Bionic intelligent robot with gripping function
By using an eight-legged bionic spider leg mechanism and a modularly designed gripping intelligent robot, the stability and flexibility issues of multi-legged robots in complex environments have been solved, enabling exploration and transportation tasks in extreme environments while reducing weight and cost.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- ZHEJIANG LINIX MOTOR CO LTD
- Filing Date
- 2024-03-15
- Publication Date
- 2026-06-16
AI Technical Summary
Existing multi-legged gripping intelligent robots suffer from problems such as large weight, complex structure, slow movement speed, large size, and low flexibility and stability, making it difficult for them to work effectively in complex environments.
It adopts an eight-legged biomimetic spider leg mechanism, combined with a three-stage transmission gear, crank-connecting rod mechanism and motor drive, to simplify the structure. The eight mechanical legs are driven by two motors to increase grip and stability. It is equipped with a search device and a transportation module to achieve modular design.
Achieve stable movement and reconnaissance in complex environments, reduce weight and cost, improve flexibility and stability, and be suitable for detection and transportation missions in extreme environments.
Smart Images
Figure CN118163879B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to a gripping intelligent robot, and more particularly to a multi-legged gripping intelligent robot. Background Technology
[0002] With the continuous advancement of science and technology and the in-depth research of robotics, multi-legged bionic robots, benefiting from their advantages in motion flexibility, stability, and rapid walking in unstructured environments, have gradually become a research hotspot. The application scenarios of robots are also gradually becoming more precise, narrower, and more complex. This demand for specific tasks inevitably accelerates the miniaturization of bionic robots. The key to the miniaturization of bionic robots is the miniaturization of their electromechanical systems. By highly integrating components such as drive devices, transmission devices, sensors, controllers, and power supplies, the overall miniaturization of bionic robots can be achieved. However, current bionic robots have a narrow range of applications, low accuracy in perceiving their surroundings, long reaction times, and insufficient accuracy in perceiving complex environments. For a long time, how to lower the barrier to entry for using bionic machines and adapt them to various production environments has been one of the important problems that need to be solved in engineering practice, and the research on multi-legged gripping bionic intelligent robots is a major challenge in this regard.
[0003] Based on the continuous development of theoretical and applied research on biomimetic robots, various design methods for intelligent robots have been proposed, such as peristaltic robots, snake-like robots, wall-climbing robots, and other diverse forms of biomimetic robots. In contrast, gripping biomimetic intelligent robots, in addition to possessing the mobility functions of traditional robots, can be transformed into different types such as welding robots and assembly robots, thus exhibiting extremely high overall scalability. However, existing biomimetic machines are unable to cope with complex terrain and extreme environments. Exploring new multi-legged gripping intelligent robots and researching more effective biomimetic machines to achieve exploration and investigation of complex terrains undoubtedly has significant academic importance and practical application value.
[0004] Research has found that biomimicry in robots helps them complete missions more covertly and safely in combat scenarios such as military reconnaissance and cover. Therefore, developing robot structures towards miniaturization, lightweighting, and flexibility is an effective means of achieving biomimicry.
[0005] Complex terrain and extreme environments pose a significant challenge to mobile robots. These environments greatly increase the difficulty of tasks and can even hinder operations, making it difficult for existing robots to meet the requirements of special environments. However, gripping bionic intelligent robots are unaffected by complex terrain and can be used for material handling in extreme environments or for detection and data collection in other hazardous environments. They can also be modified into different tools by adding robotic arms or other functional components to adapt to the requirements of different locations. Furthermore, by analyzing the structural characteristics of spiders and incorporating their unique walking and gripping abilities into existing robot technology, and by mimicking the physiological characteristics and structural layout of spiders, the main structure consists of a bionic torso and eight legs, greatly increasing the stability of the robot during movement. This provides a new approach for multi-legged gripping intelligent robots.
[0006] In practical engineering, the leg structure primarily supports walking, bears various loads during operation, and needs to perform turning functions; therefore, a multi-legged structure is required to support these functions. Currently, neither the traditional quadrupedal approach nor the newly proposed hexapod design has solved the problems of walking, turning, and rapid braking in special environments for such multi-legged intelligent bionic robots. Therefore, how to solve the related problems of how intelligent bionic robots can operate in complex environments is a key technology that urgently needs breakthroughs in the field of intelligent bionic robots.
[0007] There are two main types of existing bionic spiders:
[0008] The first type: Quadrupedal bionic robots are designed with inspiration from the biological characteristics of spiders in nature. Their structure mainly consists of four legs symmetrically distributed on both sides of the torso, with gears driving the movement of the leg structure. The structural principle is as follows... Figure 1 .
