Bionic hexapod robot with light leg active bending machine body

Abstract

The bionic hexapod robot comprises a front body part, a rear body part, a waist structure and bionic leg modules, the front body part and the rear body part are connected through the waist structure to form a robot trunk, the front body part is controllably bent relative to the rear body part, and the bionic leg modules are connected with the front body part through the waist structure. The angle between the front body part and the rear body part relative to the ground can be controlled and adjusted through the waist structure, and the bionic leg modules are movably installed on the front body part and the rear body part and are independently driven to drive the front body part and the rear body part to move. The six-foot robot has the advantages that the front body part and the rear body part are connected through the waist structure with the adjustable angle, the two-section type body is matched with active bending, the obstacle crossing capacity of the six-foot robot for various types of obstacles is improved, and adaptability is improved; a leg module is designed by adopting a planar connecting rod mechanism, and joint driving motors of legs are concentrated on the body, so that the weight of the legs is reduced, the output torque in the movement process of the legs of the robot is reduced, and the energy consumption of robot movement is reduced.

Description

Technical Field

[0001] The present invention particularly relates to a bionic hexapod robot with lightweight legs and an actively bending body. Background Art

[0002] In the field of disaster search and rescue, traditional rescue equipment often faces many limitations. Many rescue equipment and rescue robots are bulky, have poor maneuverability in complex environments, and find it difficult to carry out rescue work in rugged terrain. With the development of science and technology, the application of bionics principles in robot design has gradually attracted attention. Many organisms in nature have excellent movement and adaptability, providing a source of inspiration for robot design.

[0003] Many six-legged insects have strong movement adaptability, which is often due to their physiological structure and movement control ability. The bionic six-legged robot is a multi-legged robot that imitates insects and can adapt to unstructured terrain environments. It has always been a research hotspot at home and abroad. In recent years, six-legged robots have made remarkable progress in scientific research, industry, military and other application fields, and various types of products and research results have appeared on the market. For unstructured complex terrain environments, the current small six-legged robots are difficult to achieve strong movement adaptability like animals due to size and structural limitations. In addition, the body parts of existing robots usually adopt an integrated design structure and do not have deformation capabilities such as bending. Therefore, it is difficult for robots to cross high obstacles such as steps and their adaptability is poor.

[0004] In addition, the leg components of existing multi-legged robots often adopt a single-degree-of-freedom single-drive structural design. The motion control of this structure is relatively simple, but the weight of a single leg is dispersed throughout the leg, which results in a large amount of weight that must be overcome by the leg itself when performing leg movements (such as leg lifting). Therefore, the energy consumption during the movement process is relatively high.

[0005] In Chinese patent: CN201811638699.9, the name is: Hexapod robot, which records that it includes a main body; six leg assemblies, the six leg assemblies are arranged at intervals along the circumference of the main body, and the leg assemblies include: an upper leg, the upper leg includes a first end and a second end, the first end is rotatably connected to the main body to form a root joint, and the pivot axis between the first end and the main body extends vertically; a middle leg, the middle leg includes a third end and a fourth end, the third end is rotatably connected to the second end to form a hip joint, and the pivot axis between the third end and the second end extends horizontally; a lower leg, the lower leg includes a fifth end and a sixth end suitable for being supported on a supporting surface, the fifth end is rotatably connected to the fourth end to form a knee joint, and the pivot axis between the fifth end and the fourth end extends horizontally; a first driving mechanism, the first driving mechanism includes a first driving body and a first driving rod, the first driving body The movable rod is connected to the first driving body and can move along the longitudinal axis of the first driving body. The first driving body is arranged on one of the upper leg and the middle leg, and the first driving rod is hingedly connected to the other of the upper leg and the middle leg through a first connecting rod to drive the middle leg to rotate relative to the upper leg with the hip joint as a fulcrum; a second driving mechanism, the second driving mechanism includes a second driving body and a second driving rod, the second driving rod is connected to the second driving body and can move along the longitudinal axis of the second driving body, the second driving body is arranged on one of the middle leg and the lower leg, and the second driving rod is hingedly connected to the other of the middle leg and the lower leg through a second connecting rod to drive the lower leg to rotate relative to the middle leg with the knee joint as a fulcrum; a steering gear, the steering gear is arranged on the main body, and the steering gear is connected to the first end to drive the leg assembly to rotate relative to the main body with the root joint as a fulcrum.

