CN114348299B - Tandem type wheel leg planetary detector - Google Patents
Tandem type wheel leg planetary detector Download PDFInfo
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- CN114348299B CN114348299B CN202210077028.XA CN202210077028A CN114348299B CN 114348299 B CN114348299 B CN 114348299B CN 202210077028 A CN202210077028 A CN 202210077028A CN 114348299 B CN114348299 B CN 114348299B
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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, plane movement can be realized by utilizing the wheel unit, and the wheel is rotatably connected with the leg unit, so that plane movement steering is facilitated, and the movement freedom of the device is improved; the invention can realize walking and obstacle-crossing movement similar to the foot robot by utilizing the leg unit, and improves the movement efficiency of the device; the thigh component and the shank component are both provided with parallelogram mechanisms, so that the movement space of the leg unit is increased while the mass of the leg unit is reduced, the obstacle crossing capacity of the device is enhanced, the leg unit is ensured to keep parallel to the robot main body in the movement process of the tail end of the leg unit, 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 complete the detection task in future planetary detection.
Description
Technical Field
The invention relates to the technical field of detectors, in particular to a tandem type wheel leg planetary detector.
Background
With the development of technology, humans have accelerated the search pace for universe. The detector can replace human beings to detect unknown fields such as planet, can greatly improve detection efficiency, therefore can adapt to the planet detector of many topography and be vital. The wheel-leg type detector is used as a detector, combines the advantages of the wheel type detector and the foot type detector, and has good development prospect. The existing wheel leg type detector is mainly divided into three types of serial connection type, parallel connection type and integrated type, and the serial connection type detector is widely used at present because a switching device is not needed in the layout.
For example, chinese patent publication No. CN113086045a discloses a six-wheeled leg wall obstacle surmounting robot which is laid out by a serial connection of the legs, but this design has less freedom of the legs. To increase the freedom of the leg and at the same time reduce the weight of the leg, a design of the leg link has emerged. For example, chinese patent publication No. CN113200099a discloses an all-terrain wheeled leg robot, which adopts a link design, and has a light weight, but the disadvantage of the design is that the freedom of movement of the wheeled leg is too low, and the planar omnidirectional movement cannot be completed, and meanwhile, the link design of the leg is too thin, and is easy to break, so that the robot is not very suitable for future planetary detection.
Therefore, how to change the current situation that the freedom of movement of the wheel leg type travelling mechanism is low and the movement efficiency is poor in the prior art is a problem to be solved urgently by those skilled in the art.
Disclosure of Invention
The invention aims to provide a tandem type wheel leg planetary detector, which solves the problems in the prior art and improves the degree of freedom and the movement efficiency of the wheel leg planetary detector.
In order to achieve the above object, the present invention provides the following solutions: the invention provides a tandem type wheel leg planetary detector, which comprises:
a main body unit including a mounting platform, the mounting platform being usable for mounting a detection device 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 the thigh component and the shank component are both provided with a parallelogram mechanism;
the wheel unit is connected with the lower leg assembly, the connecting surface of the wheel unit and the lower leg assembly is parallel to the carrying platform, the wheel unit comprises wheels, the wheels are rotatably connected with the leg units, and the wheels are parallel to the carrying platform relative to the rotation axis of the leg units.