[0009] The quadrupedal structure of biomimetic spider robots gives them excellent adaptability, enabling them to walk on irregular and rugged terrain and overcome obstacles effectively. While this type of biomimetic spider offers adjustable walking speed, which can be changed by adjusting the motor speed, its biggest drawback is its relatively simple structure and function. Mechanically, the limited motor drive capability necessitates significant lightweighting, but the resulting insufficient structural rigidity remains unresolved. Regarding motor drive, the limited torque output of the motors due to the simple structure leads to poor torque control performance, making impedance control of the robot's legs impossible and hindering its application. Furthermore, because quadruped robots require frequent adjustments to movement and posture during walking, mechanical components are prone to wear and tear, requiring frequent maintenance and upkeep.
[0010] The second type: The six-legged bionic robot is a robot designed with inspiration from the biological characteristics of spiders in nature. Its structure mainly consists of six legs symmetrically distributed on both sides of the torso, and the movement of its leg structure is driven by servo motors. Its structural principle is as follows: Figure 2
[0011] Compared to quadruped robots, hexapods have more support points, resulting in greater stability on uneven ground and better adaptability to complex terrain. Furthermore, the more evenly distributed leg structure allows for more efficient weight distribution and bearing, giving hexapods a higher load capacity, making them suitable for handling and transportation tasks. However, hexapods have more complex motion and posture control systems than quadruped robots, leading to higher control complexity and requiring more sophisticated control algorithms and systems. Moreover, achieving complex motion and posture control typically requires a larger energy supply, resulting in higher energy consumption.
[0012] In summary, although quadrupedal bionic spider robots can change their movement speed and have a simple structure, their biggest drawback is that they cannot turn while moving and cannot work in complex terrain, which greatly reduces their social value.
[0013] While hexapod bionic spider robots have the ability to turn while moving and work in complex terrain, their biggest drawback is that all six legs rely on servo motors to maintain operation, which greatly increases their weight and reduces their walking speed. Due to the shape limitations of hexapod bionic spiders, only small models can be made, which imposes many requirements on their application scenarios and reduces their commercial value.
[0014] Therefore, further exploration of a new type of biomimetic mechanical spider that is smaller, simpler in structure, more flexible and stable, and can realize various real-time visualizations has great application prospects and huge commercial value for national defense and people's livelihood.
[0015] Patent No. ZL202211149821.2, published on May 2, 2023, discloses a novel closed-chain eight-bar multi-legged robot, belonging to the field of closed-chain legged robots. It includes a frame, four walking leg assemblies, and a drive mechanism. The walking leg assemblies include a gear transmission mechanism, deformable eight-bar leg mechanisms, and several connecting parts. The gear transmission mechanism includes gear set one and gear set two. The drive mechanism includes adjusting servos mounted on the walking leg assemblies, a drive motor mounted on the frame, and a one-to-four belt drive mechanism. The drive motor and adjusting servos drive the eight-bar leg mechanisms to swing back and forth. The four sets of eight-bar leg mechanisms coordinate with each other, enabling the eight-legged robot to walk. This invention selects a closed-chain eight-bar structure as the walking mechanism for the legged robot. This scheme has advantages such as fewer drive components, lower energy consumption, higher overall rigidity, and stronger load capacity, making it an important research area for innovative leg configurations in biomimetic robots. However, this scheme has drawbacks, such as relying on servos to maintain operation, which significantly increases its weight and reduces its walking speed. Summary of the Invention
[0016] This invention addresses the shortcomings of existing multi-legged gripping intelligent robots, such as large weight, complex structure, low speed, large size, and low flexibility and stability. It provides a gripping bionic intelligent robot with a simple structure, high flexibility, low cost, strong stability, and improved adaptability to complex and special terrains.
[0017] The specific technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows: a gripping bionic intelligent robot, including a body mainboard and leg mechanisms, characterized in that: it also includes a shell disposed on the body mainboard, a mainboard frame is provided on both sides of the body mainboard, and a leg mechanism is provided on the mainboard frame. The leg mechanism adopts an eight-legged bionic spider leg mechanism, which includes eight mechanical legs and a crank-connecting rod mechanism and a gear transmission mechanism for driving the eight mechanical legs; a four-legged bionic spider leg mechanism is provided on each side of the mainboard frame, and each four-legged bionic spider leg mechanism is driven by a set of gear transmission mechanisms. Each set of gear transmission mechanisms adopts a three-stage transmission gear, and the module of the intermediate stage transmission gear in the three-stage transmission gear is smaller than the module of its two adjacent transmission gears. Each four-legged bionic spider leg mechanism on each side is driven by the same drive motor on its corresponding side and connected to the three-stage transmission gear. The three-stage transmission gear is connected to the four-legged bionic spider leg through the crank-connecting rod mechanism. The design incorporates a three-stage transmission gear mechanism, a crank-connecting rod mechanism, a motor drive mechanism, and an eight-legged bionic spider leg mechanism, significantly simplifying the structure and providing excellent grip. This enhances the machine's flexibility, enabling unidirectional movement across complex and challenging terrain. The eight-legged bionic spider legs handle single-degree-of-freedom movement. The three-stage transmission gear mechanism effectively shortens the radius of the first-stage transmission gear, avoiding problems such as excessively large gears and inaccurate transmission coordination caused by a single gear. Furthermore, all three stages of the transmission gear mechanism are stably connected to the main frame using shafts, bearings, and bolts. This design improves the stability of the eight-legged bionic spider leg structure. Only two motors are needed to drive all eight legs, greatly reducing its weight, price, and design complexity. It boasts advantages such as low cost, simple structure, light weight, and high mobility.
