CN109018055B - Six-wheel foot type robot - Google Patents
Six-wheel foot type robot Download PDFInfo
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- CN109018055B CN109018055B CN201810775970.7A CN201810775970A CN109018055B CN 109018055 B CN109018055 B CN 109018055B CN 201810775970 A CN201810775970 A CN 201810775970A CN 109018055 B CN109018055 B CN 109018055B
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- steering engine
- mechanical arm
- solar cell
- cell panel
- frame body
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
Abstract
The invention discloses a six-wheel foot type robot which comprises a frame body, a wheel foot type motion branched chain arranged on the frame body, a solar power generation device arranged on the frame body and capable of switching between a folded state and an unfolded state, a mechanical arm and a driving device arranged on the frame body and used for controlling the mechanical arm to move along a first direction. According to the six-wheel foot type robot, the problems that the mobile walking robot cannot consider simple structure, flexibility and rapidity are solved through the 6 wheel foot type motion branched chains with the same structure, the application occasions of the robot are widened, and high efficiency and practicability are realized; the foldable solar power generation device ensures that the robot can automatically acquire energy under special conditions, occupies small space and has strong practicability.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a six-wheel foot type robot.
Background
The traveling mechanism of the conventional robot can be roughly classified into a wheel type, a leg type, a crawler type, and the like according to the moving manner. However, the wheel type structure has the disadvantages of high speed, flexible control and limited obstacle crossing capability; the leg structure has strong adaptability, but is complex to control and is not suitable for occasions with high requirements on flexibility and rapidity; the crawler-type structure has heavy weight and high energy consumption.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a six-wheel foot type robot.
In order to achieve the purpose, the invention adopts the technical scheme that: the six-wheel foot type robot comprises a frame body, a wheel foot type motion branched chain arranged on the frame body, a solar power generation device arranged on the frame body and capable of switching between a folded state and an unfolded state, a mechanical arm and a driving device arranged on the frame body and used for controlling the mechanical arm to move along a first direction.
The solar power generation device comprises a first solar cell panel, a second solar cell panel and a second steering engine, wherein the second solar cell panel is rotatably connected with the first solar cell panel, and the second steering engine is arranged on the first solar cell panel and is used for controlling the second solar cell panel to rotate.
The first solar cell panel is rotatably connected with the frame body, the rotating central line of the first solar cell panel is parallel to the rotating central line of the second solar cell panel, and the rotating central line of the first solar cell panel is perpendicular to the first direction.
The solar power generation device further comprises a first steering engine arranged on the frame body and used for controlling the first solar cell panel to rotate.
The two solar power generation devices are arranged at two opposite ends of the frame body.
The driving device comprises a sliding rail, a support, a screw rod, a nut seat and a driving motor, wherein the sliding rail is arranged on the frame body and used for guiding, the support is arranged on the sliding rail, the screw rod is rotatably arranged on the support, the nut seat is sleeved on the screw rod and is in sliding connection with the sliding rail, the driving motor is connected with the screw rod, the nut seat and the screw rod form spiral transmission, the mechanical arm is arranged on the nut seat, and the axis of the screw rod is parallel to the first direction.
The mechanical arm comprises a first arm steering engine connected with the driving device, a first mechanical arm connected with the first arm steering engine and rotatable, a second arm steering engine arranged on the first mechanical arm, a second mechanical arm connected with the second arm steering engine and rotatable, a third arm steering engine arranged on the second mechanical arm, a third mechanical arm connected with the third arm steering engine and rotatable, a fourth arm steering engine arranged on the third mechanical arm and an end effector connected with the fourth arm steering engine and used for picking up an object, and the end effector is rotatable.
The end effector comprises an effector base connected with the fourth arm steering engine, two rotatable driving rods arranged on the effector base, a clamping jaw rotatably connected with the driving rods, a connecting rod rotatably connected with the clamping jaw and the driving rods, and a fifth arm steering engine arranged on the effector base and connected with one of the driving rods.
