuous forward walking action of the bionic robot can be realized according to the actions of the circulating steps 21, 22, 23 and 24; the staggered three feet in the six feet of the bionic robot form a group, the actions of leg taking, extending, walking and contracting are sequentially and alternately completed, and the operation of a middle leg climbing mode is realized, as shown in figures 32-33.
When the middle leg climbing mode is switched to the climbing plane mode after finishing, the bionic robot needs to rotate the right middle leg driving cam 704 by a certain angle after finishing the climbing hole mode, so that the middle leg is switched to the climbing plane mode from the climbing hole mode, and the switching flow is as follows:
step 31, in the contracted state of the mid-leg calf 402, the right mid-leg driving cam 704 rotates anticlockwise, the swing rod IV 714 pulls the mid-leg swing rod 403 to swing through the rope IV 724, and the tension of the mid-leg calf tension spring 408 is smaller than the tension of the mid-leg thigh tension spring 407, so that the calf stretches out first at this time, as shown in fig. 34 to 35;
In step 32, when the mid-leg calf 402 extends to the limit position, the mid-leg calf 402 stops extending, as shown in fig. 36, and at this time, the right mid-leg driving cam 704 continues to rotate anticlockwise, the tension of the rope iv 724 is continuously increased, and when the tension is greater than the tension of the mid-leg thigh tension spring 407, the mid-leg thigh 401 starts to swing downwards, so that the climbing mode is switched, as shown in fig. 37, and thus, the climbing mode is switched from the climbing mode to the climbing mode by one cam.
The left front leg link mechanism 100 and the right front leg link mechanism 200 of the bionic robot have a plane climbing mode and a tree climbing mode, wherein the overall action flow of the plane climbing mode is that lifting, forward swinging, falling and backward swinging are carried out, and the specific action flow is as follows:
step 41, front leg lifting: the right front leg driving cam 702 rotates clockwise, the second swing rod 712 swings anticlockwise, the second rope 722 loosens, the front leg overturning swing rod 212 rotates anticlockwise under the action of the tension of the front leg overturning swing rod tension spring 213, the front leg big swing rod pin 209 is lifted upwards, and therefore the tail end of the front leg is lifted upwards through the front leg connecting rod mechanism, and the front leg lifting action is achieved, as shown in fig. 38;
step 42, front legs swing forward to get legs: a second motor 820 of the walking and steering metamorphic link mechanism 800 drives the front leg driving sliding block 210 to slide forwards through a right front leg driving link 809, and the front leg driving sliding block 210 drives the link mechanism to swing forwards through a front leg swinging link 211, so that leg-taking action is realized, 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 larger than the tension of the front leg overturning swing rod tension spring 213, the front leg overturning swing rod 212 rotates clockwise, so that the front leg big swing rod pin 209 slides downwards, the tail end of the front leg moves downwards and contacts the ground through the front leg connecting rod mechanism, and the front leg falling action is realized, as shown in fig. 40;
step 44, front legs swing backwards to walk: when the tail end of the front leg contacts the ground, the motor two 820 drives the front leg driving sliding block 210 to slide backwards through the right front leg driving connecting rod 809 to realize the walking action, as shown in fig. 41.
According to the above-mentioned action processes of circulation step 41, step 42, step 43 and step 44, the continuous forward walking action of the bionic robot can be implemented, and the running of front leg climbing plane mode can be implemented.
When the front leg climbing mode is switched to the tree climbing mode after finishing, the switching flow is as follows:
the right front leg driving cam 702 rotates anticlockwise to enable the swing rod 712 to rotate clockwise, so that the front leg overturning swing rod 212 is pulled to rotate clockwise through the rope 722, the front leg overturning swing rod 212 drives the front leg big swing rod pin 209 to rotate, and the front leg big swing rod pin 209 slides along the upper sliding groove 10 because the front leg big swing rod pin 209 is arranged in the upper sliding groove 10 of the side plate 214, and in the process that the front leg big swing rod pin 209 slides backwards, the front leg big swing rod 208 is driven to overturn, and a certain angle is overturned, so that the tree climbing mode is switched.
