CN106976492B - Wheel-foot combined type bionic six-foot robot leg mechanism - Google Patents
Wheel-foot combined type bionic six-foot robot leg mechanism Download PDFInfo
- Publication number
- CN106976492B CN106976492B CN201710335198.2A CN201710335198A CN106976492B CN 106976492 B CN106976492 B CN 106976492B CN 201710335198 A CN201710335198 A CN 201710335198A CN 106976492 B CN106976492 B CN 106976492B
- Authority
- CN
- China
- Prior art keywords
- front fork
- electric push
- wheel
- push rod
- foot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention provides a leg mechanism of a wheel-foot combined bionic hexapod robot, which consists of a robot body, a driving unit and a wheel-foot combined walking mechanism; the organism is the right angle, and drive unit's electric push rod 10 and No. two electric push rods 16 are fixed respectively in the horizontal and vertical of organism, and the other control assembly of drive unit install inside the organism to with electric push rod 10 and No. two electric push rod 16 control connection, sufficient compound running gear of wheel comprises articulated parallelogram mechanism, and connect the execution end at two sets of electric push rods. The wheel-foot composite walking mechanism designed by the invention adopts a novel combination of a foot type mechanism and a wheel type mechanism, and realizes the conversion between the wheel type and the foot type through the folding and the extension of a leg mechanism; on the premise of meeting the functional requirements, the mutual independence of the foot type structure and the wheel type structure is realized, and the respective advantages are kept without mutual influence.
Description
Technical Field
The invention belongs to the technical field of hexapod robots, and particularly relates to a leg mechanism of a wheel-foot combined bionic hexapod robot.
Background
With the further exploration of the nature by human beings, the requirements of robots with complex environment autonomous movement capability in various application fields are gradually increased. A hexapod robot which is suitable for various complex environments and flexible and mobile is particularly needed. Among the prior art scheme, the compound shank mechanism of wheel sufficient of six-legged robot mostly adopts the mode of fixing the drive wheel at the foot end. Although the scheme can enable the whole machine to have two driving modes, under the condition of foot type walking, the attachment area of the driving wheel and the ground is small, and the stability is poor; meanwhile, under the condition of wheeled walking, the rigidity of the leg mechanism is poor. Therefore, the wheel-foot composite leg mechanism with strong shape adaptability, high working efficiency and high rigidity of the leg mechanism is urgently needed.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a wheel-foot combined bionic hexapod robot leg mechanism, which realizes mutual independence and transformation of a foot wheel type structure, increases the rigidity of the leg mechanism and improves the working efficiency of the leg mechanism, and the technical scheme of the invention is as follows by combining the attached drawings of the specification:
a wheel-foot composite bionic hexapod robot leg mechanism comprises a body, a driving unit and a wheel-foot composite walking mechanism;
the machine body is in a right angle, a first electric push rod 10 and a second electric push rod 16 of the driving unit are respectively fixed on the machine body in the horizontal transverse direction and the vertical longitudinal direction, other control components of the driving unit are installed inside the machine body and are in control connection with the first electric push rod 10 and the second electric push rod 16, the wheel-foot composite walking mechanism is composed of a hinged parallelogram structure and is connected to the execution ends of the two groups of electric push rods, wheel-foot composite walking mechanism achieves wheel-type walking or foot-type walking under the driving of the two groups of electric push rods, and the two mechanisms do not affect each other under the independent working condition.
A wheel-foot combined bionic hexapod robot leg mechanism is characterized in that a driving unit consists of a single chip microcomputer, a transverse motor driver, a longitudinal motor driver, a first electric push rod 10, a second electric push rod 16, a transverse displacement sensor and a longitudinal displacement sensor;
horizontal motor drive and vertical motor drive respectively with singlechip signal connection, horizontal motor drive and vertical motor drive respectively with an electric push rod 10 and No. two electric push rod 16 control connection, horizontal displacement sensor and vertical displacement sensor install respectively at the execution tip of an electric push rod 10 and No. two electric push rod 16, and horizontal displacement sensor and vertical displacement sensor all link to each other with the singlechip signal, feed back the position signal who gathers to the singlechip.
