Rigid-flexible coupling driving wheel leg switching spraying robot

Abstract

The rigid-flexible coupling driving wheel leg switching spraying robot comprises a vehicle body, a mechanical arm spraying mechanism is rotationally connected to the top of the vehicle body, a left front leg mechanism and a right front leg mechanism are arranged at the front end of the vehicle body, and a left rear leg mechanism and a right rear leg mechanism are arranged at the rear end of the vehicle body; a front wheel steering mechanism and a rear wheel driving mechanism are arranged at the bottom of the vehicle body in the front-back direction, and the front wheel steering mechanism and the rear wheel driving mechanism are connected with a first wheel-leg switching mechanism and a second wheel-leg switching mechanism on the vehicle body correspondingly to achieve switching of wheel-leg modes of the spraying robot. According to the technical scheme, efficient adaptation in different working environments is achieved through the wheel leg switching mechanism, it is ensured that the robot can move at a high speed on the flat ground and has the excellent obstacle crossing capacity in the complex terrain, and the application performance and the working adaptation capacity of the robot in spraying operation are effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of spraying robots, and particularly to a rigid-flexible coupled drive wheel-leg switching spraying robot. Background Art

[0002] As an important industrial automation device, spraying robots are widely used in fields such as automobile manufacturing, furniture spraying, and construction engineering. Their core task is to uniformly spray the surfaces of workpieces with different shapes and materials. Traditional spraying robots usually adopt fixed or rail-mobile designs. Although they can meet some spraying requirements, they have obvious limitations in the face of complex working environments and multi-scenario adaptability. Especially in tasks that require crossing different terrains or switching working modes, the flexibility of traditional designs is insufficient, which limits the application of spraying robots in diverse industrial scenarios. In addition, the end effector of traditional spraying robots consists of a spray gun, a nozzle, and a drive system, which is usually rigidly fixed on the robotic arm, reducing the flexibility of the end effector; and replacing the end effector is relatively complex, greatly reducing the working efficiency of the spraying robot and making it unable to adapt to multi-environment operations.

[0003] In recent years, wheel-leg switching quadruped robots have received attention due to their ability to move at high speeds on flat ground and flexibly cross obstacles on complex terrains. By combining the high efficiency of wheeled movement and the adaptability of legged movement, such robots significantly improve the flexibility of robots in complex working environments. However, there is still relatively little research on combining wheel-leg switching designs with spraying operation requirements, especially in terms of achieving high-precision spraying while taking into account multi-scenario movement capabilities, there is a technical gap.

[0004] Most current wheel-leg switching robots are rigidly driven by motors. Due to the need to use heavy components such as motors, gears, and drive shafts, the overall weight of the robot is relatively large, resulting in limited movement flexibility. In addition, rigid driving cannot be flexibly adjusted according to changes in the external environment, which makes it perform poorly under complex or irregular working conditions, and lacks effective buffering capabilities in the face of external impacts and vibrations, easily leading to mechanical damage or accuracy degradation. For example, the patent with the publication number CN115454112 discloses a mobile robot with fourteen degrees of freedom for mutual switching between quadruped and double wheel-legs. The wheel-leg switching mechanism in this patent uses a pair of wheel-leg units and leg-foot units, directly driven by motors. When switching between the wheel mode and the leg mode, it is difficult to ensure stability, and at the same time, it increases the gravitational burden on the legs, making it difficult to meet the spraying processing requirements of multi-scenarios. The patent with the publication number CN116238615A discloses a small foldable wheel-leg mobile robot. The wheel-leg switching mechanism in this patent uses foldable wheel-legs, and four wheels are installed at the knee joints of the legs, increasing the burden on the legs, reducing the flexibility of the legs, and increasing energy consumption. Summary of the Invention

[0005] The object of the present invention is to provide a rigid-flexible coupled drive wheel-leg switching spraying robot, aiming to solve the problems of insufficient moving flexibility of the spraying robot in complex scenarios and low multi-tool task switching efficiency.

[0006] To achieve the above object, the present invention adopts the following technical solutions: It includes a vehicle body, a robotic arm spraying mechanism is rotatably connected to the top of the vehicle body, a left front leg mechanism and a right front leg mechanism are provided at the front end of the vehicle body, a left rear leg mechanism and a right rear leg mechanism are provided at the rear end of the vehicle body, a front wheel steering mechanism and a rear wheel drive mechanism are provided along the front-rear direction at the bottom of the vehicle body, and the front wheel steering mechanism and the rear wheel drive mechanism are respectively connected to a first wheel-leg switching mechanism and a second wheel-leg switching mechanism on the vehicle body to realize the switching of the wheel-leg mode of the spraying robot; The first wheel-leg switching mechanism and the second wheel-leg switching mechanism have the same structure, and each respectively includes a driving component and a transmission component. The driving component includes a first rotating motor and a second rotating motor which are arranged side by side on a motor mounting plate and have opposite rotation directions. The output shaft of the first rotating motor is coaxially connected to a third bevel gear, and the third bevel gear meshes with a fourth bevel gear. The gear shaft of the fourth bevel gear is fixed on the motor mounting plate through a first support frame; the output shaft of the second rotating motor is coaxially connected to a fifth bevel gear, and the fifth bevel gear meshes with a sixth bevel gear. The gear shaft of the sixth bevel gear is fixed on the motor mounting plate through a second support frame; the transmission component includes an eighth link, a fifth link, a sixth link, a seventh link and a universal joint component. One ends of the eighth link and the sixth link are coaxially fixed to the gear shafts of the fourth bevel gear and the sixth bevel gear respectively. The other end of the eighth link is hinged to the fifth link, the other end of the fifth link is hinged to one end of the seventh link, the other end of the sixth link is hinged to the rod body of the seventh link, the seventh link in the first wheel-leg switching mechanism is hinged to the universal joint component fixed on the front wheel steering mechanism, and the seventh link in the second wheel-leg switching mechanism is hinged to the universal joint component fixed on the rear wheel drive mechanism.

