Wheel-foot composite robot structure suitable for complex terrains

Abstract

The invention relates to the technical field of robots, and discloses a wheel-foot composite robot structure suitable for complex terrains, the wheel-foot composite robot structure comprises a supporting frame, a motor is fixedly connected in the supporting frame, the output end of the motor is connected with a connecting column, and a first connecting rod is fixedly connected in the connecting column; a second connecting rod is fixedly connected to the interior of the connecting column, a lifting assembly is arranged on the inner top wall of the supporting frame, a second gear is connected to the tooth end of one side of the first gear in a meshed mode, first rotating rods are rotationally connected to the interiors of the second gear and the third gear, and supporting legs are rotationally connected to the interiors of the first rotating rods; the inner walls of the supporting legs are rotationally connected with second rotating rods. The first connecting rod and the second connecting rod are driven by the motor to rotate, then the crawler belt is driven by the hydraulic cylinder to ascend and descend, and therefore the robot can better fit the fluctuation of the terrain, the shaking and tipping risks of the robot in the obstacle crossing process are reduced, and meanwhile the robot is more stably supported in the climbing process.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a wheel-foot composite robot structure suitable for complex terrains. Background Art

[0002] The wheel-foot hybrid robot is a robot that combines wheeled and footed movement. It has wheels for efficient movement on flat ground, and foot structures. On complex terrains such as steps and slopes, it can use foot-based movement to overcome obstacles and climb slopes, and on flat roads it can use wheels to move quickly. It has both high maneuverability and terrain adaptability.

[0003] The traditional wheel-legged composite robot structure may become stuck or even unable to move forward when crossing complex terrain because it cannot effectively conform to the terrain. Since it cannot conform to the terrain well, the robot is prone to shaking and overturning when crossing obstacles. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a wheel-foot composite robot structure suitable for complex terrain, which solves the problem that the traditional wheel-foot composite robot structure cannot better conform to the undulations of the terrain and is prone to shaking and tipping over when crossing obstacles.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a wheel-foot composite robot structure suitable for complex terrain, comprising a support frame, a motor is fixedly connected to the interior of the support frame, an output end of the motor is connected to a connecting column, a connecting rod 1 is fixedly connected to the interior of the connecting column, a connecting rod 2 is fixedly connected to the interior of the connecting column, a gear 1 is fixedly connected to the outer walls of the connecting rod 1 and the connecting rod 2, a lifting assembly is provided on the inner top wall of the support frame, a tooth end on one side of the gear 1 is meshingly connected to the gear 2, a tooth end on the other side of the gear 1 is meshingly connected to the gear 3, the outer walls of the gear 2 and the gear 3 are rotatably connected to the outer wall of the support frame, the gears 2 and 3 are both rotatably connected to the rotating rod 1, the rotating rod 1 is rotatably connected to the support leg, the inner wall of the support leg is rotatably connected to the rotating rod 2, and the outer wall of the rotating rod 2 is rotatably connected to the interior of the support frame.

[0006] Preferably, a connecting plate is provided on the upper surface of the supporting frame, and a camera is fixedly connected to the interior of the upper side of the connecting plate.

[0007] Preferably, the lifting assembly includes a hydraulic lever, the upper surface of which is fixedly connected to the inner top wall of the support frame, the output end of the hydraulic lever is connected to a crawler track, and the upper surface of the crawler track is arranged on the lower surface of the support frame.

[0008] Preferably, a camera is fixedly connected to the interior of the upper side of the connecting plate, a housing is fixedly connected to the interior of the lower side of the connecting plate, and a sliding column is slidably connected to the interior of the housing.

[0009] Preferably, a handle is fixedly connected to the top end of the sliding column, a fixed column is fixedly connected to the bottom end of the sliding column, and an outer wall of the fixed column is slidably connected to the inside of the shell.

[0010] Preferably, a spring is provided inside the fixing column, a clamping claw is provided on the left outer wall of the spring, and the inner wall of the clamping claw is rotatably connected to the outer wall of the fixing column.

[0011] Preferably, the upper outer wall of the clamping claw is arranged inside the shell, and the lower outer wall of the clamping claw is provided with a fixing buckle, and the bottom end of the fixing buckle is fixedly connected to the upper surface of the support frame.

