A six-legged wheel-walking composite drive robot

Abstract

This utility model belongs to the field of robotics technology, specifically relating to a six-legged wheel-walking hybrid drive robot. It includes a body, with a foot mechanism on the outer wall for foot movement and a lifting mechanism on the inner wall for movement on flat roads. The bottom of the lifting mechanism has a wheel mechanism for movement across different terrains. This six-legged wheel-walking hybrid drive robot achieves flexible switching between two drive modes through a combination of legged and wheeled propulsion. In complex terrains such as mountains and ruins, the legged drive mode, with precise control of the supporting legs by three servo motors in the foot mechanism, allows it to traverse obstacles and climb stairs. On flat roads, the wheeled drive mode can be quickly switched, utilizing wheel rolling for efficient movement, reducing energy consumption, and significantly improving the robot's working efficiency and adaptability in different environments.

Description

Technical Field

[0001] This utility model relates to the field of robot technology, specifically a six-legged wheeled composite drive robot. Background Technology

[0002] In today's rapidly developing technological landscape, the application scenarios of robots are constantly expanding, finding widespread use in various fields such as industrial production, environmental monitoring, disaster relief, and scientific research. Among the various locomotion methods of robots, drive technology is a key factor determining their performance and application scope. Currently, common robot drive methods mainly include wheeled drive and legged drive. Wheeled robots, with their advantages of simple structure, high motion efficiency, and high speed, can achieve efficient and stable movement on flat, regular surfaces. Legged robots, on the other hand, have excellent terrain adaptability, enabling them to flexibly walk, climb, and overcome obstacles on complex terrain by adjusting the movements and postures of their legs, giving them unique advantages in disaster relief, wilderness exploration, and other fields.

[0003] Currently, some existing composite drive robots have shortcomings in terms of comprehensive adaptability to various complex terrains. Whether it is wheeled or legged, they cannot give full play to their advantages, resulting in insufficient mobility. Therefore, a six-legged wheeled composite drive robot is proposed. Utility Model Content

[0004] The main objective of this invention is to provide a six-legged wheel-walking composite drive robot that can solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model proposes a six-legged wheel-walking composite drive robot, comprising a body, an outer wall of which is provided with a foot mechanism for foot movement, an inner wall of which is provided with a lifting mechanism for movement on flat roads, and a wheel mechanism at the bottom of the lifting mechanism for movement on different terrains. The wheel mechanism includes:

[0006] The wheel body is located at the bottom of the lifting mechanism, and bolts are threaded onto the outer wall of the wheel body;

[0007] A disc, the disc being fixedly connected to the outer wall of a bolt, the bottom of the disc being rotatably connected to the inner wall of a wheel body, and a bent rod being hinged to the outer wall of the disc;

[0008] A protrusion is hinged to the outer wall of the bent rod, and a guide block is fixedly connected to the inner wall of the wheel.

[0009] Preferably, the foot mechanism includes a first servo motor, which is mounted on the outer wall of the body. The output end of the first servo motor is connected to a connecting frame. The outer wall of the connecting frame is fixedly connected to a second servo motor. The output end of the second servo motor is connected to a connecting rod. The end of the connecting rod away from the second servo motor is fixedly connected to a third servo motor. The output end of the third servo motor is connected to a support leg.

[0010] Preferably, the lifting mechanism includes a motor, which is installed on the inner wall of the machine body. The output shaft of the motor is connected to a threaded rod, and a threaded block is threadedly connected to the outer wall of the threaded rod. The bottom end of the threaded block movably passes through the bottom end of the machine body and extends downward. A drive module is fixedly connected to the extended end of the threaded block.

[0011] Preferably, a guide rod is fixedly connected to the inner wall of the machine body, and the guide rod movably passes through the threaded block, providing guidance for the threaded block.

[0012] Preferably, the wheel is fixedly connected to both ends of the drive module.

[0013] Preferably, the outer wall of the robot body is provided with ventilation openings. There are two sets of ventilation openings, and the two sets of ventilation openings are mirror images of each other on both sides of the robot body with the middle part of the robot body as the axis of symmetry. The arrangement of ventilation openings is conducive to the heat dissipation of the internal electronic components of the robot.

[0014] Preferably, a vision module is installed on the top of the robot body, which can acquire environmental information around the robot in real time.

[0015] This invention provides a six-legged wheel-walking composite drive robot. It has the following advantages:

[0016] (1) The six-legged wheel-walking composite drive robot achieves flexible switching between two drive modes through the composite drive of legs and wheels. In complex terrain, such as mountains and ruins, the leg drive mode can cross obstacles and climb steps by means of the three servo motors in the leg mechanism to precisely control the supporting legs. On flat roads, the wheel drive mode can be quickly switched to make efficient movement by using the rolling of the wheels, reducing energy consumption and significantly improving the robot's working efficiency and adaptability in different environments.

