Omnidirectional special-shaped foot end robot based on Schatz mechanism

Abstract

The invention discloses an omni-directional special-shaped foot end robot based on a Schatz mechanism, which comprises first to fourth driving units and a robot body, and the first to fourth driving units are connected with the robot body. The driving unit comprises first to fourth connecting rods, a first special-shaped wheel rod, a first rack and a first driving motor. One end of the first connecting rod is connected with one end of the first special-shaped wheel rod, the other end of the first special-shaped wheel rod is connected with one end of the second connecting rod, the other end of the second connecting rod is connected with one end of the third connecting rod, the other end of the third connecting rod is connected with one end of the fourth connecting rod, and the other end of the fourth connecting rod is connected with the first rack. And the first driving motor is connected with one end of the first connecting rod and the first rack, so that the connecting robot driving units are arranged in a crossed and symmetrical manner, and different gaits are realized by controlling the positive and negative rotation of the motor so as to realize omni-directional movement.

Description

Technical Field

[0001] The present invention relates to an omnidirectional special-shaped foot-end robot based on a Schatz mechanism, belonging to the technical field of mobile robots, and realizing omnidirectional movement by controlling the motor rotation directions of each driving unit of the robot. The invention can be used for unmanned reconnaissance and detection, transportation, etc. Background Art

[0002] This robot is a mobile robot that can ensure high mobility on complex road surfaces. Different from traditional ground mobile robots, this robot uses symmetrically arranged Schatz mechanisms as driving units, can perform omnidirectional movement, and has high stiffness, a certain obstacle-crossing ability, and high speed, integrating the high speed of wheeled robots and the high ground adaptability of tracked robots, making it have great potential in the field of ground mobile robots.

[0003] Chinese Patent Application CN114802507A discloses an omnidirectional mobile robot based on a Schatz mechanism. It consists of four completely identical driving units and a load platform. The load platform is an octagonal plate with four long sides and four short sides, and its driving units are located on the sides of the four long sides of the octagonal plate.

[0004] Chinese Patent Application CN111409719A discloses a special-shaped wheeled robot based on a Schatz mechanism. It includes a first double-wheel module, a first body connecting pipe, a second double-wheel module, and a second body connecting pipe. The first body connecting pipe and the second body connecting pipe are placed in parallel, and their two ends are respectively fixedly connected to the first double-wheel module and the second double-wheel module, and the robot can drive stably on the road surface. Summary of the Invention

[0005] The technical problem to be solved by the present invention: Solve the problems of low moving speed, unstable movement, and inability to achieve omnidirectional movement of existing Schatz-based mobile robots. The present invention designs driving units with cross-symmetric arrangement, so that its center of gravity is at the center position of the entire robot. Through the use of different motion gaits, the omnidirectional movement ability of the robot is realized.

[0006] The mobile robot includes a first driving unit, a second driving unit, a third driving unit, a fourth driving unit, and a fuselage;

[0007] The first driving unit includes a first connecting rod, a first special-shaped wheel rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a first frame, and a first driving motor;

[0008] The second driving unit includes a first connecting rod, a first special-shaped wheel rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a first frame, and a first driving motor;

[0009] The described third driving unit has exactly the same structural dimensions as the first driving unit; the described fourth driving unit has exactly the same structural dimensions as the second driving unit;

[0010] The described fuselage includes a first through hole, a second through hole, a third through hole, and a fourth through hole;

[0011] The connection relationship between the driving unit and the fuselage is as follows:

[0012] The third through hole of the first frame of the first driving unit and the first through hole of the fuselage are fixedly connected by bolts;

[0013] The third through hole of the first frame of the second driving unit and the second through hole of the fuselage are fixedly connected by bolts;

[0014] The third through hole of the first frame of the third driving unit and the third through hole of the fuselage are fixedly connected by bolts;

[0015] The third through hole of the first frame of the fourth driving unit and the fourth through hole of the fuselage are fixedly connected by bolts;

[0016] The described first driving unit includes a first connecting rod, a first special-shaped wheel rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a first frame, and a first driving motor;

[0017] The described second driving unit includes a first connecting rod, a first special-shaped wheel rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a first frame, and a first driving motor;

[0018] The first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, the first frame, and the first driving motor of the first driving unit have exactly the same structural dimensions as the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, the first frame, and the first driving motor of the second driving unit. The described third driving unit has exactly the same structural dimensions as the first driving unit; the described fourth driving unit has exactly the same structural dimensions as the second driving unit;

[0019] The described first connecting rod includes a first through hole and a first groove. The described first special-shaped wheel rod includes a first through hole and a second through hole. The described second connecting rod includes a first through hole and a second through hole. The described third connecting rod includes a first through hole and a second through hole. The described fourth connecting rod includes a first through hole and a first cylindrical end. The described first frame includes a first through hole, a second through hole, a third through hole, and a fourth through hole. The described first driving motor includes a first through hole and a first output shaft;