The overall action flow of the tree climbing mode is that the front leg is lifted, the front leg swings forwards, the front leg falls down again, and finally the front leg swings backwards, and the specific action flow is as follows:
step 51, front leg lifting: the right front leg driving cam 702 continues to rotate anticlockwise, the front leg overturning swinging rod 212 is pulled to rotate clockwise through the rope II 722, the front leg big swinging rod pin 209 continues to slide along the upper sliding groove 10, and the swinging rod sliding groove 30 on the front leg big swinging rod 208 and the upper sliding groove 10 on the side plate 214 are overlapped at the moment, so that the front leg big swinging rod 208 cannot swing, the rotation center of the front leg small swinging rod 205 is fixed again at the moment, and the rotation center of the front leg small swinging rod 205 and the front leg driving sliding block 210 are fixed because the front leg big swinging rod pin 209 slides upwards obliquely, so that the tail end of the front leg can be lifted upwards to realize leg lifting action, as shown in fig. 42;
step 52, forward leg swing leg-to-leg: the motor two 820 drives the front leg driving sliding block 210 to slide forwards through the right front leg driving connecting rod 809, and the front leg driving sliding block 210 drives the front leg connecting rod mechanism to swing forwards through the front leg swinging connecting rod 211, so that leg-taking action is realized, as shown in fig. 43;
step 53, front leg falling: the right front leg driving cam 702 rotates clockwise, the second swing rod 712 swings anticlockwise, the second rope 722 loosens, the pulling force of the second rope 722 is smaller than the pulling force of the front leg overturning swing rod tension spring 213, the front leg overturning swing rod 212 rotates anticlockwise, the front leg big swing rod pin 209 slides obliquely downwards, and accordingly the tail end of the front leg moves obliquely downwards and contacts the trunk through the front leg connecting rod mechanism, and the front leg falling action in the tree climbing mode is achieved, as shown in fig. 44;
Step 54, front leg backward swing walking: when the tail end of the front leg contacts the trunk, the motor two 820 drives the front leg driving sliding block 210 to slide backwards through the right front leg driving connecting rod 809, and the front leg driving sliding block 210 drives the front leg connecting rod mechanism to swing downwards through the front leg swinging connecting rod 211, so that the tree climbing action is realized, as shown in fig. 45.
According to the above-mentioned cyclic steps 51, 52, 53 and 54, the continuous forward walking motion of the present bionic robot can be realized, and the running of the front leg tree climbing mode is realized, and in the tree climbing mode, the front leg, the middle leg and the rear leg are required to cooperate with each other.
When the front leg tree climbing mode is switched to the plane climbing mode after finishing, the switching flow is as follows:
step 61, the right front leg driving cam 702 rotates clockwise to rotate the second swing rod 712 anticlockwise, the second rope 722 is loosened, the tension is smaller than the tension of the front leg turning swing rod tension spring 213, the front leg turning swing rod 212 rotates anticlockwise, the front leg turning 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 sliding groove 10 because the front leg large swing rod pin 209 is in the upper sliding groove 10 of the side plate 214, and in the process of sliding the front leg large swing rod pin 209 forwards, the front leg large swing rod 208 is driven to turn over, turn over a certain angle, and then switch to the climbing plane mode, as shown in fig. 46.
