CN113306352B - Multi-terrain adaptive amphibious six-foot belt waist multifunctional robot - Google Patents
Multi-terrain adaptive amphibious six-foot belt waist multifunctional robot Download PDFInfo
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- CN113306352B CN113306352B CN202110773517.4A CN202110773517A CN113306352B CN 113306352 B CN113306352 B CN 113306352B CN 202110773517 A CN202110773517 A CN 202110773517A CN 113306352 B CN113306352 B CN 113306352B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0061—Amphibious vehicles specially adapted for particular purposes or of a particular type
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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 relates to the technical field of robots, in particular to an amphibious six-foot belt waist multifunctional robot with multiple terrain adaptability, which comprises a robot body platform and 6 legs and feet; the machine body platform comprises a front section machine body platform, a middle section machine body platform and a rear section machine body platform, and the front section machine body platform and the middle section machine body platform as well as the middle section machine body platform and the rear section machine body platform are connected by universal joint hinges; the 6 legs comprise two legs arranged on the front section machine body platform, two legs arranged on the middle section machine body platform and two legs arranged on the rear section machine body platform; part or all of the 6 legs and feet have two or more switchable structures, so that different leg and foot structures are switched according to terrain to realize corresponding movement modes; at least two of the 6 legs can also perform digging, catching or collecting actions; and/or at least two legs of the 6 legs can be folded to the upper part of the machine body platform, so that the hexapod robot is switched into a quadruped robot.
Description
Technical Field
The invention relates to the field of foot robots, in particular to an amphibious six-foot belt waist multifunctional robot adaptive to multiple terrains.
Background
Robots can be divided into three categories according to the walking mode of the robots on the ground: legged robots, tracked robots, and wheeled robots. The three types of robots respectively have advantages and disadvantages and different application scenes due to respective structural characteristics. The foot robot has the characteristics of good movement performance, strong terrain adaptability and the like, can adapt to more terrains, but has poor load capacity. The wheel type robot has high movement speed on a flat ground, but has poor terrain adaptability. The terrain adaptability of the crawler-type robot is stronger than that of a wheeled robot but weaker than that of a legged robot, the movement speed of the crawler-type robot is slower than that of the wheeled robot but faster than that of the legged robot, and the load capacity of the crawler-type robot is stronger. Compared with a quadruped robot, the hexapod robot has stronger stability. In order to enable the hexapod robot to have strong terrain adaptability, various motion modes can be combined. Meanwhile, more functions are added to the robot, and the applicable scene of the robot can be enlarged.
As people gradually aim at marine resources, underwater operations using robots become hot spots in the field of robots. The underwater foot robot is a variant of the land foot robot, and the amphibious robot combines the advantages of the land foot robot and the land foot robot with the application scene, so that the capability of utilizing and exploring marine resources by human beings can be enhanced. However, the underwater terrain features are different from the land features, the underwater terrain environment is more complex and diversified, the current hexapod robot has a single motion mode, poor terrain adaptability, insufficient motion flexibility and few functions, and can not meet the requirements of underwater excavation, collection or fishing and the like.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the hexapod robot which can switch foot structures and switch the number of feet between four feet and six feet so as to adapt to terrains of different types, meanwhile, part of legs and feet of the robot can carry out excavation, fishing or collection and the like under water, and the application scene of the robot is widened. In addition, the invention further improves the motion flexibility of the robot.
In order to achieve the technical purpose, the technical scheme of the invention comprises the following steps:
a multi-terrain adaptive amphibious six-foot waist-worn multifunctional robot comprises a body platform and 6 legs and feet; the machine body platform comprises a front section machine body platform, a middle section machine body platform and a rear section machine body platform, and the front section machine body platform and the middle section machine body platform as well as the middle section machine body platform and the rear section machine body platform are connected by universal joint hinges; the 6 legs comprise two legs arranged on the front section machine body platform, two legs arranged on the middle section machine body platform and two legs arranged on the rear section machine body platform; part or all of the 6 legs and feet have two or more switchable structures, so that different leg and foot structures are switched according to terrain to realize corresponding movement modes; at least two of the 6 legs can also perform digging, fishing or collecting actions; and/or at least two legs of the 6 legs can be folded to the upper part of the machine body platform, so that the hexapod robot is switched into a quadruped robot.
