CN210680979U

CN210680979U - Bionic hexapod insect crawling robot

Info

Publication number: CN210680979U
Application number: CN201921405898.5U
Authority: CN
Inventors: 冯鹏笼; 彭孝林; 秦衡峰
Original assignee: Xiangtan University
Current assignee: Xiangtan University
Priority date: 2019-08-28
Filing date: 2019-08-28
Publication date: 2020-06-05
Anticipated expiration: 2029-08-28

Abstract

The utility model discloses a bionic hexapod insect crawling robot, including frame, six plane crank rocker mechanisms, horizontal elongated slot, pull rod, gear train, worm gear drive mechanism, steering bar, screw rod, chassis, backup pad, motor, characterized by it has horizontal elongated slot to open in the frame, and the support point of the three plane crank rocker mechanism of homonymy inlays in horizontal elongated slot to connect with the rocker, bionic hexapod insect crawling robot shank comprises six plane crank rocker mechanisms, and controls each three group symmetric distribution in the middle part of frame both sides, plane crank rocker mechanism comprises gear, connecting rod, rocker, the connecting rod contacts with ground as the leg of bionic hexapod insect crawling robot, the terminal motion curve of connecting rod is the motion trail of bionic hexapod insect crawling robot, worm gear drive mechanism is by worm wheel, The worm is formed and is installed at the top end in the middle of the rack, and the equipment has the advantages of being capable of rotating 180 degrees in situ and the like.

Description

Bionic hexapod insect crawling robot

Technical Field

The utility model relates to a robotechnology field, concretely relates to bionic six sufficient insects robot of crawling.

Background

The Chinese territory is wide, and the landform covers various landforms such as plateau, plain, mountain desert and the like. Wheeled vehicles can pass through approximately all terrain where terrain is relatively flat, but their mobility is limited in areas where terrain is relatively complex.

The hexapod robot can move on complex terrains more powerfully than a common wheeled and tracked transportation device, and is not influenced by terrains and road lands on some terrains such as plateaus, steep slopes and mountainous regions. In agricultural application, the hexapod worm-shaped robot can be applied to realizing mechanized production of terraces such as agricultural ploughing terraces, mountainous regions and the like by large-scale instruments which are not used in China. In the aspect of transportation, in some areas with less developed traffic or worse road conditions, the hexapod robot land for medical use can greatly reduce the dependence degree of transportation on roads, and greatly improve the transportation efficiency and the transportation speed.

Disclosure of Invention

An object of the utility model is to overcome prior art not enough, provide a bionic six sufficient insect robot of crawling that original place ability 180 turned to, turning radius is little, the walking flexibility is high.

In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: a bionic hexapod insect crawling robot comprises a rack, six plane crank and rocker mechanisms, a horizontal long groove, a pull rod, a gear set, a worm and worm gear transmission mechanism, a steering bar, a screw rod, a chassis, a supporting plate and a motor, and is characterized in that the rack is provided with the horizontal long groove, support points of three plane crank and rocker mechanisms on the same side are embedded in the horizontal long groove and connected through a rocker, legs of the bionic hexapod insect crawling robot are composed of the six plane crank and rocker mechanisms, three groups of the left and right parts of the bionic hexapod insect crawling robot are symmetrically distributed in the middle of two sides of the rack, each plane crank and rocker mechanism is composed of a gear, a connecting rod and a rocker, the connecting rod is used as a leg of the bionic hexapod insect crawling robot to be contacted with the ground, a motion curve of the tail end of the connecting rod is a motion track of the bionic hexapod insect crawling robot, the gear is installed on the horizontal, the utility model discloses a rack, including frame, rack, gear train, rack left side tail end, motor, worm and worm wheel drive mechanism, gear train is respectively installed to frame both sides, and connects through the pull rod transmission, the gear train comprises six gears, the bottom in the middle of the frame is installed to the chassis, worm and worm wheel drive mechanism comprises worm wheel, worm, and installs on the top in the middle of the frame, the backup pad is installed at frame left side tail end, the motor is installed at the backup pad right-hand member, the screw rod.

