CN112061262A - Single-leg device of double-parallel four-rod transmission mechanism and six-wheel-leg robot - Google Patents

Abstract

The invention discloses a single-leg device of a double-parallel four-bar transmission mechanism and a six-wheel leg robot. The knee joint is driven by a double parallel four-bar mechanism, so that the knee joint can obtain a motion range larger than 180 degrees while the shank mass is reduced. The hip joint driving motor and the knee joint driving motor are embedded into the thigh part, so that the motion range of the waist joint is enlarged. A modular driving wheel component can be additionally arranged on the single-leg device according to the requirement. The six-wheel leg robot of the single-leg device with the double parallel four-rod transmission mechanism can realize leg type movement or wheel type movement, simple operation is carried out, the posture of the robot body does not need to be adjusted to return to the state before overturning during overturning, and the robot can continue to move only by reversely standing.

Description

A single-leg device with double parallel four-bar transmission mechanism and a six-wheel-legged robot

technical field

The invention belongs to the field of robot design, in particular to a single-leg device with a double parallel four-bar transmission mechanism and a six-wheel-legged robot.

Background technique

The wheeled mobile robot has a simple structure and high moving efficiency in flat terrain, but has poor passing performance on rough terrain. Compared with wheeled robots, legged mobile robots have a complex structure and have better passing performance on rough terrain. Combining the characteristics of wheeled robots and legged robots, a wheeled and legged mobile robot has been developed, which can move through wheels under flat terrain, with high moving efficiency, and move through legs under rough terrain, with good passing performance. Wheel-legged mobile robots have become a hot spot in mobile robot research.

For example, the Chinese invention patent publication No. CN111204382A discloses "a quadruped robot with wheel and leg combination". The passive wheel is installed in the middle of the calf, and the driving wheel is installed under the fuselage; the knee joint is driven by a connecting rod, and the connected The rod and the upper and lower legs are in the same plane. There is a defect in this structural layout. Due to the introduction of the connecting rod, the range of motion of the knee joint is greatly reduced, and the working space of the robot is limited. The Chinese invention patent with the publication number CN110962955A discloses "a compound robot with less driving wheels and legs for planetary exploration", and the driving motors of the waist joint and the hip joint are coaxially arranged on both sides of the thigh. This structural layout has defects. Due to the convexity of the waist joint drive motor and the hip joint drive motor, the structure of the single leg becomes bloated, which reduces the motion range of the waist joint and limits the working space of the robot.

In order to reduce the mass of the calf and obtain better motion performance, the knee joints of the existing legged mobile robots are mostly driven by a parallel four-bar mechanism. This structural layout has defects. When the connecting rod of the parallel four-bar mechanism is collinear with the connecting rod, the mechanism is in a singular configuration, and the motion is not unique. At the same time, the transmission angle of the mechanism is 0, which limits the range of motion of the knee joint. Less than 180°, the working space of the robot is limited.

SUMMARY OF THE INVENTION

In order to overcome the singularity problem of the parallel four-bar mechanism drive of the legged mobile robot in the prior art, as well as the problems of bloated single-leg structure design and limited joint motion range, the present invention proposes a single-leg device with double parallel four-bar transmission mechanism And six-wheeled legged robot to achieve a larger working space for the robot.

The single-leg device and the six-wheel-legged robot of the double-parallel four-bar transmission mechanism of the present invention include a base part, a thigh part, and a calf part; the base part is connected to the robot body, and has a waist joint drive motor for driving the thigh part horizontally Rotation; the end of the thigh part has a hip joint drive motor, which is used to drive the thigh to rotate up and down; the calf part is installed at the front end of the thigh part, and is driven to rotate up and down by the knee joint drive motor.

The above-mentioned knee joint drive motor drives the lower leg part to rotate through a double parallel four-bar structure; the double parallel four-bar structure includes a driving connecting rod, a connecting rod, an auxiliary connecting rod, a driven connecting rod, a first auxiliary connecting rod and a second auxiliary connecting rod. connecting rod.

Wherein, the end of the driven connecting rod is connected with the front end of the thigh plate through a bearing to form a rotating pair; at the same time, the end of the driven connecting rod is also connected with the rotating shaft of the lower leg part to transmit force through a spline connection. The big end of the drive connecting rod is connected with the output shaft of the knee joint drive motor; the connecting rod is arranged parallel to the right thigh plate, and the end and the front end have two connection positions. Among them, the end connecting position and the connecting shaft designed on the small end of the active connecting rod are connected by bearings; the connecting position at the front end of the connecting rod and the connecting shaft designed at the front end of the driven connecting rod are connected by bearings; The rod, the driven connecting rod and the connecting rod form a first parallel four-bar mechanism.

