A dislocation type obstacle crossing robot with foot end folding and unfolding function

Abstract

The present application relates to the technical field of underground space application robot, and more particularly to a dislocation type obstacle crossing robot with foot end folding and unfolding function, which comprises a moving system, a control system and a folding and unfolding system, the moving system comprises an upper platform, a lower platform and three R(Pa)PU branch chains connecting the two platforms, the two platforms each have three groups of moving feet, the three R(Pa)PU branch chains are connected in series by a rotating pair, a planar parallelogram mechanism, a moving pair and a hook joint, and can be controlled independently to realize the telescopic movement of the two platforms in the vertical direction; the control system is arranged on the lower surface of the upper platform and connected with the rotating pair to control the dislocation movement of the two platforms in the horizontal direction; the folding and unfolding system is connected with the moving feet and comprises a folding and unfolding assembly with a limiting piece sleeved on the moving feet, a folding and unfolding plate and a moving rod connecting the limiting piece and the folding and unfolding plate, the limiting piece controls the movement of the moving rod in the axial direction of the moving feet to make the folding and unfolding plate expand or contract. The ability of the robot to pass through complex terrain and the ability to escape from the silt are improved.

Description

Technical Field

[0001] This invention relates to the field of underground space application robot technology, and in particular to a staggered obstacle-crossing robot with foot extension and folding function. Background Technology

[0002] There are many dangerous and complex underground spaces in cities that are unsuitable or impossible for humans to enter, such as dilapidated air-raid shelters, accident mine shafts, military projects, and underground tunnels. Most of these underground spaces are abandoned or underutilized.

[0003] In dangerous and complex environments such as mines and underground air-raid shelters, there are rugged and soft terrains with varying potholes. Traditional wheeled and legged mobile robots are not capable of traversing these complex underground spaces, especially in muddy terrain, where both wheeled and legged mobile robots can easily get stuck in the mud. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a structurally stable obstacle-crossing robot with foot extension and folding capabilities, suitable for traversing complex terrain.

[0005] This invention provides a staggered obstacle-crossing robot with foot extension and folding function, comprising:

[0006] A mobile system includes an upper platform and a lower platform, which are connected in parallel by three R(Pa)PU chains. Each of the upper and lower platforms has three sets of movable feet. Each of the three R(Pa)PU chains consists of a series of revolute joints, a planar parallelogram mechanism, a prismatic joint, and a Hooke's joint. Each of the three R(Pa)PU chains is driven by its corresponding driving component to realize the vertical extension and retraction movement of the upper and lower platforms.

[0007] A control system is disposed on the lower surface of the upper platform and connected to the rotary joint to control the horizontal misalignment movement of the upper platform and the lower platform;

[0008] A folding and unfolding system is connected to the movable foot. The folding and unfolding system includes multiple folding and unfolding components. Each set of folding and unfolding components includes multiple limiting members, a moving rod, and a folding and unfolding plate. The limiting members are sleeved on the movable foot. The moving rod connects the limiting members and the folding and unfolding plate. The limiting members control the moving rod to move along the axial direction of the movable foot so that the folding and unfolding plate unfolds or retracts.

[0009] Optionally, the driving element is disposed on the sliding pair, and the driving element is a linear motor.

[0010] Optionally, there are two of each of the limiting member, the moving rod, and the folding plate. The limiting member near the lower platform is connected to one end of the moving rod, the other end of the moving rod is connected to one end of the folding plate, and the other end of the folding plate is connected to the moving foot through another limiting member.

[0011] Optionally, the two folding panels can be arranged in a circle when unfolded.

[0012] Optionally, both the upper platform and the lower platform are regular hexagonal structures, with the moving feet of the upper platform and the lower platform evenly distributed at the vertices of the hexagons, and the moving feet of the upper platform and the lower platform are staggered.

[0013] Optionally, the three R(Pa)PU branches are spaced apart at the apex corners of the upper platform and the lower platform.

