CN114348299A - Tandem type wheel leg planetary detector - Google Patents
Tandem type wheel leg planetary detector Download PDFInfo
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- CN114348299A CN114348299A CN202210077028.XA CN202210077028A CN114348299A CN 114348299 A CN114348299 A CN 114348299A CN 202210077028 A CN202210077028 A CN 202210077028A CN 114348299 A CN114348299 A CN 114348299A
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Abstract
The invention discloses a tandem type wheel leg planetary detector which comprises a main body unit, a leg unit and a wheel unit, wherein a carrying platform can be used for carrying detection equipment, the leg unit and the wheel unit are arranged at the same time, planar motion can be realized by using the wheel unit, and wheels are rotatably connected with the leg unit, so that the planar motion steering is facilitated, and the motion freedom degree of the device is improved; the invention can realize walking and obstacle-crossing movement similar to a foot type robot by utilizing the leg units, thereby improving the movement efficiency of the device; thigh components and shank components are provided with parallelogram mechanisms, so that the mass of the leg unit is reduced, the motion space of the leg unit is increased, the capability of the device for crossing obstacles is enhanced, the leg unit is kept parallel to the robot body in the tail end motion process, and the force transmitted to the leg unit by the wheel unit is vertically upward. The invention combines the advantages of the wheel type detector and the leg type detector, and can efficiently finish the detection task in the future planet detection.
Description
Technical Field
The invention relates to the technical field of detectors, in particular to a tandem wheel leg planetary detector.
Background
With the development of technology, human beings have accelerated the exploration pace of universe. The detector can replace human beings to detect unknown fields such as planet, can greatly improve detection efficiency, and therefore the planet detector that can adapt to many topography is vital. The wheel-leg type detector is taken as a type of detector, combines the advantages of a wheel type detector and a foot type detector, and has a good development prospect. The existing wheel-leg detector is mainly divided into three types, namely a serial type detector, a parallel type detector and an integrated type detector, and the serial type detector is widely used at present because a switching device is not needed due to the layout of the serial type detector.
For example, chinese patent publication No. CN113086045A discloses a six-wheel-leg wall obstacle crossing robot, which is laid out in a wheel-leg series connection manner, but this design has less leg freedom. Leg link design solutions have emerged to increase leg freedom while reducing leg weight. For example, chinese patent publication No. CN113200099A discloses an all-terrain wheel-leg robot, which adopts a link design and has a light weight, but the disadvantage of this design is that the freedom of motion of the wheel leg is too low to complete plane omnidirectional motion, and the link design of the leg is too thin to be broken easily, which is not very suitable for future planetary detection.
Therefore, how to change the current situation that the degree of freedom of motion of the wheel-leg type walking mechanism is low and the motion efficiency is poor in the prior art becomes a problem to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide a tandem wheel-leg planetary detector, which solves the problems in the prior art and improves the freedom degree and the efficiency of motion of the wheel-leg planetary detector.
In order to achieve the purpose, the invention provides the following scheme: the invention provides a tandem wheel leg planetary detector, comprising:
the main body unit comprises a carrying platform, and the carrying platform can be used for carrying detection equipment and a control system;
the leg unit comprises a thigh component and a shank component, the thigh component is rotatably connected with the carrying platform, the shank component is rotatably connected with the thigh component, and both the thigh component and the shank component are provided with parallelogram mechanisms;
the wheel unit, the wheel unit with the shank subassembly links to each other and the two is connected the face and is on a parallel with carry on the platform, the wheel unit includes the wheel, the wheel rotationally with the shank unit links to each other, the wheel for the axis of rotation of shank unit is on a parallel with carry on the platform.
