CN220446468U

CN220446468U - Intelligent bionic robot

Info

Publication number: CN220446468U
Application number: CN202321222041.6U
Authority: CN
Inventors: 谢其龙; 黄际豪; 蒋佩妤; 李泽一; 鲍政; 朱柯岩
Original assignee: Hefei University of Technology
Current assignee: Hefei University of Technology
Priority date: 2023-05-19
Filing date: 2023-05-19
Publication date: 2024-02-06
Anticipated expiration: 2033-05-19

Abstract

The utility model discloses an intelligent bionic robot, which comprises an upper bottom plate shell, wherein the bottom of the upper bottom plate shell is locked on a lower bottom plate shell through rib plate screws, a snake-shaped robot assembly is fixed in a cavity of the upper bottom plate shell through a locking structure, and a through hole for the snake-shaped robot assembly to pass through is formed in the top of the upper bottom plate shell; three wing plates are symmetrically arranged on two sides of the lower bottom plate shell, and six leg walking assemblies are installed through the wing plates. The beneficial effects are that: the snake-shaped robot assembly integrally adopts a plurality of snake-shaped joint modularized single-degree-of-freedom joint designs, has three-dimensional space movement capacity, realizes snake-shaped joint degree-of-freedom output through a servo steering engine after completing degree-of-freedom configuration, and can be used as an operation arm to enter a narrow space in an emergency scene for detection and rescue, and realizes the grabbing and fixing functions of goods through a clamping assembly.

Description

Intelligent bionic robot

Technical Field

The utility model relates to the technical field of robots, in particular to an intelligent bionic robot.

Background

Today, the scientific technology is rapidly developed and greatly advanced, the social requirement is more extensive, and the research of robots is gradually focused on. In particular, the mobile robot is not limited by the relatively fixed working environment like the traditional industrial robot, can move in a certain area range, and can even replace human beings to complete a plurality of complex tasks. In all aspects of planetary exploration, intelligent factories and the like, the robot technology can provide great help for people due to the unknown and complexity of the environment, and in the environment exploration, the robot technology can be used for finding forest fires and reconnaissance terrains to complete searching and rescue tasks, provide help for rescue workers and complete tasks under abnormal dangerous and complex disaster environments. For example, in a complex environment, large equipment is difficult to enter, the rescue progress is delayed, and life and property losses can be caused. The small mobile robot has good adaptability to the environment, can go deep into the complex environment to implement detection and operation, and has great superiority.

In real situations, the mobile robot is mainly faced with some complex environments, so that the research of a mobile robot system facing more complex environmental operations has very important practical significance. It has been proposed to design a relatively good movement mechanism for a robot to enhance its mobility, so that it can cope with different topographic environmental problems. It needs to ensure certain obstacle surmounting ability and consider the problem of movement efficiency. However, most of the conventional robots have limited movement capability, lack of operation mechanisms or poor flexibility of the mechanisms, are not flexible to detect, and are difficult to adapt to complex ground road conditions and execution of tasks in a narrow space.

Disclosure of Invention

The utility model aims to provide an intelligent bionic robot, wherein an upper shell, a lower shell and six leg walking components form a moving platform of the robot, so that the moving capability of the robot is ensured, and the obstacle crossing performance, the moving efficiency and the flexibility of the robot are improved; the snake-shaped robot assembly integrally adopts a plurality of snake-shaped joint modularized single-degree-of-freedom joint designs, has three-dimensional space movement capacity, realizes snake-shaped joint degree-of-freedom output through a servo steering engine after the degree-of-freedom configuration is completed, and can be used as an operation arm to enter a narrow space in an emergency scene for detection and rescue.

The technical scheme of the utility model is realized as follows:

the intelligent bionic robot comprises an upper shell, wherein the bottom of the upper shell is locked on a lower shell through screws, a snake-shaped robot component is fixed in the upper shell through a locking structure, and a through hole for the snake-shaped robot component to pass through is formed in a cover body at the top of the upper shell; three wing plates are symmetrically arranged on two sides of the lower shell, and six leg walking assemblies are installed through the wing plates.

