High-maneuverability spider type four-wheel-foot cross-country robot

Abstract

The high-maneuverability spider-shaped four-wheel-foot cross-country robot particularly relates to the technical field of robots, and comprises a main body, a bearing plate is arranged at the top of the main body in a telescopic mode, four first mechanical arms are rotationally arranged at the bottom of the main body, and second mechanical arms are rotationally connected to one sides of the four first mechanical arms; and one sides of the four second mechanical arms are rotationally connected with third mechanical arms, one sides of the four third mechanical arms are rotationally connected with driving wheels, and the four first mechanical arms, the four second mechanical arms and the four third mechanical arms are all L-shaped rods. Each leg is provided with three degrees of freedom, the first rotating shaft rotates around the Z axis perpendicular to the ground, the second rotating shaft and the third rotating shaft rotate on the same plane, the robot walks like a spider, no absolute front face exists, running is more stable, the spider-shaped frame structure is adopted, the movement stability and the anti-interference performance are several times higher than those of a dog-shaped frame structure, and the robot is more stable in movement. And the practicability of the device is greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and more specifically, to a highly maneuverable spider-type four-wheel-foot off-road robot. Background Technique

[0002] An off-road robot is a robot specifically designed to move and work in rough or complex terrains. It combines the characteristics of vehicle robots and bionic robots, and can move freely in environments such as deserts, swamps, jungles, mountains, deserts, snowfields, etc., and complete various tasks. Off-road robots can be equipped with various sensors, such as cameras, lidars, etc., to help detect and construct maps. In addition, they can easily cross rough terrains, providing support for scientists, archaeologists, etc. to explore unknown areas. In terms of surveying and exploration, off-road robots can travel along a predetermined trajectory according to user needs and record relevant data, which can be used to construct three-dimensional maps and geological structure information.

[0003] Most of the existing quadruped robots are in the forms of bionic feline and canine animals, which are greatly restricted by balance during use, difficult to drive on overly rough ground, and have certain driving direction restrictions, making them very inflexible to operate. Therefore, to solve the above problems, it is very necessary to have a highly maneuverable spider-type four-wheel-foot off-road robot. Summary of the Utility Model

[0004] The main technical problem to be solved by the utility model is to provide a highly maneuverable spider-type four-wheel-foot off-road robot, which can solve the problems raised in the above background technique.

[0005] To solve the above technical problem, according to one aspect of the utility model, more specifically, a highly maneuverable spider-type four-wheel-foot off-road robot, including a main body, a load-bearing plate is telescopically arranged on the top of the main body, four first robotic arms are rotatably arranged at the bottom of the main body, a second robotic arm is rotatably connected to one side of each of the four first robotic arms, a third robotic arm is rotatably connected to one side of each of the four second robotic arms, a driving wheel is rotatably connected to one side of each of the four third robotic arms, and the four first robotic arms, second robotic arms, and third robotic arms are all L-shaped rods.

[0006] Furthermore, a hub motor is fixedly arranged inside each of the four third robotic arms, and the output end of the hub motor is fixedly connected to the driving wheel.

[0007] Furthermore, a first connecting block is fixedly provided on one side of the four first robotic arms, the four first connecting blocks all penetrate the main body and are fixedly connected to the second connecting rods, the four second connecting rods are all V-shaped metal blocks, and the four second connecting rods are rotatably connected to connecting rods on both sides of the bottom, four driving motors are fixedly provided on the bottom of the main body, and driving blocks are fixedly provided on the output ends of the four driving motors. The four driving blocks are V-shaped metal blocks, and the four driving blocks are rotatably connected to the corresponding two connecting rods on both sides of the bottom and are respectively connected to the four second connecting rods through the connecting rods.

[0008] Furthermore, telescopic rods are fixedly arranged on the top of the main body above the four driving motors, and the output ends of the four telescopic rods are fixedly connected to the bottom of the load-bearing plate.

[0009] Furthermore, a plurality of connection holes and mounting grooves are fixedly provided on the top of the load-bearing plate.

[0010] Furthermore, a plurality of motor output ends are fixedly provided with RV reducers.