[0018] Preferably, the outer shell of the machine is equipped with a detection device, which includes a camera and a light. The camera and light work together to monitor and observe the surrounding environment in real time, enabling operation in dark environments and realizing the detection function of a biomimetic mechanical spider. It allows for real-time observation of the surrounding environment, can be used in dark environments, and achieves various real-time visualizations. Its unique design structure enables detection and reconnaissance tasks in complex and extreme environments where large machines and manpower are not feasible, thus enhancing its potential applications in national defense and civilian sectors.
[0019] Preferably, the three-stage transmission gear includes a first-stage transmission gear, a second-stage transmission gear, and a third-stage transmission gear. The transmission gear module of the second-stage transmission gear is smaller than that of the first-stage transmission gear and the third-stage transmission gear. The installation position of the first-stage transmission gear is higher than that of its corresponding second-stage and third-stage transmission gears. The same drive motor of the four-legged bionic spider leg mechanism on the same side drives and transmits the first-stage transmission gear. One first-stage transmission gear on the same side transmits two sets of second-stage transmission gears and three-stage transmission gears respectively. That is, one set of second-stage transmission gears and one set of third-stage transmission gears are transmitted to the left and right sides of one first-stage transmission gear on the same side respectively. The two sets of second-stage transmission gears and three-stage transmission gears and one first-stage transmission gear are arranged on the same side to form a triangular three-stage gear transmission structure. One first-stage transmission gear is located at the apex of the triangle. The design improves the transmission precision and coordination of the three-stage transmission gears, avoiding problems such as excessively large gears and inaccurate transmission caused by a single gear. Furthermore, the three-stage transmission gear mechanism is stably connected to the main frame using shafts, bearings, and bolts. This design enhances the stability of the eight-legged bionic spider's leg structure.
[0020] Preferably, the first-stage and third-stage transmission gears have the same transmission gear module, while the second-stage transmission gear has a transmission gear module that is 1 / 3 to 1 / 2 of the transmission gear modules of the first-stage and third-stage transmission gears, respectively. When the distance between the first-stage and third-stage transmission gears is too large, adding several second-stage transmission gears between them can prevent the first-stage and third-stage transmission gears from becoming too large, thereby reducing the design size of the bionic robot and making it suitable for more complex external environments. This design also makes it easier to set different transmission ratios, improves the transmission precision and coordination of the third-stage transmission gear, and avoids problems such as inaccurate transmission coordination caused by excessively large first- and second-stage gears.
[0021] Preferably, the main body panel is equipped with a partition, dividing it into two parts. These parts, together with the outer shell, form two separate spaces. The outer shell has a hinged cover structure. One part of the main body panel space is used to house the bionic intelligent robot's electronic control device, which includes a control circuit board, control components, and cables. The other part of the main body panel space is used to load and unload items, enabling the bionic intelligent robot to perform transportation functions. This improves the independent controllability of the three main modules—the eight-legged bionic spider's legs, illumination, and transportation—facilitating the optimization of each mechanism and enhancing the effectiveness of applications such as illumination and material transportation in dark environments.
[0022] Preferably, the eight mechanical legs are located in the space between the inner side of the three-stage transmission gear and the outer side of the main body panel. That is, the eight mechanical legs are closer to the main body panel than the three-stage transmission gear, which is located further outward. This reduces the overall size of the gripping bionic intelligent robot, improves the rationality of its functional structure and the flexibility and effectiveness of its application, and enhances its mobility. The overall movement space of the eight-legged bionic spider legs is larger than the distribution space of the three-stage transmission gear, further improving the safety, reliability, and effectiveness of the gripping bionic intelligent robot in entering confined spaces.