Preferably, the thigh assembly comprises a thigh steering engine, a thigh outer plate and a thigh inner plate, the shank assembly comprises a shank steering engine, a shank outer plate, a shank inner plate and a shank end connecting block, the shank steering engine is connected with a first rod piece, the first rod piece is hinged with the thigh inner plate, a second rod piece is hinged with the first rod piece, the other end of the second rod piece is hinged with the shank inner plate, the thigh steering engine is connected with the thigh outer plate, the thigh outer plate is hinged with the shank outer plate, a third rod piece, a fourth rod piece and a fifth rod piece are arranged between the shank end connecting block and the carrying platform, one end of the third rod piece is hinged with the carrying platform, the other end of the third rod piece is hinged with one end of the fourth rod piece, the other end of the fourth rod piece is hinged with one end of the fifth rod piece, and the other end of the fifth rod piece is hinged with the shank end connecting block, the fourth rod piece is connected with a first fixing shaft, the shank inner plate, the thigh outer plate and the shank outer plate are all rotatably connected with the first fixing shaft, and the first fixing shaft is positioned between a hinge point of the fourth rod piece and the third rod piece and a hinge point of the fourth rod piece and the fifth rod piece; the leg end connecting block is connected with a second fixed shaft, the shank inner plate and the shank outer plate are respectively and rotatably connected with the second fixed shaft, the thigh outer plate and the thigh inner plate are arranged in parallel, the leg end connecting block is connected with the wheel unit, the shank outer plate and the shank inner plate are arranged in parallel, and the shank steering engine and the thigh steering engine are both fixed on the carrying platform;
the distance between the hinge axis of the thigh inner plate and the first rod piece and the hinge axis of the thigh inner plate and the hinge axis of the shank inner plate is equal to the length of the third rod piece, and the distance between the hinge axis of the third rod piece and the carrying platform and the rotation axis of the thigh steering engine is equal to the distance between the hinge axis of the first fixed shaft and the hinge axis of the third rod piece and the hinge axis of the fourth rod piece; the distance between the second fixed shaft axis and the hinge axes of the fifth rod and the leg end connection block is equal to the distance between the hinge axes of the fifth rod and the fourth rod and the first fixed shaft axis.
Preferably, the third rod piece is hinged to the carrying platform through a rod piece connecting block, and the thigh steering engine and the shank steering engine are fixed to the carrying platform through steering engine fixing blocks respectively.
Preferably, a stopper is connected to the outer thigh plate, and the stopper can limit the limit position of the third rod relative to the rod connecting block.
Preferably, the carrying platform comprises two layers of platform plates arranged in parallel, and the rod connecting block and the steering engine fixing block are both located between the two platform plates.
Preferably, the thigh outer plate, the thigh inner plate, the shank outer plate and the shank inner plate are all hollow plate-shaped structures.
Preferably, the wheel unit still includes link and mounting bracket, the link with the shank subassembly links to each other, the link with the connection face of shank subassembly is on a parallel with carry on the platform, the mounting bracket rotationally with the link links to each other, the mounting bracket for the axis of rotation perpendicular to of link carry on the platform, the wheel rotationally with the mounting bracket links to each other, the wheel for the axis of rotation of mounting bracket is on a parallel with carry on the platform.
Preferably, the mounting frame is connected with a scanning steering engine, the scanning steering engine is fixed on the connecting frame, and the scanning steering engine can drive the mounting frame to rotate; the wheels are connected with rotary steering gears, the rotary steering gears are fixed on the mounting rack, and the rotary steering gears can drive the wheels to rotate.
Preferably, the number of the leg units and the wheel unit is four and one-to-one, and the four leg units are symmetrically arranged by taking the center line of the carrying platform as an axis.
Preferably, the wheels are located on a side of the leg unit remote from the mounting platform.
Compared with the prior art, the invention has the following technical effects: the tandem type wheel leg planetary detector comprises a main body unit, a leg unit and a wheel unit, wherein the main body unit comprises a carrying platform, and the carrying platform can be used for carrying detection equipment; the leg unit comprises a thigh component and a shank component, the thigh component is rotatably connected with the carrying platform, the shank component is rotatably connected with the thigh component, and both the thigh component and the shank component are provided with parallelogram mechanisms; the wheel unit is connected with the shank component, the connection surface of the wheel unit and the shank component is parallel to the carrying platform, the wheel unit comprises wheels, the wheels are rotatably connected with the leg unit, and the rotation axes of the wheels relative to the leg unit are parallel to the carrying platform.
