CN219095137U - Bionic beetle robot - Google Patents

Abstract

A bionic beetle robot, including body skeleton, left front foot, left middle foot, left rear foot, right front foot, right middle foot, right rear foot, jaw part, detection part and controller; left front foot, left middle foot and left The rear feet are arranged on the left side of the body frame from front to back; the right forefoot, right middle foot and right rear foot are arranged on the right side of the body frame from front to back; the jaws are located at the front end of the body frame; the detection part Located on the body frame behind the jaws, a turntable is arranged between the detection part and the body frame; the controller is located on the body frame behind the detection part; the detection part is electrically connected to the controller; the turntable is electrically connected to the controller; A left three-legged driving motor and a right three-legged driving motor are respectively arranged under the body skeleton, and the left three-legged driving motor and the right three-legged driving motor are electrically connected to the controller. The utility model simplifies the mechanical structure of the hexapod robot, can reduce the energy consumption of the robot during work, and simultaneously reduces the control difficulty of the hexapod robot.

Description

A bionic beetle robot

technical field

The utility model belongs to the technical field of bionic robots, in particular to a bionic beetle robot.

Background technique

Since the 1980s, research on multi-legged walking robots has gradually emerged. In order to enable multi-legged walking robots to be applied in complex terrain environments, the requirements of environmental adaptability and movement flexibility are considered in the design of multi-legged walking robots. Internally, since the design inspiration of multi-legged walking robots mostly comes from insects in nature, the current multi-legged walking robots are mostly hexapod robots.

Since the design inspiration of the hexapod robot is mostly derived from insects, and when insects move through the hexapod, they only need to touch the end of the leg with the ground point, so they have strong adaptability to complex terrain, and the ability to overcome obstacles is also more prominent. However, the existing hexapod robots generally have shortcomings such as complex mechanical structure, high energy consumption, and complicated control.

Utility model content

Aiming at the problems existing in the prior art, the utility model provides a bionic beetle robot, which simplifies the mechanical structure of the hexapod robot, can reduce the energy consumption of the robot during work, and simultaneously reduces the control difficulty of the hexapod robot.

In order to achieve the above object, the utility model adopts the following technical solutions: a bionic beetle robot, including body skeleton, left front foot, left middle foot, left rear foot, right front foot, right middle foot, right rear foot, jaw part, detection Department and controller; the left front foot, left middle foot and left rear foot are arranged on the left side of the body frame from front to back; the right front foot, right middle foot and right rear foot are arranged on the body from front to back The right side of the skeleton; the jaw portion is located at the front end of the body frame; the detection portion is located on the body frame behind the jaw portion, and a turntable is arranged between the detection portion and the body frame; the controller is located at the detection portion On the body frame at the rear; the detection part is electrically connected to the controller; the turntable is electrically connected to the controller; a left three-legged driving motor and a right three-legged driving motor are respectively arranged below the body frame, and the left three-legged The driving motor and the right tripod driving motor are electrically connected with the controller.

The left front foot, left middle foot, left rear foot, right front foot, right middle foot and right rear foot have the same structure, and all include a support foot, a driven gear, a crankshaft, a support leg and a connecting rod; the main shaft section of the crankshaft wears On the body skeleton, the main shaft section of the crankshaft has a degree of freedom of rotation relative to the body skeleton; the driven gear is coaxially fixed on the main shaft section of the crankshaft and is located below the body skeleton; one end of the leg is connected to the crank section of the crankshaft Hinged, 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 frame; the supporting leg is fixedly arranged under the supporting leg, and a shock-absorbing pad is provided at the bottom of the supporting leg.