According to a preferred embodiment of the present invention, the connection structure between the front body platform and the middle body platform forms a waist joint of the robot, and the connection structure between the middle body platform and the rear body platform forms a waist joint of the robot; one or both of the two groups of waist joints can turn and adjust the height when in motion.
According to the preferred embodiment of the present invention, the front section body platform and the middle section body platform are connected by a cross universal joint hinge, and the middle section body platform and the rear section body platform are connected by a cross universal joint hinge.
Preferably, the front section machine body platform and the middle section machine body platform are connected by a cross universal joint hinge in a mode that respective geometric symmetry axes coincide, and the middle section machine body platform and the rear section machine body platform are connected by a cross universal joint hinge in a mode that respective geometric symmetry axes coincide.
According to the preferred embodiment of the invention, the thigh parts of the 6 legs are of the same structure, and comprise a first rotating pair and driving device, a second rotating pair and driving device, a screw motor, a screw sleeve, a third rotating pair and driving device which are connected in sequence; one end of the first revolute pair and the driving device is connected with the machine body platform, the third revolute pair and the driving device are connected with a U-shaped connecting lug, the U-shaped connecting lug is provided with a group of through holes, and the through holes are used for being connected with the lower leg part of each leg and foot;
The rotating shafts of the first rotating pair and the driving device are assembled and connected with the rotating shafts of the second rotating pair and the driving device in a mutually vertical mode, the thigh part can rotate back and forth relative to the machine body platform through the first rotating pair and the driving device, the thigh part can rotate up and down relative to the machine body platform through the second rotating pair and the driving device, and the motor, the lead screw and the lead screw sleeve can extend or shorten the thigh part; the third revolute pair and the driving device enable the included angle of each shank part relative to the screw rod or the screw rod sleeve to be changed.
According to the preferred embodiment of the present invention, the two legs connected to the front section body platform and the two legs connected to the rear section body platform have the same structure, and comprise a fourth revolute pair and a driving device, a leg column, a fifth revolute pair and a driving device, and a multi-foot shape switching device; the upper end of the leg column is connected with the fourth revolute pair and the driving device, and the multi-foot-shaped switching device is combined in the Jiong-shaped notch below the leg column through the fifth revolute pair and the driving device; the multi-foot-shaped switching device at least comprises a flat-bottom foot end, a sharp foot end, a roller and a driving end thereof; the fifth revolute pair and the driving device can drive the multi-foot switching device to turn and switch in the Jiong-shaped notch, so that different ends contact the ground; the fourth revolute pair and the driving device are in shaft connection with the U-shaped connecting lug of the thigh part.
According to the preferred embodiment of the invention, the shank parts of the two legs and feet connected to the middle machine body platform comprise a sixth revolute pair and a driving device, an arm rod and an excavating component which are connected in sequence; the sixth revolute pair and the driving device are in shaft connection with the U-shaped connecting lug of the thigh part; the excavation component comprises two installation plates, the two installation plates are combined to the lower end of an arm rod, a pair of clamping blocks is arranged between the two installation plates, one ends of the clamping blocks are movably combined on the installation plates through a driving device and a fixing device, the other ends of the clamping blocks are free ends, the driving device and the fixing device can drive the free ends of the clamping blocks to be away from or close to each other, and the clamping blocks are made to perform the functions of unfolding and clamping.
According to a preferred embodiment of the present invention, the front section body platform or the rear section body platform is provided with at least one end propeller. The number of the end part thrusters is 2, and the end surfaces of the front section machine body platform or the rear section machine body platform are symmetrically arranged. In addition, the number of the end thrusters is not limited to 2, and may be an even number such as 4, 6, 8, etc., as long as the symmetrical arrangement is satisfied.
According to a preferred embodiment of the invention, at least one bottom thruster is mounted on the bottom surface of the body platform. Preferably, the number of the bottom propellers is four, and two bottom surfaces of the front section machine body platform and the rear section machine body platform are respectively arranged; when the front section engine body platform, the middle section engine body platform and the rear section engine body platform are kept on the same plane, the four bottom propellers are uniformly distributed on the bottom surface of the engine body platform. In addition, the number of the bottom propellers is not limited to four, and may be an even number of 6, 8, and the like.
The bottom propeller can be used for realizing lifting motion of the robot underwater and adjusting the posture of the robot, and the end propeller is used for providing auxiliary power in the advancing/retreating direction for the robot in the advancing/retreating process underwater. Preferably, each propeller may be operated independently.