The bionic robot also has a micro-steering function under the action of the walking and steering metamorphic link mechanism 800, the right-turning action and the left-turning action of the bionic robot are the same as the principle, the leg-taking, walking, left-turning and right-turning actions of the six feet are realized by the same motor two 820, and the micro-steering principle is as follows:
1. the precondition is that the right rear leg metamorphic linkage 600, the right front leg linkage 200, is greater in stride than the left middle leg metamorphic linkage 300: when the right rear leg metamorphic link mechanism 600, the left middle leg metamorphic link mechanism 300 and the right front leg link mechanism 200 are used for taking the legs forward, if the bionic robot is to be slightly turned to the left, the steps of taking the legs forward by the right rear leg metamorphic link mechanism 600 and the right front leg link mechanism 200 of the bionic robot are larger than those of taking the legs forward by the left middle leg metamorphic link mechanism 300, so that the right rear leg metamorphic link mechanism 600 and the right front leg link mechanism 200 need to swing forward more, and the left middle leg metamorphic link mechanism 300 can keep the original amplitude.
According to the requirements, one ends of the left middle leg driving connecting rod and the right middle leg driving connecting rod are provided with sliding grooves, so that the driving pins of the left middle leg rotating frame and the right middle leg rotating frame can slide in the sliding grooves. Meanwhile, the limiting stop pins of the middle leg revolving frames are designed in front of the two middle leg revolving frames, so that the revolving angle of the middle leg revolving frames is limited. Meanwhile, one ends of the two middle leg revolving racks are respectively provided with a middle leg revolving rack tension spring, so that the middle leg revolving racks always have a forward swinging trend, and even if the middle leg revolving rack driving pins are always attached to the most distal ends of the middle leg driving connecting rods, unless the middle leg revolving racks are limited by the middle leg revolving rack limiting stop pins.
With the above structure, the right rear leg metamorphic link mechanism 600 and the right front leg link mechanism 200 can realize steps of different magnitudes with 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 be realized to be more than a certain step. Since the hexapod of the bionic robot is related to each other, the swing of the right rear leg swing frame 609 forward by a certain angle will cause the left rear leg swing frame 509 to swing backward by a certain angle, and if the swing is performed backward by a certain angle, the swing back action will be easily affected. 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 acted by the tension force of the tension springs of the respective front leg driving connecting rods, so that the front leg driving connecting rods always have a forward movement trend, and further the two rear leg rotating frames always have a forward swinging trend, so that the metamorphic connecting rods and the rear leg driving connecting rods are always in a straightened state, and the metamorphic connecting rods and the rear leg driving connecting rods can be regarded as one rod in a straight crawling state.
When the right rear leg swing frame 609 swings to the maximum position in the straight crawling state, the left rear leg driving link 804 just contacts the left rear leg driving link stopper pin 814 as shown in fig. 47; the lengths of the metamorphic connecting rod and the crawling crank 801 are equal, 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 two 820 at the moment, namely, the left metamorphic connecting rod 802 and the crawling crank 801 coincide at the moment, so that the crawling crank 801 can continue to rotate anticlockwise with the left metamorphic connecting rod 802, and the left rear leg driving connecting rod 804 and the left rear leg rotating frame 509 remain motionless, 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 remain motionless, as shown in fig. 48; because the right rear leg turn frame 609 and the right front leg drive link 805 are under tension, the creeper crank 801 continues to rotate counterclockwise, causing the right rear leg turn frame 609 to continue to swing forward, causing the right front leg drive link 809 and the front leg drive 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 left middle leg metamorphic link mechanism 300 is blocked by the left middle leg revolving frame limiting stop pin 816, and the stride thereof is kept unchanged as shown in fig. 50, so that the process is realized by a motor two 820 that only the right rear leg metamorphic link mechanism 600 and the right front leg link mechanism 200 are allowed to go forward for a certain stride, and the other four feet keep different actions.
