Six-foot transfer robot based on planar linkage mechanism

Abstract

The invention provides a six-foot transfer robot based on a planar linkage mechanism, and relates to the technical field of obstacle crossing robots, the six-foot transfer robot comprises an object carrying body, a plurality of foot units are rotatably connected below the object carrying body, the plurality of foot units are annularly and symmetrically distributed around the gravity center of the object carrying body, and the plurality of foot units are divided into two groups of symmetrical motion modules. The robot has the beneficial effects that the plurality of foot units are annularly and symmetrically distributed around the gravity center of the object carrying body and are divided into two groups of symmetrical movement modules, and the rotation directions of the three foot units in each group form 120 degrees, so that the gravity center of the robot is uniformly distributed, and the robot can better keep balance in the movement process. And the two groups of foot units are periodically and alternately supported to form a stable movement mode, so that the stable operation of the robot is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of obstacle-crossing robots, in particular to a hexapod transport robot based on a planar connecting rod mechanism. Background Art

[0002] In recent years, quadruped crawling robots have garnered widespread attention due to their potential applications in complex terrain. Compared to traditional wheeled or tracked robots, quadruped robots are better able to adapt to rugged, loose, or uneven terrain, offering greater mobility and environmental adaptability. However, existing quadruped crawling robots still face numerous technical bottlenecks in structural design, motion control, and environmental adaptability, limiting their performance in practical applications.

[0003] The Chinese patent document (publication number: CN210083394U, patent title: A quadruped crawling robot with a multi-degree-of-freedom spine) discloses a quadruped crawling robot with a multi-degree-of-freedom spine. The robot achieves small-radius turns and efficient linear motion through coordinated control of the spine and leg mechanisms. The robot comprises a sequentially connected head, front spine legs, several spine sections, rear spine legs, a spine-tail connecting section, and a tail. The front spine legs are driven by a servo to achieve multi-degree-of-freedom motion.

[0004] From the above implementation plan and the corresponding drawings, it can be seen that this design improves the flexibility of the robot, but its foot design has uneven support force distribution on soft or uneven ground, which can easily lead to a decrease in stability, especially under load. Among them, although the multi-degree-of-freedom spine design enhances the robot's movement flexibility, it also significantly increases the complexity of the control system. Although the introduction of the multi-degree-of-freedom spine improves maneuverability, it also makes it difficult to adjust the center of gravity, further exacerbating the risk of instability. Summary of the Invention

[0005] This invention overcomes the shortcomings of the prior art and provides a hexapod transport robot based on a planar linkage mechanism. Several foot units are arranged in a circular, symmetrical pattern around the center of gravity of the load, divided into two symmetrical motion modules. Each group of three foot units rotates at 120° angles relative to each other. This layout evenly distributes the robot's center of gravity, improving its balance during movement. The two groups of foot units periodically alternate support, creating a stable motion pattern and ensuring smooth operation.

[0006] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0007] A hexapod handling robot based on a planar linkage mechanism includes a load carrier, a plurality of foot units rotatably connected below the load carrier, the plurality of foot units are symmetrically distributed in a ring around the center of gravity of the load carrier, and the plurality of foot units are divided into two groups of symmetrical motion modules.

[0008] Furthermore, the foot unit includes a gantry connecting frame and a crawling motion part arranged in the middle of the gantry connecting frame, the crawling motion part includes legs, the gantry connecting frame is connected to the legs, and the legs are connected to the feet through a linkage rod; the legs can rotate relative to the gantry connecting frame, the linkage rod can rotate relative to the legs, and the feet can rotate relative to the linkage rod.

[0009] Furthermore, the foot includes three foot extension connection ends extending outward from the center, wherein the angle between every two foot extension connection ends is 120°.

[0010] Furthermore, the leg includes three leg extension connection ends extending outward from the center, wherein the angle between every two leg extension connection ends is 120°.

[0011] Furthermore, a rotating connecting seat is provided at the center of the leg, and the rotating connecting seat is rotatably connected to the connecting clamping seat.