[0012] Preferably, a fixing block is fixedly connected to the inner bottom wall of the support frame, an electric push rod is fixedly connected to the interior of the fixing block, and an output end of the electric push rod is connected to an H-shaped block.

[0013] Preferably, two sides of the H-shaped block are internally rotatably connected with connecting rods three, and the outer wall of the connecting rod three is rotatably connected with mounting rod one.

[0014] Preferably, the interior of the mounting rod 1 is rotatably connected to the outer wall of the fixing block, the outer wall of the mounting rod 1 is fixedly connected to the mounting rod 2, and the outer wall of the mounting rod 2 is fixedly connected to a cushion.

[0015] Working principle: By starting the motor, the motor will drive the connecting column to rotate, the rotation of the connecting column will drive the connecting rod 1 and the connecting rod 2 to rotate, the rotation of the connecting rod 1 and the connecting rod 2 will drive the gear 1 to rotate, the rotation of the gear 1 will drive the gear 2 and the gear 3 to rotate, when the gear 2 and the gear 3 rotate, they will drive the rotating rod 1 to rotate, the rotation of the rotating rod 1 will drive the supporting legs to move forward and backward, the rotation of the supporting legs will drive the rotating rod 2 to rotate on the outer wall of the supporting frame, when encountering complex terrain, by starting the hydraulic lever, the hydraulic lever will drive the crawler to move up and down, when the crawler touches the ground, the crawler will prop up the supporting frame, and finally the crawler will drive the supporting frame to move, so as to better fit the ups and downs of the terrain, reduce the risk of shaking and tipping of the robot in the process of crossing obstacles, and at the same time make the robot have more stable support during the climbing process; When the connecting plate and the camera need to be disassembled, the handle is pulled manually, and the handle will drive the sliding column to slide inside the shell, and the sliding of the sliding column will drive the fixed column to slide inside the shell, and the sliding of the fixed column will drive the clamping claw to slide. When the clamping claw slides to the inner wall of the shell, the shell will squeeze the clamping claw to release the fixing buckle. When the clamping claw releases the fixing buckle, the spring will reset the clamping claw. When the connecting plate and the camera need to be installed, the handle and the camera are held by hand, and the camera is aligned with the outside of the fixing buckle and pressed down. Finally, the clamping claw will fix the fixing buckle, so that the camera can be quickly disassembled for repair or replaced with a new camera when a fault occurs, thereby reducing the robot downtime and improving the task execution efficiency. By starting the electric push rod, the electric push rod will drive the H-shaped block to extend and retract, and the extension and retraction of the H-shaped block will drive the connecting rod three to rotate. The rotation of the connecting rod three will cause the mounting rods one and two to rotate on the outer wall of the fixed block. When the mounting rods one and two rotate on the outer wall of the fixed block, they will drive the soft pad to clamp, so that the robot can increase its own stability on inclined or uneven complex terrain by connecting the clamping device to the surrounding fixed objects (such as trees and rocks). When working on a mountain slope, the robot can hold the tree trunk with the clamping device to prevent itself from slipping, thereby ensuring the safety of performing tasks such as equipment installation and maintenance on complex terrain.

[0016] The present invention provides a wheel-foot composite robot structure suitable for complex terrains. It has the following beneficial effects: 1. The present invention drives connecting rod 1 and connecting rod 2 to rotate through a motor. When connecting rod 1 and connecting rod 2 rotate, the supporting legs are prompted to move forward and backward, and then the crawler tracks are driven up and down by the hydraulic cylinder, so as to better fit the undulations of the terrain, reduce the risk of shaking and tipping of the robot in the process of crossing obstacles, and at the same time make the robot have more stable support during the climbing process.

[0017] 2. The present invention manually installs and disassembles the connecting plate and the camera, so that when a camera fails, it can be quickly disassembled for repair or replaced with a new camera, thereby reducing the robot's downtime and improving task execution efficiency.

[0018] 3. The present invention drives the H-shaped block to slide through an electric push rod. The sliding of the H-shaped block drives the soft pad to clamp, so that the robot can connect the clamping device with surrounding fixed objects such as trees and rocks on inclined or uneven complex terrain to increase its own stability. When working on a mountain slope, the robot can hold the tree trunk with the clamping device to prevent itself from slipping, thereby ensuring the safety of performing tasks such as equipment installation and maintenance on complex terrain.

