A flip-up hexapod walking robot

Abstract

This invention discloses a reversible hexapod walking robot, comprising a body structure and six robotic legs. The body structure consists of an internal support frame, a front module window, a rear module window, a leg support frame, an upper protective shell, and a lower protective shell, all bolted together to form an octagonal body. An integrated circuit board is installed on the bottom surface inside the support frame. Each robotic leg is composed of a first mechanical joint group, a second mechanical joint group, a third mechanical joint group, a fourth mechanical joint group, and a mechanical foot, all hinged together. Three robotic legs are symmetrically and evenly arranged on each of the left and right sides of the body, and each robotic leg has the same modular design. This design, with six reversible robotic legs possessing four degrees of freedom, allows the robot to continue crawling after flipping over by flipping all six legs, effectively solving the problem of existing bionic hexapod walking robots being unable to flip their legs to continue crawling after flipping, and optimizing terrain adaptability.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a reversible hexapod walking robot. Background Technology

[0002] Hexapod walking robots, also known as spider robots, utilize bionic principles and draw inspiration from the triangular gait of hexapod insects. They have excellent balance, move forward and backward freely, are easy to control, move quickly and smoothly, and have the ability to cross obstacles, making them adaptable to various complex terrains.

[0003] However, existing bionic hexapod walking robots cannot flip their legs after flipping up and down, and their legs do not have the ability to continue crawling after flipping, making it difficult to adapt to various terrains. Summary of the Invention

[0004] In view of the above-mentioned technical shortcomings, the purpose of this invention is to provide a flippable hexapod walking robot, which effectively solves the problem that the robot legs of existing bionic hexapod walking robots cannot flip over to continue crawling after flipping.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] This invention provides a reversible hexapod walking robot, comprising a body structure and six robotic legs symmetrically distributed radially on both sides of the body structure. The body structure consists of an upper left crossbeam, a lower left crossbeam, an upper right crossbeam, a lower right crossbeam, a front upper support frame, a rear upper support frame, a front lower support frame, a rear lower support frame, a front X-shaped support frame, a rear X-shaped support frame, a front module window, a rear module window, leg support frames, an upper protective shell, and a lower protective shell, all bolted together to form an octagonal body. The left and right ends of the front upper support frame are respectively bolted to the inner front sides of the upper left crossbeam and the upper right crossbeam, respectively. The left and right ends of the rear upper support frame are respectively bolted to the upper... The left and right crossbeams are connected to each other to form an upper support frame. The left and right ends of the front lower support frame are respectively connected to the front inner sides of the lower left and lower right crossbeams by bolts. The left and right ends of the rear lower support frame are respectively connected to the rear inner sides of the lower left and lower right crossbeams by bolts, forming a lower support frame. The top of the front X-shaped support frame is connected to the bottom of the front upper support frame by bolts, and the bottom of the front X-shaped support frame is connected to the top of the front lower support frame by bolts. The top of the rear X-shaped support frame is connected to the bottom of the rear upper support frame by bolts, and the bottom of the rear X-shaped support frame is connected to the bottom of the rear lower support frame by bolts, forming an internal support frame.

[0007] The front module window is connected to the four corners of the internal support frame via bolts at the top, bottom, left, and right, respectively. Similarly, the rear module window is connected to the four corners of the internal support frame via bolts at the top, bottom, left, and right, respectively. The internal support frame has a leg support frame on each of its left and right sides, designated as the left and right leg support frames. The bottom surfaces of the upper protective shell are connected to the top of the left and right leg support frames via bolts, respectively. The top surfaces of the lower protective shell are connected to the bottom surfaces of the left and right leg support frames via bolts, respectively. An integrated circuit board is installed on the bottom surface of the internal support frame, which together form the machine body.

[0008] Each of the aforementioned robotic legs is composed of a first mechanical joint group, a second mechanical joint group, a third mechanical joint group, a fourth mechanical joint group, and a mechanical foot, all hinged together. The first mechanical joint group consists of a first servo motor, a first servo motor anchor, a first servo motor anchor frame, and a first segment. The bottom end of the first segment is detachably connected to the first servo motor anchor frame by bolts, and the rear end of the first segment is detachably connected to the first servo motor anchor by bolts. The first servo motor anchor is fitted onto the first servo motor, and the left and right ends of the first servo motor anchor frame are detachably connected to the left and right ends of the rear side of the first servo motor anchor by bolts. The second mechanical joint... The first mechanical joint assembly consists of a second servo motor, a second servo motor anchor, and a second segmental limb. The rear end of the second segmental limb is detachably connected to the second servo motor anchor via bolts. The second servo motor anchor is fitted onto the first servo motor, and the second servo motor anchor is hinged to the first segmental limb. The third mechanical joint assembly consists of a third servo motor and a third segmental limb. The third segmental limb is fitted onto the fourth servo motor, and the fourth servo motor is hinged to the third segmental limb. The mechanical foot is hinged to the fourth segmental limb, and the assembly forms a robot leg.

