A detachable climbing and rolling robot

Abstract

The present invention discloses a detachable crawling and rolling robot, comprising a robot RA consisting of an upper platform assembly, six upper branch chain assemblies and six active docking devices, and a robot RB consisting of a lower platform assembly, six lower branch chain assemblies and six passive docking devices. The six passive docking devices are respectively installed at the ends of the six lower branch chain assemblies; the six active docking devices are respectively installed at the ends of the six upper branch chain assemblies. The active docking device has a blade that is driven to rotate by a turntable. During docking, the passive docking device is inserted into the active docking device, and the blade is driven by the turntable to rotate and insert into the axial groove of the passive docking device. By controlling the position of the rods in each branch chain assembly, the robot can be converted between crawling mode and rolling mode; by controlling the docking and unlocking of the joint docking mechanism, the robot can be converted between the overall motion mode and the split motion mode, thereby improving the mobility, environmental adaptability and work efficiency.

Description

Technical Field

[0001] The present invention relates to a mobile robot, in particular to a mobile robot with variable motion modes and separable assembly capabilities, which can be used in the fields of toy entertainment, military reconnaissance, planetary exploration, scientific research, etc. Background Art

[0002] Chinese patent CN202110671104.5 discloses a deformable quadruped robot that can achieve quadruped crawling and overall wheeled and ball-like rolling, but the overly large feet make the overall structure not compact and the joint load is large. Chinese patent CN201310476310.6 discloses a robot that can achieve quadruped walking and ball-like rolling, but the chassis is low and the obstacle crossing ability is limited. Chinese patent CN201310487588.3 discloses a multi-operation mode, and the design of replaceable tools makes it more practical, but the structure is complex and there are a large number of drives and connecting rods in a single motion mode. One method to further improve the deformation ability, environmental adaptability and work efficiency of this type of reconfigurable robot is to make it separable so that the robot has the ability to be divided into two independent robots working in parallel, thereby improving the efficiency of the mechanism. Summary of the Invention

[0003] In response to the above problems, the present invention proposes a reconfigurable robot that realizes the separation and combination of two independent robots through a joint docking mechanism. It can integrate multiple motion modes such as hexapod crawling, ball-like rolling, separation and combination, and split crawling, thereby greatly improving the robot's mobility, environmental adaptability and parallel work efficiency.

[0004] The present invention provides a detachable climbing and rolling robot comprising an upper platform, a lower platform, first to sixth upper chain assemblies, first to sixth joint docking devices, and first to sixth lower chain assemblies. The upper platform assembly, the first to sixth upper chain assemblies, and the first to sixth active docking devices constitute robot RA. The lower platform assembly, the first to sixth lower chain assemblies, and the first to sixth passive docking devices constitute robot RB.

[0005] Branch connection locations are arranged at equal angular intervals around the circumference of the upper platform, connecting the first to sixth upper branch chain assemblies, respectively. The first to sixth upper branch chain assemblies have identical structures, each comprising an upper rocker arm, an upper connecting rod, an upper connecting rod motor, and a joint connector motor. The end of the first upper rocker arm is connected to the output shaft of the rocker arm drive motor mounted on the upper platform, and the output shaft of the rocker arm drive motor is perpendicular to the upper platform. The front end of the upper rocker arm is connected to the output shaft of the upper connecting rod motor, which is mounted at the end of the upper connecting rod. The output shaft of the upper connecting rod motor is perpendicular to the output shaft of the upper rocker arm motor; the joint connector motor is fixedly mounted at the front end of the upper connecting rod, and the output shaft of the joint connector motor is parallel to the output shaft of the upper rocker arm motor.

[0006] Branch connection points are arranged at equal angular intervals around the circumference of the lower platform, connecting the first to sixth lower branch chain assemblies. The first to sixth lower branch chain assemblies are structurally identical, consisting of a lower swing arm, a lower connecting rod, a lower connecting rod motor, and an auxiliary leg motor. The connection between the lower swing arm, lower connecting rod, and lower connecting rod motor and the lower platform is similar to the connection between the upper swing arm, upper connecting rod, and upper connecting rod motor and the upper platform. The auxiliary leg motor is fixedly mounted at the end of the auxiliary leg. The output shaft is fixed parallel to the output shaft of the lower connecting rod motor and fixed to the front end of the lower connecting rod.

[0007] The front ends of the upper links in the six upper branch chain assemblies are respectively connected to the front ends of the lower links in the six lower branch chain assemblies through the first to sixth joint connectors to achieve docking between the robot RA and the robot RB to form an integral robot.

[0008] The first to sixth joint connectors have the same structure, and the connection methods between the lower links are the same, specifically:

[0009] The joint connector consists of an active connector and a passive connector. The active connector is fixed to the front end of the upper connecting rod and contains a rotatable turntable coaxially fixed to the output shaft of the joint connector motor. Three curved blades are mounted around the active connector; the inner ends of these blades are located between three adjacent bosses designed around the turntable.

