Bionic robot based on gold wheel spider

Abstract

The utility model discloses a bionic robot based on gold wheel spiders. The bionic robot comprises an upper supporting plate, a lower supporting plate, a first annular base and a second annular base. A motor support and a supporting frame are symmetrically and fixedly arranged at the two ends of the upper supporting plate respectively, and the motor support is arranged in the middle of the upper supporting plate. An output shaft of the motor penetrates through the motor bracket and is coupled with the motor bracket; the lower supporting plate is arranged below the upper supporting plate and is parallel to the upper supporting plate, and one end of the supporting frame is fixedly arranged on the lower supporting plate; a second annular seat is coaxially inserted into the first annular seat, and a gap is reserved between the first annular seat and the second annular seat; a plurality of bent plates are arranged on the peripheral wall of the second annular seat at equal intervals, and the bent plates are bent towards the direction of the first annular seat; the bent plate is connected with the first annular seat through a supporting rod; according to the utility model, through the opening or closing posture change of the walking mechanism, the walking mechanism can be timely adjusted to a proper working state according to different landing point terrain forms, such as a flat ground, a steep slope, a stair and the like.

Description

Technical Field

[0001] The utility model relates to the technical field of reconnaissance robots, in particular to a bionic robot based on a golden wheel spider. Background Art

[0002] A bionic robot is a robot that imitates living organisms and performs work that is characteristic of living organisms.

[0003] Some existing bionic robots have excellent obstacle-crossing ability and mobility in complex environments. For example, search robots are widely used in special environments such as underwater, underground, and high in the sky, although they still have problems in adaptability, clarity, stability, and accuracy. Setting up a flexible walking mechanism on a bionic robot can improve its movement ability and obstacle-crossing ability, and expand the scope of use of bionic robots.

[0004] However, in the face of complex and ever-changing working environments, bionic robots should also have good seismic resistance so as to provide impact buffering for the entire device when it is deployed or moving. Utility Model Content

[0005] The utility model aims to provide a bionic robot based on a golden wheel spider, so as to improve the fall and shock resistance of the reconnaissance robot and to perform corresponding posture changes according to different landing point terrain forms.

[0006] In order to solve the above technical problems, the utility model specifically provides the following technical solutions:

[0007] The utility model provides a bionic robot based on a golden wheel spider, comprising: an upper support plate, two ends of which are respectively fixedly provided with a symmetrical motor bracket and a support frame, the motor bracket is arranged in the middle of the upper support plate, and the two support frames are symmetrically arranged on both sides of the motor bracket; a motor is fixedly provided on the motor bracket, and the output shaft of the motor passes through the motor bracket and is axially connected with the motor bracket; a lower support plate is arranged below the upper support plate and parallel to the upper support plate, one end of the support frame is fixedly arranged on the lower support plate, and the motor bracket and the support frame have the same orientation; a first annular seat, which is connected to the output shaft of the motor through a shaft sleeve and rotates under the drive of the motor; wherein a second annular seat is coaxially plugged on the first annular seat, and a spacing is left between the first annular seat and the second annular seat; a plurality of bent plates are equidistantly provided on the peripheral wall of the second annular seat, and the bent plates are bent toward the first annular seat; the bent plate and the first annular seat are connected by a support rod, and the two ends of the support rod are respectively hinged to the bent plate and the first annular seat.

[0008] Furthermore, the first annular seat and the second annular seat are respectively provided with connecting grooves with the same inclination direction, the bent plate is connected to the first annular seat through the connecting groove, and the support rod is connected to the second annular seat through the connecting groove.

[0009] Furthermore, an inclined connecting rod is provided on the support frame, and the connecting rod is used to connect the shock absorbing assembly on the support frame; wherein, one end of the connecting rod is a straight rod hinged on the support frame, and the other end of the connecting rod is a U-shaped fork plate penetrated by the output shaft.

[0010] Furthermore, the shock absorbing assembly includes a shock absorbing bracket, a shock absorbing rod, and a shock absorbing spring; wherein the shock absorbing bracket is hinged on the fork plate, the shock absorbing rod is fixed on the shock absorbing bracket, and the shock absorbing spring is sleeved on the shock absorbing rod.

[0011] Furthermore, a main controller is provided below the lower supporting plate.

[0012] Furthermore, a cover body is provided on the upper support plate and the lower support plate. The cover body is a cylindrical structure. The peripheral wall of the cover body gradually concave from the outer edge to the middle. The cover body is fixedly connected to the upper support plate and the lower support plate.

[0013] Furthermore, a camera is provided in the middle of the cover body, and the camera is located between the upper support plate and the lower support plate.