A wheel-foot composite bionic six-foot robot leg mechanism is characterized in that guide rails 12 are installed on a machine body in the horizontal transverse direction and the vertical longitudinal direction, a first electric push rod 10 is fixed on the horizontal transverse guide rails, and an execution end of the first electric push rod is hinged to a first front fork 3 of a wheel-foot composite walking mechanism to drive the first front fork 3 to move on the guide rails 12 in the horizontal transverse direction; the second electric push rod 16 is fixed on a vertical longitudinal guide rail of the machine body, and the execution end of the second electric push rod is fixedly connected with the second front fork 15 of the wheel-foot composite walking mechanism to drive the second front fork 15 to vertically move on the guide rail 12.
A wheel-foot combined bionic hexapod robot leg mechanism is characterized in that an execution end of a first electric push rod 10 is fixedly connected with a driving key 1, and the driving key 1 is connected in a horizontal transverse guide rail in a sliding mode; the first front fork 3 is vertically and longitudinally arranged, and the driving key 1 is hinged with the top end of the first front fork 3; no. two front forks 15 level is horizontal to be set up, and the top of No. two front forks 15 is fixed in vertical longitudinal rail, guarantees to guarantee to slide, and the top of No. two front forks 15 with No. two electric push rod 16's execution end links firmly.
A wheel-foot composite bionic hexapod robot leg mechanism is characterized in that the wheel-foot composite walking mechanism consists of a first front fork 3, a first connecting sheet 13, a second front fork 15, a connecting rod 5, a second connecting sheet 17, a connecting plate 8, a first supporting rod 20, a foot plate 22, a second supporting rod 24 and a motor wheel 6;
the first front fork 3 and the second front fork 15 are arranged in a vertical crossed mode, and two ends of the first connecting piece 13 are hinged to the middle portions of the first front fork 3 and the second front fork 15 respectively;
the connecting plate 8 is arranged below the second front fork 15, and the connecting plate 8 is in an inverted triangle shape;
one end above the connecting plate 8 is hinged with the tail end of the second front fork 15 through the connecting rod 5, the other end of the connecting plate is hinged with the middle part of the second front fork 15 through the second connecting piece 17, and the second front fork 15, the connecting rod 5, the connecting plate 8 and the second connecting piece 17 are sequentially hinged to form a first parallelogram mechanism;
the motor wheel 6 is assembled at the tail end of the first front fork 3, the first connecting piece 13 and the second connecting piece 17 are hinged to the middle of the second front fork 15, the other end of the second connecting piece 17 is hinged to the middle of the first supporting rod 20, the tail end of the first supporting rod 20 is hinged to the tail end of the first front fork 3, and the first front fork 3, the first supporting rod 20, the second connecting piece 17 and the first connecting piece 13 are sequentially hinged to form a second parallelogram mechanism;
the sole 22 sets up in the below of motor wheel 6, the one end of sole 22 is articulated with connecting plate 8 top one end, 3 tail ends of front fork No. one in proper order through first bracing piece 20, the other end of sole 22 is articulated with connecting plate 8 lower extreme through second bracing piece 24, sole 22, first bracing piece 20, connecting plate 8 and second bracing piece 24 articulate formation third parallelogram mechanism in proper order.
Compared with the prior art, the invention has the beneficial effects that:
1. the leg mechanism of the wheel-foot combined bionic hexapod robot adopts the novel combination of the foot type mechanism and the wheel type mechanism, so that the mutual independence of the foot type wheel type structures is realized, the respective advantages are kept without mutual influence, and the control system and the whole structure are simplified;
2. the leg mechanism of the wheel-foot combined type bionic hexapod robot can not only walk on a complex road surface to work, but also quickly walk on a flat road surface, so that the working efficiency is improved.
3. The leg mechanism of the wheel-foot combined type bionic hexapod robot adopts a plurality of parallelogram mechanisms, and is high in rigidity and good in support property.
