CN114379669B - Reconfigurable four-footed mobile platform - Google Patents
Reconfigurable four-footed mobile platform Download PDFInfo
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- CN114379669B CN114379669B CN202111670941.2A CN202111670941A CN114379669B CN 114379669 B CN114379669 B CN 114379669B CN 202111670941 A CN202111670941 A CN 202111670941A CN 114379669 B CN114379669 B CN 114379669B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The invention discloses a novel parallel four-footed mobile device which comprises a platform main body, a parallel mechanical leg group, a lifting and power device and a connection stabilizing device. The parallel mechanical leg group forms a parallel mechanism through the platform main body and mutually cooperates. The parallel mechanical leg group is fixedly arranged in the middle of the platform main body, the lifting and power device is fixedly connected with the parallel mechanical leg group, suspended below the platform main body and non-fixedly connected with the platform main body, and the connection stabilizing devices are fixedly arranged on two sides of the lifting device and non-fixedly connected with the parallel mechanical leg group. The novel parallel-connection type four-footed ground device has the characteristics of novel structure, strong stability, wide application range, strong obstacle crossing capability and the like, and can be suitable for indoor and outdoor surveying and mapping, military weapon carrying, precision instrument conveying, rescue support conveying and the like under different environments.
Description
Technical Field
The invention relates to the field of four-foot mobile devices, in particular to a reconfigurable four-foot mobile platform.
Background
Ground mobile devices have relatively perfect classification systems, and nowadays, the ground mobile devices are mainly classified into wheel type, crawler type and foot type. The principle of the wheel-type and crawler-type ground moving device is simpler, so that the moving efficiency is low in severe terrain. The foot type mobile device is bionic based on the characteristics of a vertical animal, so that the traffic efficiency is higher on complex terrain. The suspension structure inherent to the foot type moving device can change the direction of the force application by adjusting the posture of the whole device during the moving process. The ground moving device adopts the parallel structure based on the above. The device can be used as a ground moving device for material transmission and the like when the lock catch is opened; when the lock catch locks the foot type mechanical leg, the mechanical leg can be used as a stable horizontal platform.
Disclosure of Invention
The invention aims to solve the defects of low obstacle crossing capability, poor stability, large structural error, low precision, weak bearing capacity and the like of the ground moving device in the current market for a complex terrain environment; the reconfigurable four-footed mobile platform has the advantages that four parallel mechanical legs and a connection stabilizing device are adopted, and the ground mobile robot has the advantages of high precision, high stability, high degree of freedom, large bearing capacity and the like.
The invention realizes the purpose through the following technical scheme: a reconfigurable quadruped mobile platform, comprising: comprises a platform main body, a parallel mechanical leg group, a lifting and power device and a connection stabilizing device;
the platform main body comprises a positioning plate, an SPS moving mechanism and a main body plate; the positioning plates are in a ladder-shaped manner and are designed into two symmetrical positioning plates which are distributed in the middle of the main body plate, and the upper ends of the two positioning plates are vertically and fixedly connected with the lower end of the main body plate; the SPS moving mechanism comprises an upper moving rod and a lower moving rod, wherein the upper moving rod and the lower moving rod are connected in a moving pair mode; the upper moving rod is connected with the main body plate in a ball pair mode; the lower moving rod is connected with the lifting and power device in a ball pair mode; the SPS moving mechanism is arranged at the center of the bottom of the main body plate;
the parallel mechanical leg group comprises four identical parallel mechanical legs, and the centers of the four parallel mechanical legs are symmetrically distributed at four corners of the main body plate; the parallel mechanical legs comprise motors, hooke hinge structures, upper mechanical leg rods and lower mechanical leg rods, the motors are fixedly mounted at the bottoms of the main body plates, the output ends of the motors are connected with the hooke hinge structures, the motors provide power for the hooke hinge structures, the hooke hinge structures comprise structural center frames, upper U-shaped blocks and lower U-shaped blocks, the structural center frame is in a cross shape, the structural center frame comprises a square hollow frame and completely identical cylindrical supports, each cylindrical support is fixed in the center of the side face of the square hollow frame and is in a symmetrical state, one end of one cylindrical support is connected with the output end of the motor, the upper U-shaped block and the lower U-shaped block are in a U-shaped