Hexapod robot based on heterogeneous bionic foot groups

Abstract

The invention relates to the technical field of robots, in particular to a hexapod robot based on heterogeneous bionic foot groups, which comprises a robot body, four advancing legs and two buffer legs, one marching leg, one buffering leg and one marching leg form a foot group in sequence, and the two foot groups are oppositely mounted on the left side and the right side of the robot body; the advancing leg and the buffering leg are respectively formed by movably connecting a plurality of sections of joint limbs; the marching leg comprises a tail end marching joint, the middle of the tail end marching joint is connected with a previous joint limb, and a track is installed on the tail end marching joint in a rolling mode around the limb and used for making contact with the ground; the buffer legs flexibly move between the machine body and the ground; the problem that an existing hexapod robot structure generally has difficulty in cooperative coexistence of terrain adaptive capacity, movement efficiency and load performance (namely bearing capacity) is solved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a hexapod robot based on a heterogeneous bionic foot group. Background Art

[0002] In addition to flat ground, the terrain in daily life also includes many complex terrains with ups and downs, ruggedness and unevenness. Faced with these complex terrains, the wheeled mechanical structure of traditional robots has difficulty walking, and robots with insufficient body balance may even roll over and affect their normal work. Therefore, the hexapod (spider bionic) robot designed based on bionic mechanics has shown great advantages when facing complex terrains.

[0003] At present, hexapod robots mostly adopt the following structural designs:

[0004] (1) Foot-track integrated type: Its characteristic is that the track is directly set at the end of the foot (such as Chinese patent CN201710565637.9), and the track is used to drive the robot to increase the movement speed on flat terrain; however, the end of the foot needs to carry components such as the track motor and transmission wheel set, which makes the end of the foot thick and easy to collide with each other during the movement of the six-legged foot, limiting the flexibility of the gait. At the same time, the load is concentrated on the joints, which are prone to fatigue damage during long-term operation and have poor load-bearing capacity;

[0005] (2) Fuselage-track composite type: Its characteristic is that the tracks are symmetrically arranged on both sides of the fuselage (such as Chinese patent CN202321193126.6). In the six-legged mode, the tracks are suspended in the air, and in the track mode, the feet are folded; however, in the six-legged mode, the load-bearing capacity is poor and the moving speed is low; in the track mode, due to the large contact area between the tracks and the ground, it is easy to slip when driving on a narrow support surface (such as a rock gap), and the high center of gravity increases the risk of rollover.

[0006] In summary, existing hexapod robot structures generally have the problem that terrain adaptability, movement efficiency and load performance (i.e., load-bearing capacity) are difficult to coexist in a coordinated manner. Summary of the invention

[0007] In view of the above-mentioned defects, the purpose of the present invention is to propose a hexapod robot based on a heterogeneous bionic foot group, which solves the problem that terrain adaptability, movement efficiency and load performance (i.e., load-bearing capacity) are difficult to coexist in the existing hexapod robot structure.

[0008] To achieve this object, the present invention adopts the following technical solutions:

[0009] A hexapod robot based on a heterogeneous bionic foot group comprises a body, four traveling legs and two buffer legs; one of the traveling legs, one of the buffer legs and one of the traveling legs form a group of foot groups, and two groups of the foot groups are relatively installed on the left and right sides of the body;

[0010] The traveling leg and the buffer leg are both composed of multiple sections of limbs movably connected;

[0011] The traveling leg comprises a terminal traveling section, the middle part of which is connected to the upper limb, and the terminal traveling section is provided with a crawler track rolling around the limb, and the crawler track is used to contact the ground;

[0012] The buffer legs are flexibly movable between the fuselage and the ground.

[0013] Furthermore, the fuselage is provided with a camera assembly, an ultrasonic assembly, a gyroscope assembly and a main control board; the camera assembly, the ultrasonic assembly and the gyroscope assembly are electrically connected to the main control board respectively;

[0014] The camera component and the ultrasonic component are used to cooperate in sensing environmental information;

[0015] The gyroscope assembly is used to sense the posture information of the hexapod robot;

[0016] The main control board is used to dynamically adjust the joint activities of the traveling leg and the buffer leg according to the environmental information and the posture information.

[0017] Furthermore, the traveling leg also includes a traveling base segment and a traveling connecting segment; the fuselage is horizontally rotationally connected to one end of the traveling base segment through the output shaft of the fixed servo, one end of the traveling connecting segment is vertically rotationally connected to the other end of the traveling base segment through the output shaft of the fixed servo, and the other end of the traveling connecting segment is vertically rotationally connected to the middle part of the terminal traveling segment through the output shaft of the fixed servo.

