CN112372615B - Wheel-leg combined type grabbing robot for field survey and grabbing method - Google Patents
Wheel-leg combined type grabbing robot for field survey and grabbing method Download PDFInfo
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- CN112372615B CN112372615B CN202011117806.0A CN202011117806A CN112372615B CN 112372615 B CN112372615 B CN 112372615B CN 202011117806 A CN202011117806 A CN 202011117806A CN 112372615 B CN112372615 B CN 112372615B
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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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The invention discloses a wheel-leg combined type grabbing robot for field survey and a grabbing method. In the invention, in a flat section, the robot moves by rotating the wheels, the center of gravity is lower, and the robot can move stably and quickly; when a soft road and a rugged road surface are covered, the other three wheel legs which land still move in the lifting process of one wheel leg, and the vehicle body keeps constant speed and does not pause in the whole movement process; grabbing the target object through a mechanical arm; the environmental information of the robot is returned through the camera, so that remote control is realized to complete grabbing.
Description
Technical Field
The invention relates to the technical field of grabbing robots, in particular to a wheel-leg combined type grabbing robot for field surveying, and meanwhile, the invention also relates to a grabbing method of the wheel-leg combined type grabbing robot for field surveying.
Background
In the field of mobile robots, the motion modes are mainly crawler type, planetary wheel type, leg foot type and traditional circular wheel type. When in field exploration, the phenomenon that sundries are clamped into the crawler belt due to the complex road environment can occur during crawler belt movement, so that the driving force is influenced and even the crawler belt is clamped; the planet wheel type moving device mainly solves the problem of obstacle crossing, but has complex parts and high production difficulty; legged robots can cause inefficient surveys; the traditional wheeled survey robot is difficult to continue surveying when encountering soft roads or rugged road surfaces.
Chinese patent CN104044658A discloses a novel composite wheel-leg mobile robot walking mechanism, which combines a three-leg wheel disc and three small wheels into a wheel-leg composite wheel. The design structure is simple, and the obstacle crossing capability is strong. However, this design has a high vibration during leg-type step-over motion, poor reliability, and requires a large output torque, which is costly.
Chinese patent CN110170978A discloses an omnidirectional mechanical arm danger surveying robot, wherein a mechanical arm with three degrees of freedom is mounted on a mobile platform, and remote control is realized through a designed communication module. The design scheme is simple, and the target object can be effectively grabbed. But the design mechanical arm is high in cost and difficult to continue to advance under the condition of complex road environment.
Chinese patent CN107839782A discloses a six-legged detection robot, and a mechanical arm with three degrees of freedom is arranged on a traditional crab-type six-legged robot. The design scheme can effectively pass through complex terrains and grab the target object. But the design only has walking gait, and the survey efficiency is low.
In summary, how to effectively solve the technical problems that the obstacle crossing capability, the grabbing capability and the cost of the existing walking device of the surveying robot are difficult to be considered, and the like, is a problem which needs to be solved urgently by technical personnel in the field at present.
Disclosure of Invention
Technical problem to be solved
The invention can solve the problems of poor reliability, high cost and short service life of the existing grabbing robot.
(II) technical scheme
In order to achieve the above object, the present invention adopts the following technical solutions, wherein the wheel-leg combined type grabbing robot for field surveying comprises a vehicle body flat plate, a camera, a walking assembly and a mechanical arm, the camera is mounted on the upper portion of one side of the vehicle body flat plate, the walking assembly is mounted on the lower portion of the vehicle body flat plate, and the mechanical arm is mounted on the upper portion of one side of the vehicle body flat plate, wherein:
the walking assembly comprises at least four walking assemblies, each walking assembly comprises a leg motor, a first supporting plate, a first connecting flange, a crank, a rocker, a wheel leg, a walking motor and two wheels, the leg motor is mounted on the upper portion of the vehicle body flat plate, the first supporting plate is mounted on the edge of the upper portion of the vehicle body flat plate, the output end of the leg motor is in transmission connection with one end of the crank through the first connecting flange, the side portion of the other end of the crank is in rotation connection with the wheel leg, the side portion of one end of the rocker is in rotation connection with the side portion of the first supporting plate, the side portion of the other end of the rocker is in rotation connection with the wheel leg, the walking motor is mounted on the lower side portion of the wheel leg, one wheel is in transmission connection with the walking motor, and the other wheel is in rotation mounting on the lower side portion of the wheel leg;
the robot arm comprises a shoulder component, an elbow component and a grabbing component, wherein the shoulder component is installed on the upper portion of one side of the vehicle body flat plate, the elbow component is installed on the upper portion of the shoulder component, and the grabbing component is installed on the side portion of the elbow component.