[0020] The connection relationship of each component of the driving unit is as follows:

[0021] The first groove of the first link of the first driving unit is fixedly connected to the first output shaft of the first driving motor of the first driving unit through the fourth through hole of the first frame of the first driving unit. The first through hole of the first link of the first driving unit is bolted to the first through hole of the first special-shaped wheel rod of the first driving unit. The second through hole of the first special-shaped wheel rod of the first driving unit is bolted to the second through hole of the second link of the first driving unit. The first through hole of the second link of the first driving unit is bolted to the first through hole of the third link of the first driving unit. The second through hole of the third link of the first driving unit is bolted to the first through hole of the fourth link of the first driving unit. The first cylindrical end of the fourth link of the first driving unit is connected to the second through hole of the first frame of the first driving unit by a circlip. The first through hole of the first driving motor of the first driving unit is fixedly bolted to the first through hole of the first frame of the first driving unit;

[0022] The first groove of the first link of the second driving unit is fixedly connected to the first output shaft of the first driving motor of the second driving unit through the fourth through hole of the first frame of the second driving unit. The first through hole of the first link of the second driving unit is bolted to the first through hole of the first special-shaped wheel rod of the second driving unit. The second through hole of the first special-shaped wheel rod of the second driving unit is bolted to the second through hole of the second link of the second driving unit. The first through hole of the second link of the second driving unit is bolted to the first through hole of the third link of the second driving unit. The second through hole of the third link of the second driving unit is bolted to the first through hole of the fourth link of the second driving unit. The first cylindrical end of the fourth link of the second driving unit is connected to the second through hole of the first frame of the second driving unit by a circlip. The first through hole of the first driving motor of the second driving unit is fixedly bolted to the first through hole of the first frame of the second driving unit;

[0023] The first groove of the first link of the third drive unit is fixedly connected to the first output shaft of the first drive motor of the third drive unit through the fourth through hole of the first frame of the third drive unit. The first through hole of the first link of the third drive unit is bolted to the first through hole of the first special-shaped wheel rod of the third drive unit. The second through hole of the first special-shaped wheel rod of the third drive unit is bolted to the second through hole of the second link of the third drive unit. The first through hole of the second link of the third drive unit is bolted to the first through hole of the third link of the third drive unit. The second through hole of the third link of the third drive unit is bolted to the first through hole of the fourth link of the third drive unit. The first cylindrical end of the fourth link of the third drive unit is connected to the second through hole of the first frame of the third drive unit by a circlip. The first through hole of the first drive motor of the third drive unit is fixedly bolted to the first through hole of the first frame of the third drive unit;

[0024] The first groove of the first link of the fourth drive unit is fixedly connected to the first output shaft of the first drive motor of the fourth drive unit through the fourth through hole of the first frame of the fourth drive unit. The first through hole of the first link of the fourth drive unit is bolted to the first through hole of the first special-shaped wheel rod of the fourth drive unit. The second through hole of the first special-shaped wheel rod of the fourth drive unit is bolted to the second through hole of the second link of the fourth drive unit. The first through hole of the second link of the fourth drive unit is bolted to the first through hole of the third link of the fourth drive unit. The second through hole of the third link of the fourth drive unit is bolted to the first through hole of the fourth link of the fourth drive unit. The first cylindrical end of the fourth link of the fourth drive unit is connected to the second through hole of the first frame of the fourth drive unit by a circlip. The first through hole of the first drive motor of the fourth drive unit is fixedly bolted to the first through hole of the first frame of the fourth drive unit;

[0025] The first special-shaped wheel rod of the first driving unit is formed by a closed smooth curve fitted by a special method. A first through hole of the first special-shaped wheel rod of the first driving unit is provided at its geometric center and is fixedly connected to one end of the auxiliary rod. A second through hole of the first special-shaped wheel rod of the first driving unit is provided at the other end of the auxiliary rod. The central axes of the first through hole of the first special-shaped wheel rod of the first driving unit and the second through hole of the first special-shaped wheel rod of the first driving unit are perpendicular. The first special-shaped wheel rod of the second driving unit is formed by a closed smooth curve fitted by a special method. A first through hole of the first special-shaped wheel rod of the second driving unit is provided at its geometric center and is fixedly connected to one end of the auxiliary rod. A second through hole of the first special-shaped wheel rod of the second driving unit is provided at the other end of the auxiliary rod. The central axes of the first through hole of the first special-shaped wheel rod of the second driving unit and the second through hole of the first special-shaped wheel rod of the second driving unit are perpendicular. The first special-shaped wheel rod of the third driving unit has exactly the same structural dimensions as the first special-shaped wheel rod of the first driving unit. The first special-shaped wheel rod of the fourth driving unit has exactly the same structural dimensions as the first special-shaped wheel rod of the second driving unit;

