CN208393008U - Land and air double-used bionical hexapod robot - Google Patents
Land and air double-used bionical hexapod robot Download PDFInfo
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- CN208393008U CN208393008U CN201820405663.5U CN201820405663U CN208393008U CN 208393008 U CN208393008 U CN 208393008U CN 201820405663 U CN201820405663 U CN 201820405663U CN 208393008 U CN208393008 U CN 208393008U
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- 241000238631 Hexapoda Species 0.000 title claims abstract description 36
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 238000013016 damping Methods 0.000 claims description 10
- 230000005021 gait Effects 0.000 claims description 6
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 4
- 229910052802 copper Inorganic materials 0.000 claims description 4
- 239000010949 copper Substances 0.000 claims description 4
- 239000011094 fiberboard Substances 0.000 claims description 3
- 239000011521 glass Substances 0.000 claims description 3
- 239000011120 plywood Substances 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 230000001360 synchronised effect Effects 0.000 claims 1
- 238000009434 installation Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 241000124008 Mammalia Species 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 210000003464 cuspid Anatomy 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000005287 neuromuscular process controlling balance Effects 0.000 description 1
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Abstract
The utility model belongs to amphibious robot technical field, and in particular to a kind of land and air double-used bionical hexapod robot can be used for complicated landform.The land and air double-used bionical hexapod robot of one kind of the utility model, are made of control assembly, six groups of walking components and six groups of flight components.Control assembly includes single-chip microcontroller, electron speed regulator, main body supporting plate and flight control panel, motor driver and steering engine control panel fixed with main body supporting plate respectively.Every group of walking component includes the steering engine III being connected with main body supporting plate, the steering engine II being connected by four-bladed vane with steering engine III and the pedipulator being connected by U-shaped board with steering engine II.Every group of flight component includes the motor being connected with electron speed regulator and propeller folding-unfolding mechanism.The land and air double-used bionical hexapod robot of the utility model pass through the combination of legged type robot and multiaxis unmanned plane, greatly overcome the two disadvantages, and motor and propeller can make robot crossing over blockage, realize short distance flight, while can also reach faster speed.
Description
Technical field
The utility model belongs to amphibious robot technical field, and in particular to a kind of land and air double-used bionical hexapod robot,
It can be used for complicated landform.
Background technique
Under real human society and natural conditions, there is the robot of conventional wheel or the crawler belt method of operation to be difficult to pass through
Complicated rugged landform.However, Pterigota class insect but can easily go beyond all kinds of obstacles by appropriate use of foot and wing.
Currently, the generally existing independence of existing bionical hexapod robot, adaptability, stability and lightweight deficiency, high energy consumption, mobile speed
Degree is slow and is difficult to the problems such as crossing heavy grade obstacle, seriously constrains the popularization of such humanoid robot.
Summary of the invention
The purpose of this utility model is that in view of the above shortcomings of the prior art, providing a kind of land and air double-used bionical six sufficient machine
Unmanned plane and the ingenious combination of multi-foot robot are enable bio-robot with Different Exercise Mode to adapt to not by device people
Same landform, and can realize that short distance is flown, it can be used as manhole cover hoisting device and applied.
A kind of land and air double-used bionical hexapod robot, by 100, six groups of walking components 200 of control assembly and six groups of flight crews
Part 300 is constituted；Wherein, control assembly 100 include single-chip microcontroller 102, electron speed regulator 106, main body supporting plate 104 and respectively with
Main body supporting plate 104 fixed flight control panel 101, motor driver 103 and steering engine control panel 105, and flight control panel 101
It controls and connects with single-chip microcontroller 102 respectively with steering engine control panel 105；
Every group of walking component 200 includes the steering engine III 208 being connected with main body supporting plate 104, by four-bladed vane 207 and rudder
Pedipulator machine III 208 connected steering engine II 206 and be connected by U-shaped board 205 with steering engine II 206；
Every group of flight component 300 includes the motor 301 and propeller folding-unfolding mechanism being connected with electron speed regulator 106,
The motor 301 is fixed on the electric machine support 302 of propeller folding-unfolding mechanism, decelerating motor 305 in propeller folding-unfolding mechanism
Rotation is able to drive the rotation of electric machine support 302, and each decelerating motor 305 passes through the receipts of 103 synchronously control propeller of motor driver
Exhibition；
Machine is completed in the movement that the steering engine control panel 105 can control steering engine I 204, steering engine II 206 and steering engine III 208
The different gaits of people；The flight control panel 101 is regulated and controled by flight attitude of the electron speed regulator 106 to robot.