[0014] The technical solution provided by the embodiments of the present invention has the following advantages compared with the prior art:

[0015] This invention provides a staggered obstacle-crossing robot with foot folding and unfolding function. It includes a movement system, a control system, and a folding and unfolding system. The movement system includes a movable upper platform and a lower platform, connected by three R(Pa)PU chains. Each of the three R(Pa)PU chains can move linearly via its corresponding drive component, allowing the upper and lower platforms to stagger in the vertical direction. By placing the control system on the lower surface of the upper platform, the rotating joints of the three R(Pa)PU chains are connected to the control system, enabling control of the rotation of the three R(Pa)PU chains and achieving staggered movement of the upper and lower platforms in the horizontal direction. In other words, by setting up the movement system and the control system, the staggered movement of the upper and lower platforms is achieved, improving the robot's ability to traverse complex terrain. Furthermore, by setting a folding and unfolding component on each moving foot, a limiting component controls the movement of the moving rod, causing the folding and unfolding plate to unfold or retract, thus controlling the contact area between the moving foot and the ground, thereby improving the robot's ability to escape from mud. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of the obstacle-crossing robot with foot extension function according to an embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of the structure of the mobile system described in an embodiment of the present invention;

[0020] Figure 3 This is a schematic diagram of the R(Pa)PU branch chain structure described in an embodiment of the present invention;

[0021] Figure 4 This is a schematic diagram illustrating the operation of the unfolding system according to an embodiment of the present invention;

[0022] Figure 5 This is a schematic diagram of the upper platform and R(Pa)PU branch distribution as described in an embodiment of the present invention;

[0023] Figure 6 This is a schematic diagram of the structure of the lower platform and R(Pa)PU branch distribution as described in an embodiment of the present invention.

[0024] The system comprises: 1. Upper platform; 2. Control system; 3. First branch; 3-1. First revolute joint; 3-2. First driving component; 3-3. First Hooke hinge; 4. Second branch; 4-1. Second revolute joint; 4-2. Second driving component; 4-3. Second Hooke hinge; 5. Third branch; 5-1. Third revolute joint; 5-2. Third driving component; 5-3. Third Hooke hinge; 6. Lower platform; 7. First moving foot; 8. Second moving foot; 9. Third moving foot; 10. Fourth moving foot; 11. Fifth moving foot; 12. Sixth moving foot; 13. Folding and unfolding system; 13-1. First limiting component; 13-2. First moving rod; 13-3. First folding and unfolding plate; 13-4. Second moving rod; 13-5. Second folding and unfolding plate; 13-6. Second limiting component. Detailed Implementation

[0025] To better understand the above-mentioned objectives, features, and advantages of the present invention, the solutions of the present invention will be further described below. It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other.

[0026] Many specific details are set forth in the following description in order to provide a full understanding of the invention, but the invention may also be practiced in other ways different from those described herein; obviously, the embodiments in the specification are only some embodiments of the invention, and not all embodiments.

[0027] Reference Figure 1 As shown, this embodiment of the invention provides a staggered obstacle-crossing robot with foot folding and unfolding function, including a mobile system, a control system 2 and a folding and unfolding system 13.

[0028] Among them, reference Figure 2 and Figure 3 As shown, the moving system includes an upper platform 1 and a lower platform 6, which are connected in parallel by three R(Pa)PU chains. Both the upper platform 1 and the lower platform 6 have three sets of moving feet. Each of the three R(Pa)PU chains consists of a series of revolute joints, a planar parallelogram mechanism, a prismatic joint, and a Hooke's joint. The three R(Pa)PU chains are driven by their corresponding driving components to realize the vertical extension and retraction of the upper platform 1 and the lower platform 6. The control system 2 is located on the lower surface of the upper platform 1 and is connected to the revolute joint to control the horizontal movement of the upper platform 1 and the lower platform 6. Specifically, both the upper platform 1 and the lower platform 6 are movable platforms, and are connected in parallel via a first branch 3, a second branch 4, and a third branch 5. The first branch 3, second branch 4, and third branch 5 are driven by corresponding driving components, enabling the upper platform 1 and lower platform 6 to extend and retract vertically. The first branch 3 includes a first revolute joint 3-1, a planar parallelogram mechanism, a first prismatic joint, and a first Hooke's hinge 3-3 connected in series. The second branch 4 includes a second revolute joint 4-1 connected in series, a planar parallelogram mechanism, a first prismatic joint, and a first Hooke's hinge 3-3. The system comprises a quadrilateral mechanism, a second prismatic joint, and a second Hooke hinge 4-3. The third branch 5 includes a series-connected third revolute joint 5-1, a planar parallelogram mechanism, a third prismatic joint, and a third Hooke hinge 5-3. The first revolute joint 3-1, the second revolute joint 4-1, and the third revolute joint 5-1 are all mounted on the planar parallelogram mechanism and connected to the control system 2. This allows for the control of the upper platform 1 and the lower platform 6 to move in a staggered manner in the horizontal direction, thus achieving the alternating movement of the upper platform 1 and the lower platform 6 and improving the robot's ability to traverse complex terrain. By setting planar parallelogram structures on the first branch 3, the second branch 4, and the third branch 5, the upper platform 1 and the lower platform 6 can maintain stability during their alternating movement, meaning they always remain parallel, avoiding constraint singularities.