According to the tandem type wheel leg planetary detector, the carrying platform can be used for carrying detection equipment, the leg unit and the wheel unit are arranged at the same time, planar motion can be realized by the wheel unit, and the wheels are rotatably connected with the leg unit, so that planar motion steering is facilitated, and the motion freedom degree of the device is improved; meanwhile, the leg units can realize walking and obstacle-crossing movement similar to a foot type robot, so that the movement efficiency of the device is improved; it should also be noted that the thigh component and the shank component are both provided with parallelogram mechanisms, so that the mass of the leg unit is reduced, the movement space of the leg unit is increased, the capability of the device for crossing obstacles is enhanced, the leg unit is kept parallel to the robot body in the tail end movement process, and the force transmitted to the leg unit by the wheel unit is vertically upward. The invention combines the advantages of the wheel type detector and the leg type detector, not only can efficiently run on flat ground, but also can adapt to rugged road, can cross higher obstacles, and can efficiently finish detection tasks in future planet detection.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a tandem wheel-leg planetary probe of the present invention;
FIG. 2 is a schematic front view of a tandem wheel-leg planetary probe of the present invention;
FIG. 3 is a schematic side view of a tandem wheel-leg planetary probe of the present invention;
FIG. 4 is a schematic top view of a tandem wheel-leg planetary probe of the present invention;
FIG. 5 is a schematic structural view of a tandem wheel-leg planetary probe of the present invention in a semi-standing state;
FIG. 6 is a schematic side view of a tandem wheel-leg planetary probe of the present invention in a semi-stance state;
FIG. 7 is a schematic structural diagram of a main unit of the tandem wheel-leg planetary probe of the present invention;
FIG. 8 is a schematic view of a portion of the tandem wheel-leg planetary probe of the present invention;
FIG. 9 is a schematic structural view of a leg unit and a wheel unit of the tandem wheel-leg planetary probe of the present invention;
FIG. 10 is a schematic structural view of a wheel unit of the tandem wheel-leg planetary probe of the present invention;
FIG. 11 is a schematic view of a disassembled structure of a leg unit of the tandem wheel-leg planetary probe of the present invention;
FIG. 12 is a schematic illustration of the lower leg assembly motion of the leg unit of the tandem wheel-leg planetary probe of the present invention;
FIG. 13 is a schematic view of simultaneous movement of the thigh and shank assemblies of the leg unit of the tandem wheel-leg planetary probe of the present invention;
FIG. 14 is a schematic view of an outer thigh panel in an embodiment of the tandem wheel-leg planetary probe of the present invention;
FIG. 15 is a schematic structural diagram of a fourth bar in an embodiment of the tandem wheel-leg planetary probe of the present invention;
FIG. 16 is a schematic structural view of a leg end connection block in an embodiment of the tandem wheel-leg planetary probe of the present invention;
FIG. 17 is a schematic view of the outer plate of the calf in an embodiment of the tandem wheel-leg planetary probe of the present invention;
FIG. 18 is a schematic structural view of a leg unit in an embodiment of the tandem wheel-leg planetary probe of the present invention;
the device comprises a main body unit 1, a carrying platform 101, a rod connecting block 102, a steering engine fixing block 103, a platform plate 104, a leg unit 2, a wheel unit 3, wheels 301, a connecting frame 302, an installation frame 303, a scanning steering engine 304, a rotary steering engine 305, a thigh assembly 4, a thigh steering engine 401, a thigh outer plate 402, a thigh inner plate 403, a shank assembly 5, a shank steering engine 501, a shank outer plate 502, a shank inner plate 503, a leg end connecting block 504, a first rod 6, a second rod 7, a third rod 8, a fourth rod 9, a fifth rod 10, a first fixing shaft 11, a second fixing shaft 12 and a stopper 13.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a tandem wheel-leg planetary detector, which solves the problems in the prior art and improves the freedom degree and the efficiency of motion of the wheel-leg planetary detector.