A quadruped inspection robot capable of switchable wheeled movement

Abstract

The utility model relates to the technical field of inspection robot, and disclose a kind of four-legged inspection robot of switchable wheeled movement, including robot body and four mobile legs, the upper surface of robot body is fixedly connected two No. 1 support block and six No. 2 support block, six No. 2 support block every three is a group, two groups of No. 2 support block are located at the two sides of robot body respectively, the upper surface of robot body outer wall is connected with transmission mechanism, the output of transmission mechanism is connected with driving assembly, the other end of two driving assemblies is penetrated two No. 1 support block respectively.The four-legged inspection robot of this kind of switchable wheeled movement, by setting transmission mechanism, driving assembly, passive component, folding assembly, steering mechanism, support assembly and moving mechanism on robot body, and by moving mechanism connection moving wheel, can be moved to flat road surface when robot body, moving wheel replaces mobile leg walking, so that the moving efficiency is higher.

Description

Technical Field

[0001] This utility model relates to the field of inspection robot technology, specifically a quadruped inspection robot with switchable wheel mobility. Background Technology

[0002] A quadruped inspection robot is an inspection robot designed based on a quadrupedal walking mechanism. This type of robot achieves stable walking on various complex terrains by mimicking the gait of animals.

[0003] Patent CN218564891U discloses a quadruped robot dog inspection system, including a bracket. A connecting block is fixedly connected to the upper middle part of the bracket. A movable block is rotatably connected to the middle of the connecting block. A stepper motor is fixedly connected to the right side of the connecting block. The right side of the movable block is fixedly connected to the left output end of the stepper motor. A servo motor is fixedly connected to the middle part inside the movable block. A frame is fixedly connected to the upper output end of the servo motor. A camera is mounted at the front of the frame. A mounting plate is fixedly connected to the rear of the camera. A fixing block is fixedly connected to the right side of the frame. A button is slidably connected to the upper inner side of the fixing block. In this quadruped robot dog, the cooperation of the button, movable rod, locking rod, spring, limiting block, limiting groove, and mounting plate allows the quadruped robot dog inspection system to be easily removed from and installed on the robot dog.

[0004] However, the aforementioned quadruped robot dog still has the following problems in actual use: because the quadruped robot imitates the walking of quadrupedal animals, it has the ability to walk on rugged roads or climb, but similarly, when it walks on flat roads, its speed is relatively slow, which reduces the efficiency of inspection. Utility Model Content

[0005] To address the shortcomings of existing technologies, this invention provides a quadrupedal inspection robot with switchable wheel mobility, which can use either moving legs or moving wheels to walk depending on road conditions.

[0006] This utility model provides the following technical solution: a switchable wheeled quadruped inspection robot, comprising a robot body and four movable legs installed at the four corners of the robot body. Two No. 1 support blocks and six No. 2 support blocks are fixedly connected to the upper surface of the robot body. The six No. 2 support blocks are grouped into sets of three, and the two sets of No. 2 support blocks are located on both sides of the robot body. A transmission mechanism is connected to the upper surface of the outer wall of the robot body. Both output ends of the transmission mechanism are connected to active components. The other ends of the two active components pass through the two No. 1 support blocks respectively. Passive components are connected between the two sets of No. 2 support blocks. The two active components are connected to the two passive components respectively. Folding components are connected to both ends of the two passive components. Steering mechanisms are connected to the other ends of the two folding components. Support components are connected to the output ends of the two steering mechanisms. Movable mechanisms are connected to the lower ends of the two support components. Movable wheels are connected to the output ends of the two movable mechanisms. The movable wheels are located inside the support components.

[0007] Furthermore, the transmission mechanism includes a base and a dual-head motor. The lower end of the base is fixedly connected to the upper surface of the robot body, and the upper end of the base is fixedly connected to the outer wall of the dual-head motor. The two output shafts of the dual-head motor are respectively connected to two active components.

[0008] Furthermore, the active component includes an active bevel gear and a rotating rod. One end of the rotating rod is fixedly connected to the output shaft of the dual-head motor, and the other end of the rotating rod passes through one of the No. 1 support blocks and is fixedly connected to one end of the active bevel gear. The other end of the active bevel gear is connected to the passive component.

