CN219192392U

CN219192392U - Bionic metamorphic robot

Info

Publication number: CN219192392U
Application number: CN202222563104.6U
Authority: CN
Inventors: 杨培杰; 彭宇杰; 杨嘉鑫; 冯韬; 罗剑锋; 卢欣钰; 罗晶晶
Original assignee: Chengdu Univeristy of Technology
Current assignee: Chengdu Univeristy of Technology
Priority date: 2022-09-27
Filing date: 2022-09-27
Publication date: 2023-06-16
Anticipated expiration: 2032-09-27

Abstract

The utility model discloses a bionic metamorphic robot which comprises a wheel leg metamorphic movable chassis, a pneumatic bionic soft mechanism, a driving device, an intelligent recognition device, a positioning navigation device and a control unit. And metamorphic mechanical leg branches in the metamorphic movable chassis are axially connected with the servo motor and distributed in four directions of the chassis. The pneumatic bionic soft mechanism is characterized in that a sucker is fixed at the inner side of a pneumatic soft gripper and is used for grabbing objects. The driving directions of two adjacent motors in the driving device are the same, and the driving directions of the servo motors on the four leg parts are centrosymmetric. The intelligent recognition device is arranged above the upper bottom plate and used for recognizing objects. The positioning navigation device is arranged at the tail part of the upper bottom plate and used for positioning navigation. The control unit is electrically connected with the driving device, the intelligent recognition device and the positioning navigation device. When the metamorphic robot operates, conversion of different modes can be achieved according to unique distribution of servo motors of the metamorphic robot, and adaptability is high.

Description

Bionic metamorphic robot

Technical Field

The utility model relates to the field of metamorphic robots. In particular to a bionic metamorphic robot.

Background

The metamorphic robot is a robot which applies metamorphic mechanisms to foot robots and performs exploration in complex severe environments such as jungle, desert, ruins and the like to collect materials. In recent years, the development of the robot industry has become an important direction in intelligent manufacturing. Along with the diversification development of field operation, the application of the metamorphic robot is accelerated and popularized. Under different application scenes, the metamorphic robot can change the structure of the metamorphic robot according to the change of the environment so as to adapt to the environment and finish field operation.

At present, the domestic robot body has a single structure, limited adaptability to complex terrains, and various limitations on rapidness, flexibility and realizability are still remained, when capturing some special objects, the robot body can be subjected to very large recoil force, and meanwhile, a series of problems are caused by unbalanced stress due to irregular shapes.

Disclosure of Invention

Aiming at the existing problems, the utility model provides a bionic metamorphic robot, which can realize that the metamorphic robot can simultaneously meet the remarkable improvement of self load, obstacle surmounting and adaptability when facing complex terrains.

The utility model provides a bionic metamorphic robot, which is characterized in that: comprises a wheel leg metamorphic mobile chassis, a pneumatic bionic soft mechanism, a driving device, an intelligent recognition device, a positioning navigation device and a control unit.

The wheel leg metamorphic movable chassis comprises an upper bottom plate, a lower bottom plate, a servo motor, a main turntable, a secondary turntable and four metamorphic mechanical leg branches; the upper bottom plate and the lower bottom plate are connected in a matched manner; the servo motors are respectively arranged in square holes at the inner side of the lower bottom plate; the main turntable is axially connected with the main shaft of the servo motor; the auxiliary turntable is axially connected with the main shaft of the servo motor and is fastened and locked by a turntable bolt; the four metamorphic mechanical leg parts are axially connected with the servo motor and axially fixed with the turntable by turntable bolts.

The pneumatic bionic soft mechanism comprises a pneumatic soft grip, a telescopic frame, a cradle head and a servo motor, wherein the pneumatic soft grip is axially connected with the telescopic arm and is fastened and locked by a bolt; the telescopic frame is axially connected with the servo motor and is fixed by bolts; the cradle head is arranged in the center circular hole of the upper bottom plate, and the servo motor is connected with the cradle head in a matched mode.

The driving device comprises a U-shaped frame, a buffer frame, a connecting plate, a driving steering engine, a motor fixing frame, a stepping motor, a coupler and an omnidirectional wheel; the U-shaped frame is connected with the driving steering engine in a matched manner; the connecting plate is fixedly connected with the driving steering engine; the buffer frame is fixedly connected with the upper surface of the connecting plate; the motor fixing frame is arranged at the joint of the leg joint and between the telescopic mechanism and the rotary platform; the driving steering engine is fixedly connected with the motor fixing frame; the omnidirectional wheel is fixedly connected with the stepping motor through a coupler.

