CN219095137U - Bionic beetle robot - Google Patents
Bionic beetle robot Download PDFInfo
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- CN219095137U CN219095137U CN202222745484.5U CN202222745484U CN219095137U CN 219095137 U CN219095137 U CN 219095137U CN 202222745484 U CN202222745484 U CN 202222745484U CN 219095137 U CN219095137 U CN 219095137U
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Abstract
A bionic beetle robot comprises a body skeleton, a left front foot, a left middle foot, a left rear foot, a right front foot, a right middle foot, a right rear foot, a jaw part, a detection part and a controller; the left front foot, the left middle foot and the left rear foot are sequentially arranged at the left side of the body skeleton from front to back; the right front foot, the right middle foot and the right rear foot are sequentially arranged on the right side of the body skeleton from front to back; the jaw part is positioned at the forefront end of the body skeleton; the detecting part is positioned on the body framework behind the forceps opening, and a rotary table is arranged between the detecting part and the body framework; the controller is positioned on the body skeleton behind the detection part; the detection part is electrically connected with the controller; the rotary table is electrically connected with the controller; a left three-foot driving motor and a right three-foot driving motor are respectively arranged below the body framework, and are electrically connected with the controller. The utility model simplifies the mechanical structure of the hexapod robot, can reduce the energy consumption of the robot during working, and simultaneously reduces the control difficulty of the hexapod robot.
Description
Technical Field
The utility model belongs to the technical field of bionic robots, and particularly relates to a bionic beetle robot.
Background
Since the 80 s of the 20 th century, research on multi-legged walking robots has been gradually rising, and in order to make multi-legged walking robots applicable to environments with complex terrains, the multi-legged walking robots are designed with consideration of requirements of environmental adaptability and movement flexibility, and the design inspiration of the multi-legged walking robots is mainly derived from insects in nature, so that the multi-legged walking robots in the present stage are mainly six-legged robots.
Because the design inspiration of the hexapod robot is mostly derived from insects, and the insects only need to contact with the ground point at the tail end of the legs when moving through the hexapod, the robot has strong adaptability to complex terrain and has outstanding obstacle surmounting capability. However, the existing six-legged robots generally have the defects of complex mechanical structure, high energy consumption, complex control and the like.
Disclosure of Invention
Aiming at the problems in the prior art, the utility model provides the bionic beetle robot, which simplifies the mechanical structure of the six-legged robot, can reduce the energy consumption of the robot during working and simultaneously reduces the control difficulty of the six-legged robot.
In order to achieve the above purpose, the present utility model adopts the following technical scheme: a bionic beetle robot comprises a body skeleton, a left front foot, a left middle foot, a left rear foot, a right front foot, a right middle foot, a right rear foot, a jaw part, a detection part and a controller; the left front foot, the left middle foot and the left rear foot are sequentially arranged at the left side of the body skeleton from front to back; the right front foot, the right middle foot and the right rear foot are sequentially arranged on the right side of the body skeleton from front to back; the jaw part is positioned at the forefront end of the body skeleton; the detecting part is positioned on the body framework behind the forceps opening, and a rotary table is arranged between the detecting part and the body framework; the controller is positioned on the body skeleton behind the detection part; the detection part is electrically connected with the controller; the rotary table is electrically connected with the controller; a left three-foot driving motor and a right three-foot driving motor are respectively arranged below the body framework, and are electrically connected with the controller.
The left front foot, the left middle foot, the left rear foot, the right front foot, the right middle foot and the right rear foot have the same structure and comprise supporting feet, driven gears, crankshafts, supporting legs and connecting rods; the main shaft section of the crankshaft is arranged on the body framework in a penetrating way, and has a rotation degree of freedom relative to the body framework; the driven gear is coaxially and fixedly arranged on the main shaft section of the crankshaft and positioned below the body framework; one end of the supporting leg is hinged with a crank section of the crankshaft, the other end of the supporting leg is hinged with one end of the connecting rod, and the other end of the connecting rod is hinged on the body framework; the stabilizer blade is fixed to be set up in the landing leg below, is equipped with the shock pad in the stabilizer blade bottom.
