A redundant drive multi-mode six-wheel mobile robot and inspection device

Abstract

The application discloses a kind of redundancy drive multi-mode six-wheel mobile robot and inspection device, it is related to robot technical field.The present application includes at least three groups of mobile units, and multiple mobile units are overall arranged in circumferential array, first connecting rod is installed between adjacent two mobile units, and the two ends of the connecting rod are respectively rotationally connected at the tail of previous mobile unit and the head of following mobile unit;The mobile unit includes second connecting rod rotationally connected on the first connecting rod, and the two ends of the second connecting rod are respectively provided with first roller and second roller.The present application realizes the switching of robot in three modes of moving steering, step crossing and pipeline climbing by the mode of three configurations switching motor synchronous driving, and cooperates with the steering function of bogie, first roller and second roller, and also has more flexible moving ability in three modes, such as moving steering, in-place steering, multi-direction step obstacle crossing, pipeline climbing and climbing steering.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a redundant-drive, multi-mode, six-wheeled mobile robot and its inspection device. Background Technology

[0002] With the comprehensive development of robotics technology, robots are becoming increasingly versatile and are serving people's various daily activities. Among them, mobile robots, with their efficient movement, environmental detection, and on-site handling capabilities, can replace personnel in remote, complex, and unknown environments and are widely used in multiple fields such as transportation, detection, inspection, and bomb disposal.

[0003] For mobile robots used for inspection and exploration in complex environments, the main challenges are obstacle crossing and rapid movement, especially in harsh and high-risk environments such as fire scenes and mines, where there may be many complex terrains such as steps, deep wells, and disconnected pipes. The robot needs to have multiple terrain adaptability capabilities to achieve movement and turning in narrow spaces, obstacle crossing on steps in multiple directions, and climbing and turning inside and outside deep wells and disconnected pipes. These mobile tasks require the robot to have multiple movement modes and mode switching capabilities. To this end, we propose a redundant drive multi-mode six-wheeled mobile robot and inspection device. Summary of the Invention

[0004] The purpose of this invention is to provide a redundant drive multi-mode six-wheeled mobile robot and inspection device, which can switch between multiple motion modes and has the motion capabilities of moving and turning, step obstacle crossing and pipe climbing. Through redundant drive design, the overall mechanism's motion and force are balanced.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a redundant drive multi-mode six-wheeled mobile robot, comprising at least three sets of mobile units, the multiple mobile units being arranged in a circumferential array, a first link being installed between two adjacent mobile units, the two ends of the link being rotatably connected to the tail of the preceding mobile unit and the head of the following mobile unit, respectively.

[0006] The moving unit includes a second link rotatably connected to the first link, with a first roller and a second roller respectively mounted at both ends of the second link, and the first roller and the second roller being perpendicular to each other.

[0007] Furthermore, the number of the second link is at least three, the second link has the same shape and size as the first link, and the second link and the first link are alternately arranged.

[0008] Furthermore, both the first and second connecting rods have deflection grooves at one end and deflection plates fixedly connected to the other end, with the deflection plates and deflection grooves being mutually compatible.

[0009] Furthermore, a steering motor is fixedly connected to the side wall of both the first and second connecting rods near the deflection groove. A bogie is installed at the output end of the steering motor, and a roller is rotatably connected to the bogie. The first roller is fixed to the first connecting rod, and the second roller is fixed to the second connecting rod. The first roller and the second roller have the same shape and size.

[0010] Furthermore, a drive motor is fixedly connected to the side wall of the bogie, and the output shaft of the drive motor passes through the rotating frame and is fixedly connected to the roller.

[0011] Furthermore, a configuration switching motor is fixedly connected to the top end of the first link, and the configuration switching motor passes through the deflection slot of the first link and is fixedly connected to the deflection plate of the second link.

[0012] Furthermore, by setting the angle between the first link and the second link to 180°, the first link and the second link together form a triangular configuration, creating a movement and steering mode for the mobile robot to move and turn simultaneously.

[0013] Furthermore, the starting configuration switching motor rotates synchronously, making the angle between the first link and the second link less than 180°, and causing the first roller to move upward. The second roller is driven by the steering motor to turn and contact the ground, forming a spatial hexagonal configuration, thus forming an obstacle-crossing mode.

[0014] Furthermore, the starting configuration switching motor rotates, causing it to reduce the angle between the first and second connecting rods, so that the first roller faces outward and the second roller faces inward, thus forming a pipe climbing mode.

