CN111086562B - Four-wheel robot with scalable vehicle body - Google Patents
Four-wheel robot with scalable vehicle body Download PDFInfo
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- CN111086562B CN111086562B CN202010046152.0A CN202010046152A CN111086562B CN 111086562 B CN111086562 B CN 111086562B CN 202010046152 A CN202010046152 A CN 202010046152A CN 111086562 B CN111086562 B CN 111086562B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/14—Understructures, i.e. chassis frame on which a vehicle body may be mounted of adjustable length or width
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
Abstract
The invention belongs to the field of ground mobile robots, and particularly relates to a four-wheel robot with a scalable vehicle body, which comprises: a camera mounting mechanism (A), a vehicle body deforming mechanism (B), a first wheel extending and retracting mechanism (C1), a second wheel extending and retracting mechanism (C2), a third wheel extending and retracting mechanism (C3) and a fourth wheel extending and retracting mechanism (C4); the four-wheeled robot provided by the invention can realize folding and unfolding deformation with a single degree of freedom, the deformation of the vehicle body mechanism has two limit positions, the adjustment range is large, the four-wheeled robot is convenient to store and transport during folding, the four-wheeled robot can be used as a portable or throwing type robot, after being unfolded, the vehicle width, the vehicle length and the wheel distance can be adjusted through the deformation of the vehicle body mechanism, so that different moving requirements can be met, the four-wheeled robot can be easily turned through the deformation of the vehicle body mechanism, the direction is controllable, the flexibility and the stability are good, and the four-wheeled robot has good popularization significance.
Description
Technical Field
The application belongs to the field of ground mobile robots, and particularly relates to a four-wheel robot with a scalable vehicle body.
Background
The wheel type ground mobile robot is widely researched due to the characteristics of high speed, stable operation and the like during movement, the vehicle body of the existing four-wheel robot is not deformable, and the size of the vehicle body can limit when the robot travels or turns on a narrow road surface. For example, CN201711376220 discloses a wheeled robot, which drives a steering link rod through a motor to drive a tire to realize steering, and the center of the connection line of the rotation center of the tire coincides with the center of a chassis shell, so that the wheeled robot can rotate along its own axis, but due to the structural characteristics, the vehicle body is not deformable, and the running on a narrow road surface is affected by the excessively large size of the vehicle body.
For example, CN201710853492 discloses a four-wheel-foot robot, which comprises a platform and four wheels, wherein the four wheels are respectively installed at the front and rear positions of the left and right sides of the platform, and each wheel of the four-wheel robot adopts two controllable supporting leg structures, so that the four-wheel robot can realize rapid movement on a flat road surface and obstacle crossing on a complex road surface, and has a simple structure and convenient control. But because the size of the platform can not be adjusted, the occupied space is large in the turning process, the flexibility is poor, and the turning is not easy.
Disclosure of Invention
The invention aims to solve the problems, provides a four-wheeled robot with a scalable vehicle body, which can realize folding and unfolding deformation with a single degree of freedom, has two limit positions for deformation of a vehicle body mechanism, is wide in adjustment range, convenient to store and transport during folding, can be used as a portable or throwing type robot, can adjust the vehicle width, the vehicle length and the wheel track through deformation of the vehicle body mechanism after being unfolded so as to meet different moving requirements, can enable the four-wheeled robot to easily turn and have controllable direction, good flexibility and stability through deformation of the vehicle body mechanism, and has good popularization significance.
In order to achieve the purpose of the invention, the technical scheme of the invention is as follows:
the four-wheeled robot that the automobile body is scalable includes: the camera carrying mechanism, the vehicle body deforming mechanism, the first wheel telescopic mechanism, the second wheel telescopic mechanism, the third wheel telescopic mechanism and the fourth wheel telescopic mechanism;
the camera carrying mechanism comprises a camera adjusting sliding block, a primary sleeve, a secondary sleeve and a camera pan-tilt; second grade sleeve one end and camera cloud platform fixed connection, the second grade sleeve other end can be in the one-level sleeve straight line slip, and camera adjustment slider can be on the one-level sleeve straight line slip.
