A bionic hexapod robot

Abstract

The present invention discloses a bionic hexapod robot, which includes a body part and six mechanical legs evenly arranged on the body part, the body part includes a top plate, a bottom plate and a support rod arranged between the top plate and the bottom plate, six support shafts are evenly arranged on the top plate, and six bearings corresponding to the support shafts are evenly arranged on the bottom plate. The mechanical legs include: a fixed base; a leg base, which rotates in a horizontal plane; a first driving member, which is arranged on the fixed base and drives the leg base to rotate; a connecting rod assembly, which is rotatably connected to the leg base; a leg, which is rotatably connected to the connecting rod assembly; a second driving member, which is arranged on the leg base and connected to the connecting rod assembly to drive the leg to move in the horizontal direction; and a third driving member, which is connected to the connecting rod assembly to drive the leg to move in the vertical direction. The present invention constructs a bionic hexapod robot with high load-bearing capacity and stable walking, and increases the working space of the mechanical legs.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a bionic hexapod robot. Background Art

[0002] Following the maturity and promotion of industrial robots and collaborative robots, major well-known universities, research institutes and enterprises have begun to invest huge manpower and material resources in the research of mobile robots.

[0003] Existing legged robots primarily serve a role in educational and entertainment, and are still under research in the laboratories of major research institutions. A key reason for this is their low load capacity and lack of stability for practical use. Furthermore, the legs of existing legged robots are mostly parallel mechanisms, which have the disadvantage of a small workspace.

[0004] Therefore, the existing technology still needs to be improved and developed. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a bionic hexapod robot in response to the above-mentioned defects of the prior art, aiming to solve the problems of low load capacity, poor walking stability and small working space of mechanical legs of the prior art foot-type robots.

[0006] The technical solutions adopted by the present invention to solve the technical problems are as follows:

[0007] A bionic hexapod robot, comprising a body component and six mechanical legs evenly arranged on the body component, the body component comprising a top plate, a bottom plate, and a support rod arranged between the top plate and the bottom plate, six supporting shafts evenly arranged on the top plate, six bearings corresponding to the supporting shafts evenly arranged on the bottom plate, each supporting shaft and its corresponding bearing forming a mounting position for a mechanical leg; the mechanical leg comprises:

[0008] Fixed base;

[0009] a leg base, rotatably connected to the fixed base, and the leg base rotates in a horizontal plane;

[0010] a first driving member, disposed on the fixed base and used to drive the leg base to rotate;

[0011] a connecting rod assembly, rotatably connected to the leg base;

[0012] a leg portion, rotatably connected to the connecting rod assembly;

[0013] a second driving member, disposed on the leg base and connected to the connecting rod assembly to drive the leg to move in a horizontal direction;

[0014] The third driving member is disposed on the leg base and connected to the connecting rod assembly to drive the leg to move in a vertical direction.

[0015] In the bionic hexapod robot, the upper end of the leg base is provided with an axial hole rotatably connected to the support shaft; the middle part of the leg base is provided with a shaft protrusion rotatably connected to the bearing.

[0016] The bionic hexapod robot is provided with a slide groove adapted to the bottom of the fixed base on the bottom plate, the length of the slide groove is greater than the length of the bottom of the fixed base, and the fixed base is installed in the slide groove of the bottom plate.

[0017] In the bionic hexapod robot, a distance adjustment block for adjusting the movement of the fixed base in the slide slot is provided at one end of the slide slot close to the leg, and an adjustment screw is installed on the distance adjustment block.

[0018] The bionic hexapod robot, wherein the connecting rod assembly comprises:

[0019] a first sliding block, slidably connected to the leg base along a vertical direction and connected to an output shaft of the second driving member;

[0020] a second sliding block, slidably connected to the leg base in a horizontal direction and connected to the output shaft of the third driving member;

[0021] A first connecting rod and a second connecting rod, the second slider, the first connecting rod, the second connecting rod and the leg are rotatably connected in sequence;

[0022] A third connecting rod and a fourth connecting rod, wherein the first connecting rod, the third connecting rod, the fourth connecting rod and the leg are rotatably connected in sequence;

[0023] a fifth connecting rod, one end of which is rotatably connected to the first slider, and the other end of which is rotatably connected to the middle portion of the second connecting rod;

[0024] Wherein, one end of the third connecting rod connected to the fourth connecting rod is rotatably connected to the leg base.

