CN210437290U

CN210437290U - Double-sided multi-foot bionic robot capable of climbing

Info

Publication number: CN210437290U
Application number: CN201920359971.3U
Authority: CN
Inventors: 方弄玉; 刘宏杰; 刘宇容; 杨娜; 秦素玉; 吕正祥; 黄银辉; 黄福盛
Original assignee: GUANGDONG AIB POLYTECHNIC COLLEGE
Current assignee: GUANGDONG AIB POLYTECHNIC COLLEGE
Priority date: 2019-03-21
Filing date: 2019-03-21
Publication date: 2020-05-01
Anticipated expiration: 2029-03-21

Abstract

The utility model discloses a climbing double-sided multi-foot bionic robot, which comprises a controller and a vehicle body, wherein baffles are arranged around the vehicle body, a plurality of boat feet are arranged below the vehicle body, and each boat foot is respectively driven by a boat foot driving motor; a round steel penetrates through the baffle plates on the two side faces of the vehicle body, hook supports are arranged at the two ends of the round steel respectively, the round steel is hinged to the hook supports, the hooks are fixed on the hook supports, the hooks are driven by a double-shaft motor to rotate 360 degrees, and the boat foot driving motor and the double-shaft motor are controlled by the controller. The utility model discloses a setting can 360 degrees rotatory hooks, can make bionic robot overturn higher barriers, also can realize beating of certain range, and then attack enemy robot, have the advantage that control is nimble, the function is various.

Description

Double-sided multi-foot bionic robot capable of climbing

Technical Field

The utility model relates to a robot research field, in particular to can scramble two-sided polypody bionic robot.

Background

At present, most robots in a robotic game mainly attack, and have poor defense capability and complex structure. Is easy to be overturned or jammed in the fight, thereby influencing the result of the match.

Therefore, it is necessary to provide a multi-legged robot which has strong burstiness, avoids fight, can grab and control enemies on time and at once, and is flexible to control.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art's shortcoming and not enough, provide a can scramble biped polypody bionic robot, this robot has proruption nature strong, easily turns over the obstacle, attack is fast, the advantage of control flexibility.

The purpose of the utility model is realized through the following technical scheme: the climbing double-sided multi-foot bionic robot comprises a controller and a vehicle body, wherein a baffle is arranged around the vehicle body, a plurality of boat feet are arranged below the vehicle body, and each boat foot is driven by a boat foot driving motor; a round steel penetrates through the baffle plates on the two side faces of the vehicle body, hook supports are arranged at the two ends of the round steel respectively, the round steel is hinged to the hook supports, the hooks are fixed on the hook supports, the hooks are driven by a double-shaft motor to rotate 360 degrees, and the boat foot driving motor and the double-shaft motor are controlled by the controller. The utility model discloses a setting can 360 degrees rotatory hooks, can make bionic robot overturn higher barriers, also can realize beating of certain range, and then attack enemy robot, have the advantage that control is nimble, the function is various.

Preferably, the two-sided polypod bionic robot that can climb is equipped with 4 two-sided boat feet, including two hind feet and two front legs, 4 two-sided boat feet are equallyd divide and are respectively by a boat foot driving motor drive, boat foot driving motor adopts direct current planet gear motor. Therefore, the driving and steering of the robot can be accurately controlled, the two sides of the bionic robot can walk by adopting the double-sided boat feet, and the phenomenon that the robot is tipped over can be effectively prevented.

Furthermore, each double-sided boat foot is composed of 3 double-sided boat foot feet which are staggered by sixty degrees. The robot is realized by adopting the crawling bionic driving device, is smoother in the walking process, and cannot be blocked.

Furthermore, each boat foot and the boat foot driving motor are in transmission through a bearing. The advantage of the bearing drive is that the boat foot is prevented from jamming during high speed walking.

Further, the boat foot is mounted between the body and the fender. The baffle plate for the boat foot surrounds the vehicle body and plays a role in preventing the boat foot from being stuck by something.

Preferably, the body includes a fixing plate for fixing the boat foot driving motor and the biaxial motor, excluding the chassis. The chassis-free bionic robot reduces the self weight of the robot to a certain extent, so that the bionic robot walks more flexibly and climbs obstacles more rapidly.