The invention has the technical effects that:
(1) the invention relates to an amphibious six-foot multifunctional robot with a waist, which comprises a front-section machine body platform, a middle-section machine body platform and a rear-section machine body platform which are connected through three universal joint hinges; the hinge connection structure between the three machine body platforms can assist in steering and adjusting the height during movement, so that the robot can stably climb or perform actions such as step crossing and the like, and the movement flexibility of the hexapod robot is greatly increased. In addition, by means of the universal joint hinge connection structure between the three sections of machine body platforms, the two sections of machine body platforms can be relatively spread or folded, so that the width of the whole robot is narrowed to facilitate the robot to pass through a narrow channel.
(2) According to the amphibious six-foot waist-worn multifunctional robot, the multi-foot-shaped switching devices are arranged on part of the legs and feet, different leg and foot structures can be switched according to actual terrain to achieve corresponding movement modes, such as flat feet, sharp feet or rollers and the like, so that the robot can adapt to different types of terrain respectively, the terrain adaptability of the robot is enhanced, and the application range of the robot is enlarged.
(3) According to the amphibious hexapod multifunctional robot with the waist, at least two of the 6 legs can also perform digging, catching or collecting actions, the robot can be applied to scenes of underwater catching, collecting, salvaging, detecting and the like, the form of the underwater robot can be greatly enriched, and the capability of human beings for utilizing ocean resources and exploring ocean can be effectively enhanced.
(4) According to the amphibious hexapod multifunctional robot with the waist, at least two of the 6 legs and feet can be folded to the upper part of the machine body platform, so that the hexapod robot is switched into a quadruped robot, and the motion flexibility and the terrain adapting to the hexapod robot are greatly improved.
(5) The end part of the amphibious hexapod multifunctional robot with the waist is provided with the end part propeller which can provide auxiliary power in the advancing direction for the robot in the process of advancing/retreating underwater; and a bottom propeller is arranged at the bottom of the body platform and used for realizing lifting motion of the robot under water and adjusting the posture of the robot, or crossing over an underwater higher obstacle or a sea ditch after being lifted.
Drawings
Fig. 1 is a top view of the overall assembly of the robot of the present invention.
Fig. 2 is a schematic view of a cross universal joint hinge structure for connecting three sections of robot body platforms.
Fig. 3 is a schematic diagram of a thigh part structure of six legged feet of the robot.
Fig. 4 is a schematic view of the structure of the lower leg of the leg set on the front section machine platform and the rear section machine platform of the robot of the present invention.
Fig. 5 is a schematic view of the structure of the lower leg of the leg and foot set on the robot mid-body platform.
Fig. 6 is a bottom schematic view of the overall assembly of the robot of the present invention (with bottom thruster).
Fig. 7 is a schematic view of the overall assembly of the robot of the present invention (with tail thrusters).
Fig. 8 is a schematic view showing the structure of the robot according to the present invention when the thigh portion is extended (the overall size is maximized).
Fig. 9 is a schematic view showing the configuration of the robot according to the present invention when the thigh portion is retracted (the overall size is minimized).
Fig. 10 is a schematic diagram of the robot of the present invention with two legs and feet folded above the platform of the robot body to become a quadruped robot.
Description of the figures the symbols:
1-front section machine body platform, 2-middle section machine body platform, 3-rear section machine body platform, 4-first revolute pair and driving device, 5-second revolute pair and driving device, 27-third revolute pair and driving device, 271-U-shaped lug, 6-screw motor, 7-screw, 8-screw sleeve, 9-fourth revolute pair and driving device, 10-leg column, 11-fifth revolute pair and driving device, 110-multi-foot switching device, 12-wheel foot and driving device end, 13-flat foot end, 14-pointed foot end, 28-sixth revolute pair and driving device, 29-arm rod, 30-digging component, 31-mounting plate, 25, 26-driving and fixing device, 15-clamping block, 16-machine body front hinge (cross axle universal joint hinge), 17-fuselage rear hinge (cross-axle universal joint hinge), 18, 19-tail propeller, 20-vision device, 21, 22, 23, 24-bottom propeller.