[0023] Preferably, each of the eight mechanical legs has a sloping, outwardly convex arc-shaped long leg edge. The two ends of this sloping, outwardly convex arc-shaped long leg edge hook inwards to form a concave arc-shaped leg edge. The arc-shaped protrusion of the concave arc-shaped leg edge faces the sloping, outwardly convex arc-shaped long leg edge. The two ends of the sloping, outwardly convex arc-shaped long leg edge and the concave arc-shaped leg edge respectively form two leg tips. The two concave arc-shaped leg edges extend and connect to the inner side of the mechanical leg. Each mechanical leg has several leg drive transmission connection holes and leg drive transmission auxiliary connection holes distributed on it for driving the movement of the mechanical leg. The length of the inner side of the mechanical leg is smaller than the length of the sloping, outwardly convex arc-shaped long leg edge, thus correcting the center of gravity of the entire machine towards the center. The inwardly hooked shape at the two ends touching the ground provides stronger grip during movement. Multiple auxiliary connection holes are used to transmit power while reducing leg inertia and mass. On the one hand, reducing leg inertia and mass helps improve the robot's walking speed and stability; on the other hand, it reduces leg energy consumption. This improves the stability and grip of the eight mechanical legs in adapting to different complex motion environments, enhances the overall stability and effectiveness of gripping bionic intelligent robots, and increases their applicability in complex and hazardous environments.
[0024] Preferably, the crank-connecting rod mechanism includes a crank, connecting rods, and mechanical legs. The connecting rods include a front leg connecting rod and a rear leg connecting rod, and the mechanical legs include a front mechanical leg and a rear mechanical leg. One end of the front mechanical leg is fixedly connected to the front leg connecting rod with a bolt, and the other end is connected to the crank fixedly connected to the third gear in the three-stage transmission gear. One end of the rear mechanical leg is fixedly connected to the rear leg connecting rod with a bolt, and the other end is connected to the other side of the crank. Four connecting rods are provided on the left and right sides of the outer side of the main body, and are symmetrically distributed. The four mechanical legs are driven by the same drive motor on their corresponding sides to coordinate their movements. One end of the two front leg connecting rods near the gears is connected to the two front mechanical legs on the same side, and the other end of the two front leg connecting rods is connected to the support rod of the main body of the mechanism. One end of the two rear leg connecting rods is connected to the two rear mechanical legs, and the other end is also connected to the support rod. The crank is driven by the same drive motor on its corresponding side. Improve the simplicity and effectiveness of the drive control structure for gripping bionic intelligent robots, reduce drive control costs, decrease product weight, price, and design complexity, lower product manufacturing costs, and improve movement flexibility.
[0025] Preferably, a drive motor mounting bracket is provided on each of the two outer sides of the outer shell between the robot body and the main board frame. The two drive motor mounting brackets correspond to the gear center of the first stage of the three-stage transmission gear. This improves the simplicity and effectiveness of the drive control structure for the gripping bionic intelligent robot, reduces drive control costs, and alleviates product weight, price, and design complexity.
[0026] Preferably, the inclined, outwardly convex, arc-shaped long leg has its two ends hooked inwards to form concave arc-shaped legs of different lengths and curvatures. Several auxiliary connection holes for driving the movement of the mechanical leg are distributed on the longer concave arc-shaped leg. The diameter of these auxiliary connection holes gradually decreases towards the tip of the leg. The inclined, outwardly convex, and concave arc-shaped long leg design allows for stronger grip during movement, as the two ends of the long leg hook inwards when in contact with the ground. Another leg drive connection hole connects to a connecting rod, and yet another connection hole on the mechanical leg connects to a crank that drives the leg, thus enabling the mechanical leg to move. When not used as connection holes for leg drive transmission, the arrangement of several holes that gradually decrease in size towards the tips of the legs also reduces the overall weight of the eight mechanical legs to some extent, corrects the center of gravity towards the center, improves the walking stability and flexibility of the bionic mechanical robot, reduces the motor power required for the drive control of the eight mechanical legs of the gripping bionic intelligent robot, and reduces the cost of the required drive motor control.
[0027] The beneficial effects of this invention are: it enables detection and reconnaissance work in complex and extreme environments where large machines and manpower are unavailable. It can be used for handling nuclear waste or transporting other items. It can also be used to create simple biomimetic intelligent toys for entertainment. It not only simulates the movement characteristics of a biomimetic spider but also innovatively improves upon it. Compared to existing biomimetic crawling robots, the introduction of gears and linkage mechanisms significantly simplifies the structure, providing extremely strong gripping ability and improving the machine's flexibility, enabling unidirectional movement in complex and special terrains. The legs are responsible for single-degree-of-freedom walking, the camera detection section is used to acquire information, and the transport section is used to carry heavy objects. The entire machine has extremely high expandability; various tools can be added, or the detection and load modules can be removed to create a new type of simple biomimetic toy, weakening the detection function while retaining enhanced movement capabilities.
[0028] This patent application addresses the urgent need for biomimetic spider robots in practical engineering fields. It employs innovative biomimetic mechanical design, achieving an eight-legged movement that requires less servo motor control compared to existing six-legged robots. It also avoids the limitations of quadrupedal biomimetic robots, such as limited directional movement and difficulty turning. This patented design yields a low-cost, highly stable, and exceptionally agile eight-legged biomimetic intelligent mechanical spider with strong grip and flexibility. Furthermore, compared to six-legged robots, the eight-legged robot provides more support points in more complex environments, exhibiting greater stability and flexibility on uneven terrain, and possessing stronger load-bearing capacity. This makes it more valuable for applications in complex environments and situations.
