CN115416775A

CN115416775A - Wheeled, legged and crawler-type multifunctional robot chassis capable of traveling in three postures

Info

Publication number: CN115416775A
Application number: CN202211134410.6A
Authority: CN
Inventors: 孙龙; 刘新
Original assignee: Zhuhai Huazuo Intelligent Technology Co ltd
Current assignee: Zhuhai Huazuo Intelligent Technology Co ltd
Priority date: 2022-09-21
Filing date: 2022-09-21
Publication date: 2022-12-02

Abstract

The invention discloses a wheel type, leg and foot type and crawler type multifunctional robot chassis capable of advancing in three postures. The robot chassis can be applied to various technical fields such as safety, logistics, outdoor exploration and the like, and solves the technical function or performance defects of poor flexibility, poor trafficability characteristic, poor balance, poor off-road property, limited operation range and the like in the existing robot chassis technology. The electric bicycle mainly comprises a bicycle frame, leg arms, wheels, a track set, a hydraulic mechanism, an electric dragging mechanism and the like. The leg arms are composed of two (or more) joints, the power of the leg arms is driven by a hydraulic cylinder, wheels are installed at the tail ends of the leg arms, the crawler belts are installed on the joints of the leg arms and below the frame respectively, the frame is connected with the other tail ends of the leg arms, different walking modes can be switched manually or by programs, and the trafficability, balance, off-road performance and application scene applicability of the robot chassis can be effectively improved.

Description

Wheeled, leg-foot type and crawler type multifunctional robot chassis capable of advancing in three postures

The technical field is as follows:

the main technical field of the invention is robot chassis technology, with the continuous progress of science and technology, the application of the robot gradually develops from high-end fields to various fields and application scenes, and the robot assists human beings to process various complicated or heavy matters. The robot chassis is used as an important component part for the movement or walking of the robot and plays a role of a platform, a bridge and a hub on the robot body.

At present, robot chassis in the market mainly has legged type (2, 4, 6 or more), crawler type and wheeled type, different chassis have different advantages and disadvantages, and the research personnel of robot or motion can select different chassis to carry out secondary technical development on the chassis, thereby matching (or adapting to) the market demand or application scene of various robots.

Background art:

from the technical point of view, the robot chassis technology is mainly divided into two development directions, namely hardware and software. Among them, the hardware direction mainly solves the adaptation problem of the application environment, such as: on a smooth road surface, the wheel type chassis can travel at high speed; in a mountain environment, the leg-foot chassis can easily roll over mountains and mountain mountains; in a complex off-road environment, including but not limited to a soft desert and a dangerous marsh, the crawler-type chassis can freely run. On the basis, the robot chassis hardware technology is developing towards stronger mechanical performance or function, faster maneuvering speed, larger load capacity, higher traveling balance, larger climbing angle and obstacle crossing height, better safety and surface three prevention (water prevention, dust prevention and corrosion prevention) and the like in the future.

The software technology development direction of the robot chassis mainly comprises two sub-directions of electrical and artificial intelligence software. Wherein, the electric items comprise energy supply, modern sensors, computer and cloud computing, communication network, electronic and control technology and the like; the artificial intelligence software comprises a software electric control and multi-sensor fusion sensing technology, an autonomous positioning navigation and obstacle avoidance technology, an artificial intelligence path planning and virtual electronic map technology and the like. In general, the hardware technology of the robot chassis is the basis of the software technology of the robot chassis. Therefore, only if the hardware technology is continuously developed, the software technology can better develop the soil.

The invention content is as follows:

the invention aims to provide a multifunctional robot chassis integrating three postures of tires, tracks and legs and feet, which has the advantages of providing a fusion method of mechanical mechanisms required by the three movement postures to meet the road condition requirements of different application scenes, and providing a technology, a method or a device for switching different movement postures of a robot in the advancing process, thereby providing the maximum movement (advancing) capacity for the robot.

The power for changing the motion attitude or advancing of the invention is derived from related motors and a plurality of groups of hydraulic piston mechanisms. The motors arranged in the wheel shafts and the hydraulic (or supporting) system attached (connected) to the legs and the feet form an electric and hydraulic combined mechanical power device, and the maximum possibility is provided for the switching of the motion postures of the robot and the super-strong cross-country capability.

