CN205675128U - A kind of bionic 6-leg robot - Google Patents

Abstract

The utility model discloses a hexapod bionic robot, which belongs to the technical field of robots. The hexapod bionic robot of the prior art has a complicated structure and high cost, which cannot be afforded by ordinary users, and the obstacle avoidance effect of the prior art hexapod bionic robot is not good, and the movement route is relatively single. The utility model comprises a bionic frame, a bionic foot with two joints, a drive source for driving the motion of the bionic foot, and a control chip for controlling the drive source. The drive source includes a longitudinal drive source for driving the bionic foot to move longitudinally, A transverse drive source for driving the lateral movement of the bionic foot, the longitudinal drive source includes a first drive source for driving the first joint movement of the bionic foot, and a second drive source for driving the second joint movement of the bionic foot. The bionic foot has three degrees of freedom and can move forward freely and avoid obstacles. The utility model has the advantages of simple structure, low cost, sufficient flexibility and stable performance.

Description

A hexapod bionic robot

technical field

The utility model relates to a hexapod bionic robot, which belongs to the technical field of robots.

Background technique

Wheeled or tracked vehicles cannot walk on most of the rugged and complex terrains in the world, and a large number of scientific research or industrial production activities need to be carried out in these places. working robot. The multi-point contact with the ground of the multi-legged robot's mechanical feet can make it walk freely on these grounds, and carry various devices to complete a series of tasks that are difficult for humans to complete. Replacing the traditional wheeled or tracked walking mechanism with mechanical feet greatly reduces the weight of the robot and makes it more convenient to carry. It has broad application prospects in the aerospace field (moon landing, Mars exploration). There is a lot of room for development in scientific and technological fields such as industrial aerospace, and it can be used in a series of aspects such as video or film shooting, toy production, etc. in the civilian field. However, the hexapod bionic robot of the prior art is complex in structure and high in cost, which cannot be afforded by ordinary users, and the obstacle avoidance effect of the prior art hexapod bionic robot is not good, and the movement route is relatively single. In view of the above-mentioned defects existing in the current prior art, it is necessary to carry out research and development to solve the defects existing in the prior art.

Utility model content

Aiming at the defects of the prior art, the purpose of this utility model is to provide a hexapod bionic robot with simple structure, low cost, good obstacle avoidance effect and stable performance.

To achieve the above object, the technical solution of the utility model is:

A hexapod bionic robot, comprising a bionic frame, a bionic foot with two joints, a driving source for driving the motion of the bionic foot, and a control chip for controlling the driving source. Three bionic feet are respectively arranged on both sides of the bionic frame. The drive source includes a longitudinal drive source for driving the bionic foot to move longitudinally, a lateral drive source for driving the bionic foot to move laterally, and the longitudinal drive source includes a first drive source for driving the first joint of the bionic foot to move, A second drive source to drive the second joint of the bionic foot to move. The bionic foot has three degrees of freedom and can move forward freely and avoid obstacles.

Further, the driving source is a steering gear, and the steering gear is provided with a control board.

Further, the control chip is a single-chip microcomputer. The single-chip microcomputer is powerful, has good expansion performance, and is cheap.

Further, the control chip is connected to a wireless transceiver module for wireless communication.

Further, a remote controller matched with the wireless transceiver module is also provided.

Further, the driving source and the control chip are respectively connected to a power module.

Further, the power module is a lithium ion battery. The power module can use dry batteries, lead storage batteries, nickel-cadmium batteries, nickel-metal hydride batteries, lithium batteries and the like. The discharge current of the dry battery is small, and it can supply power to two servos at most. Lead storage batteries can provide high current discharge, but their volume is relatively large, which is not suitable for small robots to carry. The discharge current of Ni-MH batteries is the same as that of dry batteries, and the current is relatively small. Therefore, the power module is preferably a lithium-ion battery.

Further, the bionic frame is provided with a sensor for sensing the position of obstacles.

Further, the sensor is an infrared sensor. The infrared sensor sends infrared rays and returns to the infrared sensor when it encounters an obstacle. The control chip can calculate the distance between the obstacle and the hexapod bionic robot according to the time when the infrared rays return, so as to avoid obstacles in advance.

Further, the bionic rack is provided with a voice module for alarming. When encountering an insurmountable obstacle, the voice module will give an alarm.

Compared with the prior art, the utility model has the following beneficial effects:

The bionic foot of the utility model has three degrees of freedom, and can move forward freely and avoid obstacles. The utility model has the advantages of simple structure, low cost, sufficient flexibility and stable performance.