Preferably, the controller is connected with the remote controller through a wireless communication module. Thereby realizing remote intelligent remote control.

Preferably, the hook support and the baffle are both made of aluminum alloy. Has the advantages of light weight and high hardness.

Compared with the prior art, the utility model, following advantage and beneficial effect have:

1. the utility model discloses set up a revolvable hook, on the one hand can be used for attacking, on the other hand can make whole automobile body upset through hook support's rotation to make the robot cross higher barrier.

2. The utility model discloses a wireless remote controller remote operation control motor, usable hook support attack opponent closely can be used to robotac match or sports type recreation match, has the practicality.

3. The utility model discloses well robot automobile body is short little, and crashworthiness is strong, attacks rapidly effectively, just overturns during the antagonism, also can walk (two-sided ship foot).

4. The utility model discloses the robot passes through wireless remote controller remote control, and the control ship foot constantly moves, can realize the all around quick travel control of robot.

5. The utility model discloses control is easy, and the maintenance is simple and convenient, and easily operation has proruption nature strong, easily turns over the obstacle, and attack rate is fast, controls nimble advantage.

6. The utility model discloses the robot not only can cross higher barrier, also can be applicable to various complicated rugged topography, has the advantage on the jungle grass ground.

Drawings

Fig. 1 is a perspective view 1 of the present embodiment.

Fig. 2 is a perspective view 2 of the present embodiment.

Fig. 3 is a perspective view 3 of the present embodiment.

In the figure: 1-boat foot, 2-hook, 3-hook bracket, 4-direct current planetary gear motor, 5-baffle, 6-double-shaft motor and 7-round steel.

Detailed Description

The present invention will be described in further detail with reference to the following examples and drawings, but the present invention is not limited thereto.

Examples

As shown in fig. 1-3, the climbing biped multi-legged bionic robot in the embodiment comprises boat legs, hooks 2, a hook support 3, a boat leg driving motor 4, a baffle 5, a double-shaft motor 6, round steel 7, a controller and other components, wherein the baffle is arranged around a vehicle body, 4 boat legs are arranged below the vehicle body, and each boat leg is driven by the boat leg driving motor. A round steel penetrates through the baffle plates on the two side faces of the vehicle body, hook supports are arranged at the two ends of the round steel respectively, the round steel is hinged to the hook supports, the hooks are fixed on the hook supports, the hooks are driven by a double-shaft motor to rotate 360 degrees, and the boat foot driving motor and the double-shaft motor are controlled by the controller.

Referring to fig. 1 and 3, in the present embodiment, the multi-legged robot is implemented by a crawling bionic driving device, instead of a boat foot driven by a motor. The number of the boat feet is 4, the boat feet are double-faced, each boat foot corresponds to one direct-current planetary gear motor respectively and can rotate forward and backward, the two motors on the left side are in one group, the two motors on the right side are in one group, and the electric speed controller is controlled by two electric modes. The boat foot and the boat foot driving motor are driven by a bearing. The method for controlling the motion state of the trolley comprises the following steps: when the left and right speeds and directions are the same, the robot moves forwards or backwards; when the left boat foot is backward and the right boat foot is forward, the robot turns left; when the left ship foot moves forwards and the right ship foot moves backwards, the robot turns right. The effect of turning can also be realized through the speed difference of the motors on the two sides.

The ship foot in the embodiment is light in weight, less in wear, connected with an internal bearing, stored with energy by a flywheel, and more reliable in working mode compared with a connecting rod. Is suitable for high-speed motors and forward and reverse combat. Each double-sided boat foot is composed of 3 double-sided boat foot feet which are staggered by sixty degrees, and the double-sided boat feet are driven by bearings, so that the double-sided boat foot is smoother in high-speed operation of a motor, and the phenomenon of blocking can not occur.

In this embodiment, the automobile body is the # -shaped form including two middle fixed plates, whole structure, makes it more firm for fixed ship foot driving motor and biax motor do not include the chassis, thereby has alleviateed the weight of robot self, makes the walking of bionic robot more nimble, scrambles the barrier more rapidly.