[0029] I. Bionic Mechanical Design: By analyzing the spider's unique walking and powerful gripping ability, and combining this with existing mechanical products, creative biomimetic design was employed to mimic the spider's physiological characteristics and structural layout as closely as possible. Creative biomimetic designs were implemented to mimic the spider's movement patterns and overall shape. This resulted in biomimetic designs for aspects such as spider walking.
[0030] II. Leg Structure Innovation: The leg mechanism of this bionic mechanical spider is driven by only two motors on both sides, enabling coordinated movement of all eight mechanical legs. This design provides excellent stability and strong grip. Compared to most commercially available mechanisms that use multiple servo motors to control eight legs or four or six legs for unidirectional movement, this structure requires only two motors in conjunction with the mechanical structure to drive all eight mechanical legs, significantly reducing weight, price, and design complexity. It boasts advantages such as low cost, simple structure, light weight, and high mobility.
[0031] III. Functional and Practical Innovations: Compared to other biomimetic machines, our biomimetic spider not only simulates the movement characteristics of a spider, but also adopts a modular design in its structure to facilitate the addition of external power supplies, resulting in extremely high expandability. It has the potential for widespread application in complex tasks and hazardous fields that are difficult for humans to operate, such as earthquake relief, material transportation, and nuclear waste transport in extreme situations.
[0032] The main innovation of this invention is as follows: Based on the analysis of the spider's unique walking and powerful gripping abilities, and combined with existing mechanical products, this invention employs creative biomimetic design to mimic the spider's physiological characteristics and structural layout as closely as possible. It incorporates various mechanisms such as crank-rocker, planar hinge four-bar linkage, and fixed-axis gear trains to creatively mimic the spider's movement characteristics and overall torso shape while ensuring basic functionality. Unlike common four- or six-legged biomimetic machines, this design proposes an eight-legged mechanical design. A special double-sided, four-legged linkage mechanism is constructed to achieve stable walking and improve efficiency. Abandoning the complex and expensive multi-joint servo motor transmission structure, this mechanism achieves turning, acceleration, and other movements through different speeds between two drive motors. This design simplifies the structure while ensuring the stability of the walking function and strong gripping ability. This biomimetic mechanical spider adopts a modular design, with the legs, detection, and transportation modules controlled independently, facilitating optimization of each mechanism. In addition to its unique torso and eight mechanical legs, we have installed a smart camera and detection device on the motherboard, along with a transport case, enabling real-time video transmission. This makes the bionic spider suitable for dark environments and material transport scenarios, with broad application prospects. Furthermore, various external structures, such as robotic arms and speakers, can be added for purposes such as grasping objects and rescuing or finding missing persons. This design is highly developable and economical, with excellent scalability. Therefore, the inventors primarily wish to protect this design concept and structural scheme.
[0033] This biomimetic mechanical spider utilizes a clever mechanical structure design to achieve biomimetic spider movement, thus avoiding the shortcomings of most other eight-legged biomimetic robots on the market, such as using multiple servo motors and complex control algorithms. It not only features lightweight and low cost, but also has advantages such as simple control, strong terrain adaptability, flexible turning function, and good stability of the mechanism system balance. Attached Figure Description
[0034] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.
[0035] Figure 1 This is a structural schematic diagram of the gripping bionic intelligent robot of the present invention.
[0036] Figure 2This is a top view structural diagram of the gripping bionic intelligent robot of the present invention.
[0037] Figure 3 This is a side view structural diagram of the gripping bionic intelligent robot of the present invention.
[0038] Figure 4 This is a schematic diagram of the mechanical legs in the gripping bionic intelligent robot of this invention.
[0039] Figure 5 This is a three-dimensional structural diagram of the installation and connection of the mechanical legs in the gripping bionic intelligent robot of this invention.
[0040] Figure 6 This is a schematic diagram of the installation and connection structure of the mechanical legs in the gripping bionic intelligent robot of this invention.
[0041] Figure 7 This is a schematic diagram of the structure of the gripping bionic intelligent robot of the present invention without the leg mechanism installed.
