Six-foot obstacle crossing robot based on coupling plane 4R mechanism

Abstract

The invention provides a six-foot obstacle crossing robot based on a coupling plane 4R mechanism, and relates to the technical field of obstacle crossing robots, the six-foot obstacle crossing robot comprises a rack, the rack is rotatably connected with a plurality of mechanical legs, the mechanical legs are arranged around the periphery of the rack, the mechanical legs are divided into two groups, and the two groups of mechanical legs are arranged at a staggered angle; the mechanical leg comprises a first connecting disc and a second connecting disc. The robot has the beneficial effects that the two sets of mechanical legs arranged at the staggered angle are arranged, a phase difference motion mode is formed, optimal three-point supporting can be kept, unification of load balancing and motion flexibility is achieved, the environmental adaptability is improved through the modular design of the mechanical legs, unification of light weight and high rigidity is achieved through the truss-type structure of the mechanical legs, and the mechanical legs are convenient to use. A force transmission path is optimized, impact resistance is high, heavy loads can be borne, the robot adapts to complex terrains, rotating pairs are arranged in a crossed axis mode, flexible triangular gaits can be achieved, energy loss and abrasion are reduced, and the service life is prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of obstacle - climbing robots, and in particular to a six - legged obstacle - climbing robot based on a coupled planar 4R mechanism. Background Art

[0002] At present, obstacle - climbing robots are mainly divided into two categories: wheeled and legged. Among them, wheeled robots are prone to losing traction due to the lack of discrete gripping points in unstructured terrains (such as stairs, sand, and gravel), resulting in sinking, slipping, or inability to form continuous support. Moreover, their movement flexibility is insufficient, making it difficult to move flexibly in narrow spaces, and there is an easy spatial interference between the legs and the steering components. Legged robots, although able to adapt to complex terrains, have low structural reliability, mainly reflected in that the design of their moving pairs is prone to wear and energy loss due to sliding friction, thus affecting their service life. In addition, the traditional leg structure has insufficient stiffness, making it difficult for legged robots to meet the requirements of high load - bearing and high mobility simultaneously during obstacle - climbing. Moreover, it is difficult to balance the independent drive and coordinated movement of the multi - degree - of - freedom joints of legged robots, affecting the overall stability.

[0003] The technical content disclosed in the Chinese patent document (Publication No.: CN119058856A, Patent Name: A Stable and Firm Wheeled Obstacle - Climbing Robot) is as follows: The stabilizing mechanism includes three servo motors and three first transmission rods. The output end of the servo motor is fixedly connected with a crank. One end of the crank is rotatably connected with a third connecting frame. The central part of the side wall of the third connecting frame is fixedly connected with a fixed rod. One end of the fixed rod is fixedly connected with a connecting block. A central rod is fixedly connected in the middle cavity of the first transmission rod. The outer surface of the central rod is rotatably connected with the connecting block. The bottom end of the first transmission rod is rotatably connected with a first support frame. The inner side of the top end of the first transmission rod is fixedly connected with a first connecting frame. The outer surface of the first connecting frame is rotatably connected with a second connecting frame. The top end of the second connecting frame is fixedly connected with a second transmission rod. The top end of the second transmission rod is rotatably connected with a second support frame. The top of the second support frame is fixedly connected with the bottom of the mounting plate.

[0004] From the above - mentioned implementation solutions and the corresponding drawings, it can be seen that first, in the design of the movement mechanism of this wheeled obstacle - climbing robot, the traditional Ackermann steering mechanism is limited by the rigid topological structure of the mechanical motion chain, resulting in too large a minimum turning radius of the robot and making it difficult to achieve flexible turning in narrow spaces. Moreover, there is a spatial overlap between the leg movement trajectory and the rotating components of the steering mechanism, which increases the risk of mechanical collision. In addition, this robot also has the problem of unstable multi - modal coordination. Wheeled movement requires rigid support, while legged movement requires flexible adaptation. If the mechanism cannot quickly and effectively switch or be compatible with these two movement modes, it will lead to action conflicts and affect the normal operation of the robot. Summary of the Invention

