CN219237211U

CN219237211U - Running gear and miniature bionical beetle robot

Info

Publication number: CN219237211U
Application number: CN202320023969.5U
Authority: CN
Inventors: 钟林辉; 赵文彬; 谢扬泓
Original assignee: Quanzhou China Ordnance Equipment Group Special Robot Research And Development Center
Current assignee: Quanzhou China Ordnance Equipment Group Special Robot Research And Development Center
Priority date: 2023-01-05
Filing date: 2023-01-05
Publication date: 2023-06-23
Anticipated expiration: 2033-01-05

Abstract

The utility model provides a walking mechanism and a miniature bionic beetle robot, wherein the walking mechanism comprises a connecting rod mechanism, a claw and a traction mechanism; the claw is connected with the front end of the connecting rod mechanism through a flexible connecting piece; the traction mechanism is arranged on the connecting rod mechanism; the traction mechanism is connected with the flexible connecting piece and the claw through the traction rope, and drives the traction rope to drive the flexible connecting piece and the claw to stretch and bend. The utility model has the advantages that: the robot manufactured by the travelling mechanism has a simple whole structure and light weight, and compared with the existing tracked robot, wheeled robot and bionic multi-legged robot, the robot has the advantages that the size of the whole robot is more miniaturized, so that the use requirement of a narrow space is better met; can climb on steep slopes and can adapt to various complex environments.

Description

Running gear and miniature bionical beetle robot

[ field of technology ]

The utility model relates to the technical field of robots, in particular to a running mechanism and a miniature bionic beetle robot.

[ background Art ]

Along with the rapid progress of science and technology, the robot field is continuously promoted and updated; tracked robots, wheeled robots and the like are widely used in various industries; however, the weight of the tracked robot and the wheeled robot is generally several kilograms or even tens or hundreds of kilograms, and the tracked robot and the wheeled robot are large in size, so that the tracked robot and the wheeled robot are not suitable for being used in some narrow spaces or walking in rugged terrains, and therefore the use requirements of special scenes such as earthquake search and rescue are difficult to meet.

Of course, there are bionic multi-legged robots in the prior art, for example, chinese patent application No. CN201810430904.6 discloses a single-drive bionic multi-legged robot and a reconstruction steering method thereof; the bionic multi-legged robot comprises a frame (A), a left rear leg (B), a left front leg (C), a right rear leg (D) and a right front leg (E); through the structure of the simulated leopard leg, an Archies tendon (E-5), a plantar square muscle (E-9) and a rubber pad (E-11) are arranged on the leg of the robot, and the robot is provided with elements for buffering and storing energy; the four legs are connected with a motor (A-1) through belt transmission to realize single driving; the length of the leg support phase is changed through linear driving of a push rod, a hydraulic cylinder and the like which are arranged on a biceps brachii connecting rod (E-3) in the leg, so that reconstruction steering is realized; the elastic element is added to the leg of the robot, so that the impact between the leg and the ground is reduced, and the moving efficiency is improved. For another example, chinese patent application No. CN202120706470.5 discloses a multi-mode bionic wall climbing robot in a form of a pseudo-si motion, which includes a trunk body, a plurality of foot driving mechanisms are disposed at the lower part of the trunk body, foot end cooperative attachment mechanisms contacting with a wall surface are disposed on the foot driving mechanisms, a wireless receiver is disposed on the trunk body, the wireless receiver is used for receiving signals and controlling the plurality of foot driving mechanisms on the trunk body to mutually link, and meanwhile, the foot end cooperative attachment mechanisms are controlled to contact with or separate from the wall surface, so that the robot climbing or jumping is realized, and the active regulation of a "grip-adhere" structure and a link mechanism are innovatively combined, so that the climbing and jumping on a plurality of complex wall surfaces can be realized. However, the whole body shape of the existing bionic multi-legged robot is still larger, the structure is complex, and the bionic multi-legged robot is not suitable for being used in a narrow space. In view of the above problems, the present inventors have conducted intensive studies on the problems, and have produced the present utility model.

[ utility model ]

The utility model aims to solve the technical problems of large integral size, complex structure and inapplicability to use in a narrow space of the traditional bionic multi-legged robot.