As a preferable technical solution of the present invention, the fixing assembly includes a shoulder assembly including a shoulder motor, a shoulder joint reducer, a second connecting flange, and a first connecting plate, the shoulder motor is mounted on an upper portion of one side of the body panel, the shoulder joint reducer is mounted on a side portion of the body panel, an output end of the shoulder motor is connected to an input end of the shoulder joint reducer in a transmission manner, the second connecting flange is mounted on an output end of the shoulder joint reducer, and the first connecting plate is mounted on a side portion of the second connecting flange.
In a preferred embodiment of the present invention, the first connecting plate has an L-shaped cross section, and a diagonal brace is installed on a side portion of the first connecting plate.
As a preferred embodiment of the present invention, the elbow assembly includes an elbow motor, a lead screw, a slider, a guide bar, an elbow joint platform, a connecting rod, a second supporting plate, a connecting block, a first supporting shaft and a second supporting shaft, the elbow motor is mounted on a side portion of the first connecting plate, the guide bar is mounted on an upper portion of the first connecting plate, the elbow joint platform is mounted on an upper portion of the guide bar, a lower end of the lead screw is rotatably mounted on an output end of the elbow motor through a coupling, an upper end of the lead screw is rotatably mounted on a middle portion of the elbow joint platform, the slider is screwed on an outer side of the lead screw, a side wall of the slider is slidably fitted with the guide bar, the connecting rod is rotatably mounted on both sides of the slider, the second supporting plate is mounted on an upper portion of the elbow joint platform, the first supporting shaft is rotatably mounted between the connecting rods, the second supporting shaft is mounted between the second supporting plates, one side of the connecting block is rotatably mounted on an outer side of the first supporting shaft, and the other side of the connecting block is rotatably mounted on an outer side of the second supporting shaft.
As a preferable technical scheme of the invention, the outer wall of the sliding block is a smooth surface, the outer wall of the guide rod is a smooth surface, and the side part of the sliding block is provided with a limit block matched with the connecting rod.
As a preferable technical solution of the present invention, a first through hole matched with the first support shaft is formed in a side portion of the connection block, a second through hole matched with the second support shaft is formed in a side portion of the connection block, and an outer wall of the connection block is in clearance fit with a side wall of the second support plate.
As a preferred technical solution of the present invention, the grasping assembly includes an arm, a second connecting plate, and a gripper, the arm is mounted on a side of the connecting block, the second connecting plate is mounted on a side of the arm, and the gripper is mounted on a side of the second connecting plate.
As a preferable technical solution of the present invention, the crank is located between the first support plate and the wheel leg, and the crank is in clearance fit with the side walls of the first support plate and the wheel leg respectively.
Meanwhile, the invention also relates to a grabbing method of the wheel-leg combined type grabbing robot for field survey, which specifically comprises the following steps:
s1: the upper control machine is connected with a WIFI module on a personal computer to establish a local area network, and a matched client is opened on the personal computer and connected with the upper computer through a wireless local area network to receive image data sent back by the upper computer and send a motion control instruction;
s2: the environmental information collected by the front-end camera is transmitted back to the upper control machine through the serial port, and image preprocessing is carried out on the upper control machine, so that the smoothness and stability of the wireless communication process are ensured;
s3: the personal computer receives the environment information sent back by the upper control machine, waits for a user to send a motion control instruction, the motion control instruction comprises instructions for the robot to advance, retreat and turn through wheels or walk and cross obstacles through a walking assembly, the robot arm is controlled to grab a target object, and the camera sends back the environment information in real time in the moving process;
s4: and after the upper computer receives the control information, performing primary processing on the motion information. In this embodiment, the processing procedure includes converting information content, determining whether the signal is used for controlling the robot motion or modifying a robot control parameter, and if an instruction for controlling the robot motion is obtained, the upper computer determines a target lower computer of the information and constructs a corresponding communication channel;
s5: after receiving the signal, the lower control machine converts the signal into register data conforming to a Modbus protocol, sends the register data to a target motion control chip through a bus protocol, and simultaneously starts to poll the state of each motion control chip, and the motion control chip cannot execute a new motion control instruction before executing a motion control instruction, so that the lower computer needs to continuously acquire the state of the current motion control chip and sends the state to the upper computer;
s6: when the lower computer knows that the motion control chip is in a command execution period, the upper computer is informed that the control chip cannot receive the control command, and then the upper computer sends the information to the user and prevents the user from continuously sending the motion control command to the chip;
s7: after the control period of the motion control chip is finished, the upper computer can know the standby state of the motion control chip through polling, the current states of all the motion control chips are sent to the upper computer, the upper computer can release the locking of the motion control information input and sending functions of the client through instructions, and then a user can send the next motion control instruction.