[0018] Further, the terminal traveling section includes a driving wheel, a first joint side plate, a second joint side plate and at least one driven wheel; the driving wheel and the plurality of driven wheels are sequentially arranged along the first joint side plate from top to bottom, the first joint side plate and the second joint side plate clamp and fix the driving wheel and the driven wheel, a driving device is fixedly installed on the upper end of the first joint side plate and is transmission-connected to the driving wheel, and the crawler track surrounds the outer sides of the driving wheel and the driven wheel;

[0019] The middle extensions of the first segment side plate and the second segment side plate are connected to the previous segment.

[0020] Furthermore, the terminal traveling section also includes a tensioning wheel; the middle extensions of the first segment side plate and the second segment side plate clamp and fix the tensioning wheel, the tensioning wheel and the driven wheel cooperate to clamp the track, and the outer side of the tensioning wheel faces the previous segment.

[0021] Furthermore, the upper and lower parts of the first segment side panel and the second segment side panel are bent toward the fuselage to form arc-shaped panels.

[0022] Furthermore, the buffer leg includes an end buffer section, a buffer base section and a buffer connecting section; the fuselage is horizontally rotationally connected to one end of the buffer base section through the output shaft of the fixed servo, one end of the buffer connecting section is vertically rotationally connected to the other end of the buffer base section through the output shaft of the fixed servo, the other end of the buffer connecting section is vertically rotationally connected to the fixed end of the end traveling section through the output shaft of the fixed servo, and the flexible movable end of the end traveling section is used to contact the ground.

[0023] Further, the end buffer section includes a buffer tube, a buffer nail body, an elastic member, an elastic cover and a film-type pressure sensor; the film-type pressure sensor, the elastic cover, the elastic member and the buffer nail body are sequentially installed in the buffer tube from top to bottom, the nail head of the buffer nail body and the elastic cover are buckled to limit the elastic member, the top end of the elastic cover and the top wall of the buffer tube clamp the film-type pressure sensor, and the nail body of the buffer nail body moves through the bottom end of the buffer tube;

[0024] The other end of the buffer connection section is vertically rotatably connected to the top end of the buffer cylinder through the output shaft of the fixed steering gear, and the bottom end of the nail body of the buffer nail body is used to contact the ground.

[0025] Furthermore, the fuselage includes a fuselage top plate, a fuselage bottom plate and six base segment driving mechanisms; the bottom surface of the fuselage top plate and the top surface of the fuselage bottom plate clamp and fix the base segment driving mechanisms, and the base segment driving mechanisms are drivingly connected to the traveling legs and the two buffer legs in a one-to-one correspondence;

[0026] The top surface of the fuselage top plate is provided with a camera pan / tilt frame, an ultrasonic bracket and a main control installation position are provided between the bottom surface of the fuselage top plate and the top surface of the fuselage bottom plate, and a cargo rack is provided on the bottom surface of the fuselage bottom plate;

[0027] The camera pan-tilt rack and the ultrasonic bracket are used to install the camera assembly and the ultrasonic assembly respectively, the main control installation position is used to install the gyroscope assembly and the main control board, and the cargo rack is used to load cargo.

[0028] Furthermore, the position between two adjacent base segment driving mechanisms corresponding to the fuselage top plate or the fuselage bottom plate is recessed toward the center of the fuselage top plate or the fuselage bottom plate.

[0029] The technical solution provided by the present invention may include the following beneficial effects: a group of legs is composed of a traveling leg, a buffer leg and a traveling leg, and the two groups of legs are relatively installed on the left and right sides of the fuselage, and the multi-segment limb activities of the traveling legs and the buffer legs are utilized, so that the hexapod robot can realize multi-legged alternating travel in a variety of coordinated modes and adapt to complex terrain.

[0030] At the same time, based on the terminal traveling segment of the traveling leg, a track is installed around the rolling limb, and it is connected to the upper limb through the middle part of the terminal traveling segment. The terminal traveling segment can move upright through the movement of the limb, without affecting the coordination between multiple legs. When necessary, it can also move upright while using the rolling track to assist in moving, which has both flexibility and increased travel speed; or the terminal traveling segment can lie flat through the movement of the limb, thereby increasing the contact area between the track and the ground, and using the rolling track to move, the travel speed will be much greater than the alternating travel mode of multiple legs; and because the traveling legs are equipped with tracks, no matter which travel mode the traveling legs adopt, the load-bearing capacity and heavy-load transportation capacity of the six-legged robot are greatly improved.

