CN111071367A

CN111071367A - Crawling robot

Info

Publication number: CN111071367A
Application number: CN202010136516.4A
Authority: CN
Inventors: 孙鹏程; 邢鹏达
Original assignee: Qinhuangdao Daze Technology Co ltd
Current assignee: Qinhuangdao Daze Technology Co ltd
Priority date: 2020-03-02
Filing date: 2020-03-02
Publication date: 2020-04-28
Anticipated expiration: 2040-03-02
Also published as: CN111071367B

Abstract

The invention provides a crawling robot, which comprises a main body frame, a power unit, a plurality of transmission units, a plurality of groups of crawling units, a plurality of horizontal driving units and a plurality of vertical driving units, wherein the power unit provides power for the transmission units, the transmission units transmit the power to the plurality of horizontal driving units and the plurality of vertical driving units, the plurality of horizontal driving units and the plurality of vertical driving units drive the plurality of groups of crawling units to move, the purpose of simulating walking of multi-foot insects is realized by using fewer power elements to match with a proper mechanical structure, the production cost and the maintenance cost are greatly reduced, the operation is reliable, and the crawling robot can be widely applied to the technical fields of manned entertainment, teaching aids and the like.

Description

Crawling robot

Technical Field

The invention relates to the technical field of robots, in particular to a crawling robot.

Background

The crawling robot is one of mobile robots, and the crawling robot is divided according to the bionics angle, and can be divided into: mantis type crawling robots, spider type crawling robots, snake-shaped robots, inchworm type crawling robots, and the like; the driving method can be divided into: a pneumatic crawling robot, an electric crawling robot, a hydraulic driving crawling robot and the like; the method is divided into the following steps according to working space: pipeline crawling robots, wall crawling robots, spherical crawling robots and the like; according to the function and application, the method can be divided into: a welding arc crawling robot, a detection crawling robot, a cleaning crawling robot, a lifting crawling robot, a line patrol crawling robot and a toy crawling robot; according to the walking mode, the walking method can be divided into: wheeled, tracked, peristaltic, etc. The crawling robot with various structures and purposes can be designed according to different driving modes, functions and the like, such as a detection crawling robot in a pneumatic pipe, an electromagnetic adsorption multi-foot crawling robot, an electric drive wall welding arc crawling robot and the like, and the crawling robot in each form has respective application characteristics.

Most of the existing crawling robots adopt multiple power elements to realize multiple degrees of freedom, and meanwhile, the actions of all the power elements are controlled by means of computer programs, so that the simulation of insect walking is realized. From the mechanical point of view, the mode has the defects of unstable and unreliable operation; from the perspective of cost, the above method adopts more power elements and computer program control, so that the production cost is higher, and the operation and maintenance cost is higher.

Disclosure of Invention

The invention aims to solve the problems that a crawling robot in the prior art is unreliable in operation and high in cost, and provides the crawling robot.

In order to achieve the purpose, the invention adopts the following technical scheme: a crawling robot comprises a main body frame, a power unit, a plurality of transmission units, a plurality of groups of crawling units, a plurality of horizontal driving units and a plurality of vertical driving units. The power unit is arranged on the main body frame; the plurality of groups of crawling units are sequentially arranged along the main body frame at intervals, each group of crawling unit comprises two crawling feet arranged on two sides of the main body frame, and the two crawling feet are hinged to the main body frame; the plurality of horizontal driving units are sequentially arranged on the main body frame and are in one-to-one correspondence connection with the plurality of groups of crawling units so that the plurality of groups of crawling units can move along a first direction; the vertical driving units are sequentially arranged on the main body frame and are in one-to-one correspondence with the groups of crawling units so that the groups of crawling units can move along a second direction different from the first direction; a plurality of transfer units set up on the main part frame, and a plurality of transfer units are crawled the unit one-to-one with the multiunit, are connected between two adjacent transfer units, and power pack is connected with at least one transfer unit in a plurality of transfer units, and every transfer unit all is connected with the horizontal drive unit and the vertical drive unit that the unit of crawling that correspond is connected to make every group crawl the unit motion.