A first intermediate gear is arranged between the driven gear of the left front foot and the driven gear of the left middle foot, and the first intermediate gear meshes with the driven gear of the left front foot and the driven gear of the left middle foot simultaneously; A second intermediate gear is arranged between the driven gear of the left middle foot and the driven gear of the left rear foot, and the second intermediate gear meshes with the driven gear of the left middle foot and the driven gear of the left rear foot simultaneously; Between the driven gear of the right front foot and the driven gear of the right middle foot, a third intermediate gear is arranged, and the third intermediate gear meshes 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 middle foot and the driven gear of the right rear foot, and the fourth intermediate gear meshes with the driven gear of the right middle foot and the driven gear of the right hind foot simultaneously.

On the motor shaft of the left tripod drive motor, the first driving gear is coaxially fixed, and the first driving gear meshes with the driven gear of the left middle foot; on the motor shaft of the right tripod drive motor, the same The shaft is fixedly equipped with a second driving gear, and the second driving gear meshes with the driven gear of the right middle foot.

The crankshaft crank sections of the left front foot, left rear foot and right middle foot have the same phase angle; the crankshaft crank sections of the right front foot, right rear foot and left middle foot have the same phase angle; the left front foot, left The phase angles of the crankshaft crank sections of the rear foot and right middle foot are 180° different from the phase angles of the crankshaft crank sections of the right forefoot, right rear foot, and left middle foot.

The jaw part includes a telescopic cylinder, a support seat, a first transmission rod, a second transmission rod, a first pincer head and a second pincer head; the telescopic cylinder is arranged horizontally, and the bottom end of the telescopic cylinder is fixedly connected to the rotary on the platform; the support seat is fixedly installed on the front end of the cylinder barrel of the telescopic cylinder; the root of the first tong head is hinged on the support seat, and the front end of the first tong head is a free end; the root of the second tong head is hinged On the support seat, the front end of the second tong head is a free end; the first tong head and the second tong head are mirror-symmetrically distributed; one end of the first transmission rod is hinged to the front end of the cylinder rod of the telescopic cylinder, and the first transmission The other end of the rod is hinged at the middle of the first tong 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 at the middle of the second tong 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 is composed of a visual recognition camera and an ultrasonic obstacle avoidance detector.

The beneficial effects of the utility model:

The bionic beetle robot of the utility model simplifies the mechanical structure of the hexapod robot, can reduce the energy consumption of the robot during work, and simultaneously reduces the control difficulty of the hexapod robot.

Description of drawings

Fig. 1 is the perspective view of a kind of bionic beetle robot of the present utility model;

Fig. 2 is the front view of a kind of bionic beetle robot of the present utility model;

Fig. 3 is the structural representation of the left front foot/left middle foot/left rear foot/right front foot/right middle foot/right rear foot of the utility model;

Fig. 4 is a schematic structural view of the jaw portion of the present utility model;

In the figure, 1—body skeleton, 2—left forefoot, 3—left middle foot, 4—left hind foot, 5—right forefoot, 6—right middle foot, 7—right hind foot, 8—jaw part, 9— Detection part, 10—controller, 11—turntable, 12—left tripod drive motor, 13—right tripod drive motor, 14—foot, 15—driven gear, 16—crankshaft, 17—outrigger, 18— Connecting rod, 19—first driving gear, 20—second driving gear, 21—telescopic cylinder, 22—support seat, 23—first transmission rod, 24—second transmission rod, 25—first clamp head, 26— Second pliers.

Detailed ways

Below in conjunction with accompanying drawing and specific embodiment the utility model is described in further detail.

As shown in Figures 1 to 4, a bionic beetle robot includes 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, and a jaw 8. The detection part 9 and the controller 10; the left front foot 2, the left middle foot 3 and the left rear foot 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 The right rear foot 7 is sequentially arranged on the right side of the body frame 1 from front to back; the jaw portion 8 is positioned at the front end of the body frame 1; the detection portion 9 is positioned on the body frame 1 behind the jaw portion 8, and detect A turntable 11 is arranged between the part 9 and the body frame 1; the controller 10 is located on the body frame 1 behind the detection part 9; the detection part 9 is electrically connected to the controller 10; the turntable 11 is connected to the controller 10 is electrically connected; a left three-legged drive motor 12 and a right three-legged drive motor 13 are respectively arranged below the body frame 1, and the left three-legged drive motor 12 and the right three-legged drive motor 13 are electrically connected to the controller 10.