[0025] The bionic hexapod robot, wherein:

[0026] The fifth connecting rod is an arc-shaped connecting rod, and the arc-shaped connecting rod protrudes toward the leg.

[0027] The bionic hexapod robot, wherein:

[0028] The second link and the fourth link are connected to different positions of the leg;

[0029] The third connecting rod is parallel to the leg;

[0030] The second connecting rod is parallel to the fourth connecting rod.

[0031] The bionic hexapod robot, wherein the first driving member is connected to the leg base via a synchronization component; the synchronization component comprises:

[0032] a main synchronous pulley, rotatably connected to the fixed base and connected to the output shaft of the first driving member;

[0033] A slave synchronous pulley is rotatably connected to the fixed base and is connected to the leg base;

[0034] A synchronous belt is arranged around the master synchronous belt and the slave synchronous belt.

[0035] The bionic hexapod robot, wherein:

[0036] The output shaft of the first driving member is connected to the main synchronous pulley through a reduction assembly.

[0037] The bionic hexapod robot, wherein the deceleration component comprises:

[0038] a gear connected to the output shaft of the first driving member;

[0039] A reducer is provided on the fixed base and connected to the main synchronous pulley;

[0040] The transition flange has two ends connected to the first driving member and the reducer respectively.

[0041] Beneficial effects: Compared with the existing technology, the present invention constructs a bionic hexapod robot with high load-bearing capacity and stable walking by installing six mechanical legs on the fuselage parts. The robot can be used for emergency rescue activities in real life; at the same time, the present invention also drives the legs to move in six directions of up, down, left, right, front and back through the first driving member, the second driving member and the third driving member, thereby increasing the working space of the mechanical legs and allowing the bionic robot to have a larger range of activities. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic diagram of an explosion of a bionic hexapod robot in the present invention.

[0043] Figure 2 The figure is a schematic diagram of the three-dimensional structure of a bionic hexapod robot of the present invention.

[0044] Figure 3 It is a side view of the mechanical leg of the present invention.

[0045] Figure 4 It is a three-dimensional diagram of the mechanical leg of the present invention.

[0046] Figure 5 It is a cross-sectional view of the mechanical leg of the present invention.

[0047] Figure 6 It is a structural schematic diagram of the connecting rod assembly in the present invention.

[0048] Figure 7 It is a structural schematic diagram of the deceleration assembly in the present invention.

[0049] Figure 8 It is an exploded view of the deceleration assembly in the present invention.

[0050] Description of reference numerals:

[0051] 100, fuselage component; 101, mechanical leg; 110, top plate; 111, support shaft; 112, shaft hole; 120, bottom plate; 113, bearing; 114, slideway; 115, distance adjustment block; 116, adjustment screw; 117, shaft protrusion; 130, support rod; 140, through hole; 1, fixed base; 11, first driving member; 12, synchronous assembly; 121, main synchronous pulley; 122, slave synchronous pulley Pulley; 123, synchronous belt; 13, reduction assembly; 131, gear; 132, reducer; 133, transition flange; 2, leg base; 21, second drive member; 22, third drive member; 3, connecting rod assembly; 31, first slider; 32, second slider; 33, first connecting rod; 34, second connecting rod; 35, third connecting rod; 36, fourth connecting rod; 37, fifth connecting rod; 4, leg; 41, foot pad. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solutions and advantages of the present invention more clear and distinct, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0053] Please also see Figures 1-8 , the present invention provides some embodiments of a bionic hexapod robot.

