Wheel-leg-arm combined type mobile operation robot

Abstract

The invention discloses a wheel-leg-arm combined type mobile operation robot and relates to the technical field of robots. The problem that an existing foot type robot is uneven in mass distribution, and the stability of the robot in the movement process is affected is solved. The robot comprises a robot body and six mechanical legs installed on the periphery of the robot body, the two mechanical legs located in front of the robot body are of leg-arm structures, and the other four mechanical legs are of wheel-leg structures; when the operation robot moves, the operation robot can be switched between a six-foot moving mode and a wheel type moving mode so as to cope with different terrains; when the operation robot operates, the operation robot can be switched from the six-foot moving mode or the wheel type moving mode to the double-arm operation mode so as to achieve operation tasks.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a wheel-leg-arm composite mobile working robot. Background Art

[0002] Regarding the working configuration of mobile working robots, existing research can be roughly divided into two categories: one is to build the operating arm on the robot body. This installation mode will cause the body to bear additional dynamic forces of the robot arm during the foot-based movement. The mass of a general robot arm ranges from tens to hundreds of kilograms. This additional dynamic force will greatly affect the stability of the robot's foot-based movement process; the other is to divide the robot into a child robot and a mother robot, with the mother robot taking on the mobile task and the child robot taking on the working task. However, this design method of separating the working system from the mobile system will make the design of the control system more complicated. Summary of the invention

[0003] In view of this, the present invention provides a wheel-leg-arm composite mobile working robot, which can use the robot's mechanical arms used for work as mechanical legs, thereby reducing the overall mass of the robot while ensuring the balance of the robot's overall mass distribution, reducing the inertia of the robot during the mobile operation process, and making the mobile operation process smoother.

[0004] The technical solution adopted by the present invention to solve the above technical problems is:

[0005] The wheel-leg-arm composite mobile working robot includes a fuselage and six mechanical legs installed around the fuselage. The two mechanical legs in front of the fuselage are leg-arm structures, and the remaining four mechanical legs are wheel-leg structures. When the working robot moves, the working robot can switch between the six-legged mobile mode and the wheeled mobile mode to cope with different terrains. When the working robot is working, the working robot can switch from the six-legged mobile mode or the wheeled mobile mode to the dual-arm working mode to complete the working task.

[0006] Preferably, the leg-arm structure has five degrees of freedom, and the leg-arm structure includes a first basal joint, a first femur, a first tibia, an arm joint and a tool connector which are connected in sequence. The first basal joint is movably connected to the fuselage to form a first joint for the side swing of the leg-arm structure. The first femur is movably connected to the first basal joint to form a first hip joint for the first femur, the first tibia and the tool connector to pitch together. The first tibia is movably connected to the first femur to form a first knee joint for the pitch of the first tibia. The arm joint is movably connected to the first tibia to form an elbow joint for the pitch of the arm joint and the tool connector. The tool connector is movably connected to the arm joint to form a wrist joint for the rotation of the tool connector.

[0007] Preferably, the wheel-leg structure has four degrees of freedom, and the wheel-leg structure includes a second basal segment, a second femoral segment, a second tibia and a wheel connected in sequence, the second basal segment is movably connected to the fuselage to form a second root joint for the side swing of the wheel-leg structure, the second femoral segment is movably connected to the second basal segment to form a second hip joint for the second femoral segment, the second tibia and the wheel to pitch together, the second tibia is movably connected to the second femoral segment to form a second knee joint for the pitch of the second tibia, and the wheel is movably installed at the second knee joint and can rotate.

[0008] Preferably, the fuselage is circular or hexagonal, and the six mechanical legs are evenly distributed around the fuselage.

[0009] Preferably, it also includes a tool replacement mechanism, which is installed on the upper surface of the fuselage and close to the leg-arm structure side, so as to be used for replacing the working tool at the end of the leg-arm structure.