[0019] 4. The present invention drives the H-shaped block to slide through an electric push rod. The sliding of the H-shaped block drives the soft pad to clamp. When the soft pad is clamped, a buckle is formed to tie the object to the buckle, making it convenient for the robot to transport the object. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of the local structure of the connecting plate of the present invention; Figure 3 It is a schematic diagram of the local structure of the support frame of the present invention; Figure 4 It is a schematic diagram of the local structure of the connecting column of the present invention; Figure 5 for Figure 2 The enlarged schematic diagram at A in the middle; Figure 6 It is a schematic diagram of the internal structure of the housing of the present invention; Figure 7 It is a schematic diagram of the local structure of the spring of the present invention; Figure 8 for Figure 2 Enlarged schematic diagram of point B in the middle.

[0021] Among them, 1. support frame; 2. motor; 3. connecting column; 4. connecting rod one; 5. connecting rod two; 6. gear one; 7. gear two; 8. gear three; 9. rotating rod one; 10. supporting leg; 11. rotating rod two; 12. hydraulic lever; 13. crawler track; 14. connecting plate; 15. camera; 16. outer shell; 17. sliding column; 18. handle; 19. fixed column; 20. spring; 21. clamping claw; 22. fixing buckle; 23. fixing block; 24. electric push rod; 25. H-shaped block; 26. connecting rod three; 27. mounting rod one; 28. mounting rod two; 29. ​​cushion. DETAILED DESCRIPTION

[0022] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings 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.

[0023] Please see attached Figure 1 -Attached Figure 4The embodiment of the present invention provides a wheel-foot composite robot structure suitable for complex terrain, including a support frame 1, a motor 2 is fixedly connected to the support frame 1, an output end of the motor 2 is connected to a connecting column 3, a connecting rod 1 4 is fixedly connected to the inside of the connecting column 3, a connecting rod 2 5 is fixedly connected to the inside of the connecting column 3, a gear 1 6 is fixedly connected to the outer wall of the connecting rod 1 4 and the connecting rod 2 5, a lifting assembly is provided on the inner top wall of the support frame 1, a gear 2 7 is meshedly connected to the tooth end of one side of the gear 1 6, a gear 3 8 is meshedly connected to the tooth end of the other side of the gear 1 6, and the outer walls of the gear 2 7 and the gear 3 8 are rotatably connected to the support frame 1. The outer wall of the frame 1, the interior of the gear 2 7 and the gear 3 8 are all rotatably connected with a rotating rod 1 9, the interior of the rotating rod 1 9 is rotatably connected with a support leg 10, the inner wall of the support leg 10 is rotatably connected with a rotating rod 2 11, and the outer wall of the rotating rod 2 11 is rotatably connected to the interior of the support frame 1; a connecting plate 14 is provided on the upper surface of the support frame 1, and a camera 15 is fixedly connected to the upper side of the connecting plate 14; the lifting assembly includes a hydraulic lever 12, the upper surface of the hydraulic lever 12 is fixedly connected to the inner top wall of the support frame 1, the output end of the hydraulic lever 12 is connected to a crawler 13, and the upper surface of the crawler 13 is provided on the lower surface of the support frame 1.

[0024] Specifically, the rotation of the motor 2 is used to drive the connecting column 3 and the connecting rod 1 4 to rotate. The rotation of the connecting column 3 and the connecting rod 1 4 will drive the gear 1 6 to rotate. The rotation of the gear 1 6 is used to drive the gear 2 7 and the gear 3 8 to rotate. The rotation of the gear 2 7 and the gear 3 8 will drive the rotating rod 1 9 to rotate. The rotating rod 1 9 plays the role of an eccentric wheel. The support frame 1 is used to support the rotating rod 2 11 for rotation, and is also used to support the gear 2 7 and the gear 3 8. With the cooperation of the rotating rod 1 9 and the rotating rod 2 11, the supporting leg 10 will move forward and backward. When encountering a complex environment, the hydraulic lever 12 is started, and the hydraulic lever 12 will drive the crawler 13 to move downward. When the crawler 13 contacts the ground, the crawler 13 is started again to rotate, which is used to move in complex terrain. The drive inside the crawler 13 belongs to the existing technology and will not be elaborated here, so as to better fit the undulations of the terrain, reduce the risk of shaking and tipping of the robot in the process of crossing obstacles, and at the same time provide the robot with more stable support during the climbing process.

