All-terrain six-wheel robot
By combining an adaptive chassis and a rocker arm system, the problem of complex structure and insufficient stability of traditional all-terrain six-wheeled robots has been solved, achieving high adaptability and aesthetics in complex terrain and improving obstacle crossing success rate.
Patent Information
- Application Number
- CN202411522194.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-29
- Publication Date
- 2025-01-07
AI Technical Summary
Traditional all-terrain six-wheeled robots have complex structures, with exposed wiring for motors and servos that affects their appearance and makes them susceptible to damage. They also lack stability and flexibility, and lack effective measures to improve traction, which limits their movement on complex terrain.
It adopts a combination design of adaptive chassis, rocker arm system, rocker arm helical gear, main body gear, walking mechanism and gear transmission mechanism. The left and right front rocker arm systems and the rear rocker arm system are connected by connecting rods to form a hollow structure. The servo motor is fixedly connected to the connecting rod to drive the rocker arm system to move. When the rocker arm system crosses an obstacle, it lifts up to generate traction force, avoiding power unload and chassis jamming.
It improves the robot's adaptability and overall performance in complex terrain, optimizes the route layout, enhances aesthetics, avoids power idling and chassis jamming, and increases the success rate of obstacle crossing.
Smart Images
Figure CN119262129A_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of robots, and in particular relates to an all-terrain six-wheel robot. Background Art
[0002] With the continuous development of science and technology, robots are increasingly used in various fields. Existing robots often have problems such as limited movement and poor stability when facing complex terrain. For example, in environments such as rugged mountains, muddy swamps or soft sand, traditional wheeled or tracked robots may get stuck and fail to work properly. Therefore, an all-terrain six-wheeled robot that can adapt to various complex terrains has been developed.
[0003] However, the current problems are: 1. The structure of the traditional all-terrain six-wheel robot is complex, and the lines of the motor and servo are exposed, which not only affects the appearance, but also is easily disturbed and damaged. In addition, many passive rocker systems show insufficient stability and flexibility when facing complex terrain. 2. The obstacle-crossing mechanism of the traditional all-terrain six-wheel robot lacks effective grip-enhancing measures, and may cause power idling or chassis jamming on uneven ground. These defects affect the overall performance of the robot and its adaptability in complex environments.
[0004] Therefore, the present invention provides a new all-terrain six-wheel robot to solve the above technical problems. Summary of the invention
[0005] In view of the above problems, the present invention aims to provide an all-terrain six-wheeled robot which is beautiful, simple and has strong adaptability on complex terrains.
[0006] The present invention provides an all-terrain six-wheel robot, which comprises an adaptive chassis, a shell cover arranged on the adaptive chassis, a rocker system arranged on the peripheral side of the adaptive chassis, a rocker bevel gear connected to the rocker system, a main body gear meshing and transmission connected to the rocker bevel gear, a walking mechanism fixed at the bottom of the rocker system, and a gear transmission mechanism fixed at the top of the rocker system; the rocker system comprises left and right front rocker systems, a rear rocker system, a connecting rod and a steering gear arranged on the peripheral side of the adaptive chassis, the walking mechanism is fixed at the bottom of the left and right front rocker systems and the rear rocker system, and the gear transmission mechanism is fixed at the top of the left and right front rocker systems and the rear rocker system; the left and right front rocker systems and the rear rocker system are connected by the connecting rod, and the left and right front rocker systems, the rear rocker system and the connecting rod are arranged in a hollow structure; the steering gear is fixedly connected to the connecting rod for driving the left and right front rocker systems and the rear rocker system to move.