[0054] like Figures 1-4 As shown, the present invention provides a bionic hexapod robot including a body component 100 and six mechanical legs 101 evenly arranged on the body component 100, the body component 100 includes a top plate 110, a bottom plate 120 and a support rod 130 arranged between the top plate 110 and the bottom plate 120, six supporting shafts 111 are evenly arranged on the top plate 110, and six bearings 113 corresponding to the supporting shafts 111 are evenly arranged on the bottom plate 120, each supporting shaft 111 and its corresponding bearing 113 constitute a mounting position for a mechanical leg 110; the mechanical leg 110 includes:

[0055] Fixed base 1;

[0056] The leg base 2 is rotatably connected to the fixed base 1, and the leg base 2 rotates in a horizontal plane;

[0057] A first driving member 11 is provided on the fixed base 1 and is used to drive the leg base 2 to rotate;

[0058] A connecting rod assembly 3 is slidably connected to the leg base 2;

[0059] The leg portion 4 is rotatably connected to the connecting rod assembly 3;

[0060] A second driving member 21 is provided on the leg base 2 and connected to the connecting rod assembly 3 to drive the leg 4 to move in the horizontal direction;

[0061] The third driving member 22 is disposed on the leg base 2 and connected to the connecting rod assembly 3 to drive the leg 4 to move in the vertical direction.

[0062] In this embodiment, the top plate 110 and the bottom plate 120 may be in a circular, hexagonal or other shape, but are not limited thereto. Figure 1-2 As shown, this embodiment takes a top plate 110 and a bottom plate 120 having a hexagonal shape and a through hole 140 in the middle as an example. Ten support rods are provided between the top plate 110 and the bottom plate 120, of which six support rods are respectively located in the middle of the six sides of the top plate and the bottom plate, and the remaining four support rods are evenly located around the through hole 140. In this embodiment, the upper and lower ends of the support rods 130 are connected to the top plate 110 and the bottom plate 120 respectively by threaded fasteners. The support rods 130 play a supporting role. In this way, the top plate 110, the bottom plate 120 and the support rods 130 constitute the main load-bearing frame structure of the fuselage component. The load of the bionic hexapod robot is mainly borne by this load-bearing frame structure.

[0063] In this embodiment, the bottom plate 120 is provided with a slide groove 114 adapted to the bottom of the fixed base 1. The length of the slide groove 114 is greater than the length of the bottom of the fixed base 1. The fixed base 1 is installed in the slide groove 114 of the bottom plate 120. Figure 1 As shown, a distance adjustment block 115 for adjusting the movement of the fixed base in the slide slot 114 is provided at one end of the slide slot 114 close to the leg 4 , and an adjustment screw 116 is installed on the distance adjustment block 115 .

[0064] In this example, the six supporting shafts 111 are arranged on the hexagonal vertices of the top plate, and the corresponding six bearings 113 are arranged on the hexagonal vertices of the bottom plate. Figure 1-2As shown, the upper end of the leg base 2 is provided with an axis hole 112 rotatably connected to the support shaft 111 ; the middle part of the leg base 2 is provided with an axis protrusion 117 rotatably connected to the bearing 113 .

[0065] In this embodiment, the process of installing the mechanical leg 110 on the body component 100 includes: placing the fixed base 1 in the slide groove 114, confining the fixed base 1 in the slide groove 114 by the screws on the fixed base 1, and at the same time holding the fixed base 1 in the slide groove 114 by the adjustment screw 116 on the distance adjustment block 115, and the fixed base 1 can be moved in the slide groove 114 by adjusting the screw-in length of the adjustment screw 116.

[0066] During the installation of the mechanical leg 110, the shaft hole 112 on the leg base 2 is installed on the supporting shaft 111 of the top plate, and the shaft protrusion 117 on the leg base 2 is inserted into the bearing 113 on the bottom plate to realize the rotational connection between the leg base 2 and the top plate and bottom plate.

[0067] In this embodiment, after the mechanical leg 110 is installed on the body component 100, under the driving action of the first driving member 11, the leg base 2 is rotationally connected to the fixed base 1, and the leg base 2 can rotate in the horizontal plane, thereby driving the leg 4 to move in the front and back directions. Under the driving action of the second driving member 21, the connecting rod assembly 3 can rotate relative to the leg base 2 and drive the leg 4 to move in the left and right directions (belonging to the horizontal direction). Under the driving action of the third driving member 22, the connecting rod assembly 3 can rotate relative to the leg base 2 and drive the leg 4 to move in the up and down directions (i.e., the vertical direction). Therefore, the movement of the leg 4 in six directions (up, down, left, right, front and back) is driven by the first driving member 11, the second driving member 21 and the third driving member 22, thereby increasing the working space of the mechanical leg.