[0026] The closed smooth curves of the first special-shaped wheel rod of the second driving unit, the first special-shaped wheel rod of the third driving unit, and the first special-shaped wheel rod of the fourth driving unit have exactly the same structural dimensions as the closed smooth curve of the first special-shaped wheel rod of the first driving unit. However, the central axis of the first through hole of the first special-shaped wheel rod of the first driving unit at the geometric center is perpendicular to the central axis of the first through hole of the first special-shaped wheel rod of the second driving unit at the geometric center with respect to the closed smooth curve. The central axis of the first through hole of the first special-shaped wheel rod of the third driving unit at the geometric center is perpendicular to the central axis of the first through hole of the first special-shaped wheel rod of the fourth driving unit at the geometric center with respect to the closed smooth curve; Description of the Drawings

[0027] Figure 1 Overall three-dimensional view of the special-shaped foot-end robot based on the Schatz mechanism

[0028] Figure 2 Three-dimensional view of the first driving unit

[0029] Figure 3 Three-dimensional view of the second driving unit

[0030] Figure 4 Airframe

[0031] Figure 5 Three-dimensional view of the first connecting rod of the first driving unit

[0032] Figure 6 Three-dimensional view of the first special-shaped wheel rod of the first driving unit

[0033] Figure 73D drawing of the first drive unit and the second connecting rod

[0034] Figure 8 3D drawing of the first drive unit and the third connecting rod

[0035] Figure 9 3D drawing of the first drive unit and the fourth connecting rod

[0036] Figure 10 3D drawing of the first drive unit and the first frame

[0037] Figure 11 3D drawing of the first drive unit and the first drive motor

[0038] Figure 12 3D drawing of the second drive unit and the first special-shaped wheel rod Detailed implementation mode

[0039] The present invention will be further described in detail below with reference to the accompanying drawings.

[0040] The omnidirectional special-shaped foot-end robot based on the Schatz mechanism, as Figure 1 shown, includes a first drive unit (A), a second drive unit (B), a third drive unit (C), a fourth drive unit (D), and a fuselage (E);

[0041] The said first drive unit (A), as Figure 2 shown, includes a first connecting rod (A-1), a first special-shaped wheel rod (A-2), a second connecting rod (A-3), a third connecting rod (A-4), a fourth connecting rod (A-5), a first frame (A-6), and a first drive motor (A-7);

[0042] The said second drive unit (B), as Figure 3 shown, includes a first connecting rod (B-1), a first special-shaped wheel rod (B-2), a second connecting rod (B-3), a third connecting rod (B-4), a fourth connecting rod (B-5), a first frame (B-6), and a first drive motor (B-7);

[0043] The structure and size of the said third drive unit (C) are exactly the same as those of the first drive unit (A); the structure and size of the said fourth drive unit (D) are exactly the same as those of the second drive unit (B);

[0044] The said fuselage (E), as Figure 4 shown, includes a first through hole (E-1), a second through hole (E-2), a third through hole (E-3), and a fourth through hole (E-4);

[0045] The connection relationship between the drive unit and the fuselage is:

[0046] The third through-hole (A-6-3) of the first frame of the first driving unit (A) is fixedly connected to the first through-hole (E-1) of the fuselage (E) by bolts;

[0047] The third through-hole (B-6-3) of the first frame of the second driving unit (B) is fixedly connected to the second through-hole (E-2) of the fuselage (E) by bolts;

[0048] The third through-hole (C-6-3) of the first frame of the third driving unit (C) is fixedly connected to the third through-hole (E-3) of the fuselage (E) by bolts;

[0049] The third through-hole (D-6-3) of the first frame of the fourth driving unit (D) is fixedly connected to the fourth through-hole (E-4) of the fuselage (E) by bolts;

[0050] The first driving unit (A) includes a first connecting rod (A-1), a first special-shaped wheel rod (A-2), a second connecting rod (A-3), a third connecting rod (A-4), a fourth connecting rod (A-5), a first frame (A-6), and a first driving motor (A-7);

[0051] The second driving unit (B) includes a first connecting rod (B-1), a first special-shaped wheel rod (B-2), a second connecting rod (B-3), a third connecting rod (B-4), a fourth connecting rod (B-5), a first frame (B-6), and a first driving motor (B-7);