[0017] (2) The six-legged wheel-walking composite drive robot improves the robot's ability to pass through uneven roads through the wheel mechanism. The cooperation of the wheel, disc, curved rod, protrusion and guide block can make the disc drive the curved rod to rotate when facing protruding stones or pits, and make the protrusion move along the direction of the guide block. This guides the wheel to automatically adjust its posture, effectively avoiding slippage and suspension, ensuring that the robot can run smoothly in complex road conditions, and expanding the application scenarios of the robot. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention;

[0020] Figure 2 This is a cross-sectional structural diagram of the present invention;

[0021] Figure 3 This is a schematic diagram of the wheel mechanism of this utility model;

[0022] Figure 4 This utility model Figure 1 Enlarged structural diagram at point A in the middle.

[0023] Explanation of icon numbers:

[0024] 1. Body; 2. Foot mechanism; 21. Servo motor 1; 22. Connecting frame; 23. Servo motor 2; 24. Connecting rod; 25. Servo motor 3; 26. Support leg; 3. Lifting mechanism; 31. Motor; 32. Threaded rod; 33. Threaded block; 34. Drive module; 35. Guide rod; 4. Wheel mechanism; 41. Wheel body; 42. Bolt; 43. Disc; 44. Bent rod; 45. Protrusion; 46. Guide block; 5. Ventilation port; 6. Vision module.

[0025] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] Please see Figures 1-4This utility model proposes a six-legged wheel-walking composite drive robot, including a body 1. The outer wall of the body 1 is provided with a foot mechanism 2 for foot movement. The inner wall of the body 1 is provided with a lifting mechanism 3 for movement on flat roads. The bottom of the lifting mechanism 3 is provided with a wheel mechanism 4 for movement on different terrains. The outer wall of the body 1 has ventilation openings 5. There are two sets of ventilation openings 5. The two sets of ventilation openings 5 ​​are mirror images of the body 1 on both sides of the body 1 with the middle of the body 1 as the axis of symmetry. The arrangement of ventilation openings 5 ​​is conducive to the heat dissipation of the internal electronic components of the robot. A vision module 6 is installed on the top of the body 1. The vision module 6 can acquire environmental information around the robot in real time.

[0028] In an embodiment of this utility model, in order to improve the robot's ability to pass through complex terrain, the wheel mechanism 4 specifically includes a wheel body 41, a disc 43, and a protrusion 45. The wheel body 41 is located at the bottom of the lifting mechanism 3. Specifically, the wheel body 41 is fixedly connected to both ends of the drive module 34. The outer wall of the wheel body 41 is threaded with bolts 42. The disc 43 is fixedly connected to the outer wall of the bolts 42. The bottom of the disc 43 is rotatably connected to the inner wall of the wheel body 41. The outer wall of the disc 43 is hinged with a bent rod 44. The protrusion 45 is hinged to the outer wall of the bent rod 44. The inner wall of the wheel body 41 is fixedly connected with a guide block 46.

[0029] Furthermore, the foot mechanism 2 includes a first servo motor 21, which is mounted on the outer wall of the body 1. The output end of the first servo motor 21 is connected to a connecting frame 22. The outer wall of the connecting frame 22 is fixedly connected to a second servo motor 23. The output end of the second servo motor 23 is connected to a connecting rod 24. The end of the connecting rod 24 away from the second servo motor 23 is fixedly connected to a third servo motor 25. The output end of the third servo motor 25 is connected to a support leg 26.

[0030] Furthermore, the lifting mechanism 3 includes a motor 31, which is mounted on the inner wall of the body 1. The output shaft of the motor 31 is connected to a threaded rod 32, and a threaded block 33 is threadedly connected to the outer wall of the threaded rod 32. The bottom end of the threaded block 33 extends downward through the bottom end of the body 1. A drive module 34 is fixedly connected to the extended end of the threaded block 33. A guide rod 35 is fixedly connected to the inner wall of the body 1. The guide rod 35 extends downward through the threaded block 33 and provides guidance for the threaded block 33.

[0031] It should be noted that the above electrical components are all existing technology products. Those skilled in the art should select, install, and complete the circuit debugging work according to the needs of use to ensure that each electrical appliance can work normally. For example, servo motor 1 21, servo motor 23, servo motor 3 25, and motor 31 are all connected to the mains power. The components are all general standard parts or components known to those skilled in the art. Their structure and principle can be learned by those skilled in the art through technical manuals or conventional experimental methods. No specific restrictions are made here.

