CN109018055A - Six wheel legged type robots - Google Patents
Six wheel legged type robots Download PDFInfo
- Publication number
- CN109018055A CN109018055A CN201810775970.7A CN201810775970A CN109018055A CN 109018055 A CN109018055 A CN 109018055A CN 201810775970 A CN201810775970 A CN 201810775970A CN 109018055 A CN109018055 A CN 109018055A
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- China
- Prior art keywords
- steering engine
- frame body
- arm
- mechanical arm
- solar panel
- 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.)
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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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses one kind six to take turns legged type robot, including frame body, the sufficient formula movement branched chain of the wheel being set in frame body, the device of solar generating that is set in the frame body and can switch between folded state and unfolded state, mechanical arm and the driving device for being set in frame body and being moved for controlling mechanical arm along first direction.Six wheels legged type robots of the invention, by the sufficient formula movement branched chain of the identical wheel of 6 structures, the robot that solves the problems, such as to be movably walking cannot take into account structure simply, flexibility and rapidity, widened the application of this robot, realized high efficiency and practicability；It ensure that robot can voluntarily obtain the energy under specific condition by solar-powered collapsible power generator, occupy little space that there is very strong practicability.
Description
Technical field
The invention belongs to robotic technology fields, specifically, the present invention relates to one kind six to take turns legged type robot.
Background technique
The walking mechanism of existing robot can be substantially divided into wheeled, leg formula and crawler type etc. by move mode.However all
Respectively there is drawback, wheeled construction speed is fast, and control is flexible, but obstacle climbing ability is limited；Leg formula Structure adaptation ability is strong, but controls multiple
It is miscellaneous, and it is unsuitable for the occasion high to flexibility, rapidity requirement；Track structure weight is big, and energy consumption is high.
Summary of the invention
The present invention is directed at least solve one of the technical problems existing in the prior art.For this purpose, the present invention provides one kind six
Take turns legged type robot.
To achieve the goals above, the technical scheme adopted by the invention is as follows: six wheel legged type robots, including frame body,
The wheel foot formula movement branched chain that is set in frame body is set in the frame body and can be in folded state and unfolded state
Between switch over device of solar generating, mechanical arm and be set in frame body and for controlling mechanical arm along the
One direction carries out mobile driving device.
The device of solar generating includes the first solar panel, the with the rotation connection of the first solar panel
It two solar panels and is set on the first solar panel and for controlling what the second solar panel was rotated
Second steering engine.
First solar panel and the frame body are rotatablely connected, the rotation center of the first solar panel
Line is parallel with the rotation centerline of the second solar panel and the rotation centerline and first party of the first solar panel
To perpendicular.
The device of solar generating further includes being set in the frame body and for controlling first solar energy
The first steering engine that solar panel is rotated.
The device of solar generating is arranged two, and two device of solar generating are set to the opposite of the frame body
Both ends.
The driving device include be set in the frame body and for play the guiding role sliding rail, be set to sliding rail
On support, be rotatably arranged on support lead screw, be sheathed on lead screw and with sliding rail be the nut seat being slidably connected and
The driving motor connecting with lead screw, nut seat and lead screw constitute worm drive, and the mechanical arm is set on nut seat, lead screw
Axis it is parallel with the first direction.
The mechanical arm include the first arm steering engine being connect with the driving device, connect with the first arm steering engine and
Rotatable first mechanical arm, the second arm steering engine being set in first mechanical arm connect and can revolve with the second arm steering engine
The second mechanical arm that turns, the third arm steering engine being set in second mechanical arm are connect with third arm steering engine and rotatable
It third mechanical arm, the 4th arm steering engine being set on third mechanical arm and is connect with the 4th arm steering engine and for picking up object
End effector, end effector is rotatable.
The end effector includes the actuator pedestal connecting with the 4th arm steering engine, is rotatably arranged on and holds
Two drive rods on row device pedestal, with the clamping jaw of drive rod rotation connection, the connecting rod being rotatablely connected with clamping jaw and drive rod with
And the 5th arm steering engine for being set on actuator pedestal and being connect with one of drive rod.
