Bionic power-assisted deformable multi-terrain detection robot

Abstract

The invention discloses a bionic power-assisted deformable multi-terrain detection robot which comprises a rack, a wheel mechanism and a climbing mechanism, wherein the wheel mechanism and the climbing mechanism are arranged on the rack; at least two wheel mechanisms are arranged on the two opposite sides of the rack, and each wheel mechanism comprises a main body component, a hub component, a walking motor and a deformation driving unit. A plurality of hub components capable of synchronously extending or retracting are mounted on the main body component in a sliding manner; the plurality of hub components are circumferentially arranged around the rotating center of the main body component; the walking motor is used for driving the main body component to rotate; the deformation driving unit is used for driving the plurality of hub components to synchronously stretch out or retract, and the plurality of hub components in the retracting state form a wheel shape; the climbing mechanism comprises a swing driving unit, a telescopic arm and a grabbing device. The swing driving unit is used for driving the telescopic arm to swing; the telescopic arm is used for carrying out telescopic conversion, and a grabbing device is arranged at the telescopic end of the telescopic arm; after the scheme is adopted, the moving requirements in various scenes can be met.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a bionic assistive deformable multi-terrain exploration robot. Background Art

[0002] With the rapid development of robot technology, robots are increasingly widely used in complex environments. Such robots usually have multiple moving modes, such as wheeled, tracked, legged, etc., to adapt to different terrains and task requirements. However, existing multi-modal robots have limitations in multi-terrain adaptability and are difficult to move efficiently in complex scenarios. For example, traditional wheeled robots, although simple in structure and flexible in movement, are only suitable for flat terrains and may have difficulty in traveling on rough and complex terrains; at the same time, traditional climbing robots often use robotic arms to achieve climbing. Although the flexibility and precision are improved, the complexity of movement implementation makes it difficult to meet the diverse needs in complex environments. Summary of the Invention

[0003] The purpose of the present invention is to provide a bionic assistive deformable multi-terrain exploration robot to solve the problem that existing robots are difficult to meet diverse needs.

[0004] To solve the above technical problems, the present invention provides a bionic assistive deformable multi-terrain exploration robot, including a frame, a wheel mechanism and a climbing mechanism provided on the frame; at least two of the wheel mechanisms are provided on opposite sides of the frame, and the wheel mechanism includes a main body member, a hub member, a traveling motor and a deformation driving unit; a plurality of the hub members that can be synchronously extended or retracted are slidably installed on the main body member; a plurality of the hub members are circumferentially arranged around the rotation center of the main body member; the traveling motor is used to drive the main body member to rotate; the deformation driving unit is used to drive a plurality of the hub members to be synchronously extended or retracted, and the plurality of the hub members in the retracted state form a wheel shape; the climbing mechanism includes a swing driving unit, a telescopic arm and a grasping device; the swing driving unit is used to drive the telescopic arm to swing; the telescopic arm is used for telescopic transformation, and the grasping device is provided at the telescopic end of the telescopic arm.

[0005] In one embodiment, around the rotation center of the main body member, the main body member is provided with a plurality of slide rails; the hub member includes an arc-shaped plate and a strip-shaped slider, and the concave arc surface of the arc-shaped plate is connected to the strip-shaped slider, and the strip-shaped slider is slidably installed in the slide rail.

[0006] In one embodiment, the deformation driving unit includes a deformation motor, a transmission gear, and a deformation driving gear; the deformation motor is disposed on the frame, and the deformation motor is used to drive the transmission gear to rotate; the transmission gear is meshed with the deformation driving gear for transmission; a plurality of arc-shaped guiding through grooves are provided on the deformation driving gear; guiding blocks are provided on a plurality of the strip-shaped sliders, and a plurality of the guiding blocks are respectively slidably installed in a plurality of the arc-shaped guiding through grooves, and the movement of the plurality of the guiding blocks in the plurality of the arc-shaped guiding through grooves is used to control the synchronous extension or retraction of a plurality of the hub members.

[0007] In one embodiment, the deformation driving gear and the main body member are arranged as a synchronous rotation structure with the same rotation center; a through hole is provided on the outer side of one of the slider guide rails, and the output shaft of the deformation motor passes through the through hole and is connected to the transmission gear.

