CN113371093A - Obstacle-crossing wheel-leg type garden inspection insect robot - Google Patents
Obstacle-crossing wheel-leg type garden inspection insect robot Download PDFInfo
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- CN113371093A CN113371093A CN202110712162.8A CN202110712162A CN113371093A CN 113371093 A CN113371093 A CN 113371093A CN 202110712162 A CN202110712162 A CN 202110712162A CN 113371093 A CN113371093 A CN 113371093A
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- 241000238631 Hexapoda Species 0.000 title claims abstract description 32
- 238000007689 inspection Methods 0.000 title claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims abstract description 45
- 230000000712 assembly Effects 0.000 claims abstract description 21
- 238000000429 assembly Methods 0.000 claims abstract description 21
- 238000001514 detection method Methods 0.000 claims description 30
- 239000000779 smoke Substances 0.000 claims description 18
- 230000001360 synchronised effect Effects 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 4
- 230000008901 benefit Effects 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 11
- 241001674044 Blattodea Species 0.000 description 7
- 230000005021 gait Effects 0.000 description 7
- 230000009471 action Effects 0.000 description 4
- 239000011664 nicotinic acid Substances 0.000 description 4
- 230000009194 climbing Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000037230 mobility Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 241000894007 species Species 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/022—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members consisting of members having both rotational and walking movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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Abstract
The application relates to a hinder wheel leg formula gardens more and patrol and examine insect robot. The application obstacle-surmounting wheel-legged garden inspection insect robot comprises: the driving transmission assembly is mounted on the shell, the first wheel leg assembly and the second wheel leg assembly are respectively assembled with the driving transmission assembly, the two first wheel leg assemblies are arranged on one side of the shell, and the two second wheel leg assemblies are arranged on the other side of the shell; the first wheel-leg assembly comprises a first rotating wheel and a 7-shaped first leg; the second wheel leg assembly comprises a second rotating wheel and a 7-shaped second leg; the first supporting legs and the second supporting legs are arranged in a staggered mode. The application obstacle-surmounting wheel-legged garden inspection insect robot has the advantages of high maneuverability and flexibility.
Description
Technical Field
The application relates to a robot, especially relate to obstacle-surmounting wheel leg formula gardens and patrol and examine insect robot.
Background
The development of robot, the third generation is intelligent robot, and this type of robot has multiple sensor, can fuse the information that multiple sensor obtained to can effectual adaptation change environment. Therefore, the robot not only has the feeling capability, but also has the capability of independent judgment and action, and has the capability of memorizing, reasoning and deciding, and can complete more complex actions. The central computer of the robot controls the arms and the walking device, so that the hands of the robot complete the operation, the feet of the robot complete the movement, and even the robot can talk with people by natural language. "bionic robot" refers to a robot that simulates a living being and performs the work of biological characteristics. A bionic robot is a system which simulates the external shape, motion principle and behavior mode of organisms in nature and can work according to the characteristics of the organisms. The existing bionic robot has various structures and often very complicated structures in order to achieve the bionic effect. And to the robot that gardens were patrolled and examined, in order to realize obstacle-crossing and the ability of independently walking, often through the mode of single landing leg of independent motor drive, every supporting leg independent motion has obtained satisfying to the walking ability like this, but has brought very big examination in the aspect of harmony and energy-conservation.
Disclosure of Invention
Based on this, the purpose of this application lies in, provides obstacle-surmounting wheel leg formula gardens inspection insect robot, and it has the advantage of higher mobility and flexibility.
One aspect of the application provides an insect robot is patrolled and examined in gardens of wheel leg type of hindering more, including first wheel leg subassembly, second wheel leg subassembly, casing and drive transmission subassembly, drive transmission subassembly installs on the casing, first wheel leg subassembly with second wheel leg subassembly respectively with drive transmission subassembly assembly, two first wheel leg subassemblies are arranged in one side of casing, two second wheel leg subassemblies are arranged in the opposite side of casing;
the first wheel leg assembly comprises a first rotating wheel and a 7-shaped first supporting leg, three first limiting grooves which form an included angle of 120 degrees with each other are formed in the first rotating wheel, and the three first supporting legs and the three first limiting grooves are arranged in a one-to-one correspondence mode;
the second wheel leg assembly comprises a second rotating wheel and a 7-shaped second supporting leg, three second limiting grooves which form an included angle of 120 degrees with each other are formed in the second rotating wheel, and the three second supporting legs and the three second limiting grooves are arranged in a one-to-one correspondence mode;
the first supporting legs and the second supporting legs are arranged in a staggered mode.
