CN205034208U - Six sufficient bionic robot - Google Patents
Six sufficient bionic robot Download PDFInfo
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- CN205034208U CN205034208U CN201520802964.8U CN201520802964U CN205034208U CN 205034208 U CN205034208 U CN 205034208U CN 201520802964 U CN201520802964 U CN 201520802964U CN 205034208 U CN205034208 U CN 205034208U
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- leg
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- fuselage
- upper cover
- robot
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 16
- 230000004888 barrier function Effects 0.000 claims abstract description 12
- 230000015572 biosynthetic process Effects 0.000 claims abstract description 10
- 210000002414 leg Anatomy 0.000 claims description 106
- 210000001624 hip Anatomy 0.000 claims description 11
- 210000004394 hip joint Anatomy 0.000 claims description 6
- 210000000629 knee joint Anatomy 0.000 claims description 6
- 238000013016 damping Methods 0.000 claims description 3
- 238000012876 topography Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 5
- 230000005021 gait Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
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Abstract
The utility model relates to a robot especially relates to six sufficient bionic robot, include upper plate, lower plate, fire extinguisher, upper cover, keep away barrier sensor, controller, six legs in addition, upper plate and lower plate constitution fuselage, the upper cover is installed to the upper plate top, install the controller in the upper cover, the fuselage is the octagon, and one of them is two ends respectively to the opposite side, and the hexagon lies in both sides formation side waist respectively in addition, and article one leg, second leg, third strip leg are installed at side waist one end, the intermediate sum other end in proper order, and fourth strip leg, the 5th leg, the 6th leg symmetry are installed in proper order on another avris waist, the fire extinguisher is installed on end on the fuselage, install one between per two legs and keep away the barrier sensor. The utility model provides a six sufficient bionic robot has stronger adaptability to the environment, can realize keeping away in real time the barrier, the rational planning and scientific arrangement route of walking, and the fuselage is stable, and leg motion flexible and diverse adapts to various topography, friction speed and load requirement.
Description
Technical field
The utility model relates to a kind of robot, particularly relates to bionic 6-leg robot.
Background technology
Complicated along with robot working environment and task, require that robot has higher kinematic dexterity, comformability at special and circumstances not known, the travel mechanism of the simple wheel of robot and crawler belt can not adapt to changeable complex environment requirement, the forest environment that such as fire takes place frequently.
Utility model content
For above-mentioned technical matters, the utility model provides a kind of bionic 6-leg robot, provides the mobile platform of motion stabilization under complex-terrain environment.
Concrete technical scheme is:
Bionic 6-leg robot, comprises upper plate, lower shoe, fire extinguisher, upper cover, keeps away barrier sensor, controller, also have six legs, be respectively Article 1 leg, Article 2 leg, third leg, Article 4 leg, Article 5 leg, Article 6 leg; Upper plate and lower shoe composition fuselage, be provided with upper cover above upper plate; In upper cover, controller is installed, fuselage is octagon, wherein a pair opposite side is respectively two terminations, hexagon lays respectively at formation side, both sides waist in addition, Article 1, leg, Article 2 leg, third leg are arranged on waist one end, side, centre and the other end successively, and Article 4 leg, Article 5 leg, Article 6 leg symmetry are arranged on another avris waist successively; Fire extinguisher is arranged on fuselage termination; Be provided with one between every two legs and keep away barrier sensor.
Described leg comprises leg, middle leg and lower leg, and upper leg is hinged on fuselage and forms root joint, upper leg and the hinged formation hip joint of middle leg; Middle leg and the hinged formation knee joint of lower leg; Upper leg is with root joint for fulcrum has rotational freedom in the horizontal plane, and middle leg is that fulcrum has swing degree of freedom on the vertical plane with hip joint, and lower leg is that fulcrum has swing degree of freedom on the vertical plane with knee joint; Lower leg end has damping spring device.
The moving method of bionic 6-leg robot is, Article 1 leg, third leg, Article 5 leg form first group of leg, and Article 2 leg, Article 4 leg, Article 6 leg form second group of leg; When second group of leg supports, first group of leg takes a step forward, and after kiss the earth is fixing, first group of leg is as supporting fuselage, and second group of leg moves ahead follow-up, recovers initial six sufficient holding states, completes a step and move ahead; Said process is repeated during continuous walking.
The turning method of bionic 6-leg robot is, first by second group of leg as support, first group of leg moves to the ground of specifying respectively, body nodal point is to the direction tilt adjustments of second group of leg simultaneously, the support of ground as fuselage is fixed on after first group of leg execution, second group of leg moves to the ground of specifying, and the servo-actuated adjustment of body nodal point, reaches the object of angle of turn simultaneously.
