CN220009951U - Land sliding foot type operation robot - Google Patents

Land sliding foot type operation robot Download PDF

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CN220009951U
CN220009951U CN202320827203.2U CN202320827203U CN220009951U CN 220009951 U CN220009951 U CN 220009951U CN 202320827203 U CN202320827203 U CN 202320827203U CN 220009951 U CN220009951 U CN 220009951U
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sliding
machine body
machine
steering gear
bracket
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周亚婷
朱雅光
段晨阳
闫鹏飞
魏浩宇
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Changan University
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Changan University
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Abstract

本实用新型公开了一种陆地滑行足式作业机器人,包括机器主体、腿部、机械操作臂和滑行轮;所述机器主体的两侧对称安装有若干腿部,所述机器主体的顶部安装有机械操作臂,所述滑行轮安装在机器主体的底部。本实用新型的陆地滑行足式作业机器人能够良好适应各种不同的环境,增强了机器人的平衡能力及不规则地形上的适应能力,便于搭载机械操作臂及各类检修设备。且在规则环境中能够有较快的移动速度,提高了规则地形上机器人的移动能力,能够高效执行检测及信息收集任务,且其搭载的机械操作臂能够对检测出来的故障存在区域进行修复、采样等工作。

The utility model discloses a land sliding foot type work robot, which includes a machine body, legs, mechanical operating arms and sliding wheels; a plurality of legs are symmetrically installed on both sides of the machine body, and a machine body is installed on the top of the machine body. Mechanical operating arm, the sliding wheel is installed at the bottom of the machine body. The utility model's land sliding legged work robot can well adapt to various environments, enhances the robot's balance ability and adaptability to irregular terrain, and is convenient for carrying mechanical operating arms and various maintenance equipment. And it can move at a faster speed in a regular environment, which improves the robot's mobility on regular terrain, and can efficiently perform detection and information collection tasks, and its mechanical operating arm can repair the detected fault areas. Sampling and other work.

Description

一种陆地滑行足式作业机器人A kind of land sliding foot type work robot

技术领域Technical field

本实用新型属于机器人领域,尤其是一种陆地滑行足式作业机器人。The utility model belongs to the field of robots, in particular to a land sliding foot type working robot.

背景技术Background technique

工业机器人越来越多地被应用于各种场景,以代替人类从事危险活动或帮助人类取得必要的设施信息。作业机器人按照移动方式有足式、轮式、履带式三种,这些机器人可代替人类完成隧道、通风管道、高空建物顶部、灾后等危险环境的勘察,可代替人类在高空、救援及存在污染的情况下作业。现有的机器人主要以足式及履带式为主,在规则地形的情况下它们具有相对足式机器人更快的移动速度,但在不规则地形上或环境不可预测时,它们的移动受到极大限制,他们的作用也因此十分有限。在对通风管道、排污管道、桥梁隧道、高空建物等不便于人进出或较为危险的环境进行检测时,使用体积小巧的机器人无疑能够规避很多检测时的风险。但当通风管道连接处存在阻碍、排水管道存在累积的垃圾、桥梁隧道地形不再平整、高空建物顶端存在裂隙,这些都会阻碍轮式及履带式机器人的移动,而足式机器人的移动则不受影响。虽然足式机器人对于环境的适应性较强,然而足式机器人的移动速度在规则地形上又远不如轮式或履带式机器人,因此,亟需一种能够适应各种不同地形环境、且能够有较高移动速度的机器人。Industrial robots are increasingly being used in various scenarios to replace humans in dangerous activities or to help humans obtain necessary facility information. There are three types of operating robots: footed, wheeled, and crawler. These robots can replace humans to complete the survey of dangerous environments such as tunnels, ventilation ducts, tops of high-altitude buildings, and post-disasters. They can replace humans in high-altitude, rescue, and polluted environments. case work. Existing robots are mainly footed and crawler-type. On regular terrain, they have faster moving speeds than footed robots. However, on irregular terrain or when the environment is unpredictable, their movement is greatly affected. restrictions, their role is therefore very limited. When inspecting ventilation ducts, sewage ducts, bridges, tunnels, high-altitude buildings and other environments that are inconvenient for people to enter or are dangerous, the use of compact robots can undoubtedly avoid many inspection risks. However, when there are obstacles at the joints of ventilation ducts, accumulated garbage in drainage pipes, bridges and tunnels that are no longer flat, and cracks at the top of high-altitude buildings, these will hinder the movement of wheeled and crawler robots, while the movement of footed robots will not be affected. Influence. Although footed robots have strong adaptability to the environment, the moving speed of footed robots is far inferior to wheeled or crawler robots on regular terrain. Therefore, there is an urgent need for a robot that can adapt to various terrain environments and can effectively Robots with higher moving speeds.

