CN115285250A - Six-wheel leg composite moving action robot with leg and arm multiplexing function - Google Patents
Six-wheel leg composite moving action robot with leg and arm multiplexing function Download PDFInfo
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- CN115285250A CN115285250A CN202210992008.5A CN202210992008A CN115285250A CN 115285250 A CN115285250 A CN 115285250A CN 202210992008 A CN202210992008 A CN 202210992008A CN 115285250 A CN115285250 A CN 115285250A
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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 invention relates to a six-wheel leg composite movement action robot with leg and arm multiplexing, which comprises a body and six mechanical legs, wherein: the body is provided with a control system for controlling the robot and a single-leg steering motor with six legs, the six mechanical legs have the same structure and are distributed at the front part, the middle part and the rear part of the body, and two tools capable of realizing the operation function are additionally arranged at the tail ends of the two front legs. The mechanical leg comprises: the device comprises wheels, a wheel driving motor, a lower leg connecting rod, a first knee hinge, a second knee hinge, a thigh connecting rod, a first lower leg transmission connecting rod, a second lower leg transmission connecting rod, a lower leg transmission hinge, a lower leg driving motor, a thigh driving motor and a leg root support. The six-wheel leg composite movement robot with the leg and arm multiplexed function, provided by the invention, has the function of leg and arm multiplexing, inherits the good maneuvering performance of the six-wheel leg robot, and can meet the requirements of movement and operation under the condition of complex terrain.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a six-wheel leg composite movement robot with a leg and arm multiplexing function.
Background
At present, common mobile robots have wheel type, leg type, composite type and the like in motion forms, the wheel type robot is high in speed, usually adopts a passive suspension or an active suspension to adapt to uneven terrain, but is difficult to adapt to complex terrain such as very soft terrain, rugged gully and the like, and is difficult to get rid of after being trapped in the uneven terrain, the leg type robot adopts a discrete support form, and has the characteristics of strong obstacle crossing capability and the like, but the leg type robot is low in moving speed and low in maneuvering capability on flat ground, and the wheel leg composite type robot has good maneuvering capability and terrain self-adaption capability at the same time, and is more suitable for executing moving and operation tasks in the complex terrain.
Common wheeled or leg type mobile robot carries on a multi freedom arm on its health, thereby realize snatching the target object, operation functions such as operation, the removal that robot can be realized to such design and snatch the function, but increase arm mechanism and make the robot gross mass increase, be unfavorable for the lightweight design of robot, and the arm that needs the armlet to expand can just clear away the obstacle in robot the place ahead, the robot of leg arm multiplex form can turn into partial mechanical leg into the arm and use, improve the reuse rate of structure, various drawbacks that the design of robot brought have been avoided additionally to increase the arm. Therefore, the research of the six-wheel leg composite moving robot with the leg and arm multiplexing has important practical significance in the moving operation under the complex terrain of ground and interplanetary exploration.
Among the prior art, a patent of hand and foot integration electric hexapod robot, this technique includes: the device comprises a body and four legs connected to the body, wherein the body is also connected with two rotating arms, each rotating arm comprises three transmission chains which are respectively a first transmission chain, a second transmission chain and a third transmission chain, the first transmission chain is connected with the body, the second transmission chain is connected with the first transmission chain, and the third transmission chain is connected with the second transmission chain; the tail ends of the third transmission chains of the two rotating arms are connected with a gripper. The robot breaks through the singleness that the walking robot can only walk, and expands the function of spatial operation through a hand-foot fusion mechanism. However, the leg mechanism of the robot is not provided with a wheel type driving device, the robot can only walk in a foot type, and the movement speed is slow. The gripper is arranged at the middle position of the robot, and the movement space of the gripper is limited. A patent of a quadruped robot with legs and arms fused, the technology comprising: the robot comprises a robot body and four single-leg structures, wherein the robot body is of a rectangular structure, and the four single-leg structures are stacked and arranged at four corners of the robot body. Three of the four single-leg mechanisms of the robot are common leg branches, one of the four single-leg mechanisms is a leg-arm fusion branch, the common leg branch has three degrees of freedom and is responsible for walking rotation, the leg-arm fusion branch has the same structure as the common leg branch when being folded and has three degrees of freedom, and the leg-arm fusion branch becomes an operation arm with five degrees of freedom after being unfolded, so that the operation function can be realized. When the mechanical arm is operated, the robot is supported by the three common legs, and the legs and the arms are integrated into a branch and used as the mechanical arm to operate. The technology realizes the leg-arm fusion function, but does not have a wheel type structure, only can carry out foot type movement, and has lower movement speed. The three-leg supported robot is not stable enough and is easy to overturn in the operation process.