Further, the automobile body deformation mechanism comprises a first automobile body deformation short rod, a first wheel supporting rod, a second wheel supporting rod, a first automobile body deformation long rod, a first camera shooting platform supporting rod, a second automobile body deformation long rod, a third wheel supporting rod, a fourth wheel supporting rod, a second automobile body deformation short rod, a third automobile body deformation short rod, a fifth wheel supporting rod, a sixth wheel supporting rod, a third camera shooting platform supporting rod, a fourth camera shooting platform supporting rod, an automobile body deformation driving motor, a seventh wheel supporting rod, an eighth wheel supporting rod and a fourth automobile body deformation short rod.
Two ends and the middle upper part of the first vehicle body deformation short rod and the second vehicle body deformation short rod are respectively provided with a mounting hole; two ends of a first wheel supporting rod, a second wheel supporting rod, a first camera shooting platform supporting rod, a second camera shooting platform supporting rod, a third wheel supporting rod, a fourth wheel supporting rod, a fifth wheel supporting rod, a sixth wheel supporting rod, a third camera shooting platform supporting rod, a fourth camera shooting platform supporting rod, a seventh wheel supporting rod and an eighth wheel supporting rod are respectively provided with a mounting hole; two ends, the upper part, the middle lower part and the lower part of the first vehicle body deformation long rod and the second vehicle body deformation long rod are respectively provided with a mounting hole; and two ends and the middle lower part of the third vehicle body deformation short rod and the fourth vehicle body deformation short rod are respectively provided with a mounting hole.
A mounting hole at one end of a first body deformation short rod is rotationally connected with a mounting hole at one end of the first body deformation long rod, a mounting hole at the middle part of the first body deformation long rod is rotationally connected with a mounting hole at the middle part of a second body deformation long rod, a mounting hole at the other end of the first body deformation long rod is rotationally connected with a mounting hole at one end of a third body deformation short rod, a mounting hole at the other end of the third body deformation short rod is rotationally connected with a mounting hole at one end of the second body deformation short rod, a mounting hole at the other end of the second body deformation short rod is rotationally connected with a mounting hole at one end of a fourth body deformation short rod, a mounting hole at the other end of the fourth body deformation short rod is rotationally connected with a mounting hole at the other end of the first body deformation short rod, a mounting hole at one end of the first wheel support rod is rotationally connected with a mounting hole at the middle upper part of the first body deformation, the mounting hole at the other end of the first wheel supporting rod is rotationally connected with the mounting hole at one end of the second wheel supporting rod, the mounting hole at the other end of the second wheel supporting rod is rotationally connected with the mounting hole at the upper part of the first body deformation long rod, the mounting hole at one end of the first camera platform supporting rod is rotationally connected with the mounting hole at one end of the second camera platform supporting rod, the mounting hole at the other end of the second camera platform supporting rod is rotationally connected with the mounting hole at the middle lower part of the second body deformation long rod, the mounting hole at one end of the third wheel supporting rod is rotationally connected with the mounting hole at the upper part of the second body deformation long rod, the mounting hole at the other end of the third wheel supporting rod is rotationally connected with the mounting hole at one end of the fourth wheel supporting rod, the mounting hole at the other end of the fourth wheel supporting rod is rotationally connected with the mounting hole at the, one end mounting hole of a fifth wheel supporting rod is rotatably connected with a lower mounting hole in a third body deformation short rod, the other end mounting hole of the fifth wheel supporting rod is rotatably connected with one end mounting hole of a sixth wheel supporting rod, the other end mounting hole of the sixth wheel supporting rod is rotatably connected with a lower mounting hole in the first body deformation long rod, one end mounting hole of a third camera platform supporting rod is rotatably connected with a lower mounting hole in the first body deformation long rod, the other end mounting hole of the third camera platform supporting rod is rotatably connected with one end mounting hole of a fourth camera platform supporting rod, the other end mounting hole of the fourth camera platform supporting rod is rotatably connected with an upper mounting hole in the second body deformation long rod, one end mounting hole of a seventh wheel supporting rod is rotatably connected with a lower mounting hole in the second body deformation long rod, and the other end mounting hole of the seventh wheel supporting rod is rotatably connected with one end mounting hole, and a mounting hole at the other end of the eighth wheel supporting rod is rotatably connected with a mounting hole at the middle lower part of the fourth body deformation short rod, and a mounting hole at the middle part of the first body deformation long rod is fixedly connected with an output shaft of the body deformation driving motor.
