CN105151157A - Hexapod bionic robot - Google Patents
Hexapod bionic robot Download PDFInfo
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- CN105151157A CN105151157A CN201510671633.XA CN201510671633A CN105151157A CN 105151157 A CN105151157 A CN 105151157A CN 201510671633 A CN201510671633 A CN 201510671633A CN 105151157 A CN105151157 A CN 105151157A
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Abstract
The invention relates to a robot, in particular to a hexapod bionic robot. The hexapod bionic robot comprises an upper bottom plate, a lower bottom plate, a fire extinguisher, an upper cover, obstacle avoidance sensors, a controller and six legs, wherein a robot body is formed by the upper bottom plate and the lower bottom plate; the upper cover is mounted on the upper bottom plate; the controller is mounted in the upper cover; the robot body is octagonal; a pair of opposite edges of the robot body are two tips respectively, and the other six edges are respectively positioned on two sides so as to form side waists; the first leg is mounted at one end of one side waist, the second leg is mounted in the middle of the side waist, and the third leg is mounted at the other end of the side waist; the fourth leg is mounted on the other side waist and symmetrical to the first leg, the fifth leg is mounted on the side waist and symmetrical to the second leg, and the sixth leg is mounted on the side waist and symmetrical to the third leg; the fire extinguisher is mounted at one tip of the robot body; each obstacle avoidance sensor is mounted between every two adjacent legs. The hexapod bionic robot provided by the invention has high adaptive capability to environment, can realize real-time obstacle avoidance and can reasonably plan walking routes; the robot body is stable, and legs are flexible and varied to move; the hexapod bionic robot can be adapted to various terrains, different speeds and different load requirements.
Description
Technical field
The present invention relates to a kind of robot, particularly relate to bionic 6-leg robot.
Background technology
Complicated along with robot working environment and task, require that robot has higher kinematic dexterity, comformability at special and circumstances not known, the travel mechanism of the simple wheel of robot and crawler belt can not adapt to changeable complex environment requirement, the forest environment that such as fire takes place frequently.
Summary of the invention
For above-mentioned technical matters, the invention provides a kind of bionic 6-leg robot, the mobile platform of motion stabilization is provided under complex-terrain environment.
Concrete technical scheme is:
Bionic 6-leg robot, comprises upper plate, lower shoe, fire extinguisher, upper cover, keeps away barrier sensor, controller, also have six bar legs, be respectively the first article of leg, second article of leg, the 3rd article leg, the 4th article leg, the 5th article leg, the 6th article leg; Upper plate and lower shoe composition fuselage, be provided with upper cover above upper plate; In upper cover, controller is installed, fuselage is octagon, wherein a pair opposite side is respectively two terminations, hexagon lays respectively at formation side, both sides waist in addition, the first article leg, second article of leg, the 3rd article leg are arranged on waist one end, side, centre and the other end successively, and the 4th article leg, the 5th article leg, the 6th article of leg symmetry are arranged on another avris waist successively; Fire extinguisher is arranged on fuselage termination; Be provided with one between every two bar legs and keep away barrier sensor.
Described leg comprises leg, middle leg and lower leg, and upper leg is hinged on fuselage and forms root joint, upper leg and the hinged formation hip joint of middle leg; Middle leg and the hinged formation knee joint of lower leg; Upper leg is with root joint for fulcrum has rotational freedom in the horizontal plane, and middle leg is that fulcrum has swing degree of freedom on the vertical plane with hip joint, and lower leg is that fulcrum has swing degree of freedom on the vertical plane with knee joint; Lower leg end has damping spring device.
The moving method of bionic 6-leg robot is, first article of leg, the 3rd article leg, the 5th article leg form first group of leg, and second article of leg, the 4th article leg, the 6th article leg form second group of leg; When second group of leg supports, first group of leg takes a step forward, and after kiss the earth is fixing, first group of leg is as supporting fuselage, and second group of leg moves ahead follow-up, recovers initial six sufficient holding states, completes a step and move ahead; Said process is repeated during continuous walking.
The turning method of bionic 6-leg robot is, first by second group of leg as support, first group of leg moves to the ground of specifying respectively, body nodal point is to the direction tilt adjustments of second group of leg simultaneously, the support of ground as fuselage is fixed on after first group of leg execution, second group of leg moves to the ground of specifying, and the servo-actuated adjustment of body nodal point, reaches the object of angle of turn simultaneously.