Disclosure of Invention
The technical problem solved by the invention is as follows: the six-wheel leg composite movement robot overcomes the defects in the prior art, the six-wheel leg composite movement robot with the multiplexing of the legs and the arms is provided, a leg and arm multiplexing functional module is additionally arranged on two front legs on the basis of the six-wheel leg robot, and working tools capable of being folded and unfolded are installed at the foot ends of the two front legs, so that the operation of the two arms is realized.
The technical scheme of the invention is as follows:
the invention discloses a six-wheel leg composite movement action robot with leg and arm multiplexing, which comprises a body and six mechanical legs connected to the body, wherein: the body is provided with a control system for controlling the robot and a single-leg steering motor with six legs, and the six mechanical legs are completely the same in structure and only have different initial installation directions.
The mechanical leg comprises: the device comprises wheels, a wheel driving motor, a lower leg connecting rod, a first knee hinge, a second knee hinge, a thigh connecting rod, a first lower leg transmission connecting rod, a second lower leg transmission connecting rod, a lower leg transmission hinge, a lower leg driving motor, a thigh driving motor and a leg root support. Wherein: one end of a shank connecting rod is connected with a wheel driving motor, wheels are mounted on an output shaft of the wheel driving motor, retractable working tools are mounted at the tail ends of the front two legs, and the other end of the shank connecting rod is hinged with one end of the shank connecting rod and one end of a second shank transmission connecting rod through a first knee hinge and a second knee hinge respectively, so that relative rotation motion can be realized; the other end of the thigh connecting rod is fixedly connected with an output shaft of the thigh driving motor; the other end of the second shank transmission connecting rod is hinged with the first shank transmission connecting rod through a shank transmission hinge, so that relative rotation motion can be realized; the other end of the first shank transmission connecting rod is fixedly connected with an output shaft of a shank driving motor; the thigh driving motor and the shank driving motor are fixedly connected with the leg root support.
The body be the central frame part of robot, wherein: a control system required by the control robot and a single-leg steering motor with six legs are fixed on the body; the single-leg steering motors of the six legs fixed on the body are in a non-regular hexagon layout mode of front-back symmetry and left-right symmetry, and the leg root support of each leg is linked with the output shaft of the single-leg steering motor of the corresponding leg; the orientation of the knee joints of the legs of the robot can be changed according to the movement working conditions of different terrains, and when the legs are in default leg movement, the knee joints of the front four legs face forwards and the knee joints of the rear two legs face backwards along the advancing direction of the robot.
The surface of the tire of the wheel is provided with wheel pricks, and the tire is made of rubber, so that the grip of the tire can be improved, and the wheel slip rate is reduced.
Lightening holes are formed in the thigh connecting rod and the shank connecting rod on the premise that the structural strength is guaranteed, so that the mass and the rotational inertia of the shank mechanism are reduced.
The leg root support is a U-shaped support, two sides of the leg root support are fixedly connected with a thigh driving motor and a shank driving motor, a through hole is formed in the center of the side plate, a motor output shaft can penetrate through the through hole, and the bottom of the leg root support is fixedly connected with a single-leg steering motor output shaft.
The tail end of the mechanical leg with the operation tool is provided with a clutch, and a wheel motor can be switched to drive wheels to rotate or control the operation tool to be folded and unfolded.
The working tool can also be a small multi-degree-of-freedom mechanical arm, so that more complex or fine operation work can be realized.