The wheel-foot type movement branched chain is provided with six wheel-foot type movement branched chains, wherein each wheel-foot type movement branched chain comprises a first foot steering engine connected with the frame body, a first rotatable supporting leg connected with the first foot steering engine, a second foot steering engine arranged on the first supporting leg, a second rotatable supporting leg connected with the second foot steering engine, a foot motor arranged on the second supporting leg, and a driving wheel connected with the foot motor and rotatable.
The six-wheel foot robot further comprises a carrying platform and a plurality of shock absorbers connected with the carrying platform and the frame body.
According to the six-wheel foot type robot, the problems that the mobile walking robot cannot consider simple structure, flexibility and rapidity are solved through the 6 wheel foot type motion branched chains with the same structure, the application occasions of the robot are widened, and high efficiency and practicability are realized; the foldable solar power generation device ensures that the robot can automatically acquire energy under special conditions, occupies small space and has strong practicability; in addition, the six-wheel foot type robot has the advantages of compact structure, reasonable and reliable device design and simple and convenient operation.
Drawings
The description includes the following figures, the contents shown are respectively:
FIG. 1 is a schematic structural diagram of a six-wheel legged robot according to the present invention;
FIG. 2 is a schematic structural view of a solar power generation apparatus;
FIG. 3 is a schematic structural diagram of a robot arm;
FIG. 4 is a schematic diagram of the structure of a wheel-foot type moving branched chain;
FIG. 5 is a schematic view of the connection of the load carrying platform to the shock absorber;
labeled as: 1. a frame body; 2. a robot arm; 201. a first arm steering engine; 202. a first robot arm; 203. a second arm steering engine; 204. a second mechanical arm; 205. a third arm steering engine; 206. a third mechanical arm; 207. a fourth arm steering engine; 208. an actuator base; 209. a drive rod; 210. a clamping jaw; 211. a connecting rod; 212. a fifth arm steering engine; 3. wheel-foot type motion branched chains; 301. a first foot steering engine; 302. a first leg; 303. a second foot steering engine; 304. a second leg; 305. a foot motor; 306. a drive wheel; 4. a solar power generation device; 401. a first solar cell panel; 402. a second solar panel; 403. a first steering engine; 404. a second steering engine; 5. a carrying platform; 6. a shock absorber; 7. a drive motor; 8. a lead screw; 9. a slide rail; 10. a support; 11. and a nut seat.
Detailed Description
The following detailed description of the embodiments of the present invention will be given with reference to the accompanying drawings for a purpose of helping those skilled in the art to more fully, accurately and deeply understand the concept and technical solution of the present invention and to facilitate its implementation.
As shown in fig. 1 to 5, the present invention provides a six-wheel legged robot, which includes a frame body 1, a wheeled legged motion branched chain 3 disposed on the frame body 1, a solar power generation device 4 disposed on the frame body 1 and capable of switching between a folded state and an unfolded state, a robot arm 2 for picking up an object, and a driving device disposed on the frame body 1 and controlling the robot arm 2 to move in a first direction.
Specifically, as shown in fig. 1 and 2, the solar power generation device 4 is used for generating power, a storage battery (not shown in the figure) for storing electric energy is arranged on the frame body 1, the solar power generation device 4 is electrically connected with the storage battery, and the storage battery supplies electric energy to the wheel-foot type movement branched chain 3, the driving device and the mechanical arm 2. When the solar power generation device 4 is in the unfolded state, the effective working area is increased, the power generation power and the solar energy utilization rate are improved, and the normal work of the robot is effectively ensured. When the solar power generation device 4 is in a folded state, the occupied space is small, the structure is compact, the overall size of the robot is reduced, and the robot can walk conveniently.
