CN105667622B - It is a kind of to have the six of three sections of bodies to take turns sufficient formula mobile robots - Google Patents
It is a kind of to have the six of three sections of bodies to take turns sufficient formula mobile robots Download PDFInfo
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- CN105667622B CN105667622B CN201610024376.5A CN201610024376A CN105667622B CN 105667622 B CN105667622 B CN 105667622B CN 201610024376 A CN201610024376 A CN 201610024376A CN 105667622 B CN105667622 B CN 105667622B
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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Abstract
It is a kind of to have the six of three sections of bodies to take turns sufficient formula mobile robots, belong to robotic technology field.For current moveable robot movement mode is single, travel mechanism's flexibility is not enough problem.Leading portion body is rotated with stage casing body by preceding body articulation joint and is connected, and stage casing body is rotated with back segment body by rear body articulation joint and is connected；Left front leg and right front leg are distributed in the left and right sides of leading portion body, and left front leg and right front leg are rotated with leading portion body to be connected；Leg is distributed in leg in the left and right sides of stage casing body, left leg and the right side and is connected with the rotation of stage casing body in left leg and the right side；Left back leg and right rear leg are distributed in the left and right sides of back segment body, and left back leg and right rear leg are rotated with back segment body to be connected.The present invention has sufficient formula stabilized walking and wheeled Fast marching function, can realize the motion mode of class mammal and class insect formula during sufficient formula walking, differential steering, three kinds of steering modes of front-wheel steer and pivot stud can be realized during wheeled traveling.
Description
Technical field
The present invention relates to the walking combined mobile robot of the wheel of one kind six, belong to robotic technology field.
Background technology
Ground moving mode mainly has wheeled, crawler type, sufficient formula, creeping motion type and vibration-type etc. several.Wheel type mobile has
The advantages such as fast, the mobile efficiency height of movement velocity, but its obstacle climbing ability is poor, only adapts to the ground of relatively flat；Crawler-type mobile
Can be by the small-scale obstacle, but rugged topography is still not enough by property, and transmission efficiency is low；The landform adaptability of sufficient formula walking
It is strong with obstacle climbing ability, but the speed of travel is slow, energy efficiency is low.Therefore, every kind of move mode is respectively provided with its applicable specific landform
Condition, and take turns the compound move mode of foot and merged the wheeled advantage moved with sufficient formula, level terrain is using wheeled quickly through multiple
Miscellaneous landform has stronger adaptability using sufficient formula stabilized walking to unknown non-structural terrain environment.Researcher is to wheel foot
Composite mobile robot has carried out many research, and representative case has the ALDURO of German scholar development, Waseda University's research
WS-2/WL-16, Chiba polytechnical university develop Halluc-II, Helsinki University of Technology exploitation WorkPartne and
NOROS of domestic BJ University of Aeronautics ＆ Astronautics's design etc..
The sufficient mode of six wheels and the sufficient mode structure compared of more wheels are simple, easy to control, it is flexible to move；With two, four-wheel foot side
Formula, which is compared, is easier to realize stable motion under rugged topography and large carrying capacity, fault-tolerant ability are strong, under being complicated terrain environment
One of efficient motion mode, have a extensive future.Successfully come out many wheel of money six biped robot principle prototypes at present, including U.S.
The ATHLETE of state's JPL laboratory developments and the NOROS of BJ University of Aeronautics ＆ Astronautics's exploitation etc..But from the point of view of related result of study,
The body of robot generally uses rigid structure, limits the lifting of robot motion's performance.
Patent announcement number is " CN 103287523A, the day for announcing be on 09 09th, 2015, entitled《A kind of elasticity foot with
The composite deformation mobile robot that wheel type motion mechanism is combined》Patent of invention propose a kind of walking combined mobile machine of four-wheel
People, but its wheeled locomotion mechanism is installed on organism frame bottom, is not belonging to the sufficient composite structure of wheel of leg.Publication No. is CN
102649450A, date of publication be on 08 29th, 2012, it is entitled《A kind of wheel leg type motion foot of multi-joint chain-type robot
Design》Application for a patent for invention propose a kind of wheel leg type suitable for robot and move foot, but wheel connects directly as sole
Tread surface, does not take turns sufficient switching device to realize the switching of wheel and foot.Accordingly, it would be desirable to design a kind of body contains the free degree six
Take turns walking combined mobile robot, future can be widely applied to celestial body detecting, anti-terrorism investigation, mountain region transport, rescue and relief work and
The fields such as agrisilviculture.