[0015] According to one aspect of the present invention, an inspection device is provided, comprising the aforementioned redundant-drive multi-mode six-wheeled mobile robot.

[0016] This invention has at least the following beneficial effects:

[0017] This invention enables the robot to switch between three modes—movement and steering, step climbing, and pipe climbing—through synchronous drive of three configuration-switching motors. Combined with the steering functions of the bogie, first roller, and second roller, the robot also possesses more flexible mobility in these three modes, such as movement and steering, turning in place, multi-directional step obstacle crossing, pipe climbing, and climbing and steering. Furthermore, the redundant drive of the three configuration-switching motors ensures balanced movement and force distribution within the mechanism. Therefore, the mobile robot proposed in this invention exhibits strong terrain adaptability, a simple overall structure, low cost, and ease of modular fabrication and assembly. It can be applied to fields such as unknown environment exploration and complex environment inspection, and shows great potential in tasks such as hazardous materials detection and rapid response, disaster search and rescue, and extraterrestrial surface exploration.

[0018] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

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

[0020] Figure 2 This is a partial schematic diagram of the wheel of the present invention;

[0021] Figure 3 This is a schematic diagram of the overall structure of the present invention in the in-situ turning mode;

[0022] Figure 4 This is a schematic diagram of the obstacle-crossing mode of the overall structure of the present invention;

[0023] Figure 5 This is a schematic diagram of the overall structure of the present invention climbing along the inner wall of the pipe;

[0024] Figure 6 This is a schematic diagram of the overall structure of the present invention climbing along the outer wall of the pipe.

[0025] Figure label:

[0026] 1. Moving unit; 2. First link; 3. Second link; 4. First roller; 5. Second roller; 6. Deflection groove; 7. Deflection plate; 8. Steering motor; 9. Drive motor; 10. Configuration switching motor; 11. Inner wall of pipe; 12. Outer wall of pipe; 13. Bogie. Detailed Implementation

[0027] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0028] Combination Figures 1 to 6 This invention provides an embodiment of a redundant-drive, multi-mode, six-wheeled mobile robot, primarily used in the field of inspection and detection robots. In inspection and detection applications, especially in harsh and high-risk environments such as fire scenes and mines, there may be complex terrains such as numerous steps, deep wells, and disconnected pipes. The robot needs to possess multiple terrain adaptability capabilities to achieve functions such as moving and turning in confined spaces, overcoming obstacles on steps in multiple directions, and climbing and turning inside and outside deep wells and disconnected pipes. These mobile tasks require the robot to have multiple movement modes and mode switching capabilities.

[0029] Please see Figure 1-6The present invention provides a technical solution: a redundant drive multi-mode six-wheeled mobile robot, including at least three sets of mobile units 1, the multiple mobile units 1 are arranged in a circumferential array, and a first link 2 is installed between two adjacent mobile units 1, the two ends of the link being rotatably connected to the tail of the preceding mobile unit 1 and the head of the following mobile unit 1, respectively.

[0030] The moving unit 1 includes a second link 3 rotatably connected to the first link 2. A first roller 4 and a second roller 5 are respectively installed at both ends of the second link 3, and the first roller 4 and the second roller 5 are perpendicular to each other.

[0031] Regarding the technical solution of this application, the number of second links 3 is at least three. The second links 3 have the same shape and size as the first links 2, and the second links 3 and the first links 2 are alternately arranged. The first links 2 and the second links 3 are connected end to end to form a single-ring mechanism.

[0032] Both the first link 2 and the second link 3 have a deflection groove 6 at one end and a deflection plate 7 fixedly connected to the other end. The deflection plate 7 and the deflection groove 6 are mutually compatible. The single-ring mechanism formed by the first link 2 and the second link 3 has a single degree of freedom, forming a typical Bricard mechanism. The unique spatial motion of the Bricard mechanism enables the first link 2 and the second link 3 to have multiple configuration switching capabilities, ultimately enabling the robot to have multiple movement modes.

[0033] Steering motors 8 are fixedly connected to the side walls of the first link 2 and the second link 3 near the deflection groove 6. In accordance with the technical solution of this application, there are six steering motors 8, and a bogie 13 is installed at the output end of the steering motor 8. Rollers are rotatably connected to the bogie 13. The first roller 4 is fixed on the first link 2, and the second roller 5 is fixed on the second link 3. The first roller 4 and the second roller 5 have the same shape and size. When the steering motor 8 is started, the bogie 13 is rotated, thereby realizing the steering of the first roller 4 and the second roller 5.