[0005] The present invention overcomes the disadvantages of the prior art. It is provided with two sets of mechanical legs arranged at staggered angles, forming a phase difference motion mode with each other, which can maintain the optimal three-point support, achieve the unity of load balance and flexible movement. Moreover, the modular design of the mechanical legs improves the environmental adaptability. The truss structure of the mechanical legs realizes the unity of light weight and high stiffness, optimizes the force conduction path, has strong impact resistance, can bear heavy loads and adapt to complex terrains. The cross-axis arrangement of each rotating pair can achieve a flexible triangular gait, reduce energy loss and wear, and extend the service life.

[0006] To solve the above technical problems, the present invention is realized through the following technical solutions:

[0007] A six-legged obstacle-crossing robot based on a coupled planar R mechanism, comprising a frame, several mechanical legs rotatably connected to the frame, the mechanical legs being arranged around the outer periphery of the frame, and the several mechanical legs being divided into two groups, with the two groups of mechanical legs arranged at staggered angles;

[0008] The mechanical leg includes a first connection disk and a second connection disk. The first connection disk includes a first disk body center and several first connection claws radially arranged along the first disk body center and extending outward; the second connection disk includes a second disk body center and several second connection claws radially arranged along the second disk body center and extending outward;

[0009] A rotating pair is rotatably connected between the first connection claw and the second connection claw;

[0010] When the first connection disk and the second connection disk rotate synchronously, several rotating pairs take turns to contact the ground to form support points.

[0011] Furthermore, the center of the first connection disk is arranged offset from the center of the second connection disk.

[0012] Furthermore, the mechanical leg includes a swinging offset rod, which is formed by fixedly connecting a first arm body and a second arm body in an offset manner.

[0013] Furthermore, the lower end of the first arm body is connected to a first connection frame body, and the lower end of the second arm body is connected to a second connection frame body.

[0014] Furthermore, the first connection frame body is rotatably connected to the second connection disk, and the second connection frame body is rotatably connected to the first connection disk.

[0015] Furthermore, the rotating pair includes a rotating shaft connection block and a foot connection block. The two ends of the foot connection block are respectively rotatably connected to a first connection unit and a second connection unit, and the ends of the first connection unit and the second connection unit far from the foot connection block are rotatably connected to the rotating shaft connection block;

[0016] Viewed from the front projection direction, the first connection unit, the second connection unit and the foot connection block form a triangle.

[0017] Furthermore, the first connection unit and the second connection unit are distributed on both sides of the foot connection block.

[0018] Furthermore, the other side of the rotational connection between the first connection unit and the foot connection block is rotationally connected to the end of the first connection claw;

[0019] The other side of the rotational connection point between the second connection unit and the foot connection block is rotationally connected to the end of the second connection claw.

[0020] Furthermore, the frame is connected to a first motor, and the first motor drives the mechanical leg to rotate through a first transmission mechanism.

[0021] Furthermore, the first connecting disk and the second connecting disk are connected to a second motor, and the second motor drives the first connecting disk and the second connecting disk to rotate synchronously through a second transmission mechanism.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. Two groups of mechanical legs are set at staggered angles to form a phase-difference movement mode, which can maintain the optimal three-point support and achieve the unity of load balance and flexible movement. The modular design of the mechanical legs improves environmental adaptability. The truss structure of the mechanical legs achieves the unity of light weight and high rigidity, optimizes the force conduction path, has strong impact resistance, can withstand heavy loads, and adapt to complex terrain. The cross-axis arrangement of each rotating pair can realize flexible triangular gait, reduce energy loss and wear, and extend service life.