[0052] The first connecting rod (A-1), the second connecting rod (A-3), the third connecting rod (A-4), the fourth connecting rod (A-5), the first frame (A-6), and the first driving motor (A-7) of the first driving unit (A) have exactly the same structural dimensions as the first connecting rod (B-1), the second connecting rod (B-3), the third connecting rod (B-4), the fourth connecting rod (B-5), the first frame (B-6), and the first driving motor (B-7) of the second driving unit (B). The third driving unit (C) has exactly the same structural dimensions as the first driving unit (A). The fourth driving unit (D) has exactly the same structural dimensions as the second driving unit (B);

[0053] The first connecting rod (A-1), as Figure 5 shown, includes a first through-hole (A-1-1) and a first groove (A-1-2). The first special-shaped wheel rod (A-2), as Figure 6 shown, includes a first through-hole (A-2-1) and a second through-hole (A-2-2). The second connecting rod (A-3), as Figure 7 shown, includes a first through-hole (A-3-1) and a second through-hole (A-3-2). The third connecting rod (A-4), asFigure 8 As shown, it includes a first through hole (A-4-1) and a second through hole (A-4-2), and the fourth connecting rod (A-5), as Figure 9 shown, includes a first through hole (A-5-1) and a first cylindrical end (A-5-2), and the first frame (A-6), as Figure 10 shown, includes a first through hole (A-6-1), a second through hole (A-6-2), a third through hole (A-6-3), and a fourth through hole (A-6-4), and the first driving motor (A-7), as Figure 11 shown, includes a first through hole (A-7-1) and a first output shaft (A-7-2);

[0054] The connection relationships of the components of the driving unit are as follows:

[0055] The first groove (A-1-2) of the first connecting rod of the first driving unit (A) of the first driving unit passes through the fourth through hole (A-6-4) of the first frame (A-6) of the first driving unit of the first driving motor (A-7) of the first driving unit and is fixedly connected to the first output shaft (A-7-2) of the first driving motor of the first driving unit. The first through hole (A-1-1) of the first connecting rod of the first driving unit (A) is bolted to the first through hole (A-2-1) of the first special-shaped wheel rod (A-2) of the first driving unit. The second through hole (A-2-2) of the first special-shaped wheel rod (A-2) of the first driving unit is bolted to the second through hole (A-3-2) of the second connecting rod of the first driving unit (A). The first through hole (A-3-1) of the second connecting rod of the first driving unit (A) is bolted to the first through hole (A-4-1) of the third connecting rod of the first driving unit (A). The second through hole (A-4-2) of the third connecting rod of the first driving unit (A) is bolted to the first through hole (A-5-1) of the fourth connecting rod of the first driving unit (A). The first cylindrical end (A-5-2) of the fourth connecting rod of the first driving unit (A) is connected to the second through hole (A-6-2) of the first frame (A-6) of the first driving unit by a circlip. The first through hole (A-7-1) of the first driving motor (A-7) of the first driving unit is bolted to the first through hole (A-6-1) of the first frame (A-6) of the first driving unit;

[0056] The first groove (B-1-2) of the first link of the second drive unit (B) of the second drive unit (B) is fixedly connected to the first output shaft (B-7-2) of the first drive motor (B-7) of the second drive unit through the fourth through hole (B-6-4) of the first frame (B-6) of the second drive unit. The first through hole (B-1-1) of the first link (B-1) of the second drive unit is bolted to the first through hole (B-2-1) of the first special-shaped wheel rod (B-2) of the second drive unit. The second through hole (B-2-2) of the first special-shaped wheel rod (B-2) of the second drive unit is bolted to the second through hole (B-3-2) of the second link (B-3) of the second drive unit. The first through hole (B-3-1) of the second link (B-3) of the second drive unit is bolted to the first through hole (B-4-1) of the third link (B-4) of the second drive unit. The second through hole (B-4-2) of the third link (B-4) of the second drive unit is bolted to the first through hole (B-5-1) of the fourth link (B-5) of the second drive unit. The first cylindrical end (B-5-2) of the fourth link (B-5) of the second drive unit is connected to the second through hole (B-6-2) of the first frame (B-6) of the second drive unit by a circlip. The first through hole (B-7-1) of the first drive motor (B-7) of the second drive unit is fixedly bolted to the first through hole (B-6-1) of the first frame (B-6) of the second drive unit;