(III) advantageous effects
1. The invention provides a wheel-leg combined type grabbing robot for field survey, which is provided with at least four walking components, wherein each walking component comprises a leg motor, a first supporting plate, a first connecting flange, a crank, a rocker, wheel legs, a walking motor and two wheels, the robot drives the wheels to rotate through the walking motor to realize movement in a flat section, the center of gravity is lower, and the robot is convenient to move stably and quickly, when a soft road and a rugged road are on, the robot adopts a coordinated crawling gait, wherein the coordinated crawling gait means that in the lifting process of a certain wheel leg, the other three wheel legs which land still continue to move, the vehicle body keeps constant speed in the whole movement process and cannot pause, and the turning action of the robot can be realized through differential matching of the two sides;
2. the invention provides a wheel-leg combined type grabbing robot for field survey, which comprises a mechanical arm, a wheel-leg combined type grabbing robot and a control system, wherein the mechanical arm comprises a shoulder component, an elbow component and a grabbing component, when a target object is grabbed, the position of the elbow component is adjusted through the shoulder component, the position of the grabbing component is adjusted through the elbow component, and then the grabbing component is used for grabbing the target object;
3. according to the wheel-leg combined type grabbing robot for field survey, the camera can transmit back the environmental information of the robot, and remote control is realized to complete grabbing.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is an axial schematic view of the present invention;
FIG. 2 is a schematic axial view of a portion of the walking assembly of the present invention;
FIG. 3 is a schematic axial view of a mechanical arm portion configuration of the present invention;
FIG. 4 is a view for measuring the structural axis of the walking motor part of the present invention;
FIG. 5 is a block diagram illustrating a flow of a grabbing method of the present invention.
In the figure: 100. a body panel; 200. a camera; 300. a walking assembly; 310. a leg motor; 320. a first support plate; 330. a first connecting flange; 340. a crank; 350. a rocker; 360. a wheel leg; 370. a traveling motor; 380. a wheel; 400. a mechanical arm; 410. a shoulder assembly; 411. a shoulder motor; 412. a shoulder joint decelerator; 413. a second connecting flange; 414. a first connecting plate; 4141. bracing; 420. an elbow assembly; 421. an elbow motor; 422. a lead screw; 423. a slider; 4231. a limiting block; 424. a guide rod; 425. an elbow joint platform; 426. a connecting rod; 427. a second support plate; 428. connecting blocks; 4291. a first support shaft; 4292. a second support shaft; 430. a grasping assembly; 431. an arm lever; 432. a second connecting plate; 433. and (4) a mechanical claw.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it is to be understood that the terms "longitudinal", "upper", "lower", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
As shown in fig. 1 to 4, a wheel-leg combined type grabbing robot for field surveying comprises a vehicle body panel 100, a camera 200, a walking assembly 300 and a mechanical arm 400, wherein the camera 200 is mounted on the upper portion of one side of the vehicle body panel 100, the walking assembly 300 is mounted on the lower portion of the vehicle body panel 100, and the mechanical arm 400 is mounted on the upper portion of one side of the vehicle body panel 100, wherein:
the number of the walking assemblies 300 is at least four, each walking assembly 300 comprises a leg motor 310, a first supporting plate 320, a first connecting flange 330, a crank 340, a rocker 350, a wheel leg 360, a walking motor 370 and two wheels 380, the leg motor 310 is mounted on the upper portion of a vehicle body panel 100 through a motor base, the first supporting plate 320 is mounted on the edge of the upper portion of the vehicle body panel 100 through bolts, the output end of the leg motor 310 is in transmission connection with one end of the crank 340 through the first connecting flange 330, the side portion of the other end of the crank 340 is in rotation connection with the wheel leg 360, the side portion of one end of the rocker 350 is in rotation connection with the side portion of the first supporting plate 320, the side portion of the other end of the rocker 350 is in rotation connection with the wheel leg 360, the walking motor 370 is mounted on the lower side portion of the wheel leg 360, one wheel 380 is in transmission connection with the walking motor 370 through a coupler, and the other wheel 380 is rotatably mounted on the lower side portion of the wheel leg 360 through a bearing;
the robot arm 400 includes a shoulder assembly 410, an elbow assembly 420, and a grabbing assembly 430, the shoulder assembly 410 being mounted to an upper portion of one side of the vehicle body panel 100, the elbow assembly 420 being mounted to an upper portion of the shoulder assembly 410, and the grabbing assembly 430 being mounted to a side portion of the elbow assembly 420.