[0010] The passive docking device is fixedly mounted at the front end of the lower link and has an annular groove around its circumference. During docking, the passive docking device is inserted into the active docking device. The joint docking device's motor then drives the turntable to rotate, causing the three blades to rotate under the action of the turntable's three bosses and insert into the annular groove of the passive docking device, achieving axial positioning between the active and passive docking devices.

[0011] During separation, the turntable is driven to rotate in the opposite direction by the joint docking device. The three blades are acted upon by the three bosses of the turntable and rotate outward to disengage from the annular groove of the passive docking device, thus realizing the separation between the robot RA and the robot RB.

[0012] The detachable climbing and rolling robot of the present invention has three motion modes:

[0013] A. Ball-like rolling mode:

[0014] By driving each rocker motor and connecting rod motor, the central axis of the upper platform and the lower platform are made to coincide, and a certain angle is created between the first to sixth upper connecting rods and the first to sixth lower connecting rods, thereby obtaining a spherical robot configuration; by driving each auxiliary leg to generate rhythmic motion, the robot as a whole can be pushed to roll.

[0015] B. Overall crawling mode:

[0016] By driving each connecting rod motor, the upper platform and the lower platform are aligned; at the same time, the axes of the corresponding connecting rod motors coincide with each other, and the whole becomes a six-legged crawling robot; by driving the six upper rocker motors, each foot produces yaw motion; by driving the six upper rocker motors, six upper connecting rod motors and six auxiliary leg motors, the spatial freedom of movement of each foot is realized.

[0017] (3) Split crawling mode

[0018] After all the joint connectors from the first to the sixth joint are unlocked, the robot is divided into two independent hexapod robots RA and RB. By controlling the drive motors at each joint, the hexapod crawling motion of the two robots can be realized. The combined and separated motion process of the two independent hexapod robots is inversely symmetrical, and the combined process is:

[0019] First, the upper platform of robot RA is controlled to be above the lower platform of robot RB; by controlling the motors at each joint, the upper platform of robot RA is gradually approached to the lower platform until they are in contact and aligned with each other; further, the six upper links are controlled to be parallel to the six lower links; finally, the six upper rocker arms are driven to rotate so that the active connectors of the six joint connectors are close to the corresponding passive connectors until the passive connectors are inserted into the active connectors. At this time, each active connector rotates the turntable so that the locking blades are inserted into the grooves of the passive connectors to complete the locking.

[0020] The advantages of the present invention are:

[0021] 1. The detachable crawling and rolling robot of the present invention can transform between crawling mode and rolling mode by controlling the positions of 12 rocker arms and 12 connecting rods. In addition, the robot can transform between the whole motion mode and the split motion mode by controlling the docking and unlocking of the joint docking mechanism.

[0022] 2. The detachable climbing and rolling robot of the present invention realizes the robot's multiple motion mode changes, improves its mobility and environmental adaptability. At the same time, the split mode can be used to split the robot into two to work together, thereby improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is an overall schematic diagram of the detachable climbing and rolling robot of the present invention;

[0024] Figure 2 This is a schematic structural diagram of the upper platform assembly of the detachable climbing and rolling robot of the present invention;

[0025] Figure 3 Schematic diagram of the bottom structure of the upper platform in the upper platform assembly;

[0026] Figure 4 Schematic diagram of the upper platform top structure in the upper platform assembly;

[0027] Figure 5 This is a schematic structural diagram of the lower and middle platform components of the detachable climbing and rolling robot of the present invention;

[0028] Figure 6 Schematic diagram of the top surface structure of the lower platform in the lower platform assembly;

[0029] Figure 7 Schematic diagram of the bottom surface structure of the lower platform in the lower platform assembly;

[0030] Figure 8 This is a schematic diagram of the overall structure of the active docking device in the detachable climbing and rolling robot of the present invention;

[0031] Figure 9 This is a schematic diagram of a half-section structure of the active docking device in the detachable climbing and rolling robot of the present invention;

[0032] Figure 10 Schematic diagram of the locking blade structure in the active docking device;

[0033] Figure 11 This is a schematic diagram of the structure of the active docking device transfer station;

[0034] Figure 12 Schematic diagram of the arc-shaped boss structure in the turntable;

[0035] Figure 13 This is a schematic diagram of the active docking device assembly method;

[0036] Figure 14 This is a schematic diagram of the top structure of the end cover of the active docking device;

[0037] Figure 15 This is a schematic diagram of the bottom structure of the end cover of the active docking device;

[0038] Figure 16 Schematic diagram of the hemispherical protrusion structure in the turntable;

[0039] Figure 17 It is a cross-sectional view of the passive docking device structure;

[0040] Figure 18 This is a schematic diagram of the top structure of the passive connector in the passive docking device;

[0041] Figure 19 This is a schematic diagram of the bottom structure of the passive connection seat in the passive docking device;

[0042] Figure 20 It is a schematic diagram of the docking pin structure in the passive docking device;

[0043] Figure 21 This is a schematic diagram of the bottom structure of the docking pin in the passive docking device;

[0044] Figure 22 Schematic diagram of the passive pressure plate structure in the passive docking device;

[0045] Figure 23 This is a schematic diagram of the bottom structure of the passive pressure plate in the passive docking device;