[0007] The front wheel steering mechanism includes a left front wheel, a left front wheel shaft, a right front wheel, a right front wheel shaft and a link mechanism connecting the left front wheel shaft and the right front wheel shaft. The link mechanism includes a hydraulic cylinder, a driving link hinged to the piston rod end of the hydraulic cylinder, and a parallelogram link component connected to the driving link; the rear wheel drive mechanism includes a left rear wheel, a left rear wheel shaft, a right rear wheel, a right rear wheel shaft, a differential connected to the left rear wheel shaft and the right rear wheel shaft, and a steering motor connected to the differential. The steering motor is fixed on a steering motor bracket.

[0008] The described parallelogram link assembly consists of a first link, a second link, a third link, and a fourth link that are arranged in sequence and hinged to each other pairwise. One end of the drive link is hinged to the piston rod end of the hydraulic cylinder, and the other end of the drive link is hinged to the midpoints of the first link and the third link. The connection between the drive link and the third link is a kidney-shaped hole; One end of each of the second link and the fourth link is respectively provided with a first hinge shaft for rotatably connecting to the third link. The other ends of the second link and the fourth link are respectively provided with fixing rings. A second hinge shaft for rotatably connecting to the first link is provided on the fixing rings. The fixing ring on the second link is sleeved on the right front wheel axle and fixedly connected to the right front wheel axle. The fixing ring on the fourth link is sleeved on the left front wheel axle and fixedly connected to the left front wheel axle.

[0009] The structures of the left front leg mechanism, the left hind leg mechanism, the right front leg mechanism, and the right hind leg mechanism are the same, and each respectively includes a thigh unit, a calf unit, and a foot unit. The thigh unit includes a first thigh plate, a second thigh plate, and a first transmission rod connecting the two. Both ends of the first transmission rod are rotatably connected to the vehicle body through bearings to form a hip joint. The hip joint is driven by a hip joint drive mechanism to rotate to achieve the attitude change of the thigh unit. The calf unit includes a first calf plate and a second calf plate. One end of the first calf plate and the second calf plate is connected by a second transmission rod, and the other end of the first calf plate and the second calf plate is connected by a third transmission rod. Both ends of the second transmission rod are rotatably connected to the thigh unit through bearings to form a knee joint. The knee joint is driven by a knee joint drive mechanism to rotate to achieve the attitude change of the calf unit. Both ends of the third transmission rod are rotatably connected to the foot unit through bearings to form an ankle joint. An adsorption foot that can be externally connected to an air pump is provided at the bottom of the foot unit.

[0010] The hip joint drive mechanism includes a first bevel gear and a second bevel gear that are meshed with each other. The first bevel gear is coaxially connected to the output shaft of the first drive motor, and the second bevel gear is coaxially connected to the first transmission rod; The knee joint drive mechanism includes a first reel, a second reel, and a flexible cable connecting the two. The first reel is driven to rotate by a second drive motor. The second reel is coaxially fixed on the second transmission rod. A first guide pulley and a second guide pulley are coaxially rotatably connected to the first transmission rod. One end of the flexible cable sequentially winds around the first reel, the first guide pulley, the second reel, the second guide pulley and then forms a closed-loop connection with the other end of the flexible cable, and the winding directions of the flexible cable on the first reel and the second reel are opposite.

[0011] The described robotic arm spraying mechanism includes a rotating platform rotatably connected to the vehicle body, a robotic arm fixed on the rotating platform, and a nozzle connected to the end of the robotic arm; the robotic arm includes a robotic arm bottom plate, a large arm, a connecting rod, and a small arm connected in sequence, the robotic arm bottom plate is fixedly connected to the rotating platform, the large arm is rotatably connected to a first fixed ear seat on the robotic arm bottom plate, both ends of the connecting rod are rotatably connected to the large arm and the small arm respectively, and the nozzle is fixed to the end of the small arm; the robotic arm further includes a first hydraulic cylinder for driving the large arm to rotate, a second hydraulic cylinder for driving the connecting rod to rotate, and a third hydraulic cylinder for driving the small arm to rotate.

[0012] The described large arm includes a first large arm plate, a second large arm plate, and a first fixed rod connecting the two, the small arm includes a first small arm plate, a second small arm plate, and a second fixed rod connecting the two, the inner side of the connecting rod is hollow and a third fixed rod is provided in the hollow part; the cylinder end of the first hydraulic cylinder is rotatably connected to a second fixed ear seat on the robotic arm bottom plate, and the piston rod end of the first hydraulic cylinder is rotatably connected to the first fixed rod; the cylinder end of the second hydraulic cylinder is rotatably connected to the first fixed rod, and the piston rod end of the second hydraulic cylinder is rotatably connected to the third fixed rod; the cylinder end of the third hydraulic cylinder is rotatably connected to the third fixed rod, and the piston rod end of the third hydraulic cylinder is rotatably connected to the second fixed rod.

[0013] The described nozzle includes a nozzle bracket and a first nozzle and a second nozzle installed at both ends of the nozzle bracket, the nozzle bracket includes a first nozzle mounting plate, a second nozzle mounting plate, and a fixed shaft connecting the two, and both ends of the fixed shaft are respectively rotatably connected to the first small arm plate and the second small arm plate through deep groove ball bearings.

[0014] The ends of the first small arm plate and the second small arm plate are both openable and closable structures, including a fixed part and a rotating part, one end of the fixed part and the rotating part is rotatably connected through a butterfly hinge, the other end of the fixed part and the rotating part is quickly fixed through a manual buckle, the fixed part and the rotating part are combined to form a space for accommodating the deep groove ball bearing, and the manual buckle realizes the locking and fixing of the deep groove ball bearing.

