A rope-driven bionic hexapod robot

Abstract

The present invention relates to a rope-driven bionic hexapod robot, comprising a main body module, the main body module comprising a top plate, an intermediate plate, and a bottom plate arranged in sequence from top to bottom, the bottom plate being provided with a plurality of basal motors, the intermediate plate being provided with a plurality of drive motors, and the main body module also being provided with a plurality of tensioning structures; and a mechanical foot module, wherein six mechanical foot modules are provided, each of which comprises a basal, thigh, and calf connected in sequence. Due to its strong stability and adaptability to complex terrain, the rope-driven bionic hexapod robot is more adaptable to work in complex environments in the aerospace, military, earthquake, and ruins detection fields.

Description

Technical Field

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

[0002] Wheeled robots have advantages such as convenient movement in most natural environments. However, when dealing with dangerous and complex environments, they are difficult to accurately control their position, speed, and acceleration due to their low stability, large inertia, and weak adaptability to complex terrain. Therefore, it is necessary to develop a robot that can adapt to complex outdoor environments. Summary of the Invention

[0003] The present invention provides a rope-driven bionic hexapod robot, which aims to solve at least one of the technical problems existing in the prior art. Due to its strong stability and adaptability to complex terrain, the rope-driven bionic hexapod robot is more adaptable to work in complex environments in the fields of aerospace, military, earthquake and ruins detection. Hexapod robots are mainly driven by pneumatic, screw-driven, hydraulic, piezoelectric, etc. Currently, most hexapod robots are driven by motors directly installed on the foot. The mass and inertia of the foot end are very large, which greatly limits their response speed and terrain adaptability.

[0004] The technical solution of the present invention is a rope-driven bionic hexapod robot, comprising: a main body module, the main body module comprising a top plate, an intermediate plate and a bottom plate arranged in sequence from top to bottom, a plurality of support members arranged between the top plate, the intermediate plate and the bottom plate, a plurality of base segment motors arranged on the bottom plate, a plurality of drive motors arranged on the intermediate plate, and a plurality of tensioning structures also arranged on the main body module; a mechanical foot module, the number of the mechanical foot modules is six, the mechanical foot modules are arranged at intervals on the edge of the bottom plate, and a single mechanical foot module comprises a base segment, a thigh connected in sequence and calf, one end of the basal segment is connected to the edge of the base plate; the basal segment motor is arranged at the bottom of the basal segment, the basal segment motor is connected to the corresponding basal segment, and the number of the basal segment motors is equal to the number of the mechanical foot modules; the number of the drive motors is twice the number of the mechanical foot modules, and the two adjacent drive motors correspond to the adjacent mechanical foot modules, and the output shaft of a single drive motor passes through the middle plate from top to bottom, and a winding wheel is connected to the output shaft of the drive motor, and the winding wheel is arranged below the middle plate.

[0005] Furthermore, the tensioning structure is arranged between the middle plate and the bottom plate, and the middle plate and the bottom plate are respectively provided with a plurality of first slide grooves and second slide grooves for adjusting the installation position of the tensioning structure. A single tensioning structure is installed between the corresponding first slide groove and second slide groove. The number of the tensioning structures is equal to the number of the winding wheels of the driving motor. A single tensioning structure corresponds to an adjacent single winding wheel. A single tensioning structure is arranged on the inner side of the corresponding winding wheel. A single tensioning structure includes a support tube and a tensioning pulley, and the tensioning pulley is arranged on the support tube.

[0006] Furthermore, a plurality of intermediate plate guide assemblies are provided on the lower side of the edge of the intermediate plate, the number of the intermediate plate guide assemblies is equal to the number of the mechanical foot modules, and a single intermediate plate guide assembly corresponds to an adjacent mechanical foot module.

[0007] Furthermore, the base segment includes a base segment base plate, a thigh driving gear, a base segment side plate, a base segment decoupling assembly and a base segment guide assembly. The base segment base plate is connected to the output shaft of the corresponding single base segment motor through a coupling, the thigh driving gear is installed on the first side of the base segment base plate, the base segment side plate is installed on the second side of the base segment base plate, the base segment decoupling assembly and the base segment guide assembly are respectively installed on the base segment base plate, the base segment decoupling assembly is installed directly above the corresponding base segment motor, and the base segment decoupling assembly is installed on the inner side of the base plate relative to the base segment guide assembly.

[0008] Furthermore, the base segment also includes a base segment transmission connecting rod, a first base segment transmission sheave, a second base segment transmission sheave, an inner thigh connecting plate, an outer thigh connecting plate, a base segment pad and a base segment decoupling sheave, the two ends of the base segment transmission connecting rod are respectively connected to the thigh driving gear through the first base segment transmission sheave and the second base segment transmission sheave, the midpoint of the base segment transmission connecting rod is coaxially installed with the rotating shaft of the thigh driving gear, the first end of the inner thigh connecting plate and the first end of the outer thigh connecting plate are respectively coaxially installed with the rotating shaft of the thigh driving gear, the base segment pad is arranged between the inner thigh connecting plate and the outer thigh connecting plate, and the base segment decoupling sheave is installed between the first end of the outer thigh connecting plate and the midpoint of the base segment transmission connecting rod.

[0009] Furthermore, the thigh includes a thigh driven gear, a first thigh transmission sheave, a second thigh transmission sheave, a thigh decoupling sheave and a calf driving gear, the thigh driven gear is engaged with the thigh driving gear, the thigh driven gear and the calf driving gear are respectively connected through the first thigh transmission sheave and the second thigh transmission sheave, and the thigh decoupling sheave is coaxially installed with the center of the thigh driven gear.

