Dual-mode tracked hexapod hybrid all-terrain robot

Abstract

A dual-mode tracked hexapod composite all-terrain robot includes a body unit, a robotic arm unit, and six sets of dual-mode tracked composite units. The six sets of dual-mode tracked composite units are arranged circumferentially along the sides of the body unit, while the robotic arm unit is located on the upper part of the body unit. It has two modes: a four-tracked walking mode and a hexapod walking mode. In the four-tracked walking mode, the two middle sets of dual-mode tracked composite units are not activated; pure tracked walking is achieved only through the cooperation of the front and rear four sets of dual-mode tracked composite units. In the hexapod walking mode, all six sets of dual-mode tracked composite units are activated simultaneously, achieving hexapod insect-like bionic pure-legged walking through their cooperation. This invention employs a deep nesting design of tracked and legged structures, resulting in a small size and compact structure. It combines the advantages of both pure tracked and pure-legged robots, exhibiting good environmental adaptability and stable spatial mobility in confined and complex working environments.

Description

Technical Field

[0001] This invention belongs to the field of mobile robot technology, and in particular relates to a dual-mode tracked six-legged composite all-terrain robot. Background Technology

[0002] With the rapid development of mobile robot and intelligent equipment technologies, increasingly higher requirements are being placed on the terrain adaptability, mobility efficiency, and operational flexibility of mobile robots when facing complex operational scenarios such as outdoor exploration, emergency rescue, mine inspection, and park patrol.

[0003] Currently, traditional mobile robots mostly adopt a single mobile structure design, such as purely tracked robots and purely legged robots, which results in relatively limited functions of mobile robots and makes it difficult to balance efficient passage and obstacle crossing capabilities in complex terrains.

[0004] For purely tracked robots, although they have the advantages of fast movement speed and good ground adaptability, their obstacle-crossing height is limited, and their movement stability is insufficient when facing steep slopes and rugged roads.

[0005] While legged robots have strong obstacle-crossing capabilities and flexible gait, they are inefficient and energy-intensive when moving on flat ground, making it difficult to meet the needs of large-scale, rapid operations.

[0006] To address the technological shortcomings of purely tracked and purely legged robots, a number of hybrid mobile robots have emerged on the market. These robots simply combine tracked and legged structures, with each structure operating independently. While these mobile robots possess characteristics of both purely tracked and purely legged robots, they also result in large size and poor structural compactness, severely limiting their environmental adaptability in complex, confined work environments. Summary of the Invention

[0007] To address the problems existing in the prior art, this invention provides a dual-mode tracked six-legged composite all-terrain robot, which realizes a deep nesting design of tracked structure and legged structure, and has the characteristics of small size and good structural compactness. It not only combines the advantages of pure tracked robots and pure legged robots, but also has good environmental adaptability and stable spatial mobility when facing complex operation scenarios with confined spaces.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: a dual-mode tracked six-legged composite all-terrain robot, comprising a body unit, a left front dual-mode tracked composite unit, a right front dual-mode tracked composite unit, a left middle dual-mode tracked composite unit, a right middle dual-mode tracked composite unit, a left rear dual-mode tracked composite unit, a right rear dual-mode tracked composite unit, and a robotic arm unit; the left front dual-mode tracked composite unit is located at the left front part of the body unit; the right front dual-mode tracked composite unit is located at the right front part of the body unit; the left middle dual-mode tracked composite unit is located at the left middle part of the body unit; the right middle dual-mode tracked composite unit is located at the right middle part of the body unit; the left rear dual-mode tracked composite unit is located at the left rear part of the body unit; the right rear dual-mode tracked composite unit is located at the right rear part of the body unit; and the robotic arm unit is located at the top of the body unit.

[0009] The fuselage unit includes a fuselage frame, a battery pack, a controller, a vision sensor, an infrared ranging sensor, an ultrasonic obstacle avoidance sensor, and a voice interaction device. The battery pack and controller are both located inside the fuselage frame, with the controller electrically connected to the battery pack. The vision sensor is located at the upper front of the fuselage frame and is electrically connected to the controller. The infrared ranging sensors are evenly distributed around the center of the fuselage frame and are electrically connected to the controller. The ultrasonic obstacle avoidance sensors are located at the center of the front and rear ends of the fuselage frame and are electrically connected to the controller. The voice interaction device is located inside the fuselage frame and is electrically connected to the controller.