A first intermediate gear is arranged between the driven gear of the left forefoot and the driven gear of the left midfoot, and the first intermediate gear is meshed with the driven gear of the left forefoot and the driven gear of the left midfoot simultaneously; a second intermediate gear is arranged between the driven gear of the left midfoot and the driven gear of the left rear foot, and the second intermediate gear is meshed with the driven gear of the left midfoot and the driven gear of the left rear foot at the same time; a third intermediate gear is arranged between the driven gear of the right front foot and the driven gear of the right middle foot and is meshed with the driven gear of the right front foot and the driven gear of the right middle foot simultaneously; a fourth intermediate gear is arranged between the driven gear of the right midfoot and the driven gear of the right rear foot, and the fourth intermediate gear is meshed with the driven gear of the right midfoot and the driven gear of the right rear foot simultaneously.
A first driving gear is coaxially and fixedly arranged on a motor shaft of the left tripod driving motor, and the first driving gear is meshed with a driven gear of the left midfoot; and a second driving gear is coaxially and fixedly arranged on a motor shaft of the right tripod driving motor, and the second driving gear is meshed with a driven gear of the right midfoot.
The crank sections of the left front foot, the left rear foot and the right middle foot have the same phase angle; the crank sections of the right front foot, the right rear foot and the left middle foot have the same phase angle; the phase angles of the crank sections of the left front foot, the left rear foot and the right middle foot are 180 degrees different from the phase angles of the crank sections of the right front foot, the right rear foot and the left middle foot.
The jaw part comprises a telescopic cylinder, a supporting seat, a first transmission rod, a second transmission rod, a first clamp head and a second clamp head; the telescopic cylinder is horizontally arranged, and the bottom end of a cylinder barrel of the telescopic cylinder is fixedly connected to the rotary table; the supporting seat is fixedly arranged at the front end of the cylinder barrel of the telescopic cylinder; the root of the first clamp head is hinged on the supporting seat, and the front end of the first clamp head is a free end; the root of the second clamp head is hinged on the supporting seat, and the front end of the second clamp head is a free end; the first clamp heads and the second clamp heads are distributed in mirror symmetry; one end of the first transmission rod is hinged with the front end of the cylinder rod of the telescopic cylinder, and the other end of the first transmission rod is hinged in the middle of the first clamp head; one end of the second transmission rod is hinged with the front end of the cylinder rod of the telescopic cylinder, and the other end of the second transmission rod is hinged in the middle of the second clamp head.
The telescopic cylinder adopts an electric telescopic cylinder or a pneumatic telescopic cylinder, and the telescopic cylinder is electrically connected with the controller.
The rotary table adopts an electric rotary table or a pneumatic rotary table.
The detection part consists of a visual recognition camera and an ultrasonic obstacle avoidance detector.
The utility model has the beneficial effects that:
the bionic beetle robot simplifies the mechanical structure of the six-legged robot, can reduce the energy consumption of the robot during working, and simultaneously reduces the control difficulty of the six-legged robot.
Drawings
Fig. 1 is a perspective view of a bionic beetle robot according to the present utility model;
fig. 2 is a front view of a biomimetic crustacean robot of the present utility model;
FIG. 3 is a schematic view of the structure of the left forefoot, left midfoot, left hindfoot, right forefoot, right midfoot, right hindfoot of the present utility model;
FIG. 4 is a schematic view of the structure of the jaw portion of the present utility model;
in the figure, a body skeleton, a 2-left front foot, a 3-left middle foot, a 4-left rear foot, a 5-right front foot, a 6-right middle foot, a 7-right rear foot, an 8-jaw part, a 9-detecting part, a 10-controller, a 11-rotary table, a 12-left three-foot driving motor, a 13-right three-foot driving motor, a 14-support foot, a 15-driven gear, a 16-crank, a 17-support foot, a 18-connecting rod, a 19-first driving gear, a 20-second driving gear, a 21-telescopic cylinder, a 22-supporting seat, a 23-first transmission rod, a 24-second transmission rod, a 25-first clamp head and a 26-second clamp head.
Detailed Description
The utility model will now be described in further detail with reference to the drawings and to specific examples.