The utility model is realized in the following way:

in one aspect, a walking mechanism is provided, comprising a link mechanism, a claw and a traction mechanism;

the claw is connected with the front end of the connecting rod mechanism through a flexible connecting piece; the traction mechanism is arranged on the connecting rod mechanism; the traction mechanism is connected with the flexible connecting piece and the claw through the traction rope, and drives the traction rope to drive the flexible connecting piece and the claw to stretch and bend.

Further, the link mechanism includes a link body; the rear end of the connecting rod main body is provided with a first extension rod in an upward extending mode; the middle part of the connecting rod main body is provided with a second extension rod in a downward extending mode, and the bottom of the second extension rod is provided with a first pulley in a rotating mode; one end of the traction rope is fixedly connected with the upper end of the first extension rod, the middle part of the traction rope bypasses the bottom of the first pulley, and the other end of the traction rope is fixedly connected with the flexible connecting piece and the claw respectively.

Further, the traction mechanism comprises a driving part, a first gear, a second gear, a crank and a second pulley; the crank is provided with a first branch and a second branch which form an included angle;

the first gear is connected with the output end of the driving component; the middle part of the crank is rotationally connected with the rear part of the connecting rod main body, the second gear is fixed at the end part of the first branch, the second gear is meshed with the first gear, and the second pulley is rotationally arranged at the end part of the second branch; the driving part drives the crank to drive the second pulley to periodically rotate, so that the second pulley touches the traction rope and drives the flexible connecting piece and the claw to stretch and bend.

Further, the link mechanism further comprises a rocker; the lower end of the rocker is rotationally connected with the front part of the connecting rod main body.

Further, the front end downwardly extending of connecting rod main part is provided with the third extension rod, the lower extreme of third extension rod is equipped with spacing frame, the haulage rope passes spacing frame.

Further, the lower end of the third extension rod extends forwards to be provided with a fourth extension rod, and the flexible connecting piece is fixedly connected with the fourth extension rod.

Further, the driving component is a motor.

On the other hand, a miniature bionic beetle robot is provided, which comprises a shell and the travelling mechanism; the walking mechanism is arranged on two sides of the front part of the shell, and the rear part of the shell is provided with rear legs.

By adopting the technical scheme of the utility model, the utility model has at least the following beneficial effects:

1. when the robot is used, a robot can be formed by only arranging two travelling mechanisms on the shell, and a single travelling mechanism only comprises a connecting rod mechanism, a claw, a traction mechanism, a flexible connecting piece and a traction rope, so that the whole robot manufactured by the travelling mechanism is simple in structure and light in weight, and compared with the existing caterpillar robots, wheeled robots and bionic multi-legged robots, the whole robot is more miniaturized in size, and therefore the use requirement of a narrow space is better met.

2. The traction mechanism drives the traction rope to drive the flexible connecting piece and the claw to stretch and bend, so that the crawling function is realized; the claw can hook the ground surface when being bent, can climb on a steep slope, and cannot slip or be blocked on the ground surface, so that the claw can adapt to various complex environments.

[ description of the drawings ]

The utility model will be further described with reference to examples of embodiments with reference to the accompanying drawings.

FIG. 1 is a perspective view of a running gear of the present utility model;

FIG. 2 is one of the walking state diagrams of a walking mechanism of the present utility model;

FIG. 3 is a second diagram of a running state of a running gear according to the present utility model;

FIG. 4 is a third view of the running state of a running gear according to the present utility model;

FIG. 5 is a diagram showing a walking state of a walking mechanism according to the present utility model;

FIG. 6 is a perspective view of a miniature bionic beetle robot according to the present utility model;

fig. 7 is a front view of a miniature bionic beetle robot according to the present utility model.

Reference numerals illustrate:

a walking mechanism 100;

a robot 200;

a ground 300;

the connecting rod mechanism comprises a connecting rod mechanism 1, a connecting rod main body 11, a first extension rod 12, a second hinge hole 121, a second extension rod 13, a first pulley 14, a rocker 15, a first hinge hole 151, a third extension rod 16, a limiting frame 17 and a fourth extension rod 18;

a claw 2;

traction mechanism 3, driving part 31, first gear 32, second gear 33, crank 34, first branch 341, second branch 342, second pulley 35;

a flexible connection 4;

a traction rope 5;

a housing 6;

and a rear leg 7.