The bionic 6-leg robot that the utility model provides, has stronger adaptive capacity to environment, and what distribute around fuselage keeps away barrier sensor, can realize Real Time Obstacle Avoiding, track route of making rational planning for; Fuselage is octagon, improves the stability of robot, increases the rotation space of leg, avoids the mutual collision between each bar leg and movement interference; Every bar leg comprises three joints, and motion is flexibly, various informative, adapts to various landform, there is multiple gait, can adapt to friction speed and loading demands.Adopt driven by servomotor, precision is higher, also more stable.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is plan structure schematic diagram of the present utility model;
Fig. 3 is leg structural representation of the present utility model;
Fig. 4 is bionic 6-leg robot advance gait analysis chart of the present utility model;
Fig. 5 is bionic 6-leg robot turning gait analysis figure of the present utility model.
Detailed description of the invention
Accompanying drawings detailed description of the invention of the present utility model.
As depicted in figs. 1 and 2, bionic 6-leg robot, comprise upper plate 2, lower shoe 3, fire extinguisher 4, upper cover 5, keep away barrier sensor 6, controller 7, also have six legs, be respectively Article 1 leg 101, Article 2 leg 102, third leg 103, Article 4 leg 104, Article 5 leg 105, Article 6 leg 106;
Upper plate 2 and lower shoe 3 form fuselage, are provided with upper cover 5 above upper plate 2; Controller 7 is installed in upper cover 5, fuselage is octagon, wherein a pair opposite side is respectively two terminations, hexagon lays respectively at formation side, both sides waist in addition, Article 1, leg 101, Article 2 leg 102, third leg 103 are arranged on waist one end, side, centre and the other end successively, and Article 4 leg 104, Article 5 leg 105, Article 6 leg 106 symmetry are arranged on another avris waist successively;
Fire extinguisher 4 is arranged on fuselage termination, for putting out a fire when finding burning things which may cause a fire disaster; Be provided with one between every two legs and keep away barrier sensor 6, for the detection of the obstacle in bionic 6-leg robot motion process, keep away barrier sensor 6 and be arranged in respectively around fuselage, reduce detection blind area, can feedback position information in time, plan track route.
Lower shoe 3 is formed by connecting by three blocks of plates, reduces the deformation under Extreme Temperature Conditions.Enough large space is stopped, for laying servo-driver and power supply in fuselage.Controller 7 is placed in above upper plate 2, for collecting the information of keeping away barrier sensor 6 and gathering, according to actual conditions from main separation mode, drives the running in the six each joints of biped robot.
As shown in Figure 1, Figure 2 and Figure 3, described leg comprises leg 11, middle leg 12 and lower leg 13, and upper leg 11 is hinged on fuselage and forms root joint 14, upper leg 11 and the hinged formation hip joint 15 of middle leg 12; Middle leg 12 and the hinged formation knee joint 16 of lower leg 13; Upper leg 11 has rotational freedom with root joint 14 in the horizontal plane for fulcrum, and upper leg 11 can drive the swing of whole piece leg; Middle leg 12 has swing degree of freedom with hip joint 15 on the vertical plane for fulcrum, and the swing of middle leg 12 completes lifts the action that leg moved and fell support; Lower leg 13 has swing degree of freedom with knee joint 16 on the vertical plane for fulcrum, and lower leg 13 adjusts corner in time according to ground environment, steadily lands; Lower leg 13 end has damping spring device, reduces the vibrations that robot produces when rapid movement, keeps the steady of fuselage.In order to reduce the friction with ground, lower leg 13 end is round end shape.
The leg of the leg at waist two ends, side and opposite side waist centre forms two groups of legs respectively, and when moving ahead, one group of leg supports, and another group leg moves.As shown in Figure 4, Article 1 leg 101, third leg 103, Article 5 leg 105 form first group of leg, and Article 2 leg 102, Article 4 leg 104, Article 6 leg 106 form second group of leg; When second group of leg supports, first group of leg takes a step forward, and after kiss the earth is fixing, first group of leg is as supporting fuselage, and second group of leg moves ahead follow-up, recovers initial six sufficient holding states, completes a step and move ahead.Said process is repeated during continuous walking.
As shown in Figure 5, turning is equivalent to fuselage and advances on the track that has certain circular arc, and each step needs the posture of suitably fine setting fuselage.First by second group of leg as support, first group of leg moves to the ground of specifying respectively, body nodal point is to the direction tilt adjustments of second group of leg simultaneously, the support of ground as fuselage is fixed on after first group of leg execution, second group of leg moves to the ground of specifying, the servo-actuated adjustment of body nodal point, reaches the object of angle of turn simultaneously.This kind of mode gait of turning only needs two steps can complete the turning of certain angle.