The invention has 4 mechanical leg arms, each leg arm is composed of 2 leg feet and 1 power wheel assembled at the tail end, and 1 group of tracks are added on each leg foot to form a composite mechanism.

The tail ends of all legs and feet of the robot chassis are provided with the power wheels, when the landing points of all the power wheels are lower than the crawler belts additionally arranged on the power wheels and the landing points of all the power wheels form a plane, the robot chassis can move or travel in an Ackerman four-wheel drive mode, and the robot chassis can reach the highest traveling speed on a relatively flat traveling road surface.

When the robot chassis needs to travel on a rugged road surface, including sand and marsh, 4 leg arms can be laid flat and the power wheels at the tail ends of four feet are lifted, so that all the tracks land and are stressed to run in a track mode, and the robot chassis obtains strong trafficability.

When the robot needs to climb a slope (including climbing steps or stairs), cross obstacles, turn over a mountain and cross a mountain, the related legs and feet can be supported in different forms (states) by the hydraulic mechanism (or the supporting connecting rod), so that leg-foot type movement (or advancing) is realized.

When the upper part of the robot chassis is loaded with larger weight and in a moving or static state, the leg arms at the lower part of the robot chassis can play a role in supporting or adjusting balance and also can provide a certain shock-absorbing function for the robot chassis. The technical elements for realizing the related functions are realized by 4 leg arms under the assistance of a hydraulic mechanism (or a support connecting rod) and the control of an intelligent traveling control system.

The upper part of the robot chassis provided by the invention comprises the frame, and the front part and the rear part of the frame are in triangular cone shapes (ship shapes), so that the robot chassis can obtain larger trafficability or angle when moving in a wheel type or crawler type posture.

4 leg arms, 4 caterpillar bands and 4 groups of hydraulic mechanisms are arranged (or connected) below the chassis frame of the robot, and the middle part or the lower part of each hydraulic mechanism is arranged (or connected) on one side of the corresponding leg arm.

The lower leg arm of the robot chassis is divided into 2 sections, each section of leg arm is symmetrically distributed left and right (or inside and outside) by a central axis, wherein a hydraulic double-connecting-rod hydraulic mechanism is distributed on the left side of the central axis, and cross universal joints are arranged at two ends of each piston hydraulic connecting rod so as to realize or respond the motion attitude change of the leg arms. The right side of the central axis is provided with 1 set of crawler belts, and each set of crawler belt is provided with 2 sets of auxiliary power wheels.

The hydraulic mechanism on the leg arm mainly comprises a leg arm joint (1) between two sections of leg arms, an upper piston hydraulic cylinder (2), a side piston hydraulic cylinder (3), a crawler belt driving wheel (4), a cross universal joint (5), a side fixed movable shaft hole (6), a side movable shaft hole (7), upper fixed movable shaft holes (8, 9) and other parts (or parts).

The hydraulic mechanism realizes the adjustment of the posture of the leg and the arm through the movement of the connecting rod of the hydraulic cylinder, the cross universal joint can effectively support the movement of the connecting rod, and the better shock absorption function can be realized through the movement regulation and control of the hydraulic connecting rod.

Description of the drawings:

fig. 1 is a schematic diagram (1) of the overall structure of the present invention, and is photographed from the upper right side at 45 degrees.

Fig. 2 is a schematic diagram (2) of the overall structure of the present invention, and is taken from the left lower side at 45 degrees.

Fig. 3 is a partial schematic view of the leg-arm mechanism of the present invention, showing the structure and movement mechanism of the leg-arm.

Fig. 4 is a partial schematic view of the carriage mechanism of the present invention, showing the basic shape suitable for three-position exercise.