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Referring to fig. 1 to 18, wherein fig. 1 is a schematic structural diagram of a tandem wheel-leg planetary detector of the present invention, fig. 2 is a schematic front view of the tandem wheel-leg planetary detector of the present invention, fig. 3 is a schematic side view of the tandem wheel-leg planetary detector of the present invention, fig. 4 is a schematic top view of the tandem wheel-leg planetary detector of the present invention, fig. 5 is a schematic structural diagram of the tandem wheel-leg planetary detector of the present invention in a semi-standing state, fig. 6 is a schematic side view of the tandem wheel-leg planetary detector of the present invention in a semi-standing state, fig. 7 is a schematic structural diagram of a main body unit of the tandem wheel-leg planetary detector of the present invention, fig. 8 is a schematic partial structural diagram of the tandem wheel-leg planetary detector of the present invention, fig. 9 is a schematic structural diagram of a leg unit and a wheel unit of the tandem wheel-leg planetary detector of the present invention, fig. 10 is a schematic structural view of a wheel unit of a tandem wheel-leg planetary probe of the present invention, fig. 11 is a schematic structural view of a disassembled leg unit of the tandem wheel-leg planetary probe of the present invention, fig. 12 is a schematic structural view of a lower leg component of the leg unit of the tandem wheel-leg planetary probe of the present invention, fig. 13 is a schematic structural view of a thigh component and a lower leg component of the leg unit of the tandem wheel-leg planetary probe of the present invention moving simultaneously, fig. 14 is a schematic structural view of an outer thigh plate in an embodiment of the tandem wheel-leg planetary probe of the present invention, fig. 15 is a schematic structural view of a fourth rod member in an embodiment of the tandem wheel-leg planetary probe of the present invention, fig. 16 is a schematic structural view of a connecting block at a distal end of a leg in an embodiment of the tandem wheel-leg planetary probe of the present invention, fig. 17 is a schematic structural view of the lower leg in an embodiment of the tandem wheel-leg planetary probe of the present invention, fig. 18 is a schematic structural diagram of a leg unit in an embodiment of the tandem wheel-leg planetary probe of the present invention.
The invention provides a tandem type wheel leg planetary detector which comprises a main body unit 1, a leg unit 2 and a wheel unit 3, wherein the main body unit 1 comprises a carrying platform 101, and the carrying platform 101 can be used for carrying detection equipment and a control system; the leg unit 2 comprises a thigh component 4 and a shank component 5, the thigh component 4 is rotatably connected with the carrying platform 101, the shank component 5 is rotatably connected with the thigh component 4, and both the thigh component 4 and the shank component 5 are provided with parallelogram mechanisms; the wheel unit 3 is connected with the lower leg assembly 5, the connection surface of the wheel unit 3 and the lower leg assembly is parallel to the carrying platform 101, the wheel unit 3 comprises a wheel 301, the wheel 301 is rotatably connected with the leg unit 2, and the rotation axis of the wheel 301 relative to the leg unit 2 is parallel to the carrying platform 101.
According to the tandem type wheel leg planetary detector, the carrying platform 101 can be used for carrying detection equipment, the leg unit 2 and the wheel unit 3 are arranged at the same time, planar motion can be realized by utilizing the wheel unit 3, and the wheels 301 are rotatably connected with the leg unit 2, so that planar motion steering is facilitated, and the motion freedom degree of the device is improved; meanwhile, the walking and obstacle-crossing movement similar to a foot type robot can be realized by utilizing the leg unit 2, so that the movement efficiency of the device is improved; it should be further noted that the thigh assembly 4 and the shank assembly 5 both have parallelogram mechanisms, so that the mass of the leg unit 2 is reduced, the movement space of the leg unit 2 is increased, the capability of the device to climb over obstacles is enhanced, the leg unit 1 is ensured to be parallel to the robot body during the movement process of the tail end, and the force transmitted to the leg unit 1 by the wheel unit 3 is vertically upward. The invention combines the advantages of the wheel type detector and the leg type detector, not only can efficiently run on flat ground, but also can adapt to rugged road, can cross higher obstacles, and can efficiently finish detection tasks in future planet detection. It should be explained here that the carrying platform 101 can be used for carrying the detection device and the control system, the instrument device setting control system is a conventional means for those skilled in the art, and the control system is not an improvement of the present invention compared to the prior art, and therefore, the description thereof is omitted here.
