A leg-type carrying robot

Abstract

The present invention discloses a legged transport robot, which relates to the field of mechanical transport technology and comprises: a frame; a steering mechanism comprising a plane bearing, a bayonet, a guide rod, and a steering drive device for driving the guide rod to perform horizontal linear motion; the plane bearing is arranged horizontally, the outer ring of the plane bearing is fixed to the frame, the bayonet is fixed to the inner ring of the plane bearing, and the bayonet slidably engages with a long groove in the guide rod; two walking mechanisms are respectively located on the left and right sides of the frame; the walking mechanism comprises a fixed frame, a driving mechanism, a drive shaft, a rotating shaft, and at least two spaced-apart walking legs; the driving mechanism is used to drive the drive shaft to rotate, the drive shaft and the rotating shaft are respectively rotatably connected to the fixed frame, and the drive shaft is transmission-connected to the rotating shaft. The legged transport robot of the present invention has high passability.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical transportation, and in particular to a foot-type transportation robot. Background Art

[0002] With the continuous advancement of human science and civilization, the development of various mechanisms suitable for unconventional ground mobility has become a focus of attention worldwide. Research on bionic walking mechanisms is of great significance for the development of walking mechanisms for complex terrain. Compared with wheeled and tracked walking mechanisms, walking mechanisms have better maneuverability and adaptability to complex terrain, and can better perform in extreme environments. Therefore, they are widely used in disaster relief, military reconnaissance, deep space exploration, transportation and other fields.

[0003] However, the existing walking mechanism equipment has low passing performance, which seriously restricts the development of walking mechanism carrying equipment. Summary of the Invention

[0004] The purpose of the present invention is to provide a foot-type transport robot to solve the problems existing in the above-mentioned prior art and improve the passing performance.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] The present invention provides a foot-type carrying robot, comprising:

[0007] frame;

[0008] A steering mechanism, comprising a plane bearing, a bayonet, a guide rod, and a steering drive device for driving the guide rod to perform horizontal linear motion, wherein the plane bearing is horizontally arranged, the outer ring of the plane bearing is fixed to the frame, the bayonet is fixed to the inner ring of the plane bearing, and the bayonet is slidably engaged with the long groove in the guide rod;

[0009] Two walking mechanisms are respectively located on the left and right sides of the frame; the walking mechanism includes a fixed frame, a driving mechanism, a driving shaft, a rotating shaft and at least two walking legs distributed at intervals, the driving mechanism is used to drive the driving shaft to rotate, the driving shaft and the rotating shaft are respectively rotatably connected to the fixed frame, and the driving shaft is transmission-connected to the rotating shaft; the walking leg includes a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, one end of the first connecting rod is hinged to the middle part of the second connecting rod, one end of the second connecting rod is hinged to the end face edge of the rotating shaft, one end of the third connecting rod is hinged to the The fixed frame is hinged, the other end of the third connecting rod is hinged to one end of the fourth connecting rod, and the other end of the second connecting rod is hinged to the middle part of the fourth connecting rod; all the hinge axes of all the walking legs in the same walking mechanism are parallel to each other; the two walking mechanisms are respectively the first walking mechanism and the second walking mechanism, the other end of the first connecting rod in the first walking mechanism and the fixed frame are respectively fixedly connected to the first base plate, and the first base plate is fixedly connected to the inner ring of the plane bearing; the other end of the first connecting rod in the second walking mechanism and the fixed frame are respectively fixedly connected to the frame body.

[0010] Preferably, the frame includes a second bottom plate, support columns and a top plate, there are at least three support columns, and the top plate is fixedly connected to the second bottom plate through the support columns.

[0011] Preferably, the driving mechanism comprises two cylinders, the driving shaft is a crankshaft, one end of one cylinder is hinged to a mounting seat, and the other end is hinged to a first connecting rod journal on the crankshaft, and the other end of the other cylinder is hinged to another mounting seat, and the other end is hinged to a second connecting rod journal on the crankshaft, and the crankshaft angle difference between the first connecting rod journal and the second connecting rod journal is 90 degrees;

[0012] The two mounting seats hinged to the two cylinders in the first walking mechanism are first mounting seats, which are fixedly connected to the first base plate; the two mounting seats hinged to the two cylinders in the second walking mechanism are fixedly connected to the bottom surface of the top plate.

[0013] Preferably, each of the walking mechanisms includes two rotating shafts, two driving pulleys are fixed on the main shaft neck of the driving shaft, and a driven pulley is fixed on the rotating shaft. The two driving pulleys and the two driven pulleys in the same walking mechanism correspond one to one; the driving pulleys and the corresponding driven pulleys are connected through a synchronous belt transmission.