[0031] More importantly, by using the buffer legs to move flexibly between the body and the ground, the hexapod robot can use the flexible movement to weaken the impact of the ground on the hexapod robot when it is heavily loaded and faces various emergencies, making the hexapod robot move more stably. For example, when using the multi-legged alternating travel mode, when crossing a high drop terrain or performing a jumping action, the buffer legs can be used to land first for buffering; for example, when using the track travel mode, if the hexapod robot is about to hit an obstacle, the buffer legs can be used to support the ground to achieve rapid steering, or if it encounters a rock gap, the buffer legs can be used to support the ground to prevent rollover.

[0032] To sum up, when the hexapod robot is moving, the traveling legs are mainly responsible for movement and weight bearing, providing stable support; the buffer legs are mainly used to assist balance and adapt to the terrain, absorbing impact and adjusting posture through elasticity; the heterogeneous foot groups formed by traveling legs and buffer legs can expand more morphological switching, meet various work needs and adapt to more application environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a structural schematic diagram of a hexapod robot based on a heterogeneous bionic foot group according to one embodiment of the present invention.

[0034] Figure 2 Yes Figure 1 The structure of the traveling leg is shown Figure 1 .

[0035] Figure 3 Yes Figure 1 The structure of the traveling leg is shown Figure 2 .

[0036] Figure 4Yes Figure 1 Schematic diagram of the structure of the buffer leg shown.

[0037] Figure 5 Yes Figure 1 Shown is a front view of a hexapod robot based on a heterogeneous bionic foot group.

[0038] Figure 6 Yes Figure 1 A top view of a hexapod robot based on a heterogeneous bionic foot cluster is shown.

[0039] Among them: fuselage 1, traveling leg 2, buffer leg 3, terminal traveling joint 21, crawler track 211, traveling base joint 22, traveling connecting joint 23, driving wheel 212, first joint side plate 213, second joint side plate 214, driven wheel 215, tensioning wheel 216, terminal buffer joint 31, buffer base joint 32, buffer connecting joint 33, buffer cylinder 311, buffer nail body 312, elastic member 313, spring cover 314, fuselage top plate 11, fuselage bottom plate 12, base joint driving mechanism 13, camera pan / tilt frame 14, ultrasonic bracket 15, and cargo carrier 16. DETAILED DESCRIPTION

[0040] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0041] In the description of the present invention, it is necessary to understand that the terms "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, features defined as "first" or "second" may explicitly or implicitly include one or more of the features, and are used to distinguish and describe features, without distinction of order or importance.

[0042] In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0043] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0044] Combine the following Figures 1 to 6 , describing a hexapod robot based on a heterogeneous bionic foot group according to an embodiment of the present invention.

[0045] A hexapod robot based on a heterogeneous bionic foot group comprises a body 1, four traveling legs 2 and two buffer legs 3; one traveling leg 2, one buffer leg 3 and one traveling leg 2 form a foot group in sequence, and two groups of foot groups are relatively installed on the left and right sides of the body 1;

[0046] The traveling leg 2 and the buffer leg 3 are both composed of multiple segments of limbs that are movably connected;

[0047] The traveling leg 2 includes a terminal traveling segment 21, the middle part of which is connected to the upper segment, and a crawler 211 is installed around the terminal traveling segment 21 for rolling, and the crawler 211 is used for contacting the ground;

[0048] The buffer legs 3 are flexibly movable between the fuselage 1 and the ground.

[0049] The present invention proposes a preferred embodiment of a hexapod robot based on a heterogeneous bionic foot group, such as Figure 1 As shown, a group of legs is composed of a moving leg 2, a buffer leg 3 and a moving leg 2, and the two groups of legs are relatively installed on the left and right sides of the fuselage 1. By utilizing the multi-segment articular activities of the moving legs 2 and the buffer legs 3, the hexapod robot can realize multi-legged alternating movement in a variety of coordinated modes and adapt to complex terrain.

[0050] At the same time, based on the terminal traveling segment 21 of the traveling leg 2, a track 211 is installed around the limb for rolling, and is connected to the previous limb through the middle part of the terminal traveling segment 21. The terminal traveling segment 21 can move upright through the movement of the limb, without affecting the coordination between multiple legs. When necessary, it can also move upright while using the rolling track 211 to assist in moving, which has both flexibility and increased travel speed; or the terminal traveling segment 21 can lie flat through the movement of the limb, thereby increasing the contact area between the track 211 and the ground, and using the rolling track 211 to move, the travel speed will be much greater than the multi-legged alternating travel mode; and because the traveling leg 2 is installed with the track 211, no matter which travel mode the traveling leg 2 adopts, the load-bearing capacity and heavy-load transportation capacity of the six-legged robot are greatly improved.