Preferably, the thigh assembly comprises a thigh steering engine, a thigh outer plate and a thigh inner plate, the thigh assembly comprises a thigh steering engine, a thigh outer plate, a thigh inner plate and a leg end connecting block, the thigh steering engine is connected with a first rod, the first rod is hinged with the thigh inner plate, the first rod is hinged with a second rod, the other end of the second rod is hinged with the thigh inner plate, the thigh steering engine is connected with the thigh outer plate, the thigh outer plate is hinged with the thigh outer plate, a third rod, a fourth rod and a fifth rod are arranged between the leg end connecting block and the carrying platform, one end of the third rod is hinged with the carrying platform, the other end of the third rod is hinged with one end of the fourth rod, the other end of the fourth rod is hinged with one end of the fifth rod, the other end of the fifth rod is hinged with the leg end connecting block, the fourth rod is connected with a first fixed shaft, and the thigh inner plate, the fourth rod and the fourth rod are all hinged with the fourth fixed shaft and a fifth fixed shaft; the leg tail end connecting block is connected with a second fixed shaft, the lower leg inner plate and the lower leg outer plate are respectively and rotatably connected with the second fixed shaft, the thigh outer plate is arranged in parallel with the thigh inner plate, the leg tail end connecting block is connected with the wheel unit, the lower leg outer plate is arranged in parallel with the lower leg inner plate, and the lower leg steering engine and the thigh steering engine are both fixed on the carrying platform;
the distances between the hinge axes of the thigh inner plate and the first rod piece and the hinge axes of the thigh inner plate and the shank inner plate are equal to the length of the third rod piece, and the distances between the hinge axes of the third rod piece and the carrying platform and the rotation axis of the thigh steering engine are equal to the distances between the first fixed shaft axis and the hinge axes of the third rod piece and the fourth rod piece; the distance between the second fixed shaft axis and the hinge axis of the fifth rod and the leg end connection block is equal to the distance between the hinge axis of the fifth rod and the fourth rod and the first fixed shaft axis.
Preferably, the third rod is hinged to the carrying platform by a rod 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, the thigh outer plate is connected with a limiter, and the limiter can limit the limit position of the third rod piece relative to the rod piece connecting block.
Preferably, the carrying platform comprises two layers of platform boards which are arranged in parallel, and the rod connecting block and the steering engine fixing block are both positioned between the two layers of platform boards.
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 further comprises a connecting frame and a mounting frame, the connecting frame is connected with the lower leg assembly, the connecting face of the connecting frame and the connecting face of the lower leg assembly are parallel to the carrying platform, the mounting frame is rotatably connected with the connecting frame, the mounting frame is perpendicular to the carrying platform relative to the rotation axis of the connecting frame, the wheels are rotatably connected with the mounting frame, and the wheels are parallel to the carrying platform relative to the rotation axis of the mounting frame.
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 wheel is connected with a rotary steering engine, the rotary steering engine is fixed on the mounting frame, and the rotary steering engine can drive the wheel to rotate.
Preferably, the number of the leg units and the number of the wheel units are four, the leg units are in one-to-one correspondence, and the four leg units are symmetrically arranged by taking the central 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 invention relates to a tandem type wheel leg planetary detector, which comprises a main body unit, a leg unit and a wheel unit, wherein the main body unit comprises a carrying platform which 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 the thigh component and the shank component are both provided with parallelogram mechanisms; the wheel unit is connected with the shank assembly, the connecting surface of the wheel unit and the shank assembly is parallel to the carrying platform, the wheel unit comprises wheels, the wheels are rotatably connected with the leg unit, and the wheels are parallel to the carrying platform relative to the rotation axis of the leg unit.