As shown in fig. 1 and 2, the solar power generation device 4 includes a first solar cell panel 401, a second solar cell panel 402 rotatably connected to the first solar cell panel 401, a first steering engine 403 disposed on the frame body 1 and used for controlling the first solar cell panel 401 to rotate, and a second steering engine 404 disposed on the first solar cell panel 401 and used for controlling the second solar cell panel 402 to rotate. First solar cell panel 401 rotates with frame body 1 to be connected, the rotation center line of first solar cell panel 401 and the rotation center line of second solar cell panel 402 parallel and first solar cell panel 401's rotation center line is mutually perpendicular with first direction, first solar cell panel 401's rotation center line and second direction parallel, first direction and frame body 1's length direction parallel, the second direction is parallel with frame body 1's broadband direction, first direction and second direction are mutually perpendicular. The first solar cell panel 401 and the second solar cell panel 402 are components that convert solar radiation energy into electric energy by absorbing sunlight. First solar cell panel 401 can rotate from top to bottom for frame body 1, and first steering wheel 403 is the part that first solar cell panel 401 of control carries out the rotation, and first steering wheel 403 is fixed to be set up on frame body 1, and the output shaft of first steering wheel 403 and first solar cell panel 401 fixed connection. One end of the first solar cell panel 401 is mounted on the frame body 1 through a rotating shaft, the end of the first solar cell panel 401 is connected with an output shaft of the first steering engine 403, and the other end of the first solar cell panel 401 is rotatably connected with one end of the second solar cell panel 402. Second solar cell panel 402 can rotate from top to bottom for first solar cell panel 401, and second steering wheel 404 is the part that control second solar cell panel 402 and carry out the rotation, and second steering wheel 404 is installed on first solar cell panel 401, and the output shaft and the second solar cell panel 402 fixed connection of second steering wheel 404. When the solar power generation device 4 is in a folded state, an included angle between the first solar cell panel 401 and the second solar cell panel 402 is 0 degree, and the first solar cell panel 401 and the second solar cell panel 402 are in a laminated state, so that the structure is compact and the occupied space is small; when the solar power generation device 4 is in the unfolded state, the maximum included angle between the first solar cell panel 401 and the second solar cell panel 402 is 180 degrees, the first solar cell panel 401 extends out towards the outer side of the frame body 1, the second solar cell panel 402 extends out towards the outer side of the first solar cell panel 401, the effective working area is increased, and through the control of the first steering engine 403 and the second steering engine 404, the angle between the first solar cell panel 401 and the frame body 1, and the angle between the first solar cell panel 401 and the second solar cell panel 402 can be adjusted, so that the solar power generation device is suitable for changing the illumination direction.
Preferably, as shown in fig. 1, two solar power generation devices 4 are provided at opposite ends of the frame body 1, one solar power generation device 4 is provided at one end of the frame body 1 in the longitudinal direction, and the other solar power generation device 4 is provided at the other end of the frame body 1 in the longitudinal direction.
As shown in fig. 1 and 3, the driving device includes a sliding rail 9 disposed on the frame body 1 and used for guiding, a support 10 disposed on the sliding rail 9, a screw 8 rotatably disposed on the support 10, a nut seat 11 sleeved on the screw 8 and slidably connected to the sliding rail 9, and a driving motor 7 connected to the screw 8, the nut seat 11 is in threaded connection with the screw 8, the nut seat 11 and the screw 8 form a screw transmission, the robot arm 2 is disposed on the nut seat 11, and an axis of the screw 8 is parallel to the first direction. The slide rail 9 is fixedly arranged on the top surface of the frame body 1, the length direction of the slide rail 9 is parallel to the first direction, the slide rail 9 is provided with a guide groove for embedding the nut seat 11, and the nut seat 11 is in sliding connection with the slide rail 9. The two supports 10 are arranged, the two supports 10 are respectively fixedly connected with one end of the sliding rail 9 in the length direction, the support 10 extends out towards the upper portion of the sliding rail 9, the two supports 10 support the lead screw 8, the driving motor 7 is fixedly arranged on one of the supports 10, a motor shaft of the driving motor 7 is fixedly connected with the lead screw 8, the driving motor 7 runs, the driving lead screw 8 rotates, the lead screw 8 drives the nut seat 11 to do linear reciprocating motion on the sliding rail 9 along the first direction, and the mechanical arm 2 and the nut seat 11 synchronously move. The lead screw nut mechanism is adopted, so that the position of the mechanical arm 2 is adjusted in a stepless mode, the mechanical arm 2 can stay at any position and can be locked at any position, the alignment with the position of an object to be picked up is easy, and the adaptability is good.
