Bionic hexapod robot

Abstract

The utility model discloses a bionic hexapod robot, which relates to the technical field of robots, and comprises a trunk component located in the middle and foot components arranged beside the trunk component and used for walking, a plurality of foot components are uniformly arranged beside the trunk component, and each foot component comprises a supporting seat arranged beside the trunk component. According to the bionic hexapod robot, the trunk assembly is connected with the foot assemblies which are evenly arranged, the foot assemblies drive the trunk assembly to move, the supporting base, the connecting rods and the foot supports serve as three joints of the foot assemblies, and the driving assembly provides power to drive the supporting base, the connecting rods and the foot supports to move. The device can change self walking postures, position postures, angle postures and omni-directional movement according to different terrains, and high-precision motion control is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a bionic hexapod robot. Background Art

[0002] The mobile mechanism is the most basic and critical part of various robot systems. In order to adapt to different environments and occasions, the mobile mechanism of mobile robots mainly consists of wheeled mobile mechanisms, tracked mobile mechanisms, and foot-type mobile mechanisms. Wheeled mobile mechanisms are the most widely used, such as cars and mobile carts. Wheels are installed at the bottom to drive the wheels to roll. They move quickly and efficiently. The disadvantage is that special roads need to be laid, and the adaptability and obstacle-crossing capabilities are relatively poor. Tracked robots have a set of track devices installed at the bottom. They have better adaptability to rugged terrain and stronger obstacle-crossing capabilities, such as tanks. The disadvantage is that the tracks are bulky and walk slowly. Foot-type mobile robots have the strongest ability to adapt to terrain by taking steps.

[0003] A legged robot is a robot that uses a leg (foot) system as a way of walking. Legged robots imitate the walking of humans and animals. According to the number of legs (feet), they are divided into two-legged humanoid mobile robots, four-legged robots, six-legged robots, multi-legged robots, etc.

[0004] Among them, bipedal and quadrupedal robots are relatively mature and have been widely used in many fields. Compared with bipedal and quadrupedal robots, hexapod robots have the advantages of stable center of gravity, stable walking, high balance, higher operability, and stronger obstacle crossing ability. As a mobile platform with high terrain adaptability and stability, hexapod robots have broad application prospects in military, rescue, detection and other fields.

[0005] However, traditional hexapod robots have the problem that in order to achieve complex movements, their overall structure is relatively complex, the manufacturing cost is high, and it is not conducive to large-scale application. Utility Model Content

[0006] 1. Technical issues to be solved

[0007] In view of the deficiencies in the prior art, the utility model provides a bionic hexapod robot, which solves the problem that traditional hexapod robots have a relatively complex overall structure and high manufacturing cost in order to achieve complex movements, which is not conducive to large-scale applications.

[0008] (II) Technical solution

[0009] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a bionic hexapod robot, comprising a trunk component located in the middle position and a foot component arranged beside the trunk component and used for walking, a plurality of the foot components are evenly arranged beside the trunk component, the foot component comprises a supporting seat arranged beside the trunk component, a connecting rod is hingedly connected to the supporting seat, a foot bracket is hingedly connected to one end of the connecting rod away from the supporting seat, and a driving component for driving the supporting seat, the connecting rod and the foot bracket to move is provided on the supporting seat.

[0010] Through the above technical scheme, a number of evenly arranged foot assemblies are connected through a trunk assembly, and the trunk assembly is driven to move through the foot assembly. The support seat, connecting rod and foot bracket serve as the three joints of the foot assembly. The driving assembly provides power to drive the support seat, connecting rod and foot bracket to move. The device can change its walking posture, position posture, angle posture and omnidirectional movement according to different terrains, thereby achieving high-precision motion control, with a simple structure and reduced manufacturing cost, which is conducive to large-scale application.

[0011] Preferably, the driving assembly includes a first servo motor fixed to the trunk assembly, the supporting seat is sleeved outside the first servo motor, one end of the supporting seat is rotatably connected to the trunk assembly, and the other end is fixed to the output shaft of the first servo motor, a second servo motor and a third servo motor are fixed on the outer side wall of the connecting rod, one end of the supporting seat is rotatably connected to the connecting rod, and the other end is fixed to the output shaft of the second servo motor, a foot bracket is provided outside the connecting rod, one end of the foot bracket is rotatably connected to the connecting rod, and the other end is fixed to the output shaft end of the third servo motor.