The serial wheel leg planetary detector provided by the invention has the advantages that the carrying platform can be used for carrying detection equipment, the leg units and the wheel units are arranged at the same time, the wheel units can be used for realizing plane movement, and the wheels are rotatably connected with the leg units, so that the plane movement steering is facilitated, and the movement freedom of the device is improved; meanwhile, the leg unit is utilized to realize walking and obstacle-crossing movements similar to the foot robot, so that the movement efficiency of the device is improved; it should be further noted that the thigh assembly and the shank assembly each have a parallelogram mechanism, which increases the movement space of the leg unit while reducing the mass of the leg unit, enhances the ability of the device to cross obstacles, ensures that the leg unit remains parallel to the robot body during the movement of the distal end of the leg unit, and the forces transferred to the leg unit by the wheel unit are 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 surfaces, can cross over higher obstacles, and can efficiently finish detection tasks in future planetary detection.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are 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 other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a tandem wheel-leg planetary detector of the present invention;
FIG. 2 is a schematic front view of a tandem wheel leg planetary detector of the present invention;
FIG. 3 is a schematic side view of a 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 view of a tandem type wheel leg planetary probe of the present invention in a semi-standing state;
FIG. 6 is a schematic side view of the tandem wheel leg planetary probe of the present invention in a semi-standing state;
FIG. 7 is a schematic structural view of a main unit of the tandem type wheel leg planetary detector of the present invention;
FIG. 8 is a schematic view of a part of the structure of a tandem wheel leg planetary detector of the present invention;
FIG. 9 is a schematic diagram of the leg unit and wheel unit of the tandem wheel leg planetary detector of the present invention;
FIG. 10 is a schematic view of the construction of a wheel unit of the tandem wheel leg planetary detector of the present invention;
FIG. 11 is a schematic diagram of a broken-away configuration of a leg unit of the tandem wheel leg planetary probe of the present invention;
FIG. 12 is a schematic illustration of the calf assembly movement 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 thigh and shank assemblies of a leg unit of the tandem wheel leg planetary probe of the present invention;
FIG. 14 is a schematic view of the structure of an outer thigh panel in an embodiment of a tandem wheel leg planetary detector of the present invention;
FIG. 15 is a schematic view of a fourth lever in an embodiment of a tandem wheel leg planetary probe of the present invention;
FIG. 16 is a schematic view of the structure of a leg end connection block in an embodiment of a tandem wheel leg planetary probe of the present invention;
FIG. 17 is a schematic view of the structure of an outer calf plate in an embodiment of the tandem wheel leg planetary detector of the invention;
FIG. 18 is a schematic diagram of the configuration of a leg unit in an embodiment of a tandem wheel leg planetary probe of the present invention;
wherein 1 is a main body unit, 101 is a carrying platform, 102 is a rod connecting block, 103 is a steering engine fixing block, 104 is a platform plate, 2 is a leg unit, 3 is a wheel unit, 301 is a wheel, 302 is a connecting frame, 303 is a mounting frame, 304 is a scanning steering engine, 305 is a rotating steering engine, 4 is a thigh assembly, 401 is a thigh steering engine, 402 is a thigh outer plate, 403 is a thigh inner plate, 5 is a shank assembly, 501 is a shank steering engine, 502 is a shank outer plate, 503 is a shank inner plate, 504 is a leg end connecting block, 6 is a first rod, 7 is a second rod, 8 is a third rod, 9 is a fourth rod, 10 is a fifth rod, 11 is a first fixed shaft, 12 is a second fixed shaft, and 13 is a limiter.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a tandem type wheel leg planetary detector, which solves the problems in the prior art and improves the degree of freedom and the movement efficiency of the wheel leg planetary detector.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Referring to fig. 1-18, fig. 1 is a schematic structural view of a tandem type wheel-leg planetary detector of the present invention, fig. 2 is a schematic front view of a tandem type wheel-leg planetary detector of the present invention, fig. 3 is a schematic side view of a tandem type wheel-leg planetary detector of the present invention, fig. 4 is a schematic top view of a tandem type wheel-leg planetary detector of the present invention, fig. 5 is a schematic structural view of a tandem type wheel-leg planetary detector of the present invention in a semi-standing state, fig. 6 is a schematic side view of a main body unit of a tandem type wheel-leg planetary detector of the present invention in a semi-standing state, fig. 7 is a schematic structural view of a portion of a tandem type wheel-leg planetary detector of the present invention, fig. 8 is a schematic structural view of a leg unit and a wheel unit of a tandem type wheel-leg planetary detector of the present invention, fig. 10 is a schematic view of a wheel unit of the tandem type 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 type wheel leg planetary probe of the present invention, fig. 12 is a schematic view of a movement of a calf component of the leg unit of the tandem type wheel leg planetary probe of the present invention, fig. 13 is a schematic view of a simultaneous movement of a thigh component and a calf component of the leg unit of the tandem type wheel leg planetary probe of the present invention, fig. 14 is a schematic view of a structure of a thigh outer plate in the tandem type wheel leg planetary probe of the present invention, fig. 15 is a schematic view of a structure of a fourth bar in the tandem type wheel leg planetary probe of the present invention, fig. 16 is a schematic view of a leg end connection block in the tandem type wheel leg planetary probe of the present invention, fig. 17 is a schematic structural view of an outer calf plate in the embodiment of the tandem type wheel leg planetary probe of the present invention, and fig. 18 is a schematic structural view of a leg unit in the embodiment of the tandem type 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 includes a thigh assembly 4 and a shank assembly 5, the thigh assembly 4 is rotatably connected with the carrying platform 101, the shank assembly 5 is rotatably connected with the thigh assembly 4, and both the thigh assembly 4 and the shank assembly 5 have a parallelogram mechanism; the wheel unit 3 is connected to the calf assembly 5 with its connection face parallel to the carrying platform 101, the wheel unit 3 comprising a wheel 301, the wheel 301 being rotatably connected to the leg unit 2, the wheel 301 being parallel to the carrying platform 101 with respect to the axis of rotation of the leg unit 2.