The content of the invention
It is an object of the invention to asked for current moveable robot movement mode is single, travel mechanism's flexibility is not enough
Inscribe has the six of three sections of bodies to take turns sufficient formula mobile robots there is provided a kind of.The robot has wheeled Fast marching and sufficient formula
The function of stabilized walking, meanwhile, the kinematic dexterity of radial type body is high, is suitable for complicated landform.
Above-mentioned purpose is realized, the technical scheme is that：
A kind of sufficient formula mobile robots of six wheels with three sections of bodies, including three-stage body, preceding body articulation joint, after
Body articulation joint and six legs, described three-stage body is leading portion body, stage casing body and back segment body respectively, described
Six legs are leg, right rear leg in left front leg, left leg, left back leg, right front leg, the right side respectively；Six described leg structures are identical,
To take turns in the middle part of walking combined leg, described leading portion body rear end by preceding body articulation joint and the rotation of stage casing body front center
Rotated and be connected with back segment body front center by rear body articulation joint in the middle part of connection, described stage casing body rear end, it is described
Leading portion body around the vertical axis left-right rotation of preceding body articulation joint, described back segment body is hinged pass around rear body
The vertical axis left-right rotation of section；Described left front leg and right front leg is distributed in the left and right sides of leading portion body, left front leg and the right side
Foreleg is rotated with leading portion body and is connected；Leg is distributed in the left and right sides of stage casing body, left leg in described left leg and the right side
Rotate and be connected with stage casing body with leg in the right side；Described left back leg and right rear leg are distributed in the left and right sides of back segment body, left
Back leg and right rear leg are rotated with back segment body and are connected.
The present invention is relative to the beneficial effect of prior art：
(1) three-stage body design of the present invention, solving conventional rigid body can only passive adaptation crust deformation
The problem of change, improve kinematic dexterity, landform adaptability and the walking stability of robot.
(2) robot leg of the invention employs the walking combined design of wheel, using four-bar linkage (by connecting rod four,
Connecting rod five, connecting rod six and the sufficient change-over panel composition of wheel) switching of sufficient formula and wheel type movement is realized, the switching mode is simple in construction,
It is convenient and reliable.The robot of the present invention has merged the wheeled advantage moved with sufficient formula, level terrain can using it is wheeled quickly through,
Complicated landform can be using sufficient formula stabilized walking.
(3) the motion side of class mammal and class insect formula can be realized when robot of the invention is walked using sufficient formula
Formula.Using the motion mode of class mammal when robot level land is walked or climbed at a high speed, higher movement velocity is easily realized
Higher energy efficiency；Using the motor pattern of class insect when robot is in complex environment or rugged topography, easily realize
Larger barycenter stability region and walking stability.
(4) three kinds of differential steering, front-wheel steer and pivot stud can be realized when robot of the invention uses wheeled traveling
Steering mode, improve robot under the harsh landform such as narrow, sharp turn road by property.
(5) robot motion's mode of the invention is various, have a wide range of application, and can be applied not only to celestial body detecting, anti-terrorism and detects
Look into, mountain region transport, the field such as rescue and relief work and agrisilviculture, can also suitably reduce robot size, be used as amusement robot,
Toy robot and teaching robot etc..
Brief description of the drawings
Fig. 1 is the integrally-built axonometric drawing of the sufficient formula mobile robot of six wheels with three sections of bodies of the present invention, six
Leg is arranged radially；
Fig. 2 is the integrally-built axonometric drawing of the walking combined leg of wheel of the present invention；
Fig. 3 is the integrally-built axonometric drawing of the sufficient formula mobile robot of six wheels with three sections of bodies of the present invention, six
Leg is set by the position of the sufficient formula walking of class mammal；
Fig. 4 is the integrally-built axonometric drawing of the sufficient formula mobile robot of six wheels with three sections of bodies of the present invention, six
Leg is set by the position of wheeled traveling；
Fig. 5 is partial enlarged drawing at Fig. 3 A；
Fig. 6 is partial enlarged drawing at Fig. 3 B.