[0007] Preferably, the left and right front rocker arm systems include left and right front rocker arm support bodies, left and right front rocker arm main bodies mounted on the left and right front rocker arm support bodies, and left and right front rocker arm wiring holes and left and right front rocker arm fixing holes provided on the left and right front rocker arm main bodies; the rear rocker arm system includes a rear rocker arm support body, a rear rocker arm main body mounted on the rear rocker arm support body, and a rear rocker arm wiring hole and a rear rocker arm fixing hole provided on the rear rocker arm main body; the connecting rod includes a main body, a connecting rod wiring hole and a first connecting rod fixing hole provided at a first end of the main body, and a second connecting rod fixing hole provided at a second end of the main body; the left and right front rocker arm main bodies, the rear rocker arm main body and the main body are arranged in a hollow structure;
[0008] The first end of the main body is connected and fixed to the left and right front rocker arm bodies through the first connecting rod fixing hole and the left and right front rocker arm fixing holes; the second end of the main body is connected and fixed to the rear rocker arm body through the second connecting rod fixing hole and the rear rocker arm fixing hole; one end of the rocker arm bevel gear is fixedly connected to the second end of the main body, and the other end of the rocker arm bevel gear is meshed and transmitted with the main body gear; the walking mechanism is fixed to the bottom of the left and right front rocker arm support bodies and the rear rocker arm support bodies, and the gear transmission mechanism is fixed to the top of the left and right front rocker arm bodies and the rear rocker arm bodies.
[0009] Preferably, the walking mechanism includes a tire bracket fixed to the bottom of the left and right front rocker arm support bodies and the rear rocker arm support body, a threaded hole opened on the tire bracket for connecting and fixing with the bottom of the left and right front rocker arm support bodies and the rear rocker arm support body, a motor bracket fixed on the tire bracket, a motor mounted on the motor bracket, and a 3D printed wheel hub arranged on the tire bracket and rotatingly connected with the motor.
[0010] Preferably, the gear transmission mechanism includes a servo gear and a driven gear fixed to the top of the left and right front rocker arm bodies and the rear rocker arm body, and the servo gear and the driven gear are meshingly connected.
[0011] Preferably, the shell cover includes a robot front cover disposed on the adaptive chassis and a robot rear cover disposed on the adaptive chassis and spliced with the robot front cover.
[0012] Preferably, the all-terrain six-wheel robot further comprises an industrial camera fixed on the front cover of the robot.
[0013] Preferably, the all-terrain six-wheel robot further comprises a detachable handle fixed to the connecting rod.
[0014] Compared with the related art, the present invention provides an all-terrain six-wheel robot, which includes an adaptive chassis, a shell cover arranged on the adaptive chassis, a rocker system arranged on the periphery of the adaptive chassis, a rocker bevel gear connected to the rocker system, a main gear meshing and transmission connected to the rocker bevel gear, a walking mechanism fixed at the bottom of the rocker system, and a gear transmission mechanism fixed at the top of the rocker system; the rocker system includes left and right front rocker systems, a rear rocker system, a connecting rod and a servo arranged on the periphery of the adaptive chassis, the walking mechanism is fixed at the bottom of the left and right front rocker systems and the rear rocker system, and the gear transmission mechanism is fixed at the top of the left and right front rocker systems and the rear rocker system; the left and right front rocker systems and the rear rocker system are connected by the connecting rod, and the left and right front rocker systems, the rear rocker system and the connecting rod are arranged in a hollow structure; the servo is fixedly connected to the connecting rod for driving the left and right front rocker systems and the rear rocker system to move. In the above structure, the left and right front rocker arm systems, the rear rocker arm system and the connecting rod form a stable motion platform, and the left and right front rocker arm systems and the rear rocker arm system are connected by the connecting rod to form a coordinated structure, so that the walking mechanism can effectively adapt to the changes in the ground, so that the walking mechanism can effectively adapt to the changes in the bottom surface, enhance the adaptability of the robot on complex terrain, and improve the overall performance; the left and right front rocker arm systems, the rear rocker arm system and the connecting rod are set in a hollow structure, which optimizes the robot wiring layout, makes the line layout of the servo and motor on the robot more neat and beautiful, effectively reduces the clutter in the appearance, and the hollow structure facilitates the smooth installation of the line on the PCB board, further improving the overall design. The aesthetics and functionality. In addition, when the robot crosses an obstacle, when one side of the rocker arm system is lifted, the rocker arm bevel gear on that side will rotate downward, so that the main gear tilts to the raised side. This change causes the rocker arm bevel gear on the other side to rotate upward, thereby generating a downward grip on the other side of the rocker arm system. This mechanism not only avoids the phenomenon of power no-load, but also improves the operating stability and adaptive terrain capability of the mechanism, allowing the robot to cross obstacles more easily. The raising of the rocker system will raise the adaptive chassis to the same height as the rocker system, thereby effectively preventing the chassis from getting stuck and further improving the success rate of obstacle crossing. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 This is a schematic diagram of the three-dimensional structure of an all-terrain six-wheeled robot of the present invention;
[0016] Figure 2 A schematic diagram of a partial three-dimensional structure of an all-terrain six-wheeled robot according to the present invention;
[0017] Figure 3 A schematic diagram of a partial three-dimensional structure of an all-terrain six-wheeled robot of the present invention when in motion;
[0018] Figure 4 A partial structural cross-sectional view of an all-terrain six-wheel robot in motion according to the present invention;
[0019] Figure 5 It is an assembly diagram of the left and right front rocker arm systems, the walking mechanism and the gear transmission mechanism described in the present invention;
[0020] Figure 6 is a schematic diagram of the three-dimensional structure of the connecting rod described in the present invention;
[0021] Figure 7 It is an assembly diagram of the rear rocker arm system and the walking mechanism in the present invention. DETAILED DESCRIPTION
[0022] The invention provides an all-terrain six-wheel robot which is beautiful, simple and has strong adaptability on complex terrains.
[0023] 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.
[0024] Please also refer to the attached Figure 1-7 The present invention provides an all-terrain six-wheel robot, which includes an adaptive chassis 1, a shell cover 2 covered on the adaptive chassis 1, a rocker system 3 arranged on the side of the adaptive chassis 1, a rocker bevel gear 4 connected to the rocker system 3, a main body gear 5 meshing and transmission connected to the rocker bevel gear 4, a walking mechanism 6 fixed at the bottom of the rocker system 3, and a gear transmission mechanism 7 fixed at the top of the rocker system 3.
[0025] Specifically, the rocker arm system 3 includes left and right front rocker arm systems 31, a rear rocker arm system 32, a connecting rod 33 and a servo 34 arranged on the side of the adaptive chassis 1; the walking mechanism 6 is fixed to the bottom of the left and right front rocker arm systems 31 and the rear rocker arm system 33; the gear transmission mechanism 7 is fixed to the top of the left and right front rocker arm systems 31 and the rear rocker arm system 33; the left and right front rocker arm systems 31 and the rear rocker arm system 32 are connected by the connecting rod 32, and the left and right front rocker arm systems 31, the rear rocker arm system 32 and the connecting rod 33 are arranged in a hollow structure; the servo 34 is fixedly connected to the connecting rod 33 for driving the left and right front rocker arm systems 31 and the rear rocker arm system 32 to move.
[0026] In the above structure, the left and right front rocker arm systems 31, the rear rocker arm system 32 and the connecting rod 33 construct a stable motion platform, and the left and right front rocker arm systems 31 and the rear rocker arm system 32 are connected by the connecting rod 33 to form a coordinated structure, so that the walking mechanism 6 can effectively adapt to the changes in the ground, so that the walking mechanism 6 can effectively adapt to the changes in the bottom surface, enhance the adaptability of the robot on complex terrain, and improve the overall performance; the left and right front rocker arm systems 31, the rear rocker arm system 32 and the connecting rod 33 are arranged in a hollow structure, which optimizes the robot wiring layout, makes the line layout of the servo and motor provided on the robot more neat and beautiful, effectively reduces the clutter in appearance, and the hollow structure facilitates the smooth installation of the line on the PCB board, further improving the aesthetics and functionality of the overall design. In addition, when the robot crosses an obstacle, when one side of the rocker arm system 3 is lifted, the rocker arm bevel gear on that side will rotate downward, so that the main gear tilts to the raised side. This change causes the rocker arm bevel gear on the other side to rotate upward, thereby generating a downward grip on the other side of the rocker arm system. This mechanism not only avoids the phenomenon of power no-load, but also improves the running stability and adaptive terrain capability of the mechanism, allowing the robot to cross obstacles more easily. In addition, the lifting of the rocker system 3 will raise the adaptive chassis 1 to the same height as the rocker system 3, thereby effectively preventing the chassis from getting stuck and further improving the success rate of obstacle crossing.