Drawings
FIG. 1 is a schematic perspective view of a leg mechanism of a wheel-foot combined bionic hexapod robot according to the present invention;
FIG. 2 is a schematic motion diagram of a leg mechanism of a wheel-foot combined type bionic hexapod robot according to the invention;
FIG. 3 is a schematic block diagram of a control system in a leg mechanism of a wheel-foot composite bionic hexapod robot according to the invention;
in the figure:
1. a driving key, 2, a first bolt, 3, a first front fork, 4, a second bolt,
5. a connecting rod, 6 motor wheels, 7 bolts, 8 connecting plates,
9. a fourth bolt, 10 a first electric push rod, 11 a first screw, 12 a slide rail,
13. a first connecting piece, 14, a second screw, 15, a second front fork, 16, a second electric push rod,
17. a second connecting piece, 18 a fifth bolt, 19 a sixth bolt, 20 a first supporting rod,
21. no. seven bolt, 22 the sole, 23 the No. eight bolt, 24 the No. two bracing pieces.
Detailed Description
In order to further illustrate the technical scheme of the invention, the specific implementation mode of the invention is as follows by combining the drawings in the specification:
the invention provides a leg mechanism of a wheel-foot combined bionic hexapod robot, which consists of a robot body, a driving unit and a wheel-foot combined walking mechanism; the machine body is of a right-angle structure, so that the wheel-foot conversion processes of the wheel-foot composite walking mechanism arranged on the inner side of the machine body are not interfered with each other, the driving unit is arranged in the machine body and is in control connection with the electric push rod on the machine body, the wheel-foot composite walking mechanism is connected to the execution end of the electric push rod on the machine body, and the wheel-foot composite walking mechanism is used for controlling the push and pull of the electric push rod through the driving unit, so that the wheel-foot type walking, the foot-type walking and the conversion among the wheel-foot types are realized.
Referring to fig. 1 and 3, the driving unit includes a single chip, a transverse motor driver, a longitudinal motor driver, a first electric push rod 10, a second electric push rod 16, a transverse displacement sensor, and a longitudinal displacement sensor. The single-chip microcomputer serves as a single-foot motion processing unit and is in signal connection with a complete machine communication network through a CAN bus to receive and transmit real-time data of the complete machine; the signal input ends of the transverse motor driver and the longitudinal motor driver are respectively connected with the signal output end of the single chip microcomputer to receive a control instruction of the single chip microcomputer, the signal output end of the transverse motor driver is connected with the signal input end of the first electric push rod 10, and the first electric push rod 10 is controlled by the transverse motor driver to stretch horizontally and transversely; similarly, the signal output end of the longitudinal motor driver is connected with the signal input end of the second electric push rod 16, and the second electric push rod 16 is controlled by the longitudinal motor driver to extend and retract vertically and longitudinally. One end of the transverse displacement sensor is fixed at the execution end part of the first electric push rod 10; the other end is fixed on the frame, one end of the longitudinal displacement sensor is fixed on the executing end part of the second electric push rod 16, the other end of the longitudinal displacement sensor is fixed on the frame, the transverse displacement sensor and the longitudinal displacement sensor are in signal connection with the single chip microcomputer, position signal data of the executing end are collected in real time and fed back to the single chip microcomputer, and therefore closed-loop control over the executing end is achieved.
Referring to fig. 1, the machine body is of a right-angle structure, guide rails 12 are installed in the horizontal direction and the vertical direction of the inner side of the machine body, a shell of a first electric push rod 10 is welded on the rear side of the guide rails in the horizontal direction of the machine body, and a push-pull execution end of the first electric push rod is connected with a first front fork 3 of a wheel foot composite walking mechanism to drive the first front fork 3 to move on the guide rails 12 in the horizontal direction; the shell of the second electric push rod 16 is welded below the guide rail in the vertical direction of the machine body, and the second electric push rod pushes and pulls the second front fork 15 of the actuating end connecting wheel foot composite travelling mechanism to drive the second front fork 15 to move on the guide rail 12 in the vertical direction.
