A quad-twin hexapod robot carrier adapted to irregularly sinuous terrain

Abstract

This invention belongs to the field of mobile robot technology. To address the problem that existing devices cannot adapt to irregular terrain and require a large turning radius, a quadruped hexapod robot transport device adapted to irregular, winding terrain is provided. The device includes a carrying platform, four hexapod robots, and four connecting modules. The four hexapod robots are rotatably connected to the carrying platform via the four connecting modules. Each hexapod robot includes an upper platform and a lower platform connected in parallel by a telescopic rod, a UPU chain, and a UPS chain. Both platforms have three movable legs. One end of the telescopic rod is hinged to the lower platform, and the other end is slidably connected to the upper platform, with a driving component between the telescopic rod and the upper platform. The two ends of the UPU chain and the UPS chain are hinged to the upper and lower platforms, respectively. Activating the driving component moves the telescopic rod and the two chains. This device achieves zero-radius turning, adapts to irregular terrain, and improves load-bearing capacity and stability.

Description

Technical Field

[0001] This invention belongs to the field of mobile robot technology, and in particular relates to a quadrupedal hexapod robot transport device adapted to irregular and winding terrain. Background Technology

[0002] With industrial transformation and consumption upgrading, human beings are constantly increasing their requirements for robot performance. In the field of mobile robots, mobile robots that can perform various transportation tasks in complex terrains urgently need to be studied.

[0003] Irregular, winding terrain is characterized by narrow and uneven roads. Existing wheeled mobile platforms have a large load-bearing capacity and can move quickly on flat surfaces, but they require a large turning radius when turning. When facing irregular, winding terrain, they often cannot reach the task location due to the excessive turning radius. In this case, mobile transport devices that can carry heavy loads and have zero-radius turning capabilities are receiving increasing attention. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a quadrupedal hexapod robot transport device capable of adapting to irregular terrain and achieving zero-radius turning, which is adapted to irregular and winding terrain.

[0005] This invention provides a quadruped hexapod robot transport device adapted to irregular and winding terrain, comprising a cargo platform, four hexapod robots and four connecting modules, wherein the four hexapod robots are rotatably connected to the cargo platform through the four connecting modules respectively;

[0006] The hexapod robot includes an upper platform and a lower platform, which are connected in parallel via a branch assembly. Both the upper and lower platforms have three movable legs. The branch assembly includes a telescopic rod, a UPU branch, and a UPS branch. One end of the telescopic rod is hinged to the lower platform, and the other end is slidably connected to the upper platform. A driving component is provided between the telescopic rod and the upper platform, and the driving component is parallel to the upper platform. The driving pairs of the UPU branch and the UPS branch are respectively the first moving pair of the UPU branch and the second moving pair of the UPS branch. The two ends of the UPU branch and the UPS branch are hinged to the upper and lower platforms, respectively. Activating the driving component causes the telescopic rod to slide along the extension direction of the end of the upper platform, thereby driving the movement of the UPU branch and the UPS branch.

[0007] Optionally, the UPU branch is composed of a first revolute joint, a first prismatic joint and a second revolute joint connected in series; the UPS branch is composed of a third revolute joint, a second prismatic joint and a ball joint connected in series; and the telescopic rod is composed of a fourth revolute joint, a third prismatic joint and a fifth revolute joint connected in series.

[0008] The drive unit, the first sliding joint, the second sliding joint, and the third sliding joint are all linear motors.

[0009] Optionally, the branch assembly further includes a slider, which is connected to the end of the telescopic rod near the upper platform. The upper platform is provided with a slide rail on the side near the telescopic rod, and the slider is adapted to move along the slide rail.

[0010] One end of the drive unit is connected to the upper platform, and the other end is connected to the slider.

[0011] Optionally, the loading platform is equipped with a collaborative control system, which is connected to the drive unit and the drive pair.

[0012] Optionally, a level sensor is provided at the bottom of the upper platform. The level sensor is used to transmit the level signal of the upper platform, and the output end of the level sensor is connected to the collaborative control system.

[0013] Optionally, the loading platform extends four load-bearing rods from its four corners, and the four load-bearing rods are arranged in parallel, with the ends of the four load-bearing rods respectively connected to the four connecting modules.