[0068] In this embodiment, the bionic hexapod robot consists primarily of two main components: a body and mechanical legs. It has a total of 12 degrees of freedom, with each leg having 3 degrees of freedom. The body has 6 degrees of freedom, enabling translation in the X, Y, and Z directions, as well as rotation around the X, Y, and Z axes. The present invention utilizes three drive elements to achieve leg motion, resulting in a simple structure, easy motion control, and a straightforward mechanical topology, thus reducing the difficulty and cost of developing a legged robot.

[0069] In a preferred implementation of the embodiment of the present invention, Figure 5-Figure 6 As shown, the connecting rod assembly 3 includes:

[0070] A first slider 31 is slidably connected to the leg base 2 along the vertical direction and is connected to the output shaft of the second driving member 21;

[0071] The second slider 32 is connected to the leg base 2 in a horizontal sliding direction and is connected to the output shaft of the third driving member 22;

[0072] A first connecting rod 33 and a second connecting rod 34, the second slider 32, the first connecting rod 33, the second connecting rod 34 and the leg 4 are rotatably connected in sequence;

[0073] A third connecting rod 35 and a fourth connecting rod 36, wherein the first connecting rod 33, the third connecting rod 35, the fourth connecting rod 36 and the leg 4 are rotatably connected in sequence;

[0074] a fifth connecting rod 37 rotatably connected to the first slider 31 at one end and rotatably connected to the middle portion of the second connecting rod 34 at the other end;

[0075] One end of the third connecting rod 35 connected to the fourth connecting rod 36 is rotatably connected to the leg base 2 .

[0076] Specifically, the leg base 2 is provided with a first slide rail adapted to the first slider 31, the first slider 31 slides along the first slide rail, and the first slide rail extends in the vertical direction. The leg base 2 is provided with a second slide rail adapted to the second slider 32, the second slider 32 slides along the second slide rail, and the second slide rail extends in the horizontal direction.

[0077] In order to achieve vertical and horizontal movement of the leg 4 through the rotation of the connecting rod assembly 3 relative to the leg base 2, the connecting rod assembly 3 is formed into a telescopic grid. The second connecting rod 34, the third connecting rod 35, the fourth connecting rod 36, and the top of the leg 4 form a quadrilateral grid. The quadrilateral grid can be deformed and extended. In other words, the extension and contraction of the connecting rod assembly 3 enables the leg base 2 to move in both directions. One end of the fifth connecting rod 37 is rotatably connected to the first slider 31, and the other end of the fifth connecting rod 37 is rotatably connected to the middle of the second connecting rod 34. The second driving member 21 can drive the first slider 31 to slide in the vertical direction, thereby deforming the four-deformation grid and driving the leg 4 to move in both directions. Specifically, when the second driving member 21 drives the first slider 31 to slide, the first connecting rod 33 and the third connecting rod 35 remain stationary, and the fifth connecting rod 37 pushes the second connecting rod 34 to move, specifically, pushes the second connecting rod 34 to rotate around the first connecting rod 33, thereby driving the fourth connecting rod 36 to rotate around the third connecting rod 35 (or the leg base 2), so that the leg 4 moves in the left and right directions.

[0078] One end where the third connecting rod 35 and the fourth connecting rod 36 are connected is rotatably connected to the leg base 2 , that is, the leg 4 is rotatably connected to the leg base 2 through the connecting rod assembly 3 , thereby enabling the leg 4 to move in both the up and down directions.

[0079] One end of the second connecting rod 34 and the third connecting rod 35 is rotatably connected to the first connecting rod 33. The third driving member 22 can drive the second slider 32 to slide in the horizontal direction, thereby driving the connecting rod assembly 3 to rotate relative to the leg base 2 and driving the leg 4 to move in the up and down directions.

[0080] In a preferred implementation of the embodiment of the present invention, Figure 5-Figure 6 As shown, the fifth connecting rod 37 is an arc-shaped connecting rod, and the arc-shaped connecting rod protrudes toward the leg 4.