Detailed Description
As shown in fig. 1, the overall structure of the multi-terrain adaptive amphibious six-foot belt waist multifunctional robot is schematically shown. The robot comprises a machine body platform and 6 legs and feet. The machine body platform is formed by connecting a front section machine body platform 1, a middle section machine body platform 2 and a rear section machine body platform 3. The 6 legs are arranged on the machine body platform, specifically, the front section machine body platform 1 is connected with two legs, the middle section machine body platform 2 is connected with two legs, and the rear section machine body platform 3 is connected with two legs. The front section engine body platform 1 and the rear section engine body platform 3 have the same surface shape and are trapezoidal; the surface shape of the middle machine body platform 2 is rectangular. Of the 6 legs, the two legs of the front section body platform 1 are the same as the two legs of the rear section body platform 3, and the two legs of the middle section body platform 2 are special and different from other legs. Two legs of the middle section machine body platform 2 can act as the digging arm, and can be reversely turned over to the top surface of the middle section machine body platform 2, so that the hexapod robot is changed into a quadruped robot.
The middle parts of the front section machine body platform 1 and the middle section machine body platform 2 are connected by a cross universal joint hinge 16 in a mode of geometrical symmetry axis coincidence, and the middle parts of the middle section machine body platform 2 and the rear section machine body platform 3 are connected by a cross universal joint hinge 17 in a mode of geometrical symmetry axis coincidence.
Fig. 2 is a schematic structural view of the universal joint cross hinge 16 (17). Two ends of the universal joint hinge 16(17) are connected with two adjacent machine body platforms (a front section machine body platform 1 and a middle section machine body platform 2; or a middle section machine body platform 2 and a rear section machine body platform 3) through a mounting base, and the mounting base is positioned at the central position relative to the connection surface of the machine body platforms. The universal joint hinge 16(17) comprises a universal joint which forms two revolute pairs (namely, waist joints of the robot), so that one machine body platform can rotate around the central axis of the other machine body platform connected with the machine body platform, and an auxiliary effect is provided when the robot turns or adjusts the height and the angle of the machine body.
Fig. 3 is a schematic view showing a thigh structure of six legs of the robot of the present invention. As shown in fig. 1, the 6 legs of the robot respectively include a thigh part and a lower leg part which are connected in series, wherein the thigh part structures of the 6 legs are the same, and only the lower leg parts of the two legs of the middle body platform 2 are different from the lower leg parts of the other four legs of the robot. As shown in fig. 3, each thigh section includes a first revolute pair and drive device 4, a second revolute pair and drive device 5, a lead screw motor 6, a lead screw 7, a lead screw sleeve 8, and a third revolute pair and drive device 27, which are connected in this order. One end of the first revolute pair and driving device 4 is connected with the middle part of the corresponding machine body platform side surface, and the rotating shaft of the second revolute pair and driving device 5 is connected with the first revolute pair and driving device 4 in a mode of being perpendicular to the rotating shaft of the first revolute pair and driving device 4. The third revolute pair and drive means 27 are connected to a U-shaped lug 271. the U-shaped lug 271 is provided with a set of perforations for connection to the lower leg of each leg. As shown in fig. 3, the first revolute pair and drive device 4 allows the thigh portion to rotate forward and backward (X-axis direction) with respect to the machine body platform, the second revolute pair and drive device 5 allows the thigh portion to rotate up and down (Z-axis direction) with respect to the machine body platform, and the lead screw motor 6, the lead screw 7, and the lead screw sleeve 8 allow the thigh portion to extend or contract (move along the Y-axis). Therefore, the thigh part can be adjusted freely in the three-dimensional direction. The third revolute pair and the driving device 27 enable the lower legs to be folded and unfolded relative to the screw 6 or the screw sleeve 7.
