Bionic inchworm robot with intelligent body

Abstract

The bionic inchworm robot is composed of a tail part, a waist part and a head part, the tail part comprises a tail part movable platform, a fixed platform assembly, a sliding block, connecting rods, a temperature sensor and a spiral driving mechanism, every two connecting rods are paired, the left ends of the connecting rods are connected with the fixed platform assembly, and the right ends of the connecting rods are connected with the tail part movable platform; the waist adopts a multi-degree-of-freedom movable platform and a connecting rod structure, the connecting rod is composed of a hooke joint, a composite spherical hinge, a motor and a motor base, the left end is connected with the tail movable platform, and the right end is connected with the waist movable platform; the head integrates a movable platform assembly, a connecting rod, a holder and a visual sensor. According to the robot, the intelligent technology is integrated, the multi-mode sensor is integrated, autonomous sensing and motion planning are achieved, the wheel type motion mode and the peristaltic motion mode are integrated, high speed, high efficiency and high flexibility are achieved, mounting holes are reserved in a tail movable platform and a waist movable platform, multifunctional expansion is supported, and the trafficability and adaptability in the complex environment are remarkably improved; the method has important innovativeness and practical value.

Description

TECHNICAL FIELD

[0001] The utility model relates to bionic robot technical field, concretely relates to a kind of bionic inchworm robot with body intelligence. BACKGROUND

[0002] Bionic robot is an important research direction in modern robot field, and its design inspiration is derived from the movement mechanism and behavior pattern of natural organisms, aiming at realizing efficient, flexible environmental adaptability by imitating the structure and movement mode of organisms.Inchworm, as a typical insect, provides an important reference model for bionic robot design with its unique body segment structure and flexible peristalsis.In the prior art, bionic robot has been applied to detection, rescue, inspection and other fields.However, the bionic robot in the prior art generally faces the following technical problems: on the one hand, many bionic robots lack efficient movement ability in complex terrain, especially in narrow or irregular terrain, and movement flexibility is significantly limited;on the other hand, existing robots usually rely on a single sensor, lack comprehensive environmental perception ability, and it is difficult to perform real-time dynamic perception and feedback;in addition, traditional bionic robots lack intelligent control system, and movement mode is single, which is difficult to meet the needs of complex dynamic environment with rapid changes.

[0003] The concept of embodied intelligence provides a new solution for bionic robot design.By integrating multi-modal sensors, dynamic motion control system and intelligent algorithms, the robot can realize real-time perception, decision-making and efficient movement in the environment.However, there is currently a lack of a bionic inchworm robot that can achieve flexible movement in complex environments and has autonomous perception and feedback functions. UTILITY MODEL CONTENT

[0004] In view of the deficiencies in the prior art, the utility model provides a bionic inchworm robot based on embodied intelligence, aiming to solve the above problems in the prior art.The robot simulates the movement mode and segmented structure design of inchworm, realizes flexible bionic movement through modular design of head, waist and tail;combined with multi-modal sensors and intelligent control algorithms, the environmental perception and adaptability are improved;through precise driving mechanism and dynamic control system, the movement efficiency and control accuracy of the robot in complex unknown environment are improved.

[0005] To achieve the above purpose, the utility model provides the following technical solutions:

[0006] The embodied intelligent bionic inchworm robot comprises a head, a waist and a tail, the tail comprises a tail movable platform, a fixed platform assembly, a slider, a connecting rod and a temperature sensor, the fixed platform assembly comprises a screw drive mechanism, a shell, a bottom plate, a support rod, a shaft and a driving wheel, the screw drive mechanism is fixed on the bottom plate, the shell is installed on the bottom plate as a protection device, the shell and the bottom plate are connected by a screw, and a track for the slider to slide is arranged between the shell and the bottom plate, the bottom of the slider is fixedly connected with the support rod through a screw, the top of the slider is connected with the left end of the connecting rod, the right end of the connecting rod is distributed at the vertices of a regular hexagon formed by the tail movable platform, and adjacent two connecting rods form a pair, the left end of each pair of connecting rods corresponds to a tail slider, three sliders are distributed at the vertices of an equilateral triangle formed by the tail fixed platform, and the driving wheel is installed at the end of the support rod through the shaft; the waist comprises a waist movable platform and a connecting rod, the connecting rod comprises a hook hinge, a moving pair, a composite spherical hinge, a motor and a motor seat, the left end of the connecting rod is distributed at the vertices of a regular hexagon formed by the tail movable platform assembly, and the right end is distributed at the vertices of a regular hexagon formed by the head movable platform; the head comprises a head movable platform assembly, a connecting rod, a holder and a visual sensor, the head movable platform assembly comprises a movable platform, a cover plate, a support rod, a spring, a shaft and a driven wheel, three identical grooves are arranged at the three vertices of an equilateral triangle formed by the movable platform, the support rod is installed in the groove, the driven wheel is installed at the end of the support rod, the spring is arranged between the support rod and the groove, the cover plate covers the groove and is fixed by a screw, the connecting rod and the waist are connected in the same way, the left end is connected with the waist movable platform, and the right end is connected with the holder, and the holder is used for carrying the visual sensor.