[0012] Through the above technical solution, the movement of the foot support is controlled by the cooperation of the first steering gear, the second steering gear and the third steering gear, thereby driving the device to move on multiple different terrains.

[0013] Preferably, a positioning plate for positioning the foot bracket is embedded outside the foot bracket, and the positioning plate is fixedly connected to the foot bracket by bolts.

[0014] Through the above technical solution, the foot support is limited by the positioning plate, thereby improving the stability and service life of the foot support.

[0015] Preferably, the trunk assembly includes a lower cover, and an upper cover adapted to the lower cover is arranged directly above the lower cover, and the upper cover and the lower cover are detachably fixedly connected.

[0016] Through the above technical solution, the foot assembly is supported by the upper cover and the lower cover, and is used to carry the robotic arm assembly, circuit board, AI vision module, ultrasonic module, etc.

[0017] Preferably, a mechanical arm assembly is provided on the upper surface of the upper cover, and the mechanical arm assembly is used to absorb items that need to be transported and sorted.

[0018] Through the above technical solution, by setting up a mechanical arm assembly, the items required for transportation and sorting can be sucked.

[0019] Preferably, the robotic arm assembly includes a fixing frame fixed to the upper surface of the upper cover, a cantilever is fixed on the fixing frame, a vacuum generator is fixed to one end of the cantilever away from the fixing frame via a cable tie, and a vacuum suction cup is fixedly connected to the suction port end of the vacuum generator.

[0020] Through the above technical solution, the vacuum generator provides power, the vacuum suction cup contacts the objects to be transported, and the vacuum generator provides power to achieve the suction, transportation and sorting of the objects.

[0021] (III) Beneficial effects

[0022] The utility model provides a bionic hexapod robot, which has the following beneficial effects:

[0023] (1) The bionic hexapod robot is connected to a number of evenly arranged foot assemblies through a trunk assembly, and the trunk assembly is driven to move by the foot assembly. The support seat, connecting rod and foot bracket serve as the three joints of the foot assembly. The driving assembly provides power to drive the support seat, connecting rod and foot bracket to move. The device can change its walking posture, position posture, angle posture and omnidirectional movement according to different terrains, thereby achieving high-precision motion control. It has a simple structure, low manufacturing cost, and is conducive to large-scale application.

[0024] (2) The bionic hexapod robot captures static images through an AI vision module, collects object location information through an ultrasonic module, processes and analyzes the data through a main control module, and controls the AI ​​vision module, the ultrasonic module, the vacuum generator, a plurality of first steering gears, a second steering gear, and a third steering gear. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0026] Figure 2 This is a schematic diagram of the overall top view structure of the utility model;

[0027] Figure 3 This is a schematic diagram of the overall explosion structure of the utility model;

[0028] Figure 4 For this utility model Figure 2 The enlarged structural diagram at A in the middle;

[0029] Figure 5 For this utility model Figure 3 Enlarged structural diagram at B in the middle.

[0030] In the figure: 1. trunk assembly; 101. lower cover; 102. upper cover; 2. foot assembly; 201. support plate; 202. first servo; 203. support seat; 203-1. first U-shaped plate; 203-2. second U-shaped plate; 204. first short axis; 205. connecting rod; 206. second servo; 207. third servo; 208. second short axis; 209. third short axis; 210. foot bracket; 211. positioning plate; 3. robotic arm assembly; 301. fixing frame; 302. cantilever; 303. vacuum generator; 304. vacuum suction cup; 4. AI vision module. DETAILED DESCRIPTION

[0031] 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.

[0032] like Figure 1-5 As shown, the utility model provides a technical solution: a bionic hexapod robot, comprising a trunk component 1 located in the middle position and a foot component 2 arranged beside the trunk component 1 and used for walking, wherein there are six foot components 2, and the six foot components 2 are evenly arranged beside the trunk component 1.

[0033] like Figure 1 and Figure 2 and Figure 3 The trunk component 1 includes a horizontally arranged lower cover 101, and an upper cover 102 adapted to the lower cover 101 is arranged directly above the lower cover 101. The upper cover 102 and the lower cover 101 are detachably fixedly connected by a number of evenly arranged screws.

