A bionic tarantula based on degree-of-freedom coupling

Abstract

A bionic bird-catching spider based on the coupling of degrees of freedom, with four bionic front legs connected to the head of the bionic torso; four bionic hind legs connected to the chest of the bionic torso; a bionic chelicera also provided at the very front end of the bionic torso A; a bionic spinneret provided at the rear end of the bionic torso A; the bionic torso is arranged in a quasi-elliptical shape, mimicking the real overall appearance of the wild tiger-striped bird-catching spider; the bionic walking legs are divided into a bionic hind leg of a crank-rocking block linkage eight-bar mechanism and a bionic front leg of a worm gear and worm linkage anti-quadrilateral, respectively using different bionic design principles to achieve the corresponding bionic target design requirements; the bionic chelicera adopts an independently designed electromagnetic transient control dead point four-bar mechanism to complete the predation action reliably and quickly; the liquid emission module is controlled by air pressure and can adjust the spraying angle in the vertical direction to increase its liquid emission range.

Description

Technical Field

[0001] The present invention relates to a bionic machine, and in particular to a bionic tiger-striped tarantula based on the linkage of degrees of freedom. Background Art

[0002] Wheeled machines have been regarded as the main means of transportation in human history for thousands of years. However, there are some places in nature and human society that humans cannot reach and special occasions that may endanger human life. Such as the surface of planets, mines where disasters occur, disaster prevention and rescue, and anti-terrorism struggles. Continuously exploring and researching these dangerous environments and seeking a feasible way to solve problems have become the needs of the development of science and technology and the progress of human society. Irregular and rough terrain are the common characteristics of these environments, which limit the application of wheeled robots and tracked robots.

[0003] In contrast, the movement trajectory of a multi-legged walking robot is a series of discrete footprints. When moving, it only needs discrete point contact with the ground, and the degree of damage to the environment is also small. It can select the optimal support points on the possible ground and has strong adaptability to rough terrain.

[0004] Patent application CN201920315207.6 discloses a small modular bionic multi-legged walking robot, which includes a torso body and a number of leg structures that can swing at multiple angles. The leg structures are snap-connected to the torso body and are evenly distributed; the number of leg structures provided by the robot is not unique. The leg structure includes a number of small swing joint modules for swinging, and the small swing joint modules are connected in sequence to realize the walking of the robot through the change of the swing angle. However, the multiple leg structures of this patent application can only walk by grasping the ground and lack other functions, and are relatively distorted in terms of structural bionics and behavioral bionics. Summary of the Invention

[0005] In order to overcome the above-mentioned disadvantages of the prior art, the purpose of the present invention is to propose a bionic tarantula based on the coupling of degrees of freedom. Starting from two aspects of structural bionics and behavioral bionics, it reproduces the basic actions of the tiger-striped tarantula moving straight and turning to a certain extent, and can be applied to a variety of scenarios including the field reconnaissance field, with the characteristics of high bionic degree, adaptability to complex terrain, and high intelligence.

[0006] In order to achieve the above purpose, the technical solution of the present invention is as follows:

[0007] A bionic tarantula based on the coupling of degrees of freedom, including a bionic torso A;

[0008] Four bionic front legs 11, 12, 13, 14 are connected to the head of the bionic torso A through four front drive motors 1, 2, 3, 4;

[0009] Four bionic hind legs 15, 16, 17, and 18 are connected to the chest of the bionic torso A. Specifically: The bionic torso A is connected to one of the bionic hind legs on each side of the torso through two identical rear drive motors 5 and 6, and the two bionic hind legs on the same side are connected through transmission;

[0010] A bionic chelicera 19 is also provided at the very front end of the bionic torso A; 10

[0011] A bionic spinneret 20 is provided at the rear end of the bionic torso A.

[0012] The bionic torso A is generally oval in shape; the four bionic front legs and the four bionic hind legs are distributed in an oval shape above the cephalothorax and are symmetric about the central axis of the bionic torso.