[0010] The left front dual-form footed composite unit, right front dual-form footed composite unit, left middle dual-form footed composite unit, right middle dual-form footed composite unit, left rear dual-form footed composite unit, and right rear dual-form footed composite unit have the same structure, all including a multi-degree-of-freedom leg mechanism and a tracked foot mechanism; one end of the multi-degree-of-freedom leg mechanism is connected to the fuselage frame, and the other end of the multi-degree-of-freedom leg mechanism is connected to the tracked foot mechanism.

[0011] The multi-degree-of-freedom leg mechanism includes a hip joint servo, a knee joint servo, an ankle joint servo, a thigh frame, and a lower leg frame. The body of the hip joint servo is fixedly connected to the fuselage frame, and the servo shaft of the hip joint servo is vertically arranged. One end of the thigh frame is fixedly connected to the servo shaft of the hip joint servo. The servo shaft of the knee joint servo is horizontally arranged, and the other end of the thigh frame is fixedly connected to the servo shaft of the knee joint servo. One end of the lower leg frame is fixedly connected to the body of the knee joint servo. The body of the ankle joint servo is fixedly connected to the other end of the lower leg frame, and the servo shaft of the ankle joint servo is horizontally arranged. The hip joint servo, knee joint servo, and ankle joint servo are all electrically connected to the controller.

[0012] The tracked foot mechanism includes a track wheel frame, a track drive motor, a heel-side drive pulley, a forefoot-side driven pulley, a toefoot-side driven pulley, and a track. The instep side of the track wheel frame is fixedly connected to the servo shaft of an ankle joint servo motor. The track drive motor is horizontally fixed to the outside of the heel side of the track wheel frame. The heel-side drive pulley is located inside the heel side of the track wheel frame, and its axle is coaxially fixed to the motor shaft of the track drive motor. Several forefoot-side driven pulleys are arranged side-by-side inside the forefoot side of the track wheel frame. The toefoot-side driven pulley is located inside the toe side of the track wheel frame. The track is driven between the heel-side drive pulley, the forefoot-side driven pulley, and the toefoot-side driven pulley. The track drive motor is electrically connected to a controller.

[0013] The robotic arm unit includes a bearing bracket, a turntable support, a large arm frame, a forearm frame, a wrist frame, a palm frame, a gripper mechanism, a turntable drive motor, a large arm drive motor, a forearm drive motor, a wrist drive motor, and a palm drive motor. The bearing bracket is fixedly mounted on the top of the main frame. The turntable support is mounted on the bearing bracket and has rotational freedom relative to the bearing bracket. The turntable drive motor is located below the turntable support and fixedly mounted on the main frame, with its motor shaft facing upwards and fixedly connected to the rotation center of the turntable support. The large arm drive motor is fixedly mounted on the turntable support, with its motor shaft perpendicular to the turntable drive motor's shaft. The end of the large arm frame is fixedly connected to the motor shaft of the large arm drive motor. The forearm drive motor... The arm drive motor is fixedly installed at the front end of the boom frame, with the motor shaft of the forearm drive motor parallel to that of the boom drive motor. The end of the forearm frame is fixedly connected to the motor shaft of the forearm drive motor. The wrist drive motor is fixedly installed at the front end of the forearm frame, with its motor shaft perpendicular to that of the forearm drive motor. The end of the wrist frame is fixedly connected to the motor shaft of the wrist drive motor. The palm drive motor is fixedly installed at the front end of the wrist frame, with its motor shaft perpendicular to that of the wrist drive motor. The end of the palm frame is fixedly connected to the motor shaft of the palm drive motor. The gripper mechanism is located at the front end of the palm frame. The turntable drive motor, boom drive motor, forearm drive motor, wrist drive motor, and palm drive motor are all electrically connected to the controller.

[0014] The gripper mechanism includes a gripper opening and closing drive motor, a driving gear connecting rod, a driven gear connecting rod, a left transmission connecting rod, a left connecting rod gripper, a right transmission connecting rod, and a right connecting rod gripper. The gripper opening and closing drive motor is fixedly mounted on the front end of the palm frame, and its motor shaft is perpendicular to the motor shaft of the palm drive motor. The center of rotation of the gear end of the driving gear connecting rod is fixedly connected to the motor shaft of the gripper opening and closing drive motor, and the connecting rod end of the driving gear connecting rod is connected to the left... The ends of the connecting rod grippers are hinged together; one end of the left transmission connecting rod is hinged to the palm frame, and the other end of the left transmission connecting rod is hinged to the middle of the left connecting rod gripper; the gear end of the driven gear connecting rod is hinged to the palm frame at its rotation center, and the connecting rod end of the driven gear connecting rod is hinged to the end of the right connecting rod gripper; one end of the right transmission connecting rod is hinged to the palm frame, and the other end of the right transmission connecting rod is hinged to the middle of the right connecting rod gripper; the gripper opening and closing drive motor is electrically connected to the controller.

