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A multi-legged crawling robot based on schatz mechanism

A technology of crawling robots and racks, which is used in motor vehicles, transportation and packaging, etc., can solve problems such as limited movement modes of a single Schatz mechanism

Active Publication Date: 2021-01-19
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: Generally speaking, the motion pattern of single Schatz mechanism is limited, can not realize comparatively flexible motion

Method used

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  • A multi-legged crawling robot based on schatz mechanism
  • A multi-legged crawling robot based on schatz mechanism
  • A multi-legged crawling robot based on schatz mechanism

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Experimental program
Comparison scheme
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Embodiment Construction

[0060] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0061] A multi-legged crawling robot based on the Schatz mechanism, such as figure 1 Shown, a kind of multi-leg crawling robot based on Schatz mechanism is characterized in that: upper A, lower panel I, first to sixth power unit B, C, D, F, G, H, tail rudder E.

[0062] The upper and lower panels A, I are provided with connection holes, which are respectively connected with the first to sixth power units B, C, D, F, G, H, respectively located in the first to sixth power units B, C, D, F, G, H on the upper and lower sides.

[0063] The frame bar B1 of the first power unit B is provided with connection holes on both sides, and is fixedly connected with the upper and lower panels A and I respectively by screws.

[0064] The frame bar C1 of the second power unit C is provided with connection holes on both sides, and is fixedly connected with the upper and lower...

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Abstract

The invention discloses a multi-legged crawling robot based on a Schatz mechanism. The multi-legged crawling robot comprises an upper panel, a lower panel, first to sixth power units and a tail rudder. The upper panel and the lower panel are respectively connected to the first to sixth power units and are respectively arranged on the upper sides and the lower sides of the first to sixth power units. The first power unit is fixedly connected to the upper panel and the lower panel respectively. The second power unit is fixedly connected to the upper panel and the lower panel respectively. The third power unit is fixedly connected to the upper panel and the lower panel respectively. The fourth power unit is fixedly connected to the upper panel and the lower panel respectively. The fifth powerunit is fixedly connected to the upper panel and the lower panel respectively. The sixth power unit is fixedly connected to the upper panel and the lower panel respectively. The tail rudder is fixedly connected to the upper panel and the lower panel through adhesive tapes.

Description

technical field [0001] The invention relates to a multi-legged crawling robot based on a Schatz mechanism, in particular to a multi-legged crawling mobile robot which uses a space six-bar mechanism as a basic power unit and moves as a whole through the coordinated movement of six power units. Background technique [0002] The mobile robot uses the Schatz mechanism as the basic power unit, and spatially arranges six Schatz mechanisms as the composite power system of the entire mobile robot. Among them, the Schatz mechanism is a typical single closed-chain space six-bar 6R mechanism. According to the single-degree-of-freedom characteristic of the Schatz mechanism, only one motor can drive the movement of the whole power unit mechanism. Contents of the invention [0003] The technical problem to be solved by the present invention: Generally speaking, a single Schatz mechanism has limited motion modes and cannot realize relatively flexible motion. [0004] Technical scheme o...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 姚燕安姚舜李可峰
Owner BEIJING JIAOTONG UNIV