CN205854318U - Bionical regular hexagon Hexapod Robot - Google Patents
Bionical regular hexagon Hexapod Robot Download PDFInfo
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- CN205854318U CN205854318U CN201620622385.XU CN201620622385U CN205854318U CN 205854318 U CN205854318 U CN 205854318U CN 201620622385 U CN201620622385 U CN 201620622385U CN 205854318 U CN205854318 U CN 205854318U
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- regular hexagon
- steering wheel
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- bionical
- rotating arm
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Abstract
This utility model provides a kind of bionical regular hexagon Hexapod Robot, belongs to walking robot technical field.This robot includes regular hexagon fuselage, walking mechanism and the closed-loop control system of control walking mechanism, walking mechanism is regular hexagon frame, including three to machinery foot, every machinery foot includes composite rotating arm, galianconism, long-armed and for driving the described machinery horizontal adjustment assembly that rotates in the horizontal direction of foot, horizontal adjustment assembly rotates in horizontal extent, and driven machine people move forward and backward；Rotated in the range of vertically by galianconism, accomplish the raising and lowering of machinery foot；Rotated in the range of vertically by long-armed, drive machinery foot to do stretching in horizontal extent；The mutually motion composition motion of six machinery foots carrys out driven machine people and realizes various action.This robot is adaptable to landform, can be applicable to the detection of danger zone, can also apply to Aero-Space, unknown celestial body exploration environment.
Description
Technical field
This utility model relates to walking robot technical field, particularly relates to a kind of bionical regular hexagon Hexapod Robot.
Background technology
The conception of pedipulator is mainly based upon the rough topography variation of nature, and bionical walking robot is to imitate to move
The forms of motion of thing, uses lower limb formula structure to complete the robot of various locomotive function.Although wheeled and shoe in mobile robot
Belt robot has been obtained for being widely applied, but the requirement of walking robot road pavement is the lowest, and the foot of robot is had
The a large amount of degree of freedom having can make the motion of robot more flexibly, rough landform is adapted to ability higher；Walking leg
The foothold of formula robot is discrete, with the contact area on ground is the least, can select optimum on accessible ground
Support point, even if in the case of surface is the most irregular, by the strict strong point selecting foot, it is also possible to walking is freely；Permissible
It is applied to the detection of danger zone, or the place that the mankind can not arrive, can also apply to Aero-Space, unknown celestial body exploration
Environment.
At present, common walking robot has the application of two-legged type, all fours type more, and two-legged type therein is relative with all fours type
Six foot formula leg numbers are less, and leg joint freedom degrees is less, transports to underaction, and dynamic stability is poor.Part is irregular
Hexapod Robot body structure unshapeliness, causes walking instability during advancing, is susceptible to rollover.And major part is existing
Some walking robot walking step states are fixing, and when so walking on rugged and rough steady road surface, the joint of body will be by the biggest
Impulsive force, it is possible to damage joint and drive element.
Owing to lower limb structure designs, the load capacity of major part walking robot is poor.
The control system of major part four feet walking robot is nonlinear multi input and multi output time-dependent system, has
Time variation and interval dynamic.The walking movement great majority of quadruped robot are geometric position based on gait track rule at present
Draw, joint position control planning and control strategy.And robot is carried out the planning of simple geometric position and controls, then can be by
Robot unstability is caused in inertia, the factor such as strength of one's legs is unbalance.
And the existing legged robot of major part uses centerized fusion, i.e. whole controls of robot are by one
Microcomputer completes, and may process not in time in complex road surface walking process.By joint be made up of logic circuit
State machine controls, and therefore the behavior of robot is restricted, and can only present fixing forms of motion.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of bionical regular hexagon Hexapod Robot, this robot bag
Including regular hexagon fuselage, walking mechanism and the closed-loop control system of control walking mechanism, walking mechanism is regular hexagon frame, bag
Include three to machinery foot, wherein, every machinery foot include composite rotating arm, galianconism, long-armed and for drive machinery foot in level side
The horizontal adjustment assembly rotated up, composite rotating arm is arranged on regular hexagon fuselage by horizontal adjustment assembly, galianconism
One end is flexibly connected with composite rotating arm by the first vertical adjusting part, and the other end of galianconism passes through the second vertical adjusting part
It is flexibly connected with long-armed one end, composite rotating arm is installed steering wheel one and steering wheel two, long-armed upper installation steering wheel three simultaneously, is combined
Equipped with miniature bearing in the lower plate of turning arm, composite rotating arm is gone to the bottom by miniature bearing and regular hexagon fuselage
Plate connects.