Further, the locking structure comprises a first locking part and a second locking part, and the rotating ends of the first locking part and the second locking part are connected to a fixed shaft at the bottom of the upper shell;

the upper shell is internally provided with a driving assembly which can drive the locking ends of the first locking part and the second locking part to be close to or separated from each other, and the first locking part and the second locking part form a locking groove for locking the snake-shaped robot assembly.

Further, the driving assembly comprises a first steering engine arranged in the upper shell, the output end of the first steering engine is connected with a screw rod, and the screw rod freely passes through a through hole on the locking end;

the two sides of the locking end are respectively provided with a first screw nut and a second screw nut through screw rods, the first screw nuts are connected with the second screw nuts in series through a plurality of optical axis screws, and the optical axis screws sequentially penetrate through the locking ends of the first locking part and the second locking part.

Further, the snake-shaped robot assembly comprises a snake-shaped joint module and a plurality of servo steering engines;

the snake body joint module comprises a plurality of snake body joints, joint connectors are arranged in each snake body joint, the servo steering engine is movably connected with the joint connectors through a steering wheel, and the top end of the servo steering engine is fixedly connected with the bottoms of the joint connectors in the adjacent snake body joints through bolts, so that the plurality of snake body joints are connected.

Further, the bottom of the snake body joint module is fixed in a locking groove formed by the first locking part and the second locking part in a matched mode.

Further, the top of snake body joint module is fixed with the gripper fixing base, install the second steering wheel in the gripper fixing base, the output of second steering wheel is connected with the driving gear who installs on gripper fixing base top, driving gear and driven gear meshing.

Further, the driving gear and the driven gear are movably provided with clamping components which are matched with each other.

Further, the leg walking assembly comprises a first steering engine steering part arranged on the wing plate, and one end, far away from the wing plate, of the first steering engine steering part is sequentially connected with a second steering engine steering part and a third steering engine steering part.

Further, the first steering engine steering part comprises a third steering engine arranged in the installation groove at the bottom of the wing plate, the third steering engine is connected with the first steering part through a steering wheel, and the bottom of the first steering part is provided with travelling wheels.

The beneficial effects of the utility model are as follows:

(1) Go up casing, lower casing and six shank walking components and constitute the moving platform of robot, every shank walking component is formed with three joints through first steering wheel steering part, second steering wheel steering part and third steering wheel steering part, four walking wheels of steering part drive through first steering wheel, four walking wheels include two drive wheels and two directive wheels, the drive wheel is arranged in the rear side of robot, by two 360 third steering wheel drives, on the one hand can increase the drive power, on the other hand conveniently control the respective rotational speed of two wheels for moving platform has the mobility of guarantee robot, improves the obstacle crossing performance of robot, moving efficiency and flexibility ratio.

(2) The snake-shaped robot assembly is integrally designed by a plurality of snake-shaped joint modularized single-degree-of-freedom joints, has three-dimensional space movement capability, realizes the snake-shaped joint degree-of-freedom output through a servo steering engine after the degree-of-freedom configuration is completed, and has low operation noise, stability and high linearity, and the controllable angle range is 180 degrees.

(3) The snake body joint module comprises 8 modularization joints, and the snake-shaped robot assembly can be used as an operation arm, and can enter a narrow space in an emergency scene to carry out detection and rescue.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of an intelligent biomimetic robot;

FIG. 2 is a side view of the intelligent biomimetic robot;

FIG. 3 is an internal schematic view of the upper housing;

FIG. 4 is a schematic view of the leg walker assembly mounted to the lower housing;

FIG. 5 is a top view of the intelligent biomimetic robot;

FIG. 6 is a schematic view of a serpentine robotic assembly;

FIG. 7 is a bottom view of the lower housing;

fig. 8 is a schematic view of the inside of the gripper fixing base.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments.

In the description of the present utility model, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present utility model and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

According to an embodiment of the utility model, an intelligent bionic robot is provided.

As shown in fig. 1, the intelligent bionic robot according to the embodiment of the utility model comprises an upper shell 1, wherein the bottom of the upper shell 1 is attached to a lower shell 2 through screw locking, three wing plates 6 are symmetrically arranged on two sides of the lower shell 2, and six leg walking components 7 are installed through the wing plates 6.