[0009] Furthermore, the passive component includes a bidirectional lead screw, a driven bevel gear, and two sliders. The two ends and the middle part of the bidirectional lead screw are rotatably connected to the inner walls of three No. 2 support blocks on the same side of the robot body. The driven bevel gear is sleeved and fixedly connected to the middle part of the bidirectional lead screw. The upper ends of the two sliders are respectively sleeved and threaded to the outer walls of the two ends of the bidirectional lead screw. The bottom surfaces of the two sliders are slidably connected to the upper surface of the robot body. One side of the two sliders is connected to two folding components respectively. The driven bevel gear meshes with the active bevel gear.

[0010] Furthermore, the folding assembly includes a moving gear and a rack plate. The bottom surface of the rack plate is fixedly connected to the upper surface of the robot body. The moving gear is rotatably connected to the slider via a rotating shaft. The side of the moving gear away from the slider is connected to the steering mechanism. The moving gear and the rack plate mesh.

[0011] Furthermore, the steering mechanism includes a connecting rod and a steering motor. One end of the connecting rod is fixedly connected to the side of the moving gear away from the slider, and the other end of the connecting rod is fixedly connected to the outer wall of the steering motor. The output shaft of the steering motor is connected to the support assembly.

[0012] Furthermore, the support assembly includes an extension column and a U-shaped frame. The upper end of the extension column has an installation port, and the output shaft of the steering motor is fixedly connected to the inner wall of the installation port. The lower end of the extension column is fixedly connected to the upper surface of the U-shaped frame, and the other end of the U-shaped frame is connected to the moving mechanism. The moving wheel is located inside the U-shaped frame.

[0013] Furthermore, the moving mechanism includes a moving motor and a transmission rod. The outer wall of the moving motor is fixedly connected to the side wall of the U-shaped frame, the output shaft of the moving motor is fixedly connected to one end of the transmission rod, and the other end of the transmission rod passes through the U-shaped frame and the moving wheel, and is fixedly connected to the inner wall of the moving wheel.

[0014] Furthermore, a protective cover is fixedly connected to the upper surface of the robot body. The transmission mechanism, two active components, two passive components, and four folding components are all located inside the protective cover. Two sliding openings are opened on the two mutually distant sides of the protective cover, and the outer walls of the four connecting rods are slidably connected to the inner walls of the four sliding openings respectively.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. This type of quadruped inspection robot with switchable wheel movement, by setting a transmission mechanism, active component, passive component, folding component, steering mechanism, support component and movement mechanism on the robot body, and connecting the movement mechanism to the movement wheels, can move the robot body to a flat surface and walk by using the movement wheels instead of the movement legs, so as to make the movement efficiency higher.

[0016] 2. This type of quadruped inspection robot with switchable wheel movement, by placing the transmission mechanism, active components, passive components and folding components on the top of the robot body, can avoid obstruction and collision between the robot body and the stairs when climbing, thus reducing the probability of damage.

[0017] 3. This type of switchable wheeled quadruped inspection robot, by setting a steering mechanism above the support component, can control the robot body to turn during the inspection process, making the inspection more intelligent.

[0018] 4. This type of switchable wheeled quadruped inspection robot, through the active component driving the passive component to rotate, can also rotate the steering mechanism, support component, moving mechanism and moving wheels downward while the folding component is folded to both sides, so that the moving wheels can be folded from a state that was originally parallel to the robot body to a state that is vertical to the robot body, achieving multiple purposes at once.

[0019] 5. This type of switchable wheeled quadruped inspection robot, by setting a support component between the steering mechanism and the moving component, can make a certain height difference between the moving wheel and the bottom surface of the robot body when the robot body moves by moving the moving wheel, thereby reducing the probability of debris on the road scratching the bottom surface of the robot body. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall appearance of the mobile leg of this utility model when it is walking; Figure 2 This is a schematic diagram of the overall appearance of the mobile wheel of this utility model when it is moving; Figure 3 This utility model Figure 2 Enlarged view of point A in the middle; Figure 4 This utility model Figure 2 Enlarged view of point B in the middle; Figure 5 This utility model Figure 2 Enlarged view of point C in the middle; Figure 6 This is a detailed connection diagram of the support assembly, moving mechanism, and moving wheels of this utility model.

