CN115649319A - Bionic mechanical ant search and rescue robot - Google Patents
Bionic mechanical ant search and rescue robot Download PDFInfo
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- CN115649319A CN115649319A CN202211451620.8A CN202211451620A CN115649319A CN 115649319 A CN115649319 A CN 115649319A CN 202211451620 A CN202211451620 A CN 202211451620A CN 115649319 A CN115649319 A CN 115649319A
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Abstract
The invention relates to a bionic mechanical ant search and rescue robot, which comprises a front body and a rear body, wherein the front body is connected with the rear body through a steering mechanism; a front left walking foot and a front right walking foot are arranged on two sides of the front body, a left middle walking foot and a left rear walking foot are arranged on one side of the rear body, and a right middle walking foot and a right rear walking foot are arranged on the other side of the rear body; the left middle walking foot, the left rear walking foot, the right middle walking foot and the right rear walking foot are controlled by the same driving device, the front left walking foot, the right middle walking foot and the left rear walking foot are in a group, the other 3 walking feet are in a group, and the two groups of walking feet walk alternately, so that the overall stability of the robot is improved. The invention has simple integral structure, stable gait and high flexibility, can walk in buildings and natural environments with very complex topographic relief, and can complete the reconnaissance and search and rescue work in various environmental occasions.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to a bionic mechanical ant search and rescue robot.
Background
In recent years, natural disasters such as earthquakes and landslides frequently occur, and great harm is brought to the life and property safety of people. When the natural disaster early warning means is improved, a search and rescue device (robot) applied to exploration and rescue after an accident occurs is needed, loss caused by natural disasters is reduced to the minimum through timely search and rescue, and life and property safety of people is guaranteed to the maximum extent.
The existing search and rescue robots are mostly only suitable for search and rescue work in complete buildings, such as scenes of fire, toxic and harmful gas leakage, explosive search and the like, generally adopt crawler-type or tire-type motion devices, can only move on flat ground or ground with small gradient, have poor cross-country property and low flexibility, have a complex control system, need to install a large number of electronic components and are low in stability, and are difficult to investigate and search and rescue in complex natural environments with severe environment, dangerous terrain and muddy and slippery environment.
In order to search and rescue in a complex terrain, a plurality of ant bionic search and rescue robots appear, for example, CN 20111033977.3 discloses a six-foot ant robot, six feet are divided into two groups, and the two groups walk alternately, so that the walking stability can be ensured. However, the head of the robot cannot be steered and is poor in flexibility.
CN202110317965.3 discloses a bionic ant robot, which connects a head and a body through a first steering gear, and connects the body and a tail through a second steering gear, and the steering is flexible, but the first steering gear, the second steering gear and a walking assembly adopt different driving mechanisms, and the driving mechanisms are more in number and more complex in structure.
CN202010208482.5 discloses a bionic ant-detecting robot, in which the head and abdomen are connected with the chest by over-stretching devices, and the head and abdomen are stretchable but difficult to steer and have poor flexibility.
CN202011037505.7 discloses a bionic ant detection robot, adopts equipment such as a plurality of steering engines, chest servo motor to drive auxiliary feet, ant feet and the like to walk, adopts head servo motor to drive the head to stretch, adopts the lifting device steering engine to drive a base and a third base to turn, and needs a large number of power equipment, and is high in cost and large in power consumption.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a bionic mechanical ant search and rescue robot, which can quickly and stably walk, can turn the head, adopts less power equipment and reduces the power consumption and the manufacturing cost.