[0006] As shown in the attached figure of patent CN201811638699.9, the robot body of this patent is a regular hexagon, and a leg structure is arranged at each vertex of the regular hexagon. The six leg structures drive the movement of the entire regular hexagonal body. The patent achieves a simple and compact structure, and it is easy to realize gait control. During the process of moving forward, backward and turning, the disturbance between each leg component is relatively small, and harmful interference is not easy to occur. However, the leg driving mechanism of this technical solution is located on the leg structure, which is easy to be bumped and damaged in a complex environment, and also increases the weight of the leg component. The more energy the leg component consumes each time it moves, the higher the energy consumption is. Secondly, the robot body part in this technical solution is an integrated regular hexagon design, which is difficult to climb complex or high obstacles, and has poor passability and applicability. Summary of the invention

[0007] The technical problem to be solved by the present invention is that the existing hexapod robot body mentioned in the background technology does not have the ability to deform, is difficult to pass through complex obstacles, has poor adaptability, and the legs of the existing hexapod robot are heavy and have high energy consumption during movement.

[0008] In view of the above technical problems, a bionic hexapod robot with a lightweight leg and an actively bending body is proposed; it is achieved by the following technical scheme: a bionic hexapod robot with a lightweight leg and an actively bending body, comprising a foretorso, a hindtorso, a waist structure and bionic leg modules, the foretorso and the hindtorso are connected by the waist structure to form a robot torso, the foretorso can be controllably bent relative to the hindtorso, and the angle between the two relative to the ground can be controllably adjusted by the waist structure, a plurality of bionic leg modules for the robot to walk are movably mounted on the foretorso and the hindtorso, the plurality of bionic leg modules are driven individually to drive the foretorso and the hindtorso to move.

[0009] Preferably, the forequarters includes a forequarters shell, a forequarters control board and a sensor, wherein the forequarters control board and the sensor are arranged in the forequarters shell, wherein the sensor monitors the walking road condition and sends data to the forequarters control board, and the forequarters control board controls the movement of the bionic leg module arranged on the hindquarters according to the road condition data; the hindquarters includes a hindquarters shell and a hindquarters control board, wherein the hindquarters control board controls the movement of the bionic leg module arranged on the hindquarters according to the road condition. The design of separating the forequarters and the hindquarters allows the forequarters to be lifted to a certain height when encountering a higher obstacle, so as to facilitate the robot to pass through and improve the overall passability of the robot.

[0010] Preferably, the waist structure includes a waist servo, a forequarter fixing part and a hindquarter fixing part, wherein the forequarter fixing part is arranged on the forequarter portion, and the hindquarter fixing part is arranged on the hindquarter portion, and the waist servo connects the forequarter fixing part and the hindquarter fixing part, and the angles between the forequarter fixing part and the hindquarter fixing part and the ground are controllably adjusted by the waist servo. The setting of the waist structure facilitates the adjustment of the height of the forequarter portion of the robot relative to the ground through the waist structure, thereby improving the overall passability of the robot.

[0011] Preferably, the bionic leg module includes a leg rotation assembly, a leg lifting assembly and a leg assembly. The leg assembly is connected to the robot trunk through the leg rotation assembly. The leg lifting assembly connects the leg rotation assembly and the leg assembly. The leg lifting assembly drives the leg assembly to move up and down. The leg rotation assembly drives the leg assembly to rotate left and right, thereby driving the overall movement of the robot. Such an arrangement improves the degree of freedom of the legs of the hexapod robot and improves the overall flexibility of the robot.

[0012] Preferably, the leg rotation assembly includes a rotary servo and a rotary servo fixing member, the rotary servo is arranged on the robot torso, and the leg lifting assembly is connected to the rotary servo through the rotary servo fixing member. The arrangement of the leg rotation assembly facilitates the control of the robot's legs to rotate left and right along the installation position, thereby facilitating the robot to move quickly on a plane.

[0013] Preferably, the leg assembly includes a connecting rod fixing rod, a middle carbon tube and a fixed sleeve. The connecting rod fixing rod is connected to the leg rotation assembly through a leg lifting assembly, and the middle carbon tube is connected to the connecting rod fixing rod through a fixed sleeve. Such an arrangement reduces the weight of the robot's legs. At the same time, the leg assembly is simple, not afraid of bumps, suitable for complex environments, and improves the overall practicality.

[0014] Preferably, the leg lifting assembly includes a first servo, a second servo and a planar four-bar linkage; the first servo and the second servo are connected to the leg rotating assembly; the planar four-bar linkage respectively connects the leg assembly with the first servo and the second servo; the first servo and the second servo can drive the leg assembly to move up and down through the planar four-bar linkage; the arrangement of the leg lifting assembly facilitates driving the leg assembly to move up and down through the leg lifting assembly, thereby realizing climbing movement in complex environments and improving the applicability of the robot in complex environments.

[0015] Preferably, the planar four-bar linkage mechanism includes a first link and a second link, the first link connects the leg assembly and the first servo, the second link connects the leg assembly and the second servo, the first servo and the second servo can drive the leg assembly to move up and down through the first link and the second link, and the setting of the planar four-bar linkage mechanism facilitates driving the leg assembly to move up and down through the planar four-bar linkage mechanism, and the structure is simple and reliable, not easy to damage, and has strong applicability.