In this embodiment, the shoulder assembly 410 includes a shoulder motor 411, a shoulder joint reducer 412, a second connecting flange 413 and a first connecting plate 414, the shoulder motor 411 is installed on the upper portion of one side of the vehicle body panel 100 through a motor base, the shoulder joint reducer 412 is installed on the side portion of the vehicle body panel 100 through bolts, the output end of the shoulder motor 411 is in transmission connection with the input end of the shoulder joint reducer 412, the second connecting flange 413 is installed on the output end of the shoulder joint reducer 412, the first connecting plate 414 is installed on the side portion of the second connecting flange 413, in particular, during use, through the operation of the shoulder motor 411, the transmission is performed after the reduction of the shoulder joint reducer 412, the second connecting flange 413 is driven to rotate, and then the first connecting plate 414 is made to rotate, so as to drive the elbow assembly 420 to rotate.
In the present embodiment, the first connecting plate 414 has an L-shaped cross section, the first connecting plate 414 is provided with a diagonal brace 4141 at a side portion thereof, the L-shaped first connecting plate 414 facilitates the installation of the elbow assembly 420, and the diagonal brace 4141 helps to increase the strength of the first connecting plate 414, so that the support is more stable.
In this embodiment, the elbow assembly 420 includes an elbow motor 421, a lead screw 422, a sliding block 423, a guide rod 424, an elbow joint platform 425, a connecting rod 426, a second supporting plate 427, a connecting block 428, a first supporting shaft 4291 and a second supporting shaft 4292, the elbow motor 421 is mounted on the side of the first connecting plate 414 through a motor base, the guide rod 424 is mounted on the upper portion of the first connecting plate 414 through a bolt, the elbow joint platform 425 is mounted on the upper portion of the guide rod 424 through a bolt, the lower end of the lead screw 422 is rotatably mounted on the output end of the elbow motor 421 through a coupling, the upper end of the lead screw 422 is rotatably mounted on the middle portion of the elbow joint platform 425, the sliding block 423 is screwed on the outer side of the lead screw 422, the side wall of the sliding block 423 is slidably fitted with the guide rod 424, the connecting rod 426 is rotatably mounted on two sides of the sliding block 423, the second supporting plate 427 is mounted on the upper portion of the elbow joint platform 425, the first supporting shaft 4291 is rotatably mounted between the connecting rods 426, the second supporting shaft 4292 is rotatably mounted between the second supporting shafts 427, one side of the connecting block 428 is rotatably mounted on the outer side of the second supporting shaft 4292, when the connecting block 4291 is operated, the sliding block 4292 is further drives the sliding block 4291 to move under the guide rod 4292, the connecting block 4292, and the connecting block 4292, the connecting block 4291 is driven by the rotating shaft 4291, and the connecting rod 4292, the connecting block 4291, and the connecting rod 4292, the connecting block 42428, the connecting block is driven by the connecting rod 4292, and the connecting block 4291, and the connecting rod 4292, the connecting rod 42428, the connecting block is driven by the connecting rod 4292, the connecting rod 4291, the connecting block, and the connecting block 4291, the connecting block, and the connecting rod 4291, the connecting rod 4292, and the connecting rod 4292, the connecting block is driven by the connecting rod 4291, the connecting block 4292, and the connecting block 4292, the connecting block, and the connecting block.