As shown in fig. 1 and 3, the robot arm 2 includes a first arm steering engine 201 connected to the driving device, a first robot arm 202 connected to the first arm steering engine 201 and rotatable, a second arm steering engine 203 disposed on the first robot arm 202, a second robot arm 204 connected to the second arm steering engine 203 and rotatable, a third arm steering engine 205 disposed on the second robot arm 204, a third robot arm 206 connected to the third arm steering engine 205 and rotatable, a fourth arm steering engine 207 disposed on the third robot arm 206, and an end effector connected to the fourth arm steering engine 207 and used for picking up an object, and the end effector is rotatable. The first arm steering engine 201 is fixedly installed on a nut seat 11 of the driving device, the first arm steering engine 201 is a component for controlling the first mechanical arm 202 to rotate, a rotation center line of the first mechanical arm 202 is parallel to a first direction, the first mechanical arm 202 can rotate up and down, one end of the first mechanical arm 202 in the length direction is fixedly connected with an output shaft of the first arm steering engine 201, the second arm steering engine 203 is fixedly arranged at the other end of the first mechanical arm 202 in the length direction, the length direction of the first mechanical arm 202 is perpendicular to the first direction, and the first mechanical arm 202 is located above the frame body 1. The second arm steering engine 203 is fixedly mounted on the first mechanical arm 202, the second arm steering engine 203 is a component for controlling the second mechanical arm 204 to rotate, the rotation center line of the second mechanical arm 204 is perpendicular to the first direction, the second mechanical arm 204 is positioned above the first arm steering engine 201, one end of the second mechanical arm 204 is fixedly connected with an output shaft of the second arm steering engine 203, and the third arm steering engine 205 is fixedly arranged at the other end of the second mechanical arm 204. A third arm steering engine 205 is fixedly mounted on the second mechanical arm 204, the third arm steering engine 205 is a component for controlling the third mechanical arm 206 to rotate, a rotation center line of the third mechanical arm 206 is perpendicular to the first direction, the third mechanical arm 206 is also positioned above the first arm steering engine 201, one end of the third mechanical arm 206 is fixedly connected with an output shaft of the third arm steering engine 205, and a fourth arm steering engine 207 is fixedly arranged at the other end of the third mechanical arm 206. A fourth arm steering engine 207 is fixedly mounted on the third mechanical arm 206, the fourth arm steering engine 207 is a component for controlling the rotation of the end effector, the rotation center line of the end effector is perpendicular to the rotation center line of the third mechanical arm 206, and the rotation center line of the end effector is perpendicular to the first direction.