The intelligent recognition device is fixedly arranged at the middle position right in front of the upper bottom plate and the lower bottom plate.

The positioning navigation device is fixedly arranged at the tail position of the upper base plate and plays roles of planning a path and positioning navigation.

The control unit is fixedly arranged at the middle position of the upper bottom plate and the lower bottom plate.

Further, the installation layout of the driving device is that the servo motors between the upper bottom plate and the lower bottom plate are distributed in four directions, the driving directions of the two adjacent motors are the same, and the driving directions of the servo motors on the four leg parts are centrosymmetric, so that the effect of balance and stability is achieved.

Further, the length of the upper bottom plate is 300mm, and the width of the upper bottom plate is 200mm; the length of the lower bottom plate is 300mm, and the width is 200mm; the central axes of adjacent servo motors on the bottom plate are 180mm apart.

Further, the size of the square hole on the inner side of the lower floor is 30mm x 25mm; the turntable bolt is of a hexagonal bolt type; the main turntable and the auxiliary turntable are provided with threaded holes at the outer sides for fixing with the rotary joints, the inner sides are connected with the upper rotating shaft of the servo motor in a matched manner, the axial and radial movement of the turntable is limited, and the turntable can stably rotate around the central axis of the turntable under the driving of the servo motor.

Further, the front side of the upper bottom plate is a semicircular groove with the radius of 50mm, and the rear side is a smooth surface; the front side of the lower floor is a semicircular arc bulge with the radius of 50mm, and the rear side is a smooth surface.

Further, the single leg branch mechanism comprises a U-shaped frame, a connecting plate, a mechanical foot, universal wheels and a pneumatic sucker; the U-shaped frame is 45mm long, 45mm wide and 100mm high, is vertically and centrally symmetrical, and threaded holes are formed in the left side and the right side of a port of the U-shaped frame and are used for being fixed with a steering engine turntable, and then the U-shaped frame can rotate around a central axis of the turntable under the driving of a servo motor.

Further, the connecting plate is 80mm long and 30mm wide and is used for being fixedly connected with the U-shaped frame and the mechanical foot to achieve a connecting effect.

Further, the mechanical foot is 200mm in height, a rectangular plane is arranged above the mechanical foot, a semicircular arc bulge with the radius of 50mm is arranged below the mechanical foot, friction shading is arranged on the lower side of the circular arc, smooth surfaces are arranged on two sides of the mechanical foot, a cavity is arranged on the inner side of the semicircular arc, a baffle is arranged on the upper side of the cavity, a threaded hole is formed in the inner side of the baffle and is used for being axially connected with a stepping motor, and the stepping motor is arranged above the baffle; the universal wheels are arranged below the baffle plate and fixedly connected with the stepping motor through the coupler; the pneumatic sucker is arranged on the outer side of the semicircular arc bulge.

Further, the U-shaped frame, the connecting plate and the mechanical foot are connected in a matched mode through a servo motor.

Furthermore, the bottom of the foot joint is provided with friction shading, and a universal wheel is arranged in one side of the foot joint, so that the wheel type and leg type form switching is realized.

Further, the three-stage telescopic frame and the 360-degree cradle head determine the degree of freedom and the action range of the mechanical arm, and play a decisive role in the position parameters of the mechanical arm.

Further, the octopus-like soft tentacle is 50mm long, the bottom is an arc with the diameter of 40mm, the inside of the tentacle is a cavity, and the inner side of the tentacle is fixed with a sucking disc.

Further, the upper computer control window in the control unit can input a motion mode and a grabbing target, and display and drive the rotating speed of the stepping motor, the states of the sensors and the path planning information.

The beneficial effects of the utility model are as follows: the novel wheel-leg metamorphic mobile chassis is designed, the Boston mechanical foot is adopted, universal wheels are arranged in the Boston mechanical foot, and the wheel type robot and the leg type robot are combined together, so that the wheel type robot and the leg type robot are switched; meanwhile, by designing a pneumatic soft tentacle, the size and shape of the object are sensed through the pressure sensor by adopting pneumatic adsorption through the bionic octopus tentacle, and the air pressure is changed, so that the aim of grabbing different objects is fulfilled. The intelligent recognition device and the positioning navigation device can improve the capability of the metamorphic robot for recognizing objects and cross-domain obstacles with high sensitivity.