[0009] The robot body has three robot legs symmetrically and evenly arranged on the left and right sides, and the first servo motor of the robot body is detachably connected to the leg support frame by bolts, forming a flip-up six-legged walking robot.

[0010] Preferably, the upper left crossbeam, lower left crossbeam, upper right crossbeam, and lower right crossbeam have the same structure and are all formed by fastening two short crossbeams together with bolts.

[0011] Preferably, the body structure is designed with symmetrical vertical and horizontal orientation based on dynamic principles, which facilitates the robot's continued crawling via its legs after flipping up and down.

[0012] Preferably, each of the robot legs is a modular design with the same structure, and the robot leg is set with four degrees of freedom to facilitate the flipping of the robot leg, so that the robot can continue to crawl by using the robot leg.

[0013] Preferably, the body structure has an attitude sensor; the flip-up hexapod walking robot determines its own body attitude as top-up or bottom-up through the attitude sensor. When the body attitude changes from front-up to bottom-up or from bottom-up to front-up, each of the robot legs flips back to the initial state.

[0014] The beneficial effects of this invention are as follows: The flip-up hexapod walking robot of this invention has a body structure that is symmetrically arranged vertically and horizontally according to the principle of dynamics. By setting six identical flip-up robot legs with four degrees of freedom, the robot can continue to crawl by flipping its six legs instead of its body after flipping up and down. This effectively solves the problem that the robot legs of existing bionic hexapod walking robots cannot flip up and continue crawling after flipping, and at the same time further optimizes the robot's terrain adaptability. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a structural schematic diagram of a reversible hexapod walking robot provided in an embodiment of the present invention;

[0017] Figure 2 for Figure 1 A schematic diagram of the mid-fuselage structure;

[0018] Figure 3 for Figure 2 Schematic diagram of the internal support frame;

[0019] Figure 4 for Figure 2 Partial structural diagram;

[0020] Figure 5 for Figure 1 Schematic diagram of the structure of the first mechanical joint assembly;

[0021] Figure 6 for Figure 1 Schematic diagram of the structure of the second mechanical joint assembly;

[0022] Figure 7 for Figure 1 Schematic diagram of the third mechanical joint assembly;

[0023] Figure 8for Figure 1 Schematic diagram of the structure of the fourth mechanical joint assembly;

[0024] Figure 9 for Figure 1 A schematic diagram of the structure of the mechanical foot;

[0025] Figure 10 This is a schematic diagram showing the connection between the first mechanical joint assembly and the right leg support frame.

[0026] Figure 11 for Figure 1 Top view;

[0027] Figure 12 for Figure 1 Front view;

[0028] Figure 13 for Figure 1 Side view.

[0029] Explanation of reference numerals in the attached figures:

[0030] Body structure 1, robot legs 2, upper left crossbeam 3, lower left crossbeam 4, upper right crossbeam 5, lower right crossbeam 6, front upper support frame 7, rear upper support frame 8, front lower support frame 9, rear lower support frame 10, front X-shaped support frame 11, rear X-shaped support frame 12, front module window 13, rear module window 14, leg support frame 15, upper protective shell 16, lower protective shell 17, first mechanical joint group 18, second mechanical joint group 19, third mechanical joint group 20, fourth mechanical joint group 21, mechanical feet 22, integrated circuit board 23;

[0031] First servo motor 181, first servo motor anchor 182, first servo motor anchor frame 183, first segment 184;

[0032] Second servo motor 191, second servo motor anchor 192, second segment 193;

[0033] Third servo motor 201, third segment 202;