[0046] Figure 24 This is a schematic diagram of the passive docking device equipment method;

[0047] Figure 25 Cross-sectional view of the structure after docking of active and passive docking devices;

[0048] Figure 26 This is a state diagram of the detachable climbing and rolling robot in ball-like rolling mode of the present invention;

[0049] Figure 27 This is a state diagram of the overall crawling mode of the detachable crawling and rolling robot of the present invention;

[0050] Figure 28 (a) is a state diagram of the robot RA in the split crawling mode of the detachable crawling and rolling robot of the present invention;

[0051] Figure 28 (b) is the robot RB state diagram of the detachable crawling and rolling robot of the present invention in the split crawling mode;

[0052] Figure 29 (a) is a schematic diagram of the initial platform alignment state during the assembly process of the detachable climbing and rolling robot of the present invention;

[0053] Figure 29 (b) is a schematic diagram of the initial link alignment state during the assembly process of the detachable climbing and rolling robot of the present invention;

[0054] Figure 29 (c) is a schematic diagram of the assembled state of the detachable climbing and rolling robot during the assembly process. DETAILED DESCRIPTION

[0055] The present invention will be further described below with reference to the accompanying drawings.

[0056] like Figure 1As shown, the detachable climbing and rolling robot includes an upper platform assembly (A), a lower platform assembly (B), the first to sixth upper chain assemblies (C1, C2, C3, C4, C5, C6), the first to sixth joint connectors (D1, D2, D3, D4, D5, D6), and the first to sixth lower chain assemblies (E1, E2, E3, E4, E5, E6). The upper platform assembly (A), the first to sixth upper chain assemblies (C1, C2, C3, C4, C5, C6), and the first to sixth active connectors (D11, D21, D31, D41, D51, D61) constitute robot RA. The lower platform assembly (B), the first to sixth lower chain assemblies (E1, E2, E3, E4, E5, E6), and the first to sixth passive connectors (D12, D22, D32, D42, D52, D62) constitute robot RB.

[0057] like Figures 2 to 4 As shown, the upper platform assembly (A) includes an upper platform (A1), first to sixth upper rocker motors (A21, A22, A23, A24, A25, A26), and first to fourth upper electromagnets (A31, A32, A33, A34). The upper platform (A1) is a disk flange structure (A1a) with a circular boss (A1b) in the middle of its bottom surface. The circular boss (A1b) is circumferentially provided with through holes (A1h), and each through hole is also peripherally provided with circumferentially evenly distributed threaded holes (A1g). The circular boss (A1b) has a spherical protrusion (A1c) in the middle, which is used to mate with a spherical groove (B1c) on the lower platform during docking to assist in centering. The outer side of the disk flange structure (A1a) has six groups of circumferentially evenly distributed threaded holes; each group of threaded holes (A1e1, A1e2, A1e3, A1e4) has a through hole (A1f) in the middle. Six groups of circumferentially evenly distributed weight-reducing holes (A1d) are also provided on the circumference of the disc flange (A1a).

[0058] The first to sixth upper swing arm motors (A21, A22, A23, A24, A25, A26) are evenly distributed around the outer ring of the upper platform (A1) and connected to the upper platform (A1) via four screws. The first to fourth upper electromagnets (A31, A32, A33, A34) are evenly distributed around the inner ring of the upper platform (A1) and connected to the upper platform (A1) via four screws. During installation, the motor shafts of the first to sixth upper swing arm motors (A21, A22, A23, A24, A25, A26) are perpendicular to the upper platform (A1) and pass through the six through holes (A1f) on the upper platform (A1) from the top surface of the upper platform (A1). The first to sixth upper swing arm motors (A21, A22, A23, A24, A25, A26) are then secured to the upper platform (A1) using screws that engage the six sets of threaded holes in the upper platform (A1). The iron cores of the first to fourth upper electromagnets (A31, A32, A33, A34) pass through the through hole (A1h) of the upper platform (A1) from the top surface of the upper platform (A1), and are engaged with the four groups of threaded holes (A1g) of the upper platform (A1) by screws to fix the first to fourth upper electromagnets (A31, A32, A33, A34) to the upper platform (A1).

[0059] like Figures 5 to 7 As shown, the lower platform assembly (B) includes a lower platform (B1), first to sixth lower rocker motors (B21, B22, B23, B24, B25, B26), and first to fourth lower electromagnets (B31, B32, B33, B34). The lower platform (B1) is a disk flange structure (B1a) with a circular boss (B1b) in the middle of its top surface. The circular boss (B1b) is circumferentially provided with through holes (B1h), and each through hole is also peripherally provided with circumferentially evenly distributed threaded holes (B1g). The circular boss (B1b) has a spherical groove (B1c) in the middle, which is used to mate with the spherical protrusion (A1c) on the lower platform during docking to assist in centering. The outer side of the disk flange structure (B1a) is provided with six groups of circumferentially evenly distributed threaded holes. Each group of threaded holes (B1e1, B1e2, B1e3, B1e4) has a through hole (B1f) in the middle. Six groups of circumferentially evenly distributed weight-reducing holes (B1d) are also provided on the circumference of the disc flange (B1a).