Preferably, the worm and worm gear transmission mechanism consists of a worm wheel and a worm and is arranged at the top end in the middle of the rack, the motor drives the chassis to ascend through a shaft, and the worm and worm gear transmission mechanism enables the chassis to rotate 180 degrees, so that the 180-degree rotation of the rack is realized, and the in-situ 180-degree steering of the bionic hexapod insect crawling robot is realized.

Compared with the prior art, the utility model discloses following beneficial effect has: this bionic hexapod insect robot of crawling stable in structure, walking flexibility height, turning radius are little, low cost, can turn to 180 on the spot, more have through multiple complicated topography ground advantage than wheeled and tracked robot, receive topography, road condition influence for a short time, whole device is simple, convenient operation.

Drawings

Fig. 1 is a front view of a bionic hexapod insect crawling robot.

Fig. 2 is a top view of the bionic hexapod insect crawling robot.

Fig. 3 is a side view of the bionic hexapod insect crawling robot.

FIG. 4 is a walking gait schematic diagram of the bionic hexapod insect crawling robot.

The attached drawings are marked as follows: 1. a frame; 2. a gear set; 3. a planar crank and rocker mechanism; 301. a gear; 302. a connecting rod; 303. a rocker; 4. a worm and worm gear transmission mechanism; 401. a worm gear; 402. a worm; 5. a steering bar; 6. a screw; 7. a support plate; 8. a motor; 9. a chassis; 10. a pull rod; 11. a horizontal elongated slot; 12. a shaft.

Detailed Description

As shown in fig. 1 and 2, the bionic hexapod insect crawling robot comprises a frame 1, six plane crank and rocker mechanisms 3, a horizontal long groove 11, a pull rod 10, a gear set 2, a worm and worm gear transmission mechanism 4, a steering bar 5, a screw 6, a chassis 9, a support plate 7 and a motor 8, and is characterized in that the frame 1 is provided with the horizontal long groove 11, support points of three plane crank and rocker mechanisms 3 on the same side are embedded in the horizontal long groove 11 and connected by using a rocker 303, legs of the bionic hexapod insect crawling robot are composed of the six plane crank and rocker mechanisms 3, the left and right groups of the six plane crank and rocker mechanisms are symmetrically distributed in the middle of two sides of the frame 1, each plane crank and rocker mechanism 3 is composed of a gear 301, a connecting rod 302 and a rocker 303, the connecting rod 302 is used as a leg of the bionic hexapod insect crawling robot to contact with the ground, a motion curve at the tail end of the connecting rod 302 is, gear 301 installs on horizontal elongated slot 11, and gear 301 plays the cranked effect in the plane crank rocker mechanism 3, gear train 2 is respectively installed to 1 both sides of frame, and connects through pull rod 10 transmission, gear train 2 comprises six gears 301, bottom in the middle of the frame is installed to chassis 9, worm and worm gear drive mechanism 4 comprises worm wheel 401, worm 402, and installs top in the middle of the frame 1, backup pad 7 installs at 1 left side tail end in the frame, motor 8 installs at 7 right-hand members in the backup pad, screw rod 6 installs at 7 left ends in the backup pad, turn to strip 5 and install on screw rod 6.

As shown in fig. 1, 2 and 3, the legs of the bionic hexapod insect crawling robot are connecting rods 302 in a planar crank rocker mechanism 3, the motion curve of the tail ends of the connecting rods 302 is the motion track of the bionic hexapod insect crawling robot, and walking and turning in the process of traveling of the bionic hexapod insect crawling robot are achieved by changing the motion curve of the tail ends of the connecting rods 302.

As shown in fig. 1 and 3, the worm and worm gear transmission mechanism 4 is composed of a worm wheel 401 and a worm 402 and is installed at the top end of the middle of the frame 1, the motor 8 drives the chassis 9 to ascend through the shaft 12, and the worm and worm gear transmission mechanism 4 enables the chassis 9 to rotate 180 degrees, so that 180-degree rotation of the frame 1 is realized, and 180-degree rotation of the bionic hexapod insect crawling robot in situ is realized.

As shown in fig. 4, the hexapod of the bionic hexapod insect crawling robot is divided into two groups, each group of the hexapods has the same initial phase of the same group of the hexapods, the initial phase difference between the two groups of the hexapods is 180 degrees, and the two groups of the hexapods alternately act to realize the forward or backward movement in the advancing process. Under the walking mode, three feet contact the ground at each moment to form a supporting surface. The gravity center of the bionic hexapod insect crawling robot is always positioned in a triangle formed by three legs, namely the road condition is not good, and the stability of the bionic hexapod insect crawling robot in the walking process can be ensured.

The utility model relates to a bionic six-feet insect crawling robot, when in use, the power is switched on, then a motor 8 drives a screw rod 6 to rotate, a pull rod 10 moves linearly and drives a three-feet supporting point to move in a horizontal long groove 11, thereby changing the length of a connecting rod 302 of a plane crank rocker mechanism 3 driving each foot to move, thereby realizing the walking of the bionic six-feet insect crawling robot, selecting different turning directions of the motor 8 to change the motion curve at the tail end of the connecting rod 302, thereby realizing the walking of the bionic six-feet insect crawling robot with different speeds, the arc turning of the bionic six-feet insect crawling robot depends on changing the length of the connecting rod 302 in a crank rocker mechanism 3 at one side, changing the track curve of one end point on the connecting rod 302, namely the bionic six-feet insect crawling robot, through a turning bar 5, thereby changing the step pitch of the feet at one side, thereby realizing the arc turning, in addition, the arc steering mechanism can also realize fine adjustment in the process of linear motion of the bionic six-footed insect crawling robot, so that the bionic six-footed insect crawling robot can walk straight as far as possible, the bionic six-footed insect crawling robot moves the chassis 9 through the shaft 12 to ascend, the worm and worm gear transmission mechanism 4 enables the chassis 9 to rotate 180 degrees, and therefore 180-degree rotation of the rack 1 is realized, and the bionic six-footed insect crawling robot can turn 180 degrees in situ.

Claims

1. A bionic hexapod insect crawling robot comprises a rack (1), six plane crank and rocker mechanisms (3), a horizontal long groove (11), a pull rod (10), a gear set (2), a worm and worm gear transmission mechanism (4), a steering bar (5), a screw (6), a chassis (9), a supporting plate (7) and a motor (8), and is characterized in that the rack (1) is provided with the horizontal long groove (11), support points of three plane crank and rocker mechanisms (3) on the same side are embedded in the horizontal long groove (11) and connected through a rocker (303), legs of the bionic hexapod insect crawling robot are composed of the six plane crank and rocker mechanisms (3), the left and right groups of the three groups of the support points are symmetrically distributed in the middle of two sides of the rack (1), each plane rocker mechanism (3) is composed of a gear (301), a connecting rod (302) and a rocker (303), and the connecting rod (302) is used as legs of the bionic hexapod crawling robot to be in contact with the ground, the motion curve of the tail end of the connecting rod (302) is the motion trail of the bionic hexapod insect crawling robot, the gear (301) is arranged on the horizontal long groove (11), and the gear (301) plays the role of a crank in the plane crank rocker mechanism (3), two sides of the frame (1) are respectively provided with a gear set (2), and is in transmission connection through a pull rod (10), the gear set (2) consists of six gears (301), the chassis (9) is arranged at the bottom of the middle of the rack (1), the worm and worm wheel transmission mechanism (4) consists of a worm wheel (401) and a worm (402), and is arranged at the top end of the middle of the frame (1), the supporting plate (7) is arranged at the tail end of the left side of the frame (1), the motor (8) is installed at the right end of the supporting plate (7), the screw rod (6) is installed at the left end of the supporting plate (7), and the steering strip (5) is installed on the screw rod (6).

2. The bionic hexapod insect crawling robot of claim 1, wherein: the bionic six-legged insect crawling robot is characterized in that the worm and worm gear transmission mechanism (4) is composed of a worm gear (401) and a worm (402) and is installed at the top end of the middle of the rack (1), the motor (8) drives the chassis (9) to ascend through a shaft (12), the worm and worm gear transmission mechanism (4) enables the chassis (9) to rotate 180 degrees, and therefore 180-degree rotation of the rack (1) is achieved, and in-situ 180-degree steering of the bionic six-legged insect crawling robot is achieved.