Fig. 4 is a schematic view of the structure of the lower leg of the leg set on the front section machine body platform and the rear section machine body platform of the robot of the present invention. The two legs and feet connected to the front section body platform 1 and the lower leg of the two legs and feet connected to the rear section body platform 2 are of the same structure, and comprise a fourth revolute pair and driving device 9, a leg column 10, a fifth revolute pair and driving device 11 and a multi-foot shape switching device 110. The upper end of the leg column 10 is connected with a fourth revolute pair and a driving device 9, and the rotating shaft of the fourth revolute pair and the driving device 9 is connected in the through hole of the U-shaped connecting lug of the thigh part in a penetrating mode. An Jiong-shaped notch is arranged below the leg post 10, and a multi-foot-shaped switching device 110 is assembled in the Jiong-shaped notch. The multi-foot shaped switching device 110 includes three end portions in a Y-shape forming an angle of 120 ° between each two, the three end portions being a flat foot end 13, a sharp foot end 14, and a roller and its driving end 12. The roller and its drive end 12 comprise a roller and a drive means which drives the roller in rotation. The contact part of the bottom of the flat-bottom foot end 13 and the ground is a flat plate, and the contact part of the sharp foot end 14 and the ground is a sharp point. The rotation of the multi-footed switching device 110 in the Jiong-shaped gap is realized by means of a fifth revolute pair and a driving device 11, specifically, the fifth revolute pair and the driving device 11 are provided with a rotating shaft which is connected in series with two side plates of the Jiong-shaped gap and an assembling hole in the center of the multi-footed switching device 110, and the fifth revolute pair and the driving device 11 are also provided with a driving device which can drive the multi-footed switching device 110 to rotate so as to contact the ground by different end parts, thereby switching different leg and foot structures according to the terrain to realize corresponding motion modes. Preferably, the flat foot end 13 has a rubber elongated protrusion in a ground contact surface, so that the flat foot end 13 can increase the contact area with the ground and increase the friction force between the flat foot end and the ground. Understandably, the fifth revolute pair and the driving device 11 are provided with a locking mechanism to increase the stability of the robot.
Fig. 5 is a schematic view showing the structure of the lower leg of the legs and feet of the robot mid-body platform 2 according to the present invention. The lower leg parts of the two legs and feet connected to the mid-body platform 2 comprise a sixth revolute pair and drive device 28, an arm 29 and an excavating component 30 which are connected in sequence. The sixth revolute pair and driving device 28 is coupled to the U-shaped lug 271 of the thigh (specifically, the rotation shaft of the sixth revolute pair and driving device 28 is connected to the through hole of the U-shaped lug 271). The lower end of the arm lever 29 is provided with an excavating component 30, the excavating component 30 comprises two mounting plates 31 which are combined at the lower end of the arm lever 29, the two mounting plates 31 are oppositely arranged, a space is arranged in the middle, a pair of clamping blocks 15 are arranged in the middle, one end of each clamping block 15 at the left side is movably combined on the mounting plate 31 through a driving and fixing device 25, and one end of each clamping block 15 at the right side is movably combined on the mounting plate 31 through a driving and fixing device 26. The other end of the clamp 15 is also free. The free ends of the pair of jaws can be driven away from or towards each other by the driving and fixing means 25(26) to perform the function of spreading and clamping the pair of jaws 15. The driving and fixing device 25 includes a rotating shaft, the rotating shaft penetrates through the hole at the end of the clamping block 15 and the hole arranged on the mounting plate 31, the driving and fixing device 25 further includes a driving device, the driving device can drive the clamping block 15 to rotate around the penetrating part at the end of the clamping block, and the two clamping blocks 15 rotate oppositely to execute clamping action. The digging assembly 30 can accomplish the work of digging, fishing and collecting under water. Preferably, the adjacent sides of the clamping plates 15 are provided with engaging tooth structures to increase the stability and strength of the clamping. The driving and fixing means 25, 26 are also provided with a locking function, which keeps the clamping block 15 in a clamped state after it has gripped the object.
When the excavation collection action is executed, the first revolute pair and driving device 4, the second revolute pair and driving device 5, the screw rod motor 6, the sixth revolute pair and driving device 28 and the driving and fixing device 25 and 26 of the excavation component 30 which are connected to the two legs and feet on the middle machine body platform 2 are mutually cooperated, and the excavation collection operation can be flexibly executed.
Referring to fig. 6, there is shown a bottom schematic view of the overall assembly of the robot of the present invention. At least one bottom thruster is arranged on the bottom surface of the machine body platform. Preferably, the number of bottom thrusters is four, respectively bottom thrusters 21, 22, 23, 24, in particular two each, on the bottom surface of the front section airframe platform 1 and on the bottom surface of the rear section airframe platform 3. When the front section, the middle section and the rear section of the machine body platform are kept on the same plane, the four bottom propellers are uniformly distributed on the bottom surface of the machine body platform (preferably symmetrically distributed by taking the center of gravity of the robot as the center). In addition, the number of the bottom propellers is not limited to four, and may be an even number of 6, 8, and the like, but the bottom propellers are uniformly distributed.
