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

Active Publication Date: 2012-08-01
邳州市铁富九龙公共服务有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the shortcomings of the mobile walking robot that cannot take into account the simple structure, flexibility and rapi

Method used

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  • Six-wheel-leg type serial-parallel hybrid robot
  • Six-wheel-leg type serial-parallel hybrid robot
  • Six-wheel-leg type serial-parallel hybrid robot

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Experimental program
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Embodiment Construction

[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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Abstract

The invention discloses a six-wheel-leg type serial-parallel hybrid robot. The robot comprises a carrying platform, a battery, a control system, a camera and three wheel-leg combined movable branched chains with six degrees of freedom; the battery, the control system and the camera are arranged on the carrying platform; the wheel-leg combined movable branched chains are arranged under the carrying platform; and the wheel-leg combined movable branched chain comprises a yaw joint, a yaw joint bracket, an upper pitch joint, a big leg, a middle pitch joint, a middle pitch joint bracket, an upper roll joint, a small leg, a lower pitch joint, a lower pitch joint bracket, a lower roll joint, a power wheel bracket and a power wheel. The invention provides the six-wheel-leg type serial-parallel hybrid robot with a simplified structure and good flexibility and rapidity.

Description

technical field [0001] The invention belongs to the field of multi-legged walking robots, and in particular relates to a six-wheel-legged series-parallel hybrid robot mechanism. technical background [0002] At present, the walking mechanism of domestic and foreign robots can be divided into wheel type, leg type, crawler type and so on according to the moving mode. However, there are corresponding defects in each of them. The wheeled structure is fast and flexible in control, but its ability to overcome obstacles is limited. The leg structure has strong adaptability and good ornamental value, but it consumes a lot of energy, and the control is complicated, and it is not suitable for occasions that require high flexibility and rapidity. Tracked mobile robots are heavy in weight and consume high energy consumption. Contents of the invention [0003] In order to overcome the shortcoming that the mobile walking robot cannot balance simple structure, flexibility and rapidity,...

Claims

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Application Information

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IPC IPC(8): B62D57/028B25J5/00
Inventor 艾青林曹斌谭大鹏
Owner 邳州市铁富九龙公共服务有限公司
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