Novel mobile grabbing integrated bionic multi-legged robot

Abstract

The application discloses a novel mobile grabbing integrated bionic multi-legged robot, which comprises a front body provided with two leg parts and a rear body provided with four leg parts; the front body and the rear body are connected through a tension structure capable of being lifted and deformed; when a driving wire is driven to be tightened, the tension structure can be lifted and deformed upward; when the driving wire is loosened, the tension structure can be lowered and restored under the action of a reset spring; the front body and the tension structure move synchronously, so that the front body can be lifted and deformed or lowered and restored. When the front body is not lifted, the robot moves in a three-legged gait through six leg part mechanisms; when the front body is lifted, two leg parts of the front body serve as a mechanical arm, a steering wheel at a hip joint is used to realize a clamping function, the robot moves through four full leg parts of the rear body, and a four-legged gait is adopted, so that the robot can complete a carrying operation.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of bionic robots, and particularly relates to a novel mobile grabbing integrated bionic multi-legged robot using a tensile structure to realize a variable structure. BACKGROUND

[0002] Bionics is a comprehensive marginal discipline with distinct innovation and application, and its purpose is to study and simulate the structure, function and behavior of organisms to provide new design concepts, working principles and system structures for engineering technology. The bionic multi-legged crawling robot is a kind of special robot with serial-parallel composite, each support leg and the trunk constitute a parallel mechanism, and each swing leg and the trunk constitute a serial mechanism. According to a certain gait planning, the support legs and swing legs change alternately to enable the bionic multi-legged crawling robot to realize a certain stable motion. The bionic multi-legged crawling robot has rich gaits and redundant limb structures, and compared with traditional wheeled and tracked mobile robots, can realize non-contact obstacle avoidance, obstacle crossing and uneven ground motion by using discrete ground support, and has strong adaptability to complex terrain and unpredictable environmental changes. The bionic multi-legged crawling robot shows more and more strong advantages in the fields of future mineral extraction, interstellar exploration, rescue and disaster relief and military reconnaissance.

[0003] In recent years, collaborative robots and mobile robots have developed rapidly, and the growth rate is much higher than that of traditional industrial robots. The composite robot is a new type of robot integrating mobile robots and collaborative robots, and has "feet" (AGV), "hands" (mechanical arms), "eyes" (3D vision) and "brain" (AI algorithm). It is generally composed of a mechanical arm, a mobile platform, a vision and an end effector, and aims to enable the mechanical arm to be no longer limited by the work site, to touch more and wider range, and to meet the increasing flexible needs of customers.

[0004] However, the mechanical arm of the existing robot is an external mechanical arm, which increases the size and weight of the robot, reduces the moving performance, and makes the control system more complex. Therefore, designing a variable structure multi-legged robot with simple structure, considering mobility and work ability is a research difficulty of the new leg type robot. SUMMARY

[0005] The application aims at the technical defects in the prior art, and provides a novel variable structure bionic multi-legged robot using a tensile structure to realize body deformation. The front body of the robot and two leg parts are lifted to enable the two leg parts to be opened and closed under the drive of the hip joint rudder, so that the object is gripped. Meanwhile, the four leg parts of the undeformed rear body of the robot can drive the robot to move freely.

[0006] The application is implemented as follows:

[0007] The novel mobile grabbing integrated bionic multi-legged robot comprises a front body and a rear body, the front body and the rear body are connected through a tension structure capable of lifting and deforming, an up-lifting part of the tension structure is connected with one end of a driving wire, the other end of the driving wire is connected with a rotating shaft driven by a DC motor, the driving wire is capable of lifting and deforming the up-lifting part of the tension structure when the rotating shaft is driven to be tight, and the up-lifting part of the tension structure is capable of being put down and restored under the action of a restoring spring when the driving wire is relaxed, the front body and the up-lifting part of the tension structure move synchronously, so that the front body is capable of rotating and lifting and deforming or being put down and restored relative to the rear body.

[0008] The front body is provided with two leg parts, the rear body is provided with four leg parts, each of the leg parts is provided with a hip joint and a knee joint, and each of the joints is driven by a steering engine.

[0009] When the robot moves, the front body and the rear body are in a relatively stable state under the elastic constraint of the tension structure, and six leg parts adopt a three-legged gait or a four-legged gait to crawl.

[0010] After the robot reaches a target position, the knee joints of the two leg parts of the front body return to zero position, the two hip joints rotate left and right, the two leg parts of the front body act as mechanical arms to realize the function of object grabbing.

[0011] After the object is grabbed, the tension structure is deformed through a driving mechanism to drive the front body to rotate and lift, the two leg parts of the front body clamp the object to lift it off the ground, and the four leg parts of the rear body move in a four-legged gait to realize the function of carrying.

[0012] When the robot reaches a target position, the driving mechanism reverses to restore the tension structure, the front body returns to a horizontal position, the hip joints of the two leg parts of the front body rotate outward to place the object, and the robot returns to an initial state and moves in a three-legged gait or a four-legged gait.