Furthermore, the first wheel telescopic mechanism comprises a wheel adjusting slide block, a wheel rod, a wheel driving motor and wheels; the center of the wheel is provided with a mounting hole; the wheel mounting hole is fixedly connected with an output shaft of the wheel driving motor, one end of the wheel rod is fixedly connected with the wheel driving motor, and the wheel adjusting sliding block can slide linearly along the other end of the wheel rod; the second wheel telescopic mechanism, the third wheel telescopic mechanism and the fourth wheel telescopic mechanism are completely the same as the first wheel telescopic mechanism in structure and size.
Furthermore, the bottom of the camera adjusting slider is fixedly connected with mounting holes in rotary connection with a first camera platform support rod and a second camera platform support rod, the bottom of the camera holder is fixedly connected with mounting holes in rotary connection with a third camera platform support rod and a fourth camera platform support rod, the top of the wheel adjusting slider is fixedly connected with mounting holes in rotary connection with a first wheel support rod and a second wheel support rod, and the top of the wheel driving motor is fixedly connected with mounting holes in rotary connection with a first body deformation short rod and a first body deformation long rod; the connection mode of the second wheel telescopic mechanism, the third wheel telescopic mechanism and the fourth wheel telescopic mechanism is completely the same as that of the first wheel telescopic mechanism and is centrosymmetric about the vehicle body deformation mechanism.
Furthermore, a first vehicle body deformation short rod, a second vehicle wheel support rod, a first camera shooting platform support rod, a second vehicle body deformation long rod, a fourth vehicle wheel support rod, a third vehicle body deformation short rod, a sixth vehicle wheel support rod, a third camera shooting platform support rod and an eighth vehicle wheel support rod are parallel to each other; the first wheel support rod, the first body deformation long rod, the second camera shooting platform support rod, the third wheel support rod, the second body deformation short rod, the fifth wheel support rod, the fourth camera shooting platform support rod, the seventh wheel support rod and the fourth body deformation short rod are parallel to each other.
Defining:
the "middle" is understood in this application to be the centre point position of the connecting rod.
The term "upper portion" is understood herein to mean any point between one end and the middle of the connecting rod without end points.
The term "mid-upper portion" is understood herein to mean any point between the upper and middle portions of the connecting rod that is free of end points.
The term "lower portion" is understood herein to mean any point between the other end of the connecting rod and the middle portion, without end points.
By "lower middle portion" is understood any point between the lower and middle portions of the connecting rod without end points.
The term "maximum limit position" is understood to mean that the angle between the first body bar and the fourth body bar is at a minimum.
The term "minimum limit position" is understood to mean that the angle between the first body bar and the fourth body bar is at its maximum.
The invention has the beneficial effects that:
general four-wheeled robot automobile body can not the flexible, and the four-wheeled robot of this application can single degree of freedom realize folding and unfolding the deformation, and has two extreme positions, and the deformation position of adjustment automobile body deformation mechanism can change car width, car length and wheel base, makes it satisfy different removal demands, warp through the automobile body and can also make four-wheeled robot easily turn and the direction controllable, also be convenient for after folding store, transport.