The sufficient formula movement branched chain of the wheel is arranged six, and taking turns sufficient formula movement branched chain includes first connect with the frame body
Foot steering engine, connect with the first foot steering engine and rotatable first leg, be set in first leg the second foot steering engine,
It connect and rotatable second supporting leg, the foot motor that is set on the second supporting leg and connects with foot motor with the second foot steering engine
It connects and rotatable driving wheel.
The six wheels legged type robot further includes carrying platform and subtracts with what carrying platform and the frame body were connect
Shake device, and damper setting is multiple.
Six wheel legged type robots of the invention solve and are movably walking by the sufficient formula movement branched chain of the identical wheel of 6 structures
Robot cannot take into account the problem of simple structure, flexibility and rapidity, widened the application of this robot, realized height
Effect property and practicability；It ensure that robot can voluntarily obtain energy under specific condition by solar-powered collapsible power generator
Source occupies little space, and has very strong practicability；In addition, the six wheels legged type robot is compact-sized, device design rationally may be used
It leans on, it is simple to operate.
Detailed description of the invention
This specification includes the following drawings, and shown content is respectively:
Fig. 1 is the structural schematic diagram that the present invention six takes turns legged type robot；
Fig. 2 is the structural schematic diagram of device of solar generating；
Fig. 3 is the structural schematic diagram of mechanical arm；
Fig. 4 is the structural schematic diagram for taking turns sufficient formula movement branched chain；
Fig. 5 is the connection schematic diagram of carrying platform and damper；
In the figure, it is marked as 1, frame body；2, mechanical arm；201, the first arm steering engine；202, first mechanical arm；203,
Second arm steering engine；204, second mechanical arm；205, third arm steering engine；206, third mechanical arm；207, the 4th arm steering engine；
208, actuator pedestal；209, drive rod；210, clamping jaw；211, connecting rod；212, the 5th arm steering engine；3, sufficient formula movement branch is taken turns
Chain；301, the first foot steering engine；302, first leg；303, the second foot steering engine；304, the second supporting leg；305, foot motor；
306, driving wheel；4, device of solar generating；401, the first solar panel；402, the second solar panel；403,
One steering engine；404, the second steering engine；5, carrying platform；6, damper；7, driving motor；8, lead screw；9, sliding rail；10, support；11,
Nut seat.
Specific embodiment
Below against attached drawing, by the description of the embodiment, making to a specific embodiment of the invention further details of
Explanation, it is therefore an objective to those skilled in the art be helped to have more complete, accurate and deep reason to design of the invention, technical solution
Solution, and facilitate its implementation.
As shown in Figures 1 to 5, the present invention provides one kind six to take turns legged type robot, including frame body 1, is set to vehicle
Wheel foot formula movement branched chain 3 on frame ontology 1 is set in frame body 1 and can carry out between folded state and unfolded state
It the device of solar generating 4 of switching, the mechanical arm 2 for picking up object and is set in frame body 1 and for controlling machine
The driving device that tool arm 2 is moved along first direction.
Specifically, as depicted in figs. 1 and 2, for generating electricity, frame body 1 is equipped with for depositing device of solar generating 4
The battery (not shown) of storage energy, device of solar generating 4 are to be electrically connected with battery, and battery is to take turns sufficient formula to move
Branch 3, driving device and mechanical arm 2 provide electric energy.When device of solar generating 4 is in unfolded state, effective work is increased
Make area, improve generated output and solar energy utilization ratio, the normal work of robot has been effectively ensured.Device of solar generating
4 be in folded state when, occupy little space, it is compact-sized, robot overall volume is reduced, convenient for the walking of robot.
