CN209395929U - A kind of bionical hexapod robot - Google Patents
A kind of bionical hexapod robot Download PDFInfo
- Publication number
- CN209395929U CN209395929U CN201822171027.3U CN201822171027U CN209395929U CN 209395929 U CN209395929 U CN 209395929U CN 201822171027 U CN201822171027 U CN 201822171027U CN 209395929 U CN209395929 U CN 209395929U
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- steering engine
- bracket
- drive
- connecting shaft
- hexapod robot
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Abstract
The utility model discloses a kind of bionical hexapod robot, it is made of fuselage and six pedipulators, wherein pedipulator has three degree of freedom, the angle to be swung by changing the first steering engine, at the waist joint of control biomimetics hexapod robot, whole leg is driven to move horizontally relative to robot fuselage；Change the angle that the second steering engine is swung up and down, at the hip joint of control biomimetics hexapod robot, movement is lifted and put down in the leg for completing bionical hexapod robot；Change the angle that third steering engine is swung up and down, at the knee joint of control biomimetics hexapod robot, complete the kick of the foot of bionical hexapod robot, so that bionical hexapod robot cross complicated topography areas using Walking Mode, have many advantages, such as to adapt to various complex environments, structure simply, flexible movements.
Description
Technical field
The utility model relates to bionical hexapod robot field more particularly to a kind of bionical hexapod robot.
Background technique
The rapid development of bionics techniques generates increasing influence to the every aspect of human lives, it is desirable that machine
People has the adaptability of higher dexterity of action and various complex environments, existing wheeled robot and caterpillar type robot knot
Structure is simple, but road pavement requires height when their walkings, does not adapt to various complex environments.
Utility model content
Technical problem to be solved by the utility model is to provide one kind adapt to various complex environments, structure it is simple,
The high bionical hexapod robot of dexterity of action.
In order to solve the above-mentioned technical problem, a kind of bionical hexapod robot provided by the utility model comprising fuselage and
Pedipulator, the fuselage are hexagonal structure, and six angles of the fuselage are respectively equipped with pedipulator, and the pedipulator includes first
Steering engine, the second steering engine, third steering engine, sufficient arm, the first steering engine bracket, the second steering engine bracket and third steering engine bracket；Described first
The output end of steering engine is connect by the first drive-connecting shaft with the fuselage, the axis of first drive-connecting shaft and six sides of the fuselage
Shape plane is vertical, and the fixing end of first steering engine is connect with one end of the first steering engine bracket, the first steering engine bracket
The other end connect with the output end of second steering engine by the second drive-connecting shaft, and the axis of second drive-connecting shaft with it is described
The axis of first drive-connecting shaft is mutually perpendicular to, and the fixing end of second steering engine is connect with one end of the second steering engine bracket, institute
The other end for stating the second steering engine bracket is connect with the fixing end of the third steering engine, and the output end of the third steering engine passes through third
Drive-connecting shaft is connect with one end of the third steering engine bracket, and the axis of the axis of the third drive-connecting shaft and second drive-connecting shaft
Line is parallel to each other, and the other end of the third steering engine bracket is connect with the sufficient arm.
As preferred embodiments of the present invention, the fuselage is made of upper mounted plate and bottom plate, first steering engine
Output end is connected between fixed plate and the bottom plate by the first drive-connecting shaft, first servo driving
Its own swings around the axis of first drive-connecting shaft.
As preferred embodiments of the present invention, the first steering engine bracket includes the first u-bracket and the second u-bracket, institute
It states the first u-bracket and second u-bracket is mutually perpendicular to, the U-shaped mouth of first u-bracket and first steering engine
The U-shaped mouth of fixing end connection, second u-bracket is connected by the output end of second drive-connecting shaft and second steering engine
Connect, second servo driving its own swung up and down around the axis of second drive-connecting shaft.
As preferred embodiments of the present invention, the second steering engine bracket includes third u-bracket and the 4th u-bracket, institute
It states third u-bracket and the 4th u-bracket is parallel to each other, the U-shaped mouth of the third u-bracket and second steering engine
Fixing end connection, the U-shaped mouth of the 4th u-bracket are connect with the fixing end of the third steering engine.
