Crawling robot based on connecting rod structure

Abstract

The utility model relates to the technical field of robots, in particular to a crawling robot based on a connecting rod structure, which comprises a robot body, two steering engines and crawling claw components mounted on two sides of the robot body and composed of the connecting rod structure. The two steering engines are fixed to the two sides of the fuselage correspondingly. The crawling claw assembly comprises a connecting rod front foot, a connecting rod middle foot, a connecting rod rear foot, a first connecting rod, a second connecting rod and a transmission rod, the connecting rod front foot and the connecting rod rear foot are rotationally installed on the side face of the machine body, the connecting rod front foot, the first connecting rod, the second connecting rod and the connecting rod rear foot are sequentially hinged, and the hinging angle is controllable; one end of the connecting rod middle foot is hinged to the second connecting rod; an output shaft of the steering engine is connected with the first connecting rod; one end of the transmission rod is fixedly connected with an output shaft of the steering engine; and the other end of the transmission rod is connected with the second connecting rod and the connecting rod middle foot. The motion stability of the robot can be effectively guaranteed, and students can understand the motion principle of the connecting rod conveniently.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a crawling robot based on a connecting rod structure. Background Art

[0002] The existing transport robot usually adopts wheeled machinery and crawler machinery. Among them, the wheeled type is not suitable for ground with soft geology and obstacles; for example, the multifunctional teaching robot disclosed in patent application number CN201120065432.2 belongs to a crawler robot. Compared with wheeled machinery, crawler machinery has stronger obstacle crossing ability, but there are problems of complex structure and poor maneuverability, and the manufacturing cost of these two transport modes is also high. The crawling robot based on the foot structure can realize the robot's bipedal walking and related movements. Traditional bipedal robots usually set different servos at each leg joint between the upper body and the thigh, between the thigh and the calf, and between the calf and the foot to realize joint movement. In this way, the whole machine has a large mass and the inertia of the leg structure during the working process is relatively large. In view of the large inertia of the legs and the large impact on the robot posture, the difficulty of the bipedal robot walking stability control algorithm will be increased, and the power consumption of the servo will be relatively large.

[0003] On the other hand, in the process of learning theoretical knowledge about connecting rods in the field of mechanics, due to the complexity of the connecting rod movement, students are required to give full play to their imagination, which makes learning boring and difficult to understand, increasing the difficulty of learning. Utility Model Content

[0004] The utility model aims to solve at least one of the technical problems raised in the above-mentioned background technology, and provides a crawling robot based on a connecting rod structure to simplify the structure of the robot. Through two crawling claw assemblies composed of connecting rod structures, the left and right sides correspond to each other, which can effectively ensure the smoothness of the robot's movement. At the same time, as a teaching model demonstration in the teaching of mechanical principles, it is easy for students to understand the principle of connecting rod action.

[0005] In order to achieve the above-mentioned purpose, the technical solution adopted by the utility model is:

[0006] A crawling robot based on a connecting rod structure comprises a fuselage, two servos and a crawling claw assembly composed of a connecting rod structure installed on both sides of the fuselage; the two servos are respectively fixed on both sides of the fuselage; the crawling claw assembly comprises a connecting rod front foot, a connecting rod middle foot, a connecting rod rear foot, a first connecting rod, a second connecting rod and a transmission rod, wherein the connecting rod front foot and the connecting rod rear foot are respectively rotatably installed on the side of the fuselage, the connecting rod front foot, the first connecting rod, the second connecting rod and the connecting rod rear foot are hinged in sequence and the hinge angle is controllable; one end of the connecting rod middle foot is hinged to the second connecting rod; the output shaft of the servo is connected to the first connecting rod; one end of the transmission rod is fixedly connected to the output shaft of the servo; the other end of the transmission rod is connected to the second connecting rod and the connecting rod middle foot.

[0007] As a further improvement of the present invention, the interior of the fuselage is hollowed out, and a robot control system is fixedly installed on the fuselage; the robot control system includes a controller, a power module, a step-down module, a steering gear electronic control module, a Bluetooth module, an ultrasonic module, and a display; the input end of the power module is connected to a rechargeable battery; the output end of the power module is connected to the power input end of the controller through the step-down module; the power output end of the rechargeable battery is connected to the power input end of the steering gear; the signal port of the controller is respectively connected to the steering gear electronic control module, the Bluetooth module, the ultrasonic module and the display.

[0008] As a further improvement of the present invention, the controller is a main control chip of GD32F103C8T6.

[0009] As a further improvement of the present invention, the chip model used by the step-down module is AMS1117-3.3.

[0010] As a further improvement of the present invention, the rechargeable battery is a 18650 type rechargeable lithium battery.

[0011] As a further improvement of the present invention, the display adopts an OLED liquid crystal display.

[0012] Due to the adoption of the above technical solution, the utility model has the following beneficial effects:

[0013] The utility model is a connecting rod type robot manufactured based on a foot structure. The robot has low cost, good bionic effect and smooth gait. It solves the problem that the wheel type is not suitable for soft geology and provides obstacle avoidance function. It also solves the problem that the crawler type has complex structure and poor maneuverability. In addition, this design uses a simple design concept, with low cost and high efficiency. The connecting rod structure is used to form a multi-legged robot, which can be used as a teaching model demonstration in the teaching of mechanical principles, so that students can understand the connecting rod action principle more intuitively.