[0013] The four front drive motors 1, 2, 3, and 4 are all placed above the bionic torso A and are symmetrically arranged in a direction parallel to the central axis of the bionic torso A.

[0014] The bionic front legs 11, 12, 13, and 14 adopt a worm and gear linkage anti-quadrilateral mechanism. Taking the bionic front leg 13 as an example, it includes a worm 61 connected to the front drive motor 3. The worm 61 is connected to a worm gear 62 in a mating manner. The worm gear 62 is fixedly connected to a servo 7 through a connecting member 36. The servo 7 is connected to a femur 38. The femur 38 is connected to a tibia 39 through a hinge. The tibia 39 is further connected to the connecting member 36 through a connecting rod 37. The tibia 39 is connected to a tarsus 40. The bottom end of the tarsus 40 is attached with an anti-slip pad to contact the ground for support.

[0015] The bionic hind legs 15, 16, 17, and 18 adopt a crank and rocker linkage eight-bar mechanism. Taking the bionic hind leg 17 as an example, it includes a coupling 64 connected to the rear drive motor 5. The coupling 64 is connected to a crank 30. The crank 30 is connected to an A connecting rod 22 through an A connecting member 32. The A connecting rod 22 passes through a bearing 31 and is fixedly connected to one end of a B connecting member 33. The other end of the B connecting member 33 is also connected to one end of a D connecting rod 25 at the same time; the bearing 31 is connected to a B connecting rod 23 through a C connecting member 34. The other end of the B connecting rod 23 is connected to a C connecting rod 24. The other end of the C connecting rod 24 is connected to the D connecting rod 25. At the same time, the other end of the D connecting rod 25 is connected to a femur 27; an E connecting rod 26 is connected to the C connecting rod 24, the hind femur 27, and the hind tibia 28 at the same time. The hind femur 27 and the hind tibia 28 are connected through a hinge at the rod end; the end of the hind tibia 28 is connected to a hind tarsus 35. The bottom end of the tarsus 35 is attached with an anti-slip pad to contact the ground for support.

[0016] The described bionic chelicera 19 adopts an electromagnetic instantaneous control dead point four-bar mechanism, including a guide rail 43 connected to the bionic torso A. A gearbox 42 is arranged on the guide rail 43 and is driven by a palp motor 41. A palp 45 is arranged on the gearbox 42. An A electromagnet 44 and a B electromagnet 47 are installed on the rod in the longitudinal direction of the guide rail 43. The A electromagnet 44 and the B electromagnet 47 are connected by a spring 29. The A electromagnet 44 is horizontally connected to a slider 48. The slider 48 is connected to an F connecting rod 49 through a hinge 50, and the F connecting rod 49 is connected to the chelicera 46.

[0017] The described bionic spinneret 20 includes a bionic spinneret servo 55 connected to the bionic torso. The bionic spinneret servo 55 is connected to a carrier 51 through a U-shaped part 54 and a C connecting part 53. An air compressor 52 is fixed under the carrier 51, and a water storage tank 56 is fixed above the carrier 51. The water storage tank 56 is connected to the air compressor 52 through a hose, and the water storage tank 56 is connected to a solenoid valve 58 through a hose.

[0018] Advantages of the present invention:

[0019] 1. Based on the linkage of degrees of freedom, the bionic hind legs 15, 16, 17, and 18 innovatively use a crank rocker linkage eight-bar mechanism to output the rotational motion of each motor into the periodic up-and-down movement and forward-and-backward swing of two legs, realizing three-dimensional motion in space under a single degree of freedom. Moreover, by reasonably selecting the connecting rod curve, the leg trajectory of the tarantula is completely reproduced. In addition, the ingenious design of the local dead point position greatly improves the load-bearing capacity of the entire leg.