Wherein, closed-loop control system includes pc machine, MCS 51 single-chip microcomputer, steering engine controller, steering wheel one, steering wheel two, steering wheel
Three, micro radio transmission camera and pressure transducer, pc machine connects MCS 51 single-chip microcomputer being loaded on regular hexagon fuselage,
MCS 51 single-chip microcomputer connects steering engine controller, and steering engine controller controls steering wheel one, steering wheel two and steering wheel three, and pressure transducer is even
Connecing MCS 51 single-chip microcomputer, photographic head connects MCS 51 single-chip microcomputer.Micro radio transmission camera is arranged on regular hexagon fuselage
On, described pressure transducer is arranged on long-armed.
Steering wheel one and steering wheel two are installed, by upper and lower two thin plates clamping steering wheel one and steering wheel two, steering wheel on composite rotating arm
One vertically places, and is connected with regular hexagon fuselage by horizontal adjustment assembly；Steering wheel two horizontal positioned, vertically regulates by first
Assembly is connected with galianconism.
This robot leg has multiple degree of freedom, makes the motility of motion be greatly enhanced.It can be by regulation lower limb
Length keeps body levels, it is also possible to adjusting position of centre of gravity by the extension degree of regulation lower limb, be therefore difficult to translate into, stability is more
High.
This robot has six miniature bearings, is contained in the connecting portion of leg and fuselage, so can use fixing
Plate makes leg fixedly secure between fuselage upper and lower bottom plate, considerably increases the load capacity of robot, expands robot
Range, the shortcoming that compensate for major part robot load capacity difference.
This bionical regular hexagon Hexapod Robot uses dispersion (level) formula and controls, and i.e. uses multiple stage microcomputer to share machine
The control of device people, as when using upper and lower two-level microcomputer jointly to complete the control of robot, main frame is usually used in being responsible for the pipe of system
Reason, communication, kinesiology and dynamics calculation, and send command information to subordinate's microcomputer；As subordinate from machine, carry out interpolation operation
Process with SERVO CONTROL, it is achieved given motion, and to main frame feedback information.
The buffer unit of leg mechanism is requisite, and its leg joint is similar to animal leg joint, and it moves through steering wheel
Control.Its foot bottom, equipped with pressure transducer, can detect the state contacted with ground automatically.Pressure transducer and gesture stability
The control decision that system is made according to heat transfer agent, it is achieved at the self adaptation static walking on out-of-flatness ground.
This robot is capable of the self adaptation dynamic walking on irregular ground, it is shown that biological excitation controls the unknown
The advantage that there is adaptive ability on irregular ground.Its another feature is to make use of micro radio video camera to navigate, and can distinguish
With the obstacle dodging front existence, it is possible to realize collisionless in closing claustra and quickly walk.
This robot mobility and respond are the strongest, and balanced capacity is splendid, and has stronger load capacity.
Having the beneficial effect that of technique scheme of the present utility model:
The requirement of this robot road pavement is the lowest, and a large amount of degree of freedom that the foot of robot is had make the motion of robot more
Add flexibly, rough landform is adapted to ability higher；The foothold of walking legged type robot is discrete, with connecing of ground
Contacting surface is long-pending the least, can select the optimum strong point on accessible ground, even if in the case of surface is the most irregular, logical
Cross the strict strong point selecting foot, it is also possible to walking is freely；In load, stability, motility and to sides such as the adaptabilities on ground
The performance in face has obtained large increase, autonomy-oriented and intelligent ability and has been highlighted.Can apply to the detection of danger zone, or
Person is the place that the mankind can not arrive, and can also apply to Aero-Space, unknown celestial body exploration environment.Well solve existing wheel
Formula and caterpillar type robot can not arrive the restriction of complicated ground, and unstable the lacking of other existing legged type robots walking
Fall into.
Accompanying drawing explanation
Fig. 1 is bionical regular hexagon Hexapod Robot structure top view of the present utility model；
Fig. 2 is bionical regular hexagon Hexapod Robot structural front view of the present utility model；
Fig. 3 is the top view of bionical regular hexagon Hexapod Robot machinery of the present utility model foot；
Fig. 4 is the front view of bionical regular hexagon Hexapod Robot machinery of the present utility model foot；
Fig. 5 is bionical regular hexagon Hexapod Robot closed-loop control system schematic diagram of the present utility model.
Wherein: 1-regular hexagon fuselage；2-closed-loop control system；3-machinery foot；4-composite rotating arm；5-galianconism；6-length
Arm；7-horizontal adjustment assembly；The vertical adjusting part of 8-first；The vertical adjusting part of 9-second；10-steering wheel one；11-steering wheel two；
12-steering wheel three；13-miniature bearing.
Detailed description of the invention
For making the technical problems to be solved in the utility model, technical scheme and advantage clearer, below in conjunction with accompanying drawing
And specific embodiment is described in detail.