In this embodiment, the outer wall of the sliding block 423 is smooth, the outer wall of the guide rod 424 is smooth, the sliding block 423 and the guide rod 424 are smooth, friction force is reduced, the side of the sliding block 423 is provided with a limit block 4231 matched with the connecting rod 426, the limit block 4231 limits the connecting rod 426, and the connecting rod 426 is prevented from being directly separated from the side of the sliding block 423.
In this embodiment, a first through hole matching with the first support shaft 4291 is formed in a side portion of the connection block 428, a second through hole matching with the second support shaft 4292 is formed in a side portion of the connection block 428, an outer wall of the connection block 428 is in clearance fit with a side wall of the second support plate 427, the first through hole facilitates rotation of the first support shaft 4291, and the second through hole facilitates rotation of the second support shaft 4292.
In this embodiment, the grabbing assembly 430 comprises an arm 431, a second connecting plate 432 and a gripper 433, the arm 431 is mounted on the side of the connecting block 428, the second connecting plate 432 is mounted on the side of the arm 431, and the gripper 433 is mounted on the side of the second connecting plate 432.
In this embodiment, the crank 340 is disposed between the first supporting plate 320 and the wheel leg 360, and the crank 340 is in clearance fit with the sidewalls of the first supporting plate 320 and the wheel leg 360, respectively, so as to facilitate the rotation of the crank 340.
As shown in fig. 5, in addition, the invention also provides a use method of the wheel-leg composite grabbing robot for field surveying, which specifically comprises the following steps:
s1: the upper control machine is connected with a WIFI module on the personal computer to establish a local area network, and a matched client is opened on the personal computer and connected with the upper computer through the wireless local area network to receive image data sent back by the upper computer and send a motion control command;
s2: the environmental information collected by the front-end camera is transmitted back to the upper control machine through the serial port, and image preprocessing is carried out on the upper control machine, so that the smoothness and stability of the wireless communication process are ensured;
s3: the personal computer receives the environment information sent back by the upper control machine, waits for a user to send a motion control instruction, the motion control instruction comprises instructions for the robot to advance, retreat and turn through wheels or walk and cross obstacles through a walking assembly, and controls the robot arm to grab a target object, and the camera sends back the environment information in real time in the moving process;
s4: and after the upper computer receives the control information, performing primary processing on the motion information. In this embodiment, the processing procedure includes converting information content, determining whether the signal is used for controlling the robot motion or modifying a robot control parameter, and if an instruction for controlling the robot motion is obtained, the upper computer determines a target lower computer of the information and constructs a corresponding communication channel;
s5: after receiving the signal, the lower control machine converts the signal into register data conforming to a Modbus protocol, sends the register data to a target motion control chip through a bus protocol, and simultaneously starts to poll the state of each motion control chip, and the motion control chip cannot execute a new motion control instruction before executing a motion control instruction, so that the lower computer needs to continuously acquire the state of the current motion control chip and sends the state to the upper computer;
s6: when the lower computer knows that the motion control chip is in a command execution period, the upper computer is informed that the control chip cannot receive the control command, and then the upper computer sends the information to the user and prevents the user from continuously sending the motion control command to the chip;
s7: after the control period of the motion control chip is finished, the upper computer can know the standby state of the motion control chip through polling, the current states of all the motion control chips are sent to the upper computer, the upper computer can release the locking of the motion control information input and sending functions of the client through instructions, and then a user can send the next motion control instruction.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The utility model provides a robot is grabbed to wheel leg combined type for field survey, includes automobile body flat board (100), camera (200), walking assembly (300) and arm (400), its characterized in that: the camera (200) is installed at one side upper portion of the vehicle body panel (100), the walking assembly (300) is installed at a lower portion of the vehicle body panel (100), and the robot arm (400) is installed at one side upper portion of the vehicle body panel (100), wherein:
the walking assembly (300) is provided with at least four, the walking assembly (300) comprises a leg motor (310), a first support plate (320), a first connecting flange (330), a crank (340), a rocker (350), a wheel leg (360), a walking motor (370) and two wheels (380), the leg motor (310) is installed on the upper portion of the vehicle body panel (100), the first support plate (320) is installed on the upper portion edge of the vehicle body panel (100), the output end of the leg motor (310) is in transmission connection with one end of the crank (340) through the first connecting flange (330), the other end side of the crank (340) is in rotation connection with the wheel leg (360), one end side of the rocker (350) is in rotation connection with the side of the first support plate (320), the other end side of the rocker (350) is in rotation connection with the wheel leg (360), the walking motor (370) is installed on the lower side of the wheel leg (360), one wheel (380) is in transmission connection with the walking motor (370), and the other wheel leg (380) is installed on the lower side of the wheel leg (360);
in a flat section, the robot drives the wheels (380) to rotate through the walking motor (370) to realize movement, the center of gravity is low, and the robot can move stably and quickly, when a soft road and a rugged road are covered, the robot adopts a coordinated crawling gait, namely, when one wheel leg (360) is lifted, the other three wheel legs (360) which land still continue to move, the vehicle body keeps constant speed and cannot pause in the whole movement process, and the turning action of the robot can be realized through differential matching of the two sides;
the robot arm (400) includes a shoulder assembly (410), an elbow assembly (420), and a grasping assembly (430), the shoulder assembly (410) being mounted to an upper portion of one side of the body panel (100), the elbow assembly (420) being mounted to an upper portion of the shoulder assembly (410), the grasping assembly (430) being mounted to a side portion of the elbow assembly (420).