As preferred embodiments of the present invention, the third steering engine bracket includes the 5th u-bracket and foot fixing piece, described
Foot fixing piece is fixed in the 5th u-bracket, and the foot arm is fixed on the foot fixing piece, and the described 5th is U-shaped
The U-shaped mouth of bracket is connect by the third drive-connecting shaft with the output end of the third steering engine, described in the third servo driving
5th u-bracket is swung up and down around the axis of the third drive-connecting shaft.
As preferred embodiments of the present invention, the fuselage, which is equipped with, to make corresponding appearance according to the front information that detection obtains
State and the avoiding obstacles by supersonic wave module of movement.
As preferred embodiments of the present invention, the foot arm is gradually to narrow, and the end of the foot arm is cylindrical surface.
As preferred embodiments of the present invention, the end of the foot arm is equipped with the infrared module for preventing sufficient arm from making a misstep.
A kind of bionical hexapod robot for implementing the utility model have the following beneficial effects: compared with prior art
The utility model is made of fuselage and six pedipulators, and it is to copy polypody that wherein pedipulator, which has three degree of freedom,
Three joint designs of waist joint, hip joint, knee joint of insect and obtain, and with twin shaft steering engine control, by changing the first rudder
The angle that machine swings at the waist joint of control biomimetics hexapod robot, drives whole leg to do water relative to robot fuselage
Flat movement, during Walking Mode, the running of the first steering engine is so that robot obtains forward power；Change the second steering engine
The angle swung up and down, at the hip joint of control biomimetics hexapod robot, the leg for completing bionical hexapod robot is lifted and is put
Lower movement；Change the angle that swings up and down of third steering engine, at the knee joint of control biomimetics hexapod robot, completes bionical six sufficient machines
The kick of the foot of device people, so that bionical hexapod robot cross complicated topography areas using Walking Mode.Therefore, when
When six pedipulators are changing into the posture of walking driving, hexapod robot can copy the athletic posture of galleyworm to crawl
Movement can stablize realization and creep on complicated topography face, adapt to various complex terrains to the greatest extent；Meanwhile fuselage
Body design is to meet six pedipulators circle distribution is presented relative to fuselage, is that six pedipulators are distributed in six on fuselage
On the angle of side shape structure so that between the pedipulator of bionical hexapod robot have biggish space, thus reduce pedipulator it
Between movement interference, have many advantages, such as that action response is rapid, structure is simple, flexible movements.
Detailed description of the invention
In order to illustrate more clearly of the technical solution of the utility model embodiment, the attached drawing of embodiment will be made below simple
Ground introduction.
Fig. 1 is a kind of structural schematic diagram of bionical hexapod robot provided by the utility model；
Fig. 2 is the structural schematic diagram of pedipulator；
Marked in the figure: 1 is fuselage, 2 be pedipulator, and 3 be the first steering engine, and 4 be the second steering engine, and 5 be third steering engine, and 6 be foot
Arm, 7 be the first steering engine bracket, and 8 be the second steering engine bracket, and 9 be third steering engine bracket, and 10 be upper mounted plate, and 11 be bottom plate,
12 be the first u-bracket, and 13 be the second u-bracket, and 14 be third u-bracket, and 15 be the 4th u-bracket, and 16 be the 5th U-shaped branch
Frame, 17 be foot fixing piece.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without creative efforts
Every other embodiment obtained, fall within the protection scope of the utility model.