[0016] Preferably, the bionic leg module is provided with an adaptive adhesive foot, which automatically adapts to the ground angle. The setting of the adaptive adhesive foot enables the robot foot to automatically adapt to the ground angle according to the terrain, thereby improving the stability of the robot when standing and moving.

[0017] Preferably, the technical solution of the present invention is that the adaptive adhesive foot includes a mounting sleeve and a supporting foot. The mounting sleeve and the supporting foot are hinged by two cross-distributed hinge seats. The supporting foot can automatically rotate along the hinge seat. The multi-degree-of-freedom setting of the supporting foot facilitates the supporting foot to automatically adapt to the shape of the ground, thereby improving the stability of the robot when standing and moving.

[0018] Compared with the prior art, the present invention has the following beneficial effects: The technical solution of the present invention utilizes an angle-adjustable waist structure to connect the front torso and the rear torso, and divides the trunk of the robot into two sections. The two-section trunk is combined with a body structure design with active bending freedom, which greatly improves the obstacle-crossing ability of the hexapod robot for various forms of obstacles and increases the robot's adaptability to a variety of unstructured complex environments. Secondly, a planar linkage mechanism is used to design the leg module, and the driving motors of the leg joints are concentrated on the body, which greatly reduces the weight of the legs, reduces the output torque during the movement of the robot's legs, and reduces the energy consumption of the robot's movement. The adaptive adhesive feet installed on the bionic leg module are used to improve the bionic leg module's ability to adapt to the ground, allowing the robot to move stably in complex ground environments, increasing the robot's adaptability to a variety of unstructured complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a three-dimensional schematic diagram of the present invention; Figure 2 It is a three-dimensional diagram of the waist structure; Figure 3 This is an exploded diagram of the waist structure; Figure 4 This is a three-dimensional schematic diagram of the bionic leg module; Figure 5 It is a three-dimensional schematic diagram of the leg lifting assembly; Figure 6 This is an exploded view of the leg lift assembly; Figure 7 This is the exploded view of the bionic leg module; Figure 8 It is a three-dimensional schematic diagram of the adaptive adhesive foot; Fig. 9 Exploded view of the adaptive adhesive foot; Fig.10 This is a schematic diagram after the angle of the adaptive adhesive foot is adjusted; Fig.11 It is an exploded view of the present invention; Fig.12 The motion state of the present invention Figure 1 ; Fig.13 The motion state of the present invention Figure 2 ; Explanation of reference numerals: 1-front trunk, 11-front trunk shell, 12-front trunk upper control panel, 13-front trunk lower control panel, 14-front trunk protective bottom plate, 15-sensor, 2-hind trunk, 21-hind trunk shell, 22-hind trunk upper control panel, 23-hind trunk lower control panel, 24-hind trunk protective bottom plate, 3-waist structure, 31-waist servo, 32-front trunk fixing part, 33-hind trunk fixing part, 34-driving gear, 35-servo articulated platform, 36-servo mounting platform, 37-driving connecting plate, 4-bionic leg module, 5-leg rotation assembly, 51-rotating servo, 52-rotating servo fixing part, 53-articulated platform, 6-leg lifting assembly, 61-first servo, 62-second servo, 63-planar four-bar linkage, 64-first connecting rod, 65-second connecting rod, 66-first connecting rod fixing frame, 67-second connecting rod fixing frame, 68-motor fixing frame, 7-leg assembly, 71-connecting rod fixing rod, 72-middle carbon tube, 73-upper fixed sleeve, 74-lower fixed sleeve, 75-decorative panel, 76-bearing fixing platform, 8-adaptive adhesive foot, 81-mounting sleeve, 82-support foot, 83-articulated seat, 84-bearing, 85-anti-slip pad, 86-articulated block, 9-power supply module. DETAILED DESCRIPTION

[0020] The following will be combined with the attached embodiment of the present invention Figure 1-13 , the technical solutions in the embodiments of the present invention are described in detail. Example

[0021] like Figure 1 and 11 As shown, a bionic hexapod robot with a lightweight leg actively bending body includes a front trunk 1, a rear trunk 2, a waist structure 3 and a leg bionic module 4, wherein the front trunk 1 and the rear trunk 2 are connected by the waist structure 3 to form the trunk of the robot, and the leg bionic module 4 is installed on the front trunk 1 and the rear trunk 2, and the leg bionic module 4 can drive the entire robot trunk to move.

[0022] The main function of the front body 1 and the rear body 2 is to constitute the entire torso of the robot. At the same time, they also serve as carriers for installing the leg bionic modules 4 and search accessories. A control panel is arranged in the front body 1 and the rear body 2. The control panel can control multiple leg bionic modules 4, thereby controlling the overall movement of the robot.