[0042] Figure 8 This is a schematic diagram of the gear rocker arm in the gripping bionic intelligent robot of this invention. Detailed Implementation
[0043] Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8In the illustrated embodiment, a gripping bionic intelligent robot includes a body mainboard 10 and leg mechanisms, as well as a body shell 11 mounted on the body mainboard. Mainboard frames 15 are mounted and connected to both sides of the body mainboard 10, and leg mechanisms are mounted and connected to the mainboard frames. The leg mechanisms are eight-legged bionic spider leg mechanisms, comprising eight mechanical legs (40, 50) and a crank-connecting rod mechanism and a gear transmission mechanism for driving the eight mechanical legs. A four-legged bionic spider leg mechanism is mounted on each side of the mainboard frame 15. Each four-legged bionic spider leg mechanism is driven by a set of gear transmission mechanisms. Each set of gear transmission mechanisms uses a three-stage transmission gear, where the module of the intermediate stage transmission gear is smaller than the module of its two adjacent transmission gears. Each four-legged bionic spider leg mechanism on each side is driven by the same drive motor 20 on its corresponding side, which is connected to the three-stage transmission gear. The three-stage transmission gear is connected to the four-legged bionic spider leg via a crank-connecting rod mechanism. The four-legged bionic spider leg mechanisms on the left and right sides are symmetrically distributed. The gears are supported by gear support frames 16 set on the main body 10 and the main body frame 15 to achieve the connection between the body and the leg mechanisms. This design plays a role in stabilizing the structure of the bionic spider.
[0044] The outer shell 11 is equipped with a detection device, which includes a camera 12 and a light 13. The camera 12 and the light 13 work together to monitor and observe the surrounding environment in real time. It can be used in dark environments, enabling the biomimetic mechanical spider to perform detection functions. The detection device enables various real-time visualizations. Its unique design structure allows for detection and reconnaissance tasks in complex and extreme environments where large machines and manpower cannot be used, and it has potential applications in national defense and civilian sectors.
[0045] The three-stage transmission gear system includes a first-stage transmission gear 30, a second-stage transmission gear 31, and a third-stage transmission gear 32. The transmission gear module of the second-stage transmission gear 31 is smaller than that of the first-stage transmission gear 30 and the third-stage transmission gear 33. The installation position of the first-stage transmission gear 30 is higher than that of its corresponding second-stage transmission gear 31 and third-stage transmission gear 32. The same drive motor 20 of the quadrupedal bionic spider leg mechanism on the same side drives and transmits the first-stage transmission gear 30. One first-stage transmission gear on the same side transmits two sets of second-stage transmission gears and three-stage transmission gears respectively. That is, the left and right sides of one first-stage transmission gear 30 on the same side transmit one set of second-stage transmission gears 31 and one set of third-stage transmission gears 32 respectively. The two sets of second-stage transmission gears 31 and 32 and one first-stage transmission gear 30 are arranged in the same direction on the same side of the body main plate to form a triangular three-stage gear transmission structure. One first-stage transmission gear 30 is located at the apex of the triangular arrangement. The first-stage transmission gear 30 and the third-stage transmission gear 32 have the same transmission gear module, and the transmission gear module of the second-stage transmission gear 31 is 1 / 3 to 1 / 2 of the transmission gear modules of the first-stage transmission gear 30 and the third-stage transmission gear 32, respectively.
[0046] A partition plate is installed on the body mainboard 10, dividing the mainboard into two parts. These parts, together with the outer shell, form two separate spaces. The outer shell has a hinged cover. One part of the mainboard space houses the bionic intelligent robot's electronic control device, which includes a control circuit board, control components, and cables. The control circuit board, related equipment, and cables are connected to the drive motor 20 through through-holes on the side of the outer shell. The power supply and control mechanism circuit board are located within this part of the mainboard space. The other part of the mainboard space 14 is empty. This empty space is equipped with an openable outer shell cover. When opened or closed, this empty space can also transport small items, enabling the bionic intelligent robot to perform its transportation function. The mainboard supports the overall weight of the bionic intelligent robot and serves as a bridge connecting all components; each component relies on the mainboard for operation.
[0047] The eight mechanical legs (40, 50) are installed in the space between the inner side of the three-stage transmission gears (30, 31, 32) and the outer side of the main body plate 10. That is, the eight mechanical legs (40, 50) are located closer to the main body plate 10 than the three-stage transmission gears (30, 31, 32), which are located further outwards on the main body plate 10. The outline of each mechanical leg of the eight mechanical legs (40, 50) is shown in the figure. Figure 4The robot has an inclined, outwardly convex arc-shaped long leg edge 41. The two ends of the inclined, outwardly convex arc-shaped long leg edge 41 hook inward to form an inwardly concave arc-shaped leg edge. The arc-shaped protrusion of the inwardly concave arc-shaped leg edge faces the inclined, outwardly convex arc-shaped long leg edge 41. The two ends of the inclined, outwardly convex arc-shaped long leg edge and the inwardly concave arc-shaped leg edge respectively form two foot tips (47, 48). The two inwardly concave arc-shaped leg edges extend and connect to the inner side 46 of the mechanical leg foot. Each mechanical leg foot (40, 50) is provided with several leg foot drive transmission connection holes 45 and leg foot drive transmission auxiliary connection holes 44 for driving the movement of the mechanical leg foot. The length of the inner side 46 of the mechanical leg foot is smaller than the length of the inclined, outwardly convex arc-shaped long leg edge. The gripping bionic intelligent robot corrects the center of gravity of the whole machine towards the center. The inclined, outwardly convex arc-shaped long leg edge 41 has its two ends hooked inward to form concave arc-shaped leg edges with different lengths and curvatures at both ends. Among them, the first concave arc-shaped leg edge 43, which has a longer arc dimension, is provided with a number of leg drive transmission auxiliary connection holes 44 for driving the movement of the mechanical leg. The diameter of the number of leg drive transmission auxiliary connection holes is arranged in a distribution structure that gradually decreases in the direction towards the tip of the leg.