[0060] The first to sixth lower rocker motors (B21, B22, B23, B24, B25, B26) are evenly distributed on the outer ring of the bottom surface of the lower platform (B1) in the circumferential direction and are connected to the lower platform (B1) through four screws; the first to fourth lower electromagnets (B31, B32, B33, B34) are evenly distributed on the inner ring of the bottom surface of the lower platform (A1) in the circumferential direction and are connected to the lower platform (B1) through four screws. During installation, the motor shafts of the first to sixth lower swing arm motors (B21, B22, B23, B24, B25, B26) are perpendicular to the lower platform (B1), and respectively pass through the six through holes (B1f) on the lower platform (B1) from the bottom surface of the lower platform (B1), and are fixed to the lower platform (B1) by screws that cooperate with the six groups of threaded holes on the lower platform (B1); the iron cores of the first to fourth lower electromagnets (B31, B32, B33, B34) pass through the through holes (B1h) of the lower platform (B1) from the bottom surface, and are fixed to the lower platform (B1) by screws that cooperate with the four groups of threaded holes (B1g) on ​​the lower platform (B1).

[0061] The first upper branch chain assembly (C1) is connected to the first upper swing arm motor (A21) and includes a first upper swing arm (C11), a first upper connecting rod (C12), a first upper connecting rod motor (C12A), and a first joint connector motor (C12B). The first upper swing arm (C11) has two mutually perpendicular axial holes at both ends, one of which is connected to the output shaft of the first upper swing arm motor (A21) of the upper platform assembly (A) via a jackscrew. The first upper connecting rod motor (C12A) is connected to the end of the first upper connecting rod (C12) via four circumferentially arranged screws. Its motor shaft passes through the first upper connecting rod (C12) and is connected to the other transverse axial hole of the first upper swing arm (A21) via a jackscrew. The first joint connector motor (C12B) is located on the same side as the first upper connecting rod motor (C12A). The first joint connector motor (C12B) is connected to the front end of the first upper connecting rod (C12) via four circumferentially arranged screws.

[0062] The second to sixth upper chain branch assemblies (C2, C3, C4, C5, C6) are connected to the second to sixth upper swing arm motors (A22, A23, A24, A25, A26) respectively. The structure and connection method of the second to sixth upper chain branch assemblies (C2, C3, C4, C5, C6) are exactly the same as the structure and connection method of the first upper chain branch assembly (C1).

[0063] The first lower branch chain assembly (E1) includes a first lower swing link (E11), a first lower connecting link (E12), a first lower connecting link motor (E12A), a first auxiliary leg motor (E13A), and a first auxiliary leg (E13). Two mutually perpendicular axial holes are provided at both ends of the first lower swing link (E11), one of the longitudinal axial holes being connected to the rotating shaft of the first lower swing link motor (B21) of the lower platform assembly (B) via a jackscrew. The first lower connecting link motor (E12A) is connected to the lower end of the first lower connecting link (E12) via four circumferentially arranged screws. Its motor shaft passes through the first lower connecting link (E12) and is connected to the other transverse axial hole of the first upper swing link (E11) via a jackscrew. The first auxiliary leg motor (E13A) is connected to the end of the first auxiliary leg (E13) via four circumferentially evenly distributed screws; the output shaft of the first auxiliary leg motor (E13A) at the end of the first auxiliary leg (E13) is connected to the front end of the first lower connecting link (E12).

[0064] The second to sixth lower chain branch assemblies (E2, E3, E4, E5, E6) are connected to the second to sixth lower swing arm motors (B22, B23, B24, B25, B26) respectively. The structure and connection method of the second to sixth lower chain branch assemblies (E2, E3, E4, E5, E6) are exactly the same as the structure and connection method of the first lower chain branch assembly (E1).

[0065] The first to sixth upper branch chain assemblies (C1, C2, C3, C4, C5, C6) are respectively connected to the first to sixth lower branch chain assemblies (E1, E2, E3, E4, E5, E6) through the first to sixth joint connectors (D1, D2, D3, D4, D5, D6).

[0066] The components of the first to sixth joint connectors (D1, D2, D3, D4, D5, D6) have the same structure and connection method. The following takes the first joint connector (D1) as an example for detailed description:

[0067] The first joint docking device (D1) includes an active docking device (D11) and a passive docking device (D12), such as Figure 25 As shown; the active docking device (D11) includes an active mounting seat (D110), angular contact ball bearings (D111A, D111B), a turntable (D112), an end cover (D113), a blade rotation pin (D114, D115, D116), and a locking blade (D117, D118, D119), as shown Figure 8 、 Figure 9 、 Figure 13 shown.

[0068] The active mounting seat (D110) is an annular column with three circumferentially evenly distributed light holes (D111d) on the top; the three circumferentially evenly distributed light holes (D111d) are respectively inserted into the blade rotation pins (D114, D115, D116); the three arc-shaped locking blades (D117, D118, D119) are sleeved on the three blade rotation pins (D114, D115, D116) through the shaft holes opened at the end; the upper and lower surfaces of the locking blades (D117, D118, D119) are designed with circumferential rounded corners (D117d), such as Figure 10 As shown. Each of the aforementioned light holes (D111d) is provided with a cylindrical boss (D111c); each cylindrical boss (D111c) has a threaded hole (D111e) at its top. The bottom surface of the annular column has four threaded holes evenly distributed around the circumference. Screws engage the threaded holes to secure the active mounting seat (D110) to the lower end of the first upper connecting rod (C12).

