A multi-mode crawling robot

Abstract

The application discloses a multi-mode rolling and crawling robot, which comprises a passive docking platform, an active docking platform, eight swing rods, eight connecting rods, eight auxiliary connecting rods and 25 motors; one motor is arranged at each of four ends of the passive docking platform and the active docking platform, and the motor shafts are connected with the swing rods respectively; one motor is arranged at one end of each connecting rod, and the motor shaft is fixed with the swing rod; two motors are arranged at each auxiliary connecting rod adjacent to the connecting rod, and the motor shafts are connected with the connecting rod and another auxiliary connecting rod respectively; the passive docking platform is provided with a passive docking device, and the active docking platform is provided with an active docking device; the passive docking device is provided with four docking hooks, each of the docking hooks is provided with a groove with a wedge surface, and the groove can be matched with locking blades of the active docking device to realize locking. The eight swing rods and the eight connecting rods can be deformed into a rolling robot and a crawling robot by control, and the movement ability of the robot is improved by changing of multiple movement modes.

Description

Technical Field

[0001] This invention relates to a special mobile robot, specifically a multi-mode climbing and rolling robot with variable motion modes, which can be used in the military field to survey special terrains and perform special missions; in the aerospace field for planetary exploration; and in the civilian field as an entertainment facility, etc. Background Technology

[0002] Invention patent CN110171498A discloses a steerable rolling robot. This mechanism consists of four support plates, one steering support rod, and two push rods, enabling linear rolling and fixed-point turning movements, but lacks adaptability to various terrains. Invention patent CN103465988A discloses a multi-mode mobile robot. This mechanism consists of four branches and two crossbars, driven by eight motors, enabling walking and rolling movements and can be shrunk to a very small size. However, this robot's walking mode has only two degrees of freedom per leg, limiting its movement flexibility; when the rotation axes of the pendulum and connecting rod coincide, precise control of the angles of the two motors is required for synchronized movement to avoid movement uncertainty caused by the mechanism's singularity. To further enhance the movement capabilities of this multi-link parallel mechanism, this invention designs a multi-mode crawling and rolling robot with a docking mechanism and auxiliary connecting rods. The docking mechanism is used to limit uncertain movements in singular positions, and the auxiliary connecting rods enable the robot to have flexible movement capabilities. Summary of the Invention

[0003] To address the aforementioned issues, this invention proposes a multi-mode crawling and rolling robot composed of a docking platform and a series of closed-chain links and open-chain auxiliary links. This robot integrates multiple motion modes, including crawling and rolling, thereby improving its mobility. The use of a docking mechanism reduces the impact of mechanical singularities.

[0004] The present invention relates to a multi-mode climbing and rolling robot, comprising an upper component, a lower component, and an auxiliary leg component.

[0005] The upper assembly includes first to fourth upper swing arms, first to fourth upper connecting rods, and a passive docking platform. The first to fourth upper swing arms are arranged circumferentially, with their ends connected to the passive docking platform to form a revolute joint A, driven by the first to fourth upper motors. The axis of revolute joint A is perpendicular to the passive docking platform. The ends of the first to fourth upper connecting rods are respectively connected to the front ends of the first to fourth upper swing arms to form revolute joints B, driven by the fifth to eighth upper motors. The axis of revolute joint B is perpendicular to the axis of revolute joint A. Four docking hooks are installed on the bottom surface of the passive docking platform, and the docking portion of each hook has a C-shaped structure with a square groove.

[0006] The lower assembly includes first to fourth lower connecting rods, first to fourth lower swing arms, and an active docking platform. The first to fourth lower swing arms are circumferentially arranged, with their ends connecting to the active docking platform to form a revolute joint A, driven by the first to fourth lower motors. The axis of revolute joint A is perpendicular to the active docking platform. The ends of the first to fourth lower connecting rods are respectively connected to the front ends of the first to fourth lower swing arms to form revolute joints B, driven by the fifth to eighth lower motors. The axis of revolute joint B is perpendicular to the axis of revolute joint A. The active docking platform has an annular active connecting frame and an active docking device assembly installed within the active connecting frame. The active docking device assembly includes a docking joint, locking blades, and a worm gear drive mechanism. A recessed platform is designed at the top center of the docking joint, which mates with a boss on the bottom surface of the passive docking platform. Four square grooves are evenly distributed circumferentially on the outer circumference of the top of the docking joint, and a stepped shaft is designed at the bottom; locking blades are installed on the stepped shaft, and the locking blades have four fan-shaped blades evenly distributed circumferentially. In the worm gear drive mechanism, the worm gear is sleeved on the stepped shaft and connected to the locking blade, and meshes with the worm gear mounted on the active connecting frame. The worm gear is driven by a motor to drive the locking blade to rotate.

[0007] The front ends of the first to fourth upper connecting rods in the upper assembly are respectively connected to the front ends of the first to fourth lower connecting rods in the lower assembly via hinges.

[0008] The auxiliary leg assembly includes first to fourth auxiliary upper connecting rods, first to fourth auxiliary lower connecting rods, an auxiliary upper connecting rod motor, and an auxiliary lower connecting rod motor. An auxiliary upper connecting rod motor is mounted on the end side of the first to fourth auxiliary upper connecting rods, and an auxiliary lower connecting rod motor is fixedly mounted on the same side of the front end of the first to fourth auxiliary upper connecting rods. The motor shafts of the auxiliary lower connecting rod motors pass through the first to fourth auxiliary upper connecting rods respectively, and their front end through holes are fixedly connected to the ends of the first to fourth auxiliary lower connecting rods.