Preferably, each transmission unit comprises a transmission shaft, a first transmission part and a second transmission part, the transmission shafts of two adjacent transmission units are connected, the power unit is connected with the transmission shaft of at least one transmission unit in the plurality of transmission units to enable the transmission shaft to rotate, the transmission shafts belonging to the same transmission unit, the first transmission part and the second transmission part are connected, the transmission shaft is connected with the first transmission part to enable the first transmission part to rotate, the first transmission part is connected with the second transmission part to enable the second transmission part to rotate, and the second transmission part is connected with the horizontal driving unit and the vertical driving unit which are connected with the crawling unit corresponding to the transmission unit where the second transmission part is located to enable the corresponding crawling unit to move. Furthermore, each vertical driving unit comprises a vertical driving shaft and two vertical output shafts arranged at two ends of the vertical driving shaft, the second transmission part is connected with the vertical driving shaft of the vertical driving unit connected with the second transmission part to drive the vertical driving shaft to rotate, the vertical driving shaft and the two vertical output shafts belong to the same vertical driving unit, one ends of the two vertical output shafts are connected with the vertical driving shaft, and the other ends of the two vertical output shafts are respectively connected with two crawling feet of the crawling unit corresponding to the vertical driving unit where the two vertical output shafts are located. Furthermore, the crawling foot comprises an upper leg, a middle leg and an upper leg connecting rod, the upper leg is pivoted with the main body frame, a pivoting shaft between the upper leg and the main body frame extends along a second direction, the upper end of the upper leg is connected with the upper end of the middle leg through the upper leg connecting rod, the upper leg comprises an upper leg body, two leg rocker arms symmetrically arranged on two opposite side walls of the upper leg body, a rocker driving shaft connected with the two leg rocker arms, and two lower leg connecting rods arranged on two sides of the lower end of the upper leg body, the middle leg comprises a middle leg body and two middle leg pull rods symmetrically arranged on two sides of the lower end of the middle leg body, the rocker driving shaft is in transmission connection with a vertical output shaft, the lower leg connecting rods positioned on the same side are connected with the middle leg pull rods, and the leg rocker arms; each horizontal driving unit comprises a main shaft, an eccentric wheel and a horizontal rocker arm, a second transmission part is connected with the main shaft of the horizontal driving unit connected with the second transmission part to drive the main shaft to rotate, the part of each crawling foot of each crawling unit, which is hinged with the main body frame, comprises a first connecting end and a second connecting end, the first connecting ends of the two crawling feet which belong to the same crawling unit are positioned on the same side, the main shaft, the eccentric wheel and the horizontal rocker arm which belong to the same horizontal driving unit are fixedly connected with the eccentric wheel, the central shaft of the horizontal rocker arm and the central shaft of the eccentric wheel are coaxially arranged, one end of the horizontal rocker arm is connected with the main body frame through a first pull rod, the other end of the horizontal rocker arm is connected with the first connecting end of one crawling foot of the crawling unit corresponding to the horizontal, the second connecting end of the crawling foot is connected with the second connecting end of the other crawling foot of the crawling unit in which the crawling foot is located through a third pull rod. Still further, the first transmission part comprises a first gear, a second gear, an auxiliary transmission shaft, a first bevel gear and a second bevel gear, the first gear is arranged on the transmission shaft which belongs to the same transmission unit with the first transmission part where the first gear is arranged, the second gear is fixed on the auxiliary transmission shaft and is in transmission connection with the first gear, the first bevel gear is fixed at one end of the auxiliary transmission shaft, the second bevel gear is fixed at the other end of the auxiliary transmission shaft, the second transmission part which belongs to the same transmission unit with the first transmission part comprises a first auxiliary gear and a second auxiliary gear, the first auxiliary gear is arranged on a vertical driving shaft of a vertical driving unit connected with the transmission unit where the first auxiliary gear is located and the first auxiliary gear is in transmission connection with a first bevel gear, the second auxiliary gear is arranged on a main shaft of a horizontal driving unit connected with the transmission unit where the second auxiliary gear is located and the second auxiliary gear is in transmission connection with a second bevel gear.

Preferably, the main body frame comprises a plurality of sub-main body frames, the plurality of sub-main body frames correspond to the plurality of crawling units one by one, the horizontal driving unit, the vertical driving unit and the transmission unit corresponding to each crawling unit are arranged on the sub-main body frame corresponding to each crawling unit, and two adjacent sub-main body frames are connected.

Preferably, the crawling robot further comprises at least one steering unit, the at least one steering unit is arranged on the main body frame, and the at least one steering unit is correspondingly connected with different one of the plurality of horizontal driving units. Further, the crawling robot further comprises at least one amplitude modulation unit, the at least one amplitude modulation unit is arranged on the main body frame, the number of the at least one amplitude modulation unit is not larger than that of the at least one steering unit, the at least one amplitude modulation unit is correspondingly connected with different one of the at least one steering unit, and the at least one amplitude modulation unit is connected with the horizontal driving unit connected with the corresponding steering unit. Furthermore, each steering unit comprises a steering power assembly, the steering power assembly is connected with the horizontal driving unit corresponding to the steering unit where the steering power assembly is located, each amplitude modulation unit comprises an amplitude modulation power assembly, a steering rocker arm and a sliding block, the amplitude modulation power assemblies belong to the same amplitude modulation unit, the steering rocker arm is arranged on the main body frame in a pivoting manner between the steering rocker arm and the sliding block, the sliding block is arranged in the steering rocker arm in a sliding manner, the amplitude modulation power assembly is connected with the sliding block to drive the sliding block to slide in the steering rocker arm, two ends of the sliding block are respectively connected with two crawling feet of a crawling unit corresponding to the horizontal driving unit connected with the amplitude modulation unit where the sliding block is located through a fourth pull rod and a fifth pull rod, the steering rocker arm is connected with the horizontal driving unit corresponding to the amplitude modulation unit where the steering rocker arm is located, and the other end of the horizontal driving unit is connected with the steering power assembly of the steering unit corresponding to.