[0024] 2. The robot achieves multi-degree-of-freedom coordinated motion through coupling connection at specific spatial angles. It has both structural rigidity and motion flexibility, can flexibly turn and accurately position in narrow passages, is suitable for industrial scene inspections, and is equipped with sensors to collect environmental parameters. The modular mechanical leg design can quickly change the structure, improve adaptability and flexibility, and reduce maintenance costs. It also has functional scalability and can be transformed into material handling equipment. The whole machine adopts a lightweight alloy frame and distributed drive layout, combined with advanced algorithms, and has excellent stability during high-speed motion, solving the problem of instability in motion of traditional wheeled robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are used to provide a further understanding of the present invention and are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation of the present invention. In the accompanying drawings:

[0026] Figure 1 is an overall schematic diagram of a six-legged obstacle-crossing robot according to an embodiment of the present invention;

[0027] Figure 2 It is a schematic structural diagram of the mechanical leg according to an embodiment of the present invention;

[0028] Figure 3 It is an exploded view of the mechanical leg according to an embodiment of the present invention;

[0029] Figure 4 It is an exploded view of the revolute pair according to an embodiment of the present invention;

[0030] Figure 5 It is a front view of the mechanical leg according to an embodiment of the present invention;

[0031] Figure 6 It is a three-dimensional structural diagram of the mechanical leg according to an embodiment of the present invention.

[0032] In the figure: 1, frame; 2, mechanical leg; 201, swinging misaligned rod; 201A, first arm body; 201B, second arm body; 2012, first connecting frame body; 2013, second connecting frame body; 202, first connecting disk; 2021, center of the first disk body; 2022, first connecting claw; 203, revolute pair; 2031, foot connecting block; 2032, first connecting unit; 2033, shaft connecting block; 2034, second connecting unit; 204, second connecting disk; 2041, center of the second disk body; 2042, second connecting claw. Detailed implementation manners

[0033] The following describes the preferred embodiments of the present invention with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0034] As Figures 1 to 6 shown, a six-legged obstacle-crossing robot based on a coupled planar 4R mechanism includes a frame 1. A plurality of mechanical legs 2 are rotatably connected to the frame 1. The mechanical legs 2 are arranged around the outer periphery of the frame 1. The plurality of mechanical legs 2 are divided into two groups, and the two groups of mechanical legs 2 are arranged at an interleaved angle; in this embodiment, six mechanical legs 2 are provided. Based on this design, the mechanical legs 2 can cooperate with each other for walking and turning, with high reliability. The three-point support of the feet can achieve the obstacle-crossing function. Every three mechanical legs 2 form a group, forming a phase difference motion mode. When the first group finishes supporting, the second group quickly alternates to support. This unique spatial arrangement causes a phase difference to be formed between the two groups of mechanical legs 2 during movement. When one group is in the support phase, the other group is exactly in the swing phase, ensuring that the robot can maintain the optimal three-point support state at any time, realizing the unity of load balance distribution and movement flexibility. Moreover, the modular design of the feet can improve the environmental adaptability.

[0035] The mechanical leg 2 includes a first connecting disk 202 and a second connecting disk 204. The first connecting disk 202 includes a first disk body center 2021 and a plurality of first connecting claws 2022 that extend radially outward along the first disk body center 2021; the second connecting disk 204 includes a second disk body center 2041 and a plurality of second connecting claws 2042 that extend radially outward along the second disk body center 2041.

[0036] The frame 1 is connected to a first motor, and the first motor drives the mechanical leg 2 to rotate through a first transmission mechanism. The first connecting disk 202 and the second connecting disk 204 are connected to a second motor, and the second motor drives the first connecting disk 202 and the second connecting disk 204 to rotate synchronously through a second transmission mechanism.