The application hinder wheel leg formula gardens more and patrol and examine insect robot, first landing leg and second landing leg are crisscross arranges to first landing leg and second landing leg are "7" font respectively, make the robot when climbing and cross the obstacle, have fine the ability of crossing and passing through fast. Compared with the prior art, the robot has higher multi-terrain motion adaptability and obstacle crossing capability, and can be more suitable for working in rugged environments such as gardens, forests and the like.
Further, the drive transmission assembly comprises a driver and a transmission structure, and the driver drives the transmission structure to operate;
the two first wheel leg assemblies are arranged on one side of the transmission structure, and the two second wheel leg assemblies are arranged on the other side of the transmission structure.
Furthermore, the transmission structure comprises a driving wheel, a driving shaft, a transmission wheel, a synchronous shaft, a synchronous wheel, a driven wheel and a driven shaft;
the driving wheel and the driving wheel are respectively sleeved on the driving shaft, the two synchronous wheels are respectively arranged at two ends of the synchronous shaft, and the driven wheel is sleeved on the driven shaft;
the driving shaft and the driven shaft are arranged in parallel, and the synchronizing shaft is arranged vertically relative to the driving shaft;
one of the synchronizing wheels is meshed with the driving wheel, and the other synchronizing wheel is meshed with the driven wheel;
the first rotating wheel and the second rotating wheel are respectively arranged at two ends of the driving shaft, and the other first rotating wheel and the other second rotating wheel are respectively arranged at two ends of the driven shaft;
the driver drives the driving wheel to rotate through the gear.
Further, the first leg comprises a first leg rod and a first foot rod, one end of the first foot rod is fixed at the end part of the first leg rod, and the first foot rod and the first leg rod are inclined oppositely; the first leg rod is fixedly arranged in the first limiting groove, and the length direction of the first leg rod is consistent with the tangential direction of the first rotating wheel;
the second leg comprises a second leg rod and a second foot rod, one end of the second foot rod is fixed at the end part of the second leg rod, and the second foot rod and the second leg rod are inclined oppositely; the second leg rod is fixedly installed in the second limiting groove, and the length direction of the second leg rod is consistent with the tangential direction of the second rotating wheel.
Further, the first foot bar is smaller than the chord length corresponding to the arc length of 60 degrees; the second foot rod is smaller than the chord length corresponding to the arc length of 60 degrees.
Further, the device also comprises a controller and a battery, wherein the controller is electrically connected with the driver, and the battery is electrically connected with the controller.
Further, the smoke detection device comprises a smoke detection module, an infrared temperature detection module and a camera identification module, wherein the smoke detection module, the infrared temperature detection module and the camera identification module are respectively installed in the shell, and the smoke detection module, the infrared temperature detection module and the camera identification module are respectively electrically connected with the controller.
Further, the remote transmission module is arranged in the shell and electrically connected with the controller.
Further, the system also comprises a cloud server, and the remote transmission module is in wireless communication connection with the cloud server.
Further, the casing is square, and the bottom surface of casing is higher than respectively the bottom of first runner with the second runner.
For a better understanding and practice, the present application is described in detail below with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic perspective view of an exemplary obstacle-surmounting wheel-legged garden inspection insect robot according to the present application;
FIG. 2 is a front view of an exemplary obstacle-surmounting wheel-legged garden inspection insect robot of the present application;
FIG. 3 is a side view of an exemplary first and second wheel leg assembly of the present application;
FIG. 4 is a perspective view of an exemplary drive train assembly and chassis assembly according to the present disclosure;
FIG. 5 is a top view of an exemplary drive transmission assembly and chassis assembly of the present application;
fig. 6 is a flowchart illustrating a control principle of an exemplary obstacle-surmounting wheel-legged garden inspection insect robot according to the present application.
Detailed Description
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the present application. In the description of the present application, "a plurality" means two or more unless otherwise specified.
FIG. 1 is a schematic perspective view of an exemplary obstacle-surmounting wheel-legged garden inspection insect robot according to the present application; FIG. 2 is a front view of an exemplary obstacle-surmounting wheel-legged garden inspection insect robot of the present application; FIG. 3 is a side view of an exemplary first and second wheel leg assembly of the present application; FIG. 4 is a perspective view of an exemplary drive train assembly and chassis assembly according to the present disclosure; FIG. 5 is a top view of an exemplary drive transmission assembly and chassis assembly of the present application; fig. 6 is a flowchart illustrating a control principle of an exemplary obstacle-surmounting wheel-legged garden inspection insect robot according to the present application.