2. The steering process comprises the following steps: when the right rear leg metamorphic link mechanism 600 and the right front leg link mechanism 200 are increased by a certain step, the right front leg link mechanism 200, the left middle leg metamorphic link mechanism 300 and the right rear leg metamorphic link mechanism 600 fall down, and at this time, the walking operation is started. The motor two 820 starts to rotate clockwise, the crawling crank 801 pulls the right rear leg rotary frame 609 to swing backwards through the right metamorphic connecting rod 803 and the right rear leg driving connecting rod 805, the right rear leg rotary frame 609 pulls 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, the right rear leg rotary frame 609 pulls the left middle leg driving connecting rod 806, at this time, the left middle leg driving connecting rod 806 slides on the left middle leg rotary frame driving pin 818 because the left middle leg rotary frame driving pin 818 is not at the farthest end of the left middle leg driving connecting rod 806, at this time, 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 is kept motionless under the tension of the left middle leg rotary frame tension spring 812, at this time, the bionic robot can realize left micro steering, as shown in fig. 51-52:
3. the linear crawling process comprises the following steps: when the second motor 820 rotates clockwise to the position that the crawling crank 801 is collinear with the left rear leg driving link 804, the furthest end of the left middle leg driving link 806 just contacts with the left middle leg revolving frame driving pin 818, at this time, the second motor 820 continues to rotate clockwise, the right metamorphic link 803 and the right rear leg driving link 805 continue to pull the right rear leg revolving frame 609 to swing backwards, and at the same time, the right rear leg revolving frame 609 continues to pull the right front leg link mechanism 200 to swing backwards through the right front leg driving link 809 and the front leg driving slider 210, and the left middle leg revolving frame 309 continues to swing backwards through the left middle leg driving link 806, so that the linear crawling action is continuously realized.
At the same time, the left metamorphic link 802 and the left rear leg driving link 804 return to the collinear position again, the motor two 820 rotates clockwise, the traction of the left rear leg rotary frame 509 is released, the left rear leg rotary frame 509, the left front leg driving link 808, the left front leg driving slider and the right middle leg rotary frame 409 swing forwards under the action of the tension springs, the forward leg-taking action of the left rear leg metamorphic link mechanism 500, the left front leg link mechanism 100 and the right middle leg metamorphic link mechanism 400 is realized, the leg-taking actions of the left side and the right side are continued, and the straight line crawling mode is returned again, as shown in fig. 53.
Embodiment two:
the first embodiment is basically the same as the first embodiment, and the same points are not repeated, except that: as shown in fig. 54 to 55, in the present embodiment, the right front leg link mechanism 200 includes a front thigh 1, a front calf 2, a front thigh link 3, a front calf link 4, a guide pulley 5, a pull rope 6, and a diagonal tension spring 7.
The thigh 1, the shank 2, the thigh connecting rod 3 and the shank connecting rod 4 are connected in a hinged manner, and a parallelogram mechanism is formed after the connection. The specific connection layout is as follows: the front thigh 1 and the front calf 2 are vertically arranged outside the side plates 214 from left to right, the front thigh connecting rod 3 and the front calf connecting rod 4 are horizontally arranged outside the side plates 214 from top to bottom, and the front thigh connecting rod 3 and the front calf connecting rod 4 have a certain inclination angle.
The upper end of the thigh 1 is hinged with the side plate 214, the middle part of the thigh 1 is hinged with the front leg swinging connecting rod 211, the front leg swinging connecting rod 211 can drive the thigh 1 to swing back and forth, the lower end of the thigh 1 extends out of the bottom of the frame 900, namely exceeds the lower plane of the frame 900, the lower end of the thigh 1 is hinged with one end of the shank connecting rod 4, the other end of the shank connecting rod 4 is hinged with the middle part of the shank 2, the shank 2 is arranged in front of the frame 900, the shank 2 is in a curved knife shape which is bent inwards in an arc shape, the lower end of the shank 2 extends downwards away from the lower plane of the frame 900, the upper end of the shank 2 is hinged with the middle part of the thigh 1, the thigh connecting rod 3 is in a chicken leg shape, and one end of the shank connecting rod is thicker and the other end of the shank connecting rod is thinner.