Preferably, the crawling robot further comprises a rolling unit, the rolling unit comprises a plurality of front and rear rolling sub-units and a plurality of left and right rolling sub-units, the number of the plurality of front and rear rolling sub-units is greater than or equal to the number of the plurality of left and right rolling sub-units, the sum of the number of the plurality of front and rear rolling sub-units and the number of the plurality of left and right rolling sub-units is equal to the number of the plurality of crawling units, and the plurality of front and rear rolling sub-units and the plurality of left and right rolling sub-units respectively correspond to different ones of the plurality of crawling units. Furthermore, the tail ends of two crawling feet of the crawling unit corresponding to each front-back rolling subunit are respectively provided with a first clamping groove, each front-back rolling subunit comprises a first front-back rotating roller, a second front-back rotating roller and two first torsion springs, the first front-back rotating rollers are fixed in the first clamping grooves of one of the two crawling feet through the first torsion springs, and the second front-back rotating rollers are fixed in the first clamping grooves of the other one of the two crawling feet through the first torsion springs; the tail ends of two crawling feet of the crawling unit corresponding to each left-right rolling subunit are respectively provided with a second clamping groove, each left-right rolling subunit comprises a first left-right rotating roller, a second left-right rotating roller and two second torsional springs, the first left-right rotating rollers are fixed in the second clamping grooves of one of the two crawling feet through the second torsional springs, and the second left-right rotating rollers are fixed in the second clamping grooves of the other one of the two crawling feet through the second torsional springs. Furthermore, each front-back rolling subunit further comprises two brake assemblies, the two brake assemblies are respectively fixed on the inner side walls of the first clamping grooves of the two crawling feet of the crawling unit corresponding to the front-back rolling subunit where the two brake assemblies are located, and the two brake assemblies are respectively connected with the first front-back rotating roller and the second front-back rotating roller of the front-back rolling subunit where the two brake assemblies are located.

Compared with the prior art, the invention has the beneficial effects that: the purpose of simulating the walking of the polypod insects is realized by using fewer power elements to match with a proper mechanical structure, the production cost and the maintenance cost are greatly reduced, the operation is reliable, and the device can be widely applied to the technical fields of manned entertainment, teaching aids and the like.

Drawings

Fig. 1 is a schematic structural view of a crawling robot according to an embodiment of the present invention;

FIG. 2 is a schematic view of the internal structure of FIG. 1;

FIG. 3 is a schematic structural view of the main body frame in FIG. 1;

FIG. 4 is a schematic illustration of the power unit and transfer unit connection of FIG. 1;

FIG. 5 is a schematic view of a detail A in FIG. 2;

FIG. 6 is a schematic structural view of the vertical drive unit of FIG. 2;

fig. 7 is a schematic structural view of a steering unit and an amplitude modulation unit corresponding to the same horizontal driving unit in fig. 1;

fig. 8 is a schematic diagram of the structure of the amplitude modulation unit in fig. 1.

Detailed Description

In order to further understand the objects, structures, features and functions of the present invention, the following embodiments are described in detail.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Referring to fig. 1 to 8, the crawling robot of the present invention includes a main body frame 1, a power unit 2, a plurality of transmission units 3, a plurality of crawling units 4, a plurality of horizontal driving units 5, and a plurality of vertical driving units 6.

The power unit 2 is provided on the main body frame 1, such as the middle of the main body frame 1. Preferably, the power unit 2 comprises an electric motor.

The multiunit unit of crawling 4 sets up along main part frame 1 interval in proper order, and multiunit of crawling 4 all includes two sufficient 40 of crawling that set up in main part frame 1 both sides, and two sufficient 40 of crawling all articulate on main part frame 1. Referring to fig. 1 and 2, the multiple crawling units 4 take three crawling units as an example, two crawling feet 40 of each crawling unit 4 are symmetrically arranged on the main body frame 1, each crawling foot 40 comprises an upper leg 401 and a middle leg 402, the upper leg 401 is pivoted with the main body frame 1, a pivoting shaft between the upper leg 401 and the main body frame 1 extends vertically, the upper end of the upper leg 401 is connected with the upper end of the middle leg 402 through an upper leg connecting rod 110, the upper leg connecting rod 110 is pivoted with the upper end of the upper leg 401, the pivoting shaft extends horizontally, the upper leg connecting rod 110 is pivoted with the upper end of the middle leg 402, the pivoting shaft extends horizontally, two opposite side walls of the upper leg 401 are symmetrically provided with leg rocker arms 411, the two leg rocker arms 411 are connected through a rocker driving shaft 111, the two leg rocker arms 411 move under the action of the rocker driving shaft 111, two sides of the lower end of the upper leg 401 are symmetrically provided with lower leg connecting rods 421, two sides of the lower end of the middle leg 402 are, the lower leg link 421 and the middle leg link 412 on the same side are coupled by a ball pin, and the leg rocker 411 and the middle leg link 412 on the same side are connected by a ball pin to realize bionic motion.

The plurality of horizontal driving units 5 are sequentially arranged on the main body frame 1, and the plurality of horizontal driving units 5 are connected with the plurality of groups of crawling units 4 in a one-to-one correspondence manner so that the plurality of groups of crawling units 4 can move along a first direction (such as a front-back direction). Referring to fig. 1 and 2, each of the horizontal driving units 5 includes a main shaft 51, an eccentric wheel 52 and a horizontal rocker arm 53, the main shaft 51 is fixedly connected to the eccentric wheel 52, a central axis of the horizontal rocker arm 53 is coaxially arranged with a central axis of the eccentric wheel 52, a portion of each crawling foot 40 of each crawling unit 4 pivotally connected to the main frame 1 includes a first connecting end 41 and a second connecting end 42, the first connecting ends 41 of the two crawling feet 40 belong to the same crawling unit 4 are located on the same side, the second connecting ends of the two crawling feet 40 belong to the same crawling unit 4 are also located on the same side, one end of the horizontal rocker arm 53 is connected to the main frame 1 through a first pull rod 112, and the other end of the horizontal rocker arm 53 is connected to the crawling unit 5 corresponding to the horizontal driving unit 53 through a second pull rod 113 and belongs to the same horizontal driving unit 5 between the main shaft 51, the eccentric wheel 52 and the horizontal rocker arm 53 of the same horizontal driving unit 5 The first connecting end 41 of one crawling foot 40 of the unit 4 is connected, and the second connecting end 42 of the crawling foot 40 is connected with the second connecting end 42 of the other crawling foot 40 of the crawling unit 4 through a third pull rod 114, so that when the main shaft 51 drives the eccentric wheel 52 to rotate so as to enable the horizontal rocker arm 53 to swing, the crawling foot 40 can swing through the first pull rod 112, the second pull rod 113 and the third pull rod 114, and the crawling robot moves. The horizontal driving unit 5 is not limited to the above-described structure, and may be a crank or other structure that can swing the two crawling feet 40 of the crawling unit 4.