[0013] The driving wire is symmetrical and arranged in a radial direction, one end of the two driving wires is connected with the rotating shaft of the gear reduction mechanism driven by the DC motor, and the other end of the two driving wires is connected with the up-lifting shaft arranged on the up-lifting part of the tension structure.

[0014] The gear reduction mechanism comprises a first gear and a second gear, the first gear is coaxially connected with the output shaft of the DC motor, the second gear is engaged with the first gear, and the diameter of the second gear is greater than that of the first gear; and the second gear is coaxially assembled with the rotating shaft.

[0015] The direct current motor and the gear reducer are arranged on the rear body.

[0016] The tension structure comprises a rear body fixing part and a front body fixing part, the rear body fixing part is fixed with the rear body, the front body fixing part is fixed with the front body, the two ends of the lifting part are connected with the rear body fixing part and the front body fixing part through shafts, and a reset spring for resetting the lifting part is arranged between the rear body fixing part and the front body fixing part.

[0017] Two sets of connecting rod structures are arranged on both sides of the rudder joint of the leg part arranged on the front body and the rear body, and the width is narrowed by a sleeve on the front side, so that the support strength and flexibility of the leg part are considered.

[0018] A support plate for clamping an object is arranged at the foot end of each of the two leg parts of the front body, and the two support plates are arranged oppositely.

[0019] The robot adopts a Raspberry Pi control module as a control board to control the movement of six hip joints and six knee joints; the robot is provided with a camera, an ultrasonic module and a voice recognition module, the ultrasonic module can enable the robot to automatically turn and avoid obstacles when detecting obstacles in front, the voice recognition module can meet the scene requirements of inconvenient manual control and more control persons than controller quantity, and the camera is used as binocular vision when the robot walks, can detect three-dimensional information of the surrounding environment, and transmit the three-dimensional information back to the control end in real time.

[0020] The camera and the ultrasonic module are arranged on the front body, and the control board and the voice recognition module are arranged on the rear body of the robot.

[0021] The novel mobile grabbing integrated bionic multi-legged robot does not need to carry out the operation, the direct current motor is not started, the front body and the rear body of the robot are kept relatively stable under the action of the spring under the tension mechanism, the six leg parts move, the front and rear leg parts on one side and the middle leg part on the other side form a group, and the other three leg parts form a group, the two groups of leg parts alternately advance, the foot end of one group of leg parts is lifted up through the knee joint servo, the hip joint servo controls the whole leg part to rotate forward, the knee joint servo controls the foot end to fall, when the hip joint servo controls the whole leg part to rotate backward, the knee joint servo of the other group of leg parts controls the foot end to lift up, and the process is repeated alternately, so that the forward and backward movement of the tripedal gait is realized, and the left and right turning of the tripedal gait can be realized.

[0022] The novel mobile grabbing integrated bionic multi-legged robot of the application needs to carry out the operation, the DC motor is started, the tensioning mechanism is turned up through the driving wire, the front body is lifted, the knee joint rudder of the two leg parts of the front body is locked, the hip joint rudder swings left and right, the opening and closing movement of the two leg parts of the front body is realized, the two leg parts of the front body realize the grabbing and placing function of the object, the four leg parts of the rear body take two leg parts of one side as a group, the knee joint rudder controls the foot end to be lifted, the hip joint rudder controls the whole leg part to rotate forward, the knee joint rudder controls the foot end to fall, when the hip joint rudder controls the whole leg part of the group to rotate backward, the knee joint rudder of the other leg part is lifted, so the forward and backward of the quadruped gait is realized, and the left turn and right turn of the tripodal gait can be realized in the same way, and the six leg parts forward and backward realize the carrying of the object.

[0023] When the novel mobile grabbing integrated bionic multi-legged robot of the application needs to place the grabbed object, the DC motor is reversely rotated, the wire is slowly released, the spring on the lower side of the tensioning structure is retracted, the front body of the robot is pulled back to the horizontal position, the front two legs are kept stable relative to the rear body, the hip joint of the front two legs is opened and rotated, the object is placed, and the whole robot restores the structure of the six-legged movement.

[0024] The novel mobile grabbing integrated bionic multi-legged robot of the application follows the movement law of the multi-legged crawling creatures in nature, fully utilizes the degrees of freedom of the joint mechanism of the leg part, realizes the multifunction while the structure is simple, realizes the large amplitude deformation of the robot by using the tensioning structure, the leg parts of the two front bodies can realize the function of the mechanical arm, improves the traditional bionic multi-legged robot, and the application value of the robot is significantly improved.

[0025] The novel mobile grabbing integrated bionic multi-legged robot of the application takes the two leg parts of the front body as the mechanical arm, can realize the grabbing and carrying function of the object without adding the special arm structure, solves the problems of the single function and the complex structure of the existing bionic multi-legged robot, is applied to the exploration operation, and can form a new exploration operation mode. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 It is a schematic diagram of the front body of the novel mobile grabbing integrated bionic multi-legged robot of the application being lifted.