[0023] The main function of the waist structure 3 is to connect the front torso 1 and the rear torso 2. At the same time, the waist structure 3 can drive the front torso 1 to rotate compared to the rear torso 2, thereby improving the overall freedom of the robot trunk. The robot trunk can bend and deform under the action of the waist structure 3 to achieve raising or lowering, making it convenient for the robot to climb high and low, thereby improving the hexapod robot's ability to overcome various forms of obstacles, thereby increasing the robot's adaptability to a variety of unstructured complex environments.

[0024] The main function of the leg bionic module 4 is to drive the overall movement of the robot. The driving part of the leg bionic module 4 is installed on the robot trunk close to the trunk. The joint driving motors in the leg bionic module 4 are concentrated on the robot trunk, which greatly reduces the weight of the legs, thereby reducing the output torque during the movement of the robot's legs, and then reducing the energy consumption of the robot's movement. Compared with existing products on the market, the endurance is stronger.

[0025] In addition, the design of concentrating the joint drive motors in the leg bionic module 4 on the robot trunk makes the structure of the part where the robot legs contact the ground simple. When used in a complex environment, even if the legs are hit or bumped, it will not affect the normal movement of the robot. At the same time, the modular design of the legs also facilitates replacement when damaged, thereby improving the efficiency of the working system.

[0026] like Figure 1 and 11 As shown, the front body part 1 includes a front body shell 11, a front body control panel and a front body protection bottom plate 14. The front body shell 11 is connected to the front body protection bottom plate 14, and the front body control panel is arranged in the installation cavity formed by the front body shell 11 and the front body protection bottom plate 14.

[0027] The main function of the forebody shell 11 is to protect the forebody control panel and other accessories installed in the forebody. The forebody shell 11 is preferably made of lightweight and high-strength engineering plastics, such as polyphenylene ether and polyamide. In order to achieve relatively complex bionic shape processing, the forebody shell 11 can also be made by 3D printing technology.

[0028] The front body protection bottom plate 14 serves as a carrier for connecting the waist structure 3. The front body protection bottom plate 14 is preferably made of a carbon plate with light weight and high strength.

[0029] In order to facilitate the control of the movement of the leg bionic module 4, a forequarter control panel is fixed in the forequarter 1 by screws, and the forequarter control panel includes an upper forequarter control panel 12 and a lower forequarter control panel 13. The two leg bionic modules 4 arranged on the forequarter 1 are connected to the upper forequarter control panel 12 and the lower forequarter control panel 13. The movement of the leg bionic module 4 is controlled by the upper forequarter control panel 12 and the lower forequarter control panel 13, thereby controlling the movement of the entire forequarter 1.

[0030] In order to facilitate the robot to detect the road environment in real time and facilitate the robot's walking movement, a sensor installation hole is opened at the front end of the forequarter control board. The sensor 15 for road environment detection is installed on the forequarter protective bottom plate 14 through the sensor installation hole and is connected to the forequarter control board. The forequarter control board receives the signal detected by the sensor 15 and sends corresponding instructions to the leg bionic module 4 to facilitate the robot's stable walking. The main function of the sensor 15 is to detect the walking road surface and facilitate the robot's walking. This embodiment preferably uses an existing ultrasonic sensor.

[0031] The hindquarters 2 includes a hindquarters shell 21, a hindquarters control panel and a hindquarters protective base plate 24. The hindquarters shell 21 is connected to the hindquarters protective base plate 24. The hindquarters control panel is arranged in an installation cavity formed by the hindquarters shell 21 and the hindquarters protective base plate 24. In order to facilitate the installation of multiple leg bionic modules 4, the size of the hindquarters 2 is larger than that of the front quarters 1.

[0032] The main function of the hindquarters shell 21 is to protect the hindquarters control panel and other accessories installed in the hindquarters as well as the micro life detector. The hindquarters shell 21 is preferably made of lightweight and high-strength engineering plastics, such as polyphenylene ether and polyamide. In order to achieve the processing of relatively complex bionic shapes, the hindquarters shell 21 can also be made by 3D printing technology.

[0033] The rear hindquarters protective bottom plate 24 serves as a carrier for connecting the waist structure 3. The rear hindquarters protective bottom plate 24 is preferably made of a carbon plate that is lightweight and high in strength.

[0034] In order to facilitate the control of the movement of the leg bionic module 4, a hindquarters control panel is fixed in the hindquarters 2 by screws, and the hindquarters control panel includes an upper hindquarters control panel 22 and a lower hindquarters control panel 23. The four leg bionic modules 4 arranged on the hindquarters 2 are connected to the upper hindquarters control panel 22 and the lower hindquarters control panel 23. The movement of the leg bionic modules 4 is controlled by the upper hindquarters control panel 22 and the lower hindquarters control panel 23, thereby controlling the movement of the entire hindquarters 2.