[0014] Preferably, the diameter of the driving pulley is larger than the diameter of the driven pulley.

[0015] Preferably, each walking mechanism includes four walking legs, one rotating shaft corresponds to two walking legs, a turntable is fixedly provided at each end of the rotating shaft, the turntable at one end of the rotating shaft is hinged to the second connecting rod in one walking leg corresponding to the turntable, and the turntable at the other end of the rotating shaft is hinged to the second connecting rod in another walking leg corresponding to the turntable;

[0016] The hinge point between the second connecting rod and the rotating disk is located at the edge of the rotating disk.

[0017] Preferably, a rolling bearing is sleeved on the bayonet pin, the inner ring of the rolling bearing is fixedly connected to the bayonet pin, and the outer ring of the rolling bearing is in rolling fit with the inner wall of the long groove.

[0018] Preferably, the steering drive device adopts a cylinder, and there are two steering drive devices. The telescopic rods of the two steering drive devices are parallel and respectively fixedly connected to a connecting plate, and the connecting plate is fixedly connected to one end of the guide rod.

[0019] Compared with the prior art, the present invention has achieved the following technical effects:

[0020] The foot-type carrying robot of the present invention has high passability.

[0021] The present invention utilizes a cylinder to drive the walking mechanism to move, which has the advantages of low power consumption, dynamic planning of the travel speed, realization of step-type crawling function, and simultaneous realization of forward, reverse and turning functions, high transportation safety, energy saving and environmental protection.

[0022] This invention uses the Chinese mitten crab (Eriocheir sinensis), a species that lives on soft surfaces, as a model. Based on the crab's gait information and motion characteristics, combined with the characteristics of unstructured surfaces, and applying the principles of engineering bionics, an innovative walking mechanism for unconventional ground environments is designed, aiming to improve its maneuverability and stability on unconventional surfaces. By observing and analyzing the walking characteristics of the Chinese mitten crab on different surfaces and in different conditions, and combining the crab's own physiological characteristics, a simplified mechanism and control system were developed by mimicking the crab's walking style. The mechanism's motion characteristics were then analyzed. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1Schematic diagram of the structure of the foot-type carrying robot of the present invention;

[0025] Among them, 1. first base plate; 2. cylinder; 3. guide rod; 4. rolling bearing; 5. steering drive device; 6. top plate; 7. support column; 8. driving pulley; 9. synchronous belt; 10. fixing frame; 11. driven pulley; 12. rotating shaft; 13. fourth connecting rod; 14. tripod; 15. first connecting rod; 16. second connecting rod; 17. third connecting rod; 18. articulated frame; 19. crankshaft; 20. second base plate; 21. plane bearing; 22. mounting seat; 23. cylinder articulated shaft; 24. bearing seat; 25. first connecting plate; 26. second connecting plate. DETAILED DESCRIPTION

[0026] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0027] The purpose of the present invention is to provide a foot-type transport robot to solve the problems existing in the above-mentioned prior art and improve the passing performance.

[0028] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] like Figure 1 As shown, this embodiment provides a leg-type transport robot, including a frame, a steering mechanism and two walking mechanisms located on the left and right sides of the frame respectively.

[0030] Among them, the frame includes a second bottom plate 20, support columns 7 and a top plate 6. There are four support columns 7. The top plate 6 is fixedly connected to the second bottom plate 20 through the support columns 7. The second bottom plate 20 and the top plate 6 are parallel to each other, and in the initial state, the second bottom plate 20 and the top plate 6 are both horizontal.

[0031] The two walking mechanisms are respectively the first walking mechanism and the second walking mechanism; each walking mechanism includes a fixed frame 10, a driving mechanism, a driving shaft, two rotating shafts 12 and four spaced-apart walking legs, the driving mechanism is used to drive the driving shaft to rotate, the driving shaft and the rotating shaft 12 are respectively rotatably connected to the fixed frame 10, and the driving shaft is transmission-connected to the rotating shaft 12; in this embodiment, the driving shaft is rotatably matched with the bearing seat 24 on the fixed frame 10 through a bearing.

