CN114750851B - Variable-structure four-six-foot robot based on steering engine and advancing method thereof - Google Patents
Variable-structure four-six-foot robot based on steering engine and advancing method thereof Download PDFInfo
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- CN114750851B CN114750851B CN202110786228.8A CN202110786228A CN114750851B CN 114750851 B CN114750851 B CN 114750851B CN 202110786228 A CN202110786228 A CN 202110786228A CN 114750851 B CN114750851 B CN 114750851B
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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 a steering engine-based variable-structure four-six-foot robot and a traveling method thereof, belongs to the technical field of robots, and solves the problems in the prior art. The invention comprises the following steps: main body structure, forefoot, hindfoot and midfoot; the front foot, the rear foot and the middle foot are symmetrically arranged on two sides of the main body structure; the middle foot is rotationally connected with the main body structure, and a mechanical clamping jaw capable of clamping articles is arranged on the middle foot; the middle foot can be used as a walking foot or a mechanical arm. The invention realizes the switching of four-foot walking and six-foot walking of the robot and the switching of the functions of the middle foot serving as the walking foot and the mechanical arm, so that the robot has various structural forms and realizes the switching of the walking mode and the function of clamping and transporting articles.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a variable-structure four-six-foot robot based on a steering engine and a traveling method thereof.
Background
A hexapod robot is one type of multi-pod robot. The six-foot robot is called a spider robot, belongs to a bionic six-foot robot, and as the name implies, the six-foot robot refers to the shape and the movement mode of a spider in the nature. The gait of a hexapod walking robot is diverse, with a triangular gait being a typical gait of a hexapod walking robot to achieve walking.
The six-legged robot has great flexibility in moving modes since the robot can be kept stationary on three or more legs. However, the travel speed of the hexapod travel mode is relatively slow, and the travel speed of the robot is limited.
The existing six-legged robot only has one traveling mode and cannot adapt to traveling of various complex road conditions.
Disclosure of Invention
In view of the above analysis, the invention aims to provide a steering engine-based variable-configuration four-six-legged robot and a traveling method thereof, which are used for solving the problem that the existing six-legged robot only has one traveling mode and cannot adapt to various complex road conditions.
The aim of the invention is mainly realized by the following technical scheme:
a variable-geometry four-six-legged robot based on steering engines, comprising: main body structure, forefoot, hindfoot and midfoot; the front foot, the rear foot and the middle foot are symmetrically arranged on two sides of the main body structure; the middle foot is rotationally connected with the main body structure, and a mechanical clamping jaw capable of clamping articles is arranged on the middle foot; the middle foot can be used as a walking foot or a mechanical arm.
Further, the midfoot comprises: a first midfoot leg, a second midfoot leg, and a third midfoot leg; the first middle foot supporting leg is rotationally connected with the main body structure and can rotate relative to the main body structure under the driving of the first middle foot steering engine; the second middle foot supporting leg is rotationally connected with the first middle foot supporting leg and can rotate relative to the first middle foot supporting leg under the driving of a second middle foot steering engine; the third middle foot supporting leg is rotationally connected with the second middle foot supporting leg and can rotate relative to the second middle foot supporting leg under the driving of the third middle foot steering engine.
Further, a mechanical jaw is mounted on the third midfoot leg.
Further, the mechanical jaw comprises: the clamping jaw support, the first clamping jaw and the second clamping jaw; the clamping jaw support is parallel to the third middle foot supporting leg; the first clamping jaw and the second clamping jaw are rotatably arranged between the clamping jaw support and the third middle foot supporting leg; when the first clamping jaw and the second clamping jaw rotate relatively, the tail ends of the first clamping jaw and the second clamping jaw are close to or far away from each other to clamp or put down an article.
The first clamping jaw comprises: a first strut, a second strut, and a third strut; the first supporting rod and the second supporting rod are rotatably arranged between the clamping jaw support and the third middle foot supporting leg; the first strut is parallel to the second strut; one end of the third supporting rod is rotationally connected with the first supporting rod; the middle part of the third supporting rod is rotationally connected with the second supporting rod; the other end of the third supporting rod is used for clamping articles.