In order to solve the problems, the technical scheme adopted by the invention is as follows: the ant search and rescue robot comprises a front body and a rear body, wherein a front left walking foot and a front right walking foot are respectively arranged on two sides of the front body, a left middle walking foot and a left rear walking foot are arranged on one side of the rear body, and a right middle walking foot and a right rear walking foot are arranged on the other side of the rear body;
a rear trunk frame is arranged in the rear body, a first transmission shaft is arranged at the front end of the rear trunk frame, a second transmission shaft is arranged behind the first transmission shaft, a third transmission shaft is arranged between the first transmission shaft and the second transmission shaft, the axial directions of the first transmission shaft and the second transmission shaft are the left-right direction, the axial direction of the third transmission shaft is the front-back direction, the rear end of the third transmission shaft is connected with the second transmission shaft through a first bevel gear set, the front end of the third transmission shaft is connected with the first transmission shaft through a second bevel gear set, and the second transmission shaft is connected with a first direct current servo motor;
a first crank is fixedly arranged on the left side of the first transmission shaft, a second crank is fixedly arranged on the right side of the first transmission shaft, and the initial phase difference between the first crank and the second crank is 180 degrees; a third crank is fixedly arranged on the left side of the second transmission shaft, a fourth crank is fixedly arranged on the right side of the second transmission shaft, the initial phase difference between the third crank and the fourth crank is 180 degrees, and the initial phase difference between the first crank and the third crank is 180 degrees; the left middle walking foot is hinged to the first crank, the right middle walking foot is hinged to the second crank, the left rear walking foot is hinged to the third crank, the right rear walking foot is hinged to the fourth crank, a first auxiliary connecting rod is hinged to the lower portion of the left middle walking foot, and the upper end of the first auxiliary connecting rod is hinged to the rear body frame; the lower part of the right middle walking foot is hinged with a second auxiliary connecting rod, and the upper end of the second auxiliary connecting rod is hinged with the rear trunk frame; the lower part of the left rear walking foot is hinged with a third auxiliary connecting rod, and the upper end of the third auxiliary connecting rod is hinged with the rear trunk frame; the lower part of the right rear walking foot is hinged with a fourth auxiliary connecting rod, and the upper end of the fourth auxiliary connecting rod is hinged with the rear trunk frame;
a vertical steering shaft is arranged at the front end of the rear body frame and is in running fit with the front body, a second direct-current servo motor is arranged on the rear body frame and is connected with the steering shaft through a first direct-current gear set;
the front body is internally provided with a front torso frame, two sides of the front torso frame are respectively provided with a third direct current servo motor, the front left walking foot and the front right walking foot are respectively connected with the third direct current servo motors through a left transmission mechanism and a right transmission mechanism, the left transmission mechanism and the right transmission mechanism respectively comprise a fifth crank, one end of the fifth crank is fixedly connected to a spindle of the third direct current servo motor, the other end of the fifth crank is hinged with a fifth auxiliary connecting rod, the fifth auxiliary connecting rod is hinged with a seventh auxiliary connecting rod and an eighth auxiliary connecting rod, the seventh auxiliary connecting rod is hinged with the middle part of the front left walking foot or the front right walking foot, the eighth auxiliary connecting rod is hinged with the front torso frame, the upper ends of the front left walking foot and the front right walking foot are hinged with a sixth auxiliary connecting rod, the sixth auxiliary connecting rod is hinged with the front torso frame, the initial phase difference between the fifth crank of the left transmission mechanism and the fifth crank of the right transmission mechanism is 180 degrees, and the initial phase difference between the fifth crank of the left transmission mechanism and the first crank is 180 degrees.
Furthermore, the second transmission shaft is connected with a first direct current servo motor through a second spur gear set.
Further, the steering shaft is connected with the front body through a thrust bearing.
Furthermore, a detection device is arranged at the front end of the precursor.
Further, the detection device is a high-definition infrared camera.
Further, the rear torso frame and the front torso frame are both arranged in the high-strength explosion-proof shell.
Furthermore, preceding trunk frame includes the horizontal plate and sets up the curb plate in the horizontal plate both sides, is provided with the controller between the curb plate of both sides.
Furthermore, the soles of the front left walking foot, the front right walking foot, the left middle walking foot, the left rear walking foot, the right middle walking foot and the right rear walking foot are all provided with anti-skidding structures.
The beneficial effects of the invention are: the invention can divide the front left walking foot, the front right walking foot, the left middle walking foot, the left rear walking foot, the right middle walking foot and the right rear walking foot into two groups, the front left walking foot, the right middle walking foot and the left rear walking foot are divided into one group, the front right walking foot, the left middle walking foot and the right rear walking foot are divided into another group, 3 walking feet of each group move synchronously, and when one group of walking feet moves, the other group of walking feet can support the whole robot, and the 3 walking feet which play a supporting role are supported by three points, thus having good stability.