[0015] The described first nozzle is a telescopic nozzle, including a telescopic rod with a hollow interior, one end of the telescopic rod is fixed to the small arm through a telescopic rod bracket, the other end of the telescopic rod is connected with a nozzle, a feed hole is provided on the nozzle, and an air inlet hole is provided on the telescopic rod.

[0016] The beneficial technical effects of the present invention are as follows: 1. The leg mode of the present invention adopts a rigid-flexible coupling drive method. The thigh unit uses a rigid drive, and the calf unit uses a flexible drive. Due to its characteristics of light weight, flexible layout, and high transmission efficiency, the flexible drive mechanism can effectively reduce the overall mass of the robot and improve its movement flexibility. At the same time, the rigid-flexible coupling structure can not only enhance the buffering ability of the robot against external impacts but also improve its adaptability and reliability in different operation tasks by reasonably distributing the functions of the rigid and flexible components of the robot.

[0017] 2. The present invention adopts a separable wheel-leg switching mechanism. The wheels and legs are independently installed on the vehicle body, which can not only provide the high-speed characteristics of a wheeled robot but also possess the stability of a legged robot. This structural design is simple and the manufacturing process is convenient, reducing the processing difficulty. At the same time, the wheel-leg switching becomes more efficient, has a greater load-bearing capacity, effectively improves the obstacle-crossing ability of the robot. This structure also optimizes the energy utilization efficiency and significantly enhances the adaptability of the robot in various working environments.

[0018] 3. The end nozzle of the present invention adopts a quick-release structure. Through the mutual cooperation of a manual buckle and a butterfly hinge structure, the quick replacement of the end nozzle can be realized, which has the advantages of quick replacement and simple operation. It can quickly switch tools according to different task requirements, improve the operation efficiency, reduce the downtime, enhance the versatility and flexibility of the robot, and adapt to diverse working environments.

[0019] 4. The present invention designs an adsorbable foot unit. By using a vacuum adsorption system, the foot unit has good ground adaptability and stability, can firmly adhere to smooth or irregular surfaces, enhancing the robot's grip and obstacle-crossing ability. Its design simplifies the movement and positioning process, improving the operation efficiency and stability of the robot in complex environments.

[0020] 5. The present invention designs a telescopic nozzle. The telescoping of the nozzle is achieved through air pressure (or hydraulic pressure), which has the function of adjusting the spraying range and angle, and can be flexibly adjusted according to the needs of different workpieces or working environments, improving the spraying accuracy and efficiency. Description of the Drawings

[0021] Figure 1 is the structural schematic diagram of the present invention in the leg mode Figure 1 .

[0022] Figure 2 is the structural schematic diagram of the present invention in the leg mode Figure 2 .

[0023] Figure 3 is the structural schematic diagram of the present invention in the wheel mode.

[0024] Figure 4 is the structural schematic diagram of the vehicle body of the present inventionFigure 1 .

[0025] Figure 5 is a schematic diagram of the structure of the vehicle body of the present invention Figure 2 .

[0026] Figure 6 is an exploded schematic diagram of the rotating platform and the vehicle body of the present invention.

[0027] Figure 7 is a schematic diagram of the structure of the rotating platform of the present invention.

[0028] Figure 8 is a schematic diagram of the structure of the robotic arm spraying mechanism of the present invention Figure 1 .

[0029] Figure 9 is a schematic diagram of the structure of the robotic arm spraying mechanism of the present invention Figure 2 .

[0030] Figure 10 is a schematic diagram of the structure of the robotic arm spraying mechanism of the present invention Figure 3 .

[0031] Figure 11 is a partial enlarged view of the nozzle of the present invention.

[0032] Figure 12 is a schematic diagram of the structure of the left front leg mechanism of the present invention Figure 1 .

[0033] Figure 13 is a schematic diagram of the structure of the left front leg mechanism of the present invention Figure 2 .

[0034] Figure 14 is a schematic diagram of the connection structure of the left front leg mechanism, the right front leg mechanism, the front wheel steering mechanism and the first leg switching mechanism of the present invention Figure 1 .

[0035] Figure 15 is a schematic diagram of the connection structure of the left front leg mechanism, the right front leg mechanism, the front wheel steering mechanism and the first leg switching mechanism of the present invention Figure 2 .

[0036] Figure 16 is a schematic diagram of the connection structure of the front wheel steering mechanism and the first leg switching mechanism of the present invention Figure 1 .

[0037] Figure 17 is a schematic diagram of the connection structure of the front wheel steering mechanism and the first leg switching mechanism of the present invention Figure 2 .

[0038] Figure 18 is a schematic diagram of the structure of the front wheel steering mechanism of the present invention.

[0039] Figure 19 It is a schematic structural diagram of the first-round leg switching mechanism of the present invention.

[0040] Figure 20 It is a schematic connection diagram of the left rear leg mechanism, right rear leg mechanism, rear wheel drive mechanism and second-round leg switching mechanism of the present invention.

[0041] Figure 21 It is a schematic connection diagram of the rear wheel drive mechanism and the second-round leg switching mechanism of the present invention Figure 1 .

[0042] Figure 22 It is a schematic connection diagram of the rear wheel drive mechanism and the second-round leg switching mechanism of the present invention Figure 2 .