[0014] Compared with the prior art, the utility model has the following beneficial effects:

[0015] The utility model arranges a first annular seat and a second annular seat with adjustable spacing on the output shaft of the motor, and movably hinges one end of each bent plate to the fixed second annular seat to form a walking mechanism, so that the bent plate can realize the opening or closing posture change of the walking mechanism through the drive of the support rod during the movement of the first annular seat, so as to be able to timely adjust to a suitable working state according to different landing point terrain forms, such as flat ground, steep slope, stairs, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the implementation of the utility model or the technical solution in the prior art, the following is a brief introduction to the drawings required for the implementation or the prior art description. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0017] Figure 1 A three-dimensional structural diagram of a bionic robot based on a golden wheel spider provided by the utility model;

[0018] Figure 2 for Figure 1 Enlarged view of middle Ⅰ;

[0019] Figure 3 for Figure 1 Enlarged view of middle Ⅱ;

[0020] Figure 4 for Figure 1 Exploded diagram of

[0021] Figure 5 for Figure 1 Schematic diagram of the connection structure of the middle bending plate.

[0022] The numbers in the figure represent the following:

[0023] 10. Upper support plate; 11. Motor bracket; 12. Support frame; 13. Motor; 131. Output shaft; 14. Connecting rod; 141. Fork plate; 20. Lower support plate; 21. Main controller; 30. First annular seat; 31. Bushing; 32. Second annular seat; 33. Bending plate; 34. Support rod; 35. Connecting groove; 40. Shock-absorbing assembly; 41. Shock-absorbing bracket; 42. Shock-absorbing rod; 43. Shock-absorbing spring; 50. Cover; 51. Camera. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0025] like Figure 1 As shown, the utility model provides a bionic robot based on a golden wheel spider, comprising:

[0026] The upper support plate 10 has symmetrical motor brackets 11 and support frames 12 fixedly disposed at both ends thereof. The motor bracket 11 is disposed in the middle of the upper support plate 10, and two support frames 12 are symmetrically disposed on both sides of the motor bracket 11. A motor 13 is fixedly disposed on the motor bracket 11, and an output shaft 131 of the motor 13 penetrates the motor bracket 11 and is axially connected thereto.

[0027] A lower support plate 20 is disposed below and parallel to the upper support plate 10, one end of the support frame 12 is fixedly disposed on the lower support plate 20, and the motor bracket 11 and the support frame 12 are oriented in the same direction;

[0028] The first annular seat 30 is connected to the output shaft 131 of the motor 13 through the shaft sleeve 31 and rotates under the drive of the motor 13;

[0029] Among them, the second annular seat 32 is coaxially inserted on the first annular seat 30, and a distance is left between the first annular seat 30 and the second annular seat 32; a plurality of bent plates 33 are equidistantly provided on the peripheral wall of the second annular seat 32, and the bent plates 33 are bent toward the first annular seat 30; the bent plates 33 and the first annular seat 30 are connected by a support rod 34, and the two ends of the support rod 34 are respectively hinged to the bent plates 33 and the first annular seat 30.

[0030] The utility model arranges a first annular seat 30 and a second annular seat 32 with adjustable spacing on the output shaft 131 of the motor 13, and movably hinges one end of each bent plate 33 to the fixed second annular seat 32 to form a walking mechanism, so that the bent plate 33 can realize the opening or closing posture change of the walking mechanism through the driving of the support rod 34 during the movement of the first annular seat 30, so as to be able to timely adjust to a suitable working state according to different landing point terrain forms, such as flat ground, steep slope, stairs, etc.

[0031] Before the device is put into use, the distance between the first annular seat 30 and the second annular seat 32 is the smallest, and the walking mechanism is in an open state. After the device is put into use, the various bent plates 33 in the walking mechanism are compressed by the weight of the device, so that the first annular seat 30 is pushed away from the second annular seat 32, and the walking mechanism is restored to the folded state. At this time, the distance between the first annular seat 30 and the second annular seat 32 is the largest, and the output shaft 131 of the motor 13 drives the rotation of the walking mechanism, thereby realizing its own bidirectional walking for reconnaissance operations.

[0032] like Figure 1 , 5 As shown, in a preferred embodiment provided by the utility model based on the above-mentioned embodiment, connecting grooves 35 with the same inclination direction are respectively provided on the first annular seat 30 and the second annular seat 32, the bent plate 33 is connected to the first annular seat 30 through the connecting groove 35, and the support rod 34 is connected to the second annular seat 32 through the connecting groove 35.

[0033] In this embodiment, the first annular seat 30 and the second annular seat 32 are preferably provided with 12 connection grooves 35, and the positions correspond to each other, so as to form a connecting rod action mechanism after connecting the bent plate 33 or the support rod 34. It should be noted that each bent plate 33 is hinged in the connection groove 35, and each bent plate 33 gradually deviates by a certain angle in the opposite direction of the device's travel direction, so that the device's obstacle-crossing ability can be improved by the inclined bent plate 33 during travel, and the bent plate 33 perpendicular to the ground is prevented from directly contacting obstacles on the ground and affecting the stability of the device.

[0034] like Figure 1-4 As shown, in a preferred embodiment of the utility model provided based on the above-mentioned embodiment, an inclined connecting rod 14 is provided on the support frame 12, and the connecting rod 14 is used to connect the shock absorbing assembly 40 on the support frame 12; wherein, one end of the connecting rod 14 is a straight rod hinged on the support frame 12, and the other end of the connecting rod 14 is a U-shaped fork plate 141 penetrated by the output shaft 131.