As depicted in figs. 1 and 2, device of solar generating 4 includes the first solar panel 401 and the first solar-electricity
Second solar panel 402 of the rotation connection of pond plate 401 is set in frame body 1 and for controlling the first solar-electricity
The first steering engine 403 and be set on the first solar panel 401 and be used to control the second solar energy that pond plate 401 is rotated
The second steering engine 404 that solar panel 402 is rotated.First solar panel 401 is rotatablely connected with frame body 1, and first too
It is positive can solar panel 401 rotation centerline is parallel with the rotation centerline of the second solar panel 402 and the first solar energy
The rotation centerline of solar panel 401 and first direction are perpendicular, the rotation centerline and second party of the first solar panel 401
To parallel, first direction is parallel with the length direction of frame body 1, the broadband direction phase of second direction and frame body 1
In parallel, first direction and second direction are perpendicular.First solar panel 401 and the second solar panel 402 are to pass through
Sunlight is absorbed, solar radiant energy is converted into the component of electric energy.First solar panel 401 can relative to frame body 1
To be rotated up and down, the first steering engine 403 is the component for controlling the first solar panel 401 and being rotated, and the first steering engine 403 is fixed
It is arranged in frame body 1, the output shaft of the first steering engine 403 is fixedly connected with the first solar panel 401.First solar energy
One end of solar panel 401 is mounted in frame body 1 by shaft and the end of the first solar panel 401 and the first steering engine
One end of 403 output axis connection, the other end of the first solar panel 401 and the second solar panel 402, which rotates, to be connected
It connects.Second solar panel 402 can be rotated up and down relative to the first solar panel 401, and the second steering engine 404 is control
The component that second solar panel 402 is rotated, the second steering engine 404 are mounted on the first solar panel 401, and second
The output shaft of steering engine 404 is fixedly connected with the second solar panel 402.When device of solar generating 4 is in folded state, the
Angle between one solar panel 401 and the second solar panel 402 is 0 degree, the first solar panel 401 and
Two solar panels 402 are in laminated arrangement, compact-sized, occupy little space；Device of solar generating 4 is in unfolded state
When, the angle between the first solar panel 401 and the second solar panel 402 is up to 180 degree, the first solar-electricity
Pond plate 401 is stretched out towards the outside of frame body 1, and the second solar panel 402 is outer towards the first solar panel 401
Side is stretched out, and increases effective work area, and pass through the control of the first steering engine 403 and the second steering engine 404, the first solar-electricity
Angle, the first solar panel 401 between pond plate 401 and frame body 1 and between the second solar panel 402
Angle is adjustable, is suitable for the change of direction of illumination.
Preferably, two device of solar generating 4 are arranged as shown in Figure 1, device of solar generating 4 is arranged two
In the opposite end of frame body 1, one of device of solar generating 4 is set to one on the length direction of frame body 1
End, another device of solar generating 4 are set to the other end on the length direction of frame body 1.
As shown in figures 1 and 3, driving device include be set in frame body 1 and for play the guiding role sliding rail 9,
The support 10 that is set on sliding rail 9, is sheathed on lead screw 8 and is with sliding rail 9 lead screw 8 being rotatably arranged on support 10
The nut seat 11 being slidably connected and the driving motor 7 connecting with lead screw 8, nut seat 11 are to be threadedly coupled with lead screw 8, nut seat 11
Worm drive are constituted with lead screw 8, mechanical arm 2 is set on nut seat 11, and the axis of lead screw 8 is parallel with first direction.It is sliding
Rail 9 is fixed on the top surface of frame body 1, and the length direction of sliding rail 9 is parallel with first direction, and sliding rail 9, which has, allows spiral shell
The guide groove that base 11 is embedded in, nut seat 11 are to be slidably connected with sliding rail 9.Support 10 be arranged two, two supports 10 respectively with
One end on the length direction of sliding rail 9 is fixedly connected and support 10 is stretched out towards the top of sliding rail 9, and two supports 10 are to lead screw 8
It provides a supporting role, driving motor 7 is fixed on one of support 10, and the motor shaft and lead screw 8 of driving motor 7 are fixed
Connection, driving motor 7 operate, and driving lead screw 8 makes rotating motion, and lead screw 8 drives nut seat 11 to do on sliding rail 9 along first direction
Straight reciprocating motion, mechanical arm 2 are moved synchronously with nut seat 11.Leadscrew-nut mechanism is used, so that the position of mechanical arm 2
Be adjusted to step-less adjustment, mechanical arm 2 can be made to stop at an arbitrary position, and can locking at an arbitrary position, be easy to and need
The aligned in position of the object of pickup, adaptability are good.