According to the tandem type wheel leg planetary detector, the carrying platform 101 can be used for carrying detection equipment, the leg units 2 and the wheel units 3 are arranged at the same time, plane movement can be realized by using the wheel units 3, and the wheels 301 are rotatably connected with the leg units 2, so that plane movement steering is facilitated, and the movement freedom of the device is improved; meanwhile, the leg unit 2 is utilized to realize walking and obstacle-crossing movements similar to the foot robot, 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 each have a parallelogram mechanism, which reduces the mass of the leg unit 2, increases the movement space of the leg unit 2, enhances the ability of the device to climb over obstacles, ensures that the leg unit 2 remains parallel to the robot body during the movement of the distal end of the leg unit 2, and the force transmitted from the wheel unit 3 to the leg unit 2 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 surfaces, can cross over higher obstacles, and can efficiently finish detection tasks in future planetary detection. It should be explained here that the mounting platform 101 can be used to mount a detection device and a control system, and the instrument device setting control system belongs to a conventional means for those skilled in the art, and the control system does not belong to an improvement of the present invention compared with the prior art, so that the description thereof is omitted here.
Specifically, the thigh assembly 4 includes a thigh steering engine 401, a thigh outer plate 402 and a thigh inner plate 403, the thigh assembly 5 includes a thigh steering engine 501, a thigh outer plate 502, a thigh inner plate 503 and a leg end connecting block 504, the thigh steering engine 501 is connected with a first rod member 6, the first rod member 6 is hinged with the thigh inner plate 403, the first rod member 6 is hinged with a second rod member 7, the other end of the second rod member 7 is hinged with the thigh 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 thigh outer plate 502, a third rod member 8, a fourth rod member 9 and a fifth rod member 10 are arranged between the leg end connecting block 504 and the carrying platform 101, one end of the third rod member 8 is hinged with the carrying platform 101, the other end of the third rod member 8 is hinged with one end of the fourth rod member 9, the other end of the fourth rod member 9 is hinged with one end of the fifth rod member 10, the other end of the fifth rod member 10 is hinged with the leg end connecting block 504, the fourth rod member 9 is connected with a first fixed shaft 11, the inner plate 503, the thigh outer plate 402 and the thigh outer plate 502 are hinged with the fourth fixed shaft 11, and the hinging point between the fourth rod member 11 and the fourth fixed shaft 11 and the fourth joint point are located between the fourth rod member 11 and the fourth fixed shaft 11 and the fifth joint point; the leg end connecting block 504 is connected with the second fixed shaft 12, the lower leg inner plate 503 and the lower leg outer plate 502 are respectively and rotatably connected with the second fixed shaft 12, 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 lower leg outer plate 502 is arranged in parallel with the lower leg inner plate 503, and the lower leg steering engine 501 and the thigh steering engine 401 are both fixed on the carrying platform 101; the distances between the hinge axes of the thigh inner plate 403 and the first rod member 6 and the hinge axes of the thigh inner plate 403 and the shank inner plate 503 are equal to the length of the third rod member 8, and the distances between the hinge axes of the third rod member 8 and the carrying platform 101 and the rotation axis of the thigh steering engine 401 are equal to the distances between the first fixed shaft 11 axis and the hinge axes of the third rod member 8 and the fourth rod member 9; the distance between the axis of the second fixed shaft 12 and the axis of the hinge of the fifth rod member 10 and the axis of the leg end connecting block 504 are equal to the distance between the axis of the hinge of the fifth rod member 10 and the axis of the hinge of the fourth rod member 9 and the axis of the first fixed shaft 11, so as to form two groups of parallelogram mechanisms, and ensure that the tip of the leg unit 2 is always parallel to the main 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 thigh steering engine 501 can drive the thigh outer