[0010] Preferably, the tool replacement mechanism includes a rotating mount and a plurality of working tools. The rotating mount is rotatably mounted on the fuselage. The plurality of working tools are evenly arranged on the rotating mount in the circumferential direction and can rotate with the rotating mount. Each working tool can be connected with the tool connector.

[0011] Preferably, the working tool and the tool connector are connected by magnetic attraction.

[0012] Preferably, the tool connector is an electromagnet connector, and a connecting slot is provided at the connecting end of the working tool and the tool connector. When the tool connector is connected to the working tool, the tool connector is inserted into the connecting slot and powered on to achieve a magnetic connection.

[0013] Preferably, the working tool comprises at least one of a drill bit, a clamp or a grinding wheel.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. The six mechanical legs of the working robot of the present invention have two configurations, wherein the two mechanical legs in front of the fuselage are both leg-arm structures, and the remaining four mechanical legs are all wheel-leg structures. With such a design, when the working robot moves, the leg-arm structure is put down and used as a mobile support leg when the working robot moves. The combination of the remaining four mechanical legs can ensure the balance of the overall mass distribution of the robot, reduce the inertia of the robot during the mobile operation, and make the mobile operation process more stable. When the working robot is working, the leg-arm structure is lifted up and used as a mechanical arm for the working robot to achieve the working purpose. The four wheel-leg structures can move with the feet touching the ground or with the wheels touching the ground. When the working robot moves, the working robot can switch between the six-legged mobile mode and the wheeled mobile mode to cope with different terrains and increase the terrain adaptability of the working robot.

[0016] 2. The leg-arm structure of the present invention has five degrees of freedom. When used as a mechanical arm, it can complete more complex and delicate tasks, and its end can complete different working tasks by configuring different working tools. When used as a mobile support leg, the elbow joint and wrist joint remain stationary, so that the first tibia, arm joint and tool connector can be kept in line and form a complete leg rod. Such a design can ensure that when the leg-arm structure is used as a mobile support leg and moves in a stepping manner, the stability of the leg-arm structure during movement is increased, while also reducing the number of joint drives and reducing the redundancy of the leg-arm structure drive. In addition, when the working robot adopts the hexapod movement mode, the wheel-leg structure and the leg-arm structure can be regarded as the same leg structure, reducing the complexity of the mechanical leg control.

[0017] 3. The working tool of the present invention is designed in the form of a connecting slot, and the tool connector is designed as an electromagnetic connector, which can realize the rapid connection or separation of the tool connector and the working tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are incorporated as part of this application and are used to provide a further understanding of the present invention.

[0019] Figure 1 It is a schematic structural diagram of the wheel-leg-arm composite mobile working robot of the present invention.

[0020] Figure 2 This is a schematic diagram of the state of the leg-arm structure when used as a mobile supporting leg.

[0021] Figure 3 This is a schematic diagram of the state of the leg-arm structure when used as a robotic arm.

[0022] Figure 4 This is a simplified structural diagram of the leg-arm structure.

[0023] Figure 5 It is a schematic diagram of the state of the wheel-leg structure in the leg mode.

[0024] Figure 6 It is a schematic diagram of the state where the wheel-leg structure is in wheel mode.

[0025] Figure 7 This is a simplified structural diagram of the wheel-leg structure. Figure 8 Schematic diagram of the structure of the tool changing mechanism.

[0026] Fig. 9 Schematic diagrams of the working robot in the dual-arm working mode; (a) is a schematic diagram of the working robot in the wheeled-dual-arm working mode; (b) is a schematic diagram of the working robot in the legged-dual-arm working mode.

[0027] Fig.10 Schematic diagram of the movement process of switching from the six-legged mobile mode to the leg-two-arm working mode.

[0028] Fig.11 Schematic diagram of the movement process of switching from the hexapod mobile mode to the wheeled mobile mode / leg-double-arm operation mode.