Referring to fig. 1, the wheel-foot composite walking mechanism is composed of a first front fork 3, a first connecting piece 13, a second front fork 15, a connecting rod 5, a second connecting piece 17, a connecting plate 8, a first supporting rod 20, a foot plate 22, a second supporting rod 24 and a motor wheel 6. The executing end of the first electric push rod 10 is fixedly connected with a driving key 1 in a welding mode, and the driving key 1 is connected in a horizontal transverse guide rail in a sliding mode; the first front fork 3 is vertically and longitudinally arranged, and the driving key 1 is assembled and connected with the top end of the first front fork 3 through a first bolt 2, so that a revolute pair is formed between the driving key 1 and the first front fork 3; the second front fork 15 is horizontally and transversely arranged, the top end of the second front fork 15 is connected in the vertical longitudinal guide rail in a sliding mode, and the top end of the second front fork 15 is fixedly connected with the execution end of the second push rod 16 in a welding mode.
Referring to fig. 1, the first front fork 3 and the second front fork 15 are perpendicularly crossed, and the yoke of the second front fork 15 is located outside the yoke of the first front fork 3. The first connecting piece 13 is provided with two fork shoulders symmetrically connected to the middle parts of the first front fork 3 and the second front fork 15; one end of the first connecting piece 13 on one side is hinged with the middle fork shoulder of the first front fork 3 through a first screw 11, and the other end is hinged with the middle fork shoulder of the second front fork 15 on the same side through a second screw 14; symmetrically, one end of the first connecting piece 13 on the other side is hinged with the middle fork shoulder of the first front fork 3 through a first screw 11, and the other end is hinged with the middle fork shoulder of the second front fork 15 on the same side through a second screw 14. A revolute pair is formed among the first front fork 3, the first connecting piece 13 and the second front fork 15.
Referring to fig. 1, the two connecting plates 8 are symmetrically arranged below the second front fork 15 corresponding to the two fork arms of the second front fork 15; the connecting plate 8 is of an inverted triangular structure, the two ends above the connecting plate 8 on one side of the second front fork 15 are hinged with the tail end and the middle fork shoulder of the fork arm of the second front fork 15 through a connecting rod 5 and a second connecting piece 17 respectively to form a parallelogram structure capable of swinging, specifically, the top end of the connecting rod 5 is in assembly connection with the tail end of the fork arm of the second front fork 15 through a second bolt 4 to form a revolute pair, and the bottom end of the connecting rod 5 is in assembly connection with the connecting plate 8 through a fourth bolt 9 to form a revolute pair; the second connecting piece 17 is parallel to the connecting rod 5, the top end of the second connecting piece 17 is in assembly connection with the middle fork shoulder of the second front fork 15 through a second screw to form a revolute pair, and the bottom end of the second connecting piece 17 is in assembly connection with the connecting plate 8 through a fifth bolt 18 to form a revolute pair; the second front fork 15, the connecting rod 5, the connecting plate 8 and the second connecting piece 17 are sequentially hinged to form a first parallelogram mechanism capable of swinging. The connection relationship between the connecting plate 8 at the other side of the second front fork 15 and the second front fork 15 is the same as that described above, and the description thereof is omitted.
Referring to fig. 1, the motor wheel 6 is arranged between two forks at the tail end of the first fork 3, and the motor wheel 6 is assembled between the forks at the tail end of the first fork 3 at two sides through a third bolt 7 to form a wheel type traveling mechanism.
