A new multifunctional bionic spider hexapod robot

Abstract

The utility model discloses a novel multifunctional bionic spider six -legged robot belongs to spider six -legged robot technical field, including robot main part, the robot main part outside is equipped with a plurality of drive parts, and drive part delivery end is equipped with drive foot, still includes a plurality of rotary grooves, the rotary groove is opened in drive foot bottom, be equipped with buffer device in the rotary groove, buffer device includes rotating block, in the utility model, through setting buffer device, when drive foot moves to the slope, make bottom plate drive rotating block rotate, and then make rotating block drive buffer groove rotate, buffer groove drive contact block rotate, make contact block one side slide in rotary groove inner wall, thereby make a plurality of contact block's buffer direction adjust, and then make buffer direction always be perpendicular to horizontal ground, make device also can guarantee effective buffering when moving on the slope, avoid traditional buffer direction unchangeable influence buffering effect.

Description

Technical Field

[0001] This utility model belongs to the field of spider hexapod robot technology, and in particular relates to a novel multifunctional bionic spider hexapod robot. Background Technology

[0002] Hexapod robots, also known as spider robots, are biomimetic multi-legged robots that mimic the locomotion mechanism of insects. They are mainly used in planetary exploration, disaster relief and rescue, complex terrain surveying and auxiliary services. Their design is inspired by the limb structure and gait of hexapods. They achieve center of gravity stability by walking in a triangular gait mode and adjust the leg degrees of freedom to adapt to rugged terrain through servo motor control modules, main control systems and multiple sensors.

[0003] Chinese utility model application No. 202120508670.X discloses a hexapod crawling robot, including a mobile platform. Three equally spaced connecting frames are hinged to the outer walls of both sides of the mobile platform, and a thigh joint connecting rod is hinged to the inner wall of each connecting frame. A knee joint connecting rod is hinged to the end of each thigh joint connecting rod away from the connecting frame. A walking disc is provided at the end of each knee joint connecting rod away from the thigh joint connecting rod. Walking feet are provided on the bottom outer wall of the walking disc. A base joint cylinder is hinged to the outer wall of the mobile platform, with one end of the piston rod of the base joint cylinder hinged to the connecting frame. A thigh joint cylinder is hinged to the outer wall of the connecting frame, with one end of the piston rod of the thigh joint cylinder hinged to the thigh joint connecting rod. However, in actual use, when the device moves, the cushioning direction of the buffer pad at the foot position is always perpendicular to the buffer pad. This causes the shock absorption direction to be unable to be adjusted according to the slope when moving on some inclined surfaces, resulting in a low shock absorption effect and affecting the vibration reduction performance. Utility Model Content

[0004] The purpose of this invention is to solve the problem that traditional devices have a low buffering effect due to the change in the direction of the buffer plate during shock absorption. Therefore, a new type of multifunctional biomimetic spider six-legged robot is proposed.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a novel multifunctional biomimetic spider hexapod robot, comprising a robot body, wherein multiple drive units are provided on the outer side of the robot body, and drive legs are provided at the delivery end of the drive units, and multiple rotating grooves are also provided, wherein the rotating grooves are opened at the bottom of the drive legs; The rotating groove is equipped with a buffer device, which includes a rotating block. Both sides of the rotating block are connected to side plates, and the bottom of the side plates is connected to a bottom plate. Multiple buffer grooves are opened on the outer wall of the rotating block, and contact blocks are driven in the buffer grooves. The rotation of the rotating block drives the contact blocks to rotate, ensuring that the buffering direction is perpendicular to the horizontal plane.

[0006] As a further description of the above technical solution: The rotating block is located in the rotating groove, and one side of the contact block is attached to and slidably connected to the inner wall of the rotating groove, and one side of the side plate is attached to and slidably connected to the side of the driving foot.

[0007] As a further description of the above technical solution: The bottom of the contact block has multiple allowance slots, and a second spring is connected to one side of the allowance slot, while the other end of the second spring is connected to one side of the inner wall of the buffer slot.

[0008] As a further description of the above technical solution: A fixing groove is provided on one side of the inner wall of the surplus groove, and a fixing rod is slidably connected in the fixing groove. The other end of the fixing rod is connected to one side of the inner wall of the buffer groove, and a second spring is sleeved on the outside of the fixing rod.