[ detailed description ] of the utility model

In order to better understand the technical scheme of the present utility model, the following detailed description will refer to the accompanying drawings and specific embodiments.

It should be noted herein that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. refer to an orientation or positional relationship based on that shown in the drawings, merely for convenience in describing these embodiments and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operate in a specific orientation. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature.

Example 1

Referring to fig. 1 to 7, a walking mechanism 100 according to the present utility model, the walking mechanism 100 includes a link mechanism 1, a claw 2, and a traction mechanism 3; the claw 2 is a hook-shaped claw, and the claw 2 can be used for hooking the ground surface during working so as to better adapt to various complex environments; the traction mechanism 3 is used for providing traction for the paw 2, so that the paw 2 can stretch and bend.

The claw 2 is connected with the front end of the connecting rod mechanism 1 through the flexible connecting piece 4, so that the claw 2 and the flexible connecting piece 4 can be bent under the traction of the traction mechanism 3; the traction mechanism 3 is arranged on the connecting rod mechanism 1; the traction mechanism 3 is connected with the flexible connecting piece 4 and the claw 2 through the traction rope 5, and drives the traction rope 5 to drive the flexible connecting piece 4 and the claw 2 to stretch and bend through the traction mechanism 3. When the walking mechanism 100 is specifically used, a robot can be formed by only arranging two walking mechanisms 100 on the shell 6, and the traction mechanism 3 of the two walking mechanisms 100 is utilized to drive the two claws 2 to alternately stretch and bend, so that the robot can creep forwards.

By adopting the walking mechanism 100, the following beneficial effects are at least achieved:

1. when the robot is used, a robot can be formed by only arranging two travelling mechanisms 100 on the shell 6, and the single travelling mechanism 100 only comprises a connecting rod mechanism 1, a claw 2, a traction mechanism 3, a flexible connecting piece 4 and a traction rope 5, so that the whole robot manufactured by the travelling mechanism 100 is simple in structure and light in weight, and compared with the existing caterpillar robot, wheel type robot and bionic multi-legged robot, the whole robot is more miniaturized, and therefore the use requirement of a narrow space is better met.

2. The traction mechanism 3 is utilized to drive the traction rope 5 to drive the flexible connecting piece 4 and the claw 2 to stretch and bend, so that the crawling function is realized; the claw 2 can hook the ground surface when being bent, can climb on a steep slope, and cannot slip or be blocked on the ground surface, so that the claw can adapt to various complex environments.

In a preferred embodiment of the present utility model, the link mechanism 1 includes a link body 11; the rear end of the connecting rod main body 11 is provided with a first extension rod 12 in an upward extending way; the middle part of the connecting rod main body 11 is provided with a second extension rod 13 in a downward extending way, the bottom of the second extension rod 13 is rotatably provided with a first pulley 14, and the first pulley 14 is used for contacting with the traction rope 5 and playing a role in guiding the traction rope 5; one end of the traction rope 5 is fixedly connected with the upper end of the first extension rod 12, the middle part of the traction rope 5 bypasses the bottom of the first pulley 14, the other end of the traction rope 5 is fixedly connected with the flexible connecting piece 4 and the claw 2 respectively, the traction rope 5 is in a slightly tensed state, the flexible connecting piece 4 is in a slightly bent state, and therefore the flexible connecting piece 4 and the claw 2 can be pulled to bend under the traction force of the traction mechanism 3 to creep. Preferably, in order to reduce the weight of the entire running gear 100, the connecting rod body 11, the first extension rod 12 and the second extension rod 13 may each be a sheet-shaped rod.