[0029] Among them, reference Figure 1 and Figure 4 As shown, the folding system 13 is connected to the movable feet. The folding system 13 includes multiple folding components. Each folding component includes multiple limiting members, a moving rod, and a folding plate. The limiting members are sleeved on the movable feet, and the moving rods connect the limiting members and the folding plates. The limiting members control the moving rods to move along the axial direction of the movable feet, so that the folding plates unfold or retract. Specifically, the upper platform 1 has a first movable foot 7, a second movable foot 8, and a third movable foot 9, and the lower platform 6 has a fourth movable foot 10, a fifth movable foot 11, and a sixth movable foot 12. Each movable foot is equipped with a folding component. The limiting members can control the movement of the moving rods to drive the folding plates to unfold or retract, that is, control the contact area between the movable feet and the ground, thereby improving the robot's ability to get out of mud.

[0030] In some embodiments, refer to Figure 2 As shown, the driving component is disposed on the sliding joint, and the driving component is a linear motor. Specifically, the first sliding joint, the second sliding joint, and the third sliding joint are respectively provided with a first driving component 3-2, a second driving component 4-2, and a third driving component 5-2. The first driving component 3-2, the second driving component 4-2, and the third driving component 5-2 are all linear motors, capable of generating linear motion, so that the upper platform 1 and the lower platform 6 move relative to each other in the vertical direction.

[0031] In other embodiments, reference is made to Figure 4 As shown, there are two of each of the limiting member, the moving rod, and the folding panel. The limiting member near the lower platform 6 is connected to one end of the moving rod, and the other end of the moving rod is connected to one end of the folding panel. The other end of the folding panel is connected to the moving foot through another limiting member. Specifically, each folding assembly includes a first limiting member 13-1, a second limiting member 13-6, a first moving rod 13-2, a second moving rod 13-4, a first folding panel 13-3, and a second folding panel 13-5. The first limiting member 13-1 and the second limiting member 13-6 are both fitted onto the moving foot, with the first limiting member 13-1 closer to the lower platform 6 than the second limiting member 13-6. The first moving rod 13-2 and the second moving rod 13-4 are symmetrically arranged relative to the moving foot, with one end connected to the first limiting member 13-1 and the other end connected to the outer periphery of the corresponding first folding panel 13-3 and second folding panel 13-5. The second limiting member 13-6 is connected to the second folding display plate 13-3 and the second folding display plate 13-5 at a position relatively close to the moving foot. The first limiting member 13-1 and the second limiting member 13-6 move along the axial direction of the moving foot, so that the first moving rod 13-2 and the second moving rod 13-4 move together to drive the first folding display plate 13-3 and the second folding display plate 13-5 to unfold or retract, thereby changing the contact area between the moving foot and the ground. When facing obstacle terrain, the contact area between the moving foot and the ground can be reduced to improve obstacle crossing ability. When facing silt terrain, the contact area between the moving foot and the ground can be increased, and the back-and-forth unfolding or retracting movement of the folding display plate can improve the ability to get out of the trap.