[0029] Explanation of the reference numerals: 1-body; 2-leg-arm structure; 2-1-first basal segment; 2-2-first femoral segment; 2-3-first tibia; 2-4-arm segment; 2-5-tool connector; 2-6-first root joint; 2-7-first hip joint; 2-8-first knee joint; 2-9-elbow joint; 2-10-wrist joint; 3-wheel-leg structure; 3-1-second basal segment; 3-2-second femoral segment; 3-3-second tibia; 3-4-wheel; 3-5-second root joint; 3-6-second hip joint; 3-7-second knee joint; 4-tool changing mechanism; 4-1-rotating mounting seat; 4-2-working tool; 4-2-1-connecting slot. DETAILED DESCRIPTION

[0030] The present invention is described in detail below in conjunction with specific embodiments.

[0031] like Figure 1As shown, it is a structural schematic diagram of a wheel-leg-arm composite mobile working robot. The wheel-leg-arm composite mobile working robot of this embodiment includes a circular or regular hexagonal fuselage 1 and six mechanical legs evenly installed around the fuselage 1. The two mechanical legs in front of the fuselage 1 are both leg-arm structures 2, which can be used as mobile support legs or mechanical arms. That is, when the working robot moves, the leg-arm structure 2 is put down and used as a mobile support leg when the working robot moves. When the working robot is working, the leg-arm structure 2 is raised and used as a mechanical arm for the working robot to work, so as to achieve the working purpose. The remaining four mechanical legs are all wheel-leg structures 3, which can move with the feet touching the ground or with wheels 3-4 touching the ground. When the working robot moves, the working robot can switch between the six-legged moving mode and the wheeled moving mode to cope with different terrains and increase the terrain adaptability of the working robot. Specifically, when facing a rough road surface, the two leg-arm structures 2 of the working robot touch the ground and are used as mobile support legs, and the feet of the four wheel-leg structures 3 also touch the ground and are used as mobile support legs. The six mobile support legs of the working robot move in the form of steps to increase the stability of the working robot moving on a rough road surface. When facing a flat road surface, the two leg-arm structures 2 of the working robot are lifted up, and the wheels 3-4 of the four wheel-leg structures 3 touch the ground. The working robot moves in the form of rolling wheels 3-4, which speeds up the movement of the working robot. When the working robot is working, the four wheel-leg structures 3 can move in the form of steps or in the form of rolling wheels 3-4, and can be controlled by themselves as needed. Since the present embodiment uses the robot's mechanical arms used for operation as mechanical legs, while reducing the overall mass of the robot, it ensures the balance of the overall mass distribution of the robot, reduces the inertia of the robot during the mobile operation, and makes the mobile operation process more stable. In addition, the working robot of this embodiment has two moving modes of hexapod movement and wheeled movement, and has good terrain adaptability. It can switch to different moving modes according to different terrains, which not only speeds up the moving speed of the working robot, but also ensures the stability of the moving of the working robot. When the working robot is working, even if the two leg-arm structures 2 in front are lifted to work, the four wheel-leg structures 3 in the back can keep the robot balanced, ensuring the stability of the working robot during the working process.