In the preferred embodiment of the utility model, the traction mechanism 3 comprises a driving member 31, a first gear 32, a second gear 33, a crank 34 and a second pulley 35; the crank 34 has a first branch 341 and a second branch 342 forming an angle;

the first gear 32 is connected with the output end of the driving component 31, so that the driving component 31 drives the first gear 32 to rotate; the middle part of the crank 34 is rotatably connected with the rear part of the connecting rod main body 11, the second gear 33 is fixed at the end part of the first branch 341, the second gear 33 is meshed with the first gear 32, and the second pulley 35 is rotatably arranged at the end part of the second branch 342, so that the whole crank 34 can rotate by taking the position of the middle part in rotational connection as a rotation center under the driving of the first gear 32; the driving part 31 drives the crank 34 to drive the second pulley 35 to periodically rotate, so that the second pulley 35 touches the traction rope 5 and drives the flexible connecting piece 4 and the claw 2 to stretch and bend.

When the traction mechanism 3 works, the driving part 31 outputs power to drive the first gear 32 to rotate, the first gear 32 drives the second gear 33 to rotate, and the first branch 341 of the crank 34 is fixedly connected with the second gear 33, so that the second gear 33 can drive the crank 34 to move together when rotating, the crank 34 can drive the second pulley 35 to rotate by taking the middle part of the crank 34 as a rotation center when moving, and the second pulley 35 can be contacted with the traction rope 5 and push the traction rope 5 to move together after rotating to a certain position, so that the traction rope 5 pulls the flexible connecting piece 4 and the claw 2 to bend to creep.

As a specific embodiment of the present utility model, the driving unit 31 is a motor, so as to remotely control the motor to operate.

In the preferred embodiment of the utility model, the linkage 1 further comprises a rocker 15; the lower end of the rocker 15 is rotatably connected with the front part of the connecting rod main body 11. In specific use, the upper end of the rocker 15 is provided with a first hinge hole 151, the upper end of the first extension rod 12 is provided with a second hinge hole 121, the front part of the running mechanism 100 is hinged with the housing 6 through the first hinge hole 151, and the rear part of the running mechanism 100 is hinged with the housing 6 through the second hinge hole 121.

In the preferred embodiment of the present utility model, the front end of the connecting rod main body 11 is provided with a third extension rod 16 extending downward, the lower end of the third extension rod 16 is fixedly provided with a limiting frame 17, and the traction rope 5 passes through the limiting frame 17, and by limiting the traction rope 5 in the limiting frame 17 by adopting the limiting frame 17, the traction rope 5 is prevented from deflecting and the traction rope 5 is prevented from being separated from the first pulley 14 in the use process.

In the preferred embodiment of the present utility model, the lower end of the third extension rod 16 is provided with a fourth extension rod 18 extending forward, and the flexible connector 4 is fixedly connected to the fourth extension rod 18.

In the preferred embodiment of the present utility model, the flexible connection unit 4 is an elastic rod, which ensures that the flexible connection unit can bend under the pulling force of the pulling rope 5 and can recover after the pulling force is removed.

Example 2

Referring to fig. 1 to 7, a miniature bionic beetle robot 200 according to the present utility model, the robot 200 includes a housing 6 and a travelling mechanism 100; the two sides of the front part of the shell 6 are respectively provided with a travelling mechanism 100, in particular, the two sides of the bottom of the shell 6 are respectively provided with a travelling mechanism 100, the upper end of the travelling mechanism 100 is hinged with the shell 6, the tail part of the shell 6 is provided with a rear leg 7, and the rear leg 7 is used for keeping the balance of the robot 200 in the travelling process. The shell 6 adopts a beetle-like shell, so that on one hand, better hiding effect can be achieved by adopting the bionic shell, and the shell is suitable for occasions such as reconnaissance, search and rescue and the like; on the other hand, the whole volume can be smaller, so that the device is suitable for being used in a narrow and steep environment. The specific structure of the running mechanism 100 is described in detail with reference to embodiment 1, and will not be described herein. In order to better balance the robot 200, both sides of the tail of the housing 6 are provided with a rear leg 7.

According to the utility model, the robot 200 comprises the travelling mechanism 100 and the beetle-like shell, so that the robot 200 can be well adapted to various complex environments such as a narrow space, a steep slope and the like when being specifically used, and the use requirements of multiple occasions can be better met.