[0015] The dual-mode tracked six-legged composite all-terrain robot is divided into a four-tracked walking mode and a six-legged walking mode.

[0016] When using the four-track walking mode, the left-middle dual-mode footed composite unit and the right-middle dual-mode footed composite unit swing upwards and lift off the ground, placing them above the body unit and not in use; the left-front dual-mode footed composite unit and the right-front dual-mode footed composite unit swing forward to the front of the body unit, with the foot-side driven pulleys of the tracked foot mechanism of the left-front dual-mode footed composite unit and the right-front dual-mode footed composite unit contacting the ground via the walking track; the left-rear dual-mode footed composite unit and the right-rear dual-mode footed composite unit swing backwards to the rear of the body unit, with the foot-side driven pulleys of the tracked foot mechanism of the left-rear dual-mode footed composite unit and the right-rear dual-mode footed composite unit contacting the ground via the walking track; power is output through the tracked walking drive motors within the left-front dual-mode footed composite unit, the right-front dual-mode footed composite unit, the left-rear dual-mode footed composite unit, and the right-rear dual-mode footed composite unit, and the robot is in a pure tracked walking mode.

[0017] When adopting the hexapod walking mode, the left front dual-mode legged composite unit rotates to the upper left corner of the fuselage unit at 45°, the right front dual-mode legged composite unit rotates to the upper right corner of the fuselage unit at 45°, the left middle dual-mode legged composite unit rotates to the left of the fuselage unit at 90°, the right middle dual-mode legged composite unit rotates to the right of the fuselage unit at 90°, the left rear dual-mode legged composite unit rotates to the lower left corner of the fuselage unit at 45°, and the right rear dual-mode legged composite unit rotates to the lower right corner of the fuselage unit at 45°. ° Lower right corner; The toe-side driven pulleys of the tracked foot mechanisms of the left front dual-form footed composite unit, right front dual-form footed composite unit, left middle dual-form footed composite unit, right middle dual-form footed composite unit, left rear dual-form footed composite unit, and right rear dual-form footed composite unit are in contact with the ground through the walking tracks. The tracked walking drive motor is not activated. Power is output through the hip joint servo motor, knee joint servo motor, and ankle joint servo motor of the multi-degree-of-freedom leg mechanism. The robot is in a six-legged insect bionic pure-leg walking mode.

[0018] The beneficial effects of this invention are: The dual-mode tracked six-legged composite all-terrain robot of the present invention realizes a deep nesting design of tracked structure and legged structure, and has the characteristics of small size and good structural compactness. It not only combines the advantages of pure tracked robot and pure legged robot, but also has good environmental adaptability and stable spatial passage when facing complex operation scenarios with narrow space. Attached Figure Description

[0019] Figure 1 This is a structural schematic diagram of a dual-mode tracked hexapod composite all-terrain robot according to the present invention; Figure 2 This is a schematic diagram of the structure of the dual-form footwear composite unit of the present invention, which includes left front / right front / left middle / right middle / left rear / right rear. Figure 3 This is a schematic diagram of the multi-degree-of-freedom leg mechanism of the present invention; Figure 4 This is a schematic diagram of the tracked foot mechanism of the present invention; Figure 5 This is a schematic diagram of the structure of the robotic arm unit of the present invention; In the diagram, 1—fuselage unit, 2—left front dual-mode footed composite unit, 3—right front dual-mode footed composite unit, 4—left center dual-mode footed composite unit, 5—right center dual-mode footed composite unit, 6—left rear dual-mode footed composite unit, 7—right rear dual-mode footed composite unit, 8—robotic arm unit, 9—multi-degree-of-freedom leg mechanism, 10—tracked foot mechanism, 11—hip joint servo motor, 12—knee joint servo motor, 13—ankle joint servo motor, 14—thigh frame, 15—lower leg frame, 16—track wheel frame, 17—tracked walking drive motor, 18—foot heel side drive pulley 19—Foot-side driven pulley, 20—Foot-side driven pulley, 21—Traveling track, 22—Bearing bracket, 23—Turntable support, 24—Boom frame, 25—Forearm frame, 26—Wrist frame, 27—Palm frame, 28—Turntable drive motor, 29—Boom drive motor, 30—Forearm drive motor, 31—Wrist drive motor, 32—Palm drive motor, 33—Grip opening and closing drive motor, 34—Drive gear connecting rod, 35—Driven gear connecting rod, 36—Left transmission connecting rod, 37—Left connecting rod gripper, 38—Right transmission connecting rod, 39—Right connecting rod gripper. Detailed Implementation