Referring to fig. 1 to 5, an obstacle-surmounting wheel-leg type garden inspection insect robot according to an exemplary embodiment of the present application includes a first wheel-leg assembly 10, a second wheel-leg assembly 20, a housing 30, and a driving transmission assembly, where the driving transmission assembly is mounted on the housing 30, the first wheel-leg assembly 10 and the second wheel-leg assembly 20 are respectively assembled with the driving transmission assembly, two first wheel-leg assemblies 10 are disposed on one side of the housing 30, and two second wheel-leg assemblies 20 are disposed on the other side of the housing 30;
the first wheel leg assembly 10 comprises a first rotating wheel 11 and a 7-shaped first leg 12, three first limiting grooves with included angles of 120 degrees are formed in the first rotating wheel 11, and the three first legs 12 are arranged in one-to-one correspondence with the three first limiting grooves;
the second wheel leg assembly 20 comprises a second rotating wheel 21 and a 7-shaped second supporting leg 22, three second limiting grooves with an included angle of 120 degrees are formed in the second rotating wheel 21, and the three second supporting legs 22 and the three second limiting grooves are arranged in a one-to-one correspondence manner;
the first leg 12 is staggered with respect to the second leg 22.
The application hinder wheel leg formula gardens more and patrol and examine insect robot, first landing leg 12 and the crisscross arrangement of second landing leg 22 to first landing leg 12 and second landing leg 22 are "7" font respectively, make the robot when the climbing with cross the obstacle, have fine the ability of crossing and passing through fast. Compared with the prior art, the robot has higher multi-terrain motion adaptability and obstacle crossing capability, and can be more suitable for working in rugged environments such as gardens, forests and the like.
In some preferred embodiments, the driving transmission assembly includes a driver 40 and a transmission structure, and the driver 40 drives the transmission structure to operate;
two of the first wheel leg assemblies 10 are mounted on one side of the transmission structure and two of the second wheel leg assemblies 20 are mounted on the other side of the transmission structure. Further, the driver 40 is a motor. The two first wheel-leg assemblies 10 and the two second wheel-leg assemblies 20 are driven to move simultaneously by the single driver 40 and the driving structure operated by the driver 40. Like this, first wheel leg subassembly 10 and second wheel leg subassembly 20 simultaneous synchronization motion to combine first landing leg 12 and second landing leg 22 to be "7" font respectively, combine the crisscross arrangement of first landing leg 12 and second landing leg 22 again, make the motion trail of whole robot be the S-shaped of rocking, like this, for prior art, can climb over higher obstacle, and can pass through fast, can fully be applicable to gardens, forest and mountain region, just also made things convenient for to patrol and examine in these topography.
In some preferred embodiments, the transmission structure comprises a driving wheel 51, a driving shaft 53, a transmission wheel 52, a synchronizing shaft 55, a synchronizing wheel 54, a driven wheel 56 and a driven shaft 57;
the driving wheel 51 and the driving wheel 52 are respectively sleeved on the driving shaft 53, the two synchronizing wheels 54 are respectively installed at two ends of the synchronizing shaft 55, and the driven wheel 56 is sleeved on the driven shaft 57;
the driving shaft 53 and the driven shaft 57 are arranged in parallel, and the synchronizing shaft 55 is arranged vertically relative to the driving shaft 53;
one of the synchronous wheels 54 is meshed with the transmission wheel 52, and the other synchronous wheel 54 is meshed with the driven wheel 56;
one of the first rotating wheels 11 and one of the second rotating wheels 21 are respectively installed at both ends of the driving shaft 53, and the other of the first rotating wheels 11 and the other of the second rotating wheels 21 are respectively installed at both ends of the driven shaft 57;
the driver 40 drives the driving wheel 51 to rotate through a gear. Wherein, the driving shaft 53, the driven shaft 57 and the transmission shaft are respectively movably installed at the bottom of the housing 30 to prevent deviation during movement.
