Four-twin hexapod robot conveying device suitable for irregular winding terrain

Abstract

The invention belongs to the technical field of mobile robots. In order to solve the problems that an existing device cannot adapt to irregular terrains and a large turning radius is needed during turning, the four-twin hexapod robot conveying device adapting to the irregular winding terrains comprises a carrying platform, four hexapod robots and four connecting modules, the four hexapod robots are rotationally connected with the object carrying platform through the four connecting modules correspondingly, each hexapod robot comprises an upper platform and a lower platform which are connected in parallel through a telescopic rod, a UPU branch chain and a UPS branch chain, each platform is provided with three moving feet, one end of the telescopic rod is hinged to the lower platform, and the other end of the telescopic rod is slidably connected with the upper platform. The two ends of the UPU branch chain and the two ends of the UPS branch chain are hinged to the upper platform and the lower platform respectively, the driving parts are started to drive the telescopic rod and the two branch chains to move, zero-radius steering is achieved, the device adapts to irregular terrains, and the bearing capacity and stability are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of mobile robots, and in particular relates to a four-twin six-legged robot transport device adaptable to irregular winding terrain. Background Art

[0002] With industrial transformation and consumption upgrading, human requirements for robot performance are constantly increasing. In the field of mobile robots, mobile robots that can perform various transportation tasks in complex terrains are in urgent need of research.

[0003] Irregular winding terrain is characterized by narrow and uneven roads. Existing wheeled mobile platforms have a large carrying capacity and move fast on flat roads, but they require a large turning radius when turning. When faced with irregular winding terrain, they are often unable to reach the mission location due to the large turning radius. In this case, mobile transport devices that can carry heavy objects and have zero-radius turning are also receiving more and more attention. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a four-twin hexapod robot transport device that can adapt to irregular terrain and achieve zero-radius turning.

[0005] The present invention provides a four-twin hexapod robot transport device adapting to irregular winding terrain, comprising a loading platform, four hexapod robots and four connection modules, wherein the four hexapod robots are rotatably connected to the loading platform through the four connection modules respectively;

[0006] The hexapod robot includes an upper platform and a lower platform, which are connected in parallel via a branch chain assembly, and each of the upper platform and the lower platform has three movable feet. The branch chain assembly includes a telescopic rod, a UPU branch chain and a UPS branch chain. One end of the telescopic rod is hingedly connected to the lower platform, and the other end is slidably connected to the upper platform. A driving member is arranged between the telescopic rod and the upper platform, and the driving member is arranged parallel to the upper platform. The driving pairs of the UPU branch chain and the UPS branch chain are respectively the first moving pair of the UPU branch chain and the second moving pair of the UPS branch chain. The two ends of the UPU branch chain and the UPS branch chain are respectively hingedly connected to the upper platform and the lower platform. Starting the driving member drives the telescopic rod to slide along the extension direction of the end of the upper platform to drive the UPU branch chain and the UPS branch chain to move.

[0007] Optionally, the UPU branch chain is composed of a first rotating pair, the first moving pair, and the second rotating pair connected in series, the UPS branch chain is composed of a third rotating pair, the second moving pair, and a ball pair connected in series, and the telescopic rod is composed of a fourth rotating pair, a third moving pair, and a fifth rotating pair connected in series;

[0008] The driving member, the first moving pair, the second moving pair and the third moving pair are all linear motors.

[0009] Optionally, the branch chain assembly further includes a slider, the slider is connected to the end of the telescopic rod close to the upper platform, a slide rail is provided on one side of the upper platform close to the telescopic rod, and the slider is suitable for moving along the slide rail;

[0010] One end of the driving member is connected to the upper platform, and the other end is connected to the sliding block.

[0011] Optionally, a cooperative control system is provided on the loading platform, and the cooperative control system is connected to the driving member and the driving pair.

[0012] Optionally, a level sensor is provided at the bottom of the upper platform, and the level sensor is used to transmit a level signal of the upper platform, and an output end of the level sensor is connected to the collaborative control system.

[0013] Optionally, four load-bearing rods extend from four corners of the loading platform, and the four load-bearing rods are arranged in parallel, and the ends of the four load-bearing rods are respectively connected to four connecting modules.

[0014] Optionally, the connection module includes a first connecting member and a second connecting member connected to each other, the first connecting member is connected to the load-bearing rod through a sixth rotating pair, one end of the second connecting member is connected to the first connecting member through a seventh rotating pair, and the other end is connected to the hexapod robot through an eighth rotating pair.