[0011] The beneficial effects of the high-mobility spider-type four-wheeled off-road robot of the utility model are:

[0012] By setting the first mechanical arm, the second mechanical arm and the third mechanical arm, when in use, each leg has three degrees of freedom. The first rotation axis rotates around the Z axis perpendicular to the ground, and the second and third rotate in the same plane. It walks like a spider, and there is no absolute front, so the driving is more stable. The spider-type frame structure makes the movement stability and anti-interference performance several times stronger than the dog-type, which greatly improves the practicality of the device.

[0013] By setting up a third mechanical arm and adopting a combination of wheeled and foot-type, the ability to switch between different terrain movement modes is achieved, thereby improving the speed, efficiency and ability of the action and saving a lot of energy consumption. By setting up a first connecting block, a second connecting rod and a driving block, the first mechanical arm can be controlled to swing quickly in a plane relative to the main body during use, so that the device moves faster. By setting up a telescopic rod, the lifting and lowering of the load-bearing plate can be controlled by the telescopic rod during use, making it more versatile to use. By providing a plurality of connecting holes and mounting slots on the top of the load-bearing plate, it can be modified during use so that more types of items can be loaded, realizing multifunctional transportation and use. By fixing the RV reducer at the output end of the motor, the stability during driving is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The utility model is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0015] Figure 1Schematic diagram of the main structure of the high - mobility spider - type four - wheeled foot off - road robot of the present utility model;

[0016] Figure 2 Schematic diagram of the bottom structure of the high - mobility spider - type four - wheeled foot off - road robot of the present utility model;

[0017] Figure 3 is Figure 1 Enlarged schematic diagram of part A;

[0018] Figure 4 is Figure 2 Enlarged schematic diagram of part B.

[0019] In the figure: 1. Main body; 10. Telescopic rod; 11. First connecting block; 12. Driving motor; 13. Driving block; 14. Connecting rod; 15. Second connecting rod; 2. Load - bearing plate; 3. First robotic arm; 30. Second robotic arm; 31. Third robotic arm; 32. Driving wheel. Detailed implementation manners

[0020] The present utility model will be described in detail below with reference to the drawings and in conjunction with embodiments. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0021] As Figures 1-4 shown, according to one aspect of the present utility model, there is provided a high - mobility spider - type four - wheeled foot off - road robot, including a main body 1. A load - bearing plate 2 is telescopically arranged at the top of the main body 1. Four first robotic arms 3 are rotatably arranged at the bottom of the main body 1. A second robotic arm 30 is rotatably connected to one side of each of the four first robotic arms 3. A third robotic arm 31 is rotatably connected to one side of each of the four second robotic arms 30. A driving wheel 32 is rotatably connected to one side of each of the four third robotic arms 31. The four first robotic arms 3, the second robotic arms 30 and the third robotic arms 31 are all L - shaped rods. By setting the first robotic arms 3, the second robotic arms 30 and the third robotic arms 31, during use, each leg has three degrees of freedom. The first rotation axis rotates around the Z - axis perpendicular to the ground, and the second and third rotations are in the same plane. It walks like a spider and has no absolute front, making the driving more stable. Adopting a spider - type frame structure makes the motion stability and anti - interference ability several times stronger than that of a dog - type, greatly improving the practicality of the device.

[0022] In this embodiment, hub motors are fixedly arranged inside each of the four third robotic arms 31, and the output ends of the hub motors are fixedly connected to the driving wheels 32. By setting the third robotic arms 31, a combination of wheel - type and foot - type is adopted, enabling the ability to switch between different terrain movement modes, improving the movement speed, efficiency and ability, and saving a large amount of energy consumption.

[0023] In this embodiment, a first connecting block 11 is fixedly provided on one side of the four first mechanical arms 3, the four first connecting blocks 11 all penetrate the main body 1 and are fixedly connected with a second connecting rod 15, the four second connecting rods 15 are all V-shaped metal blocks, and the four second connecting rods 15 are rotatably connected on both sides of the bottom with connecting rods 14, four driving motors 12 are fixedly provided at the bottom of the main body 1, and driving blocks 13 are fixedly provided at the output ends of the four driving motors 12. The four driving blocks 13 are V-shaped metal blocks, and the four driving blocks 13 are rotatably connected to the corresponding two connecting rods 14 on both sides of the bottom, and are respectively connected to the four second connecting rods 15 through the connecting rods 14. By setting the first connecting block 11, the second connecting rod 15 and the driving block 13, the first mechanical arm 3 can be controlled to swing rapidly in a plane relative to the main body 1 during use, so that the device moves faster.