shape with completely identical structures, two ends of the U-shaped block are provided with through holes with the same size respectively, the four cylindrical supports of the center frame penetrate through the through holes of the upper U-shaped block and the lower U-shaped block respectively to form revolute pairs and are connected in a revolute pair mode, the bottom of the upper U-shaped block is fixedly connected with the main body plate, the bottom of the lower U-shaped block is fixedly connected with the upper mechanical leg rod, the upper mechanical leg rod comprises a lower U-shaped block seat and an upper mechanical leg rod push rod, the large end face of the lower U-shaped block seat is fixedly connected with the lower U-shaped block, the small end face of the lower U-shaped block seat is fixedly connected with the upper mechanical leg rod push rod, the upper mechanical leg rod push rod is connected with the lower mechanical leg rod push rod in a cylindrical surface moving pair, the lower mechanical leg rod comprises a lower mechanical leg rod push rod, a foot base, a lock catch and a power transmission piece, the bottom of the lower mechanical leg rod push rod is fixedly connected with the foot base, the lock catch and the power transmission piece are fixedly connected with the lower mechanical leg rod push rod and are perpendicular to the side face of the lower U-shaped block seat in the upper mechanical leg rod, and circular through holes and rectangular lock holes are formed in the lock catch and the power transmission piece, the circular through hole is connected with the lifting and power device, and the rectangular lock hole is connected with the connection stabilizing device;
the lifting and power device comprises a bearing main body, a transmission rod, side wing plates and a deep groove ball bearing, wherein the bearing main body is integrally designed into a cuboid thin body, the front and the back of the bearing main body are through, a circular through hole is formed in the top of the bearing main body, an SPS moving mechanism penetrates through the circular through hole in the bearing main body and is fixedly connected with the inner bottom surface of the bearing main body, four power transmission plates are symmetrically arranged at the bottom of the bearing main body, the outer side of each power transmission plate is connected with the transmission rod, two side wing plates are symmetrically designed on two side surfaces of the bearing main body, the top of the bearing main body is abutted against a step at the lower end of a positioning plate in a platform main body to form non-fixed connection, the transmission rod comprises a transmission inner rod and a transmission outer rod, the center of each transmission rod is symmetrically distributed at four corners of the outer side of the bearing main body and fixedly connected with the power transmission plate, one end of each transmission inner rod is a sphere and is connected with the outer side of the power transmission plate of the bearing main body in a spherical pair mode, the other end of each transmission inner rod is a long cylinder and is in contact with the cylindrical surface of the transmission outer rod so as to be connected with a moving pair, one end of each transmission outer rod is a U-shaped frame and is connected with a lock catch and a circular through hole in the power transmission part in a rotating pair mode through a pin key, each side wing plate is a rectangular thin plate and is provided with two circular through holes, each side wing plate is connected with a connection stabilizing device through the circular through holes, each deep groove ball bearing is provided with two identical parts, the inner ring of each deep groove ball bearing is connected with a transmission lower rod, and the outer ring of each deep groove ball bearing is connected with the circular through holes of the side wing plates;
the connection stabilizing device comprises four belt transmission devices which are centrosymmetric on the side wing plates; the belt transmission device comprises a driving motor, a rubber belt, a lock catch and a chain connecting rod, wherein the driving motor is fixedly installed on the side face of a bearing body of the lifting and power device, the output end of the driving motor is in friction connection with the rubber belt and provides driving force for the rubber belt, the output end of the driving motor and one end of the chain connecting rod are sleeved together by the rubber belt, the lock catch is of a J shape, one end of the lock catch is fixedly connected with a lock block and penetrates through a rectangular through hole in the lock catch on the lower rod of the mechanical leg and a rectangular through hole in a power transmission part to form non-fixed connection, the other end of the lock catch is provided with a circular through hole and one end of the chain connecting rod, the chain connecting rod comprises a transmission upper rod and a transmission lower rod, a groove is formed in the middle of the transmission upper rod and is in friction connection with the rubber belt, the lower end of the transmission upper rod is fixedly connected with the transmission lower rod, and the transmission lower rod is fixedly connected with the circular through hole at the other end of the lock catch and is connected with the inner ring of the deep groove ball bearing.