As shown in Figure 1, the preferred embodiment of the utility model, a kind of bionical hexapod robot, including fuselage 1 and pedipulator
2, the fuselage 1 is hexagonal structure, and six angles of the fuselage 1 are respectively equipped with pedipulator 2, and the pedipulator 2 includes first
Steering engine 3, the second steering engine 4, third steering engine 5, sufficient arm 6, the first steering engine bracket 7, the second steering engine bracket 8 and third steering engine bracket 9；Institute
The output end for stating the first steering engine 3 is connect by the first drive-connecting shaft with the fuselage 1, the axis and the machine of first drive-connecting shaft
The hexagon plane of body 1 is vertical, and the fixing end of first steering engine 3 is connect with one end of the first steering engine bracket 7, and described
The other end of one steering engine bracket 7 is connect by the second drive-connecting shaft with the output end of second steering engine 4, and second drive-connecting shaft
The axis of axis and first drive-connecting shaft be mutually perpendicular to, the fixing end of second steering engine 4 and the second steering engine bracket 8
One end connection, the other end of the second steering engine bracket 8 connect with the fixing end of the third steering engine 5, the third steering engine 5
Output end connect with one end of the third steering engine bracket 9 by third drive-connecting shaft, and the axis of the third drive-connecting shaft and
The axis of second drive-connecting shaft is parallel to each other, and the other end of the third steering engine bracket 9 is connect with the sufficient arm 6.In addition, the
One steering engine 3, the second steering engine 4 and third steering engine 5 are both preferably twin shaft digital rudder controller, and this dual-axle motor output torque is big, stablize
Property it is good, make hexapod robot it is relatively reliable with stablize, uniform force.
As shown in Fig. 2, illustrative, the fuselage 1 is made of upper mounted plate 10 and bottom plate 11, first steering engine
3 output end is connected between fixed plate 10 and the bottom plate 11 by the first drive-connecting shaft, and described first
Steering engine 3 drives its own to swing around the axis of first drive-connecting shaft；The first steering engine bracket 7 includes first U-shaped
Bracket 12 and the second u-bracket 13, first u-bracket 12 and second u-bracket 13 are mutually perpendicular to, the first U
The U-shaped mouth of type bracket 12 is connect with the fixing end of first steering engine 3, and the U-shaped mouth of second u-bracket 13 passes through described the
Two drive-connecting shafts are connect with the output end of second steering engine 4, and second steering engine 4 drives its own around second drive-connecting shaft
Axis swing up and down；The second steering engine bracket 8 includes third u-bracket 14 and the 4th u-bracket 15, and the third is U-shaped
Bracket 14 and the 4th u-bracket 15 are parallel to each other, the U-shaped mouth of the third u-bracket 14 and consolidating for second steering engine 4
Fixed end connection, the U-shaped mouth of the 4th u-bracket are connect with the fixing end of the third steering engine 5；The third steering engine bracket 9
Including the 5th u-bracket 16 and foot fixing piece 17, the foot fixing piece 17 is fixed in the 5th u-bracket 16, institute
Sufficient arm 6 is stated to be fixed on the foot fixing piece 17, the U-shaped mouth of the 5th u-bracket 16 by the third drive-connecting shaft with
The output end of the third steering engine 5 connects, and the third steering engine 5 drives the 5th u-bracket 16 to be pivotally connected around the third
The axis of axis is swung up and down；Also you need to add is that, the utility model copies six sufficient insects, imitates polypody using three steering engines
The leg three degree of freedom of insect, the first steering engine 3 copy the waist joint of galleyworm, and the second steering engine 4 copies the hip of galleyworm
Joint, third steering engine 5 copy the knee joint of galleyworm, and the first steering engine 3 is connect by the first steering engine bracket 7 with the second steering engine 4,
The hip section of galleyworm is served as, the second steering engine 4 is connect with third steering engine 5 by the second steering engine bracket 8, and the big of galleyworm is served as
Leg, third steering engine 5 are connect with third steering engine bracket 9, imitate the shank of galleyworm, using a face contact, reduce sufficient arm 6 and ground
The friction in face reduces energy consumption.
Illustratively, the fuselage 1 is equipped with avoiding obstacles by supersonic wave mechanism, so that the bionical hexapod robot can be according to detecting
To front information make corresponding posture and movement, realize avoidance, the function of obstacle detouring.
Illustratively, the sufficient arm 6 is gradually to narrow, and the end of the foot arm 6 is cylindrical surface, so that sufficient arm 6 and ground
Contact be approximately a face contact, reduce contact area, avoid having skidded phenomenon in bionical hexapod robot motion process.
Illustratively, the end of the sufficient arm 6 is equipped with the infrared module for preventing sufficient arm 6 from making a misstep, and avoids when bionical
Hexapod robot aloft operation when, made a misstep because edge can not be recognized, lead to danger from high falling.