The end of the first auxiliary connecting rod is connected with the small end of the driving connecting rod to transmit force; the end of the second auxiliary connecting rod is connected with the end of the connecting shaft at the front end of the driven connecting rod. The two ends of the auxiliary connecting rod are respectively connected with the front ends of the first auxiliary connecting rod and the second auxiliary connecting rod through bearings to form two rotating pairs; thus the connecting rod, the first auxiliary connecting rod and the second auxiliary connecting rod The rod and the auxiliary link form a second parallel four-bar mechanism.

Through the above-mentioned double parallel four-bar mechanism, under the driving of the knee joint drive motor 207, the knee joint has the possibility of turning 180°. When the first parallel four-bar mechanism is in the singular configuration, the second parallel four-bar mechanism is not in the singular configuration. At this time, under the action of the second parallel four-bar mechanism, the first parallel four-bar mechanism gets rid of the singular configuration; when When the second parallel four-bar mechanism is in a singular configuration, it is the same as the above process, so that the whole-circle motion of the knee joint can be realized.

The advantages of the present invention are:

(1) The single-leg device of the double-parallel four-bar transmission mechanism of the present invention, the driving of the knee joint is realized by the double-parallel four-bar mechanism, and the double-parallel four-bar mechanism is offset, so that the knee joint can cross the driving link and the connecting rod overlap. A singular position that greatly increases the range of motion of the knee joint. The double parallel four-bar mechanism is offset, so that the calf with the simple structure of the carbon fiber round tube can be retracted into the inner thigh, so as to achieve a smaller storage space.

(2) The single-leg device of the double-parallel four-bar transmission mechanism of the present invention, the waist joint drive motor and the hip joint drive motor are embedded in the thigh, the structure of the single-leg device is more compact, and the motion range of the waist joint is increased.

(3) In the single-leg device of the double-parallel four-bar transmission mechanism of the present invention, the driving wheel component, as a modular component, can be flexibly installed or not installed to realize the switching between the wheel-leg device and the single-leg device.

(4) The hexapod robot of the present invention has a single-leg device with a double parallel four-bar transmission mechanism, which can realize the switching between wheeled motion and legged motion, and has efficient moving ability and complex terrain passing ability, wherein the wheeled motion can be Three, four or six wheels, and the height of the fuselage can be adjusted by joint motion.

(5) The hexapod robot of the present invention has a single-leg device with a double parallel four-bar transmission mechanism. The fuselage is symmetrical up and down without front and back sides, so that the six-wheel-legged robot does not need to adjust the front and back sides of the fuselage when it overturns, and can stand in the opposite direction. Keep moving. There is no need to adjust the characteristics of the front and back of the fuselage, so that the six-wheeled robot does not need to adjust the posture of the fuselage when jumping from one bulkhead of the space station to another parallel bulkhead, and the whole process is greatly simplified.

(6) The hexapod robot of the present invention has a single-leg device with a double parallel four-bar transmission mechanism, which can realize simple operations, such as standing on four legs, and the other two legs take a certain express box from the ground to the fuselage, and finally send it to the fuselage. in the hands of the recipient.

Description of drawings

FIG. 1 is a schematic front view of the single-leg device of the double-parallel four-bar transmission mechanism of the present invention.

2 is a schematic top view of the single-leg device of the double-parallel four-bar transmission mechanism of the present invention.

3 is a schematic diagram of the base section of the single-leg device of the double parallel four-bar transmission mechanism of the present invention.

4 is a schematic cross-sectional view of the base section of the single-leg device of the double-parallel four-bar transmission mechanism of the present invention.

FIG. 5 is a schematic diagram of the thigh part of the single-leg device of the double-parallel four-bar transmission mechanism of the present invention.

6 is a schematic cross-sectional view of the thigh part of the single-leg device of the double-parallel four-bar transmission mechanism of the present invention.

7 is a schematic diagram of the thigh support structure of the single-leg device of the double parallel four-bar transmission mechanism of the present invention.