[0027] Further, the left and right front rocker arm system 31 includes left and right front rocker arm support bodies 311, left and right front rocker arm main bodies 312 installed on the left and right front rocker arm support bodies 311, and left and right front rocker arm wiring holes 313 and left and right front rocker arm fixing holes 314 opened on the left and right front rocker arm main bodies 312; the rear rocker arm system 32 includes a rear rocker arm support body 321, a rear rocker arm main body 322 installed on the rear rocker arm support body 321, and a rear rocker arm wiring hole 323 and a rear rocker arm fixing hole 324 opened on the rear rocker arm main body 322; the connecting rod 33 includes a main body 331, a connecting rod wiring hole 332 and a first connecting rod fixing hole 333 opened at a first end of the main body 331, and a second connecting rod fixing hole 334 opened at a second end of the main body 331; the left and right front rocker arm main bodies 312, the rear rocker arm main body 322 and the main body 331 are arranged in a hollow structure;
[0028] The first end of the main body 331 is connected and fixed to the left and right front rocker arm main bodies 312 through the first connecting rod fixing hole 333 and the left and right front rocker arm fixing hole 314; the second end of the main body 331 is connected and fixed to the rear rocker arm main body 322 through the second connecting rod fixing hole 334 and the rear rocker arm fixing hole 324; one end of the rocker arm bevel gear 4 is fixedly connected to the second end of the main body 331, and the other end of the rocker arm bevel gear 4 is meshed and transmission-connected with the main body gear 5; the walking mechanism 6 is fixed to the bottom of the left and right front rocker arm support body 311 and the rear rocker arm support body 321, and the gear transmission mechanism 7 is fixed to the top of the left and right front rocker arm main bodies 312 and the rear rocker arm main body 322.
[0029] In this embodiment, the walking mechanism 6 includes a tire bracket 61 fixed to the bottom of the left and right front rocker arm support bodies 311 and the rear rocker arm support body 321, a threaded hole 62 opened on the tire bracket 61 for connecting and fixing with the bottom of the left and right front rocker arm support bodies 321 and the rear rocker arm support body 321, a motor bracket 63 fixed on the tire bracket 61, a motor 64 installed on the motor bracket 63, and a 3D printing hub 65 arranged on the tire bracket 61 and rotatingly connected with the motor 64. With the setting of this structure, the left and right front rocker arm systems 31 and the rear rocker arm system 32 are connected by a connecting rod 33 to form a coordinated structure, so that the 3D printing hub 65 can effectively adapt to ground changes. The layout of the hub and the movement of the rocker arm system allow the device to automatically adjust the position of the 3D printing hub 65 without relying on the drive, providing balance and stability. This design enhances the adaptability of the robot on complex terrain and improves the overall performance.
[0030] In this embodiment, the gear transmission mechanism 7 includes a servo gear 71 and a driven gear 72 fixed to the top of the left and right front rocker arm bodies 312 and the rear rocker arm body 322, and the servo gear 71 and the driven gear 72 are meshed and transmission connected.
[0031] It should be noted that the left and right front rocker arm bodies 312, the rear rocker arm body 322 and the main body 331 adopt a hollow design to optimize the wiring layout. The motor wiring of the left and right front rocker arm bodies 312 passes through the tire bracket 61, and then is introduced into the left and right front rocker arm wiring holes 313 together with the wiring of the servo 34 through the left and right front rocker arm support bodies 311, and then penetrates into the first connecting rod wiring hole 313 through the main body 331. The wiring of the rear rocker arm body 322 also penetrates into the second connecting rod wiring hole 334 in the same steps, and is finally connected to the external hardware PCB. This design not only makes the wiring layout of the servo and motor more neat and beautiful, but also effectively reduces the clutter in appearance. The hollow structure facilitates the smooth installation of the wiring on the PCB board, while improving the aesthetics and functionality of the overall design.