[0051] More importantly, by using the buffer legs 3 to flexibly move between the body 1 and the ground, the hexapod robot can use the flexible movement to weaken the impact of the ground on the hexapod robot when it is heavily loaded and faces various emergencies, making the hexapod robot move more stably. For example, when using the multi-legged alternating travel mode, when crossing a high drop terrain or performing a jumping action, the buffer legs 3 can be used to land first for buffering; for example, when using the crawler travel mode, if the hexapod robot is about to hit an obstacle, the buffer legs 3 can be used to support the ground to achieve rapid steering, or if it encounters a rock gap, the buffer legs 3 can be used to support the ground to prevent rollover.

[0052] To sum up, when the hexapod robot is moving, the traveling leg 2 is mainly responsible for movement and weight bearing, providing stable support; the buffer leg 3 is mainly used to assist balance and adapt to the terrain, absorbing impact and adjusting posture through elasticity; the heterogeneous foot group formed by the traveling leg 2 and the buffer leg 3 can expand more morphological switching, meet various work needs and adapt to more application environments.

[0053] Furthermore, the fuselage 1 is provided with a camera assembly, an ultrasonic assembly, a gyroscope assembly and a main control board; the camera assembly, the ultrasonic assembly and the gyroscope assembly are electrically connected to the main control board respectively;

[0054] The camera component and the ultrasonic component are used to cooperate in sensing environmental information;

[0055] The gyroscope component is used to sense the posture information of the hexapod robot;

[0056] The main control board is used to dynamically adjust the joint activities of the moving leg 2 and the buffer leg 3 according to the environmental information and posture information.

[0057] In this embodiment, based on the fact that both the traveling legs 2 and the buffer legs 3 are composed of multiple segments of articulated movable connections, the articulated activities of the traveling legs 2 and the buffer legs 3 in the same leg group or between different leg groups need to be coordinated very carefully; therefore, a camera component and an ultrasonic component are required to cooperate in sensing environmental information, so that the detection range is more comprehensive, reducing detection blind spots, and providing data support for the traveling direction and traveling mode switching of the six-legged robot; at the same time, the gyroscope component is used to sense the changes in the posture of the six-legged robot and the ups and downs angle of the fuselage 1, so as to dynamically adjust the articulated activities of the traveling legs 2 and the buffer legs 3 to avoid rollover, and to ensure the stability of the fuselage 1 to prevent the cargo loaded by the six-legged robot from falling.

[0058] Specifically, during the exercise, according to the data of the environmental information and the posture information, the force conditions of the buffer leg 3 are roughly divided into three types (taking these three types as examples, more coordinated exercise modes can be expanded):

[0059] (1) Uniform force: if all buffer legs 3 are subjected to uniform force, it indicates that the ground is flat or the robot moves smoothly.

[0060] When the two buffer legs 3 are under uniform force (i.e., the pressure on the two legs is the same when standing), it indicates that the robot is on a flat ground. The robot chooses to use a triangular gait to move quickly. At this time, the six legs are divided into two groups according to the movement state:

[0061] Group 1: left front leg (traveling leg 2), right middle leg (cushioning leg 3), left hind leg (traveling leg 2);

[0062] Group 2: right front leg (traveling leg 2), left middle leg (buffering leg 3), right hind leg (traveling leg 2);

[0063] During the movement process, the two groups of legs cycle and alternate movement states, such as three legs supporting at the same time and three legs moving at the same time:

[0064] Step 1: The three legs of group 1 are lifted and move forward, while the three legs of group 2 support the body and push the robot forward;

[0065] Step 2: After the three legs of group 1 touch the ground, the three legs of group 2 are lifted and moved forward, while the three legs of group 1 support the body;

[0066] Repeat the above two steps to achieve continuous motion.

[0067] (2) Uneven force: For example, if the buffer leg 3 is subjected to greater force, it indicates that the ground is uneven or the robot is tilted.