[0014] The utility model adopts a mechanical foot of connecting rod type assembly, and completes the planned gait action through the coordinated action between the rods, which can improve the walking efficiency of the robot and improve the stability while saving costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the structure of a crawling robot based on a connecting rod structure of the utility model;

[0016] Figure 2 This is a schematic diagram of the structure of a crawling robot based on a connecting rod structure from a top view of the utility model;

[0017] Figure 3 This is a schematic diagram of the structure of a crawling robot based on a connecting rod structure in the utility model when viewed from an upward angle;

[0018] Figure 4 This is a schematic diagram of the hardware structure of the robot control system of the utility model;

[0019] Figure 5 It is the circuit principle diagram of the controller of the utility model;

[0020] Figure 6 This is the electrical interface diagram of the OLED liquid crystal display of the utility model;

[0021] Figure 7 It is the interface electrical diagram of the Bluetooth module of the utility model;

[0022] Figure 8 It is the electrical wiring diagram of the servo electronic control module of the utility model;

[0023] Fig. 9 This is the electrical schematic diagram of the interface of the ultrasonic module of the utility model;

[0024] Fig.10 This is the power supply diagram of the 18650 power module of the utility model;

[0025] Fig.11 This is a circuit schematic diagram of the voltage reduction module of the utility model;

[0026] The following are marked in the attached figure: 1. ultrasonic module; 2. front leg of connecting rod; 3. middle leg of connecting rod; 4. transmission rod; 5. servo; 6. rear leg of connecting rod; 7. fuselage; 8. display; 9. controller; 10. Bluetooth module; 11. rechargeable battery; DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0028] In the description of the present utility model, it should be noted that the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present utility model; the terms "first", "second", and "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance. In addition, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0029] See also Figure 1-Figure 11 , a crawling robot based on a connecting rod structure, comprising a fuselage 7, two steering gears 5 and a crawling claw assembly composed of a connecting rod structure installed on both sides of the fuselage 7; the two steering gears 5 are respectively a left steering gear and a right steering gear, and the left steering gear 5 and the right steering gear 5 are respectively fixed on both sides of the fuselage 7; the crawling claw assembly comprises a connecting rod front foot 2, a connecting rod middle foot 3, a connecting rod rear foot 6, a first connecting rod, a second connecting rod and a transmission rod 4, wherein the connecting rod front foot 2 and the connecting rod rear foot 6 are respectively rotatably installed on the side of the fuselage 7, the connecting rod front foot 2, the first connecting rod, the second connecting rod and the connecting rod rear foot 6 are hinged in sequence and the hinge angle is controllable; one end of the connecting rod middle foot 3 is hinged to the second connecting rod; the output shaft of the steering gear 5 is connected to the first connecting rod; one end of the transmission rod 4 is fixedly connected to the output shaft of the steering gear 5; the other end of the transmission rod 4 is connected to the second connecting rod and the connecting rod middle foot 3;

[0030] As a further improvement of the present invention, the interior of the fuselage 7 is hollowed out, and a robot control system is fixedly installed on the fuselage 7; the robot control system includes a controller 9, a power module, a step-down module, a steering gear electronic control module, a Bluetooth module 10, an ultrasonic module 1, and a display 8; the input end of the power module is connected to a rechargeable battery 11; the output end of the power module is connected to the power input end of the controller 9 through the step-down module; the power output end of the rechargeable battery 11 is connected to the power input end of the steering gear 5; the signal port of the controller 9 is respectively connected to the steering gear electronic control module, the Bluetooth module 10, the ultrasonic module 1 and the display 8. The entire robot control system is performed by the GD32F103C8T6 main control chip as the core processor,

[0031] like Figure 5 The MCU main control chip of the controller 9 is selected as the preferred model in this embodiment, and its interface with each unit will be described in the following figures. After receiving the instructions issued by the user, the controller 9 is responsible for regulating the corresponding modules and processing the data returned by the modules.

[0032] In this solution, the rechargeable battery 11 uses a 18650 rechargeable lithium battery, which is powered by a 18650 rechargeable lithium battery and can be charged to achieve cost savings. The voltage is then reduced from 7.4V to 5V by a step-down module to ensure that the voltage value of the robot control system is at an appropriate voltage value, thereby preventing the main control chip and six modules from being burned due to excessive voltage.

[0033] The display 8 is an OLED liquid crystal display 8, which is connected to the controller 9 to display the distance measured by the ultrasonic module 1 on the screen and also display the working status of the robot. Figure 6 This is the electrical schematic diagram of an 8-pin 0.96-inch OLED screen, which uses SPI for data transmission and display. D1 is connected to Figure 5 PB15, D0 connection Figure 5 PB13, CS connection Figure 5 PB12, RST Figure 5 PB14, DC connection Figure 5 PB1, NC connection Figure 5 The present embodiment can also add an infrared module for distance measurement and obstacle avoidance as required, which will not be described here for the sake of space saving.