FIG. 8 is a schematic diagram of the leg motion of the six-wheel-legged robot applying the single-leg device of the double-parallel four-bar transmission mechanism of the present invention.

FIG. 9 is a schematic diagram of a way of gripping objects by a six-wheel-legged robot using a single-leg device of a double-parallel four-bar transmission mechanism of the present invention.

10 is a schematic diagram of six-wheel motion of a six-wheel-leg machine using the single-leg device of the double parallel four-bar transmission mechanism of the present invention.

11 is a schematic diagram of four-wheel motion of a six-wheel-leg machine using the single-leg device of the double-parallel four-bar transmission mechanism of the present invention.

12 is a schematic diagram of three-wheel motion of a six-wheel-leg machine using the single-leg device of the double-parallel four-bar transmission mechanism of the present invention.

13 is a schematic diagram of a storage state of a six-wheel-leg machine using the single-leg device of the double-parallel four-bar transmission mechanism of the present invention.

In the picture:

1- Base part 2- Thigh part 3- Calf part

4- Drive wheel parts 5- Body 101- Body connecting parts

102-Waist joint drive motor 103-Basic joint cushion 104-On the base joint connecting piece

105-under the base joint connector 106-upper waist joint drive motor kit 107-under the waist joint drive motor kit

108-first bearing 109-first shaft retaining ring 110-first bearing pressure plate

201-Hip Drive Motor 202-Hip Drive Motor Kit Right 203-Hip Drive Motor Kit Left

204-Thigh link right 205-Thigh link left 206-Drive link rod

207-Knee joint drive motor 208-Link 209-Auxiliary link

210-Driven connecting rod 211-Thigh support 212-Second shaft retaining ring

213-Second bearing pressure plate 214-Second bearing 215-Thigh right plate

216-left thigh plate 217-first auxiliary link 218-second auxiliary link

301-calf connector 302-calf 303-flexible cushioning foot

401-wheel 402-drive wheel motor

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

The single-leg device of the double-parallel four-bar transmission mechanism of the present invention includes a base section part 1, a thigh part 2, and a calf part 3, as shown in Figures 1 and 2 .

The base joint part 1 includes a body connector 101, a waist joint drive motor 102, a base joint cushion 103, an upper base joint connector 104, a lower base joint connector 105, an upper waist joint drive motor kit 106, and a waist joint drive. The lower part 107 of the motor kit, the first bearing 108 , the first shaft retaining ring 109 and the first bearing pressing plate 110 . As shown in Figure 3 and Figure 4.

Wherein, the axis of the waist joint drive motor 102 is arranged perpendicular to the horizontal plane, and the upper and lower ends of the waist joint drive motor set 106 and the lower waist joint drive motor set 107 are fixedly sleeved respectively. The end of the lower 105 of the base joint is fixed with the motor output shaft; the end of the upper 104 of the base is connected to the upper 106 of the waist joint drive motor kit through the first bearing 108, specifically: the end of the upper 104 of the base is connected to the first bearing 108. The outer ring of the bearing 108 is fixed by interference fit, and the inner ring of the first bearing 108 is fixed by interference fit with the protrusions coaxial with the waist joint drive motor 102 designed on the 106 of the waist joint drive motor kit; 109 and the first bearing pressing plate 110 jointly realize the axial positioning and clamping of the first bearing 108 . In this way, the upper 104 of the base joint connecting piece and the lower 105 of the base joint connecting piece are simultaneously driven by the waist joint driving motor 102 to rotate equiangularly. The front ends of the upper basal joint connecting piece 104 and the lower 105 of the basal joint connecting piece are arc-shaped structures for connecting the thigh parts to ensure the rigidity and strength of the connection.

The fuselage connecting piece 101 is an arc-shaped plate, the inner wall of which is circumferentially fitted with the upper 106 of the waist joint drive motor set and the lower 107 of the waist joint drive motor set respectively. The upper and lower edges of the outer wall of the fuselage connector 101 are designed with flanges, and through holes A perpendicular to the motor axis are opened at equal angles on the circumference of the flanges, which are used to pass through the screws and the upper 106 of the waist joint drive motor kit and the waist joint drive motor The lower part 107 of the kit is fixed, and through holes B parallel to the motor axial direction are opened at equal angles in the circumferential direction of the flange, which are arranged in a staggered manner with the through holes A, and are used to connect the fuselage through screws.