Bionic 6-leg robot provided by the invention, has stronger adaptive capacity to environment, and what distribute around fuselage keeps away barrier sensor, can realize Real Time Obstacle Avoiding, track route of making rational planning for; Fuselage is octagon, improves the stability of robot, increases the rotation space of leg, avoids the mutual collision between each bar leg and movement interference; Every bar leg comprises three joints, and motion is flexibly, various informative, adapts to various landform, there is multiple gait, can adapt to friction speed and loading demands.Adopt driven by servomotor, compared with servo driving, precision is higher, also more stable.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is plan structure schematic diagram of the present invention;
Fig. 3 is leg structural representation of the present invention;
Fig. 4 is bionic 6-leg robot advance gait analysis chart of the present invention;
Fig. 5 is bionic 6-leg robot turning gait analysis figure of the present invention.
Detailed description of the invention
Accompanying drawings the specific embodiment of the present invention.
As depicted in figs. 1 and 2, bionic 6-leg robot, comprise upper plate 2, lower shoe 3, fire extinguisher 4, upper cover 5, keep away barrier sensor 6, controller 7, also have six bar legs, be respectively the first article of leg, 101, second article leg 102, the 3rd article leg 103, the 4th article leg 104, the 5th article leg 105, the 6th article leg 106;
Upper plate 2 and lower shoe 3 form fuselage, are provided with upper cover 5 above upper plate 2; Controller 7 is installed in upper cover 5, fuselage is octagon, wherein a pair opposite side is respectively two terminations, hexagon lays respectively at formation side, both sides waist in addition, the first article of leg, 101, second article leg 102, the 3rd article leg 103 are arranged on waist one end, side, centre and the other end successively, and the 4th article leg 104, the 5th article leg 105, the 6th article leg 106 symmetry are arranged on another avris waist successively;
Fire extinguisher 4 is arranged on fuselage termination, for putting out a fire when finding burning things which may cause a fire disaster; Be provided with one between every two bar legs and keep away barrier sensor 6, for the detection of the obstacle in bionic 6-leg robot motion process, keep away barrier sensor 6 and be arranged in respectively around fuselage, reduce detection blind area, can feedback position information in time, plan track route.
Lower shoe 3 is formed by connecting by three blocks of plates, reduces the deformation under Extreme Temperature Conditions.Enough large space is stopped, for laying servo-driver and power supply in fuselage.Controller 7 is placed in above upper plate 2, for collecting the information of keeping away barrier sensor 6 and gathering, according to actual conditions from main separation mode, drives the running in the six each joints of biped robot.
As shown in Figure 1, Figure 2 and Figure 3, described leg comprises leg 11, middle leg 12 and lower leg 13, and upper leg 11 is hinged on fuselage and forms root joint 14, upper leg 11 and the hinged formation hip joint 15 of middle leg 12; Middle leg 12 and the hinged formation knee joint 16 of lower leg 13; Upper leg 11 has rotational freedom with root joint 14 in the horizontal plane for fulcrum, and upper leg 11 can drive the swing of whole bar leg; Middle leg 12 has swing degree of freedom with hip joint 15 on the vertical plane for fulcrum, and the swing of middle leg 12 completes lifts the action that leg moved and fell support; Lower leg 13 has swing degree of freedom with knee joint 16 on the vertical plane for fulcrum, and lower leg 13 adjusts corner in time according to ground environment, steadily lands; Lower leg 13 end has damping spring device, reduces the vibrations that robot produces when rapid movement, keeps the steady of fuselage.In order to reduce the friction with ground, lower leg 13 end is round end shape.
The leg of the leg at waist two ends, side and opposite side waist centre forms two groups of legs respectively, and when moving ahead, one group of leg supports, and another group leg moves.As shown in Figure 4, first article of leg 101, the 3rd article leg 103, the 5th article leg 105 form first group of leg, and second article of leg 102, the 4th article leg 104, the 6th article leg 106 form second group of leg; When second group of leg supports, first group of leg takes a step forward, and after kiss the earth is fixing, first group of leg is as supporting fuselage, and second group of leg moves ahead follow-up, recovers initial six sufficient holding states, completes a step and move ahead.Said process is repeated during continuous walking.