[0027] Figure 2 It is a first schematic diagram of the front body of the novel mobile grabbing integrated bionic multi-legged robot of the application being put down.

[0028] Figure 3 It is a second schematic diagram of the front body of the novel mobile grabbing integrated bionic multi-legged robot of the application being put down.

[0029] Figure 4The third schematic diagram shows the front body of the novel mobile grasping integrated bionic multi-legged robot of the present invention being lowered.

[0030] Figure 5 This is a top view of the front body of the novel mobile grasping integrated bionic multi-legged robot of the present invention, with the body lowered.

[0031] Figure 6 This is a first schematic diagram of the body structure of the novel mobile grasping integrated bionic multi-legged robot of the present invention.

[0032] Figure 7 This is a second schematic diagram of the body structure of the novel mobile grasping integrated bionic multi-legged robot of the present invention.

[0033] Figure 8 This is a third schematic diagram of the body structure of the novel integrated mobile grasping bionic multi-legged robot of the present invention.

[0034] Figure 9 This is a schematic diagram of the legs of the front body of the novel mobile grasping integrated bionic multi-legged robot of the present invention.

[0035] Figure 10 This is a schematic diagram of the legs of the rear body of the novel mobile grasping integrated bionic multi-legged robot of the present invention. Detailed Implementation

[0036] The present invention will be further described in detail below with reference to specific embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0037] like Figures 1-10 As shown, the novel mobile grasping integrated bionic multi-legged robot has a frame composed of four carbon fiber plates, two at the front and two at the back, all placed vertically and connected by double-headed studs. Specifically, it consists of a front body 2 and a rear body 1. The front body 2 is composed of a first transverse carbon plate (carbon fiber plate) 2-1, a second transverse carbon plate 2-3, and a first longitudinal carbon plate 2-2. The first longitudinal carbon plate 2-2 is fixed to the first transverse carbon plate 2-1 and the second transverse carbon plate 2-3 through an interlocking structure. The first transverse carbon plate 2-1 and the second transverse carbon plate 2-3 are spaced vertically apart. The arrangement is such that the first longitudinal carbon plate 2-2 is located between the first transverse carbon plate 2-1 and the second transverse carbon plate 2-3 and is located on one side near the rear fuselage, so that the front fuselage forms a front end slotted structure; the rear fuselage 1 is composed of the third transverse carbon plate 2-4, the fourth transverse carbon plate 2-6 and the second longitudinal carbon plate 2-5, the third transverse carbon plate 2-4 and the fourth transverse carbon plate 2-6 are arranged horizontally spaced vertically, and the second longitudinal carbon plate 2-5 connects the third transverse carbon plate 2-4 and the fourth transverse carbon plate 2-6 on the side near the first longitudinal carbon plate.

[0038] The front body 2 is distributed with a first front leg 1-1 and a second front leg 1-2, a total of two front legs, and the rear body 1 is distributed with a first rear leg 1-3, a second rear leg 1-4, a third rear leg 1-5 and a fourth rear leg 1-6, a total of four rear legs; wherein the bottom of each leg has a foot end, which is a first foot end 6-1, a second foot end 6-2, a third foot end 6-3, a fourth foot end 6-4, a fifth foot end 6-5 and a sixth foot end 6-1, respectively corresponding to the first front leg 1-1, the second front leg 1-2, the first rear leg 1-3, the second rear leg 1-4, the third rear leg 1-5 and the fourth rear leg 1-6.

[0039] In the embodiment of the application, each leg has a hip joint and a knee joint, and the two joints are controlled by one steering engine each. The two joints can be fixed as a whole by two 3D printed steering engine supports arranged above and below. The steering disc of the steering engine at the hip joint is fixed to the lower horizontal carbon fiber plate, and the upper steering engine support and the hole on the upper horizontal carbon fiber plate constitute a rotating pair. The steering disc of the steering engine at the knee joint is connected to the leg traveling mechanism.

[0040] The hip joint of the first front leg 1-1 is a first front steering engine 3-1, and the knee joint is a second front steering engine 3-2. The hip joint of the second front leg 1-2 is a third front steering engine 3-3, and the knee joint is a fourth front steering engine 3-4. The hip joint of the first rear leg 1-3 is a first rear steering engine 3-5, and the knee joint is a second rear steering engine 3-6. The hip joint of the second rear leg 1-4 is a third rear steering engine 3-7, and the knee joint is a fourth rear steering engine 3-8. The hip joint of the third rear leg 1-5 is a fifth rear steering engine 3-9, and the knee joint is a sixth rear steering engine 3-10. The hip joint of the fourth rear leg 1-6 is a seventh rear steering engine 3-11, and the knee joint is an eighth rear steering engine 3-12.