[0035] In order to facilitate the power supply to the entire robot, a power supply module 9 is also installed on the hind body 2, through which the entire robot can be powered. In addition, in order to facilitate the rescue of the robot, a corresponding search and rescue module can also be installed in the hind body 2. The search and rescue module is an existing device and can be used directly.

[0036] like Figure 1 , 2As shown in , 3 and 12, the waist structure 3 includes a waist servo 31, a forequarter fixing part 32 and a hindquarter fixing part 33. The waist servo 31 is arranged on the hindquarter fixing part 33 and is hinged to the forequarter fixing part 32. The forequarter fixing part 32 is fixed on the forequarter part 1, and the hindquarter fixing part 33 is fixed on the hindquarter part 2. The waist servo 31 can drive the forequarter fixing part 32 to rotate along the hinge, thereby driving the forequarter part 1 to rotate.

[0037] The front body fixing part 32 is a rectangular tube made of aluminum alloy with light weight and high strength. Threaded mounting holes are provided on the upper and lower end faces of the front body fixing part 32. The front body fixing part 32 is fixed to the front body protection bottom plate 14 through the threaded mounting holes.

[0038] In order to facilitate the connection with the waist servo 31, two "U"-shaped hinges are protruding on the rear side of the forequarter fixing part 32, and these hinges are named servo hinges 35. On the inner side of the servo hinges 35, a circular driving connection plate 37 is fixed by screws. The driving connection plate 37 is made of metal, and a gear meshing groove is provided on the inner side of the driving connection plate 37. The driving gear 34 at the end of the waist servo 31 is connected to the driving connection plate 37 through the gear meshing groove. In this way, when the waist servo 31 rotates, the forequarter 1 is rotated under the action of the driving connection plate 37, which makes it convenient for the robot to climb high and go down pits.

[0039] The waist steering gear 31 is an electric motor driven by electricity, which is an existing device and can be directly used.

[0040] Definition: In this embodiment, with the ground as a reference, the robot stands on the ground, the direction from the ground to the robot is upward, and vice versa, the direction from the robot to the ground is downward, the direction in which the front body 1 of the robot is installed is the front, and the direction in which the rear body 2 of the robot is installed is the rear.

[0041] The hindquarter fixing member 33 is a rectangular tube made of a light-weight and high-strength aluminum alloy. Threaded mounting holes are provided on the upper and lower end surfaces of the hindquarter fixing member 33 , and the hindquarter fixing member 33 is fixed to the hindquarter protective bottom plate 24 through the threaded mounting holes.

[0042] In order to facilitate the connection with the waist servo 31, two oppositely distributed rectangular plates are protruded perpendicular to the hindquarters fixing part 33 on the front side surface of the hindquarters fixing part 33. The two oppositely distributed rectangular plates and the hindquarters fixing part 33 together form a "U"-shaped servo mounting platform 36, and the waist servo 31 is fixed to the servo mounting platform 36 with screws.

[0043] Regarding the control of the movement of the waist servo 31, the control board for driving the movement of the waist servo 31 is installed in the rear body 2 and is connected to the sensor 15 on the front body 1. The sensor 15 detects the road conditions and sends instructions to control the front body 1 of the robot to lift up or bend downward along the hinge.

[0044] In this embodiment, it is preferred that the maximum upward lifting angle of the waist structure 3 is 45°, and the maximum downward bending angle is 45°.

[0045] like Figure 1 , 4 As shown in Figures 5, 6, 7, 12 and 13, the leg bionic module 4 includes a leg rotation component 5, a leg lifting component 6 and a leg component 7. The leg component 7 is connected to the leg lifting component 6, the leg lifting component 6 is connected to the leg rotation component 5, and the leg rotation component 5 is installed on the robot torso.

[0046] The main function of the leg rotation assembly 5 is to drive the entire leg assembly 7 to rotate left and right, and the main function of the leg lifting assembly 6 is to drive the entire leg assembly 7 to move up and down. The leg assembly 7 supports the entire robot torso. The leg assembly 7 realizes up and down movement and left and right movement under the joint action of the leg lifting assembly 6 and the leg rotation assembly 5, thereby driving the movement of the entire robot. The leg assembly 7 has a high degree of freedom, which is convenient for the robot to be used in complex situations.

[0047] In order to improve the robot's athletic ability, six leg bionic modules 4 are provided on the robot, two of which are installed on the front body 1 and located on both sides of the front body 1, and the other four are installed on the hind body 2 and distributed in pairs on both sides of the hind body 2.