[0014] Optionally, the connection module includes a first connector and a second connector that are connected to each other. The first connector is connected to the load-bearing rod via a sixth revolute joint. One end of the second connector is connected to the first connector via a seventh revolute joint, and the other end is connected to the hexapod robot via an eighth revolute joint.

[0015] Optionally, the upper platform is rectangular, the lower platform is triangular, the three movable feet of the upper platform are evenly spaced at the bottom of the upper platform and near the edge, and the three movable feet of the lower platform are respectively set at the apex of the triangle, and the movable feet of the upper platform and the movable feet of the lower platform are staggered.

[0016] Optionally, the bottom of the three movable feet of the upper platform and the three movable feet of the lower platform each have a base plate in contact with the ground.

[0017] Optionally, a friction element is provided at the bottom of the base plate.

[0018] The technical solution provided by the embodiments of the present invention has the following beneficial effects compared with the prior art:

[0019] This invention provides a quadruped hexapod robot transport device adapted to irregular, winding terrain. Through a drive component parallel to the upper platform, activating the drive component moves the telescopic rod horizontally, thereby moving the UPU and UPS chains horizontally. By setting the sliding joints of the UPU and UPS chains as drive joints, the UPU and UPS chains can move vertically via the first and second sliding joints, respectively, thus moving the telescopic rod vertically. This enables the hexapod robot to move both horizontally and vertically, allowing the moving legs of the upper and lower platforms to perform staggered movements. This transport device can perform linear motion. By using four hexapod robots as the legs of the carrying platform, and rotatably connecting the hexapod robots to the connecting module, the hexapod robots can rotate in place. This transport device achieves zero-radius turning through the coordination of staggered movements of the moving legs of the upper and lower platforms and in-place rotation, better adapting to irregular, winding terrain. This transport device has a simple structure, and by using four hexapod robots as the legs of the carrying platform for transport tasks, it improves load-bearing capacity and stability. Attached Figure Description

[0020] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of a quadruped hexapod robot transport device adapted to irregular winding terrain, as described in an embodiment of the present invention.

[0023] Figure 2 This is a schematic diagram of a quadruped hexapod robot transport device adapted to irregular winding terrain, as described in an embodiment of the present invention, performing a zero-radius turn;

[0024] Figure 3 This is a schematic diagram of the hexapod robot described in an embodiment of the present invention;

[0025] Figure 4 This is a schematic diagram of the drive unit being mounted on a hexapod robot according to an embodiment of the present invention;

[0026] Figure 5 This is a schematic diagram of the connection between the cargo platform and the connection module according to an embodiment of the present invention.

[0027] The components include: 1. Load-bearing platform; 1.1. Load-bearing rod; 2. Hexapod robot; 2.1. Upper platform; 2.1.1. Slide rail; 2.2. Lower platform; 2.3. Moving leg of the upper platform; 2.4. Telescopic rod; 2.5. UPU branch chain; 2.6. UPS branch chain; 2.7. Drive component; 2.8. Slider; 2.9. Moving leg of the lower platform; 2.10. Base plate; 3. Connecting module; 3.1. First connecting component; 3.2. Second connecting component. Detailed Implementation

[0028] To better understand the above-mentioned objectives, features, and advantages of the present invention, the solutions of the present invention will be further described below. It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other.

[0029] Many specific details are set forth in the following description in order to provide a full understanding of the invention, but the invention may also be practiced in other ways different from those described herein; obviously, the embodiments in the specification are only some embodiments of the invention, and not all embodiments.

[0030] Reference Figures 1 to 5 As shown, this embodiment provides a quadruped hexapod robot transport device adapted to irregular and winding terrain, including a cargo platform 1, four hexapod robots 2 and four connecting modules 3. The four hexapod robots 2 are rotatably connected to the cargo platform 1 through the four connecting modules 3.