[0020] 2. The bionic front legs are designed with 2 minimum motion units to be driven separately. At the front-and-back swing joint, worm gears and worm drives are used respectively to ensure the self-locking of the steering, and an electric key semi-closed loop feedback is used to stabilize the phase of each leg. At the servo up-and-down joint, an anti-quadrilateral structure is designed to ensure the same rotation direction of the femur and tibia while outputting a larger horizontal displacement of the span.

[0021] 3. In the bionic chelicera 19 part, by utilizing the instantaneousness of electromagnetic control, the characteristics of the tarantula's rapid prey capture like an arrow are reproduced. At the same time, a dead point is designed at the clamping position to improve the reliability of grasping the target.

[0022] 4. The present invention reproduces the physical characteristics and basic motion postures of the tiger-striped tarantula to a certain extent. It can also combine the vision system, the traveling system with the bionic chelicera and the bionic spinneret to complete tasks such as field investigation and remote sampling, having high popularization significance and broad application prospects. Description of the Drawings

[0023] Figure 1 It is the overall two-dimensional top view of the present invention.

[0024] Figure 2It is the left view of the main body of the bionic trunk A of the present invention.

[0025] Figure 3 It is the left view of the hind leg 17 of the present invention.

[0026] Figure 4 It is the top view of the chelicera 19 of the present invention.

[0027] Figure 5 It is the left view of the chelicera 19 of the present invention.

[0028] Figure 6 It is the left view of the spider abdomen of the present invention.

[0029] Figure 7 It is the left view of the bionic front leg 11 of the present invention. Detailed implementation mode

[0030] The present invention will be described in detail below with reference to the accompanying drawings.

[0031] Refer to Figure 1 , a bionic tarantula based on degree-of-freedom coupling, comprising a bionic trunk A;

[0032] Four bionic front legs 11, 12, 13, and 14 are connected to the head of the bionic trunk A through four front drive motors 1, 2, 3, and 4;

[0033] Four bionic hind legs 15, 16, 17, and 18 are connected to the chest of the bionic trunk A. Two identical rear drive motors 5 and 6 are respectively connected to one of the bionic hind legs 15 and 16 on both sides of the trunk. The two bionic hind legs on the same side are driven by a chain linkage. For example, the bionic hind legs 15 and 17 are driven by a chain linkage; the two bionic hind legs 16 and 18 on the other side are also driven by a chain linkage. The chain linkage can also be replaced by gears, rigid linkages, or other linkages.

[0034] A bionic chelicera 19 is also provided at the very front end of the bionic trunk A;

[0035] A bionic spinneret 20 is provided at the rear end of the bionic trunk A.

[0036] The bionic trunk A is generally oval in shape; the four bionic front legs and the four bionic hind legs are distributed in an oval shape above the cephalothorax and are symmetric about the central axis of the bionic trunk.

[0037] The four front drive motors 1, 2, 3, and 4 are all placed above the bionic trunk A and are symmetrically arranged parallel to the central axis direction of the bionic trunk A.

[0038] The overall layout of the bionic trunk A is as follows:

[0039] The overall length-width ratio of the bionic torso A is 19:13; in the cephalothorax, the distance between the front bionic feet 11 and 12 is 110 mm, the distance between the front bionic feet 12 and 14 is 94 mm (similarly for the front bionic feet 11 and 13), the distance between the front bionic foot 14 and the rear bionic foot 16 is 90 mm (similarly for the front bionic foot 13 and the rear bionic foot 15), the distance between the rear bionic feet 16 and 18 is 65 mm (similarly for the rear bionic feet 15 and 17), and the distance between the rear bionic feet 17 and 18 is 65 mm.