[0034] like Figure 1 and Figure 2 and Figure 3 and Figure 4 and Figure 5The foot assembly 2 includes six support plates 201 evenly arranged on the outer periphery of the lower cover 101. The support plates 201 are fixed to the lower cover 101 by screws. A first steering gear 202 is fixed to each support plate 201. The first steering gear 202 is fixed to the upper cover 102 and the lower cover 101 by bolts. The outer cover of the first steering gear 202 is provided with a support seat 203 adapted to the first steering gear 202. The support seat 203 is composed of a first U-shaped plate 203-1 and a second U-shaped plate 203-1 of an integrated structure. 203-2, the first U-shaped plate 203-1 and the second U-shaped plate 203-2 are arranged relatively, the first U-shaped plate 203-1 is sleeved outside the first servo 202 and the adjacent supporting plate 201, the bottom end of the first U-shaped plate 203-1 is rotatably connected to the adjacent supporting plate 201, the output shaft end of the first servo 202 is coaxially fixed with the first short shaft 204, and the end of the first short shaft 204 away from the first servo 202 is fixedly connected to the top of the first U-shaped plate 203-1.

[0035] like Figure 1 and Figure 2 and Figure 3 and Figure 4 and Figure 5 A connecting rod 205 is provided in the second U-shaped plate 203-2, and a second servo 206 and a third servo 207 arranged opposite to each other are fixed on the outer wall of the connecting rod 205. A second short shaft 208 is coaxially fixed to the output shaft end of the second servo 206. One end of the second U-shaped plate 203-2 is rotatably connected to the connecting rod 205, and the other end is fixedly connected to an end of the second short shaft 208 away from the second servo 206.

[0036] like Figure 1 and Figure 2 and Figure 3 and Figure 4 and Figure 5 The end of the connecting rod 205 away from the second U-shaped plate 203-2 is sleeved with a foot bracket 210, and the end of the foot bracket 210 away from the connecting rod 205 is retracted inwardly. The output shaft end of the third steering gear 207 is coaxially fixed with a third short shaft 209, one end of the foot bracket 210 is rotatably connected to the connecting rod 205, and the other end is fixedly connected to the end of the third short shaft 209 away from the third steering gear 207.

[0037] like Figure 1 and Figure 2 and Figure 3 and Figure 4 and Figure 5The first servo 202 provides power to drive the support base 203 to rotate, thereby driving the connecting rod 205 connected to the support base 203 and the foot bracket 210 to rotate; the second servo 206 provides power to drive the connecting rod 205 to rotate around the second short axis 208; the third servo 207 provides power to drive the foot bracket 210 to rotate around the third short axis 209; the first servo 202, the second servo 206 and the third servo 206 cooperate to control the movement of the foot bracket 210, thereby driving the device to move on multiple different terrains.

[0038] like Figure 1 and Figure 2 and Figure 3 and Figure 4 and Figure 5 A foot pad is fixed at the bottom of the foot bracket 210. By providing the foot pad, the wear resistance of the device is improved, thereby increasing the service life of the device.

[0039] like Figure 1 and Figure 2 and Figure 3 and Figure 4 and Figure 5 A positioning plate 211 for positioning the foot bracket 210 is embedded outside the foot bracket 210. The positioning plate 211 is fixedly connected to the foot bracket 210 by bolts. By setting the positioning plate 211, the foot bracket 210 is limited to improve the stability of the foot bracket 210.

[0040] like Figure 1 and Figure 2 and Figure 3 A robotic arm assembly 3 is provided on the upper cover 102, and the robotic arm assembly 3 includes a fixing frame 301 fixed on the upper surface of the upper cover 102, a cantilever 302 with an L-shaped cross-section is fixed on the fixing frame 301, a vacuum generator 303 is fixed to one end of the cantilever 302 away from the fixing frame 301 through a cable tie, a vacuum suction cup 304 is fixedly connected to the suction port end of the vacuum generator 303, the vacuum suction cup 304 contacts with the objects to be transported, and the vacuum generator 303 provides power to realize the suction, transportation and sorting of the objects.

[0041] like Figure 1 and Figure 2 and Figure 3In order to distinguish the objects that need to be sucked, transported and sorted, a mounting seat is fixed on the upper cover 102, and an AI vision module 4 for capturing static images and an ultrasonic module for collecting object location information are fixed on the mounting seat. A circuit board located between the lower cover 101 and the upper cover 102 is fixed on the lower cover 101, and a main control module for processing and analyzing data and controlling each module is provided on the circuit board. The AI ​​vision module 4, the ultrasonic module, the vacuum generator 303, a plurality of first steering gears 202, the second steering gear 206 and the third steering gear 207 are all connected to the main control module through wires.