Drawings
FIG. 1 is a schematic view of a vehicle body as it deforms to a maximum limit position;
FIG. 2 is a schematic view of the vehicle body deformed between a maximum limit position and a minimum limit position;
FIG. 3 is a schematic view of the vehicle body as it deforms to a minimum limit position;
FIG. 4 is a schematic view of a camera mounting mechanism;
FIG. 5 is a schematic view of a vehicle body deformation mechanism;
FIG. 6 is a schematic view of a first wheel retraction mechanism;
wherein: a camera mounting mechanism, A-1: camera adjustment slider, a-2: primary sleeve, A-3: secondary sleeve, A-4: a camera pan-tilt;
b, a vehicle body deformation mechanism, B-1: first body deformation short bar, B-2: first wheel support rod, B-3: second wheel support rod, B-4: a first vehicle body deformation long rod, B-5: first platform bracing piece of making a video recording, B-6: second platform bracing piece of making a video recording, B-7: a second body deformation long rod, B-8: a third wheel support bar B-9, a fourth wheel support bar B-10: second body deformation short bar, B-11: third vehicle body deformation short bar, B-12: fifth wheel support bar, B-13: sixth wheel support bar, B-14: third camera shooting platform support bar, B-15: fourth camera platform bracing piece, B-16: vehicle body deformation drive motor, B-17: seventh wheel support bar, B-18: eighth wheel support bar, B-19: a fourth vehicle body deformation short rod;
c1 first wheel telescopic mechanism, C1-1: wheel adjusting slide block, C1-2: wheel lever, C1-3: wheel drive motor, C1-4: and (7) wheels.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
The movement sequence of fig. 1-3 is a schematic representation of the deformation of a vehicle body according to the invention from a maximum limit position to a minimum limit position, and the movement sequence of fig. 3-1 is a schematic representation of the deformation of a vehicle body according to the invention from a minimum limit position to a maximum limit position.
Referring to fig. 1-3, a body-scalable four-wheeled robot comprising: a camera mounting mechanism A, a vehicle body deforming mechanism B, a first wheel extending and retracting mechanism C1, a second wheel extending and retracting mechanism C2, a third wheel extending and retracting mechanism C3 and a fourth wheel extending and retracting mechanism C4.
Referring to fig. 4, the camera carrying mechanism A comprises a camera adjusting sliding block A-1, a primary sleeve A-2, a secondary sleeve A-3 and a camera pan-tilt A-4, one end of the secondary sleeve A-3 is fixedly connected with the camera pan-tilt A-4, the other end of the secondary sleeve A-3 can slide linearly in the primary sleeve A-2, and the camera adjusting sliding block A-1 can slide linearly on the primary sleeve A-2.
As shown in FIG. 5, the vehicle body deforming mechanism B comprises a first vehicle body deforming short rod B-1, a first vehicle wheel supporting rod B-2, a second vehicle wheel supporting rod B-3, a first vehicle body deforming long rod B-4, a first camera shooting platform supporting rod B-5, a second camera shooting platform supporting rod B-6, a second vehicle body deforming long rod B-7, a third vehicle wheel supporting rod B-8, a fourth vehicle wheel supporting rod B-9, a second vehicle body deforming short rod B-10, a third vehicle body deforming short rod B-11, a fifth vehicle wheel supporting rod B-12, a sixth vehicle wheel supporting rod B-13, a third camera shooting platform supporting rod B-14, a fourth camera shooting platform supporting rod B-15, a vehicle body deforming driving motor B-16, a seventh vehicle wheel supporting rod B-17, an eighth vehicle wheel supporting rod B-18, a third vehicle wheel supporting rod B-13, a third camera shooting platform supporting, A fourth vehicle body deformation short rod B-19;
two ends and the middle upper part of the first vehicle body deformation short rod B-1 and the second vehicle body deformation short rod B-10 are respectively provided with a mounting hole; two ends of a first wheel support rod B-2, a second wheel support rod B-3, a first camera platform support rod B-5, a second camera platform support rod B-6, a third wheel support rod B-8, a fourth wheel support rod B-9, a fifth wheel support rod B-12, a sixth wheel support rod B-13, a third camera platform support rod B-14, a fourth camera platform support rod B-15, a seventh wheel support rod B-17 and an eighth wheel support rod B-18 are respectively provided with a mounting hole; two ends, the upper part, the middle lower part and the lower part of the first vehicle body deformation long rod B-4 and the second vehicle body deformation long rod B-7 are respectively provided with a mounting hole; two ends and the middle lower part of the third vehicle body deformation short rod B-11 and the fourth vehicle body deformation short rod B-19 are respectively provided with a mounting hole;