In the working state, the driver 40 drives the gear to drive the driving wheel 51 to rotate, and the driving wheel 51 drives the driving shaft 53 to rotate so as to drive the driving wheel 52 to synchronously rotate; the transmission wheel 52 rotates to drive the synchronizing wheel 54 to rotate, the synchronizing wheel 54 rotates to drive the synchronizing shaft 55 to rotate, and further drives the other synchronizing wheel 54 to rotate, so as to drive the driven wheel 56 to rotate; the driven pulley 56 rotates to rotate the driven shaft 57. Thus, when the driver 40 drives the driving pulley 51 to rotate, the driven pulley 56 rotates synchronously, so that the two first pulleys 11 and the two second pulleys 21 rotate synchronously.
In some preferred embodiments, the first leg 12 comprises a first leg rod 121 and a first foot rod 122, one end of the first foot rod 122 is fixed at the end of the first leg rod 121, and the first foot rod 122 and the first leg rod 121 are inclined with respect to each other; the first leg rod 121 is fixedly installed in the first limiting groove, and the length direction of the first leg rod 122 is consistent with the tangential direction of the first rotating wheel 11;
the second leg 22 comprises a second leg rod 221 and a second leg rod 222, one end of the second leg rod 222 is fixed at the end of the second leg rod 221, and the second leg rod 222 and the second leg rod 221 are inclined relatively; the second leg rod 221 is fixedly installed in the second limiting groove, and the length direction of the second leg rod 222 is consistent with the tangential direction of the second runner 21.
In some preferred examples, the first leg bar 121 is perpendicular to the first foot bar 122, and the second leg bar 221 is perpendicular to the second foot bar 222.
Referring to fig. 3, in some preferred embodiments, the first leg 122 has a chord length less than 60 ° of the arc length; the second leg 222 has a chord length less than 60 degrees corresponding to the arc length. When the first leg bar 122 is a straight bar, the length of the circle a, which is centered on the center of the first rotary wheel 11 and has a radius from the center to the end of the first leg bar 121, is less than the chord length corresponding to the arc length of 60 ° of the circle, i.e., the angle b shown in fig. 3 is less than 60 °. When the first leg 122 is an arc-shaped bar, its length is less than the arc length of the circle 60 °. The arc length corresponding to the first leg rod 122 (or the second leg rod 222) is an angle b, and the included angle between the distance between the first leg rod and the second leg rod is an angle a, so that the included angle between two adjacent first leg rods 122 is greater than 60 degrees, that is, in fig. 3, the difference between angle a and angle b is greater than 60 degrees, so that the action path and posture of the whole robot are closer to cockroaches during walking, and the robot has better climbing capability and better obstacle crossing capability.
In some preferred embodiments, the device further comprises a controller 61 and a battery, wherein the controller 61 is electrically connected with the driver 40, and the battery is electrically connected with the controller 61. Furthermore, an STM32F407ZGT6 chip is adopted as a controller, and the control mode is preferably remote control. The battery powers the controller, driver 40.
In some preferred embodiments, the portable electronic device further comprises a smoke detection module 62, an infrared temperature detection module 64, and a camera identification module 63, wherein the smoke detection module 62, the infrared temperature detection module 64, and the camera identification module 63 are respectively installed in the housing 30, and the smoke detection module 62, the infrared temperature detection module 64, and the camera identification module 63 are respectively electrically connected to the controller. Furthermore, the smoke detection module, the infrared temperature detection module and the camera identification module are respectively integrated on the controller, namely on the STM32F407ZGT6 chip.
In some preferred embodiments, a remote transmission module is also included, mounted within the housing 30 and electrically connected to the controller. Further, the remote transmission module is integrated on a STM32F407ZGT6 chip.
In some preferred embodiments, the system further comprises a cloud server, and the remote transmission module is in wireless communication connection with the cloud server. Data and control signals can be transmitted through the remote transmission module, and a user can acquire and know the data and the control signals through the cloud server.
In some preferred embodiments, the housing 30 has a square shape, and the bottom surface of the housing 30 is higher than the bottom ends of the first and second rotating wheels 11 and 21, respectively.
The smoke detection module adopts an MQ-2 sensor module, the infrared temperature detection module adopts a GY-906-BAA module,
the application is illustrative hinders wheel leg formula gardens more and patrols and examines insect robot's theory of operation:
a chassis 31 (the bottom of a shell) of the robot is provided with a smoke detection module, an infrared temperature detection module and a camera identification module, and when the robot runs, the smoke detection module and the infrared temperature detection module can observe the direction, the size and the future trend of the fire in a garden in real time. The camera recognition module plays a monitoring role, and can display images in front of the robot in real time at the remote control end, so that a controller can roughly know forest fire at a first-person visual angle.
