Marshland-shaped advancing mechanism

Abstract

The marshland-shaped advancing mechanism comprises a machine body, four wheel legs and a tail mechanical arm, the four wheel legs are installed on the two sides of the machine body respectively and driven by first motors respectively, and the tail mechanical arm is arranged at the tail end of the machine body and located on the central axis of the wheel legs on the left side and the right side; each wheel leg is of a double-spoke structure and is in an S shape, and the wheel legs on the left side and the right side of the machine body are overlapped to form a circle. The tail mechanical arm provides supporting force or power for the machine body, and a triangular gait is formed by the tail mechanical arm and the four wheel legs. According to the marshland shape advancing mechanism, the obstacle crossing ability is improved, meanwhile, the advancing speed and stability are improved, and self-rescue and marshland separation can be achieved when the marshland shape advancing mechanism sinks into marshland.

Description

Technical Field

[0001] The invention relates to the field of mobile mechanisms, in particular to a mechanism for traveling on swampy terrain. Background Art

[0002] With the development of robot technology, traveling mechanisms are widely used in the fields of reconnaissance, rescue, and surveying. However, in complex swampy terrain, traveling mechanisms are difficult to move forward. Traveling mechanisms have wheeled and legged structures. Wheeled structures are mainly used on flat roads, while legged structures can be used in different environments. Legged structures have poor stability, small contact area, and are easily trapped in swamps, making them unsuitable for swampy terrain. The traveling mechanisms of amphibious vehicles used in swampy terrain mainly use the method of increasing the number of wheels or increasing the width of the wheels to prevent the vehicle from falling into the swamp. Although the commonly used tracked mechanisms have a large support area and a small load-bearing specific pressure, they are slow to travel and not flexible enough. Summary of the invention

[0003] In order to solve the problem of flexible operation of a traveling mechanism in swampy terrain in the prior art, the present invention provides a traveling mechanism for swampy terrain.

[0004] The technical solution of the present invention is achieved in this way: A swamp terrain traveling mechanism, characterized in that it comprises: a machine body, four wheel legs and a tail mechanical arm, wherein the four wheel legs are respectively installed on both sides of the machine body and are respectively driven by a first motor, and the tail mechanical arm is arranged at the tail end of the machine body and is located on the central axis of the left and right wheel legs; each wheel leg is a double-spoke structure, presenting an S shape, and the wheel legs on the left and right sides of the machine body are superimposed to form a circle; the tail mechanical arm provides support force or power to the machine body, and forms a triangular gait with the four wheel legs.

[0005] Preferably, the wheel leg includes a first leg and a second leg, the first leg and the second leg are located on both sides of the centerline of the axis and form semicircles with the same diameter in opposite directions, and then form arcs with the diameter as the arc length.

[0006] Preferably, the tail robotic arm includes an articulated support, a first arm body, a second arm body and a supporting wheel body. The articulated support is arranged at the tail end of the machine body and is connected to a second motor fixed on the machine body, and the second motor drives the articulated support to swing left and right relative to the machine body; the first arm body is located on one side of the articulated support and is connected to a third motor fixed on the other side of the articulated support, and the third motor drives the first arm body to rotate up and down; the second arm body is hinged to the first arm body, and the second arm body is connected to a fourth motor fixed thereon and driven to reverse; the support wheel body is fixed at the end of the second arm body.

[0007] Preferably, the wheel legs on both sides of the body rotate in a diagonal gait, the left front wheel leg and the right rear wheel leg are in the same movement state, the right front wheel leg and the left rear wheel leg are in the same movement state, the left front wheel leg and the right front wheel leg are 90 degrees apart in state, and the tail robotic arm can maintain a supporting state to ensure that the body is supported in a triangular gait.

[0008] Preferably, reinforcing ribs are provided on the semicircular inner sides of the first leg and the semicircular inner sides of the second leg, and silicone pads are provided on the outer sides of the first leg and the second leg.

[0009] Preferably, the articulated support includes a chassis and a support, the support is fixed on the chassis, a connecting hole is provided on the support, a slot for fixing the second motor is provided on the other side of the support, and the first arm is located on one side of the support.

[0010] Preferably, a groove for fixing the fourth motor is provided on one side of the second arm body, the second arm body and the support are located on the same side of the first arm body, and the first arm body and the supporting wheel body are located on the same side of the second arm body.

[0011] Preferably, a float is provided at the rear bottom end of the machine body, and the float is made of a strong polymer material.

[0012] The beneficial effects of the present invention are as follows: the swamp terrain traveling mechanism of the present invention has five supporting forces formed by four wheel legs and a tail mechanical arm, which improves the traveling speed and stability. Each wheel leg adopts a double-spoke structure to improve the obstacle crossing ability. The wheel legs on the left and right sides of the body are superimposed into a circle, and combined with the tail mechanical arm to form a triangular gait, which increases the stability of the center of gravity. The tail mechanical arm can also provide the power of left and right swinging or the force of up and down movement, so that the traveling mechanism trapped in the swamp can save itself and get out of the swamp. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0014] Figure 1 It is a three-dimensional structural schematic diagram of a swamp terrain traveling mechanism of the present invention; Figure 2 for Figure 1 The schematic diagram of the side structure of the swamp terrain traveling mechanism shown; Figure 3 for Figure 1 The structural schematic diagram of the tail mechanical arm is shown; Figure 4It is a top schematic diagram of a swamp terrain traveling mechanism of the present invention; Figure 5 It is a schematic diagram of the wheel leg structure of the present invention.