[0041] Taking the first front leg 1-1 as an example, a first steering engine support 4-1 and a second steering engine support 4-2 are provided, the first steering engine support 4-1 is used to install the first front steering engine 3-1, and the second steering engine support 4-2 is used to install the second front steering engine 3-2, which constitutes a rigid joint as a whole. The first steering engine support 4-1 is connected to the body (such as between the two horizontal carbon plates of the front body, or the other legs are connected to the front body or the rear body), and the second steering engine support 4-2 is connected to the first steering engine support 4-1. The joints of the other legs are installed with corresponding steering engines using the same structure, which will not be described here.

[0042] The front body and the rear body are connected through a tension structure, the tension structure has a lifting part, and the lifting part is driven to be upwardly overturned to be lifted, and when the driving force for lifting upward is lost, the lifting part can be restored to the original state under the action of a reset spring, and through the tension structure, the front body can be upwardly overturned and lifted or downwardly lowered relative to the rear body; when the front body is not lifted, the front body and the rear body are in a horizontal position, and the robot can move through six legs in a three-legged gait. When the front body is lifted, two legs of the front body are used as a mechanical arm, a steering wheel at a hip joint is controlled to be opened and closed, and the function of clamping an object is realized, and when the front body of the robot is lifted, four legs of the rear body move the robot in a four-legged gait, and the function of moving is realized.

[0043] As an embodiment, in the embodiment of the application, the novel mobile grabbing integrated bionic multi-legged robot adopts a Raspberry Pi as a control board to drive the steering wheel of six hip joints and six knee joints. A camera and an ultrasonic module of the robot are arranged on a horizontal carbon fiber plate above the front body, and the control board and a voice recognition module are arranged on a horizontal carbon fiber plate below the rear body.

[0044] As an embodiment, the tension structure comprises a rear body fixing part and a front body fixing part, the rear body fixing part is fixed to the rear body, the front body fixing part is fixed to the front body, two ends of the lifting part are respectively connected to the rear body fixing part and the front body fixing part through shafts, a reset spring for resetting the lifting part is arranged between the rear body fixing part and the front body fixing part, and the reset spring comprises a first reset spring 11-3 and a second reset spring 11-4.

[0045] The tension structure connecting the front fuselage 2 and the rear fuselage 1 comprises two longitudinally arranged connecting plates of carbon fiber material arranged at the joint of the front fuselage and the rear fuselage, which are fixed with the upper and lower transverse carbon plates as the frame by splicing structure, and are left-right symmetrical structure. Four short sheet metal parts are arranged on the front longitudinal carbon fiber plate, which are distributed left-right symmetrically, each sheet metal part is connected with two carbon plates, the adjacent two carbon plates in the rear part are connected in series through a short metal shaft, the adjacent four carbon plates on the upper side of the front part are connected in series through a long metal shaft, the adjacent two carbon plates on the lower side are connected in series through a short metal shaft, bearings are arranged between the metal shaft and the carbon plate, the bearings are fixed by a circlip, and two holes for passing the driving wire are left on the long metal shaft (lifting shaft). Two pulleys are arranged on the longitudinal carbon fiber plate in the rear part for guiding the driving wire. A long metal shaft on the lower side of the front part is connected with two short metal shafts on the lower side of the rear part by two return springs, and two return springs provide driving force for the tension structure together with the two driving wires on the upper side. A DC motor is arranged on the upper transverse carbon plate in the rear part, a gear reduction mechanism with a reduction ratio of 1:2 is connected, a small gear (first gear) is sleeved on the motor shaft, a large gear (second gear) is sleeved on a metal shaft (rotating shaft), the metal shaft is fixed on the carbon plate by two corner codes, bearings are arranged between the metal shaft and the corner codes, and a hole for passing the driving wire is arranged on the metal shaft.

[0046] Specifically, taking the right mechanism as an example, the tension structure comprises the first carbon plate 7-1, the fourth carbon plate 7-4, the second shaft 8-2 (long metal shaft, i.e. lifting shaft) connecting the symmetrical left and right mechanisms, the third shaft 8-3 (short shaft) arranged on the first sheet metal part 9-2 and the third sheet metal part 9-3, the second carbon plate 7-2, the third carbon plate 7-3, the first shaft 8-1 (short shaft), and the fourth shaft 8-4 (short shaft) arranged on the first sheet metal part 9-1 and the fourth sheet metal part 9-4, bearings need to be arranged between any shaft and any carbon plate, and the left structure is the same as the right structure. The first sheet metal part 9-2 and the third sheet metal part 9-3, the first sheet metal part 9-1 and the fourth sheet metal part 9-4 are short in length and are distributed left-right symmetrically, the first sheet metal part 9-1 and the first sheet metal part 9-2 are fixed with the front fuselage and are arranged at intervals up and down, serving as the front fuselage fixing part, the third sheet metal part 9-3 and the fourth sheet metal part 9-4 are fixed with the rear fuselage and are arranged at intervals up and down, forming the rear fuselage fixing part of the tension structure, the four carbon plates form the lifting part or the deformation part or the lifting and deformation recovery part of the tension structure, connecting the front fuselage fixing part and the rear fuselage fixing part, the first carbon plate 7-1 and the fourth carbon plate 7-4 are arranged oppositely, the second carbon plate 7-2 and the third carbon plate 7-3 are arranged oppositely, one end of the second return spring 11-4 is connected with the second shaft 8-2, and the other end is connected with the fourth shaft 8-4; the first return spring 11-3 is correspondingly arranged.