中国实用新型专利CN210437288U公开了一种轮足机器人,该轮足机器人同时具有足式爬行机构和轮式爬行机构,能够使得机器人在规则地形及不规则地形上行走。该机器人主体采用正方形结构,四足位于四角,四轮位于四边,当机器人处于规则地形时可通过全向轮实现快速移动。但是该全向移动结构极大地增加了结构复杂度,且灵活性有所欠缺。Chinese utility model patent CN210437288U discloses a wheel-footed robot. The wheel-footed robot has both a foot-type crawling mechanism and a wheel-type crawling mechanism, which enables the robot to walk on regular terrain and irregular terrain. The main body of the robot adopts a square structure, with four legs located at the four corners and four wheels located on the four sides. When the robot is on regular terrain, it can move quickly through omnidirectional wheels. However, this omnidirectional mobile structure greatly increases the structural complexity and lacks flexibility.

中国实用新型专利CN208325462U公开了一种轮足机器人,该机器人底盘采用轮式足式复合结构,通过轮式和足式的相互补充,能够满足多种运用场景。但是,该机器人的足式结构也对机器人的越障能力做了限制。当机器人足端前方存在窄、小型障碍物时,或障碍物较大时,这种轮足复合机器人可能难以跨越。Chinese utility model patent CN208325462U discloses a wheel-footed robot. The robot chassis adopts a wheel-footed composite structure. Through the mutual complementation of the wheeled and footed robots, it can meet a variety of application scenarios. However, the robot's leg structure also limits the robot's ability to overcome obstacles. When there are narrow, small obstacles in front of the robot's feet, or when the obstacles are larger, this kind of wheel-footed composite robot may be difficult to cross.

发明内容Contents of the invention

本实用新型的目的在于解决现有技术中的问题,提供一种陆地滑行足式作业机器人,采用腹部滑行轮,精简结构,将足式与轮式的优点结合,同时提高承重能力,便于搭载机械操作臂及各类检修设备。The purpose of this utility model is to solve the problems in the existing technology and provide a land sliding footed work robot, which adopts abdominal sliding wheels, simplifies the structure, combines the advantages of the footed type and the wheeled type, and at the same time improves the load-bearing capacity and facilitates the loading of machinery. Operating arms and various maintenance equipment.

为达到上述目的,本实用新型采用以下技术方案予以实现:In order to achieve the above purpose, the present utility model adopts the following technical solutions to achieve it:

一种陆地滑行足式作业机器人,包括机器主体、腿部、机械操作臂和滑行轮;A land sliding footed work robot, including a machine body, legs, mechanical operating arms and sliding wheels;

所述机器主体的两侧对称安装有若干腿部,所述机器主体的顶部安装有机械操作臂,所述滑行轮安装在机器主体的底部。A number of legs are symmetrically installed on both sides of the machine body, a mechanical operating arm is installed on the top of the machine body, and the sliding wheel is installed on the bottom of the machine body.

进一步的,所述机器主体上设置有机器外壳和机器连接板,所述机器外壳通过螺丝固定在机器连接板上。Further, the machine body is provided with a machine housing and a machine connection plate, and the machine housing is fixed on the machine connection plate through screws.

进一步的,所述机器外壳包括外壳主体和后盖,所述外壳主体上设置有深度相机,所述后盖为可拆卸安装,所述后盖上设置有若干散热风扇。Further, the machine casing includes a casing main body and a back cover. A depth camera is provided on the casing main body. The back cover is detachably installed. Several cooling fans are provided on the back cover.

进一步的,所述腿部通过电机安装在机器主体上。Further, the legs are installed on the machine body through a motor.