The plurality of vertical driving units 6 are sequentially arranged on the main body frame 1, and the plurality of vertical driving units 6 are connected with the plurality of groups of crawling units 4 in a one-to-one correspondence manner so that the plurality of groups of crawling units 4 can move along a second direction (such as an up-down direction) different from the first direction. Referring to fig. 2 and 6, the vertical driving units 6 are exemplified by three vertical driving units, each vertical driving unit 6 includes a vertical driving shaft 61 and two vertical output shafts 62 located at two ends of the vertical driving shaft 61, one ends of the two vertical output shafts 62 are connected to the vertical driving shaft 61 through universal joints, and the other ends of the two vertical output shafts 62 are respectively connected to the rocker driving shafts 111 on the two crawling feet 40 of the crawling unit 4 corresponding to the vertical driving unit 6 through gear transmission.

The plurality of transmission units 3 are arranged on the main body frame 1, the plurality of transmission units 3 correspond to the plurality of groups of crawling units 4 one by one, two adjacent transmission units 3 are connected, the power unit 2 is connected with at least one transmission unit (such as one transmission unit located in the middle position in fig. 1) in the plurality of transmission units 3, and each transmission unit 3 is connected with the horizontal driving unit 5 and the vertical driving unit 6 which are connected with the corresponding crawling unit 4, so that each group of crawling unit 4 moves. Referring to fig. 2, the plurality of transmission units 3 take three transmission units as an example, each transmission unit 3 includes a transmission shaft 31, a first transmission part 32 and a second transmission part 33, the transmission shafts 31 of two adjacent transmission units 3 are connected, the power unit 2 is rotatably connected with the transmission shaft 31 of at least one transmission unit 3 of the plurality of transmission units 3 through a revolute pair, the transmission shaft 31, the first transmission part 32 and the second transmission part 33 belonging to the same transmission unit 3 are connected, the transmission shaft 31 is connected with the first transmission part 32, the first transmission part 32 is connected with the second transmission part 33, and the second transmission part 33 is connected with the horizontal driving unit 5 and the vertical driving unit 6 connected with the corresponding crawling unit 4 of the transmission unit 3 to which the transmission unit 33 is located so as to enable the corresponding crawling unit 4 to move. Referring to fig. 4, the power unit 2 drives the transmission shaft 31 connected thereto to rotate through a gear and a bevel gear, and the transmission shaft 31 is connected to the transmission shaft 31 adjacent thereto through a universal joint to drive the transmission shaft 31 adjacent thereto to rotate. Referring to fig. 5, the first transmission part 32 includes a first gear 321 disposed on the transmission shaft 31, a second gear 322 drivingly connected to the first gear 321, a sub-transmission shaft 323 for fixing the second gear 322, a first bevel gear 324 fixed at one end of the sub-transmission shaft 323 for driving the vertical driving shaft 61 to rotate, and a second bevel gear 325 fixed at the other end of the sub-transmission shaft 323 for driving the main shaft 51 to rotate, and the second transmission part 33 includes a first sub-gear 331 disposed on the vertical driving shaft 61 and drivingly connected to the first bevel gear 324, and a second sub-gear 332 disposed on the main shaft 51 and drivingly connected to the second bevel gear. The power unit 2 drives the transmission shaft 31 to rotate, the first gear 321 on the transmission shaft 31 drives the second gear 322 to drive the auxiliary transmission shaft 323 to rotate, the auxiliary transmission shaft 323 drives the second bevel gear 325 to rotate, the second bevel gear 325 drives the second auxiliary gear 332 to rotate so as to rotate the main shaft 51, the main shaft 51 rotates so as to rotate the eccentric wheel 52, thereby leading the horizontal rocker arm 53 to swing, leading the position of the pull rod to change by the swing of the horizontal rocker arm 53 so as to change the horizontal position of the crawling foot 40, meanwhile, the auxiliary transmission shaft 323 drives the first bevel gear 324 to rotate, the first bevel gear 324 drives the first auxiliary gear 331 to rotate so as to rotate the vertical driving shaft 61, the vertical driving shaft 61 rotates to drive the vertical output shaft 62 to rotate, the vertical output shaft 62 drives the rocker driving shaft 111 to rotate through the gears and the bevel gears, the rocker driving shaft 111 drives the leg rocker 411 to move, and the leg rocker 411 drives the leg middle pull rod 412 so as to enable the crawling foot 40 to move up and down. The crawling robot can be used for driving a plurality of crawling units to move by matching a small number of power elements with a proper mechanical structure, so that the production cost is greatly reduced, and the operation reliability is guaranteed.