[0069] like Figure 11 As shown, the turntable (D112) is located inside the active mounting seat (D110); the bottom of the turntable (D112) is a cylindrical boss (D112a), which has an axial hole (D112f) at the bottom. It is coaxially connected to the motor shaft of the first joint connector motor (C12B) via a set screw. Above the cylindrical boss (D112a) is a cylindrical bearing inner ring seat (D112b), whose outer wall mates with the inner ring of the angular contact ball bearing (D111A); the outer ring of the angular contact ball bearing (D111A) mates with the inner wall of the sunken platform (D111b) designed on the top surface of the annular column in the active mounting seat (D110). Three arc-shaped bosses (D112d) are evenly distributed on the upper side of the bearing inner ring seat (D112b). The inner and outer contours of the arc-shaped bosses (D112d) are concentric arcs, and the center of the outer arc is offset outward compared to the center of the inner arc, that is, the ends of the three arc-shaped bosses (D112d) are connected to the inner circumference of the bearing seat inner ring (D112b), while the front ends of the three arc-shaped bosses (D112d) are spaced a certain distance from the inner circumference of the bearing seat inner ring (D112b), such as Figure 12As shown. The three locking blades (D117, D118, D119) are respectively located between adjacent arc-shaped bosses (D112d). When the turntable (D112) rotates, the front ends of the three arc-shaped bosses (D112d) respectively contact the outer arc surfaces of the front ends of the three locking blades (D117, D118, D119), and push the three locking blades to rotate inward around the blade rotating pins (D114, D115, D116), and the outward rotation of the three locking blades (D117, D118, D119) is limited by the front ends of the three arc-shaped bosses (D112d); when the turntable (D112) rotates, the front ends of the three arc-shaped bosses (D112d) contact the outer arc surfaces of the front ends of the three locking blades (D117, D118, D119), and push the three locking blades to rotate inward around the blade rotating pins (D114, D115, D116). When the platform (D112b) rotates in the opposite direction, the ends of the three arc-shaped bosses (D112d) respectively contact the inner arc surfaces of the front ends of the three locking blades (D117, D118, D119), and push the three locking blades to rotate outward around the blade rotation pins (D114, D115, D116), and the outward rotation of the three locking blades (D117, D118, D119) is restricted by the three cylindrical bosses (D111c); at the same time, the inward rotation of the three locking blades (D117, D118, D119) is restricted by the ends of the three arc-shaped bosses (D112d). Another bearing inner ring seat (D112c) is provided above the three arc-shaped bosses (D112d), the outer wall of which cooperates with the inner ring of the angular contact ball bearing (D111B); the outer ring of the angular contact ball bearing (D111B) cooperates with the inner wall of the circumferentially designed sinking platform (D113e) on the bottom surface of the end cover (D113) with the annular flange (D113a) structure. Figure 14 、 Figure 15 As shown, the bottom surface of the end cover (D113) is provided with three threaded holes (D113c) evenly distributed around the circumference, which are respectively connected to the three blade rotation pins (D114, D115, and D116) to realize the axial limitation of the three locking blades (D117, D118, and D119). The outer ring of the top surface of the end cover (D113) is provided with three groups of countersunk holes (D113b) evenly distributed around the circumference, and a through hole (D113d) is provided in the center of the countersunk hole (D113b). The screw is passed through the through hole (D113d) to connect with the threaded hole (D111e) of the active mounting seat (D110), thereby fixing the end cover (D113) and realizing the assembly of the active docking device (D11) as shown in FIG. Figure 13 shown.

[0070] A spherical mating boss (D112e) is provided in the inner center of the above-mentioned turntable (D112), and the spherical mating boss (D112e) is located on the top surface of the cylindrical boss. Figure 16 As shown, the center of the ball is located on the axis of the bearing inner ring seat (D112b) and is used to cooperate with the docking pin (D122) of the passive docking device (D12).

[0071] The passive docking device (D12) includes a docking pin (D122), a passive connecting seat (D121), an angular contact ball bearing (D123A, D123B), and a passive pressure plate (D124). Figure 17 shown.

[0072] like Figure 18 、 Figure 19 As shown, the passive connection seat (D121) is an annular cylindrical structure (D121a) with a sunken platform (D121b) on the top surface and a sunken platform (D121c) on the bottom surface. The inner wall of the sunken platform (D121b) engages with the outer ring of the angular contact ball bearing (D123A), and the inner wall of the sunken platform (D121c) engages with the angular contact ball bearing (D123B). The bottom surface of the passive connection seat (D121) is provided with threaded holes (D121d) evenly distributed around the circumference. Screws engage with the threaded holes (D121d) to fix the passive connection seat (D121) to the top of the first lower connecting rod (E12).