The left front foot 2, the left middle foot 3, the left rear foot 4, the right front foot 5, the right middle foot 6 and the right rear foot 7 have the same structure, and all include a support foot 14, a driven gear 15, a crankshaft 16, a support leg 17 and a connecting rod. Rod 18; the main shaft section of the crankshaft 16 is worn on the body skeleton 1, and the main shaft section of the crankshaft 16 has a degree of freedom of rotation relative to the body skeleton 1; the driven gear 15 is coaxially fixed on the main shaft section of the crankshaft 16 And be positioned at the body skeleton 1 below; Described support leg 17 one end is hinged with the crank segment of crankshaft 16, and the other end of support leg 17 is hinged with connecting rod 18 one end, and connecting rod 18 other end is hinged on the body skeleton 1; 14 is fixedly arranged below the supporting leg 17, and a shock-absorbing pad is provided at the bottom of the supporting leg 14.

Between the driven gear 15 of the left front foot 2 and the driven gear 15 of the left middle foot 3, a first intermediate gear is arranged, and the first intermediate gear is connected with the driven gear 15 of the left front foot 2 and the left middle foot 3 simultaneously. The driven gear 15 is engaged; the second intermediate gear is arranged between the driven gear 15 of the left middle foot 3 and the driven gear 15 of the left rear foot 4, and the second intermediate gear is simultaneously with the driven gear 15 of the left middle foot 3. The driven gear 15 of the driven gear 15 and the left rear foot 4 is engaged; the third intermediate gear is arranged between the driven gear 15 of the right front foot 5 and the driven gear 15 of the right middle foot 6, and the third intermediate gear Simultaneously mesh with the driven gear 15 of the right front foot 5 and the driven gear 15 of the right middle foot 6; between the driven gear 15 of the right middle foot 6 and the driven gear 15 of the right rear foot 7, a second Four intermediate gears, the fourth intermediate gear meshes with the driven gear 15 of the right middle foot 6 and the driven gear 15 of the right rear foot 7 simultaneously.

On the motor shaft of described left tripod drive motor 12, first drive gear 19 is coaxially fixed, and first drive gear 19 is meshed with the driven gear 15 of left middle foot 3; The second drive gear 20 is coaxially installed on the motor shaft of 13, and the second drive gear 20 is meshed with the driven gear 15 of the right middle foot 6.

The crankshaft 16 crank sections of the left front foot 2, the left rear foot 4 and the right middle foot 6 have the same phase angle; the crankshaft 16 crank sections of the right front foot 5, the right rear foot 7 and the left middle foot 3 have the same phase angle angle; the phase angle that the crankshaft 16 crank sections of the left front foot 2, the left rear foot 4 and the right middle foot 6 has is different from the phase angle that the crankshaft 16 crank sections of the right front foot 5, the right rear foot 7 and the left middle foot 3 have 180°.

The jaw portion 8 includes a telescopic cylinder 21, a support seat 22, a first transmission rod 23, a second transmission rod 24, a first pincer head 25 and a second pincer head 26; the telescopic cylinder 21 is horizontally arranged, and the telescopic cylinder 21 The bottom end of the cylinder barrel is fixedly connected on the turntable 11; the support base 22 is fixedly installed on the front end of the cylinder barrel of the telescopic cylinder 21; the root of the first clamp head 25 is hinged on the support base 22, and the first clamp head 25 The front end of the first pincer is a free end; the root of the second pincer 26 is hinged on the support seat 22, and the front end of the second pincer 26 is a free end; the first pincer 25 and the second pincer 26 are mirror-symmetrically distributed; One end of the first transmission rod 23 is hinged to the front end of the cylinder rod of the telescopic cylinder 21, and the other end of the first transmission rod 23 is hinged to the middle part of the first clamp head 25; one end of the second transmission rod 24 is connected to the cylinder rod of the telescopic cylinder 21. The front ends are hinged, and the other end of the second transmission rod 24 is hinged at the middle part of the second pliers head 26 .