[0057] The first groove (C-1-2) of the first link of the third drive unit (C) of the third drive unit is fixedly connected to the first output shaft (C-7-2) of the first drive motor (C-7) of the third drive unit through the fourth through hole (C-6-4) of the first frame (C-6) of the third drive unit. The first through hole (C-1-1) of the first link (C-1) of the third drive unit is bolted to the first through hole (C-2-1) of the first special-shaped wheel rod (C-2) of the third drive unit. The second through hole (C-2-2) of the first special-shaped wheel rod (C-2) of the third drive unit is bolted to the second through hole (C-3-2) of the second link (C-3) of the third drive unit. The first through hole (C-3-1) of the second link (C-3) of the third drive unit is bolted to the first through hole (C-4-1) of the third link (C-4) of the third drive unit. The second through hole (C-4-2) of the third link (C-4) of the third drive unit is bolted to the first through hole (C-5-1) of the fourth link (C-5) of the third drive unit. The first cylindrical end (C-5-2) of the fourth link (C-5) of the third drive unit is connected to the second through hole (C-6-2) of the first frame (C-6) of the third drive unit through a snap ring. The first through hole (C-7-1) of the first drive motor (C-7) of the third drive unit is fixedly bolted to the first through hole (C-6-1) of the first frame (C-6) of the third drive unit;

[0058] The first groove (D-1-2) of the first link of the fourth driving unit (D) of the fourth driving unit is fixedly connected to the first output shaft (D-7-2) of the first driving motor (D-7) of the fourth driving unit through the fourth through hole (D-6-4) of the first frame (D-6) of the fourth driving unit. The first through hole (D-1-1) of the first link (D-1) of the fourth driving unit is bolted to the first through hole (D-2-1) of the first special-shaped wheel rod (D-2) of the fourth driving unit. The second through hole (D-2-2) of the first special-shaped wheel rod (D-2) of the fourth driving unit is bolted to the second through hole (D-3-2) of the second link (D-3) of the fourth driving unit. The first through hole (D-3-1) of the second link (D-3) of the fourth driving unit is bolted to the first through hole (D-4-1) of the third link (D-4) of the fourth driving unit. The second through hole (D-4-2) of the third link (D-4) of the fourth driving unit is bolted to the first through hole (D-5-1) of the fourth link (D-5) of the fourth driving unit. The first cylindrical end (D-5-2) of the fourth link (D-5) of the fourth driving unit is connected to the second through hole (D-6-2) of the first frame (D-6) of the fourth driving unit by a circlip. The first through hole (D-7-1) of the first driving motor (D-7) of the fourth driving unit is fixedly bolted to the first through hole (D-6-1) of the first frame (D-6) of the fourth driving unit;

[0059] The first special-shaped wheel rod (A-2) of the first driving unit is formed by a closed smooth curve fitted by a special method. The first through hole (A-2-2) of the first special-shaped wheel rod of the first driving unit is fixedly connected to one end of an auxiliary rod at its geometric center. The second through hole (A-2-1) of the first special-shaped wheel rod is provided at the other end of the auxiliary rod. The central axes of the first through hole (A-2-2) and the second through hole (A-2-1) of the first special-shaped wheel rod of the first driving unit are perpendicular. The first special-shaped wheel rod (B-2) of the second driving unit is as Figure 12As shown, it is formed by a closed smooth curve fitted by a special method. A first through-hole (B-2-2) of the first special-shaped wheel rod of the second driving unit is fixedly connected to one end of an auxiliary rod, and a second through-hole (B-2-1) of the first special-shaped wheel rod of the second driving unit is provided at the other end of the auxiliary rod. The central axes of the first through-hole (B-2-2) of the first special-shaped wheel rod of the second driving unit and the second through-hole (B-2-1) of the first special-shaped wheel rod of the second driving unit are perpendicular. The first special-shaped wheel rod (C-2) of the third driving unit has the same structural dimensions as the first special-shaped wheel rod (A-2) of the first driving unit, and the first special-shaped wheel rod (D-2) of the fourth driving unit has the same structural dimensions as the first special-shaped wheel rod (B-2) of the second driving unit;

[0060] The closed smooth curves of the first special-shaped wheel rod (B-2) of the second driving unit, the first special-shaped wheel rod (C-2) of the third driving unit, and the first special-shaped wheel rod (D-2) of the fourth driving unit have the same structural dimensions as the closed smooth curve of the first special-shaped wheel rod (A-2) of the first driving unit. However, the central axis of the first through-hole (A-2-2) of the first special-shaped wheel rod of the first driving unit at the geometric center is perpendicular to the central axis of the first through-hole (B-2-2) of the first special-shaped wheel rod of the second driving unit at the geometric center with respect to the closed smooth curve. The central axis of the first through-hole (C-2-2) of the first special-shaped wheel rod of the third driving unit at the geometric center is perpendicular to the central axis of the first through-hole (D-2-2) of the first special-shaped wheel rod of the fourth driving unit at the geometric center with respect to the closed smooth curve.