[0040] Refer to Figure 2 、 Figure 7 As shown in FIGS. and, the front bionic feet 11, 12, 13, and 14 adopt a worm and worm gear linkage anti-quadrilateral mechanism. Taking the front bionic foot 13 as an example, it includes a worm 61 connected to the front drive motor 3. The worm 61 is in mating connection with a worm gear 62. The worm gear 62 is fixedly connected to the steering gear 7 through a connecting member 36. The steering gear 7 is connected to the femur 38. The front bionic foot 13 is driven by the front drive motor 3 to drive the worm 61 to drive the worm gear 62, and the rotation of the steering gear 7 drives the femur 38 to swing up and down. The femur 38 is connected to the tibia 39 through a hinge. The tibia 39 is further connected to the connecting member 36 through a connecting rod 37. The tibia 39 is connected to the tarsus 40. The bottom end of the tarsus 40 is attached with an anti-slip pad to contact the ground for support. Due to the limitation of the connecting rod 37, it contracts towards the bionic torso A, thus completing the forward and backward swing and lifting process of the front bionic foot. The whole front bionic foot swings forward on the horizontal plane. The other three front bionic feet 11, 12, and 14 have the same structure as the front bionic foot 13, and also realize the up and down lifting function through the steering gears 8, 9, and 10 respectively.

[0041] The length of the tibia 39 part of the front bionic foot 11 is 290 mm, the length of the femur 38 part is 100 mm, the length of the connecting rod 37 is 150 mm, and the length of the tarsus 40 part is 70 mm; the tarsus 40 is a spring-controlled adaptive hinge mechanism, and the bottom end of the tarsus 40 is attached with an anti-slip pad to imitate the bristles of the spider's foot tip; according to the different force conditions of the spider during movement, there are certain differences in the tarsus of the front bionic foot and the rear bionic foot; since the force on the front foot of the spider is smaller and the contact area between the front foot tarsus and the ground is smaller, a spring with a larger stiffness is selected to make the tarsus contact the ground in a line; similarly, since the force on the rear foot of the spider is larger and the contact area between the tarsus and the ground is larger, a spring with a smaller stiffness is selected to make the tarsus contact the ground in a surface.

[0042] Refer to Figure 2 、 Figure 3The bionic hind foot adopts a crank rocker linkage eight-bar mechanism. Taking the bionic hind foot 17 as an example, it includes a coupling 64 connected to the rear drive motor 5. The coupling 64 is connected to the crank 30. The crank 30 is connected to the A connecting rod 22 through the A connecting member 32. The A connecting rod 22 passes through the bearing 31 and is fixedly connected to one end of the B connecting member 33. The other end of the B connecting member 33 is also connected to one end of the D connecting rod 25. The bearing 31 is connected to the B connecting rod 23 through the C connecting member 34. The other end of the B link 23 is connected to the C link 24, and the other end of the C link 24 is connected to the D link 25, while the other end of the D link 25 is connected to the leg segment 27; the E link 26 is connected to the C link 24, the hind leg segment 27, and the hind tibia 28 at the same time, and the hind leg segment 27 and the hind tibia 28 are connected at the rod end through a hinge; the end of the hind tibia 28 is connected to the hind leg tarsus 35, and the bottom of the tarsus 35 is affixed with an anti-skid pad to contact the ground for support. Each side of the four bionic hind feet is connected to the bionic trunk through the rear drive motors 5 and 6 through the coupling, wherein the cranks 30 of the bionic hind feet on the same side are linked by chains, and the four cranks are symmetrical with the central axis of the head and chest.

[0043] The A link 22 of the bionic hind foot 17 is 110 mm long, the B link 23 is 30 mm long, the C link 24 is 70 mm long, the D link 25 is 50 mm long, the E link 26 is 120 mm long, the hind leg segment 27 is 205 mm long, the hind tibia segment 28 is 120 mm long, and the tarsal segment of the hind leg is 70 mm long.