进一步的,所述机械操作臂包括大臂、小臂和执行器,所述大臂的一端通过第一舵机活动连接机器主体,所述大臂的另一端通过第二舵机活动连接小臂的一端,所述小臂的另一端活动连接执行器。Further, the mechanical operating arm includes a big arm, a small arm and an actuator. One end of the big arm is movably connected to the machine body through a first steering gear, and the other end of the big arm is movably connected to the small arm through a second steering gear. One end of the forearm is movably connected to the actuator.

进一步的,所述执行器包括第一支架组、第二支架组和夹手,所述第一支架组的一端连接小臂,所述第一支架组的另一端连接第二支架组的一端,所述第二支架组的另一端连接夹手。Further, the actuator includes a first bracket group, a second bracket group and a clamping hand. One end of the first bracket group is connected to the small arm, and the other end of the first bracket group is connected to one end of the second bracket group. The other end of the second bracket group is connected to the clamping hand.

进一步的,所述第一支架组中的第三舵机活动连接小臂,所述第三舵机与第一支架通过螺钉连接,所述第一支架通过螺柱组连接第五舵机。Further, the third steering gear in the first bracket group is movably connected to the small arm, the third steering gear is connected to the first bracket through screws, and the first bracket is connected to the fifth steering gear through a stud group.

进一步的,所述第二支架组中的第二支架连接第五舵机,所述第二支架通过螺栓组连接第四舵机,所述第四舵机通过螺栓连接夹手。Further, the second bracket in the second bracket group is connected to the fifth steering gear, the second bracket is connected to the fourth steering gear through a bolt group, and the fourth steering gear is connected to the clamp hand through bolts.

进一步的,所述滑行轮包括压片、连杆、轮槽和轮子,所述连杆的一端开设有螺纹孔,所述压片设置在连杆与机器连接板之间,所述机器连接板上的螺栓穿过压片固定在螺纹孔内,所述连杆的另一端通过螺钉连接轮槽,所述轮子半包在轮槽内。Further, the sliding wheel includes a pressing piece, a connecting rod, a wheel groove and a wheel. One end of the connecting rod is provided with a threaded hole, and the pressing piece is arranged between the connecting rod and the machine connecting plate. The machine connecting plate The bolts on the connecting rod pass through the pressing piece and are fixed in the threaded hole. The other end of the connecting rod is connected to the wheel groove through screws, and the wheel is half wrapped in the wheel groove.

与现有技术相比,本实用新型具有以下有益效果:Compared with the existing technology, this utility model has the following beneficial effects:

本实用新型提供一种陆地滑行足式作业机器人,在机器人的腹部设置滑行轮,精简结构,将足式与轮式的优点结合,当机器人使用于规则地形时,采用腹部滑行轮辅助足端进行各个方向的移动,极大提升机器人规则地形移动速度,同时增加了机器人运动灵活性。当机器人使用于不规则地形时,采用多自由度腿部继续行走,通过改变抬腿高度跨越不同的障碍物,适应不同不规则地形,同时腿部结构能够使得机器人有更强的承重能力,并且搭载用于作业的机械操作臂,两者结合使得机器人能够适应各种地形及工作环境。本实用新型的陆地滑行足式作业机器人能够良好适应各种不同的环境,增强了机器人的平衡能力及不规则地形上的适应能力,便于搭载机械操作臂及各类检修设备。且在规则环境中能够有较快的移动速度,提高了规则地形上机器人的移动能力,能够高效执行检测及信息收集任务,且其搭载的机械操作臂能够对检测出来的故障存在区域进行修复、采样等工作。The utility model provides a land sliding foot type work robot. A sliding wheel is provided on the abdomen of the robot, which simplifies the structure and combines the advantages of the foot type and the wheel type. When the robot is used on regular terrain, the abdominal sliding wheel is used to assist the foot end. Movement in all directions greatly improves the robot's movement speed on regular terrain and increases the robot's movement flexibility. When the robot is used on irregular terrain, it uses multi-degree-of-freedom legs to continue walking. By changing the height of the leg to cross different obstacles, it can adapt to different irregular terrains. At the same time, the leg structure can make the robot have stronger load-bearing capacity, and Equipped with a mechanical operating arm for operation, the combination of the two allows the robot to adapt to various terrains and working environments. The utility model's land sliding legged work robot can well adapt to various environments, enhances the robot's balance ability and adaptability to irregular terrain, and is convenient for carrying mechanical operating arms and various maintenance equipment. And it can move at a faster speed in a regular environment, which improves the robot's mobility on regular terrain, and can efficiently perform detection and information collection tasks, and its equipped mechanical operating arm can repair the detected fault areas. Sampling and other work.