[0037] A revolute pair 203 is rotatably connected between the first connecting claw 2022 and the second connecting claw 2042; when the first connecting disk 202 and the second connecting disk 204 rotate synchronously, a plurality of revolute pairs 203 alternately contact the ground to form support points. The center of the first connecting disk 202 and the center of the second connecting disk 204 are arranged in a staggered manner. The mechanical leg 2 includes a swinging staggered rod 201, which is formed by fixedly connecting a first arm body 201A and a second arm body 201B in a staggered manner. The lower end of the first arm body 201A is connected to a first connecting frame body 2012, and the lower end of the second arm body 201B is connected to a second connecting frame body 2013. The first connecting frame body 2012 is rotatably connected to the second connecting disk 204, and the second connecting frame body 2013 is rotatably connected to the first connecting disk 202. The revolute pair 203 includes a shaft connecting block 2033 and a foot connecting block 2031. The two ends of the foot connecting block 2031 are respectively rotatably connected to a first connecting unit 2032 and a second connecting unit 2034. The ends of the first connecting unit 2032 and the second connecting unit 2034 away from the foot connecting block 2031 are rotatably connected to the shaft connecting block 2033; the connection between the swinging staggered rod 201 and the first connecting unit 2032 and the second connecting unit 2034 makes the mechanical leg 2 form a truss structure. This structure has excellent mechanical properties, realizes the unity of lightweight and high stiffness through space truss topology optimization, optimizes the force conduction path and improves the impact resistance, enables the mechanical leg 2 to bear heavy loads and adapt to complex terrains, disperses the load through triangular units, and is not easily bent and deformed when crossing obstacles, providing a reliable support basis for the robot to cross obstacles.

[0038] Since the centers of the first connecting plate 202 and the second connecting plate 204 are offset, the two ends of the foot connecting block 2031 can be respectively connected to the end of the first connecting claw 2022 and the end of the second connecting claw 2042. Therefore, when the first connecting plate 202 and the second connecting plate 204 rotate, the foot connecting block 2031 can always be kept at the bottom, and the first connecting unit 2032 and the second connecting unit 2034 face upwards, thus ensuring that the foot connecting block 2031 contacts the ground every time.

[0039] Viewed from the front projection direction, the first connecting unit 2032, the second connecting unit 2034 and the foot connecting block 2031 form a triangle. The first connecting unit 2032 and the second connecting unit 2034 are distributed on both sides of the foot connecting block 2031. The other side of the rotational connection between the first connecting unit 2032 and the foot connecting block 2031 is rotationally connected to the end of the first connecting claw 2022; the other side of the rotational connection between the second connecting unit 2034 and the foot connecting block 2031 is rotationally connected to the end of the second connecting claw 2042. Each rotating pair 203 adopts a cross-axis arrangement. Through the coordinated movement of multiple rotary joints, the robot can achieve a flexible triangular gait, dynamically adjust the foot-end trajectory to adapt to irregular terrains, and at the same time reduce the energy loss and wear caused by sliding friction, so that the foot mechanism has a longer service life and higher motion reliability.

[0040] Through the specific spatial angle coupling connection of multiple rotating pairs 203, a planar kinematic chain mechanism with a constraint relationship is constructed. This design realizes the coordinated movement of multiple degrees of freedom, enables each joint to maintain an independent driving ability while the whole is linked, ensures the coordination and efficiency of the overall movement of the robot, and provides the flexible adjustment ability to cope with sudden terrain changes.

[0041] The unique mechanism of the present invention endows the robot with dual characteristics: it can not only provide sufficient structural stiffness to stably carry various payloads, but also maintain the necessary motion compliance, enabling it to achieve flexible turning and precise positioning on narrow channels or irregular paths.

[0042] This characteristic of combining rigidity and flexibility makes the robot suitable for performing inspection tasks in industrial scenarios such as factory workshops, power facilities, petrochemical plants, etc. By carrying a high-precision sensor array (including various detection modules such as temperature, humidity, pressure, gas concentration, etc.), it can collect environmental parameters in real time and construct a three-dimensional working condition map, providing comprehensive and accurate data support for the staff, so as to timely discover potential safety hazards.

[0043] Secondly, the modular design of the robotic leg 2 enables the robot to quickly change the structure of the robotic leg 2 according to different environmental or task requirements through replaceable or adjustable functional modules, thereby enhancing its environmental adaptability and task flexibility. This design reduces the maintenance cost and usage threshold of the equipment, and operators can formulate targeted maintenance plans in advance according to the actual working conditions. At the same time, the robot also has strong functional expandability. By adding a robotic arm or a cargo platform, it can be easily transformed into a material handling device to replace manual labor to complete heavy load transportation operations in dangerous environments, realizing multiple functions with one machine.