The precursor can rotate left and right relative to the back body, so that curved walking is realized, and the search and rescue are more flexible.
The 4 walking feet on the rear body are driven by one direct current servo motor, so that the walking is fast and stable, the quantity of power equipment is reduced, the structure is more compact, the weight is lighter, and the power consumption is lower.
Drawings
FIG. 1 is an overall schematic view of the present invention;
FIG. 2 is a schematic view of the rear body of the present invention with the high strength explosion proof housing removed;
FIG. 3 is a schematic bottom view of FIG. 2;
FIG. 4 is a schematic top view of the present invention;
FIG. 5 is a schematic view of a front torso frame;
FIG. 6 is a schematic view of a front right walking foot;
FIG. 7 is a schematic view of a steering mechanism;
FIG. 8 is a schematic view of a right midfoot walking foot;
reference numerals are as follows: 1-a precursor; 2-front torso frame; 3-walking feet in the middle of the left side; 4-right middle walking foot; 5-a detection device; 6-front left walking foot; 7-front right walking foot; 8, side plates; 9-a third dc servo motor; 10-left rear walking foot; 11-right rear walking foot; 12 — the back body; 13-fifth crank; 14-a fifth auxiliary link; 15-high-strength explosion-proof housing; 16-a sixth auxiliary link; 17-a seventh auxiliary link; 170-a controller; 18-eighth auxiliary link; 201-rear torso frame; 202-steering shaft; 203 — a first straight gear set; 204-thrust bearing; 205 — second crank; 207 — first crank; 209 — second spur gear set; 210 — a third crank; 211 — fourth crank; 212 — a first auxiliary link; 213-second auxiliary link; 214 — a third auxiliary link; 215-fourth auxiliary link; 301 — a second dc servo motor; 302-a first dc servo motor; 303 — a second bevel gear set; 304 — a second drive shaft; 305 — a third drive shaft; 306 — a first drive shaft; 307 — first bevel gear set.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
The bionic mechanical ant search and rescue robot comprises a front body 1 and a rear body 12, the front body 1 and the rear body 12 are main bodies of the robot, the front body 1 comprises a front body frame 2, the rear body 12 comprises a rear body frame 201, high-strength explosion-proof shells 15 are arranged outside the front body frame 2 and the rear body frame 201, the high-strength explosion-proof shells 15 are made of high-strength materials such as titanium alloy and the like, the tightness is improved by adopting a sealant through bolt installation, the bionic mechanical ant search and rescue robot can play a role in protecting the body frames 2 and the rear body frame 201, and equipment on the body frames 2 and the rear body frame 201 are prevented from being bruised and crushed by soil, stones and the like. The front body 1 and the rear body 12 are connected through a steering mechanism, so that the front body 1 can rotate left and right relative to the rear body 12, and the robot can walk in a curve.
The two sides of the front body 1 are respectively provided with a front left walking foot 6 and a front right walking foot 7, one side of the rear body 12 is provided with a left middle walking foot 3 and a left rear walking foot 10, and the other side of the rear body 12 is provided with a right middle walking foot 4 and a right rear walking foot 11. The front left walking foot 6, the front right walking foot 7, the left middle walking foot 3, the left rear walking foot 10, the right middle walking foot 4 and the right rear walking foot 11 are used for supporting the robot and realizing the walking function of the robot, and specifically, the invention divides the 6 walking feet into two groups, wherein one group is the front left walking foot 6, the right middle walking foot 4 and the left rear walking foot 10, the other group is the front right walking foot 7, the left middle walking foot 3 and the right rear walking foot 11, and when one group of walking feet moves, the other group of walking feet is supported on the ground or other articles, so that the whole robot is kept stable. The method is realized by the following specific structure:
be provided with back trunk frame 201 in the back trunk 12, the front end of back trunk frame 201 is provided with first transmission shaft 306, the rear of first transmission shaft 306 is provided with second transmission shaft 304, be provided with third transmission shaft 305 between first transmission shaft 306 and the second transmission shaft 304, the axial of first transmission shaft 306 and second transmission shaft 304 is left right direction, the axial of third transmission shaft 305 is fore-and-aft direction, and the rear end of third transmission shaft 305 links to each other with second transmission shaft 304 through first bevel gear group 307, the front end of third transmission shaft 305 links to each other with first transmission shaft 306 through second bevel gear group 303, second transmission shaft 304 is connected with first direct current servo motor 302. The second transmission shaft 304 is connected to the first dc servo motor 302 through the second dc gear set 209, and the second transmission shaft 304 may be connected to the first dc servo motor 302 through a transmission member such as a belt. The first transmission shaft 306, the second transmission shaft 304 and the third transmission shaft 305 are mounted on the lower surface of the rear torso frame 201 through a mounting seat, and can smoothly rotate. When the first dc servo motor 302 operates, the second transmission shaft 304 may be driven to rotate, when the second transmission shaft 304 rotates, the first bevel gear set 307 drives the third transmission shaft 305 to rotate, and the third transmission shaft 305 transmits the rotation motion to the first transmission shaft 306 through the second bevel gear set 303, thereby realizing the synchronous rotation of the three transmission shafts. The gear ratio of the first bevel gear set 307 and the second bevel gear set 303 is one to one, ensuring that the rotational speed of the first transmission shaft 306 and the second transmission shaft 304 are the same.