As shown in figures 1 and 3, mechanical arm 2 includes the first arm steering engine 201 connecting with driving device and the first arm
Portion's steering engine 201 connection and rotatable first mechanical arm 202, be set in first mechanical arm 202 the second arm steering engine 203,
It is connect with the second arm steering engine 203 and rotatable second mechanical arm 204, the third arm that is set in second mechanical arm 204
Steering engine 205 connect with third arm steering engine 205 and rotatable third mechanical arm 206, is set on third mechanical arm 206
4th arm steering engine 207 and the end effector for connecting and be used to pick up object with the 4th arm steering engine 207, end effector can
Rotation.First arm steering engine 201 is fixedly mounted on the nut seat 11 of driving device, and the first arm steering engine 201 is control first
The rotation centerline of the component that mechanical arm 202 is rotated, first mechanical arm 202 is parallel with first direction, first mechanical arm
202 can be rotated up and down, and one end on the length direction of first mechanical arm 202 and the output shaft of the first arm steering engine 201 are fixed
Connection, the second arm steering engine 203 are fixed at the other end on the length direction of first mechanical arm 202, first mechanical arm 202
Length direction and first direction it is perpendicular, first mechanical arm 202 is located at the top of frame body 1.Second arm steering engine 203 is solid
In the first mechanical arm 202, the second arm steering engine 203 is the component for controlling second mechanical arm 204 and being rotated for Dingan County, second
The rotation centerline of mechanical arm 204 and first direction are perpendicular, and second mechanical arm 204 is located at the top of the first arm steering engine 201,
One end of second mechanical arm 204 is fixedly connected with the output shaft of the second arm steering engine 203, and third arm steering engine 205 is fixedly installed
In the other end of second mechanical arm 204.Third arm steering engine 205 is fixedly mounted in second mechanical arm 204, third arm steering engine
205 be the component for controlling third mechanical arm 206 and being rotated, and the rotation centerline of third mechanical arm 206 mutually hangs down with first direction
Directly, third mechanical arm 206 also is located at the top of the first arm steering engine 201, one end of third mechanical arm 206 and third arm steering engine
205 output shaft is fixedly connected, and the 4th arm steering engine 207 is fixed at the other end of third mechanical arm 206.4th arm rudder
Machine 207 is fixedly mounted on third mechanical arm 206, and the 4th arm steering engine 207 is the component for controlling end effector and being rotated,
The rotation centerline of the end effector and rotation centerline of third mechanical arm 206 is perpendicular and the rotation center of end effector
Line is perpendicular with first direction.