[0068] When the force on the buffer leg 3 is uneven but the change is small (i.e. the pressure on the two legs is different when standing, but the difference is not big), it indicates that the robot is on slightly uneven ground. The robot chooses to use a quadruped gait to move. At this time, the six legs are divided into three groups according to the movement state:

[0069] Group 1: left front leg (traveling leg 2), right hind leg (traveling leg 2);

[0070] Group 2: right front leg (traveling leg 2), left hind leg (traveling leg 2);

[0071] Group 3: left middle leg (buffer leg 3), right middle leg (buffer leg 3);

[0072] During the movement, the three groups of legs cycle and alternate in motion, that is, four legs support at the same time, and two legs move at the same time:

[0073] Step 1: The two legs of group 1 are lifted and moved forward, while the four legs of groups 2 and 3 support the body;

[0074] Step 2: After the two legs of group 1 touch the ground, the two legs of group 2 are lifted and moved forward, while the four legs of group 1 and group 3 support the body;

[0075] Step 3: After the two legs of group 2 touch the ground, the two legs of group 3 are lifted and moved forward, while the four legs of group 1 and group 2 support the body;

[0076] Repeat the above three steps to achieve continuous motion.

[0077] (3) Withstand impact force. For example, if the buffer leg 3 is suddenly subjected to a large impact, it indicates that an obstacle has been encountered or the terrain has changed suddenly.

[0078] When the force on the buffer leg 3 is uneven and varies greatly (i.e., the pressure on the two legs is different when standing, and the difference is large), it indicates that the robot is on a rough ground. The robot chooses to use a wave gait for stable movement, that is, the six legs move in sequence, with high stability:

[0079] The left front leg is lifted and moved forward, while the remaining five legs support the body;

[0080] After the left front leg touches the ground, the right front leg is lifted and moved forward, and the remaining five legs support the body;

[0081] After the right front leg touches the ground, the left middle leg is lifted and moved forward, with the remaining five legs supporting the body;

[0082] After the left middle leg touches the ground, the right middle leg is lifted and moved forward, with the remaining five legs supporting the body;

[0083] After the right middle leg touches the ground, the left hind leg is lifted and moved forward, and the remaining five legs support the body;

[0084] After the left hind leg touches the ground, the right hind leg is lifted and moved forward, and the remaining five legs support the body;

[0085] Repeat the above process to achieve continuous motion.

[0086] Specifically, during the movement, according to the data of the environmental information and the posture information, the movement state of the moving leg 2 can be roughly divided into two types (taking these two as examples, more coordinated movement modes can be expanded):

[0087] State 1: the end traveling section 21 of the traveling leg 2 is in an upright motion state, such as the coordinated motion of the buffer leg 3 in the three force conditions;

[0088] State 2: The middle part of the terminal traveling segment 21 of the traveling leg 2 rotates relative to the upper segment, so that the terminal traveling segment 21 of the traveling leg 2 lies flat, and then rolls using the track 211. At this time, the buffer leg 3 can move in coordination or be lifted directly.

[0089] Furthermore, the traveling leg 2 also includes a traveling base segment 22 and a traveling connecting segment 23; the fuselage 1 is horizontally rotationally connected to one end of the traveling base segment 22 through the output shaft of the fixed servo, one end of the traveling connecting segment 23 is vertically rotationally connected to the other end of the traveling base segment 22 through the output shaft of the fixed servo, and the other end of the traveling connecting segment 23 is vertically rotationally connected to the middle part of the terminal traveling segment 21 through the output shaft of the fixed servo.

[0090] In this embodiment, Figure 2 and 3 As shown, the traveling leg 2 is preferably composed of three segments of the terminal traveling segment 21, the traveling base segment 22 and the traveling connecting segment 23, which can meet the freedom of movement of the traveling leg 2 segments while reducing the number of segments to improve the load-bearing capacity. More importantly, the layout design of concentrating the servos at the traveling connecting segment 23 can, firstly, make the servo power transmission path as short as possible and reduce the redundant movement of the joints; secondly, since the traveling connecting segment 23 needs to be installed with two servos, it needs to be fixed integrally with an H-shaped bracket, which can make the limb of the traveling connecting segment 23 thick enough and non-redundant, optimize the mechanical structure design and improve the load-bearing capacity of the traveling connecting segment 23.

[0091] Further, the terminal traveling section 21 includes a driving wheel 212, a first joint side plate 213, a second joint side plate 214 and at least one driven wheel 215; the driving wheel 212 and the plurality of driven wheels 215 are sequentially arranged along the first joint side plate 213 from top to bottom, the first joint side plate 213 and the second joint side plate 214 clamp and fix the driving wheel 212 and the driven wheel 215, the upper end of the first joint side plate 213 is fixedly installed with a driving device that is transmission-connected to the driving wheel 212, and the crawler 211 surrounds the outer sides of the driving wheel 212 and the driven wheel 215;

[0092] The middle extensions of the first segment side plate 213 and the second segment side plate 214 are connected to the previous segment.