Further, the main body plate on the platform main body is fixedly connected with the bottom of the upper U-shaped block through a bolt.
Furthermore, the upper U-shaped block and the lower U-shaped block rotate around the central line of the structural center frame when rotating, and the central lines are perpendicular to each other.
Furthermore, the chamfers of the side wing plates on the lifting and power device are 10 mm.
Furthermore, the top of the bearing main body and the step at the lower end of the positioning plate in the platform main body form non-fixed connecting fingers which are attached and in non-friction contact.
Furthermore, the contact surface of the lock catch and the side wing plate is in non-friction contact.
Furthermore, the inner ring of the deep groove ball bearing is connected with the lower transmission rod, the outer ring of the deep groove ball bearing is connected with the circular through hole of the side wing plate, and the connection mode is interference connection.
The invention has the beneficial effects that: the platform main body can bear large load, the four parallel mechanical legs and the connection stabilizing device can form a stable parallel structure and locking capability, and the lifting and power device can connect the four parallel mechanical legs together, so that the platform has high precision, high stability and large bearing capability.
Therefore, the invention has reasonable structural design, can adapt to various complex environments and greatly improves the obstacle crossing capability.
Drawings
Fig. 1 is a schematic structural diagram of a reconfigurable quadruped mobile platform.
Fig. 2 is a front view of the platform body of the present invention.
Fig. 3 is a schematic structural diagram of the parallel mechanical leg of the present invention.
Fig. 4 is a schematic structural diagram of the lifting and power device of the present invention.
Fig. 5 is a schematic structural view of the coupling stabilization device of the present invention.
Fig. 6 is a schematic view of the structure of the transmission rod of the present invention.
In the figure, the position of the upper end of the main shaft,
a platform body; 11-positioning plate, 12-SPS moving mechanism, 121-upper moving rod, 122-lower moving rod and 13-main body plate;
2-parallel mechanical leg group; 21-parallel mechanical legs, 211-a motor, 212-hooke hinge structure, 2121-a structural center frame, 2122-an upper U-shaped block, 2123-a lower U-shaped block, 213-an upper mechanical leg rod, 2131-a lower U-shaped block seat, 2132-an upper mechanical leg rod push rod, 214-a lower mechanical leg rod, 2141-a lower mechanical leg rod push rod, 2142-a foot base, 2143-a lock catch and a power transmission part;
3-lifting and power devices; 31-a bearing main body, 311-a power transmission plate, 32-a transmission rod, 321-a transmission inner rod, 322-a transmission outer rod, 33-a side wing plate and 34-a deep groove ball bearing;
4-coupling a stabilizing device; 41-belt transmission device, 411-driving motor, 412-rubber belt, 413-lock catch, 4131-locking block, 414-chain connecting rod, 4141-transmission upper rod and 4142-transmission lower rod;
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
as shown in fig. 1 to 6, a reconfigurable quadruped mobile platform comprises a platform main body 1, a parallel mechanical leg group 2, a lifting and power device 3 and a connection stabilizing device 4;
the platform main body 1 comprises a positioning plate 11, an SPS moving mechanism 12 and a main body plate 13; the positioning plates 11 are in a ladder-shaped manner and are designed into two symmetrical positioning plates which are distributed in the middle of the main body plate 13, and the upper ends of the two positioning plates 11 are vertically and fixedly connected with the lower end of the main body plate 13; the SPS moving mechanism 12 includes an upper moving rod 121 and a lower moving rod 122, wherein the upper moving rod 121 and the lower moving rod 122 are connected in a moving pair; the upper moving rod 121 is connected with the main body plate 13 in a ball pair manner; the lower moving rod 122 is connected with the lifting and power device 3 in a ball pair manner; the main body plate 13 is designed as a rectangular parallelepiped thin platform, two positioning plates 11 are symmetrically designed and installed in the middle of the main body plate 13 about a central axis, and the SPS moving mechanism 12 is arranged at the bottom center of the main body plate 13.