[0047] As an embodiment, the third transverse carbon plate 2-4 is fixed with a direct current motor 10-1 through a motor support 10-4, a first gear 10-2 (pinion) is placed on the output shaft of the direct current motor 10-1, the first gear 10-2 is engaged with a second gear 10-3 (gear wheel), the second gear 10-3 is fixed on the third transverse carbon plate 2-4 through a fifth shaft 8-5 and a first angle code 9-5 and a second angle code 9-6, a first pulley 11-5 and a second pulley 11-6 are fixed on the third transverse carbon plate 2-4, one end of a first drive wire 11-1 and a second drive wire 11-2 is fixed on the fifth shaft 8-5 and the other end is fixed on a first shaft 8-1, the direction is changed through the first pulley 11-5 and the second pulley 11-6 in parallel between the fifth shaft 8-5 and the first shaft 8-1, see Figure 8

[0048] After the front body of the robot is lifted up, the direct current motor 10-1 is reversed to slowly release the wire, and the reset spring of the tension structure pulls the front body of the robot to fall down. Specifically, when the direct current motor 10-1 is driven, the first gear 10-2 is rotated to drive the metal shaft on which the second gear 10-3 is located to rotate, the wire is driven to lift up the metal shaft fixed on the longitudinal carbon fiber plate of the front body of the robot, and the metal shaft drives the whole front body of the robot to lift up. After the front body of the robot is lifted up, the direct current motor 10-1 is reversed to slowly release the wire, and the reset spring of the tension structure pulls the front body of the robot to fall down.

[0049] When the object is not clamped, the first front rudder 3-1, the second front rudder 3-2, the third front rudder 3-3, the fourth front rudder 3-4, the first rear rudder 3-5, the second rear rudder 3-6, the third rear rudder 3-7, the fourth rear rudder 3-8, the fifth rear rudder 3-9, the sixth rear rudder 3-10, the seventh rear rudder 3-11 and the eighth rear rudder 3-12 control the robot to move in a three-legged gait.

[0050] When the object is clamped, the second front rudder 3-2 and the fourth front rudder 3-4 return to zero position, the first front rudder 3-1 and the third front rudder 3-3 control the first front leg 1-1 and the second front leg 1-2 to realize clamping, the direct current motor 10-1 controls the first drive wire 11-1 and the second drive wire 11-2 to lift up the front body 2, and the first rear leg 1-3, the second rear leg 1-4, the third rear leg 1-5 and the fourth rear leg 1-6 move the robot to a suitable position in a four-legged gait, and the direct current motor 10-1 and the first reset spring 11-3 and the second reset spring 11-4 make the front body fall down.

[0051] ​As one example, for the six legs of the front and rear fuselage, two sets of linkage structures are configured on the left and right sides of the servo joints. The front side of the legs is narrowed using PTFE sleeves to balance the support strength and flexibility of the legs. For the two legs of the front fuselage, support plates for gripping objects are added to the inner side of their feet through a structure that extends laterally to increase the gripping range and friction. The two support plates are arranged opposite each other and installed on the opposite ends of the corresponding structural components.

[0052] In this embodiment, the first front leg 1-1 and the second front leg 1-2 have the same structure, and the first rear leg 1-3, the second rear leg 1-4, the third rear leg 1-5, and the fourth rear leg 1-6 have the same structure. The only difference between the front and rear legs is the structure of the foot end parts.

[0053] The structure of the foreleg is illustrated using the first foreleg 1-1 as an example. See [link / reference]. Figure 9 As shown, it consists of a first front servo motor 3-1, a second front servo motor 3-2, a first servo motor bracket 4-1, a second servo motor bracket 4-2, a first crank 12-1, a first connecting rod 12-2, a second connecting rod 12-3, a second crank 12-4, a third connecting rod 12-5, a fourth connecting rod 12-6, a first structural component 12-7, a second structural component 12-8, a third structural component 12-9, a fourth structural component 12-10, a first servo disc 12-11, a first sleeve 12-12, a second sleeve 12-13, a third sleeve 12-14, and a fourth sleeve 12-15.