As shown in fig. 1 and 3, the end effector includes an effector base 208 connected to the fourth arm steering engine 207, two driving rods 209 rotatably disposed on the effector base 208, a clamping jaw 210 rotatably connected to the driving rod 209, a connecting rod 211 rotatably connected to the clamping jaw 210 and the driving rod 209, and a fifth arm steering engine 212 disposed on the effector base 208 and connected to one of the driving rods 209, the effector base 208 is fixedly connected to an output shaft of the fourth arm steering engine 207, and the fifth arm steering engine 212 is fixedly disposed on the effector base 208. Two driving rods 209 are provided, the two driving rods 209 are rotatably provided on the actuator base 208, and a rotation center line of the driving rods 209 when rotating relative to the actuator base 208 is perpendicular to a rotation center line of the end effector. On executor base 208 was installed through the pivot to the one end of two actuating levers 209, be equipped with the fan-shaped tooth section of intermeshing on two actuating levers 209, one of them actuating lever 209 was rotated by the drive of fifth arm steering wheel 212, through the gear engagement to can drive another actuating lever 209 synchronous rotation, the rotation angle size of two actuating levers 209 is the same. The other ends of the two driving rods 209 are respectively connected with a clamping jaw 210 in a rotating manner, the clamping jaw 210 is provided with two clamping jaws 210 which are matched with each other for clamping an object, the rotating center line of the clamping jaw 210 when rotating relative to the driving rod 209 is parallel to the rotating center line of the driving rod 209 when rotating relative to the actuator base 208, and the clamping jaw 210 extends towards the outer side of the driving rod 209. Two connecting rods 211 are arranged, one end of each of the two connecting rods 211 is rotatably connected with one clamping jaw 210, the other end of each of the two connecting rods 211 is rotatably connected with the actuator base 208, the connecting rods 211 are rotatably connected with the clamping jaws 210 at positions between two ends of the clamping jaws 210 in the length direction, the two connecting rods 211 are located between the two driving rods 209, and the driving rods 209, the clamping jaws 210 and the connecting rods 211 form a double-rocker mechanism. And a fifth arm steering engine 212 controls a driving rod 209 to rotate, and the driving rod 209 drives two clamping jaws 210 to synchronously rotate so as to perform opening and clamping actions and grab an object. The mechanical arm 2 with the structure can move on the frame in a certain range, and the work is more flexible and convenient.
As shown in fig. 1 and 4, the wheel-foot type moving branched chain 3 includes a first foot steering engine 301 connected to the frame body 1, a first leg 302 connected to the first foot steering engine 301 and rotatable, a second foot steering engine 303 disposed on the first leg 302, a second leg 304 connected to the second foot steering engine 303 and rotatable, a foot motor 305 disposed on the second leg 304, and a driving wheel 306 connected to the foot motor 305 and rotatable. First foot steering wheel 301 fixed mounting is on frame body 1, first foot steering wheel 301 is located the below of frame body 1, first foot steering wheel 301 is the part that first leg 302 of control carries out the rotation, the rotation central line of first leg 302 parallels with first direction, first leg 302 can rotate from top to bottom, the ascending one end of length direction of first leg 302 and first foot steering wheel 301's output shaft fixed connection, the fixed other end that sets up on the length direction of first leg 302 of second foot steering wheel 303, the length direction of first leg 302 is mutually perpendicular with the second direction, first leg 302 is located the below of frame body 1. Second foot steering wheel 303 is fixed mounting on first landing leg 302, second foot steering wheel 303 is located the below of frame body 1, second foot steering wheel 303 is the part that control second landing leg 304 carries out the rotation, the rotation central line of second landing leg 304 is perpendicular with the second direction mutually, the ascending one end of length direction of second landing leg 304 and the output shaft fixed connection of second foot steering wheel 303, foot motor 305 is fixed to be set up the other end on the length direction of second landing leg 304, the length direction of second landing leg 304 is perpendicular with the second direction mutually, second landing leg 304 is located the below of frame body 1. The foot motor 305 is fixedly mounted on the second leg 304, the foot motor 305 is positioned below the frame body 1, the foot motor 305 is a component for controlling the driving wheel 306 to rotate, and the driving wheel 306 is fixedly connected with a motor shaft of the foot motor 305. The driving wheel 306 is a cylinder, the motor shaft of the foot motor 305 is fixedly connected with the driving wheel 306 at the center of the driving wheel 306, and the outer circumferential surface of the driving wheel 306 is used for contacting the ground. When the foot motor 305 is operated, the driving wheel 306 rotates to generate a driving force for driving the robot to move. The wheel-foot type moving branched chain 3 with the structure can make up the deficiency of the foot type robot in speed in certain occasions, and simultaneously keeps the obstacle crossing capability in complex terrains.