One end of the thigh link 3 extends outward to constitute an extension section 8, i.e., the thinner end of the thigh link 3, the extension section 8 being disposed obliquely toward the rear 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. The swing rod II 712 is connected to stay cord 6 one end, and the guide pulley 5 is walked around to the stay cord 6 other end, passes curb plate 214 and connects extension section 8 top, sets up oblique extension spring 7 between extension section 8 below and the curb plate 214 below, makes extension section 8 have the trend of downward swing under the effect of oblique extension spring 7, and shank 2 has the trend of upwards lifting, also makes stay cord 6 be in the state of straightening all the time, and the atress of stay cord 6 makes swing rod II 712 and right front leg drive cam 702 contact.
The right front leg link mechanism 200 and the left front leg link mechanism 100 have the same structure and the working principle is as follows: firstly, carrying out leg lifting and forward taking: when the cam shaft 732 rotates in the forward direction, the right front leg driving cam 702 and the left front leg driving cam 701 on the cam shaft rotate together, and then the swing rod two 712 and the swing rod one 711 swing respectively, the swing rod two 712 swings to enable the pull rope 6 on the right side to be loosened, the right front leg link mechanism 200 moves upwards under the action of the right oblique tension spring 7, and conversely, the swing rod one 711 swings to enable the pull rope 6 on the left side to be tensioned, and the left front leg link mechanism 100 moves downwards under the action of the left oblique tension spring 7; at the same time, the walking and steering metamorphic link mechanism 800 operates, the right front leg driving slider 210 slides forward, the right front leg link mechanism 200 is driven to move forward by the right front leg swinging link 211, and conversely, the left front leg driving slider 210 slides backward, and the left front leg link mechanism 100 is driven to move backward by the left front leg swinging link 211.
Then leg falling and backward swinging are carried out: when the cam shaft 732 is reversely rotated, the right front leg link mechanism 200 moves downward, and the left front leg link mechanism 100 moves upward; meanwhile, the motion of the walking and steering metamorphic link mechanism 800 is opposite to the original motion, namely, the right front leg link mechanism 200 moves backwards, the left front leg link mechanism 100 moves forwards, namely, the whole motion cycle of lifting the front leg, taking a part in the forward direction, falling the leg and swinging backwards is completed, and the six feet of the bionic robot are still three groups which are staggered and matched with each other to realize walking and steering.
The adoption of the left and right front leg link mechanisms in the embodiment can enable the bionic robot to be more fit with real insects in appearance and structure, and the walking movement is also fit with the movement gesture of the insects.
The present invention and its embodiments have been described above with no limitation, and the embodiments of the present invention are shown in the drawings, and the actual structure is not limited thereto, so that those skilled in the art who have the ordinary skill in the art who have the benefit of the present invention will not creatively design similar structures and examples to those of the present invention without departing from the gist of the present invention.