Drawings

FIG. 1 is a schematic diagram of a bionic metamorphic robot according to the present utility model;

FIG. 2 is a schematic diagram of the structure of a metamorphic mobile chassis according to the utility model;

FIG. 3 is a schematic diagram of a metamorphic mobile chassis according to the utility model;

FIG. 4 is a schematic diagram A of a bionic octopus soft tentacle according to the present utility model;

FIG. 5 is a schematic diagram of a bionic octopus soft antenna according to the present utility model;

FIG. 6 is a schematic view of a spherical camera according to the present utility model;

FIG. 7 is a schematic view of a single metamorphic mechanical leg of the present utility model;

FIG. 8 is a system diagram of a bionic metamorphic robot according to an embodiment of the present utility model;

the figures indicate: 1-a first rotary joint; 2-a second rotary joint; 3-a third rotary joint; 4-universal wheels; 5-a buffer protection frame; 6-3D printing chassis; 7-soft tentacles; 8-a pneumatic chuck; 9-multistage revolute joints; 10-elastic contact pads; 11-a support table; 12-a spherical camera housing; 13-a binocular camera; 14-a buffer rack; 15-mechanical foot; 16-a pneumatic chuck; 17-friction shading; 18-a long shaft driving motor; 19-joint drive motor.

Detailed Description

Embodiments of the technical scheme of the present utility model will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present utility model, and thus are merely examples, and are not intended to limit the scope of the present utility model.

It is noted that unless otherwise indicated, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this utility model pertains.

As shown in fig. 1, in this embodiment, the L direction indicates the left direction, and the R direction indicates the right direction. The utility model discloses a bionic metamorphic robot, which is characterized in that: comprises a wheel leg metamorphic mobile chassis, a pneumatic bionic soft mechanism, a driving device, an intelligent recognition device, a positioning navigation device and a control unit.

The installation mode is as follows:

the wheel-leg metamorphic movable chassis comprises an upper bottom plate 6, a lower bottom plate 6, a servo motor 19, a main turntable, a secondary turntable and four metamorphic mechanical leg branches; the upper bottom plate 6 and the lower bottom plate 6 are connected in a matched mode; the servo motors 19 are respectively arranged in square holes on the inner side of the lower bottom plate; the main turntable is axially connected with a main shaft of the servo motor 19; the auxiliary turntable is axially connected with the main shaft of the servo motor and is fastened and locked by a turntable bolt; the four metamorphic mechanical leg branches are axially connected with the servo motor 19 and axially fixed with the turntable by turntable bolts. The single mechanical leg branch comprises a U-shaped rotary joint 1, a connecting plate 2, a mechanical foot 3, a universal wheel 4 and a pneumatic sucker 8; the U-shaped rotary joint 1 is fixedly connected with a main shaft of a servo motor 19 through a turntable, and the front end and the rear end of a connecting plate 2 are connected with the servo motor 19 in a matched manner to connect the rotary joint 1 with a mechanical foot 3; the inner side semi-arc surface of the mechanical foot 3 is a cavity, a baffle is arranged on the upper side of the cavity, a threaded hole is formed in the inner side of the baffle and axially connected with the stepping motor 18, and a bolt is screwed into the threaded hole to tightly lock and fix the stepping motor 18 and the baffle; the stepper motor 18 is mounted above the baffle; the universal wheel 4 is arranged below the baffle plate and is fixedly connected with the stepping motor 18 through a coupler; the pneumatic sucker 8 is arranged on the outer side of the semicircular arc bulge.

The pneumatic bionic soft control mechanism comprises a soft feeler 7, a telescopic bracket, a cradle head 11 and a servo motor 19, wherein the soft feeler 7 is axially connected with the telescopic arm and is fastened and locked by a bolt; the telescopic frame is axially connected with the servo motor 19 and is fixed by bolts; the cradle head 11 is installed in the center circular hole of the upper bottom plate, and the servo motor 11 is connected with the cradle head 11 in a matched mode.

The intelligent recognition device 12 is fixedly arranged at the middle position right in front of the upper and lower bottom plates.

The positioning navigation device is fixedly arranged at the middle position of the rear side of the upper bottom plate.

The control unit is fixedly arranged in the middle between the upper bottom plate and the lower bottom plate.