[0010] Furthermore, the thigh also includes a thigh transmission connecting rod, an inner calf connecting plate, an outer calf connecting plate and a thigh pad. The thigh transmission connecting rod is coaxially installed with the center of the calf driving gear, the first end of the inner calf connecting plate and the first end of the outer calf connecting plate are respectively coaxially installed with the center of the calf driving gear, the second end of the inner calf connecting plate and the second end of the outer calf connecting plate are respectively connected to the calf, and the thigh pad is installed between the inner calf connecting plate and the outer calf connecting plate.

[0011] Furthermore, the calf includes a calf driven gear, a first calf transmission sheave, a second calf transmission sheave, a calf transmission connecting rod, a clamping plate, a swing leg and a toe. The calf driven gear is meshed with the calf driving gear, and the two ends of the calf transmission connecting rod are respectively connected to the calf driven gear through the first calf transmission sheave and the second calf transmission sheave. The first end of the clamping plate is connected to the midpoint of the calf transmission connecting rod, the second end of the clamping plate is connected to the first end of the swing leg, and the second end of the swing leg is connected to the toe.

[0012] Furthermore, a single mechanical foot module also includes a first rope and a second rope for pulling the calf to move, the starting ends of the first rope and the second rope are fixed on the corresponding winding wheels, the first rope and the second rope respectively pass through the corresponding tensioning structure, the intermediate plate guide assembly, the base decoupling assembly, the base guide assembly, the base decoupling sheave and the thigh decoupling sheave in sequence, the end of the first rope is connected to the first calf transmission sheave, and the end of the second rope is connected to the second calf transmission sheave.

[0013] Furthermore, a single mechanical foot module also includes a third rope and a fourth rope for pulling the thigh to move, the starting ends of the third rope and the fourth rope are fixed on the corresponding winding wheels, and the third rope and the fourth rope respectively pass through the corresponding tensioning structure, the intermediate plate guide assembly, the base segment decoupling assembly, the base segment guide assembly and the base segment decoupling sheave in sequence, the end of the third rope is connected to the first thigh transmission sheave, and the end of the fourth rope is connected to the second thigh transmission sheave.

[0014] The beneficial effects of the present invention are:

[0015] 1) The present invention provides a rope-driven bionic hexapod robot. The rope-driven bionic hexapod robot can easily adapt to various rugged terrains due to its exquisite and flexible mechanical structure and rich gaits, and has strong stability and adaptability to complex terrains.

[0016] 2) Compared with existing robots, the present invention can optimize the integration of the drive motor and the basal motor. The drive motor and the basal motor are concentrated on the main module, which reduces the weight and inertia of the mechanical foot, makes the mechanical foot have a higher response speed, and improves the control performance; in addition, the overall mass of the rope-driven bionic hexapod robot is concentrated in the main module, which can achieve a more centralized and reasonable mass distribution.

[0017] 3) The rope-driven mechanism of the rope-driven bionic hexapod robot described in the present invention can be used as a deceleration mechanism, has negligible backlash and low friction, can quadratically amplify the stiffness of the foot, and can also reduce the volume of the rope-driven bionic hexapod robot.

[0018] 4) The rope-driven transmission method of the mechanical foot module of the rope-driven bionic hexapod robot described in the present invention is consistent with the transmission principle of biological muscles, which can better imitate biological structures and achieve the desired bionic effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 FIG. 2 is a schematic diagram showing the overall structure of the present invention.

[0020] Figure 2 FIG. 1 is a schematic diagram showing a main body module according to the present invention.

[0021] Figure 3 FIG. 2 is a schematic diagram showing a tensioning structure according to the present invention.

[0022] Figure 4 FIG. 1 is a schematic diagram showing a mechanical foot module according to the present invention.

[0023] Figure 5 Schematic diagram showing the structure of the base of the present invention.

[0024] Figure 6 Schematic diagram showing a thigh structure according to the present invention.

[0025] Figure 7 FIG. 1 is a schematic diagram showing a lower leg structure according to the present invention.

[0026] Figure 8 Schematic diagram showing a bottom plate winding method according to the present invention.

[0027] Figure 9 Schematic diagram showing a thigh wrapping method according to the present invention.

[0028] Figure 10 Schematic diagram showing a calf winding method according to the present invention.

[0029] Figure 11Schematic diagram showing the structure of an insect limb according to the present invention.

[0030] Figure 12 FIG2 is a simplified diagram showing a bionic foot according to the present invention.

[0031] Reference numerals:

[0032] 1000, main module; 1010, support member; 1020, tensioning structure; 1030, support tube; 1040, tensioning pulley; 1100, top plate; 1200, middle plate; 1210, drive motor; 1220, winding wheel; 1230, middle plate guide assembly; 1240, first chute; 1300, bottom plate; 1310, base section motor; 1320, second chute; 133 0, coupling; 2000, mechanical foot module; 2100, coxa; 2101, coxa base plate; 2102, thigh driving gear; 2103, coxa side plate; 2104, coxa decoupling assembly; 2105, coxa guide assembly; 2106, coxa transmission connecting rod; 2107, first coxa transmission sheave; 2108, second coxa transmission sheave; 2109, inner thigh connecting plate; 2110 , outer thigh connecting plate; 2111, coxa pad; 2112, coxa decoupling sheave; 2200, thigh; 2201, thigh driven gear; 2202, first thigh transmission sheave; 2203, second thigh transmission sheave; 2204, thigh decoupling sheave; 2205, calf driving gear; 2206, thigh transmission connecting rod; 2207, inner calf connecting plate; 2208, outer calf connecting plate; 2209, thigh pad; 2300, calf; 2301, calf driven gear; 2302, first calf transmission sheave; 2303, second calf transmission sheave; 2304, calf transmission connecting rod; 2305, clamping plate; 2306, swing leg; 2307, toe; 2400, first rope; 2500, second rope; 2600, third rope; 2700, fourth rope. DETAILED DESCRIPTION

[0033] The following will be combined with the embodiments and drawings to clearly and completely describe the concept, specific structure and technical effects of the present invention so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that the embodiments and features in the embodiments of this application can be combined with each other unless there is a conflict.