[0015] In the figure: 1. Machine body; 2. Wheel legs; 3. Tail robotic arm; 4. First motor; 21. First leg; 22. First leg; 23. Reinforcement ribs; 24. Silicone pad; 31. Articulated support; 32. First arm body; 33. Second arm body; 34. Support wheel body. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] Example: Figure 1 The swamp terrain traveling mechanism shown in the figure comprises: a machine body 1, four wheel legs 2 and a tail mechanical arm 3, wherein the four wheel legs 2 are respectively mounted on both sides of the machine body and driven by a first motor 4 respectively, and the tail mechanical arm 3 is arranged at the tail end of the machine body and located on the central axis of the left and right wheel legs; Figure 2 As shown, each wheel leg is a double-spoke structure, presenting an S shape, and the wheel legs on the left and right sides of the body are superimposed to form a circle; the tail robotic arm 3 provides support or power to the body, and the tail robotic arm provides support together with the wheel legs when it lands. When the wheel body sinks into the swamp terrain, the tail robotic arm can provide power to the entire traveling mechanism through the swing or reaction force of the tail robotic arm.

[0018] like Figure 1 As shown, the wheel leg 2 includes a first leg 21 and a second leg 22. The first leg 21 and the second leg 22 are located on both sides of the axis centerline and form semicircles with the same diameter in opposite directions, and then form arcs with the diameter as the arc length. The end of the first leg 21 is located on the axis centerline, and the end of the second leg 22 crosses the axis centerline, so that the first leg 21 and the second leg 22 are S-shaped.

[0019] like Figure 5 As shown, reinforcing ribs 23 are provided on the semicircular inner sides of the first leg 21 and the semicircular inner sides of the second leg 22. The stress is concentrated on the reinforcing ribs, which increases the structural strength of the wheel legs, makes the wheel legs less likely to break, and improves the seismic performance without increasing the mass of the wheel legs. Silicone pads 24 are provided on the outer sides of the first wheel legs and the second wheel legs to increase friction, further suppress slipping, and provide support points.

[0020] like Figure 3 As shown, the tail robotic arm 3 includes an articulated support 31, a first arm body 32, a second arm body 33 and a supporting wheel body 34. The articulated support 31 is arranged at the tail end of the body 1 and is connected to a second motor 35 fixed on the body 1. The second motor 35 drives the articulated support to swing left and right relative to the body; the first arm body 32 is located on one side of the articulated support 31 and is connected to a third motor 36 fixed on the other side of the articulated support 31. The third motor 36 drives the first arm body 32 to rotate up and down; the second arm body 33 is hinged to the first arm body 32, and the second arm body 33 is connected to a fourth motor 37 fixed thereon and is driven to reverse; the end of the second arm body 33 is fixed to the supporting wheel body 34.

[0021] The wheel legs on both sides of the machine body rotate in a diagonal gait, the left front wheel leg and the right rear wheel leg are in the same state, the right front wheel leg and the left rear wheel leg are in the same state, and the left front wheel leg and the right front wheel leg are 90 degrees apart. Figure 4 As shown, when the four wheel legs of the body 1 move forward, in the triangle formed by the left front wheel leg C, the right rear wheel leg B and the tail mechanical arm, the angle CBE at the intersection of the right rear wheel leg is 90 degrees, and in the triangle formed by the right front wheel leg A, the left rear wheel leg D and the tail mechanical arm, the angle ADE at the intersection of the left rear wheel leg is 90 degrees. The tail mechanical arm can maintain a supporting state, ensuring that the body is supported in a triangular gait, maintaining both the obstacle surmounting capability and the stability of the center of gravity.

[0022] The wheel legs adopt a double-spoke structure to improve the obstacle-crossing ability. The four wheel legs and a tail mechanical arm give the body five supporting forces. The supporting wheel body of the tail mechanical arm provides supporting force when it touches the ground, and the rotation of the articulated support can form a left-right swinging state, pushing the entire traveling mechanism forward in the swamp; the first arm body maneuvers up and down, and the second arm body can provide reaction force, which can give an upward thrust to the entire traveling mechanism trapped in the swamp, allowing it to escape from the quagmire and achieve self-rescue.

[0023] The articulated support 31 includes a chassis and a support, the support is fixed on the chassis, a connecting hole is provided on the support, a slot for fixing the second motor is provided on the other side of the support, and the first arm body is located on one side of the support. A groove for fixing the fourth motor is provided on one side of the second arm body, the second arm body and the support are located on the same side of the first arm body, and the first arm body and the supporting wheel body are located on the same side of the second arm body. The tail mechanical arm moves flexibly, and the components are compactly matched, which is both beautiful and space-saving.