[0044] The rear drive motor 5 drives the crank 30 to rotate half a cycle, outputs the swing on the horizontal plane and the displacement along the bearing direction, so that the bearing 31 rotates around the axis, and the B connecting member 33 is retracted along the bearing direction due to the displacement of the A connecting rod 22, and the D connecting rod 25 is linked to drive the hind leg 27 to contract along the trunk direction at the same time; the B connecting rod 23 and the C connecting rod 24 also contract toward the trunk direction due to the displacement of the B connecting member 33, and the E connecting rod 26 linked to the C connecting rod 24 and the hind tibia 28 drives the hind tibia 28 to contract under the drive of the hind leg 28 and the C connecting rod 24, thereby realizing the two processes of contraction and lifting of the spider bionic hind foot; after the rear drive motor 5 drives the crank 30 to rotate half a cycle again, the bionic hind foot realizes the two processes of outward extension and lowering according to the above process.

[0045] The phases of the two bionic hind feet are adjusted so that the cranks of the two walking legs differ by half a cycle, so that the two bionic hind feet can swing and lift alternately, realizing the bionics of the basic movements of the spider's bionic hind feet.

[0046] Reference Figure 4 , Figure 5, the bionic chelicera 19 adopts an electromagnetic instantaneous control dead point four-bar mechanism, including a guide rail 43 connected to the bionic trunk A. A gearbox 42 is arranged on the guide rail 43 and is driven by a palp motor 41. A palp 45 is arranged on the gearbox 42. After being decelerated by the gearbox 42, the palp motor 41 drives the palp 45 to move horizontally on the guide rail 43 to realize the path exploration function of the spider. An A electromagnet 44 and a B electromagnet 47 are installed on the longitudinal rod of the guide rail 43. The A electromagnet 44 and the B electromagnet 47 are connected by a spring 29. The A electromagnet 44 is horizontally connected to a slider 48. The slider 48 is connected to an F connecting rod 49 through a hinge 50, and the F connecting rod 49 is connected to the chelicera 46. The slider 48 slides on the longitudinal rod of the guide rail 43. The dead point position is controlled by the hinge 50. After the A electromagnet 44 works, the slider 48 will be quickly pulled to the dead point position by the spring 29, driving the chelicera 46 to capture the prey so that it cannot break free. A camera can also be mounted at the front end of the chelicera to assist the visual recognition system in making decisions.

[0047] Referring to Figure 6 , the bionic spinneret 20 includes a bionic spinneret servo 55 connected to the bionic trunk A. The bionic spinneret servo 55 is connected to a carrier platform 51 through a U-shaped part 54 and a C connecting part 53. An air compressor 52 is fixed under the carrier platform 51, and a water storage tank 56 is fixed above the carrier platform 51. The water storage tank 56 is connected to the air compressor 52 through a hose. The water storage tank 56 is connected to a solenoid valve 58 through a hose to control the output of water. A bent rod 57 is arranged above the water storage tank 56 to protect by imitating the shape of the spider's abdomen.

[0048] The working technical principle of the present invention is as follows:

[0049] 1. Initial state:

[0050] Four bionic front legs 11, 12, 13, and 14 are distributed in an oval shape and are respectively installed at the front end of the bionic trunk A. The bionic hind leg rotating shaft seat 29 is fixedly connected to the rear end of the bionic trunk A. The A connecting part 32 at the terminal of the bionic hind leg A connecting rod 22 is hinged to the round hole on the circumference of the gear 30. The phase difference between the bionic hind leg 15 and the bionic hind leg 17 is π. The bionic front leg worm gear 62 cooperates with the worm 61 installed on the bionic trunk.

[0051] 2. Device reset:

[0052] The bionic hind leg rear drive motor 5 moves, drives the gear 30 to rotate through the rotating shaft, the gear 30 drives the gear 65 to rotate at the same frequency through the rack, and the gear 30 and the gear 65 respectively drive the bionic hind leg 15 and the bionic hind leg 17 to move at the same frequency. When the included angle between the bionic hind leg 15 and the bionic hind leg 17 is at the minimum position, at this time, the bionic hind leg 15 and the bionic hind leg 17 have reached the initial position of movement.