[0034] It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature or indirectly fixed or connected to the other feature. Furthermore, terms such as "upper," "lower," "left," "right," "top," and "bottom" used in this disclosure are intended solely to describe the relative positions of the components of the disclosure as shown in the accompanying drawings.

[0035] In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art. The terms used in this specification are only for describing specific embodiments and are not intended to limit the present invention. The term "and / or" as used herein includes any combination of one or more of the related listed items.

[0036] It should be understood that although the terms first, second, third, etc. may be used to describe various elements in the present disclosure, these elements should not be limited to these terms. These terms are only used to distinguish elements of the same type from each other. For example, a first element may also be referred to as a second element, and similarly, a second element may also be referred to as a first element without departing from the scope of the present disclosure.

[0037] Reference Figures 1 to 12 In some embodiments, the rope-driven bionic hexapod robot according to the present invention includes: a main body module 1000, wherein the main body module 1000 includes a top plate 1100, an intermediate plate 1200, and a bottom plate 1300 arranged in sequence from top to bottom, a plurality of support members 1010 are arranged between the top plate 1100, the intermediate plate 1200, and the bottom plate 1300, a plurality of base segment motors 1310 are arranged on the bottom plate 1300, a plurality of drive motors 1210 are arranged on the intermediate plate 1200, and a plurality of tensioning structures 1020 are further arranged on the main body module 1000; and six mechanical foot modules 2000 are arranged at intervals on the edge of the bottom plate 1300, and a single mechanical foot module 2000 includes base segments 210 connected in sequence. 0, thigh 2200 and calf 2300, one end of the basal segment 2100 is connected to the edge of the base plate 1300; the basal segment motor 1310 is arranged at the bottom of the basal segment 2100, and the basal segment motor 1310 is connected to the corresponding basal segment 2100, and the number of the basal segment motors 1310 is equal to the number of the mechanical foot modules 2000; the number of the drive motors 1210 is twice the number of the mechanical foot modules 2000, and the two adjacent drive motors 1210 correspond to the adjacent mechanical foot modules 2000, and the output shaft of a single drive motor 1210 passes through the middle plate 1200 from top to bottom, and the output shaft of the drive motor 1210 is connected to a winding wheel 1220, and the winding wheel 1220 is arranged below the middle plate 1200.

[0038] In some embodiments, the main module 1000 also includes a control board, an electronic speed controller, and a power battery. The base motor 1310 and the drive motor 1210 are connected to the control board and the power battery, respectively. The electronic speed controller is electrically connected to the control board. The power battery is fixed to the bottom of the main module 1000, effectively lowering the robot's center of gravity and improving overall stability.

[0039] Reference Figure 1 and Figure 2 The bottom plate 1300 is used to fix the six drive motors 1210 of the basal segment 210 of the mechanical foot module 2000 and the battery that provides power. The middle plate 1200 is used to fix the twelve drive motors 1210, multiple tensioning mechanisms and the middle plate guide assembly 1230 that drive the thigh 2200 and the shank 2300. The top plate 1100 is used to place the control panel, electronic speed regulator and other electronic components of the rope-driven bionic hexapod robot. In a specific embodiment, the support member 1010 is a copper column, which is used to support and reinforce the main body module 1000, ensuring that the main body module has the advantages of light weight and high strength. The basal segment motor 1310 and the drive motor 1210 are used to drive the corresponding three joints of the mechanical foot module 2000, namely the basal segment 2100, thigh 2200 and shank 2300. The basal segment 2100 is directly driven by the basal segment motor 1310 and connected via a coupling 1330. One end of the coupling 1330 is connected to the basal segment motor 1310 on the base plate 1300, and the other end is connected to the basal segment base plate 2101. The thigh 2200 and the shank 2300 are each composed of a pair of gears. The drive motor 1210 first drives the winding wheel 1220 to rotate, realizing the retraction and release of multiple ropes, thereby causing the gears at the joint to rotate relative to each other, indirectly realizing the rotation of the joint. The winding wheel 1220 is used to fix the starting end of the rope. In order to enable the thigh 2200 and shank 2300 joints to rotate both forward and reverse, the rope needs to be able to be retracted and released. Each joint requires two strands of rope to cooperate in driving. Therefore, two wire grooves are provided on the winding wheel 1220. The intermediate plate guide assembly 1230 guides the rope from the base plate 1300 to the foot along a fixed direction. In one specific embodiment, the intermediate plate guide assembly 1230 includes a guide ring and a guide bracket. The tensioning mechanism is used to tension the rope and includes a support tube 1030, a tensioning pulley 1040, and an isolation spacer. The tensioning mechanism is fixed within the corresponding first and second slide grooves 1240, 1320 of the intermediate plate 1200 and the base plate 1300. The tensioning mechanism can move back and forth within the first and second slide grooves 1240, 1320 to adjust the tension of the rope, while also supporting and reinforcing the main frame.