In figure：Leading portion body 1, stage casing body 2, back segment body 3, preceding body articulation joint 4, rear body articulation joint 5, a left side
Leg 10, right rear leg 11, bearing pin 1, sliding block 1, positive stop one in foreleg 6, left leg 7, left back leg 8, right front leg 9, the right side
14th, joint 1, connecting rod 1, joint 2 17, connecting rod 2 18, joint 3 19, connecting rod 3 20, joint 4 21, bearing pin 2 22, cunning
Block 2 23, positive stop 2 24, joint 5 25, connecting rod 4 26, joint 6 27, joint 7 28, connecting rod 5 29, joint 8 30, company
Bar 6 31, joint 9 32, joint 10, the sufficient change-over panel 34 of wheel, linear actuator 35, joint 11, sufficient end 37, joint 12
38th, wheel 39, joint 13, left front engaging lug 41, it is right before engaging lug 42, left engaging lug 43, it is right in engaging lug 44, left back
Engaging lug 46 behind engaging lug 45, the right side.
Embodiment
Embodiment one：As shown in Figure 1 to 4, present embodiment describes a kind of six wheels with three sections of bodies
Sufficient formula mobile robot, including three-stage body, preceding body articulation joint 4, rear body articulation joint 5 and six legs, it is described
Three-stage body is leading portion body 1, stage casing body 2 and back segment body 3 respectively, and six described legs are left front leg 6 respectively, left
Leg 10, right rear leg 11 in leg 7, left back leg 8, right front leg 9, the right side；Six described leg structures are identical, are the walking combined leg of wheel,
Rotated and be connected with the front center of stage casing body 2 by preceding body articulation joint 4 in the middle part of the described rear end of leading portion body 1, it is described
Rotated and be connected with the front center of back segment body 3 by rear body articulation joint 5 in the middle part of the rear end of stage casing body 2, described leading portion machine
Body 1 is around the vertical axis left-right rotation of preceding body articulation joint 4, and described back segment body 3 is around rear body articulation joint 5
Vertical axis left-right rotation；Described left front leg 6 and right front leg 9 is distributed in the left and right sides of leading portion body 1, left front leg 6 and the right side
Foreleg 9 is rotated with leading portion body 1 and is connected；Leg 10 is distributed in the left and right sides of stage casing body 2 in described left leg 7 and the right side,
Leg 10 is rotated with stage casing body 2 in left leg 7 and the right side is connected；Described left back leg 8 and right rear leg 11 is distributed in back segment body 3
The left and right sides, left back leg 8 and right rear leg 11 are rotated with back segment body 3 and are connected.
Present embodiment is designed using segmented body, and preceding body articulation joint 4 and rear body articulation joint 5 improve machine
The landform adaptability and kinematic dexterity of device people, six walking combined legs of wheel can realize the sufficient formula and wheel type movement of robot.
Embodiment two：As shown in Fig. 1, Fig. 3, Fig. 5 and Fig. 6, one kind described in embodiment one has three
The sufficient formula mobile robot of six wheels of section body, the described left side of leading portion body 1 is fixedly arranged at the front end with left front engaging lug 41, and described is left front
Leg 6 is rotated with the left front engaging lug 41 of leading portion body 1 and is connected, and the right front ends of leading portion body 1 are fixed with engaging lug 42 before the right side, described
Right front leg 9 is rotated with engaging lug 42 before the right side of leading portion body 1 and is connected；
The described left side wall of stage casing body 2 is fixedly arranged in the middle of left engaging lug 43, described left leg 7 and stage casing body 2
Left engaging lug 43 rotate connection, the right side wall of stage casing body 2 is fixedly arranged in the middle of engaging lug 44 in the right side, it is described it is right in leg 10 with
Engaging lug 44 rotates connection in the right side of stage casing body 2；
The left back end of described back segment body 3 is fixed with left back engaging lug 45, described left back leg 8 and back segment body 3
Left back engaging lug 45 rotates connection, and the right rear end of back segment body 3 is fixed with engaging lug 46 behind the right side, described right rear leg 11 and back segment
Engaging lug 46 rotates connection behind the right side of body 3.