[0015] Optionally, the upper platform is a rectangle and the lower platform is a triangle. The three moving feet of the upper platforms are evenly spaced at the bottom of the upper platform and close to the edge. The three moving feet of the lower platforms are respectively arranged at the vertices of the triangle, and the moving feet of the upper platform and the moving feet of the lower platform are staggered.

[0016] Optionally, the bottoms of the moving feet of the three upper platforms and the moving feet of the three lower platforms all have bottom plates in contact with the ground.

[0017] Optionally, a friction member is provided at the bottom of the base plate.

[0018] Compared with the prior art, the technical solution provided by the embodiment of the present invention has the following beneficial effects:

[0019] The embodiment of the present invention provides a four-twin hexapod robot transport device that can adapt to irregular winding terrain. Through a driving member parallel to the upper platform, the starting driving member can drive the telescopic rod to move in the horizontal direction, thereby driving the UPU branch chain and the UPS branch chain to move in the horizontal direction. By setting the moving pairs of the UPU branch chain and the UPS branch chain as driving pairs, the UPU branch chain and the UPS branch chain can respectively realize movement in the vertical direction through the first moving pair and the second moving pair, thereby driving the telescopic rod to realize movement in the vertical direction, so that the hexapod robot can realize movement in the horizontal direction and the vertical direction, thereby realizing that the moving feet of the upper platform and the lower platform can perform staggered movement, and this transport device can perform linear movement. By using four hexapod robots as the feet of the loading platform, and the hexapod robots are rotatably connected to the connection module, the hexapod robots can realize rotation in situ. This transport device realizes zero-radius turning through the staggered movement of the moving feet of the upper platform and the lower platform and the coordination of the rotation in situ, so as to better adapt to irregular winding terrain. This transport device has a simple structure, and improves the carrying capacity and stability by using four hexapod robots as the feet of the loading platform to perform handling tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0022] Figure 1 A schematic structural diagram of a four-twin hexapod robot transport device adapted to irregular winding terrain according to an embodiment of the present invention;

[0023] Figure 2 A schematic diagram of a quad-twin hexapod robot transport device that can adapt to irregular winding terrain and perform zero-radius turning according to an embodiment of the present invention;

[0024] Figure 3 A schematic diagram of the structure of a hexapod robot according to an embodiment of the present invention;

[0025] Figure 4 This is a schematic diagram of a driving member according to an embodiment of the present invention being installed on a hexapod robot;

[0026] Figure 5 It is a structural schematic diagram of the connection between the loading platform and the connecting module according to an embodiment of the present invention.

[0027] Among them, 1. Loading platform; 1.1. Load-bearing rod; 2. Hexapod robot; 2.1. Upper platform; 2.1.1. Slide rail; 2.2. Lower platform; 2.3. Moving foot of upper platform; 2.4. Telescopic rod; 2.5. UPU branch chain; 2.6. UPS branch chain; 2.7. Driving part; 2.8. Slider; 2.9. Moving foot of lower platform; 2.10. Bottom plate; 3. Connection module; 3.1. First connecting part; 3.2. Second connecting part. DETAILED DESCRIPTION

[0028] In order to more clearly understand the above-mentioned objectives, features and advantages of the present invention, the scheme of the present invention will be further described below. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0029] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present invention, rather than all of the embodiments.

[0030] Reference Figures 1 to 5 As shown, this embodiment provides a four-twin hexapod robot transport device that can adapt to irregular winding terrain, including a loading platform 1, four hexapod robots 2 and four connecting modules 3, and the four hexapod robots 2 are rotatably connected to the loading platform 1 through four connecting modules 3 respectively.