Specifically, the thigh assembly 4 comprises a thigh steering engine 401, a thigh outer plate 402 and a thigh inner plate 403, the shank assembly 5 comprises a shank steering engine 501, a shank outer plate 502, a shank inner plate 503 and a leg end connecting block 504, the shank steering engine 501 is connected with a first rod 6, the first rod 6 is hinged with the thigh inner plate 403, the first rod 6 is hinged with a second rod 7, the other end of the second rod 7 is hinged with the shank inner plate 503, the thigh steering engine 401 is connected with the thigh outer plate 402, the thigh outer plate 402 is hinged with the shank outer plate 502, a third rod 8, a fourth rod 9 and a fifth rod 10 are arranged between the leg end connecting block 504 and the carrying platform 101, one end of the third rod 8 is hinged with the carrying platform 101, the other end of the third rod 8 is hinged with one end of the fourth rod 9, the other end of the fourth rod 9 is hinged with one end of the fifth rod 10, the other end of the fifth rod 10 is hinged with the leg end connecting block 504, the fourth rod 9 is connected with a first fixed shaft 11, the shank inner plate 503, the thigh inner plate 403, the thigh outer plate 402 and the shank outer plate 502 are all rotatably connected with the first fixed shaft 11, and the first fixed shaft 11 is positioned between the hinge point of the fourth rod 9 and the third rod 8 and the hinge point of the fourth rod 9 and the fifth rod 10; the leg end connecting block 504 is connected with a second fixed shaft 12, a shank inner plate 503 and a shank outer plate 502 are respectively connected with the second fixed shaft 12 in a rotatable manner, the thigh outer plate 402 is arranged in parallel with the thigh inner plate 403, the leg end connecting block 504 is connected with the wheel unit 3, the shank outer plate 502 is arranged in parallel with the shank inner plate 503, and a shank steering engine 501 and a thigh steering engine 401 are both fixed on the carrying platform 101; the distance between the hinge axis of the thigh inner plate 403 and the first rod 6 and the hinge axis of the thigh inner plate 403 and the shank inner plate 503 is equal to the length of the third rod 8, and the distance between the hinge axis of the third rod 8 and the carrying platform 101 and the rotation axis of the thigh steering engine 401 is equal to the distance between the axis of the first fixed shaft 11 and the hinge axis of the third rod 8 and the fourth rod 9; the distance between the axis of the second stationary shaft 12 and the hinge axes of the fifth bar 10 and the leg end connection block 504 is equal to the distance between the hinge axes of the fifth bar 10 and the fourth bar 9 and the axis of the first stationary shaft 11 to form two sets of parallelogram mechanisms, ensuring that the tip of the leg unit 2 is always parallel to the body unit 1 during the movement of the leg unit 2.
The thigh steering engine 401 can drive the thigh outer plate 402 and the thigh inner plate 403 to rotate relative to the carrying platform 101, the shank steering engine 501 can drive the shank outer plate 502 and the shank inner plate 503 to rotate relative to the thigh assembly 4, as shown in fig. 14-18, the distance between A, B two points in the side view of the thigh outer plate 402 is the same as the length of the third rod 8, the distance between C, E two points in the side view of the fourth rod 9 is the same as the distance between K, J two points in the side view of the leg unit 2, the distance between C, D two points in the side view of the fourth rod 9 is the same as the distance between F, G two points in the side view of the leg end connecting block 504, the distance between H, I two points in the side view of the shank outer plate 502 is the same as the length of the fifth rod 10, the above conditions are satisfied, two parallel mechanisms can be formed on the space structure, which is also the key that the leg end connecting block 504 and the carrying platform 101 can keep parallel, the leg end connection block 504 is always kept parallel to the mounting platform 101 regardless of the movement of the apparatus, ensuring the operational stability of the wheel unit 3 and the mounting platform 101.
More specifically, the third rod 8 is hinged to the carrying platform 101 through a rod connecting block 102, the thigh steering engine 401 and the shank steering engine 501 are respectively fixed to the carrying platform 101 through a steering engine fixing block 103, the rod connecting block 102 and the steering engine fixing block 103 are arranged, connection of each component to the carrying platform 101 is facilitated, positioning is provided for installation of each component, and disassembly and assembly are facilitated.