Referring to fig. 1, the first connecting piece 13 and the second connecting piece 17 are hinged to the middle of the second front fork 15 through a second screw 14, the other end of the second connecting piece 17 is hinged to the middle of the first supporting rod 20 through a fifth bolt 18, the tail end of the first supporting rod 20 is hinged to the tail end of the first front fork 3 through a third bolt 7, and the first front fork 3, the first supporting rod 20, the second connecting piece 17 and the first connecting piece 13 are sequentially hinged to form a second parallelogram mechanism capable of swinging;
referring to fig. 1, two foot plates 22 are symmetrically arranged at two sides below the motor wheel 6 corresponding to two fork arms of the second front fork 15; the foot plate 22 is located on one side of the second front fork 15, one end of the foot plate 22 is sequentially hinged to the upper end of the connecting plate 8 on the same side and the tail end fork arm of the first front fork 3 through the first supporting rod 20, the other end of the foot plate 22 is hinged to the lower end of the connecting plate 8 through the second supporting rod 24, and the foot plate 22, the first supporting rod 20, the connecting plate 8 and the second supporting rod 24 are sequentially hinged to form a third parallelogram mechanism capable of swinging. Specifically, the top end of the first support rod 20 is assembled and connected with the lower end of the connecting plate 8 on the same side through a sixth bolt 19 to form a revolute pair, and the top end of the first support rod 20 is assembled and connected with one end of a foot plate 22 through an eighth bolt 23 to form a revolute pair; the bottom end of the second support rod 24 is in assembly connection with the other end of the foot plate 22 through a seventh bolt 21 to form a revolute pair, the top end of the second support rod 24 is in assembly connection with the tail end of the first fork 3 and the motor wheel 6 on the same side through a third bolt 7 to form a revolute pair, and the middle part of the second support rod 24 is in assembly connection with the upper end of the connecting plate 8 through a fifth bolt 18 to form a revolute pair; the mounting and connecting manner of the foot plate 22 at the other side of the second front fork 15 is the same as that described above, and the description thereof is omitted.
The structure of the wheel-foot composite walking mechanism is as described above, and the motion diagram of the wheel-foot composite walking mechanism is shown in fig. 2.
The whole mechanism is made of aluminum alloy materials, so that the mechanism is light and has high strength.
The working process of the leg mechanism of the wheel-foot combined type bionic hexapod robot is as follows:
when the leg mechanism adopts a foot type walking mode, under the control and driving of the driving unit, the first electric push rod 10 controls the driving key 1 to horizontally and transversely move, the first front fork 3 is driven by the driving key 1 to horizontally and transversely slide along the guide rail 12 of the machine body, and the second electric push rod 16 controls the second front fork 15 to vertically and longitudinally slide along the guide rail 12 of the machine body; the first front fork 3 and the second front fork 15 perform compound motion, and when the first front fork 3 moves backwards and the second front fork 15 moves downwards, the foot plate 22 is driven to move downwards and forwards through the parallelogram structure of the mechanism; when the first front fork 3 moves forwards and the second front fork 15 moves upwards, the foot plate 22 is driven to move upwards and backwards through the parallelogram structure of the mechanism; the leg mechanism is repeatedly operated in such a way, so that the foot type walking of the leg mechanism is realized;
when the leg mechanism adopts a wheel type walking mode, under the control and driving of a driving unit, a first electric push rod 10 controls a driving key 1 to horizontally and transversely move, a first front fork 3 horizontally and transversely slides along a guide rail 12 of a machine body under the driving of the driving key 1, and a second electric push rod 16 controls a second front fork 15 to vertically and longitudinally slide along the guide rail 12 of the machine body; when the first front fork 3 moves to the forefront and the second front fork 15 moves to the topmost, the foot plate 22 is completely lifted backwards under the driving of the parallelogram structure, the motor wheel 6 is in contact with the ground, the motor wheel 6 is driven to rotate by the motor, and the wheel type walking of the leg mechanism is realized.
The whole mechanism is made of aluminum alloy materials, so that the mechanism is light and has high strength. The first electric push rod 10 and the second electric push rod 16 are controlled by a single chip microcomputer so as to be capable of extending and contracting.
In the wheel-foot conversion process of the leg mechanism, when the leg mechanism walks in a foot mode, the motor wheel 6 is suspended in the air and is not contacted with the ground; while in wheeled walking, the foot plate 22 is fully raised out of contact with the ground.