a first body deformed short rod B-1 with one end mounting hole rotatably connected with a first body deformed long rod B-4 with one end mounting hole, a first body deformed long rod B-4 with middle mounting hole rotatably connected with a second body deformed long rod B-7 with middle mounting hole, a first body deformed long rod B-4 with the other end mounting hole rotatably connected with a third body deformed short rod B-11 with one end mounting hole, a third body deformed short rod B-11 with the other end mounting hole rotatably connected with a second body deformed short rod B-10 with one end mounting hole, a second body deformed short rod B-10 with the other end mounting hole rotatably connected with a second body deformed long rod B-7 with one end mounting hole, a second body deformed long rod B-7 with the other end mounting hole rotatably connected with a fourth body deformed short rod B-19 with one end mounting hole, a fourth body deformed short rod B-19 with the other end mounting hole rotatably connected with a first body deformed short rod B-1 The mounting hole at one end of a first wheel supporting rod B-2 is rotatably connected with the mounting hole at the middle upper part of a first body deformation short rod B-1, the mounting hole at the other end of the first wheel supporting rod B-2 is rotatably connected with the mounting hole at one end of a second wheel supporting rod B-3, the mounting hole at the other end of the second wheel supporting rod B-3 is rotatably connected with the mounting hole at the upper part of a first body deformation long rod B-4, the mounting hole at one end of a first camera platform supporting rod B-5 is rotatably connected with the mounting hole at the middle upper part of the first body deformation long rod B-4, the mounting hole at the other end of the first camera platform supporting rod B-5 is rotatably connected with the mounting hole at one end of a second camera platform supporting rod B-6, the mounting hole at the other end of the second camera platform supporting rod B-6 is rotatably connected with the mounting hole, a mounting hole at one end of a third wheel supporting rod B-8 is rotatably connected with a mounting hole at the upper part of a second body deformation long rod B-7, a mounting hole at the other end of the third wheel supporting rod B-8 is rotatably connected with a mounting hole at one end of a fourth wheel supporting rod B-9, a mounting hole at the other end of the fourth wheel supporting rod B-9 is rotatably connected with a mounting hole at the middle upper part of a second body deformation short rod B-10, a mounting hole at one end of a fifth wheel supporting rod B-12 is rotatably connected with a mounting hole at the middle lower part of a third body deformation short rod B-11, a mounting hole at the other end of the fifth wheel supporting rod B-12 is rotatably connected with a mounting hole at one end of a sixth wheel supporting rod B-13, a mounting hole at the other end of a sixth wheel supporting rod B-13 is rotatably connected with a mounting hole at the lower part of a first body deformation long rod B-4, a mounting hole at one The mounting hole at the other end of the third camera platform supporting rod B-14 is rotatably connected with the mounting hole at one end of the fourth camera platform supporting rod B-15, the mounting hole at the other end of the fourth camera platform supporting rod B-15 is rotatably connected with the mounting hole at the middle upper part of the second body deformation long rod B-7, the mounting hole at one end of the seventh wheel supporting rod B-17 is rotatably connected with the mounting hole at the lower part of the second body deformation long rod B-7, the mounting hole at the other end of the seventh wheel supporting rod B-17 is rotatably connected with the mounting hole at one end of the eighth wheel supporting rod B-18, the mounting hole at the other end of the eighth wheel supporting rod B-18 is rotatably connected with the mounting hole at the middle lower part of the fourth body deformation short rod B-19, and the mounting hole at the middle part of the first body deformation long rod B-.
Referring to fig. 6, the first wheel telescopic mechanism C1 comprises a wheel adjusting slider C1-1, a wheel lever C1-2, a wheel driving motor C1-3, and a wheel C1-4; the center of the wheel C1-4 is provided with a mounting hole; a wheel C1-4 mounting hole is fixedly connected with an output shaft of a wheel driving motor C1-3, one end of a wheel rod C1-2 is fixedly connected with the wheel driving motor C1-3, and a wheel adjusting slide block C1-1 can slide linearly along the other end of the wheel rod C1-2; the second wheel telescoping mechanism C2, the third wheel telescoping mechanism C3, and the fourth wheel telescoping mechanism C4 are identical in structure and size to the first wheel telescoping mechanism C1.