The flight control panel 101 is fixed on main body top plate 104a, main body top plate 104a and main body middle plate
104b is connected by long hexagonal copper post, and steering engine control panel 105 and motor driver 103 are separately fixed at main body middle plate
On 104b, fixed between main body middle plate 104b and main body lower plywood 104c by glass fiberboard bolt.
The control assembly 100 further includes the battery 107 being fixed on main body supporting plate 104.
The pedipulator is made of sufficient end damping block 201, V-type plate 202, leg plate 203, steering engine I 204, the foot end
Damping block 201 is connected with 202 lower end of V-type plate, and V-type plate 202 is connected with 203 lower end of leg plate, and leg plate 203 and steering engine I 204 are fixed,
Steering engine I 204 is connected by U-shaped board 205 with steering engine II 206.
The electric machine support 302 is mounted on 203 upper end of leg plate, and gasket is housed between leg plate 203.
The walking component 200 further includes the sensor 209 being mounted on sufficient end damping block 201.
The flight component 300 further includes propeller and decelerating motor supporting plate 306, and decelerating motor 305 passes through decelerating motor
Supporting plate 306 is fixed on leg plate 203.
The propeller folding-unfolding mechanism further includes gear wheel 303 and pinion gear 304, and the electric machine support 302 is mounted on machine
On the leg plate 203 of tool leg, rotary shaft is connected with gear wheel 303, and gear wheel 303 is engaged with pinion gear 304, and pinion gear 304 is set
It sets on decelerating motor 305.
Compared with prior art, the utility model has the beneficial effects that:
Although 1, conventional multi-foot robot much higher than wheeled or wheel legged type robot but is gone back in adaptive capacity to environment
Have great limitation, such as be difficult to cross higher barrier, movement speed slowly etc., our land and air double-used bionical six sufficient machines
Device people greatly overcomes the two disadvantages by the combination of legged type robot and multiaxis unmanned plane, and motor and propeller can be with
Make robot crossing over blockage, realizes short distance flight, while can also reach faster speed；
2, robot copies insect, by selecting stable accurate steering engine to replace the muscle of insect, and by steering engine
Leg is directly constituted with necessary connector, obstacle climbing ability is being kept, is subtracting to the full extent under the premise of the advantages such as bearing capacity
Light total quality；
3, land and air double-used bionical hexapod robot cleverly combine the general character of multiaxis unmanned plane and multi-foot robot, in foot
The top of formula robot minor details foot directly installs the flight equipments such as propeller bracket and motor additional, so that the structure of robot is more tight
It is close, improve space utilization rate；
4, gear drive is used between the propeller bracket and decelerating motor of land and air double-used bionical hexapod robot, gear is tight
It is tightly fitted on the leg plate of robot, substantially increases space utilization rate, while decelerating motor is made by positive and negative rotation band moving gear
It obtains each propeller bracket to be directly rotated on extreme position, improves the fault-tolerance of robot；Robot architecture is compact, so that
Also there are larger spaces other than installing various controllers and battery in the main body rack of robot can be according to different realities
Border requires the equipment such as installation camera, further improves the applicability of robot；
5, robot is expert at after the propeller ability of taking down the exhibits of land and air double-used bionical hexapod robot folds propeller
Self disorder under walking modes is smaller, while robot being made to be easier to store after folding；
6, land and air double-used bionical hexapod robot sufficient end install sensor, this make robot landing when safety more
Secure, this is that conventional multiaxis unmanned plane is unapproachable, also, carries out Real-time Feedback in sufficient end installation pressure sensor,
Robot constantly collects processing data and carries out automatic regulation of balance, also improves reliability and adaptability under non-structural landform；
7, six legs of land and air double-used bionical hexapod robot are distributed as six side of axial symmetry on robot body's bracket
Shape, the structure are conducive to robot and switch between imitative insect gait and imitative mammal gait.
Detailed description of the invention
Fig. 1 is the robot overall model figure of land and air double-used bionical hexapod robot；
Fig. 2 is the single leg side view of land and air double-used bionical hexapod robot；
Fig. 3 is land and air double-used bionical hexapod robot leg plate and folding-unfolding mechanism composition model；
Fig. 4 is that folding-unfolding mechanism folds schematic diagram；
Fig. 5 is folding-unfolding mechanism expanded schematic diagram；
Fig. 6 is main body-side view.