[0020] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0021] like Figures 1-5 As shown, a dual-mode tracked hexapod composite all-terrain robot includes a body unit 1, a left front dual-mode tracked composite unit 2, a right front dual-mode tracked composite unit 3, a left middle dual-mode tracked composite unit 4, a right middle dual-mode tracked composite unit 5, a left rear dual-mode tracked composite unit 6, a right rear dual-mode tracked composite unit 7, and a robotic arm unit 8. The left front dual-mode tracked composite unit 2 is located at the left front part of the body unit 1; the right front dual-mode tracked composite unit 3 is located at the right front part of the body unit 1; the left middle dual-mode tracked composite unit 4 is located at the left middle part of the body unit 1; the right middle dual-mode tracked composite unit 5 is located at the right middle part of the body unit 1; the left rear dual-mode tracked composite unit 6 is located at the left rear part of the body unit 1; the right rear dual-mode tracked composite unit 7 is located at the right rear part of the body unit 1; and the robotic arm unit 8 is located at the top of the body unit 1.

[0022] The fuselage unit 1 includes a fuselage frame, a battery pack, a controller, a vision sensor, an infrared ranging sensor, an ultrasonic obstacle avoidance sensor, and a voice interaction device. The battery pack and the controller are both located inside the fuselage frame, and the controller is electrically connected to the battery pack. The vision sensor is located at the upper front of the fuselage frame and is electrically connected to the controller. The infrared ranging sensors are evenly distributed around the center of the fuselage frame and are electrically connected to the controller. The ultrasonic obstacle avoidance sensors are located at the center of the front and rear ends of the fuselage frame and are electrically connected to the controller. The voice interaction device is located inside the fuselage frame and is electrically connected to the controller.

[0023] The left front dual-form footwork composite unit 2, right front dual-form footwork composite unit 3, left middle dual-form footwork composite unit 4, right middle dual-form footwork composite unit 5, left rear dual-form footwork composite unit 6, and right rear dual-form footwork composite unit 7 have the same structure, all including a multi-degree-of-freedom leg mechanism 9 and a tracked foot mechanism 10; one end of the multi-degree-of-freedom leg mechanism 9 is connected to the fuselage frame, and the other end of the multi-degree-of-freedom leg mechanism 9 is connected to the tracked foot mechanism 10.

[0024] The multi-degree-of-freedom leg mechanism 9 includes a hip joint servo motor 11, a knee joint servo motor 12, an ankle joint servo motor 13, a thigh frame 14, and a lower leg frame 15. The body of the hip joint servo motor 11 is fixedly connected to the fuselage frame, and the servo shaft of the hip joint servo motor 11 is vertically arranged. One end of the thigh frame 14 is fixedly connected to the servo shaft of the hip joint servo motor 11. The servo shaft of the knee joint servo motor 12 is horizontally arranged, and the other end of the thigh frame 14 is fixedly connected to the servo shaft of the knee joint servo motor 12. One end of the lower leg frame 15 is fixedly connected to the body of the knee joint servo motor 12. The body of the ankle joint servo motor 13 is fixedly connected to the other end of the lower leg frame 15, and the servo shaft of the ankle joint servo motor 13 is horizontally arranged. The hip joint servo motor 11, knee joint servo motor 12, and ankle joint servo motor 13 are all electrically connected to the controller.

[0025] The tracked foot mechanism 10 includes a track wheel frame 16, a track drive motor 17, a heel-side drive pulley 18, a forefoot-side driven pulley 19, a toe-side driven pulley 20, and a track 21. The instep side of the track wheel frame 16 is fixedly connected to the servo shaft of the ankle joint servo motor 13. The track drive motor 17 is horizontally fixed to the outside of the heel side of the track wheel frame 16. The heel-side drive pulley 18 is located inside the heel side of the track wheel frame 16. The axle of wheel 18 is coaxially and fixedly connected to the motor shaft of track drive motor 17; there are several foot-side driven pulleys 19, which are arranged side by side inside the foot side of track wheel frame 16; the toe-side driven pulleys 20 are located inside the toe side of track wheel frame 16; the track 21 is drivenly connected between the heel-side drive pulley 18, the foot-side driven pulleys 19, and the toe-side driven pulleys 20; the track drive motor 17 is electrically connected to the controller.