It should be noted that the thigh outer plate 402 is connected with a stopper 13, and the stopper 13 can limit the limit position of the third rod 8 relative to the rod connecting block 102, so as to prevent the generation of strange movement and improve the safety and reliability of the movement.
Further, the carrying platform 101 comprises two layers of platform plates 104 arranged in parallel, the rod connecting block 102 and the steering engine fixing block 103 are both located between the two platform plates 104, the two layers of platform plates 104 are arranged, the rod connecting block 102 and the steering engine fixing block 103 are both located between the two platform plates 104, the space is reasonably utilized, and the carrying of the detection equipment is prevented from being influenced.
In the present embodiment, the upper leg plate 402, the upper leg plate 403, the lower leg plate 502, and the lower leg plate 503 are all hollow plate-like structures, and the weight of the leg unit 2 is further reduced.
Furthermore, the wheel unit 3 further includes a connecting frame 302 and a mounting frame 303, the connecting frame 302 is connected with the lower leg assembly 5, a connection surface of the connecting frame 302 and the lower leg assembly 5 is parallel to the carrying platform 101, the mounting frame 303 is rotatably connected with the connecting frame 302, the mounting frame 303 is perpendicular to the carrying platform 101 relative to a rotation axis of the connecting frame 302, the wheel 301 is rotatably connected with the mounting frame 303, and the wheel 301 is parallel to the carrying platform 101 relative to the rotation axis of the mounting frame 303. The wheels 301 are rotatably connected with the lower leg assembly 5 by the connecting frame 302 and the mounting frame 303, specifically, the connecting frame 302 is connected with the leg end connecting block 504, the wheels 301 are rotatably arranged on the mounting frame 303, and the connecting frame 302 is rotatably connected with the mounting frame 303, so that the wheels 301 can smoothly turn and drive the device to move.
In addition, the mounting frame 303 is connected with a scanning steering engine 304, the scanning steering engine 304 is fixed on the connecting frame 302, and the scanning steering engine 304 can drive the mounting frame 303 to rotate; the wheel 301 is connected with rotatory steering wheel 305, and on rotatory steering wheel 305 was fixed in mounting bracket 303, rotatory steering wheel 305 can drive wheel 301 and rotate. Scanning steering wheel 304 can drive wheel 301 and turn to, and rotatory steering wheel 305 can drive wheel 301 and rotate, guarantees wheel unit 3 normal work, and link 302 and mounting bracket 303 provide stable installation basis for scanning steering wheel 304 and rotatory steering wheel 305. As the thigh component 4 and the shank component 5 both form a parallelogram mechanism, the connection surface of the tip of the leg unit 2 and the wheel unit 3 is parallel to the carrying platform 101, so that the moment at the scanning steering engine 304 is reduced, the normal work of the scanning steering engine 304 is ensured, and the detector can smoothly turn.
In the present embodiment, the number of the leg units 2 and the wheel units 3 is four and one-to-one, and the four leg units 2 are symmetrically arranged with the center line of the carrying platform 101 as the axis.
In another embodiment of the present invention, the wheels 301 are located on the side of the leg unit 2 away from the carrying platform 101, and the area enclosed by the connecting lines of the four sets of wheels 301 is larger than the area of the carrying platform 101, thereby further improving the structural stability of the device.