进一步的,机器人腿部关节运动的驱动电机为大扭矩电机,使机器人能够拥有较大的承受负载的能力,从而能够搭载一定重量的检测装备执行作业。Furthermore, the driving motors for the joint movement of the robot's legs are high-torque motors, which enable the robot to have a greater load-bearing capacity and thus be able to carry inspection equipment of a certain weight to perform operations.

进一步的,机器人身前设置的机械操作臂,采用舵机进行驱动,减小了机械操作臂整体重量,避免机器人整机重心过于前移,其末端的夹手可以辅助检测、修复任务的执行,提高作业的精细化程度及准确程度。Furthermore, the mechanical operating arm set in front of the robot is driven by a servo, which reduces the overall weight of the mechanical operating arm and prevents the center of gravity of the robot from moving too far forward. The gripper at the end can assist in the execution of inspection and repair tasks. Improve the refinement and accuracy of work.

附图说明Description of the drawings

为了更清楚的说明本实用新型实施例的技术方案,下面将对实施例中所需要使用的附图作简单地介绍,应当理解,以下附图仅示出了本实用新型的某些实施例,因此不应被看作是对范围的限定,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他相关的附图。In order to explain the technical solutions of the embodiments of the present utility model more clearly, the drawings required in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the utility model. Therefore, it should not be regarded as limiting the scope. For those of ordinary skill in the art, other relevant drawings can be obtained based on these drawings without exerting creative efforts.

图1为本实用新型的整体结构示意图。Figure 1 is a schematic diagram of the overall structure of the utility model.

图2为本实用新型的整体侧面结构示意图。Figure 2 is a schematic diagram of the overall side structure of the utility model.

图3为本实用新型的机器主体示意图。Figure 3 is a schematic diagram of the main body of the machine of the present invention.

图4为本实用新型的机器外壳示意图。Figure 4 is a schematic diagram of the machine casing of the present utility model.

图5为本实用新型的腹部滑行轮示意图。Figure 5 is a schematic diagram of the abdominal sliding wheel of the present invention.

图6为本实用新型的机械操作臂示意图。Figure 6 is a schematic diagram of the mechanical operating arm of the present utility model.

图7为本实用新型的机械操作臂的执行器示意图。Figure 7 is a schematic diagram of the actuator of the mechanical operating arm of the present invention.

其中:1-机器主体,2-腿部,3-机械操作臂,4-滑行轮,5-机器外壳,6-机器连接板,7-外壳主体,8-深度相机,9-后盖,10-散热风扇,11-压片,12-连杆,13-轮槽,14-轮子,15-第一舵机,16-大臂,17-第二舵机,18-小臂,19-执行器,20-第一支架,21-第三舵机,22-夹手,23-第四舵机,24-螺栓组,25-第二支架,26-第五舵机,27-螺柱组。Among them: 1-machine body, 2-legs, 3-mechanical operating arm, 4-sliding wheel, 5-machine shell, 6-machine connection plate, 7-casing body, 8-depth camera, 9-back cover, 10 -Cooling fan, 11-pressing plate, 12-connecting rod, 13-wheel groove, 14-wheel, 15-first steering gear, 16-big arm, 17-second steering gear, 18-small arm, 19-execution 20-First bracket, 21-Third steering gear, 22-Clamp hand, 23-Fourth steering gear, 24-Bolt group, 25-Second bracket, 26-Fifth steering gear, 27-Stud group .

具体实施方式Detailed ways

为使本实用新型实施例的目的、技术方案和优点更加清楚,下面将结合本实用新型实施例中的附图,对本实用新型实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例是本实用新型一部分实施例,而不是全部的实施例。通常在此处附图中描述和示出的本实用新型实施例的组件可以以各种不同的配置来布置和设计。In order to make the purpose, technical solutions and advantages of the embodiments of the present utility model more clear, the technical solutions in the embodiments of the present utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the present utility model. Obviously, the description The embodiments are part of the embodiments of the present invention, rather than all the embodiments. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.

因此,以下对在附图中提供的本实用新型的实施例的详细描述并非旨在限制要求保护的本实用新型的范围,而是仅仅表示本实用新型的选定实施例。基于本实用新型中的实施例,本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例,都属于本实用新型保护的范围。Therefore, the following detailed description of the embodiments of the invention provided in the appended drawings is not intended to limit the scope of the claimed invention, but merely to represent selected embodiments of the invention. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of the present utility model.

应注意到:相似的标号和字母在下面的附图中表示类似项,因此,一旦某一项在一个附图中被定义,则在随后的附图中不需要对其进行进一步定义和解释。It should be noted that similar reference numerals and letters represent similar items in the following figures, therefore, once an item is defined in one figure, it does not need further definition and explanation in subsequent figures.

在本实用新型实施例的描述中,需要说明的是,若出现术语“上”、“下”、“水平”、“内”等指示的方位或位置关系为基于附图所示的方位或位置关系,或者是该实用新型产品使用时惯常摆放的方位或位置关系,仅是为了便于描述本实用新型和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本实用新型的限制。此外,术语“第一”、“第二”等仅用于区分描述,而不能理解为指示或暗示相对重要性。In the description of the embodiments of the present invention, it should be noted that if the terms "upper", "lower", "horizontal", "inner", etc. appear to indicate an orientation or positional relationship, they are based on the orientation or position shown in the drawings. relationship, or the orientation or positional relationship in which the utility model product is usually placed when in use, is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or component referred to must have a specific orientation, in a specific The orientation structure and operation of the invention cannot be construed as limitations of the present invention. In addition, the terms "first", "second", etc. are only used to differentiate descriptions and are not to be understood as indicating or implying relative importance.

此外,若出现术语“水平”,并不表示要求部件绝对水平,而是可以稍微倾斜。如“水平”仅仅是指其方向相对“竖直”而言更加水平,并不是表示该结构一定要完全水平,而是可以稍微倾斜。In addition, if the term "level" appears, it does not mean that the component is required to be absolutely horizontal, but may be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical". It does not mean that the structure must be completely horizontal, but can be slightly tilted.

在本实用新型实施例的描述中,还需要说明的是,除非另有明确的规定和限定,若出现术语“设置”、“安装”、“相连”、“连接”应做广义理解,例如,可以是固定连接,也可以是可拆卸连接,或一体地连接;可以是机械连接,也可以是电连接;可以是直接相连,也可以通过中间媒介间接相连,可以是两个元件内部的连通。对于本领域的普通技术人员而言,可以根据具体情况理解上述术语在本实用新型中的具体含义。In the description of the embodiments of the present invention, it should also be noted that, unless otherwise expressly stipulated and limited, if the terms "setting", "installation", "connecting" and "connecting" appear, they should be understood in a broad sense, for example, It can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, or it can be an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be an internal connection between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

下面结合附图对本实用新型做进一步详细描述:The utility model will be described in further detail below in conjunction with the accompanying drawings:

参见图1至图7,本实用新型提供一种陆地滑行足式作业机器人,包括机器主体1、腿部2、机械操作臂3、滑行轮4、机器外壳5、机器连接板6、外壳主体7、深度相机8、后盖9、散热风扇10、压片11、连杆12、轮槽13、轮子14、第一舵机15、大臂16、第二舵机17、小臂18、执行器19、第一支架20、第三舵机21、夹手22、第四舵机23、螺栓组24、第二支架25、第五舵机26和螺柱组27。Referring to Figures 1 to 7, the utility model provides a land sliding footed work robot, which includes a machine body 1, legs 2, a mechanical operating arm 3, a sliding wheel 4, a machine shell 5, a machine connecting plate 6, and a shell body 7 , depth camera 8, back cover 9, cooling fan 10, pressing piece 11, connecting rod 12, wheel groove 13, wheel 14, first servo 15, big arm 16, second servo 17, small arm 18, actuator 19. The first bracket 20, the third steering gear 21, the clamp 22, the fourth steering gear 23, the bolt group 24, the second bracket 25, the fifth steering gear 26 and the stud group 27.

如图1和图2所示,本实用新型的陆地滑行足式作业机器人包括机器主体1、腿部2、机械操作臂3及滑行轮4。机器主体1的两侧对称安装有若干腿部2,机器主体1的顶部安装有机械操作臂3,滑行轮4安装在机器主体1的底部。在规则地形上作业时,采用机械操作臂3进行作业,采用滑行轮4进行辅助移动,移动停止后采用腿部2进行支撑;在非规则地形上作业时,采用机械操作臂3进行作业,采用腿部2进行移动。在复杂地形,采用机械操作臂3进行作业,同时采用滑行轮4与腿部2进行移动及进行障碍物的跨越。As shown in Figures 1 and 2, the land sliding footed work robot of the present invention includes a machine body 1, legs 2, mechanical operating arms 3 and sliding wheels 4. A number of legs 2 are installed symmetrically on both sides of the machine body 1 , a mechanical operating arm 3 is installed on the top of the machine body 1 , and the sliding wheel 4 is installed on the bottom of the machine body 1 . When working on regular terrain, the mechanical operating arm 3 is used for operation, and the sliding wheels 4 are used for auxiliary movement. After the movement stops, the legs 2 are used for support; when working on irregular terrain, the mechanical operating arm 3 is used for operation, and the mechanical operating arm 3 is used for operation. Leg 2 moves. In complex terrain, the mechanical operating arm 3 is used to perform operations, while the sliding wheels 4 and legs 2 are used to move and cross obstacles.

如图3所示,机器主体1主要包括机器外壳5和机器连接板6。机器外壳5通过螺丝固定在机器连接板6上,机器左腿和机器右腿通过电机对称安装在机器主体1上,使得机器人结构简单、控制方便、稳定性强。As shown in Figure 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 machine left leg and the machine right leg are symmetrically installed on the machine body 1 through the motor, making the robot simple in structure, easy to control, and strong in stability.

如图4所示,机器外壳5主要包括外壳主体7、深度相机8、后盖9和散热风扇10。外壳主体7上设置有深度相机8,深度相机8用来帮助器人进行外部环境的感知。后盖9为可拆卸安装,后盖9上设置有若干散热风扇10,通过拆卸后盖9可对机器人内部电路、元件进行检查、调试或更换。As shown in Figure 4 , the machine housing 5 mainly includes a housing body 7 , a depth camera 8 , a back cover 9 and a cooling fan 10 . The main body 7 of the housing is provided with a depth camera 8, which is used to help the robot perceive the external environment. The back cover 9 is detachably installed, and a number of cooling fans 10 are provided on the back cover 9. By removing the back cover 9, the internal circuits and components of the robot can be inspected, debugged or replaced.

如图5所示,机器人滑行轮4包括压片11、连杆12、轮槽13和轮子14。连杆12上端开设有螺纹孔,通过压片11及螺母固定在连接板6上,压片11设置在连杆12与机器连接板6之间,连杆12和轮槽13由螺钉连接,轮子14被半包在轮槽13内。轮子14的旋转运动可辅助机器人在规则地形上快速移动。As shown in FIG. 5 , the robot sliding wheel 4 includes a pressing piece 11 , a connecting rod 12 , a wheel groove 13 and a wheel 14 . The upper end of the connecting rod 12 is provided with a threaded hole, and is fixed on the connecting plate 6 through the pressing piece 11 and the nut. The pressing piece 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 by screws. 14 is half wrapped in the wheel groove 13. The rotational motion of the wheels 14 can assist the robot to move quickly on regular terrain.

如图6所示,机械操作臂3包括第一舵机15、大臂16、第二舵机17、小臂18和执行器19。大臂16的一端通过第一舵机15活动连接机器主体1,大臂16的另一端通过第二舵机17活动连接小臂18的一端,小臂18的另一端活动连接执行器19。通过舵机可带动大臂16和小臂18的旋转,执行器19用来执行作业。As shown in FIG. 6 , the mechanical operating arm 3 includes a first steering gear 15 , a big arm 16 , a second steering gear 17 , a small arm 18 and an actuator 19 . One end of the big arm 16 is movably connected to the machine body 1 through the first steering gear 15 , the other end of the big arm 16 is movably connected to one end of the small arm 18 through the second steering gear 17 , and the other end of the small arm 18 is movably connected to the actuator 19 . The steering gear can drive the rotation of the big arm 16 and the small arm 18, and the actuator 19 is used to perform the operation.