2. The wheel-leg composite grabbing robot for field surveying as claimed in claim 1, wherein: the shoulder assembly (410) comprises a shoulder motor (411), a shoulder joint reducer (412), a second connecting flange (413) and a first connecting plate (414), the shoulder motor (411) is installed on the upper portion of one side of the vehicle body flat plate (100), the shoulder joint reducer (412) is installed on the side portion of the vehicle body flat plate (100), the output end of the shoulder motor (411) is in transmission connection with the input end of the shoulder joint reducer (412), the second connecting flange (413) is installed on the output end of the shoulder joint reducer (412), and the first connecting plate (414) is installed on the side portion of the second connecting flange (413).
3. The wheel-leg composite grabbing robot for field surveying as claimed in claim 2, wherein: the cross section of the first connecting plate (414) is arranged in an L shape, and the side part of the first connecting plate (414) is provided with an inclined strut (4141).
4. The wheel-leg composite grabbing robot for field surveying as claimed in claim 3, wherein: the elbow assembly (420) comprises an elbow motor (421), a lead screw (422), a sliding block (423), a guide rod (424), an elbow joint platform (425), a connecting rod (426), a second supporting plate (427), a connecting block (428), a first supporting shaft (4291) and a second supporting shaft (4292), the elbow motor (421) is installed at the side part of the first connecting plate (414), the guide rod (424) is installed at the upper part of the first connecting plate (414), the elbow joint platform (425) is installed at the upper part of the guide rod (424), the lower end of the lead screw (422) is installed at the output end of the elbow motor (421) through a shaft coupling rotation, the upper end of the lead screw (422) is installed at the middle part of the elbow joint platform (425) in a rotation manner, the sliding block (423) is connected to the outer side of the lead screw (422) in a threaded manner, the side wall of the sliding block (423) is matched with the guide rod (424) in a sliding manner, the connecting rod (426) is installed at the two sides of the sliding block (423), the second supporting plate (427) is installed at the upper part of the elbow joint platform (425) in a rotation manner, the first supporting shaft (4291) is installed between the first supporting shaft (426), and the outer side of the connecting rod (4292) is installed between the second supporting shaft (4292), the other side of the connecting block (428) is rotatably arranged on the outer side of the second supporting shaft (4292).
5. The wheel-leg composite grabbing robot for field surveying as claimed in claim 4, wherein: the outer wall of the sliding block (423) is a smooth surface, the outer wall of the guide rod (424) is a smooth surface, and a limiting block (4231) matched with the connecting rod (426) is installed on the side portion of the sliding block (423).
6. The wheel-leg composite grabbing robot for field surveying as claimed in claim 4, wherein: the side of the connecting block (428) is provided with a first through hole matched with the first supporting shaft (4291), the side of the connecting block (428) is provided with a second through hole matched with the second supporting shaft (4292), and the outer wall of the connecting block (428) is in clearance fit with the side wall of the second supporting plate (427).
7. The wheel-leg composite grabbing robot for field surveying as claimed in claim 4, wherein: the grabbing assembly (430) comprises an arm (431), a second connecting plate (432) and a mechanical claw (433), wherein the arm (431) is installed on the side of the connecting block (428), the second connecting plate (432) is installed on the side of the arm (431), and the mechanical claw (433) is installed on the side of the second connecting plate (432).