[0081] Specifically, the fifth connecting rod 37 is an arc-shaped connecting rod, and the arc-shaped connecting rod protrudes toward the side where the leg 4 is located. When the fifth connecting rod 37 pushes the second connecting rod 34 and deforms the quadrilateral grid, the arc-shaped connecting rod can more easily push the second connecting rod 34 to rotate.

[0082] In a preferred implementation of the embodiment of the present invention, Figure 5-Figure 6 As shown, the second connecting rod 34 and the fourth connecting rod 36 are connected to different positions of the leg 4;

[0083] The third connecting rod 35 is parallel to the leg 4;

[0084] The second connecting rod 34 is parallel to the fourth connecting rod 36 .

[0085] Specifically, in order to facilitate the control of the movement of the legs 4 , the grid adopts a parallelogram network, the second link 34 is parallel to the fourth link 36 , and the third link 35 is parallel to the legs 4 , thereby facilitating the control of the direction and distance of movement of the legs 4 .

[0086] In a preferred implementation of the embodiment of the present invention, Figure 5-Figure 6 As shown, the second driving member 21 and the third driving member 22 are both linear driving members.

[0087] Specifically, the second driving member 21 is a linear driving member, such as a linear motor, to drive the first slider 31 to slide along a straight line. The third driving member 22 is a linear driving member, such as a linear motor, to drive the second slider 32 to slide along a straight line.

[0088] In a preferred implementation of the embodiment of the present invention, Figure 5-Figure 6 As shown, the first driving member 11 is connected to the leg base 2 via a synchronization component 12; the synchronization component 12 includes:

[0089] A main synchronous pulley 121 is rotatably connected to the fixed base 1 and is connected to the output shaft of the first driving member 11;

[0090] The synchronous pulley 122 is rotatably connected to the fixed base 1 and connected to the leg base 2;

[0091] The synchronous belt 123 is arranged around the master synchronous belt 123 and the slave synchronous belt 123 .

[0092] Specifically, a synchronization assembly 12 is provided on the fixed base 1, the first drive member 11 is connected to the synchronization assembly 12, and the leg base 2 is connected to the synchronization assembly 12. The synchronization assembly 12 allows the first drive member 11 to drive the leg base 2 to rotate in the horizontal plane, thereby driving the leg 4 to move in the front and rear directions. The output shaft of the first drive member 11 is connected to the main synchronization pulley 121, thereby driving the main synchronization pulley 121 to rotate. The main synchronization pulley 121 is connected to the slave synchronization pulley 122 through a synchronization belt 123, so that when the main synchronization pulley 121 rotates, the slave synchronization pulley 122 is driven to rotate. The leg base 2 is connected to the slave synchronization pulley 122. When the slave synchronization pulley 122 rotates, the leg base 2 also rotates, thereby driving the leg 4 to rotate, thereby changing the position of the leg 4 in the front and rear directions. More specifically, the slave synchronous pulley 122 is fixedly connected to the shaft protrusion 117 on the leg base 2. When the slave synchronous pulley 122 rotates, the shaft protrusion 2 also rotates, driving the leg base 2 to rotate.

[0093] In this embodiment, the fixed base 1 can be moved in the sliding groove 114 by adjusting the screwing length of the adjusting screw 116 on the distance adjusting block 115, thereby achieving the effect of adjusting the tension of the synchronous belt.

[0094] In a preferred implementation of the embodiment of the present invention, Figure 5 、 Figure 7 as well as Figure 8 As shown, the output shaft of the first driving member 11 is connected to the main synchronous pulley 121 through the reduction assembly 13.

[0095] Specifically, in order to accurately control the rotation of the main synchronous pulley 121 , a reduction assembly 13 is used to connect the output shaft of the first driving member 11 and the main synchronous pulley 121 .

[0096] In a preferred implementation of the embodiment of the present invention, Figure 5-Figure 8 As shown, the deceleration assembly 13 includes:

[0097] Gear 131 connected to the output shaft of the first driving member 11;

[0098] A speed reducer 132 is provided on the fixed base 1 and connected to the main synchronous pulley 121;

[0099] The transition flange 133 has two ends connected to the first driving member 11 and the reducer 132 respectively.