[0009] The connecting rod motors of the first to fourth auxiliary upper connecting rods in the four auxiliary leg assemblies obtained above are respectively connected to the front ends of the first to fourth lower connecting rods.

[0010] The multi-mode crawling and rolling robot of this invention has the following docking method and motion mode:

[0011] (1) Connection method

[0012] By controlling the fifth to eighth lower motors to lower the first to fourth lower connecting rods, the active docking platform and the passive docking platform are brought closer together. During the process of the active and passive docking platforms approaching each other, the docking hook enters the circumferential square groove of the docking joint in the active docking unit assembly; when the bottom surface of the square groove of the docking hook is lower than the bottom surface of the locking blade, the locking blade is controlled to rotate, so that the locking blade is located in the square groove of the docking hook to achieve axial locking. At this time, the upper platform contacts the top of the docking joint, and the bottom boss of the passive docking platform inserts into the top countersunk platform of the docking joint to achieve radial locking and provide locking force.

[0013] (2) Crawling mode:

[0014] After docking is complete, the first to fourth upper swing arms align with the rotation axes of the first to fourth lower swing arms, respectively, and move synchronously together, forming the hips of the robot's first to fourth legs. The first to fourth upper connecting rods align with the rotation axes of the first to fourth lower connecting rods, respectively, and move synchronously together, forming the thighs of the robot's first to fourth legs. The first to fourth auxiliary lower connecting rods rotate to positions aligning with the first to fourth auxiliary upper connecting rods, and move synchronously together, forming the lower legs of the robot's first to fourth legs.

[0015] The aforementioned four legs can be controlled by motors on the passive docking platform and the active docking platform to swing horizontally; the thigh can be controlled by motors on the first to fourth upper links and the first to fourth lower links to rotate in pitch; and the lower leg can be controlled by motors on the auxiliary upper links of the first to fourth auxiliary upper links to rotate in pitch.

[0016] (3) Scrolling mode:

[0017] With the active docking platform and passive docking platform separated, controlling the eight motors on both platforms (B9) keeps the eight levers parallel to each other, at which point the main body of the robot can be considered a rolling ring. Further controlling the four auxiliary legs retracts them to the main body, at which point the entire robot can be considered a rolling ring. Thus, by controlling the motors on the links in the upper and lower components, the main body of the robot can be driven to roll in a track-like manner; additionally, the four auxiliary legs assist in this rolling motion.

[0018] The advantages of this invention are:

[0019] 1. The present invention is a multi-mode crawling and rolling robot that can be transformed into a rolling robot and a crawling robot by controlling the positions of eight levers and eight links, thereby improving the robot's mobility through changes in multiple motion modes.

[0020] 2. The multi-mode crawling and rolling robot of this invention solves the adverse effects of mechanism singularity during mode switching by docking and locking.

[0021] 3. The multi-mode crawling robot of this invention is designed with an auxiliary leg linkage mechanism, which enhances the motion capability during rolling, increases the degree of freedom of a single leg in crawling mode, and makes the movement more flexible. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the multi-mode crawling and rolling robot of the present invention;

[0023] Figure 2 This is a schematic diagram of the top of the passive docking platform in the multi-mode crawling and rolling robot of the present invention;

[0024] Figure 3 This is a schematic diagram of the bottom of the passive docking platform in the multi-mode crawling and rolling robot of the present invention;

[0025] Figure 4 This is a schematic diagram of the bottom structure of the passive connecting frame in the passive docking platform;

[0026] Figure 5 This is a schematic diagram of the top structure of the passive connecting frame in the passive docking platform;

[0027] Figure 6 This is a schematic diagram of the docking hook connecting plate structure in a passive docking platform;

[0028] Figure 7 This is a sectional view of the docking hook connecting plate structure in a passive docking platform;

[0029] Figure 8 (a) is a schematic diagram of the back side structure of the docking hook in the passive docking platform;

[0030] Figure 8 (b) is a schematic diagram of the inner structure of the docking hook in the passive docking platform;

[0031] Figure 9 This is a schematic diagram of the passive docking platform assembly method;

[0032] Figure 10 This is a schematic diagram of the top of the active docking platform in the multi-mode crawling and rolling robot of the present invention;

[0033] Figure 11 This is a schematic diagram of the bottom of the active docking platform in the multi-mode crawling and rolling robot of the present invention;

[0034] Figure 12 This is a schematic diagram of the top of the active connection frame structure in the active docking platform of the present invention;

[0035] Figure 13 This is a schematic diagram of the bottom of the active connection frame structure in the active docking platform of the present invention;

[0036] Figure 14 A schematic diagram of the worm gear support structure in the active docking platform;

[0037] Figure 15 Schematic diagram of the motor support structure in the active docking platform

[0038] Figure 16 This is a schematic diagram of the active docking device component in the active docking platform.