The second jaw includes: a fourth strut, a fifth strut and a sixth strut; the fourth supporting rod and the fifth supporting rod are rotatably arranged between the clamping jaw support and the third middle foot supporting leg; the fourth strut is parallel to the fifth strut; one end of the sixth supporting rod is rotationally connected with the fourth supporting rod; the middle part of the sixth supporting rod is rotationally connected with the fifth supporting rod; the other end of the sixth supporting rod is used for clamping articles.
Further, the forefoot comprises: a first forefoot leg, a second forefoot leg, and a third forefoot leg; the first front foot supporting leg is rotationally connected with the main body structure through a first front foot steering engine; the second front foot supporting leg is rotationally connected with the first front foot steering engine through a second front foot steering engine; the third forefoot landing leg is rotationally connected with the second forefoot landing leg through a third forefoot steering engine.
Further, the hindfoot includes: a first hindfoot leg, a second hindfoot leg, and a third hindfoot leg; the first rear foot supporting leg is rotationally connected with the main body structure through a first rear foot steering engine; the second rear foot supporting leg is rotationally connected with the first rear foot supporting leg through a second rear foot steering engine; the third rear foot supporting leg is rotationally connected with the second rear foot supporting leg through a third rear foot steering engine.
Further, the rotation axes of the rotation motions output by the first front foot steering engine, the first rear foot steering engine and the first middle foot steering engine are parallel to the advancing direction of the variable-configuration four-six-foot robot.
Further, the rotation axes of the rotation motions output by the second forefoot steering engine and the third forefoot steering engine are parallel to each other and are perpendicular to the rotation axis of the rotation motions output by the first forefoot steering engine; the rotation axes of the rotation motions output by the second rear foot steering engine and the third rear foot steering engine are parallel to each other and are perpendicular to the rotation axis of the rotation motions output by the first rear foot steering engine; the rotation axes of the rotation motions output by the second middle foot steering engine and the third middle foot steering engine are parallel to each other and are perpendicular to the rotation axis of the rotation motions output by the first middle foot steering engine.
Further, the side surfaces of the second front foot supporting leg and the second rear foot supporting leg are provided with travelling wheels; the travelling wheel is driven to rotate by a motor; when the front foot and the rear foot are folded below the main body structure, the travelling wheel is in contact with the ground, and the variable-configuration four-six-foot robot is driven by the travelling wheel to advance.
Specifically, when both the forefoot and the hindfoot are folded below the main body structure, the first forefoot leg and the first hindfoot leg are perpendicular to the ground, the second forefoot leg is perpendicular to the first forefoot leg, and the second hindfoot leg is perpendicular to the first hindfoot leg.
A traveling method of a variable-configuration four-six-foot robot based on a steering engine comprises the following steps: a four-foot walking mode, a six-foot walking mode and a horizontal walking mode;
when the front foot, the rear foot and the middle foot all participate in walking, the variable-configuration four-six-foot robot is in a six-foot walking mode;
the front foot and the rear foot participate in walking, and when the middle foot is lifted and does not participate in walking, the variable-configuration four-six-foot robot is in a four-foot walking mode;
when the front foot and the rear foot are folded below the main body structure, the variable-structure four-six-foot robot is driven to advance through the advancing wheels, and the variable-structure four-six-foot robot is in a horizontal advancing mode.
The technical scheme of the invention can at least realize one of the following effects:
1. according to the steering engine-based variable-structure four-six-foot robot, the six-foot walking mode and the four-foot walking mode of the robot can be switched through the switching of the state that the middle foot falls on the ground to participate in walking and the lifting state. When the variable-structure four-six-foot robot disclosed by the invention switches the four-foot walking mode, the robot has a relatively high walking speed; when the robot switches the six-foot walking mode, the robot has better walking stability.
2. According to the steering engine-based variable-structure four-six-foot robot, the mechanical clamping jaw is arranged on the middle foot, when the middle foot participates in walking, the robot is in a six-foot walking mode, when the middle foot is lifted, the clamping of objects can be realized through the mechanical clamping jaw, and the switching of various working states of the robot is realized through the switching between the middle foot serving as the walking foot and the mechanical arm.
3. According to the steering engine-based variable-structure four-six-foot robot, the front foot and the rear foot are bent and converged below the robot structural main body, the robot is driven to advance through the advancing wheels on the second joint supporting legs (namely the second front foot supporting leg and the second rear foot supporting leg) of the front foot and the rear foot, the robot can be switched into a horizontal advancing mode (namely a creeping advancing state), and the main body structure of the robot is driven to advance through the advancing wheels.
In the invention, the technical schemes can be mutually combined to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, like reference numerals being used to refer to like parts throughout the several views.
FIG. 1 is a left side view of a steering engine based variable geometry four-hexapod robot in accordance with one embodiment of the present invention;
FIG. 2 is a rear view of a steering engine based variable geometry four-hexapod robot according to one embodiment of the present invention;
fig. 3 is a schematic diagram of a usage state of a steering engine-based variable-geometry four-six-legged robot according to an embodiment of the present invention;
fig. 4 is a schematic structural view of a mechanical gripper of a steering engine-based variable-configuration four-six-foot robot according to an embodiment of the present invention;
FIG. 5 is a top view of a steering engine based variable geometry four-hexapod robot according to one embodiment of the present invention;
fig. 6 is a second schematic view of a use state of a steering engine-based variable-geometry four-six-legged robot according to an embodiment of the present invention;
fig. 7 is a schematic diagram III of a use state of a steering engine-based variable-geometry four-six-foot robot according to an embodiment of the present invention;
fig. 8 is a schematic view of a horizontal traveling mode of a steering engine-based variable-geometry four-six-legged robot according to an embodiment of the present invention.
Reference numerals:
1-forefoot; 2-hindfoot; 3-midfoot; 4-a main body structure; 5-a travelling wheel;
11-a first forefoot leg; 12-a second forefoot leg; 13-a third forefoot leg; 14-a first forefoot steering engine; 15-a second forefoot steering engine; 16-a third forefoot steering engine;
21-a first hindfoot leg; 22-a second hindfoot leg; 23-a third hindfoot leg; 24-a first hindfoot steering engine; 25-a second hindfoot steering engine; 26-a third hind foot steering engine;
31-a first midfoot leg; 32-a second midfoot leg; 33-a third midfoot leg; 34-mechanical clamping jaw; 35-a first midfoot steering engine; 36-a second midfoot steering engine; 37-third midfoot steering engine;
341-jaw support; 342-first struts; 343-a second strut; 344-third struts; 345-fourth struts; 346-fifth struts; 347-sixth struts.
Detailed Description
The following detailed description of preferred embodiments of the invention is made in connection with the accompanying drawings, which form a part hereof, and together with the description of the embodiments of the invention, are used to explain the principles of the invention and are not intended to limit the scope of the invention.
Example 1
The invention discloses a steering engine-based variable-configuration four-six-foot robot, which is shown in fig. 1 and comprises: a main body structure 4, a forefoot 1, a hindfoot 2 and a midfoot 3; the front foot 1, the rear foot 2 and the middle foot 3 are symmetrically arranged on two sides of the main body structure 4; the middle foot 3 is rotatably connected with the main body structure 4, and a mechanical clamping jaw 34 capable of clamping articles is arranged on the middle foot 3; the intermediate foot 3 can be a walking foot or a mechanical arm.
As shown in fig. 1 and 2, when the middle foot 3 contacts with the ground, the middle foot 3 is used as a walking foot to participate in the walking process of the robot, and the two front feet 1, the two rear feet 2 and the two middle feet 3 all participate in walking.
As shown in fig. 3, when the middle leg 3 is rotated to be lifted, the variable-configuration four-six-legged robot walks only through the two front legs 1 and the two rear legs 2, the two middle legs 3 do not contact the ground, and the two middle legs 3 can be used as a mechanical arm after being lifted, and the mechanical clamping jaw 34 on the middle leg 3 can be used for clamping an article and transported by the variable-configuration four-six-legged robot.
In one embodiment of the invention, the midfoot 3 comprises: a first midfoot leg 31, a second midfoot leg 32, and a third midfoot leg 33; the first middle foot supporting leg 31 is rotatably connected with the main body structure 4 and can rotate relative to the main body structure 4 under the drive of the first middle foot steering engine 35; the second middle foot supporting leg 32 is rotatably connected with the first middle foot supporting leg 31 and can rotate relative to the first middle foot supporting leg 31 under the drive of the second middle foot steering engine 36; the third midfoot leg 33 is rotatably connected to the second midfoot leg 32 and is rotatable relative to the second midfoot leg 32 under the drive of a third midfoot steering engine 37.
As shown in fig. 1 and 5, when the middle foot 3 is used as a walking foot, the first middle foot supporting leg 31 is parallel to the main body structure 4, that is, the first middle foot supporting leg 31 is kept horizontal, walking is realized through the reciprocating swing of the second middle foot supporting leg 32 and the third middle foot supporting leg 33, and when the middle foot 3 participates in walking, the variable-configuration four-six-foot robot is in a six-foot walking mode.
As shown in fig. 3, 6 and 7, when the first middle foot steering engine 35 of the middle foot 3 drives the first middle foot supporting leg 31 to rotate relative to the main body structure 4, and the middle foot 3 is lifted up as a whole, the middle foot 3 does not participate in walking, and the variable-configuration four-six-foot robot is in a four-foot walking mode.
In addition, when the middle foot 3 is lifted, the mechanical clamping jaw 34 arranged at the tail end of the middle foot 3 can clamp the article, or two groups of mechanical clamping jaws 34 on the two middle feet 3 are adopted to clamp two ends of the article at the same time, so that the carrying or shredding operation of the article can be realized, and the variable-structure four-six-foot robot has good application prospect.
The invention discloses a variable-structure quadruped robot which at least has two structural forms of a hexapod form nursing configuration and a quadruped form nursing configuration.
Six-foot morphological configuration: the steering engine-based four-six-foot robot is in a six-foot walking mode, 3 joints are connected in series with one leg (namely 3 legs are connected in series), and 18 high-performance steering engines are arranged in six feet; compared with the traditional hexapod robot with the insect configuration, the robot has the action stability of the hexapod robot, has better trafficability than the hexapod robot, and can adapt to narrower ground during walking.
Four-foot morphological configuration: the steering engine-based four-six-foot robot is in a four-foot walking mode, two leg mechanisms of a robot middle cavity, namely a middle foot 3, are in a retracted state, front and rear leg shoulder joints (namely a first front foot supporting leg 21 and a first rear foot supporting leg 21) are reduced inwards in angle, and then are converted into a four-foot mode of bending the front and rear legs outwards, and the robot is driven to walk by 12 steering engines on the front foot 1 and the rear foot 2. After the four-foot mode is converted, the main control is converted into the gait of the four-foot robot, so that the movement speed is further improved relative to that of six feet, and the walking robot is more suitable for overcoming some rugged roads.
The variable-structure four-six-foot robot can adapt to the walking pavement at any time by switching the modes of the four-foot robot and the six-foot robot, and has the advantages of flexibility of the four-foot robot and the motion stability of the six-foot robot.
Further, as shown in fig. 3, a mechanical jaw 34 is mounted on the third midfoot leg 33. Specifically, the mechanical jaw 34 is provided on the side of the third midfoot leg 33, the mechanical jaw 34 being higher than the ground when the end of the third midfoot leg 33 is in contact with the ground.
Further, as shown in fig. 4, the mechanical jaw 34 includes: a jaw support 341, a first jaw, and a second jaw; the jaw mount 341 is parallel to the third midfoot leg 33; the first clamping jaw and the second clamping jaw are rotatably arranged between the clamping jaw supporting seat 341 and the third middle foot supporting leg 33; when the first clamping jaw and the second clamping jaw rotate relatively, the tail ends of the first clamping jaw and the second clamping jaw are close to or far away from each other to clamp or put down an article.
Notably, are: when the mechanical clamping jaw 34 does not work, the mechanical clamping jaw is folded on the side face of the third middle foot supporting leg 33 of the middle foot 3, and the length of the mechanical clamping jaw does not exceed the tail end of the middle foot 3, so that the normal walking of the middle foot 3 is not affected.
The first clamping jaw comprises: a first strut 342, a second strut 343, and a third strut 344; the first strut 342 and the second strut 343 are both rotatably mounted between the jaw mount 341 and the third midfoot leg 33; the first leg 342 is parallel to the second leg 343; one end of the third strut 344 is rotatably connected to the first strut 342; the middle part of the third strut 344 is rotatably connected with the second strut 343; the other end of the third strut 344 is used to grip an article.
The second jaw includes: fourth strut 345, fifth strut 346, and sixth strut 347; fourth strut 345 and fifth strut 346 are each rotatably mounted between jaw mount 341 and third midfoot leg 33; fourth strut 345 is parallel to fifth strut 346; one end of the sixth strut 347 is rotatably connected to the fourth strut 345; the middle of the sixth strut 347 is rotatably connected to the fifth strut 346; the other end of the sixth leg 347 is adapted to grip an article.
Further, the length of the first strut 342 is equal to the length of the second strut 343; the length of the fourth struts 345 is equal to the length of the sixth struts 347. Four rotational connection points between the first, second and third struts 342, 343, 344 and the jaw base 341 form a first parallelogram; likewise, the four rotational connection points between the fourth strut 345, the fifth strut 346, and the third strut 347 and the jaw base 341 form a second parallelogram; when the first strut 342 and the fourth strut 345 rotate, the ends of the third strut 344 and the sixth strut 347 can be driven to approach or separate from each other, so as to clamp or release the article.
Further, the first support rod 342 is rotatably connected with the jaw support 341, and a first gear part is arranged at one end of the first support rod 342 connected with the jaw support 341; the fourth supporting rod 345 is rotatably connected with the clamping jaw support 341, and a second gear part is arranged at one end of the fourth supporting rod 345 connected with the clamping jaw support 341; the first gear portion is meshed with the second gear portion. When the motor drives the first support rod 342 to rotate, the fourth support rod 345 is driven by the first gear part and the second gear part to synchronously rotate the first support rod 342, and then the third support rod 344 and the sixth support rod 347 are driven by the first support rod 342 and the fourth support rod 345 to approach or separate from each other, so that the object is clamped and released.
In one embodiment of the invention, the forefoot 1 comprises: a first forefoot leg 11, a second forefoot leg 12, and a third forefoot leg 13; the first front foot supporting leg 11 is rotatably connected with the main body structure 4 through a first front foot steering engine 14; the second front foot supporting leg 12 is rotationally connected with the first front foot steering engine 11 through a second front foot steering engine 15; the third forefoot leg 13 is rotatably connected to the second forefoot leg 12 by a third forefoot steering engine 16.
The hindfoot 2 includes: a first hindfoot leg 21, a second hindfoot leg 22, and a third hindfoot leg 23; the first rear foot supporting leg 21 is rotatably connected with the main body structure 4 through a first rear foot steering engine 24; the second hindfoot leg 22 is rotatably connected with the first hindfoot leg 21 through a second hindfoot steering engine 25; the third hindfoot leg 23 is rotatably coupled to the second hindfoot leg 22 by a third hindfoot steering engine 26.
The first forefoot leg 11, the second forefoot leg 12 and the third forefoot leg 13 of the forefoot 1 serve as three leg joints which are connected in series in sequence to form the structure of the forefoot 1. Likewise, each hindfoot 2 also includes three leg joints in series, namely a first hindfoot leg 21, a second hindfoot leg 22, and a third hindfoot leg 23.
Further, the rotational axes of the rotational motions output by the first forefoot steering engine 14, the first rearfoot steering engine 24 and the first midfoot steering engine 35 are all parallel to the traveling direction of the variable-geometry quadruped robot.
The first forefoot steering engine 14, the first hindfoot steering engine 24 and the first midfoot steering engine 35 can achieve that the forefoot 1, the hindfoot 2 and the midfoot 3 are opened to both sides or are folded to the inner sides (both sides are directions perpendicular to the traveling direction). That is, the first forefoot steering engine 14 can drive the forefoot 1 to contract or extend outward in the central axis direction of the main body structure 4, the first rearfoot steering engine 24 can drive the rearfoot 2 to contract or extend outward in the central axis direction of the main body structure 4, and the first midfoot steering engine 35 can drive the midfoot 3 to contract or extend outward in the central axis direction of the main body structure 4. As shown in fig. 3, is a posture in which the midfoot 3 is in an open state.
In one embodiment of the present invention, the axes of rotation of the rotational motion output by the second and third forefoot steering engines 15, 16 are parallel to each other and are both perpendicular to the axis of rotation of the rotational motion output by the first forefoot steering engine 14.
The rotational axes of the rotational motion output by the second and third hindfoot steering engines 25, 26 are parallel to each other and both perpendicular to the rotational axis of the rotational motion output by the first hindfoot steering engine 24.
The axes of rotation of the rotational motion output by the second and third intermediate foot steering engines 36, 37 are parallel to each other and are both perpendicular to the axis of rotation of the rotational motion output by the first intermediate foot steering engine 35.
As shown in fig. 1 and 3, the second forefoot steering engine 15 can drive the second forefoot supporting leg 12 to swing back and forth (i.e. in the running direction), the third forefoot steering engine 16 can drive the third forefoot supporting leg 13 to swing back and forth, and the second rearfoot steering engine 25 and the third rearfoot steering engine 26 can drive the second rearfoot supporting leg 22 and the third rearfoot supporting leg 23 to swing back and forth, so as to realize the running of the robot.
Further, the sides of the second forefoot leg 12 and the second rearfoot leg 22 are provided with running wheels 5; the travelling wheel 5 is driven to rotate by a motor; when the front foot 1 and the rear foot 2 are folded below the main body structure 4, the travelling wheel 5 is in contact with the ground, and the variable-configuration four-six-foot robot is driven to advance by the travelling wheel 5.
When the forefoot 1 and the hindfoot 2 are both folded under the body structure 4, the first forefoot leg 11 and the first hindfoot leg 21 are perpendicular to the ground, the second forefoot leg 12 is perpendicular to the first forefoot leg 11, and the second hindfoot leg 12 is perpendicular to the first hindfoot leg 11.
In implementation, the third forefoot steering engine 16 drives the third forefoot supporting leg 13 to rotate relative to the second forefoot supporting leg 12, the variable-structure four-six-foot robot is adjusted to kneel, the second forefoot supporting leg 12 is driven to rotate through the second forefoot steering engine 15, the second forefoot supporting leg 12 is adjusted to be in a vertical state relative to the first forefoot supporting leg 11, the first forefoot supporting leg 11 is finally driven to rotate inwards by 90 degrees through the first forefoot steering engine 14, the forefoot 1 is folded below the main body structure 4, and the running wheel 5 is in contact with the ground.
Similarly, the first hindfoot leg 21 of the adjusted hindfoot 2 is perpendicular to the bottom surface of the main body structure 4, and the second hindfoot leg 22 contacts the ground through the travel wheel 5, as shown in FIG. 8. The travelling wheel 5 is driven to rotate by a motor.
It should be noted that the structure of the middle foot 3 is the same as that of the front foot 1 and the rear foot 2, and when the mechanical clamping jaw 34 does not clamp an article, the middle foot 3 can be folded under the main body structure 4 as well, so that the variable-configuration four-six-foot robot of the invention can smoothly pass through a channel with limited space such as low, narrow and the like.
When the mechanical clamping jaw 34 clamps an article, the first middle foot supporting leg 31 of the middle foot 3 is vertical to the main body structure 4 and vertically upwards, the clamped article can be lifted above the main body structure 4, and the robot is driven to perform position transfer through the walking or travelling wheels 5 of the front foot 1 and the rear foot 2, and meanwhile, the article is subjected to position transfer.
Example 2
The embodiment provides a traveling method of a variable-configuration four-six-foot robot based on a steering engine, wherein the variable-configuration four-six-foot robot has three traveling modes, and the traveling method comprises the following steps: a four-foot walking mode, a six-foot walking mode and a horizontal walking mode;
when the front foot 1, the rear foot 2 and the middle foot 3 all participate in walking, the variable-configuration four-six-foot robot is in a six-foot walking mode;
the front foot 1 and the rear foot 2 participate in walking, and when the middle foot 3 is lifted and does not participate in walking, the variable-configuration four-six-foot robot is in a four-foot walking mode;
when the front foot 1 and the rear foot 2 are folded below the main body structure 4, the variable-structure four-six-foot robot is driven to advance through the advancing wheel 5, and the variable-structure four-six-foot robot is in a horizontal advancing mode.
Further, the first middle foot steering engine 35 drives the first middle foot supporting leg 31 to rotate, so that the middle foot 3 can be put down and lifted, and further the middle foot 3 can be switched between a walking foot and a mechanical arm.
Further, with the intermediate foot 3 acting as a robotic arm, the mechanical gripping jaw 34 on the intermediate foot 3 is able to grip or drop an item. Four rotational connection points between the first, second and third struts 342, 343, 344 and the jaw base 341 form a first parallelogram; likewise, the four rotational connection points between the fourth strut 345, the fifth strut 346, and the third strut 347 and the jaw base 341 form a second parallelogram.
The mechanical jaw 34 is operative: the motor drives the first strut 342 to rotate, the first gear part is meshed with the second gear part for transmission, the fourth strut 345 synchronizes the rotation of the first strut 342 and the opposite rotation direction, the first strut 342 drives the third strut 344 to displace and deflect through the deformation of the first parallelogram, the fourth strut 345 drives the sixth strut 347 to displace and deflect through the deformation of the second parallelogram, and the displacement and deflection directions of the sixth strut 347 are opposite to those of the third strut 344, so that the approaching or separating of the tail ends of the third strut 344 and the sixth strut 347, namely the opening or closing of the mechanical clamping jaw 34, is realized.
The third forefoot steering engine 16 drives the third forefoot supporting leg 13 to rotate relative to the second forefoot supporting leg 12, the variable-configuration four-six-foot robot is adjusted to be in a creeping posture, the second forefoot supporting leg 12 is driven to rotate through the second forefoot steering engine 15, the second forefoot supporting leg 12 is adjusted to be in a vertical state relative to the first forefoot supporting leg 11, the first forefoot supporting leg 11 is finally driven to rotate inwards by 90 degrees through the first forefoot steering engine 14, the forefoot 1 is folded below the main body structure 4, and the foot is contacted with the ground through the travelling wheel 5.
Similarly, the first hindfoot leg 21 of the adjusted hindfoot 2 is perpendicular to the bottom surface of the main body structure 4, and the second hindfoot leg 22 contacts the ground through the travel wheel 5, as shown in FIG. 8.
When the device is in the state in fig. 8, the third forefoot steering engine 16 drives the walking sections of the two third forefoot supporting legs 13 at corresponding positions to rotate towards each other to enable the ends of the third forefoot supporting legs 13 at the two corresponding positions to be abutted together, the rear feet 2 are correspondingly arranged, the second forefoot steering engine 15 drives the second forefoot supporting legs 12 and the first forefoot supporting legs 11 to be in a vertical state, the travelling wheels 5 are in contact with the ground, and the rear feet 2 keep the same posture as the front feet 1; therefore, the robot is in a creeping movement state, can conveniently pass through a short space, obtains good trafficability, and can obtain rapid movement capacity through the travelling wheel 5, and in the state, the ends of the third front foot supporting legs 13 at two corresponding positions are propped against each other, the ends of the third rear foot supporting legs 23 at two corresponding positions are propped against each other, so that an effect of mutual support is formed, and better movement stability can be obtained when the robot is in the creeping movement state.
It should be noted that the structure of the middle foot 3 is the same as that of the front foot 1 and the rear foot 2, and when the mechanical clamping jaw 34 does not clamp an article, the middle foot 3 can be folded under the main body structure 4 as well, so that the variable-configuration four-six-foot robot of the invention can smoothly pass through a channel with limited space such as low, narrow and the like. When the mechanical clamping jaw 34 clamps an article, the first middle foot supporting leg 31 of the middle foot 3 is vertical to the main body structure 4 and vertically upwards, the clamped article can be lifted above the main body structure 4, and the robot is driven to perform position transfer through the walking or travelling wheels 5 of the front foot 1 and the rear foot 2, and meanwhile, the article is subjected to position transfer.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention.
Claims (3)
1. Variable mechanism four six-legged robot based on steering wheel, its characterized in that includes: the device comprises a main body structure (4), a front foot (1), a rear foot (2) and a middle foot (3); the front foot (1), the rear foot (2) and the middle foot (3) are symmetrically arranged on two sides of the main body structure (4); the middle foot (3) is rotationally connected with the main body structure (4), and a mechanical clamping jaw (34) capable of clamping articles is arranged on the middle foot (3); the middle foot (3) can be used as a walking foot or a mechanical arm;
the midfoot (3) comprises: a first midfoot leg (31), a second midfoot leg (32), and a third midfoot leg (33); the first middle foot supporting leg (31) is rotationally connected with the main body structure (4) and can rotate relative to the main body structure (4) under the driving of the first middle foot steering engine (35); the second middle foot supporting leg (32) is rotationally connected with the first middle foot supporting leg (31) and can rotate relative to the first middle foot supporting leg (31) under the drive of the second middle foot steering engine (36); the third middle foot supporting leg (33) is rotationally connected with the second middle foot supporting leg (32) and can rotate relative to the second middle foot supporting leg (32) under the drive of a third middle foot steering engine (37); the first middle foot steering engine (35) drives the first middle foot supporting leg (31) to rotate, so that the middle foot (3) can be put down and lifted, and the middle foot (3) can be switched between a walking foot and a mechanical arm;
the forefoot (1) comprises: a first forefoot leg (11), a second forefoot leg (12) and a third forefoot leg (13); the first forefoot supporting leg (11) is rotationally connected with the main body structure (4) through a first forefoot steering engine (14); the second forefoot supporting leg (12) is rotationally connected with the first forefoot steering engine (14) through a second forefoot steering engine (15); the third forefoot supporting leg (13) is rotationally connected with the second forefoot supporting leg (12) through a third forefoot steering engine (16);
the hindfoot (2) comprises: a first hindfoot leg (21), a second hindfoot leg (22), and a third hindfoot leg (23); the first rear foot supporting leg (21) is rotationally connected with the main body structure (4) through a first rear foot steering engine (24); the second rear foot supporting leg (22) is rotationally connected with the first rear foot supporting leg (21) through a second rear foot steering engine (25); the third rear foot supporting leg (23) is rotationally connected with the second rear foot supporting leg (22) through a third rear foot steering engine (26);
the rotation axes of the rotation motions output by the first front foot steering engine (14), the first rear foot steering engine (24) and the first middle foot steering engine (35) are parallel to the advancing direction of the variable-configuration four-six-foot robot;
the mechanical clamping jaw (34) is arranged on a third middle foot supporting leg (33); the mechanical clamping jaw (34) is arranged on the side surface of the third middle foot supporting leg (33), and when the end part of the third middle foot supporting leg (33) is contacted with the ground, the mechanical clamping jaw (34) is higher than the ground; when the mechanical clamping jaw (34) does not work, the mechanical clamping jaw is folded on the side face of the third middle foot supporting leg (33) of the middle foot (3), the length of the mechanical clamping jaw does not exceed the tail end of the middle foot (3), and normal walking of the middle foot (3) is not affected;
the rotation axes of the rotation motions output by the second forefoot steering engine (15) and the third forefoot steering engine (16) are parallel to each other and are perpendicular to the rotation axis of the rotation motions output by the first forefoot steering engine (14); the rotation axes of the rotation motions output by the second rear foot steering engine (25) and the third rear foot steering engine (26) are parallel to each other and are perpendicular to the rotation axis of the rotation motions output by the first rear foot steering engine (24); the rotation axes of the rotation motions output by the second middle foot steering engine (36) and the third middle foot steering engine (37) are parallel to each other and are perpendicular to the rotation axis of the rotation motions output by the first middle foot steering engine (35);
the side surfaces of the second front foot supporting leg (12) and the second rear foot supporting leg (22) are provided with travelling wheels (5); the travelling wheel (5) is driven to rotate by a motor; when the front foot (1) and the rear foot (2) are folded below the main body structure (4), the travelling wheel (5) is in contact with the ground, and the variable-structure four-six-foot robot is driven by the travelling wheel (5) to advance.
2. The steering engine-based variable geometry four-hexapod robot of claim 1, wherein the mechanical jaw (34) comprises: a jaw support (341), a first jaw and a second jaw; -the jaw support (341) is parallel to the third midfoot leg (33); the first clamping jaw and the second clamping jaw are rotatably arranged between the clamping jaw support (341) and the third middle foot supporting leg (33); when the first clamping jaw and the second clamping jaw rotate relatively, the tail ends of the first clamping jaw and the second clamping jaw are close to or far away from each other to clamp or put down an article.
3. The steering engine-based method of travel of a variable geometry four-hexapod robot of claim 1 or 2, wherein the variable geometry four-hexapod robot has three travel modes, comprising: a four-foot walking mode, a six-foot walking mode and a horizontal walking mode;
when the front foot (1), the rear foot (2) and the middle foot (3) all participate in walking, the variable-configuration four-six-foot robot is in a six-foot walking mode;
the front foot (1) and the rear foot (2) participate in walking, and when the middle foot (3) is lifted and does not participate in walking, the variable-configuration four-six-foot robot is in a four-foot walking mode;
when the front foot (1) and the rear foot (2) are folded below the main body structure (4), the variable-structure four-six-foot robot is driven to advance through the advancing wheel (5), and the variable-structure four-six-foot robot is in a horizontal advancing mode.
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