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A single-leg device with a dual parallel four-bar transmission mechanism and a six-wheel-legged robot

A transmission mechanism, double-parallel technology, applied in the direction of motor vehicles, transportation and packaging, etc., can solve the problems of non-unique motion, limited working space of robots, etc., achieve efficient complex terrain passing ability, increase motion range, and small storage effect of space

Active Publication Date: 2022-01-25
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

There are defects in this structural layout. When the connecting rod of the parallel four-bar mechanism is in line with the connecting rod, the mechanism is in a singular configuration, and the movement is not unique. At the same time, the transmission angle of the mechanism is 0, thus limiting the range of motion of the knee joint. Less than 180°, which limits the working space of the robot

Method used

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  • A single-leg device with a dual parallel four-bar transmission mechanism and a six-wheel-legged robot
  • A single-leg device with a dual parallel four-bar transmission mechanism and a six-wheel-legged robot
  • A single-leg device with a dual parallel four-bar transmission mechanism and a six-wheel-legged robot

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Embodiment Construction

[0045] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0046] The single-leg device of the double parallel four-bar transmission mechanism of the present invention comprises a base part 1, a thigh part 2, and a lower leg part 3, such as figure 1 , figure 2 shown.

[0047] The base joint part 1 includes a fuselage connector 101, a waist joint drive motor 102, a base joint cushion 103, an upper base joint connector 104, a base joint connector lower 105, a waist joint drive motor kit upper 106, a waist joint drive The lower part of the motor kit 107 , the first bearing 108 , the retaining ring 109 for the first shaft and the first bearing pressure plate 110 . Such as image 3 , Figure 4 shown.

[0048]Wherein, the axis of the lumbar joint drive motor 102 is set perpendicular to the horizontal plane, and the upper and lower ends of the lumbar joint drive motor set 106 and the lower lumbar joint drive mot...

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Abstract

The invention discloses a single-leg device of a double parallel four-bar transmission mechanism and a six-wheel legged robot. The single-leg device of the double parallel four-bar transmission mechanism includes a base joint part, a thigh part and a lower leg part, and has three degrees of freedom. The driving of the knee joint is realized by a double parallel four-bar mechanism, which reduces the mass of the calf and at the same time enables the knee joint to obtain a range of motion greater than 180°. The hip joint drive motor and knee joint drive motor are embedded inside the thigh parts to increase the range of motion of the lumbar joint. Modular driving wheel components can be added to the single-leg unit as required. The six-wheel-legged robot using the single-leg device of the double parallel four-bar transmission mechanism can realize leg-like movement or wheel-like movement, and perform simple operations. You can continue to move immediately if you need to reverse the station.

Description

technical field [0001] The invention belongs to the field of robot design, in particular to a single-leg device of a double parallel four-bar transmission mechanism and a six-wheel-leg robot. Background technique [0002] The wheeled mobile robot has a simple structure and high moving efficiency on flat terrain, but has poor passing performance on rough terrain. The legged mobile robot has a complex structure, and has better passing performance on rough terrain than the wheeled robot. Combining the characteristics of wheeled robots and legged robots, a wheel-legged mobile robot has been developed, which can move on wheels on flat terrain with high moving efficiency, and move on legs on rough terrain with good passing performance. Wheel-legged mobile robots have become a hot spot in the research of mobile robots. [0003] For example, the Chinese invention patent with the publication number CN111204382A discloses "a quadruped robot combined with wheels and legs". The rod a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/028B62D57/032
CPCB62D57/028B62D57/032
Inventor 徐坤秦日鹏陈佳伟丁希仑田耀斌邓慧超
Owner BEIHANG UNIV
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