[0009] As a further description of the above technical solution: The robot body is equipped with two wiring devices, each including a lower pressure plate. The bottom of the lower pressure plate is connected to the inner wall of the robot body, and an upper pressure plate is attached to the top of the lower pressure plate. Multiple wire-passing grooves are provided on opposite sides of the upper and lower pressure plates. Movable grooves are provided on both sides of the upper pressure plate, and connecting grooves are provided at the bottom of the movable grooves. A pressure block is slidably connected to the inner wall of the movable groove. A first spring is connected to one side of the pressure block, and the other end of the first spring is connected to one side of the inner wall of the movable groove. A locking block is connected to the bottom of the pressure block.

[0010] As a further description of the above technical solution: The top of the pressure plate has two slots, and one side of the inner wall of the slot has a slot. The bottom of the card block extends into the slot, and one side of the card block engages with one side of the slot.

[0011] As a further description of the above technical solution: The pressure block has a support groove, and a support rod is slidably connected in the support groove. The other end of the support rod is connected to one side of the inner wall of the movable groove, and a first spring is sleeved on the outside of the support rod.

[0012] In summary, due to the adoption of the above technical solution, the beneficial effects of this utility model are: 1. In this utility model, by setting a buffer device, when the driving foot moves to the inclined plane, the base plate drives the rotating block to rotate, which in turn drives the buffer groove to rotate. The buffer groove drives the contact block to rotate, so that one side of the contact block slides on the inner wall of the rotating groove. This allows the buffering direction of multiple contact blocks to be adjusted, so that the buffering direction is always perpendicular to the horizontal ground. This ensures that the device can effectively buffer when moving on the inclined plane, avoiding the impact of the traditional buffering direction not changing.

[0013] 2. In this utility model, by setting up a wiring device, the wire is passed through the wire groove, and then the upper pressure plate is pressed down, causing the upper pressure plate to drive the locking block to move, so that the bottom of the locking block contacts the top of the slot. Through compression, the locking block moves to one side, causing the locking block to drive the pressure block to move, thereby causing the pressure block to compress the first spring, causing the first spring to generate a rebound force. When the bottom of the locking block is aligned with the slot, the pressure block drives the locking block to reset through the rebound of the first spring, thereby causing the locking block to engage with the slot. This allows the upper and lower pressure plates to fix and arrange the wires, avoiding messy wire harnesses that affect use. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural diagram of a novel multifunctional biomimetic spider hexapod robot proposed in this utility model; Figure 2 This is a schematic diagram of the buffer device structure of a novel multifunctional biomimetic spider hexapod robot proposed in this utility model; Figure 3 This invention proposes a novel multifunctional biomimetic six-legged spider robot. Figure 2 Enlarged structural diagram of section A; Figure 4 This is a cross-sectional structural diagram of the wiring device for a novel multifunctional biomimetic spider hexapod robot proposed in this utility model.

[0015] Legend: 1. Robot body; 2. Drive unit; 3. Drive leg; 4. Rotating groove; 5. Cable routing device; 501. Upper pressure plate; 502. Cable threading groove; 503. Lower pressure plate; 504. Pressure block; 505. Support groove; 506. First spring; 507. Support rod; 508. Locking block; 509. Locking slot; 510. Slot; 511. Connecting slot; 512. Movable slot; 6. Buffer device; 601. Contact block; 602. Reserve groove; 603. Fixing rod; 604. Second spring; 605. Side plate; 606. Buffer groove; 607. Rotating block; 608. Base plate. Detailed Implementation

[0016] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0017] Please see Figures 1-4This utility model provides a technical solution: a novel multifunctional biomimetic spider hexapod robot, comprising a robot body 1, with multiple drive units 2 on the outer side of the robot body 1, and drive legs 3 at the conveying end of the drive units 2, and also including multiple rotating grooves 4, the rotating grooves 4 being formed at the bottom of the drive legs 3, and a buffer device 6 being provided in the rotating grooves 4, the buffer device 6 including a rotating block 607, side plates 605 being connected to both sides of the rotating block 607, and a bottom plate 608 being connected to the bottom of the side plates 605, multiple buffer grooves 606 being formed on the outer wall of the rotating block 607, and contact blocks 601 being driven within the buffer grooves 606, the rotating block 607 rotating to drive the contact blocks 601 to rotate. The dynamic buffer direction is perpendicular to the horizontal plane. The rotating block 607 is located in the rotating groove 4, and one side of the contact block 601 is attached to and slidably connected to the inner wall of the rotating groove 4. One side of the side plate 605 is attached to and slidably connected to the side of the driving foot 3. Multiple allowance grooves 602 are opened at the bottom of the contact block 601, and a second spring 604 is connected to one side of the allowance groove 602. The other end of the second spring 604 is connected to one side of the inner wall of the buffer groove 606. A fixing groove is opened on one side of the inner wall of the allowance groove 602, and a fixing rod 603 is slidably connected in the fixing groove. The other end of the fixing rod 603 is connected to one side of the inner wall of the buffer groove 606, and the second spring 604 is sleeved on the outside of the fixing rod 603.