As shown in Figure 5, turning is equivalent to fuselage and advances on the track that has certain circular arc, and each step needs the posture of suitably fine setting fuselage.First by second group of leg as support, first group of leg moves to the ground of specifying respectively, body nodal point is to the direction tilt adjustments of second group of leg simultaneously, the support of ground as fuselage is fixed on after first group of leg execution, second group of leg moves to the ground of specifying, the servo-actuated adjustment of body nodal point, reaches the object of angle of turn simultaneously.This kind of mode gait of turning only needs two steps can complete the turning of certain angle.
Claims (4)
1. bionic 6-leg robot, it is characterized in that: comprise upper plate (2), lower shoe (3), fire extinguisher (4), upper cover (5), keep away barrier sensor (6), controller (7), also have six legs, be respectively Article 1 leg (101), Article 2 leg (102), third leg (103), Article 4 leg (104), Article 5 leg (105), Article 6 leg (106);
Upper plate (2) and lower shoe (3) composition fuselage, upper plate (2) top is provided with upper cover (5); Controller (7) is installed in upper cover (5), fuselage is octagon, wherein a pair opposite side is respectively two terminations, hexagon lays respectively at formation side, both sides waist in addition, Article 1, leg (101), Article 2 leg (102), third leg (103) are arranged on waist one end, side, centre and the other end successively, and Article 4 leg (104), Article 5 leg (105), Article 6 leg (106) symmetry are arranged on another avris waist successively;
Fire extinguisher (4) is arranged on fuselage termination; Be provided with one between every two legs and keep away barrier sensor (6).
2. bionic 6-leg robot according to claim 1, it is characterized in that: described leg comprises leg (11), middle leg (12) and lower leg (13), upper leg (11) is hinged on fuselage and forms root joint (14), upper leg (11) and the hinged formation hip joint (15) of middle leg (12); Middle leg (12) and the hinged formation knee joint (16) of lower leg (13); Upper leg (11) with root joint (14) for fulcrum has rotational freedom in the horizontal plane, middle leg (12) with hip joint (15) for fulcrum has swing degree of freedom on the vertical plane, lower leg (13) with knee joint (16) for fulcrum has swing degree of freedom on the vertical plane; Lower leg (13) end has damping spring device.
3. bionic 6-leg robot according to claim 1 and 2, it is characterized in that: the moving method of bionic 6-leg robot is, Article 1, leg (101), third leg (103), Article 5 leg (10) 5 form first group of leg, and Article 2 leg (102), Article 4 leg (104), Article 6 leg (106) form second group of leg; When second group of leg supports, first group of leg takes a step forward, and after kiss the earth is fixing, first group of leg is as supporting fuselage, and second group of leg moves ahead follow-up, recovers initial six sufficient holding states, completes a step and move ahead; Said process is repeated during continuous walking.
4. bionic 6-leg robot according to claim 3, it is characterized in that: the turning method of bionic 6-leg robot is, first by second group of leg as support, first group of leg moves to the ground of specifying respectively, body nodal point is to the direction tilt adjustments of second group of leg simultaneously, and be fixed on the support of ground as fuselage after first group of leg execution, second group of leg moves to the ground of specifying, the servo-actuated adjustment of body nodal point, reaches the object of angle of turn simultaneously.