[0031] Among them, reference Figure 1 and Figure 2As shown, the hexapod robot 2 includes an upper platform 2.1 and a lower platform 2.2, which are connected in parallel via a branch assembly. Both the upper platform 2.1 and the lower platform 2.2 have three movable legs. The branch assembly includes a telescopic rod 2.4, a UPU branch 2.5, and a UPS branch 2.6. One end of the telescopic rod 2.4 is hinged to the lower platform 2.2, and the other end is slidably connected to the upper platform 2.1. A drive component 2.7 is provided between the telescopic rod 2.4 and the upper platform 2.1 to drive... Part 2.7 is arranged parallel to the upper platform 2.1. The drive pairs of UPU branch 2.5 and UPS branch 2.6 are the first moving pair of UPU branch 2.5 and the second moving pair of UPS branch 2.6, respectively. The two ends of UPU branch 2.5 and UPS branch 2.6 are hinged to the upper platform 2.1 and the lower platform 2.2, respectively. When the drive part 2.7 is activated, the telescopic rod 2.4 slides along the extension direction of the end of the upper platform 2.1, thereby driving UPU branch 2.5 and UPS branch 2.6 to move. Specifically, both the upper platform 2.1 and the lower platform 2.2 are movable platforms, connected by a branch chain assembly. A drive component 2.7 is installed between the telescopic rod 2.4 and the upper platform 2.1, parallel to the upper platform 2.1. Activating the drive component 2.7 causes the telescopic rod 2.4 to move horizontally, thereby causing the UPU branch chain 2.5 and the UPS branch chain 2.6 to move horizontally. By configuring the sliding joints of the UPU branch chain 2.5 and the UPS branch chain 2.6 as driving joints, they can move vertically via the first and second sliding joints respectively, thus causing the telescopic rod 2.4 to move vertically. The movable legs of the upper platform 2.1 and the lower platform 2.2 can perform staggered movements, meaning that the hexapod robot 2 can move horizontally and vertically, enabling the transport device to move in a straight line. The cargo platform 1 is used to carry goods, and the hexapod robot 2 is equivalent to the legs of the cargo platform 1. The hexapod robot 2 is rotatably connected to the connecting module 3, allowing the hexapod robot 2 to rotate in place. This transport device achieves zero-radius turning through the coordination of staggered movements and in-place rotations of the movable legs of the upper platform 2.1 and the lower platform 2.2, better adapting to irregular and winding terrain. This transport device has a simple structure, and by using four hexapod robots 2 as the legs of the cargo platform 1 to perform the transport task, it improves the load-bearing capacity and stability.

[0032] Furthermore, refer to Figure 3 and Figure 4As shown, the UPU branch 2.5 consists of a first revolute joint, a first prismatic joint, and a second revolute joint connected in series; the UPS branch 2.6 consists of a third revolute joint, a second prismatic joint, and a ball joint connected in series; and the telescopic rod 2.4 consists of a fourth revolute joint, a third prismatic joint, and a fifth revolute joint connected in series. The drive component 2.7, the first prismatic joint, the second prismatic joint, and the third prismatic joint are all linear motors. Specifically, the prismatic joints of the telescopic rod 2.4, the UPU branch 2.5, and the UPS branch 2.6 are all drive joints, and the drive component 2.7 is also a drive joint of the telescopic rod 2.4. This creates redundant drive on the telescopic rod 2.4, achieving optimized distribution of the driving force for the hexapod robot 2. This improves the motion or force adjustment performance of the hexapod robot 2, enabling it to more flexibly avoid obstacles and adapt to complex work requirements, thus enhancing its reliability and stability.

[0033] Continue to refer to Figure 3 and Figure 4 As shown, the branch assembly also includes a slider 2.8, which is connected to the end of the telescopic rod 2.4 near the upper platform 2.1. A slide rail 2.1.1 is provided on the side of the upper platform 2.1 near the telescopic rod 2.4, and the slider 2.8 is adapted to move along the slide rail 2.1.1. One end of the drive unit 2.7 is connected to the upper platform 2.1, and the other end is connected to the slider 2.8. Specifically, both ends of the telescopic rod 2.4 are rotatably connected to the slider 2.8 and the lower platform 2.2, respectively. Activating the drive unit 2.7 drives the slider 2.8 to move along the slide rail 2.1.1, thereby causing the telescopic rod 2.4 to move horizontally. The lower platform 2.2 moves along with the telescopic rod 2.4, thereby causing the UPU branch 2.5 and the UPS branch 2.6 to move horizontally.