[0026] The robotic arm unit 8 includes a bearing bracket 22, a turntable support 23, a large arm frame 24, a forearm frame 25, a wrist frame 26, a palm frame 27, a gripper mechanism, a turntable drive motor 28, a large arm drive motor 29, a forearm drive motor 30, a wrist drive motor 31, and a palm drive motor 32. The bearing bracket 22 is fixedly mounted on the top of the machine frame. The turntable support 23 is mounted on the bearing bracket 22 and has rotational freedom relative to the bearing bracket 22. The turntable drive motor 28 is located below the turntable support 23 and is fixedly mounted on the machine frame, with its motor shaft facing upwards and fixedly connected to the rotation center of the turntable support 23. The large arm drive motor 29 is fixedly mounted on the turntable support 23, and its motor shaft is perpendicular to the motor shaft of the turntable drive motor 28. The end of the large arm frame 24 is fixedly connected to the motor shaft of the large arm drive motor 29. The forearm... The drive motor 30 is fixedly installed at the front end of the upper arm frame 24, and the motor shaft of the forearm drive motor 30 is parallel to the motor shaft of the upper arm drive motor 29. The end of the forearm frame 25 is fixedly connected to the motor shaft of the forearm drive motor 30. The wrist drive motor 31 is fixedly installed at the front end of the forearm frame 25, and the motor shaft of the wrist drive motor 31 is perpendicular to the motor shaft of the forearm drive motor 30. The end of the wrist frame 26 is fixedly connected to the motor shaft of the wrist drive motor 31. The palm drive motor 32 is fixedly installed at the front end of the wrist frame 26, and the motor shaft of the palm drive motor 32 is perpendicular to the motor shaft of the wrist drive motor 31. The end of the palm frame 27 is fixedly connected to the motor shaft of the palm drive motor 32. The gripper mechanism is located at the front end of the palm frame 27. The turntable drive motor 28, upper arm drive motor 29, forearm drive motor 30, wrist drive motor 31, and palm drive motor 32 are all electrically connected to the controller.

[0027] The gripper mechanism includes a gripper opening and closing drive motor 33, a drive gear connecting rod 34, a driven gear connecting rod 35, a left transmission connecting rod 36, a left connecting rod gripper 37, a right transmission connecting rod 38, and a right connecting rod gripper 39. The gripper opening and closing drive motor 33 is fixedly mounted on the front end of the palm frame 27, and the motor shaft of the gripper opening and closing drive motor 33 is perpendicular to the motor shaft of the palm drive motor 32. The rotation center of the gear end of the drive gear connecting rod 34 is fixedly connected to the motor shaft of the gripper opening and closing drive motor 33, and the connecting rod end of the drive gear connecting rod 34 is connected to the left... The ends of the connecting gripper 37 are hinged together; one end of the left transmission connecting rod 36 is hinged to the palm frame 27, and the other end of the left transmission connecting rod 36 is hinged to the middle of the left connecting gripper 37; the gear end of the driven gear connecting rod 35 is hinged to the palm frame 27 at the rotation center, and the connecting rod end of the driven gear connecting rod 35 is hinged to the end of the right connecting gripper 39; one end of the right transmission connecting rod 38 is hinged to the palm frame 27, and the other end of the right transmission connecting rod 38 is hinged to the middle of the right connecting gripper 39; the gripper opening and closing drive motor 33 is electrically connected to the controller.

[0028] The dual-mode tracked six-legged composite all-terrain robot is divided into a four-tracked walking mode and a six-legged walking mode.