[0053] The bionic hind foot's rear drive motor 6 moves, drives the gear 30 to rotate through the rotating shaft. The gear 30 drives the gear 65 to rotate at the same frequency through the rack. The gear 30 and the gear 65 drive the bionic hind feet 16 and 18 to move at the same frequency respectively. When the included angle between the bionic hind feet 16 and 18 is at the minimum position, at this time, the bionic hind feet 16 and 18 have reached the initial movement position.

[0054] The bionic front foot servo 7 rotates, drives the femur 38 of the bionic front foot 11 to lift upward, and at the same time rotates upward through the connecting rod 37 to make the tibia extend outward. When the tarsus 39 of the bionic front foot is at the same height as the tarsus 35 of the bionic hind foot, at this time, the lifting height of the bionic front foot is at the initial movement position. Similarly, adjust the lifting heights of the bionic front feet 12, 13, and 14 to the initial positions.

[0055] The bionic front foot drive motor 1 moves, drives the worm 61 to rotate. The worm 61 cooperates with the worm gear 62 to make it rotate within the plane of the bionic torso A. The worm gear 62 is fixedly connected to the bionic front foot connecting piece 36 to drive the bionic front foot to swing back and forth for resetting. When the bionic front foot 11 contacts the limit switch 59 and closes it, at this time, the bionic front foot 11 moves to the initial movement position. Similarly, adjust the bionic front feet 12, 13, and 14 to the initial phase.

[0056] After the electromagnet 44 at the chelicera is energized, it generates suction force, tightly adsorbs the slider 48 to the electromagnet, and raises the front chelicera 46 to wait for catching prey.

[0057] 3. Straight gait:

[0058] The bionic hind foot's rear drive motor 5 rotates clockwise, and the gear 30 rotates to drive the bionic hind foot 15 to swing, making it swing forward while the hind femur 27 lifts, and the hind tibia 28 extends outward; at the same time, the gear 65 rotates to drive the bionic hind foot 17 to swing, making it swing backward while the hind femur 27 drops, and the hind tibia 28 retracts inward.

[0059] The bionic hind foot's rear drive motor 6 rotates counterclockwise, and the gear 30 rotates to drive the bionic hind foot 16 to swing, making it swing backward while the hind femur 27 drops, and the hind tibia 28 retracts inward; at the same time, the gear 65 rotates to drive the bionic hind foot 18 to swing, making it swing forward while the hind femur 27 lifts, and the hind tibia 28 extends outward.

[0060] The front drive motors 1 and 2 continuously rotate to achieve the reciprocating swing of the bionic hind feet.

[0061] The front driving motors 1 and 4 of the biomimetic front legs rotate counterclockwise, driving the worm gear 62 to rotate clockwise, and the biomimetic front legs 11 and 14 move forward. At this time, the servos 7 and 10 rotate clockwise and accelerate, driving the femur 38 to lift, and at the same time the connecting rod drives the tibia 39 to extend; when the femur 38 is lifted to near the highest position, the front driving motors 1 and 4 of the biomimetic front legs continue to rotate counterclockwise, and the servos 7 and 10 rotate clockwise and decelerate; when the servos 7 and 10 decelerate to 0, they start to rotate counterclockwise and accelerate; when the biomimetic front legs 11 and 14 move forward to contact and close the limit electric keys 59 and 60, the front driving motors 1 and 4 start to rotate clockwise, driving the biomimetic hind legs to swing backward. When the biomimetic front legs 11 and 14 contact and close the limit electric keys 59 and 60, the biomimetic front legs 11 and 14 complete a cycle of movement.