[0021] In the diagram: 1. Robot body; 2. Movable leg; 3. Protective cover; 4. Connecting rod; 5. Steering motor; 6. Extension column; 7. U-shaped frame; 8. Movable motor; 9. Transmission rod; 10. Movable wheel; 11. Movable gear; 12. Rack plate; 13. Two-way lead screw; 14. Driven bevel gear; 15. Driving bevel gear; 16. Support block 1; 17. Rotating rod; 18. Support block 2; 19. Base; 20. Dual-head motor; 21. Slider; 301. Sliding port; 601. Mounting port. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0023] Please see Figures 1-6A switchable wheeled quadruped inspection robot includes a robot body 1 and four movable legs 2 installed at the four corners of the robot body 1. Two primary support blocks 16 and six secondary support blocks 18 are fixedly connected to the upper surface of the robot body 1. The six secondary support blocks 18 are grouped in groups of three, and the two groups of secondary support blocks 18 are located on both sides of the robot body 1. A transmission mechanism is connected to the upper surface of the outer wall of the robot body 1. Both output ends of the transmission mechanism are connected to active components. The other ends of the two active components pass through the two primary support blocks 16 respectively. Passive components are connected between the two groups of secondary support blocks 18. The two active components are connected to the two passive components respectively. Folding components are connected to both ends of the two passive components. Steering mechanisms are connected to the other ends of the two folding components. Support components are connected to the output ends of the two steering mechanisms. Movable mechanisms are connected to the lower ends of the two support components. Movable wheels 10 are connected to the output ends of the two movable mechanisms. The movable wheels 10 are located inside the support components.

[0024] like Figures 1 to 6 As shown, the switchable wheeled quadruped inspection robot of this utility model can be used in accordance with the following steps: When the robot body 1 walks on uneven terrain or needs to climb, it can walk normally using its four moving legs 2. When the robot body 1 walks on a flat surface, when the various sensors inside the robot body 1 detect that it is suitable for the moving wheels 10 to walk, the transmission mechanism can be activated by the controller inside the robot body 1 (this is existing technology, so it will not be described in detail). After the transmission mechanism is started, the two output ends will drive the two active components to rotate. After the two active components rotate, they will drive the two passive components connected to them to rotate together. When the passive components rotate, they will drive the two folding components on themselves to move. During the movement of the folding components, they will also drive the steering mechanism, support components, moving mechanism and moving wheel 10 to rotate vertically. When the steering mechanism, support components, moving mechanism, and moving wheels 10 rotate to vertically downward (or rotate to a specific angle, such as an angle of 80° / 70° with the robot body 1, etc., without limitation), the four moving legs 2 are retracted by the controller inside the robot body 1 (this is existing technology, so it will not be described in detail here). As the moving legs 2 are retracted, the surface of the moving wheels 10 will gradually touch the ground, and after the moving legs 2 continue to retract, the four moving wheels 10 will support the entire robot body 1. Then, the movement mechanism is activated by the internal controller of the robot body 1. The movement mechanism can drive the movement wheel 10 to rotate, thereby moving the entire robot body 1. If the various sensors detect that the robot body 1 needs to turn during the inspection process, the steering mechanism can be activated by the internal controller of the robot body 1. The steering mechanism can control the support component, the movement mechanism and the movement wheel 10 to tilt laterally, thereby achieving the purpose of controlling the entire robot body 1 to turn.

[0025] As a preferred embodiment of this utility model, the transmission mechanism includes a base 19 and a dual-head motor 20. The lower end of the base 19 is fixedly connected to the upper surface of the robot body 1, and the upper end of the base 19 is fixedly connected to the outer wall of the dual-head motor 20. The two output shafts of the dual-head motor 20 are respectively connected to two active components.