[0093] In this embodiment, the end travel section 21 adopts a double-side plate clamping design to ensure that the rolling directions of the driving wheel 212 and the driven wheel 215 are consistent, reducing the risk of the track 211 running off track; at the same time, it also enhances the load-bearing capacity of the end travel section 21 when traveling vertically or horizontally.

[0094] Furthermore, the end traveling section 21 also includes a tensioning wheel 216; the middle extension of the first section side plate 213 and the second section side plate 214 clamps and fixes the tensioning wheel 216, and the tensioning wheel 216 and the driven wheel 215 cooperate to clamp the track 211, and the outer side of the tensioning wheel 216 faces the previous section.

[0095] In this embodiment, the terminal traveling joint 21 also adjusts the tension of the track 211 through mechanical squeezing of the tensioning wheel 216 to adapt to the telescopic deformation under different terrains (for example, the track needs to be tightened when the sand is soft, which is achieved by replacing a larger tensioning wheel 216), and the tensioning wheel 216 cooperates with the driven wheel 215 to clamp the track 211, which can effectively prevent the track 211 from falling off under high-speed movement or impact load; more importantly, when the terminal traveling joint 21 is close to the previous joint (i.e., the traveling connecting joint 23) due to the movement of the joint, it can roll against the previous joint through the outer side of the tensioning wheel 216 to prevent the track 211 from directly contacting the previous joint, affecting the rolling of the track 211 or causing damage to the previous joint.

[0096] Furthermore, the upper and lower parts of the first segment side plate 213 and the second segment side plate 214 are bent toward the fuselage 1 to form arc-shaped plates.

[0097] In this embodiment, the first segment side plate 213 and the second segment side plate 214 use arc-shaped plates to reduce the rigid collision between the track 211 and obstacles, guide the track 211 to overcome obstacles (such as climbing over the edge of a rock) by sliding, and enhance the obstacle-crossing ability and force uniformity of the track 211 under rugged terrain.

[0098] Furthermore, the buffer leg 3 includes an end buffer section 31, a buffer base section 32 and a buffer connecting section 33; the fuselage 1 is horizontally rotationally connected through the output shaft of the fixed servo and one end of the buffer base section 32, one end of the buffer connecting section 33 is vertically rotationally connected through the output shaft of the fixed servo and the other end of the buffer base section 32, the other end of the buffer connecting section 33 is vertically rotationally connected through the output shaft of the fixed servo and the fixed end of the end traveling section 21, and the flexible movable end of the end traveling section 21 is used to contact the ground.

[0099] In this embodiment, Figure 4 As shown, the design principle of the buffer leg 3 is the same as that of the traveling leg 2, which is also to optimize the mechanical structure design while improving the load-bearing capacity of the buffer leg 3.

[0100] Furthermore, the end buffer section 31 includes a buffer tube 311, a buffer nail body 312, an elastic member 313, an elastic cover 314 and a film-type pressure sensor; the film-type pressure sensor, the elastic cover 314, the elastic member 313 and the buffer nail body 312 are sequentially installed in the buffer tube 311 from top to bottom, the nail head of the buffer nail body 312 and the elastic cover 314 are buckled with the limiting elastic member 313, the top end of the elastic cover 314 and the top wall of the buffer tube 311 clamp the film-type pressure sensor, and the nail body of the buffer nail body 312 moves through the bottom end of the buffer tube 311;

[0101] The other end of the buffer connection section 33 is vertically rotatably connected to the top of the buffer cylinder 311 through the output shaft of the fixed servo, and the bottom end of the buffer nail body 312 is used to contact the ground.

[0102] In this embodiment, the function of the end buffer section 31 is mainly achieved by the nail head of the buffer nail body 312 and the spring cover 314 locking together the limiting elastic part 313 (such as a spring), and the elastic part 313 is used to absorb high-frequency impacts (such as falling vibrations), thereby forming flexible activity capabilities; based on this, the top end of the spring cover 314 and the top wall of the buffer tube 311 clamp a thin film pressure sensor, so that the thin film pressure sensor can monitor the pressure borne by the buffer leg 3 in real time, and combine the environmental information and posture information to realize the dynamic adjustment of the joint activity of the buffer leg 3 (such as when the fuselage 1 is overloaded on one side, the corresponding buffer leg 3 is contracted).