[0024] In this embodiment, telescopic rods 10 are fixedly arranged on the top of the main body 1 above the four driving motors 12, and the output ends of the four telescopic rods 10 are fixedly connected to the bottom of the load-bearing plate 2. By setting the telescopic rods 10, the lifting and lowering of the load-bearing plate 2 can be controlled by the telescopic rods 10 during use, which makes it more versatile to use.

[0025] In this embodiment, a plurality of connection holes and installation grooves are fixedly provided on the top of the load-bearing plate 2. By providing a plurality of connection holes and installation grooves on the top of the load-bearing plate 2, it can be modified during use so that more kinds of items can be loaded, thereby realizing multifunctional transportation and use.

[0026] In this embodiment, RV reducers are fixedly provided at the output ends of multiple motors. By fixing the RV reducers at the output ends of the motors, the driving stability is improved.

[0027] The working principle of the device is: when in use, each leg has three degrees of freedom. The first rotation axis rotates around the Z axis perpendicular to the ground, and the second and third rotate in the same plane. It walks like a spider, and there is no absolute front, and the driving is smoother. The spider-type frame structure makes the movement stability and anti-interference several times stronger than the dog-type, which greatly improves the practicality of the device. The combination of wheels and feet has the ability to switch movement modes on different terrains, improves the speed, efficiency and ability of the action, and saves a lot of energy. By setting the first connecting block 11, the second connecting rod 15 and the driving block 13, the first mechanical arm 3 can be controlled to swing rapidly in the plane relative to the main body 1 when in use, so that the device moves faster.

[0028] The electrical components that appear in this article are all electrical components that exist in reality.

[0029] Certainly, the above description is not a limitation to the present utility model, nor is the present utility model limited to the above examples. Changes, modifications, additions or substitutions made by those of ordinary skill in the art within the scope of the essence of the present utility model also fall within the protection scope of the present utility model.

Claims

1. A highly maneuverable spider-type four-wheeled off-road robot, comprising a main body (1), characterized in that: A load-bearing plate (2) is telescopically provided on the top of the main body (1), and four first mechanical arms (3) are rotatably provided on the bottom of the main body (1); one side of each of the four first mechanical arms (3) is rotatably connected to a second mechanical arm (30); one side of each of the four second mechanical arms (30) is rotatably connected to a third mechanical arm (31); one side of each of the four third mechanical arms (31) is rotatably connected to a driving wheel (32); and the four first mechanical arms (3), the second mechanical arms (30), and the third mechanical arms (31) are all L-shaped rods.

2. The highly maneuverable spider-type four-wheeled off-road robot according to claim 1, characterized in that: A wheel hub motor is fixedly arranged inside each of the four third mechanical arms (31), and an output end of the wheel hub motor is fixedly connected to a driving wheel (32).

3. The highly maneuverable spider-type four-wheeled off-road robot according to claim 2, characterized in that: A first connecting block (11) is fixedly arranged on one side of each of the four first mechanical arms (3); the four first connecting blocks (11) all penetrate the main body (1) and are fixedly connected to a second connecting rod (15); the four second connecting rods (15) are all V-shaped metal blocks; both sides of the bottom of each of the four second connecting rods (15) are rotatably connected to connecting rods (14); four driving motors (12) are fixedly arranged on the bottom of the main body (1); driving blocks (13) are fixedly arranged at the output ends of the four driving motors (12); the four driving blocks (13) are V-shaped metal blocks; both sides of the bottom of each of the four driving blocks (13) are respectively rotatably connected to two corresponding connecting rods (14) and are respectively transmission-connected to the four second connecting rods (15) through the connecting rods (14).

4. The highly maneuverable spider-type four-wheeled off-road robot according to claim 3, characterized in that: Telescopic rods (10) are fixedly arranged on the top of the main body (1) above the four drive motors (12), and the output ends of the four telescopic rods (10) are fixedly connected to the bottom of the load-bearing plate (2).

5. The highly maneuverable spider-type four-wheeled off-road robot according to claim 1, characterized in that: A plurality of connection holes and installation grooves are fixedly arranged on the top of the load-bearing plate (2).

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