[0040] Reference Figure 11 and Figure 12 The structural design of the mechanical foot module 2000 is based on the leg structure of multi-legged insects. Insect legs contain six joints, all of which can move within a certain range of motion. However, joints other than the coxa 2100 can only achieve rolling motion, resulting in many redundant degrees of freedom. If the robot is designed entirely according to the structure of insect limbs, the mechanical structure will be very complex and not conducive to control system design. Therefore, in order to successfully apply the biological model of insect legs to robots, some redundant degrees of freedom must be removed to simplify the robot leg structure design. Without losing too many degrees of freedom, the leg structure can be simplified into three parts: the coxa 2100, the thigh 2200, and the shank 2300. This retains the three most important rotational degrees of freedom, enabling the necessary movement while maintaining the high stability and strong adaptability of multi-legged insects to complex environments. The robot's six legs are arranged in an elliptical shape on both sides of the chassis. Compared to rectangular limb distribution, the elliptical distribution allows for a wider range of swing for the coxa 2100, reduces the probability of interference between adjacent legs, and provides a higher stability margin, which in turn improves movement speed and flexibility. Each leg connects to the coupling 1330 on the chassis with two bolts, making installation and removal quick and easy.

[0041] Reference Figure 1 and Figure 2 The rope-driven bionic hexapod robot mainly includes two parts: a main body module 1000 that serves as a connection and load-bearing function, and six mechanical leg modules 2000 that serve as a movement and support function. The structure of the mechanical leg module 2000 refers to the leg structure of multi-legged insects and has been simplified to a certain extent. The six mechanical leg modules 2000 of the robot are distributed in an elliptical shape, which makes the swing range of the basal segment 2100 larger and the probability of interference between adjacent mechanical leg modules 2000 smaller, which can improve the movement speed to a certain extent and improve flexibility. The drive motor 1210 and the basal segment motor 1310 are both placed on the main body module 1000. The inertia and mass of the mechanical foot module 2000 are relatively small, so the burden on the drive motor 1210 and the basal segment motor 1310 is small.

[0042] Reference Figures 4 to 7The single robotic foot module 2000 also includes a first rope 2400, a second rope 2500, a third rope 2600, and a fourth rope 2700 for driving the shank 2300. The biggest problem with using a rope drive mechanism in the robotic foot module 2000 is coupling. Movement of the proximal joint causes changes in the tension and length of the rope driving the distal joint, directly affecting the movement of the distal joint. To this end, corresponding decoupling mechanisms are designed at the coxa 2100 and thigh 2200. The decoupling of the thigh 2200 and shank 2300 relies on two decoupling pulleys mounted on the thigh 2200. As the rope driving the shank 2300 passes through the thigh 2200, it must first be wound around the two decoupling pulleys before being directed to the shank 2300. This ensures that the rope length and tension do not change as the thigh 2200 rotates. The decoupling of the coxa 2100 from the thigh 2200 and shank 2300 relies on a decoupling assembly mounted on the coxa 2100. The ropes driving the thigh and calf 2300 must first pass through a decoupling ring before being drawn out. The decoupling assembly is installed directly above the rotation axis of the base segment 2100. When the base segment motor 1310 rotates, the change in rope length of the thigh 2200 and calf 2300 is negligible, thus solving the coupling problem. Another problem with rope drive mechanisms is rope elongation, which reduces system bandwidth. Therefore, a tensioning mechanism is designed. The single tensioning structure 1020 corresponds to the first and second chutes 1240, 1320. The first and second chutes 1240, 1320 allow the tensioning mechanism to move back and forth, thereby adjusting the tension of the first rope 2400, the second rope 2500, the third rope 2600, and the fourth rope 2700.

[0043] The beneficial effects of the present invention are:

[0044] 1) The present invention provides a rope-driven bionic hexapod robot. The rope-driven bionic hexapod robot can easily adapt to various rugged terrains due to its exquisite and flexible mechanical structure and rich gaits, and has strong stability and adaptability to complex terrains.

[0045] 2) Compared with existing robots, the present invention can optimize the integration of the drive motor 1210 and the base motor 1310. The drive motor 1210 and the base motor 1310 are concentrated on the main body module 1000, which reduces the weight and inertia of the mechanical foot, makes the mechanical foot have a higher response speed, and improves the control performance; in addition, the overall mass of the rope-driven bionic hexapod robot is concentrated in the main body module 1000, which can achieve a more centralized and reasonable mass distribution.

[0046] 3) The rope-driven mechanism of the rope-driven bionic hexapod robot described in the present invention can be used as a deceleration mechanism, has negligible backlash and low friction, can quadratically amplify the stiffness of the foot, and can also reduce the volume of the rope-driven bionic hexapod robot.

[0047] 4) The rope-driven transmission method of the mechanical foot module 2000 of the rope-driven bionic hexapod robot of the present invention is consistent with the transmission principle of biological muscles, which can better imitate biological structures and achieve the desired bionic effect.

[0048] Compared to wheeled robots, legged bionic robots have attracted considerable attention from researchers due to their superior stability and adaptability to complex terrain, attracting widespread application. In the aerospace field, the Curiosity Mars rover once became stuck in a sand pit, prompting countries to develop hexapod robots to adapt to even more complex terrains. In the military, legged robots can be used for exploring unknown terrain, conducting military reconnaissance, and gathering intelligence. In earthquake and debris exploration, they can be used for life source detection and debris search and rescue.