[0048] The leg rotating assembly 5 includes a rotating servo 51 and a rotating servo fixing part 52 . The rotating servo 51 is fixed to the front body protection bottom plate 14 of the front body 1 or the rear body protection bottom plate 24 of the rear body 2 by screws. The rotating servo fixing part 52 is connected to the rotating servo 51 .

[0049] The main function of the rotary servo 51 is to drive the entire leg bionic module 4 to move left and right, and the main function of the rotary servo fixing member 52 is to connect the rotary servo 51 and the leg lifting assembly 6 .

[0050] The rotating servo fixing part 52 is a metal plate with a rectangular cross section. In order to facilitate the connection with the rotating servo 51, a "U"-shaped hinge platform 53 is protruded on the side of the rotating servo fixing part 52. A driving connecting disk 37 is fixed on the inner side of the hinge platform 53 by screws. The rotating servo 51 is connected to the driving connecting disk 37, and the entire leg bionic module 4 is driven to move through the rotating servo 51.

[0051] The leg lifting assembly 6 includes a first servo 61, a second servo 62 and a planar four-bar linkage 63, wherein the first servo 61 and the second servo 62 are respectively arranged on the rotating servo fixing member 52, and the planar four-bar linkage 63 connects the first servo 61, the second servo 62 and the leg assembly 7 respectively, and the first servo 61 and the second servo 62 can drive the entire leg assembly 7 to move up and down through the planar four-bar linkage 63.

[0052] Regarding the connection between the first steering gear 61 and the second steering gear 62 and the rotary steering gear fixing piece 52, a "U"-shaped motor fixing frame 68 is fixed to the first steering gear 61 and the second steering gear 62 by screws, and the motor fixing frame 68 is connected to the rotary steering gear fixing piece 52 by screws. When the rotary steering gear 51 rotates, it can drive the rotary steering gear fixing piece 52, the first steering gear 61 and the second steering gear 62 to move left and right.

[0053] The planar four-bar linkage 63 includes a first link 64 and a second link 65, wherein one end of the first link 64 is connected to the first servo 61 via a first link fixing frame 66, one end of the second link 65 is connected to the second servo via a second link fixing frame 67, and the other ends of the first link 64 and the second link 65 are connected to the leg assembly 7, which can be driven to move by the first servo 61 and the second servo 62, thereby driving the entire leg assembly 7 to move.

[0054] The first connecting rod fixing frame 66 is a "U"-shaped fixing frame. Two oppositely distributed connecting plates in the first connecting rod fixing frame 66 are connected to the first steering gear 61 through the driving connecting plate 37. One end of the first connecting rod 64 is pin-connected to the first connecting rod fixing frame 66. When the first steering gear 61 moves, it can drive the first connecting rod fixing frame 66 to rotate, thereby driving the first connecting rod 64 to move.

[0055] The second connecting rod fixing frame 67 is the same as the first connecting rod fixing frame 66, and is a "U"-shaped fixing frame. Two oppositely distributed connecting plates in the second connecting rod fixing frame 67 are connected to the second servo engine 62 through the driving connecting plate 37. One end of the second connecting rod 65 is fixedly connected to the second connecting rod fixing frame 67. When the second servo engine 62 moves, it can drive the second connecting rod fixing frame 67 to rotate, thereby driving the second connecting rod 65 to move.

[0056] The leg assembly 7 includes a connecting rod fixing rod 71, a fixing sleeve and a middle carbon tube 72. The middle carbon tube 72 is connected to the connecting rod fixing rod 71 through the fixing sleeve. The first connecting rod 64 and the second connecting rod 65 are respectively hinged to the connecting rod fixing rod 71 and can rotate freely along the hinge.

[0057] The connecting rod fixing rod 71 is a round metal rod. In order to facilitate the connection between the first connecting rod 64 and the second connecting rod 65, a rectangular hinge plane is concavely opened opposite to each other on the arc surface of the connecting rod fixing rod 71. The first connecting rod 64 and the second connecting rod 65 are respectively connected to one of the hinge planes by pins. In order to maintain aesthetics, after the first connecting rod 64 and the second connecting rod 65 are connected, a rectangular decorative panel 75 can be fixed on each hinge plane by screws.

[0058] The fixed sleeve includes an upper fixed sleeve 73 and a lower fixed sleeve 74. The upper fixed sleeve 73 is a circular hollow tube with one end open. The closed end of the upper fixed sleeve 73 is welded to the lower end of the connecting rod fixing rod 71. Three pin holes are installed at intervals on the arc surface of the upper fixed sleeve 73. The upper end of the middle carbon tube 72 is inserted into the upper fixed sleeve 73, and the insertion depth is adjusted through the pin holes.