The base section buffer pad 103 is made of soft rubber, and is fixed on the outer side wall of the lower end of the base section connector 105 to play a buffering role in the storage and transportation of the robot.

The thigh part 2 includes a hip joint drive motor 201, a right hip joint drive motor kit 202, a left hip joint drive motor kit 203, a right thigh connecting piece 204, a left thigh connecting piece 205, a drive link rod 206, and a knee joint drive motor 207, connecting rod 208, auxiliary connecting rod 209, driven connecting rod 210, thigh support 211, retaining ring for second shaft 212, second bearing pressure plate 213, second bearing 214, right thigh plate 215, left thigh plate 216 , The first auxiliary connecting rod 217 and the second auxiliary connecting rod 218 are shown in FIG. 5 and FIG. 6 .

The axis of the hip joint drive motor 201 is perpendicular to the hip joint drive motor 102 along the left and right directions. The left and right ends of the hip joint drive motor 201 are respectively sleeved with a left hip joint drive motor kit 203 and a right hip joint drive motor kit 202 . The right 204 of the thigh connector and the left 205 of the thigh connector are installed in the same manner as the upper 106 of the waist joint drive motor kit and the lower 107 of the waist joint drive motor kit, and the end of the thigh connector left 205 is fixed with the motor output shaft; the thigh The end of the right 204 of the connecting piece is connected with the right 202 of the hip joint drive motor kit through the second bearing 214, specifically: the end of the right 204 of the thigh connecting piece is fixed with interference fit with the outer ring of the second bearing 214, and the inner ring of the second bearing 214 is fixed with the hip joint The right 202 of the joint drive motor kit is designed with a raised interference fit coaxial with the hip joint drive motor 201 for fixation; at the same time, the axial positioning of the second bearing 214 is achieved through the second shaft retaining ring 212 and the second bearing pressure plate 213 together with clamping. Thereby, the right 204 of the thigh connecting piece and the left 205 of the thigh connecting piece are simultaneously driven to rotate by the hip joint drive motor 201 at equal angles. The front ends of the right thigh connecting piece 204 and the left thigh connecting piece 205 are respectively fixed to the ends of the right thigh plate 215 and the left thigh plate 216 which are arranged parallel to each other. The thigh support 211 is installed between the right thigh plate 215 and the left thigh plate 216, and its structure is shown in FIG. The connecting surfaces on the left and right sides of the thigh support 211 are respectively attached to the inner walls of the right thigh plate 215 and the left thigh plate 216, and the right thigh plate 215, the left thigh plate 216 and the thigh support 211 are fixed together by bolts; through the thigh support 211 The rigidity and strength of the thigh part 2 are guaranteed. The rear part and the front part of the above-mentioned thigh support 211 are designed as concave structures, while the upper and lower outer side walls are provided with grooves that communicate with the front concave structure, so as to provide installation space for subsequent components and realize the reduction of the thigh support 211. Heavy.

The knee joint drive motor 207 is disposed in the aforementioned recessed structure at the rear of the thigh support 211 , so that the overall thigh part 2 has a compact structure and reduces the volume of the thigh part 2 . One end face of the body of the knee joint drive motor 207 is fixed with the right thigh plate 215 by screws, and the other end face is in clearance fit with the left thigh plate 216 .

The lower leg part 3 includes a lower leg connecting piece 301 , a lower leg 302 , and a flexible cushioning foot 303 , as shown in FIGS. 1 and 2 . The calf connector 301 is a T-shaped structure with three connecting ends, and the two opposite connecting ends are respectively connected with the front end of the right thigh plate 215 and the left thigh plate 216 in the thigh part 2 through bearings, and one of the connecting ends extends The right thigh plate 215 is taken out for connection of subsequent components. The calf 302 adopts a carbon fiber circular tube structure, which simplifies the structure of the calf 302 and reduces the weight of the calf part 3 . The end of the lower leg 302 is in interference fit with the sleeve structure designed at the other connecting end of the lower leg connector 301 , and at the same time, it is firmly fixed by means of a set screw. The ground-contacting end of the lower leg 302 is fixedly installed with a flexible buffer foot 303 . The flexible cushioning foot 303 adopts a rubber hemispherical structure to reduce the impact of the ground contacting the foot within a certain range.