[0032] In this embodiment, the driving mechanism includes two cylinders 2, and the driving shaft is a crankshaft 19. One end of one cylinder 2 is hinged to a mounting seat 22, and the other end is hinged to the first connecting rod journal on the crankshaft 19 through an articulated frame 18. One end of the other cylinder 2 is hinged to another mounting seat 22, and the other end is articulated to the second connecting rod journal on the crankshaft 19 through an articulated frame 18. The cylinder 2 can rotate relative to the mounting seat 22 with the cylinder articulated axis 23 as the axis; the angular difference between the first connecting rod journal and the second connecting rod journal of the crankshaft 19 is 90 degrees; the driving shaft is driven to rotate continuously by the two cylinders 2: the two cylinders 2 are defined as cylinder A and cylinder B respectively. When cylinder A is in the dead point position, cylinder B is actuated, and cylinder B pushes the driving shaft to rotate, thereby driving cylinder A to rotate, so that cylinder A bypasses the dead point position; similarly, when cylinder B is in the dead point position, cylinder A assists cylinder B to rotate past the dead point position.

[0033] The walking leg includes a first link 15, a second link 16, a third link 17 and a fourth link 13. One end of the first link 15 is hinged to the middle of the second link 16, one end of the second link 16 is hinged to the end edge of the rotating shaft 12, one end of the third link 17 is hinged to the fixed frame 10, the other end of the third link 17 is hinged to one end of the fourth link 13, and the other end of the second link 16 is hinged to the middle of the fourth link 13. It should be noted that all the hinge axes of all the walking legs in the same walking mechanism are parallel to each other.

[0034] The other end (i.e., the bottom end) of the fourth link 13 contacts the ground or the walking surface during operation to support the main body of the leg-type carrier robot. Driven by the first link 15, the second link 16 and the third link 17, the fourth link 13 performs a crawling action similar to a crab leg. The fourth links 13 of the eight walking legs in the two walking mechanisms move alternately, thereby realizing the process of imitating crab crawling.

[0035] Each traveling mechanism includes two rotating shafts 12. Two driving pulleys 8 are fixed to the main journal of the drive shaft, and a driven pulley 11 is fixed to the rotating shaft 12. The two driving pulleys 8 and the two driven pulleys 11 in the same traveling mechanism correspond one to one. The driving pulleys 8 and the corresponding driven pulleys 11 are connected by a synchronous belt 9. The diameter of the driving pulley 8 is larger than that of the driven pulley 11. This makes the rotation speed of the rotating shaft 12 faster than that of the drive shaft, thereby achieving an acceleration effect.

[0036] A turntable is fixed at each end of the rotating shaft 12. The turntable at one end of the rotating shaft 12 is hinged to the second connecting rod 16 in a walking leg corresponding to the turntable, and the turntable at the other end of the rotating shaft 12 is hinged to the second connecting rod 16 in another walking leg corresponding to the turntable; the hinge between the second connecting rod 16 and the turntable is located at the edge of the turntable.

[0037] It should be noted that the angles of the connections between different second links 16 and the turntable in the same walking mechanism relative to the rotating shaft 12 should be adjusted in advance by technicians so that different walking legs in the same walking mechanism have different or the same working postures during operation, so as to ensure the stability and passing performance of the leg-type carrier robot in crawling.

[0038] The steering mechanism includes a plane bearing 21, a bayonet, a guide rod 3, and a steering drive device 5 for driving the guide rod 3 to perform horizontal linear motion. The plane bearing 21 is arranged horizontally, the outer ring of the plane bearing 21 is fixed to the frame, the bayonet is fixed to the inner ring of the plane bearing 21, and the bayonet is slidably engaged with the long groove in the guide rod 3.

[0039] A rolling bearing 4 is mounted on the bayonet pin. The inner ring of the rolling bearing 4 is fixedly connected to the bayonet pin, and the outer ring of the rolling bearing 4 rolls against the inner wall of the slot. The provision of the rolling bearing 4 reduces friction between the bayonet pin and the slot, thereby reducing wear on the bayonet pin. A stopper should be provided in the slot to prevent the bayonet pin and the rolling bearing 4 from falling out of the slot.

[0040] The other end of the first connecting rod 15 in the first walking mechanism and the fixed frame 10 are respectively fixedly connected to the first base plate 1, and the first base plate 1 is fixedly connected to the inner ring of the plane bearing 21; the other end of the first connecting rod 15 in the second walking mechanism and the fixed frame 10 are respectively fixedly connected to the frame body; in this embodiment, the first connecting rod 15 in the second walking mechanism is fixedly connected to the second base plate 20 through the foot frame 14; a circular plate is provided on the first base plate 1, and a semicircular recess is provided on the second base plate 20 corresponding to the circular plate on the first base plate 1, and the circular plate is located at the semicircular recess on the second base plate 20 to avoid collision or interference between the first base plate 1 and the second base plate 20 when they rotate relative to each other.