[0100] Specifically, the first driving member 11 can drive the gear 131 to rotate. The first driving member 11 is arranged on the reducer 132 through the transition flange 133. The gear 131 is connected to the reducer 132. Therefore, the reducer 132 reduces the output shaft of the first driving member 11 through the gear 131.

[0101] In a preferred implementation of the embodiment of the present invention, Figure 3-Figure 7 As shown, a foot pad 41 is provided at the bottom end of the leg 4.

[0102] Specifically, a foot pad 41, such as a foot cushioning pad, is installed at the bottom of the leg 4. The foot pad 41 has the characteristics of elasticity, high damping and low density to reduce the impact force of the mechanical leg on the ground during operation.

[0103] It should be understood that the application of the present invention is not limited to the above examples. For those skilled in the art, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A bionic hexapod robot, characterized in that: The invention comprises a body component and six mechanical legs evenly arranged on the body component, wherein the body component comprises a top plate, a bottom plate, and a support rod arranged between the top plate and the bottom plate, six supporting shafts are evenly arranged on the top plate, and six bearings corresponding to the supporting shafts are evenly arranged on the bottom plate, each supporting shaft and its corresponding bearing forming a mounting position for a mechanical leg; the mechanical leg comprises: Fixed base; a leg base, rotatably connected to the fixed base, and the leg base rotates in a horizontal plane; a first driving member, disposed on the fixed base and used to drive the leg base to rotate; a connecting rod assembly, rotatably connected to the leg base; a leg portion, rotatably connected to the connecting rod assembly; a second driving member, disposed on the leg base and connected to the connecting rod assembly to drive the leg to move in a horizontal direction; a third driving member, disposed on the leg base and connected to the connecting rod assembly to drive the leg to move in a vertical direction; The upper end of the leg base is provided with an axis hole rotatably connected to the support shaft; the middle part of the leg base is provided with an axis protrusion rotatably connected to the bearing; The bottom plate is provided with a slide groove adapted to the bottom of the fixed base, the length of the slide groove is greater than the length of the bottom of the fixed base, and the fixed base is installed in the slide groove of the bottom plate; An end of the slideway close to the leg is provided with a distance adjustment block for adjusting the movement of the fixed base in the slideway, and an adjustment screw is installed on the distance adjustment block; The connecting rod assembly comprises: a first sliding block, slidably connected to the leg base along a vertical direction and connected to an output shaft of the second driving member; a second sliding block, slidably connected to the leg base in a horizontal direction and connected to the output shaft of the third driving member; A first connecting rod and a second connecting rod, the second slider, the first connecting rod, the second connecting rod and the leg are rotatably connected in sequence; A third connecting rod and a fourth connecting rod, wherein the first connecting rod, the third connecting rod, the fourth connecting rod and the leg are rotatably connected in sequence; a fifth connecting rod, one end of which is rotatably connected to the first slider, and the other end of which is rotatably connected to the middle portion of the second connecting rod; Wherein, one end of the third connecting rod connected to the fourth connecting rod is rotatably connected to the leg base; The fifth connecting rod is an arc-shaped connecting rod, and the arc-shaped connecting rod protrudes toward the leg.

2. The bionic hexapod robot according to claim 1, characterized in that: The second link and the fourth link are connected to different positions of the leg; The third connecting rod is parallel to the leg; The second connecting rod is parallel to the fourth connecting rod.

3. The bionic hexapod robot according to claim 1, characterized in that: The first driving member is connected to the leg base via a synchronization component; the synchronization component comprises: a main synchronous pulley, rotatably connected to the fixed base and connected to the output shaft of the first driving member; A slave synchronous pulley is rotatably connected to the fixed base and is connected to the leg base; A synchronous belt is arranged around the main synchronous pulley and the slave synchronous pulley.

4. The bionic hexapod robot according to claim 3, characterized in that: The output shaft of the first driving member is connected to the main synchronous pulley through a reduction assembly.

5. The bionic hexapod robot according to claim 4, characterized in that: The deceleration assembly includes: a gear connected to the output shaft of the first driving member; A reducer is provided on the fixed base and connected to the main synchronous pulley; The transition flange has two ends connected to the first driving member and the reducer respectively.

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