[0008] In one embodiment, the swing driving unit includes a U-shaped bracket and a swing motor; the U-shaped bracket surrounds the swing motor, and the telescopic arm is provided on the U-shaped bracket; the swing motor is disposed on the frame, and the swing motor is used to drive the U-shaped bracket to swing.

[0009] In one embodiment, the telescopic arm is a structure that uses a scale bar for telescopic change.

[0010] In one embodiment, the telescopic arm includes a fixed wheel housing, a moving wheel housing, and a scale bar; the fixed wheel housing is disposed on the swing driving unit, a fixed pulley and a fixed wheel motor are provided on the fixed wheel housing, the fixed pulley is disposed inside the fixed wheel housing, and the fixed wheel motor is used to drive the fixed pulley to rotate; a moving pulley and a brake are provided inside the moving wheel housing, and the brake is used to adsorb and fix the scale bar; one end of the scale bar penetrates into the fixed wheel housing and is wound and fixed on the fixed pulley; the other end of the scale bar penetrates into the moving wheel housing, bypasses the moving pulley, and then penetrates out of the moving wheel housing and is connected and fixed to the fixed wheel housing.

[0011] In one embodiment, the scale bar is made of a magnetizable material; the brake is an electromagnet.

[0012] In one embodiment, the grasping device is disposed on the moving wheel housing.

[0013] In one embodiment, the grasping device is a thorn claw structure.

[0014] The beneficial effects of the present invention are as follows:

[0015] Integrate the wheel mechanism with the climbing mechanism to endow the detection robot with more motion modes, thereby improving its motion performance in various complex scenarios. Specifically, the robot can move quickly on flat ground in the wheel mode, and its obstacle-crossing ability on rough flat ground can be improved by changing the wheel diameter; when encountering extreme terrains such as slopes or walls that cannot be overcome in the wheel mode, it can be switched to the climbing mode to perform alternating climbing using the climbing mechanism. In addition, the hybrid assist mode can not only increase the movement speed of the wheels when moving on rough roads, but also help the wheels that are stuck in unexpected situations such as rough terrains to escape by the climbing ability of the climbing mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the present invention, the drawings required for the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0017] Figure 1 is a schematic structural diagram provided by an embodiment of the present invention;

[0018] Figure 2 is Figure 1 a schematic diagram of the state of the wheel mechanism of Figure 1 ;

[0019] Figure 3 is Figure 1 a schematic diagram of the state of the wheel mechanism of Figure 2 ;

[0020] Figure 4 is Figure 1 a schematic structural diagram of the main body member of

[0021] Figure 5 is Figure 1 a schematic structural diagram of the hub member of

[0022] Figure 6 is Figure 1 a schematic structural diagram of the deformation driving unit of

[0023] Figure 7 is Figure 1 a schematic structural diagram of the climbing mechanism;

[0024] Figure 8 is Figure 7 a schematic structural diagram of the swing driving unit of

[0025] Figure 9 is Figure 7 a schematic diagram of the lower part structure of

[0026] Figure 10 is Figure 7 the upper structure schematic diagram of

[0027] The reference numerals are as follows:

[0028] 10. Frame;

[0029] 20. Wheel mechanism; 21. Main body member; 211. Slide rail; 212. Through hole; 22. Hub member; 221. Arc plate; 222. Strip-shaped slider; 223. Guide block; 23. Travel motor; 24. Deformation drive unit; 241. Deformation motor; 242. Transmission gear; 243. Deformation drive gear; 244. Arc-shaped guide through slot;

[0030] 30. Climbing mechanism; 31. Swing drive unit; 311. U-shaped bracket; 312. Swing motor; 32. Telescopic arm; 321. Fixed wheel housing; 322. Movable wheel housing; 323. Scale bar; 324. Fixed pulley; 325. Fixed wheel motor; 326. Movable pulley; 327. Brake; 33. Gripping device. Specific embodiments

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention.