Embodiment three：As shown in Fig. 1~Fig. 6, a kind of described in embodiment two has three sections of bodies
The sufficient formula mobile robots of six wheels, six described leg structures are identical, including bearing pin 1, sliding block 1, positive stop 1,
Joint 1, connecting rod 1, joint 2 17, connecting rod 2 18, joint 3 19, connecting rod 3 20, joint 4 21, bearing pin 2 22, sliding block
2 23, positive stop 2 24, joint 5 25, connecting rod 4 26, joint 6 27, joint 7 28, connecting rod 5 29, joint 8 30, connecting rod
6 31, joint 9 32, joint 10, the sufficient change-over panel 34 of wheel, linear actuator 35, joint 11, sufficient end 37, joint 12
38th, wheel 39 and joint 13；
Described bearing pin 1 is vertically arranged, and described joint 4 21 is rotatably installed on bearing pin 1 (i.e. joint 4 21
Can be rotated around bearing pin 1), (i.e. sliding block 1 can be along bearing pin 1 on bearing pin 1 for the described slip cap of sliding block 1
Slide up and down), described positive stop 1 be fixed on bearing pin 1 top (positive stop 1 be used for limit sliding block 1
Displacement), described one end of connecting rod 1 is rotated with sliding block 1 by joint 1 and is connected, described connecting rod 2 18 1
End is rotated with connecting rod 1 by joint 2 17 and is connected, the described other end of connecting rod 2 18, the one end of connecting rod 3 20 and sliding block 2 23
Three is rotated by joint 3 19 and connected, and described sliding block 2 23 is provided with through hole, and the through hole slip cap of sliding block 2 23 is mounted in pin
On axle 2 22 (i.e. sliding block 2 23 can be slided along bearing pin 2 22), described one end of bearing pin 2 22 is fixed with the side wall of joint 4 21 to be connected
Connect, the other end of bearing pin 2 22 is fixed with positive stop 2 24 (positive stop 2 24 is used for the displacement for limiting sliding block 2 23),
Described one end of connecting rod 4 26 is rotated by joint 5 25 and the other end of connecting rod 1 and be connected, connecting rod 4 26 by joint 6 27 and
The other end of connecting rod 3 20 rotates connection, and described one end of connecting rod 5 29 is rotated by joint 7 28 with connecting rod 4 26 to be connected, described
The one end of connecting rod 6 31 rotated and be connected by joint 8 30 and the other end of connecting rod 5 29, the sufficient change-over panel 34 of described wheel is rectangle
Plate, four angles end of the sufficient change-over panel 34 of described wheel is defined as angle end one, angle end two, angle end three and angle end four successively, and wheel foot turns
The angle end one for changing plate 34 is connected by joint 10 with the rotation of the other end of connecting rod 4 26, and the angle end two-way of the sufficient change-over panel 34 of wheel reaches a standard
Save 9 32 to be connected with the rotation of the other end of connecting rod 6 31, the fixing end of described linear actuator 35 passes through joint 11 and connecting rod
4 26 rotate connection, and the drive end of described linear actuator 35 is connected with joint 8 30, and described wheel 39 passes through joint ten
3 40 are connected with the rotation of angle end three of the sufficient change-over panel 34 of wheel, and described sufficient end 37 passes through joint 12 and the sufficient change-over panel 34 of wheel
Angle end four rotates connection；
The joint 4 21 of described left front leg 6 is arranged in the left front engaging lug 41 of leading portion body 1, the bearing pin of left front leg 6
One 12 are connected with the rotation of left front engaging lug 41 of leading portion body 1, and the joint 4 21 of described right front leg 9 is arranged on leading portion body 1
The right side before in engaging lug 42, the bearing pin 1 of right front leg 9 is connected with the rotation of engaging lug 42 before the right side of leading portion body 1；
The joint 4 21 of described left leg 7 is arranged in the left engaging lug 43 of stage casing body 2, the bearing pin of left leg 7
One 12 are connected with the rotation of left engaging lug 43 of stage casing body 2, and the joint 4 21 of leg 10 is arranged on stage casing body 2 in the described right side
It is right in engaging lug 44, it is right in the bearing pin 1 of leg 10 be connected with the rotation of engaging lug 44 in the right of stage casing body 2；
The joint 4 21 of described left back leg 8 is arranged in the left back engaging lug 45 of back segment body 3, the bearing pin of left back leg 8
One 12 are connected with the rotation of left back engaging lug 45 of back segment body 3, and the joint 4 21 of described right rear leg 11 is arranged on back segment body 3
It is right after in engaging lug 46, the bearing pin 1 of right rear leg 11 is connected with the rotation of engaging lug 46 after the right of back segment body 3.