In a preferred embodiment, the main body frame 1 comprises a plurality of sub-main body frames, the plurality of sub-main body frames correspond to the plurality of crawling units 4 one by one, the horizontal driving unit 5, the vertical driving unit 6 and the transmission unit 3 corresponding to each crawling unit 4 are arranged on the sub-main body frame corresponding to each crawling unit 4, and two adjacent sub-main body frames are connected with each other. Referring to fig. 1 and 3, the plurality of sub-body frames are exemplified by three sub-body frames, which are a first sub-body frame 101, a middle sub-body frame 102 and a second sub-body frame 103. Preferably, two adjacent sub-main body frames are hinged, so that the two adjacent sub-main body frames can swing at a certain angle on the horizontal plane to facilitate steering, and a spring can be arranged between the two adjacent sub-main body frames to play a certain buffering role when being impacted greatly.

The crawling robot further comprises at least one steering unit 7, the at least one steering unit 7 is arranged on the main body frame 1, the at least one steering unit 7 is correspondingly connected with different one of the plurality of horizontal driving units 5, so that the two crawling feet 40 of the corresponding crawling unit 4 can be deflected through the horizontal driving units 5, and the crawling robot can steer. Referring to fig. 1, the at least one steering unit 7 is exemplified by three steering units, the three steering units correspond to three horizontal driving units one by one, and the three steering units are respectively disposed on the sub-body frames corresponding to the corresponding horizontal driving units, each steering unit 7 includes a steering power assembly 71, and the steering power assembly 71 is connected to the horizontal driving unit 5 corresponding to the steering unit 7. The horizontal driving unit 5 may be a structure including a main shaft 51, an eccentric 52, and a horizontal swing arm 53 as shown in fig. 1, or may be another structure such as a crank. When the horizontal driving unit 5 is in the structure shown in fig. 1, the steering power assembly 71 is connected with one end of the horizontal rocker arm 53 through the first pull rod 112, that is, the horizontal rocker arm 53 is connected with the main body frame 1 through the first pull rod 112 and the steering power assembly 71, when the crawling robot needs to steer, the steering power assembly 71 deflects the first pull rod 112 by a certain angle, so that the horizontal rocker arm 53 is also deflected, and the crawling foot 40 is deflected through the second pull rod 113, so that the crawling robot steers.

The crawling robot comprises at least one amplitude modulation unit 8 besides the steering units 7, wherein the at least one amplitude modulation unit 8 is arranged on the main body frame 1, the number of the at least one amplitude modulation unit 8 is not larger than that of the at least one steering unit 7, the at least one amplitude modulation unit 8 corresponds to different one of the at least one steering unit 7, and the at least one amplitude modulation unit 8 is connected with the horizontal driving unit 5 connected with the corresponding steering unit 7 so as to adjust the swing amplitude of the crawling unit 4 corresponding to the horizontal driving unit 5, so that the steering is more flexible and simpler. Referring to fig. 1, 7 and 8, at least one amplitude modulation unit 8 is taken as an example of an amplitude modulation unit, the amplitude modulation unit 8 is located in the middle of the main body frame 1 (located on the middle sub-main body frame 102 as shown in fig. 1 and 7), the amplitude modulation unit 8 corresponds to the middle steering unit 7, the amplitude modulation unit 8 includes an amplitude modulation power assembly 81, a steering rocker 82 and a slider 83, the steering rocker 82 is pivotally disposed on the main body frame 1, the slider 83 is slidably disposed in the steering rocker 82, the amplitude modulation power assembly 81 is connected with the slider 83 to drive the slider 83 to slide in the steering rocker 82, two ends of the slider 83 are respectively connected with the two crawling feet 40 of the crawling unit 4 corresponding to the horizontal driving unit 5 connected to the amplitude modulation unit 8 through a fourth pull rod 115 and a fifth pull rod 116, the steering rocker 82 is connected with one end of the horizontal driving unit 5 corresponding to the amplitude modulation unit 8, the other end of the horizontal drive unit 5 is connected to the steering power assembly 71 of the intermediate steering unit 7. Referring to fig. 7, the fourth and

fifth tie rods

115 and 116 connect the first connecting end 41 of one of the two crawling feet 40 and the second connecting end 42 of the other crawling foot, respectively. Referring to fig. 2, 3 and 8, a column-shaped protrusion 11 is disposed in the middle of the main frame 1, a column-shaped through hole is disposed in the center of the steering rocker arm 82, the column-shaped protrusion 11 is matched with the column-shaped through hole to fix the steering rocker arm 82 on the main frame 1, the steering rocker arm 72 can swing around a shaft, the steering rocker arm 82 includes an upper steering rocker arm 821 and a lower steering rocker arm 822, a slider 83 is disposed between the upper steering rocker arm 821 and the lower steering rocker arm 822, a horizontal rocker arm 53 of a horizontal driving unit 5 connected to the amplitude modulation unit 8 is connected to the upper steering rocker arm 821 and the lower steering rocker arm 822 through a sixth pull rod 117, mounting holes are disposed on the upper steering rocker arm 821 and the lower steering rocker arm 822 near the horizontal driving unit 5, one end of the sixth pull rod 117 is pivotally connected to the horizontal rocker arm 53, the other end of the sixth pull rod 117 is pivotally connected to the mounting holes on the upper steering rocker arm 821 and the lower steering rocker arm, when the robot is in straight motion, the distance from the columnar bulge 11 to the crawling feet 40 on the two sides is equal, the swing angles of the crawling feet 40 on the two sides are relatively close, the amplitude modulation power assembly 81 drives the sliding block 83 to slide during steering, so that the distance from the columnar bulge 11 to the crawling feet 40 on the two sides is changed, one side of the swing angle of the crawling feet 40 on the two sides is increased, and the other side of the swing angle is reduced, so that the steering flexibility of the crawling robot is improved.