[0059] The lower fixed sleeve 74 is a circular hollow tube with an open end. A circular bearing fixing platform 76 is protruded perpendicular to the end surface of the closed end of the lower fixed sleeve 74. The lower fixed sleeve 74 is connected to the adaptive adhesive foot 8 installed on the leg assembly 7 through the bearing fixing platform 76. Three pin holes are installed at intervals on the arc surface of the lower fixed sleeve 74. The lower end of the middle carbon tube 72 is inserted into the lower fixed sleeve 74, and the insertion depth is adjusted through the pin holes. This arrangement is convenient for adjusting the height of the robot as needed and is suitable for use in environments at different heights.

[0060] The overall structure of the leg bionic module 4 is simple and not easy to damage, and the heavier leg rotation component 5 and leg lifting component 6 in the leg bionic module 4 are both arranged on the robot torso, so that the weight of the legs is greatly reduced. The movement of the robot is achieved by relying on the movement of the leg component 7, thereby reducing the output torque of the robot's legs during movement, thereby reducing the energy consumption of the robot's movement and improving the endurance.

[0061] In addition, the leg assembly 7 has no components from the connecting rod downwards, so the legs of the robot are more resistant to impacts and knocks when in use. Conventional bumps, collisions and wading will not affect the normal movement of the robot. It is suitable for complex environments and has strong adaptability.

[0062] like Figure 1 , 7 As shown in Figures , 8, 9 and 10, in order to improve the overall operation stability of the robot, an adaptive adhesive foot 8 is also provided at the point where the lower end of the leg assembly 7 on each leg bionic module 4 contacts the ground. The adaptive adhesive foot 8 includes a mounting sleeve 81, a supporting foot 82 and an adaptive articulated platform. The mounting sleeve 81 is connected to the supporting foot 82 through the adaptive articulated platform. The supporting foot 82 automatically adapts to the ground shape under the action of the adaptive articulated platform to ensure the stability of the robot's operation.

[0063] The mounting sleeve 81 is a circular tube, and a bearing 84 is embedded in the upper end of the mounting sleeve 81. The outer ring of the bearing 84 is connected to the inner wall of the mounting sleeve 81, and the inner ring of the bearing 84 is fixedly connected to the bearing fixing platform 76 on the lower fixed sleeve 74. The mounting sleeve 81 can rotate freely relative to the leg assembly 7 under the action of the bearing 84.

[0064] The support foot 82 is a circular mounting platform made of metal, and a non-slip foot pad 85 is fixed integrally with the support foot 82 below the support foot 82. The non-slip foot pad 85 is made of rubber. The non-slip foot pad 85 can improve the stability of the support foot 82 when it contacts the ground, prevent sliding, and improve the stability of movement.

[0065] The adaptive articulated platform includes two articulated seats 83 and a "cross" shaped articulated block 86. The cross section of the articulated seat 83 is "U" shaped. The two articulated seats 83 are fixedly connected to the mounting sleeve 81 and the supporting foot 82 respectively. The articulated block 86 includes a circular articulated plate on which two "cross"-distributed articulated rods are passed. Articulated holes are provided on two oppositely distributed articulated plates of the articulated seat 83. The articulated block 86 is connected to the two articulated seats 83 by means of an articulated rod. The mounting sleeve 81 and the supporting foot 82 can rotate in a "cross" shape along the hinge relative to the articulated block 86.

[0066] The adaptive adhesive foot 8 has a high overall degree of freedom. When multiple leg bionic modules 4 of the robot are in contact with the ground, the adaptive adhesive foot 8 on each leg bionic module 4 can automatically adapt to the shape and tilt angle of the ground, thereby improving the stability of the robot.

[0067] The use process of this embodiment is as follows: when the sports ground is flat, the leg assembly 7 in the leg bionic module 4 on the front body 1 and the rear body 2 is first slightly lifted up by the leg lifting assembly 6, and then the leg rotating assembly 5 drives the leg assembly 7 to rotate counterclockwise, and then the leg assembly 7 is lowered and contacts the ground under the action of the leg lifting assembly 6, and at this time the leg rotating assembly 5 rotates clockwise, thereby driving the entire robot to move forward; When it is necessary to climb over an obstacle, the waist structure 3 rotates counterclockwise to lift the front torso 1, and then the leg bionic modules 4 on the front torso 1 and the rear torso 2 are moved and coordinated to drive the robot over the obstacle. Similarly, when encountering a pit, the waist structure 3 rotates clockwise to lower the front torso 1, and then the leg bionic modules 4 on the front torso 1 and the rear torso 2 are moved and coordinated to drive the robot into the pit.

[0068] The above embodiments are only for illustrating the technical idea of ​​the present invention, and cannot be used to limit the protection scope of the present invention. Any changes made on the basis of the technical solution in accordance with the technical idea proposed by the present invention shall fall within the protection scope of the present invention.