[0026] More specifically, when it is necessary to change the walking mode of the robot body 1, simply activate the dual-head motor 20 through the internal controller of the robot body 1. After the dual-head motor 20 is activated, the two output shafts can drive the two active components to rotate.

[0027] As a preferred embodiment of this utility model, the active component includes an active bevel gear 15 and a rotating rod 17. One end of the rotating rod 17 is fixedly connected to the output shaft of the dual-head motor 20, and the other end of the rotating rod 17 passes through one of the first support blocks 16 and is fixedly connected to one end of the active bevel gear 15. The other end of the active bevel gear 15 is connected to the passive component.

[0028] More specifically, when the dual-head motor 20 is started, the output shaft can drive the rotating rod 17 to rotate, and the rotating rod 17 can drive the active bevel gear 15 at the other end to rotate, and the active bevel gear 15 can drive the passive component to rotate.

[0029] As a preferred embodiment of this utility model, the passive component includes a bidirectional lead screw 13, a driven bevel gear 14, and two sliders 21. The two ends and the middle part of the bidirectional lead screw 13 are rotatably connected to the inner walls of three second support blocks 18 on the same side of the robot body 1. The driven bevel gear 14 is sleeved and fixedly connected to the middle part of the bidirectional lead screw 13. The upper ends of the two sliders 21 are respectively sleeved and threaded to the outer walls of the two ends of the bidirectional lead screw 13. The bottom surfaces of the two sliders 21 are slidably connected to the upper surface of the robot body 1. One side of the two sliders 21 is respectively connected to two folding components. The driven bevel gear 14 meshes with the active bevel gear 15.

[0030] More specifically, when the driving bevel gear 15 rotates, it can mesh with and drive the driven bevel gear 14 located inside the three second support blocks 18 to rotate. As the driven bevel gear 14 starts to rotate, it can drive the middle double-acting screw 13 to rotate. After the double-acting screw 13 rotates, it can drive the two sliders 21 connected to the two ends to move simultaneously to the side that is far away from each other.

[0031] As a preferred embodiment of the present invention, the folding assembly includes a moving gear 11 and a rack plate 12. The bottom surface of the rack plate 12 is fixedly connected to the upper surface of the robot body 1. The moving gear 11 is rotatably connected to the slider 21 through a rotating shaft. The side of the moving gear 11 away from the slider 21 is connected to the steering mechanism. The moving gear 11 and the rack plate 12 mesh.

[0032] More specifically, when the slider 21 moves along the bidirectional lead screw 13, the moving gear 11 will rotate around the pivot on one side of the slider 21 due to the action of the rack plate 12, and the moving gear 11 will rotate the steering mechanism downward during the rotation process.

[0033] As a preferred embodiment of the present invention, the steering mechanism includes a connecting rod 4 and a steering motor 5. One end of the connecting rod 4 is fixedly connected to the side of the moving gear 11 away from the slider 21, and the other end of the connecting rod 4 is fixedly connected to the outer wall of the steering motor 5. The output shaft of the steering motor 5 is connected to the support assembly.

[0034] More specifically, when the moving gear 11 rotates, it will drive the connecting rod 4 to rotate together. When the connecting rod 4 rotates, it will drive the steering motor 5 to rotate together, changing the steering motor 5 from a state that was originally parallel to the robot body 1 to a state that is vertical to the robot body 1. When the steering motor 5 rotates, it will drive the support component, the moving mechanism and the moving wheel 10 to rotate together. It should be noted that when it is necessary to control the robot body 1 to turn, simply turn on the two steering motors 5 (or four steering motors 5) at the front or rear of the robot body 1. The output shafts of the two steering motors 5 will rotate, which will cause the support components to rotate. Then, as the moving mechanism drives the moving wheels 10 to rotate, the robot body 1 can be controlled to turn while moving forward or backward. Furthermore, when two (or four) steering motors 5 are started, multiple steering motors 5 may experience varying degrees of delay due to system latency and other reasons. However, when turning is required, it is possible to wait for the two (or four) steering motors 5 to fully rotate the corresponding support components, moving mechanisms and moving wheels 10 to a specific angle before activating the moving mechanism. Therefore, even if there is a delay, it will not affect the normal turning of the robot body 1.