The above-mentioned lower leg member 3 is driven by the knee joint drive motor 207, and consists of the right thigh plate 215, the driving link 206, the driven link 210, the link 208, the auxiliary link 209, the first auxiliary link 217, the second link The auxiliary connecting rod 218 constitutes a double parallel four-bar mechanism transmission, which realizes the rotation around the connecting bearing axis of the lower leg connecting piece 301 within a range of ±164 degrees.

The end of the driven connecting rod 210 is connected with the front end of the right thigh plate 215 through a bearing to form a rotating pair, and the axial positioning of the bearing is realized through the retaining ring; The output ends of the right thigh plate 215 are connected by splines to transmit force. The big end of the drive link rod 206 is connected with the output shaft of the knee joint drive motor 207 by screws through the screw holes in the circumferential direction; the link rod 208 is arranged parallel to the right thigh plate 215, and the end and the front end have two connection positions; The bearing is connected with the connecting shaft designed on the small end of the active connecting rod 210 through the bearing, and the axial positioning of the bearing is realized by the retaining ring. The connecting position of the front end of the connecting rod 208 and the connecting shaft designed at the front end of the driven connecting rod 210 are connected by a bearing, and the axial positioning of the bearing is realized by a retaining ring. Therefore, the right thigh plate 215 , the driving link rod 206 , the driven link rod 210 and the connecting rod 208 form a first parallel four-bar mechanism.

The end of the first auxiliary connecting rod 217 is designed with a square protrusion, which is connected to the square hole designed at the end of the connecting shaft of the small end of the driving connecting rod 206 to transmit force. The end of the second auxiliary connecting rod 218 is also designed with a square protrusion, which is connected with the square hole designed at the end of the connecting shaft at the front end of the driven connecting rod 210 to transmit force. Two ends of the auxiliary link 209 are respectively connected with the front ends of the first auxiliary link 217 and the second auxiliary link 218 through bearings through screws to form two rotating pairs. The above-mentioned link 208 and the thigh part 2 , the lower leg part 3 and the auxiliary link 209 are located in different spatial planes to avoid mutual interference. Therefore, the connecting rod 208 , the first auxiliary connecting rod 217 , the second auxiliary connecting rod 218 and the auxiliary connecting rod 209 form a second parallel four-bar mechanism.

Through the above-mentioned double parallel four-bar mechanism, under the driving of the knee joint drive motor 207, the knee joint has the possibility of turning 180°. When the first parallel four-bar mechanism is in the singular configuration, the second parallel four-bar mechanism is not in the singular configuration. At this time, under the action of the second parallel four-bar mechanism, the first parallel four-bar mechanism gets rid of the singular configuration; when When the second parallel four-bar mechanism is in a singular configuration, it is the same as the above process, so that the whole-circle motion of the knee joint can be realized. The above-mentioned range of motion in the knee joint is achieved through the contact and cooperation between the bottom end of the concave structure at the front of the thigh support 211 and the lower leg 302 .

In the single-leg device of the double-parallel four-bar transmission mechanism of the above structure, a driving wheel member 4 can also be installed on the outer wall of the front end of the thigh member 2, as shown in Figs. Among them, the body of the driving wheel motor 402 is fixedly connected with the outer wall of the left thigh plate 216 of the thigh part 2 by screws, the output end of the driving wheel motor 402 is fixed with the wheel 401 by screws, and the axis of the output end of the driving wheel motor 402, the wheel 401 The axis is collinear with the axis of rotation of the knee joint. The above-mentioned driving wheel component 4 is a modular component, and it can be flexibly selected whether to install it according to the requirements.

The six-wheel-legged robot applying the single-leg device of the double-parallel four-bar transmission mechanism of the present invention comprises a double-layer structure body 5, and six single-leg devices of the aforementioned double-parallel four-bar transmission mechanism uniformly distributed in the circumferential direction of the body, each of which is a parallel four-bar transmission mechanism. The single-leg device of the rod transmission mechanism is connected and fixed with the upper and lower layers of the fuselage 5 through the through holes on the fuselage connecting member 101 . And according to the needs, choose whether to install the driving wheel parts, so that the six-wheeled robot can realize leg-type movement or wheel-type movement.