plate 502 and the thigh inner plate 503 to rotate relative to the thigh assembly 4, as shown in fig. 14-18, the distance between A, B points in the side view of the thigh outer plate 402 is the same as the length of the third rod member 8, the distance between C, E points in the side view of the fourth rod member 9 is the same as the distance between the C, E points in the side view of the leg unit 2 projection K, J, the distance between C, D points in the side view of the fourth rod member 9 is the same as the distance between F, G points in the side view of the leg end connecting block 504, the distance between the two points in the side view H, I of the thigh outer plate 502 is the same as the length of the fifth rod member 10, and the above conditions are met, and two parallelogram mechanisms can be formed in terms of spatial structure, which is the leg end connecting block 504 can keep parallel to the carrying platform 101, and the leg end connecting block 504 keeps parallel to the carrying platform 101, and the leg end connecting block 101 always keeps parallel to the carrying platform 101, and the working stability of the wheel unit 3 and the carrying platform 101.
More specifically, the third rod piece 8 is hinged to the carrying platform 101 by utilizing the rod piece connecting block 102, the thigh steering engine 401 and the shank steering engine 501 are respectively fixed to the carrying platform 101 through the steering engine fixing blocks 103, and the rod piece connecting block 102 and the steering engine fixing blocks 103 are arranged, so that each component is conveniently connected with the carrying platform 101, and meanwhile, positioning is provided for installation of each component, and disassembly and assembly are convenient.
The thigh outer plate 402 is connected with a limiter 13, and the limiter 13 can limit the limit position of the third rod 8 relative to the rod connecting block 102, prevent the movement from being singular, and improve the movement safety and reliability.
Further, the carrying platform 101 comprises two layers of parallel platform boards 104, the rod connecting block 102 and the steering engine fixing block 103 are located between the two layers of the platform boards 104, the two layers of the platform boards 104 are arranged, the rod connecting block 102 and the steering engine fixing block 103 are located between the two layers of the platform boards 104, the space is reasonably utilized, and the carrying of detection equipment is prevented from being influenced.
In this embodiment, the thigh outer plate 402, the thigh inner plate 403, the shank outer plate 502, and the shank inner plate 503 are each in a hollowed-out plate-like structure, and the weight of the leg unit 2 is further reduced.
Still further, the wheel unit 3 further includes a link 302 and a mount 303, the link 302 is connected to the calf assembly 5, the connection surface of the link 302 and the calf assembly 5 is parallel to the carrying platform 101, the mount 303 is rotatably connected to the link 302, the mount 303 is perpendicular to the carrying platform 101 with respect to the rotation axis of the link 302, the wheel 301 is rotatably connected to the mount 303, and the wheel 301 is parallel to the carrying platform 101 with respect to the rotation axis of the mount 303. The wheel 301 is rotatably connected with the lower leg assembly 5 by means of the connecting frame 302 and the mounting frame 303, specifically, the connecting frame 302 is connected with the leg end connecting block 504, the wheel 301 is rotatably arranged on the mounting frame 303, and the connecting frame 302 is rotatably connected with the mounting frame 303, so that the wheel 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 rotatory steering wheel 305 is fixed in on the mounting bracket 303, and rotatory steering wheel 305 can drive wheel 301 and rotate. The scanning steering engine 304 can drive the wheel 301 to turn, the rotating steering engine 305 can drive the wheel 301 to rotate, the normal work of the wheel unit 3 is guaranteed, and the connecting frame 302 and the mounting frame 303 provide a stable mounting foundation for the scanning steering engine 304 and the rotating steering engine 305. Because the thigh component 4 and the shank component 5 both form a parallelogram mechanism, the connecting 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 position of the scanning steering engine 304 is reduced, the normal work of the scanning steering engine 304 is ensured, and the detector can smoothly steer.