[0035] As a preferred embodiment of this utility model, the support assembly includes an extension column 6 and a U-shaped frame 7. The upper end of the extension column 6 is provided with an installation port 601. The output shaft of the steering motor 5 is fixedly connected to the inner wall of the installation port 601. The lower end of the extension column 6 is fixedly connected to the upper surface of the U-shaped frame 7. The other end of the U-shaped frame 7 is connected to the moving mechanism. The moving wheel 10 is located inside the U-shaped frame 7.

[0036] More specifically, when it is necessary to control the movement wheel 10 to turn, the steering motor 5 can be turned on by the internal controller of the robot body 1. After the steering motor 5 is started, the output shaft can drive the extension column 6 to rotate through the mounting port 601. After the extension column 6 rotates, it can drive the lower U-shaped frame 7 to rotate together, thereby driving the movement wheel 10 located inside the U-shaped frame 7 to tilt to one side, thereby achieving steering.

[0037] As a preferred embodiment of this utility model, the moving mechanism includes a moving motor 8 and a transmission rod 9. The outer wall of the moving motor 8 is fixedly connected to the side wall of the U-shaped frame 7. The output shaft of the moving motor 8 is fixedly connected to one end of the transmission rod 9. The other end of the transmission rod 9 passes through the U-shaped frame 7 and the moving wheel 10 and is fixedly connected to the inner wall of the moving wheel 10. It should be noted that when the four moving motors 8 are activated to drive the four moving wheels 10, the robot body 1 will monitor the direction of travel in real time through cameras or radar during the walking process. Even if the four steering motors 5 deviate to a certain extent due to start-stop delay or some other reason, they can self-adjust during the movement.

[0038] More specifically, when it is necessary to control the rotation of the moving wheel 10 to move the robot body 1, it is only necessary to turn on the moving motor 8 through the internal controller of the robot body 1. After the moving motor 8 is started, the output shaft can drive the transmission rod 9 to rotate, thereby rotating the moving wheel 10 outside the transmission rod 9 together.

[0039] As a preferred embodiment of this utility model, a protective cover 3 is fixedly connected to the upper surface of the robot body 1. The transmission mechanism, two active components, two passive components and four folding components are all located inside the protective cover 3. Two sliding openings 301 are opened on the two mutually distant sides of the protective cover 3. The outer walls of the four connecting rods 4 are slidably connected to the inner walls of the four sliding openings 301 respectively.

[0040] More specifically, by setting up the protective cover 3, the transmission mechanism, two active components, two passive components and four folding components can be better protected and the probability of damage can be reduced; at the same time, it is also more aesthetically pleasing.

[0041] It is particularly important to emphasize that the control methods for the four steering motors 5 and the four moving motors 8 can adopt, for example, the speed closed-loop control method for balancing torque applied to a four-wheeled four-wheeled robot disclosed in patent announcement number CN110879621B, the steering processing method and device for four-wheel drive equipment disclosed in patent announcement number CN112526982B, or the four-wheel cooperative control method for a wheeled robot disclosed in patent announcement number CN111752150B. These are all prior art and are not the protected objects of this utility model, so they will not be discussed in detail here.

[0042] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A switchable wheeled quadruped inspection robot, comprising a robot body (1) and four movable legs (2) installed at the four corners of the robot body (1), characterized in that: Two No. 1 support blocks (16) and six No. 2 support blocks (18) are fixedly connected to the upper surface of the robot body (1). The six No. 2 support blocks (18) are divided into groups of three. The two groups of No. 2 support blocks (18) are located on both sides of the robot body (1). A transmission mechanism is connected to the upper surface of the outer wall of the robot body (1). The two output ends of the transmission mechanism are connected to the active components. The other ends of the two active components pass through the two No. 1 support blocks (16). Passive components are connected between the two groups of No. 2 support blocks (18). The two active components are connected to the two passive components. Folding components are connected to both ends of the two passive components. Steering mechanisms are connected to the other ends of the two folding components. Support components are connected to the output ends of the two steering mechanisms. Moving mechanisms are connected to the lower ends of the two support components. Moving wheels (10) are connected to the output ends of the two moving mechanisms. Moving wheels (10) are located inside the support components.