A first crank 207 is fixedly arranged on the left side of the first transmission shaft 306, a second crank 205 is fixedly arranged on the right side of the first transmission shaft 306, and the initial phase difference between the first crank 207 and the second crank 205 is 180 degrees; a third crank 210 is fixedly arranged on the left side of the second transmission shaft 304, a fourth crank 211 is fixedly arranged on the right side of the second transmission shaft 304, the initial phase difference between the third crank 210 and the fourth crank 211 is 180 degrees, and the initial phase difference between the first crank 207 and the third crank 210 is 180 degrees; the left middle walking foot 3 is hinged with a first crank 207, the right middle walking foot 4 is hinged with a second crank 205, the left rear walking foot 10 is hinged with a third crank 210, the left rear walking foot 10 is hinged with a fourth crank 211, the lower part of the left middle walking foot 3 is hinged with a first auxiliary connecting rod 212, and the upper end of the first auxiliary connecting rod 212 is hinged with the rear trunk frame 201; the lower part of the right middle walking foot 4 is hinged with a second auxiliary connecting rod 213, and the upper end of the second auxiliary connecting rod 213 is hinged with the rear trunk frame 201; the lower part of the left rear walking foot 10 is hinged with a third auxiliary connecting rod 214, and the upper end of the third auxiliary connecting rod 214 is hinged with the rear trunk frame 201; the lower part of the right rear walking foot 11 is hinged with a fourth auxiliary connecting rod 215, and the upper end of the fourth auxiliary connecting rod 215 is hinged with the rear trunk frame 201.
When the first transmission shaft 306 rotates, the first crank 207 and the second crank 205 are driven to rotate, the first crank 207 drives the left middle walking foot 3 to rotate, under the action of the first auxiliary connecting rod 212, the left middle walking foot 3 can realize reciprocating motion, and the motion track is similar to an ellipse. Similarly, the right middle walking foot 4, the left rear walking foot 10 and the right rear walking foot 11 also make reciprocating motion with a motion trajectory similar to an ellipse, thereby driving the robot to walk.
The structure of the right middle walking foot 4 and the structure thereof are shown in fig. 8, the structure of the right rear walking foot 11, the left middle walking foot 3 and the left rear walking foot 10 is the same as that in fig. 8, and the foot end trajectory is similar to an ellipse. For a single foot, the walking foot can be driven to move by driving the crank to rotate through the rotating shaft, the motion function is simple to realize, the degree of freedom is low, each foot has strong structural stability, and the stability of the bionic ant in the motion process can be ensured.
The rear body walking transmission mechanism can effectively link the motions of the four feet which originally move independently, achieves the effect of four feet movement when one foot moves, can control all the motions of the four feet by only one motor, greatly reduces the use amount of the motor, achieves multiple purposes, ensures that the whole rear body walking mechanism is simple and convenient to control, has high motion efficiency, strong structural stability, strong stress capacity and small transmission error, can ensure the gait stability of the moving four feet, and ensures the stability and the reliability of the motion process of the bionic ants.