When the robot moves in a legged mode, the orientation of knees is adjusted through rotation of a single-leg steering motor to meet different terrain requirements, then the single-leg steering motors on six legs are locked with wheel motors, thigh driving motors and shank driving motors on the six legs rotate independently to drive a thigh connecting rod and a first shank transmission connecting rod to rotate respectively, so that the included angle between the thigh connecting rod and a body and the spatial configuration of a thigh four-bar mechanism are changed, the included angle between the shank connecting rod and the thigh connecting rod is changed accordingly, and the change of the positions of feet of mechanical legs is achieved; the change of the mechanical leg and foot position according to the preset gait track can be realized by controlling the rotation angles of the thigh driving motor and the shank driving motor. The advancing direction is a positive direction, three legs of the left front, the left back and the right middle are a group, three legs of the right front, the right back and the left middle are a group, and the two groups of legs alternately swing to form 3-3 gaits commonly used by the hexapod robot.
When the robot moves in a wheel type linear mode, the single-leg steering motors, the thigh driving motors and the shank driving motors on the six legs are locked, the positions of the foot ends of the mechanical legs are guaranteed to be unchanged, and the robot can move in a wheel type mode according to a preset path track by controlling the rotating angles of the six-leg single-leg steering motors and the rotating speed of the wheel driving motors; when the robot encounters uneven ground in the moving process, the contact force information of wheels and the ground can be obtained through the force sensor at the foot end, and the length of a leg structure is adjusted by controlling the thigh driving motor and the shank driving motor to realize the self-adaptive function of the robot to the ground; when the wheel type steering motion of the robot is carried out, thigh driving motors and shank driving motors on six legs are locked, the steering strategy of the robot is changed by rotating a single-leg steering motor, the steering motion of the robot under different turning radiuses is realized, for example, the single-leg steering motors on the four rear legs are locked, the single-leg steering motors on the two front legs are rotated, the steering motion of the robot is realized, the single-leg steering motors on the two middle legs can also be locked, the single-leg steering motors on the two front legs and the single-leg steering motors on the two rear legs are rotated towards different directions, the steering motion of the robot is realized, or the single-leg steering motors on the six legs are rotated, the advancing directions of wheels on the six legs are simultaneously tangent to the same circle, and the in-situ steering motion of the robot is realized.
When the robot carries out wheel-leg multiplexing operation, on the basis of leg type movement, the knees of the two rear legs of the robot are adjusted to face backwards, the knees of the two middle legs of the robot face forwards, the gravity center of the robot is located in a polygon formed by landing points of the four rear legs, the two front legs are lifted to serve as mechanical arms, meanwhile, end tools of the two front legs are unfolded to realize operation, and operation tasks such as obstacle clearing, sampling detection and the like of obstacles in front of the robot can be completed.
Compared with the prior art, the invention has the advantages that:
the invention innovatively uses a six-wheel leg robot as a basis, leg and arm multiplexing functional modules are added on two front legs, and retractable working tools are installed at the foot ends of the two front legs to realize double-arm operation; the six legs are in a non-regular hexagon layout mode of front-back symmetry and left-right symmetry, the included angle between the center connecting line of the left front-left middle leg and the center connecting line of the left middle-left rear leg is more than 120 degrees, and the included angle between the center connecting line of the right front-right middle leg and the center connecting line of the right middle-right rear leg is equal to the included angle; the thigh part of the adopted leg structure can be effectively narrowed, so that the available working space is increased, the obstacle crossing capability under complex terrains is improved, the mass and the rotational inertia of the leg can be reduced to a greater extent through an optimized structure, the maneuvering performance of the robot is improved, and the in-situ rotation and the omnidirectional advance of the robot can be realized by arranging a steering motor on each leg; the robot has three operation modes, namely a wheel type movement mode, a leg type movement mode and a double-arm operation mode, wheel type movement or leg type movement is selected according to terrain, when the terrain is flat, the robot adopts the wheel type movement mode, a leg mechanism provides an active suspension function, the movement efficiency of the robot is ensured, when the terrain is complex, the robot adopts the leg type movement mode, the obstacle crossing capability of the leg type is utilized to the maximum extent, and when obstacles exist in the front or detection sampling is needed, the robot adopts the double-arm operation mode.
Drawings
FIG. 1 is an isometric view of an overall mechanism of a robot in an embodiment of the invention;
fig. 2 is a schematic top view of the overall mechanism of the robot in the embodiment of the present invention.
Fig. 3 is a schematic side view of the overall mechanism of the robot in the embodiment of the present invention.