[0062] The front driving motors 2 and 3 of the biomimetic front legs rotate clockwise, driving the worm gear 62 to rotate counterclockwise, and the biomimetic front legs 12 and 13 move forward. At this time, the servos 8 and 9 rotate counterclockwise and accelerate, driving the femur 38 to fall, and at the same time driving the tibia 39 to retract; when the femur 38 falls to near the lowest position, the front driving motors 2 and 3 of the biomimetic front legs continue to rotate clockwise, and the servos 8 and 9 rotate clockwise and decelerate; when the servos 8 and 9 decelerate to zero, they start to rotate clockwise and accelerate; when the biomimetic front legs 12 and 13 move forward to contact and close the limit electric keys 59 and 60, the front driving motors 2 and 3 start to rotate clockwise, driving the biomimetic hind legs to swing backward. When the biomimetic hind legs 12 and 13 contact and close the limit electric keys 59 and 60, the biomimetic front legs 12 and 13 complete a cycle of movement.

[0063] Thereafter, according to the same law, the reciprocating swing of the biomimetic front legs in cooperation with the biomimetic hind legs is realized, and the forward gait of the spider is achieved.

[0064] 4. Turning gait:

[0065] Similar to the working principle of the straight-line gait, when in the reset state, the rear driving motor 5 of the biomimetic hind leg rotates counterclockwise, the rear driving motor 6 of the biomimetic hind leg rotates counterclockwise, the front driving motors 1 and 4 of the biomimetic front legs rotate clockwise, the servos 7 and 10 rotate counterclockwise and accelerate, the front driving motors 2 and 3 of the biomimetic front legs rotate counterclockwise, and the servos 8 and 9 rotate clockwise and accelerate, realizing the left-turn gait of the spider.

[0066] When in the reset state, the rear driving motor 5 of the biomimetic hind leg rotates clockwise, the rear driving motor 6 of the biomimetic hind leg rotates clockwise, the front driving motors 1 and 4 of the biomimetic front legs rotate counterclockwise, the servos 7 and 10 rotate clockwise and accelerate, the front driving motors 2 and 3 of the biomimetic front legs rotate clockwise, and the servos 8 and 9 rotate counterclockwise and accelerate, realizing the right-turn gait of the spider.

[0067] 5. Attack posture:

[0068] When the head camera detects cobwebs and natural enemies, the motor stops moving, and the servos 7 and 8 rotate clockwise, driving the femur 38 to lift, and through the connecting rod 37, driving the tibia 39 to extend outward, assuming an offensive posture.

[0069] 6. Chelicerae grasping:

[0070] The chelicerae motor 41 rotates, and through the speed reducer 42 to reduce the speed, it moves back and forth along the guide rail 43, replicating the action of the spider tentatively moving forward with its chelicerae before predation; the electromagnet 44 is powered off, and the slider 48 rapidly rises along the guide rod under the action of the spring tension to reach the dead point position, and the grasping action is achieved through the chelicerae 46.

[0071] 7. Abdomen "spinning silk" (liquid emission):

[0072] The air compressor 52 works, pressing air into the water storage tank 56 through a hose, increasing the air pressure in the cylinder. The water is transported to the solenoid valve 58 through a hose. When the solenoid valve 58 works, the water flows out from here. The spinneret servo 55 connects the bionic trunk and the abdomen as a whole, realizing the multi-angle liquid emission of the liquid emission module.

[0073] This article replicates the morphological characteristics and some basic movement postures of the Ornithoctonus huwena, achieving the basic goals of bionic design, and at a higher level, realizing the imitation of the habits and behavioral characteristics of the Ornithoctonus huwena. At the application level, the present invention can conduct geological surveys, collect information, etc. in complex terrains, and through two major functional modules, realize the functions of liquid emission, sample collection, and material transportation, and is expected to be widely used in fields such as wildfire rescue and strategic material transportation, saving the time and labor costs of field operations.