[0035] More specifically, the shock absorbing assembly 40 includes a shock absorbing bracket 41, a shock absorbing rod 42, and a shock absorbing spring 43; wherein the shock absorbing bracket 41 is hinged on the fork plate 141, the shock absorbing rod 42 is fixed on the shock absorbing bracket 41, and the shock absorbing spring 43 is sleeved on the shock absorbing rod 42.

[0036] In this embodiment, the provision of the shock-absorbing assembly 40 helps to make the device automatically pop open before being put into use. After contacting the ground, the first annular seat 30 slides by compressing the bent plate 33 due to its own weight, and the first annular seat 30 is used to compress the connecting rod 14 and the shock-absorbing rod 42 linked thereto, thereby having a shock-absorbing effect on the entire device. When the device reaches a stable state, the walking mechanism composed of the bent plate 33 automatically retracts, and the center of gravity of the device is lowered so that it can run smoothly.

[0037] The utility model also generally provides a cover body 50 on the upper support plate 10 and the lower support plate 20. The cover body 50 is a cylindrical structure. The peripheral wall of the cover body 50 is gradually recessed from the outer edge to the middle. The cover body 50 is fixedly connected to the upper support plate 10 and the lower support plate 20. A main controller 21 is provided below the lower support plate 20. A camera 51 is provided in the middle of the cover body 50, and the camera 51 is located between the upper support plate 10 and the lower support plate 20, so that the camera 51 can be used to detect the straight direction directly in front of the device.

[0038] The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application. The protection scope of the present application is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present application within the essence and protection scope of the present application, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present application.

Claims

1. A bionic robot based on a golden wheel spider, characterized in that: include: An upper support plate (10) has symmetrical motor brackets (11) and support frames (12) fixedly disposed at both ends thereof, the motor bracket (11) being disposed in the middle of the upper support plate (10), and two support frames (12) being symmetrically disposed on both sides of the motor bracket (11); a motor (13) being fixedly disposed on the motor bracket (11), and an output shaft (131) of the motor (13) passing through the motor bracket (11) and being axially connected thereto; A lower support plate (20) is arranged below the upper support plate (10) and parallel thereto, one end of the support frame (12) is fixedly mounted on the lower support plate (20), and the motor bracket (11) and the support frame (12) are oriented in the same direction; A first annular seat (30) is connected to an output shaft (131) of the motor (13) via a shaft sleeve (31) and rotates under the drive of the motor (13); The first annular seat (30) is coaxially plugged with a second annular seat (32), and a spacing is left between the first annular seat (30) and the second annular seat (32); a plurality of bent plates (33) are equidistantly provided on the peripheral wall of the second annular seat (32), and the bent plates (33) are bent toward the first annular seat (30); the bent plates (33) and the first annular seat (30) are connected by a support rod (34), and the two ends of the support rod (34) are respectively hinged to the bent plates (33) and the first annular seat (30).

2. A bionic robot based on a golden wheel spider according to claim 1, characterized in that: The first annular seat (30) and the second annular seat (32) are respectively provided with connecting grooves (35) with the same inclination direction; the bent plate (33) is connected to the first annular seat (30) via the connecting groove (35); and the support rod (34) is connected to the second annular seat (32) via the connecting groove (35).

3. A bionic robot based on a golden wheel spider according to claim 2, characterized in that: The support frame (12) is provided with an inclined connecting rod (14), and the connecting rod (14) is used to connect the shock absorbing assembly (40) on the support frame (12); One end of the connecting rod (14) is in the shape of a straight rod hinged on the support frame (12), and the other end of the connecting rod (14) is in the shape of a U-shaped fork plate (141) through which the output shaft (131) passes.

4. A bionic robot based on a golden wheel spider according to claim 3, characterized in that: The shock absorbing assembly (40) comprises a shock absorbing bracket (41), a shock absorbing rod (42), and a shock absorbing spring (43); The shock absorbing bracket (41) is hinged on the fork plate (141), the shock absorbing rod (42) is fixed on the shock absorbing bracket (41), and a shock absorbing spring (43) is sleeved on the shock absorbing rod (42).

5. A bionic robot based on a golden wheel spider according to claim 4, characterized in that: A main controller (21) is provided below the lower support plate (20).

6. A bionic robot based on a golden wheel spider according to claim 5, characterized in that: A cover body (50) is provided on the upper support plate (10) and the lower support plate (20); the cover body (50) is a cylindrical structure; the peripheral wall of the cover body (50) is gradually concave from the outer edge to the middle; the cover body (50) is fixedly connected to the upper support plate (10) and the lower support plate (20).

7. A bionic robot based on a golden wheel spider according to claim 6, characterized in that: A camera (51) is provided in the middle of the cover body (50), and the camera (51) is located between the upper support plate (10) and the lower support plate (20).

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