[0073] like Figure 20 、 Figure 21 As shown, the upper part of the docking pin shaft (D122) is a short shaft (D122a), and the short shaft (D122a) is provided with a matching groove (D122c) on the circumference, and the matching groove (D122c) is an annular groove with a trapezoidal cross-section. A spherical groove (D122b) is provided in the middle of the top end face of the short shaft (D122a); the lower part of the short shaft (D122a) is a bearing inner ring seat (D122d), and the end face of the bearing inner ring seat (D122d) is in contact with the angular contact ball bearing (D123B).

[0074] The bottom surface of the short shaft (D122a) is designed with an annular sink (D122e), and a connecting threaded hole (D122f) is opened at the center of the annular sink (D122e).

[0075] like Figure 22 、 Figure 23 As shown, the overall structure of the passive pressure plate (D124) is a cylindrical structure (D124a). A through hole (D124c) is provided at the top, and a frustum (D124b) is provided at the bottom; a countersunk hole (D124d) is coaxially provided on the frustum (D124b). The passive pressure plate (D124) is inserted into the passive connecting seat (D121), and the outer wall is matched with the inner ring of the angular contact ball bearing (D123A) and the angular contact ball bearing (D123B), and is connected to the threaded hole (D122f) of the docking pin shaft (D122) through a screw passing through the countersunk hole (D124d), thereby realizing the assembly of the passive docking device (D12), as shown in FIG. Figure 24 shown.

[0076] The docking method between the active docking device (D11) and the passive docking device (D12) is as follows:

[0077] During docking, the active docking device (D11) moves toward the passive docking device (D12), so that the passive docking device (D12) is inserted into the active docking device (D11). Figure 25 As shown, the spherical mating boss (D112e) at the center of the turntable (D112) is mated with the spherical groove (D122b) at the top end of the short shaft (D122a) of the docking pin (D122) in the passive docking device (D12), thereby limiting the axial movement of the active docking device (D11) and achieving radial positioning of the active docking device (D11); and the mating groove (D122c) on the circumference of the short shaft (D122a) in the passive docking device (D12) is located at the three locking blades (D117, D118, D119). At this time, the control turntable (D112) rotates, causing the three locking blades (D117, D118, and D119) to rotate inward around the blade rotation pins (D114, D115, and D116), respectively. The front ends of the three locking blades (D117, D118, and D119) then enter the mating grooves (D122c), achieving axial locking between the active docking device (D11) and the passive docking device (D12), completing docking. After docking, a rotational pair can be formed between the active docking device (D11) and the passive docking device (D12), without affecting the rotation between the first upper connecting rod (C12) and the first lower connecting rod (E12).

[0078] The following describes the three motion modes and combined separation methods of the detachable climbing and rolling robot of the present invention:

[0079] (1) Ball-like rolling mode:

[0080] like Figure 26 As shown, by driving each rocker motor and connecting rod motor, the central axis of the upper platform (A1) and the lower platform (B1) are made to coincide, and the angles between the first to sixth upper connecting rods (C12, C22, C32, C42, C52, C62) and the first to sixth lower connecting rods (E12, E22, E32, E42, E52, E62) are respectively made to reach 120°, thereby obtaining a spherical robot configuration.

[0081] In this configuration, the first to sixth auxiliary leg motors (E12B, E22B, E32B, E42B, E52B, E62B) are driven to make the first to sixth auxiliary legs (E13, E23, E33, E43, E53, E63) produce rhythmic motion, driving the robot to roll as a whole.

[0082] (2) Overall crawling mode:

[0083] like Figure 27As shown, by driving each connecting rod motor, the upper platform (A1) and the lower platform (B1), the upper electromagnet (A31, A32, A33, A34) and the lower electromagnet (B31, B32, B33, B34) are aligned respectively, and currents of opposite phases are passed to make them attract each other, thereby locking the upper and lower platforms; at this time, the axes of the first to sixth upper connecting rod motors (C12A, C22A, C32A, C42A, C52A, C62A) and the first to sixth lower connecting rod motors (E12A, E22A, E32A, E42A, E52A, E62A) are coincident respectively, and the whole becomes a hexapod crawling robot.

[0084] In this configuration, driving the first to sixth upper rocker motors (A21, A22, A23, A24, A25, A26) can cause each foot to produce yaw motion; driving the first to sixth upper rocker motors (A21, A22, A23, A24, A25, A26), the first to sixth upper connecting rod motors (C12A, C22A, C32A, C42A, C52A, C62A) and the first to sixth auxiliary leg motors (E12B, E22B, E32B, E42B, E52B, E62B) can realize the spatial freedom of movement of each foot; applying rhythmic signals to the drive motors of each foot can realize hexapod crawling motion.

[0085] (3) Split crawling mode

[0086] like Figure 28 As shown in (a) and 28 (b), after all the first to sixth joint connectors (D1, D2, D3, D4, D5, D6) are unlocked, the robot is divided into two independent hexapod robots RA and RB. By controlling the drive motors at each joint, the hexapod crawling motion of the two robots can be realized.