[0039] Figure 17 This is a schematic diagram of the joint structure in the active docking unit assembly;

[0040] Figure 18This is a schematic diagram of the bottom structure of the docking joint in the active docking assembly;

[0041] Figure 19 This is a schematic diagram of the locking blade structure in the active docking unit assembly;

[0042] Figure 20 This is a schematic diagram of the bottom of the locking blade in the active docking assembly;

[0043] Figure 21 This is a schematic diagram of the end cap structure in the active docking unit;

[0044] Figure 22 This is a schematic diagram of the assembly method for the active docking unit;

[0045] Figure 23 Cross-sectional view of the active docking unit;

[0046] Figure 24 This is a schematic diagram illustrating the assembly method of the proactive docking platform.

[0047] Figure 25 This is a schematic diagram of the auxiliary leg assembly structure;

[0048] Figure 26 This is a schematic diagram showing the connection between the upper and lower connecting rods and the auxiliary upper connecting rod;

[0049] Figure 27 This is a diagram illustrating the connection process between proactive and reactive platforms.

[0050] Figure 28 This is a diagram illustrating the status after the connection to the active and passive platforms is locked.

[0051] Figure 29 This is a schematic diagram of the crawling modes of the multi-mode crawling and rolling robot of the present invention;

[0052] Figure 30 This is a schematic diagram of the intermediate state of the multi-mode crawling and rolling robot of the present invention in the rolling mode;

[0053] Figure 31 This is a schematic diagram of the rolling modes of the multi-mode crawling robot of the present invention. Detailed Implementation

[0054] The invention will now be further described with reference to the accompanying drawings.

[0055] The multi-mode climbing and rolling robot of the present invention includes an upper component (A), a lower component (B), and an auxiliary leg component (C), such as... Figure 1 As shown.

[0056] The upper component (A) includes first to fourth upper swing arms (A1, A2, A3, A4), first to fourth upper connecting rods (A5, A6, A7, A8), and a passive docking platform (A9). The passive docking platform (A9) is a circular platform with first to fourth upper connecting ends designed on its circumferential outer wall. First to fourth upper motors (A911, A912, A913, A914) are fixedly mounted on the upper surfaces of the four upper connecting ends. The motor shafts of the first to fourth upper motors (A911, A912, A913, A914) are perpendicular to the passive docking platform (A9) and pass through openings on the four upper connecting ends, being fixedly connected to the ends of the first to fourth upper swing arms (A1, A2, A3, A4) via set screws. The fifth to eighth upper motors (A51, A61, A71, A81) are fixedly installed on the side of the end of the first to fourth upper connecting rods (A5, A6, A7, A8). The motor shafts of the fifth to eighth upper motors (A51, A61, A71, A81) are respectively perpendicular to the motor shafts of the first to fourth upper motors (A911, A912, A913, A914), and respectively pass through the openings at the end of the first to fourth upper connecting rods (A5, A6, A7, A8) and are fixedly connected to the front end of the first to fourth upper swing arms (A1, A2, A3, A4).

[0057] The lower assembly (B) includes first to fourth lower connecting rods (B5, B6, B7, B8), first to fourth lower swing arms (B1, B2, B3, B4), and an active docking platform (B9). The active docking platform (B9) is a circular platform with the same radius as the passive docking platform (A), and its circumferential outer wall has first to fourth lower connecting ends, each corresponding to one of the four upper connecting ends. First to fourth lower motors (B911, B912, B913, B914) are fixedly mounted on the lower surfaces of the four lower connecting ends. The motor shafts of the first to fourth lower motors (B911, B912, B913, B914) are perpendicular to the active docking platform (B9) and pass through openings on the four lower connecting ends, connecting to the ends of the first to fourth lower swing arms (B1, B2, B3, B4) via set screws. The fifth to eighth lower motors (B51, B61, B71, B81) are fixedly installed on the side of the end of the first to fourth lower connecting rods (B5, B6, B7, B8). The motor shafts of the fifth to eighth lower motors (B51, B61, B71, B81) are respectively perpendicular to the motor shafts of the first to fourth lower connecting rods (B5, B6, B7, B8), and are respectively fixed to the front end of the first to fourth lower swing arms (B1, B2, B3, B4) by set screws through the openings at the end of the first to fourth lower connecting rods (B5, B6, B7, B8).

[0058] like Figure 2As shown, the passive docking platform (A9) includes a passive connecting frame (A96), a docking hook connecting plate (A97), four docking hooks (A921, A922, A923, A924), four upper swing arm motors (A911, A912, A913, A914), four passive docking magnets (A931, A932, A933, A934), four cylindrical tension springs (A941, A942, A943, A944), and four docking hook pressure plates (A951, A952, A953, A954).

[0059] The passive connecting frame (A96) has a ring-shaped structure with a stepped boss (A96e) on its bottom circumference. Simultaneously, four identical rectangular plates (A96a) extend circumferentially from the sidewalls of the stepped boss (A96e), forming the first to fourth upper connecting ends of the aforementioned passive docking platform (A9) circumferentially. To ensure sufficient movement space in crawling mode, the four rectangular plates (A96a) are not evenly distributed circumferentially. Adjacent rectangular plates (A96a) are mirror-symmetrical. The side with the larger included angle (110°) becomes the wider side, and the side with the smaller included angle (70°) becomes the narrower side.

[0060] like Figure 4 As shown, each of the four rectangular plates (A96a) has a through hole (A96c) near its outer end on its top surface, and four threaded mounting holes (A96b) around the through hole (A96c) for mounting the first to fourth upper motors (A911, A912, A913, A914). The four threaded mounting holes (A96b) are fixed to the motor body by screws, engaging with the four mounting holes on the motor body. The motor's output shaft passes through the through hole (A96c) but does not contact it.