[0031] Among them, refer to Figure 1 and Figure 2As shown, the hexapod robot 2 includes an upper platform 2.1 and a lower platform 2.2, the upper platform 2.1 and the lower platform 2.2 are connected in parallel via a branch chain assembly, and both the upper platform 2.1 and the lower platform 2.2 have three moving feet, the branch chain assembly includes a telescopic rod 2.4, a UPU branch chain 2.5 and a UPS branch chain 2.6, one end of the telescopic rod 2.4 is hingedly connected to the lower platform 2.2, and the other end is slidably connected to the upper platform 2.1, and a driving member 2.7 is provided between the telescopic rod 2.4 and the upper platform 2.1, driving Component 2.7 is arranged parallel to the upper platform 2.1, and the driving pairs of the UPU branch chain 2.5 and the UPS branch chain 2.6 are respectively the first moving pair of the UPU branch chain 2.5 and the second moving pair of the UPS branch chain 2.6. Both ends of the UPU branch chain 2.5 and the UPS branch chain 2.6 are respectively hingedly connected to the upper platform 2.1 and the lower platform 2.2. When the driving component 2.7 is started, the telescopic rod 2.4 is driven to slide along the extension direction of the end of the upper platform 2.1 to drive the UPU branch chain 2.5 and the UPS branch chain 2.6 to move. Specifically, the upper platform 2.1 and the lower platform 2.2 are both movable platforms, and the two platforms are connected by a branch chain assembly. By arranging a driving member 2.7 between the telescopic rod 2.4 and the upper platform 2.1, and the driving member 2.7 is arranged in parallel with the upper platform 2.1, the telescopic rod 2.4 can be driven to move in the horizontal direction by starting the driving member 2.7, thereby driving the UPU branch chain 2.5 and the UPS branch chain 2.6 to move in the horizontal direction. By setting the moving pairs of the UPU branch chain 2.5 and the UPS branch chain 2.6 as the driving pairs, the UPU branch chain 2.5 and the UPS branch chain 2.6 can realize vertical movement through the first moving pair and the second moving pair respectively, thereby driving the telescopic rod 2.4 to realize vertical movement, so that The moving feet of the upper platform 2.1 and the lower platform 2.2 can perform staggered motion, that is, the hexapod robot 2 can perform horizontal and vertical motion, so that the transport device can perform linear motion. The loading platform 1 is used to carry goods, the hexapod robot 2 is equivalent to the foot of the loading platform 1, and the hexapod robot 2 is rotatably connected to the connecting module 3, so that the hexapod robot 2 can rotate in situ. This transport device achieves zero-radius turning through the staggered motion of the moving feet of the upper platform 2.1 and the lower platform 2.2 and the in-situ rotation, which can better adapt to irregular winding terrain. This transport device has a simple structure and improves the carrying capacity and stability by using four hexapod robots 2 as the feet of the loading platform 1 to perform carrying tasks.

[0032] Further, see Figure 3 and Figure 4As shown, the UPU branch chain 2.5 is composed of a first rotating pair, a first moving pair, and a second rotating pair connected in series, the UPS branch chain 2.6 is composed of a third rotating pair, a second moving pair, and a ball pair connected in series, the telescopic rod 2.4 is composed of a fourth rotating pair, a third moving pair, and a fifth rotating pair connected in series, and the driving member 2.7, the first moving pair, the second moving pair, and the third moving pair are all linear motors. Specifically, the moving pairs of the telescopic rod 2.4, the UPU branch chain 2.5, and the UPS branch chain 2.6 are all driving pairs, and the driving member 2.7 is also the driving pair of the telescopic rod 2.4, so that redundant drive is formed on the telescopic rod 2.4, and the driving force of the hexapod robot 2 is optimized. The distribution, the movement or force adjustment performance of the hexapod robot 2 is improved, so that the hexapod robot 2 can avoid obstacles more flexibly and adapt to complex work requirements, and the reliability and stability of the hexapod robot 2 are improved.

[0033] Continue to refer to Figure 3 and Figure 4 As shown, the branch chain assembly also includes a slider 2.8, which is connected to the end of the telescopic rod 2.4 near the upper platform 2.1. A slide rail 2.1.1 is provided on one side of the upper platform 2.1 near the telescopic rod 2.4. The slider 2.8 is suitable for moving along the slide rail 2.1.1. One end of the driving member 2.7 is connected to the upper platform 2.1, and the other end is connected to the slider 2.8. Specifically, the two ends of the telescopic rod 2.4 are respectively connected to the slider 2.8 and the lower platform 2.2 for rotation. Starting the driving member 2.7 drives the slider 2.8 to move along the slide rail 2.1.1, thereby driving the telescopic rod 2.4 to move in the horizontal direction. The lower platform 2.2 moves together with the telescopic rod 2.4, thereby driving the UPU branch chain 2.5 and the UPS branch chain 2.6 to move in the horizontal direction.