Claims

1. A bionic hexapod robot with lightweight legs and actively bending body, characterized in that: The robot comprises a front trunk (1), a rear trunk (2), a waist structure (3) and a bionic leg module (4); the front trunk (1) and the rear trunk (2) are connected via the waist structure (3) to form a robot trunk; the front trunk (1) can be controlled to bend relative to the rear trunk (2), and the angle between the front trunk (1) and the rear trunk (2) relative to the ground can be controlled and adjusted via the waist structure (3); a plurality of bionic leg modules (4) used for robot walking are movably mounted on the front trunk (1) and the rear trunk (2); the plurality of bionic leg modules (4) are driven individually to drive the front trunk (1) and the rear trunk (2) to move.

2. The bionic hexapod robot with lightweight legs and active bending body according to claim 1, characterized in that: The front part (1) comprises a front part shell (11), a front part control board and a sensor (15), wherein the front part control board and the sensor (15) are arranged in the front part shell (11), wherein the sensor (15) monitors the walking road condition and sends data to the front part control board, and the front part control board controls the movement of a bionic leg module (4) arranged on the rear part (2) according to the road condition data; the rear part (2) comprises a rear part shell (21) and a rear part control board, and wherein the rear part control board controls the movement of a bionic leg module (4) arranged on the rear part (2) according to the road condition.

3. The bionic hexapod robot with lightweight legs and active bending body according to claim 1, characterized in that: The waist structure (3) comprises a waist steering gear (31), a front body fixing member (32) and a rear body fixing member (33); the front body fixing member (32) is arranged on the front body part (1), the rear body fixing member (33) is arranged on the rear body part (2); the waist steering gear (31) connects the front body fixing member (32) and the rear body fixing member (33); and the angles between the front body fixing member (32) and the rear body fixing member (33) and the ground are controllably adjustable via the waist steering gear (31).

4. The bionic hexapod robot with lightweight legs and active bending body according to claim 1, characterized in that: The bionic leg module (4) comprises a leg rotating assembly (5), a leg lifting assembly (6) and a leg assembly (7); the leg assembly (7) is connected to the robot trunk via the leg rotating assembly (5); the leg lifting assembly (6) is connected to the leg rotating assembly (5) and the leg assembly (7); the leg lifting assembly (6) drives the leg assembly (7) to move up and down; the leg rotating assembly (5) drives the leg assembly (7) to rotate left and right, thereby driving the robot as a whole to move.

5. The bionic hexapod robot with lightweight legs and active bending body according to claim 4, characterized in that: The leg rotating assembly (5) comprises a rotating servo (51) and a rotating servo fixing member (52); the rotating servo (51) is arranged on the robot trunk; and the leg lifting assembly (6) is connected to the rotating servo (51) via the rotating servo fixing member (52).

6. The bionic hexapod robot with lightweight legs and active bending body according to claim 4, characterized in that: The leg assembly (7) comprises a connecting rod fixing rod (71), a middle carbon tube (72) and a fixing sleeve, the connecting rod fixing rod (71) is connected to the leg rotating assembly (5) via the leg lifting assembly (6), and the middle carbon tube (72) is connected to the connecting rod fixing rod (71) via the fixing sleeve.

7. The bionic hexapod robot with lightweight legs and active bending body according to claim 4, characterized in that: The leg lifting assembly (6) comprises a first steering engine (61), a second steering engine (62) and a planar four-bar linkage (63); the first steering engine (61) and the second steering engine (62) are connected to the leg rotating assembly (5); the planar four-bar linkage (63) respectively connects the leg assembly (7) with the first steering engine (61) and the second steering engine (62); the first steering engine (61) and the second steering engine (62) can drive the leg assembly (7) to move up and down via the planar four-bar linkage (63).

8. The bionic hexapod robot with lightweight legs and active bending body according to claim 7, characterized in that: The planar four-bar linkage (63) comprises a first link (64) and a second link (65); the first link (64) connects the leg assembly (7) and the first steering gear (61); the second link (65) connects the leg assembly (7) and the second steering gear (62); the first steering gear (61) and the second steering gear (62) can drive the leg assembly (7) to move up and down via the first link (64) and the second link (65).

9. The bionic hexapod robot with lightweight legs and active bending body according to claim 1, characterized in that: An adaptive adhesive foot (8) is provided on the bionic leg module (4), and the adaptive adhesive foot (8) automatically adapts to the angle of the ground.

10. The bionic hexapod robot with lightweight legs and active bending body according to claim 9, characterized in that: The self-adaptive adhesive foot (8) comprises a mounting sleeve (81) and a supporting foot (82); the mounting sleeve (81) and the supporting foot (82) are hingedly connected via two cross-distributed hinge seats (83); and the supporting foot (82) can automatically rotate along the hinge seats (83).

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