[0061] The passive connector (A96) has four circumferentially distributed lugs (A96d) on its inner side, and a countersunk hole (A96f) is provided in the center of each lug (A96d). For example... Figure 5 As shown, the passive connecting bracket (A96) has four evenly distributed pre-drilled mounting threaded holes (A96g) on ​​the bottom circumferential direction; and the axes of the four mounting threaded holes (A96g) pass through the symmetrical planes of the adjacent rectangular plates (A96a).

[0062] like Figure 6 , Figure 7As shown, the connecting plate (A97) is a centrally symmetrical flange (A97a). A coaxial cylindrical mating boss (A97b) is designed at the center of its bottom surface, and the end of this boss (A97b) is chamfered. Four square bosses (A97d) and four threaded mounting holes (A97c) are evenly distributed around the bottom surface of the connecting plate (A97). Countersunk holes (A97e) are located at the center of the four square bosses (A97d) for installing the connecting rods (A921c) of the connecting hooks (A921, A922, A923, A924).

[0063] like Figure 8 As shown, the four docking hooks (A921, A922, A923, A924) have identical structures, with a connecting rod (A921c) at the top. The connecting rod (A921c) has a coaxial mounting threaded hole (A921e) at its top. The lower part of each of the four docking hooks (A921, A922, A923, A924) is a square boss (A921a). The outer wall of this square boss has a square magnet mounting hole (A921b) for mounting magnets. The inner wall of the square boss (A921a) has a square groove (A921f) that runs through the left and right side walls, forming a C-shaped structure. The bottom surface of the square groove (A921f) is a wedge-shaped bevel (A921d), used to engage with the locking blade (B973) of the active docking device (B97) during docking.

[0064] like Figure 9As shown, during the assembly of the passive docking platform (A9), the following steps are performed in sequence: Four bar magnets (A931, A932, A933, A934) are inserted into the magnet mounting holes (A921b) on the four docking hooks (A921, A922, A923, A924) and secured with adhesive. Four cylindrical tension springs (A941, A942, A943, A944) are placed into the countersunk holes (A97e) at the centers of the four square bosses (A97d) on the docking hook connecting plate (A97). The connecting rods (A921c) of the four docking hooks (A921, A922, A923, A924) are inserted into the springs from below and pass through the countersunk holes (A97e). Four hook clamping plates (A951, A952, A953, A954) are located on the top surface of the hook connecting plate (A97), and respectively mate with the threaded holes (A921e) at the top of the connecting rods (A921c) of the four hooks (A921, A922, A923, A924), and are fixedly connected by screws. The hook connecting plate (A97) obtained through the above process is built into the passive connecting frame (A96), and its top surface is in contact with the bottom surface of the four lugs (A96d) on the inner side of the passive connecting frame (A96), and the four threaded holes (A97c) on the hook connecting plate (A97) respectively mate with the four lugs (A96d) and are connected by screws. Finally, the four upper motors (A911, A912, A913, A914) are respectively fixed on the four rectangular plates (A96a) on the circumference of the passive connecting frame (A96).

[0065] like Figure 10 , Figure 11 As shown, the active docking platform (B9) includes an active connecting frame (B96), an active docking assembly (B97), four active docking magnets (B921, B922, B923, B924), four lower swing arm motors (B911, B912, B913, B914), a worm motor (B915), a worm support (B931), a motor support (B932), a coupling (B94), a worm (B95), and an angular contact ball bearing (B98).

[0066] like Figure 12As shown, the active connecting frame (B96) has a ring-shaped structure in the middle, with stepped bosses (B96a) designed circumferentially. Simultaneously, four rectangular plates (B96b) of the same structure and size are designed circumferentially on the sidewalls of the stepped bosses (B96a), which are the first to fourth lower connecting ends of the aforementioned active docking platform (B9), symmetrically positioned to the passive docking platform (A9). Each of the four rectangular plates (B96b) has a through hole (B96d) near its outer end, and four mounting threaded holes (B96c) around this through hole (B96d) for mounting the first to fourth lower motors (B911, B912, B913, B914). The four mounting threaded holes (B96c) are connected to the four mounting holes on the motor body by screws. The output shaft of the lower motor passes through the through hole (B96d), but the two do not contact each other.

[0067] like Figure 12 As shown, the inner side of the active connector (B96) is designed with four circumferentially distributed lugs (B96f) and inclined grooves (B96e). The bottom center of the four lugs (B96f) has a countersunk hole (B96g); simultaneously, the top surface of the active connector (B96) is circumferentially designed with inclined grooves (B96e), the inclined surfaces of which are inclined towards the inner side of the active connector (B96) to guide the four docking hooks (A921, A922, A923, A924) during docking.

[0068] like Figure 13 As shown, the bottom surface of the active connecting bracket (B96) is designed with mounting grooves (B96h, B96i) at opposite positions, and the bottom surface of the two mounting grooves is designed with mounting threaded holes (B96j, B96k) for mounting the worm gear bracket (B931) and the motor bracket (B932).