The bottom of a camera adjusting slide block A-1 is fixedly connected with mounting holes which are rotatably connected with a first camera platform support rod B-5 and a second camera platform support rod B-6, the bottom of a camera holder A-4 is fixedly connected with mounting holes which are rotatably connected with a third camera platform support rod B-14 and a fourth camera platform support rod B-15, the top of a wheel adjusting slide block C1-1 is fixedly connected with mounting holes which are rotatably connected with a first wheel support rod B-2 and a second wheel support rod B-3, and the top of a wheel driving motor C1-3 is fixedly connected with mounting holes which are rotatably connected with a first body deformation short rod B-1 and a first body deformation long rod B-4; the second wheel retraction mechanism C2, the third wheel retraction mechanism C3 and the fourth wheel retraction mechanism C4 are connected in exactly the same manner as the first wheel retraction mechanism C1 and are centrally symmetrical with respect to the body deformation mechanism B.
The first vehicle body deformation short rod B-1, the second vehicle wheel support rod B-3, the first camera shooting platform support rod B-5, the second vehicle body deformation long rod B-7, the fourth vehicle wheel support rod B-9, the third vehicle body deformation short rod B-11, the sixth vehicle wheel support rod B-13, the third camera shooting platform support rod B-14 and the eighth vehicle wheel support rod B-18 are mutually parallel; the first wheel support bar B-2, the first body deformation long bar B-4, the second camera platform support bar B-6, the third wheel support bar B-8, the second body deformation short bar B-10, the fifth wheel support bar B-12, the fourth camera platform support bar B-15, the seventh wheel support bar B-17 and the fourth body deformation short bar B-19 are mutually parallel. The first body deformation short rod B-1, the first body deformation long rod B-4, the second body deformation long rod B-7 and the fourth body deformation short rod B-19 form a parallelogram, the second body deformation long rod B-7, the second body deformation short rod B-10, the third body deformation short rod B-11 and the first body deformation long rod B-4 form a parallelogram, the first body deformation short rod B-1, the first wheel support rod B-2, the second wheel support rod B-3 and the first body deformation long rod B-4 form a parallelogram, the first body deformation long rod B-4, the first camera platform support rod B-5, the second camera platform support rod B-6 and the second body deformation long rod B-7 form a parallelogram, the second body deformation long rod B-7, The third wheel support bar B-8, the fourth wheel support bar B-9 and the second body deformation short bar B-10 form a parallelogram, the third body deformation short bar B-11, the fifth wheel support bar B-12, the sixth wheel support bar B-13 and the first body deformation long bar B-4 form a parallelogram, the first body deformation long bar B-4, the third camera platform support bar B-14, the fourth camera platform support bar B-15 and the second body deformation long bar B-7 form a parallelogram, and the second body deformation long bar B-7, the seventh wheel support bar B-17, the eighth wheel support bar B-18 and the fourth body deformation short bar B-19 form a parallelogram.
The working process is as follows: the deformation position of the four-wheel robot vehicle body deformation mechanism is adjusted, the vehicle width, the vehicle length and the wheel track can be adjusted, so that different moving requirements are met, when the four-wheel robot travels on a narrow road surface, the vehicle body can be deformed to the maximum limit position, the four-wheel robot can rapidly and stably pass through the mechanism, namely, the mechanism is deformed from the figures 2-1, when the four-wheel robot turns, the vehicle body can be deformed to the minimum limit position, at the moment, the four-wheel robot has the minimum size, is easy to turn and has controllable direction, namely, the mechanism is deformed from the figures 2-3.