The telescopic cylinder 21 is an electric telescopic cylinder or a pneumatic telescopic cylinder, and the telescopic cylinder 21 is electrically connected to the controller 10 .

The turntable 11 is an electric turntable or a pneumatic turntable.

The detection unit 9 is composed of a visual recognition camera and an ultrasonic obstacle avoidance detector.

Below in conjunction with accompanying drawing, the one-time use process of the present utility model is illustrated:

In this embodiment, the controller 10 selects the Robot Pro control board, and can choose battery power supply or external power supply power supply according to the needs of the actual application scene; self-respect.

When the robot needs to advance in a straight line, the controller 10 sends a starting command to the left three-legged drive motor 12 and the right three-legged drive motor 13 to ensure that the left three-legged drive motor 12 and the right three-legged drive motor 13 output the same rotating speed, and then by The two motors jointly drive the robot's hexapods to move, which is used to simulate the beetle's hexapod gait. 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, and the driven gear 15 then transmits the rotational motion to the crankshaft 16, and the crank section of the crankshaft 16 will One end of the outrigger 17 is driven to perform a reciprocating rotational movement, and finally the outrigger 17 drives the outrigger 14 to perform a reciprocating stepping movement.

When the robot needs to turn when it is moving, the output speed of the left three-legged drive motor 12 or the right three-legged drive motor 13 can be reduced, thereby reducing the stepping speed of one side of the robot, thereby forming a speed difference between the left and right sides of the robot, and finally passing The differential effect realizes a left turn or a right turn.

When the robot is moving, the visual recognition camera of the detection part 9 can directly obtain real-time images to help the robot judge the road conditions on the moving route. For the visual blind area, the ultrasonic obstacle avoidance detector can assist the robot to avoid obstacles to ensure that the robot is moving. security.

When the robot advances to the target area, the controller 10 can send a starting instruction to the telescopic cylinder 21, and the cylinder rod of the telescopic cylinder 21 stretches forward at this time, and under the transmission of the first transmission rod 23 and the second transmission rod 24, Make the first pliers 25 and the second pliers 26 cooperate to realize opening, then control the robot to fine-tune the position until the target enters between the first pliers 25 and the second pliers 26, and then control the telescopic cylinder 21 cylinder rod Retract, make the first pliers 25 and the second pliers 26 cooperate to realize closing, until the first pliers 25 and the second pliers 26 clamp the target, and then the robot can be controlled to transfer the target.

When the position of the target cannot be captured by fine-tuning the position of the robot, the controller 10 can send a starting command to the turntable 11 at this time, and then adjust the position of the jaw part 8 through the turntable 11 to assist the jaw part 8 to complete the target Object clamping.

The schemes in the embodiments are not intended to limit the patent protection scope of the present utility model, and all equivalent implementations or changes that do not deviate from the utility model are included in the patent scope of the present case.

Claims (9)