This utility model can not arrive the restriction of complicated ground for existing wheeled and caterpillar type robot, and other are existing
There is the defect problem that legged type robot walking is unstable, it is provided that a kind of bionical regular hexagon Hexapod Robot.
As depicted in figs. 1 and 2, for this robot architecture's schematic diagram, this robot includes regular hexagon fuselage 1, vehicle with walking machine
Structure and the closed-loop control system 2 of control walking mechanism, walking mechanism is regular hexagon frame, including three to machinery foot 3, such as Fig. 3
Shown in Fig. 4, every machinery foot 3 include composite rotating arm 4, galianconism 5, long-armed 6 and for driving machinery foot 3 in the horizontal direction
The horizontal adjustment assembly 7 rotated, composite rotating arm 4 is arranged on regular hexagon fuselage 1 by horizontal adjustment assembly 7, galianconism 5
One end is flexibly connected with composite rotating arm 4 by the first vertical adjusting part 8, and the other end of galianconism 5 vertically regulates by second
Assembly 9 with long-armed 6 one end be flexibly connected, composite rotating arm 4 is installed steering wheel 1 and steering wheel 2 11 simultaneously, on long-armed 6 pacify
Dress steering wheel 3 12, equipped with miniature bearing 13 in the lower plate of composite rotating arm 4, composite rotating arm 4 passes through miniature bearing
13 are connected with the lower shoe of regular hexagon fuselage 1, play the effect reinforcing machinery frame, more steady when can make robot motion
Fixed.
Wherein, closed-loop control system 2 includes pc machine, MCS 51 single-chip microcomputer, steering engine controller, steering wheel 1, steering wheel two
11, steering wheel 3 12, micro radio transmission camera and pressure transducer, the connection of pc machine is loaded on the MCS on regular hexagon fuselage 1
51 single-chip microcomputers, MCS 51 single-chip microcomputer connects steering engine controller, and steering engine controller controls steering wheel 1, steering wheel 2 11 and steering wheel three
12, pressure transducer connects MCS 51 single-chip microcomputer, and photographic head connects MCS 51 single-chip microcomputer.Micro radio transmission camera is installed
On regular hexagon fuselage 1, described pressure transducer is arranged on long-armed 6.Micro radio transmission camera and pressure transducer
The information captured feeds back to MCS 51 single-chip microcomputer, and MCS 51 single-chip microcomputer will feed back to pc machine, then pc after information processing
Machine changes the program in MCS 51 single-chip microcomputer and controls three steering wheels and then control the motion of robot, and micro radio passes simultaneously
Defeated photographic head transmits out image information for operator's observation by wireless module.
Composite rotating arm 4 includes steering wheel 1 and steering wheel 2 11, and by two thin plate clampings, steering wheel 1 is vertically placed, logical
Cross horizontal adjustment assembly 7 to be connected with regular hexagon fuselage 1；Steering wheel 2 11 horizontal positioned, by the first vertical adjusting part 8 with short
Arm 5 connects.Robot has six miniature bearings 13.
Rotate, by horizontal adjustment assembly 7 around positive six as it is shown in figure 5, steering wheel 1 is controlled it by steering engine controller
Limit shape fuselage 1 rotates in horizontal extent, and the most whole machinery foot 3 all can rotate in the horizontal direction, it is possible to before driven machine people
Enter and retreat；Controlled steering wheel 2 11 by steering engine controller to rotate, drive galianconism 5 at vertical model by the first vertical adjusting part 8
Enclose interior rotation, drive machinery foot 3 at vertical range of motion, it is possible to accomplish the raising and lowering of machinery foot 3；By steering engine controller
Control steering wheel 3 12 to rotate, drive long-armed 6 to rotate in the range of vertically by the second vertical adjusting part 9, drive machinery foot 3 to exist
Do stretching in horizontal extent, accomplish elongation and the contraction of machinery foot 3；Three groups of motions have three degree of freedom, between mutually
Coordinate, the data that MCS 51 single-chip microcomputer reception micro radio transmission camera and pressure transducer collect, pass to total pc machine
With from pc machine, total pc machine and after pc machine processes, control signal is transferred to MCS 51 single-chip microcomputer, MCS 51 single-chip microcomputer will control
Signal processed is transferred to steering engine controller, it is achieved the various action such as robot ambulation.
The above is preferred implementation of the present utility model, it is noted that for the ordinary skill of the art
For personnel, on the premise of without departing from principle described in the utility model, it is also possible to make some improvements and modifications, these improve
Also protection domain of the present utility model is should be regarded as with retouching.