The parallel mechanical leg group 2 comprises four identical parallel mechanical legs 21, and the four parallel mechanical legs 21 are centrally and symmetrically distributed at four corners of the main body plate 13; the parallel mechanical leg 21 comprises a motor 211, a hooke hinge structure 212, an upper mechanical leg rod 213 and a lower mechanical leg rod 214, the motor 211 is fixedly installed at the bottom of the main body plate 13, the output end of the motor 211 is connected with the hooke hinge structure 212, the motor 211 provides power for the hooke hinge structure 212, the hooke hinge structure 212 comprises a structural center frame 2121, an upper U-shaped block 2122 and a lower U-shaped block 2123, the structural center frame 2121 is in a cross shape, the structural center frame 2121 comprises a square hollow frame and 4 identical cylinder supports, each cylinder support is fixed at the center of the side surface of the square hollow frame and is in a symmetrical state, one end of one cylinder support is connected with the output end of the motor 211, the upper U-shaped block 2122 and the lower U-shaped block 2123 are in an identical structure and are in a U shape, two ends of the U shape are respectively provided with a through hole with the same size, wherein the four cylinder supports of the center frame respectively penetrate through holes of the upper U-shaped block 2122 and the lower U-shaped block 2123 to form a rotation pair and are connected in a rotation pair form, the bottom of the upper U-shaped block 2122 is fixedly connected to the main body plate 13, the bottom of the lower U-shaped block 2123 is fixedly connected to the leg upper rod 213, the leg upper rod 213 includes a lower U-shaped block seat 2131 and a leg upper rod push rod 2132, wherein the large end surface of the lower U-shaped block seat 2131 is fixedly connected to the lower U-shaped block 2123, the small end surface of the lower U-shaped block seat 2131 is fixedly connected to the leg upper rod push rod 2132, the leg upper rod push rod 2132 is connected to the leg lower rod push rod 2141 through a cylindrical surface moving pair, the leg lower rod 214 includes a leg lower rod push rod 2141, a foot bottom seat 2142, and a latch and power transmission member 2143, the bottom of the leg lower rod push rod 2141 is fixedly connected to the foot bottom seat 2142, the latch and power transmission member 2143 is fixedly connected to the leg lower rod 2141 and perpendicular to the side surface of the leg upper rod 213, the lock catch and power transmission part 2143 is provided with a circular through hole and a rectangular locking hole, the circular through hole is connected with the lifting and power device 3, and the rectangular locking hole is connected with the connection stabilizing device 4.
The lifting and power device 3 comprises a bearing main body 31, a transmission rod 32, side wing plates 33 and a deep groove ball bearing 34, wherein the bearing main body 31 is integrally designed into a cuboid thin body with a through front and back surface, the top of the bearing main body 31 is provided with a circular through hole, an SPS moving mechanism 12 penetrates through the circular through hole on the bearing main body 31 and is fixedly connected with the inner and bottom surfaces of the bearing main body 31, the bottom of the bearing main body 31 is symmetrically provided with four power transmission plates 311, the outer side of each power transmission plate is connected with the transmission rod 32, two side wing plates 33 are symmetrically designed on two side surfaces of the bearing main body 31, the top of the bearing main body 31 is abutted against a ladder at the lower end of a positioning plate 11 in a platform main body to form non-fixed connection, the transmission rod 32 comprises a transmission inner rod 321 and a transmission outer rod 322, the driving rods 32 are symmetrically distributed at four corners of the outer side of the bearing body 31 and fixedly connected with the power transmission plate 311, one end of the inner driving rod 321 is a sphere and is connected with the outer side of the power transmission plate 311 of the bearing body in a sphere pair mode, the other end of the inner driving rod 321 is a long cylinder and is in contact with the cylindrical surface of the outer driving rod 322 to be connected with a moving pair mode, one end of the outer driving rod 322 is a U-shaped frame and is connected with the lock catch and the circular through hole in the power transmission part 2143 in a rotating pair mode through a pin key, the side wing plates 33 are cuboid thin plates and are provided with two circular through holes, the side wing plates 33 are connected with the stabilizing device 4 through the circular through holes, the deep groove ball bearings 34 are designed to be two and identical, inner rings of the deep groove ball bearings are connected with the lower driving rod 4142, and outer rings of the deep groove ball bearings are connected with the circular through holes in the side wing plates 33.