In figure, 100. control assemblies 200. walking 300. flight component of component, 101. flight control panel, 102. single-chip microcontroller
103. 107. battery of motor driver 104. main body supporting plate, 105. steering engine control panel, 106. electron speed regulator, 108. hexagonal copper
Sufficient II 207.s of end 206. steering engine of damping block 202.V template 203. leg plate, 203 204. steering engine, I 205.U template of column 201.
303. gear wheel of four-bladed vane 208. steering engine, III 209. sensor, 301. motor, 302. electric machine support, 304. pinion gear
305. decelerating motor, 306. decelerating motor supporting plate.
Specific embodiment
With reference to the accompanying drawing, the utility model is described further by embodiment:
A kind of land and air double-used bionical hexapod robot, by 100, six groups of walking components 200 of control assembly and six groups of flight crews
Part 300 is constituted, and each component specific location is as shown in Figure 1.
Wherein, control assembly 100 by flight control panel 101, single-chip microcontroller 102, motor driver 103, main body supporting plate 104,
Steering engine control panel 105, electron speed regulator 106 and the battery 107 being fixed on main body supporting plate 104 are constituted.The flight control panel
101, motor driver 103 and steering engine control panel 105 are fixed with main body supporting plate 104 respectively.The flight control panel 101 and rudder
Machine control panel 105 controls with single-chip microcontroller 102 connect respectively.
As shown in figure 5, the flight control panel 101 is fixed on main body top plate 104a by 4 M3 screws, in main body
Laminate 104a is connected with main body middle plate 104b by 4 40mm long hexagonal copper posts 108, and steering engine control panel 105 and motor drive
Dynamic device 103 is respectively fixed on main body middle plate 104b by 4 M3 screws, main body middle plate 104b and main body lower plywood 104c it
Between bolt is carried out by glass fiberboard identical with main board material connect and be fixed.
As Figure 2-Figure 5, every group of walking component 200 is by U-shaped board 205, steering engine II 206, four-bladed vane 207, steering engine
208, it sensor 209 and is made of the pedipulator that sufficient end damping block 201, V-type plate 202, leg plate 203, steering engine I 204 form,
And it is controlled by steering engine control panel 105.
Steering engine III 208 is connect with walking 200 junction of component by M3 screw by main body supporting plate 104, and steering engine II 206 passes through
Four-bladed vane 207 is connect with steering engine III 208, and screw connects steering engine II 206 and the U-shaped board 205 of steering engine I 204, and leg plate 203 passes through
M2 screw and steering engine I 204 assemble, and the propellers folding-unfolding mechanisms such as electric machine support 302 are installed in 203 upper end of leg plate.203 lower end of leg plate
It is connect by screw with V-type plate 202,202 lower end of V-type plate is connect with sufficient end damping block 201.
Sensor 209, the sensor when robot touches ground with normal gait are installed on sufficient end damping block 201
209 give single-chip microcontroller 102 signal, and robot is made to carry out next step movement, and work as robot and occur stepping on empty situation, that is, do not have
Robot is protected in the movement that trigger sensor 209 is then retreated at once, and touches warning device.Under offline mode,
Occur also touching the warning device when landing place out-of-flatness when robot lands, gives manipulator's signal, protect land sky two
With bionical hexapod robot.
Every group of flight component 300 is by motor 301,306 structure of propeller folding-unfolding mechanism, propeller and decelerating motor supporting plate
At.The propeller folding-unfolding mechanism is made of electric machine support 302, gear wheel 303 and pinion gear 304.
The electric machine support 302 is mounted on the leg plate 203 of pedipulator, and rotary shaft is connected with gear wheel 303, gear wheel
303 engage with pinion gear 304, and pinion gear 304 is arranged on decelerating motor 305.Motor 301 by the stud of four M4*12 with
Electric machine support 302 connects.The output end of decelerating motor 305 is stretched out from aperture, connects pinion gear 304, pinion gear 304 and canine tooth
303 engagement of wheel, the rotary shaft of electric machine support 302 are connected with gear wheel 303, and the decelerating motor 305 for driving pinion gear 304 to rotate is logical
It crosses screw-nut to be fixed on decelerating motor supporting plate 306, decelerating motor supporting plate 306 is connected by bolt to be connected with leg plate 203.