[0103] Furthermore, the fuselage 1 includes a fuselage top plate 11, a fuselage bottom plate 12 and six base segment driving mechanisms 13; the base segment driving mechanisms 13 are clamped and fixed by the bottom surface of the fuselage top plate 11 and the top surface of the fuselage bottom plate 12, and the base segment driving mechanisms 13 are correspondingly connected to the traveling legs 2 and the two buffer legs 3 in a driving manner;

[0104] A camera pan / tilt frame 14 is provided on the top surface of the fuselage top plate 11, an ultrasonic bracket 15 and a main control installation position are provided between the bottom surface of the fuselage top plate 11 and the top surface of the fuselage bottom plate 12, and a cargo rack 16 is provided on the bottom surface of the fuselage bottom plate 12;

[0105] The camera pan-tilt frame 14 and the ultrasonic bracket 15 are used to install the camera component and the ultrasonic component respectively, the main control installation position is used to install the gyroscope component and the main control board, and the cargo rack 16 is used to load cargo.

[0106] In this embodiment, Figure 5 As shown, based on the need to install a variety of electronic control components and carry cargo on the fuselage 1, the fuselage 1 is preferably divided into a partition layout by clamping a base segment driving mechanism 13 on the bottom surface of the fuselage top plate 11 and the top surface of the fuselage bottom plate 12; wherein, a camera pan-tilt stand frame 14 is provided on the top surface of the fuselage top plate 11 for installing a camera component, which can expand the camera field of view; an ultrasonic bracket 15 and a main control mounting position are provided between the bottom surface of the fuselage top plate 11 and the top surface of the fuselage bottom plate 12 for installing a gyroscope component and a main control board, respectively, which is convenient for protection and front and rear detection of the ultrasonic component; a cargo rack 16 is provided on the bottom surface of the fuselage bottom plate 12 for loading cargo, which can protect the cargo on the abdomen of the hexapod robot, and at the same time, the center of gravity is lower, which can effectively reduce the movement of the cargo during the movement.

[0107] It should be noted that a mounting position or mounting frame may be reserved on the top surface of the fuselage top plate 11, between the bottom surface of the fuselage top plate 11 and the top surface of the fuselage bottom plate 12, or on the bottom surface of the fuselage bottom plate 12 to facilitate subsequent expansion of sensors.

[0108] Furthermore, the position between two adjacent base segment driving mechanisms 13 of the fuselage top plate 11 or the fuselage bottom plate 12 is recessed toward the center of the fuselage top plate 11 or the fuselage bottom plate 12 .

[0109] In this embodiment, Figure 6 As shown, the position between two adjacent base segment driving mechanisms 13 corresponding to the top plate 11 or the bottom plate 12 of the fuselage is recessed toward the center of the top plate 11 or the bottom plate 12 of the fuselage, which can provide ample movement space for the base segment driving mechanism 13 and the connected limbs. Firstly, it can avoid movement interference between adjacent limbs in multi-legged movement; secondly, it can avoid the movement interference between the moving legs 2 and the buffer legs 3 with the fuselage 1 when they are lying down, thereby affecting the execution of the movement.

[0110] Other structures and operations of a hexapod robot based on a heterogeneous bionic foot group according to an embodiment of the present invention are well known to those skilled in the art and will not be described in detail here.

[0111] In the description of this specification, the description with reference to the terms "embodiment", "example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0112] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A hexapod robot based on a heterogeneous bionic foot group, characterized in that: It comprises a body, four traveling legs and two buffer legs; one of the traveling legs, one of the buffer legs and one of the traveling legs are sequentially formed into a group of legs, and two groups of legs are relatively installed on the left and right sides of the body; The traveling leg and the buffer leg are both composed of multiple sections of limbs movably connected; The traveling leg comprises a terminal traveling section, the middle part of which is connected to the upper limb, and the terminal traveling section is provided with a crawler track rolling around the limb, and the crawler track is used to contact the ground; The buffer legs are flexibly movable between the fuselage and the ground.

2. A hexapod robot based on a heterogeneous bionic foot group according to claim 1, characterized in that: The fuselage is provided with a camera assembly, an ultrasonic assembly, a gyroscope assembly and a main control board; the camera assembly, the ultrasonic assembly and the gyroscope assembly are electrically connected to the main control board respectively; The camera component and the ultrasonic component are used to cooperate in sensing environmental information; The gyroscope assembly is used to sense the posture information of the hexapod robot; The main control board is used to dynamically adjust the joint activities of the traveling leg and the buffer leg according to the environmental information and the posture information.