The coupling stabilization device 4 comprises four belt drives 41, and the four belt drives 41 are centrosymmetric on the side wing plate 33; the belt transmission device 41 comprises a driving motor 411, a rubber belt 412, a lock 413 and a link rod 414, wherein the driving motor 411 is fixedly installed on the side surface of the bearing main body 31 of the lifting and power device 3, the output end of the driving motor 411 is in friction connection with the rubber belt 412 and provides a driving force for the rubber belt, the output end of the driving motor 411 and one end of the link rod 414 are sleeved together by the rubber belt 412, the lock 413 is in a J shape, one end of the lock 413 is fixedly connected with a lock block 4131 and penetrates through a rectangular through hole in the mechanical leg lower rod upper lock and the power transmission part 2143 to form non-fixed connection, the other end of the lock 413 is provided with a circular through hole and is fixedly connected with one end of the link rod 414, the link rod 414 comprises a transmission upper rod 4141 and a transmission lower rod 4142, a groove is arranged in the middle of the transmission upper rod 4141 and forms friction connection with the rubber belt 412, the lower end of the transmission upper rod 4141 is fixedly connected with the transmission lower rod 4142, and the transmission lower rod 4142 is fixedly connected with the circular through hole at the other end of the lock 413 and is connected with the inner ring of the deep groove 34.
The main body plate 13 on the platform main body is fixedly connected with the bottom of the upper U-shaped block 2122 through bolts.
The upper and lower U-shaped blocks 2122, 2123 rotate about a central axis of the structural backbone 2121, and the central axes are perpendicular to each other.
The chamfers of the side wing plates 33 on the lifting and power device 3 are 10 mm.
The top of the bearing body 31 forms a non-fixed connecting finger with the step at the lower end of the positioning plate 11 in the platform body to lean against and be in non-friction contact.
The contact surface of the lock 413 and the side wing plate 33 is in non-friction contact.
The inner ring of the deep groove ball bearing 34 is connected with the transmission lower rod 4142, and the outer ring of the deep groove ball bearing 34 is connected with the circular through hole of the side wing plate 33 in an interference connection mode.
The specific working process of the invention is as follows:
during movement, the connecting and stabilizing device 4 is controlled to close the lock 413 to be separated from the parallel mechanical leg group 2, the lifting and power device 3 is lowered, the motor 211 is turned on, the motor 211 of the parallel mechanical leg controls the hooke hinge structure 212 to enable the parallel mechanical leg group 2 to move in a coordinated mode, and an operator only needs to control the operator to move to a required place.
When the parallel mechanical leg group 2 stops moving, the motor 211 is turned off, the lifting and power device 3 is lifted to be attached to the positioning plate 11 on the platform main body, then the stabilizing device 4 is controlled to open the lock 413 to be tightly locked with the parallel mechanical leg group 2, and finally the moving device stops moving in a stable posture and the parallel mechanical leg group 2 stops moving.
The above embodiments are only preferred embodiments of the present invention, and are not intended to limit the technical solution of the present invention, as long as the present invention belongs to the modification of the parallel mechanism structure on the basis of the quadruped ground moving device or the addition of other devices to the device for operation, etc., and the present invention should be considered to fall within the protection scope of the patent of the present invention.