[0049] As a type of legged robot, hexapods offer greater stability than bipedal or quadrupedal robots. They possess six legs, and their structural design mimics the limb structure of insects. Due to their large number of limbs, they can achieve a wider range of gaits. A hexapod's trajectory is a series of discrete footprints, with contact with the ground at discrete points during movement. This reduces environmental requirements and harms the environment, allowing it to select the best possible support points on the ground and adapt to rough terrain. Furthermore, hexapods' legs typically have three degrees of freedom, providing excellent flexibility. They can also adjust their center of gravity by adjusting leg extension and maintain body level by adjusting leg length, making them less prone to falls and offering high stability. This makes hexapods highly practical in many fields. Robotics researchers both domestically and internationally have shown great interest in this field, conducting extensive research on key hexapod technologies, such as gait planning and leg trajectory planning for complex terrain, and achieving significant results.

[0050] At present, the main driving modes of hexapod robots are pneumatic, screw drive, hydraulic drive, piezoelectric drive, etc. Most of the hexapod robots are driven by motors directly installed on the feet, which makes the mass and inertia of the foot end very large; at the same time, in order to reasonably arrange the placement of the motor, the size of the leg usually needs to be increased, which greatly limits its response speed and terrain adaptability. Therefore, it is urgent to explore a new feasible driving scheme, improve the mechanical structure of the traditional hexapod robot, optimize the motor integration, so as to achieve a more reasonable mass distribution, and improve the robot's stability and complex terrain adaptability. Among the currently feasible driving methods, applying tendon drive technology, that is, rope drive technology to hexapod robots is a feasible solution that can better solve this problem. The design scheme of the rope-driven hexapod robot, by introducing a rope drive mechanism, makes the leg position corresponding to the mechanical foot module 2000 have the technical effects of low mass, low inertia and high rigidity.

[0051] Further, refer to Figure 3 The tensioning structure 1020 is arranged between the middle plate 1200 and the bottom plate 1300, and a plurality of first slide grooves 1240 and second slide grooves 1320 for adjusting the installation position of the tensioning structure 1020 are respectively provided on the middle plate 1200 and the bottom plate 1300. A single tensioning structure 1020 is installed between the corresponding first slide grooves 1240 and second slide grooves 1320. The number of the tensioning structures 1020 is equal to the number of the winding wheels 1220 of the driving motor 1210. The single tensioning structure 1020 corresponds to the adjacent single winding wheel 1220. The single tensioning structure 1020 is arranged on the inner side of the corresponding winding wheel 1220. The single tensioning structure 1020 includes a support tube 1030 and a tensioning pulley 1040. The tensioning pulley 1040 is arranged on the support tube 1030.

[0052] Further, refer to Figure 2 , a plurality of intermediate plate guide assemblies 1230 are also provided on the lower side of the edge of the intermediate plate 1200. The number of the intermediate plate guide assemblies 1230 is equal to the number of the mechanical foot modules 2000. A single intermediate plate guide assembly 1230 corresponds to an adjacent mechanical foot module 2000.

[0053] Further, refer to Figure 5The basal segment 2100 includes a basal segment base plate 2101, a thigh driving gear 2102, a basal segment side plate 2103, a basal segment decoupling assembly 2104 and a basal segment guide assembly 2105. The basal segment base plate 2101 is connected to the output shaft of the corresponding single basal segment motor 1310 through a coupling 1330. The thigh driving gear 2102 is mounted on a first side of the basal segment base plate 2101, and the basal segment side plate 2103 is mounted on a second side of the basal segment base plate 2101. The basal segment decoupling assembly 2104 and the basal segment guide assembly 2105 are respectively mounted on the basal segment base plate 2101. The basal segment decoupling assembly 2104 is mounted directly above the corresponding basal segment motor 1310. The basal segment decoupling assembly 2104 is mounted on the inner side of the base plate 1300 relative to the basal segment guide assembly 2105.

[0054] Further, refer to Figure 5 The coxa voxel 2100 further includes a coxa voxel transmission connecting rod 2106, a first coxa voxel transmission sheave 2107, a second coxa voxel transmission sheave 2108, an inner thigh connecting plate 2109, an outer thigh connecting plate 2110, a coxa voxel pad 2111 and a coxa voxel decoupling sheave 2112. The two ends of the coxa voxel transmission connecting rod 2106 are respectively connected to the thigh driving gear 2102 through the first coxa voxel transmission sheave 2107 and the second coxa voxel transmission sheave 2108. The midpoint of the coxa voxel transmission connecting rod 2106 is It is coaxially installed with the rotating shaft of the thigh driving gear 2102, the first end of the inner thigh connecting plate 2109 and the first end of the outer thigh connecting plate 2110 are respectively coaxially installed with the rotating shaft of the thigh driving gear 2102, the base segment pad 2111 is arranged between the inner thigh connecting plate 2109 and the outer thigh connecting plate 2110, and the base segment decoupling sheave 2112 is installed between the first end of the outer thigh connecting plate 2110 and the midpoint of the base segment transmission connecting rod 2106.