[0032] like Figure 2 , Figure 3 and Figure 4As shown, there are schematic diagrams of the structure of the leg-arm structure in the mobile supporting leg and the mechanical arm (the motor driving the joint rotation is not shown in the figure). The leg-arm structure 2 of this embodiment has five degrees of freedom and can complete more complex and delicate tasks, and its end can complete different working tasks by configuring different working tools 4-2. Specifically, the leg-arm structure 2 includes a first basal segment 2-1, a first femoral segment 2-2, a first tibia 2-3, an arm segment 2-4 and a tool connecting head 2-5 which are connected in sequence. The first basal segment 2-1 is movably connected to the fuselage 1 to form a first joint 2-6 for the side swing of the leg-arm structure 2. The first femoral segment 2-2 is movably connected to the first basal segment 2-1 to form a first hip joint 2-7 for the first femoral segment 2-2, the first tibia 2-3 and the tool connecting head 2-5 to pitch together. The first tibia 2-3 is movably connected to the first femoral segment 2-2 to form a first knee joint 2-8 for the pitch of the first tibia 2-3. The arm segment 2-4 is movably connected to the first tibia 2-3 to form an elbow joint 2-9 for the pitch of the arm segment 2-4 and the tool connecting head 2-5. The tool connecting head 2-5 is movably connected to the arm segment 2-4 to form a wrist joint 2-10 for the rotation of the tool connecting head 2-5. It should be noted that when the leg-arm structure 2 is used as a mobile support leg, the elbow joint 2-9 and the wrist joint 2-10 remain stationary, so that the first tibia 2-3, the arm joint 2-4 and the tool connector 2-5 can be kept in line and form a complete leg rod. Such a design can ensure that when the leg-arm structure 2 is used as a mobile support leg and moves in a stepping manner, the stability of the leg-arm structure 2 during movement is increased, and the number of joint drives is also reduced, that is, only the first joint 2-6, the first hip joint 2-7 and the first knee joint 2-8 are driven to complete the movement of the leg, reducing the redundancy of the leg-arm structure 2 drive. When the leg-arm structure 2 is used as a robotic arm, the five degrees of freedom of the leg-arm structure 2 can increase the flexibility of the robotic arm to better complete the task.

[0033] like Figure 5 , Figure 6 and Figure 7As shown, they are schematic diagrams of the structure of the wheel-leg structure in the leg mode and the wheel mode respectively (the motor driving the joint rotation is not shown in the figure). The wheel-leg structure 3 of this embodiment has four degrees of freedom, of which three degrees of freedom are for realizing the movement of the mechanical leg in a stepping manner, and the other degree of freedom is for realizing the rolling of the wheel 3-4. Specifically, the wheel-leg structure 3 includes a second base segment 3-1, a second femur segment 3-2, a second tibia segment 3-3 and a wheel 3-4 connected in sequence, the second base segment 3-1 is movably connected to the fuselage 1 and forms a second root joint 3-5 for the side swing of the wheel-leg structure 3, the second femur segment 3-2 is movably connected to the second base segment 3-1 and forms a second hip joint 3-6 for the second femur segment 3-2, the second tibia segment 3-3 and the wheel 3-4 to pitch together, the second tibia segment 3-3 is movably connected to the second femur segment 3-2 and forms a second knee joint 3-7 for the second tibia segment 3-3 to pitch, and the wheel 3-4 is movably installed at the second knee joint 3-7 and can rotate. The wheel-leg structure 3 has only three leg rods, namely, the second base segment 3-1, the second thigh segment 3-2 and the second tibia 3-3. The second base segment 3-1 is the same size and opposite to the first base segment 2-1 in the leg-arm structure 2, the second thigh segment 3-2 is the same size and opposite to the first thigh segment 2-2 in the leg-arm structure 2, and the second tibia 3-3 is the same size as the first tibia 2-3, the arm segment 2-4 and the tool connector 2-5 in the leg-arm structure 2 when they are in the same line, and they are opposite to each other. In other words, when the working robot adopts the hexapod movement mode, the wheel-leg structure 3 and the leg-arm structure 2 can be regarded as the same leg structure, reducing the complexity of the mechanical leg control.