Detailed Description
The invention adopts a six-wheel-leg form, so that when two legs are used for carrying out wheel-leg multiplexing operation, the rest four legs are grounded to ensure the stability of the robot; the six legs are in a non-regular hexagon layout mode with front-back symmetry and left-right symmetry, the length of the robot is larger than the width of the robot, and the stability of the robot during climbing and double-arm operation is high; the invention adopts a wheel leg structure with wheels at the foot ends, which can be used as an active suspension to improve the active adaptability of the robot to complex terrains; the leg structure adopts a form of connecting a plurality of connecting rod mechanisms in series, and the mechanism can meet the requirement of large working space; the robot has three operation modes, wheel type movement, leg type movement and double-arm operation mode, and wheel type movement or leg type movement is selected according to terrain.
The robot of the present invention is further described below with reference to the accompanying drawings:
the overall structure of the robot of the present embodiment is shown in fig. 1, and includes: the device comprises wheels 1, a working tool 2, a wheel driving motor 3, a shank link 4, a second knee hinge 5, a second shank transmission link 6, a first knee hinge 7, a thigh link 8, a shank driving motor 9, a thigh driving motor 10, a shank bracket 11, a single-leg steering motor 12, a body 13, a body upper cover 14, a battery pack 15, a first shank transmission link 16 and a shank transmission hinge 17. Wherein: one end of a shank connecting rod 4 is connected with a wheel driving motor 3, a wheel 1 is installed on an output shaft of the wheel driving motor 3, the tail ends of the front two legs are provided with retractable working tools 2, and the other end of the front two legs is hinged with one end of a shank connecting rod 8 and one end of a second shank transmission connecting rod 6 through a first knee hinge 7 and a second knee hinge 5 respectively, so that relative rotation motion can be realized; the other end of the thigh connecting rod 8 is fixedly connected with an output shaft of a thigh driving motor 10; the other end of the second shank transmission connecting rod 6 is hinged with the first shank transmission connecting rod 16 through a shank transmission hinge 17, so that relative rotation motion can be realized; the other end of the first shank transmission connecting rod 16 is fixedly connected with an output shaft of the shank driving motor 9; the thigh driving motor 10 and the shank driving motor 9 are fixedly connected with the leg root support 11; a robot control system is fixed at the upper end of the body 13 and is covered by a body upper cover 14, and a robot energy source battery pack 15 is installed at the lower part of the body 13.
Fig. 2 and fig. 3 are top and side views of the robot in this embodiment. Wherein: a control system required by the control robot and a single-leg steering motor 12 with six legs are fixed on the body 13; the single-leg steering motors 12 of six legs fixed on the body 13 are arranged in a non-regular hexagon shape with front-back symmetry and left-right symmetry, and the leg root support 11 of each leg is connected with the output shaft of the single-leg steering motor 12 of the corresponding leg.
The tire surface of the wheel 1 is provided with wheel pricks, and the tire material is rubber, so that the grip of the tire is improved, and the wheel slip rate is reduced.
Lightening holes are formed in the thigh connecting rod 8 and the shank connecting rod 4 on the premise of ensuring the structural strength, so that the mass and the moment of inertia of the leg mechanism are reduced.
The leg root support 11 is a U-shaped support, two sides of the leg root support 11 are fixedly connected with a thigh driving motor 10 and a shank driving motor 9, a through hole is formed in the center of a side plate, an output shaft of the motor can penetrate through the through hole, and the bottom of the leg root support 11 is fixedly connected with an output shaft of a single-leg steering motor 12.
The tail end of the mechanical leg with the working tool 2 is provided with a clutch, and a wheel motor can be switched to drive wheels to rotate or control the working tool to be folded and unfolded.
The working tool 2 is a small multi-degree-of-freedom manipulator, thereby realizing more complicated or fine operation work.
When the robot moves in a legged mode, the orientation of knees is adjusted through rotation of a single-leg steering motor to meet different terrain requirements, then the single-leg steering motors on six legs are locked with wheel motors, thigh driving motors and shank driving motors on the six legs rotate independently to drive a thigh connecting rod and a first shank transmission connecting rod to rotate respectively, so that the included angle between the thigh connecting rod and a body and the spatial configuration of a thigh four-bar mechanism are changed, the included angle between the shank connecting rod and the thigh connecting rod is changed accordingly, and the change of the positions of feet of mechanical legs is achieved; the change of the mechanical leg and foot position according to a preset gait track can be realized by controlling the rotation angles of the thigh driving motor and the shank driving motor; the forward direction is a positive direction, the three legs in the front left, the rear left and the middle right form a group, the three legs in the front right, the rear right and the middle left form a group, and the two groups of legs alternately swing to form 3-3 gaits commonly used by the hexapod robot.