[0012] Furthermore, both sides of the foot extension connection end are rotatably connected to one end of the linkage rod, and the other end of the linkage rod is rotatably connected to the leg extension connection end;

[0013] Two gantry connecting rods are extended downward from the gantry connecting frame, and the ends of the gantry connecting rods are fixedly connected to the clamping seat.

[0014] Furthermore, there are six foot units, three of which form a group, and the rotational orientations of the foot units in each group are 120° apart. The hexapod robot can run smoothly through periodic alternating support.

[0015] Furthermore, a motor is provided between the load object and the foot unit, and the motor drives the foot unit to rotate relative to the load object via a rotating component to adjust the moving direction of the foot unit.

[0016] Furthermore, a weight detection device is provided on the load object, which is used to monitor the weight of the items carried on the load object in real time and feed back the weight information to the control system of the robot. When the load weight exceeds a preset threshold, the control system adjusts the motion parameters of the foot unit to ensure the stability of the robot.

[0017] Furthermore, a replaceable anti-slip pad is provided at the bottom of the foot. The anti-slip pad is made of wear-resistant and anti-slip material to adapt to different ground environments and improve the friction and stability of the robot during walking. The anti-slip pad is connected to the foot through a detachable structure for easy replacement.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. Several foot units are arranged symmetrically in a circular pattern around the center of gravity of the payload, divided into two symmetrical motion modules. Each group of three foot units rotates at 120° angles relative to each other. This layout evenly distributes the robot's center of gravity, allowing it to better maintain balance during movement. The two groups of foot units periodically alternate support, creating a stable motion pattern and ensuring smooth operation.

[0020] 2. Each foot unit forms a periodic, complementary phase difference, resulting in a 120° phase difference during gait. This design ensures that the corresponding foot unit always maintains contact with the ground during the robot's movement, providing continuous stability and support. When a foot unit moves from its initial position to the next, the other foot module will promptly rotate to the position of the previous foot module to compensate, allowing the robot to maintain a balanced and stable walking state. This design greatly enhances the robot's adaptability and survival adaptability, especially in complex and changing outdoor environments.

[0021] 3. The foot unit consists of a gantry frame and a crawling motion unit. The legs in the crawling motion unit can rotate relative to the gantry frame, the linkage rod can rotate relative to the legs, and the foot can rotate relative to the linkage rod. This multi-jointed rotation structure gives the robot a high degree of flexibility, allowing it to easily adapt to various complex terrains, such as rugged mountain roads and loose sand. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are used to provide a further understanding of the present invention and are used to explain the present invention together with the embodiments of the present invention, but do not constitute a limitation of the present invention. In the accompanying drawings:

[0023] Figure 1 2 is a schematic diagram of the overall structure of a hexapod transport robot according to an embodiment of the present invention;

[0024] Figure 2 is a schematic diagram of the overall structure of a foot unit according to an embodiment of the present invention;

[0025] Figure 3 1. It is an exploded schematic diagram of a crawling motion part according to an embodiment of the present invention;

[0026] Figure 4 1 is a schematic structural diagram of a crawling motion portion according to an embodiment of the present invention;

[0027] Figure 5 is a schematic diagram of a foot unit climbing stairs according to an embodiment of the present invention;

[0028] Figure 6 is a first schematic diagram of a foot unit in a supporting state according to an embodiment of the present invention;

[0029] Figure 7 is a second schematic diagram of a foot unit in a supporting state according to an embodiment of the present invention;

[0030] Figure 8 This is a third schematic diagram of the supporting state of the foot unit according to an embodiment of the present invention.

[0031] In the figure: 1. load object; 2. foot unit; 201. gantry connecting frame; 202. crawling motion part; 2021. foot; 20111. foot extension connecting end; 2022. linkage rod; 2023. leg; 20231. leg extension connecting end; 20232. connecting bracket; 20233. rotating connecting base. DETAILED DESCRIPTION

[0032] The preferred embodiments of the present invention are described below 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.