[0032] The present invention provides a bionic assistive deformable multi-terrain exploration robot, and its embodiments are as Figures 1 to 10 shown, including a frame 10, a wheel mechanism 20 and a climbing mechanism 30 provided on the frame 10; at least two of the wheel mechanisms 20 are provided on opposite sides of the frame 10, and the wheel mechanism 20 includes a main body member 21, a hub member 22, a travel motor 23 and a deformation drive unit 24; a plurality of hub members 22 that can be synchronously extended or retracted are slidably installed on the main body member 21; a plurality of the hub members 22 are circumferentially arranged around the rotation center of the main body member 21; the travel motor 23 is used to drive the main body member 21 to rotate; the deformation drive unit 24 is used to drive a plurality of hub members 22 to be synchronously extended or retracted, and a plurality of hub members 22 in the retracted state form a wheel shape; the climbing mechanism 30 includes a swing drive unit 31, a telescopic arm 32 and a gripping device 33; the swing drive unit 31 is used to drive the telescopic arm 32 to swing; the telescopic arm 32 is used for telescopic transformation, and a gripping device 33 is provided at the telescopic end of the telescopic arm 32.

[0033] During application, if a plurality of hub members 22 are in the retracted state, a plurality of hub members 22 can form a wheel shape. Therefore, after the travel motor 23 is used to drive the main body member 21 to rotate, the wheel mechanism 20 will be basically the same as a general wheel, so that the movement of the robot is realized by using the rolling of the wheel to meet the requirement of fast movement on a flat ground.

[0034] When obstacle crossing is required, the deformation driving unit 24 can be used to control multiple hub members 22 to extend outwards, so that the main body member 21 and the multiple hub members 22 form a radial special-shaped wheel structure, thus meeting the requirement of obstacle crossing.

[0035] In particular, when the obstacle is too large or the climbing height is relatively high, the climbing mechanism 30 can be used for cooperative operation. At this time, the climbing mechanism 30 provides auxiliary power for the robot to climb by controlling the swing and telescoping of the telescopic arm 32, thus realizing the climbing operation of the robot.

[0036] Obviously, after adopting the above setting method, the above-mentioned robot can freely change its shape for adaptation not only when walking on flat ground or crossing obstacles, but even when climbing upwards, so as to meet the requirements of different application scenarios, that is, effectively solving the problem that existing robots are difficult to meet diverse requirements.

[0037] Such as Figure 4 and Figure 5 shown, in this embodiment, around the rotation center of the main body member 21, the main body member 21 is provided with a plurality of slide block guide rails 211; the hub member 22 includes an arc-shaped plate 221 and a strip-shaped slide block 222, the concave arc surface of the arc-shaped plate 221 is connected with the strip-shaped slide block 222, and the strip-shaped slide block 222 is slidably installed in the slide block guide rail 211.

[0038] After adopting this setting method, the outer shape of the main body member 21 will be roughly radial. Therefore, once a plurality of strip-shaped slide blocks 222 all move outwards along the slide block guide rails 211, the multiple hub members 22 will form a state of spreading outwards, thus realizing the switching of the multiple hub members 22 from the state of forming wheels to the spreading state.

[0039] Such as Figure 1 , Figure 2 , Figure 3 , Figure 5 and Figure 6 shown, in this embodiment, the deformation driving unit 24 is provided with a deformation motor 241, a transmission gear 242 and a deformation driving gear 243; the deformation motor 241 is arranged on the frame 10, and the deformation motor 241 is used to drive the transmission gear 242 to rotate; the transmission gear 242 is meshed with the deformation driving gear 243 for transmission; the deformation driving gear 243 is provided with a plurality of arc-shaped guiding through grooves 244; a guiding block 223 is arranged on each of the plurality of strip-shaped slide blocks 222, and the plurality of guiding blocks 223 are respectively slidably installed in the plurality of arc-shaped guiding through grooves 244, and the movement of the plurality of guiding blocks 223 in the plurality of arc-shaped guiding through grooves 244 is used to control the synchronous extension or retraction of the multiple hub members 22.

[0040] After adopting this setting method, if the deformation motor 241 drives the transmission gear 242 to rotate, the transmission gear 242 will also drive the deformation drive gear 243 to rotate synchronously. When the deformation drive gear 243 rotates, since the multiple arc-shaped guiding through slots 244 will limit and guide the multiple guiding sliders, the rotation of the deformation drive gear 243 will drive the guiding block 223 to move back and forth between the two ends of the arc-shaped guiding through slot 244.

[0041] At this time, if the guiding block 223 moves towards the inner end of the arc-shaped guiding through slot 244, the multiple hub components 22 will move inwards in a converging manner so that the multiple arc-shaped plates 221 can be spliced into a wheel shape; if the guiding block 223 moves towards the outer end of the arc-shaped guiding through slot 244, the multiple hub components 22 will move outwards in a spreading manner.