In the embodiment, the baffle is arranged around the vehicle body, and the boat foot is arranged between the vehicle body and the baffle to play a role in preventing the boat foot from being clamped by something. And set up the fixed electric wire circuit on the baffle can protecting the automobile body, ensure the job stabilization of robot, avoid breaking down when attacking and climbing.

The round holes with the diameter of 8mm are symmetrically formed in the positions, close to the back, of the two side plates of the baffle, a round steel with the diameter of 8mm penetrates through the round holes, the round steel is fixed with the baffle through the flange plate, and the round steel is used for supporting the hook support.

The hook support is installed at the rear of the multi-legged robot, is in a horizontal state with the vehicle body in a static state, and is directly fixed with the hook through a flange plate. The round steel passes through the shaft coupling with the double-shaft motor and links to each other, and the double-shaft motor rotates, drives the support frame rotation by shaft coupling and round steel, can 360 degrees rotations, comes the upset of whole automobile body. The bionic robot can overturn a higher barrier through overturning the hook-shaped support frame, and under certain conditions, the hook-shaped support frame can also be used for knocking objects. Both the hook and the hook holder are made of aluminum alloy.

In the embodiment, the length of the whole vehicle body can be determined according to the height of the obstacle, and when the obstacle is low, the robot can be lifted to a certain height through the hook support, so that the boat feet can directly walk. When the obstacle is high, the robot turns over to pass through the obstacle.

In this embodiment, the robot can perform exploration in a jungle according to a pre-written program, and can also perform manual exploration through a wireless remote controller under the 2.4G communication technology, so that the robot has high compatibility.

The working method of the utility model is as follows: when the robot is used as an attacking robot, the robot is controlled to swing by the hook through wireless remote control, so that the hook can be knocked greatly. Then the double-shaft motor is controlled through wireless remote control, so that the motor rotates forwards and backwards, and an enemy robot can be attacked quickly. When the robot is used as a climbing robot, the hook support is controlled to slowly rotate through wireless remote control, so that the whole robot is turned over, when the front half of the boat feet fall to the ground, the boat feet move forwards through controlling the boat foot driving motor, and therefore the robot can cross over obstacles. The anti-obstacle system has the advantages of strong anti-obstacle capability, good obstacle crossing capability, high stability and controllable attack state.

The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.

Claims

1. The climbing double-sided multi-foot bionic robot is characterized by comprising a controller and a vehicle body, wherein a baffle is arranged around the vehicle body, a plurality of boat feet are arranged below the vehicle body, and each boat foot is driven by a boat foot driving motor; a round steel penetrates through the baffle plates on the two side faces of the vehicle body, hook supports are arranged at the two ends of the round steel respectively, the round steel is hinged to the hook supports, the hooks are fixed on the hook supports, the hooks are driven by a double-shaft motor to rotate 360 degrees, and the boat foot driving motor and the double-shaft motor are controlled by the controller.

2. The climbing double-sided multi-foot bionic robot as claimed in claim 1, wherein the climbing double-sided multi-foot bionic robot is provided with 4 double-sided boat feet, the climbing double-sided multi-foot bionic robot comprises two rear feet and two front feet, the 4 double-sided boat feet are respectively driven by a boat foot driving motor, and the boat foot driving motor adopts a direct current planetary gear motor.

3. The scrapable double-sided multi-legged biomimetic robot of claim 2, wherein each of said double-sided pods consists of 3 double-sided pods staggered sixty degrees from each other.

4. The scrapable two-sided multi-legged biomimetic robot as recited in claim 2, wherein each of said boat feet is driven by a bearing with a boat foot drive motor.

5. The scrapable two-sided multi-legged biomimetic robot of claim 4, wherein the boat foot is mounted between a body and a visor.

6. The climbing biped polypod biomimetic robot as recited in claim 1, wherein the body comprises a fixing plate for fixing the boat foot drive motor and the two-axis motor, excluding the chassis.

7. The climbing biped polypod biomimetic robot as recited in claim 1, wherein the controller is connected to a remote controller via a wireless communication module.

8. The climbing biped polypody bionic robot as claimed in claim 1, wherein the hook bracket and the baffle are made of aluminum alloy.