Referring to fig. 7, the overall assembly of the robot of the present invention is shown schematically. At least one end propeller is arranged on the end surface of the front section machine body platform 1 or the end surface of the rear section machine body platform 3. As shown in fig. 7, the end thrusters 18, 19 are provided on the end surface (rear portion) of the rear-stage body platform 3. In addition, the number of the end part propellers is not limited to 2, is not limited to only be arranged at the tail part, and can also be arranged at the head end, and the total number of the end part propellers can be even numbers such as 4, 6, 8, and the like, as long as the symmetrical arrangement can be met. In addition, a vision device 20 is disposed on the end face (head end) of the front section body platform 1, and the main function of the vision device is equivalent to eyes for sensing the object in front.
The bottom thrusters 21, 22, 23, 24 are used to spray a column of water or air downwards, while the end thrusters 18, 19 may spray a column of water or air horizontally. The bottom thruster may be used to effect lifting movements of the robot underwater (e.g. to bridge high obstacles or ravines) and to adjust the attitude of the robot, and the end thruster is used to provide auxiliary power in forward/reverse directions for the robot during underwater forward/reverse. Preferably, each propeller may be operated independently.
Fig. 8 is a schematic view showing a structure of the robot when the thigh portion is extended, in which the size is large; fig. 9 is a schematic view of the robot with the thigh section retracted, which is smaller in size and which is available for passage through narrow passages. The thigh part of the robot retracts, and the thigh part is extended or shortened (moving along the Y axis as shown in figure 3) under the cooperative action of the lead screw motor 6, the lead screw 7 and the lead screw sleeve 8.
When the ground is very uneven, the number of legs and feet on which the robot actually lands can be reduced, as shown in fig. 10. At this time, two legs connected to the middle body platform 2 are folded above the middle body platform 2, the hexapod robot is switched to a quadruped robot, and at this time, the occupied space of the robot is further reduced. The folding of the two legs of the middle platform 2 is mainly realized by the driving of the third revolute pair and driving device 27 and the fourth revolute pair and driving device 9.
In summary, the motion characteristics of the robot of the present invention include:
under the steering gait, the first revolute pair and driving device 4 controls the legs and feet of the robot to rotate, the robot body is dragged along with the robot body to rotate, meanwhile, the universal joint hinge 16 is driven to rotate, and the front universal joint fork of the waist joint rotates around the vertical shaft in the universal joint, so that the rotating angle of the front-section machine body platform 1 of each waist joint during steering is increased, and the function of assisting steering is achieved.
The waist joint formed by the universal joint hinges 16 and 17 can also provide assistance when the robot gets over obstacles in advancing. If an obstacle interfering with the body platform is crossed in the advancing process, the second revolute pair and driving device 5, the fourth revolute pair and driving device 9 and the fifth revolute pair and driving device 11 of the two front legs control the two front legs to search for and support on the obstacle (similar to the step-crossing action), at the moment, the body platform close to one side of the obstacle can rotate upwards, the cross shaft in the cross shaft universal joint hinge 16(17) rotates around the transverse shaft, so that a certain angle (changed from 180 degrees to an obtuse angle) is formed between the two front and middle body platforms (1 and 2), and the rotation angle of the body platform when the six-legged robot crosses the obstacle is increased, and the flexibility and the stability are improved. In underwater environment, auxiliary power can be provided by the vector propulsion devices 21, 22, 23 and 24 at the bottom of the robot body platform to realize obstacle crossing function.
For the motion of a single leg and foot, the first revolute pair and driving device 4 controls the thigh to rotate around the X-axis direction, and the position of each leg and foot relative to the machine body platform can be adjusted, so as to realize the switching of the steering or motion mode of the hexapod robot (the wheel-foot motion mode needs to adjust the rollers at the tail ends of the four legs and feet to be parallel to the advancing direction of the machine body). The fourth revolute pair and driving device 9 controls each calf to rotate in the plane of each leg and foot, so that the function of crossing obstacles can be realized, under the condition that the tail ends of 6 legs and feet are kept to be stably contacted with the ground, the second revolute pair and driving device 5 and the fourth revolute pair and driving device 9 control the corresponding revolute pairs to rotate and the first revolute pair and driving device 4 to not work, and the bottom propellers 21, 22, 23 and 24 work in an underwater environment, so that the height of the six-legged robot body can be adjusted.