Claims (6)

1. The multifunctional hexapod bionic robot based on the metamorphic mechanism is characterized by comprising 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 at two 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 at two 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 at two sides of the rear end of the frame (900);
The cam driving mechanism (700) and the walking and steering metamorphic connecting rod mechanism (800) are arranged along the central length direction of the frame (900), and the cam driving mechanism (700) and the walking and steering metamorphic connecting rod mechanism (800) are respectively and movably connected with the frame (900);
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 swing rod I (711), a swing rod II (712), a swing rod III (713), a swing rod IV (714), a swing rod V (715), a swing rod VI (716), a rope I (721), a rope II (722), a rope III (723), a rope IV (724), a rope V (725), a rope VI (726), a motor I (731), a cam shaft (732), a fixed pulley I (733) and a fixed pulley II (734);
the first motor (731) is transversely arranged at the front end of the frame (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 frame (900) through a bearing in a switching way;
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 respectively correspondingly contact with the swing rod II (712), the swing rod I (711), the swing rod III (713), the swing rod IV (714), the swing rod five (715) and the swing rod six (716);
one end of the swing rod II (712), the swing rod I (711), the swing rod III (713), the swing rod IV (714), the swing rod V (715) and the swing rod VI (716) is hinged on the frame (900), and the other end of the swing rod II, the swing rod I (721), the swing rod III (723), the swing rod IV (724), the swing rod V (725) and the swing rod VI (726) are correspondingly connected with the right front leg connecting rod mechanism (200), the left front leg connecting rod mechanism (100), 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) to transmit power;
the fixed pulleys I (733) and II (734) are arranged at the left side and the right side of the frame (900) to change the movement direction of the ropes I (721) and II (722);
The walking and steering metamorphic link mechanism (800) comprises 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 rotary frame (509), a right rear leg rotary frame (609), a left middle leg driving link (806), a right middle leg driving link (807), a left middle leg rotary frame (309), a right middle leg rotary 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 middle leg rotary frame tension spring (812), a right middle leg rotary frame tension spring (813), a left rear leg driving link limit stop pin (814), a right rear leg driving link limit stop pin (815), a left middle leg rotary frame limit stop pin (816), a right middle leg rotary frame limit stop pin (817) and a motor two (820);
the left side and the right side of the front end of the frame (900) are respectively provided with a side plate (214) to form a rectangular hollow frame body structure, and the left front leg connecting rod mechanism (100) and the right front leg connecting rod mechanism (200) are respectively and movably connected with the frame (900) through the side plates (214);
The left front leg connecting rod mechanism (100) and the right front leg connecting rod mechanism (200) are identical in structure, and the right front leg connecting rod mechanism (200) comprises a front leg overturning oscillating bar (212) arranged on the inner side of a frame (900), a front leg overturning oscillating bar tension spring (213) arranged above the frame (900), a front leg thigh (201), a front leg shank (202), a front leg connecting rod I (203), a front leg connecting rod II (204), a front leg shank (205), a front leg connecting rod III (206), a front leg connecting rod IV (207), a front leg big oscillating bar (208), a front leg big oscillating bar pin (209), a front leg driving sliding block (210) and a front leg oscillating connecting rod (211) which are arranged on the outer side of the frame (900);
a W-shaped upper chute (10) is formed above the side plate (214), the bent part of the upper chute (10) is in smooth transition, one end of the upper chute (10) extends vertically upwards, a linear lower chute (20) is formed below the side plate (214), and the lower chute (20) is transversely distributed;
the inner side of the side plate (214) is connected with the front leg overturning oscillating bar (212), the front leg overturning oscillating bar (212) is composed of a wheel body and an oscillating bar with a sliding groove, the wheel body is rotatably connected in the side plate (214), a front leg overturning oscillating bar 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 oscillating bar;
One end of the rope II (722) is connected with the swing rod II (712), the other end of the rope II (722) bypasses the fixed pulley II (734) to be connected with the front leg overturning swing rod (212) of the right front leg connecting rod mechanism (200) so as 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) bypasses the fixed pulley I (733) to be connected with the front leg overturning swing rod (212) of the left front leg connecting rod mechanism (100) so as to rotate;
the outer side of the side plate (214) is hinged with the front leg big swing rod (208), the upper end of the front leg big swing rod (208) is provided with a swing rod chute (30), and the lower end of the front leg big 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 position of the front leg big swing rod (208), the lower end of the front leg small swing rod (205) is respectively hinged with a front leg connecting rod III (206) and a front leg connecting rod IV (207), and the front leg connecting rod III (206) and the front leg connecting rod IV (207) respectively extend towards the front side and the rear side of the frame (900);
the front leg thigh (201), the front leg connecting rod II (204), the front leg shank (202) and the front leg connecting rod I (203) are sequentially hinged end to form a quadrilateral mechanism, the hinge joint of the front leg thigh (201) and the front leg connecting rod I (203) is hinged with the front leg big swing rod pin (209), and the front leg big swing rod pin (209) is arranged among the swing rod sliding grooves (30), the upper sliding groove (10) and the sliding grooves of the front leg overturning swing rod (212) in a penetrating manner;
The hinge joint of the front leg connecting rod I (203) and the front leg calf (202) is also hinged with the front leg connecting rod III (206), and the hinge joint of the front leg thigh (201) and the front leg connecting rod II (204) is also hinged with the front leg connecting rod IV (207);
the front leg driving sliding block (210) is slidingly connected in the lower sliding groove (20), the left front leg driving connecting rod (808) is hinged on 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 on 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 part of the front leg small swinging rod (205), the front leg connecting rod III (206) and the front leg connecting rod IV (207) is also hinged with the other end of the front leg swinging connecting rod (211);
the middle part of the frame (900) and the left and right sides of the rear end are respectively provided with a revolving frame, and 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) are respectively connected with the frame (900) in a rotating way through the revolving frames.