[0055] Reference Figure 5The coxa 2100 primarily comprises a coxa base plate 2101, a right-angle connector, a coxa decoupling assembly 2104, a coxa guide assembly 2105, a coxa side plate 2103, a thigh driving gear 2102, a coxa decoupling sheave 2112, a first coxa transmission sheave 2107, a second coxa transmission sheave 2108, a coxa transmission connecting rod 2106, an inner thigh connecting plate 2109, an outer thigh connecting plate 2110, a coxa pad 2111, a flange bearing, an isolation sleeve, and a gasket. The thigh driving gear 2102 and coxa side plates 2103 are located on either side of the coxa base plate 2101 and are secured together by right-angle connectors. The basal decoupling assembly 2104 includes a decoupling ring and a decoupling bracket, while the basal guide assembly 2105 includes a guide ring and a guide bracket. Both are mounted above the basal base plate 2101. The rope first passes through the basal decoupling assembly 2104 and then through the basal guide assembly 2105. After decoupling and redirection, it is led to the thigh 2200. The basal decoupling assembly 2104 is located directly above the basal motor 1310. When the basal 2100 rotates, the change in the length of the rope driving the thigh 2200 and shank 2300 can be minimized or even negligible, thus achieving decoupling of the basal 2100 from the thigh 2200 and shank 2300. The basal transmission connecting rod 2106 is mounted coaxially with the center of the thigh driving gear 2102, and both ends are used to fix the transmission sheave. One end of the inner and outer connecting plates of the thigh 2200 is coaxially mounted with the center of the thigh driving gear 2102, and the other end is connected to the thigh 2200. The base 2100 and the thigh 2200 are therefore connected together, and the spacing between the gears will always remain unchanged. The base pad 2111 is installed between the inner and outer connecting plates of the thigh 2200 to reinforce the base 2100, prevent axial movement, and improve stability. The base decoupling sheave 2112 is installed between the outer thigh connecting plate 2110 and the base transmission connecting rod 2106. The isolation sleeve and gasket are mainly used to separate the bearing and other components to ensure that the outer ring of the bearing can rotate smoothly relative to the inner ring.

[0056] Further, refer to Figure 6 The thigh 2200 includes a thigh driven gear 2201, a first thigh transmission sheave 2202, a second thigh transmission sheave 2203, a thigh decoupling sheave 2204 and a calf driving gear 2205. The thigh driven gear 2201 is engaged with the thigh driving gear 2102. The thigh driven gear 2201 and the calf driving gear 2205 are connected respectively through the first thigh transmission sheave 2202 and the second thigh transmission sheave 2203. The thigh decoupling sheave 2204 is coaxially installed with the center of the thigh driven gear 2201.

[0057] Further, refer to Figure 6The thigh 2200 also includes a thigh transmission connecting rod 2206, an inner calf connecting plate 2207, an outer calf connecting plate 2208 and a thigh pad 2209. The thigh transmission connecting rod 2206 is coaxially installed with the center of the calf driving gear 2205. The first end of the inner calf connecting plate 2207 and the first end of the outer calf connecting plate 2208 are respectively coaxially installed with the center of the calf driving gear 2205. The second end of the inner calf connecting plate 2207 and the second end of the outer calf connecting plate 2208 are respectively connected to the calf 2300. The thigh pad 2209 is installed between the inner calf connecting plate 2207 and the outer calf connecting plate 2208.

[0058] Reference Figure 6The thigh 2200 mainly includes a thigh driven gear 2201, a calf driving gear 2205, a thigh decoupling sheave 2204, a transmission sheave, a thigh transmission connecting rod 2206, a calf inner connecting plate 2207, a calf outer connecting plate 2208, a thigh pad 2209, a thigh 2200 reinforcement plate, a flange bearing, an isolation sleeve and a gasket. The thigh driven gear 2201 and the thigh driving gear 2102 together form a gear transmission mechanism, with transmission sheaves installed at both ends. A driving rope is wound around the thigh driving gear 2102 and the transmission sheave above the thigh driven gear 2201, and the other driving rope is wound around the transmission sheave below. Since the driving gear is fixed, when the two ropes are retracted and released, a torsional torque is generated on the driven gear, causing the driven gear to rotate around the driving gear, thereby realizing the drive of the joint; the thigh decoupling sheave 2204 is coaxially installed with the center of the thigh driven gear 2201, and is combined with the base decoupling sheave 2112 on the base 2100 to realize the connection between the thigh 2200 and the calf 2 The principle behind the decoupling of the shank 2300 joint is as follows: before the shank drive rope indexes toward the shank 2300, it must first be wound around the coxa decoupling sheave 2112 on the coxa 2100, and then around the thigh decoupling sheave 2204 on the thigh 2200. As the thigh driven gear 2201 rotates, due to the coaxial mounting, the thigh decoupling sheave 2204 on the thigh 2200 also rotates relative to the coxa decoupling sheave 2112 on the coxa 2100. Since the spacing between the two gears remains constant, the spacing between the thigh decoupling sheave 2204 and the coxa decoupling sheave 2112 remains constant. Therefore, movement of the thigh 2200 joint does not affect the length and tension of the shank drive rope. The thigh transmission connecting rod 2206 is coaxially mounted with the center of the shank driving gear 2205, and both ends of the thigh transmission connecting rod 2206 secure the transmission sheave. One end of the inner and outer connecting plates of the calf 2300 is coaxially mounted with the center of the calf driving gear 2205, and the other end is connected to the calf driven gear 2301. The thigh 2200 and the calf 2300 are thus connected together, and the spacing between the gears will always remain unchanged. The thigh pad 2209 is installed between the inner and outer connecting plates of the calf 2300 to reinforce the thigh 2200, prevent axial movement, and improve stability. The isolation sleeve and gasket are mainly used to separate the bearing and other components to ensure that the outer ring of the bearing can rotate smoothly relative to the inner ring. The thrust ball bearing is used to reduce the friction between the components during rotation.

[0059] Further, refer to Figure 7The calf 2300 includes a calf driven gear 2301, a first calf transmission groove wheel 2302, a second calf transmission groove wheel 2303, a calf transmission connecting rod 2304, a clamping plate 2305, a swing leg 2306 and a toe 2307. The calf driven gear 2301 is engaged with the calf driving gear 2205. The two ends of the calf transmission connecting rod 2304 are respectively connected to the calf driven gear 2301 through the first calf transmission groove wheel 2302 and the second calf transmission groove wheel 2303. The first end of the clamping plate 2305 is connected to the midpoint of the calf transmission connecting rod 2304, the second end of the clamping plate 2305 is connected to the first end of the swing leg 2306, and the second end of the swing leg 2306 is connected to the toe 2307.