The switching of partial or full leg foot forms may be selected according to the needs of a particular scenario. The switching is mainly realized through the fifth revolute pair and driving device 11, but the second revolute pair and driving device 5 and the fourth revolute pair and driving device 9 are still needed to control one leg to lift off the ground (raise the foot) in a matching manner, then the fifth revolute pair and driving device 11 drives the multi-foot-shaped switching device 110 to rotate to a needed foot-shaped structure, and then the second revolute pair and driving device 5 and the fourth revolute pair and driving device 9 control the leg to stably fall down. When all the foot ends are switched to the motion mode, three mutually spaced legs of the six legs form a group, switching is carried out according to the mode, after the switching is finished, the switched foot shapes are in contact with the ground, and then the foot shapes of the other three legs are switched.
The roller motion mode also needs to adjust the rollers at the tail ends of the four legs of the front and rear machine body platforms 1 and 3 to the angle parallel to the motion direction of the machine body through the first revolute pair and the driving device 4 of each leg, and meanwhile, two legs on the middle platform 2 are folded.
The whole size adjustment of the robot is mainly realized by the stretching of the screw motor 6, the screw 7 and the screw sleeve 8. The adjustment process is similar to the switching of the motion mode, and can be adjusted by one leg and one foot, or can be adjusted by one group of three legs and feet at a time so as to realize the adjustment of all the legs and feet. When the single leg foot is adjusted, the tail end of the single leg foot is controlled to lift off by the second rotating pair and driving device 5 and the fourth rotating pair and driving device 9, the screw rod motor 6 controls the screw rod 7 to rotate in the screw rod sleeve 8 to realize linear movement, and the second rotating pair and driving device 5 and the fourth rotating pair and driving device 9 control the single leg foot to stably fall down after the length is adjusted, so that the length adjustment of the single leg is completed.
When two legs on the middle machine body platform 2 are used as the digging arm, the positions of the tail ends of the digging arm are adjusted by the first rotating pair and driving device 4, the second rotating pair and driving device 5, the sixth rotating pair and driving device 28, the screw rod motor 6 and the screw rod 7, the driving and fixing devices 25 and 26 control the closing of the clamping blocks 15, and the fishing or collecting work and the like are completed. The holding of the clamping blocks 15 closed is controlled by the driving and fixing means 25, 26 when not in operation or as walking foot. When the excavating arm needs to be folded, the second revolute pair and driving device 5, the third revolute pair and driving device 27 and the sixth revolute pair and driving device 28 control the two whole legs on the middle body platform 2 to rotate and fold towards the upper part of the middle body platform 2 of the robot body to be in a state shown in fig. 10.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.
Claims (8)
1. A multi-terrain adaptive amphibious six-foot belt waist multifunctional robot is characterized by comprising a body platform and 6 legs and feet; the machine body platform comprises a front section machine body platform, a middle section machine body platform and a rear section machine body platform, and the front section machine body platform and the middle section machine body platform and the rear section machine body platform are connected by universal joint hinges; the 6 legs comprise two legs arranged on the front section machine body platform, two legs of the middle section machine body platform and two legs of the rear section machine body platform; part or all of the 6 legs and feet have two or more switchable structures, so that different leg and foot structures are switched according to terrains to realize corresponding movement modes; at least two of the 6 legs can also perform digging, catching or collecting actions; and/or
At least two legs of the 6 legs can be folded to the upper part of the machine body platform, so that the hexapod robot is switched into a quadruped robot;
the thigh parts of the 6 legs and feet have the same structure and comprise a first rotating pair and driving device, a second rotating pair and driving device, a lead screw motor, a lead screw sleeve, a third rotating pair and a driving device which are sequentially connected;
the two legs and feet connected to the front section machine body platform and the lower legs of the two legs and feet connected to the rear section machine body platform are of the same structure and comprise a fourth revolute pair and a driving device, leg columns, a fifth revolute pair and a driving device and a multi-foot-shaped switching device; the multi-foot-shaped switching device at least comprises a flat-bottom foot end, a sharp foot end, a roller and a driving end thereof;
the upper end of the leg column is connected with the fourth revolute pair and the driving device, and the multi-foot-shaped switching device is combined in the Jiong-shaped notch below the leg column through the fifth revolute pair and the driving device; the fifth revolute pair and the driving device can drive the multi-foot-shaped switching device to turn and switch in the Jiong-shaped notch, so that different ends contact the ground; the fourth revolute pair and the driving device are in shaft connection with the U-shaped connecting lug of the thigh part;
The shank parts of two legs and feet connected to the middle-section machine body platform comprise a sixth revolute pair, a driving device, an arm rod and an excavating component which are sequentially connected; the sixth revolute pair and the driving device are in shaft connection with the U-shaped connecting lug of the thigh part; the excavation component comprises two installation plates, the two installation plates are combined to the lower end of an arm rod, a pair of clamping blocks is arranged between the two installation plates, one ends of the clamping blocks are movably combined on the installation plates through a driving device and a fixing device, the other ends of the clamping blocks are free ends, the driving device and the fixing device can drive the free ends of the clamping blocks to be away from or close to each other, and the clamping blocks are made to perform the functions of unfolding and clamping.