[0032] In this invention, when the robot faces complex terrain, such as mountains, gravel roads, or ruins, and needs to adopt a leg-driven mode, the lifting mechanism 3 is in a retracted state, and the wheel mechanism 4 is raised and lifted off the ground. At this time, the robot's support and movement rely entirely on the leg mechanism 2. The operation of the leg mechanism 2 is based on the coordinated operation of servo motor 1 21, servo motor 23, and servo motor 3 25. The rotation angle and sequence of the three servo motors are precisely controlled through programming. Taking a single-leg movement as an example, servo motor 1 21 first rotates a certain angle, causing the connecting frame 22 to change position and adjust its posture for subsequent movements. Then, servo motor 23 rotates, driving the connecting rod 24 to move, further adjusting the position of the supporting leg 26 in the horizontal and vertical directions. Finally, servo motor 3 25 rotates, controlling the supporting leg 26 to complete the complete stepping action of lifting, moving forward or backward, and lowering. The six leg mechanisms 2 move in a coordinated manner according to the predetermined walking gait, utilizing the flexibility and adaptability of leg-driven movement to move freely in complex terrain. When the robot is on a flat road or needs to move quickly, the wheel drive mode will be activated. At this time, the foot mechanism 2 retracts and lifts, and the motor 31 starts. The output shaft of the motor 31 drives the threaded rod 32 to rotate synchronously. During the rotation of the threaded rod 32, the threaded block 33 will move downward along the axial direction of the threaded rod 32. The guide rod 35 plays a guiding role. As the threaded block 33 moves downward, the wheel mechanism 4 also descends until the wheel 41 contacts the ground and supports the robot body 1. The drive module 34 provides rotational power to the wheel 41, making the wheel 41 roll on the ground, thus realizing the movement of the robot. During wheel drive, if an uneven road surface is encountered, such as protruding stones or sunken potholes, the disc 43 is rotated by turning the bolt 42, which causes the bent rod 44 to move around the disc 43 after being subjected to force. At the same time, the protrusion 45 hinged to the outer wall of the bent rod 44 moves along the guide block 46 on the inner wall of the wheel body 41, guiding the wheel body 41 to adjust its posture, so that the wheel body 41 can better fit the surface of the stone, avoid slipping or hanging, and ensure that the robot can operate stably on uneven road surfaces.

[0033] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A hexapod wheel-walking composite drive robot, comprising a body (1), characterized in that: The outer wall of the body (1) is provided with a foot mechanism (2) for foot movement, and the inner wall of the body (1) is provided with a lifting mechanism (3) for movement on flat roads. The bottom of the lifting mechanism (3) is provided with a wheel mechanism (4) for movement on different terrains. The wheel mechanism (4) includes: Wheel body (41), the wheel body (41) is located at the bottom of the lifting mechanism (3), and the outer wall of the wheel body (41) is movably connected with bolts (42). The disc (43) is fixedly connected to the outer wall of the bolt (42), and the bottom of the disc (43) is rotatably connected to the inner wall of the wheel body (41). The outer wall of the disc (43) is hinged with a bent rod (44). A protrusion (45) is hinged to the outer wall of the bent rod (44), and a guide block (46) is fixedly connected to the inner wall of the wheel body (41).

2. The hexapod wheel-walking composite drive robot according to claim 1, characterized in that: The foot mechanism (2) includes a servo motor 1 (21), which is mounted on the outer wall of the body (1). The output end of the servo motor 1 (21) is connected to a connecting frame (22). The outer wall of the connecting frame (22) is fixedly connected to a servo motor 2 (23). The output end of the servo motor 2 (23) is connected to a connecting rod (24). The end of the connecting rod (24) away from the servo motor 2 (23) is fixedly connected to a servo motor 3 (25). The output end of the servo motor 3 (25) is connected to a support leg (26).

3. The hexapod wheel-walking composite drive robot according to claim 1, characterized in that: The lifting mechanism (3) includes a motor (31), which is installed on the inner wall of the body (1). The output shaft of the motor (31) is connected to a threaded rod (32). The outer wall of the threaded rod (32) is threadedly connected to a threaded block (33). The bottom end of the threaded block (33) moves through the bottom end of the body (1) and extends downward. The extension end of the threaded block (33) is fixedly connected to a drive module (34).

4. A hexapod wheel-walking composite drive robot according to claim 3, characterized in that: The inner wall of the body (1) is fixedly connected to a guide rod (35), which movably passes through the threaded block (33).

5. A hexapod wheel-walking composite drive robot according to claim 3, characterized in that: The wheel (41) is fixedly connected to both ends of the drive module (34).

6. A hexapod wheel-walking composite drive robot according to claim 1, characterized in that: The outer wall of the body (1) is provided with ventilation openings (5). There are two sets of ventilation openings (5). The two sets of ventilation openings (5) are mirror images of the body (1) with the middle part of the body (1) as the axis of symmetry.

7. A hexapod wheel-walking composite drive robot according to claim 1, characterized in that: A vision module (6) is installed on the top of the body (1).

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