[0029] When the four-track walking mode is adopted, the left-middle dual-mode footed composite unit 4 and the right-middle dual-mode footed composite unit 5 swing upwards and lift off the ground, placing them above the fuselage unit 1 and not in use; the left-front dual-mode footed composite unit 2 and the right-front dual-mode footed composite unit 3 swing forward to the front of the fuselage unit 1, and the foot-side driven pulleys 19 of the tracked foot mechanisms 10 of the left-front dual-mode footed composite unit 2 and the right-front dual-mode footed composite unit 3 contact the ground through the walking tracks 21; the left-rear dual-mode footed composite unit 6 and... The right rear dual-mode legged composite unit 7 swings backward to the rear of the body unit 1. The foot-side driven pulleys 19 of the tracked foot mechanism 10 of the left rear dual-mode legged composite unit 6 and the right rear dual-mode legged composite unit 7 contact the ground through the walking track 21. Power is output through the tracked walking drive motors 17 in the left front dual-mode legged composite unit 2, the right front dual-mode legged composite unit 3, the left rear dual-mode legged composite unit 6 and the right rear dual-mode legged composite unit 7, and the robot is in a pure tracked walking mode.

[0030] When adopting the hexapod walking mode, the left front dual-mode legged composite unit 2 swings to the upper left corner of the fuselage unit 1 at 45°, the right front dual-mode legged composite unit 3 swings to the upper right corner of the fuselage unit 1 at 45°, the left middle dual-mode legged composite unit 4 swings to the left of the fuselage unit 1 at 90°, the right middle dual-mode legged composite unit 5 swings to the right of the fuselage unit 1 at 90°, the left rear dual-mode legged composite unit 6 swings to the lower left corner of the fuselage unit 1 at 45°, and the right rear dual-mode legged composite unit 7 swings to the lower right corner of the fuselage unit 1 at 45°. Direction; The toe-side driven pulleys 20 of the tracked foot mechanisms 10 of the left front dual-form footed composite unit 2, right front dual-form footed composite unit 3, left middle dual-form footed composite unit 4, right middle dual-form footed composite unit 5, left rear dual-form footed composite unit 6, and right rear dual-form footed composite unit 7 are in contact with the ground through the walking track 21. The track walking drive motor 17 is not activated. Power is output through the hip joint servo motor 11, knee joint servo motor 12, and ankle joint servo motor 13 of the multi-degree-of-freedom leg mechanism 9. The robot is in a six-legged insect bionic pure-leg walking mode.

[0031] When the work environment is mainly flat, the robot can be adjusted to a four-track walking mode. In this mode, the left front dual-mode footed composite unit 2, the right front dual-mode footed composite unit 3, the left rear dual-mode footed composite unit 6, and the right rear dual-mode footed composite unit 7 achieve large-area contact with the ground through the walking tracks 21 of the tracked foot mechanism 10, making full use of the advantages of tracked walking, such as fast movement speed and good ground adaptability.

[0032] When the work environment is mainly composed of steep slopes and rugged terrain, the robot can be adjusted to a hexapod walking mode. In the walking mode, the left front dual-form footed composite unit 2, right front dual-form footed composite unit 3, left middle dual-form footed composite unit 4, right middle dual-form footed composite unit 5, left rear dual-form footed composite unit 6, and right rear dual-form footed composite unit 7 only make point contact between the walking track 21 and the ground through the toe-side driven pulley 20 of the tracked foot mechanism 10. The tracked walking drive motor 17 is not activated. Power is output through the hip joint servo motor 11, knee joint servo motor 12, and ankle joint servo motor 13 of the multi-degree-of-freedom leg mechanism 9. This can imitate the walking state of a hexapod insect and make full use of the advantages of hexapod walking, such as strong obstacle crossing ability and flexible gait.

[0033] When performing tasks, the robot can grasp objects through the robotic arm unit 8 on the top of the body unit 1. The safety and reliability of the robot during task execution can be improved by using visual sensors, infrared ranging sensors, ultrasonic obstacle avoidance sensors and voice interaction devices.

[0034] The solutions in the embodiments are not intended to limit the scope of protection of the present invention. All equivalent implementations or modifications that do not depart from the present invention are included in the scope of protection of the present invention.

Claims

1. A dual-mode tracked hexapod composite all-terrain robot, characterized in that: The system includes a fuselage unit, a left front dual-mode legged composite unit, a right front dual-mode legged composite unit, a left center dual-mode legged composite unit, a right center dual-mode legged composite unit, a left rear dual-mode legged composite unit, a right rear dual-mode legged composite unit, and a robotic arm unit. The left front dual-mode legged composite unit is located at the left front part of the fuselage unit; the right front dual-mode legged composite unit is located at the right front part of the fuselage unit; the left center dual-mode legged composite unit is located at the left center part of the fuselage unit; the right center dual-mode legged composite unit is located at the right center part of the fuselage unit; the left rear dual-mode legged composite unit is located at the left rear part of the fuselage unit; the right rear dual-mode legged composite unit is located at the right rear part of the fuselage unit; and the robotic arm unit is located at the top of the fuselage unit.