Claims

1. The omnidirectional special-shaped foot end robot based on Schatz mechanism is characterized by: The omnidirectional special-shaped foot-end robot based on the Schatz mechanism comprises a first driving unit (A), a second driving unit (B), a third driving unit (C), a fourth driving unit (D), and a body (E); The first driving unit (A) comprises a first connecting rod (A-1), a first special-shaped wheel rod (A-2), a second connecting rod (A-3), a third connecting rod (A-4), a fourth connecting rod (A-5), a first frame (A-6), and a first driving motor (A-7); The second driving unit (B) comprises a first connecting rod (B-1), a first anisotropic wheel rod (B-2), a second connecting rod (B-3), a third connecting rod (B-4), a fourth connecting rod (B-5), a first frame (B-6), and a first driving motor (B-7); The third drive unit (C) has the same structural dimensions as the first drive unit (A); the fourth drive unit (D) has the same structural dimensions as the second drive unit (B); The fuselage (E) comprises a first through hole (E-1), a second through hole (E-2), a third through hole (E-3), and a fourth through hole (E-4); The connection relationship between the drive unit and the fuselage is: The third through hole (A-6-3) of the first frame of the first driving unit (A) is fixedly connected with the first through hole (E-1) of the fuselage (E) by bolts; The third through hole (B-6-3) of the second drive unit first frame of the second drive unit (B) is fixedly connected with the second through hole (E-2) of the fuselage (E) by bolts; The third through hole (C-6-3) of the third drive unit first frame of the third drive unit (C) is fixedly connected with the third through hole (E-3) of the fuselage (E) by bolts; The third through hole (D-6-3) of the first frame of the fourth driving unit (D) and the fourth through hole (E-4) of the fuselage (E) are fixedly connected by bolts.

