CN220009951U - Land sliding foot type operation robot - Google Patents

Abstract

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

A kind of land sliding foot type work robot

Technical field

The utility model belongs to the field of robots, in particular to a land sliding foot type working robot.

Background technique

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.

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.

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.

Contents of the invention

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.

In order to achieve the above purpose, the present utility model adopts the following technical solutions to achieve it:

A land sliding footed work robot, including a machine body, legs, mechanical operating arms and sliding wheels;

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.

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.

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.

Further, the legs are installed on the machine body through a motor.

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.

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.

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.

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.

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.

Compared with the existing technology, this utility model has the following beneficial effects:

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.

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.

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.

Description of the drawings

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.

Figure 1 is a schematic diagram of the overall structure of the utility model.

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

Figure 3 is a schematic diagram of the main body of the machine of the present invention.

Figure 4 is a schematic diagram of the machine casing of the present utility model.

Figure 5 is a schematic diagram of the abdominal sliding wheel of the present invention.

Figure 6 is a schematic diagram of the mechanical operating arm of the present utility model.

Figure 7 is a schematic diagram of the actuator of the mechanical operating arm of the present invention.

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 .

Detailed ways

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.

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.

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.

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.

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.

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.

The utility model will be described in further detail below in conjunction with the accompanying drawings:

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.

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.

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.

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.

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.

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.

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.

The specific working method of the land sliding legged work robot of the present utility model:

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.

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. A land sliding footed work robot, characterized by including a machine body (1), legs (2), mechanical operating arms (3) and sliding wheels (4); 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; 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. 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. 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. 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. 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. 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. 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. 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.