As shown in fig. 1 to 4, a bionic beetle robot comprises a body skeleton 1, a left front foot 2, a left middle foot 3, a left rear foot 4, a right front foot 5, a right middle foot 6, a right rear foot 7, a jaw part 8, a detection part 9 and a controller 10; the left forefoot 2, the left midfoot 3 and the left hindfoot 4 are sequentially arranged on the left side of the body skeleton 1 from front to back; the right front foot 5, the right middle foot 6 and the right rear foot 7 are sequentially arranged on the right side of the body skeleton 1 from front to back; the forceps opening 8 is positioned at the forefront end of the body skeleton 1; the detection part 9 is positioned on the body skeleton 1 behind the forceps part 8, and a rotary table 11 is arranged between the detection part 9 and the body skeleton 1; the controller 10 is positioned on the body skeleton 1 behind the detection part 9; the detection part 9 is electrically connected with the controller 10; the rotary table 11 is electrically connected with the controller 10; a left three-foot driving motor 12 and a right three-foot driving motor 13 are respectively arranged below the body framework 1, and the left three-foot driving motor 12 and the right three-foot driving motor 13 are electrically connected with the controller 10.
The left forefoot 2, the left midfoot 3, the left hindfoot 4, the right forefoot 5, the right midfoot 6 and the right hindfoot 7 have the same structure and all comprise a support leg 14, a driven gear 15, a crankshaft 16, a support leg 17 and a connecting rod 18; the main shaft section of the crankshaft 16 is arranged on the body framework 1 in a penetrating way, and the main shaft section of the crankshaft 16 has a rotation degree of freedom relative to the body framework 1; the driven gear 15 is coaxially and fixedly arranged on a main shaft section of the crankshaft 16 and is positioned below the body skeleton 1; one end of the supporting leg 17 is hinged with a crank section of the crankshaft 16, the other end of the supporting leg 17 is hinged with one end of the connecting rod 18, and the other end of the connecting rod 18 is hinged on the body framework 1; the support legs 14 are fixedly arranged below the support legs 17, and shock absorption gaskets are arranged at the bottoms of the support legs 14.
A first intermediate gear is arranged between the driven gear 15 of the left forefoot 2 and the driven gear 15 of the left midfoot 3, and is meshed with the driven gear 15 of the left forefoot 2 and the driven gear 15 of the left midfoot 3 at the same time; a second intermediate gear is arranged between the driven gear 15 of the left midfoot 3 and the driven gear 15 of the left hindfoot 4, and the second intermediate gear is meshed with the driven gear 15 of the left midfoot 3 and the driven gear 15 of the left hindfoot 4 at the same time; a third intermediate gear is arranged between the driven gear 15 of the right forefoot 5 and the driven gear 15 of the right midfoot 6, and is meshed with the driven gear 15 of the right forefoot 5 and the driven gear 15 of the right midfoot 6 at the same time; a fourth intermediate gear is arranged between the driven gear 15 of the right midfoot 6 and the driven gear 15 of the right hindfoot 7, and the fourth intermediate gear is meshed with the driven gear 15 of the right midfoot 6 and the driven gear 15 of the right hindfoot 7 at the same time.
A first driving gear 19 is coaxially and fixedly arranged on a motor shaft of the left tripod driving motor 12, and the first driving gear 19 is meshed with a driven gear 15 of the left midfoot 3; a second driving gear 20 is coaxially and fixedly arranged on the motor shaft of the right tripod driving motor 13, and the second driving gear 20 is meshed with the driven gear 15 of the right midfoot 6.
The crank sections of the crankshafts 16 of the left front foot 2, the left rear foot 4 and the right middle foot 6 have the same phase angle; the crank sections of the crankshafts 16 of the right front foot 5, the right rear foot 7 and the left middle foot 3 have the same phase angle; the crank sections of the crankshafts 16 of the left forefoot 2, the left rearfoot 4 and the right midfoot 6 have phase angles 180 ° different from the phase angles of the crank sections of the crankshafts 16 of the right forefoot 5, the right rearfoot 7 and the left midfoot 3.
The jaw part 8 comprises a telescopic cylinder 21, a supporting seat 22, a first transmission rod 23, a second transmission rod 24, a first clamp head 25 and a second clamp head 26; the telescopic cylinder 21 is horizontally arranged, and the bottom end of a cylinder barrel of the telescopic cylinder 21 is fixedly connected to the rotary table 11; the supporting seat 22 is fixedly arranged at the front end of the cylinder barrel of the telescopic cylinder 21; the root of the first clamp head 25 is hinged on the supporting seat 22, and the front end of the first clamp head 25 is a free end; the root of the second clamp head 26 is hinged on the supporting seat 22, and the front end of the second clamp head 26 is a free end; the first clamp head 25 and the second clamp head 26 are distributed in a mirror symmetry manner; one end of the first transmission rod 23 is hinged with the front end of the cylinder rod of the telescopic cylinder 21, and the other end of the first transmission rod 23 is hinged in the middle of the first clamp head 25; one end of the second transmission rod 24 is hinged with the front end of the cylinder rod of the telescopic cylinder 21, and the other end of the second transmission rod 24 is hinged in the middle of the second clamp head 26.