As shown in fig. 4 and 5, the leg walking assembly 7 comprises a first steering wheel steering member 7-1 mounted on the wing plate 6, and one end, far away from the wing plate 6, of the first steering wheel steering member 7-1 is sequentially connected with a second steering wheel steering member 7-2 and a third steering wheel steering member 7-3. That is, each leg traveling assembly 7 is formed with three joints by the first steering wheel steering member 7-1, the second steering wheel steering member 7-2 and the third steering wheel steering member 7-3.

Specifically, the first steering wheel steering member 7-1 includes a third steering wheel 7-11 (fig. 7) mounted in a mounting groove at the bottom of the wing plate 6, the third steering wheel 7-11 is connected with the first steering member 7-12 (fig. 1) through a steering wheel, and four traveling wheels 15 (respectively located at the front side and the rear side of the lower housing 1) are mounted at the bottom of the first steering member 7-12. The four-wheel travelling wheel 15 comprises two driving wheels and two steering wheels, wherein the two driving wheels are arranged at the rear side of the robot and driven by two 360-degree steering engines. The two travelling wheels 15 at the rear side of the robot are driven by two steering engines, so that the driving force can be increased on one hand, and the respective rotating speeds of the two wheels can be conveniently controlled on the other hand. The upper shell 1, the lower shell 2 and the six leg walking assemblies 7 form a moving platform of the robot, and the moving platform mainly ensures the moving capability of the robot and improves the obstacle crossing performance and the moving efficiency of the robot.

It should be noted that, the second steering wheel steering member 7-2 and the third steering wheel steering member 7-3 are internally provided with steering wheels, and the second steering member and the third steering member (not shown in the drawing) are driven by the steering wheels.

As shown in fig. 5, the robot foot type movement adopts a periodic gait (triangular gait) and a free gait. The L1, R2 and L3 legs of the robot are designed to be one movement group, the R1, L2 and R3 legs are designed to be the other movement group, and one group swings when being supported. The free gait is mainly used under very rough and complex road conditions, and the use road conditions of the triangular gait are between rough and complex road conditions and flat road conditions capable of moving in a wheel mode. On a relatively flat road surface, the triangular gait has a relatively constant speed and a relatively high stability.

As shown in fig. 3, the upper casing 1 is fixed with a snake-shaped robot assembly 4 through a locking structure 3, a through hole 5 for the snake-shaped robot assembly 4 to pass through is formed in the top cover body of the upper casing 1, and the snake-shaped robot assembly 4 can enter a complex environment to perform operation, especially in a narrow space.

Specifically, the locking structure 3 comprises a first locking part 3-1 and a second locking part 3-2, the first locking part 3-1 and the second locking part 3-2 are in a semicircular structure, and the rotating ends of the first locking part 3-1 and the second locking part 3-2 are connected to a fixed shaft 8 at the bottom of the upper shell 1. The upper shell 1 is internally provided with a driving component 9 which can drive the locking ends 3-3 of the first locking part 3-1 and the second locking part 3-2 to be mutually close to or separated from each other, so that the first locking part 3-1 and the second locking part 3-2 form a locking groove for locking the snake-shaped robot component 4.

The driving assembly 9 comprises a first steering engine 9-1 arranged in an upper shell 1, the output end of the first steering engine 9-1 is connected with a screw rod 9-2, the screw rod 9-2 freely penetrates through a through hole formed in a locking end 3-3 of a first locking part 3-1 and a second locking part 3-2, two sides of the locking end 3-3 are connected with a first screw rod nut 9-3 and a second screw rod nut 9-4 through screw rods 9-2 threads, the first screw rod nut 9-3 is connected with the second screw rod nut 9-4 in series through a plurality of optical axis screws 9-5, and the optical axis screws 9-5 sequentially penetrate through the locking ends 3-3 of the first locking part 3-1 and the second locking part 3-2.

