Six-wheel-leg type serial-parallel hybrid robot
A robot and wheel-foot technology, which is applied in the field of six-wheel-foot series-parallel hybrid robot mechanism, can solve the problems of simple structure, flexibility and rapidity, and achieve the effect of high rigidity, large volume shrinkage ratio and reasonable layout
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[0023] The present invention will be further described below in conjunction with the accompanying drawings.
[0024] refer to Figure 1 ~ Figure 3 , a six-wheeled series-parallel hybrid robot, which is composed of a carrier platform 5, a camera 2, a control unit 4, a battery unit 3, and six wheel-footed kinematic branch chains 1 with identical structures.
[0025] Depend on figure 2 It can be seen that each of the motion branch chains is composed of a yaw joint 18, a yaw joint support 17, an upper pitch joint 16, a middle pitch joint 14, a lower pitch joint 10, a middle pitch joint support 13, a middle pitch joint support 9, and an upper horizontal joint. Rolling joint 12, lower rolling joint 8, thigh 15, shank 11, power wheel 6, power wheel support 7 constitute.
[0026] The end cover of the yaw joint 18 is fixedly connected with the carrying platform 5 by screws without relative rotation, while the joint shell of the yaw joint 18 is connected with the yaw joint bracket 17...
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