The smoke detection modules are arranged on the periphery and the upper portion of the robot, when smoke is detected, the smoke detection modules can output an analog signal to the single chip microcomputer, the analog signal increases along with the concentration of the smoke, and the position and the trend of the smoke can be estimated roughly through calculation of the single chip microcomputer.
The infrared temperature detection module can carry out non-contact measurement, carries out IIC communication with the singlechip, and infrared temperature detection module installs around the robot, can judge the position and the size of the intensity of a fire according to the size of the temperature numerical value that the singlechip read.
Insects and multi-legged robots must traverse quickly when facing large obstacles when traversing complex terrain. However, in this process, the body of both the insect and the polypod robot comes into contact with the obstacle. Because the cockroach can pass through the obstacle four times higher than the tail part of the cockroach in the process of running rapidly, the level of the cockroach far exceeds the level of the conventional multi-legged robot.
The gait pattern of cockroaches is different from that mentioned in the traditional cockroach-like hexapod robot design. The gait adopted by the traditional robot is named as alternating triangular gait, namely six legs at two sides of the body are divided into two groups, and the six legs alternately move forwards by a triangular support structure. The front foot, the rear foot and the middle foot on the left side of the body are in one group, the front foot, the rear foot and the middle foot on the right side are in another group, and two triangular supports are respectively formed. When all the feet of one group of triangular supports are lifted up simultaneously, the three feet of the other group of triangular supports do not move in situ to support the body, then the gravity center moves forwards and moves forwards by taking the middle foot as a fulcrum, meanwhile, the gravity center of the machine body falls on the three feet of the other group of triangular supports, and then the action of the former group is repeated, so that the machine body moves forwards alternately.
The movement of the multi-legged robot needs to ensure three points: 1. the motion constraint of the fuselage is met; 2. the foot end of the swing leg can be ensured to fall to an ideal foot falling point; 3. ensuring that the fuselage has a sufficient stability margin. Generally, the multi-legged robot needs to continuously adjust the pose of the robot body to realize the second point and the third point, which is a complicated and unstable process and can affect the gait efficiency of the robot, thereby reducing the success rate of obstacle crossing.
When the cockroach and the robot of the application pass through obstacles, the gait of keeping the low initial yaw angle and the high initial pitch angle can lead the success rate of passing to be high, and the rugged road surface and the higher obstacles can be broken through. Thus, they improve upon the traditional alternating triangular gait, with new gaits spanning 75% more height than they could otherwise.
The utility model provides an insect robot is patrolled and examined in obstacle-surmounting wheel leg formula gardens still has following some characteristics:
(1) in order to meet the performance requirements of low negative potential energy consumption, strong bearing capacity and reduced mechanism freedom degree, a wheel leg and wheel linkage structure is adopted.
(2) The wheel-type mobile robot has the characteristics of high flexibility and low consumption, and has high adaptability and high obstacle crossing capability of the leg-type mobile robot to unstructured terrain.
(3) Has the motion advantage of the wheel.
(4) First landing leg and second landing leg's structural style and arrangement for stride across the barrier with the cockroach, compare prior art, hinder the ability reinforce more.
(5) The multifunctional intelligent alarm can be carried with various sensors such as temperature, humidity, vision, detection sensors, stereoscopic vision cameras and the like, can be applied to various occasions such as patrol, spraying, alarming, harmful species driving and the like, can avoid casualties of workers, reduces working difficulty and has important significance.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application.
Claims (10)
1. The utility model provides an insect robot is patrolled and examined in wheel leg formula gardens of hindering more, its characterized in that: the device comprises first wheel leg assemblies, second wheel leg assemblies, a shell and driving transmission assemblies, wherein the driving transmission assemblies are installed on the shell, the first wheel leg assemblies and the second wheel leg assemblies are respectively assembled with the driving transmission assemblies, the two first wheel leg assemblies are arranged on one side of the shell, and the two second wheel leg assemblies are arranged on the other side of the shell;
the first wheel leg assembly comprises a first rotating wheel and a 7-shaped first supporting leg, three first limiting grooves which form an included angle of 120 degrees with each other are formed in the first rotating wheel, and the three first supporting legs and the three first limiting grooves are arranged in a one-to-one correspondence mode;
the second wheel leg assembly comprises a second rotating wheel and a 7-shaped second supporting leg, three second limiting grooves which form an included angle of 120 degrees with each other are formed in the second rotating wheel, and the three second supporting legs and the three second limiting grooves are arranged in a one-to-one correspondence mode;
the first supporting legs and the second supporting legs are arranged in a staggered mode.