[0069] like Figure 14 As shown, the lower side of the worm gear bracket (B931) is a rectangular plate (B931a), which has a mounting through hole (B931d) and a bearing support lug (B931b). The mating end face of the bearing support lug (B931b) has a countersunk hole (B931c). The inner end face of the countersunk hole (B931c) is used for positioning the angular contact ball bearing (B96), and the inner cylindrical surface of the countersunk hole (B931c) is used for mating with the outer ring of the angular contact ball bearing (B98). Figure 15 As shown, the motor bracket (B932) is composed of two mutually perpendicular square plates (B932a, B932b). The square plate (B932a) has a motor shaft through hole (B932e) and a mounting threaded hole (B932d); the square plate (B932b) has a mounting through hole (B932c).

[0070] like Figure 16As shown, the active docking assembly (B97) includes a docking joint (B971), two thrust bearings (B972, B977), an angular contact ball bearing (B975), a locking blade (B973), a turbine (B974), and an end cap (B976).

[0071] The upper part of the butt joint (B971) is a disc-shaped boss (B971a), and the lower part is a stepped shaft (B971h), as shown below. Figure 17 , Figure 18 As shown. The outer ring of the disc-shaped boss (B971a) is designed with evenly distributed square grooves (B971b) to accommodate the docking hooks (A921, A922, A923, A924) of the passive docking platform (A9) during docking. The outer ring of the top surface of the disc-shaped boss (B971a) is designed with mounting threaded holes (B971f) arranged alternately with the square grooves (B971b). The mounting threaded holes (B971f) are countersunk holes. The top edge of the square grooves (B971b) and the top outer ring of the disc-shaped boss (B971a) are designed with chamfers to guide the docking hooks (A921, A922, A923, A924) of the passive docking platform (A9) during docking. On the bottom surface of the disc-shaped boss (B971a), active magnet mounting slots (B971c) are designed on both sides of the square slots (B971b). The active magnet mounting slots (B971c) are inclined, and their sides are parallel to the chamfered surfaces of the adjacent square slots (B971b). A cylindrical countersunk platform (B971j) is designed at the center of the top surface of the disc-shaped boss (B971a). The outer circumference of this cylindrical countersunk platform (B971j) is chamfered, and it is used to mate with the bottom boss (A97b) of the passive docking platform (A9) during docking to achieve radial locking. A circular countersunk hole is provided at the center of the bottom surface of the disc-shaped boss (B971a) for mate with the seat ring of the thrust bearing (B972).

[0072] The side of the stepped shaft (B971h) at the lower part of the butt joint (B971) is used to mate with the inner ring of the angular contact ball bearing (B975); four mounting threaded holes (B971i) are designed on the end face of the stepped shaft (B971h).

[0073] like Figure 19 , Figure 20As shown, the locking blade (B973) has a through hole (B973g) at its center for mating with the outer ring of the angular contact ball bearing (B975). Four fan-shaped blades (B973a) are evenly distributed circumferentially on the top of the locking blade (B973); the outer periphery of the blades (B973a) is rounded (B973c); the bottom surface of the locking blade (B973a) has a countersunk (B973b) circumferentially for mating with the shaft ring of the thrust bearing (B972). A cylindrical support (B973d) is coaxially designed at the bottom of the locking blade (B973a). The bottom surface of the cylindrical support (B973d) has staggered, evenly distributed circumferentially distributed mounting threaded holes (B973f) and bearing supports (B973e); the inner and outer sides of the bearing support (B973e) are cylindrical surfaces, with the outer surface used for mating with the shaft ring of the thrust bearing (B977).

[0074] like Figure 21 As shown, the bottom of the end cap (B976) is a disc (B976a) structure with four mounting through holes evenly distributed around the center, and an annular boss (B97b) is designed on the upper part.

[0075] like Figure 22 , 23 As shown, during the assembly of the active docking unit (B97), the following steps are performed in sequence: the thrust bearing (B972) is installed into the countersunk (B971g) of the docking joint (B971); the angular contact ball bearing (B975) is installed into the stepped shaft (B971h) of the docking joint (B971). Then, the turbine (B974) is fitted onto the bearing bracket (B973e) on the bottom surface of the cylindrical support (B973d) and connected to the mounting threaded hole (B973f) on the bottom surface of the cylindrical support (B973d) using screws. Next, the locking blade (B973) is fitted into the stepped shaft (B971h) of the docking joint (B971), so that the top surface of the locking blade (B973) mates with the thrust bearing (B975), and the inner wall mates with the angular contact ball bearing (B975). The thrust bearing (B977) is further fitted onto the annular boss (B97b) of the end cover (B976), so that one end of the thrust bearing (B977) mates with the end cover (B976), and the other end mates with the bottom surface of the bearing bracket (B973e) above the locking blade (B973), which is used to isolate the rotation of the end cover (B976) and the locking blade (B973). The end cover (B976) is connected to the mounting threaded hole (B971i) of the butt joint (B971) by screws.