Shown in Fig. 1 and Fig. 3, end effector includes the actuator pedestal 208 connecting with the 4th arm steering engine 207, can revolve
Two be set on actuator pedestal 208 the drive rod 209 turned, the clamping jaw 210 and clamping jaw that are rotatablely connected with drive rod 209
210 and drive rod 209 be rotatablely connected connecting rod 211 and be set on actuator pedestal 208 and with one of drive rod 209
5th arm steering engine 212 of connection, actuator pedestal 208 are fixedly connected with the output shaft of the 4th arm steering engine 207, the 5th arm
Steering engine 212 is fixed on actuator pedestal 208.Drive rod 209 is arranged two, and two drive rods 209 are rotatable set
It is placed on actuator pedestal 208 and rotation centerline and end when drive rod 209 is rotated relative to actuator pedestal 208
The rotation centerline of actuator is perpendicular.One end of two drive rods 209 is installed on actuator pedestal 208 by shaft, and two
A drive rod 209 be equipped with intermeshing sector section, one of drive rod 209 by the 5th arm steering engine 212 drive into
Row rotation, is engaged by gear, so as to drive another drive rod 209 to rotate synchronously, the rotation angle of two drive rods 209
It is identical to spend size.The other end of two drive rods 209 is rotatablely connected with a clamping jaw 210 respectively, and clamping jaw 210 is arranged two and two
A clamping jaw 210 matches the rotation centerline and drive for grip objects, when clamping jaw 210 is rotated relative to drive rod 209
Rotation centerline when lever 209 is rotated relative to actuator pedestal 208 is parallel, and clamping jaw 210 is towards drive rod 209
Outside is stretched out.Connecting rod 211 is arranged two, and one end of two connecting rods 211 is rotatablely connected with a clamping jaw 210 respectively, two connecting rods
211 other end and actuator pedestal 208 is rotatablely connected, and connecting rod 211 is between the both ends on the length direction of clamping jaw 210
It is rotatablely connected at position with clamping jaw 210, two connecting rods 211 are located between two drive rods 209, drive rod 209, clamping jaw 210
Double rocker mechanism is constituted with connecting rod 211.5th arm steering engine 212 controls drive rod 209 and rotates, and drive rod 209 drives two folders
Pawl 210 rotates synchronously, and carries out opening and pinching action, grabs object.The mechanical arm 2 of above structure can on vehicle frame certain model
Movement is placed, is worked more flexible and convenient.
As shown in Figure 1 and Figure 4, take turns sufficient formula movement branched chain 3 include the first foot steering engine 301 connect with frame body 1 and
The connection of first foot steering engine 301 and rotatable first leg 302, the second foot steering engine for being set in first leg 302
303, it connect with the second foot steering engine 303 and rotatable second supporting leg 304, the foot motor that is set on the second supporting leg 304
It 305 and is connect with foot motor 305 and rotatable driving wheel 306.First foot steering engine 301 is fixedly mounted on frame body 1
On, the first foot steering engine 301 is located at the lower section of frame body 1, and the first foot steering engine 301 is that control first leg 302 is revolved
The component turned, the rotation centerline of first leg 302 is parallel with first direction, and first leg 302 can be rotated up and down, and first
One end on the length direction of supporting leg 302 is fixedly connected with the output shaft of the first foot steering engine 301, and the second foot steering engine 303 is solid
The other end on the length direction of first leg 302 is set calmly, and the length direction of first leg 302 mutually hangs down with second direction
Directly, first leg 302 is located at the lower section of frame body 1.Second foot steering engine 303 is fixedly mounted in first leg 302, and second
Foot steering engine 303 is located at the lower section of frame body 1, and the second foot steering engine 303 is the portion for controlling the second supporting leg 304 and being rotated
Part, the rotation centerline and second direction of the second supporting leg 304 are perpendicular, one end on the length direction of the second supporting leg 304 and the
The output shaft of two foot steering engines 303 is fixedly connected, and foot motor 305 is fixed on the length direction of the second supporting leg 304
The other end, the length direction and second direction of the second supporting leg 304 are perpendicular, and the second supporting leg 304 is located at the lower section of frame body 1.
Foot motor 305 is fixedly mounted on the second supporting leg 304, and foot motor 305 is located at the lower section of frame body 1, foot motor 305
It is the component for controlling driving wheel 306 and being rotated, driving wheel 306 is fixedly connected with the motor shaft of foot motor 305.Driving wheel
306 be cylindrical body, and the motor shaft of foot motor 305 is to be fixedly connected at the center of driving wheel 306 with driving wheel 306, driving
The periphery of wheel 306 is for contacting ground.After foot motor 305 operates, driving wheel 306 is rotated, and generates driving robot
Carry out mobile driving force.The wheel foot formula movement branched chain 3 of above structure can make up legged type robot in speed in certain occasion
On deficiency, while also remaining the obstacle climbing ability under complicated landform.