A front trunk frame 2 is arranged in the front body 1, third direct current servo motors 9 are respectively arranged on two sides of the front trunk frame 2, and a front left walking foot 6 and a front right walking foot 7 are respectively connected with the third direct current servo motors 9 through a left transmission mechanism and a right transmission mechanism, as shown in fig. 6, fig. 6 is the structure of the front right walking foot 7, and the structure of the front left walking foot 6 is the same as that of fig. 6. The left transmission mechanism and the right transmission mechanism both comprise a fifth crank 13, one end of the fifth crank 13 is fixedly connected to a spindle of the third direct current servo motor 9, the other end of the fifth crank 13 is hinged to a fifth auxiliary connecting rod 14, one end, far away from the fifth crank 13, of the fifth auxiliary connecting rod 14 is hinged to a seventh auxiliary connecting rod 17 and an eighth auxiliary connecting rod 18, the length of the fifth auxiliary connecting rod 14 is larger than that of the eighth auxiliary connecting rod 18, the seventh auxiliary connecting rod 17 is hinged to the middle of the front left walking foot 6 or the front right walking foot 7, and the eighth auxiliary connecting rod 18 is hinged to the front body frame 2. The upper ends of the front left walking foot 6 and the front right walking foot 7 are hinged with a sixth auxiliary connecting rod 16, and the sixth auxiliary connecting rod 16 is hinged with the front torso frame 2. The fifth crank 13 of the left transmission and the fifth crank 13 of the right transmission are initially out of phase by 180 deg., and the fifth crank 13 of the left transmission is initially out of phase by 180 deg. with the first crank 207.
The third direct current servo motor 9 drives the fifth crank 13 to rotate clockwise when moving, the fifth crank 13 drives the fifth auxiliary connecting rod 14, the seventh auxiliary connecting rod 17 and the eighth auxiliary connecting rod 18 to move, the movement is transmitted to the front left walking foot 6 and the front right walking foot 7, and under the action of the sixth auxiliary connecting rod 16, the front left walking foot 6 and the front right walking foot 7 walk forwards and can be matched with the left middle walking foot 3, the right middle walking foot 4, the left rear walking foot 10 and the right rear walking foot 11 to drive the robot to walk. The foot end motion tracks of the front left walking foot 6 and the front right walking foot 7 are shown in fig. 6, and it can be seen from the foot end motion tracks that the front left walking foot 6 and the front right walking foot 7 are six-rod mechanisms with quick return characteristics, have certain obstacle crossing capability and can adapt to different terrains. In addition, only one direct current servo motor can drive one front foot to complete advancing and retreating movement, and compared with the traditional foot walking mechanism needing to be controlled by a plurality of motors, the control difficulty of the front foot walking mechanism is greatly reduced; more mechanical structures are adopted to replace circuits and programs, so that the failure rate of the front foot in the motion process can be effectively reduced; the mechanical structure has higher rigidity and structural stability, and can ensure the motion stability of the bionic ant in the advancing process.
The "initial phase difference of 180 ° means that the angle between the corresponding cranks is 180 °, for example, when the first crank 207 and the second crank 205 are mounted on the first transmission shaft 306, the first crank 207 is vertically mounted upward and located above the first transmission shaft 306, and the second crank 205 is mounted downward and located below the first transmission shaft 306, so that it can be ensured that the angle between the first crank 207 and the second crank 205 is always kept at 180 ° during the rotation of the first transmission shaft 306, since the left middle walking foot 3 is driven by the first crank 207 to rotate and the right middle walking foot 4 is driven by the second crank 205 to rotate, since the positions of the first crank 207 and the second crank 205 are different, the left middle walking foot 3 and the right middle walking foot 4 are different at the same time, when the left middle walking foot 3 leaves the ground, the right middle walking foot 4 is supported on the ground, and when the left middle walking foot 3 contacts the ground, the right middle walking foot 4 starts to leave the ground, thereby realizing alternate walking. The present invention can synchronize the three walking feet of the front left walking foot 6, the right middle walking foot 4 and the left rear walking foot 10, simultaneously synchronize the three walking feet of the front right walking foot 7, the left middle walking foot 3 and the right rear walking foot 11, and alternately advance two groups of walking feet by controlling the initial phase difference of the first crank 207 and the second crank 205 to 180 °, the initial phase difference of the third crank 210 and the fourth crank 211 to 180 °, the initial phase difference of the first crank 207 and the third crank 210 to 180 °, the initial phase difference of the fifth crank 13 of the left transmission mechanism and the fifth crank 13 of the right transmission mechanism to 180 °, and the initial phase difference of the fifth crank 13 of the left transmission mechanism and the first crank 207 to 180 °.