[0076] like Figure 24As shown, during the assembly of the active docking platform (B9) with the above structure, the following steps are performed in sequence: angular contact ball bearings (B98) and couplings (B94) are installed at both ends of the worm gear (B95); the worm motor (B915) is connected to the mounting threaded hole (B932d) of the motor bracket (B932) via screws; the motor shaft of the worm motor (B915) is connected to the coupling (B94) via set screws. The end of the worm gear (B95) equipped with the angular contact ball bearing (B98) is inserted into the countersunk hole (B931c) of the worm bracket (B931). The worm gear bracket (B931) is further connected to the mounting threaded hole (B96j) on the bottom surface of the mounting groove (B96h) via a mounting through hole (B931d) on a rectangular plate (B931a) and a mounting threaded hole (B96j) on the bottom surface of the mounting groove (B96h) via screws; the motor bracket (B932) is connected to the mounting threaded hole (B96k) on the bottom surface of the mounting groove (B96i) via a mounting through hole (B932c) on a square plate (B932b) via screws; after the above connection, the worm gear (B95) meshes with the turbine gear (B974). The active docking assembly (B97) at the top of the active docking assembly (B97) passes through the active connecting frame (B96) from above, and the disc-shaped boss (B971a) is placed inside the active connecting frame (B96). The bottom surface of the boss fits into the four lugs (B96f) on the inner side of the passive connecting frame (B96), and is connected by screws through the four circumferential mounting threaded holes (B971f) and the countersunk holes (B96g) on ​​the four lugs (B96f).

[0077] In the above structure, the upper component (A) and the lower component (B) are connected by hinges (A52) to the front ends of the first to fourth upper connecting rods (A5, A6, A7, A8) in the upper component (A) and the front ends of the first to fourth lower connecting rods (B5, B6, B7, B8) in the lower component (B). The connection methods are the same. Figure 25 As shown. The connection method between the first upper link (A1) and the first lower link (B5) will be described in detail below:

[0078] like Figure 26 As shown, the hinge (A52) is a cylindrical structure with an axial threaded hole (A52a). A screw passes through the open hole (A5a) at the front end of the first upper connecting rod, and one end of the hinge (A52) connects to its threaded hole (A52a). The front end of the first lower connecting rod (B5) also has an open hole (B5a). A screw passes through the open hole (B5a), and the other end of the hinge (A52) connects to its threaded hole. A self-lubricating washer (B53) is also provided between the hinge and the first lower connecting rod (B5).

[0079] The auxiliary leg assembly (C) includes first to fourth auxiliary upper connecting rods (C1, C2, C3, C4) and first to fourth auxiliary lower connecting rods (C5, C6, C7, C8), auxiliary upper connecting rod motors (C11, C21, C31, C41) and auxiliary lower connecting rod motors (C12, C22, C32, C42). Auxiliary upper connecting rod motors (C11, C21, C31, C41) are mounted on the end sides of the first to fourth auxiliary upper connecting rods (C1, C2, C3, C4), and auxiliary lower connecting rod motors (C12, C22, C32, C42) are fixedly mounted on the same side of the front ends of the first to fourth auxiliary upper connecting rods (C1, C2, C3, C4). The motor shafts of the auxiliary lower connecting rod motors (C12, C22, C32, C42) pass through the front through holes of the first to fourth auxiliary upper connecting rods (C1, C2, C3, C4) and are fixedly connected to the ends of the first to fourth auxiliary lower connecting rods (C5, C6, C7, C8).

[0080] The first to fourth auxiliary upper connecting rods (C1, C2, C3, C4) are respectively connected to the first to fourth lower connecting rods (B5, B6, B7, B8), and the connection methods are the same. The connection method between the first auxiliary upper connecting rod (C1) and the first lower connecting rod (B5) will be described in detail below: Figure 26 As shown, the motor shaft of the first auxiliary upper connecting rod motor (C11) passes through the through hole (B52b) on the back side of the connecting seat (B52) located between the first auxiliary upper connecting rod (B5) and the first lower connecting rod (B6), and is then fixed by a set screw. The first lower connecting rod (B5) is fixed to the threaded hole (B52a) on the circumferential direction of the connecting seat (B52) at its front end through a screw with a smooth hole (B5d). A self-lubricating gasket (B54) is also provided between the first lower connecting rod (B5) and the connecting seat (B52).

[0081] When the first to fourth auxiliary upper links are installed, the motor output shafts of the two auxiliary upper links on the narrow side, namely the first and second auxiliary upper links (C1 and C2) and the third and fourth auxiliary upper links, are arranged opposite each other, so that the four auxiliary leg assemblies (C) are arranged in a mirror symmetrical manner. This avoids interference between the auxiliary legs and other links in the rolling state, and avoids unbalanced forces when the auxiliary legs push off the ground in the rolling state.

[0082] The multi-mode crawling and rolling robot of the present invention is formed by the above technical solution. The docking method and motion mode changes of the robot are described below:

[0083] The multi-mode climbing robot of this invention lowers the first to fourth lower connecting rods (B5, B6, B7, B8) by controlling the fifth to eighth lower motors (B51, B61, B71, B81), so that the active docking platform (B9) and the passive docking platform (A9) move closer to each other; and raises the first to fourth upper connecting rods (A5, A6, A7, A8) by controlling the fifth to eighth upper motors (A51, A61, A71, A81), so that the active docking platform (B9) and the passive docking platform (A9) separate from each other.

[0084] (1) Connection method:

[0085] During the approaching process between the active docking platform (B9) and the passive docking platform (A9), once the docking hook connecting plate (A97) and the active docking unit (B97) are sufficiently close, the active docking magnets (B921, B922, B923, B924) and the passive docking magnets (A931, A932, A933, A934) attract each other, guiding the docking hooks (A921, A922, A923, A924) into the circumferential square groove (B971b) of the mating joint (B971) in the active docking unit assembly (B97). Springs (A941, A942, A943, A944) installed on the docking hooks (A921, A922, A923, A924) improve the docking tolerance.