[0087] (4) Combined separation movement

[0088] The combined and separated motion process of the robot is inversely symmetrical. The following describes the combined process:

[0089] like Figure 29 As shown in (a), 29 (b), and 29 (c), first control two independent robots to reach Figure 29In the posture shown in (a), the upper platform (A1) of robot RA is located above the lower platform (B1) of robot RB. By controlling the motors at each joint, the upper platform (A1) of robot RA gradually approaches the lower platform (B1) until they touch each other. After contact, the upper electromagnets (A31, A32, A33, A34) are aligned with the lower electromagnets (B31, B32, B33, B34), and currents of opposite phases are passed through them to attract each other, locking the upper and lower platforms. The positions of the first to sixth upper links (C12, C22, C32, C42, C52, C62) are further controlled to be parallel to the first to sixth lower links (E12, E22, E32, E42, E52, E62), respectively, and the postures are as follows: Figure 29 Finally, the first to sixth upper swing arms (C11, C21, C31, C41, C51, C61) are driven to rotate, so that the active docking devices (D11, D21, D31, D41, D51, D61) of the first to sixth joint docking devices (D1, D2, D3, D4, D5, D6) are respectively close to the passive docking devices (D12, D22, D32, D42, D52, D62), until the passive docking devices (D12, D22, D32, D42) , D52, D62) are respectively inserted into the active docking devices (D11, D21, D31, D41, D51, D61) to reach the locking position (limit position). At this time, each active docking device (D11, D21, D31, D41, D51, D61) rotates the turntable (D112) to make the locking blades (D117, D118, D119) hold the matching groove (D122c) of the docking pin shaft (D122) to complete the locking. At this time, the robot status is as follows: Figure 29 (c) shown.

Claims

1. A detachable climbing and rolling robot, characterized by: It includes an upper platform, a lower platform, first to sixth upper branch chain assemblies, first to sixth joint docking devices, and first to sixth lower branch chain assemblies; wherein, the upper platform assembly, the first to sixth upper branch chain assemblies, and the first to sixth active docking devices constitute the robot RA; the lower platform assembly, the first to sixth lower branch chain assemblies, and the first to sixth passive docking devices constitute the robot RB; Branch chain connection positions are arranged at equal angle intervals on the circumference of the upper platform, respectively connecting the first to sixth upper branch chain assemblies; the first to sixth upper branch chain assemblies have the same structure and include an upper rocker arm, an upper connecting rod, an upper connecting rod motor and a joint connector motor; wherein, the end of the first upper rocker arm is connected to the output shaft of the rocker arm drive motor installed on the upper platform, and the output shaft of the rocker arm drive motor is arranged perpendicular to the upper platform; the front end of the upper rocker arm is connected to the output shaft of the upper connecting rod motor installed on the end of the upper connecting rod; the output shaft of the upper connecting rod motor is perpendicular to the output shaft of the upper rocker arm motor; the front end of the upper connecting rod is fixedly installed with a joint connector motor, and the output shaft of the joint connector motor is parallel to the output shaft of the upper connecting rod motor; Branch chain connection positions are arranged at equal angular intervals around the circumference of the lower platform, respectively connecting the first to sixth lower branch chain assemblies; the first to sixth lower branch chain assemblies have the same structure and include a lower swing arm, a lower connecting rod, a lower connecting rod motor and an auxiliary leg motor; the connection method between the lower swing arm, the lower connecting rod, the lower connecting rod motor and the lower platform is the same as the connection method between the upper swing arm, the upper connecting rod, the upper connecting rod motor and the upper platform; the auxiliary leg motor is fixedly installed at the end of the auxiliary leg, and the output shaft of the auxiliary leg motor is parallel to the output shaft of the lower connecting rod motor and is fixed to the front end of the lower connecting rod; The front ends of the upper links in the six upper branch chain assemblies are respectively connected to the front ends of the lower links in the six lower branch chain assemblies through the first to sixth joint docking devices, thereby achieving docking between the robot RA and the robot RB to form an integrated robot; The first to sixth joint connectors have the same structure, and the connection methods between the first to sixth joint connectors and the upper connecting rod and the lower connecting rod are the same, specifically: The joint docking device includes an active docking device and a passive docking device; the active docking device is fixedly installed at the front end of the upper connecting rod, and has a rotatable turntable inside, which is coaxially fixed to the output shaft of the joint docking device motor; three arc-shaped blades are installed on the circumference of the active docking device; the inner ends of the three arc-shaped blades are located between three adjacent bosses designed on the circumference of the turntable; The passive docking device is fixedly installed at the front end of the lower connecting rod and has an annular groove in the circumferential direction. During docking, the passive docking device is inserted into the active docking device, and the turntable is further driven to rotate by the motor of the joint docking device, so that the three blades are rotated by the three bosses of the turntable and inserted into the annular groove of the passive docking device, thereby realizing the axial positioning between the active docking device and the passive docking member. During separation, the turntable is driven to rotate in the opposite direction by the joint docking device. The three blades are acted upon by the three bosses of the turntable and rotate outward to disengage from the annular groove of the passive docking device, thus realizing the separation between the robot RA and the robot RB.