When the robot moves in a wheel type linear mode, the single-leg steering motors, the thigh driving motors and the shank driving motors on the six legs are locked, the positions of the foot ends of the mechanical legs are guaranteed to be unchanged, and the robot can move in a wheel type mode according to a preset path track by controlling the rotating angles of the six-leg single-leg steering motors and the rotating speed of the wheel driving motors; when the robot encounters uneven ground in the moving process, the contact force information of wheels and the ground can be obtained through the force sensor at the foot end, and the length of a leg structure is adjusted by controlling the thigh driving motor and the shank driving motor to realize the self-adaptive function of the robot to the ground; when the wheel type steering motion of the robot is carried out, thigh driving motors and shank driving motors on six legs are locked, the steering strategy of the robot is changed by rotating a single-leg steering motor, the steering motion of the robot under different turning radiuses is realized, for example, the single-leg steering motors on the four rear legs are locked, the single-leg steering motors on the two front legs are rotated, the steering motion of the robot is realized, the single-leg steering motors on the two middle legs can also be locked, the single-leg steering motors on the two front legs and the single-leg steering motors on the two rear legs are rotated towards different directions, the steering motion of the robot is realized, or the single-leg steering motors on the six legs are rotated, the advancing directions of wheels on the six legs are simultaneously tangent to the same circle, and the in-situ steering motion of the robot is realized.
When the robot carries out wheel-leg multiplexing operation, on the basis of leg type movement, the knees of the two rear legs of the robot are adjusted to face backwards, the knees of the two middle legs of the robot face forwards, so that the gravity center of the robot is positioned in a polygon formed by the landing points of the four rear legs, the two front legs are lifted to serve as mechanical arms, and meanwhile, the tail end tools of the two front legs are unfolded to realize operation, so that the operation tasks of obstacle clearing, sampling detection and the like of the obstacle in front of the robot can be completed.
In the embodiment, the width of the robot is 1100mm, the length is 1200mm at most, the height variation range is 200mm-700mm, the step length variation range is 0-150mm when walking on leg-type flat ground, the step height is 0-30mm, and the walking speed is 0-1.08km/h; the maximum climbing height is 30 degrees; the maximum obstacle crossing height is 300mm. The walking speed is 0-2km/h when the wheel type flat land walks; the maximum climbing height is 30 °.
Fig. 3 and fig. 1 are schematic side view and isometric view of the robot leg mechanism in this embodiment, respectively, wherein: thigh connecting rod 8, shank connecting rod 4, first shank transmission connecting rod 16 and second shank transmission connecting rod 6 constitute the parallelogram structure, wherein: the distance between the hinges at the two ends of the thigh connecting rod 8 is 250mm, the length of the shank connecting rod 4 is 250mm, the distance between the hinges at the two ends of the first shank transmission connecting rod 16 is 80mm, the distance between the hinges at the two ends of the second shank transmission connecting rod 6 is 250mm, and the central distance between the first knee hinge 7 and the second knee hinge 5 is 80mm; the radius of the wheel 1 is 70mm.
The working process of the embodiment is as follows: when the robot moves in a legged mode, thigh driving motors 10 and shank driving motors 9 on six legs rotate independently to drive a thigh connecting rod 8 and a first shank transmission connecting rod 16 to rotate respectively, so that the included angle between the thigh connecting rod 8 and a body 13 and the spatial configuration of a thigh four-bar mechanism are changed, the included angle between a shank connecting rod 4 and the thigh connecting rod 8 is changed accordingly, the change of the position of the foot end of the mechanical leg is achieved, and the change of the position of the foot end of the mechanical leg can be achieved according to a preset gait track. When the robot moves in a wheel type and the leg and arm multiplexing mode, the motor is adjusted to enable the robot to reach a preset posture, and therefore two kinds of movement are achieved.