2. The multi-terrain adaptive amphibious hexapod belt waist multi-function robot of claim 1, wherein the connection structure between the front and middle body platforms forms a waist joint of the robot, and the connection structure between the middle and rear body platforms forms a waist joint of the robot; the waist joint of the robot enables one machine body platform to rotate around the central axis of the other machine body platform connected with the waist joint, and an auxiliary effect is provided when the robot turns or adjusts the height and the angle of the machine body.
3. The multi-terrain adaptive amphibious hexapod girdle multifunctional robot according to claim 2, wherein the front segment body platform and the middle segment body platform are hinged by a universal joint cross joint, and the middle segment body platform and the rear segment body platform are hinged by a universal joint cross joint.
4. The multi-terrain adaptive amphibious hexapod multifunctional robot with waist as claimed in claim 1, wherein one end of the first revolute pair and the driving device is connected with the body platform, the third revolute pair and the driving device are connected with a U-shaped connecting lug, the U-shaped connecting lug is provided with a group of through holes, and the through holes are connected with the lower leg part of each leg and foot;
the rotating shafts of the first rotating pair and the driving device are assembled and connected with the rotating shafts of the second rotating pair and the driving device in a mutually vertical mode, the thigh part can rotate back and forth relative to the machine body platform through the first rotating pair and the driving device, the thigh part can rotate up and down relative to the machine body platform through the second rotating pair and the driving device, and the motor, the lead screw and the lead screw sleeve can extend or shorten the thigh part; the third revolute pair and the driving device enable the included angle of each shank part relative to the screw rod or the screw rod sleeve to be changed.
5. The multi-terrain adaptive amphibious six-foot belt waist multifunctional robot as claimed in claim 1, wherein the end face of the front section body platform or the end face of the rear section body platform is provided with at least one end propeller.
6. The multi-terrain adaptive amphibious six-foot belt waist multifunctional robot as claimed in claim 5, wherein the number of the end propellers is 2, and the end propellers are symmetrically arranged on the end face of the front section body platform or the end face of the rear section body platform.
7. The multi-terrain adaptive amphibious hexapod belt waist multi-function robot of claim 1, wherein at least one bottom propeller is mounted on a bottom surface of the airframe platform.
8. The multi-terrain adaptive amphibious six-foot belt waist multifunctional robot as claimed in claim 7, wherein the number of the bottom propellers is four, and two bottom propellers are arranged on the bottom surface of the front section body platform and two bottom surfaces of the rear section body platform respectively; the four bottom propellers are uniformly distributed on the bottom surface of the machine body platform.
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| CN114906248B (en) * | 2021-09-30 | 2023-10-17 | 山东聚一天工工业自动化有限公司 | Mobile device and control method thereof |
| CN113858903A (en) * | 2021-11-16 | 2021-12-31 | 上海海事大学 | All-terrain resource detection robot |
| CN114044068B (en) * | 2021-12-07 | 2023-01-31 | 深圳市坤易电子有限公司 | High-speed movement mode of crawling robot |
| CN114701580B (en) * | 2022-03-22 | 2023-04-14 | 沈阳工业大学 | Omnidirectional motion multi-foot wall-climbing unmanned system for maintaining outer surface of wind turbine generator |
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