When one group of walking feet leaves the ground, the other group of walking feet is supported on the ground, and because each group of walking feet are distributed in a triangular shape and positioned at the front, middle and rear parts of the robot to form a triangular support frame, the gravity center of the robot is ensured to be positioned in a supporting triangle at any time, and the whole robot can be stably supported. In addition, the left middle walking foot 3, the left rear walking foot 10, the right middle walking foot 4 and the right rear walking foot 11 only need to adopt one first direct current servo motor 302 to provide power, the number of power equipment is small, the power consumption is low, the manufacturing cost of the robot is reduced, the movement coordination is improved, and the lightweight design is realized. In addition, the left walking foot 6 and the front right walking foot 7 are six-rod mechanisms with quick return characteristics, mainly play a role in guiding and obstacle crossing, and ensure the stability and the stress performance of the front foot of the robot, and the left middle walking foot 3, the left rear walking foot 10, the right middle walking foot 4 and the right rear walking foot 11 mainly play a role in walking and supporting, and can ensure stable walking when contacting the ground.
The steering mechanism comprises a steering shaft 202 arranged at the front end of the rear torso frame 201, as shown in fig. 7, the steering shaft 202 is vertically arranged, one end of the steering shaft 202 is rotatably matched with the front torso 1, and the other end of the steering shaft 202 is rotatably matched with the rear torso frame 201, so that the front torso 1 and the rear torso 12 are connected into a whole. The steering shaft 202 is connected to the front body 1 through a thrust bearing 204, and smoothness and reliability of steering are ensured. The rear body frame 201 is provided with a second direct current servo motor 301, and the second direct current servo motor 301 is connected with the steering shaft 202 through a first direct current gear set 203. The second dc servo motor 301 is installed on the lower surface of the rear torso frame 201, the main shaft of the second dc servo motor is upward passed through the rear torso frame 201, the first dc servo gear set 203 includes a large gear and a small gear, the large gear is installed on the steering shaft 202, and the small gear is installed on the main shaft of the second dc servo motor 301 to form a reduction gear set, which can improve the stability of steering. After the front body frame is installed, the upper end surfaces of the large gear and the thrust bearing 204 are relatively fixed with the front body 1, the lower end surface of the thrust bearing 204 is relatively fixed with the rear body frame 201, the first direct current servo motor 301 drives the first direct current gear set 203 to rotate, and then the front body frame 1 is driven to rotate, and the front body frame 1 is turned. The whole steering device allows left and right 60-degree steering.
The front end of the precursor 1 is provided with a detection device 5, and the detection device 5 is used for observing the front situation so as to avoid obstacles and detect whether survivors exist in the front or not. The detection device 5 can adopt an infrared detection head and the like, preferably adopts two high-definition infrared cameras, can shoot a front picture, and can know the front condition more intuitively.
The front torso frame 2 includes a horizontal plate and side plates 8 disposed at both sides of the horizontal plate, and a controller 170 is disposed between the side plates 8. The controller 170 adopts a main control MCU, a driver and the like, and is used for controlling the operation of the first dc servo motor 302, the second dc servo motor 301 and the third dc servo motor 9, and can avoid obstacles according to the detection signal of the detection device 5. A power supply may be mounted on the rear torso frame 201 for supplying power to various electrical devices.
The soles of the front left walking foot 6, the front right walking foot 7, the left middle walking foot 3, the left rear walking foot 10, the right middle walking foot 4 and the right rear walking foot 11 are all provided with anti-skidding structures which can be raised lines, bosses and the like and can also be anti-skidding pads.