[0034] Regarding the technical solution of this application, there are six bogies 13. A drive motor 9 is fixedly connected to the side wall of the bogie 13, and the output shaft of the drive motor 9 passes through the rotating frame and is fixedly connected to the roller. Starting the drive motor 9 drives the roller to rotate, thereby realizing the drive.

[0035] Furthermore, a configuration switching motor 10 is fixedly connected to the top of the first link 2. In accordance with the technical solution of this application, the number of configuration switching motors 10 is set to three, and the configuration switching motors 10 pass through the deflection slot 6 of the first link 2 and are fixedly connected to the deflection plate 7 of the second link 3. When the configuration switching motors 10 are started, the second link 3 is driven to deflect, thereby realizing the deflection adjustment of the first link 2 and the second link 3, which facilitates the switching of multiple modes.

[0036] It should be noted that the drive motor 9, steering motor 8, and configuration switching motor 10 are all powered by a battery (not shown in the figure).

[0037] Specifically: by activating the synchronous rotation of the three configuration switching motors 10, the first link 2 and the second link 3 are driven to move, completing the overall configuration switching of the mobile robot in three modes: movement and turning, step obstacle crossing, and pipe climbing. Figure 1 , Figure 3 , Figure 4 and Figure 5 .

[0038] like Figure 1 As shown, when the mobile robot is in the movement and turning mode, the angle between the first link 2 and the second link 3 is 180°, and the first link 2 and the second link 3 form a triangular configuration. At this time, the three first rollers 4 are in contact with the ground. Activating the drive motor 9 on the first roller 4 causes the first roller 4 to rotate, thus enabling the robot to move on flat ground. Then, activating the steering motor 8 drives the bogie 13 and the first rollers 4 to turn, thus enabling the mobile robot to move and turn simultaneously. Furthermore, as... Figure 3 As shown, the steering motor 8 drives the first roller 4 to be in a position Figure 3 In its current form, the mobile robot can also turn in place.

[0039] like Figure 4 As shown, when the mobile robot is in stair obstacle-crossing mode, Figure 1 Based on the shown movement and steering mode, the three configuration switching motors 10 are activated to rotate synchronously. At this time, the angle between the first link 2 and the second link 3 is reduced, and the first roller 4 moves upward. The second roller 5 is driven by the steering motor 8 to turn and contact the ground, forming a spatial hexagonal configuration. In this mode, the drive motor 9 on the second roller 5 in contact with the ground is activated to drive the entire mobile robot to move. At this time, the first roller 4 can climb over the step. The drive motor 9 of the first roller 4 that climbs over the step is activated, and at the same time, the configuration switching motor 10 is activated again to rotate in the opposite direction, so that the first link 2 and the second link 3 form a triangular configuration again. Then the first roller 4 will contact the step and use friction to drive the entire robot to move onto the step. It should be further noted that the robot has a three-symmetric configuration and can achieve obstacle crossing in three directions. Combined with the stationary turning function in the robot's movement and steering mode, the robot can finally achieve obstacle crossing in multiple directions.

[0040] like Figure 5 As shown, when the mobile robot is in pipe-climbing mode, Figure 4Based on the step obstacle-crossing mode shown, the three configuration switching motors 10 are activated to rotate synchronously, causing the angle between the first link 2 and the second link 3 to further decrease until the first roller 4 faces outwards and the second roller 5 faces inwards, with the first link 2 and the second link 3 forming a spatial hexagonal configuration. When the mobile robot is inside the pipe, the configuration switching motors 10 apply torque, ensuring that the three outward-facing first rollers 4 are in close contact with the inner wall 11 of the pipe and generate sufficient friction, thus fixing the mobile robot to the inner wall 11 of the pipe. Then, the drive motor 9 on the first roller 4 is activated, enabling the mobile robot to climb or descend within the pipe. Furthermore, by activating the steering motor 8 on the first roller 4, the bogie 13 and the first roller 4 are deflected, allowing the mobile robot to perform climbing and turning movements around the pipe axis. Figure 6 As shown, similarly, when the mobile robot is outside the pipe, the three configuration switching motors 10 apply torque to ensure that the three inward-facing second rollers 5 are in close contact with the outer wall 12 of the pipe and generate sufficient friction, so that the mobile robot can be fixed on the outer wall 12 of the pipe. Then, the drive motor 9 on the second roller 5 is started, so that the robot can climb or descend on the outer wall 12 of the pipe. Furthermore, by starting the steering motor 8 on the second roller 5 to rotate, the robot can also achieve climbing and turning movements around the pipe axis.