Claims (6)
1. a bionical regular hexagon Hexapod Robot, it is characterised in that: include regular hexagon fuselage (1), walking mechanism and control
The closed-loop control system (2) of walking mechanism processed, walking mechanism includes that three is sufficient (3) to machinery, and wherein, every machinery foot (3) includes
Composite rotating arm (4), galianconism (5), long-armed (6) and being used for drive the horizontal adjustment group that machinery foot (3) rotates in the horizontal direction
Part (7), composite rotating arm (4) is arranged on regular hexagon fuselage (1) by horizontal adjustment assembly (7), and one end of galianconism (5) leads to
Crossing the first vertical adjusting part (8) to be flexibly connected with composite rotating arm (4), the other end of galianconism (5) vertically regulates by second
Assembly (9) is flexibly connected with the one end of long-armed (6), and composite rotating arm (4) is installed steering wheel one (10) and steering wheel two (11) simultaneously,
Long-armed (6) are upper installs steering wheel three (12), equipped with miniature bearing (13), composite rotating arm in the lower plate of composite rotating arm (4)
(4) it is connected with the lower shoe of regular hexagon fuselage (1) by miniature bearing (13).
Bionical regular hexagon Hexapod Robot the most according to claim 1, it is characterised in that: described walking mechanism is positive six
Limit shape frame.
Bionical regular hexagon Hexapod Robot the most according to claim 1, it is characterised in that: described closed-loop control system
(2) pc machine, MCS 51 single-chip microcomputer, steering engine controller, steering wheel one (10), steering wheel two (11), steering wheel three (12), miniature nothing are included
Line transmission camera and pressure transducer, pc machine connects MCS 51 single-chip microcomputer being loaded on regular hexagon fuselage (1), MCS 51
Single-chip microcomputer connects steering engine controller, and steering engine controller controls steering wheel one (10), steering wheel two (11) and steering wheel three (12), pressure sensing
Device connects MCS 51 single-chip microcomputer, and photographic head connects MCS 51 single-chip microcomputer.
Bionical regular hexagon Hexapod Robot the most according to claim 3, it is characterised in that: the transmission of described micro radio is taken the photograph
As head is arranged on regular hexagon fuselage (1), described pressure transducer is arranged on long-armed (6).
Bionical regular hexagon Hexapod Robot the most according to claim 1, it is characterised in that: described steering wheel one (10) is vertically
Place, be connected with regular hexagon fuselage (1) by horizontal adjustment assembly (7)；Steering wheel two (11) horizontal positioned, vertical by first
Adjusting part (8) is connected with galianconism (5).
Bionical regular hexagon Hexapod Robot the most according to claim 1, it is characterised in that: described robot has six
Miniature bearing (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620622385.XU CN205854318U (en) | 2016-06-22 | 2016-06-22 | Bionical regular hexagon Hexapod Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620622385.XU CN205854318U (en) | 2016-06-22 | 2016-06-22 | Bionical regular hexagon Hexapod Robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205854318U true CN205854318U (en) | 2017-01-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620622385.XU Expired - Fee Related CN205854318U (en) | 2016-06-22 | 2016-06-22 | Bionical regular hexagon Hexapod Robot |
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| CN (1) | CN205854318U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108909872A (en) * | 2018-06-22 | 2018-11-30 | 河海大学常州校区 | The imitative spider robot of six foot of one kind and its gait planning method |
| CN109533074A (en) * | 2018-11-14 | 2019-03-29 | 西北农林科技大学 | A kind of implementation method of hexapod robot and its gait of keeping straight on |
| CN109533080A (en) * | 2018-12-29 | 2019-03-29 | 北京工商大学 | Hexapod robot |
| CN111359128A (en) * | 2020-03-20 | 2020-07-03 | 河海大学常州校区 | Bionic fire-fighting robot |
| CN112406436A (en) * | 2020-12-03 | 2021-02-26 | 复旦大学 | Air-ground dual-purpose composite robot |
-
2016
- 2016-06-22 CN CN201620622385.XU patent/CN205854318U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108909872A (en) * | 2018-06-22 | 2018-11-30 | 河海大学常州校区 | The imitative spider robot of six foot of one kind and its gait planning method |
| CN109533074A (en) * | 2018-11-14 | 2019-03-29 | 西北农林科技大学 | A kind of implementation method of hexapod robot and its gait of keeping straight on |
| CN109533080A (en) * | 2018-12-29 | 2019-03-29 | 北京工商大学 | Hexapod robot |
| CN111359128A (en) * | 2020-03-20 | 2020-07-03 | 河海大学常州校区 | Bionic fire-fighting robot |
| CN112406436A (en) * | 2020-12-03 | 2021-02-26 | 复旦大学 | Air-ground dual-purpose composite robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| 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: 20170104 Termination date: 20190622 |