Rolling hexahedral walking mechanism
A walking mechanism and hexahedral technology, applied in the field of rolling hexahedral walking mechanism, can solve problems such as inability to achieve motion and inability to achieve steering, and achieve the effects of increased stiffness, simple control, and uniform force distribution
Active Publication Date: 2011-02-16
BEIJING JIAOTONG UNIV
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But this design only moves in one direction and cannot turn, so it cannot realize arbitrary movement in the plane
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[0026] The present invention will be further described in conjunction with accompanying drawings.
[0027] A rolling hexahedron walking mechanism, the mechanism includes the first branch chain I, the second branch chain II, the third branch chain III, the fourth branch chain IV, the first cross bar 1, the second cross bar 14, such as figure 1 , through the first cross rod and the second cross rod, the four branch chains are connected together. The specific connection is as follows:
[0028] The first end of the first cross rod is connected with the first rolling bearing 11 of the first branch chain.
[0029] The second end of the first cross bar is connected with the sixth rolling bearing 27 of the second branch chain.
[0030] The third end of the first cross bar is connected with the C rolling bearing of the third branch chain.
[0031] The fourth end of the first cross rod is connected with the E rolling bearing of the fourth branch chain.
[0032] The first end of the ...
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The invention discloses a rolling hexahedral walking mechanism. The mechanism comprises a first branched chain (I), a second branched chain (II), a third branched chain (III), a fourth branched chain (IV), a first cross rod (1) and a second cross rod (14). The first end of the first cross rod is connected with a first rolling bearing (11) of the first branched chain, the second end of the first cross rod is connected with a sixth rolling bearing (27) of the second branched chain, the third end of the first cross rod is connected with a C rolling bearing of the third branched chain, and the fourth end of the first cross rod is connected with an E rolling bearing of the fourth branched chain. The first end of the second cross rod is connected with a five rolling bearing (12) of the first branched chain, the second end of the second cross rod is connected with a third rolling bearing (26) of the second branched chain, the third end of the second cross rod is connected with a D rolling bearing of the third branched chain, and the fourth end of the second cross rod is connected with an F rolling bearing of the fourth branched chain. The mechanism increases the rigidity of a robot and improves the load capacity by adopting a closed chain structure, has simple structure and control, and can realize movement and steering in a plane under the action of inertia.
Description
technical field [0001] The invention relates to a rolling walking mechanism, in particular to a rolling hexahedron walking mechanism. The device can be used in the military field for reconnaissance, surveillance of terrorist incidents and demining. Background technique [0002] Among the planar linkages, the simplest structure and the most widely used is the planar four-bar mechanism composed of four components. The traditional four-bar mechanism has two connecting rods, a connecting rod and a frame, where the frame is fixed to the ground. In this way, under the rotation of the motor, the output of rotation or partial rotation is realized. Chinese patent application CN2789106Y discloses a single power rolling four-bar mechanism. The mechanism consists of 4 rods and is driven by a motor. The frame is separated from the ground, the frame is relatively static in one movement cycle, and in the transition process to the next cycle, the frame is separated from the ground. In ...
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Inventor 姚燕安刘磊田耀斌王飞
Owner BEIJING JIAOTONG UNIV