CN220009951U - Land sliding foot type operation robot - Google Patents

Abstract

The utility model discloses a land sliding foot type operation robot, which comprises a machine body, legs, a mechanical operation arm and sliding wheels, wherein the leg is provided with a plurality of sliding wheels; the two sides of the machine body are symmetrically provided with a plurality of legs, the top of the machine body is provided with a mechanical operating arm, and the sliding wheels are arranged at the bottom of the machine body. The land sliding foot type operation robot can be well adapted to various environments, the balancing capacity of the robot and the adaptability to irregular terrains are enhanced, and the robot is convenient to carry mechanical operation arms and various maintenance equipment. The robot has the advantages that the robot can move quickly in a regular environment, the moving capability of the robot on the regular terrain is improved, the detection and information collection tasks can be executed efficiently, and the mechanical operating arm mounted on the robot can repair and sample the detected fault existing area.

Description

Land sliding foot type operation robot

Technical Field

The utility model belongs to the field of robots, and particularly relates to a land sliding foot type operation robot.

Background

Industrial robots are increasingly being used in a variety of contexts to replace humans engaging in dangerous activities or to assist humans in obtaining necessary facility information. The working robots are foot-type, wheel-type and crawler-type according to the moving mode, the robots can replace human beings to finish investigation of dangerous environments such as tunnels, ventilating ducts, tops of high-altitude buildings, after disasters and the like, and can replace human beings to work under the conditions of high altitude, rescue and pollution. Existing robots are mainly foot-type and crawler-type, and have a faster moving speed than foot-type robots in the case of regular terrain, but their movement is greatly limited and their effect is very limited when on irregular terrain or the environment is unpredictable. When detecting environments inconvenient for people to get in and out or dangerous such as ventilating ducts, sewage pipes, bridge tunnels, high-altitude buildings and the like, the risk during a lot of detections can be avoided certainly by using a robot with a small size. However, when the joint of the ventilating duct is blocked, the drainage duct is blocked, accumulated garbage exists, the topography of the bridge tunnel is not smooth any more, and the top end of the high-altitude building is cracked, the movement of the wheeled robot and the crawler robot is blocked, and the movement of the foot robot is not affected. Although the legged robot has a strong adaptability to the environment, the moving speed of the legged robot is far inferior to that of a wheeled or crawler robot on a regular terrain, and thus, a robot capable of adapting to various terrain environments and having a high moving speed is needed.

Chinese patent No. CN210437288U discloses a wheel-foot robot having both a foot-type crawling mechanism and a wheel-type crawling mechanism, which can make the robot walk on regular and irregular terrains. The robot main body adopts a square structure, four feet are positioned at four corners, four wheels are positioned at four sides, and when the robot is positioned on regular terrains, rapid movement can be realized through the omni-wheels. But the omni-directional mobile structure greatly increases the structural complexity and lacks flexibility.

The Chinese patent No. 208325462U discloses a wheel foot robot, wherein a chassis of the robot adopts a wheel foot type composite structure, and various application scenes can be met through mutual complementation of wheel type and foot type. However, the foot-type structure of the robot also places a limit on the obstacle surmounting capability of the robot. Such wheel-foot compound robots may be difficult to span when there is a narrow, small obstacle in front of the robot foot end, or when the obstacle is large.

Disclosure of Invention

The utility model aims to solve the problems in the prior art and provides a land sliding foot type operation robot which adopts an abdomen sliding wheel, simplifies the structure, combines the advantages of foot type and wheel type, improves the bearing capacity and is convenient for carrying mechanical operation arms and various overhaul equipment.

In order to achieve the purpose, the utility model is realized by adopting the following technical scheme:

a land sliding foot type operation robot comprises a machine body, legs, a mechanical operation arm and sliding wheels;

the two sides of the machine body are symmetrically provided with a plurality of legs, the top of the machine body is provided with a mechanical operating arm, and the sliding wheels are arranged at the bottom of the machine body.

Further, a machine shell and a machine connecting plate are arranged on the machine body, and the machine shell is fixed on the machine connecting plate through screws.

Further, the machine shell comprises a shell main body and a rear cover, wherein the shell main body is provided with a depth camera, the rear cover is detachably installed, and the rear cover is provided with a plurality of cooling fans.