[0018] In a specific implementation, by setting up a buffer device 6, when the driving foot 3 moves to the inclined plane, the base plate 608 contacts the inclined plane and rotates. The bottom of the base plate 608 is provided with an anti-slip groove, thereby increasing the friction between the base plate 608 and the ground, thus preventing the device from sliding and affecting stability during movement. Subsequently, the base plate 608 drives the rotating block 607 to rotate, which in turn drives the buffer groove 606 to rotate. The buffer groove 606 drives the contact block 601 to rotate, causing one side of the contact block 601 to slide on the inner wall of the rotating groove 4. This allows the buffering direction of multiple contact blocks 601 to be adjusted, ensuring that the buffering direction is always perpendicular to the horizontal ground. This ensures effective buffering even when the device moves on the inclined plane, avoiding the impact of the traditional buffering direction not changing and affecting the buffering effect. By setting up a margin groove 602, when the contact block 601 compresses the second spring 604, it is prevented that the second spring 604 is over-compressed and damaged.

[0019] The robot body 1 has two wiring devices 5 inside. Each wiring device 5 includes a lower pressure plate 503, the bottom of which is connected to the inner wall of the robot body 1. An upper pressure plate 501 is attached to the top of the lower pressure plate 503. Multiple wire-passing grooves 502 are provided on opposite sides of the upper and lower pressure plates 503. Movable grooves 512 are provided on both sides of the upper pressure plate 501, and connecting grooves 511 are provided at the bottom of the movable grooves 512. A pressure block 504 is slidably connected to the inner wall of the movable groove 512. A first spring 506 is connected to one side of the pressure block 504. The other side of the first spring 506... The end is connected to one side of the inner wall of the movable groove 512, and the bottom of the pressure block 504 is connected to the locking block 508. The top of the lower pressure plate 503 has two slots 510, and the inner wall of the slot 510 has a locking groove 509. The bottom of the locking block 508 extends into the slot 510, and one side of the locking block 508 is engaged with one side of the locking groove 509. The pressure block 504 has a support groove 505, and a support rod 507 is slidably connected in the support groove 505. The other end of the support rod 507 is connected to one side of the inner wall of the movable groove 512, and the first spring 506 is sleeved on the outside of the support rod 507.

[0020] In a specific implementation, by setting up a wiring device 5, one end of the wire is passed through the wire groove 502, and then the upper pressure plate 501 is pressed down, causing the upper pressure plate 501 to move the inclined surface at the bottom of the locking block 508 to the top of the slot 510. This causes the top of the slot 510 to press against the inclined surface at the bottom of the locking block 508, causing the locking block 508 to move to one side. This causes the locking block 508 to move the pressure block 504, which in turn causes the pressure block 504 to press against the first spring 506, causing the first spring 506 to generate a rebound force. The first spring 506 is then supported by a support rod 507. The support prevents the first spring 506 from bending during compression, thus affecting its rebound effect. When the bottom of the locking block 508 is aligned with the locking slot 509, the pressure block 504 drives the locking block 508 to reset through the rebound of the first spring 506, thereby locking the locking block 508 with the locking slot 509. This allows the upper pressure plate 501 and the lower pressure plate 503 to fix and arrange the wires, preventing the wire harness from becoming messy and affecting its use. The inner wall of the wire passage 502 is provided with a rubber pad to prevent the wire harness from making hard contact with the inner wall of the wire passage 502, which could damage the outer sheath of the wire harness and affect its safety.