While particular embodiments of the present invention have been described above, it will be understood by those skilled in the art that these are by way of illustration only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (1)
1. The four-wheeled robot that automobile body can scale is characterized in that includes: a camera mounting mechanism (A), a vehicle body deforming mechanism (B), a first wheel extending and retracting mechanism (C1), a second wheel extending and retracting mechanism (C2), a third wheel extending and retracting mechanism (C3) and a fourth wheel extending and retracting mechanism (C4);
the camera carrying mechanism (A) comprises a camera adjusting sliding block (A-1), a primary sleeve (A-2), a secondary sleeve (A-3) and a camera pan-tilt (A-4); one end of the secondary sleeve (A-3) is fixedly connected with the camera pan-tilt (A-4), the other end of the secondary sleeve (A-3) can slide linearly in the primary sleeve (A-2), and the camera adjusting slide block (A-1) can slide linearly on the primary sleeve (A-2);
the vehicle body deformation mechanism (B) consists of a first vehicle body deformation short rod (B-1), a first vehicle wheel supporting rod (B-2), a second vehicle wheel supporting rod (B-3), a first vehicle body deformation long rod (B-4), a first camera shooting platform supporting rod (B-5), a second camera shooting platform supporting rod (B-6), a second vehicle body deformation long rod (B-7), a third vehicle wheel supporting rod (B-8), a fourth vehicle wheel supporting rod (B-9), a second vehicle body deformation short rod (B-10), a third vehicle body deformation short rod (B-11), a fifth vehicle wheel supporting rod (B-12), a sixth vehicle wheel supporting rod (B-13), a third camera shooting platform supporting rod (B-14), a fourth camera shooting platform supporting rod (B-15), a vehicle body deformation driving motor (B-16), A seventh wheel support rod (B-17), an eighth wheel support rod (B-18) and a fourth body deformation short rod (B-19);
two ends and the middle upper part of the first vehicle body deformation short rod (B-1) and the second vehicle body deformation short rod (B-10) are respectively provided with a mounting hole; two ends of a first wheel support rod (B-2), a second wheel support rod (B-3), a first camera platform support rod (B-5), a second camera platform support rod (B-6), a third wheel support rod (B-8), a fourth wheel support rod (B-9), a fifth wheel support rod (B-12), a sixth wheel support rod (B-13), a third camera platform support rod (B-14), a fourth camera platform support rod (B-15), a seventh wheel support rod (B-17) and an eighth wheel support rod (B-18) are respectively provided with a mounting hole; two ends, the upper part, the middle lower part and the lower part of the first vehicle body deformation long rod (B-4) and the second vehicle body deformation long rod (B-7) are respectively provided with a mounting hole; two ends and the middle lower part of the third vehicle body deformation short rod (B-11) and the fourth vehicle body deformation short rod (B-19) are respectively provided with a mounting hole;
one end mounting hole of a first body deformation short rod (B-1) is rotationally connected with one end mounting hole of a first body deformation long rod (B-4), the middle mounting hole of the first body deformation long rod (B-4) is rotationally connected with the middle mounting hole of a second body deformation long rod (B-7), the other end mounting hole of the first body deformation long rod (B-4) is rotationally connected with one end mounting hole of a third body deformation short rod (B-11), the other end mounting hole of the third body deformation short rod (B-11) is rotationally connected with one end mounting hole of a second body deformation short rod (B-10), the other end mounting hole of the second body deformation short rod (B-10) is rotationally connected with one end mounting hole of the second body deformation long rod (B-7), the other end mounting hole of the second body deformation long rod (B-7) is rotationally connected with one end mounting hole of a fourth body deformation short rod (B-19), the mounting hole at the other end of the fourth vehicle body deformation short rod (B-19) is rotatably connected with the mounting hole at the other end of the first vehicle body deformation short rod (B-1), the mounting hole at one end of the first wheel support rod (B-2) is rotatably connected with the mounting hole at the middle upper part of the first vehicle body deformation short rod (B-1), the mounting hole at the other end of the first wheel support rod (B-2) is rotatably connected with the mounting hole at one end of the second wheel support rod (B-3), the mounting hole at the other end of the second wheel support rod (B-3) is rotatably connected with the mounting hole at the upper part of the first vehicle body deformation long rod (B-4), the mounting hole at one end of the first camera platform support rod (B-5) is rotatably connected with the mounting hole at the middle upper part of the first vehicle body deformation long rod (B-4), the mounting hole at the other end of the first camera platform support rod (B-5) is rotatably connected with, the mounting hole at the other end of the second camera platform supporting rod (B-6) is rotatably connected with the