Polypod deformation robot based on Schatz mechanism

A robot and fuselage deformation technology, which can be applied to manipulators, motor vehicles, program-controlled manipulators, etc., and can solve the problems of limited movement modes of a single Schatz mechanism.

Active Publication Date: 2020-05-26
BEIJING JIAOTONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The technical problem to be solved by the present invention: Generally speaking, the mot

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  • Polypod deformation robot based on Schatz mechanism
  • Polypod deformation robot based on Schatz mechanism
  • Polypod deformation robot based on Schatz mechanism

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Embodiment Construction

[0064] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0065] A multi-legged deformable robot based on the Schatz mechanism, such as figure 1 Shown, a kind of multi-leg deformation robot based on Schatz mechanism is characterized in that: the first to the fourth biped module, the first deformation support frame, the second deformation support frame, the first fuselage skeleton, the second fuselage skeleton , first putter, second putter, third putter.

[0066] The first and second deformation support frames and the first and second fuselage frames are provided with connection holes, which are respectively connected with the first to fourth bipedal modules, and are respectively located on the upper and lower sides of the first to fourth bipedal modules .

[0067] The chassis of the first biped module is provided with connecting holes, which are fixedly connected with the first and second fuselage frames through s...

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Abstract

The invention relates to a polypod deformation robot based on a Schatz mechanism. The polypod deformation robot based on the Schatz mechanism comprises first to fourth biped modules, a first deformation support frame, a second deformation support frame, a first fuselage skeleton, a second fuselage skeleton, a first push rod, a second push rod and a third push rod. The first and second deformationsupport frames and the first and second fuselage skeletons are respectively connected with the first to fourth biped modules and are respectively located on the upper sides and the lower sides of thefirst to fourth biped modules. A chassis of the first biped module is fixedly connected with the first fuselage skeleton and the second fuselage skeleton; and a deformation rotary shaft frame is respectively connected with the first and second deformation support frames and the third push rod through a revolute pair form.

Description

technical field [0001] The invention relates to a multi-legged deformation robot based on a Schatz mechanism, in particular to a power unit based on a space six-bar mechanism, which improves the overall center of mass through the overall deformation of three push rods, and then moves four biped modules to make it A multi-legged deformable robot that moves at high speed as a whole. Background technique [0002] The mobile robot uses the Schatz mechanism as the basic power unit, two Schatz mechanisms are symmetrically arranged as a biped module, and then four biped modules are spatially arranged 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 ...

Claims

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Application Information

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IPC IPC(8): B25J9/00B62D57/032
CPCB25J9/00B25J9/0009B62D57/032
Inventor 姚燕安姚舜刘超谭稀岑
Owner BEIJING JIAOTONG UNIV
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