The overall principle of operation of the robot 200 is as follows:

when the robot 200 is in the non-working state, the second pulleys 35 of the two-side traveling mechanisms 100 are separated from contact with the traction ropes 5, and at the moment, the flexible connecting piece 4 is in a slightly bent state, and the claws 2 are kept in contact with the ground 300, as shown in fig. 2;

when the driving part 31 of one of the traveling mechanisms 100 is started, the driving part 31 drives the first gear 32, the second gear 33 and the crank 34 to perform rotary motion together, so that the second pulley 35 on the crank 34 is in contact with the traction rope 5; after the second pulley 35 contacts with the traction rope 5, the driving part 31 drives the first gear 32, the second gear 33 and the crank 34 to rotate continuously, at this time, the second pulley 35 drives the traction rope 5 to move forwards together, so that the traction rope 5 pulls the flexible connecting piece 4 and the claw 2 backwards together, the claw 2 hooks the ground 300 backwards in the process, and the robot 200 obtains a forward thrust, so that the forward movement of the robot 200 is realized, as shown in fig. 3;

when the driving part 31 drives the first gear 32, the second gear 33 and the crank 34 to rotate together to a certain position, the traction rope 5 pulls the flexible connecting piece 4 and the claw 2 to bend back to a limit position together, and the flexible connecting piece 4 and the claw 2 are separated from the ground 300 as shown in fig. 4; the driving part 31 drives the first gear 32, the second gear 33 and the crank 34 to rotate again, in the process, the traction rope 5 gradually returns to the back, the flexible connecting piece 4 and the claw 2 gradually extend forwards as shown in fig. 5, and the state of keeping contact with the ground 300 is recovered, that is, the state of finally returning to the state as shown in fig. 2, and thus, one cycle is completed, that is, the driving part 31 drives the crank 34 to rotate for one circle.

Next, the driving part 31 of the other travelling mechanism 100 needs to be started to drive the crank 34 to rotate for one circle to complete one cycle; finally, the robot 200 can be driven to continuously crawl forwards by controlling the two travelling mechanisms 100 to work circularly and alternately.

While specific embodiments of the utility model have been described above, it will be appreciated by those skilled in the art that the specific embodiments described are illustrative only and not intended to limit the scope of the utility model, and that equivalent modifications and variations of the utility model in light of the spirit of the utility model will be covered by the claims of the present utility model.

Claims

1. A running gear, characterized in that: comprises a connecting rod mechanism, a claw and a traction mechanism;

2. A running gear according to claim 1, wherein: the link mechanism comprises a connecting rod main body; the rear end of the connecting rod main body is provided with a first extension rod in an upward extending mode; the middle part of the connecting rod main body is provided with a second extension rod in a downward extending mode, and the bottom of the second extension rod is provided with a first pulley in a rotating mode; one end of the traction rope is fixedly connected with the upper end of the first extension rod, the middle part of the traction rope bypasses the bottom of the first pulley, and the other end of the traction rope is fixedly connected with the flexible connecting piece and the claw respectively.

3. A running gear according to claim 2, wherein: the traction mechanism comprises a driving part, a first gear, a second gear, a crank and a second pulley; the crank is provided with a first branch and a second branch which form an included angle;

4. A running gear according to claim 2, wherein: the link mechanism further comprises a rocker; the lower end of the rocker is rotationally connected with the front part of the connecting rod main body.

5. A running gear according to claim 2, wherein: the front end downwardly extending of connecting rod main part is provided with the third extension rod, the lower extreme of third extension rod is equipped with spacing frame, the haulage rope passes spacing frame.

6. A walking mechanism as claimed in claim 5, wherein: the lower end of the third extension rod extends forwards to be provided with a fourth extension rod, and the flexible connecting piece is fixedly connected with the fourth extension rod.

7. A running gear according to claim 3, wherein: the driving part is a motor.

8. The utility model provides a miniature bionical beetle robot which characterized in that: comprising a housing and a running gear as claimed in any one of claims 1-7; the walking mechanism is arranged on two sides of the front part of the shell, and the rear part of the shell is provided with rear legs.