mounting hole at the middle lower part of the second body deformation long rod (B-7), the mounting hole at one end of the third wheel supporting rod (B-8) is rotatably connected with the mounting hole at the upper part of the second body deformation long rod (B-7), the mounting hole at the other end of the third wheel supporting rod (B-8) is rotatably connected with the mounting hole at one end of the fourth wheel supporting rod (B-9), the mounting hole at the other end of the fourth wheel supporting rod (B-9) is rotatably connected with the mounting hole at the middle upper part of the second body deformation short rod (B-10), the mounting hole at one end of the fifth wheel supporting rod (B-12) is rotatably connected with the mounting hole at the middle lower part of the third body deformation short rod (B-11), the mounting hole at the other end of the fifth wheel supporting rod (B-12) is rotatably connected with the mounting hole at, a mounting hole at the other end of a sixth wheel supporting rod (B-13) is rotatably connected with a mounting hole at the lower part of a first body deformation long rod (B-4), a mounting hole at one end of a third camera shooting platform supporting rod (B-14) is rotatably connected with a mounting hole at the middle lower part of the first body deformation long rod (B-4), a mounting hole at the other end of the third camera shooting platform supporting rod (B-14) is rotatably connected with a mounting hole at one end of a fourth camera shooting platform supporting rod (B-15), a mounting hole at the other end of the fourth camera shooting platform supporting rod (B-15) is rotatably connected with a mounting hole at the middle upper part of a second body deformation long rod (B-7), a mounting hole at one end of a seventh wheel supporting rod (B-17) is rotatably connected with a mounting hole at the lower part of the second body deformation long rod (B-7), a mounting hole at the other end of the seventh wheel supporting rod (B-17), the mounting hole at the other end of the eighth wheel supporting rod (B-18) is rotatably connected with the mounting hole at the middle lower part of the fourth body deformation short rod (B-19), and the mounting hole at the middle part of the first body deformation long rod (B-4) is fixedly connected with the output shaft of the body deformation driving motor (B-16);
the first wheel telescopic mechanism (C1) comprises a wheel adjusting slide block (C1-1), a wheel rod (C1-2), a wheel driving motor (C1-3) and a wheel (C1-4); the center of the wheel (C1-4) is provided with a mounting hole; the wheel (C1-4) mounting hole is fixedly connected with an output shaft of a wheel driving motor (C1-3), one end of a wheel rod (C1-2) is fixedly connected with the wheel driving motor (C1-3), and a wheel adjusting slider (C1-1) can linearly slide along the other end of the wheel rod (C1-2); the second wheel telescopic mechanism (C2), the third wheel telescopic mechanism (C3) and the fourth wheel telescopic mechanism (C4) are completely the same as the first wheel telescopic mechanism (C1) in structure and size;
the bottom of a camera adjusting slide block (A-1) is fixedly connected with mounting holes in rotary connection with a first camera platform support rod (B-5) and a second camera platform support rod (B-6), the bottom of a camera holder (A-4) is fixedly connected with mounting holes in rotary connection with a third camera platform support rod (B-14) and a fourth camera platform support rod (B-15), the top of a wheel adjusting slide block (C1-1) is fixedly connected with mounting holes in rotary connection with a first wheel support rod (B-2) and a second wheel support rod (B-3), and the top of a wheel driving motor (C1-3) is fixedly connected with mounting holes in rotary connection with a first body deformation short rod (B-1) and a first body deformation long rod (B-4); the second wheel telescopic mechanism (C2), the third wheel telescopic mechanism (C3) and the fourth wheel telescopic mechanism (C4) are connected in the same way as the first wheel telescopic mechanism (C1) and are centrosymmetric about the vehicle body deformation mechanism (B);
the middle part is understood as the position of the central point of the connecting rod;
the upper part is understood to be any point between one end and the middle part of the connecting rod without an end point;
the middle upper part is understood as any point without end points between the upper part and the middle part of the connecting rod;
the lower part is understood as any point without an end point between the other end of the connecting rod and the middle part;
the lower middle portion is understood to be any point between the lower and middle portions of the connecting rod without end points.
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| CN111483533B (en) * | 2020-06-16 | 2021-05-25 | 山东大学 | Omnidirectional movement bionic quadruped robot with variable configuration |
| CN113696972B (en) * | 2021-09-17 | 2022-07-22 | 北京交通大学 | Four-wheeled robot with deformable vehicle body |
| CN114151681B (en) * | 2021-12-16 | 2022-10-11 | 北京交通大学 | Multistage folding and unfolding mechanism based on fractal principle |
| CN116946256B (en) * | 2023-09-21 | 2023-12-01 | 福建省威盛机械发展有限公司 | Carrier chassis and carrier |
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