Claims (7)
1. A reconfigurable quadruped mobile platform is characterized in that: comprises a platform main body (1), a parallel mechanical leg group (2), a lifting and power device (3) and a connection stabilizing device (4);
the platform main body (1) comprises a positioning plate (11), an SPS moving mechanism (12) and a main body plate (13); the positioning plates (11) are in a step ladder shape and are designed to be two symmetrically distributed in the middle of the main body plate (13), and the upper ends of the two positioning plates (11) are vertically and fixedly connected with the lower end of the main body plate (13); the SPS moving mechanism (12) comprises an upper moving rod (121) and a lower moving rod (122), wherein the upper moving rod (121) is connected with the lower moving rod (122) in a moving pair mode; the upper moving rod (121) is connected with the main body plate (13) in a ball pair mode; the lower moving rod (122) is connected with the lifting and power device (3) in a ball pair mode; the main body plate (13) is designed to be a cuboid thin platform, two positioning plates (11) are symmetrically designed and mounted in the middle of the main body plate (13) relative to a central axis, and the SPS moving mechanism (12) is arranged at the center of the bottom of the main body plate (13);
the parallel mechanical leg group (2) comprises four identical parallel mechanical legs (21), and the centers of the four parallel mechanical legs (21) are symmetrically distributed at four corners of the main body plate (13); the parallel mechanical leg (21) comprises a motor (211), a hooke hinge structure (212), a mechanical leg upper rod (213) and a mechanical leg lower rod (214), the motor (211) is fixedly arranged at the bottom of the main body plate (13), the output end of the motor (211) is connected with the hooke hinge structure (212), the motor (211) provides power for the hooke hinge structure (212), the hooke hinge structure (212) comprises a structural center frame (2121), an upper U-shaped block (2122) and a lower U-shaped block (2123), the structural center frame (2121) is in a cross shape, the structural center frame (2121) comprises a square hollow frame and 4 identical cylindrical supports, each cylindrical support is fixed at the side center of the square hollow frame and is in a symmetrical state, one end of one cylindrical support is connected with the output end of the motor (211), the upper U-shaped block (2122) and the lower U-shaped block (2123) are in a U-shaped structure, two ends of the U-shaped form are respectively provided with the same size, the upper U-shaped block (2) and the lower U-shaped block (2132) is connected with the upper mechanical leg base (2122) and the lower mechanical leg (2123) and is connected with the upper mechanical leg through hole (2132), the large end face of the lower U-shaped block seat (2131) is fixedly connected with a lower U-shaped block (2123), the small end face of the lower U-shaped block seat (2131) is fixedly connected with a mechanical leg upper rod push rod (2132), the mechanical leg upper rod push rod (2132) is connected with a mechanical leg lower rod push rod (2141) through a cylindrical surface moving pair, the mechanical leg lower rod (214) comprises a mechanical leg lower rod push rod (2141), a sole seat (2142) and a lock catch and power transmission piece (2143), the bottom of the mechanical leg lower rod push rod (2141) is fixedly connected with the sole seat (2142), the lock catch and power transmission piece (2143) is fixedly connected with the mechanical leg lower rod push rod (2141) and perpendicular to the side face of the lower U-shaped block seat (2131) in the mechanical leg upper rod (213), a circular through hole and a rectangular lock hole are formed in the lock catch and power transmission piece (2143), the circular through hole is connected with a lifting and power device (3), and the lock hole is connected with a connection stabilizing device (4);
the lifting and power device (3) comprises a bearing main body (31), a transmission rod (32), side wing plates (33) and deep groove ball bearings (34), the bearing main body (31) is integrally designed to be a cuboid thin body with through front and back faces, a circular through hole is formed in the top of the bearing main body (31), an SPS moving mechanism (12) penetrates through the circular through hole in the bearing main body (31) and is fixedly connected with the inner bottom face of the bearing main body (31), four power transmission plates (311) are symmetrically arranged at the bottom of the bearing main body (31), the outer side of each power transmission plate is connected with the transmission rod (32), two side wing plates (33) are symmetrically designed on two side faces of the bearing main body (31), the top of the bearing main body (31) abuts against a step at the lower end of a positioning plate (11) in a platform main body to be contacted to form a non-fixed connection, the transmission rod (32) comprises an inner transmission rod (321) and an outer transmission rod (322), centers of