The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.
Claims (12)
1. The utility model provides a six rounds of leg compound action robots that shank arm is multiplexing which characterized in that: comprises a body (13) and six mechanical legs connected with the body; the body (13) is used as a central frame part of the robot, a control system for controlling the robot and a single-leg steering motor (12) of six mechanical legs are installed, the sizes and the mechanism designs of the six mechanical legs are completely the same, and only the initial installation directions are different; wherein the tail ends of the two front mechanical legs are provided with foldable working tools (2).
2. The six-wheel leg compound motion robot with the multiplexed leg and arm as claimed in claim 1, wherein: the mechanical leg comprises: the device comprises wheels (1), wheel driving motors (3), lower leg connecting rods (4), second knee hinges (5), second lower leg transmission connecting rods (6), first knee hinges (7), thigh connecting rods (8), lower leg driving motors (9), thigh driving motors (10), leg root supports (11), first lower leg transmission connecting rods (16) and lower leg transmission hinges (17); one end of the shank connecting rod (4) is connected with a wheel driving motor (3), and the output shaft of the wheel driving motor (3) is provided with a wheel (1); the tail ends of the two front mechanical legs are simultaneously provided with a retractable working tool (2), and the other ends of the two front mechanical legs are respectively hinged with one end of a thigh connecting rod (8) and one end of a second shank transmission connecting rod (6) through a first knee hinge (7) and a second knee hinge (5) to realize relative rotation movement; the other end of the thigh connecting rod (8) is fixedly connected with an output shaft of a thigh driving motor (10); the other end of the second shank transmission connecting rod (6) is hinged with the first shank transmission connecting rod (16) through a shank transmission hinge (17) to realize relative rotation movement; the other end of the first shank transmission connecting rod (16) is fixedly connected with an output shaft of a shank driving motor (9); the thigh driving motor (10) and the shank driving motor (9) are fixedly connected with the leg root support (11).
3. The six-wheel leg compound motion robot with the reusable legs and arms as claimed in claim 2, wherein: a single-leg steering motor (12) with six legs is fixed on the body (13); the single-leg steering motors (12) of six legs fixed on the body (13) are distributed in a non-regular hexagon shape with front-back symmetry and left-right symmetry, and a leg root support (11) of each leg is linked with the output shaft of the single-leg steering motor (12) of the corresponding leg; the knee joints at the leg parts of the robot can change the orientation according to the movement working conditions of different terrains, when the leg type movement is defaulted, the knee joints of the front four legs face forwards along the advancing direction of the robot, and the knee joints of the rear two legs face backwards; a robot control system is fixed at the upper end of the body (13) and is covered by a body upper cover (14), and a robot energy source battery pack (15) is installed at the lower part of the body (13).
4. The six-wheel leg compound motion robot with the reusable legs and arms as claimed in claim 2, wherein: wheel pricks are arranged on the surface of the wheel (1) and used for improving the ground grabbing force of the wheel and reducing the wheel slip rate.
5. The six-wheel leg compound motion robot with the reusable legs and arms as claimed in claim 2, wherein: lightening holes are drilled on the thigh connecting rod (8) and the shank connecting rod (4) on the premise of ensuring the structural strength so as to lighten the mass and the moment of inertia of the leg mechanism.
6. The six-wheel leg compound motion robot with the reused legs and arms as claimed in claim 3, wherein: the leg root support (11) is a U-shaped support, two sides of the leg root support (11) are fixedly connected with a thigh driving motor (10) and a shank driving motor (9), a through hole is formed in the center of a side plate, an output shaft of the motor can penetrate through the through hole, and the bottom of the leg root support (11) is fixedly connected with an output shaft of a single-leg steering motor (12).
7. The six-wheel leg compound motion robot with the reusable legs and arms as claimed in claim 2, wherein: the tail end of the mechanical leg with the operation tool (2) is provided with a clutch, and a wheel motor can be switched to drive wheels to rotate or control the operation tool to be folded and unfolded; when the front end leg is reused as an arm, the clutch can be opened, and the wheel motor drives the operation tool to retract.
8. The six-wheel leg compound motion robot with the multiplexed leg and arm as claimed in claim 2, wherein: the operation tool (2) is a small-sized multi-degree-of-freedom mechanical arm.