[0044] The whole machine adopts a lightweight alloy frame and a distributed drive layout, achieving optimal power distribution while ensuring structural strength. Combined with advanced control algorithms, it can maintain excellent stability even in high-speed motion states, and can better solve the problem of motion instability caused by the change of the center of gravity of traditional wheeled robots.

[0045] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features. However, any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A six-legged obstacle-crossing robot based on a coupled planar 4R mechanism, characterized in that, It includes a frame (1), and several mechanical legs (2) are rotatably connected to the frame (1). The mechanical legs (2) are arranged around the outer periphery of the frame (1). The several mechanical legs (2) are divided into two groups, and the two groups of mechanical legs (2) are arranged at an interleaved angle. The mechanical leg (2) includes a first connection disk (202) and a second connection disk (204). The first connection disk (202) includes a first disk body center (2021) and several first connection claws (2022) that extend radially outward along the first disk body center (2021); the second connection disk (204) includes a second disk body center (2041) and several second connection claws (2042) that extend radially outward along the second disk body center (2041). A rotating pair (203) is rotatably connected between the first connection claw (2022) and the second connection claw (2042). When the first connection disk (202) and the second connection disk (204) rotate synchronously, several rotating pairs (203) alternately contact the ground to form support points.

2. The six-legged obstacle-crossing robot based on the coupled planar 4R mechanism according to claim 1, wherein The center of the circle of the first connection disk (202) is arranged in a staggered manner with the center of the circle of the second connection disk (204).

3. The six-legged obstacle-crossing robot based on a coupled planar 4R mechanism according to claim 2, wherein, The mechanical leg (2) includes a swinging staggered rod (201), and the swinging staggered rod (201) is formed by fixedly connecting a first arm body (201A) and a second arm body (201B) in a staggered manner.

4. The six-legged obstacle-crossing robot based on a coupled planar 4R mechanism according to claim 3, characterized in that, The lower end of the first arm body (201A) is connected to a first connection frame body (2012), and the lower end of the second arm body (201B) is connected to a second connection frame body (2013).

5. The six-legged obstacle-crossing robot based on a coupled planar 4R mechanism according to claim 4, wherein The first connection frame body (2012) is rotatably connected to the second connection disk (204), and the second connection frame body (2013) is rotatably connected to the first connection disk (202).

6. The hexapod obstacle-crossing robot based on a coupled planar 4R mechanism according to any one of claims 1 to 5, characterized in that, The rotating pair (203) includes a rotating shaft connection block (2033) and a foot connection block (2031). The two ends of the foot connection block (2031) are respectively rotatably connected to a first connection unit (2032) and a second connection unit (2034). The ends of the first connection unit (2032) and the second connection unit (2034) away from the foot connection block (2031) are rotatably connected to the rotating shaft connection block (2033); when viewed from the front projection direction, the first connection unit (2032), the second connection unit (2034), and the foot connection block (2031) form a triangle.

7. The six-legged obstacle-crossing robot based on the coupled planar 4R mechanism according to claim 6, characterized in that, The first connection unit (2032) and the second connection unit (2034) are distributed on both sides of the foot connection block (2031).

8. The six-legged obstacle-crossing robot based on the coupled planar 4R mechanism according to claim 7, characterized in that, On the other side of the rotating connection between the first connection unit (2032) and the foot connection block (2031), it is rotatably connected to the end of the first connection claw (2022). On the other side of the rotating connection between the second connection unit (2034) and the foot connection block (2031), it is rotatably connected to the end of the second connection claw (2042).

9. The six-legged obstacle-crossing robot based on the coupled planar 4R mechanism according to any one of claims 1 to 5, 7 to 8, wherein the frame (1) is connected to a first motor, and the first motor drives the mechanical leg (2) to rotate through a first transmission mechanism.

10. The hexapod obstacle-crossing robot based on a coupled planar 4R mechanism according to claim 7 or 8, characterized in that, The first connection disk (202) and the second connection disk (204) are connected to a second motor, and the second motor drives the first connection disk (202) and the second connection disk (204) to rotate synchronously through a second transmission mechanism.

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