[0032] In this embodiment, the shell cover 2 includes a robot front cover 21 covered on the adaptive chassis 1 and a robot rear cover 22 covered on the adaptive chassis 1 and spliced with the robot front cover 21. The shell cover 2 adopts a split structure, which is convenient for rapid processing on small production equipment, and improves the production efficiency and flexibility of the shell cover 2.
[0033] It is worth mentioning that the all-terrain six-wheel robot also includes an industrial camera 8 fixed on the robot front cover 21. The industrial camera 8 can clearly identify the real-time situation of the road ahead, and can adjust the operating state of the robot according to the actual situation, thereby improving the stability and reliability of the operation of the all-terrain six-wheel robot.
[0034] In this embodiment, the all-terrain six-wheel robot further includes a detachable handle 9 fixed to the connecting rod 33. This handle arrangement allows for easy installation and removal of the handle without the need for complex tools or professional skills, thereby improving the convenience and efficiency of the handle assembly and disassembly operation.
[0035] Compared with the related art, the present invention provides an all-terrain six-wheel robot, which includes an adaptive chassis, a shell cover arranged on the adaptive chassis, a rocker system arranged on the periphery of the adaptive chassis, a rocker bevel gear connected to the rocker system, a main gear meshing and transmission connected to the rocker bevel gear, a walking mechanism fixed at the bottom of the rocker system, and a gear transmission mechanism fixed at the top of the rocker system; the rocker system includes left and right front rocker systems, a rear rocker system, a connecting rod and a servo arranged on the periphery of the adaptive chassis, the walking mechanism is fixed at the bottom of the left and right front rocker systems and the rear rocker system, and the gear transmission mechanism is fixed at the top of the left and right front rocker systems and the rear rocker system; the left and right front rocker systems and the rear rocker system are connected by the connecting rod, and the left and right front rocker systems, the rear rocker system and the connecting rod are arranged in a hollow structure; the servo is fixedly connected to the connecting rod for driving the left and right front rocker systems and the rear rocker system to move. In the above structure, the left and right front rocker arm systems, the rear rocker arm system and the connecting rod form a stable motion platform, and the left and right front rocker arm systems and the rear rocker arm system are connected by the connecting rod to form a coordinated structure, so that the walking mechanism can effectively adapt to the changes in the ground, so that the walking mechanism can effectively adapt to the changes in the bottom surface, enhance the adaptability of the robot on complex terrain, and improve the overall performance; the left and right front rocker arm systems, the rear rocker arm system and the connecting rod are set in a hollow structure, which optimizes the robot wiring layout, makes the line layout of the servo and motor on the robot more neat and beautiful, effectively reduces the clutter in the appearance, and the hollow structure facilitates the smooth installation of the line on the PCB board, further improving the overall design. The aesthetics and functionality. In addition, when the robot crosses an obstacle, when one side of the rocker arm system is lifted, the rocker arm bevel gear on that side will rotate downward, so that the main gear tilts to the raised side. This change causes the rocker arm bevel gear on the other side to rotate upward, thereby generating a downward grip on the other side of the rocker arm system. This mechanism not only avoids the phenomenon of power no-load, but also improves the operating stability and adaptive terrain capability of the mechanism, allowing the robot to cross obstacles more easily. The raising of the rocker system will raise the adaptive chassis to the same height as the rocker system, thereby effectively preventing the chassis from getting stuck and further improving the success rate of obstacle crossing.
[0036] It should be noted that the above-described embodiments should be understood as illustrative rather than limiting the scope of protection of the present invention, and the scope of protection of the present invention shall be subject to the claims. For those skilled in the art, some non-essential improvements and adjustments made to the present invention still fall within the scope of protection of the present invention without departing from the essence and scope of the present invention.