[0043] The markings in the above-mentioned drawings are: vehicle body 1, robotic arm spraying mechanism 2, rotating platform 21, robotic arm base plate 22, first fixed ear seat 221, second fixed ear seat 222, boom 23, first boom plate 231, second boom plate 232, first fixed rod 233, intermediate connecting rod 24, forearm 25, first forearm plate 251, fixing part 2511, rotating part 2512, butterfly hinge 2513, manual buckle 2514, second forearm plate 252, second fixed rod 253, third fixed rod 241, first hydraulic cylinder 26, second hydraulic cylinder 27, third hydraulic cylinder 28, nozzle support 29, first nozzle mounting plate 291, second nozzle mounting plate 292, fixed shaft 293, first nozzle 294, telescopic rod 2941, telescopic rod support 2942, nozzle 2943, feed hole 2944, air inlet hole 2945, second nozzle 295, left front leg mechanism 3A, left rear leg mechanism 3B, right front leg mechanism 3C, right rear leg mechanism 3D, thigh unit 31, first thigh plate 311, second thigh plate 312, first transmission rod 313, calf unit 32, first calf plate 321, second calf plate 322, second transmission rod 323, third transmission rod 324, foot unit 33, adsorption foot 331, hip joint drive mechanism 34, first bevel gear 341, second bevel gear 342, first drive motor 343, knee joint drive mechanism 35, first winding drum 351, second winding drum 352, flexible cable 353, second drive motor 354, first guide pulley 355, second guide pulley 356, front wheel steering mechanism 5, left front wheel 51, left front wheel axle 52, right front wheel 53, right front wheel axle 54, hydraulic cylinder 55, drive link 56, first link 571, second link 572, third link 573, fourth link 574, first hinge shaft 575, fixed ring 576, second hinge shaft 577, rear wheel drive mechanism 6, left rear wheel 61, left rear wheel axle 62, right rear wheel 63, right rear wheel axle 64, differential 65, steering motor 66, steering motor bracket 67, first wheel-leg switching mechanism 7A, second wheel-leg switching mechanism 7B, motor mounting plate 701, first rotating motor 702, second rotating motor 703, third bevel gear 704, fourth bevel gear 705, first support frame 706, fifth bevel gear 707, sixth bevel gear 708, second support frame 709, fifth link 710, sixth link 711, seventh link 712, universal joint assembly 713, eighth link 714. Detailed implementation manners

[0044] The present invention will be further described below with reference to the drawings: As Figure 1 、 Figure 2 、 Figure 3A rigid-flexible coupling drive wheel-leg switching spraying robot shown in the figure includes a vehicle body 1. A robotic arm spraying mechanism 2 is rotatably connected to the top of the vehicle body 1. A left front leg mechanism 3A and a right front leg mechanism 3C are provided at the front end of the vehicle body 1. A left rear leg mechanism 3B and a right rear leg mechanism 3D are provided at the rear end of the vehicle body 1. A front wheel steering mechanism 5 and a rear wheel drive mechanism 6 are provided along the front-rear direction at the bottom of the vehicle body 1. The front wheel steering mechanism 5 and the rear wheel drive mechanism 6 are respectively connected to a first wheel-leg switching mechanism 7A and a second wheel-leg switching mechanism 7B on the vehicle body 1 to realize the switching of the wheel-leg mode of the spraying robot.

[0045] Further, as Figure 4 , Figure 5 , Figure 6 , Figure 7 shown, the robotic arm spraying mechanism 2 includes a rotating platform 21 rotatably connected to the vehicle body 1, a robotic arm fixed on the rotating platform 21, and a nozzle connected to the end of the robotic arm. A rotating shaft is fixed at the center of the bottom of the rotating platform 21. The rotating shaft is connected to the output shaft of a rotating motor, and the rotating platform is driven to rotate by the rotating motor. The rotating motor is fixed on the lower plate surface of the top plate of the vehicle body 1.

[0046] Furthermore, as Figure 8 , Figure 9 , Figure 10 , Figure 11 shown, the robotic arm includes a robotic arm bottom plate 22, a large arm 23, an intermediate connecting rod 24, and a small arm 25 connected in sequence. Among them: the robotic arm bottom plate 22 is fixedly connected to the rotating platform 21. The large arm 23 is rotatably connected to a first fixed ear seat 221 on the robotic arm bottom plate 22. Both ends of the intermediate connecting rod 24 are respectively rotatably connected to the large arm 23 and the small arm 25. The nozzle is fixed at the end of the small arm 25. The robotic arm also includes a first hydraulic cylinder 26 for driving the large arm 23 to rotate, a second hydraulic cylinder 27 for driving the intermediate connecting rod 24 to rotate, and a third hydraulic cylinder 28 for driving the small arm 25 to rotate. In this embodiment, two groups of robotic arms are symmetrically arranged on the rotating platform 21.

[0047] Specifically, the large arm 23 includes a first large arm plate 231, a second large arm plate 232, and a first fixing rod 233 connecting the two. The small arm 25 includes a first small arm plate 251, a second small arm plate 252, and a second fixing rod 253 connecting the two. The inner side of the intermediate connecting rod 24 is hollow, and a third fixing rod 241 is provided in the hollow part. The cylinder end of the first hydraulic cylinder 26 is rotatably connected to the second fixing ear seat 222 on the manipulator bottom plate 22, and the piston rod end of the first hydraulic cylinder 26 is rotatably connected to the first fixing rod 233. The cylinder end of the second hydraulic cylinder 27 is rotatably connected to the first fixing rod 233, and the piston rod end of the second hydraulic cylinder 27 is rotatably connected to the third fixing rod 241. The cylinder end of the third hydraulic cylinder 28 is rotatably connected to the third fixing rod 241, and the piston rod end of the third hydraulic cylinder 28 is rotatably connected to the second fixing rod 253. During operation, the large arm 23 and the small arm 25 can be moved to a suitable height through the first hydraulic cylinder 26, the second hydraulic cylinder 27, and the third hydraulic cylinder 28. At the same time, when the rotation motor works, the manipulator can be rotated to a suitable angle for operation.

[0048] Furthermore, the spray head includes a spray head support 29, a first spray head 294, and a second spray head 295 installed at both ends of the spray head support 29. The spray head support 29 includes a first spray head mounting plate 291, a second spray head mounting plate 292, and a fixing shaft 293 connecting the two. Both ends of the fixing shaft 293 are rotatably connected to the first small arm plate 251 and the second small arm plate 252 through deep groove ball bearings.