[0034] To prevent the center of gravity of the transport platform 1 from shifting, a cooperative control system is installed on the transport platform 1. The cooperative control system is connected to the drive unit 2.7 and the drive pair. Specifically, this transport device has a total of twenty-four moving legs. Each time it takes a step, twelve moving legs are in contact with the ground. By setting up the cooperative control system to control the drive unit 2.7 and the drive pair, the four hexapod robots 2 can move in unison each time they take a step.

[0035] Furthermore, a level sensor is installed at the bottom of the upper platform 2.1. The level sensor transmits the level signal of the upper platform 2.1, and its output is connected to the collaborative control system. Specifically, the level sensor monitors the levelness of the upper platform 2.1 in real time and transmits the level signal to the collaborative control system. The collaborative control system then controls the corresponding drive pairs, thereby ensuring that the center of gravity of this conveying device is always located in the center of the loading platform 1, thus improving the adaptability of this conveying device.

[0036] Reference Figure 5As shown, the loading platform 1 has four load-bearing rods 1.1 extending from its four corners, and these four load-bearing rods 1.1 are arranged in parallel. The ends of the four load-bearing rods 1.1 are respectively connected to four connecting modules 3. Specifically, by setting up four load-bearing rods 1.1, the four load-bearing rods 1.1 are used to support the weight of the loading platform 1, ensuring that the loading platform 1 can remain stable whether the conveying device is in motion or stationary. When the conveying device turns, the four load-bearing rods 1.1 are responsible for transmitting the turning command to the hexapod robot 2 through the connecting modules 3, so that it deflects at a predetermined angle, ensuring the accuracy and stability of the turning operation. When the conveying device is in motion, the four load-bearing rods 1.1 can effectively absorb and disperse vibrations caused by complex road surfaces, thereby improving the stability of the loading platform 1 in transporting goods.

[0037] Continue to refer to Figure 5 As shown, the connecting module 3 includes a first connecting member 3.1 and a second connecting member 3.2 that are interconnected. The first connecting member 3.1 is connected to the load-bearing rod 1.1 via a sixth revolute joint. One end of the second connecting member 3.2 is connected to the first connecting member 3.1 via a seventh revolute joint, and the other end is connected to the hexapod robot 2 via an eighth revolute joint. Specifically, the sixth and seventh revolute joints rotate in perpendicular directions, enabling the hexapod robot 2 to have roll, pitch, and yaw rotation capabilities relative to the carrying platform 1. This facilitates the hexapod robot 2 in driving the carrying platform 1 and improves the adaptability of this transport device.

[0038] Reference Figure 3 and Figure 4 As shown, the upper platform 2.1 is rectangular, and the lower platform 2.2 is triangular. Three movable legs 2.3 of the upper platform are evenly spaced at the bottom of the upper platform 2.1, near the edge. Three movable legs 2.9 of the lower platform are respectively positioned at the apex of the triangle, and the movable legs 2.3 of the upper platform and 2.9 of the lower platform are staggered. Specifically, a hexapod robot 2 has six movable legs, and the six movable legs are staggered, ensuring that the hexapod robot 2 has ends in contact with the ground in all six directions, thus guaranteeing the stability of the hexapod robot 2 in contact with the ground.

[0039] The bottom of the three upper platform moving legs 2.3 and the three lower platform moving legs 2.9 are all equipped with a base plate 2.10 that contacts the ground. The bottom of the base plate 2.10 is provided with a friction element. By setting the base plate 2.10, the contact area between the moving legs and the ground is increased. The friction element at the bottom of the base plate 2.10 increases the friction between the base plate 2.10 and the ground, preventing the base plate 2.10 from sliding relative to the ground, thereby improving the stability of the hexapod robot 2 in contact with the ground.

[0040] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0041] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features of the invention herein.