The course of work is：The described driving of linear actuator 35 joint 8 30 is moved, so can make the sufficient change-over panel 34 of wheel around
Joint 10 is rotated, so as to switch the way of contact on robot leg and ground, realizes the switching of robot foot formula and wheel type movement.
When linear actuator 35 shortens, the sufficient change-over panel 34 of wheel is rotated up around joint 10, is made the sufficient contact of end 37 ground, is realized robot
Sufficient formula walking；When linear actuator 35 extends, the sufficient change-over panel 34 of wheel is rotated down around joint 10, makes wheel 39 contiguously
Face, realizes the wheeled traveling of robot.
The rotation in described joint 4 21 can change position of the main motion plane in leg with respect to body, so as to realize robot
Class mammal and class insect formula sufficient formula walking manner.The sufficient change-over panel 34 of the described driving wheel of linear actuator 35 is around pass
10 rotations are saved, make the sufficient contact of end 37 ground.Described sliding block 1 along bearing pin 1 slide up and down can drive leg its
The motion in its joint, realizes the vertical motion at sufficient end 37；Level of the described sliding block 2 23 along bearing pin 2 22 is slided and can driven
The motion in the other joints in leg, realizes the horizontal movement at sufficient end 37；Six described legs are arranged radially (shape as shown in Figure 1
State) when, the reach of body is produced by the rotation in joint 4 21, realizes the walking manner of class insect formula；Six described legs and machine
Body be arranged in parallel (state as shown in Figure 3) when, the reach of body is produced by the cooperative motion of sliding block 1 and sliding block 2 23, is realized
The walking manner of class mammal.
The sufficient change-over panel 34 of the described driving wheel of linear actuator 35 is rotated around joint 10, wheel 39 is contacted ground, together
When, six described legs are be arranged in parallel (state as shown in Figure 4) with body, and the wheeled straight line that robot can be achieved is advanced.It is described
Wheeled traveling process in steering mode have three kinds, one of three kinds of steering modes are differential steerings, by controlling six respectively
The rotating speed of wheel 39 of leg can realize differential steering, and the rotating speed of wheel 39 of described left front leg 6, left leg 7 and left back leg 8 is slow, institute
The right front leg 9 stated, it is right in leg 10, right rear leg 11 the rotating speed of wheel 39 it is fast, the counterclockwise motion of robot can be achieved；Described is left front
The rotating speed of wheel 39 of leg 6, left leg 7 and left back leg 8 is fast, described right front leg 9, it is right in leg 10,39 turns of the wheel of right rear leg 11
It is fast slow, the right turn movements of robot can be achieved.The two of three kinds of described steering modes are front-wheel steers, left front by coordinating control
The direction of leg 6 and right front leg 9 can realize front-wheel steer, and the joint 4 21 of left front leg 6 and right front leg 9 turns left achievable simultaneously
The joint 4 21 of the counterclockwise motion of robot, left front leg 6 and right front leg 9 is while the right-hand rotation fortune for the achievable robot that turns right
It is dynamic.The three of three kinds of described steering modes are pivot studs, by coordinating the direction of six legs of control, make the car of six leg ends
Wheel 39 is circumferentially set, and pivot stud can be achieved.