The working mode is as follows:

as shown in fig. 8, after receiving the instruction, the bionic metamorphic robot judges the target azimuth, the visual sensor (shown in fig. 6) senses the external environment, the metamorphic robot limbs make corresponding transformation and advance, and if the visual sensor encounters an obstacle in the process, the metamorphic robot is switched into a puppy configuration to cross the obstacle after recognizing the obstacle; if the tunnel is encountered, the metamorphic robot is switched to a wheel-type configuration state to pass through the tunnel; if the direction deviates, the metamorphic robot re-plans the path through laser ranging and switches to the spider configuration adjustment direction; if climbing is needed, the metamorphic robot is switched to the gecko-configured rock climbing wall; if the front grabbing target is identified, the 3-stage telescopic mechanism of the metamorphic robot stretches, and the soft tentacle changes the air pressure of the soft tentacle to finish the grabbing of the target.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the same; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the utility model, and are intended to be included within the scope of the appended claims and description.

Claims

1. A bionic metamorphic robot is characterized in that: comprises a wheel leg metamorphic mobile chassis, a driving device, a pneumatic bionic soft mechanism, an intelligent recognition device and a control unit; the wheel leg metamorphic mobile chassis comprises an upper bottom plate, a lower bottom plate, a servo motor, a main turntable and an auxiliary turntable; the upper bottom plate and the lower bottom plate are connected in a matched mode; the servo motors are symmetrically arranged in square holes between the upper bottom plate and the lower bottom plate respectively; the main turntable and the auxiliary turntable are respectively connected with the main shaft of the servo motor in the axial direction and are fastened and locked by bolts; the driving device comprises a U-shaped frame, a connecting plate, a buffer frame, a mechanical foot, a pneumatic sucker, a stepping motor, a motor fixing frame, a coupler and universal wheels; the U-shaped frame is connected with a turntable of the servo motor in a matched manner, one side of the U-shaped frame is fixedly arranged on the bottom plate, and the other side of the U-shaped frame is fixedly connected with the connecting plate; the connecting plate is fixedly connected with the servo motor; the buffer frame is fixedly connected with the connecting plate; the mechanical foot is internally provided with a cavity, friction shading is arranged below the mechanical foot, and the mechanical foot is matched and connected with a servo motor fixedly connected with the connecting plate; the pneumatic sucker is fixedly arranged on the outer side of the right surface of the mechanical foot; the stepping motor is fixedly connected with the motor fixing frame; the universal wheel is fixedly connected with the stepping motor through a coupler and is in fit connection with the inner cavity of the mechanical foot; the pneumatic bionic soft mechanism comprises a cradle head, a telescopic bracket, a pneumatic soft gripper and a servo motor; the cradle head is connected with the upper bottom plate in a matched manner; the telescopic frame is fixedly connected with the cradle head through a servo motor; the pneumatic soft gripper is fixedly connected with the telescopic frame; the intelligent recognition device is fixedly arranged above the upper bottom plate; the control unit is fixedly arranged in the middle between the upper bottom plate and the lower bottom plate.

2. The biomimetic metamorphic robot of claim 1, wherein: the metamorphic movable chassis is characterized in that four servo motors are respectively arranged in four directions of the bottom plate, and the distance between the upper bottom plate and the lower bottom plate is the same as the height of the servo motors.

3. The biomimetic metamorphic robot of claim 1, wherein: the length of the upper bottom plate and the lower bottom plate is 300mm, and the width is 200mm; adjacent servo motor center axes are 180mm apart.

4. The biomimetic metamorphic robot of claim 1, wherein: the length of the U-shaped frame is 45mm, the width of the U-shaped frame is 45mm, and the height of the U-shaped frame is 100mm; the length of the connecting plate is 80mm, and the width is 30mm.

5. The biomimetic metamorphic robot of claim 1, wherein: the mechanical foot is 200mm in height, a rectangular plane is arranged above the mechanical foot, a semicircular arc bulge with the radius of 50mm is arranged below the mechanical foot, friction shading is arranged on the lower side of the circular arc, smooth surfaces are arranged on the two sides of the mechanical foot, and a cavity is formed in the inner semicircular arc surface.

6. The biomimetic metamorphic robot of claim 1, wherein: the soft tentacle is a conical soft tentacle with the radius of 50mm and the height of 100mm, the inner side of the soft tentacle is fixed with a sucker, and the inner part of the soft tentacle is a cavity.

7. The biomimetic metamorphic robot of claim 1, wherein: the control window of the upper computer can be used for inputting a motion mode and grabbing targets and displaying the rotating speed of the driving stepping motor, the states of the sensors and the path planning information.