[0049] Preferably, the first spray head 294 is a telescopic spray head, including a telescopic rod 2941 with a hollow interior. One end of the telescopic rod 2941 is fixed to the small arm 25 through a telescopic rod support 2942. The other end of the telescopic rod 2941 is connected to a nozzle 2943. A feed hole 2944 is provided on the nozzle 2943, and an air inlet hole 2945 is provided on the telescopic rod 2941. During operation, the spraying raw material enters through the feed hole 2944 and is sprayed out through the nozzle 2943. When the air inlet hole 2945 sucks air, the telescopic rod 2941 retracts. When the air inlet hole 2945 exhausts air, the telescopic rod 2941 extends. The telescopic range of the spraying operation can be finely adjusted through the telescopic movement of the telescopic rod 2941. The pneumatic principle of the telescopic rod 2941 can refer to the prior art. In this embodiment, the first spray head 294 and the second spray head 295 adopt two different structures of spray heads, which can be switched according to actual working needs to adapt to more spraying requirements. When switching, it can be directly rotated manually.

[0050] Preferably, the ends of the first small arm plate 251 and the second small arm plate 252 are both openable and closable structures, including a fixed part 2511 and a rotating part 2512. One end of the fixed part 2511 and the rotating part 2512 is rotatably connected through a butterfly hinge 2513, and the other ends of the fixed part 2511 and the rotating part 2512 are quickly fixed through a manual buckle 2514. The fixed part 2511 and the rotating part 2512 are opposed to form a space for accommodating a deep groove ball bearing, and the manual buckle 2514 realizes the locking and fixing of the deep groove ball bearing. When the nozzle needs to be cleaned or replaced, the quick loading and unloading can be realized through the structure of the manual buckle 2514.

[0051] Furthermore, the structures of the left front leg mechanism 3A, the left hind leg mechanism 3B, the right front leg mechanism 3C, and the right hind leg mechanism 3D are the same, and each respectively includes a thigh unit 31, a calf unit 32, and a foot unit 33.

[0052] As Figure 12 , Figure 13 shown, specifically, the thigh unit 31 includes a first thigh plate 311, a second thigh plate 312, and a first transmission rod 313 connecting the two. The first transmission rod 313 is fixedly connected to the first thigh plate 311 and the second thigh plate 312. Both ends of the first transmission rod 313 extend and are respectively rotatably connected to the vehicle body 1 through bearings to form a hip joint. The hip joint is driven by a hip joint drive mechanism 34 to rotate to realize the attitude change of the thigh unit 31. The hip joint drive mechanism 34 includes a first bevel gear 341 and a second bevel gear 342 that are engaged with each other. The first bevel gear 341 is coaxially connected to the output shaft of the first drive motor 343, and the second bevel gear 342 is coaxially connected to the first transmission rod 313. During operation, the first drive motor 343 drives the first bevel gear 341 to rotate, and drives the thigh unit to swing around the hip joint through the second bevel gear 342 engaged with the first bevel gear 341.

[0053] Specifically, the calf unit 32 includes a first calf plate 321 and a second calf plate 322. One end of the first calf plate 321 and the second calf plate 322 is connected by a second transmission rod 323, and the other end of the first calf plate 321 and the second calf plate 322 is connected by a third transmission rod 324. Both ends of the first calf plate 321 and the second calf plate 322 are fixedly connected to the second transmission rod 323 and the third transmission rod 324 respectively. Both ends of the second transmission rod 323 extend out and are rotatably connected to the thigh unit 31 through bearings respectively to form a knee joint. The knee joint is driven by a knee joint drive mechanism 35 to rotate to realize the attitude change of the calf unit 32. The knee joint drive mechanism 35 includes a first reel 351, a second reel 352 and a flexible cable 353 connecting the two. The first reel 351 is driven to rotate by a second drive motor 354. The second reel 352 is coaxially fixed on the second transmission rod 323. A first guide pulley 355 and a second guide pulley 356 are coaxially and rotatably connected to the first transmission rod 313. One end of the flexible cable 353 is sequentially wound around the first reel 351, the first guide pulley 355, the second reel 352, the second guide pulley 356 and then forms a closed-loop connection with the other end of the flexible cable 353, and the winding directions of the flexible cable 353 on the first reel 351 and the second reel 352 are opposite. Preferably, a torsion spring is installed at the knee joint of this embodiment to limit the rotation angle of the calf unit and play a limiting role. Taking one side as an example, that is, the torsion spring is sleeved on the second transmission rod 323, one end of the torsion spring is fixed to the first thigh plate 311, and the other end of the torsion spring is fixed to the first calf plate 321. During operation, the second drive motor 354 drives the first reel 351 to rotate forward or backward, driving the flexible cable 353 to unwind or wind up, realizing the backward or forward swing of the calf unit 32.

[0054] Specifically, both ends of the third transmission rod 324 extend out and are rotatably connected to the foot unit 33 through bearings respectively to form an ankle joint. An adsorption foot 331 that can be externally connected to an air pump is provided at the bottom of the foot unit 33. When adsorption is required, the adsorption foot 331 is connected to the air pump to realize the adsorption function.

[0055] Further, as Figure 14 、 Figure 15 、 Figure 16 、 Figure 17 、 Figure 18As shown in the figure, the front-wheel steering mechanism 5 includes a left front wheel 51, a left front-wheel axle 52, a right front wheel 53, a right front-wheel axle 54, and a link mechanism connecting the left front-wheel axle 52 and the right front-wheel axle 54. The link mechanism includes a hydraulic cylinder 55, a driving link 56 hinged to the piston rod end of the hydraulic cylinder 55, and a parallelogram link assembly connected to the driving link 56. Specifically, the parallelogram link assembly is composed of a first link 571, a second link 572, a third link 573, and a fourth link 574 arranged in sequence and hinged to each other in pairs. One end of the driving link 56 is hinged to the piston rod end of the hydraulic cylinder 55, and the other end of the driving link 56 is hinged to the midpoints of the first link 571 and the third link 573, and the connection between the driving link 56 and the third link 573 is a kidney-shaped hole. One end of each of the second link 572 and the fourth link 574 is respectively provided with a first hinge shaft 575 rotatably connected to the third link 573, and the other end of each of the second link 572 and the fourth link 574 is respectively provided with a fixing ring 576. A second hinge shaft 577 rotatably connected to the first link 571 is provided on the fixing ring 576. The fixing ring 576 on the second link 572 is sleeved on the right front-wheel axle 54 and fixedly connected to the right front-wheel axle 54, and the fixing ring 576 on the fourth link 574 is sleeved on the left front-wheel axle 52 and fixedly connected to the left front-wheel axle 52. When steering is required, the piston rod of the hydraulic cylinder 55 extends, driving the parallelogram link assembly to rotate clockwise through the driving link 56, realizing the right turn of the wheels. Conversely, when the piston rod of the hydraulic cylinder 55 retracts, driving the parallelogram link assembly to rotate counterclockwise through the driving link 56, realizing the left turn of the wheels.