[0034] Fourth servo motor 211, fourth segment 212. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] Example 1, such as Figures 1 to 13As shown, a reversible hexapod walking robot includes, as Figure 1 The shown structure is a fuselage 1 and six robotic legs 2, symmetrically distributed radially on both sides of the fuselage structure; as shown... Figure 2 and Figure 3 As shown, the fuselage structure 1 consists of an upper left crossbeam 3, a lower left crossbeam 4, an upper right crossbeam 5, a lower right crossbeam 6, a front upper support frame 7, a rear upper support frame 8, a front lower support frame 9, a rear lower support frame 10, a front X-shaped support frame 11, a rear X-shaped support frame 12, a front module window 13, a rear module window 14, a leg support frame 15, an upper protective shell 16, and a lower protective shell 17, all connected by bolts to form an octagonal fuselage. The left and right ends of the front upper support frame 7 are respectively connected to the inner front sides of the upper left crossbeam 3 and the upper right crossbeam 5 by bolts. The left and right ends of the rear upper support frame 8 are respectively connected to the inner rear sides of the upper left crossbeam 3 and the upper right crossbeam 5 by bolts. The upper support frame is composed of the following components: the front lower support frame 9 is connected to the inner front of the lower left crossbeam 4 and the inner front of the lower right crossbeam 6 respectively by bolts at its left and right ends; the rear lower support frame 10 is connected to the inner rear of the lower left crossbeam 4 and the inner rear of the lower right crossbeam 6 respectively by bolts at its left and right ends; the top of the front X-shaped support frame 11 is connected to the bottom of the front upper support frame 7 by bolts, and the bottom of the front X-shaped support frame 11 is connected to the top of the front lower support frame 9 by bolts; the top of the rear X-shaped support frame 12 is connected to the bottom of the rear upper support frame 8 by bolts, and the bottom of the rear X-shaped support frame 12 is connected to the bottom of the rear lower support frame 10 by bolts; thus, the internal support frame is composed of these components.

[0037] Furthermore, such as Figure 2-4 As shown, the front module window 13 is connected to the front upper, lower, left, and right upper and lower, left, and right upper and lower, respectively, by bolts at its four corners. Similarly, the rear module window 14 is connected to the rear upper, lower, left, and right upper and lower, left, and right upper and lower, respectively, by bolts at its four corners. The left and right sides of the internal support frame are each fitted with a leg support frame 15 by bolts, designated as the left leg support frame and the right leg support frame, respectively. The bottom surfaces of the upper protective shell 16 on its left and right sides are connected to the top of the left and right leg support frames by bolts, respectively. The top surfaces of the lower protective shell 17 on its left and right sides are connected to the bottom surfaces of the left and right leg support frames by bolts, respectively. An integrated circuit board 23 is installed on the bottom surface of the internal support frame, forming the machine body.

[0038] Furthermore, such as Figure 1 He Ru Figures 5 to 9 As shown, each of the robot legs 2 is composed of a first mechanical joint group 18, a second mechanical joint group 19, a third mechanical joint group 20, a fourth mechanical joint group 21, and a mechanical foot 22, which are hinged together in cooperation; as shown Figure 5 As shown, the first mechanical joint assembly 18 consists of a first servo motor 181, a first servo motor anchor 182, a first servo motor anchor frame 183, and a first segment 184. The bottom end of the first segment 184 is detachably connected to the first servo motor anchor frame 183 by bolts, and the rear end of the first segment 184 is detachably connected to the first servo motor anchor 182 by bolts. The first servo motor anchor 182 is fitted onto the first servo motor 181, and the left and right ends of the first servo motor anchor frame 183 are detachably connected to the left and right ends of the rear side of the first servo motor anchor 182 by bolts. Figure 6 As shown, the second mechanical joint assembly 19 consists of a second servo motor 191, a second servo motor anchor 192, and a second segment 193. The rear end of the second segment 193 is detachably connected to the second servo motor anchor 192 by bolts. The second servo motor anchor 192 is sleeved on the first servo motor 191, and the second servo motor anchor 192 is hinged to the first segment 184. Figure 7 As shown, the third mechanical joint assembly 20 consists of a third servo motor 201 and a third segment 202, with the third segment 202 sleeved on the third servo motor 201, and the third servo motor 201 hinged to the second segment 193; as Figure 8 As shown, the fourth mechanical joint assembly 21 consists of a fourth servo motor 211 and a fourth segment 212, with the fourth segment 212 mounted on the fourth servo motor 211. The fourth servo motor 211 is hinged to the third segment 202. Figure 9 As shown, the mechanical foot 22 is hinged to the fourth segment 212 to form a robot leg;