2. The omnidirectional special-shaped foot end robot based on the Schatz mechanism according to claim 1, characterized in that: The first driving unit (A) comprises a first connecting rod (A-1), a first special-shaped wheel rod (A-2), a second connecting rod (A-3), a third connecting rod (A-4), a fourth connecting rod (A-5), a first frame (A-6), and a first driving motor (A-7); The second driving unit (B) comprises a first connecting rod (B-1), a first anisotropic wheel rod (B-2), a second connecting rod (B-3), a third connecting rod (B-4), a fourth connecting rod (B-5), a first frame (B-6), and a first driving motor (B-7); The first connecting rod (A-1), the second connecting rod (A-3), the third connecting rod (A-4), the fourth connecting rod (A-5), the first frame (A-6), and the first driving motor (A-7) of the first driving unit (A) are completely identical in structure and size with the first connecting rod (B-1), the second connecting rod (B-3), the third connecting rod (B-4), the fourth connecting rod (B-5), the first frame (B-6), and the first driving motor (B-7) of the second driving unit (B); the third driving unit (C) is completely identical in structure and size with the first driving unit (A); the fourth driving unit (D) is completely identical in structure and size with the second driving unit (B); The first connecting rod (A-1) includes a first through hole (A-1-1) and a first groove (A-1-2); the first special-shaped wheel rod (A-2) includes a first through hole (A-2-1) and a second through hole (A-2-2); the second connecting rod (A-3) includes a first through hole (A-3-1) and a second through hole (A-3-2); the third connecting rod (A-4) includes a first through hole (A-4-1) and a second through hole (A-4-2); the fourth connecting rod (A-5) includes a first through hole (A-5-1) and a first cylindrical end (A-5-2); the first frame (A-6) includes a first through hole (A-6-1), a second through hole (A-6-2), a third through hole (A-6-3) and a fourth through hole (A-6-4); the first driving motor (A-7) includes a first through hole (A-7-1) and a first output shaft (A-7-2); The connection relationship between the components of the drive unit is: The first groove (A-1-2) of the first driving unit first connecting rod of the first driving unit (A) and the first output shaft (A-7-2) of the first driving unit first driving motor (A-7) of the first driving unit pass through the fourth through hole (A-6-4) of the first driving unit first frame (A-6) of the first driving unit, the first through hole (A-1-1) of the first driving unit first connecting rod (A-1) and the first through hole (A-2-1) of the first driving unit first special-shaped wheel rod (A-2) are connected by bolts, the first through hole (A-2-2) of the first driving unit first special-shaped wheel rod (A-2) and the first through hole (A-3-2) of the first driving unit second connecting rod (A-3) are connected by bolts, the first driving unit first connecting rod of the first driving unit second connecting rod (A-3) is connected by bolts, and the first driving unit first connecting rod of the first driving unit second connecting rod (A-3) is connected by bolts. The first through hole (A-3-1) of the second connecting rod is connected to the first through hole (A-4-1) of the first driving unit third connecting rod of the first driving unit third connecting rod (A-4) by bolts, the first through hole (A-4-2) of the first driving unit third connecting rod of the first driving unit third connecting rod (A-4) is connected to the first through hole (A-5-1) of the first driving unit fourth connecting rod of the first driving unit fourth connecting rod (A-5) by bolts, the first cylindrical end (A-5-2) of the first driving unit fourth connecting rod of the first driving unit fourth connecting rod (A-5) is connected to the first driving unit first frame second through hole (A-6-2) of the first driving unit first frame (A-6) by a retaining spring, and the first driving unit first driving motor first through hole (A-7-1) of the first driving unit first driving motor (A-7) is fixedly connected to the first driving unit first frame first through hole (A-6-1) of the first driving unit first frame (A-6) by bolts; The first groove (B-1-2) of the second drive unit first connecting rod of the second drive unit (B) and the first output shaft (B-7-2) of the second drive unit first drive motor (B-7) of the second drive unit first drive motor (B-7) are fixedly connected through the fourth through hole (B-6-4) of the second drive unit first frame of the second drive unit (B-6), the first through hole (B-1-1) of the second drive unit first connecting rod of the second drive unit (B-1) and the first through hole (B-2-1) of the second drive unit first special-shaped wheel rod of the second drive unit (B-2) are connected by bolts, the second through hole (B-2-2) of the second drive unit first special-shaped wheel rod of the second drive unit (B-2) and the second through hole (B-3-2) of the second drive unit second connecting rod of the second drive unit (B-3) are connected by bolts, and the second drive unit first connecting rod of the second drive unit (B-3) is connected by bolts. The first through hole (B-3-1) of the second connecting rod is connected to the first through hole (B-4-1) of the second driving unit third connecting rod of the second driving unit third connecting rod (B-4) by bolts, the second through hole (B-4-2) of the second driving unit third connecting rod of the second driving unit third connecting rod (B-4) is connected to the first through hole (B-5-1) of the second driving unit fourth connecting rod of the second driving unit fourth connecting rod (B-5) by bolts, the first cylindrical end (B-5-2) of the second driving unit fourth connecting rod of the second driving unit fourth connecting rod (B-5) is connected to the second through hole (B-6-2) of the second driving unit first frame of the second driving unit first frame (B-6) by a retaining spring, and the first through hole (B-7-1) of the second driving unit first driving motor (B-7) of the second driving unit first driving motor (B-7) is fixedly connected to the first through hole (B-6-1) of the second driving unit first frame of the second driving unit first frame (B-6) by bolts; The first groove (C-1-2) of the third drive unit first connecting rod of the third drive unit (C) and the first output shaft (C-7-2) of the third drive unit first drive motor (C-7) of the third drive unit pass through the fourth through hole (C-6-4) of the third drive unit first frame (C-6) of the third drive unit first frame, the first through hole (C-1-1) of the third drive unit first connecting rod and the first through hole (C-2-1) of the third drive unit first special-shaped wheel rod of the third drive unit (C-2) are connected by bolts, the second through hole (C-2-2) of the third drive unit first special-shaped wheel rod and the second through hole (C-3-2) of the third drive unit second connecting rod of the third drive unit (C-3) are connected by bolts, the third drive unit first special-shaped wheel rod of the third drive unit second connecting rod (C-3) of the third drive unit second connecting rod (C-3) of the third drive unit first ...1) of the third drive unit first connecting rod (C-1) of the third drive unit first connecting rod (C The first through hole (C-3-1) of the second connecting rod is connected to the first through hole (C-4-1) of the third connecting rod of the third driving unit by bolts, the second through hole (C-4-2) of the third connecting rod of the third driving unit by bolts is connected to the first through hole (C-5-1) of the third connecting rod of the third driving unit by bolts, the first cylindrical end (C-5-2) of the third connecting rod of the third driving unit by bolts is connected to the second through hole (C-6-2) of the third driving unit first frame of the third driving unit by springs, and the first through hole (C-7-1) of the third driving unit first driving motor (C-7) of the third driving unit by bolts is fixedly connected to the first through hole (C-6-1) of the third driving unit first frame of the third driving unit by bolts; The first groove (D-1-2) of the fourth drive unit first connecting rod of the fourth drive unit (D) and the first output shaft (D-7-2) of the fourth drive unit first drive motor of the fourth drive unit first drive motor (D-7) are fixedly connected through the fourth through hole (D-6-4) of the fourth drive unit first frame of the fourth drive unit (D-6), the first through hole (D-1-1) of the fourth drive unit first connecting rod of the fourth drive unit and the first through hole (D-2-1) of the fourth drive unit first special-shaped wheel rod of the fourth drive unit (D-2) are connected by bolts, the second through hole (D-2-2) of the fourth drive unit first special-shaped wheel rod of the fourth drive unit and the second through hole (D-3-2) of the fourth drive unit second connecting rod of the fourth drive unit (D-3) are connected by bolts, the fourth drive unit first special-shaped wheel rod of the fourth drive unit second connecting rod (D-3) of the fourth drive unit second connecting rod (D-3) of the fourth drive unit first connecting rod (D-3) of the fourth drive unit first connecting rod (D-3) of the fourth drive unit first connecting rod (D-3) of the fourth drive unit first connecting rod (D-3) of the fourth drive unit first connecting rod (D-3) of the fourth drive unit first connecting rod (D-3) of the fourth drive unit first connecting rod (D-3) of the fourth drive unit first connecting rod (D-3) of the fourth drive unit first connecting rod (D-1 ... The first through hole (D-3-1) of the second connecting rod is connected to the first through hole (D-4-1) of the fourth driving unit third connecting rod of the fourth driving unit third connecting rod (D-4) by bolts, the second through hole (D-4-2) of the fourth driving unit third connecting rod of the fourth driving unit third connecting rod (D-4) is connected to the first through hole (D-5-1) of the fourth driving unit fourth connecting rod of the fourth driving unit fourth connecting rod (D-5) by bolts, the first cylindrical end (D-5-2) of the fourth driving unit fourth connecting rod of the fourth driving unit fourth connecting rod (D-5) is connected to the second through hole (D-6-2) of the fourth driving unit first frame of the fourth driving unit first frame (D-6) by a retaining spring, and the first through hole (D-7-1) of the fourth driving unit first driving motor (D-7) of the fourth driving unit first driving motor is fixedly connected to the first through hole (D-6-1) of the fourth driving unit first frame of the fourth driving unit first frame (D-6) by bolts.