The steering unit 7 can also adopt the structural form of the amplitude modulation unit 8, and all the structures which can realize steering of the crawling robot by deflecting the two crawling feet 40 corresponding to the crawling unit 4 are suitable for the steering unit 7. The plurality of steering units 7 may all adopt the configuration of the steering unit 7, may all adopt the configuration of the width modulation unit 8, may adopt a part of the configuration of the steering unit 7, may adopt another part of the configuration of the width modulation unit 8, or may exist in a plurality of configurations capable of realizing a steering function.

The crawling robot further comprises a rolling unit, the rolling unit comprises a plurality of front and rear rolling sub-units 91 and a plurality of left and right rolling sub-units 92, the number of the plurality of front and rear rolling sub-units 91 is larger than or equal to that of the plurality of left and right rolling sub-units 92 so as to guarantee the straight-moving effect of the crawling robot, the sum of the number of the plurality of front and rear rolling sub-units 91 and the number of the plurality of left and right rolling sub-units 92 is equal to that of the plurality of crawling units 4, and the plurality of front and rear rolling sub-units 91 and the plurality of left and right rolling sub-units 92 correspond to different ones of the plurality of crawling units 4 respectively. Referring to fig. 1, the tail ends of the two crawling feet 40 of the crawling unit 4 corresponding to each front-back roller subunit 91 are respectively provided with a first clamping groove 400, each front-back roller subunit 91 respectively comprises a first front-back rotating roller 911, a second front-back rotating roller 912 and two first torsion springs (not shown in the figure), the first front-back rotating roller 911 is fixed in the first clamping groove 400 of one of the two crawling feet 40 through the first torsion spring, and the second front-back rotating roller 912 is fixed in the first clamping groove 400 of the other of the two crawling feet 40 through the first torsion spring; the end of two crawl feet 40 of the crawl unit 4 that roll subunit 92 corresponds about every all is equipped with second draw-in groove 410, roll subunit 92 about every all includes first rotation of the left and right sides gyro wheel 921, second rotation of the left and right sides gyro wheel 922 and two second torsional springs (not shown in the figure), first rotation of the left and right sides gyro wheel 921 is fixed in the second draw-in groove 410 of one of two crawl feet 40 through the second torsional spring, rotation of the left and right sides gyro wheel 922 is fixed in the second draw-in groove 410 of another of two crawl feet 40 through the second torsional spring, through setting up first torsional spring and second torsional spring, the anti-skidding ability of rotation gyro wheel and rotation of the left and right sides gyro wheel around having improved. In a preferred embodiment, the front and rear roller subunit 91 further includes two brake assemblies, the two brake assemblies are respectively fixed on the inner sidewalls of the first locking grooves 400 of the two crawling feet 40, the two brake assemblies are respectively connected with the first front and rear rotating roller 911 and the second front and rear rotating roller 912 to control the front and rear rotating rollers not to rotate when the front and rear rotating rollers are in a straight running state, so that a straight running effect is ensured, and the front and rear rotating rollers are released when the direction is changed, so that the direction is conveniently changed. The brake assembly can be controlled independently, so that the brake assembly still brakes when turning, or the braking force is reduced, so that the brake assembly does not skid on a wet and slippery road surface.

In practical use, the swing rocker arm 100 can be arranged at one end of the crawling foot 40 hinged to the main body frame 1, the swing rocker arm 100 is fixedly connected with the crawling foot 40, the swing rocker arm 100 is pivoted with the crawling foot 40, one end of one swing rocker arm 100 is connected with the horizontal rocker arm 53 through the second pull rod 113 in the two swing rocker arms 100 corresponding to the same crawling unit 4, the other end of the swing rocker arm 100 is connected with one end of the other swing rocker arm 100 on the same side through the third pull rod 114, so that when the horizontal rocker arm 53 swings, the swing rocker arm 100 can swing through the second pull rod 113, the crawling foot 40 is driven to swing, and only the swing rocker arm 100 needs to be replaced when the connecting part is damaged, the replacement is simple, and the cost is saved; the two sides of the main body frame 1 are symmetrically provided with pivoting parts 12 for pivoting the crawling feet 40, the pivoting parts 12 are provided with pivoting holes 121, and the swinging rocker arm 100 and the pivoting holes 121 are coaxially arranged; the two crawling feet 40 of the same crawling unit 4 are connected through a reinforcing plate to increase the structural stability of the crawling robot, two ends of the reinforcing plate are respectively in shaft connection with the two crawling feet 40 and the part of the main body frame 1 in pivot connection, or two ends of the reinforcing plate are respectively in shaft connection with the swing rocker arms 100 corresponding to the two crawling feet; the power unit 1 may include a plurality of power assemblies, the number of which is no greater than the number of sets of crawlers, the plurality of power assemblies being connected to different ones of the plurality of transfer units 3.