Specifically, the first steering engine 9-1 drives the screw rod 9-2 to rotate, so that the first screw nut 9-3 and the second screw nut 9-4 on the screw rod 9-2 move in opposite directions, the first screw nut 9-3 and the second screw nut 9-4 respectively extrude two sides of the locking end 3-3 on the first locking part 3-1 and the second locking part 3-2, and a locking groove is formed after the first locking part 3-1 and the second locking part 3-2 are extruded, so that the bottom of the snake-shaped robot assembly 4 is clamped and fixed.

As shown in fig. 1, 2 and 6, the serpentine robotic assembly 4 includes a serpentine joint module and a plurality of servo steering engines 4-1. Specifically, the snake body joint module comprises a plurality of snake body joints 4-2, joint connectors 4-3 are arranged in each snake body joint 4-2, the servo steering engine 4-1 is movably connected with the joint connectors 4-3 through a steering wheel, the top end of the servo steering engine 4-1 is fixedly connected with the bottoms of the joint connectors 4-3 in the adjacent snake body joints 4-2 through bolts, and therefore the plurality of snake body joints 4-2 are connected in series.

The snake-shaped robot assembly 4 integrally adopts a plurality of snake-shaped joints 4-2 modularized single-degree-of-freedom joint designs, has three-dimensional space movement capacity, realizes the snake-shaped joint 4-2 degree-of-freedom output through the servo steering engine 4-1 after the degree-of-freedom configuration is completed, integrates a closed loop control circuit in the servo steering engine 4-1, enables the driving control of the later snake-shaped joint 4-2 to be simple, enables the torque of the servo steering engine 4-1 to be 25 kg, has low operation noise, is stable and has high linearity, can control the angle range to be 180 degrees, and realizes the single-joint degree-of-freedom output through the driving torque of the servo steering engine 4-1. In addition, the appearance of the snake body joint 4-2 can be packaged by EVA single-sided foam, so as to enhance the friction between the snake body joint 4-2 and the ground and enhance the exercise capacity.

The snake joint module consists of 8 modularized joints, and the total freedom degree is 8. The snake body joint module is mainly used for designing a peristaltic gait, a rolling gait and a motion gait based on a Serpentis curve, the whole body moves in the motion process of the snake robot, the positions of the joint coordinate systems change in an inertial system, different motion forms can be realized through inputting the joint angle theta of the robot, the joint angular velocity and the joint angular acceleration of the snake robot during motion can be obtained through the derivative of the joint angle, and then the motion gait of the snake robot is planned.

As shown in fig. 1, 2 and 8, a gripper fixing seat 10 is fixed at the top of the snake body joint module, a second steering engine 11 is installed in the gripper fixing seat 10, the output end of the second steering engine 11 is connected with a driving gear 12 installed at the top end of the gripper fixing seat 10, the driving gear 12 is meshed with a driven gear 13, and a clamping plate assembly 14 matched with each other is movably installed on the driving gear 12 and the driven gear 13. The snake-shaped robot assembly 4 can be used as an operation arm, can enter a narrow space in an emergency scene to carry out detection and rescue, and achieves the grabbing and fixing functions of cargoes through the clamping assembly 14.

In addition, can carry on WIFI camera and ultrasonic sensor as sensing system at the top of snake body joint module. The WIFI camera 16 can wirelessly transmit the captured video information to the host computer. The ultrasonic sensor can measure the distance between the ultrasonic sensor and an obstacle, is arranged in front of the robot, can prevent the collision between the robot and the obstacle, and can transmit video data to the mobile phone in real time through the intelligent remote control APP; meanwhile, different forms of the robot can be adjusted: the robot has the advantages that the robot can be controlled to move and carry out related work in a combined mode, a snake-shaped mode and a four-wheel six-foot mode, and the real-time monitoring of the state and the working mode of the robot is realized.

The WIFI camera adopts an MD99S-6 infrared camera, the digital pixels of the camera reach more than 600 ten thousand, and in addition, the weight of the camera is below 100g, so that the carrying is convenient. The ultrasonic sensor adopts an HC-SR04 sensor, has stable performance, the precision can reach 0.3cm, and the detection distance is 2-450cm. The video that the robot shot is wireless to the test on the computer, improves the precision of robot.

