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Single-leg device of double-parallel four-rod transmission mechanism and six-wheeled leg robot

A transmission mechanism, dual-parallel technology, used in motor vehicles, transportation and packaging, etc., can solve the problems of non-unique motion and limited working space of robots, achieve efficient and complex terrain passing ability, increase the range of motion, and the range of motion added effect

Active Publication Date: 2020-12-11
BEIHANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

There are defects in this structural layout. When the connecting rod of the parallel four-bar mechanism is in line with the connecting rod, the mechanism is in a singular configuration, and the movement is not unique. At the same time, the transmission angle of the mechanism is 0, thus limiting the range of motion of the knee joint. Less than 180°, which limits the working space of the robot

Method used

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  • Single-leg device of double-parallel four-rod transmission mechanism and six-wheeled leg robot
  • Single-leg device of double-parallel four-rod transmission mechanism and six-wheeled leg robot
  • Single-leg device of double-parallel four-rod transmission mechanism and six-wheeled leg robot

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Embodiment Construction

[0045] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0046] The single-leg device of the double parallel four-bar transmission mechanism of the present invention comprises a base part 1, a thigh part 2, and a lower leg part 3, such as figure 1 , figure 2 shown.

[0047] The base joint component 1 includes a fuselage connector 101, a lumbar joint drive motor 102, a base joint cushion 103, an upper base joint connector 104, a base joint connector lower 105, a waist joint drive motor kit upper 106, a waist joint drive The lower part of the motor kit 107 , the first bearing 108 , the retaining ring 109 for the first shaft and the first bearing pressure plate 110 . Such as image 3 , Figure 4 shown.

[0048]Wherein, the axis of the lumbar joint drive motor 102 is set perpendicular to the horizontal plane, and the upper and lower ends of the lumbar joint drive motor set 106 and the lower lumbar joint dri...

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Abstract

The invention discloses a single-leg device of a double-parallel four-rod transmission mechanism and a six-wheeled leg robot. The single-leg device of the double-parallel four-rod transmission mechanism comprises a base section part, a thigh part and a shank part and has three degrees of freedom. A knee joint is driven through the double-parallel four-rod mechanism, the weight of a shank is reduced, and meanwhile the knee joint can obtain the motion range larger than 180 degrees. A hip joint driving motor and a knee joint driving motor are embedded into a thigh part, so that the movement rangeof a waist joint is enlarged. A modularized driving wheel component can be additionally arranged on the single-leg device according to needs. The six-wheeled leg robot applying the single-leg deviceof the double-parallel four-rod transmission mechanism can achieve leg type movement or wheel type movement, simple operation is conducted, the posture of a robot body does not need to be adjusted toreturn to the state before overturning during overturning, and the robot can continue to move only by standing in the reverse direction.

Description

technical field [0001] The invention belongs to the field of robot design, in particular to a single-leg device of a double parallel four-bar transmission mechanism and a six-wheel-leg robot. Background technique [0002] The wheeled mobile robot has a simple structure and high moving efficiency on flat terrain, but has poor passing performance on rough terrain. The legged mobile robot has a complex structure, and has better passing performance on rough terrain than the wheeled robot. Combining the characteristics of wheeled robots and legged robots, a wheel-legged mobile robot has been developed, which can move on wheels on flat terrain with high moving efficiency, and move on legs on rough terrain with good passing performance. Wheel-legged mobile robots have become a hot spot in the research of mobile robots. [0003] For example, the Chinese invention patent with the publication number CN111204382A discloses "a quadruped robot combined with wheels and legs". The rod a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/028B62D57/032
CPCB62D57/028B62D57/032
Inventor 徐坤秦日鹏陈佳伟丁希仑
Owner BEIHANG UNIV
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