[0021] Working principle: In use, the robot body 1 moves and is displaced by the drive unit 2 driving the drive legs 3. When the robot body 1 moves to the inclined plane, the base plate 608 rotates, which in turn drives the rotating block 607 to rotate. The rotating block 607 drives the contact block 601 in the buffer groove 606 to rotate, so that the buffering direction of the multiple contact blocks 601 is always perpendicular to the horizontal plane, thus ensuring the shock absorption effect when the robot body 1 moves. Next, by passing the wire harness through the wire groove 502 and then moving the upper pressure plate 501 downward, the upper pressure plate 501... 1. Move the locking block 508 so that it is inserted into the slot 510. The slot 510 presses the locking block 508, causing the locking block 508 to move the pressure block 504. The pressure block 504 presses the first spring 506, causing the first spring 506 to generate a rebound force. When one side of the locking block 508 is aligned with the slot 509, the locking block 508 is reset by the rebound force of the first spring 506, so that the locking block 508 is engaged with the slot 509. This allows the upper pressure plate 501 and the lower pressure plate 503 to fix and arrange the wire harness, preventing the wire harness from contacting each other and causing tangling, which would affect the safety of use.

[0022] In this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; "linking" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A novel multifunctional biomimetic spider hexapod robot, comprising a robot body (1), wherein the robot body (1) is provided with a plurality of drive units (2) on its outer side, and the drive units (2) are provided with drive legs (3) at their delivery ends, characterized in that, Also includes: Multiple rotating grooves (4) are provided at the bottom of the drive foot (3); The rotating groove (4) is provided with a buffer device (6), which includes a rotating block (607). Both sides of the rotating block (607) are connected to side plates (605), and the bottom of the side plates (605) is connected to a bottom plate (608). The outer wall of the rotating block (607) is provided with multiple buffer grooves (606), and a contact block (601) is provided in the buffer groove (606). The rotating block (607) rotates to drive the contact block (601) to rotate, ensuring that the buffering direction is perpendicular to the horizontal plane.

2. The novel multifunctional biomimetic six-legged spider robot according to claim 1, characterized in that, The rotating block (607) is located in the rotating groove (4), and the side of the contact block (601) is attached to and slidably connected to the inner wall of the rotating groove (4), and the side of the side plate (605) is attached to and slidably connected to the side of the driving foot (3).

3. The novel multifunctional biomimetic six-legged spider robot according to claim 1, characterized in that, The bottom of the contact block (601) is provided with a plurality of allowance grooves (602), and a second spring (604) is connected to one side of the allowance groove (602), and the other end of the second spring (604) is connected to one side of the inner wall of the buffer groove (606).

4. A novel multifunctional biomimetic six-legged spider robot according to claim 3, characterized in that, A fixing groove is provided on one side of the inner wall of the surplus groove (602), and a fixing rod (603) is slidably connected in the fixing groove. The other end of the fixing rod (603) is connected to one side of the inner wall of the buffer groove (606), and a second spring (604) is sleeved on the outside of the fixing rod (603).

5. A novel multifunctional biomimetic six-legged spider robot according to claim 1, characterized in that, The robot body (1) is provided with two wiring devices (5). The wiring device (5) includes a lower pressure plate (503). The bottom of the lower pressure plate (503) is connected to the inner wall of the robot body (1). The top of the lower pressure plate (503) is attached to an upper pressure plate (501). Multiple wire-passing grooves (502) are opened on the opposite side of the upper pressure plate (501) and the lower pressure plate (503). Movable grooves (512) are opened on both sides of the upper pressure plate (501). A connecting groove (511) is opened at the bottom of the movable groove (512). A pressure block (504) is slidably connected to the inner wall of the movable groove (512). A first spring (506) is connected to one side of the pressure block (504). The other end of the first spring (506) is connected to one side of the inner wall of the movable groove (512). A locking block (508) is connected to the bottom of the pressure block (504).

6. A novel multifunctional biomimetic six-legged spider robot according to claim 5, characterized in that, The top of the pressure plate (503) has two slots (510), and a slot (509) is provided on one side of the inner wall of the slot (510). The bottom of the card block (508) extends into the slot (510), and one side of the card block (508) engages with one side of the slot (509).

7. A novel multifunctional biomimetic six-legged spider robot according to claim 5, characterized in that, The pressure block (504) has a support groove (505) inside, and a support rod (507) is slidably connected inside the support groove (505). The other end of the support rod (507) is connected to one side of the inner wall of the movable groove (512), and the first spring (506) is sleeved on the outside of the support rod (507).

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