The foregoing is only a preferred embodiment of the present utility model, but the scope of the present utility model is not limited thereto, and any person skilled in the art, who is within the scope of the present utility model, should make equivalent substitutions or modifications according to the technical scheme of the present utility model and the inventive concept thereof, and should be covered by the scope of the present utility model.

Claims

1. The intelligent bionic robot is characterized by comprising an upper shell (1), wherein the bottom of the upper shell (1) is locked and attached to a lower shell (2) through screws, a snake-shaped robot component (4) is fixed in the upper shell (1) through a locking structure (3), and a through hole (5) for the snake-shaped robot component (4) to pass through is formed in a cover body at the top of the upper shell (1); three wing plates (6) are symmetrically arranged on two sides of the lower shell (2), six leg walking components (7) are arranged through the wing plates (6),

the locking structure (3) comprises a first locking part (3-1) and a second locking part (3-2), and the rotating ends of the first locking part (3-1) and the second locking part (3-2) are connected to a fixed shaft (8) at the bottom of the upper shell (1);

the upper shell (1) is internally provided with a driving component (9) which can drive the upper locking ends (3-3) of the first locking part (3-1) and the second locking part (3-2) to be close to or separated from each other, so that the first locking part (3-1) and the second locking part (3-2) form a locking groove for locking the snake-shaped robot component (4).

2. The intelligent bionic robot according to claim 1, wherein the driving assembly (9) comprises a first steering engine (9-1) arranged in the upper shell (1), the output end of the first steering engine (9-1) is connected with a screw rod (9-2), and the screw rod (9-2) freely passes through a through hole on the locking end (3-3);

the two sides of the locking end (3-3) are respectively provided with a first screw nut (9-3) and a second screw nut (9-4) through screw rods (9-2), the first screw nut (9-3) is connected with the second screw nut (9-4) in series through a plurality of optical axis screws (9-5), and the optical axis screws (9-5) sequentially penetrate through the locking ends (3-3) on the first locking part (3-1) and the second locking part (3-2).

3. An intelligent biomimetic robot according to claim 1 or 2, wherein the serpentine robot assembly (4) comprises a serpentine joint module and several servo steering engines (4-1);

the snake body joint module comprises a plurality of snake body joints (4-2), joint connectors (4-3) are arranged in each snake body joint (4-2), the servo steering engine (4-1) is movably connected with the joint connectors (4-3) through a steering wheel, and the top ends of the servo steering engines (4-1) are fixedly connected with the bottoms of the joint connectors (4-3) in the adjacent snake body joints (4-2) through bolts, so that the plurality of snake body joints (4-2) are connected.

4. An intelligent bionic robot according to claim 3, wherein the bottom of the snake joint module is fixed in a locking groove formed by the cooperation of the first locking part (3-1) and the second locking part (3-2).

5. The intelligent bionic robot according to claim 4, wherein a gripper fixing seat (10) is fixed at the top of the snake body joint module, a second steering engine (11) is installed in the gripper fixing seat (10), an output end of the second steering engine (11) is connected with a driving gear (12) installed at the top end of the gripper fixing seat (10), and the driving gear (12) is meshed with a driven gear (13).

6. The intelligent bionic robot according to claim 5, wherein the driving gear (12) and the driven gear (13) are movably provided with clamping assemblies (14) which are matched with each other.

7. The intelligent bionic robot according to claim 1, wherein the leg walking assembly (7) comprises a first steering engine steering element (7-1) arranged on the wing plate (6), and one end, far away from the wing plate (6), of the first steering engine steering element (7-1) is sequentially connected with a second steering engine steering element (7-2) and a third steering engine steering element (7-3).

8. The intelligent bionic robot according to claim 7, wherein the first steering wheel steering member (7-1) comprises a third steering wheel (7-11) arranged in a mounting groove at the bottom of the wing plate (6), the third steering wheel (7-11) is connected with the first steering member (7-12) through a steering wheel, and a travelling wheel (15) is arranged at the bottom of the first steering member (7-12).