8. The wheel-leg composite grabbing robot for field surveying as claimed in claim 1, wherein: the crank (340) is arranged between the first supporting plate (320) and the wheel leg (360), and the crank (340) is in clearance fit with the side walls of the first supporting plate (320) and the wheel leg (360) respectively.
9. A grabbing method of a wheel-leg combined type grabbing robot for field surveying is characterized in that: the wheel-leg composite grabbing robot for field surveying in the claim 1 is adopted, and the grabbing method specifically comprises the following steps:
s1: the upper control machine is connected with a WIFI module on a personal computer to establish a local area network, and a matched client is opened on the personal computer and connected with the upper computer through a wireless local area network to receive image data sent back by the upper computer and send a motion control instruction;
s2: the environmental information acquired by the front-end camera is transmitted back to the upper control machine through the serial port, and image preprocessing is carried out on the upper control machine, so that the smoothness and stability of the wireless communication process are ensured;
s3: the personal computer receives the environment information sent back by the upper control machine, waits for a user to send a motion control instruction, the motion control instruction comprises instructions for the robot to advance, retreat and turn through wheels or walk and cross obstacles through a walking assembly, and controls the robot arm to grab a target object, and the camera sends back the environment information in real time in the moving process;
s4: after the upper computer receives the control information, the motion information is subjected to preliminary processing, in the embodiment, the processing process comprises converting information content, judging whether the signal is used for controlling the motion of the robot or modifying the control parameters of the robot, and if an instruction for controlling the motion of the robot is obtained, judging a target lower computer of the information and constructing a corresponding communication channel by the upper computer;
s5: after receiving the signal, the lower control machine converts the signal into register data conforming to a Modbus protocol, sends the register data to a target motion control chip through a bus protocol, and simultaneously starts to poll the state of each motion control chip, and the motion control chip cannot execute a new motion control instruction before executing a motion control instruction, so that the lower computer needs to continuously acquire the state of the current motion control chip and sends the state to the upper computer;
s6: when the lower computer knows that the motion control chip is in a command execution period, the upper computer is informed that the control chip cannot receive the control command, and then the upper computer sends the information to the user and prevents the user from continuously sending the motion control command to the chip;
s7: after the control period of the motion control chip is finished, the upper computer can know the standby state of the motion control chip through polling, the current states of all the motion control chips are sent to the upper computer, the upper computer can release the locking of the motion control information input and sending functions of the client through instructions, and then a user can send the next motion control instruction.
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| CN202011117806.0A CN112372615B (en) | 2020-10-19 | 2020-10-19 | Wheel-leg combined type grabbing robot for field survey and grabbing method |
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| JPS60196111A (en) * | 1984-03-19 | 1985-10-04 | 株式会社クボタ | Robot hand for harvesting fruits |
| DE4417928A1 (en) * | 1994-05-24 | 1995-11-30 | Lissmac Maschb & Diamantwerkz | Device for deploying building blocks |
| KR100796993B1 (en) * | 2006-12-19 | 2008-01-22 | 한국생산기술연구원 | Functionally modularized robot |
| CN206749956U (en) * | 2017-04-07 | 2017-12-15 | 华南理工大学广州学院 | A kind of belt wheel leg mechanism of robot |
| CN107117225B (en) * | 2017-05-07 | 2018-07-17 | 荆门市炬峰机械设备制造有限公司 | A kind of four-footed wheeled mobile robot |
| CN108908374A (en) * | 2018-09-20 | 2018-11-30 | 安徽理工大学 | A kind of express sorter device people and control system |
| CN209776604U (en) * | 2019-03-25 | 2019-12-13 | 浙江理工大学 | Four-wheel-foot bionic robot |
| CN110653784A (en) * | 2019-09-25 | 2020-01-07 | 山东科技大学 | Multifunctional anti-terrorist and anti-explosion crawler-type mobile robot for processing complex conditions |
| CN110667724B (en) * | 2019-11-11 | 2022-06-24 | 路邦科技授权有限公司 | All-terrain mobile robot |
| CN111201895A (en) * | 2019-12-25 | 2020-05-29 | 上海点甜农业专业合作社 | Picking robot |
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