2. The switchable wheeled quadruped inspection robot according to claim 1, characterized in that: The transmission mechanism includes a base (19) and a dual-head motor (20). The lower end of the base (19) is fixedly connected to the upper surface of the robot body (1), and the upper end of the base (19) is fixedly connected to the outer wall of the dual-head motor (20). The two output shafts of the dual-head motor (20) are respectively connected to two active components.

3. The quadrupedal inspection robot with switchable wheel mobility according to claim 2, characterized in that: The active component includes an active bevel gear (15) and a rotating rod (17). One end of the rotating rod (17) is fixedly connected to the output shaft of the dual-head motor (20), and the other end of the rotating rod (17) passes through one of the first support blocks (16) and is fixedly connected to one end of the active bevel gear (15). The other end of the active bevel gear (15) is connected to the passive component.

4. A switchable wheeled quadruped inspection robot according to claim 3, characterized in that: The passive component includes a bidirectional lead screw (13), a driven bevel gear (14), and two sliders (21). The two ends and the middle part of the bidirectional lead screw (13) are rotatably connected to the inner walls of three second support blocks (18) on the same side of the robot body (1). The driven bevel gear (14) is sleeved and fixedly connected to the middle part of the bidirectional lead screw (13). The upper ends of the two sliders (21) are respectively sleeved and threaded to the outer walls of the two ends of the bidirectional lead screw (13). The bottom surfaces of the two sliders (21) are slidably connected to the upper surface of the robot body (1). One side of the two sliders (21) is connected to two folding components respectively. The driven bevel gear (14) meshes with the active bevel gear (15).

5. A switchable wheeled quadruped inspection robot according to claim 4, characterized in that: The folding assembly includes a moving gear (11) and a rack plate (12). The bottom surface of the rack plate (12) is fixedly connected to the upper surface of the robot body (1). The moving gear (11) and the slider (21) are rotatably connected through a rotating shaft. The side of the moving gear (11) away from the slider (21) is connected to the steering mechanism. The moving gear (11) and the rack plate (12) mesh.

6. A switchable wheeled quadruped inspection robot according to claim 5, characterized in that: The steering mechanism includes a connecting rod (4) and a steering motor (5). One end of the connecting rod (4) is fixedly connected to the side of the moving gear (11) away from the slider (21), and the other end of the connecting rod (4) is fixedly connected to the outer wall of the steering motor (5). The output shaft of the steering motor (5) is connected to the support assembly.

7. A switchable wheeled quadruped inspection robot according to claim 6, characterized in that: The support assembly includes an extension column (6) and a U-shaped frame (7). The upper end of the extension column (6) is provided with an installation port (601). The output shaft of the steering motor (5) is fixedly connected to the inner wall of the installation port (601). The lower end of the extension column (6) is fixedly connected to the upper surface of the U-shaped frame (7). The other end of the U-shaped frame (7) is connected to the moving mechanism. The moving wheel (10) is located inside the U-shaped frame (7).

8. A switchable wheeled quadruped inspection robot according to claim 7, characterized in that: The moving mechanism includes a moving motor (8) and a transmission rod (9). The outer wall of the moving motor (8) is fixedly connected to the side wall of the U-shaped frame (7). The output shaft of the moving motor (8) is fixedly connected to one end of the transmission rod (9). The other end of the transmission rod (9) passes through the U-shaped frame (7) and the moving wheel (10) and is fixedly connected to the inner wall of the moving wheel (10).

9. A switchable wheeled quadruped inspection robot according to claim 6, 7 or 8, characterized in that: The upper surface of the robot body (1) is fixedly connected to a protective cover (3). The transmission mechanism, two active components, two passive components and four folding components are all located inside the protective cover (3). Two sliding openings (301) are opened on the two sides of the protective cover (3) that are far apart from each other. The outer walls of the four connecting rods (4) are slidably connected to the inner walls of the four sliding openings (301).

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