In this embodiment, the number of the leg units 2 and the wheel units 3 is four and corresponds to each other, the four leg units 2 are symmetrically arranged with the center line of the carrying platform 101 as an axis, the four leg units 2 and the wheel units 3 are adopted to form a structure similar to a four-foot robot, and in other embodiments of the invention, the number of the leg units 2 and the wheel units 3 can be adjusted according to specific working conditions, so that the flexibility and adaptability of the device are improved.
In other embodiments 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 connection lines of the four sets of wheels 301 is larger than the area of the carrying platform 101, so as to further improve the structural stability of the device.
The tandem type wheel leg planetary detector can realize the omnibearing motion of a plane, and when turning is needed, four scanning steering engines 304 work simultaneously and turn by a certain angle to achieve the steering effect; when the detector needs to be retreated, the rotary steering engine 305 can rotate reversely, and the advancing and retreating directions and the moving speed of the detector are changed by changing the rotating direction and the rotating 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: if a double-leg crossing is to be performed, the front leg (two parallel leg units 2 positioned in front of the main body unit 1 in the direction of detector advancement) is crossed by pressing the wheels 301, and the rear leg (two parallel leg units 2 positioned behind the main body unit 1 in the direction of detector advancement) is crossed by active contraction; when the robot is required to perform single-leg crossing, the robot is similar to a conventional four-leg robot, the leg unit 2 adopts a connecting rod structure, the leg movement space is large, and the robot can cross obstacles with the same height as the robot. When the tandem wheel-leg planetary detector is sunk into a terrain with fluidity, automatic danger escaping is realized, when one wheel 301 of the detector is sunk into a sand-like granular terrain, the leg unit 2 can be lifted by the lower leg steering engine 501 and the thigh steering engine 401, meanwhile, the obstacles around the wheel 301 are cleared by the movement of the scanning steering engine 304, and when the wheel 301 rotates under the driving of the rotating steering engine 305, the movement of the single wheel 301 can be prevented. If the robot runs in the sand, the four leg units 2 can be matched with each other to finish quick passing in the sand, and the robot can climb a sand slope which is difficult to climb by the wheeled robot. Four steering engines of each set of leg units 2 and wheel units 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 sand climbing function can be realized through the phase difference of the work of the four groups of leg units 2.
The principles and embodiments of the present invention have been described in detail with reference to specific examples, which are provided to facilitate understanding of the method and core ideas of the present invention; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (9)
1. A tandem wheel leg planetary detector, comprising:
a main body unit including a mounting platform, the mounting platform being usable for mounting a detection device 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 the thigh component and the shank component are both provided with a parallelogram mechanism;
the wheel unit is connected with the lower leg assembly, the connecting surface of the wheel unit and the lower leg assembly is parallel to the carrying platform, the wheel unit comprises a wheel, the wheel is rotatably connected with the leg unit, and the wheel is parallel to the carrying platform relative to the rotating axis of the leg unit;
the thigh assembly comprises a thigh steering engine, a thigh outer plate and a thigh inner plate, the thigh assembly comprises a thigh steering engine, a thigh outer plate, a thigh inner plate and a leg end connecting block, the thigh steering engine is connected with a first rod, the first rod is hinged with the thigh inner plate, the first rod is hinged with a second rod, the other end of the second rod is hinged with the thigh inner plate, the thigh steering engine is connected with the thigh outer plate, the thigh outer plate is hinged with the thigh outer plate, a third rod, a fourth rod and a fifth rod are arranged between the leg end connecting block and a carrying platform, one end of the third rod is hinged with the carrying platform, the other end of the third rod is hinged with one end of the fourth rod, the other end of the fourth rod is hinged with one end of the fifth rod, the other end of the