Claims

1. A bionic tarantula based on the coupling of degrees of freedom, characterized in that, It includes a bionic trunk (A); Four bionic front feet (11, 12, 13, 14) are connected to the head of the bionic trunk (A) through four front drive motors (1, 2, 3, 4); Four bionic hind feet (15, 16, 17, 18) are connected to the chest of the bionic trunk (A). Specifically: the bionic trunk (A) is connected to one of the bionic hind feet on each side of the trunk through two identical rear drive motors (5, 6), and the two bionic hind feet on the same side are connected through transmission; A bionic chelicera (19) is also provided at the very front end of the bionic trunk (A); A bionic spinneret (20) is provided at the rear end of the bionic trunk (A); The bionic front feet (11, 12, 13, 14) adopt a worm and worm gear linkage anti-quadrilateral mechanism, including a worm (61) connected to the front drive motor (3), the worm (61) is connected in cooperation with a worm wheel (62), the worm wheel (62) is fixedly connected to a servo motor (7) through a connecting piece (36), the servo motor (7) is connected to the femur (38), the femur (38) is connected to the tibia (39) through a hinge, the tibia (39) is further connected to the connecting piece (36) through a connecting rod (37), the tibia (39) is connected to the tarsus (40), and an anti-slip pad is attached to the bottom end of the tarsus (40) to contact the ground for support; The bionic hind feet (15, 16, 17, 18) adopt a crank and rocker linkage eight-bar mechanism, including a coupling (64) connected to the rear drive motor (5), the coupling (64) is connected to a crank (30), the crank (30) is connected to an A connecting rod (22) through an A connecting piece (32), the A connecting rod (22) passes through a bearing (31) and is fixedly connected to one end of a B connecting piece (33), and the other end of the B connecting piece (33) is also connected to one end of a D connecting rod (25) at the same time; the bearing (31) is connected to a B connecting rod (23) through a C connecting piece (34), the other end of the B connecting rod (23) is connected to a C connecting rod (24), the other end of the C connecting rod (24) is connected to the D connecting rod (25), and at the same time the other end of the D connecting rod (25) is connected to the hind femur (27); an E connecting rod (26) is connected to the C connecting rod (24), the hind femur (27) and the hind tibia (28) at the same time, and the hind femur (27) and the hind tibia (28) are connected through a hinge at the rod end; the end of the hind tibia (28) is connected to the hind tarsus (35), and an anti-slip pad is attached to the bottom end of the hind tarsus (35) to contact the ground for support; The bionic chelicera (19) adopts an electromagnetic transient control dead point four-bar mechanism, including a guide rail (43) connected to the bionic trunk (A), a gearbox (42) is arranged on the guide rail (43), the gearbox (42) is driven by a chelicera motor (41), a chelicera (45) is arranged on the gearbox (42), an A electromagnet (44) and a B electromagnet (47) are installed on the longitudinal rod of the guide rail (43), the A electromagnet (44) and the B electromagnet (47) are connected through a spring (29), the A electromagnet (44) is horizontally connected to a slider (48), the slider (48) is connected to an F connecting rod (49) through a hinge (50), and the F connecting rod (49) is connected to the chelicera (46).

2. A bionic tarantula based on degree - of - freedom coupling according to claim 1, characterized in that the bionic torso (A) is generally oval in shape; the four bionic front legs and the four bionic hind legs are distributed in an oval above the cephalothorax and are symmetric about the central axis of the bionic torso.

3. A bionic tarantula based on degree - of - freedom coupling according to claim 1, characterized in that the four front drive motors (1, 2, 3, 4) are all placed above the bionic torso (A) and are symmetrically arranged in a direction parallel to the central axis of the bionic torso (A).

4. A bionic tarantula based on degree - of - freedom coupling according to claim 1, characterized in that the bionic spinneret (20) includes a bionic spinneret servo (55) connected to the bionic torso. The bionic spinneret servo (55) is connected to the carrier table (51) through a U - shaped part (54) and a C - shaped connector (53). An air compressor (52) is fixed under the carrier table (51), a water storage tank (56) is fixed above the carrier table (51). The water storage tank (56) is connected to the air compressor (52) through a hose, and the water storage tank (56) is connected to a solenoid valve (58) through a hose.

Images