The tandem type wheel leg planetary detector can realize plane all-directional motion, and when a turn is needed, the four scanning steering engines 304 work simultaneously and rotate a certain angle to achieve the effect of turning; when the detector needs to retreat, the rotary steering engine 305 rotates reversely, and the advancing and retreating direction and the movement speed of the detector are changed by changing the rotation direction and the rotation speed of the rotary steering engine 305. When the obstacle is crossed, the obstacle can be divided into single-leg crossing and double-leg crossing: when the legs are required to be turned over, the front legs (two groups of parallel leg units 2 positioned in front of the main body unit 1 along the advancing direction of the detector) are pressed by the wheels 301, and the rear legs (two groups of parallel leg units 2 positioned in rear of the main body unit 1 along the advancing direction of the detector) are actively contracted to turn over; when one leg is required to be overturned, the robot can be used for overturning obstacles similar to a conventional four-legged robot, the leg unit 2 adopts a connecting rod structure, the leg movement space is large, and the device can be used for overturning obstacles with the same height as the robot. When one wheel 301 of the tandem type wheel-leg planetary detector is immersed in a sand-like granular terrain, the height of a leg unit 2 can be raised through a shank steering engine 501 and a thigh steering engine 401, meanwhile, obstacles around the wheel 301 are cleared through the motion of a scanning steering engine 304, and when the wheel 301 rotates under the driving of a rotary steering engine 305, the situation that the movement of a single wheel 301 is blocked can be eliminated. If the robot runs in the sand, the robot can quickly pass through the sand through the mutual matching of the four groups of leg units 2, and can climb a sand slope which is difficult to climb by the wheeled robot. Four steering engines of each set of leg unit 2 and wheel unit 3: under the mutual cooperation of the shank steering engine 501, the thigh steering engine 401, the scanning steering engine 304 and the rotating steering engine 305, the function of climbing a sand slope can be realized through the phase difference of the working of the four groups of leg units 2.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. A tandem wheel-leg planetary probe, comprising:
the main body unit comprises a carrying platform, and the carrying platform can be used for carrying detection equipment and a control system;
the leg unit comprises a thigh component and a shank component, the thigh component is rotatably connected with the carrying platform, the shank component is rotatably connected with the thigh component, and both the thigh component and the shank component are provided with parallelogram mechanisms;
the wheel unit, the wheel unit with the shank subassembly links to each other and the two is connected the face and is on a parallel with carry on the platform, the wheel unit includes the wheel, the wheel rotationally with the shank unit links to each other, the wheel for the axis of rotation of shank unit is on a parallel with carry on the platform.
2. The tandem wheel-leg planetary probe according to claim 1, wherein: the thigh assembly comprises a thigh steering engine, a thigh outer plate and a thigh inner plate, the shank assembly comprises a shank steering engine, a shank outer plate, a shank inner plate and a leg end connecting block, the shank steering engine is connected with a first rod piece, the first rod piece is hinged with the thigh inner plate, the first rod piece is hinged with a second rod piece, the other end of the second rod piece is hinged with the shank inner plate, the thigh steering engine is connected with the shank outer plate, the thigh outer plate is hinged with the shank outer plate, a third rod piece, a fourth rod piece and a fifth rod piece are arranged between the leg end connecting block and the carrying platform, one end of the third rod piece is hinged with the carrying platform, the other end of the third rod piece is hinged with one end of the fourth rod piece, the other end of the fourth rod piece is hinged with one end of the fifth rod piece, and the other end of the fifth rod piece is hinged with the leg end connecting block, the fourth rod piece is connected with a first fixing shaft, the shank inner plate, the thigh outer plate and the shank outer plate are all rotatably connected with the first fixing shaft, and the first fixing shaft is positioned between a hinge point of the fourth rod piece and the third rod piece and a hinge point of the fourth rod piece and the fifth rod piece; the leg end connecting block is connected with a second fixed shaft, the shank inner plate and the shank outer plate are respectively and rotatably connected with the second fixed shaft, the thigh outer plate and the thigh inner plate are arranged in parallel, the leg end connecting block is connected with the wheel unit, the shank outer plate and the shank inner plate are arranged in parallel, and the shank steering engine and the thigh steering engine are both fixed on the carrying platform;
the distance between the hinge axis of the thigh inner plate and the first rod piece and the hinge axis of the thigh inner plate and the hinge axis of the shank inner plate is equal to the length of the third rod piece, and the distance between the hinge axis of the third rod piece and the carrying platform and the rotation axis of the thigh steering engine is equal to the distance between the hinge axis of the first fixed shaft and the hinge axis of the third rod piece and the hinge axis of the fourth rod piece; the distance between the second fixed shaft axis and the hinge axes of the fifth rod and the leg end connection block is equal to the distance between the hinge axes of the fifth rod and the fourth rod and the first fixed shaft axis.