2. The metamorphic mechanism-based multifunctional hexapod bionic robot according to claim 1, wherein the second motor (820) is vertically arranged at the rear end of the frame (900), the crawling crank (801) is arranged on a rotating shaft of the second motor (820), one end of the crawling crank (801) is simultaneously 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 frame (900) respectively.
3. The metamorphic mechanism-based multifunctional hexapod bionic robot according to claim 2, wherein the left side of the rear end of the frame (900) is connected with the left rear leg rotating frame (509), the 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 the left side of the rear end of the frame (900) is provided with the left rear leg driving connecting rod limiting stop pin (814) for limiting the swing angle of the left rear leg driving connecting rod (804);
the left front leg driving connecting rod (808) is hinged between the left rear leg revolving frame (509) and the left front leg connecting rod mechanism (100), and a left front leg driving connecting rod tension spring (810) is arranged between the left front leg driving connecting rod (808) and the frame (900);
The right middle leg rotary frame (409) is connected to the right side of the middle part of the frame (900), the right middle leg rotary frame (409) and the left rear leg rotary frame (509) are hinged with 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 in 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 frame (900) and the right middle leg revolving frame (409), and the right middle leg revolving frame limiting stop pin (817) is also arranged on the frame (900) 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 frame (900), 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 limit stop pin (815) of the right rear leg driving connecting rod is arranged on the right side of the rear end of the frame (900) 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 a right front leg driving connecting rod tension spring (811) is arranged between the right front leg driving connecting rod (809) and the frame (900);
The left middle leg rotary frame (309) is connected to the left side of the middle part of the frame (900), the left middle leg rotary frame (309) and the right rear leg rotary frame (609) are hinged with 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 slidingly connected in a chute formed at one end part of the left middle leg driving connecting rod (806); the left middle leg revolving frame tension spring (812) is arranged between the frame (900) and the left middle leg revolving frame (309), and the left middle leg revolving frame limiting stop pin (816) is also arranged on the frame (900) so as to limit the revolving angle of the left middle leg revolving frame (309).
4. The metamorphic mechanism-based multifunctional hexapod biomimetic robot according to claim 1, wherein the right front leg linkage (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 cable-stayed spring (7);
the front thigh (1), the calf (2), the thigh connecting rod (3) and the calf connecting rod (4) are hinged to form a parallelogram mechanism, the thigh (1) and the calf (2) are vertically distributed outside the side plate (214) left and right, the thigh connecting rod (3) and the calf connecting rod (4) are transversely distributed outside the side plate (214) up and down, the upper end of the thigh (1) is hinged to the side plate (214), the middle part of the thigh (1) is hinged to the front leg swinging connecting rod (211), the lower end of the thigh (1) extends out of the bottom of the frame (900) to be hinged to one end of the calf connecting rod (4), the other end of the calf connecting rod (4) is hinged to the middle part of the calf (2), and the thigh connecting rod (3) is hinged between the upper end of the calf (2) and the middle part of the thigh (1);
One end of the thigh connecting rod (3) extends outwards to form an extension section (8), the guide pulley (5) is arranged on the side plate (214), the guide pulley (5) is communicated with the inner side and the outer side of the side plate (214), one end of the pull rope (6) is connected with the swing rod II (712), the other end of the pull rope (6) bypasses the guide pulley (5) to be connected with the upper side of the extension section (8), and the oblique tension spring (7) is arranged between the lower side of the extension section (8) and the lower side of the side plate (214).