As shown in fig. 1, six wheel-foot type moving branched chains 3 are provided, six wheel-foot type moving branched chains 3 are distributed at six positions, and the six wheel-foot type moving branched chains 3 are arranged in two rows, each row has three wheel-foot type moving branched chains 3, and the three wheel-foot type moving branched chains 3 of each row are sequentially arranged along a first direction.
As shown in fig. 1 and 5, the six-wheel legged robot of the present invention further includes a carrying platform 5 and a plurality of shock absorbers 6 connected to the carrying platform 5 and the frame body 1, and the shock absorbers 6 are provided. The carrying platform 5 is used for loading objects to be transported, the carrying platform 5 is provided with an accommodating cavity for accommodating the objects, the carrying platform 5 is positioned above the frame body 1, the shock absorber 6 is used for providing a supporting effect for the carrying platform 5, and the shock absorber 6 and the carrying platform 5 are positioned on the same side of the driving device. The shock absorber 6 plays a role in shock absorption, a shock absorption spring is arranged on the shock absorber 6, the upper end of the shock absorber 6 is rotatably connected with the carrying platform 5, and the lower end of the shock absorber 6 is rotatably connected with the frame body 1. The damper 6 is preferably a double-acting cartridge damper, the construction of which is known to the person skilled in the art and will not be described in detail here. In the present embodiment, four dampers 6 are provided, and the four dampers 6 are distributed in a rectangular shape.
The invention is described above with reference to the accompanying drawings. It is to be understood that the specific implementations of the invention are not limited in this respect. Various insubstantial improvements are made by adopting the method conception and the technical scheme of the invention; the present invention is not limited to the above embodiments, and can be modified in various ways.
Claims (3)
1. Six sufficient formula robots of wheel, including the frame body with set up the sufficient motion branch chain of wheel on the frame body, its characterized in that: the solar energy power generation device is arranged on the frame body and can be switched between a folded state and an unfolded state, the mechanical arm, the driving device, the carrying platform and the shock absorbers are arranged on the frame body and are used for controlling the mechanical arm to move along a first direction, and the shock absorbers are connected with the carrying platform and the frame body;
the solar power generation device comprises a first solar cell panel, a second solar cell panel, a first steering engine and a second steering engine, wherein the second solar cell panel is in rotary connection with the first solar cell panel;
the first solar cell panel is rotationally connected with the frame body, the rotating central line of the first solar cell panel is parallel to the rotating central line of the second solar cell panel, and the rotating central line of the first solar cell panel is vertical to the first direction; the first solar cell panel can rotate up and down relative to the frame body, the first steering engine is fixedly arranged on the frame body, and an output shaft of the first steering engine is fixedly connected with the first solar cell panel; one end of the first solar cell panel is mounted on the frame body through a rotating shaft, the end of the first solar cell panel is connected with an output shaft of the first steering engine, and the other end of the first solar cell panel is rotatably connected with one end of the second solar cell panel; the second solar cell panel can rotate up and down relative to the first solar cell panel, the second steering engine is installed on the first solar cell panel, and an output shaft of the second steering engine is fixedly connected with the second solar cell panel;
when the solar power generation device is in a folded state, an included angle between the first solar cell panel and the second solar cell panel is 0 degree, and the first solar cell panel and the second solar cell panel are in a laminated state; when the solar power generation device is in an unfolded state, the included angle between the first solar cell panel and the second solar cell panel is maximally 180 degrees, the first solar cell panel extends out towards the outer side of the frame body, and the second solar cell panel extends out towards the outer side of the first solar cell panel;