As shown in Figure 1, taking turns sufficient formula movement branched chain 3 is arranged six, six wheels foot formula movement branched chains 3 be distributed in six positions and
The sufficient formula movement branched chain 3 of six wheels is arranged in two column, and for each tool that arranges there are three sufficient formula movement branched chain 3 is taken turns, three wheels respectively arranged are sufficient
Formula movement branched chain 3 is to be sequentially arranged along first direction.
As shown in Figure 1 and Figure 5, six wheels legged type robots of the invention further include carrying platform 5 and with carrying platform 5 and
The damper 6 that frame body 1 connects, damper 6 is arranged multiple.Carrying platform 5 is for loading the object that need to be transported, and delivery is flat
Platform 5 has the accommodating cavity for accommodating object, and carrying platform 5 is located at the top of frame body 1, and damper 6 is for mentioning carrying platform 5
For supporting role, damper 6 and carrying platform 5 are located at the same side of driving device.Damper 6 plays damping effect, damper 6
It is equipped with shock-absorbing spring, the upper end of damper 6 and carrying platform 5 are rotatablely connected, and the lower end of damper 6 and frame body 1 rotate
Connection.The preferably bidirectional effect cylinder type damper of damper 6, structure as well known in the skilled person,
This is repeated no more.In the present embodiment, damper 6 is arranged four altogether, and four dampers 6 are in distributed rectangular.
The present invention is exemplarily described in conjunction with attached drawing above.Obviously, present invention specific implementation is not by above-mentioned side
The limitation of formula.As long as using the improvement for the various unsubstantialities that the inventive concept and technical scheme of the present invention carry out；Or not
It is improved, above-mentioned conception and technical scheme of the invention are directly applied into other occasions, in protection scope of the present invention
Within.
Claims (10)
1. six wheel legged type robots, including frame body and the wheel foot formula movement branched chain being set in frame body, feature exists
In: it further include the solar power generation that is set in the frame body and can be switched between folded state and unfolded state
Device, mechanical arm and the driving dress for being set in frame body and being moved for controlling mechanical arm along first direction
It sets.
2. six wheels legged type robot according to claim 1, it is characterised in that: the device of solar generating includes first
The second solar panel and be set to the first solar-electricity that solar panel and the first solar panel are rotatablely connected
On the plate of pond and for controlling the second steering engine that the second solar panel is rotated.
3. it is according to claim 2 six wheel legged type robot, it is characterised in that: first solar panel with it is described
Frame body rotation connection, the rotation centerline phase of the rotation centerline of the first solar panel and the second solar panel
Parallel and the first solar panel rotation centerline and first direction are perpendicular.
4. six wheels legged type robot according to claim 3, it is characterised in that: the device of solar generating further includes setting
It is placed in the frame body and for controlling the first steering engine that first solar panel is rotated.
5. six wheels legged type robot according to any one of claims 1 to 4, it is characterised in that: the device of solar generating
Setting two, two device of solar generating are set to the opposite end of the frame body.
6. six wheels legged type robot according to any one of claims 1 to 5, it is characterised in that: the driving device includes setting
It is placed in the sliding rail in the frame body and for playing the guiding role, the support being set on sliding rail, is rotatably arranged on branch
Lead screw on seat is sheathed on lead screw and is the nut seat being slidably connected with sliding rail and the driving motor that connect with lead screw, nut
Seat constitutes worm drive with lead screw, and the mechanical arm is set on nut seat, and the axis of lead screw is equal with the first direction
Row.
7. it is according to any one of claims 1 to 6 six wheel legged type robot, it is characterised in that: the mechanical arm include with
First arm steering engine of driving device connection connect with the first arm steering engine and rotatable first mechanical arm, is set to
The second arm steering engine in first mechanical arm connect with the second arm steering engine and rotatable second mechanical arm, is set to second
Third arm steering engine on mechanical arm connect with third arm steering engine and rotatable third mechanical arm, is set to third machinery
It the 4th arm steering engine on arm and is connect with the 4th arm steering engine and the end effector for picking up object, end effector can
Rotation.