The utility model is made of fuselage 1 and six pedipulators 2 as a result, and wherein pedipulator 2 has three degree of freedom, is
It copies three joint designs of waist joint, hip joint, knee joint of galleyworm and obtains, and controlled with twin shaft steering engine, by changing
Become the angle that the first steering engine 3 swings, at the waist joint of control biomimetics hexapod robot, drives whole leg relative to robot
Fuselage 1 moves horizontally, and during Walking Mode, the running of the first steering engine 3 is so that robot obtains forward power；Change
Become the angle that the second steering engine 4 is swung up and down, at the hip joint of control biomimetics hexapod robot, completes the leg of bionical hexapod robot
Lift and put down movement in portion；Change the angle that swings up and down of third steering engine 5, it is complete at the knee joint of control biomimetics hexapod robot
At the kick of the foot of bionical hexapod robot, so that bionical hexapod robot cross complicated topography using Walking Mode
Region.Therefore, when six pedipulators 2 are changing into the posture of walking driving, hexapod robot can copy the fortune of galleyworm
Dynamic posture crawls movement, can stablize and realize and creep on complicated topography face, adapt to the greatest extent it is various intricately
Gesture；Meanwhile 1 body design of fuselage is to meet six pedipulators 2 circle distribution is presented relative to fuselage 1, is by six machines
Tool leg 2 is distributed on fuselage 1 on the angle of hexagonal structure, so that having between the pedipulator 2 of bionical hexapod robot biggish
Space has many advantages, such as that action response is rapid, structure is simple, flexible movements to reduce the movement interference between pedipulator 2.
Above disclosed is only the preferred embodiment of the utility model, certainly cannot be practical new to limit this with this
The interest field of type, therefore equivalent variations made according to the patent scope of the utility model still belong to the utility model and are covered
Range.
Claims (8)
1. a kind of bionical hexapod robot, which is characterized in that including fuselage and pedipulator, the fuselage is hexagonal structure, institute
Six angles for stating fuselage are respectively equipped with pedipulator, and the pedipulator includes the first steering engine, the second steering engine, third steering engine, sufficient arm, the
One steering engine bracket, the second steering engine bracket and third steering engine bracket；The output end of first steering engine passes through the first drive-connecting shaft and institute
Fuselage connection is stated, the axis of first drive-connecting shaft is vertical with the hexagon plane of the fuselage, the fixation of first steering engine
End connect with one end of the first steering engine bracket, and the other end of the first steering engine bracket passes through the second drive-connecting shaft and described the
The output end of two steering engines connects, and the axis of second drive-connecting shaft and the axis of first drive-connecting shaft are mutually perpendicular to, described
The fixing end of second steering engine is connect with one end of the second steering engine bracket, the other end of the second steering engine bracket and described the
The fixing end of three steering engines connects, and the output end of the third steering engine passes through one end of third drive-connecting shaft and the third steering engine bracket
Connection, and the axis of the third drive-connecting shaft and the axis of second drive-connecting shaft are parallel to each other, the third steering engine bracket
The other end is connect with the sufficient arm.
2. bionical hexapod robot as described in claim 1, which is characterized in that the fuselage is by upper mounted plate and bottom plate
Composition, the output end of first steering engine by the first drive-connecting shaft be connected to fixed plate and the bottom plate it
Between, first servo driving its own swing around the axis of first drive-connecting shaft.
3. bionical hexapod robot as described in claim 1, which is characterized in that the first steering engine bracket includes first U-shaped
Bracket and the second u-bracket, first u-bracket and second u-bracket are mutually perpendicular to, the U of first u-bracket
Type mouth is connect with the fixing end of first steering engine, the U-shaped mouth of second u-bracket by second drive-connecting shaft with it is described
The output end of second steering engine connects, second servo driving its own swung up and down around the axis of second drive-connecting shaft.
4. bionical hexapod robot as described in claim 1, which is characterized in that the second steering engine bracket includes that third is U-shaped
Bracket and the 4th u-bracket, the third u-bracket and the 4th u-bracket are parallel to each other, the U of the third u-bracket
Type mouth is connect with the fixing end of second steering engine, and the U-shaped mouth of the 4th u-bracket and the fixing end of the third steering engine connect
It connects.
