Three-degree-of-freedom hip joint mechanism used for metamorphic unmanned ground movement system

Abstract

The invention discloses a three-degree-of-freedom hip joint mechanism used for a metamorphic unmanned ground movement system. The three-degree-of-freedom hip joint mechanism used for the metamorphic unmanned ground movement system comprises an upper rotating mechanism, a middle rotating mechanism, a lower rotating mechanism, a vehicle bottom plate, a T-shaped sleeve and a thigh member. The vehiclebottom plate is fixedly connected to a frame of the metamorphic unmanned ground movement system. A first motor, a connecting member and a hip joint plate are arranged on the upper rotating mechanism;the first motor is connected to the upper side of the vehicle bottom plate; the hip joint plate is connected with an output shaft of the first motor through the connecting member; and the hip joint plate is positioned on the lower side of the vehicle bottom plate. The internal side of the hip joint plate is connected to the T-shaped sleeve; one end of the T-shaped sleeve is connected with the middle rotating member; the other end of the T-shaped sleeve connected with the lower rotating member; and the middle rotating member is perpendicular to the lower rotating mechanism. The lower rotatingmechanism is connected to the thigh member. During working, the upper rotating mechanism, the middle rotating mechanism and the lower rotating mechanism are linked with each other; and the thigh member realizes three-degree-of-freedom rotation of X, Y and Z coordinates.

Description

technical field [0001] The invention relates to the technical field of unmanned metamorphic ground mobile system for switching and reconfiguring between vehicle state and human-like state, in particular, it relates to a three-degree-of-freedom hip joint mechanism used in a transmutable unmanned ground mobile system . Background technique [0002] A variable cell mechanism is a mechanism that can realize mechanism reconfiguration and deformation, and the degree of freedom changes during the deformation process. The variable cell ground mobile system is a mobile vehicle with advanced technology in the cutting-edge research field. Its structure can be deformed and reconfigured to adapt to different driving road surfaces. When driving fast in the car state, when the road is difficult to pass on non-structural roads (such as fields, steps, ravines, etc.), it can be transformed into a human-like state to walk, thereby improving the passability of the road. Among them, the hip jo...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the problem that the existing hip joint adopts synchronous belt deceleration mode with low reliability, the present invention provides a three-degree-of-freedom hip joint mechanism for a variable cell unmanned ground movement system

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