[0054] The first structure 12-7 is a triangular frame formed by two triangular plates spaced apart along the thickness direction and connected, and two second structures 12-8 are mounted and connected on both sides. Each of the two second structures 12-8 is connected to the second connecting rod 12-3 and the fourth connecting rod 12-6 through the third sleeve 12-14 and the fourth sleeve 12-15, the second connecting rod 12-3 is connected to the first connecting rod 12-2, the first connecting rod 12-2 is connected to the first sleeve connecting part of the first structure 12-7 through the first sleeve 12-12, the fourth connecting rod 12-6 is connected to the third connecting rod 12-5, and the fifth connecting rod 12-5 is connected to the second sleeve connecting part of the first structure 12-7 through the second sleeve 12-13; the inner side of the first connecting rod 12-2 is provided with a first crank 12-1, and the first connecting rod 12-2 is connected to the first crank 12-1; the inner side of the third connecting rod 12-5 is provided with a second crank 12-4, and the second crank 12-4 is connected to the third connecting rod 12-5; the first crank 12-1 is connected to the first steering disc 12-11, and the second crank 12-4 is rotatably connected to the second steering support 4-2; the first steering disc 12-11 is connected to the corresponding steering engine; the front end of the first structure 12-7 is connected to one end of the third structure 12-9, the other end of the third structure 12-9 is connected to the outer end of the fourth structure 12-10, the inner end of the fourth structure 12-10 is connected to the second structure 12-8 through the corresponding sleeve, and the front end of the fourth structure 12-10 is connected to the corresponding foot end.

[0055] The connection mode of each part is described in detail below: the first crank 12-1, the first connecting rod 12-2, and the second connecting rod 12-3 are rotatably connected by pin shaft and snap spring; the first connecting rod 12-2, the first sleeve 12-12, and the first structure 12-7 are rotatably connected by pin shaft and snap spring; the second connecting rod 12-3, the third sleeve 12-14, the second structure 12-8, and the fourth structure 12-10 are rotatably connected by pin shaft and snap spring; the first structure 12-7, the second structure 12-8, and the second steering support 4-2 are rotatably connected by pin shaft and snap spring; the second crank 12-4, the third connecting rod 12-5, and the fourth connecting rod 12-6 are rotatably connected by pin shaft and snap spring; the third connecting rod 12-5, the second sleeve 12-13, and the first structure 12-7 are rotatably connected by pin shaft and snap spring; the fourth connecting rod 12-6, the fourth sleeve 12-15, the second structure 12-8, and the fourth structure 12-10 are rotatably connected by pin shaft and snap spring; the first structure 12-7 and the third structure 12-9 are rotatably connected by pin shaft and snap spring; the first crank 12-1 and the first steering disc 12-11 are fixedly connected by bolt and nut; the second crank 12-4 and the second steering support 4-2 are rotatably connected by pin shaft and snap spring.

[0056] The structure of the rear leg part is described by taking the first rear leg part 1-3 as an example, referring to Figure 10 As shown in the figure, it is composed of the first rear rudder machine 3-5, the second rear rudder machine 3-6, the third rudder machine support 4-5, the fourth rudder machine support 4-6, the third crank 13-1, the fifth connecting rod 13-2, the sixth connecting rod 13-3, the fourth crank 13-4, the seventh connecting rod 13-5, the eighth connecting rod 13-6, the fifth structural part 13-7, the sixth structural part 13-8, the seventh structural part 13-9, the eighth structural part 13-10, the second rudder disc 13-11, the fifth sleeve 13-12, the sixth sleeve 13-13, the seventh sleeve 13-14, and the eighth sleeve 13-15.

[0057] The fifth structural part 13-7 is a triangular frame structure, and the opposite sides are provided with symmetrical structures, including the sixth structural part 13-8 arranged on the outside of the fifth structural part 13-7. One end of the sixth structural part 13-8 is connected with the first end of the fifth structural part 13-7 of the triangular frame structure. One end of the sixth connecting rod 13-3 is connected with the other end of the sixth structural part 13-8 through the seventh sleeve 13-14. One end of the fifth connecting rod 13-2 is connected with the other end of the sixth connecting rod 13-3. The third crank 13-1 is connected with the other end of the fifth connecting rod 13-2. The second rudder disc 13-11 is connected with the second rear rudder machine 3-6 and the third crank 13-1. The other end of the fifth connecting rod 13-2 is connected with the second end of the fifth structural part 13-7 through the fifth sleeve 13-12. The third end of the fifth structural part 13-7 is connected with one end of the seventh structural part 13-9. The other end of the seventh structural part 13-9 is connected with the outside end of the eighth structural part 13-10 of the triangular frame structure. The inside end of the eighth structural part 13-10 is connected with the sixth structural part 13-8 through the seventh sleeve 13-14. The bottom of the eighth structural part 13-10 is arranged with a corresponding cylindrical joint or a cylindrical foot end.

[0058] The structure of the other half is that the fourth crank 13-4 is rotatably connected with the second rudder machine support 4-6 at one end and coaxially connected with the seventh connecting rod 13-5 and the eighth connecting rod 13-6 at the other end. The other end of the seventh connecting rod 13-5 is connected with the second end on the other side plate of the fifth structural part 13-7 through the sixth sleeve 13-13. The other end of the eighth connecting rod 13-6 is connected with the sixth structural part 13-8 on the outside of the other side plate of the fifth structural part 13-7 through the eighth sleeve 13-15.