[0034] like Figure 8The figure shows a schematic diagram of the structure of the tool replacement mechanism. The present embodiment also includes a tool replacement mechanism 4, which is mounted on the upper surface of the fuselage 1 and close to the side of the leg-arm structure 2, so as to replace the working tool 4-2 at the end of the leg-arm structure 2. Specifically, the tool replacement mechanism 4 of the present embodiment includes a rotating mounting seat 4-1 and a plurality of working tools 4-2, the rotating mounting seat 4-1 is rotatably mounted on the fuselage 1, and the plurality of working tools 4-2 are evenly arranged on the rotating mounting seat 4-1 in the circumferential direction and can rotate with the rotating mounting seat 4-1, and each working tool 4-2 can be connected with the tool connector 2-5, wherein the working tool 4-2 can be a tool such as a drill, a clamp or a grinding wheel. When the working robot needs to work, the leg-arm structure 2 is lifted and bent toward the side of the fuselage 1, and the rotating mounting seat 4-1 is rotated by force until the required working tool 4-2 is opposite to the tool connector 2-5, and the tool connector 2-5 connects the required working tool 4-2 and performs the working task. In order to speed up the connection or separation between the tool connector 2-5 and the working tool 4-2, the working tool 4-2 and the tool connector 2-5 of this embodiment are connected by magnetic attraction. Specifically, the tool connector 2-5 is an electromagnet type connector, and the connection end of the working tool 4-2 and the tool connector 2-5 is provided with a connection slot 4-2-1. When the tool connector 2-5 and the working tool 4-2 need to be connected, the tool connector 2-5 is inserted into the connection slot 4-2-1 of the target working tool 4-2 and powered on. The tool connector 2-5 generates a magnetic attraction and attracts the working tool 4-2, thereby realizing the connection between the tool connector 2-5 and the working tool 4-2. When the leg-arm structure 2 controls the working tool 4-2 to operate, the tool connector 2-5 always remains powered on until the operation task is completed, and after the leg-arm structure 2 puts the working tool 4-2 back into the rotating mounting seat 4-1, the tool connector 2-5 is powered off, and at this time, the tool connector 2-5 is separated from the working tool 4-2.

[0035] Combination Fig.10 and Fig.11 , the working process of the present invention is further described to further demonstrate the working principle and advantages of the present invention:

[0036] like Fig.10 The figure shows the motion process of the working robot switching from the six-legged mobile mode to the leg-two-arm working mode. The switching process is as follows:

[0037] S1, when the working robot is in the six-legged mobile mode, the six mechanical legs are all extended in the radial direction of the fuselage 1, and the working robot adjusts the fuselage 1 to the height above the ground in the double-arm working mode;

[0038] S2, the working robot adjusts the two wheel-leg structures 3 at the rear to swing forward respectively, so that the center of gravity of the working robot moves backward;

[0039] S3, the working robot adjusts the two wheel-leg structures 3 in the middle to swing forward respectively, so as to adjust the center of gravity of the working robot to the intersection of the diagonals of the four wheel-leg structures 3. At this time, the position distribution of the four wheel-leg structures 3 of the working robot is similar to the leg state of a crab;

[0040] S4, lift the two leg-arm structures 2 on the front side of the working robot, completing the process of switching the working robot from the six-legged mobile mode to the two-arm working mode.

[0041] The process of the working robot switching from the dual-arm working mode to the six-legged mobile mode is exactly the opposite of the process of switching from the six-legged mobile mode to the dual-arm working mode.

[0042] like Fig.11 The figure is a schematic diagram of the movement process of the working robot switching from the six-legged mobile mode to the wheeled mobile mode / legged-two-arm working mode. The switching process is as follows:

[0043] S1, when the working robot is in the hexapod movement mode, the six mechanical legs are all extended in the radial direction of the fuselage 1, and the working robot adjusts the two wheel-leg structures 3 at the rear side to move toward each other until the two wheel-leg structures 3 at the rear side are parallel;

[0044] S2, the working robot adjusts the two leg-arm structures 2 at the front to move toward each other until the two leg-arm structures 2 at the front are parallel;

[0045] S3, the working robot adjusts the height of the body 1 to the ground clearance of the wheeled moving mode;

[0046] S4, the working robot adjusts the two wheel-leg structures 3 in the middle to swing forward until the two wheel legs are parallel, and at the same time switches the leg mode to the wheel mode and lands;

[0047] S5, the working robot switches the two wheel-leg structures 3 at the rear from the leg mode to the wheel mode and lands on the ground;

[0048] S6, lift the two leg-arm structures 2 on the front side of the working robot, completing the process of switching the working robot from the hexapod moving mode to the wheeled moving mode.