8. six wheels legged type robot according to claim 7, it is characterised in that: the end effector includes and described the
The actuator pedestal of four arm steering engines connection, two drive rods being rotatably arranged on actuator pedestal turn with drive rod
The connecting rod and be set on actuator pedestal and driven with one of that the clamping jaw and clamping jaw and drive rod of dynamic connection are rotatablely connected
5th arm steering engine of lever connection.
9. six wheels legged type robot according to any one of claims 1 to 8, it is characterised in that: the sufficient formula movement branched chain of the wheel
Setting six, taking turns sufficient formula movement branched chain includes that the first foot steering engine connecting with the frame body and the first foot steering engine connect
Connect and rotatable first leg, be set in first leg the second foot steering engine, with the second foot steering engine connect and can revolve
It the second supporting leg turned, the foot motor that is set on the second supporting leg and is connect with foot motor and rotatable driving wheel.
10. it is according to any one of claims 1 to 9 six wheel legged type robot, it is characterised in that: further include carrying platform and
The damper connecting with carrying platform and the frame body, damper setting are multiple.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810775970.7A CN109018055B (en) | 2018-07-16 | 2018-07-16 | Six-wheel foot type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810775970.7A CN109018055B (en) | 2018-07-16 | 2018-07-16 | Six-wheel foot type robot |
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| Publication Number | Publication Date |
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| CN109018055A true CN109018055A (en) | 2018-12-18 |
| CN109018055B CN109018055B (en) | 2021-06-01 |
Family
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| CN201810775970.7A Active CN109018055B (en) | 2018-07-16 | 2018-07-16 | Six-wheel foot type robot |
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| CN109986531A (en) * | 2019-04-28 | 2019-07-09 | 新乡市永安机械设备有限公司 | A kind of marine maintenance cooperation manipulator |
| CN110154049A (en) * | 2019-05-24 | 2019-08-23 | 北京深醒科技有限公司 | A kind of wheeled workshop patrol robot |
| CN111591363A (en) * | 2020-05-27 | 2020-08-28 | 中国人民解放军国防科技大学 | High-integration wheel leg composite mechanism and carrying platform |
| CN112873220A (en) * | 2021-01-08 | 2021-06-01 | 格物创意(深圳)科技有限公司 | Polymorphic STEM educational machine people |
| CN114619455A (en) * | 2022-01-28 | 2022-06-14 | 德清县浙工大莫干山研究院 | Wheel-foot hybrid operating robot |
| CN114750851A (en) * | 2021-07-12 | 2022-07-15 | 智能移动机器人(中山)研究院 | Steering engine-based four-six-foot robot with variable structure and traveling method thereof |
| CN114872812A (en) * | 2022-06-07 | 2022-08-09 | 安徽农业大学 | A running gear for field crop detects |
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| CN109986531A (en) * | 2019-04-28 | 2019-07-09 | 新乡市永安机械设备有限公司 | A kind of marine maintenance cooperation manipulator |
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| CN111591363A (en) * | 2020-05-27 | 2020-08-28 | 中国人民解放军国防科技大学 | High-integration wheel leg composite mechanism and carrying platform |
| CN112873220A (en) * | 2021-01-08 | 2021-06-01 | 格物创意(深圳)科技有限公司 | Polymorphic STEM educational machine people |
| CN114750851A (en) * | 2021-07-12 | 2022-07-15 | 智能移动机器人(中山)研究院 | Steering engine-based four-six-foot robot with variable structure and traveling method thereof |
| CN114619455A (en) * | 2022-01-28 | 2022-06-14 | 德清县浙工大莫干山研究院 | Wheel-foot hybrid operating robot |
| CN114619455B (en) * | 2022-01-28 | 2024-08-20 | 德清县浙工大莫干山研究院 | Wheel-foot hybrid type operation robot |
| CN114872812A (en) * | 2022-06-07 | 2022-08-09 | 安徽农业大学 | A running gear for field crop detects |
| CN114872812B (en) * | 2022-06-07 | 2022-12-09 | 安徽农业大学 | A running gear for field crop detects |
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