[0086] like Figure 28 As shown, when the docking hooks (A921, A922, A923, A924) enter to a sufficient depth (when the lowest point of the wedge-shaped surface of the docking hook is lower than the bottom surface of the locking blade), the worm gear (B974) in the active docking assembly (B97) drives the locking blade (B973) to rotate. The four fan-shaped blades (B973a) on the circumferential direction of the locking blade (B973) respectively cooperate with the wedge-shaped surfaces of the four docking hooks (A921, A922, A923, A924) to drive the docking hook connecting plate (A97). Continue approaching the active docking device (B97) until the surfaces are in contact; at this point, the four fan-shaped blades (B973a) of the locking blade (B973) are positioned within the square slots (A921f) of the four docking hooks (A921, A922, A923, A924), achieving axial locking; simultaneously, the bottom boss (A97b) of the passive docking platform (A9) is fully inserted into the cylindrical recess (B971j) at the center of the top surface of the disc-shaped boss (B971a), achieving radial locking.

[0087] (2) Crawling mode:

[0088] like Figure 29 As shown, when the distance between the passive docking platform (A9) and the active docking platform (B9) is reduced to its shortest and locked, at this time:

[0089] The rotation axes of the first upper swing arm (A1) and the first lower swing arm (B1) coincide and move synchronously together, serving as the hip of the robot's first foot; the rotation axes of the first upper link (A5) and the first lower link (B5) coincide and move synchronously together, serving as the thigh of the robot's first foot; the first auxiliary lower link (C5) rotates to a position that coincides with the first auxiliary upper link (C1) and moves synchronously together, serving as the lower leg of the robot's first foot.

[0090] The rotation axes of the second upper swing arm (A2) and the second lower swing arm (B2) coincide and move synchronously together, serving as the hip of the robot's second foot; the rotation axes of the second upper link (A6) and the second lower link (B6) coincide and move synchronously together, serving as the thigh of the robot's second foot; the second auxiliary lower link (C6) rotates to a position that coincides with the second auxiliary upper link (C2) and moves synchronously together, serving as the lower leg of the robot's second foot.

[0091] The rotation axes of the third upper swing arm (A3) and the third lower swing arm (B3) coincide and move synchronously together, forming the hip of the robot's third leg; the rotation axes of the third upper link (A7) and the third lower link (B7) coincide and move synchronously together, forming the thigh of the robot's third leg; the third auxiliary lower link (C7) rotates to a position that coincides with the third auxiliary upper link (C3) and moves synchronously together, forming the lower leg of the robot's third leg.

[0092] The rotation axes of the fourth upper swing arm (A4) and the fourth lower swing arm (B4) coincide and move synchronously together, serving as the hip of the robot's fourth leg; the rotation axes of the fourth upper link (A8) and the fourth lower link (B8) coincide and move synchronously together, serving as the thigh of the robot's fourth leg; the fourth auxiliary lower link (C8) rotates to a position that coincides with the fourth auxiliary upper link (C4) and moves synchronously together, serving as the lower leg of the robot's fourth leg.

[0093] The four legs mentioned above can be controlled by motors on the passive docking platform (A9) and the active docking platform (B9) to swing horizontally; the thighs can be controlled by motors on the first to fourth upper links (A5, A6, A7, A8) and the first to fourth lower links (B5, B6, B7, B8); and the lower legs can be controlled by motors on the first to fourth auxiliary upper links (C1, C2, C3, C4) for pitching.

[0094] (3) Scrolling mode:

[0095] like Figure 30As shown, in the separated state of the active docking platform (B9) and the passive docking platform (A9), the eight motors on the passive docking platform (A9) and the active docking platform (B9) are controlled to make the eight pendulum rods parallel to each other, as shown. Figure 30 As shown, the main body of the robot in the middle can be considered as a rolling ring; further control of the four auxiliary legs (C) causes them to retract back to the main body, as shown. Figure 31 As shown, the entire robot can be regarded as a rolling ring at this time; thus, by controlling the motors on each link in the upper component (A) and the lower component (B), the main body of the robot in the middle can be driven to roll in a track manner; in addition, by controlling the robot's four auxiliary legs (C), they can push off the ground to assist in rolling.