The action process is as follows: in the straight-going process of the crawling robot, the power unit 2 drives the transmission shaft 31 to rotate, the transmission shaft 31 drives the transmission shaft 31 adjacent to the transmission shaft to rotate, the first gear 321 on the transmission shaft 31 drives the second gear 322 to drive the auxiliary transmission shaft 323 to rotate, the auxiliary transmission shaft 323 drives the second bevel gear 325 to rotate, the second bevel gear 325 drives the second auxiliary gear 332 to rotate so as to drive the main shaft 51 to rotate, the main shaft 51 rotates so as to drive the eccentric wheel 52 to rotate, and further drive the horizontal rocker arm 53 to swing, the horizontal rocker arm 53 swings so as to change the position of the pull rod and change the horizontal position of the crawling foot 40, meanwhile, the auxiliary transmission shaft 323 drives the first bevel gear 324 to rotate, the first bevel gear 324 drives the first auxiliary gear 331 to rotate so as to drive the vertical driving shaft 61 to rotate, the vertical driving shaft 61 rotates and drives the vertical output shaft 62 to, the rocker driving shaft 111 drives the leg rocker 411 to move, and the leg rocker 411 drives the leg middle pull rod 412 so as to enable the crawling foot 40 to move up and down; when the crawling robot turns to, the steering power assembly 71 enables the first pull rod 112 to deflect by a certain angle, so that the horizontal rocker arm 53 also deflects, the crawling foot 40 deflects through the second pull rod 113 or the sixth pull rod 117, so that the crawling robot turns, the amplitude modulation power assembly 81 drives the sliding block 83 to slide, so that the distance from the columnar protrusion 11 to the crawling foot 40 on two sides changes, one side of the swing angle of the crawling foot 40 on two sides is increased, and one side of the swing angle is reduced, so that the steering is more flexible and convenient.

The crawling robot provided by the invention can simulate the walking of the polypod insects by using fewer power elements and matching with a proper mechanical structure, greatly reduces the production cost and the maintenance cost, is reliable in operation, and can be widely applied to the technical fields of manned entertainment, teaching aids and the like.

The present invention has been described in relation to the above embodiments, which are only exemplary of the implementation of the present invention. It should be noted that the disclosed embodiments do not limit the scope of the invention. Rather, it is intended that all such modifications and variations be included within the spirit and scope of this invention.

Claims

1. A crawling robot, comprising:

a main body frame;

the power unit is arranged on the main body frame;

the multiple groups of crawling units are sequentially arranged along the main body frame at intervals, each group of crawling unit comprises two crawling feet arranged on two sides of the main body frame, and the two crawling feet are hinged to the main body frame;

the horizontal driving units are sequentially arranged on the main body frame and are in one-to-one correspondence connection with the groups of crawling units so that the groups of crawling units can move along a first direction;

the vertical driving units are sequentially arranged on the main body frame and are in one-to-one correspondence connection with the multiple groups of crawling units so that the multiple groups of crawling units can move along a second direction different from the first direction;

the power unit is connected with at least one transmission unit in the transmission units, and each transmission unit is connected with a horizontal driving unit and a vertical driving unit which are connected with the corresponding crawling units so as to enable each group of crawling units to move.

2. The crawling robot of claim 1, wherein each transfer unit comprises a transfer shaft, a first transfer part and a second transfer part, the transfer shafts of two adjacent transfer units are connected, the power unit is connected with the transfer shaft of at least one transfer unit in the plurality of transfer units to rotate the transfer shaft, the transfer shafts belonging to the same transfer unit are connected with the first transfer part to rotate the first transfer part, the first transfer part is connected with the second transfer part to rotate the second transfer part, and the second transfer part is connected with the horizontal driving unit and the vertical driving unit which are connected with the corresponding crawling unit of the transfer unit where the second transfer part is located to move the corresponding crawling unit.

3. The crawling robot of claim 2, wherein each vertical driving unit comprises a vertical driving shaft and two vertical output shafts disposed at both ends of the vertical driving shaft, the second transmission part is connected with the vertical driving shaft of the vertical driving unit connected thereto to drive the vertical driving shaft to rotate, the vertical driving shaft belonging to the same vertical driving unit is connected between the two vertical output shafts, one end of each of the two vertical output shafts is connected with the vertical driving shaft, and the other end of each of the two vertical output shafts is connected with two crawling feet of the crawling unit corresponding to the vertical driving unit where the two vertical output shafts are located.

4. The crawling robot of claim 3, wherein the crawling feet comprise an upper leg, a middle leg and an upper leg link, the upper leg is pivoted with the main body frame, a pivoting shaft between the upper leg and the main body frame extends along the second direction, the upper end of the upper leg is connected with the upper end of the middle leg through the leg upper connecting rod, the upper leg comprises an upper leg body, two leg rocker arms symmetrically arranged on two opposite side walls of the upper leg body, a rocker arm driving shaft connected with the two leg rocker arms, and two leg lower connecting rods symmetrically arranged on two sides of the lower end of the upper leg body, the middle leg comprises a middle leg body and two leg middle pull rods symmetrically arranged at two sides of the lower end of the middle leg body, the rocker driving shaft is in transmission connection with the vertical output shaft, the lower leg connecting rod positioned on the same side is connected with the middle leg pull rod in a shaft connection mode, and the leg rocker arm positioned on the same side is connected with the middle leg pull rod through a ball pin.

