CN111195901A - Multi-foot deformation robot based on Schatz mechanism - Google Patents
Multi-foot deformation robot based on Schatz mechanism Download PDFInfo
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- CN111195901A CN111195901A CN202010070407.7A CN202010070407A CN111195901A CN 111195901 A CN111195901 A CN 111195901A CN 202010070407 A CN202010070407 A CN 202010070407A CN 111195901 A CN111195901 A CN 111195901A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The utility model provides a multi-foot deformation robot based on Schatz mechanism, includes first to fourth biped module, first deformation support frame, second deformation support frame, first fuselage skeleton, second fuselage skeleton, first push rod, second push rod, third push rod. The first and second deformation support frames and the first and second machine body frameworks are respectively connected with the first to fourth double-foot modules and are respectively positioned at the upper and lower sides of the first to fourth double-foot modules. The first and second machine body frameworks of the chassis of the first double-foot module are fixedly connected, and the deformation rotating shaft frame is respectively connected with the first and second deformation supporting frames and the third push rod in a revolute pair mode.
Description
Technical Field
The invention relates to a multi-foot deformation robot based on a Schatz mechanism, in particular to a multi-foot deformation robot which takes a spatial six-bar mechanism as a basic power unit, improves the integral mass center through integral deformation of three push rods and moves the integral at a high speed through the cooperative motion of four biped modules.
Background
The mobile robot takes the Schatz mechanisms as basic power units, two Schatz mechanisms are symmetrically arranged to serve as biped modules, and then the four biped modules are spatially arranged to serve as a composite power system of the whole mobile robot. Wherein the Schatz mechanism is a typical single closed chain space six bar 6R mechanism. According to the characteristic of single degree of freedom of the Schatz mechanism, the whole power unit mechanism can be driven to move by only using one motor.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: generally, the single Schatz mechanism has limited motion modes and cannot realize more flexible motion.
The technical scheme of the invention is as follows:
a multi-foot deformation robot based on a Schatz mechanism is characterized in that: the first to fourth double-foot modules, the first deformation support frame, the second deformation support frame, the first machine body framework, the second machine body framework, the first push rod, the second push rod and the third push rod.
The first and second deformation support frames and the first and second machine body frameworks are provided with connecting holes, are respectively connected with the first to fourth double-foot modules and are respectively positioned on the upper side and the lower side of the first to fourth double-foot modules.
The chassis of the first double-foot module is provided with connecting holes which are fixedly connected with the first machine body framework and the second machine body framework through screws, and the through holes of the deformation rotating shaft frame are respectively connected with the first deformation supporting frame, the second deformation supporting frame and the third push rod in a revolute pair mode.
The chassis of the second double-foot module is provided with connecting holes which are fixedly connected with the first machine body framework and the second machine body framework through screws, the through holes of the deformation rotating shaft frame are respectively connected with the first deformation supporting frame, the second deformation supporting frame and the second push rod in a revolute pair mode, and the through holes of the double-lug rotating shaft seat are connected with the third push rod in a revolute pair mode.
The chassis of the third double-foot module is provided with connecting holes which are fixedly connected with the first machine body framework and the second machine body framework through screws, the through holes of the deformation rotating shaft frame are respectively connected with the first deformation supporting frame, the second deformation supporting frame and the first push rod in a revolute pair mode, and the through holes of the double-lug rotating shaft seat are connected with the second push rod in a revolute pair mode.
The chassis of the fourth double-foot module is provided with connecting holes which are fixedly connected with the first machine body framework and the second machine body framework through screws, the through holes of the deformation rotating shaft frame are connected with the first deformation supporting frame and the second deformation supporting frame in a revolute pair mode, and the through holes of the double-lug rotating shaft seat are connected with the first push rod in a revolute pair mode.
The first bipedal module comprises: the device comprises a motor driving board, a first machine body deformation connecting sheet, a second machine body deformation connecting sheet, a deformation rotating shaft frame, a chassis reinforcing plate, a first single-foot module, a first monaural rotating shaft seat, a battery, a chassis, a double-ear rotating shaft seat, a second monaural rotating shaft seat and a second single-foot module.
The first machine body deformation connecting piece is of a flat plate structure, connecting holes are symmetrically formed in two sides of the first machine body deformation connecting piece and are fixedly connected with the motor driving plate, the first single-foot module, the deformation rotating shaft frame, the battery and the second single-foot module through screws respectively.
The second machine body deformation connecting piece is the same as the first machine body deformation connecting piece in structure and size.
The base of the deformation rotating shaft frame is of a square structure with a rectangular cross section, two symmetrical bosses are arranged on the square side of the base, connecting holes are formed in the cross section of the base and fixedly connected with the second machine body deformation connecting sheet through screws, the symmetrical inner and outer surfaces of each boss are respectively connected with the first deformation supporting frame, the second deformation supporting frame and the third push rod, through holes are formed in the cross section of each boss, and the bosses are connected with the first deformation supporting frame, the second deformation supporting frame and the third push rod in a revolute pair mode.