Although the present invention is disclosed above with preferred embodiment, but it is not limited to the present invention, art technology
Personnel can also do other in spirit of the invention and change, and be applied in NM field of the invention, certainly, these according to
The change done according to spirit of the invention should be all included in scope of the present invention.
Claims (1)
1. a kind of have the six of three sections of bodies to take turns sufficient formula mobile robots, including three-stage body, preceding body articulation joint（4）、
Body articulation joint afterwards（5）And six legs, described three-stage body is leading portion body respectively（1）, stage casing body（2）And back segment
Body（3）, six described legs are left front leg respectively（6）, left leg（7）, left back leg（8）, right front leg（9）, it is right in leg（10）、
Right rear leg（11）；It is characterized in that：Six described leg structures are identical, are the walking combined leg of wheel, described leading portion body（1）
Pass through preceding body articulation joint in the middle part of rear end（4）With stage casing body（2）Front center rotates connection, described stage casing body（2）
Pass through rear body articulation joint in the middle part of rear end（5）With back segment body（3）Front center rotates connection, described leading portion body（1）
Around preceding body articulation joint（4）Vertical axis left-right rotation, described back segment body（3）Around rear body articulation joint
（5）Vertical axis left-right rotation；Described left front leg（6）And right front leg（9）It is distributed in leading portion body（1）The left and right sides,
Left front leg（6）And right front leg（9）With leading portion body（1）Rotate connection；Described left leg（7）With leg in the right side（10）It is distributed in
Stage casing body（2）The left and right sides, left leg（7）With leg in the right side（10）With stage casing body（2）Rotate connection；Described is left back
Leg（8）And right rear leg（11）It is distributed in back segment body（3）The left and right sides, left back leg（8）And right rear leg（11）With back segment machine
Body（3）Rotate connection, described leading portion body（1）A left side is fixedly arranged at the front end with left front engaging lug（41）, described left front leg（6）With it is preceding
Section body（1）Left front engaging lug（41）Rotate connection, leading portion body（1）Right front ends are fixed with engaging lug before the right side（42）, it is described
Right front leg（9）With leading portion body（1）The right side before engaging lug（42）Rotate connection；
Described stage casing body（2）Left side wall is fixedly arranged in the middle of left engaging lug（43）, described left leg（7）With stage casing body
（2）Left engaging lug（43）Rotate connection, stage casing body（2）Right side wall is fixedly arranged in the middle of engaging lug in the right side（44）, it is described
Leg in the right side（10）With stage casing body（2）It is right in engaging lug（44）Rotate connection；
Described back segment body（3）Left back end be fixed with left back engaging lug（45）, described left back leg（8）With back segment body
（3）Left back engaging lug（45）Rotate connection, back segment body（3）Right rear end be fixed with engaging lug behind the right side（46）, the described right side
Back leg（11）With back segment body（3）It is right after engaging lug（46）Connection is rotated, six described leg structures are identical, including bearing pin
One（12）, sliding block one（13）, positive stop one（14）, joint one（15）, connecting rod one（16）, joint two（17）, connecting rod two（18）、
Joint three（19）, connecting rod three（20）, joint four（21）, bearing pin two（22）, sliding block two（23）, positive stop two（24）, joint five
（25）, connecting rod four（26）, joint six（27）, joint seven（28）, connecting rod five（29）, joint eight（30）, connecting rod six（31）, joint nine
（32）, joint ten（33）, the sufficient change-over panel of wheel（34）, linear actuator（35）, joint 11（36）, sufficient end（37）, joint 12
（38）, wheel（39）And joint 13（40）；
Described bearing pin one（12）It is vertically arranged, described joint four（21）It is rotatably installed in bearing pin one（12）On, described cunning
Block one（13）Slip cap is mounted in bearing pin one（12）On, described positive stop one（14）It is fixed on bearing pin one（12）Top, institute
The connecting rod one stated（16）One end passes through joint one（15）With sliding block one（13）Rotate connection, described connecting rod two（18）One end passes through