[0034] In order to prevent the center of gravity of the loading platform 1 from shifting, a coordinated control system is provided on the loading platform 1, and the coordinated control system is connected to the driving member 2.7 and the driving pair. Specifically, the transport device has a total of 24 moving feet, and each time a step is taken, 12 moving feet are in contact with the ground. By setting up a coordinated control system to control the driving member 2.7 and the driving pair, the four hexapod robots 2 move in unison each time they take a step.

[0035] Furthermore, a level sensor is provided at the bottom of the upper platform 2.1, and the level sensor is used to transmit the level signal of the upper platform 2.1, and the output end of the level sensor is connected to the collaborative control system. Specifically, the level sensor monitors the levelness of the upper platform 2.1 in real time, and transmits the level signal to the collaborative control system, so as to control the corresponding drive pair through the collaborative control system, thereby ensuring that the center of gravity of the transport device is always at the center position of the loading platform 1, thereby improving the adaptability of the transport device.

[0036] Reference Figure 5As shown, four load-bearing rods 1.1 extend from the four corners of the loading platform 1, and the four load-bearing rods 1.1 are arranged in parallel, and the ends of the four load-bearing rods 1.1 are respectively connected to the four connection modules 3. Specifically, by setting four load-bearing rods 1.1, the four load-bearing rods 1.1 are used to support the weight of the loading platform 1, ensuring that the loading platform 1 can remain stable when the transport device is in motion or static state. When the transport device turns, the four load-bearing rods 1.1 are responsible for transmitting the steering command to the hexapod robot 2 through the connection module 3, so that it deflects according to a predetermined angle, ensuring the accuracy and stability of the steering operation. When the transport device is in motion, the four load-bearing rods 1.1 can effectively absorb and disperse the vibration caused by the complex road surface, thereby improving the stability of the loading platform 1 in transporting goods.

[0037] Continue to refer to Figure 5 As shown, the connection module 3 includes a first connection member 3.1 and a second connection member 3.2 connected to each other, the first connection member 3.1 is connected to the load-bearing rod 1.1 through the sixth rotation pair, one end of the second connection member 3.2 is connected to the first connection member 3.1 through the seventh rotation pair, and the other end is connected to the hexapod robot 2 through the eighth rotation pair. Specifically, the rotation directions of the sixth rotation pair and the seventh rotation pair are perpendicular, so that the hexapod robot 2 has the ability to roll, pitch and yaw relative to the loading platform 1, which makes it easier for the hexapod robot 2 to drive the loading platform 1 to move, thereby improving the adaptability of the transport device.

[0038] Reference Figure 3 and Figure 4 As shown, the upper platform 2.1 is a rectangle, the lower platform 2.2 is a triangle, the three upper platform moving feet 2.3 are evenly spaced and distributed at the bottom of the upper platform 2.1, and close to the edge, the three lower platform moving feet 2.9 are respectively arranged at the vertices of the triangle, and the upper platform moving feet 2.3 and the lower platform moving feet 2.9 are staggered. Specifically, a hexapod robot 2 has six moving feet, and the six moving feet are staggered, so that the hexapod robot 2 has ends in contact with the ground in six directions, thereby ensuring the stability of the hexapod robot 2 in contact with the ground.

[0039] The bottoms of the moving feet 2.3 of the three upper platforms and the moving feet 2.9 of the three lower platforms all have bottom plates 2.10 in contact with the ground, and friction parts are provided at the bottom of the bottom plates 2.10. By providing the bottom plates 2.10, the contact area between the moving feet and the ground is increased, and the friction parts are provided at the bottom of the bottom plates 2.10, so that the friction force between the bottom plates 2.10 and the ground is increased, thereby preventing the bottom plates 2.10 from sliding relative to the ground, thereby improving the stability of the hexapod robot 2 in contact with the ground.

[0040] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0041] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments described herein, but should conform to the widest scope consistent with the principles and novel features invented herein.

