A multi-legged deformable robot based on schatz mechanism

A robot and formal technology, applied in the direction of manipulators, motor vehicles, program-controlled manipulators, etc., can solve the problem of limited movement mode of single Schatz mechanism

Active Publication Date: 2021-06-15
BEIJING JIAOTONG UNIV
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  • Summary
  • 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 motion mode of single Schatz mechanism is limited, and it cannot realize more flexible motion

Method used

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

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Experimental program
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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 biped modules, and are respectively located on the upper and lower sides of the first to fourth biped 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 screws,...

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Abstract

A multi-legged deformable robot based on a Schatz mechanism, comprising first to fourth biped modules, a first deformable support frame, a second deformable support frame, a first fuselage skeleton, a second fuselage skeleton, a first push rod, Second putter, third putter. The first and second deformation support frames and the first and second fuselage frames are respectively connected to the first to fourth biped modules, and are respectively located on the upper and lower sides of the first to fourth biped modules. The first and second fuselage frames of the chassis of the first biped module are fixedly connected, and the deformation shaft frame is respectively connected with the first and second deformation support frames and the third push rod in the form of a rotating pair.

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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Patent Type & Authority Patents(China)
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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