[0048] The crank-connecting rod mechanism includes a crank, connecting rods (60, 70), and mechanical legs (40, 50). The connecting rods include a front leg connecting rod 60 and a rear leg connecting rod 70. The mechanical legs include a front mechanical leg 40 and a rear mechanical leg 50. One end of the front mechanical leg 40 is fixedly connected to the front leg connecting rod 60 with a bolt, and the other end is connected to the crank 80 fixedly connected to the third gear 32 in the three-stage transmission gear. One end of the rear mechanical leg 50 is fixedly connected to the rear leg connecting rod 70 with a bolt, and the other end is connected to the other side of the crank 80. The left and right sides of the outer side of the main body plate 10 are respectively provided with… There are four connecting rods (60, 70) symmetrically distributed. The four mechanical legs are driven by the same drive motor 20 on their corresponding sides for coordinated movement. One end of the two front leg connecting rods 60 near the gears is connected to the two front mechanical legs 40 on the same side, and the other end of the two front leg connecting rods 60 is connected to the support rod 90 on the main body plate 10. One end of the two rear leg connecting rods 70 is connected to the two rear mechanical legs 50, and the other end is connected to the middle support rod 90 on the other side of the main body plate. The crank is driven by the same drive motor on its corresponding side. The drive motor 20 transmits power to the crank through the gears, and the crank-connecting rod mechanism enables the mechanical legs to move along the expected path. A drive motor mounting seat 17 is provided on each of the two outer sides of the outer shell 11 between the outer shell and the main body frame 10. The center of each drive motor mounting seat 17 corresponds to the center of the first stage transmission gear 30 in the three-stage transmission gear. Figure 8As shown, the third-stage transmission gear 32 transmits the power from the first-stage transmission gear 30 to the cranks (80, 85). The cranks then drive the mechanical feet mounted on the transmission shafts (83, 86) to move, thus realizing the movement of the mechanical feet. Figure 8 In the diagram, mark 84 indicates the connecting shaft 84 that connects the third-stage gear and the crank. Figure 8 The symbol 87 in the diagram is the connecting shaft 87 that connects the two cranks (85, 80).
[0049] This invention is not limited to the specific embodiments described above, and may also have other structural embodiments. For example, by adding several second-stage transmission gears between the first-stage and third-stage transmission gears, instead of the single second-stage transmission gear shown in the embodiments of this invention, it is possible to avoid the first-stage and third-stage transmission gears becoming too large, thereby reducing the design size of the bionic robot and making it suitable for more complex external environments. All of these fall within the protection scope of this invention.
[0050] In the description of positional relationships in this invention, terms such as "inner," "outer," "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing embodiments and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.
[0051] The above content and structure describe the basic principles, main features, and advantages of the product of this invention, which should be understood by those skilled in the art. The examples and descriptions above are merely illustrative of the principles of this invention. Various changes and modifications can be made to this invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.
Claims
1. A gripping bionic intelligent robot, comprising a body mainboard and leg mechanisms, characterized in that: It also includes a body shell mounted on the main body board. Main body boards have frames on both sides, and leg mechanisms are mounted on the main body frames. These leg mechanisms are eight-legged bionic spider legs, comprising eight mechanical legs and a crank-connecting rod mechanism and gear transmission mechanism to drive them. Each side of the main body frame has a four-legged bionic spider leg mechanism. Each leg is driven by a set of gear transmission mechanisms. Each set of gear transmission mechanisms uses a three-stage transmission gear system, where the module of the intermediate gear is smaller than the module of its two adjacent gears. Each four-legged bionic spider leg mechanism on each side is driven by the same drive motor connected to the three-stage transmission gear system. The three-stage transmission gear system is connected to the four-legged bionic spider legs via a crank-connecting rod mechanism.
2. The gripping bionic intelligent robot according to claim 1, characterized in that: The outer shell of the machine is equipped with a detection device, which includes a camera and a light. The camera and the light work together to monitor and observe the surrounding environment in real time. It can be used in dark environments to realize the detection function of the bionic mechanical spider.