[0007] Further, holes for installing sensors and working devices are arranged on the tail movable platform and the waist movable platform, different working devices can be installed, various operations can be performed in a complex environment, and holes for fixing the connecting rods are arranged at the vertices of the regular hexagon formed by the movable platform.

[0008] Further, the connecting rod comprises a head connecting rod, a waist connecting rod and a tail connecting rod, the head connecting rod and the waist connecting rod are respectively connected with the vertices of a regular hexagon formed by two end platforms, the tail connecting rods are paired, and three pairs of tail connecting rods are formed, the left end of each pair of tail connecting rods is connected with a same slider, and the right end of each pair of tail connecting rods corresponds to the vertices of a regular hexagon formed by the tail movable platform.

[0009] Further, the screw drive mechanism comprises three small bevel gears and one large bevel gear, the output end of the small bevel gear is a lead screw, the lead screw is connected with the slider, a through hole is arranged on the bottom plate for fixing the small bevel gear, the small bevel gear is located at the vertex of the equilateral triangle, the slider, the support rod, the driving wheel and the large bevel gear located at the center of the tail fixed platform are matched, and the large bevel gear is installed at the center of the bottom plate.

[0010] Further, the driving wheel is installed at the end of the support rod, and the driving wheel moves in the same way as the sliding block, that is, when the sliding block slides to the center of the bottom plate, the driving wheel retracts, and when the sliding block moves away from the center of the bottom plate, the driving wheel extends.

[0011] Further, the visual sensor comprises a spherical camera, an image processor and a display, the spherical camera is connected with the holder in an embedded mode, and the holder is connected with the head platform in a bolt fastening mode.

[0012] Further, the temperature sensor comprises a temperature sensor probe and a temperature display, the temperature sensor probe is fixed on the tail fixed platform shell through a screw, and the temperature display is assembled on the tail platform of the robot through a clamping groove.

[0013] Further, when the bionic inchworm robot works in a complex environment, the driven wheel is always in close contact with the periphery and plays a fixing role, and when the bionic inchworm robot advances, the working sequence is that the front driven wheel extends and is in close contact with the periphery, the rear driving wheel retracts, the connecting rod retracts, the driving wheel extends, the connecting rod extends, and the driven wheel is pushed to move forward; when retreating, the working sequence is that the front driven wheel extends and is in close contact with the periphery, the rear driving wheel retracts, the connecting rod extends, the driving wheel extends, the connecting rod retracts, and the driven wheel is pulled to retreat.

[0014] Compared with the prior art, the bionic inchworm robot has the following advantages: (1) the body intelligent technology is fused, autonomous perception and motion planning are realized through integration of multi-modal sensors; (2) the wheel type and peristaltic motion mode are combined, and high speed, high efficiency and high flexibility are combined; (3) the motion in a narrow space, especially in a curved and straight pipeline, is better adapted; (4) the reserved mounting hole on the moving platform can install different working devices, and various operation requirements such as environment detection, safety inspection, cable traction, pipeline obstacle removal, dredging and maintenance can be realized; (5) the comprehensive performance of the robot is optimized, the passability and adaptability in a complex environment are significantly improved, and the bionic inchworm robot has important intelligence and practicality. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a structure schematic view of the bionic inchworm robot with body intelligence;

[0016] Figure 2 is a sectional view of the bionic inchworm robot fixed platform assembly with body intelligence;

[0017] Figure 3 is a connecting rod structure schematic view of the bionic inchworm robot with body intelligence;

[0018] Figure 4 is a structure schematic view of the bionic inchworm robot head moving platform assembly with body intelligence;

[0019] Figure 5 is a hexagon diagrammatic view composed of the intelligent body bionic inchworm robot bottom movable platform and waist movable platform;

[0020] Figure 6 is a triangle diagrammatic view composed of the intelligent body bionic inchworm robot head movable platform assembly;

[0021] Figure 7 is a triangle diagrammatic view composed of the intelligent body bionic inchworm robot tail fixed platform assembly.