Claims

1. A quadrupedal hexapod robot transport device adapted to irregular, meandering terrain, characterized in that, It includes a cargo platform (1), four hexapod robots (2) and four connecting modules (3), and the four hexapod robots (2) are rotatably connected to the cargo platform (1) through the four connecting modules (3); The hexapod robot (2) includes an upper platform (2.1) and a lower platform (2.2). The upper platform (2.1) and the lower platform (2.2) are connected in parallel by a branch assembly. Both the upper platform (2.1) and the lower platform (2.2) have three movable legs. The branch assembly includes a telescopic rod (2.4), a UPU branch (2.5), and a UPS branch (2.6). One end of the telescopic rod (2.4) is hinged to the lower platform (2.2), and the other end is slidably connected to the upper platform (2.1). A drive unit (2.7) is provided between the telescopic rod (2.4) and the upper platform (2.1). 2.7) Parallel to the upper platform (2.1), the drive pairs of the UPU branch (2.5) and the UPS branch (2.6) are respectively the first moving pair of the UPU branch (2.5) and the second moving pair of the UPS branch (2.6). The two ends of the UPU branch (2.5) and the UPS branch (2.6) are respectively hinged to the upper platform (2.1) and the lower platform (2.2). When the drive component (2.7) is activated, the telescopic rod (2.4) slides along the extension direction of the end of the upper platform (2.1) to drive the UPU branch (2.5) and the UPS branch (2.6) to move.

2. The quadrupedal hexapod robot transport device adapted to irregular, meandering terrain according to claim 1, characterized in that, The UPU branch (2.5) is composed of a first revolute joint, a first prismatic joint and a second revolute joint connected in series; the UPS branch (2.6) is composed of a third revolute joint, a second prismatic joint and a ball joint connected in series; and the telescopic rod (2.4) is composed of a fourth revolute joint, a third prismatic joint and a fifth revolute joint connected in series. The drive unit (2.7), the first sliding pair, the second sliding pair, and the third sliding pair are all linear motors.

3. The quadrupedal hexapod robot transport device adapted to irregular, meandering terrain according to claim 1, characterized in that, The branch assembly also includes a slider (2.8), which is connected to the end of the telescopic rod (2.4) near the upper platform (2.1). A slide rail (2.1.1) is provided on the side of the upper platform (2.1) near the telescopic rod (2.4), and the slider (2.8) is adapted to move along the slide rail (2.1.1). One end of the drive unit (2.7) is connected to the upper platform (2.1), and the other end is connected to the slider (2.8).

4. The quadrupedal hexapod robot transport device adapted to irregular, meandering terrain according to claim 1, characterized in that, The loading platform (1) is equipped with a collaborative control system, which is connected to the drive unit (2.7) and the drive pair.

5. The quadrupedal hexapod robot transport device adapted to irregular, meandering terrain according to claim 4, characterized in that, A level sensor is provided at the bottom of the upper platform (2.1). The level sensor is used to transmit the level signal of the upper platform (2.1). The output end of the level sensor is connected to the collaborative control system.

6. The quadrupedal hexapod robot transport device adapted to irregular, meandering terrain according to claim 1, characterized in that, The loading platform (1) extends four load-bearing rods (1.1) at the four corners, and the four load-bearing rods (1.1) are arranged in parallel. The ends of the four load-bearing rods (1.1) are respectively connected to the four connecting modules (3).

7. A quadruped hexapod robot transport device adapted to irregular, meandering terrain according to claim 6, characterized in that, The connection module (3) includes a first connector (3.1) and a second connector (3.2) that are connected to each other. The first connector (3.1) is connected to the load-bearing rod (1.1) through a sixth rotating joint. One end of the second connector (3.2) is connected to the first connector (3.1) through a seventh rotating joint, and the other end is connected to the hexapod robot (2) through an eighth rotating joint.

8. The quadrupedal hexapod robot transport device adapted to irregular, meandering terrain according to claim 1, characterized in that, The upper platform (2.1) is rectangular, and the lower platform (2.2) is triangular. The three movable feet (2.3) of the upper platform are evenly spaced at the bottom of the upper platform (2.1) and close to the edge. The three movable feet (2.9) of the lower platform are respectively set at the apex of the triangle, and the movable feet (2.3) of the upper platform and the movable feet (2.9) of the lower platform are staggered.

9. A quadruped hexapod robot transport device adapted to irregular, meandering terrain according to claim 1, characterized in that, The bottom of the three upper platform moving feet (2.3) and the three lower platform moving feet (2.9) each have a base plate (2.10) that contacts the ground.

10. A quadrupedal hexapod robot transport device adapted to irregular, meandering terrain according to claim 9, characterized in that, The bottom of the base plate (2.10) is provided with a friction element.

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