3. A hexapod robot based on a heterogeneous bionic foot group according to claim 1, characterized in that: The traveling leg also includes a traveling base segment and a traveling connecting segment; the fuselage is horizontally rotationally connected to one end of the traveling base segment through the output shaft of the fixed servo, one end of the traveling connecting segment is vertically rotationally connected to the other end of the traveling base segment through the output shaft of the fixed servo, and the other end of the traveling connecting segment is vertically rotationally connected to the middle part of the terminal traveling segment through the output shaft of the fixed servo.

4. A hexapod robot based on a heterogeneous bionic foot group according to claim 1, characterized in that: The terminal traveling section comprises a driving wheel, a first limb side plate, a second limb side plate and at least one driven wheel; the driving wheel and the plurality of driven wheels are sequentially arranged along the first limb side plate from top to bottom, the first limb side plate and the second limb side plate clamp and fix the driving wheel and the driven wheel, a driving device is fixedly installed on the upper end of the first limb side plate and is in transmission connection with the driving wheel, and the crawler track surrounds the outer sides of the driving wheel and the driven wheel; The middle extensions of the first segment side plate and the second segment side plate are connected to the previous segment.

5. A hexapod robot based on a heterogeneous bionic foot group according to claim 4, characterized in that: The terminal traveling section also includes a tensioning wheel; the middle extensions of the first segment side plate and the second segment side plate clamp and fix the tensioning wheel, the tensioning wheel and the driven wheel cooperate to clamp the track, and the outer side of the tensioning wheel faces the previous segment.

6. A hexapod robot based on a heterogeneous bionic foot group according to claim 4, characterized in that: The upper and lower parts of the first segment side plate and the second segment side plate are bent toward the fuselage to form arc-shaped plates.

7. The hexapod robot based on a heterogeneous bionic foot group according to claim 1, characterized in that: The buffer leg includes an end buffer section, a buffer base section and a buffer connecting section; the fuselage is horizontally rotationally connected to one end of the buffer base section through the output shaft of the fixed servo, one end of the buffer connecting section is vertically rotationally connected to the other end of the buffer base section through the output shaft of the fixed servo, the other end of the buffer connecting section is vertically rotationally connected to the fixed end of the end traveling section through the output shaft of the fixed servo, and the flexible movable end of the end traveling section is used to contact the ground.

8. The hexapod robot based on a heterogeneous bionic foot group according to claim 7, characterized in that: The end buffer section includes a buffer tube, a buffer nail body, an elastic member, an elastic cover and a film-type pressure sensor; the film-type pressure sensor, the elastic cover, the elastic member and the buffer nail body are sequentially installed in the buffer tube from top to bottom, the nail head of the buffer nail body and the elastic cover are buckled to limit the elastic member, the top end of the elastic cover and the top wall of the buffer tube clamp the film-type pressure sensor, and the nail body of the buffer nail body moves through the bottom end of the buffer tube; The other end of the buffer connection section is vertically rotatably connected to the top end of the buffer cylinder through the output shaft of the fixed steering gear, and the bottom end of the nail body of the buffer nail body is used to contact the ground.

9. The hexapod robot based on a heterogeneous bionic foot group according to claim 2, characterized in that: The fuselage comprises a fuselage top plate, a fuselage bottom plate and six base segment driving mechanisms; the base segment driving mechanisms are clamped and fixed by the bottom surface of the fuselage top plate and the top surface of the fuselage bottom plate, and the base segment driving mechanisms are drivingly connected to the traveling legs and the two buffer legs in a one-to-one correspondence; The top surface of the fuselage top plate is provided with a camera pan / tilt frame, an ultrasonic bracket and a main control installation position are provided between the bottom surface of the fuselage top plate and the top surface of the fuselage bottom plate, and a cargo rack is provided on the bottom surface of the fuselage bottom plate; The camera pan-tilt rack and the ultrasonic bracket are used to install the camera assembly and the ultrasonic assembly respectively, the main control installation position is used to install the gyroscope assembly and the main control board, and the cargo rack is used to load cargo.

10. The hexapod robot based on a heterogeneous bionic foot group according to claim 9, characterized in that: The position between the two adjacent base segment driving mechanisms of the fuselage top plate or the fuselage bottom plate is recessed toward the center of the fuselage top plate or the fuselage bottom plate.

Images