[0025] Please see attached Figure 5 -Attached Figure 7, a camera 15 is fixedly connected to the upper side of the connecting plate 14, a housing 16 is fixedly connected to the lower side of the connecting plate 14, and a sliding column 17 is slidably connected to the inside of the housing 16; a handle 18 is fixedly connected to the top of the sliding column 17, and a fixed column 19 is fixedly connected to the bottom end of the sliding column 17, and the outer wall of the fixed column 19 is slidably connected to the inside of the housing 16; a spring 20 is arranged inside the fixed column 19, and a clamping claw 21 is arranged on the left outer wall of the spring 20, and the inner wall of the clamping claw 21 is rotatably connected to the outer wall of the fixed column 19; the upper outer wall of the clamping claw 21 is arranged inside the housing 16, and a fixing buckle 22 is arranged on the lower outer wall of the clamping claw 21, and the bottom end of the fixing buckle 22 is fixedly connected to the upper surface of the support frame 1; Specifically, when the connecting plate 14 and the camera 15 need to be installed, the connecting plate 14 and the camera 15 are aligned with the fixing buckle 22, the grip 18 and the housing 16 are gripped, and the housing 16 is pressed to fix the clamping claw 21 to the inner top wall of the fixing buckle 22. The lower outer wall of the clamping claw 21 is arc-shaped, which facilitates the clamping claw 21 to be stuck on the inner top wall of the fixing buckle 22 during the pressing process. When the connecting plate 14 and the camera 15 need to be replaced, the grip 18 is manually pulled upward, and the grip 18 drives the sliding column 17 to slide inside the housing 16, and the sliding column 17 drives the fixing column 19 Sliding inside the shell 16, the sliding of the fixed column 19 will drive the clamping claw 21 to slide. When the upper outer wall of the clamping claw 21 contacts the inside of the shell 16, the shell 16 squeezes the clamping claw 21. The clamping claw 21 is squeezed and the fixing buckle 22 is released. Under the action of the spring 20, the spring 20 will drive the clamping claw 21 to reset and be used multiple times. In this way, when a camera 15 fails, it can be quickly disassembled for repair or replaced with a new camera 15, thereby reducing the robot's downtime and improving the task execution efficiency.

[0026] Please see attached Figure 2 and attached Figure 8 The inner bottom wall of the support frame 1 is fixedly connected with a fixed block 23, the interior of the fixed block 23 is fixedly connected with an electric push rod 24, and the output end of the electric push rod 24 is connected with an H-shaped block 25; the two sides of the H-shaped block 25 are internally rotatably connected with a connecting rod 3 26, and the outer wall of the connecting rod 3 26 is rotatably connected with a mounting rod 1 27; the interior of the mounting rod 1 27 is rotatably connected to the outer wall of the fixed block 23, the outer wall of the mounting rod 1 27 is fixedly connected with a mounting rod 28, and the outer wall of the mounting rod 28 is fixedly connected with a cushion 29 Specifically, the electric push rod 24 is used to fix the electric push rod 24. Starting the electric push rod 24 will drive the H-shaped block 25 to slide. The sliding of the H-shaped block 25 will drive the connecting rod three 26 to rotate inside itself. The rotation of the connecting rod three 26 will drive the mounting rod one 27 and the mounting rod two 28 to rotate on the outer wall of the fixed block 23. Finally, the mounting rod one 27 and the mounting rod two 28 will drive the soft pad 29 to clamp, so that the robot can increase its own stability on inclined or uneven complex terrain by connecting the clamping device to the surrounding fixed objects such as trees and rocks. When working on a mountain slope, the robot can hold the tree trunk with the clamping device to prevent itself from slipping, thereby ensuring the safety of performing tasks such as equipment installation and maintenance on complex terrain. When the soft pad 29 is clamped, a buckle will be formed to tie the object to the buckle, making it convenient for the robot to transport the object.