As shown in Figure 9. During the leg movement, the flexible cushioning foot 303 of the lower leg part 3 touches the ground, which can be a typical 3+3 gait, 4+2 gait or 5+1 gait, and drives the motor 102 by controlling the adjacent waist joint, The adjacent calf 302 is brought close, the object between the adjacent calf 302 is clamped, and then the adjacent calf 302 is rotated upward by controlling the knee joint drive motor 207, and finally the object between the adjacent calf 302 is placed on the top of the fuselage 5. Then control the waist joint drive motor 102 to release the object in the adjacent lower leg 302, and control the knee joint drive motor 207 to drive the adjacent lower leg 302 to return to the original state, as shown in FIG. 10 . Similarly, the object can be removed from the top surface of the fuselage 5 by controlling the calf 302 by reverse operation.

As shown in FIG. 11 , FIG. 12 , and FIG. 13 , the wheeled motion can be three-wheeled, four-wheeled, or six-wheeled. At this time, in the single-leg device, the lower leg 302 is rotated upward to the limit by controlling the knee joint drive motor 207 At the same time, the hip joint drive motor 201 is controlled to rotate the thigh part 2 downward, so that the wheel 401 touches the ground. The more wheels 401 that touch the ground, the better the stability of the fuselage 5 and the worse the turning performance. The height of the fuselage 6 can be adjusted through joint motion during wheeled motion. In the state of three-wheel motion and four-wheel motion, it is only necessary to install driving wheel components on the four single-leg structures that need to be on the ground, and the posture of the single-leg structure that does not need to be on the ground is flexible and changeable, as shown in Figure 12 and Figure 13 As shown, the thigh part 2 is rotated upward to the limit by controlling the hip joint drive motor 201, while the knee joint drive motor 207 is controlled to rotate the lower leg 302 downward to the limit position, and then the single leg is folded up and located above the fuselage 5; This posture of the leg device can also be used to retract the robot as a whole when the robot is stored and transported, as shown in Figure 13. Single-leg structures that do not need to be on the ground can also have other stances, other than controlling the spread of the single-leg device. Through the coordinated movement of one leg that does not touch the ground, the fuselage can reach a more stable state (similar to the effect of an animal's tail on the body's balance).

Since the fuselage 5 has up-down symmetry, and because the single-leg device of the double parallel four-bar transmission mechanism of the present invention has the symmetry of the joint motion range, the six-wheel-legged robot does not need to adjust the posture of the fuselage when it is flipped over. From the previous state, you can continue to exercise by simply standing in the opposite direction.

Claims (10)