2. The dual-mode tracked hexapod composite all-terrain robot according to claim 1, characterized in that: The fuselage unit includes a fuselage frame, a battery pack, a controller, a vision sensor, an infrared ranging sensor, an ultrasonic obstacle avoidance sensor, and a voice interaction device. The battery pack and controller are both located inside the fuselage frame, with the controller electrically connected to the battery pack. The vision sensor is located at the upper front of the fuselage frame and is electrically connected to the controller. The infrared ranging sensors are evenly distributed around the center of the fuselage frame and are electrically connected to the controller. The ultrasonic obstacle avoidance sensors are located at the center of the front and rear ends of the fuselage frame and are electrically connected to the controller. The voice interaction device is located inside the fuselage frame and is electrically connected to the controller.

3. The dual-mode tracked hexapod composite all-terrain robot according to claim 2, characterized in that: The left front dual-form footwork composite unit, right front dual-form footwork composite unit, left middle dual-form footwork composite unit, right middle dual-form footwork composite unit, left rear dual-form footwork composite unit and right rear dual-form footwork composite unit have the same structure, all including a multi-degree-of-freedom leg mechanism and a tracked foot mechanism. One end of the multi-degree-of-freedom leg mechanism is connected to the fuselage frame, and the other end of the multi-degree-of-freedom leg mechanism is connected to the tracked foot mechanism.

4. The dual-mode tracked hexapod composite all-terrain robot according to claim 3, characterized in that: The multi-degree-of-freedom leg mechanism includes a hip joint servo, a knee joint servo, an ankle joint servo, a thigh frame, and a lower leg frame. The body of the hip joint servo is fixedly connected to the fuselage frame, and the servo shaft of the hip joint servo is vertically arranged. One end of the thigh frame is fixedly connected to the servo shaft of the hip joint servo. The servo shaft of the knee joint servo is horizontally arranged, and the other end of the thigh frame is fixedly connected to the servo shaft of the knee joint servo. One end of the lower leg frame is fixedly connected to the body of the knee joint servo. The body of the ankle joint servo is fixedly connected to the other end of the lower leg frame, and the servo shaft of the ankle joint servo is horizontally arranged. The hip joint servo, knee joint servo, and ankle joint servo are all electrically connected to the controller.

5. The dual-mode tracked hexapod composite all-terrain robot according to claim 4, characterized in that: The tracked foot mechanism includes a track wheel frame, a track drive motor, a heel-side drive pulley, a forefoot-side driven pulley, a toefoot-side driven pulley, and a track. The instep side of the track wheel frame is fixedly connected to the servo shaft of an ankle joint servo motor. The track drive motor is horizontally fixed to the outside of the heel side of the track wheel frame. The heel-side drive pulley is located inside the heel side of the track wheel frame, and its axle is coaxially fixed to the motor shaft of the track drive motor. Several forefoot-side driven pulleys are arranged side-by-side inside the forefoot side of the track wheel frame. The toefoot-side driven pulley is located inside the toe side of the track wheel frame. The track is driven between the heel-side drive pulley, the forefoot-side driven pulley, and the toefoot-side driven pulley. The track drive motor is electrically connected to a controller.

6. The dual-mode tracked hexapod composite all-terrain robot according to claim 2, characterized in that: The robotic arm unit includes a bearing bracket, a turntable support, a large arm frame, a forearm frame, a wrist frame, a palm frame, a gripper mechanism, a turntable drive motor, a large arm drive motor, a forearm drive motor, a wrist drive motor, and a palm drive motor. The bearing bracket is fixedly mounted on the top of the main frame. The turntable support is mounted on the bearing bracket and has rotational freedom relative to the bearing bracket. The turntable drive motor is located below the turntable support and fixedly mounted on the main frame, with its motor shaft facing upwards and fixedly connected to the rotation center of the turntable support. The large arm drive motor is fixedly mounted on the turntable support, with its motor shaft perpendicular to the turntable drive motor's motor shaft. The end of the large arm frame... The arm drive motor is fixedly connected to the motor shaft of the upper arm drive motor; the forearm drive motor is fixedly installed at the front end of the upper arm frame, and its motor shaft is parallel to that of the upper arm drive motor; the end of the forearm frame is fixedly connected to the motor shaft of the forearm drive motor; the wrist drive motor is fixedly installed at the front end of the forearm frame, and its motor shaft is perpendicular to that of the forearm drive motor; the end of the wrist frame is fixedly connected to the motor shaft of the wrist drive motor; the palm drive motor is fixedly installed at the front end of the wrist frame, and its motor shaft is perpendicular to that of the wrist drive motor; the end of the palm frame is fixedly connected to the motor shaft of the palm drive motor; the gripper mechanism is located at the front end of the palm frame. The turntable drive motor, upper arm drive motor, lower arm drive motor, wrist drive motor, and palm drive motor are all electrically connected to the controller.

