The invention discloses a double-closed-chain arch-shaped five-connecting-rod four-foot rolling robot which comprises a spherical crown machine body, and a first arch-shaped module, a second arch-shaped module, a third arch-shaped module and a fourth arch-shaped module are installed on the spherical crown machine body through hip joint side-sway mechanisms. The first arch-shaped module, the second arch-shaped module, the third arch-shaped module and the fourth arch-shaped module respectively comprise an upper arch-shaped module and a lower arch-shaped module, the first arch-shaped module and the third arch-shaped module further comprise a first lower arch-shaped module, and the second arch-shaped module and the fourth arch-shaped module further comprise a second lower arch-shaped module; the first lower arch-shaped module and the second lower arch-shaped module are connected through an ankle joint suction device. The first arch-shaped module and the fourth arch-shaped module as well as the second arch-shaped module and the third arch-shaped module are connected at the ankle joints to form a closed loop, so that the whole robot forms a double-closed-chain rolling body and efficiently rolls on the ground in a rolling body form, and real fusion of wheel type rolling and foot type walking is realized.
本发明公开了一种双闭链弓形五连杆四足滚动机器人,包括球冠机体,球冠机体通过髋关节侧摆机构安装有第一弓形模块、第二弓形模块、第三弓形模块和第四弓形模块;第一弓形模块、第二弓形模块、第三弓形模块和第四弓形模块均包括有上弓形模块和下弓形模块,第一弓形模块与第三弓形模块还包括有第一下弓形模块,第二弓形模块与第四弓形模块还包括有第二下弓形模块;第一下弓形模块与第二下弓形模块通过踝关节吸合装置连接。本发明通过将第一弓形模块与第四弓形模块、第二弓形模块和第三弓形模块在踝关节处连接形成一个闭环,使机器人整体构成一个双闭链滚动体,以滚动体形式在地面进行高效的滚动运动,实现了轮式滚动与足式步行的真正融合。
Double-closed-chain arched five-connecting-rod four-foot rolling robot
一种双闭链弓形五连杆四足滚动机器人
2023-11-10
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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