如图7所示,执行器19包括第一支架20、第三舵机21、螺柱组27、第五舵机26、第二支架25、螺栓组24、第四舵机23和夹手22。第三舵机21活动连接小臂18,第一支架20与第三舵机21通过螺钉连接,第五舵机26与第一支架20通过螺柱组27连接,第二支架25连接第五舵机26,第四舵机23与第二支架25通过螺栓组24连接,夹手22通过螺栓连接在第四舵机23上,通过舵机转动使得齿轮啮合传动,从而使得夹手22进行开合运动。As shown in Figure 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 clamping hand 22 . The third steering gear 21 is movably connected to the small arm 18, the first bracket 20 and the third steering gear 21 are connected by screws, the fifth steering gear 26 and the first bracket 20 are connected by the stud group 27, and the second bracket 25 is connected to the fifth steering gear. The fourth steering gear 23 and the second bracket 25 are connected through the bolt group 24, and the clamping hand 22 is connected to the fourth steering gear 23 through bolts. The steering gear rotates to cause gear meshing and transmission, thereby allowing the clamping hand 22 to open and close. sports.

本实用新型的陆地滑行足式作业机器人的具体工作方法:The specific working method of the land sliding legged work robot of the present utility model:

当机器人处于不规则地形时,其动力部分以多自由度的机械腿为主,由主板生成信号进而驱动腿部2运动并控制机身前进方向,实现机器人前进、后退、转弯和越障多种运动模式。当机器人处于规则地形时,机器人腿部2仍由主板控制保持一定运动模式,同时腹部滑行轮4辅助机器人的移动,增加移动速度。当机器人处于复杂地形时,则为腿部2运动与腹部滑行轮4滑行的组合运动模式。When the robot is on irregular terrain, its power part is mainly composed of multi-degree-of-freedom mechanical legs. The main board generates signals to drive the movement of the legs 2 and control the forward direction of the body, allowing the robot to move forward, backward, turn and overcome obstacles. Sport mode. When the robot is on a regular terrain, the robot legs 2 are still controlled by the main board to maintain a certain movement pattern, and at the same time, the abdominal sliding wheels 4 assist the movement of the robot and increase the movement speed. When the robot is in complex terrain, it is a combined movement mode of leg 2 movement and abdominal sliding wheel 4 gliding.

以上仅为本实用新型的优选实施例而已,并不用于限制本实用新型,对于本领域的技术人员来说,本实用新型可以有各种更改和变化。凡在本实用新型的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本实用新型的保护范围之内。The above are only preferred embodiments of the present utility model and are not intended to limit the present utility model. For those skilled in the art, the present utility model may have various modifications and changes. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present utility model shall be included in the protection scope of the present utility model.

Claims (8)