3. The gripping bionic intelligent robot according to claim 1, characterized in that: The three-stage transmission gear system includes a first-stage transmission gear, a second-stage transmission gear, and a third-stage transmission gear. The transmission gear module of the second-stage transmission gear is smaller than that of the first-stage transmission gear and the third-stage transmission gear. The installation position of the first-stage transmission gear is higher than that of its corresponding second-stage and third-stage transmission gears. The same drive motor of the four-legged bionic spider leg mechanism on the same side drives and transmits the first-stage transmission gear. One first-stage transmission gear on the same side transmits two sets of second-stage and third-stage transmission gears respectively. That is, one set of second-stage and third-stage transmission gears is transmitted to the left and right sides of one first-stage transmission gear on the same side respectively. The two sets of second-stage and third-stage transmission gears and one first-stage transmission gear are arranged on the same side to form a triangular three-stage gear transmission structure, with one first-stage transmission gear at the apex of the triangle.
4. The gripping bionic intelligent robot according to claim 3, characterized in that: The first-stage and third-stage transmission gears have the same transmission gear module, and the transmission gear module of the second-stage transmission gear is 1 / 3 to 1 / 2 of the transmission gear modules of the first-stage and third-stage transmission gears, respectively.
5. The gripping bionic intelligent robot according to claim 1, characterized in that: The main body is equipped with a partition, which divides the main body into two parts, forming two spaces together with the outer shell. The outer shell has a hinged cover structure. One part of the main body space is used to load the bionic intelligent robot's electronic control device, which includes a control circuit board, its control elements, and cables. The other part of the main body space is used to load and unload items to achieve the transportation function of the bionic intelligent robot.
6. The gripping bionic intelligent robot according to claim 1, characterized in that: The eight mechanical legs are located in the space between the inner side of the three-stage transmission gear and the outer side of the main body plate. That is, the eight mechanical legs are located closer to the main body plate than the three-stage transmission gear, while the three-stage transmission gear is located further out on the outer side of the main body plate.
7. The gripping bionic intelligent robot according to claim 1, characterized in that: Each of the eight mechanical legs has an outline with a sloping, outwardly convex arc-shaped long leg edge. The two ends of the sloping, outwardly convex arc-shaped long leg edge hook inward to form a concave arc-shaped leg edge. The arc-shaped protrusion of the concave arc-shaped leg edge faces the sloping, outwardly convex arc-shaped long leg edge. The two ends of the sloping, outwardly convex arc-shaped long leg edge and the concave arc-shaped leg edge respectively form two leg tip points. The two concave arc-shaped leg edges extend and connect to the inner side of the mechanical leg. Each mechanical leg is provided with several leg drive transmission connection holes and leg drive transmission auxiliary connection holes for driving and connecting the movement of the mechanical leg. The length of the inner side of the mechanical leg edge is smaller than the length of the sloping, outwardly convex arc-shaped long leg edge, so that the center of gravity of the whole machine is corrected towards the center.
8. The gripping bionic intelligent robot according to claim 1, characterized in that: The crank-connecting rod mechanism includes a crank, connecting rods, and mechanical legs. The connecting rods include front leg connecting rods and rear leg connecting rods, and the mechanical legs include front mechanical legs and rear mechanical legs. One end of the front mechanical leg is fixedly connected to the front leg connecting rod with a bolt, and the other end is connected to the crank fixedly connected to the third gear in the three-stage transmission gear. One end of the rear mechanical leg is fixedly connected to the rear leg connecting rod with a bolt, and the other end is connected to the other side of the crank. Four connecting rods are provided on the left and right sides of the outer side of the main body, and are symmetrically distributed. The four mechanical legs are driven by the same drive motor on their corresponding sides for coordinated movement. One end of the two front leg connecting rods near the gears is connected to the two front mechanical legs on the same side, and the other end of the two front leg connecting rods is connected to the support rod of the main body of the mechanism. One end of the two rear leg connecting rods is connected to the two rear mechanical legs, and the other end is also connected to the support rod. The crank is driven by the same drive motor on its corresponding side.
9. The gripping bionic intelligent robot according to claim 1, characterized in that: A drive motor mounting base is provided on each of the two outer sides of the outer casing and between the main board frame. The two drive motor mounting bases correspond to the gear center of the first gear in the three-stage transmission gear. The drive motor is provided on the drive motor mounting base.
10. The gripping bionic intelligent robot according to claim 7, characterized in that: The inclined, outwardly convex arc-shaped long leg has its two ends hooked inward to form concave arc-shaped leg with different lengths and curvatures at both ends. Among them, the mechanical leg with the longer concave arc-shaped leg is provided with a number of leg drive transmission auxiliary connection holes for driving the movement of the mechanical leg. The diameter of the number of leg drive transmission auxiliary connection holes is arranged in a distribution structure that gradually decreases in the direction towards the tip of the leg.