Realize that land and air double-used function mainly has benefited from the improvement of robot leg structure, especially propeller folding-unfolding mechanism
Installation.The work of the propeller folding-unfolding mechanism of land and air double-used bionical hexapod robot is that electric machine support 302 connects gear wheel
303, gear wheel is engaged with the pinion gear 304 above decelerating motor 305, drives electric machine support by the rotation of decelerating motor 305
302 rotation, to complete taking down the exhibits for propeller.Wherein, decelerating motor is fixed on robot leg by decelerating motor supporting plate 306
On plate 203.6 decelerating motors 305 synchronize control by motor driver 103, synchronize while taking down the exhibits, and reduce land
The error rate of empty dual-purpose bionical hexapod robot.When robot needs to pack up motor and propeller, decelerating motor 305 is counterclockwise
Rotation drives electric machine support 302 to rotate clockwise 90 degree along slideway, becomes unfolded state, counter to turn 90 degrees the expansion for switching to fold
State.
The motor 301 of land and air double-used bionical hexapod robot connects electron speed regulator 106 and flight control panel 101 to realize
Control under robot offline mode.Meanwhile the steering engine connection steering engine control panel 105 of land and air double-used bionical hexapod robot is real
Control under existing robot ambulation mode.And flight control panel 101 and steering engine control panel 105 are all connected with single-chip microcontroller 102, operator
Two kinds of motor patterns are controlled by remote controler depending on external environment situation.
Under walking mode, the movement of robot is transmitted to steering engine control panel 105 by single-chip microcontroller 102 and controls signal, steering engine control
Making sheet (105) controls the movement of each steering engine in turn, completes different gaits.
Under offline mode, the movement of robot is transmitted to flight control panel 101 by single-chip microcontroller 102 and controls signal, flight control
Making sheet 101 is regulated and controled by flight attitude of the electron speed regulator 106 to robot.
In addition, being equipped with gasket between the electric machine support 302 and leg plate 203 of land and air double-used bionical hexapod robot, play slow
The effect rushed and reduced friction loss.
The land and air double-used bionical hexapod robot of the utility model, when passing through larger higher barrier, unmanned plane has
Unique advantage, thus land and air double-used formula robot on crossing over blockage existing traditional group woven robot for complicated ground
Adaptation advantage also has the ability of unmanned plane high-speed cruising and crossing over blockage.Land and air double-used machine people is for example detecting, is monitoring
With scout, mining in the extreme environments operation such as lumbering, Post disaster relief with unique advantage.
Claims (8)
1. a kind of land and air double-used bionical hexapod robot, it is characterised in that: by control assembly (100), six groups of walking components (200)
It is constituted with six groups of flight components (300)；Wherein, control assembly (100) includes single-chip microcontroller (102), electron speed regulator (106), master
Body supporting plate (104) and flight control panel (101), motor driver (103) and rudder fixed with main body supporting plate (104) respectively
Machine control panel (105), and flight control panel (101) and steering engine control panel (105) control with single-chip microcontroller (102) connect respectively；
Every group of walking component (200) includes the steering engine III (208) being connected with main body supporting plate (104), by four-bladed vane (207)
The steering engine II (206) being connected with steering engine III (208) and the pedipulator being connected by U-shaped board (205) with steering engine II (206)；
Every group of flight component (300) includes the motor (301) being connected with electron speed regulator (106) and propeller is taken down the exhibits machine
Structure, the motor (301) are fixed on the electric machine support (302) of propeller folding-unfolding mechanism, and slow down electricity in propeller folding-unfolding mechanism
The rotation of machine (305) is able to drive electric machine support (302) rotation, and each decelerating motor (305) is synchronous by motor driver (103)
Control propeller is taken down the exhibits；
The movement that the steering engine control panel (105) can control steering engine I (204), steering engine II (206) and steering engine III (208) is completed
The different gaits of robot；The flight control panel (101) is carried out by the flight attitude of electron speed regulator (106) to robot
Regulation.
2. the land and air double-used bionical hexapod robot of one kind according to claim 1, it is characterised in that: the flight control panel
(101) it is fixed on main body top plate (104a), main body top plate (104a) and main body middle plate (104b) pass through long hexagonal copper
Column is connected, and steering engine control panel (105) and motor driver (103) are separately fixed on main body middle plate (104b), in main body
It is fixed between laminate (104b) and main body lower plywood (104c) by glass fiberboard bolt.