1.一种陆地滑行足式作业机器人,其特征在于,包括机器主体(1)、腿部(2)、机械操作臂(3)和滑行轮(4);1. A land sliding footed work robot, characterized by including a machine body (1), legs (2), mechanical operating arms (3) and sliding wheels (4); 所述机器主体(1)的两侧对称安装有若干腿部(2),所述机器主体(1)的顶部安装有机械操作臂(3),所述滑行轮(4)安装在机器主体(1)的底部;A number of legs (2) are symmetrically installed on both sides of the machine body (1), a mechanical operating arm (3) is installed on the top of the machine body (1), and the sliding wheel (4) is installed on the machine body (1). 1) the bottom; 所述滑行轮(4)包括压片(11)、连杆(12)、轮槽(13)和轮子(14),所述连杆(12)的一端开设有螺纹孔,所述压片(11)设置在连杆(12)与机器连接板(6)之间,所述机器连接板(6)上的螺栓穿过压片(11)固定在螺纹孔内,所述连杆(12)的另一端通过螺钉连接轮槽(13),所述轮子(14)半包在轮槽(13)内。The sliding wheel (4) includes a pressing piece (11), a connecting rod (12), a wheel groove (13) and a wheel (14). One end of the connecting rod (12) is provided with a threaded hole, and the pressing piece (12) 11) It is arranged between the connecting rod (12) and the machine connecting plate (6). The bolts on the machine connecting plate (6) pass through the pressing piece (11) and are fixed in the threaded hole. The connecting rod (12) The other end is connected to the wheel groove (13) through screws, and the wheel (14) is half wrapped in the wheel groove (13). 2.根据权利要求1所述的一种陆地滑行足式作业机器人,其特征在于,所述机器主体(1)上设置有机器外壳(5)和机器连接板(6),所述机器外壳(5)通过螺丝固定在机器连接板(6)上。2. A land sliding footed work 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), and the machine housing (1) 5) Fix it on the machine connection plate (6) with screws. 3.根据权利要求2所述的一种陆地滑行足式作业机器人,其特征在于,所述机器外壳(5)包括外壳主体(7)和后盖(9),所述外壳主体(7)上设置有深度相机(8),所述后盖(9)为可拆卸安装,所述后盖(9)上设置有若干散热风扇(10)。3. A land sliding footed work robot according to claim 2, characterized in that the machine housing (5) includes a housing body (7) and a back cover (9), and the housing body (7) A depth camera (8) is provided, the back cover (9) is detachably installed, and a number of cooling fans (10) are provided on the back cover (9). 4.根据权利要求1所述的一种陆地滑行足式作业机器人,其特征在于,所述腿部(2)通过电机安装在机器主体(1)上。4. A land sliding legged work robot according to claim 1, characterized in that the legs (2) are installed on the machine body (1) through a motor. 5.根据权利要求1所述的一种陆地滑行足式作业机器人,其特征在于,所述机械操作臂(3)包括大臂(16)、小臂(18)和执行器(19),所述大臂(16)的一端通过第一舵机(15)活动连接机器主体(1),所述大臂(16)的另一端通过第二舵机(17)活动连接小臂(18)的一端,所述小臂(18)的另一端活动连接执行器(19)。5. A land sliding footed work robot according to claim 1, characterized in that the mechanical operating arm (3) includes a big arm (16), a small arm (18) and an actuator (19), so One end of the boom (16) is movably connected to the machine body (1) through the first steering gear (15), and the other end of the boom (16) is movably connected to the small arm (18) through the second steering gear (17). One end and the other end of the small arm (18) are movably connected to the actuator (19). 6.根据权利要求5所述的一种陆地滑行足式作业机器人,其特征在于,所述执行器(19)包括第一支架组、第二支架组和夹手(22),所述第一支架组的一端连接小臂(18),所述第一支架组的另一端连接第二支架组的一端,所述第二支架组的另一端连接夹手(22)。6. A land sliding legged work robot according to claim 5, characterized in that the actuator (19) includes a first bracket group, a second bracket group and a gripper (22), and the first One end of the bracket group is connected to the small arm (18), the other end of the first bracket group is connected to one end of the second bracket group, and the other end of the second bracket group is connected to the clamping hand (22). 7.根据权利要求6所述的一种陆地滑行足式作业机器人,其特征在于,所述第一支架组中的第三舵机(21)活动连接小臂(18),所述第三舵机(21)与第一支架(20)通过螺钉连接,所述第一支架(20)通过螺柱组(27)连接第五舵机(26)。7. A land sliding legged work robot according to claim 6, characterized in that the third steering gear (21) in the first bracket group is movably connected to the forearm (18), and the third steering gear (21) in the first bracket group is movably connected to the forearm (18). The machine (21) is connected to the first bracket (20) through screws, and the first bracket (20) is connected to the fifth steering gear (26) through a stud group (27). 8.根据权利要求6所述的一种陆地滑行足式作业机器人,其特征在于,所述第二支架组中的第二支架(25)连接第五舵机(26),所述第二支架(25)通过螺栓组(24)连接第四舵机(23),所述第四舵机(23)通过螺栓连接夹手(22)。8. A land sliding legged work robot according to claim 6, characterized in that the second bracket (25) in the second bracket group is connected to the fifth steering gear (26), and the second bracket (25) The fourth steering gear (23) is connected through the bolt group (24), and the fourth steering gear (23) is connected to the clamping hand (22) through bolts.
CN202320827203.2U 2023-04-13 2023-04-13 Land sliding foot type operation robot Active CN220009951U (en)

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