Description of drawings

Fig. 1 is the structural representation of the utility model;

Fig. 2 is the motion schematic diagram of the utility model.

detailed description

In order to make the purpose, technical solution and advantages of the utility model clearer, the utility model will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model, and are not intended to limit the utility model.

On the contrary, the utility model covers any alternatives, modifications, equivalent methods and schemes made on the spirit and scope of the utility model defined by the claims. Further, in order to make the public have a better understanding of the utility model, some specific details are described in detail in the detailed description of the utility model below. Those skilled in the art can fully understand the present invention without the description of these detailed parts.

As shown in Figure 1-2, a hexapod bionic robot includes a bionic frame, a bionic foot 1 with two joints, a driving source for driving the motion of the bionic foot, and a control chip for controlling the driving source. Three bionic feet 1 are respectively arranged on both sides of the bionic frame, and at the same time, a sensor for sensing the position of obstacles is respectively arranged on the four end faces of the bionic frame. The sensor is an infrared sensor, and the infrared sensor sends infrared rays. When encountering an obstacle, it will return to the infrared sensor, and the control chip can calculate the distance between the obstacle and the hexapod bionic robot according to the time when the infrared ray returns, so as to avoid it in advance. The bionic frame is provided with a voice module for alarming.

The drive source includes a longitudinal drive source for driving the bionic foot to move longitudinally, a lateral drive source for driving the bionic foot to move laterally, and the longitudinal drive source includes a first drive source for driving the first joint of the bionic foot to move, A second drive source used to drive the second joint of the bionic foot to move. The bionic foot has three degrees of freedom and can move forward freely and avoid obstacles.

The driving source is a steering gear, and the steering gear is provided with a control board. The control board is connected with the control chip, and the control chip is a single-chip microcomputer. The control chip is connected with a wireless transceiver module for wireless communication. A remote controller matched with the wireless transceiver module is also provided.

The driving source and the control chip are respectively connected to a power module. The power module is a lithium ion battery.

Specific working principle:

The hexapod bionic robot borrows the movement principle of insects in nature. Walking is carried out with three bionic feet as a group, that is, the front and rear bionic feet on one side and the middle bionic foot on the other side are a group. In this way, a triangular support structure is formed. When the three bionic feet are placed on the ground and kicked backward, the other three bionic feet are lifted forward for replacement. This way of walking allows the bionic hexapod robot to stop anytime and anywhere, because the center of gravity always falls within the tripod, making the bionic hexapod robot run smoothly. The remote control sends a signal to the control chip, and the control chip converts the control signal into an electrical signal and sends it to the drive source. The drive source drives three of the bionic feet to support, and the other three bionic feet are lifted to move forward alternately. When turning, the lateral drive source drives the raised bionic foot to turn, completing the turning of the bionic hexapod robot. When encountering an insurmountable obstacle, the voice module will give an alarm.

The above descriptions are only preferred embodiments of the present utility model, and are not intended to limit the present utility model. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present utility model shall be included in this utility model. within the scope of protection of utility models.

Claims (10)

1. a bionic 6-leg robot, including bionical frame, have two joints bionical sufficient, drive bionical foot motion drive Dynamic source, the control chip in control driving source, described bionical frame two sides respectively arrange three bionical foots, it is characterised in that described Zigzag tread patterns source that driving source includes driving bionical foot to vertically move, in order to drive the laterally driven of bionical sufficient transverse shifting Source, described zigzag tread patterns source includes driving the first driving source of bionical foot the first joint motions, in order to drive bionical foot Second driving source of two joint motions.

2. a kind of bionic 6-leg robot as claimed in claim 1, it is characterised in that described driving source is steering wheel, described rudder Machine arranges control panel.

3. a kind of bionic 6-leg robot as claimed in claim 2, it is characterised in that described control chip is single-chip microcomputer.

4. bionic 6-leg robot as claimed in claim 3 a kind of, it is characterised in that described control chip connects in order to wireless The radio receiving transmitting module of communication.

5. a kind of bionic 6-leg robot as claimed in claim 4, it is characterised in that also set up and match with radio receiving transmitting module The remote controller closing.

6. a kind of bionic 6-leg robot as described in claim 1-5 is arbitrary, it is characterised in that described driving source, control core Piece connects a power module respectively.

7. a kind of bionic 6-leg robot as claimed in claim 6, it is characterised in that described power module is lithium-ion electric Pond.

8. a kind of bionic 6-leg robot as claimed in claim 7, it is characterised in that described bionical frame is arranged in order to sense The inductor of obstacle location.

9. a kind of bionic 6-leg robot as claimed in claim 8, it is characterised in that described inductor is infrared inductor.

10. a kind of bionic 6-leg robot as claimed in claim 9, it is characterised in that described bionical erecting has for reporting Alert voice module.