fifth rod is hinged with the leg end connecting block, the fourth rod is connected with a first fixed shaft, the thigh outer plate, the shank outer plate, the first rod and a fourth rod are both hinged with the first fixed shaft and the fourth rod, and the fourth rod are connected with the hinge point; the leg tail end connecting block is connected with a second fixed shaft, the lower leg inner plate and the lower leg outer plate are respectively and rotatably connected with the second fixed shaft, the thigh outer plate is arranged in parallel with the thigh inner plate, the leg tail end connecting block is connected with the wheel unit, the lower leg outer plate is arranged in parallel with the lower leg inner plate, and the lower leg steering engine and the thigh steering engine are both fixed on the carrying platform;
the distances between the hinge axes of the thigh inner plate and the first rod piece and the hinge axes of the thigh inner plate and the shank inner plate are equal to the length of the third rod piece, and the distances between the hinge axes of the third rod piece and the carrying platform and the rotation axis of the thigh steering engine are equal to the distances between the first fixed shaft axis and the hinge axes of the third rod piece and the fourth rod piece; the distance between the second fixed shaft axis and the hinge axis of the fifth rod and the leg end connection block is equal to the distance between the hinge axis of the fifth rod and the fourth rod and the first fixed shaft axis.
2. The tandem wheel leg planetary detector according to claim 1, wherein: the third rod piece is hinged with the carrying platform through a rod piece connecting block, and the thigh steering engine and the shank steering engine are fixed on the carrying platform through steering engine fixing blocks respectively.
3. The tandem wheel leg planetary detector according to claim 2, wherein: the thigh planking is connected with the stopper, the stopper can restrict the third member for the extreme position of member connecting block pivoted.
4. The tandem wheel leg planetary detector according to claim 2, wherein: the carrying platform comprises two layers of platform boards which are arranged in parallel, and the rod connecting block and the steering engine fixing block are both positioned between the two layers of platform boards.
5. The tandem wheel leg planetary detector according to claim 1, wherein: the thigh planking, thigh inner panel, the shank planking the shank inner panel is fretwork platy structure.
6. The tandem wheel leg planetary detector according to claim 1, wherein: the wheel unit further comprises a connecting frame and a mounting frame, the connecting frame is connected with the lower leg assembly, the connecting frame is parallel to the carrying platform on the connecting surface of the lower leg assembly, the mounting frame is rotatably connected with the connecting frame, the mounting frame is perpendicular to the carrying platform relative to the rotating axis of the connecting frame, the wheels are rotatably connected with the mounting frame, and the wheels are parallel to the carrying platform relative to the rotating axis of the mounting frame.
7. The tandem wheel leg planetary detector according to claim 6, 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 wheel is connected with a rotary steering engine, the rotary steering engine is fixed on the mounting frame, and the rotary steering engine can drive the wheel to rotate.
8. The tandem wheel leg planetary detector according to claim 1, wherein: the leg units and the wheel units are four groups of leg units and correspond to each other one by one, and the four groups of leg units are symmetrically arranged by taking the central line of the carrying platform as an axis.
9. The tandem wheel leg planetary detector according to claim 8, wherein: the wheels are located on a side of the leg unit remote from the mounting 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 |
Applications Claiming Priority (1)
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| CN110936346A (en) * | 2019-12-24 | 2020-03-31 | 西北工业大学 | Foldable four-wheel leg type obstacle crossing robot |
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| CN113602528A (en) * | 2021-08-30 | 2021-11-05 | 吉林大学 | Reconfigurable wheel leg moving device for Mars detection |
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| EP1864763A4 (en) * | 2005-03-30 | 2008-04-30 | Tmsuk Co Ltd | Quadruped walking robot |
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| JPH08310462A (en) * | 1995-05-22 | 1996-11-26 | Nissan Motor Co Ltd | Travel car for space search |
| 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 |
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