The invention has simple integral structure, proper volume, stable gait, high flexibility and strong universality, can walk in a building and also in a natural environment with very complex topographic relief, and can complete the reconnaissance and search and rescue work of various environmental occasions which can not be carried out by the existing equipment; meanwhile, the moving part of the robot adopts a mechanical structure mostly, so that the robot has strong anti-interference performance and higher structural rigidity, and the stability and the service life in the working process are ensured.
In conclusion, the invention has the following characteristics:
1. flexibility: the ant bionic machinery is six-foot type bionic machinery, the feet are divided into two types, the front two feet are six-rod mechanisms with quick return characteristics and have certain obstacle crossing capability, and the rear four feet are four-rod mechanisms of linked crank and rocker arms; the steering mechanism can support the left and right steering of the front body at 60 degrees, and the combination of the front foot, the rear foot and the steering mechanism provides the bionic ant with higher motion flexibility and can adapt to different terrains.
2. Easiness in control: the front foot driving part is a crank, the crank is driven by a servo motor to rotate, and the front foot driving part has two front feet; the four rear legs are combined by two pairs of bevel gear sets and three transmission shafts to form four-foot linkage, and a stepping motor drives the tail end transmission shaft through the gear sets to synchronously drive the rear four-feet to walk. In addition, the stepping motor used by the steering mechanism is added, the whole bionic ant body only uses 4 motors, and compared with the traditional similar product with complex control, the bionic ant body is easier to control.
3. Stability: the whole body of the bionic mechanical ant adopts a plurality of structures with stronger stability, so that the bionic mechanical ant has stronger structural stability; the rear four feet incline outwards, the foot falling points of the four feet occupy a larger range on the ground, and meanwhile, the whole gravity center of the bionic ant leans backwards and is mainly supported by the rear four feet, so that the bionic ant is not easy to overturn; the whole posterior body advancing mechanism is simple and convenient to control, the motion is efficient, the whole transmission mechanism is strong in structural stability, strong in stress capacity and small in transmission error, the gait stability of four feet of motion can be guaranteed, and the stability and reliability of the motion process of the bionic ants are guaranteed; the stepping motors are all matched with a gear set for reducing the speed so as to avoid the low-frequency vibration of the stepping motors.
The upper, lower, left, right and other directions of the robot are all based on the normal walking of the bionic mechanical ant search and rescue robot, for example, the walking direction of the bionic mechanical ant search and rescue robot is the front, and the walking direction is the back.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The bionic mechanical ant search and rescue robot comprises a front body (1) and a rear body (12), wherein a front left walking foot (6) and a front right walking foot (7) are respectively arranged on two sides of the front body (1), a left middle walking foot (3) and a left rear walking foot (10) are arranged on one side of the rear body (12), and a right middle walking foot (4) and a right rear walking foot (11) are arranged on the other side of the rear body (12); the method is characterized in that:
a rear trunk frame (201) is arranged in the rear body (12), a first transmission shaft (306) is arranged at the front end of the rear trunk frame (201), a second transmission shaft (304) is arranged behind the first transmission shaft (306), a third transmission shaft (305) is arranged between the first transmission shaft (306) and the second transmission shaft (304), the axial directions of the first transmission shaft (306) and the second transmission shaft (304) are left and right, the axial direction of the third transmission shaft (305) is front and back, the rear end of the third transmission shaft (305) is connected with the second transmission shaft (304) through a first bevel gear set (307), the front end of the third transmission shaft (305) is connected with the first transmission shaft (306) through a second bevel gear set (303), and the second transmission shaft (304) is connected with a first direct current servo motor (302);