The telescopic cylinder 21 adopts an electric telescopic cylinder or a pneumatic telescopic cylinder, and the telescopic cylinder 21 is electrically connected with the controller 10.
The rotary table 11 is an electric rotary table or a pneumatic rotary table.
The detection part 9 consists of a visual recognition camera and an ultrasonic obstacle avoidance detector.
The following describes a one-time use procedure of the present utility model with reference to the accompanying drawings:
in this embodiment, the controller 10 selects a Robot Pro control board, and can select battery power supply or external power supply to supply power according to the requirements of the actual application scenario; the body skeleton 1 is made of light aluminum alloy materials, so that the self weight of the robot can be further reduced while the strength is ensured.
When the robot needs to travel linearly, the controller 10 sends a starting instruction to the left three-foot driving motor 12 and the right three-foot driving motor 13, so that the left three-foot driving motor 12 and the right three-foot driving motor 13 are guaranteed to output the same rotating speed, and further the two motors jointly drive the hexapod of the robot to perform stepping motion so as to simulate the hexapod gait of the beetle. Specifically, for any single foot, the driving force of the motor is directly transmitted to the driven gear 15 through the first/second driving gear, the driven gear 15 further transmits the rotation motion to the crankshaft 16, the crank section of the crankshaft 16 drives one end of the supporting leg 17 to do reciprocating rotation motion, and finally the supporting leg 14 is driven to do reciprocating stepping motion through the supporting leg 17.
When the robot needs to turn in the advancing process, the output rotating speed of the left three-foot driving motor 12 or the right three-foot driving motor 13 can be reduced, so that the stepping speed of one side of the robot is reduced, a speed difference is formed at the left side and the right side of the robot, and finally, the left turning or the right turning is realized through a differential effect.
In the robot advancing process, the real-time image can be directly obtained by the visual identification camera of the detection part 9, the robot is helped to judge the road surface condition on the advancing route, the ultrasonic obstacle avoidance detector can assist the robot in avoiding the obstacle for the visual blind area, and the safety of the robot in the advancing process is ensured.
When the robot advances to the target area, the controller 10 can send a starting instruction to the telescopic cylinder 21, the cylinder rod of the telescopic cylinder 21 at the moment extends forwards, under the transmission of the first transmission rod 23 and the second transmission rod 24, the first clamp head 25 and the second clamp head 26 are matched to realize opening, then the robot is controlled to conduct fine adjustment of the position until a target object enters between the first clamp head 25 and the second clamp head 26, then the cylinder rod of the telescopic cylinder 21 is controlled to retract, the first clamp head 25 and the second clamp head 26 are matched to realize closing until the first clamp head 25 and the second clamp head 26 clamp the target object, and then the robot can be controlled to transfer the target object.
When the position of the target cannot be captured by fine adjustment of the position of the robot, a start command can be generated to the turntable 11 through the controller 10, and then the position of the jaw 8 is adjusted through the turntable 11, so as to assist the jaw 8 to complete clamping of the target.
The embodiments are not intended to limit the scope of the utility model, but rather are intended to cover all equivalent implementations or modifications that can be made without departing from the scope of the utility model.
Claims (9)
1. A bionic beetle robot, characterized in that: comprises a body skeleton, a left front foot, a left middle foot, a left rear foot, a right front foot, a right middle foot, a right rear foot, a jaw part, a detection part and a controller; the left front foot, the left middle foot and the left rear foot are sequentially arranged at the left side of the body skeleton from front to back; the right front foot, the right middle foot and the right rear foot are sequentially arranged on the right side of the body skeleton from front to back; the jaw part is positioned at the forefront end of the body skeleton; the detecting part is positioned on the body framework behind the forceps opening, and a rotary table is arranged between the detecting part and the body framework; the controller is positioned on the body skeleton behind the detection part; the detection part is electrically connected with the controller; the rotary table is electrically connected with the controller; a left three-foot driving motor and a right three-foot driving motor are respectively arranged below the body framework, and are electrically connected with the controller.
2. A biomimetic beetle robot as in claim 1, wherein: the left front foot, the left middle foot, the left rear foot, the right front foot, the right middle foot and the right rear foot have the same structure and comprise supporting feet, driven gears, crankshafts, supporting legs and connecting rods; the main shaft section of the crankshaft is arranged on the body framework in a penetrating way, and has a rotation degree of freedom relative to the body framework; the driven gear is coaxially and fixedly arranged on the main shaft section of the crankshaft and positioned below the body framework; one end of the supporting leg is hinged with a crank section of the crankshaft, the other end of the supporting leg is hinged with one end of the connecting rod, and the other end of the connecting rod is hinged on the body framework; the stabilizer blade is fixed to be set up in the landing leg below, is equipped with the shock pad in the stabilizer blade bottom.
3. A biomimetic beetle robot according to claim 2, wherein: a first intermediate gear is arranged between the driven gear of the left forefoot and the driven gear of the left midfoot, and the first intermediate gear is meshed with the driven gear of the left forefoot and the driven gear of the left midfoot simultaneously; a second intermediate gear is arranged between the driven gear of the left midfoot and the driven gear of the left rear foot, and the second intermediate gear is meshed with the driven gear of the left midfoot and the driven gear of the left rear foot at the same time; a third intermediate gear is arranged between the driven gear of the right front foot and the driven gear of the right middle foot and is meshed with the driven gear of the right front foot and the driven gear of the right middle foot simultaneously; a fourth intermediate gear is arranged between the driven gear of the right midfoot and the driven gear of the right rear foot, and the fourth intermediate gear is meshed with the driven gear of the right midfoot and the driven gear of the right rear foot simultaneously.
4. A biomimetic beetle robot according to claim 3, wherein: a first driving gear is coaxially and fixedly arranged on a motor shaft of the left tripod driving motor, and the first driving gear is meshed with a driven gear of the left midfoot; and a second driving gear is coaxially and fixedly arranged on a motor shaft of the right tripod driving motor, and the second driving gear is meshed with a driven gear of the right midfoot.
5. A biomimetic beetle robot according to claim 2, wherein: the crank sections of the left front foot, the left rear foot and the right middle foot have the same phase angle; the crank sections of the right front foot, the right rear foot and the left middle foot have the same phase angle; the phase angles of the crank sections of the left front foot, the left rear foot and the right middle foot are 180 degrees different from the phase angles of the crank sections of the right front foot, the right rear foot and the left middle foot.
6. A biomimetic beetle robot as in claim 1, wherein: the jaw part comprises a telescopic cylinder, a supporting seat, a first transmission rod, a second transmission rod, a first clamp head and a second clamp head; the telescopic cylinder is horizontally arranged, and the bottom end of a cylinder barrel of the telescopic cylinder is fixedly connected to the rotary table; the supporting seat is fixedly arranged at the front end of the cylinder barrel of the telescopic cylinder; the root of the first clamp head is hinged on the supporting seat, and the front end of the first clamp head is a free end; the root of the second clamp head is hinged on the supporting seat, and the front end of the second clamp head is a free end; the first clamp heads and the second clamp heads are distributed in mirror symmetry; one end of the first transmission rod is hinged with the front end of the cylinder rod of the telescopic cylinder, and the other end of the first transmission rod is hinged in the middle of the first clamp head; one end of the second transmission rod is hinged with the front end of the cylinder rod of the telescopic cylinder, and the other end of the second transmission rod is hinged in the middle of the second clamp head.
7. The biomimetic crustacean robot of claim 6, wherein: the telescopic cylinder adopts an electric telescopic cylinder or a pneumatic telescopic cylinder, and the telescopic cylinder is electrically connected with the controller.
8. A biomimetic beetle robot as in claim 1, wherein: the rotary table adopts an electric rotary table or a pneumatic rotary table.
9. A biomimetic beetle robot as in claim 1, wherein: the detection part consists of a visual recognition camera and an ultrasonic obstacle avoidance detector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222745484.5U CN219095137U (en) | 2022-10-18 | 2022-10-18 | Bionic beetle robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222745484.5U CN219095137U (en) | 2022-10-18 | 2022-10-18 | Bionic beetle robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219095137U true CN219095137U (en) | 2023-05-30 |
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ID=86456374
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222745484.5U Active CN219095137U (en) | 2022-10-18 | 2022-10-18 | Bionic beetle robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219095137U (en) |
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2022
- 2022-10-18 CN CN202222745484.5U patent/CN219095137U/en active Active
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