1. a bionic beetle robot is characterized in that: comprise body skeleton, left front foot, left middle foot, left rear foot, right front foot, right middle foot, right rear foot, jaw portion, detection portion and controller; The left front foot, left middle foot and left rear foot are arranged on the left side of the body frame from front to back; the right front foot, right middle foot and right rear foot are arranged on the right side of the body frame from front to back; The jaw part is located at the front end of the body frame; the detection part is located on the body frame behind the jaw part, and a turntable is arranged between the detection part and the body frame; the controller is located on the body frame behind the detection part; The detection part is electrically connected with the controller; the turntable is electrically connected with the controller; a left three-legged driving motor and a right three-legged driving motor are respectively arranged under the body skeleton, and a left three-legged driving motor and a right three-legged driving motor The motor is electrically connected with the controller. 2. A kind of bionic beetle robot according to claim 1, is characterized in that: described left front foot, left middle foot, left rear foot, right front foot, right middle foot and right rear foot structure are identical, all comprise support pin, from Driven gear, crankshaft, outrigger and connecting rod; the main shaft section of the crankshaft is worn on the body skeleton, and the main shaft section of the crankshaft has a degree of freedom of rotation relative to the body skeleton; the driven gear is coaxially fixed on the main shaft of the crankshaft section and below the body skeleton; one end of the outrigger is hinged to the crank section of the crankshaft, the other end of the outrigger is hinged to one end of the connecting rod, and the other end of the connecting rod is hinged on the body skeleton; the outrigger is fixedly arranged on the outrigger Below, there are shock-absorbing spacers at the bottom of the feet. 3. a kind of bionic beetle robot according to claim 2, is characterized in that: between the driven gear of described left front foot and the driven gear of left middle foot, be provided with first intermediate gear, first intermediate gear simultaneously Engage with the driven gear of the left front foot and the driven gear of the left middle foot; a second intermediate gear is arranged between the driven gear of the left middle foot and the driven gear of the left rear foot, and the second intermediate gear simultaneously Engage with the driven gear of the left middle foot and the driven gear of the left rear foot; 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 the third intermediate gear simultaneously Engage with the driven gear of the right front foot and the driven gear of the right middle foot; a fourth intermediate gear is arranged between the driven gear of the right middle foot and the driven gear of the right hind foot, and the fourth intermediate gear simultaneously Meshes with the driven gear of the right middle foot and the driven gear of the right rear foot. 4. A kind of bionic beetle robot according to claim 3, is characterized in that: on the motor shaft of described left tripod drive motor coaxially is fixed with the first driving gear, the first driving gear and the left middle foot The driven gears are meshed; the motor shaft of the right tripod drive motor is coaxially equipped with a second driving gear, and the second driving gear is meshed with the driven gear of the right middle foot. 5. A kind of bionic beetle robot according to claim 2, is characterized in that: the crankshaft crank section of described left front foot, left rear foot and right middle foot has the same phase angle; The crankshaft crank sections of the left middle foot have the same phase angle; The phase angles differ by 180°. 6. A bionic beetle robot according to claim 1, characterized in that: the jaw portion includes a telescopic cylinder, a support base, a first transmission rod, a second transmission rod, a first pincer head and a second pincer head The telescopic cylinder is arranged horizontally, and the bottom end of the cylinder barrel of the telescopic cylinder is fixedly connected to the turntable; the support seat is fixedly installed on the front end of the cylinder barrel of the telescopic cylinder; the root of the first clamp head is hinged on the support seat, The front end of the first pliers is a free end; the root of the second pliers is hinged on the support seat, and the front end of the second pliers is a free end; the first pliers and the second pliers are mirror-symmetrically distributed; One end of the first transmission rod is hinged to the front end of the cylinder rod of the telescopic cylinder, and the other end of the first transmission rod is hinged to the middle of the first tong head; one end of the second transmission rod is hinged to the front end of the cylinder rod of the telescopic cylinder, and the second transmission rod The other end of the rod is hinged at the middle part of the second tong head. 7. A bionic beetle robot according to claim 6, characterized in that: the telescopic cylinder is an electric telescopic cylinder or a pneumatic telescopic cylinder, and the telescopic cylinder is electrically connected to the controller. 8. A bionic beetle robot according to claim 1, characterized in that: said turntable adopts electric turntable or pneumatic turntable. 9 . The bionic beetle robot according to claim 1 , wherein the detection part is composed of a visual recognition camera and an ultrasonic obstacle avoidance detector.

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