Further, the leg portion is mounted on the machine body by a motor.

Further, the mechanical operation arm comprises a large arm, a small arm and an actuator, one end of the large arm is movably connected with the machine body through a first steering engine, the other end of the large arm is movably connected with one end of the small arm through a second steering engine, and the other end of the small arm is movably connected with the actuator.

Further, the actuator comprises a first bracket group, a second bracket group and a clamping hand, one end of the first bracket group is connected with the forearm, the other end of the first bracket group is connected with one end of the second bracket group, and the other end of the second bracket group is connected with the clamping hand.

Further, a third steering engine in the first bracket group is movably connected with the small arm, the third steering engine is connected with the first bracket through a screw, and the first bracket is connected with a fifth steering engine through a stud group.

Further, a second bracket in the second bracket group is connected with a fifth steering engine, the second bracket is connected with a fourth steering engine through a bolt group, and the fourth steering engine is connected with a clamping hand through a bolt.

Further, the sliding wheel comprises a pressing sheet, a connecting rod, a wheel groove and wheels, wherein a threaded hole is formed in one end of the connecting rod, the pressing sheet is arranged between the connecting rod and a machine connecting plate, a bolt on the machine connecting plate penetrates through the pressing sheet to be fixed in the threaded hole, the other end of the connecting rod is connected with the wheel groove through a screw, and the wheels are semi-wrapped in the wheel groove.

Compared with the prior art, the utility model has the following beneficial effects:

the utility model provides a land sliding foot type operation robot, which is characterized in that a sliding wheel is arranged on the abdomen of the robot, so that the structure is simplified, the advantages of the foot type and the wheel type are combined, when the robot is used on regular terrains, the foot end is assisted to move in all directions by adopting the sliding wheel on the abdomen, the moving speed of the robot on the regular terrains is greatly improved, and meanwhile, the movement flexibility of the robot is improved. When the robot is used for irregular terrains, the multi-degree-of-freedom leg is adopted to walk continuously, different irregular terrains are adapted by changing the height of the leg to span different barriers, meanwhile, the leg structure can enable the robot to have stronger bearing capacity, the robot is provided with a mechanical operating arm for operation, and the robot and the mechanical operating arm are combined to enable the robot to adapt to various terrains and working environments. The land sliding foot type operation robot can be well adapted to various environments, the balancing capacity of the robot and the adaptability to irregular terrains are enhanced, and the robot is convenient to carry mechanical operation arms and various maintenance equipment. The robot has the advantages that the robot can move quickly in a regular environment, the moving capability of the robot on the regular terrain is improved, the detection and information collection tasks can be executed efficiently, and the mechanical operating arm mounted on the robot can repair and sample the detected fault existing area.

Further, the driving motor for the leg joint movement of the robot is a high-torque motor, so that the robot can have a large load bearing capacity, and therefore detection equipment with a certain weight can be mounted to execute work.

Further, the mechanical operation arm arranged in front of the robot body is driven by the steering engine, so that the overall weight of the mechanical operation arm is reduced, the excessive forward movement of the center of gravity of the whole robot is avoided, the tail end clamping hand can assist in detecting and repairing task execution, and the precision degree and accuracy degree of operation are improved.

Drawings

For a clearer description of the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present utility model and should not be considered as limiting the scope, and other related 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 the overall structure of the present utility model.

Fig. 2 is a schematic diagram of the overall side structure of the present utility model.

Fig. 3 is a schematic diagram of a machine body according to the present utility model.

Fig. 4 is a schematic view of a machine housing of the present utility model.

Fig. 5 is a schematic view of an abdomen running wheel according to the present utility model.

Fig. 6 is a schematic view of a mechanical manipulator of the present utility model.

Fig. 7 is a schematic view of an actuator of a mechanical operating arm according to the present utility model.