[0060] Reference Figure 7 The calf 2300 mainly includes a calf driven gear 2301, a first calf transmission sheave 2302, a second calf transmission sheave 2303, a clamping plate 2305, a swing leg 2306, a toe 2307, a thrust ball bearing, a flange bearing, an isolation sleeve and a gasket. The drive of the calf 2300 is similar to that of the thigh 2200 joint. The driving rope is wound around the first calf transmission sheave 2302 and the second calf transmission sheave 2303 at both ends of the two gears. The rope is retracted and released to make the driven gear rotate around the driving gear. The swing leg 2306 supports the entire body, so that the base plate 1300 has a certain height from the ground and the leg joint has sufficient space for movement. In a specific embodiment, the clamping plate 2305 is a carbon tube clamping plate 2305.

[0061] Further, refer to Figures 8 to 10 The single mechanical foot module 2000 also includes a first rope 2400 and a second rope 2500 for pulling the shank 2300. The starting ends of the first rope 2400 and the second rope 2500 are both fixed to the corresponding winding reels 1220. The first rope 2400 and the second rope 2500 are respectively passed through the corresponding tensioning structure 1020, the intermediate plate guide assembly 1230, the coxa decoupling assembly 2104, the coxa guide assembly 2105, the coxa decoupling sheave 2112, and the thigh decoupling sheave 2204. The end of the first rope 2400 is connected to the first shank transmission sheave 2302, and the end of the second rope 2500 is connected to the second shank transmission sheave 2303. Because the gear spacing and the decoupling sheave spacing remain unchanged, the lengths of the first rope 2400 and the second rope 2500 do not change when the thigh 2200 joint rotates.

[0062] Further, refer to Figures 8 to 10, a single mechanical foot module 2000 also includes a third rope 2600 and a fourth rope 2700 for pulling the thigh 2200 to move, the starting ends of the third rope 2600 and the fourth rope 2700 are fixed on the corresponding winding wheel 1220, and the third rope 2600 and the fourth rope 2700 respectively pass through the corresponding tensioning structure 1020, the intermediate plate guide assembly 1230, the base segment decoupling assembly 2104, the base segment guide assembly 2105 and the base segment decoupling sheave 2112 in sequence, the end of the third rope 2600 is connected to the first thigh transmission sheave 2202, and the end of the fourth rope 2700 is connected to the second thigh transmission sheave 2203.

[0063] The above description is merely a preferred embodiment of the present invention. The present invention is not limited to the aforementioned embodiments. As long as the technical effects of the present invention are achieved by the same means, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure shall be included within the scope of protection of the present disclosure. Within the scope of protection of the present invention, its technical solutions and / or implementation methods may be modified and varied in various ways.

Claims

1. A rope-driven bionic hexapod robot, characterized in that: include: A main body module (1000), the main body module (1000) comprising a top plate (1100), an intermediate plate (1200) and a bottom plate (1300) arranged in sequence from top to bottom, a plurality of support members (1010) being arranged between the top plate (1100), the intermediate plate (1200) and the bottom plate (1300), a plurality of base motors (1310) being arranged on the bottom plate (1300), a plurality of drive motors (1210) being arranged on the intermediate plate (1200), and a plurality of tensioning structures (1020) being further arranged on the main body module (1000); Mechanical foot modules (2000), the number of the mechanical foot modules (2000) being six, the mechanical foot modules (2000) being arranged at intervals on the edge of the base plate (1300), a single mechanical foot module (2000) comprising a coxa (2100), a thigh (2200), and a calf (2300) connected in sequence, one end of the coxa (2100) being connected to the edge of the base plate (1300); The basal segment motor (1310) is arranged at the bottom of the basal segment (2100), the basal segment motor (1310) is connected to the corresponding basal segment (2100), and the number of the basal segment motors (1310) is equal to the number of the mechanical foot modules (2000); The number of the drive motors (1210) is twice the number of the mechanical foot modules (2000), and two adjacent drive motors (1210) correspond to adjacent mechanical foot modules (2000). The output shaft of a single drive motor (1210) passes through the intermediate plate (1200) from top to bottom. A winding wheel (1220) is connected to the output shaft of the drive motor (1210), and the winding wheel (1220) is arranged below the intermediate plate (1200).

2. The rope-driven bionic hexapod robot according to claim 1, characterized in that: The tensioning structure (1020) is arranged between the middle plate (1200) and the bottom plate (1300), and the middle plate (1200) and the bottom plate (1300) are respectively provided with a plurality of first sliding grooves (1240) and second sliding grooves (1320) for adjusting the installation position of the tensioning structure (1020). A single tensioning structure (1020) is installed between the corresponding first sliding grooves (1240) and second sliding grooves (1320). The tensioning structure (1020) The number of the winding wheels (1220) is equal to the number of the driving motor (1210), a single tensioning structure (1020) corresponds to an adjacent single winding wheel (1220), a single tensioning structure (1020) is arranged on the inner side of the corresponding winding wheel (1220), and a single tensioning structure (1020) includes a support tube (1030) and a tensioning pulley (1040), and the tensioning pulley (1040) is arranged on the support tube (1030).

3. The rope-driven bionic hexapod robot according to claim 1, characterized in that: A plurality of intermediate plate guide assemblies (1230) are also provided on the lower side of the edge of the intermediate plate (1200), and the number of the intermediate plate guide assemblies (1230) is equal to the number of the mechanical foot modules (2000), and a single intermediate plate guide assembly (1230) corresponds to an adjacent mechanical foot module (2000).