3. The tandem wheel-leg planetary probe according to claim 2, wherein: the third rod piece is hinged to the carrying platform through a rod piece connecting block, and the thigh steering engine and the shank steering engine are fixed to the carrying platform through steering engine fixing blocks respectively.
4. The tandem wheel-leg planetary probe according to claim 3, wherein: and the thigh outer plate is connected with a limiter which can limit the limit position of the third rod piece relative to the rod piece connecting block in rotation.
5. The tandem wheel-leg planetary probe according to claim 3, wherein: the carrying platform comprises two layers of platform plates which are arranged in parallel, and the rod connecting block and the steering engine fixing block are both positioned between the two platform plates.
6. The tandem wheel-leg planetary probe according to claim 2, wherein: the thigh outer plate, the thigh inner plate, the shank outer plate and the shank inner plate are all of hollow plate-shaped structures.
7. The tandem wheel-leg planetary probe according to claim 1, wherein: the wheel unit still includes link and mounting bracket, the link with the shank subassembly links to each other, the link with the connection face of shank subassembly is on a parallel with carry on the platform, the mounting bracket rotationally with the link links to each other, the mounting bracket for the axis of rotation perpendicular to of link carry on the platform, the wheel rotationally with the mounting bracket links to each other, the wheel for the axis of rotation of mounting bracket is on a parallel with carry on the platform.
8. The tandem wheel-leg planetary probe according to claim 7, wherein: the mounting frame is connected with a scanning steering engine, the scanning steering engine is fixed on the connecting frame, and the scanning steering engine can drive the mounting frame to rotate; the wheels are connected with rotary steering gears, the rotary steering gears are fixed on the mounting rack, and the rotary steering gears can drive the wheels to rotate.
9. The tandem wheel-leg planetary probe according to claim 1, wherein: the number of the leg units and the number of the wheel unit are four groups and are in one-to-one correspondence, and the four groups of the leg units are symmetrically arranged by taking the center line of the carrying platform as an axis.
10. The tandem wheel-leg planetary probe according to claim 9, wherein: the wheels are positioned on one side of the leg unit, which is far away from the carrying platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210077028.XA CN114348299B (en) | 2022-01-24 | 2022-01-24 | Tandem type wheel leg planetary detector |
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| KR100873723B1 (en) * | 2007-07-25 | 2008-12-12 | 인하대학교 산학협력단 | Moving robot having multiple legs |
| 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 |
| CN110696940A (en) * | 2019-11-21 | 2020-01-17 | 上海交通大学 | Omnidirectional wheel foot type robot |
| CN110936346A (en) * | 2019-12-24 | 2020-03-31 | 西北工业大学 | Foldable four-wheel leg type obstacle crossing robot |
| CN111846002A (en) * | 2020-07-30 | 2020-10-30 | 上海交通大学 | Wheel-leg composite mobile robot |
| CN113602528A (en) * | 2021-08-30 | 2021-11-05 | 吉林大学 | Reconfigurable wheel leg moving device for Mars detection |
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| JPH08310462A (en) * | 1995-05-22 | 1996-11-26 | Nissan Motor Co Ltd | Travel car for space search |
| US20080252247A1 (en) * | 2005-03-30 | 2008-10-16 | Tmsuk Co. Ltd | Quadruped Walking Robot |
| KR100873723B1 (en) * | 2007-07-25 | 2008-12-12 | 인하대학교 산학협력단 | Moving robot having multiple legs |
| 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 |
| CN110696940A (en) * | 2019-11-21 | 2020-01-17 | 上海交通大学 | Omnidirectional wheel foot type robot |
| CN110936346A (en) * | 2019-12-24 | 2020-03-31 | 西北工业大学 | Foldable four-wheel leg type obstacle crossing robot |
| CN111846002A (en) * | 2020-07-30 | 2020-10-30 | 上海交通大学 | Wheel-leg composite mobile robot |
| CN113602528A (en) * | 2021-08-30 | 2021-11-05 | 吉林大学 | Reconfigurable wheel leg moving device for Mars detection |
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