[0033] like Figures 1 to 8 As shown, a hexapod transport robot based on a planar linkage mechanism includes an object carrier 1, and a plurality of foot units 2 are rotatably connected to the bottom of the object carrier 1. The plurality of foot units 2 are symmetrically distributed in a ring around the center of gravity of the object carrier 1, and the plurality of foot units 2 are divided into two groups of symmetrical motion modules. There are six foot units 2, and each group of three is a group. The rotation orientations of the foot units 2 in each group are 120° apart. The hexapod robot can run smoothly through periodic alternating support. The object carrier 1 is hexagonal in shape, which not only meets the requirements of the hexapod structure, but also provides a carrying function. A motor is arranged between the object carrier 1 and the object carrier 1, and the motor drives the foot unit 2 to rotate relative to the object carrier 1 through a rotating component to adjust the moving direction of the foot unit 2. The hexapod transport robot of the present invention has a simple structure and fewer driving links, but realizes most of the functions of a hexapod crawling robot, and has high carrying stability and high adaptability to terrain.

[0034] The foot unit 2 includes a gantry connecting frame 201 and a crawling motion part 202 arranged in the middle of the gantry connecting frame 201. Two gantry connecting rods extend downward from the gantry connecting frame 201. The ends of the gantry connecting rods are fixedly connected to the clamping seat 20232. A rotating connecting seat 20233 is provided at the center of the leg 2023. The rotating connecting seat 20233 is rotatably connected to the connecting clamping seat 20232. Both sides of the foot extension connecting end 20111 are rotatably connected to one end of the linkage rod 2022. The other end of the linkage rod 2022 is rotatably connected to the leg extension connecting end 20231.

[0035] The crawling motion part 202 includes legs 2023, the gantry connecting frame 201 is connected to the legs 2023, and the legs 2023 are connected to the feet 2021 through the linkage rod 2022; the legs 2023 can rotate relative to the gantry connecting frame 201, the linkage rod 2022 can rotate relative to the legs 2023, and the feet 2021 can rotate relative to the linkage rod 2022. This multi-joint rotation structure gives the robot a high degree of flexibility, enabling it to easily adapt to various complex terrains, such as rugged mountain roads, loose sand, etc.

[0036] The foot 2021 includes three foot extension connectors 20111 extending outward from the center, with the angle between each two foot extension connectors 20111 being 120°. The leg 2023 includes three leg extension connectors 20231 extending outward from the center, with the angle between each two leg extension connectors 20231 being 120°. This design increases the robot's contact area with the ground and its support points, further improving the robot's stability and adaptability to various terrains.

[0037] like Figure 6 、 7 As shown in Figures 8 and 9, the six foot units 2 have the same structure, and after every three foot units 2 rotate, their feet 2021 are 120° out of phase with each other. This unique design not only improves the robot's stability but also enhances its adaptability in complex field environments. There are six foot units 2, each group of three. Two groups of foot units 2 are arranged in a periodic and modular layout, forming an optimized robot structure, making the robot more efficient and stable when performing tasks.

[0038] Each foot unit 2 forms a periodic, complementary phase difference, resulting in a 120° phase difference during gait. This design ensures that a corresponding foot unit 2 always maintains contact with the ground during the robot's movement, providing greater stability and support. When a foot unit 2 moves from its initial position to the next, the other foot module rotates to the position of the previous foot module to compensate for its position. In this way, the robot can always maintain a balanced and stable walking state. This design enhances the hexapod robot's adaptability, especially in complex and changing environments in the wild, demonstrating its strong survival adaptability.

[0039] A weight detection device is provided on the load object 1, which is used to monitor the weight of the items carried on the load object 1 in real time and feed back the weight information to the control system of the robot. When the load weight exceeds the preset threshold, the control system adjusts the motion parameters of the foot unit 2 to ensure the stability of the robot.

[0040] A replaceable anti-slip pad is provided at the bottom of the foot 2021. The anti-slip pad is made of wear-resistant and anti-slip material to adapt to different ground environments and improve the friction and stability of the robot during walking. The anti-slip pad is connected to the foot 2021 through a detachable structure for easy replacement.