the transmission rods (32) are symmetrically distributed at four corners outside the bearing main body (31) and are fixedly connected with the power transmission plates (311), one end of each inner transmission rod (321) is connected with a U-shaped transmission rod (322) through a rotary pin key, and the other end of the inner transmission rod (322) is connected with a circular through hole of a U-shaped transmission rod (322), the side wing plates (33) are rectangular thin plates and are provided with two circular through holes, wherein the side wing plates (33) are connected with the stabilizing device (4) through the circular through holes, the deep groove ball bearings (34) are designed to be two and completely identical, the inner rings of the deep groove ball bearings are connected with the transmission lower rod (4142), and the outer rings of the deep groove ball bearings are connected with the circular through holes of the side wing plates (33);
the connection stabilizing device (4) comprises four belt transmission devices (41), and the four belt transmission devices (41) are centrosymmetric on the side wing plates (33); the belt transmission device (41) comprises a driving motor (411), a rubber belt (412), a lock catch (413) and a link rod (414), wherein the driving motor (411) is fixedly installed on the side face of a bearing main body (31) of the lifting and power device (3), the output end of the driving motor (411) is in friction connection with the rubber belt (412) to provide driving force for the rubber belt, the output end of the driving motor (411) and one end of the link rod (414) are sleeved together by the rubber belt (412), the lock catch (413) is J-shaped, one end of the lock catch (413) is fixedly connected with a lock block (4131) and penetrates through a rectangular through hole in the upper lock catch of the lower mechanical leg rod and a rectangular through hole in the power transmission piece (2143) to form non-fixed connection, a circular through hole is formed in the other end of the lock catch (413) and is fixedly connected with one end of the link rod (414), the link rod (414) comprises an upper transmission rod (4141) and a lower transmission rod (4142), a groove is formed in the middle of the upper transmission rod (4141) and is in friction connection with the rubber belt (412), the lower transmission rod (4142), and the other end of the transmission rod (4142) is fixedly connected with a deep groove formed in the transmission rod (4142).
2. A reconfigurable quadruped mobile platform according to claim 1, wherein: the main body plate (13) on the platform main body is fixedly connected with the bottom of the upper U-shaped block (2122) through bolts.
3. A reconfigurable quadruped mobile platform according to claim 1, wherein: the upper U-shaped block (2122) and the lower U-shaped block (2123) rotate around the central line of the structural center frame (2121) when rotating, and the central lines are perpendicular to each other.
4. A reconfigurable quadruped mobile platform as claimed in claim 1, wherein: the chamfers of the side wing plates (33) on the lifting and power device are 10 mm.
5. A reconfigurable quadruped mobile platform according to claim 1, wherein: the top of the bearing main body (31) forms non-fixed connecting fingers with steps at the lower end of the positioning plate (11) in the platform main body to be attached and in non-friction contact.
6. A reconfigurable quadruped mobile platform according to claim 1, wherein: the contact surface of the lock catch (413) and the side wing plate (33) is in non-friction contact.
7. A reconfigurable quadruped mobile platform according to claim 1, wherein: the inner ring of the deep groove ball bearing (34) is connected with the transmission lower rod (4142), the outer ring of the deep groove ball bearing (34) is connected with the circular through hole of the side wing plate (33), and the connection mode is interference connection.
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| CN202111670941.2A CN114379669B (en) | 2021-12-31 | 2021-12-31 | Reconfigurable four-footed mobile platform |
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| CN202111670941.2A CN114379669B (en) | 2021-12-31 | 2021-12-31 | Reconfigurable four-footed mobile platform |
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| CN114379669B true CN114379669B (en) | 2022-12-27 |
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| JP4299567B2 (en) * | 2003-03-31 | 2009-07-22 | 本田技研工業株式会社 | Legged mobile robot |
| CN104163216B (en) * | 2014-08-28 | 2017-05-03 | 郑州大学 | Walking robot |
| GB201504846D0 (en) * | 2015-03-23 | 2015-05-06 | Rolls Royce Plc | Machine tools |
| CN108340986A (en) * | 2018-04-18 | 2018-07-31 | 辽宁工业大学 | A kind of wheel leg bio-robot with parallel-connection structure |
| CN108910088B (en) * | 2018-07-10 | 2022-06-21 | 上海交通大学 | Landing and walking integrated robot |
| CN111942491B (en) * | 2020-07-30 | 2022-06-28 | 上海交通大学 | Parallel connection mechanism wheel foot mobile robot based on UP and UPS |
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