4. The rope-driven bionic hexapod robot according to claim 1, characterized in that: The basal segment (2100) includes a basal segment base plate (2101), a thigh driving gear (2102), a basal segment side plate (2103), a basal segment decoupling assembly (2104) and a basal segment guide assembly (2105). The basal segment base plate (2101) is connected to the output shaft of the corresponding single basal segment motor (1310) through a coupling (1330). The thigh driving gear (2102) is installed on the first side of the basal segment base plate (2101). The side plate (2103) is installed on the second side of the basal segment base plate (2101), the basal segment decoupling assembly (2104) and the basal segment guide assembly (2105) are respectively installed on the basal segment base plate (2101), the basal segment decoupling assembly (2104) is installed directly above the corresponding basal segment motor (1310), and the basal segment decoupling assembly (2104) is installed on the inner side of the base plate (1300) relative to the basal segment guide assembly (2105).

5. The rope-driven bionic hexapod robot according to claim 4, characterized in that: The basal segment (2100) further comprises a basal segment transmission connecting rod (2106), a first basal segment transmission sheave (2107), a second basal segment transmission sheave (2108), an inner thigh connecting plate (2109), an outer thigh connecting plate (2110), a basal segment pad (2111) and a basal segment decoupling sheave (2112), wherein both ends of the basal segment transmission connecting rod (2106) are connected to the thigh driving gear (2102) via the first basal segment transmission sheave (2107) and the second basal segment transmission sheave (2108), respectively. The midpoint is coaxially mounted with the rotating shaft of the thigh driving gear (2102), the first end of the inner thigh connecting plate (2109) and the first end of the outer thigh connecting plate (2110) are respectively coaxially mounted with the rotating shaft of the thigh driving gear (2102), the base segment pad (2111) is arranged between the inner thigh connecting plate (2109) and the outer thigh connecting plate (2110), and the base segment decoupling sheave (2112) is installed between the first end of the outer thigh connecting plate (2110) and the midpoint of the base segment transmission connecting rod (2106).

6. The rope-driven bionic hexapod robot according to claim 5, characterized in that: The thigh (2200) includes a thigh driven gear (2201), a first thigh transmission sheave (2202), a second thigh transmission sheave (2203), a thigh decoupling sheave (2204) and a calf driving gear (2205). The thigh driven gear (2201) is meshed with the thigh driving gear (2102). The thigh driven gear (2201) and the calf driving gear (2205) are connected via the first thigh transmission sheave (2202) and the second thigh transmission sheave (2203), respectively. The thigh decoupling sheave (2204) is coaxially mounted with the center of the thigh driven gear (2201).

7. The rope-driven bionic hexapod robot according to claim 6, characterized in that: The thigh (2200) further includes a thigh transmission connecting rod (2206), an inner calf connecting plate (2207), an outer calf connecting plate (2208) and a thigh pad (2209), wherein the thigh transmission connecting rod (2206) is coaxially mounted with the center of the calf driving gear (2205), the first end of the inner calf connecting plate (2207) and the first end of the outer calf connecting plate (2208) are respectively coaxially mounted with the center of the calf driving gear (2205), the second end of the inner calf connecting plate (2207) and the second end of the outer calf connecting plate (2208) are respectively connected to the calf (2300), and the thigh pad (2209) is mounted between the inner calf connecting plate (2207) and the outer calf connecting plate (2208).

8. The rope-driven bionic hexapod robot according to claim 7, characterized in that: The calf (2300) includes a calf driven gear (2301), a first calf transmission sheave (2302), a second calf transmission sheave (2303), a calf transmission connecting rod (2304), a clamping plate (2305), a swing leg (2306) and a toe (2307). The calf driven gear (2301) is engaged with the calf driving gear (2205). The two ends of the calf transmission connecting rod (2304) are respectively connected to the calf driven gear (2301) through the first calf transmission sheave (2302) and the second calf transmission sheave (2303). The first end of the clamping plate (2305) is connected to the midpoint of the calf transmission connecting rod (2304). The second end of the clamping plate (2305) is connected to the first end of the swing leg (2306). The second end of the swing leg (2306) is connected to the toe (2307).

9. The rope-driven bionic hexapod robot according to claim 8, characterized in that: The single mechanical foot module (2000) also includes a first rope (2400) and a second rope (2500) for pulling the calf (2300) to move. The starting ends of the first rope (2400) and the second rope (2500) are fixed on the corresponding winding wheel (1220). The first rope (2400) and the second rope (2500) respectively pass through the corresponding tensioning structure (1020), the intermediate plate guide assembly (1230), the base segment decoupling assembly (2104), the base segment guide assembly (2105), the base segment decoupling sheave (2112) and the thigh decoupling sheave (2204) in sequence. The end of the first rope (2400) is connected to the first calf transmission sheave (2302), and the end of the second rope (2500) is connected to the second calf transmission sheave (2303).

10. The rope-driven bionic hexapod robot according to claim 9, characterized in that: The single mechanical foot module (2000) further includes a third rope (2600) and a fourth rope (2700) for pulling the thigh (2200) to move. The starting ends of the third rope (2600) and the fourth rope (2700) are both fixed on the corresponding winding wheel (1220). The third rope (2600) and the fourth rope (2700) respectively pass through the corresponding tensioning structure (1020), the intermediate plate guide assembly (1230), the base segment decoupling assembly (2104), the base segment guide assembly (2105) and the base segment decoupling sheave (2112) in sequence. The end of the third rope (2600) is connected to the first thigh transmission sheave (2202), and the end of the fourth rope (2700) is connected to the second thigh transmission sheave (2203).

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