Joint two（17）With connecting rod one（16）Rotate connection, described connecting rod two（18）The other end, connecting rod three（20）One end and sliding block two
（23）Three passes through joint three（19）Rotate connection, described sliding block two（23）It is provided with through hole, sliding block two（23）Through hole slide
It is dynamic to be sleeved on bearing pin two（22）On, described bearing pin two（22）One end and joint four（21）Side wall is fixedly connected, bearing pin two（22）
The other end is fixed with positive stop two（24）, described connecting rod four（26）One end passes through joint five（25）With connecting rod one（16）It is another
End rotates connection, connecting rod four（26）Pass through joint six（27）With connecting rod three（20）The other end rotates connection, described connecting rod five
（29）One end passes through joint seven（28）With connecting rod four（26）Rotate connection, described connecting rod six（31）One end passes through joint eight（30）
With connecting rod five（29）The other end rotates connection, the sufficient change-over panel of described wheel（34）For rectangular slab, the sufficient change-over panel of described wheel（34）
Four angles end be defined as angle end one, angle end two, angle end three and angle end four successively, the sufficient change-over panel of wheel（34）Angle end one pass through close
Section ten（33）With connecting rod four（26）The other end rotates connection, the sufficient change-over panel of wheel（34）Angle end two-way cross joint nine（32）With connecting rod
Six（31）The other end rotates connection, described linear actuator（35）Fixing end pass through joint 11（36）With connecting rod four（26）
Rotate connection, described linear actuator（35）Drive end and joint eight（30）Connection, described wheel（39）Pass through joint
13（40）With the sufficient change-over panel of wheel（34）Angle end three rotate connection, described sufficient end（37）Pass through joint 12（38）With wheel foot
Change-over panel（34）Angle end four rotate connection；
Described left front leg（6）Joint four（21）It is arranged on leading portion body（1）Left front engaging lug（41）It is interior, left front leg（6）
Bearing pin one（12）With leading portion body（1）Left front engaging lug（41）Rotate connection, described right front leg（9）Joint four（21）
It is arranged on leading portion body（1）The right side before engaging lug（42）It is interior, right front leg（9）Bearing pin one（12）With leading portion body（1）It is right before
Engaging lug（42）Rotate connection；
Described left leg（7）Joint four（21）It is arranged on stage casing body（2）Left engaging lug（43）It is interior, left leg（7）
Bearing pin one（12）With stage casing body（2）Left engaging lug（43）Rotate leg in connection, the described right side（10）Joint four
（21）It is arranged on stage casing body（2）It is right in engaging lug（44）It is interior, leg in the right side（10）Bearing pin one（12）With stage casing body（2）'s
Engaging lug in the right side（44）Rotate connection；
Described left back leg（8）Joint four（21）It is arranged on back segment body（3）Left back engaging lug（45）It is interior, left back leg（8）
Bearing pin one（12）With back segment body（3）Left back engaging lug（45）Rotate connection, described right rear leg（11）Joint four
（21）It is arranged on back segment body（3）It is right after engaging lug（46）It is interior, right rear leg（11）Bearing pin one（12）With back segment body（3）'s
Engaging lug behind the right side（46）Rotate connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610024376.5A CN105667622B (en) | 2016-01-14 | 2016-01-14 | It is a kind of to have the six of three sections of bodies to take turns sufficient formula mobile robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610024376.5A CN105667622B (en) | 2016-01-14 | 2016-01-14 | It is a kind of to have the six of three sections of bodies to take turns sufficient formula mobile robots |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105667622A CN105667622A (en) | 2016-06-15 |
| CN105667622B true CN105667622B (en) | 2017-09-01 |
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| CN103144693A (en) * | 2013-03-26 | 2013-06-12 | 上海大学 | Leg mechanism for four-footed bionic robot |
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| CN104858864B (en) * | 2015-05-12 | 2017-01-11 | 上海大学 | Two-wheel module series-connection swing arm sliding robot |
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