[0049] The process of the working robot switching from the wheeled mobile mode to the hexapod mobile mode is exactly the opposite of the process of switching from the hexapod mobile mode to the wheeled mobile mode.

[0050] The working robot of this embodiment adopts the above two switching methods to ensure the stability of the robot during the switching process.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, rather than to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the essence and scope of the technical solution of the present invention.

Claims

1. A wheel-leg-arm composite mobile working robot, characterized in that: It includes a fuselage and six mechanical legs installed around the fuselage. The two mechanical legs in front of the fuselage are leg-arm structures, and the other four mechanical legs are wheel-leg structures. When the working robot moves, the working robot can switch between the six-legged moving mode and the wheeled moving mode to cope with different terrains. When the working robot is working, the working robot can switch from the six-legged moving mode or the wheeled moving mode to the dual-arm working mode to complete the working task.

2. The wheel-leg-arm composite mobile working robot according to claim 1, characterized in that: The leg-arm structure has five degrees of freedom, and includes a first basal joint, a first femoral joint, a first tibia, an arm joint and a tool connecting head which are connected in sequence. The first basal joint is movably connected to the fuselage to form a first joint for the side swing of the leg-arm structure. The first femoral joint is movably connected to the first basal joint to form a first hip joint for the first femoral joint, the first tibia and the tool connecting head to pitch together. The first tibia is movably connected to the first femoral joint to form a first knee joint for the pitch of the first tibia. The arm joint is movably connected to the first tibia to form an elbow joint for the pitch of the arm joint and the tool connecting head. The tool connecting head is movably connected to the arm joint to form a wrist joint for the rotation of the tool connecting head.

3. The wheel-leg-arm composite mobile working robot according to claim 1, characterized in that: The wheel-leg structure has four degrees of freedom, and includes a second basal segment, a second femoral segment, a second tibia and a wheel connected in sequence. The second basal segment is movably connected to the fuselage to form a second root joint for the side swing of the wheel-leg structure. The second femoral segment is movably connected to the second basal segment to form a second hip joint for the common pitch of the second femoral segment, the second tibia and the wheel. The second tibia is movably connected to the second femoral segment to form a second knee joint for the pitch of the second tibia. The wheel is movably installed at the second knee joint and can rotate.

4. The wheel-leg-arm composite mobile working robot according to claim 1, characterized in that: The fuselage is circular or hexagonal, and the six mechanical legs are evenly distributed around the fuselage.

5. The wheel-leg-arm composite mobile working robot according to claim 2, characterized in that: It also includes a tool replacement mechanism, which is installed on the upper surface of the fuselage and close to the leg-arm structure side, so as to be used for replacing the working tool at the end of the leg-arm structure.

6. The wheel-leg-arm composite mobile working robot according to claim 5, characterized in that: The tool replacement mechanism includes a rotating mounting seat and multiple working tools. The rotating mounting seat is rotatably mounted on the machine body. The multiple working tools are evenly arranged on the rotating mounting seat and can rotate with the rotating mounting seat. Each working tool can be connected to the tool connector.

7. The wheel-leg-arm composite mobile working robot according to claim 6, characterized in that: The working tool and the tool connector are connected by magnetic attraction.

8. The wheel-leg-arm composite mobile working robot according to claim 7, characterized in that: The tool connector is an electromagnet connector, and a connection slot is provided at the connection end of the working tool and the tool connector. When the tool connector is connected to the working tool, the tool connector is inserted into the connection slot and powered on to achieve a magnetic connection.

9. The wheel-leg-arm composite mobile working robot according to claim 6, characterized in that: The working tool comprises at least one of a drill bit, a clamping jaw or a grinding wheel.

Images