Claims
1. An all-terrain six-wheel robot, characterized in that: The all-terrain six-wheel robot includes an adaptive chassis, a shell cover arranged on the adaptive chassis, a rocker system arranged on the periphery of the adaptive chassis, a rocker bevel gear connected to the rocker system, a main gear meshing and transmission connected to the rocker bevel gear, a walking mechanism fixed at the bottom of the rocker system, and a gear transmission mechanism fixed at the top of the rocker system; the rocker system includes left and right front rocker systems, a rear rocker system, a connecting rod and a servo arranged on the periphery of the adaptive chassis, the walking mechanism is fixed at the bottom of the left and right front rocker systems and the rear rocker system, and the gear transmission mechanism is fixed at the top of the left and right front rocker systems and the rear rocker system; the left and right front rocker systems and the rear rocker system are connected by the connecting rod, and the left and right front rocker systems, the rear rocker system and the connecting rod are arranged in a hollow structure; the servo is fixedly connected to the connecting rod for driving the left and right front rocker systems and the rear rocker system to move.
2. The all-terrain six-wheel robot according to claim 1, characterized in that: The left and right front rocker arm systems include left and right front rocker arm support bodies, left and right front rocker arm main bodies mounted on the left and right front rocker arm support bodies, and left and right front rocker arm wiring holes and left and right front rocker arm fixing holes provided on the left and right front rocker arm main bodies; the rear rocker arm system includes a rear rocker arm support body, a rear rocker arm main body mounted on the rear rocker arm support body, and a rear rocker arm wiring hole and a rear rocker arm fixing hole provided on the rear rocker arm main body; the connecting rod includes a main body, a connecting rod wiring hole and a first connecting rod fixing hole provided at a first end of the main body, and a second connecting rod fixing hole provided at a second end of the main body; the left and right front rocker arm main bodies, the rear rocker arm main body and the main body are arranged in a hollow structure; The first end of the main body is connected and fixed to the left and right front rocker arm bodies through the first connecting rod fixing hole and the left and right front rocker arm fixing holes; the second end of the main body is connected and fixed to the rear rocker arm body through the second connecting rod fixing hole and the rear rocker arm fixing hole; one end of the rocker arm bevel gear is fixedly connected to the second end of the main body, and the other end of the rocker arm bevel gear is meshed and transmitted with the main body gear; the walking mechanism is fixed to the bottom of the left and right front rocker arm support bodies and the rear rocker arm support bodies, and the gear transmission mechanism is fixed to the top of the left and right front rocker arm bodies and the rear rocker arm bodies.
3. The all-terrain six-wheel robot according to claim 2, characterized in that: The walking mechanism includes a tire bracket fixed to the bottom of the left and right front rocker arm support bodies and the rear rocker arm support body, a threaded hole opened on the tire bracket for connecting and fixing with the bottom of the left and right front rocker arm support bodies and the rear rocker arm support body, a motor bracket fixed on the tire bracket, a motor mounted on the motor bracket, and a 3D printed wheel hub arranged on the tire bracket and rotatingly connected with the motor.
4. The all-terrain six-wheel robot according to claim 2, characterized in that: The gear transmission mechanism includes a steering gear and a driven gear fixed to the top of the left and right front rocker arm bodies and the rear rocker arm body, and the steering gear and the driven gear are meshed and transmission connected.
5. The all-terrain six-wheel robot according to claim 1, characterized in that: The shell cover includes a robot front cover which is arranged on the adaptive chassis and a robot rear cover which is arranged on the adaptive chassis and is spliced with the robot front cover.
6. The all-terrain six-wheel robot according to claim 4, characterized in that: The all-terrain six-wheel robot also includes an industrial camera fixed on the front cover of the robot.
7. The all-terrain six-wheel robot according to claim 4, characterized in that: The all-terrain six-wheel robot also includes a detachable handle fixed on the connecting rod.