[0056] Furthermore, as Figure 20 , Figure 21 , Figure 22 shown, the rear-wheel drive mechanism 6 includes a left rear wheel 61, a left rear-wheel axle 62, a right rear wheel 63, a right rear-wheel axle 64, a differential 65 connecting the left rear-wheel axle 62 and the right rear-wheel axle 64, and a steering motor 66 connected to the differential 65, that is, the output end of the steering motor 66 is connected to the input end of the differential 65, and the output end of the differential 65 is respectively connected to the left rear-wheel axle 62 and the right rear-wheel axle 64. The structural principle of the differential 65 can be referred to the prior art and will not be elaborated here. When turning, the inner wheels rotate slower and the outer wheels rotate faster. The differential 65 can be used to adjust the rotational speed difference between the inner and outer wheels to ensure smooth driving in the wheel mode. The steering motor 66 is fixed on the steering motor bracket 67, and the left and right side plates of the steering motor bracket 67 are respectively rotatably connected to the left rear-wheel axle 62 and the right rear-wheel axle 64.

[0057] Furthermore, the first wheel-leg switching mechanism 7A and the second wheel-leg switching mechanism 7B have the same structure and respectively include a driving component and a transmission component. As Figure 17 , Figure 19 , Figure 21 , Figure 22As shown in the figure, the driving assembly includes a first rotating motor 702 and a second rotating motor 703 which are arranged side by side on the motor mounting plate 701 and rotate in opposite directions. The output shaft of the first rotating motor 702 is coaxially connected to a third bevel gear 704. The third bevel gear 704 meshes with a fourth bevel gear 705. The gear shaft of the fourth bevel gear 705 is fixed to the motor mounting plate 701 through a first support frame 706, and the gear shaft of the fourth bevel gear 705 is rotatably connected to the first support frame 706. The output shaft of the second rotating motor 703 is coaxially connected to a fifth bevel gear 707. The fifth bevel gear 707 meshes with a sixth bevel gear 708. The gear shaft of the sixth bevel gear 708 is fixed to the motor mounting plate 701 through a second support frame 709, and the gear shaft of the sixth bevel gear 708 is rotatably connected to the second support frame 709. The first support frame 706, the second support frame 709 and the motor mounting plate 701 are fixedly connected. In this embodiment, the first rotating motor 702 and the second rotating motor 703 rotate in opposite directions, the third bevel gear 704 and the fifth bevel gear 707 rotate in opposite directions, and the fourth bevel gear 705 and the sixth bevel gear 708 rotate in the same direction.

[0058] The transmission assembly includes an eighth connecting rod 714, a fifth connecting rod 710, a sixth connecting rod 711, a seventh connecting rod 712 and a universal joint assembly 713. One ends of the eighth connecting rod 714 and the sixth connecting rod 711 are coaxially and fixedly connected to the gear shafts of the fourth bevel gear 705 and the sixth bevel gear 708 respectively. The other end of the eighth connecting rod 714 is hinged to the fifth connecting rod 710. The other end of the fifth connecting rod 710 is hinged to one end of the seventh connecting rod 712. The other end of the sixth connecting rod 711 is hinged to the rod body of the seventh connecting rod 712. The seventh connecting rod 712 in the first wheel-leg switching mechanism 7A is hinged to the universal joint assembly 713 fixed on the front-wheel steering mechanism 5. The seventh connecting rod 712 in the second wheel-leg switching mechanism 7B is hinged to the universal joint assembly 713 fixed on the rear-wheel drive mechanism 6. The universal joint assembly 713 in this embodiment adopts a ball-head universal ball structure. Specifically, one end of the eighth connecting rod 714 is fixedly connected to the gear shaft of the fourth bevel gear 705, the other end of the eighth connecting rod 714 is hinged to the fifth connecting rod 710, the other end of the fifth connecting rod 710 is hinged to one end of the seventh connecting rod 712, and the other end of the seventh connecting rod 712 is hinged to the universal joint assembly 713. One end of the sixth connecting rod 711 is fixedly connected to the gear shaft of the sixth bevel gear 708, and the other end of the sixth connecting rod 711 is hinged to the rod body section of the seventh connecting rod 712. When the wheel-leg mode needs to be switched, the first rotating motor 702 and the second rotating motor 703 are started. Through the rotation of the corresponding bevel gears, the eighth connecting rod 714, the fifth connecting rod 710 and the sixth connecting rod 711 rotate synchronously, driving the seventh connecting rod 712 to rotate, so that the front-wheel steering mechanism 5 and the rear-wheel drive mechanism 6 rise or fall synchronously, thereby completing the switching of the wheel-leg mode.