[0041] According to one aspect of the present invention, an inspection device is provided, comprising the aforementioned redundant-drive multi-mode six-wheeled mobile robot.

[0042] In summary, the technical solution of this invention enables the robot to switch between three modes—movement and steering, step climbing, and pipe climbing—through the synchronous drive of three configuration-switching motors 10. Combined with the steering functions of the bogie 13, the first roller 4, and the second roller 5, the robot also possesses more flexible mobility in these three modes, such as movement and steering, turning in place, multi-directional step obstacle crossing, pipe climbing, and climbing and steering. Furthermore, the redundant drive of the three configuration-switching motors 10 ensures balanced movement and force distribution within the mechanism. Therefore, the mobile robot proposed in this invention exhibits strong terrain adaptability, a simple overall structure, low cost, and is easy to modularize and assemble. It can be applied to fields such as unknown environment exploration and complex environment inspection, and shows great potential in tasks such as hazardous material detection and rapid disposal, disaster search and rescue, and extraterrestrial surface exploration.

[0043] It should be noted that, in this document, relational terms such as "first" and "second" are used only 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 process, method, article, or apparatus.

[0044] For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances. When an element is referred to as being "assembled on," "mounted on," "fixed to," or "set on" another element, it may be directly on the other element or there may be an intermediate element present. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible embodiments.

[0045] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

[0046] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A redundant-drive, multi-mode, six-wheeled mobile robot, characterized in that, It includes at least three sets of moving units (1), and the multiple moving units (1) are arranged in a circumferential array. A first connecting rod (2) is installed between two adjacent moving units (1). The two ends of the first connecting rod (2) are respectively rotatably connected to the tail of the previous moving unit (1) and the head of the next moving unit (1). The moving unit (1) includes a second link (3) rotatably connected to the first link (2). The two ends of the second link (3) are respectively equipped with a first roller (4) and a second roller (5), and the first roller (4) and the second roller (5) are perpendicular to each other. The top end of the first link (2) is fixedly connected to a configuration switching motor (10), and the configuration switching motor (10) passes through the deflection slot (6) of the first link (2) and is fixedly connected to the deflection plate (7) of the second link (3). By making the angle between the first link (2) and the second link (3) 180°, the first link (2) and the second link (3) can form a triangular configuration, thus creating a movement and turning mode for the mobile robot to move and turn simultaneously.

2. The redundant-drive multi-mode six-wheeled mobile robot according to claim 1, characterized in that: The number of the second link (3) is at least three. The second link (3) has the same shape and size as the first link (2), and the second link (3) and the first link (2) are alternately arranged.

3. The redundant-drive multi-mode six-wheeled mobile robot according to claim 2, characterized in that: One end of the first link (2) and the second link (3) is provided with a deflection groove (6), and the other end is fixedly connected with a deflection plate (7), and the deflection plate (7) and the deflection groove (6) are mutually compatible.

4. The redundant-drive multi-mode six-wheeled mobile robot according to claim 3, characterized in that: Steering motors (8) are fixedly connected to the side wall of the first link (2) and the second link (3) near the deflection groove (6). A bogie (13) is installed at the output end of the steering motor (8). Rollers are rotatably connected to the bogie (13). The first roller (4) is fixed on the first link (2), and the second roller (5) is fixed on the second link (3). The first roller (4) and the second roller (5) have the same shape and size.

5. A redundant-drive multi-mode six-wheeled mobile robot according to claim 4, characterized in that: A drive motor (9) is fixedly connected to the side wall of the bogie (13), and the output shaft of the drive motor (9) passes through the rotating frame and is fixedly connected to the roller.

6. A redundant-drive multi-mode six-wheeled mobile robot according to claim 5, characterized in that: The configuration switching motor (10) is started to rotate synchronously, so that the angle between the first link (2) and the second link (3) is less than 180°, and the first roller (4) moves upward. The second roller (5) is driven by the steering motor (8) to turn and contact the ground. The whole structure is a spatial hexagonal configuration, which can form the obstacle crossing mode.

7. A redundant-drive multi-mode six-wheeled mobile robot according to claim 6, characterized in that, Start the configuration switching motor (10) to rotate, which will cause the angle between the first link (2) and the second link (3) to decrease, so that the first roller (4) faces outward and the second roller (5) faces inward, thus forming the pipe climbing mode.

8. An inspection device, characterized in that: The invention includes a redundant-drive multi-mode six-wheeled mobile robot according to any one of claims 1 to 7.

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