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Rollingly-marching robot with two wheel-like hexagonal mechanisms

A hexagonal and robotic technology, applied in the field of robotics, can solve the problems of poor adaptability to the surrounding space environment and no change in shape, and achieve the effects of low cost, simple structure, easy manufacturing and engineering realization

Active Publication Date: 2013-07-31
BEIJING JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved by the present invention: the wheel of the wheeled robot generally does not change in shape during the rolling process, and the adaptability to the ground environment and the surrounding space environment is poor

Method used

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  • Rollingly-marching robot with two wheel-like hexagonal mechanisms
  • Rollingly-marching robot with two wheel-like hexagonal mechanisms
  • Rollingly-marching robot with two wheel-like hexagonal mechanisms

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Embodiment approach

[0037] Such as figure 2 , the first quadrilateral is composed of the motor synchronous link (1), the motor seat link (6), the public link (7) and the public link (9), the motor synchronous link (1) and the motor seat link ( 6) Constitute a revolving pair as a vertex of a parallelogram, the motor base connecting rod (6) and common connecting rod (7) constitute a revolving pair as a vertex of a parallelogram, and the common connecting rod (7) and common connecting rod (9) constitute a revolving pair As a vertex of the parallelogram, the motor synchronous connecting rod (1) and the common connecting rod (9) form a revolving pair as a vertex of the parallelogram; the second quadrilateral consists of the motor synchronous connecting rod (3), the motor seat connecting rod (2), Public connecting rod (7) and public connecting rod (8) constitute, and motor synchronous connecting rod (3) and motor seat connecting rod (2) constitute revolving pair as a vertex of parallelogram, motor sea...

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Abstract

The invention relates to a rollingly-marching robot with two wheel-like hexagonal mechanisms, comprising a connecting bar, the two independent wheel-like hexagonal mechanisms and connections, wherein each wheel-like hexagonal mechanism comprises three parallelograms consisting of nine connecting rods: two adjacent parallelogram share one side, the three parallelograms share one vertex and any adjacent sides are connected by using a revolute pair; two parallelograms are respectively formed by rods (1), (6), (7) and (9) and rods (2), (3), (7) and (8) and shapes of the parallelograms are respectively controlled by motors (14) and (15); and a servo parallelogram is formed by rods (4), (5), (8) and (9) and a counterweight (16) is of the same weight as the motors to ensure that the structure issymmetrical. The change of interior angles of the parallelograms is controlled to ensure that the mechanisms are deformed and rolled and the cornering of the robot is realized through the different rolling speed of the two parallel wheel-like hexagonal mechanisms.

Description

technical field [0001] The invention relates to a robot, in particular to a rolling and traveling dual-type wheel hexagonal robot. Background technique [0002] The planar link mechanism is widely used, and its advantage is that it can realize the requirements of various motion laws and motion trajectories, and has a simple structure, reliable operation, and strong bearing capacity. Among the planar linkages, the planar four-bar linkage consisting of four members is the most common. The planar four-bar mechanism is not only widely used, but also the basis of the multi-bar mechanism. Chinese patent CN 2789106Y proposes a single-power rolling four-bar mechanism, which relies on the control of a driving motor to achieve rolling progress through the deformation of its own parallelogram and the motion inertia of the mechanism itself. The structure is simple and has certain motion capabilities, but the The mechanism can only realize walking on a straight line, but cannot realize...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/02
Inventor 姚燕安刘长焕李晔卓
Owner BEIJING JIAOTONG UNIV
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