the driving device comprises a sliding rail arranged on the frame body and used for guiding, a support arranged on the sliding rail, a screw rod rotatably arranged on the support, a nut seat sleeved on the screw rod and connected with the sliding rail in a sliding manner, and a driving motor connected with the screw rod, wherein the nut seat and the screw rod form spiral transmission, the mechanical arm is arranged on the nut seat, and the axis of the screw rod is parallel to the first direction; the sliding rail is fixedly arranged on the top surface of the frame body, the length direction of the sliding rail is parallel to the first direction, the sliding rail is provided with a guide groove for embedding the nut seat, and the nut seat is in sliding connection with the sliding rail; the two supports are respectively fixedly connected with one end of the sliding rail in the length direction and extend towards the upper part of the sliding rail, the two supports provide a supporting effect for the screw rod, the driving motor is fixedly arranged on one support, a motor shaft of the driving motor is fixedly connected with the screw rod, the driving motor runs to drive the screw rod to rotate, the screw rod drives the nut seat to do linear reciprocating motion on the sliding rail along the first direction, and the mechanical arm and the nut seat synchronously move;
the mechanical arm comprises a first arm steering engine connected with the driving device, a first mechanical arm connected with the first arm steering engine and capable of rotating, a second arm steering engine arranged on the first mechanical arm, a second mechanical arm connected with the second arm steering engine and capable of rotating, a third arm steering engine arranged on the second mechanical arm, a third mechanical arm connected with the third arm steering engine and capable of rotating, a fourth arm steering engine arranged on the third mechanical arm and an end effector connected with the fourth arm steering engine and used for picking up an object, and the end effector is capable of rotating;
the first arm steering engine is a component for controlling the first mechanical arm to rotate, the rotation center line of the first mechanical arm is parallel to a first direction, the first mechanical arm can rotate up and down, one end of the first mechanical arm in the length direction is fixedly connected with an output shaft of the first arm steering engine, the second arm steering engine is fixedly arranged at the other end of the first mechanical arm in the length direction, the length direction of the first mechanical arm is perpendicular to the first direction, and the first mechanical arm is positioned above the frame body; the second arm steering engine is fixedly arranged on the first mechanical arm and is a part for controlling the second mechanical arm to rotate, the rotation center line of the second mechanical arm is perpendicular to the first direction, the second mechanical arm is positioned above the first arm steering engine, one end of the second mechanical arm is fixedly connected with an output shaft of the second arm steering engine, and the third arm steering engine is fixedly arranged at the other end of the second mechanical arm; the third arm steering engine is fixedly arranged on the second mechanical arm and is a component for controlling the third mechanical arm to rotate, the rotation center line of the third mechanical arm is perpendicular to the first direction, the third mechanical arm is also positioned above the first arm steering engine, one end of the third mechanical arm is fixedly connected with an output shaft of the third arm steering engine, and the fourth arm steering engine is fixedly arranged at the other end of the third mechanical arm; the fourth arm steering engine is a component for controlling the end effector to rotate, the rotation center line of the end effector is perpendicular to the rotation center line of the third mechanical arm, and the rotation center line of the end effector is perpendicular to the first direction;
the end effector comprises an effector base connected with the fourth arm steering engine, two driving rods rotatably arranged on the effector base, a clamping jaw rotatably connected with the driving rods, a connecting rod rotatably connected with the clamping jaw and the driving rods, and a fifth arm steering engine arranged on the effector base and connected with one of the driving rods;
the six wheel-foot type movement branched chains are arranged, and each wheel-foot type movement branched chain comprises a first foot steering engine connected with the frame body, a first support leg connected with the first foot steering engine and capable of rotating, a second foot steering engine arranged on the first support leg, a second support leg connected with the second foot steering engine and capable of rotating, a foot motor arranged on the second support leg and a driving wheel connected with the foot motor and capable of rotating;