[0034] like Figure 7 The electrical schematic diagram of the Bluetooth module 10 is shown, in which STATE and EN are not connected, and RXD is connected. Figure 5 PA9, TXD Figure 5PA10 uses Bluetooth module 10 to connect to a mobile phone. The mobile phone can be used to debug via Bluetooth to send instructions to the controller 9, and the controller 9 executes the operation after processing the instructions.

[0035] like Figure 8 The figure shows the electrical schematic diagram of the steering gear electronic control module, where the control circuits are connected to Figure 5 PA6, PA7.

[0036] The ultrasonic module 1 is mainly used to collect the distance between the robot and the obstacle, and send the data back to the main control for data processing. Fig. 9 The following is the electrical wiring schematic diagram of the ultrasonic module 1, where TRIG is connected Figure 5 PA0, ECHO Figure 5 PA1.

[0037] like Fig.10 Shown is a 18650 parallel battery box that provides power to various modules of the entire robot control system.

[0038] As a further improvement of the present invention, the chip model used in the step-down module is AMS1117-3.3. Fig.11 The figure shows the electrical schematic diagram of the AMS1117-3.3V step-down module, where VIN is the input of the power supply and VOUT is the output after step-down. The AMS1117-3.3V power module is used to provide 3.3V (VCC3.3 port) power to the main control MCU and other modules.

[0039] The crawling robot based on the connecting rod structure of the utility model has a reasonable structure, wherein the controller 9 is fixed on the top of the robot body 7, and the main control board of the controller 9 is integrated with an integrated circuit combining a Bluetooth module 10, a display 8 and a buck module. The 18650 battery box and the servo 5 are fixed at the bottom of the fuselage 7, and an ultrasonic module 1 is fixed in the front part of the fuselage 7, that is, the head of the robot; on the side of the robot, there is the connecting rod structure of the robot, that is, the moving part of the crawling claw assembly of the robot, including the connecting rod front foot 2, the connecting rod middle foot 3, the transmission rod 4, and the connecting rod rear foot 6. The crawling claw assembly is powered by the servo 5. The transmission rod 4 is fixed on the output shaft of the servo 5, and the servo 5 controls the transmission rod 4 to move. The transmission rod 4 and the connecting rod middle foot 3 are fixedly connected, and the connecting rod middle foot 3 is driven by the transmission rod 4 to perform gait movement. The connecting rod front foot 2 is connected to the connecting rod middle foot 3 through the first connecting rod, and the connecting rod rear foot 6 is connected to the connecting rod middle foot 3 through the second connecting rod. The gait movement of the connecting rod middle foot 3 drives the movement of the first connecting rod and the second connecting rod, and then drives the connecting rod front foot 2 and the connecting rod rear foot 6 to move, and finally forms the gait movement of the robot.

[0040] The above description is a detailed description of the preferred feasible embodiment of the utility model, but the embodiment is not used to limit the scope of the patent application of the utility model. All equivalent changes or modified changes completed under the technical spirit suggested by the utility model should fall within the patent scope covered by the utility model.

Claims

1. A crawling robot based on a connecting rod structure, comprising a fuselage, two servos, and crawling claw assemblies composed of connecting rod structures installed on both sides of the fuselage; characterized in that: The two servos are respectively fixed on both sides of the fuselage; the crawling claw assembly includes a connecting rod front foot, a connecting rod middle foot, a connecting rod rear foot, a first connecting rod, a second connecting rod and a transmission rod, wherein the connecting rod front foot and the connecting rod rear foot are respectively rotatably installed on the side of the fuselage, and the connecting rod front foot, the first connecting rod, the second connecting rod and the connecting rod rear foot are hinged in sequence and the hinge angle is controllable; one end of the connecting rod middle foot is hinged to the second connecting rod; the output shaft of the servo is connected to the first connecting rod; one end of the transmission rod is fixedly connected to the output shaft of the servo; the other end of the transmission rod is connected to the second connecting rod and the connecting rod middle foot.

2. A crawling robot based on a connecting rod structure according to claim 1, characterized in that: The interior of the fuselage is hollowed out, and a robot control system is fixedly installed on the fuselage; the robot control system includes a controller, a power module, a step-down module, a steering gear electronic control module, a Bluetooth module, an ultrasonic module, and a display; the input end of the power module is connected to a rechargeable battery; the output end of the power module is connected to the power input end of the controller through the step-down module; the power output end of the rechargeable battery is connected to the power input end of the steering gear; the signal port of the controller is respectively connected to the steering gear electronic control module, the Bluetooth module, the ultrasonic module and the display.

3. A crawling robot based on a connecting rod structure according to claim 2, characterized in that: The controller model is the main control chip GD32F103C8T6.

4. The crawling robot based on the connecting rod structure according to claim 2, characterized in that: The chip model used in the step-down module is AMS1117-3.

3.

5. The crawling robot based on the connecting rod structure according to claim 2, characterized in that: The rechargeable battery is a 18650 rechargeable lithium battery.

6. The crawling robot based on the connecting rod structure according to claim 2, characterized in that: The display is an OLED liquid crystal display.

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