[0032] Furthermore, refer to Figure 4 As shown, the two folding panels form a circle when unfolded. That is, when the first folding panel 13-3 and the second folding panel 13-5 of each folding assembly are fully unfolded, they can form a circle, so that the robot's pressure can be evenly distributed on the folding panels of each folding assembly, avoiding uneven pressure distribution that could cause the moving feet to sink deep into the mud.

[0033] To ensure the overall stability of the obstacle-crossing robot with foot extension and folding capabilities, refer to Figure 5 and Figure 6As shown, both the upper platform 1 and the lower platform 6 are regular hexagonal structures. The moving feet of the upper platform 1 and the lower platform 6 are evenly distributed at the vertices of the hexagons, and the moving feet of the upper platform 1 and the lower platform 6 are staggered. Specifically, the first moving foot 7, the second moving foot 8, and the third moving foot 9 are distributed at intervals at the vertices of the upper platform 1, and the fourth moving foot 10, the fifth moving foot 11, and the sixth moving foot 12 are distributed at intervals at the vertices of the lower platform 6. The first moving foot 7, the second moving foot 8, and the third moving foot 9 are staggered from the fourth moving foot 10, the fifth moving foot 11, and the sixth moving foot 12, respectively. This ensures that the staggered obstacle-crossing robot with foot folding and unfolding function has moving feet in all six directions, thereby guaranteeing the stability of the staggered obstacle-crossing robot with foot folding and unfolding function in contact with the ground.

[0034] Furthermore, three R(Pa)PU branches are spaced apart at the apex of the upper platform 1 and the lower platform 6. Specifically, the first branch 3, the second branch 4, and the third branch 5 are positioned between the upper platform 1 and the lower platform 6 relative to the first moving foot 7, the second moving foot 8, and the third moving foot 9, thereby improving the stability of the upper platform 1 and the lower platform 6 during movement.

[0035] It should be noted that in this invention, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0036] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined in this invention may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A staggered obstacle-crossing robot with foot extension and folding function, characterized in that, include: The mobile system includes an upper platform (1) and a lower platform (6). The upper platform (1) and the lower platform (6) are connected in parallel by three R(Pa)PU branches. The upper platform (1) and the lower platform (6) have three sets of moving feet. Each of the three R(Pa)PU branches is composed of a series of revolute joints, a planar parallelogram mechanism, a sliding joint, and a Hooke's joint. The three R(Pa)PU branches are driven by their corresponding driving components to realize the vertical extension and retraction movement of the upper platform (1) and the lower platform (6). Control system (2), the control system (2) is disposed on the lower surface of the upper platform (1) and connected to the rotating joint, so as to control the horizontal movement of the upper platform (1) and the lower platform (6); The folding system (13) is connected to the movable foot. The folding system (13) includes multiple folding components. Each set of folding components includes multiple limiting members, a moving rod, and a folding plate. The limiting members are sleeved on the movable foot. The moving rod connects the limiting members and the folding plate. The limiting members control the moving rod to move along the axial direction of the movable foot so that the folding plate can be unfolded or retracted.

2. The obstacle-crossing robot with foot extension and folding function according to claim 1, characterized in that, The driving component is mounted on the sliding pair, and the driving component is a linear motor.

3. The obstacle-crossing robot with foot extension and folding function according to claim 1, characterized in that, The number of the limiting member, the moving rod and the folding plate are all two. The limiting member near the lower platform (6) is connected to one end of the moving rod, the other end of the moving rod is connected to one end of the folding plate, and the other end of the folding plate is connected to the moving foot through another limiting member.

4. The obstacle-crossing robot with foot extension and folding function according to claim 3, characterized in that, When the two folding panels are unfolded, they form a circle.

5. The obstacle-crossing robot with foot extension and folding function according to claim 1, characterized in that, Both the upper platform (1) and the lower platform (6) are regular hexagonal structures. The moving feet of the upper platform (1) and the lower platform (6) are evenly distributed at intervals on the vertices of the hexagons, and the moving feet of the upper platform (1) and the moving feet of the lower platform (6) are staggered.

6. The obstacle-crossing robot with foot extension and folding function according to claim 5, characterized in that, The three R(Pa)PU branches are spaced apart at the top corners of the upper platform (1) and the lower platform (6).

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