5. The metamorphic mechanism-based multifunctional hexapod biomimetic robot of claim 1, wherein the left mid-leg metamorphic linkage (300) is arranged on the left mid-leg turret (309), the right mid-leg metamorphic linkage (400) is arranged on the right mid-leg turret (409), the left rear-leg metamorphic linkage (500) is arranged on the left rear-leg turret (509), and the right rear-leg metamorphic linkage (600) is arranged on the right rear-leg turret (609);
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) are identical in structure.
6. The metamorphic mechanism-based multifunctional hexapod biomimetic robot of claim 5, wherein the right mid-leg metamorphic linkage mechanism (400) comprises a mid-leg thigh (401), a mid-leg shank (402), a mid-leg swing link (403), a mid-leg link one (404), a mid-leg link two (405), a mid-leg link three (406), a mid-leg thigh tension spring (407), and a mid-leg shank 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 switching manner so as 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 limit stop pin (40) is arranged on the middle leg thigh (401) so as to limit the swing angle;
the middle lower end of the middle leg thigh (401) is hinged with the middle leg shank (402) through a middle leg connecting rod II (405) and a middle leg connecting rod III (406) respectively to form a parallelogram mechanism, a middle leg shank tension spring (408) is arranged between the middle leg connecting rod II (405) and the middle leg connecting rod III (406), and a small limit stop pin (50) is arranged on the middle leg connecting rod III (406) to limit the expansion and contraction amplitude of the middle leg shank (402);
The middle leg swing rod (403) is further hinged at the hinge joint of the middle leg thigh (401) and the right middle leg revolving frame (409), one end of the rope IV (724) is connected with the swing rod IV (714), the other end of the rope IV (724) is connected with the middle leg swing rod (403) of the right middle leg metamorphic link mechanism (400), one end of the rope III (723) is connected with the swing rod III (713), and the other end of the rope III (723) is connected with the middle leg swing rod (403) of the left middle leg metamorphic link 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 mechanism;
the lower end of the middle leg connecting rod II (405) is hinged with the upper end of the middle leg shank (402), and the middle leg connecting rod III (406) is hinged between the lower end of the middle leg thigh (401) and the middle part of the middle leg shank (402).
CN202210915347.3A 2022-05-27 2022-07-30 Multifunctional hexapod bionic robot based on metamorphic mechanism Active CN115352549B (en)

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JP3170251B2 (en) * 1998-11-30 2001-05-28 株式会社バンダイ Walking equipment
CN101992813B (en) * 2010-10-18 2012-06-27 浙江大学宁波理工学院 Travelling mechanism of two-foot walking robot
CN103661664B (en) * 2012-09-07 2016-01-20 南京理工大学 Partition type controls polypody walking machine
CN102897243B (en) * 2012-10-16 2014-11-26 浙江大学 Robot device capable of walking stably
CN105460099B (en) * 2015-12-21 2017-12-15 西安交通大学 A kind of multi-functional six sufficient climbing robot
CN206171602U (en) * 2016-11-04 2017-05-17 宁波大学 Bionical four -footed spider robot
CN107235089A (en) * 2017-06-30 2017-10-10 天津大学 A kind of ten five degree of freedom bionic 6-leg climbing robots
CN108146532A (en) * 2017-12-19 2018-06-12 浙江工业大学 Bionical mobile robot device
CN114342686A (en) * 2021-12-10 2022-04-15 江苏大学 Bionic six-foot topping robot

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