[0041] The hexapod transport robot of the present invention features several foot units 2 arranged symmetrically in a circular pattern around the center of gravity of the load 1. These units are organized into two symmetrical motion modules, with the three foot units 2 in each group rotating at 120° angles relative to each other. This layout ensures a uniform distribution of the robot's center of gravity, enabling better balance during movement. The two groups of foot units 2, through periodic alternating support, form a stable motion pattern, ensuring smooth operation of the robot.

[0042] Finally, it should be noted that the above are only 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, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent replacements for some of the technical features therein. However, any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A hexapod transport robot based on a planar linkage mechanism, characterized in that: The invention comprises a load-bearing object (1), wherein a plurality of foot units (2) are rotatably connected below the load-bearing object (1), the plurality of foot units (2) are symmetrically distributed in a ring around the center of gravity of the load-bearing object (1), and the plurality of foot units (2) are divided into two groups of symmetrical motion modules.

2. The hexapod transport robot based on a planar linkage mechanism according to claim 1, characterized in that: The foot unit (2) comprises a gantry connecting frame (201) and a crawling motion part (202) arranged in the middle of the gantry connecting frame (201); the crawling motion part (202) comprises a leg part (2023); the gantry connecting frame (201) is connected to the leg part (2023); the leg part (2023) is connected to the foot part (2021) via a linkage rod (2022); the leg part (2023) can rotate relative to the gantry connecting frame (201); the linkage rod (2022) can rotate relative to the leg part (2023); and the foot part (2021) can rotate relative to the linkage rod (2022).

3. The hexapod transport robot based on a planar linkage mechanism according to claim 2, characterized in that: The foot (2021) comprises three foot extension connection ends (20111) extending outward from the center, wherein the angle between each two foot extension connection ends (20111) is 120°.

4. The hexapod transport robot based on a planar linkage mechanism according to claim 3, characterized in that: The leg (2023) comprises three leg extension connection ends (20231) extending outward from the center, wherein the angle between every two leg extension connection ends (20231) is 120°.

5. The hexapod transport robot based on a planar linkage mechanism according to claim 4, characterized in that: A rotating connection seat (20233) is provided at the center of the leg (2023), and the rotating connection seat (20233) is rotatably connected to the connection seat (20232).

6. The hexapod transport robot based on a planar linkage mechanism according to claim 5, characterized in that: Both sides of the foot extension connection end (20111) are rotatably connected to one end of the linkage rod (2022), and the other end of the linkage rod (2022) is rotatably connected to the leg extension connection end (20231); Two gantry connecting rods extend downward from the gantry connecting frame (201), and the ends of the gantry connecting rods are fixedly connected to the clamping seat (20232).

7. The hexapod transport robot based on a planar linkage mechanism according to any one of claims 1 to 6, characterized in that: There are six foot units (2), three of which form a group, and the rotational orientations of the foot units (2) in each group are 120° apart. The hexapod robot can run smoothly through periodic alternating support.

8. The hexapod transport robot based on a planar linkage mechanism according to any one of claims 1 to 6, characterized in that: A motor is provided between the carrying object (1) and the carrying object, and the motor drives the foot unit (2) to rotate relative to the carrying object (1) via a rotating component, so as to adjust the moving direction of the foot unit (2).

9. The hexapod transport robot based on a planar linkage mechanism according to claim 8, characterized in that: The load-bearing object (1) is provided with a weight detection device, which is used to monitor the weight of the items carried on the load-bearing object (1) in real time and feed back the weight information to the control system of the robot. When the load-bearing weight exceeds a preset threshold, the control system adjusts the motion parameters of the foot unit (2) to ensure the stability of the robot.

10. The hexapod transport robot based on a planar linkage mechanism according to claim 9, characterized in that: A replaceable anti-slip pad is provided at the bottom of the foot (2021). The anti-slip pad is made of wear-resistant and anti-slip material to adapt to different ground environments and improve the friction and stability of the robot during walking. The anti-slip pad is connected to the foot (2021) through a detachable structure for easy replacement.

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