9. The six-wheel leg compound motion robot with the reusable legs and arms as claimed in claim 3, wherein: when the robot moves in a legged mode, the orientation of knees is adjusted through rotation of a single-leg steering motor to meet different terrain requirements, then the single-leg steering motors on six legs are locked with wheel motors, thigh driving motors and shank driving motors on the six legs rotate independently to drive a thigh connecting rod and a first shank transmission connecting rod to rotate respectively, so that the included angle between the thigh connecting rod and a body and the spatial configuration of a thigh four-bar mechanism are changed, the included angle between the shank connecting rod and the thigh connecting rod is changed accordingly, and the change of the positions of feet of mechanical legs is achieved; the change of the mechanical leg and foot position according to a preset gait track is realized by controlling the rotation angles of a thigh driving motor and a shank driving motor; the forward direction is a positive direction, the three legs of the left front, the left back and the right middle are in one group, the three legs of the right front, the right back and the left middle are in one group, and the two groups of legs alternately swing to form 3-3 gaits of the hexapod robot.
10. The six-wheel leg compound motion robot with the reusable legs and arms as claimed in claim 3, wherein: when the robot moves in a wheel type linear mode, the single-leg steering motors, the thigh driving motors and the shank driving motors on the six legs are locked, the positions of the foot ends of the mechanical legs are guaranteed to be unchanged, and the robot moves in a wheel type mode according to a preset path track by controlling the rotating angles of the six-leg single-leg steering motors and the rotating speed of the wheel driving motors; when the robot encounters uneven ground in the moving process, the contact force information of wheels and the ground is obtained through a force sensor at the foot end, and the length of a leg structure is adjusted by controlling a thigh driving motor and a shank driving motor to realize the self-adaptive function of the robot to the ground; when the robot performs wheel type steering motion, thigh driving motors and shank driving motors on six legs are locked, and the steering strategy of the robot is changed by rotating a single-leg steering motor, so that the steering motion of the robot under different turning radiuses is realized.
11. The six-wheel leg compound motion robot with the reusable leg and arm as claimed in claim 10, wherein: the steering motion of the robot under different turning radiuses comprises the steps that single leg steering motors of the four rear legs are locked, the single leg steering motors of the two front legs rotate to achieve steering motion of the robot, or the single leg steering motors of the two middle legs are locked, the single leg steering motors of the two front legs and the single leg steering motors of the two rear legs rotate towards different directions, the steering motion of the robot is achieved, or the single leg steering motors of the six legs are rotated to enable the advancing directions of wheels on the six legs to be tangent to the same circle at the same time, and in-situ steering motion of the robot is achieved.
12. The six-wheel leg compound motion robot with the reused legs and arms as claimed in claim 3, wherein: when the robot carries out wheel-leg multiplexing operation, on the basis of leg type movement, the knee joints of the two rear legs of the robot are adjusted to face backwards, the knee joints of the two middle legs of the robot face forwards, the gravity center of the robot is located in a polygon formed by the landing positions of the four rear legs, the two front legs are lifted to serve as operation mechanical arms, meanwhile, end tools of the two front legs are unfolded to achieve operation, and the tasks of obstacle clearing and sampling detection of obstacles in front of the robot are completed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210992008.5A CN115285250A (en) | 2022-08-17 | 2022-08-17 | Six-wheel leg composite moving action robot with leg and arm multiplexing function |
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| CN202210992008.5A CN115285250A (en) | 2022-08-17 | 2022-08-17 | Six-wheel leg composite moving action robot with leg and arm multiplexing function |
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| CN115285250A true CN115285250A (en) | 2022-11-04 |
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| CN202210992008.5A Pending CN115285250A (en) | 2022-08-17 | 2022-08-17 | Six-wheel leg composite moving action robot with leg and arm multiplexing function |
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| US20220242506A1 (en) * | 2021-02-03 | 2022-08-04 | Hyundai Motor Company | Movable Object |
| CN117469519A (en) * | 2023-12-22 | 2024-01-30 | 湖南千智机器人科技发展有限公司 | Carrier robot and application method |
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| CN117469519B (en) * | 2023-12-22 | 2024-03-22 | 湖南千智机器人科技发展有限公司 | Carrier robot and application method |
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