[0059] The working principle and process of the present invention are as follows: 1. Leg mode: When encountering uneven or obstacle-rich ground, the robot switches to the leg mode. When working in the leg mode, first lower the left front leg mechanism 3A, left rear leg mechanism 3B, right front leg mechanism 3C, and right rear leg mechanism 3D, and use the first-round leg switching mechanism 7A and the second-round leg switching mechanism 7B to lift the front-wheel steering mechanism 5 and the rear-wheel drive mechanism 6. Drive the thigh unit 31 to rotate through the hip joint drive mechanism 34, and drive the calf unit 32 to rotate through the knee joint drive mechanism 35 to achieve the gait walking of the robot, as Figure 1 , Figure 2 shown. When working in the leg mode, the robot utilizes the motion characteristics of the legs to cross obstacles, adapt to complex terrains, provide better stability and obstacle-crossing ability, and is suitable for rugged or irregular environments.

[0060] 2. Wheel mode: On flat or hard ground, the robot uses the wheel mode. When working in the wheel mode, first lower the front-wheel steering mechanism 5 and the rear-wheel drive mechanism 6, and use the hip joint drive mechanism 34 and the knee joint drive mechanism 35 to lift the left front leg mechanism 3A, left rear leg mechanism 3B, right front leg mechanism 3C, and right rear leg mechanism 3D, as Figure 3 shown. When working in the wheel mode, the robot has a high moving speed and energy efficiency, and is suitable for long-distance fast driving in open environments or flat terrains.

[0061] The embodiments described above are only used to describe the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A rigid-flexible coupled drive wheel-leg switching spraying robot, characterized in that: It includes a vehicle body (1), a robotic arm spraying mechanism (2) is rotatably connected to the top of the vehicle body (1), a left front leg mechanism (3A) and a right front leg mechanism (3C) are provided at the front end of the vehicle body (1), a left rear leg mechanism (3B) and a right rear leg mechanism (3D) are provided at the rear end of the vehicle body (1), a front wheel steering mechanism (5) and a rear wheel drive mechanism (6) are provided along the front-rear direction at the bottom of the vehicle body (1), and the front wheel steering mechanism (5) and the rear wheel drive mechanism (6) are respectively connected to a first leg-wheel switching mechanism (7A) and a second leg-wheel switching mechanism (7B) on the vehicle body (1) to achieve the switching of the wheel-leg mode of the spraying robot; The first leg-wheel switching mechanism (7A) and the second leg-wheel switching mechanism (7B) have the same structure, and each respectively includes a driving component and a transmission component. The driving component includes a first rotating motor (702) and a second rotating motor (703) which are arranged side by side on a motor mounting plate (701) and rotate in opposite directions. The output shaft of the first rotating motor (702) is coaxially connected to a third bevel gear (704), and the third bevel gear (704) meshes with a fourth bevel gear (705). The gear shaft of the fourth bevel gear (705) is fixed to the motor mounting plate (701) through a first support frame (706); the output shaft of the second rotating motor (703) is coaxially connected to a fifth bevel gear (707), and the fifth bevel gear (707) meshes with a sixth bevel gear (708). The gear shaft of the sixth bevel gear (708) is fixed to the motor mounting plate (701) through a second support frame (709); the transmission component includes an eighth link (714), a fifth link (710), a sixth link (711), a seventh link (712) and a universal joint assembly (713). One ends of the eighth link (714) and the sixth link (711) are coaxially fixed to the gear shafts of the fourth bevel gear (705) and the sixth bevel gear (708) respectively. The other end of the eighth link (714) is hinged to the fifth link (710). The other end of the fifth link (710) is hinged to one end of the seventh link (712). The other end of the sixth link (711) is hinged to the rod body of the seventh link (712). The seventh link (712) in the first leg-wheel switching mechanism (7A) is hinged to the universal joint assembly (713) fixed on the front wheel steering mechanism (5), and the seventh link (712) in the second leg-wheel switching mechanism (7B) is hinged to the universal joint assembly (713) fixed on the rear wheel drive mechanism (6).

2. The rigid-flexible coupling drive wheel-leg switching spraying robot according to claim 1, wherein: The described front-wheel steering mechanism (5) includes a left front wheel (51), a left front wheel axle (52), a right front wheel (53), a right front wheel axle (54), and a linkage mechanism connecting the left front wheel axle (52) and the right front wheel axle (54). The linkage mechanism includes a hydraulic cylinder (55), a driving link (56) hinged to the piston rod end of the hydraulic cylinder (55), and a parallelogram linkage assembly connected to the driving link (56); the rear-wheel drive mechanism (6) includes a left rear wheel (61), a left rear wheel axle (62), a right rear wheel (63), a right rear wheel axle (64), a differential (65) connecting the left rear wheel axle (62) and the right rear wheel axle (64), and a steering motor (66) connected to the differential (65). The steering motor (66) is fixed on a steering motor bracket (67).

3. The rigid-flexible coupling drive wheel-leg switching spraying robot according to claim 2, characterized in that: The described parallelogram linkage assembly is composed of a first link (571), a second link (572), a third link (573), and a fourth link (574) arranged in sequence and hinged to each other in pairs. One end of the driving link (56) is hinged to the piston rod end of the hydraulic cylinder (55), and the other end of the driving link (56) is hinged to the midpoints of the first link (571) and the third link (573). The connection between the driving link (56) and the third link (573) is a kidney-shaped hole; One end of each of the second link (572) and the fourth link (574) is respectively provided with a first hinge shaft (575) rotatably connected to the third link (573). The other end of each of the second link (572) and the fourth link (574) is respectively provided with a fixing ring (576). A second hinge shaft (577) rotatably connected to the first link (571) is provided on the fixing ring (576). The fixing ring (576) on the second link (572) is sleeved on the right front wheel axle (54) and fixedly connected to the right front wheel axle (54). The fixing ring (576) on the fourth link (574) is sleeved on the left front wheel axle (52) and fixedly connected to the left front wheel axle (52).