The chassis reinforcing plate is of a flat plate structure, two surfaces of the chassis reinforcing plate are respectively connected with the first single lug rotating shaft seat, the second single lug rotating shaft seat and the chassis, connecting holes are symmetrically formed in two sides of the chassis reinforcing plate and are respectively fixedly connected with the first single lug rotating shaft seat, the chassis and the second single lug rotating shaft seat through screws.
The base of the first single lug rotating shaft seat is of a square structure with a rectangular cross section, a symmetrical boss and a connecting hole are arranged on the square side face of the base, the connecting hole is fixedly connected with the chassis reinforcing plate through a screw, and the boss is provided with a through hole and connected with the deformation rotating shaft seat in a revolute pair mode.
The chassis is of a flat plate structure, two surfaces of the chassis are respectively connected with a chassis reinforcing plate, a double-lug rotating shaft seat and the first and second machine body frameworks, connecting holes are symmetrically arranged on two sides of the chassis and respectively fixedly connected with the chassis reinforcing plate and the first and second machine body frameworks through screws.
The double-lug rotating shaft seat base is of a square structure with a rectangular cross section, two symmetrical bosses and connecting holes at the symmetrical cross section are arranged on the square side of the double-lug rotating shaft seat base, the connecting holes are fixedly connected with the base plate through screws, and the bosses are provided with through holes.
The second monaural rotary shaft seat and the first monaural rotary shaft seat have the same structure and size.
The first deformation support frame is of a flat plate structure, four through holes are uniformly formed in one side of the longest side of the first deformation support frame, and the first deformation support frame is connected with the deformation rotating shaft frames of the first to fourth double-foot modules in a revolute pair mode.
The second deformation support frame and the first deformation support frame are identical in structure and size.
The first machine body framework is of a rectangular square tube structure, and a pair of side faces of the first machine body framework is provided with connecting holes which are respectively connected with the chassis of the first to fourth double-foot modules.
The second fuselage skeleton and the first fuselage skeleton have the same structure and size.
The first single-foot module comprises: the device comprises a machine frame rod, a driven rotating pair, a first flange coupler, a first main shaft, a power assisting arm, a foot end mounting frame, a foot end, a power arm, a second main shaft, a first motor and a deformation rotating shaft seat.
The rack rod is of a rectangular square tube structure, the front side surface of the rack rod is provided with a round hole and a threaded hole, the rear side surface of the rack rod is provided with a hollow groove, and the upper side surface and the lower side surface of the rack rod are provided with connecting holes which are respectively used for installing and fixing a first motor and a driven rotating pair; the front side surface and the rear side surface are respectively provided with a connecting hole and fixedly connected with the deformation rotating shaft seat through screws; the upper and lower side surfaces are provided with connecting holes for fixedly connecting with the first and second machine body deformation connecting sheets through screws.
The driven revolute pair is of a square block structure, a group of connecting holes are formed in the square base and used for being fixedly connected with the rack rod through screws, and the small cylindrical shaft is a rotary connecting shaft and is fixedly connected with the flange coupling.
The first flange coupler is of a cylindrical structure, and a group of connecting holes are formed in a large cylindrical disc at the lower end of the first flange coupler and are fixedly connected with the first main shaft through screws; and a round hole is formed in the upper hollow cylinder and used for being connected and fixed with the driven revolute pair.
The first main shaft is of a cylindrical structure, a connecting hole is formed in the circular face of the lower end of the first main shaft and fixedly connected with the first flange coupler through a screw, and symmetrical connecting holes are formed in the side face of the cylinder at the upper end and connected with the power assisting arm in a revolute pair mode.
The cross section of the power assisting arm is of a rectangular frame structure, two groups of connecting holes with mutually vertical axes are respectively arranged on the side surfaces of two ends of the power assisting arm and are respectively connected with the first main shaft and the foot end mounting rack in a revolute pair mode.
The foot end mounting frame is of a rectangular square tube structure, two groups of connecting holes with mutually vertical axes are respectively arranged on the side surfaces of two ends of the foot end mounting frame and are respectively connected with the power assisting arm and the power arm in a revolute pair mode; each side surface is provided with a group of mounting holes which are fixedly connected with the power paddle through screws.
The foot end is of an energy-saving lamp tube structure, and a connecting hole is formed in an inner boss and is used for being fixedly connected with the foot end mounting frame through a screw.
The cross section of the power arm is of a rectangular structure, two groups of connecting holes with mutually vertical axes are respectively arranged on the side surfaces of two ends of the power arm, and the connecting holes are respectively connected with the foot end mounting rack and the second main shaft in a revolute pair mode.