[0039] Furthermore, such as Figure 11 and Figure 13 As shown, three robot legs 2 are symmetrically and evenly arranged on the left and right sides of the body, and the first servo motor 181 is detachably connected to the leg support frame 15 by bolts, forming a flip-up six-legged walking robot. It should be noted that... Figure 10 As shown, the first servo motor 181 has a servo disk with servo disk holes; the front, middle, and rear parts of the left leg support frame and the front, middle, and rear parts of the right leg support frame are respectively provided with mounting holes that cooperate with the servo disk, and fastening bolts are passed through the mounting holes to the servo disk on the first servo motor 181, and are connected to the servo disk holes, so that the first mechanical joint assembly 18 can be connected to the leg support frame 15 through the servo disk in the first servo motor 181, thereby installing the 6 robot legs onto the leg support frame, namely the left front leg, left side leg, left rear leg, right front leg, right side leg, and right rear leg.

[0040] Further, in embodiments, such as Figures 3-4As shown, the upper left crossbeam 3, lower left crossbeam 4, upper right crossbeam 5, and lower right crossbeam 6 have the same structure and are all formed by fastening two short crossbeams together with bolts.

[0041] Furthermore, such as Figure 1 and Figure 11 As shown, the body structure 1 adopts a dynamic principle of vertical symmetry combined with horizontal symmetry, which is used to facilitate the robot to continue crawling by its legs after flipping up and down.

[0042] Furthermore, such as Figure 1 As shown, each of the robot legs 2 is a modular design with the same structure, and the robot leg 2 is set with four degrees of freedom to facilitate the flipping of the robot leg, so that the robot can continue to crawl by using the robot leg.

[0043] Furthermore, the body structure 1 is equipped with an attitude sensor; the flip-up hexapod walking robot determines its own body attitude as top-up or bottom-up through the attitude sensor. When the body attitude changes from front-up to bottom-up or from bottom-up to front-up, each of the robot legs 2 flips back to the initial state.

[0044] Furthermore, it should be noted that the robot of this invention will use different walking algorithms to continue crawling depending on the different postures of the body.

[0045] The working principle of the device in this embodiment is as follows: the six-legged robot in this embodiment can be controlled on a PC via Bluetooth; forward and reverse crawling is achieved through an STM32H743IIT6 microprocessor and an attitude sensor.

[0046] In other embodiments, since the hexapod robot is modular, other functions can be added as needed. For example, the image function can be implemented by installing cameras in the "front and rear module windows", the distance measurement function can be implemented by installing rangefinders in the "front and rear module windows", and the sound output function can be implemented by installing speakers inside the body.

[0047] During installation of the reversible hexapod walking robot in this embodiment of the invention, it should be noted that since the six robot legs in this embodiment have the same modular design, the first mechanical joints of the six robot legs need to be installed on the left leg support frame and the right leg support frame respectively. The specific installation steps are as follows:

[0048] (1) First, install the completed robot legs on the leg support frame, and install 3 robot legs on the left leg support frame and the right leg support frame respectively;

[0049] (2) After the internal support frame is installed, the left leg support frame and the right leg support frame with the robot legs are installed in mirror symmetry on the left and right sides of the internal support frame that has been installed. Then, the upper protective shell is installed on the top of the internal support frame, the lower protective shell is installed on the bottom of the internal support frame, the front module window is installed on the front side of the internal support frame, and the rear module window is installed on the rear side of the internal support frame.

[0050] The flip-up hexapod walking robot of this invention has a body structure that is symmetrically arranged vertically and horizontally according to the principle of dynamics. By setting six identical flip-up robot legs with four degrees of freedom, the robot can continue to crawl by flipping up its six legs instead of its body after flipping up and down. This effectively solves the problem that the robot legs of existing bionic hexapod walking robots cannot flip up and continue crawling after flipping up, and at the same time further optimizes the robot's terrain adaptability.