4. The rigid-flexible coupling drive wheel-leg switching spraying robot according to claim 1, wherein: The structures of the left front leg mechanism (3A), left rear leg mechanism (3B), right front leg mechanism (3C), and right rear leg mechanism (3D) are the same, and each respectively includes a thigh unit (31), a calf unit (32), and a foot unit (33); the thigh unit (31) includes a first thigh plate (311), a second thigh plate (312), and a first transmission rod (313) connecting the two. Both ends of the first transmission rod (313) are rotatably connected to the vehicle body (1) through bearings to form a hip joint, and the hip joint is driven by a hip joint drive mechanism (34) to rotate to realize the attitude change of the thigh unit (31); the calf unit (32) includes a first calf plate (321) and a second calf plate (322). One end of the first calf plate (321) and the second calf plate (322) is connected by a second transmission rod (323), and the other end of the first calf plate (321) and the second calf plate (322) is connected by a third transmission rod (324). Both ends of the second transmission rod (323) are rotatably connected to the thigh unit (31) through bearings to form a knee joint, and the knee joint is driven by a knee joint drive mechanism (35) to rotate to realize the attitude change of the calf unit (32); both ends of the third transmission rod (324) are rotatably connected to the foot unit (33) through bearings to form an ankle joint, and an adsorption foot (331) that can be externally connected to an air pump is provided at the bottom of the foot unit (33).

5. The rigid-flexible coupling drive wheel-leg switching spraying robot according to claim 4, characterized in that: The hip joint drive mechanism (34) includes a first bevel gear (341) and a second bevel gear (342) that mesh with each other. The first bevel gear (341) is coaxially connected to the output shaft of a first drive motor (343), and the second bevel gear (342) is coaxially connected to the first transmission rod (313); The knee joint drive mechanism (35) includes a first reel (351), a second reel (352), and a flexible cable (353) connecting the two. The first reel (351) is driven to rotate by a second drive motor (354). The second reel (352) is coaxially fixed on the second transmission rod (323). A first guide pulley (355) and a second guide pulley (356) are coaxially and rotatably connected to the first transmission rod (313). One end of the flexible cable (353) sequentially winds around the first reel (351), the first guide pulley (355), the second reel (352), and the second guide pulley (356) and then forms a closed-loop connection with the other end of the flexible cable (353), and the winding directions of the flexible cable (353) on the first reel (351) and the second reel (352) are opposite.

6. The rigid-flexible coupling drive wheel-leg switching spraying robot according to claim 1, characterized in that: The described robotic arm spraying mechanism (2) includes a rotating platform (21) rotatably connected to the vehicle body (1), a robotic arm fixed on the rotating platform (21), and a nozzle connected to the end of the robotic arm; the robotic arm includes a robotic arm bottom plate (22), a large arm (23), an intermediate connecting rod (24), and a small arm (25) connected in sequence, the robotic arm bottom plate (22) is fixedly connected to the rotating platform (21), the large arm (23) is rotatably connected to a first fixed ear seat (221) on the robotic arm bottom plate (22), both ends of the intermediate connecting rod (24) are rotatably connected to the large arm (23) and the small arm (25) respectively, and the nozzle is fixed to the end of the small arm (25); the robotic arm further includes a first hydraulic cylinder (26) for driving the large arm (23) to rotate, a second hydraulic cylinder (27) for driving the intermediate connecting rod (24) to rotate, and a third hydraulic cylinder (28) for driving the small arm (25) to rotate.

7. The rigid-flexible coupling drive wheel-leg switching spraying robot according to claim 6, characterized in that: The large arm (23) includes a first large arm plate (231), a second large arm plate (232), and a first fixed rod (233) connecting the two, the small arm (25) includes a first small arm plate (251), a second small arm plate (252), and a second fixed rod (253) connecting the two, the inner side of the intermediate connecting rod (24) is hollow and a third fixed rod (241) is provided in the hollow part; the cylinder end of the first hydraulic cylinder (26) is rotatably connected to a second fixed ear seat (222) on the robotic arm bottom plate (22), and the piston rod end of the first hydraulic cylinder (26) is rotatably connected to the first fixed rod (233); the cylinder end of the second hydraulic cylinder (27) is rotatably connected to the first fixed rod (233), and the piston rod end of the second hydraulic cylinder (27) is rotatably connected to the third fixed rod (241); the cylinder end of the third hydraulic cylinder (28) is rotatably connected to the third fixed rod (241), and the piston rod end of the third hydraulic cylinder (28) is rotatably connected to the second fixed rod (253).

8. The rigid-flexible coupling drive wheel-leg switching spraying robot according to claim 6, wherein: The described nozzle includes a nozzle bracket (29), a first nozzle (294), and a second nozzle (295) installed at both ends of the nozzle bracket (29), the nozzle bracket (29) includes a first nozzle mounting plate (291), a second nozzle mounting plate (292), and a fixed shaft (293) connecting the two, and both ends of the fixed shaft (293) are rotatably connected to the first small arm plate (251) and the second small arm plate (252) respectively through deep groove ball bearings.

9. The rigid-flexible coupling drive wheel-leg switching spraying robot according to claim 7, characterized in that: The ends of the first small arm plate (251) and the second small arm plate (252) are both of an openable and closable structure, including a fixed part (2511) and a rotating part (2512), one end of the fixed part (2511) and the rotating part (2512) is rotatably connected through a butterfly hinge (2513), and the other end of the fixed part (2511) and the rotating part (2512) is quickly fixed through a manual buckle (2514), the fixed part (2511) and the rotating part (2512) are opposed to form a space for accommodating the deep groove ball bearing, and the manual buckle (2514) realizes the locking and fixing of the deep groove ball bearing.

10. The rigid-flexible coupling drive wheel-leg switching spraying robot according to claim 8, characterized in that: The first nozzle (294) described is a retractable nozzle, including a hollow expansion rod (2941). One end of the expansion rod (2941) is fixed on the forearm (25) through an expansion rod bracket (2942). The other end of the expansion rod (2941) is connected with a nozzle (2943). A feed hole (2944) is arranged on the nozzle (2943), and an air inlet hole (2945) is arranged on the expansion rod (2941).

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