a first crank (207) is fixedly arranged on the left side of the first transmission shaft (306), a second crank (205) is fixedly arranged on the right side of the first transmission shaft (306), and the initial phase difference between the first crank (207) and the second crank (205) is 180 degrees; a third crank (210) is fixedly arranged on the left side of the second transmission shaft (304), a fourth crank (211) is fixedly arranged on the right side of the second transmission shaft (304), the initial phase difference between the third crank (210) and the fourth crank (211) is 180 degrees, and the initial phase difference between the first crank (207) and the third crank (210) is 180 degrees; the left middle walking foot (3) is hinged to the first crank (207), the right middle walking foot (4) is hinged to the second crank (205), the left rear walking foot (10) is hinged to the third crank (210), the right rear walking foot (11) is hinged to the fourth crank (211), the lower portion of the left middle walking foot (3) is hinged to a first auxiliary connecting rod (212), and the upper end of the first auxiliary connecting rod (212) is hinged to the rear trunk frame (201); the lower part of the right middle walking foot (4) is hinged with a second auxiliary connecting rod (213), and the upper end of the second auxiliary connecting rod (213) is hinged with the rear trunk frame (201); the lower part of the left rear walking foot (10) is hinged with a third auxiliary connecting rod (214), and the upper end of the third auxiliary connecting rod (214) is hinged with the rear trunk frame (201); the lower part of the right rear walking foot (11) is hinged with a fourth auxiliary connecting rod (215), and the upper end of the fourth auxiliary connecting rod (215) is hinged with the rear trunk frame (201);
a vertical steering shaft (202) is arranged at the front end of the rear body frame (201), the steering shaft (202) is in running fit with the front body (1), a second direct current servo motor (301) is arranged on the rear body frame (201), and the second direct current servo motor (301) is connected with the steering shaft (202) through a first direct current gear set (203);
a front torso frame (2) is arranged in the front body (1), third direct current servo motors (9) are respectively arranged on two sides of the front torso frame (2), the front left walking foot (6) and the front right walking foot (7) are respectively connected with a third direct current servo motor (9) through a left transmission mechanism and a right transmission mechanism, the left transmission mechanism and the right transmission mechanism both comprise a fifth crank (13), one end of the fifth crank (13) is fixedly connected to a main shaft of a third direct current servo motor (9), the other end of the fifth crank (13) is hinged with a fifth auxiliary connecting rod (14), the fifth auxiliary connecting rod (14) is hinged with a seventh auxiliary connecting rod (17) and an eighth auxiliary connecting rod (18), the seventh auxiliary connecting rod (17) is hinged with the middle part of the front left walking foot (6) or the front right walking foot (7), the eighth auxiliary connecting rod (18) is hinged with the front trunk frame (2), the upper ends of the front left walking foot (6) and the front right walking foot (7) are hinged with a sixth auxiliary connecting rod (16), the sixth auxiliary link (16) is articulated with the front torso frame (2), the initial phase difference between the fifth crank (13) of the left transmission mechanism and the fifth crank (13) of the right transmission mechanism is 180 degrees, and the fifth crank (13) of the left transmission mechanism is 180 degrees different from the first crank (207) in initial phase.
2. The bionic mechanical ant search and rescue robot as claimed in claim 1, characterized in that: the second transmission shaft (304) is connected with the first direct current servo motor (302) through a second direct current gear set (209).
3. The bionic mechanical ant search and rescue robot as claimed in claim 1, characterized in that: the steering shaft (202) is connected with the precursor (1) through a thrust bearing (204).
4. The bionic mechanical ant search and rescue robot as claimed in claim 1, characterized in that: the front end of the precursor (1) is provided with a detection device (5).
5. The bionic mechanical ant search and rescue robot as claimed in claim 4, characterized in that: the detection device (5) is a high-definition infrared camera.
6. The biomimetic mechanical ant search and rescue robot as recited in claim 1, wherein: the rear trunk frame (201) and the front trunk frame (2) are both arranged in the high-strength explosion-proof shell (15).
7. The bionic mechanical ant search and rescue robot as claimed in claim 1, characterized in that: the front torso frame (2) comprises a horizontal plate and side plates (8) arranged on two sides of the horizontal plate, and a controller (170) is arranged between the two side plates (8).
8. The bionic mechanical ant search and rescue robot as claimed in claim 1, characterized in that: the soles of the front left walking foot (6), the front right walking foot (7), the left middle walking foot (3), the left rear walking foot (10), the right middle walking foot (4) and the right rear walking foot (11) are all provided with anti-skidding structures.
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| CN202211451620.8A CN115649319A (en) | 2022-11-21 | 2022-11-21 | Bionic mechanical ant search and rescue robot |
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| CN202211451620.8A CN115649319A (en) | 2022-11-21 | 2022-11-21 | Bionic mechanical ant search and rescue robot |
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Application publication date: 20230131 |