[0022] Among them:

[0023] Figure 1 : 1, head; 2, waist; 3, head; 11, tail movable platform; 12, tail fixed platform assembly; 13, sliding block; 14, connecting rod; 15, temperature sensor; 21, waist movable platform; 22, connecting rod; 31, head movable platform assembly; 32, connecting rod; 33, cloud platform; 34, visual sensor;

[0024] Figure 2 : 121, shell; 122, bottom plate; 123, support rod; 124, shaft; 125, driving wheel; 126, small bevel gear; 127, large bevel gear;

[0025] Figure 3 : 221, rotary pair; 222, moving pair; 223, hooke joint; 224, motor; 225, motor base;

[0026] Figure 4 : 311, head movable platform; 312, cover plate; 313, support rod; 314, spring; 315, shaft; 316, driven wheel. DETAILED DESCRIPTION

[0027] The utility model aims at solving the key technical problem that the comprehensive performance of bionic robot is low and the use is single, provides a kind of bionic inchworm robot with body intelligence, wheel robot and peristaltic robot are combined, temperature sensor and visual sensor are fused, and work device can be installed according to demand, flexibility, practicality and work efficiency are improved, and then the comprehensive performance of pipeline robot is improved. The utility model embodiment will be combined with the drawings in the utility model embodiment, and the technical scheme in the utility model embodiment is specifically and clearly described. The utility model movable platform can install cleaning device to clean environment, can install pipeline material smearing device to carry out pipeline maintenance, can install searchlight photographic equipment to survey and record environmental conditions. The following embodiment is only one of the utility model embodiment, and is not limited to the following implementation, various improvements, modifications and replacements made by the person skilled in the art on the basis of the utility model concept without departing from the utility model concept belong to the protection scope of the utility model claim.

[0028] Referring to Figures 1-7 The utility model provides the following technical scheme:

[0029] A kind of bionic inchworm robot with body intelligence, including head 3, waist 2 and tail 1 three sections, the tail 1 includes tail movable platform 11, fixed platform component 12, sliding block 13, connecting rod 14 and temperature sensor 15, the fixed platform component 12 includes screw drive mechanism, shell 121, bottom plate 122, support rod 123, shaft 124 and driving wheel 125, the screw drive mechanism is fixed on bottom plate 122, external installation shell 121 is used as protection device, the shell 121 is connected with bottom plate 122 by screw fastening, track for the sliding block 13 sliding is arranged between the two, the bottom of sliding block is fixedly connected with support rod 123 by screw, the top of sliding block is connected with the left end of connecting rod 14, the right end of connecting rod is distributed at the apex of regular hexagon formed by tail movable platform 11, a pair is formed by adjacent connecting rod 14, the left end of each pair of connecting rod corresponds a tail sliding block 13, three sliding blocks are distributed at the apex of equilateral triangle formed by tail, driving wheel 125 is fixedly installed at the end of support rod 123 by shaft 124;The waist 2 includes waist movable platform 21 and connecting rod 22, the connecting rod includes composite spherical hinge 221, moving pair 222, hooke hinge 223, motor 224 and motor base 225, the left end of connecting rod 22 is distributed at the apex of regular hexagon formed by tail movable platform 11, and the right end is distributed at the apex of regular hexagon formed by head movable platform;The head 3 includes head movable platform component 31, connecting rod 32, holder 33 and visual sensor 34, the head movable platform component is formed by head movable platform 311, cover plate 312, support rod 313, spring 314, shaft 315 and driven wheel 316, the connecting rod 32 and waist connecting rod 22 are connected in the same way, the left end is connected with waist movable platform 21, and the right end is connected with holder 33.

[0030] Further, the tail movable platform 11 and the waist movable platform 21 are provided with holes for installing sensors and working devices, different working devices can be installed to perform various operations in complex environments, and the holes for connecting rods are arranged at the vertices of the regular hexagon formed by the two movable platforms.

[0031] Further, the connecting rods include head connecting rods 14, waist connecting rods 22 and tail connecting rods 32; the head connecting rods 14 and the waist connecting rods 22 are connected at the vertices of the regular hexagon formed by the two end platforms, and the tail connecting rods 32 are paired into three pairs, with the left end of each pair of connecting rods connected to the same sliding block 13 and the right end connected to the vertices of the regular hexagon formed by the tail movable platform 11.

[0032] Further, the screw drive mechanism is composed of three small bevel gears 126 and one large bevel gear 127, the output end of the small bevel gear 126 is a lead screw connected to the sliding block 13, the bottom plate 122 is provided with a through hole for fixing the small bevel gear 126, the small bevel gear 126 is located at the vertex of the equilateral triangle, the sliding block 13, the support rod 123 and the driving wheel 125 are matched with the large bevel gear 126 located at the center of the tail fixed platform 12, and the large bevel gear 126 is installed at the center of the bottom plate 122.

[0033] Further, the driving wheel 125 is installed at the end of the support rod 123, and the movement of the driving wheel 125 is the same as that of the sliding block 13, when the sliding block 13 moves to the center of the bottom plate 122, the driving wheel 125 retracts, and when the sliding block 13 moves away from the center of the bottom plate 122, the driving wheel 125 extends.