2. The obstacle-surmounting wheel-legged garden inspection insect robot according to claim 1, characterized in that: the driving transmission assembly comprises a driver and a transmission structure, and the driver drives the transmission structure to operate;
the two first wheel leg assemblies are arranged on one side of the transmission structure, and the two second wheel leg assemblies are arranged on the other side of the transmission structure.
3. The obstacle-surmounting wheel-legged garden inspection insect robot according to claim 2, characterized in that: the transmission structure comprises a driving wheel, a driving shaft, a transmission wheel, a synchronous shaft, a synchronous wheel, a driven wheel and a driven shaft;
the driving wheel and the driving wheel are respectively sleeved on the driving shaft, the two synchronous wheels are respectively arranged at two ends of the synchronous shaft, and the driven wheel is sleeved on the driven shaft;
the driving shaft and the driven shaft are arranged in parallel, and the synchronizing shaft is arranged vertically relative to the driving shaft;
one of the synchronizing wheels is meshed with the driving wheel, and the other synchronizing wheel is meshed with the driven wheel;
the first rotating wheel and the second rotating wheel are respectively arranged at two ends of the driving shaft, and the other first rotating wheel and the other second rotating wheel are respectively arranged at two ends of the driven shaft;
the driver drives the driving wheel to rotate through the gear.
4. The obstacle-surmounting wheel-legged garden inspection insect robot according to claim 3, characterized in that: the first leg comprises a first leg rod and a first foot rod, one end of the first foot rod is fixed at the end part of the first leg rod, and the first foot rod and the first leg rod are inclined oppositely; the first leg rod is fixedly arranged in the first limiting groove, and the length direction of the first leg rod is consistent with the tangential direction of the first rotating wheel;
the second leg comprises a second leg rod and a second foot rod, one end of the second foot rod is fixed at the end part of the second leg rod, and the second foot rod and the second leg rod are inclined oppositely; the second leg rod is fixedly installed in the second limiting groove, and the length direction of the second leg rod is consistent with the tangential direction of the second rotating wheel.
5. The obstacle-surmounting wheel-legged garden inspection insect robot according to claim 4, characterized in that: the first foot bar is smaller than the chord length corresponding to the arc length of 60 degrees; the second foot rod is smaller than the chord length corresponding to the arc length of 60 degrees.
6. The obstacle-surmounting wheel-legged garden inspection insect robot according to claim 5, characterized in that: the controller is electrically connected with the driver, and the battery is electrically connected with the controller.
7. The obstacle-surmounting wheel-legged garden inspection insect robot according to claim 6, characterized in that: the smoke detection module, the infrared temperature detection module and the camera identification module are respectively installed in the shell, and the smoke detection module, the infrared temperature detection module and the camera identification module are respectively electrically connected with the controller.
8. The obstacle-surmounting wheel-legged garden inspection insect robot according to claim 6, characterized in that: the remote transmission module is arranged in the shell and is electrically connected with the controller.
9. The obstacle-surmounting wheel-legged garden inspection insect robot according to claim 8, characterized in that: the system further comprises a cloud server, and the remote transmission module is in wireless communication connection with the cloud server.
10. The obstacle-surmounting wheel-legged garden inspection insect robot according to claim 6, characterized in that: the casing is square, just the bottom surface of casing is higher than respectively the bottom of first runner with the second runner.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110712162.8A CN113371093A (en) | 2021-06-25 | 2021-06-25 | Obstacle-crossing wheel-leg type garden inspection insect robot |
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| CN202110712162.8A CN113371093A (en) | 2021-06-25 | 2021-06-25 | Obstacle-crossing wheel-leg type garden inspection insect robot |
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| CN202110712162.8A Pending CN113371093A (en) | 2021-06-25 | 2021-06-25 | Obstacle-crossing wheel-leg type garden inspection insect robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114454135A (en) * | 2021-11-20 | 2022-05-10 | 国网江西省电力有限公司检修分公司 | Intelligent inspection robot with obstacle crossing function |
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