5. bionical hexapod robot as described in claim 1, which is characterized in that the third steering engine bracket includes the 5th U-shaped
Bracket and foot fixing piece, the foot fixing piece are fixed in the 5th u-bracket, and the foot arm is fixed on the foot
On fixing piece, the U-shaped mouth of the 5th u-bracket is connect by the third drive-connecting shaft with the output end of the third steering engine,
5th u-bracket described in the third servo driving is swung up and down around the axis of the third drive-connecting shaft.
6. bionical hexapod robot as described in claim 1, which is characterized in that the fuselage is equipped with and can be obtained according to detection
Front information makes the avoiding obstacles by supersonic wave module of corresponding posture and movement.
7. bionical hexapod robot as described in claim 1, which is characterized in that the foot arm is gradually to narrow, the foot arm
End be cylindrical surface.
8. bionical hexapod robot as described in claim 1, which is characterized in that the end of the foot arm is equipped with for preventing foot
The infrared module that arm makes a misstep.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822171027.3U CN209395929U (en) | 2018-12-21 | 2018-12-21 | A kind of bionical hexapod robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822171027.3U CN209395929U (en) | 2018-12-21 | 2018-12-21 | A kind of bionical hexapod robot |
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| Publication Number | Publication Date |
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| CN209395929U true CN209395929U (en) | 2019-09-17 |
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ID=67895768
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822171027.3U Expired - Fee Related CN209395929U (en) | 2018-12-21 | 2018-12-21 | A kind of bionical hexapod robot |
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| CN (1) | CN209395929U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111003124A (en) * | 2019-12-30 | 2020-04-14 | 西南石油大学 | Mechanical leg, hexapod robot and underwater movement method thereof |
| CN111098952A (en) * | 2020-01-10 | 2020-05-05 | 浙江工业大学 | Bionic mechanical leg and hexapod bionic robot |
| CN111896055A (en) * | 2020-08-11 | 2020-11-06 | 西安科技大学 | Bionic spider detector and using method thereof |
| CN113084825A (en) * | 2021-03-24 | 2021-07-09 | 深圳市注能科技有限公司 | Robot and robot foot |
| CN113525645A (en) * | 2021-07-07 | 2021-10-22 | 华南理工大学 | Bionic underwater robot based on squid |
| CN115140214A (en) * | 2022-07-25 | 2022-10-04 | 安徽工程大学 | Disaster relief hexapod bionic robot |
-
2018
- 2018-12-21 CN CN201822171027.3U patent/CN209395929U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111003124A (en) * | 2019-12-30 | 2020-04-14 | 西南石油大学 | Mechanical leg, hexapod robot and underwater movement method thereof |
| CN111003124B (en) * | 2019-12-30 | 2023-09-19 | 西南石油大学 | Mechanical leg, six-foot robot and underwater movement method thereof |
| CN111098952A (en) * | 2020-01-10 | 2020-05-05 | 浙江工业大学 | Bionic mechanical leg and hexapod bionic robot |
| CN111896055A (en) * | 2020-08-11 | 2020-11-06 | 西安科技大学 | Bionic spider detector and using method thereof |
| CN113084825A (en) * | 2021-03-24 | 2021-07-09 | 深圳市注能科技有限公司 | Robot and robot foot |
| CN113525645A (en) * | 2021-07-07 | 2021-10-22 | 华南理工大学 | Bionic underwater robot based on squid |
| CN113525645B (en) * | 2021-07-07 | 2022-05-24 | 华南理工大学 | Bionic underwater robot based on squid |
| CN115140214A (en) * | 2022-07-25 | 2022-10-04 | 安徽工程大学 | Disaster relief hexapod bionic robot |
| CN115140214B (en) * | 2022-07-25 | 2023-09-05 | 安徽工程大学 | Disaster relief hexapod bionic robot |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190917 Termination date: 20211221 |
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| CF01 | Termination of patent right due to non-payment of annual fee |