[0034] Further, the visual sensor 34 includes a spherical camera, an image processor and a display, the spherical camera is connected to the holder 33 in an embedded manner, and the holder 33 is connected to the head movable platform 31 by bolt fastening.

[0035] Further, the temperature sensor 15 includes a temperature sensor probe and a temperature display, the temperature sensor probe is fixed on the tail fixed platform shell 121 by screw fastening, and the temperature display is assembled on the tail shell 121 of the robot by clamping slot.

[0036] Further, the bionic robot in the complex environment, the fixed role of the driven wheel always close to the four around, the pipeline robot forward, its working sequence is from the driven wheel 316 out close to the four around, the driving wheel 125 contraction, connecting rod 14 and connecting rod 32 contraction, driving wheel 125 stretch out, connecting rod 14 and connecting rod 32 stretch out, push the driven wheel 316 forward; When retreating, its working sequence is that the driven wheel 316 stretches out close to the four around, the driving wheel 125 contraction, connecting rod 14 and connecting rod 32 stretch out, driving wheel 125 stretch out, connecting rod 14 and connecting rod 32 contraction, pull the driven wheel 316 retreat.

Claims

1. A somatically intelligent bionic inchworm robot, characterized by: The robot comprises a head, a waist and a tail; the tail comprises a tail movable platform, a tail fixed platform assembly, a slider, a connecting rod and a temperature sensor; the tail fixed platform assembly comprises a screw drive mechanism, a shell, a bottom plate, a support rod, a shaft and a driving wheel; the screw drive mechanism is fixed on the bottom plate; the shell is installed on the bottom plate as a protection device; the shell and the bottom plate are connected by screws and an orbit for the slider to slide is arranged between them; the bottom of the slider is fixedly connected with the support rod by screws; the top of the slider is connected with the left end of the connecting rod; the right end of the connecting rod is distributed at the vertices of a regular hexagon formed by the tail movable platform; two adjacent connecting rods form a pair; the left end of each pair of connecting rods corresponds to a tail slider; three sliders are distributed at the vertices of an equilateral triangle formed by the tail fixed platform; and the driving wheel is installed at the end of the support rod through the shaft.

2. The embodied intelligent bionic inchworm robot of claim 1, wherein: The waist comprises a waist movable platform and a connecting rod; the connecting rod comprises a hook hinge, a moving pair, a composite spherical hinge, a motor and a motor base; the left end of the connecting rod is distributed at the vertices of a regular hexagon formed by the tail movable platform assembly; and the right end of the connecting rod is distributed at the vertices of a regular hexagon formed by the head movable platform.

3. The embodied intelligent bionic inchworm robot of claim 1, wherein: The head comprises a head movable platform assembly, a connecting rod, a holder and a visual sensor; the head movable platform assembly comprises a movable platform, a cover plate, a support rod, a spring, a shaft and a driven wheel; three identical grooves are arranged at the three vertices of an equilateral triangle formed by the movable platform; the support rod is installed in the groove; the driven wheel is installed at the end of the support rod; the spring is arranged between the support rod and the groove; the cover plate covers the groove and is fixed by screws; the connecting rod is connected with the waist in the same way; the left end of the connecting rod is connected with the waist movable platform; and the right end of the connecting rod is connected with the holder.

4. The embodied intelligent bio-inspired inchworm robot of claim 1, wherein: Holes for installing sensors and working devices are arranged on the tail movable platform and the waist movable platform; and holes for fixing the connecting rods are arranged at the vertices of a regular hexagon formed by the movable platform.

5. The embodied intelligent bionic inchworm robot of claim 1, wherein: The screw drive mechanism comprises three small bevel gears and one large bevel gear; the small bevel gears are connected with the slider through a lead screw; and through holes for fixing the small bevel gears are arranged on the bottom plate; the slider, the support rod, the driving wheel and the large bevel gear located at the center of the tail fixed platform are matched; and the large bevel gear is installed at the center of the bottom plate.

6. The embodied intelligent bio-inspired inchworm robot of claim 1, wherein: The connecting rod comprises a head connecting rod, a waist connecting rod and a tail connecting rod; the head connecting rod and the waist connecting rod are respectively connected with the vertices of a regular hexagon formed by two end platforms; the tail connecting rod is in pairs and divided into three pairs; the left end of each pair of connecting rods is connected with the same slider; and the right end of each pair of connecting rods corresponds to the vertices of a regular hexagon formed by the tail movable platform. The visual sensor comprises a spherical camera, an image processor and a display; the spherical camera is connected with the holder in an embedded manner; and the holder is connected with the head platform by screw fastening.

Images