Claims

1. A quad-twin hexapod robot transport device adapted to irregular winding terrain, characterized in that: It comprises a loading platform (1), four hexapod robots (2) and four connection modules (3), wherein the four hexapod robots (2) are rotationally connected to the loading platform (1) via the four connection modules (3); The hexapod robot (2) comprises an upper platform (2.1) and a lower platform (2.2), wherein the upper platform (2.1) and the lower platform (2.2) are connected in parallel via a branch chain assembly, and each of the upper platform (2.1) and the lower platform (2.2) has three moving feet, and the branch chain assembly comprises a telescopic rod (2.4), a UPU branch chain (2.5) and a UPS branch chain (2.6), one end of the telescopic rod (2.4) is hingedly connected to the lower platform (2.2), and the other end is slidably connected to the upper platform (2.1), and a driving member (2.7) is provided between the telescopic rod (2.4) and the upper platform (2.1), and the driving member ( The UPU branch chain (2.5) and the UPS branch chain (2.6) are arranged in parallel with the upper platform (2.1); the driving pairs of the UPU branch chain (2.5) and the UPS branch chain (2.6) are respectively the first moving pair of the UPU branch chain (2.5) and the second moving pair of the UPS branch chain (2.6); the two ends of the UPU branch chain (2.5) and the UPS branch chain (2.6) are respectively hingedly connected to the upper platform (2.1) and the lower platform (2.2); the driving member (2.7) is started to drive the telescopic rod (2.4) to slide along the extension direction of the end of the upper platform (2.1), so as to drive the UPU branch chain (2.5) and the UPS branch chain (2.6) to move.

2. The quad-twin hexapod robot transport device adapted to irregular winding terrain according to claim 1, characterized in that: The UPU branch chain (2.5) is composed of a first rotating pair, the first moving pair and the second rotating pair connected in series, the UPS branch chain (2.6) is composed of a third rotating pair, the second moving pair and a ball pair connected in series, and the telescopic rod (2.4) is composed of a fourth rotating pair, a third moving pair and a fifth rotating pair connected in series; The driving member (2.7), the first moving pair, the second moving pair and the third moving pair are all linear motors.

3. The quad-twin hexapod robot transport device adapted to irregular winding terrain according to claim 1, characterized in that: The branch chain assembly further comprises a slider (2.8), the slider (2.8) being connected to the end of the telescopic rod (2.4) close to the upper platform (2.1), a slide rail (2.1.1) being provided on one side of the upper platform (2.1) close to the telescopic rod (2.4), and the slider (2.8) being suitable for moving along the slide rail (2.1.1); One end of the driving member (2.7) is connected to the upper platform (2.1), and the other end is connected to the sliding block (2.8).

4. The quad-twin hexapod robot transport device adapted to irregular winding terrain according to claim 1, characterized in that: The object carrying platform (1) is provided with a coordinated control system, and the coordinated control system is connected to the driving member (2.7) and the driving pair.

5. The quad-twin hexapod robot transport device adapted to irregular winding terrain according to claim 4, characterized in that: A level sensor is provided at the bottom of the upper platform (2.1), the level sensor being used to transmit a level signal of the upper platform (2.1), and an output end of the level sensor being connected to the collaborative control system.

6. The quad-twin hexapod robot transport device adapted to irregular winding terrain according to claim 1, characterized in that: Four load-bearing rods (1.1) extend from four corners of the loading platform (1), and the four load-bearing rods (1.1) are arranged in parallel, and the ends of the four load-bearing rods (1.1) are respectively connected to the four connection modules (3).

7. The quad-twin hexapod robot transport device adapted to irregular winding terrain according to claim 6, characterized in that: The connection module (3) comprises a first connection member (3.1) and a second connection member (3.2) which are connected to each other, wherein the first connection member (3.1) is connected to the load-bearing rod (1.1) via a sixth rotational pair, and one end of the second connection member (3.2) is connected to the first connection member (3.1) via a seventh rotational pair, and the other end is connected to the hexapod robot (2) via an eighth rotational pair.

8. The quad-twin hexapod robot transport device adapted to irregular winding terrain according to claim 1, characterized in that: The upper platform (2.1) is rectangular, the lower platform (2.2) is triangular, the three moving feet (2.3) of the upper platform are evenly spaced and distributed at the bottom of the upper platform (2.1) and close to the edge, the three moving feet (2.9) of the lower platform are respectively arranged at the apex angles of the triangle, and the moving feet (2.3) of the upper platform and the moving feet (2.9) of the lower platform are staggered.

9. The quad-twin hexapod robot transport device adapted to irregular winding terrain according to claim 1, characterized in that: The bottoms of the three moving feet (2.3) of the upper platforms and the three moving feet (2.9) of the lower platforms all have bottom plates (2.10) that are in contact with the ground.

10. The quad-twin hexapod robot transport device adapted to irregular winding terrain according to claim 9, characterized in that: The bottom of the bottom plate (2.10) is provided with a friction piece.

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