Claims (1)
1. The utility model provides a bionical hexapod robot shank mechanism of sufficient combined type of wheel which characterized in that:
consists of a machine body, a driving unit and a wheel-foot composite walking mechanism;
the machine body is in a right angle, a first electric push rod (10) and a second electric push rod (16) of the driving unit are respectively fixed in the horizontal transverse direction and the vertical longitudinal direction of the machine body, other control components of the driving unit are installed in the machine body and are in control connection with the first electric push rod (10) and the second electric push rod (16), the wheel-foot composite walking mechanism consists of a hinged parallelogram mechanism and is connected to the execution ends of the two groups of electric push rods, and under the driving of the two groups of electric push rods, the wheel-foot composite walking mechanism realizes wheel-type walking or foot-type walking, and the conversion processes of the two are not interfered with each other;
the driving unit consists of a single chip microcomputer, a transverse motor driver, a longitudinal motor driver, a first electric push rod (10), a second electric push rod (16), a transverse displacement sensor and a longitudinal displacement sensor;
the transverse motor driver and the longitudinal motor driver are respectively in signal connection with the single chip microcomputer, the transverse motor driver and the longitudinal motor driver are respectively in control connection with the first electric push rod (10) and the second electric push rod (16), the transverse displacement sensor and the longitudinal displacement sensor are respectively installed at the execution end parts of the first electric push rod (10) and the second electric push rod (16), the transverse displacement sensor and the longitudinal displacement sensor are both in signal connection with the single chip microcomputer, and collected position signals are fed back to the single chip microcomputer;
the machine body is horizontally, transversely and vertically provided with guide rails (12), a first electric push rod (10) is fixed on the horizontal transverse guide rails, and an execution end of the first electric push rod is hinged to a first front fork (3) of the wheel-foot composite walking mechanism to drive the first front fork (3) to horizontally and transversely move on the guide rails (12); the second electric push rod (16) is fixed on a vertical longitudinal guide rail of the machine body, and the execution end of the second electric push rod is fixedly connected with a second front fork (15) of the wheel-foot composite walking mechanism to drive the second front fork (15) to vertically move on the guide rail (12);
the execution end of the first electric push rod (10) is fixedly connected with a driving key (1), and the driving key (1) is connected in a horizontal transverse guide rail in a sliding manner; the first front fork (3) is vertically and longitudinally arranged, and the driving key (1) is hinged with the top end of the first front fork (3); the second front fork (15) is horizontally and transversely arranged, the top end of the second front fork (15) is connected in the vertical longitudinal guide rail in a sliding manner, and the top end of the second front fork (15) is fixedly connected with the execution end of the second electric push rod (16);
the wheel foot composite walking mechanism consists of a first front fork (3), a first connecting piece (13), a second front fork (15), a connecting rod (5), a second connecting piece (17), a connecting plate (8), a first supporting rod (20), a foot plate (22), a second supporting rod (24) and a motor wheel (6);
the first front fork (3) and the second front fork (15) are arranged in a vertical crossing mode, and two ends of the first connecting piece (13) are hinged to the middle portions of the first front fork (3) and the second front fork (15) respectively;
the connecting plate (8) is arranged below the second front fork (15), and the connecting plate (8) is in an inverted triangle shape;
one end above the connecting plate (8) is hinged with the tail end of the second front fork (15) through the connecting rod (5), the other end of the connecting plate is hinged with the middle of the second front fork (15) through the second connecting piece (17), and the second front fork (15), the connecting rod (5), the connecting plate (8) and the second connecting piece (17) are sequentially hinged to form a first parallelogram mechanism;