[0059] The connection mode of each part is described in detail as follows: the third crank 13-1, the fifth connecting rod 13-2 and the sixth connecting rod 13-3 are rotationally connected by using a pin shaft and a snap spring; the fifth connecting rod 13-2, the fifth sleeve 13-12 and the fifth structural part 13-7 are rotationally connected by using a pin shaft and a snap spring; the sixth connecting rod 13-3, the seventh sleeve 13-14, the sixth structural part 13-8 and the eighth structural part 13-10 are rotationally connected by using a pin shaft and a snap spring; the fifth structural part 13-7, the sixth structural part 13-8 and the fourth steering engine support 4-6 are rotationally connected by using a pin shaft and a snap spring; the fourth crank 13-4, the seventh connecting rod 13-5 and the eighth connecting rod 13-6 are rotationally connected by using a pin shaft and a snap spring; the seventh connecting rod 13-5, the sixth sleeve 13-13 and the fifth structural part 13-7 are rotationally connected by using a pin shaft and a snap spring; the eighth connecting rod 13-6, the eighth sleeve 13-15, the sixth structural part 13-8 and the eighth structural part 13-10 are rotationally connected by using a pin shaft and a snap spring; the fifth structural part 13-7 and the seventh structural part 13-9 are rotationally connected by using a pin shaft and a snap spring; the third crank 13-1 and the second steering disc 13-11 are fixedly connected by using a bolt and a nut; and the fourth crank 13-4 and the fourth steering engine support 4-6 are rotationally connected by using a pin shaft and a snap spring.

[0060] The specific working process of the robot of the embodiment of the application is described as follows:

[0061] When the robot does not need to carry out a carrying operation, it moves in a tripedal gait, the first front leg part 1-1, the first rear leg part 1-3 and the third rear leg part 1-5 are set as a first group, the second front leg part 1-2, the second rear leg part 1-4 and the fourth rear leg part 1-6 are set as a second group, the raspberry pi drives three knee joints (the second front steering engine 3-2, the second rear steering engine 3-6 and the sixth rear steering engine 3-10) of the first group to lift the first foot end 6-1, the third foot end 6-3 and the fifth foot end 6-5, then drives three hip joints (the first front steering engine 3-1, the first rear steering engine 3-5 and the fifth rear steering engine 3-9) to rotate the leg mechanism as a whole forward, then drives three knee joints (the second front steering engine 3-2, the second steering engine 3-6 and the sixth rear steering engine 3-10) to lower the first foot end 6-1, the third foot end 6-3 and the fifth foot end 6-5, then drives three hip joints (the first front steering engine 3-1, the first rear steering engine 3-5 and the fifth rear steering engine 3-9) to rotate the leg mechanism as a whole backward, while driving three knee joints (the fourth front steering engine 3-4, the fourth rear steering engine 3-8 and the eighth rear steering engine 3-12) of the second group to lift the second foot end 6-2, the fourth foot end 6-4 and the sixth foot end 6-6, and repeating the above operations alternately.

[0062] When the robot needs to carry out a carrying operation, the raspberry control module is used to realize Bluetooth communication, the robot is remotely controlled to a suitable position above an object, the second front steering engine 3-2 and the fourth front steering engine 3-4 are controlled to return to zero position, the first front steering engine 3-1 and the third front steering engine 3-3 are controlled to rotate inward, the first front leg part 1-1 and the first front leg part 1-2 are controlled to be folded, the object is clamped, the direct current motor 10-1 rotates, the first gear 10-2 and the second gear 10-3 are driven to rotate, the torque is transmitted to the fifth metal shaft 8-5, the first driving wire 11-1 and the second driving wire 11-2 are collected by the fifth metal shaft 8-5, the first metal shaft 8-1 is lifted, and the robot body 2 is lifted to a specified height;

[0063] Meanwhile, the robot moves in a four-foot gait, the first rear leg part 1-3 and the second rear leg part 1-4 are the third group, the third rear leg part 1-5 and the fourth rear leg part 1-6 are the fourth group, the raspberry control module drives the third group of knee joints (the second rear steering engine 3-6 and the fourth rear steering engine 3-8) to lift the third foot end 6-3 and the fourth foot end 6-4, drives the third group of hip joints (the first rear steering engine 3-5 and the third rear steering engine 3-7) to rotate the third group of legs forward, drives the third group of knee joints (the second rear steering engine 3-6 and the fourth rear steering engine 3-8) to drop the third foot end 6-3 and the fourth foot end 6-4, and drives the third group of hip joints (the first rear steering engine 3-5 and the third rear steering engine 3-7) to rotate the third group of legs backward, while driving the fourth group of knee joints (the sixth rear steering engine 3-10 and the eighth rear steering engine 3-12) to lift the fifth foot end 6-5 and the sixth foot end 6-6, and repeating the above alternately.