[0041] It should be noted that the two mounting seats 22 hinged to the two cylinders 2 in the first walking mechanism are first mounting seats, and both first mounting seats are fixedly connected to the first base plate 1; the two mounting seats 22 hinged to the two cylinders 2 in the second walking mechanism are fixedly connected to the bottom surface of the top plate 6.

[0042] In this embodiment, the steering drive device 5 includes two cylinders: a first cylinder and a second cylinder. The first cylinder is fixedly connected to the second base plate 20, and the main body of the second cylinder is fixedly connected to the telescopic rod of the first cylinder via a first connecting plate 25. The telescopic rod of the second cylinder is fixedly connected to a second connecting plate 26, which is fixedly connected to one end of the guide rod 3. When the steering drive device 5 drives the second connecting plate 26 and the guide rod 3 to move horizontally, the bayonet slides in the long groove of the guide rod 3 via the rolling bearing 4, causing the inner ring of the plane bearing 21 to rotate relative to the outer ring of the plane bearing 21. The inner ring of the plane bearing 21 drives the first base plate 1 and the first walking mechanism to rotate, thereby achieving steering of the entire legged carrier robot.

[0043] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A foot-type carrying robot, characterized in that: include: frame; The frame includes a second bottom plate, support columns and a top plate, wherein the support columns are at least three, and the top plate is fixedly connected to the second bottom plate through the support columns; A steering mechanism, comprising a plane bearing, a bayonet, a guide rod, and a steering drive device for driving the guide rod to perform horizontal linear motion, wherein the plane bearing is horizontally arranged, the outer ring of the plane bearing is fixed to the frame, the bayonet is fixed to the inner ring of the plane bearing, and the bayonet is slidably engaged with the long groove in the guide rod; The two wheels are connected to each other via a transmission mechanism, and the two wheels are connected along the transmission mechanism to form a circle around the wheelchair, and the two wheels are connected along the transmission mechanism to form a circle around the wheelchair. The other end of the first connecting rod in the first walking mechanism and the fixed frame are respectively fixedly connected to the first base plate, and the first base plate is fixedly connected to the inner ring of the plane bearing; the other end of the first connecting rod in the second walking mechanism and the fixed frame are respectively fixedly connected to the frame body; the driving mechanism includes two cylinders, and the driving shaft is a crankshaft, one end of one cylinder is hinged to a mounting seat, and the other end is hinged to the first connecting rod journal on the crankshaft, and one end of the other cylinder is hinged to another mounting seat, and the other end is hinged to the second connecting rod journal on the crankshaft, and the crankshaft angle difference between the first connecting rod journal and the second connecting rod journal is 90 degrees; the two mounting seats hinged to the two cylinders in the first walking mechanism are first mounting seats, and the first mounting seat is fixedly connected to the first base plate; the two mounting seats hinged to the two cylinders in the second walking mechanism are fixedly connected to the bottom surface of the top plate.

2. The legged carrying robot according to claim 1, characterized in that: Each of the walking mechanisms includes two rotating shafts, two driving pulleys are fixedly provided on the main shaft neck of the driving shaft, and a driven pulley is fixedly provided on the rotating shaft. The two driving pulleys and the two driven pulleys in the same walking mechanism correspond one to one; the driving pulleys and the corresponding driven pulleys are connected through a synchronous belt transmission.

3. The legged carrying robot according to claim 2, characterized in that: The diameter of the driving pulley is larger than the diameter of the driven pulley.

4. The legged carrying robot according to claim 2, wherein: Each of the walking mechanisms includes four walking legs, one rotating shaft corresponds to two walking legs, a turntable is fixedly provided at each end of the rotating shaft, the turntable at one end of the rotating shaft is hinged to the second connecting rod in one of the walking legs corresponding to the turntable, and the turntable at the other end of the rotating shaft is hinged to the second connecting rod in the other walking leg corresponding to the turntable; The hinge point between the second connecting rod and the rotating disk is located at the edge of the rotating disk.

5. The legged carrying robot according to claim 1, characterized in that: A rolling bearing is sleeved on the bayonet pin, the inner ring of the rolling bearing is fixedly connected to the bayonet pin, and the outer ring of the rolling bearing is in rolling fit with the inner wall of the long groove.

6. The legged carrying robot according to claim 1, characterized in that: The steering drive device adopts a cylinder. There are two steering drive devices. The telescopic rods of the two steering drive devices are parallel and respectively fixedly connected to the connecting plate. The connecting plate is fixedly connected to one end of the guide rod.

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