3. The omnidirectional special-shaped foot end robot based on the Schatz mechanism according to claim 1, characterized in that: The first special-shaped wheel rod (A-2) of the first driving unit is formed by a closed smooth curve fitted by a special method, and the first through hole (A-2-2) of the first special-shaped wheel rod of the first driving unit is provided at its geometric center and is fixedly connected to one end of the auxiliary rod, and the second through hole (A-2-1) of the first special-shaped wheel rod of the first driving unit is provided at the other end of the auxiliary rod, wherein the first through hole (A-2-2) of the first special-shaped wheel rod of the first driving unit is perpendicular to the central axis of the second through hole (A-2-1) of the first special-shaped wheel rod of the first driving unit, and the first special-shaped wheel rod (B-2) of the second driving unit is formed by a closed smooth curve fitted by a special method, and the first through hole (A-2-2) of the first special-shaped wheel rod of the first driving unit ... fixedly connected to one end of the auxiliary rod, and the second through hole (A-2-1) of the first special-shaped wheel rod of the first driving unit is fixedly connected to one end of the auxiliary rod, and the second through hole (A-2-1) of the first special-shaped wheel rod of the first driving unit is fixedly connected to one end of the auxiliary rod, and the second through A first through hole (B-2-2) of the first special-shaped wheel rod of the second driving unit is fixedly connected to one end of the auxiliary rod, and a second through hole (B-2-1) of the first special-shaped wheel rod of the second driving unit is provided at the other end of the auxiliary rod, wherein the first through hole (B-2-2) of the first special-shaped wheel rod of the second driving unit is perpendicular to the central axis of the second through hole (B-2-1) of the first special-shaped wheel rod of the second driving unit, the first special-shaped wheel rod (C-2) of the third driving unit and the first special-shaped wheel rod (A-2) of the first driving unit have the same structural dimensions, and the first special-shaped wheel rod (D-2) of the fourth driving unit and the first special-shaped wheel rod (B-2) of the second driving unit have the same structural dimensions; The closed smooth curves of the first special-shaped wheel rod (B-2) of the second drive unit, the first special-shaped wheel rod (C-2) of the third drive unit, and the first special-shaped wheel rod (D-2) of the fourth drive unit are completely the same in structure and size as the closed smooth curve of the first special-shaped wheel rod (A-2) of the first drive unit, but the central axis of the first through hole (A-2-2) of the first special-shaped wheel rod of the first drive unit at the geometric center of the first special-shaped wheel rod (A-2) of the first drive unit and the central axis of the first through hole (B-2-2) of the second drive unit at the geometric center of the first special-shaped wheel rod (B-2) of the second drive unit are perpendicular to each other with respect to the closed smooth curve, and the central axis of the first through hole (C-2-2) of the third drive unit at the geometric center of the first special-shaped wheel rod (C-2) of the third drive unit and the central axis of the first through hole (D-2-2) of the fourth drive unit at the geometric center of the first special-shaped wheel rod (D-2) of the fourth drive unit are perpendicular to each other with respect to the closed smooth curve.

Images