[0042] Therefore, after adopting the above setting method, synchronous extension and retraction control of the multiple hub components 22 can be achieved.

[0043] Such as Figure 3 、 Figure 4 and Figure 6 As shown, in this embodiment, the deformation drive gear 243 and the main body component 21 are set as a synchronous rotation structure with the same rotation center; a through hole 212 is provided on the outer side of one of the slider guide rails 211, and the output shaft of the deformation motor 241 passes through the through hole 212 and is connected to the transmission gear 242.

[0044] Such as Figure 7 and Figure 8 As shown, in this embodiment, the swing drive unit 31 is provided to include a U-shaped bracket 311 and a swing motor 312; the U-shaped bracket 311 surrounds the swing motor 312, and a telescopic arm 32 is provided on the U-shaped bracket 311; the swing motor 312 is arranged on the frame 10, and the swing motor 312 is used to drive the U-shaped bracket 311 to swing.

[0045] After adopting this setting method, by controlling the rotation direction of the output shaft of the swing motor 312, the U-shaped bracket and the telescopic arm 32 can be controlled to swing in the required direction, thereby realizing the swing control of the telescopic arm 32.

[0046] Such as Figure 7 、 Figure 9 、 Figure 10As shown in the figure, in this embodiment, the telescopic arm 32 is configured to be telescopically changed by using a scale bar 323. Specifically, at this time, the telescopic arm 32 includes a fixed-wheel housing 321, a moving-wheel housing 322, and a scale bar 323; the fixed-wheel housing 321 is arranged on the swing drive unit 31, and a fixed pulley 324 and a fixed-wheel motor 325 are provided on the fixed-wheel housing 321. The fixed pulley 324 is arranged inside the fixed-wheel housing 321, and the fixed-wheel motor 325 is used to drive the fixed pulley 324 to rotate self; a moving pulley 326 and a brake 327 are arranged inside the moving-wheel housing 322, and the brake 327 is used to adsorb and fix the scale bar 323; one end of the scale bar 323 penetrates into the fixed-wheel housing 321 and is wound and fixed on the fixed pulley 324; the other end of the scale bar 323 penetrates into the moving-wheel housing 322, bypasses the moving pulley 326, and then penetrates out of the moving-wheel housing 322 and is connected and fixed to the fixed-wheel housing 321.

[0047] After adopting this setting method, by controlling the rotation direction of the output shaft of the fixed-wheel motor 325, the scale bar 323 can be released or retracted by using the fixed pulley 324, so as to realize the extension and retraction control of the scale bar 323 to meet the telescopic control requirements of the telescopic arm 32.

[0048] Moreover, during the application process, the brake 327 can also be used to adsorb the scale bar 323. At this time, once the brake 327 adsorbs and fixes the scale bar 323, the part of the scale bar 323 connected to the fixed-wheel housing 321 will become a fixed length. By controlling the telescopic change of the rest of the scale bar 323, different length ratios can be formed on both sides of the scale bar 323, so that the whole scale bar 323 becomes the same state in each part, thus meeting the use requirements in different scenarios.

[0049] Preferably, in this embodiment, the scale bar 323 is made of a magnetizable material; the brake 327 is an electromagnet.

[0050] Therefore, by controlling the power on and off of the brake 327, the adsorption and separation of the brake 327 and the scale bar 323 can be realized, and the operation is simple.

[0051] Preferably, in this embodiment, the grasping device 33 is arranged on the moving-wheel housing 322.

[0052] As Figure 1 shown in the figure, in this embodiment, the grasping device 33 is configured as a claw structure.

[0053] After adopting this setting method, once climbing is carried out by using the grasping device 33, the claw structure of the grasping device 33 can be inserted into the climbing position, thus ensuring the stability of the robot during the climbing process.

[0054] Specifically, the grasping device 33 of this embodiment can imitate animals in nature. For example, by referring to the morphological structure of the tarsal chain of beetles and the claw hands of climbing birds, a thorn claw structure is designed. The normal adhesion force generated during its climbing is greater, and the stability is stronger. It can passively adapt to adsorb on the wall. Therefore, when climbing, the thorn claw structure of the grasping device 33 can realize the function of automatically adsorbing on the wall at the bionic climbing end.