5. The crawling robot of claim 3, wherein each horizontal driving unit comprises a main shaft, an eccentric wheel and a horizontal rocker, the second transmission part is connected with the main shaft of the horizontal driving unit connected with the second transmission part to drive the main shaft to rotate, each crawling foot of each crawling unit and the part hinged with the main body frame comprise a first connecting end and a second connecting end, the first connecting ends of the two crawling feet belonging to the same crawling unit are positioned on the same side, the main shaft, the eccentric wheel and the horizontal rocker belonging to the same horizontal driving unit are fixedly connected, the central shaft of the horizontal rocker is coaxially arranged with the central shaft of the eccentric, one end of the horizontal rocker is connected with the main body frame through a first pull rod, the other end of the horizontal rocker is connected with the first connecting end of one crawling foot of the crawling unit corresponding to the horizontal driving unit where the horizontal rocker is positioned through a second pull rod, the second connecting end of the crawling foot is connected with the second connecting end of the other crawling foot of the crawling unit in which the crawling foot is located through a third pull rod.

6. The crawling robot of claim 5, wherein said first transmission part comprises a first gear, a second gear, a secondary transmission shaft, a first bevel gear and a second bevel gear, said first gear is arranged on the transmission shaft belonging to the same transmission unit as the first transmission part on which it is arranged, said second gear is fixed on said secondary transmission shaft and is in transmission connection with said first gear, said first bevel gear is fixed at one end of said secondary transmission shaft, said second bevel gear is fixed at the other end of said secondary transmission shaft, said second transmission part belonging to the same transmission unit as the first transmission part comprises a first secondary gear and a second secondary gear, said first secondary gear is arranged on the vertical driving shaft of the vertical driving unit to which the transmission unit on which it is arranged is connected and is in transmission connection with said first bevel gear, the second auxiliary gear is arranged on the main shaft of the horizontal driving unit connected with the transmission unit where the second auxiliary gear is arranged and is in transmission connection with the second bevel gear.

7. The crawling robot of any one of claims 1 to 6, wherein the main body frame comprises a plurality of sub-main body frames, the sub-main body frames correspond to the crawlers one by one, the horizontal driving unit, the vertical driving unit and the transmission unit corresponding to each crawler are arranged on the sub-main body frame corresponding to each crawler, and two adjacent sub-main body frames are connected with each other.

8. The crawling robot of claim 1, further comprising at least one steering unit disposed on the body frame, the at least one steering unit being correspondingly connected to a different one of the plurality of horizontal drive units.

9. The crawling robot of claim 8, further comprising at least one amplitude modulation unit disposed on said main body frame, said at least one amplitude modulation unit being no greater in number than said at least one steering unit, said at least one amplitude modulation unit corresponding to a different one of said at least one steering unit, said at least one amplitude modulation unit being connected to a horizontal drive unit to which its corresponding steering unit is connected.

10. The crawling robot of claim 9, wherein each steering unit comprises a steering power assembly connected to the horizontal driving unit corresponding to the steering unit, each amplitude modulation unit comprises an amplitude modulation power assembly, a steering rocker arm and a slider, the amplitude modulation power assemblies, the steering rocker arms and the sliders belong to the same amplitude modulation unit, the steering rocker arms are rotatably arranged on the main body frame around a shaft, the sliders are slidably arranged in the steering rocker arms, the amplitude modulation power assemblies are connected to the sliders to drive the sliders to slide in the steering rocker arms, two ends of each slider are respectively connected to two crawling feet of the crawling unit corresponding to the horizontal driving unit connected to the amplitude modulation unit through a fourth pull rod and a fifth pull rod, the steering rocker arms are connected to one end of the horizontal driving unit corresponding to the amplitude modulation unit, and the other end of the horizontal driving unit is connected with the steering power assembly of the corresponding steering unit.

11. The crawling robot of claim 1, further comprising a rolling unit comprising a plurality of front-back rolling sub-units and a plurality of left-right rolling sub-units, wherein the number of the plurality of front-back rolling sub-units is greater than or equal to the number of the plurality of left-right rolling sub-units, wherein the sum of the number of the plurality of front-back rolling sub-units and the number of the plurality of left-right rolling sub-units is equal to the number of the plurality of crawling units, and wherein the plurality of front-back rolling sub-units and the plurality of left-right rolling sub-units respectively correspond to different ones of the plurality of crawling units.

12. The crawling robot of claim 11, wherein each of the front and rear roller sub-units comprises a first front and rear rotating roller, a second front and rear rotating roller and two first torsion springs, the first front and rear rotating roller is fixed in the first slot of one of the two crawling feet through the first torsion spring, and the second front and rear rotating roller is fixed in the first slot of the other one of the two crawling feet through the first torsion spring.

13. The crawling robot of claim 11 or 12, wherein each left and right rolling subunit comprises a first left and right rotating roller, a second left and right rotating roller and two second torsion springs, the first left and right rotating roller is fixed in the second clamping groove of one of the two crawling feet through the second torsion springs, and the second left and right rotating roller is fixed in the second clamping groove of the other one of the two crawling feet through the second torsion springs.

14. The crawling robot of claim 12, wherein each of the front and rear roller sub-units further comprises two brake assemblies, the two brake assemblies are respectively fixed on inner side walls of the first clamping grooves of the two crawling feet of the crawling unit corresponding to the front and rear roller sub-unit where the front and rear roller sub-unit is located, and the two brake assemblies are respectively connected with the first front and rear rotating rollers and the second front and rear rotating rollers of the front and rear roller sub-unit where the front and rear roller sub-unit is located.