the first foot steering engine is fixedly arranged on the frame body and positioned below the frame body, the first foot steering engine is a component for controlling the first supporting leg to rotate, the rotating central line of the first supporting leg is parallel to the first direction, the first supporting leg can rotate up and down, one end of the first supporting leg in the length direction is fixedly connected with an output shaft of the first foot steering engine, the second foot steering engine is fixedly arranged at the other end of the first supporting leg in the length direction, the length direction of the first supporting leg is perpendicular to the second direction, and the first supporting leg is positioned below the frame body; the second foot steering engine is fixedly arranged on the first supporting leg and positioned below the frame body, the second foot steering engine is a component for controlling the second supporting leg to rotate, the rotation center line of the second supporting leg is perpendicular to the second direction, one end of the second supporting leg in the length direction is fixedly connected with an output shaft of the second foot steering engine, the foot motor is fixedly arranged at the other end of the second supporting leg in the length direction, the length direction of the second supporting leg is perpendicular to the second direction, and the second supporting leg is positioned below the frame body; the foot motor is fixedly arranged on the second supporting leg, the foot motor is positioned below the frame body, the foot motor is a component for controlling the driving wheel to rotate, and the driving wheel is fixedly connected with a motor shaft of the foot motor; the driving wheel is a cylinder, a motor shaft of the foot motor is fixedly connected with the driving wheel at the center of the driving wheel, and the outer circular surface of the driving wheel is used for contacting the ground; after the foot motor is operated, the driving wheel rotates to generate a driving force for driving the robot to move.
2. The six-wheeled foot robot of claim 1, wherein: the two solar power generation devices are arranged at two opposite ends of the frame body.
3. The six-wheeled foot robot of claim 1, wherein: the carrying platform is provided with an accommodating cavity for accommodating objects, the carrying platform is positioned above the frame body, the shock absorber is used for supporting the carrying platform, and the shock absorber and the carrying platform are positioned on the same side of the driving device; the shock absorber is a bidirectional cylinder shock absorber, the upper end of the shock absorber is rotatably connected with the carrying platform, and the lower end of the shock absorber is rotatably connected with the frame body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810775970.7A CN109018055B (en) | 2018-07-16 | 2018-07-16 | Six-wheel foot type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810775970.7A CN109018055B (en) | 2018-07-16 | 2018-07-16 | Six-wheel foot type robot |
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| Publication Number | Publication Date |
|---|---|
| CN109018055A CN109018055A (en) | 2018-12-18 |
| CN109018055B true CN109018055B (en) | 2021-06-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810775970.7A Active CN109018055B (en) | 2018-07-16 | 2018-07-16 | Six-wheel foot type robot |
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| CN109940620A (en) * | 2019-04-15 | 2019-06-28 | 于傲泽 | A kind of Intelligent exploration robot and its control method |
| CN109986531A (en) * | 2019-04-28 | 2019-07-09 | 新乡市永安机械设备有限公司 | A kind of marine maintenance cooperation manipulator |
| CN110154049A (en) * | 2019-05-24 | 2019-08-23 | 北京深醒科技有限公司 | A kind of wheeled workshop patrol robot |
| CN111591363B (en) * | 2020-05-27 | 2021-04-27 | 中国人民解放军国防科技大学 | High-integration wheel leg composite mechanism and carrying platform |
| CN112873220A (en) * | 2021-01-08 | 2021-06-01 | 格物创意(深圳)科技有限公司 | Polymorphic STEM educational machine people |
| CN114750851B (en) * | 2021-07-12 | 2023-08-01 | 智能移动机器人(中山)研究院 | Variable-structure four-six-foot robot based on steering engine and advancing method thereof |
| CN114872812B (en) * | 2022-06-07 | 2022-12-09 | 安徽农业大学 | A running gear for field crop detects |
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| EP3250448B1 (en) * | 2015-02-01 | 2020-08-05 | Genesis Robotics and Motion Technologies Canada, ULC | Mobile platform |
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