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105523100A (en) * | 2016-01-21 | 2016-04-27 | 昆明理工大学 | Deformable bionic search and rescue robot |
| CN105691483A (en) * | 2016-01-15 | 2016-06-22 | 北京工业大学 | Hexapod walking robot |
| CN105857432A (en) * | 2016-04-05 | 2016-08-17 | 赵德朝 | Hexapod robot, foot control method and gait control method |
| CN106943282A (en) * | 2017-03-24 | 2017-07-14 | 浙江工业大学 | A kind of polypody power-assisted healing robot |
| CN107053207A (en) * | 2017-05-09 | 2017-08-18 | 山东科技大学 | A kind of bionical scorpion Detecting Robot |
| CN107745756A (en) * | 2017-10-25 | 2018-03-02 | 重庆工商大学 | The traveling method of six sufficient strawberry picking robots |
| CN107914789A (en) * | 2017-11-30 | 2018-04-17 | 山西大学 | The intelligent bionic walking robot of mobile terminal control |
| CN108466664A (en) * | 2016-05-04 | 2018-08-31 | 雷晓莉 | A kind of fire-fighting method |
| CN108500982A (en) * | 2018-04-04 | 2018-09-07 | 深圳市云电机器人技术有限公司 | The construction method and its system of bionical multi-foot robot motor pattern |
| CN109533074A (en) * | 2018-11-14 | 2019-03-29 | 西北农林科技大学 | A kind of implementation method of hexapod robot and its gait of keeping straight on |
| CN109621442A (en) * | 2018-11-14 | 2019-04-16 | 实丰文化发展股份有限公司 | A kind of bionical quadrupeds toy of body-sensing remote control turning |
| CN109703646A (en) * | 2019-01-14 | 2019-05-03 | 南昌大学 | A kind of novel legged type robot device |
| CN109876340A (en) * | 2019-03-18 | 2019-06-14 | 南京涵铭置智能科技有限公司 | A kind of bionical fire-fighting robot and its fire-fighting method |
| CN111002309A (en) * | 2019-12-12 | 2020-04-14 | 河池学院 | Six-foot robot |
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| CN205034208U (en) * | 2015-10-19 | 2016-02-17 | 南京林业大学 | Six sufficient bionic robot |
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| CN101830253A (en) * | 2010-05-21 | 2010-09-15 | 哈尔滨工业大学 | Six-foot crawling robot |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105691483A (en) * | 2016-01-15 | 2016-06-22 | 北京工业大学 | Hexapod walking robot |
| CN105523100A (en) * | 2016-01-21 | 2016-04-27 | 昆明理工大学 | Deformable bionic search and rescue robot |
| CN105857432A (en) * | 2016-04-05 | 2016-08-17 | 赵德朝 | Hexapod robot, foot control method and gait control method |
| CN108466664A (en) * | 2016-05-04 | 2018-08-31 | 雷晓莉 | A kind of fire-fighting method |
| CN108466664B (en) * | 2016-05-04 | 2021-08-10 | 戴志刚 | Fire fighting method |
| CN106943282A (en) * | 2017-03-24 | 2017-07-14 | 浙江工业大学 | A kind of polypody power-assisted healing robot |
| CN107053207A (en) * | 2017-05-09 | 2017-08-18 | 山东科技大学 | A kind of bionical scorpion Detecting Robot |
| CN107053207B (en) * | 2017-05-09 | 2023-08-18 | 南京南华航空产业有限公司 | Bionic scorpion investigation robot |
| CN107745756B (en) * | 2017-10-25 | 2019-09-24 | 重庆工商大学 | The traveling method of six sufficient strawberry picking robots |
| CN107745756A (en) * | 2017-10-25 | 2018-03-02 | 重庆工商大学 | The traveling method of six sufficient strawberry picking robots |
| CN107914789A (en) * | 2017-11-30 | 2018-04-17 | 山西大学 | The intelligent bionic walking robot of mobile terminal control |
| CN107914789B (en) * | 2017-11-30 | 2023-12-29 | 山西大学 | Intelligent bionic walking robot controlled by mobile terminal |
| CN108500982A (en) * | 2018-04-04 | 2018-09-07 | 深圳市云电机器人技术有限公司 | The construction method and its system of bionical multi-foot robot motor pattern |
| CN109621442A (en) * | 2018-11-14 | 2019-04-16 | 实丰文化发展股份有限公司 | A kind of bionical quadrupeds toy of body-sensing remote control turning |
| CN109533074A (en) * | 2018-11-14 | 2019-03-29 | 西北农林科技大学 | A kind of implementation method of hexapod robot and its gait of keeping straight on |
| CN109703646A (en) * | 2019-01-14 | 2019-05-03 | 南昌大学 | A kind of novel legged type robot device |
| CN109876340A (en) * | 2019-03-18 | 2019-06-14 | 南京涵铭置智能科技有限公司 | A kind of bionical fire-fighting robot and its fire-fighting method |
| CN111002309A (en) * | 2019-12-12 | 2020-04-14 | 河池学院 | Six-foot robot |
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