2. A detachable climbing and rolling robot according to claim 1, characterized in that: A spherical protrusion is designed in the middle of the bottom surface of the upper platform to cooperate with the spherical groove on the lower platform during docking to assist in centering.

3. The detachable climbing and rolling robot according to claim 1, characterized in that: Electromagnets are installed in the circumferential direction of the lower surface of the upper platform and the upper surface of the lower platform.

4. The detachable climbing and rolling robot according to claim 1, characterized in that: The three locking blades are designed with chamfered corners on both sides in the circumferential direction; at the same time, the grooves on the circumferential direction of the passive docking device are designed as trapezoidal grooves.

5. The detachable climbing and rolling robot according to claim 1, characterized in that: A spherical matching boss is provided in the center of the turntable, which cooperates with the circular groove at the end of the passive docking device during docking.

6. The detachable climbing and rolling robot according to claim 1, characterized in that: The specific structure design of the active docking device is as follows: The active docking device includes an active mounting seat, a turntable, an end cover, a blade turn pin and a locking blade; the active mounting seat is an annular column, and three blade turn pins are circumferentially installed on the top; the ends of the three arc-shaped locking blades are sleeved on the three blade turn pins; a cylindrical boss is provided next to each blade turn pin; the turntable is located inside the active mounting seat; the bottom of the turntable is a cylindrical boss, and the cylindrical boss and the active mounting seat are connected by an angular contact ball bearing A; above the cylindrical boss is a bearing inner ring seat A, and above the bearing inner ring seat A are three circumferentially evenly distributed arc-shaped bosses, the inner and outer contours of the arc-shaped bosses are concentric arcs, and the center of the outer arc is offset outward compared to the center of the inner arc; the three locking blades are respectively located between adjacent arc-shaped bosses; in the rotating When the turntable rotates, the front ends of the three arc-shaped bosses contact the outer arc surfaces of the front ends of the three locking blades respectively, and push the three locking blades to rotate inward around the blade rotation pin respectively, and the outward rotation of the three locking blades is limited by the front ends of the three arc-shaped bosses; when the turntable rotates in the opposite direction, the ends of the three arc-shaped bosses contact the inner arc surfaces of the front ends of the three locking blades respectively, and push the three locking blades to rotate outward around the blade rotation pin respectively, and the outward rotation of the three locking blades is limited by the three cylindrical bosses; at the same time, the inward rotation of the three locking blades is limited by the ends of the three arc-shaped bosses; a bearing inner ring seat B is provided above the three arc-shaped bosses; the outer wall of the bearing inner ring seat B is connected to the end cover on the three blade rotation pins installed on the active mounting seat through an angular contact ball shaft B.

7. The detachable climbing and rolling robot according to claim 1, characterized in that: The passive docking device includes a docking pin shaft, a passive connecting seat and a passive pressure plate; among them, the passive connecting seat is a circular cylindrical structure, and a cylindrical passive pressure plate is coaxially arranged inside the passive connecting seat, and two angular contact bearings are axially installed between the two; a groove is provided on the circumference of the docking pin shaft, and is coaxially fixed with the passive pressure plate.

8. The detachable climbing and rolling robot according to claim 1, characterized in that: It has three sports modes and one combination separation mode, as follows: (1) Ball-like rolling mode: By driving the rocker motors and connecting rod motors, the central axes of the upper and lower platforms are aligned, and the angles between the first to sixth upper connecting rods and the first to sixth lower connecting rods are respectively 120 degrees, thereby obtaining a spherical robot configuration. In this configuration, the first to sixth auxiliary leg motors are driven to produce rhythmic motion of the first to sixth auxiliary legs, thereby driving the entire robot to roll. (2) Overall crawling mode: By driving each connecting rod motor, the upper platform and the lower platform are aligned; the axes of the first to sixth upper connecting rod motors and the first to sixth lower connecting rod motors coincide with each other, and the whole becomes a six-legged crawling robot; in this configuration, the first to sixth upper swing arm motors are driven to cause each foot to produce yaw motion; the first to sixth upper swing arm motors, the first to sixth upper connecting rod motors and the first to sixth auxiliary leg motors are driven to realize the spatial freedom movement of each foot; applying rhythmic signals to each foot drive motor can realize the six-legged crawling motion; (3) Split crawling mode After all the joint connectors from the first to the sixth joint are unlocked, the robot is divided into two independent hexapod robots RA and RB. By controlling the drive motors at each joint, the hexapod crawling motion of the two robots can be realized; (4) Combined separation movement The combined separation motion process of the robot is inversely symmetric, and the combined process is: First, the upper platform of robot RA is controlled to be above the lower platform of robot RB; by controlling the motors at each joint, the upper platform of robot RA is gradually approached to the downward platform until they are in contact and aligned with each other; further, the first to sixth upper links are controlled to be parallel to the first to sixth lower links respectively; finally, the first to sixth upper rocker arms are driven to rotate so that the active docking devices of the first to sixth joint docking devices are respectively close to the passive docking devices until the passive docking devices are inserted into the active docking devices. At this time, each active docking device rotates the turntable so that the locking blade is inserted into the groove of the passive docking device to complete the locking.

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