Wherein: the device comprises a machine body, a 2-leg part, a 3-mechanical operating arm, a 4-sliding wheel, a 5-machine shell, a 6-machine connecting plate, a 7-shell body, an 8-depth camera, a 9-rear cover, a 10-cooling fan, an 11-tabletting, a 12-connecting rod, a 13-wheel groove, a 14-wheel, a 15-first steering engine, a 16-big arm, a 17-second steering engine, a 18-small arm, a 19-actuator, a 20-first bracket, a 21-third steering engine, a 22-clamping hand, a 23-fourth steering engine, a 24-bolt group, a 25-second bracket, a 26-fifth steering engine and a 27-stud group.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. The components of the embodiments of the present utility model generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the embodiments of the present utility model, it should be noted that, if the terms "upper," "lower," "horizontal," "inner," and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or the azimuth or the positional relationship in which the inventive product is conventionally put in use, it is merely for convenience of describing the present utility model and simplifying the description, and does not indicate or imply that the apparatus or element to be referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.

Furthermore, the term "horizontal" if present does not mean that the component is required to be absolutely horizontal, but may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the embodiments of the present utility model, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" should be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

The utility model is described in further detail below with reference to the attached drawing figures:

referring to fig. 1 to 7, the present utility model provides a land sliding foot type working robot, comprising a machine body 1, a leg 2, a mechanical operating arm 3, a sliding wheel 4, a machine housing 5, a machine connecting plate 6, a housing body 7, a depth camera 8, a rear cover 9, a cooling fan 10, a pressing sheet 11, a connecting rod 12, a wheel groove 13, a wheel 14, a first steering engine 15, a large arm 16, a second steering engine 17, a small arm 18, an actuator 19, a first bracket 20, a third steering engine 21, a clamping hand 22, a fourth steering engine 23, a bolt group 24, a second bracket 25, a fifth steering engine 26 and a stud group 27.

As shown in fig. 1 and 2, the land planing foot type working robot of the present utility model includes a machine body 1, a leg 2, a mechanical operation arm 3, and a planing wheel 4. A plurality of legs 2 are symmetrically arranged on two sides of the machine body 1, a mechanical operating arm 3 is arranged on the top of the machine body 1, and a sliding wheel 4 is arranged on the bottom of the machine body 1. When working on regular terrains, a mechanical operation arm 3 is adopted for working, a slide wheel 4 is adopted for auxiliary movement, and a leg 2 is adopted for supporting after the movement is stopped; when working on irregular terrain, the mechanical operation arm 3 is used for working, and the leg 2 is used for moving. In a complex terrain, the mechanical operation arm 3 is adopted to perform work, and simultaneously the slide wheel 4 and the leg 2 are adopted to move and span obstacles.

As shown in fig. 3, the machine body 1 mainly includes a machine housing 5 and a machine connection plate 6. The machine shell 5 is fixed on the machine connecting plate 6 through screws, and the left leg and the right leg of the machine are symmetrically arranged on the machine main body 1 through motors, so that the robot has a simple structure, is convenient to control and has strong stability.

As shown in fig. 4, the machine housing 5 mainly includes a housing main body 7, a depth camera 8, a rear cover 9, and a heat radiation fan 10. The housing body 7 is provided with a depth camera 8, and the depth camera 8 is used for helping the robot to sense the external environment. The rear cover 9 is detachably mounted, a plurality of cooling fans 10 are arranged on the rear cover 9, and the internal circuits and elements of the robot can be checked, debugged or replaced by detaching the rear cover 9.

As shown in fig. 5, the robot runner 4 includes a presser plate 11, a link 12, a wheel groove 13, and wheels 14. The upper end of the connecting rod 12 is provided with a threaded hole, the connecting rod is fixed on the connecting plate 6 through a pressing sheet 11 and a nut, the pressing sheet 11 is arranged between the connecting rod 12 and the machine connecting plate 6, the connecting rod 12 and the wheel groove 13 are connected through screws, and the wheel 14 is semi-wrapped in the wheel groove 13. The rotational movement of the wheels 14 may assist the robot in moving quickly over regular terrain.

As shown in fig. 6, the mechanical operating arm 3 includes a first steering engine 15, a large arm 16, a second steering engine 17, a small arm 18, and an actuator 19. One end of the big arm 16 is movably connected with the machine body 1 through a first steering engine 15, the other end of the big arm 16 is movably connected with one end of the small arm 18 through a second steering engine 17, and the other end of the small arm 18 is movably connected with an actuator 19. The steering engine can drive the large arm 16 and the small arm 18 to rotate, and the actuator 19 is used for executing work.

As shown in fig. 7, the actuator 19 includes a first bracket 20, a third steering gear 21, a stud group 27, a fifth steering gear 26, a second bracket 25, a bolt group 24, a fourth steering gear 23, and a grip 22. The third steering wheel 21 swing joint forearm 18, first support 20 passes through screw connection with third steering wheel 21, and fifth steering wheel 26 passes through stud group 27 with first support 20 to be connected, and fifth steering wheel 26 is connected to second support 25, and fourth steering wheel 23 passes through bolt group 24 with second support 25 to be connected, and tong 22 passes through bolted connection on fourth steering wheel 23, makes gear engagement transmission through steering wheel rotation to make tong 22 open and shut the motion.

The specific working method of the land sliding foot type operation robot comprises the following steps:

when the robot is in irregular terrain, the power part of the robot takes mechanical legs with multiple degrees of freedom as the main part, and the main board generates signals to drive the legs 2 to move and control the advancing direction of the robot body, so that various movement modes of advancing, retreating, turning and obstacle crossing of the robot are realized. When the robot is in regular terrain, the robot leg 2 is still controlled by the main board to keep a certain movement mode, and meanwhile, the abdomen sliding wheel 4 assists the movement of the robot to increase the movement speed. When the robot is in a complex terrain, it is a combined movement pattern of the leg 2 movement and the belly runner 4 sliding.

The above is only a preferred embodiment of the present utility model, and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims (8)

1. A land sliding foot type operation robot is characterized by comprising a machine body (1), legs (2), a mechanical operation arm (3) and a sliding wheel (4);

a plurality of legs (2) are symmetrically arranged on two sides of the machine main body (1), a mechanical operating arm (3) is arranged at the top of the machine main body (1), and the sliding wheels (4) are arranged at the bottom of the machine main body (1);

the sliding wheel (4) comprises a pressing sheet (11), a connecting rod (12), a wheel groove (13) and wheels (14), wherein a threaded hole is formed in one end of the connecting rod (12), the pressing sheet (11) is arranged between the connecting rod (12) and a machine connecting plate (6), bolts on the machine connecting plate (6) penetrate through the pressing sheet (11) to be fixed in the threaded holes, the other ends of the connecting rod (12) are connected with the wheel groove (13) through screws, and the wheels (14) are semi-wrapped in the wheel groove (13).

2. A land sliding foot type working robot according to claim 1, characterized in that the machine body (1) is provided with a machine housing (5) and a machine connection plate (6), the machine housing (5) being fixed to the machine connection plate (6) by means of screws.

3. The land sliding foot type working robot according to claim 2, wherein the machine housing (5) comprises a housing main body (7) and a rear cover (9), a depth camera (8) is arranged on the housing main body (7), the rear cover (9) is detachably mounted, and a plurality of cooling fans (10) are arranged on the rear cover (9).

4. A land sliding foot type working robot according to claim 1, characterized in that the leg (2) is mounted on the machine body (1) by means of a motor.

5. The land sliding foot type working robot according to claim 1, wherein the mechanical operation arm (3) comprises a large arm (16), a small arm (18) and an actuator (19), one end of the large arm (16) is movably connected with the machine body (1) through a first steering engine (15), the other end of the large arm (16) is movably connected with one end of the small arm (18) through a second steering engine (17), and the other end of the small arm (18) is movably connected with the actuator (19).

6. The land slide foot type working robot according to claim 5, wherein the actuator (19) comprises a first bracket group, a second bracket group and a clamp (22), one end of the first bracket group is connected with the forearm (18), the other end of the first bracket group is connected with one end of the second bracket group, and the other end of the second bracket group is connected with the clamp (22).

7. The land sliding foot type working robot as claimed in claim 6, wherein a third steering engine (21) in the first bracket group is movably connected with a small arm (18), the third steering engine (21) is connected with a first bracket (20) through a screw, and the first bracket (20) is connected with a fifth steering engine (26) through a stud group (27).

8. The land slide foot type working robot according to claim 6, wherein a second bracket (25) in the second bracket group is connected with a fifth steering engine (26), the second bracket (25) is connected with a fourth steering engine (23) through a bolt group (24), and the fourth steering engine (23) is connected with a clamping hand (22) through a bolt.