[0027] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A wheel-foot composite robot structure suitable for complex terrain, comprising a support frame (1), characterized in that: The support frame (1) is fixedly connected with a motor (2) inside, the output end of the motor (2) is connected with a connecting column (3), the connecting column (3) is fixedly connected with a connecting rod 1 (4), the connecting column (3) is fixedly connected with a connecting rod 2 (5), the outer walls of the connecting rod 1 (4) and the connecting rod 2 (5) are fixedly connected with a gear 1 (6), the inner top wall of the support frame (1) is provided with a lifting assembly, the tooth end of one side of the gear 1 (6) is meshingly connected with a gear 2 (7), the tooth end of the other side of the gear 1 (6) is meshingly connected with a gear 3 (8), the outer walls of the gear 2 (7) and the gear 3 (8) are rotatably connected to the outer wall of the support frame (1), the gear 2 (7) and the gear 3 (8) are both rotatably connected with a rotating rod 1 (9), the rotating rod 1 (9) is rotatably connected with a support leg (10), the inner wall of the support leg (10) is rotatably connected with a rotating rod 2 (11), and the outer wall of the rotating rod 2 (11) is rotatably connected to the inside of the support frame (1).

2. A wheel-foot composite robot structure suitable for complex terrain according to claim 1, characterized in that: A connecting plate (14) is provided on the upper surface of the support frame (1), and a camera (15) is fixedly connected to the interior of the upper side of the connecting plate (14).

3. The wheel-foot composite robot structure suitable for complex terrain according to claim 1, characterized in that: The lifting assembly comprises a hydraulic lever (12), the upper surface of the hydraulic lever (12) being fixedly connected to the inner top wall of the support frame (1), the output end of the hydraulic lever (12) being connected to a crawler track (13), the upper surface of the crawler track (13) being arranged on the lower surface of the support frame (1).

4. The wheel-foot composite robot structure suitable for complex terrain according to claim 2, characterized in that: A camera (15) is fixedly connected to the interior of the upper side of the connecting plate (14), a housing (16) is fixedly connected to the interior of the lower side of the connecting plate (14), and a sliding column (17) is slidably connected to the interior of the housing (16).

5. The wheel-foot composite robot structure suitable for complex terrain according to claim 4, characterized in that: The top end of the sliding column (17) is fixedly connected to a handle (18), the bottom end of the sliding column (17) is fixedly connected to a fixing column (19), and the outer wall of the fixing column (19) is slidably connected to the inside of the housing (16).

6. The wheel-foot composite robot structure suitable for complex terrain according to claim 5, characterized in that: A spring (20) is arranged inside the fixing column (19), a clamping claw (21) is arranged on the left outer wall of the spring (20), and the inner wall of the clamping claw (21) is rotatably connected to the outer wall of the fixing column (19).

7. The wheel-foot composite robot structure suitable for complex terrain according to claim 6, characterized in that: The upper outer wall of the clamping claw (21) is arranged inside the outer shell (16), and the lower outer wall of the clamping claw (21) is provided with a fixing buckle (22), and the bottom end of the fixing buckle (22) is fixedly connected to the upper surface of the support frame (1).

8. The wheel-foot composite robot structure suitable for complex terrain according to claim 1, characterized in that: A fixing block (23) is fixedly connected to the inner bottom wall of the support frame (1), an electric push rod (24) is fixedly connected inside the fixing block (23), and an H-shaped block (25) is connected to the output end of the electric push rod (24).

9. The wheel-foot composite robot structure suitable for complex terrain according to claim 8, characterized in that: The two sides of the H-shaped block (25) are internally rotatably connected to a connecting rod three (26), and the outer wall of the connecting rod three (26) is rotatably connected to a mounting rod one (27).

10. The wheel-foot composite robot structure suitable for complex terrain according to claim 9, characterized in that: The interior of the first mounting rod (27) is rotatably connected to the outer wall of the fixing block (23), the outer wall of the first mounting rod (27) is fixedly connected to the second mounting rod (28), and the outer wall of the second mounting rod (28) is fixedly connected to the cushion (29).

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