[0042] When in use, the power is turned on, the switch is turned on, the distance between the device and the obstacle in front is calculated through the ultrasonic module, and the first steering engine 202 is turned on according to the object position information collected by the ultrasonic module, and the first steering engine 202 provides power to drive the support seat 203 to rotate, thereby driving the connecting rod 205 and the foot bracket 210 connected to the support seat 203 to rotate, and the second steering engine 206 is turned on, and the second steering engine 206 provides power to drive the connecting rod 205 to rotate around the second short axis 208, thereby driving the foot bracket 210 to rotate, and the third steering engine 207 is turned on, and the third steering engine 207 provides power to drive the foot bracket 210 to rotate around the third short axis 209. The first steering engine 202, the second steering engine 206 and the second steering engine 206 cooperate to control the movement of the support seat 203, the connecting rod 205 and the foot bracket 210, so that the device can change its walking posture, position posture, angle posture and omnidirectional movement according to different terrains, thereby achieving high-precision motion control;

[0043] After the device moves to a suitable position, the AI ​​vision module 4 captures the color block of the object to collect information, and the main control module processes and analyzes the collected information;

[0044] At the same time, the height and tilt angle of the device are adjusted through the cooperation of the first steering gear 202, the second steering gear 206 and the third steering gear 207, so that the vacuum suction cup 304 of the vacuum generator 303 is in contact with the object, and the vacuum generator 303 provides power to suck the object. The first steering gear 202, the second steering gear 206 and the third steering gear 207 cooperate to drive the device to move, so as to realize the suction, transportation and sorting of the objects. This is the use process of the bionic hexapod robot. At the same time, the contents not described in detail in this manual belong to the existing technology known to professional and technical personnel in this field.

[0045] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0046] Although 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 appended claims and their equivalents.

Claims

1. A bionic hexapod robot, characterized in that: The invention comprises a trunk component (1) located in the middle position and a foot component (2) arranged beside the trunk component (1) and used for walking, wherein a plurality of the foot components (2) are evenly arranged beside the trunk component (1), and the foot component (2) comprises a support seat (203) arranged beside the trunk component (1), a connecting rod (205) is hingedly connected to the support seat (203), and an end of the connecting rod (205) away from the support seat (203) is hingedly connected to a foot support (210), and a driving component for driving the support seat (203), the connecting rod (205) and the foot support (210) to move is provided on the support seat (203).

2. A bionic hexapod robot according to claim 1, characterized in that: The driving assembly comprises a first steering gear (202) fixed to the trunk assembly (1); the supporting seat (203) is sleeved outside the first steering gear (202); one end of the supporting seat (203) is rotatably connected to the trunk assembly (1), and the other end is fixed to the output shaft of the first steering gear (202); A second steering gear (206) and a third steering gear (207) are fixed on the outer side wall of the connecting rod (205); one end of the supporting seat (203) is rotatably connected to the connecting rod (205), and the other end is fixed to the output shaft of the second steering gear (206); The connecting rod (205) is provided with a foot bracket (210) on its outer sleeve, one end of the foot bracket (210) is rotatably connected to the connecting rod (205), and the other end is fixed to the output shaft end of the third steering gear (207).

3. A bionic hexapod robot according to claim 2, characterized in that: A positioning plate (211) for positioning the foot bracket (210) is nested outside the foot bracket (210), and the positioning plate (211) and the foot bracket (210) are fixedly connected by bolts.

4. The bionic hexapod robot according to claim 1, characterized in that: The trunk component (1) comprises a lower cover (101), an upper cover (102) adapted to the lower cover (101) is arranged directly above the lower cover (101), and the upper cover (102) and the lower cover (101) are detachably fixedly connected.

5. The bionic hexapod robot according to claim 4, characterized in that: A mechanical arm assembly (3) is provided on the upper surface of the upper cover (102), and the mechanical arm assembly (3) is used to absorb objects that need to be transported and sorted.

6. The bionic hexapod robot according to claim 5, characterized in that: The mechanical arm assembly (3) comprises a fixing frame (301) fixed to the upper surface of the upper cover (102), a cantilever (302) being fixed on the fixing frame (301), a vacuum generator (303) being fixed at one end of the cantilever (302) away from the fixing frame (301), and a vacuum suction cup (304) for sucking up objects being fixedly connected to a suction port end of the vacuum generator (303).

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