[0055] The above are the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements are also regarded as the protection scope of the present invention.

Claims

1. A bionic assistive and deformable multi-terrain exploration robot, characterized in that it includes a frame, and a wheel mechanism and a climbing mechanism arranged on the frame; At least two of the wheel mechanisms are arranged on opposite sides of the frame. The wheel mechanism includes a main body member, a hub member, a traveling motor, and a deformation driving unit; a plurality of the hub members that can be synchronously extended or retracted are slidably installed on the main body member; A plurality of the hub members are circumferentially arranged around the rotation center of the main body member; the traveling motor is used to drive the main body member to rotate self; the deformation driving unit is used to drive a plurality of the hub members to be synchronously extended or retracted, and a plurality of the hub members in the retracted state form a wheel shape; The climbing mechanism includes a swing driving unit, a telescopic arm, and a grasping device; the swing driving unit is used to drive the telescopic arm to swing; the telescopic arm is used for telescopic transformation, and the grasping device is provided at the telescopic end of the telescopic arm.

2. The bionic assistive and deformable multi-terrain exploration robot according to claim 1, characterized in that Around the rotation center of the main body member, the main body member is provided with a plurality of slider guide rails; The hub member includes an arc-shaped plate and a strip-shaped slider. The concave arc surface of the arc-shaped plate is connected to the strip-shaped slider, and the strip-shaped slider is slidably installed in the slider guide rail.

3. The bionic assistive and deformable multi-terrain exploration robot according to claim 2, characterized in that The deformation driving unit includes a deformation motor, a transmission gear, and a deformation driving gear; the deformation motor is arranged on the frame, and the deformation motor is used to drive the transmission gear to rotate self; the transmission gear is meshed with the deformation driving gear for transmission; a plurality of arc-shaped guiding through grooves are provided on the deformation driving gear; A guiding block is provided on each of the plurality of strip-shaped sliders, and a plurality of the guiding blocks are respectively slidably installed in a plurality of the arc-shaped guiding through grooves, and the movement of the plurality of guiding blocks in the plurality of arc-shaped guiding through grooves is used to control a plurality of the hub members to be synchronously extended or retracted.

4. The bionic assistive and deformable multi-terrain exploration robot according to claim 3, characterized in that The deformation driving gear and the main body member are set as a synchronous rotation structure with the same rotation center; A through hole is provided on the outer side of one of the slider guide rails, and the output shaft of the deformation motor passes through the through hole and is connected to the transmission gear.

5. The bionic assistive and deformable multi-terrain exploration robot according to claim 1, characterized in that The swing driving unit includes a U-shaped bracket and a swing motor; The U-shaped bracket surrounds the swing motor, and the telescopic arm is provided on the U-shaped bracket; The swing motor is arranged on the frame, and the swing motor is used to drive the U-shaped bracket to swing.

6. The bionic assistive and deformable multi-terrain exploration robot according to claim 1, characterized in that The telescopic arm is a structure that uses a scale bar for telescopic change.

7. The bionic assistive and deformable multi-terrain exploration robot according to claim 6, characterized in that The telescopic arm includes a fixed wheel housing, a moving wheel housing, and a scale bar; The fixed wheel housing is arranged on the swing drive unit. A fixed pulley and a fixed wheel motor are arranged on the fixed wheel housing. The fixed pulley is arranged inside the fixed wheel housing. The fixed wheel motor is used to drive the fixed pulley to rotate self - sufficiently. Inside the movable wheel housing, a movable pulley and a brake are arranged. The brake is used to adsorb and fix the scale bar. One end of the scale bar penetrates into the fixed wheel housing and is wound and fixed on the fixed pulley. The other end of the scale bar penetrates into the movable wheel housing, bypasses the movable pulley and then penetrates out of the movable wheel housing, and is connected and fixed to the fixed wheel housing.

8. The bionic assistive deformable multi - terrain exploration robot according to claim 7, wherein The scale bar is made of magnetizable material. The brake is an electromagnet.

9. The bionic assistive deformable multi - terrain exploration robot according to claim 7, wherein The grasping device is arranged on the movable wheel housing.

10. The bionic assistive deformable multi - terrain exploration robot according to claim 9, wherein The grasping device is a thorn - claw structure.

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