Claims (2)
1. bionic 6-leg robot, it is characterized in that: comprise upper plate (2), lower shoe (3), fire extinguisher (4), upper cover (5), keep away barrier sensor (6), controller (7), also have six legs, be respectively Article 1 leg (101), Article 2 leg (102), third leg (103), Article 4 leg (104), Article 5 leg (105), Article 6 leg (106);
Upper plate (2) and lower shoe (3) composition fuselage, upper plate (2) top is provided with upper cover (5); Controller (7) is installed in upper cover (5), fuselage is octagon, wherein a pair opposite side is respectively two terminations, hexagon lays respectively at formation side, both sides waist in addition, Article 1, leg (101), Article 2 leg (102), third leg (103) are arranged on waist one end, side, centre and the other end successively, and Article 4 leg (104), Article 5 leg (105), Article 6 leg (106) symmetry are arranged on another avris waist successively;
Fire extinguisher (4) is arranged on fuselage termination; Be provided with one between every two legs and keep away barrier sensor (6).
2. bionic 6-leg robot according to claim 1, it is characterized in that: described leg comprises leg (11), middle leg (12) and lower leg (13), upper leg (11) is hinged on fuselage and forms root joint (14), upper leg (11) and the hinged formation hip joint (15) of middle leg (12); Middle leg (12) and the hinged formation knee joint (16) of lower leg (13); Upper leg (11) with root joint (14) for fulcrum has rotational freedom in the horizontal plane, middle leg (12) with hip joint (15) for fulcrum has swing degree of freedom on the vertical plane, lower leg (13) with knee joint (16) for fulcrum has swing degree of freedom on the vertical plane; Lower leg (13) end has damping spring device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520802964.8U CN205034208U (en) | 2015-10-19 | 2015-10-19 | Six sufficient bionic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520802964.8U CN205034208U (en) | 2015-10-19 | 2015-10-19 | Six sufficient bionic robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205034208U true CN205034208U (en) | 2016-02-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520802964.8U Expired - Fee Related CN205034208U (en) | 2015-10-19 | 2015-10-19 | Six sufficient bionic robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN205034208U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105151157A (en) * | 2015-10-19 | 2015-12-16 | 南京林业大学 | Hexapod bionic robot |
| CN105857436A (en) * | 2016-05-04 | 2016-08-17 | 昆明理工大学 | Fire-fighting robot |
| CN105905188A (en) * | 2016-06-25 | 2016-08-31 | 李玉婷 | Six-legged robot |
| CN107719508A (en) * | 2016-04-05 | 2018-02-23 | 赵德朝 | A kind of Hexapod Robot and foot control method and gait control method |
| CN115284314A (en) * | 2022-08-20 | 2022-11-04 | 西南交通大学 | Multifunctional flexible robot applied to ruins search and rescue |
-
2015
- 2015-10-19 CN CN201520802964.8U patent/CN205034208U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105151157A (en) * | 2015-10-19 | 2015-12-16 | 南京林业大学 | Hexapod bionic robot |
| CN107719508A (en) * | 2016-04-05 | 2018-02-23 | 赵德朝 | A kind of Hexapod Robot and foot control method and gait control method |
| CN105857436A (en) * | 2016-05-04 | 2016-08-17 | 昆明理工大学 | Fire-fighting robot |
| CN105857436B (en) * | 2016-05-04 | 2018-08-31 | 昆明理工大学 | A kind of fire-fighting robot |
| CN105905188A (en) * | 2016-06-25 | 2016-08-31 | 李玉婷 | Six-legged robot |
| CN115284314A (en) * | 2022-08-20 | 2022-11-04 | 西南交通大学 | Multifunctional flexible robot applied to ruins search and rescue |
| CN115284314B (en) * | 2022-08-20 | 2024-06-07 | 西南交通大学 | Multifunctional flexible robot applied to ruin search and rescue |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Chuzhou Monte tech Environmental Protection Technology Co.,Ltd. Assignor: Nanjing Forestry University Contract record no.: 2019320000265 Denomination of utility model: Miniaturized bionic 6-leg robot Granted publication date: 20160217 License type: Common License Record date: 20190725 Assignee: Anhui Arrow Electronics Co.,Ltd. Assignor: Nanjing Forestry University Contract record no.: 2019320000264 Denomination of utility model: Miniaturized bionic 6-leg robot Granted publication date: 20160217 License type: Common License Record date: 20190725 |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160217 |