7. The dual-mode tracked hexapod composite all-terrain robot according to claim 6, characterized in that: The gripper mechanism includes a gripper opening and closing drive motor, a driving gear connecting rod, a driven gear connecting rod, a left transmission connecting rod, a left connecting rod gripper, a right transmission connecting rod, and a right connecting rod gripper. The gripper opening and closing drive motor is fixedly mounted on the front end of the palm frame, and its motor shaft is perpendicular to the motor shaft of the palm drive motor. The center of rotation of the gear end of the driving gear connecting rod is fixedly connected to the motor shaft of the gripper opening and closing drive motor, and the connecting rod end of the driving gear connecting rod is connected to the left... The ends of the connecting rod grippers are hinged together; one end of the left transmission connecting rod is hinged to the palm frame, and the other end of the left transmission connecting rod is hinged to the middle of the left connecting rod gripper; the gear end of the driven gear connecting rod is hinged to the palm frame at its rotation center, and the connecting rod end of the driven gear connecting rod is hinged to the end of the right connecting rod gripper; one end of the right transmission connecting rod is hinged to the palm frame, and the other end of the right transmission connecting rod is hinged to the middle of the right connecting rod gripper; the gripper opening and closing drive motor is electrically connected to the controller.

8. The dual-mode tracked hexapod composite all-terrain robot according to claim 5, characterized in that: It is divided into four-track walking mode and six-legged walking mode.

9. A dual-mode tracked hexapod composite all-terrain robot according to claim 8, characterized in that: When using the four-track walking mode, the left-middle dual-mode footed composite unit and the right-middle dual-mode footed composite unit swing upwards and lift off the ground, placing them above the body unit and not in use; the left-front dual-mode footed composite unit and the right-front dual-mode footed composite unit swing forward to the front of the body unit, with the foot-side driven pulleys of the tracked foot mechanism of the left-front dual-mode footed composite unit and the right-front dual-mode footed composite unit contacting the ground via the walking track; the left-rear dual-mode footed composite unit and the right-rear dual-mode footed composite unit swing backwards to the rear of the body unit, with the foot-side driven pulleys of the tracked foot mechanism of the left-rear dual-mode footed composite unit and the right-rear dual-mode footed composite unit contacting the ground via the walking track; power is output through the tracked walking drive motors within the left-front dual-mode footed composite unit, the right-front dual-mode footed composite unit, the left-rear dual-mode footed composite unit, and the right-rear dual-mode footed composite unit, and the robot is in a pure tracked walking mode.

10. A dual-mode tracked hexapod composite all-terrain robot according to claim 8, characterized in that: When adopting the hexapod walking mode, the left front dual-mode legged composite unit rotates to the upper left corner of the fuselage unit at 45°, the right front dual-mode legged composite unit rotates to the upper right corner of the fuselage unit at 45°, the left middle dual-mode legged composite unit rotates to the left of the fuselage unit at 90°, the right middle dual-mode legged composite unit rotates to the right of the fuselage unit at 90°, the left rear dual-mode legged composite unit rotates to the lower left corner of the fuselage unit at 45°, and the right rear dual-mode legged composite unit rotates to the lower right corner of the fuselage unit at 45°. ° Lower right corner; The toe-side driven pulleys of the tracked foot mechanisms of the left front dual-form footed composite unit, right front dual-form footed composite unit, left middle dual-form footed composite unit, right middle dual-form footed composite unit, left rear dual-form footed composite unit, and right rear dual-form footed composite unit are in contact with the ground through the walking tracks. The tracked walking drive motor is not activated. Power is output through the hip joint servo motor, knee joint servo motor, and ankle joint servo motor of the multi-degree-of-freedom leg mechanism. The robot is in a six-legged insect bionic pure-leg walking mode.

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