FIG. 1: a. a leg arm; b. a wheel; c. a crawler belt; d. a frame; 10. an auxiliary wheel; 11. a boat-shaped head; 12. an electrical cabinet;

FIG. 3: 1. a leg-arm joint; 2. which piston cylinder is; 3. a side movable hydraulic cylinder; 4. a track drive wheel; 5. a cross universal joint; 6. side fixed movable shaft holes; 7. a side-acting movable shaft hole; 8. an upper fixed movable shaft hole; 9. an upper movable shaft hole;

the specific implementation mode is as follows:

referring to fig. 1 and 2, the invention discloses a multifunctional robot chassis integrating tires, caterpillar tracks and four-foot three-posture walking, which comprises a leg arm and a leg arm; b. a wheel; c. a crawler belt; d. a frame; 10. an auxiliary wheel; 11. a boat-shaped head; 12. an electrical cabinet;

the leg arm 1 is composed of a metal framework, a metal hydraulic mechanism, a cross universal joint, a crawler belt and metal auxiliary wheels, wherein the auxiliary wheels contain power motors and are formed by welding or assembling. And the frame d is also formed by welding metal and serves as a base for the crawler belt and the leg arms.

The lower part of the frame d is provided with 4 groups of tracks, and 4 metal leg arms are also arranged at the lower part of the frame. The 4 metal leg arms are assembled by two sections, and each section of leg arm is provided with 1 group of crawler belts and 1 group of hydraulic mechanism.

Referring to fig. 1, the walking mechanism of the present invention includes a wheel type, a crawler type, and a four-foot type walking part, and according to the difference of the terrain and the application environment or scene, the worker can manually (or automatically control the program) switch among three walking modes;

referring to fig. 4, the frame according to the present invention is formed by welding metal members.

Claims

1. A wheeled, leg-foot type, crawler-type three-attitude marching multi-functional robot chassis, the essential element includes the terminal moving wheel of leg-foot (b), leg-foot (a) of the additional crawler track, bottom crawler track (including the auxiliary wheel) (c, 10), bow-type chassis (d, 11), characterized by that the chassis can adopt wheeled, four-foot type, three kinds of attitudes of crawler-type can be adjusted according to the change of the road conditions in order to guarantee the normal marching; it is characterized in that the leg arms (or the legs and feet) are attached with pedrails; it is also characterized by that the related leg-arm is formed from several sections of leg-arm joints, and the power source for walking the leg-arm is upper piston type hydraulic cylinder and side piston type hydraulic cylinder which are placed between the leg-arm joints.

2. The robot chassis of claim 1, wherein the wheels are installed at the ends of the respective leg arms, and independent driving motors are installed inside all the wheels, thereby constructing a power wheel device to realize four-wheel drive.

3. The robot chassis of claim 1, wherein the powered drive wheels comprise powered wheels mounted at the ends of the leg arms and track assist wheels mounted below the frame, and wherein each set of track assist wheels has a separate powered motor therein.

4. The robot chassis of claim 1, wherein the frame has a bow-shaped frame at both ends, the lower part of the bow-shaped frame is connected with the other end (or upper end) of the related leg arm (or leg foot), and an electrical cabinet capable of sliding towards both sides is arranged on the upper side of the middle part of the frame.

5. The robot chassis of claim 1, wherein the leg arm is a combined mechanical device formed by connecting two or more leg arm joints through a cross universal joint, and the leg arm assembled on the frame is formed by at least four or more leg arm joints.

6. The robot chassis of claim 1, wherein the frame is divided into an upper stressed structural member, a lower stressed structural member and a middle hollowed stressed structural member.

7. The robot chassis of claim 1, wherein two ends of the upper piston type hydraulic cylinder are movably connected with the upper fixed movable shaft holes and the upper movable shaft holes of the two leg-arm joints through a fixed seat and a cross universal joint respectively.

8. The robot chassis of claim 1, wherein two ends of the side piston hydraulic cylinder are movably connected with the two leg arm joint side fixed movable shaft holes and the two leg arm joint side movable shaft holes through cross universal joints respectively.

9. The robot chassis of claim 1, wherein the position of the upper stationary axle hole of the leg arm joint is higher than that of the upper movable axle hole, and the position of the side stationary axle hole is higher than that of the side movable axle hole.

10. The robot chassis of claim 1, wherein a hydraulic and motor hybrid power mechanism is used, wherein the related hydraulic system is changed in motion attitude by two or more hydraulic link telescoping devices.