[0064] When the robot reaches a suitable position and needs to place an object, the direct current motor 10-1 is controlled to reverse rotation by Bluetooth, the first driving wire 11-1 and the second driving wire 11-2 are slowly released, and the first reset spring 11-3 and the second reset spring 11-4 provide tension, so that the front body 2 returns to a horizontal position.

[0065] The robot is designed based on the movement form of crawling creatures in nature, has rich functions, strong maneuverability, simple control mode and is easy to realize.

[0066] The robot is designed based on the movement form of crawling creatures in nature, has rich functions, strong maneuverability, simple control mode and is easy to realize.

[0067] The above only describes the preferred embodiments of the present application, and it should be pointed out that, for ordinary skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements should be regarded as the protection scope of the present application.

Claims

1. A novel mobile grasping integrated bionic multi-legged robot, characterized in that, The application relates to a robot, which comprises a front body and a rear body, wherein the front body and the rear body are connected through a tension structure with a lifting deformation and a recovery function. One end of the lifting part of the tension structure is connected with a driving wire, the other end of the driving wire is connected with a rotating shaft driven by a direct current motor, the driving wire is pulled tight under the driving of the rotating shaft, and the lifting part of the tension structure is lifted upward and deformed; when the driving wire is relaxed, the lifting part of the tension structure is lowered and recovered under the action of a reset spring; the front body and the lifting part of the tension structure move synchronously, so that the front body can be rotated and lifted and deformed or lowered and recovered relative to the rear body. The tension structure comprises a rear body fixing part and a front body fixing part, the rear body fixing part is fixed with the rear body, the front body fixing part is fixed with the front body, the two ends of the lifting part are respectively connected with the rear body fixing part and the front body fixing part through shafts, and a reset spring for resetting the lifting part is arranged between the rear body fixing part and the front body fixing part. The front body is provided with two leg parts, the rear body is provided with four leg parts, each of the leg parts is provided with a hip joint and a knee joint, and each of the hip joints and the knee joints is driven by a steering engine. When the robot moves, the front body and the rear body are in a relatively stable state under the elastic constraint of the tension structure, and the six leg parts adopt a three-legged gait or a four-legged gait to crawl; when the robot is in a target position, the knee joints of the two leg parts of the front body return to zero position, the two hip joints are rotated left and right, the two leg parts of the front body are used as mechanical arms, and the object grabbing function is realized. After the object is grabbed, the tension structure is deformed through a driving mechanism, the front body is rotated and lifted, the two leg parts of the front body clamp and lift the object away from the ground, meanwhile, the four leg parts of the rear body move in a four-legged gait, and the carrying function is realized. When the robot reaches the target position after clamping the object, the driving mechanism reversely moves to reset the tension structure, the front body returns to the horizontal position, the hip joints of the two leg parts of the front body are rotated outward, the object is placed, the robot returns to the initial state, and the six leg parts move in a three-legged gait or a four-legged gait.

2. The new mobile grasping integrated bionic multi-legged robot according to claim 1, characterized in that, The driving wire is arranged in a radial direction and is symmetrically and separately arranged; one end of the two driving wires is respectively connected with the rotating shaft of a gear reduction mechanism driven by the direct current motor, and the other end of the two driving wires is connected with the lifting shaft arranged on the lifting part of the tension structure.

3. The novel mobile grasping integrated bionic multi-legged robot according to claim 2, characterized in that, The gear reduction mechanism comprises a first gear and a second gear, the first gear is coaxially connected with the output shaft of the direct current motor, the second gear is engaged with the first gear, and the diameter of the second gear is larger than that of the first gear. The second gear is coaxially assembled with the rotating shaft.

4. The novel mobile grasping integrated bionic multi-legged robot according to claim 3, characterized in that, A pulley is arranged between the rotating shaft and the lifting shaft, the pulley is connected with the driving wire, and is used for guiding the driving wire.

5. The novel mobile grasping integrated bionic multi-legged robot according to claim 3, wherein, The direct current motor and the gear reduction mechanism are arranged on the rear body.

6. The novel mobile grasping integrated bionic multi-legged robot according to claim 1, wherein, Two sets of connecting rod structures are arranged on the two sides of the steering engine joints of the leg parts arranged on the front body and the rear body, a sleeve is arranged on the front side to narrow the width, and the support strength and flexibility of the leg parts are considered.

7. The novel mobile grasping integrated bionic multi-legged robot according to claim 1, wherein, The foot end of the two leg parts of the front body is respectively provided with a support plate for clamping objects to increase the clamping range and friction.

8. The novel mobile grasping integrated bionic multi-legged robot according to claim 1, wherein, The robot adopts a Raspberry Pi control module as a control board to control the action of six hip joints and six knee joints; the robot is provided with a camera, an ultrasonic module and a voice recognition module.

9. The novel mobile grasping integrated bionic multi-legged robot according to claim 8, characterized in that, The camera and the ultrasonic module are placed on the front body, and the control board and the voice recognition module are placed on the rear body of the robot.

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