3. the land and air double-used bionical hexapod robot of one kind according to claim 1, it is characterised in that: the control assembly
It (100) further include the battery (107) being fixed on main body supporting plate (104).
4. the land and air double-used bionical hexapod robot of one kind according to claim 1, it is characterised in that: the pedipulator is by foot
End damping block (201), V-type plate (202), leg plate (203), steering engine I (204) are constituted, the foot end damping block (201) and V
Template (202) lower end is connected, and V-type plate (202) is connected with leg plate (203) lower end, and leg plate (203) and steering engine I (204) are fixed, rudder
Machine I (204) is connected by U-shaped board (205) with steering engine II (206).
5. the land and air double-used bionical hexapod robot of one kind according to claim 4, it is characterised in that: the electric machine support
(302) it is mounted on leg plate (203) upper end, and gasket is housed between leg plate (203).
6. the land and air double-used bionical hexapod robot of one kind according to claim 1, it is characterised in that: the walking component
It (200) further include the sensor (209) being mounted on sufficient end damping block (201).
7. the land and air double-used bionical hexapod robot of one kind according to claim 1, it is characterised in that: the flight component
It (300) further include propeller and decelerating motor supporting plate (306), decelerating motor (305) is fixed on by decelerating motor supporting plate (306)
On leg plate (203).
8. the land and air double-used bionical hexapod robot of one kind according to claim 1, it is characterised in that: the propeller is taken down the exhibits
Mechanism further includes gear wheel (303) and pinion gear (304), and the electric machine support (302) is mounted on the leg plate (203) of pedipulator
On, rotary shaft is connected with gear wheel (303), and gear wheel (303) is engaged with pinion gear (304), and pinion gear (304) setting is subtracting
On speed motor (305).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820405663.5U CN208393008U (en) | 2018-03-22 | 2018-03-22 | Land and air double-used bionical hexapod robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820405663.5U CN208393008U (en) | 2018-03-22 | 2018-03-22 | Land and air double-used bionical hexapod robot |
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| Publication Number | Publication Date |
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| CN208393008U true CN208393008U (en) | 2019-01-18 |
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| CN201820405663.5U Expired - Fee Related CN208393008U (en) | 2018-03-22 | 2018-03-22 | Land and air double-used bionical hexapod robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110126562A (en) * | 2019-05-22 | 2019-08-16 | 北京理工大学 | A kind of air-ground integrated electrical parallel connection formula wheel foot driving mechanism |
| CN111152905A (en) * | 2020-01-09 | 2020-05-15 | 吉林大学 | Dual-purpose bionic soft actuator |
| CN112810392A (en) * | 2021-01-27 | 2021-05-18 | 杭州师范大学钱江学院 | Road-air dual-purpose aircraft with adjustable shock absorber and operation method thereof |
| CN113147294A (en) * | 2021-04-30 | 2021-07-23 | 东南大学 | Air-ground amphibious autonomous investigation robot and working method |
| CN114633823A (en) * | 2022-03-07 | 2022-06-17 | 清华大学 | Triphibian robot |
-
2018
- 2018-03-22 CN CN201820405663.5U patent/CN208393008U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110126562A (en) * | 2019-05-22 | 2019-08-16 | 北京理工大学 | A kind of air-ground integrated electrical parallel connection formula wheel foot driving mechanism |
| CN110126562B (en) * | 2019-05-22 | 2020-12-18 | 北京理工大学 | Empty ground integrated electric parallel wheel foot driving mechanism |
| CN111152905A (en) * | 2020-01-09 | 2020-05-15 | 吉林大学 | Dual-purpose bionic soft actuator |
| CN112810392A (en) * | 2021-01-27 | 2021-05-18 | 杭州师范大学钱江学院 | Road-air dual-purpose aircraft with adjustable shock absorber and operation method thereof |
| CN112810392B (en) * | 2021-01-27 | 2022-05-31 | 杭州师范大学钱江学院 | Road-air dual-purpose aircraft with adjustable shock absorber and operation method thereof |
| CN113147294A (en) * | 2021-04-30 | 2021-07-23 | 东南大学 | Air-ground amphibious autonomous investigation robot and working method |
| CN113147294B (en) * | 2021-04-30 | 2022-06-14 | 东南大学 | Air-ground amphibious autonomous investigation robot and working method |
| CN114633823A (en) * | 2022-03-07 | 2022-06-17 | 清华大学 | Triphibian robot |
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Granted publication date: 20190118 |