[0051] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A reversible hexapod walking robot, characterized by: The application relates to a robot body structure, which comprises a body structure and six robot legs evenly distributed on the left and right sides of the body structure; the body structure is composed of an upper left crossbeam, a lower left crossbeam, an upper right crossbeam, a lower right crossbeam, a front upper support frame, a rear upper support frame, a front lower support frame, a rear lower support frame, a front X-shaped support frame, a rear X-shaped support frame, a front module window, a rear module window, a leg support frame, an upper protective shell and a lower protective shell which are combined into an octagonal body through bolt connection; the left and right ends of the front upper support frame are respectively connected with the front inner side of the upper left crossbeam and the front inner side of the upper right crossbeam through bolts, the left and right ends of the rear upper support frame are respectively connected with the rear inner side of the upper left crossbeam and the rear inner side of the upper right crossbeam through bolts, and the upper support frame is formed; the left and right ends of the front lower support frame are respectively connected with the front inner side of the lower left crossbeam and the front inner side of the lower right crossbeam through bolts, the left and right ends of the rear lower support frame are respectively connected with the rear inner side of the lower left crossbeam and the rear inner side of the lower right crossbeam through bolts, and the lower support frame is formed; the top of the front X-shaped support frame is connected with the bottom surface of the front upper support frame through a bolt, and the bottom of the front X-shaped support frame is connected with the top surface of the front lower support frame through a bolt; the top of the rear X-shaped support frame is connected with the bottom surface of the rear upper support frame through a bolt, and the bottom of the rear X-shaped support frame is connected with the bottom surface of the rear lower support frame through a bolt, and the internal support frame is formed; the upper and lower left and right corners of the front module window are respectively connected with the upper and lower left and right corners of the front side of the internal support frame through bolts, and the upper and lower left and right corners of the rear module window are respectively connected with the upper and lower left and right corners of the rear side of the internal support frame through bolts; the left and right sides of the internal support frame are respectively provided with a leg support frame through bolts, and the leg support frames are a left leg support frame and a right leg support frame; the bottom surfaces of the left and right sides of the upper protective shell are respectively connected with the top of the left leg support frame and the top of the right leg support frame through bolts; the top surfaces of the left and right sides of the lower protective shell are respectively connected with the bottom surface of the left leg support frame and the bottom surface of the right leg support frame through bolts; an integrated circuit board is arranged on the bottom surface of the internal support frame, and the body is formed; each robot leg is composed of a first mechanical joint group, a second mechanical joint group, a third mechanical joint group, a fourth mechanical joint group and a mechanical foot which are hingedly connected with each other; the first mechanical joint group is composed of a first steering engine, a first steering engine anchor, a first steering engine anchor frame and a first limb, the bottom end of the first limb is detachably connected with the first steering engine anchor frame through a bolt, the rear end of the first limb is detachably connected with the first steering engine anchor through a bolt, the first steering engine anchor is sleeved on the first steering engine, and the left and right ends of the first steering engine anchor frame are detachably connected with the left and right ends of the rear side of the first steering engine anchor through bolts; the second mechanical joint group is composed of a second steering engine, a second steering engine anchor and a second limb, the rear end of the second limb is detachably connected with the second steering engine anchor through a bolt, the second steering engine anchor is sleeved on the second steering engine, and the second steering engine anchor is hingedly connected with the first limb.The third mechanical joint group is composed of a third steering engine and a third limb, the third limb is sleeved on the third steering engine, and the third steering engine is hinged with the second limb; the fourth mechanical joint group is composed of a fourth steering engine and a fourth limb, the fourth limb is sleeved on the fourth steering engine, and the fourth steering engine is hinged with the third limb; the mechanical foot is hinged with the fourth limb to form a robot leg; three robot legs are symmetrically and uniformly arranged on the left and right sides of the fuselage, and the first steering engine is detachably connected with the leg support frame through bolts to form a reversible hexapod walking robot.

2. The invertible hexapod walking robot of claim 1, wherein: The upper left cross beam, the lower left cross beam, the upper right cross beam and the lower right cross beam are the same in structure and are fastened and connected by two short cross beams through bolt connectors.

3. The invertible hexapod walking robot of claim 1, wherein: The fuselage structure is symmetrically arranged up and down and left and right according to the dynamics principle.

4. The invertible hexapod walking robot of claim 1, wherein: Each of the robot legs is of the same structure and is modularly designed, and the robot legs are provided with four degrees of freedom.

5. The invertible hexapod walking robot of claim 1, wherein: The fuselage structure is provided with a posture sensor; the posture sensor is used to determine the posture of the fuselage of the reversible six-legged walking robot as the top surface upward or the bottom surface upward; when the posture of the fuselage changes from the front surface upward to the bottom surface upward or the posture of the fuselage changes from the bottom surface upward to the front surface upward, each of the robot legs is turned over until the initial state.

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