1. A single-leg device and a six-wheel-legged robot of a double-parallel four-bar transmission mechanism, comprising a base section, a thigh section, and a calf section; the base section 1 is connected to the robot body, and has a waist joint drive motor for driving The thigh part rotates laterally; the end of the thigh part has a hip joint drive motor, which is used to drive the thigh part to rotate up and down; the calf part is installed at the front end of the thigh part, and is driven to rotate up and down by the knee joint drive motor; The four-bar structure drives the lower leg part to rotate. 2. The single-leg device and the six-wheel-legged robot of a double-parallel four-bar transmission mechanism as claimed in claim 1, wherein the double-parallel four-bar structure comprises a drive connecting rod, a connecting rod, an auxiliary connecting rod, and a driven connecting rod. a frame rod, a first auxiliary connecting rod and a second auxiliary connecting rod; Among them, the end of the driven connecting rod is connected with the front end of the thigh plate through a bearing to form a rotating pair; at the same time, the end of the driven connecting rod is also connected with the rotating shaft of the calf part to transmit force through a spline connection; the big end of the driving connecting rod is connected to the The output shaft of the knee joint drive motor is connected; the connecting rod is set parallel to the right thigh plate, and the end and the front end have 2 connection positions; the end connection position and the connecting shaft designed on the small end of the active connecting rod are connected by bearings; the connecting rod The front-end connecting position and the connecting shaft designed at the front end of the driven connecting rod are connected by bearings; thus the thigh plate, the driving connecting rod, the driven connecting rod and the connecting rod form the first parallel four-bar mechanism; The end of the first auxiliary connecting rod is connected with the small end of the driving connecting rod for force transmission; the end of the second auxiliary connecting rod is connected with the end of the connecting shaft at the front end of the driven connecting rod for force transmission; the two ends of the auxiliary connecting rod are respectively The front ends of the first auxiliary connecting rod and the second auxiliary connecting rod are connected by bearings to form two rotating pairs; thus the connecting rod, the first auxiliary connecting rod, the second auxiliary connecting rod and the auxiliary connecting rod form the first auxiliary connecting rod. Two parallel four-bar mechanism. 3. The single-leg device and the six-wheel-legged robot of a double-parallel four-bar transmission mechanism as claimed in claim 1, characterized in that: in the base joint component, both ends of the waist joint drive motor are respectively fixed and sleeved with waist joint drive motor kits The upper and lower waist joint drive motor kits; the inner arc surface of the arc-shaped plate structure fuselage connector is circumferentially fitted with the upper waist joint drive motor kit and the lower waist joint drive motor kit; the upper and lower edges of the outer wall of the fuselage connector are designed There is a flange, and through holes A perpendicular to the motor axis are opened at equal angles on the circumference of the flange, which are used to pass through screws to be fixed on the waist joint drive motor kit and under the waist joint drive motor kit, and the flange circumferential direction is equal. The angle is provided with a through hole B parallel to the axial direction of the motor, which is arranged staggered with the through hole A, and is used to connect the fuselage through the screw. 4. the single-leg device and the six-wheel-legged robot of a kind of double parallel four-bar transmission mechanism as claimed in claim 1, it is characterized in that: the base joint connecting piece on both sides of the waist joint drive motor drives synchronously to rotate, and then drives the thigh part to rotate; The front ends of the base joint connecting pieces on both sides have opposite arc surfaces, and the two arc surfaces are fixed on the left hip joint drive motor kit and the upper right side of the hip joint drive motor kit which are sleeved at both ends of the hip joint drive motor in the thigh part. 5. the single-leg device and the six-wheel-legged robot of a kind of double parallel four-bar transmission mechanism as claimed in claim 1, it is characterized in that: the thigh plate on both sides of the hip joint drive motor drives synchronously to rotate, realizes the rotation of the thigh part; A thigh support structure is fixedly installed between the side thigh boards. 6. The single-leg device and the six-wheel-legged robot of a double-parallel four-bar transmission mechanism as claimed in claim 5, characterized in that: the thigh support structure has connection surfaces on both sides of the left and right sides, and a limit block in the middle; the thigh supports the left and right sides The connecting surfaces on both sides are respectively fixed with the thigh plates on both sides; the rear part and the front part of the thigh support are designed as concave structures, and at the same time, the upper and lower outer side walls are provided with grooves communicating with the front concave structures. 7. The single-leg device and the six-wheel-legged robot of a double parallel four-bar transmission mechanism as claimed in claim 6, wherein the motion range of the knee joint is supported by the contact between the bottom end of the front recessed structure of the thigh and the calf part Cooperate to achieve. 8 . The single-leg device and the six-wheel-legged robot with a double parallel four-bar transmission mechanism according to claim 1 , wherein the base section cushion pad of soft rubber is installed at the bottom end of the base section component. 9 . 9. the single-leg device of the double-parallel four-bar transmission mechanism of the above-mentioned structure of claim 1, is characterized in that: drive wheel parts are installed on the outer wall of the front end of the thigh parts, including wheels and drive wheel motors; wherein, the body of the drive wheel motors and the thigh The outer walls of the plates are fixedly connected, the output end of the driving wheel motor is fixedly connected with the wheel, and the axis of the output end of the driving wheel motor, the axis of the wheel and the axis of rotation of the knee joint are collinear. 10. The six-wheel-legged robot using the single-leg device of the double-parallel four-bar transmission mechanism according to claim 1 is characterized in that: it has a double-layer structure body, and 6 aforementioned double-parallel four-bar transmission mechanisms uniformly distributed in the circumferential direction of the body The single-leg device of each pair of parallel four-bar transmission mechanisms is connected and fixed with the upper and lower layers of the fuselage through the through holes on the fuselage connector; To achieve legged or wheeled exercise; In the leg movement, the flexible cushioning foot of the lower leg part touches the ground, which is a typical 3+3 gait, 4+2 gait or 5+1 gait; wheel movement is a three-wheel exercise, a four-wheel exercise, or a six-wheel exercise , at this time, in the single-leg device, the knee joint drive motor is controlled to rotate the calf upward to the limit position, and the hip joint drive motor is controlled to rotate the thigh part downward, so that the wheel touches the ground; Motion adjustment; in the state of three-wheel motion and four-wheel motion, only the driving wheel parts can be installed on the four single-leg structures that need to land on the ground, and the thigh parts can be rotated up to the limit by controlling the hip joint drive motor, while controlling the knee joint. The joint drive motor rotates the lower leg down to the extreme position, which in turn folds the single leg over the fuselage.

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