the motor wheel (6) is assembled at the tail end of the first front fork (3), the first connecting piece (13) and the second connecting piece (17) are hinged to the middle of the second front fork (15), the other end of the second connecting piece (17) is hinged to the middle of the first supporting rod (20), the tail end of the first supporting rod (20) is hinged to the tail end of the first front fork (3), and the first front fork (3), the first supporting rod (20), the second connecting piece (17) and the first connecting piece (13) are sequentially hinged to form a second parallelogram mechanism;
baseboard (22) sets up the below at motor wheel (6), the one end of baseboard (22) is articulated with connecting plate (8) top one end, front fork (3) tail end in proper order through first bracing piece (20), the other end of baseboard (22) is articulated with connecting plate (8) lower extreme through second bracing piece (24), baseboard (22), first bracing piece (20), connecting plate (8) and second bracing piece (24) are articulated in proper order and form the third parallelogram mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710335198.2A CN106976492B (en) | 2017-05-12 | 2017-05-12 | Wheel-foot combined type bionic six-foot robot leg mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710335198.2A CN106976492B (en) | 2017-05-12 | 2017-05-12 | Wheel-foot combined type bionic six-foot robot leg mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106976492A CN106976492A (en) | 2017-07-25 |
| CN106976492B true CN106976492B (en) | 2023-03-21 |
Family
ID=59342752
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710335198.2A Active CN106976492B (en) | 2017-05-12 | 2017-05-12 | Wheel-foot combined type bionic six-foot robot leg mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106976492B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108528563B (en) * | 2018-05-14 | 2023-11-03 | 南京大学 | Six-foot robot |
| CN110576919A (en) * | 2019-10-23 | 2019-12-17 | 东北林业大学 | Four-wheel type wheel-leg robot |
| CN113562093A (en) * | 2021-08-09 | 2021-10-29 | 北京理工大学 | Wheel-foot robot with balancing device |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3938326B2 (en) * | 2002-05-10 | 2007-06-27 | 川田工業株式会社 | Additional support structure for robots |
| CN101259614A (en) * | 2008-04-11 | 2008-09-10 | 上海中为智能机器人有限公司 | Portable multiple freedom small-sized explosive process intelligent mobile robot system |
| CN102490911A (en) * | 2011-12-16 | 2012-06-13 | 大连理工大学 | Lunar surface walking device for lunar rover |
| CN104443104B (en) * | 2014-12-10 | 2017-01-25 | 山东大学 | Foot wheel type robot leg structure and foot wheel type robot with same |
| EP3250448B1 (en) * | 2015-02-01 | 2020-08-05 | Genesis Robotics and Motion Technologies Canada, ULC | Mobile platform |
| CN206766179U (en) * | 2017-05-12 | 2017-12-19 | 吉林大学 | One kind takes turns walking combined bionical Hexapod Robot leg mechanism |
-
2017
- 2017-05-12 CN CN201710335198.2A patent/CN106976492B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106976492A (en) | 2017-07-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107554637B (en) | Six-foot obstacle crossing robot | |
| CN106976492B (en) | Wheel-foot combined type bionic six-foot robot leg mechanism | |
| CN204801920U (en) | 3D prints six sufficient bio -robots | |
| CN209454890U (en) | A kind of wheeled creeping-type free switching hexapod robot | |
| CN201231791Y (en) | Multi-joint type crawler mobile robot | |
| CN110843952B (en) | Biped robot capable of wheeled movement and working method thereof | |
| CN102431604A (en) | Humanoid robot with function of interchanging double-foot walking with wheeled moving | |
| CN103171645B (en) | Hexapod robot capable of travelling in rolling manner | |
| CN110962957A (en) | Double-leg double-wheel compound motion robot | |
| CN104176146B (en) | A kind of finger support type quadruped robot with climbing crawl and data mining duty | |
| CN102649450A (en) | Design of wheel leg type moving foot of multi-joint chain link type robot | |
| CN112519915A (en) | Cooperative interaction robot based on wheel-foot type hybrid movement | |
| CN104354784B (en) | A kind of biped robot of quick walk | |
| CN203172754U (en) | Rollable six-foot robot | |
| CN103373404A (en) | Wheeled-tracked-legged composite type mobile robot | |
| CN214267809U (en) | Shape shifting robot | |
| CN214189855U (en) | Wheel-foot hybrid robot | |
| CN107310648B (en) | Deformation robot capable of realizing wheel and track replacement | |
| CN202806930U (en) | Wheel - track - leg composite mobile robot | |
| CN211491511U (en) | Foldable four-wheel leg type obstacle crossing robot | |
| CN106184457B (en) | A kind of hybrid walking mechanism of wheel leg and method | |
| CN206766179U (en) | One kind takes turns walking combined bionical Hexapod Robot leg mechanism | |
| CN205131423U (en) | 3D prints eight sufficient bionic robot | |
| CN214189854U (en) | Cooperative interaction robot based on wheel-foot type hybrid movement | |
| CN214189856U (en) | Collaborative interactive robot based on wheel-foot type hybrid movement |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |