CN214356356U - Six-foot wheel-leg type crawling robot - Google Patents
Six-foot wheel-leg type crawling robot Download PDFInfo
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- CN214356356U CN214356356U CN202120015538.5U CN202120015538U CN214356356U CN 214356356 U CN214356356 U CN 214356356U CN 202120015538 U CN202120015538 U CN 202120015538U CN 214356356 U CN214356356 U CN 214356356U
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Abstract
The utility model discloses a six sufficient wheel leg formula crawl robot, through first extension part is adjusted the organism head with the interval at organism middle part, first steering wheel with second steering wheel cooperation adjustment the organism head with the yaw angle and the angle of pitch at organism middle part, through second extension part adjustment the organism middle part with the interval at organism rear portion, third steering wheel with fourth steering wheel cooperation adjustment the organism rear portion with the yaw angle and the angle of pitch at organism middle part have strengthened the ability of strideing across the irrigation canals and ditches, have increased the height of climbing ladder more, have reduced turning radius, have solved the technical problem that the wheel leg formula among the prior art removes the robot and can not adjust self form according to the topography.
Description
Technical Field
The utility model relates to a mobile robot technical field especially relates to a six-legged wheel leg formula robot of crawling.
Background
The mobile robot has strong adaptability, maneuverability and flexibility, and the research on the ground mobile robot at home and abroad is always in a hot stage. Mobile robots at home and abroad can be roughly classified into three major categories, namely wheeled robots, legged robots and wheel-leg cooperative robots. The wheel-leg mobile robot is often applied to data collection in the military field, the emergency rescue field and the dangerous area, so the wheel-leg mobile robot has a high practical application value, and the application fields require that the mobile robot has the capability of adapting to the complex terrain environment.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a six-legged wheel leg formula robot of crawling aims at solving the wheel leg formula among the prior art and removes the technical problem that the robot can not adjust self form according to the topography.
In order to achieve the purpose, the six-foot wheel-leg crawling robot adopted by the utility model comprises a robot body, two sets of wheel-leg mechanisms and extension adjusting components, wherein each set of wheel-leg mechanisms is respectively and fixedly connected with the robot body and is positioned on the side of the robot body, the two sets of wheel-leg mechanisms are symmetrically arranged along the axis of the robot body, and the extension adjusting components are embedded in the robot body;
the extension adjusting assembly comprises a first extension part and a second extension part, the first extension part comprises a first steering engine, a second steering engine, a first swing arm and a first guide rail, two ends of the first swing arm are respectively and fixedly connected with output shafts of the first steering engine and the second steering engine, and the second steering engine is fixedly connected with the first guide rail and is positioned above the first guide rail;
the second extension part comprises a third steering engine, a fourth steering engine, a second swing arm and a second guide rail, two ends of the second swing arm are respectively and fixedly connected with output shafts of the third steering engine and the fourth steering engine, and the third steering engine is fixedly connected with the second guide rail and is positioned above the second guide rail;
the first guide rail comprises a first servo motor, a first fixed seat, a first supporting seat, a first screw rod and a first slide rail, the first servo motor is fixedly connected with the first fixed seat and is positioned on the side of the first fixed seat, the first supporting seat, the first screw rod and the first slide rail are all arranged in the first fixed seat, the first screw rod is connected with the first servo motor through a coupler, and the first slide rail is arranged in parallel relative to the first screw rod;
the second guide rail includes second servo motor, second fixing base, second supporting seat, second lead screw and second slide rail, second servo motor with second fixing base fixed connection to be located the side of second fixing base, the second supporting seat the second lead screw with the second slide rail all sets up in the first fixing base, the second lead screw with second servo motor passes through the shaft coupling and links to each other, the second slide rail with the relative parallel arrangement of second lead screw.
The second steering engine is fixedly connected with the first supporting seat and positioned above the first supporting seat, and the third steering engine is fixedly connected with the second supporting seat and positioned above the second supporting seat.
The machine body is composed of a machine body head portion, a machine body middle portion and a machine body rear portion, and the machine body head portion, the machine body middle portion and the machine body rear portion are sequentially connected.
The first steering engine is fixedly connected with the head of the machine body, the fourth steering engine is fixedly connected with the rear of the machine body, the first guide rail and the second guide rail are fixedly connected with the middle of the machine body respectively, and the first guide rail and the second guide rail are arranged along the center of the middle of the machine body in a symmetrical mode.
The axis projections of the first steering engine and the second steering engine are vertically intersected, and the axis projections of the third steering engine and the fourth steering engine are vertically intersected.
The six-foot wheel-leg crawling robot further comprises six groups of direct current speed reducing motors, wherein each group of direct current speed reducing motors are fixedly connected with the robot body respectively and are located at the connecting position of the robot body and the wheel-leg mechanism.
Each group of wheel leg mechanisms comprises a front wheel leg, a middle wheel leg and a rear wheel leg, the front wheel leg, the middle wheel leg and the rear wheel leg are of arc structures and are in wide and flat shapes, the front wheel leg is fixedly connected with an output shaft of a direct current speed reducing motor in the head of the machine body, the middle wheel leg is fixedly connected with an output shaft of the direct current speed reducing motor in the middle of the machine body, and the rear wheel leg is fixedly connected with an output shaft of the direct current speed reducing motor in the rear of the machine body.
The hexapod wheel leg type crawling robot further comprises an auxiliary control box group, wherein the auxiliary control box group is fixedly connected with the head of the robot body and is positioned at the front end of the head of the robot body.
The utility model discloses a six-legged wheel leg formula robot of crawling, through first extension part is adjusted the organism head with the interval at organism middle part, first steering wheel with steering wheel cooperation adjustment the organism head with interval, yaw angle and the angle of pitch at organism middle part, it is corresponding second extension part adjustment the organism middle part with interval, yaw angle and the angle of pitch at organism rear portion select different organism forms under the topography circumstances of difference, have strengthened the ability of strideing across the irrigation canals and ditches through corresponding part, have increased the height of climbing ladder, have reduced turning radius, have solved the technical problem that wheel leg formula among the prior art removes the robot and can not adjust self form according to the topography.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of a six-foot wheel leg type crawling robot of the present invention.
Fig. 2 is a schematic structural view of a first extension member according to the present invention.
Fig. 3 is a schematic structural view of a second extension part according to the present invention.
Fig. 4 is a diagram of a gait of the embodiment of the invention.
1-machine body, 11-machine body head, 12-machine body middle part, 13-machine body rear part, 2-wheel leg mechanism, 21-front wheel leg, 22-middle wheel leg, 23-rear wheel leg, 3-extension adjusting component, 31-first extension component, 311-first steering engine, 312-second steering engine, 313-first swing arm, 314-first guide rail, 32-second extension component, 321-third steering engine, 322-fourth steering engine, 323-second swing arm, 324-second guide rail, 4-direct current gear motor, 5-auxiliary control box set, 60-first servo motor, 61-first fixed seat, 62-first supporting seat, 63-first screw rod, 64-first slide rail, 70-second servo motor, 71-second fixed seat, 72-a second support seat, 73-a second screw rod and 74-a second slide rail.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. In addition, in the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
Referring to fig. 1 to 3, the present invention provides a hexapod wheel-leg type crawling robot, including a robot body 1, two sets of wheel-leg mechanisms 2 and an extension adjusting assembly 3, wherein each set of wheel-leg mechanisms 2 is respectively and fixedly connected to the robot body 1 and is located at a side of the robot body 1, the two sets of wheel-leg mechanisms 2 are symmetrically disposed along an axis of the robot body 1, and the extension adjusting assembly 3 is embedded on the robot body 1;
the extension adjusting component 3 comprises a first extension part 31 and a second extension part 32, the first extension part 31 comprises a first steering engine 311, a second steering engine 312, a first swing arm 313 and a first guide rail 314, two ends of the first swing arm 313 are respectively fixedly connected with output shafts of the first steering engine 311 and the second steering engine 312, and the second steering engine 312 is fixedly connected with the first guide rail 314 and is positioned above the first guide rail 314;
the second extension part 32 comprises a third steering engine 321, a fourth steering engine 322, a second swing arm 323 and a second guide rail 324, two ends of the second swing arm 323 are respectively and fixedly connected with the third steering engine 321 and the fourth steering engine 322, and the third steering engine 321 is fixedly connected with an output shaft of the second guide rail 324 and is positioned above the second guide rail 324;
the first guide rail 314 comprises a first servo motor 60, a first fixed seat 61, a first supporting seat 62, a first screw 63 and a first slide rail 64, the first servo motor 60 is fixedly connected with the first fixed seat 61 and is located on the side of the first fixed seat 61, the first supporting seat 62, the first screw 63 and the first slide rail 64 are all arranged in the first fixed seat 61, the first screw 63 is connected with the first servo motor 60 through a coupler, and the first slide rail 64 is arranged in parallel relative to the first screw 63;
the second guide rail 324 comprises a second servo motor 70, a second fixed seat 71, a second support seat 72, a second screw rod 73 and a second slide rail 74, the second servo motor 70 is fixedly connected with the second fixed seat 71 and is located on the side of the second fixed seat 71, the second support seat 72, the second screw rod 73 and the second slide rail 74 are all arranged in the first fixed seat 61, the second screw rod 73 is connected with the second servo motor 70 through a coupler, and the second slide rail 74 is arranged in parallel with the second screw rod 73.
The second steering engine 312 is fixedly connected with the first support seat 62 and is located above the first support seat 62, and the third steering engine 321 is fixedly connected with the second support seat 72 and is located above the second support seat 72.
The machine body 1 is composed of a machine body head portion 11, a machine body middle portion 12 and a machine body rear portion 13, wherein the machine body head portion 11, the machine body middle portion 12 and the machine body rear portion 13 are sequentially connected.
The first steering engine 311 is fixedly connected with the machine body head 11, the fourth steering engine 322 is fixedly connected with the machine body rear portion 13, the first guide rail 314 and the second guide rail 324 are respectively fixedly connected with the machine body middle portion 12, and the first guide rail 314 and the second guide rail 324 are arranged along the machine body middle portion 12 in a central symmetry manner.
The first steering engine 311 is vertically intersected with the axis projection of the second steering engine 312, and the third steering engine 321 is vertically intersected with the axis projection of the fourth steering engine 322.
The six-foot wheel-leg crawling robot further comprises six groups of direct current speed reducing motors 4, wherein each group of direct current speed reducing motors 4 is fixedly connected with the robot body 1 and is positioned at the joint of the robot body 1 and the wheel-leg mechanism 2.
Each group of wheel leg mechanisms 2 comprises a front wheel leg 21, a middle wheel leg 22 and a rear wheel leg 23, the front wheel leg 21, the middle wheel leg 22 and the rear wheel leg 23 adopt arc structures and are in wide and flat shapes, the front wheel leg 21 is fixedly connected with an output shaft of a direct current speed reducing motor in the machine body head 11, the middle wheel leg 22 is fixedly connected with an output shaft of a direct current speed reducing motor in the machine body middle part 12, and the rear wheel leg 23 is fixedly connected with an output shaft of a direct current speed reducing motor in the machine body rear part 13.
The hexapod wheel leg type crawling robot further comprises an auxiliary control box group 5, wherein the auxiliary control box group 5 is fixedly connected with the machine body head 11 and is positioned at the front end of the machine body head 11.
In this embodiment, the extension adjusting component 3 is an important component of the hexapod wheel leg type crawling robot capable of changing the form, the body 1 of the hexapod wheel leg type crawling robot is composed of three relatively independent parts, namely a body head 11, a body middle 12 and a body rear 13, the first extension component 31 is connected with the body head 11 and the body middle 12, the second extension component 32 is connected with the body middle 12 and the body rear 13, two groups of the front wheel legs 21 are arranged at two sides of the body head 11, correspondingly, two groups of the middle wheel legs 22 and the rear wheel legs 23 are respectively arranged at the body middle 12 and the body rear 13 to form a walking mechanism with six-foot support, the whole frame of the body 1 is flat and long, the body 1 is symmetrical up and down, and has no up and down difference, and can normally move after being turned on one side, the self-locking phenomenon can not occur.
The first steering engine 311 drives the first swing arm 313 to swing, the machine body head 11 and the machine body middle part 12 form relative offset in the horizontal direction, the offset angle is called a yaw angle, and the first steering engine 311 can provide a yaw angle of +/-60 degrees; the first swing arm 313 swings under the driving of the second steering engine 312, the machine body head 11 and the machine body middle 12 form relative offset in the vertical direction, the offset angle is called as a pitch angle, and the second steering engine 312 can provide a pitch angle of +/-60 degrees. Further, the third steering engine 321 provides a pitch angle of ± 60 ° for the middle part 12 and the rear part 13 of the machine body, and the fourth steering engine 322 provides a yaw angle of ± 60 ° for the middle part 12 and the rear part 13 of the machine body. Larger pitch angle can increase the height of climbing steps, and larger yaw angle can reduce the turning radius.
The wheel leg mechanism 2 is composed of a peripheral rubber cushion and reinforcing ribs surrounding the rubber cushion and the wheel legs are of arc-shaped structures and are wide and flat, and the wheel legs can walk on ground surfaces such as stone heaps, shoals, grasslands and sand beaches due to the fact that the contact area between the wheel legs and the ground surfaces is increased through the arc-shaped structures, have anti-skid performance and anti-seismic capacity, can prevent blocking and adapt to most of the ground. The wheel leg type structure has better buffering capacity than a straight rod type structure, and the damage of the motor caused by long-term collision of the motor shaft is avoided.
Further, the middle wheel leg 22, the front wheel leg 21 and the rear wheel leg 23 are distributed in a staggered manner and are not in the same horizontal plane. The mutual interference among the wheel legs is avoided, the length of the machine body 1 is reduced, the diameter of the wheel legs can be maximized as far as possible, the advancing speed of the hexapod wheel leg type crawling robot is increased, and the obstacle crossing capability is enhanced.
The six groups of direct current speed reduction motors 4 respectively correspond to one group of wheel legs, and each group of wheel legs of the wheel leg mechanism 2 can move at different speeds and can be matched to generate different gaits.
Further, the hexapod wheel leg type crawling robot further comprises an auxiliary control box group 5, different equipment rich application scenes such as a camera, a thermal imager and a lighting lamp can be installed in the auxiliary control box group 5 according to requirements, and meanwhile, a laser distance meter, a gyroscope, a camera and a GPS module can also be assembled, and self-adaptive control is achieved through the cooperation of a main control circuit.
Referring to fig. 4, the present invention provides an embodiment of the motion state of the six-legged wheel legged crawling robot:
and similarly, the right wheel leg is a wheel leg four, a wheel leg five and a wheel leg six from front to back.
When the six-foot wheel-leg crawling robot moves forward, the first wheel leg, the third wheel leg and the fifth wheel leg rotate with the second wheel leg, the fourth wheel leg and the sixth wheel leg in a crossed mode, the rotating speed of the wheel legs is related to the positions of the wheel legs, and when the wheel legs are located on the lower portion of the machine body 1, the rotating speed is lower relative to the upper portion of the machine body 1. When the first, third and fifth wheel legs are positioned at certain positions at the lower part of the machine body 1, the first, third and fifth wheel legs are used as forward-leaning auxiliary legs, and the speed is relatively slow; and the two, four and six wheel legs are taken as walking legs, and the walking legs are in no-load, so that the six-foot wheel-leg type crawling robot can move faster by increasing the speed of the walking legs. The wheel legs are switched between the forward leaning auxiliary legs and the stepping legs, and the six-foot wheel-leg type crawling robot completes the forward moving function.
Further, when the six-legged wheel-legged crawling robot turns, the six-legged wheel-legged crawling robot advances in the same manner, and the six-legged wheel-legged crawling robot can turn by using a differential method. The turning is of two types, one is in-situ rotation, and the other is circle drawing turning. If the rotation is in situ, the first, third and fifth wheel legs have the same speed as the second, fourth and sixth wheel legs, and the rotation direction is opposite. If the wheel is used for drawing a circle and turning, the speeds of the first wheel leg, the third wheel leg and the fifth wheel leg are different from the speeds of the second wheel leg, the fourth wheel leg and the sixth wheel leg, and the rotating directions are the same.
Furthermore, when the hexapod wheel-leg crawling robot jumps, the first wheel leg and the fourth wheel leg are folded and positioned at the upper part of the hexapod wheel-leg crawling robot, the second wheel leg, the third wheel leg, the fifth wheel leg and the sixth wheel leg are parallel to the machine body 1, the second wheel leg, the third wheel leg, the fifth wheel leg and the sixth wheel leg simultaneously rotate at a high speed at the moment of jumping, and the hexapod wheel-leg crawling robot jumps forwards to cross a ditch because the wheel legs are arc-shaped.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (8)
1. A six-foot wheel-leg crawling robot, which is characterized in that,
the device comprises a machine body, two groups of wheel leg mechanisms and an extension adjusting assembly, wherein each group of wheel leg mechanisms is fixedly connected with the machine body and positioned on the side of the machine body;
the extension adjusting assembly comprises a first extension part and a second extension part, the first extension part comprises a first steering engine, a second steering engine, a first swing arm and a first guide rail, two ends of the first swing arm are respectively and fixedly connected with output shafts of the first steering engine and the second steering engine, and the second steering engine is fixedly connected with the first guide rail and is positioned above the first guide rail;
the second extension part comprises a third steering engine, a fourth steering engine, a second swing arm and a second guide rail, two ends of the second swing arm are respectively and fixedly connected with output shafts of the third steering engine and the fourth steering engine, and the third steering engine is fixedly connected with the second guide rail and is positioned above the second guide rail;
the first guide rail comprises a first servo motor, a first fixed seat, a first supporting seat, a first screw rod and a first slide rail, the first servo motor is fixedly connected with the first fixed seat and is positioned on the side of the first fixed seat, the first supporting seat, the first screw rod and the first slide rail are all arranged in the first fixed seat, the first screw rod is connected with the first servo motor through a coupler, and the first slide rail is arranged in parallel relative to the first screw rod;
the second guide rail includes second servo motor, second fixing base, second supporting seat, second lead screw and second slide rail, second servo motor with second fixing base fixed connection to be located the side of second fixing base, the second supporting seat the second lead screw with the second slide rail all sets up in the first fixing base, the second lead screw with second servo motor passes through the shaft coupling and links to each other, the second slide rail with the relative parallel arrangement of second lead screw.
2. The hexapod leg-climbing robot of claim 1,
the second steering wheel with first supporting seat fixed connection to be located the top of first supporting seat, the third steering wheel with second supporting seat fixed connection, and be located the top of second supporting seat.
3. The hexapod leg-climbing robot of claim 2,
the machine body is composed of a machine body head portion, a machine body middle portion and a machine body rear portion, and the machine body head portion, the machine body middle portion and the machine body rear portion are sequentially connected.
4. The hexapod leg-climbing robot of claim 3,
the first steering engine is fixedly connected with the head of the machine body, the fourth steering engine is fixedly connected with the rear of the machine body, the first guide rail and the second guide rail are respectively fixedly connected with the middle of the machine body, and the first guide rail and the second guide rail are arranged along the center of the middle of the machine body in a symmetrical mode.
5. The hexapod leg-climbing robot of claim 4,
the first steering engine is vertically intersected with the axis projection of the second steering engine, and the third steering engine is vertically intersected with the axis projection of the fourth steering engine.
6. The hexapod leg-climbing robot of claim 5,
the six-foot wheel-leg crawling robot further comprises six groups of direct current speed reducing motors, wherein each group of direct current speed reducing motors are fixedly connected with the robot body respectively and are positioned at the connecting part of the robot body and the wheel-leg mechanism.
7. The hexapod leg-climbing robot of claim 6,
each group of wheel leg mechanisms comprises a front wheel leg, a middle wheel leg and a rear wheel leg, the front wheel leg, the middle wheel leg and the rear wheel leg are of arc structures and are in wide and flat shapes, the front wheel leg is fixedly connected with an output shaft of a direct current speed reducing motor in the head of the machine body, the middle wheel leg is fixedly connected with an output shaft of the direct current speed reducing motor in the middle of the machine body, and the rear wheel leg is fixedly connected with an output shaft of the direct current speed reducing motor in the rear of the machine body.
8. The hexapod leg-climbing robot of claim 7,
the hexapod wheel leg type crawling robot further comprises an auxiliary control box group, wherein the auxiliary control box group is fixedly connected with the head of the robot body and is positioned at the front end of the head of the robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120015538.5U CN214356356U (en) | 2021-01-05 | 2021-01-05 | Six-foot wheel-leg type crawling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120015538.5U CN214356356U (en) | 2021-01-05 | 2021-01-05 | Six-foot wheel-leg type crawling robot |
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| Publication Number | Publication Date |
|---|---|
| CN214356356U true CN214356356U (en) | 2021-10-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202120015538.5U Active CN214356356U (en) | 2021-01-05 | 2021-01-05 | Six-foot wheel-leg type crawling robot |
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| CN (1) | CN214356356U (en) |
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2021
- 2021-01-05 CN CN202120015538.5U patent/CN214356356U/en active Active
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