[0024] A buoy can be provided at the rear bottom of the machine body. The buoy is made of a strong polymer material and can provide buoyancy support when the machine body sinks into a swamp. The buoy itself is small in size and light in weight, easy to transport and install, and can be assembled and disassembled according to needs.

[0025] When the machine body is moving, the wheel leg rotates counterclockwise. The initial state is that the left front wheel leg and the right rear wheel leg are at the critical point and just touch the ground, the right front wheel leg and the left rear wheel leg are at the critical point and just leave the ground, and the left front wheel leg and the right rear wheel leg are in contact with the ground in combination with the supporting wheel body, which is a triangular gait and the moving is stable. Rotate 45 degrees, the left front wheel leg and the right rear wheel leg are in good contact with the ground, the right front wheel leg and the left rear wheel leg are separated from the ground and tilted, and the left front wheel leg and the right rear wheel leg are in combination with the supporting wheel body to maintain the stability of the triangular gait. Rotate 90 degrees, the left front wheel leg and the right rear wheel leg are at the critical point and just leave the ground, the right front wheel leg and the left rear wheel leg are at the critical point and just touch the ground, and the right front wheel leg and the left rear wheel leg are in contact with the ground in combination with the supporting wheel body, maintaining the triangular gait. Rotate 135 degrees, the right front wheel leg and the left rear wheel leg are in good contact with the ground, the left front wheel leg and the right rear wheel leg push the ground and tilt, and the right front wheel leg and the left rear wheel leg are in combination with the supporting wheel body to continue to maintain the triangular gait. Turn 180 degrees and move to the initial position, repeating this cycle to maintain the stability of the triangular gait.

[0026] The swamp terrain traveling mechanism of the present invention utilizes five supporting forces to achieve the stability of the triangular gait, and the tail mechanical part can also provide power for self-rescue, thereby improving the security for traveling in swamp terrain. Moreover, the obstacle-crossing ability of the wheel legs greatly exceeds that of the wheel body, and the traveling speed exceeds that of the track mechanism.

[0027] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A swamp terrain travel mechanism, characterized in that: include: The machine body comprises a body, four wheel legs and a tail robotic arm, wherein the four wheel legs are respectively installed on both sides of the machine body and are respectively driven by a first motor, and the tail robotic arm is arranged at the tail end of the machine body and is located on the central axis of the wheel legs on the left and right sides; each wheel leg is a double-spoke structure, presenting an S shape, and the wheel legs on the left and right sides of the machine body are superimposed to form a circle; the tail robotic arm provides support or power to the machine body, and forms a triangular gait with the four wheel legs.

2. The swamp terrain traveling mechanism according to claim 1, characterized in that: The wheel leg comprises a first leg and a second leg, the first leg and the second leg are located on both sides of the axis centerline and form semicircles with the same diameter in opposite directions, and then form arcs with the diameter as the arc length.

3. The swamp terrain traveling mechanism according to claim 1, characterized in that: The tail robotic arm includes an articulated support, a first arm body, a second arm body and a supporting wheel body. The articulated support is arranged at the tail end of the body and is connected to a second motor fixed on the body. The second motor drives the articulated support to swing left and right relative to the body; the first arm body is located on one side of the articulated support and is connected to a third motor fixed on the other side of the articulated support. The third motor drives the first arm body to rotate up and down; the second arm body is hinged to the first arm body, and the second arm body is connected to a fourth motor fixed thereon and driven to reverse; the support wheel body is fixed at the end of the second arm body.

4. The swamp terrain traveling mechanism according to claim 1, characterized in that: The wheel legs on both sides of the body rotate in a diagonal gait. The left front wheel leg and the right rear wheel leg are in the same state, the right front wheel leg and the left rear wheel leg are in the same state, the left front wheel leg and the right front wheel leg are 90 degrees apart in state, and the tail robotic arm can maintain a supporting state to ensure that the body is supported in a triangular gait.

5. The swamp terrain traveling mechanism according to claim 2, characterized in that: Reinforcing ribs are provided on the semicircular inner sides of the first leg and the second leg, and silicone pads are provided on the outer sides of the first leg and the second leg.

6. The swamp terrain traveling mechanism according to claim 3, characterized in that: The articulated support comprises a chassis and a support, the support is fixed on the chassis, a connecting hole is arranged on the support, a slot for fixing the second motor is arranged on the other side of the support, and the first arm is located on one side of the support.

7. The swamp terrain traveling mechanism according to claim 3, characterized in that: A groove for fixing the fourth motor is arranged on one side of the second arm body. The second arm body and the support are located on the same side of the first arm body. The first arm body and the supporting wheel body are located on the same side of the second arm body.

8. The swamp terrain traveling mechanism according to claim 1, characterized in that: A float is arranged at the rear bottom of the machine body, and the float is made of a strong and tough polymer material.

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