Claims

1. A multi-mode crawling and rolling robot, characterized in that: Includes upper component, lower component and auxiliary leg component; The upper assembly includes first to fourth upper swing arms, first to fourth upper connecting rods, and a passive docking platform. The first to fourth upper swing arms are circumferentially arranged, with their ends connected to the passive docking platform to form a first revolute joint, driven to rotate by the first to fourth upper motors. The axis of the first revolute joint is perpendicular to the passive docking platform. The ends of the first to fourth upper connecting rods are respectively connected to the front ends of the first to fourth upper swing arms to form second revolute joints, driven to rotate by the fifth to eighth upper motors. The axis of the second revolute joint is perpendicular to the axis of the first revolute joint. Four docking hooks are installed on the bottom surface of the passive docking platform, and the docking portion of each hook has a C-shaped structure with a square groove. The lower assembly includes first to fourth lower connecting rods, first to fourth lower swing arms, and an active docking platform. The first to fourth lower swing arms are circumferentially arranged, with their ends connected to the active docking platform to form a first revolute joint, driven to rotate by the first to fourth lower motors. The axis of the first revolute joint is perpendicular to the active docking platform. The ends of the first to fourth lower connecting rods are respectively connected to the front ends of the first to fourth lower swing arms to form second revolute joints, driven to rotate by the fifth to eighth lower motors. The axis of the second revolute joint is perpendicular to the axis of the first revolute joint. The active docking platform has an annular active connecting frame and an inner section within the active connecting frame. The active docking assembly is installed; the active docking assembly has a docking joint, locking blades and a worm gear drive mechanism; the top center of the docking joint is designed with a recessed platform that mates with the bottom boss of the passive docking platform; the top outer ring of the docking joint has four square grooves evenly distributed around its circumference, and the bottom is designed with a stepped shaft; the stepped shaft is equipped with locking blades, which have four fan-shaped blades evenly distributed around their circumference; in the worm gear drive mechanism, the worm gear is sleeved on the stepped shaft and connected to the locking blades, and meshes with the worm gear installed on the active connecting frame, and the worm gear is driven by a motor to drive the locking blades to rotate. The front ends of the first to fourth upper connecting rods in the upper assembly are respectively connected to the front ends of the first to fourth lower connecting rods in the lower assembly via hinges; The auxiliary leg assembly includes first to fourth auxiliary upper connecting rods, first to fourth auxiliary lower connecting rods, an auxiliary upper connecting rod motor, and an auxiliary lower connecting rod motor; the auxiliary upper connecting rod motor is installed on the side of the end of the first to fourth auxiliary upper connecting rods, and the auxiliary lower connecting rod motor is fixedly installed on the same side of the front end of the first to fourth auxiliary upper connecting rods; the motor shafts of the first to fourth auxiliary lower connecting rod motors pass through the through holes at the front end of the first to fourth auxiliary upper connecting rods and are fixedly connected to the ends of the first to fourth auxiliary lower connecting rods. The connecting rod motors of the first to fourth auxiliary upper connecting rods in the four auxiliary leg assemblies obtained above are respectively connected to the front ends of the first to fourth lower connecting rods.

2. The multi-mode crawling and rolling robot as described in claim 1, characterized in that: The connection positions between the four swing arms in the upper and lower components and the platform are not evenly distributed in the circumference. Adjacent connection positions are mirror symmetrical. The angle between connection positions with larger included angles is 110°, and the angle between connection positions with smaller included angles is 70°.

3. The multi-mode crawling and rolling robot as described in claim 1, characterized in that: The docking method and motion mode are as follows: (1) Connection method By controlling the fifth to eighth lower motors to lower the first to fourth lower connecting rods, the active docking platform and the passive docking platform are brought closer together. During the process of the active docking platform and the passive docking platform coming closer together, the docking hook enters the square groove on the circumferential direction of the docking joint in the active docking unit assembly. When the bottom surface of the square groove of the docking hook is lower than the bottom surface of the locking blade, the locking blade is controlled to rotate so that the locking blade is located in the square groove of the docking hook to achieve axial locking. At this time, the upper platform contacts the top of the docking joint, and the bottom boss of the passive docking platform is inserted into the top countersunk platform of the docking joint to achieve radial locking and provide locking force. (2) Crawling mode: After docking is completed, the first to fourth upper swing arms coincide with the rotation axes of the first to fourth lower swing arms, respectively, and move together synchronously, serving as the hips of the robot's first to fourth legs; the first to fourth upper connecting rods coincide with the rotation axes of the first to fourth lower connecting rods, respectively, and move together synchronously, serving as the thighs of the robot's first to fourth legs; the first to fourth auxiliary lower connecting rods rotate to positions coinciding with the first to fourth auxiliary upper connecting rods, and move together synchronously, serving as the lower legs of the robot's first to fourth legs; The four legs mentioned above can be controlled by motors on the passive docking platform and the active docking platform to swing horizontally; the thigh can be controlled by motors on the first to fourth upper links and the first to fourth lower links to rotate in pitch; and the lower leg can be controlled by motors on the auxiliary upper links of the first to fourth auxiliary upper links to rotate in pitch. (3) Scrolling mode: When the active docking platform and the passive docking platform are separated, the eight motors on the passive docking platform and the active docking platform (B9) are controlled to make the eight pendulums parallel to each other. At this time, the main body of the robot in the middle can be regarded as a rolling ring. Further control of the four auxiliary legs makes the four auxiliary legs retract to the main body. At this time, the whole robot can be regarded as a rolling ring. Thus, by controlling the motors on each link in the upper and lower components, the main body of the robot in the middle can be driven to roll in a track manner. In addition, the rolling can be assisted by controlling the robot's four auxiliary legs to alternately push off the ground.

4. The multi-mode climbing and rolling robot as described in claim 3, characterized in that: The top of the docking hook is a connecting rod, and the lower part of the docking hook is a C-shaped docking section; a compression spring is set between the docking section and the upper platform to improve the tolerance of the docking.

5. The multi-mode climbing and rolling robot as described in claim 3, characterized in that: The bottom surface of the docking part of the docking hook is a wedge-shaped bevel; at the same time, the four fan-shaped blades in the locking blade are designed with rounded corners; during docking, the two work together to guide the fan-shaped blades into the square groove inside the docking hook.

6. The multi-mode climbing and rolling robot as described in claim 3, characterized in that: A passive magnet is embedded in the outer wall of the docking part of the docking hook; at the same time, an active magnet is embedded in both sides of the square groove; the active magnet and the passive docking magnet attract each other to guide the docking hook into the square groove in the circumferential direction of the docking joint in the active docking unit.

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