The second main shaft is of a cylindrical structure, a connecting hole is formed in the circular face of the lower end of the second main shaft and used for being fixedly connected with the first motor, and symmetrical connecting holes are formed in the side face of the cylinder at the upper end and connected with the power arm in a revolute pair mode.
The section of the base of the deformation rotating shaft seat is of a triangular structure, and a group of connecting holes are formed in the square ground of the deformation rotating shaft seat and are connected with the rack rod through screws; one side surface of the base is of an ear-shaped boss structure which is provided with a connecting hole and is connected with the first monaural rotary shaft seat in a revolute pair mode.
The second single-foot module and the first single-foot module are identical in structure and size.
A multi-foot deformable robot based on a Schatz mechanism can realize straight-going motion when the rotating speeds of a first motor, a third motor, a fifth motor, a seventh motor, a second motor, a fourth motor, a sixth motor and an eighth motor are the same and the rotating directions are different, and the traveling speed of the robot is positively correlated with the rotating speed of the motors.
A multi-foot deformation robot based on a Schatz mechanism can realize differential steering motion of the left side and the right side when the rotating speeds of a first motor, a third motor, a fifth motor, a seventh motor and a second motor, a fourth motor, a sixth motor and an eighth motor are different, and the steering angular speed of the robot is positively correlated with the speed difference of the motors.
The materials of a multi-foot deformation robot based on a Schatz mechanism are various types, such as wood, organic glass, synthetic resin, synthetic carbon fiber, magnesium alloy or titanium alloy; the shape of the foot end is also various patterns, such as a paddle shape and the like.
A multi-foot deformation robot based on a Schatz mechanism has a deformed body and an improved integral mass center when a first push rod to a third push rod extend, and can realize high-speed movement of the robot.
Drawings
FIG. 1 is a three-dimensional diagram of a multi-foot deformable robot based on a Schatz mechanism
FIG. 2 is a three-dimensional view of a first bipole module
FIG. 3 three-dimensional view of a first fuselage deformed web
FIG. 4 is a three-dimensional view of a modified spindle frame
FIG. 5 three-dimensional view of a reinforcing plate for a chassis
FIG. 6 is a view of the first single-lug rotating shaft seat
FIG. 7 three-dimensional view of the base plate
FIG. 8 is a three-dimensional view of a binaural pivot seat
FIG. 9 a view of a first variant of the support
FIG. 10 three-dimensional drawing of the first fuselage skeleton
FIG. 11 three-dimensional view of a first uni-pod module
FIG. 12 three-dimensional view of a rack bar
FIG. 13 three-dimensional view of a driven revolute pair
FIG. 14 three-dimensional view of a first flanged joint
FIG. 15 first principal axis three-dimensional drawing
FIG. 16 is a three-dimensional view of a booster arm
FIG. 17 three-dimensional view of a foot end mounting bracket
FIG. 18 is a three-dimensional view of the foot end of the foot
FIG. 19 three-dimensional drawing of a power arm
FIG. 20 second principal axis three-dimensional view
FIG. 21 is a three-dimensional view of a modified spindle base
FIG. 22 is a straight motion diagram of a multi-foot deformable robot based on the Schatz mechanism
FIG. 23 is a steering movement diagram of a multi-legged deformation robot based on the Schatz mechanism
FIG. 24 is a deformation process diagram of a multi-legged deformation robot based on Schatz mechanism
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
A multi-foot deformable robot based on Schatz mechanism, as shown in figure 1, is characterized in that: the first to fourth double-foot modules, the first deformation support frame, the second deformation support frame, the first machine body framework, the second machine body framework, the first push rod, the second push rod and the third push rod.
The first and second deformation support frames and the first and second machine body frameworks are provided with connecting holes, are respectively connected with the first to fourth double-foot modules and are respectively positioned on the upper side and the lower side of the first to fourth double-foot modules.
The chassis of the first double-foot module is provided with connecting holes which are fixedly connected with the first machine body framework and the second machine body framework through screws, and the through holes of the deformation rotating shaft frame are respectively connected with the first deformation supporting frame, the second deformation supporting frame and the third push rod in a revolute pair mode.
The chassis of the second double-foot module is provided with connecting holes which are fixedly connected with the first machine body framework and the second machine body framework through screws, the through holes of the deformation rotating shaft frame are respectively connected with the first deformation supporting frame, the second deformation supporting frame and the second push rod in a revolute pair mode, and the through holes of the double-lug rotating shaft seat are connected with the third push rod in a revolute pair mode.
The chassis of the third double-foot module is provided with connecting holes which are fixedly connected with the first machine body framework and the second machine body framework through screws, the through holes of the deformation rotating shaft frame are respectively connected with the first deformation supporting frame, the second deformation supporting frame and the first push rod in a revolute pair mode, and the through holes of the double-lug rotating shaft seat are connected with the second push rod in a revolute pair mode.
The chassis of the fourth double-foot module is provided with connecting holes which are fixedly connected with the first machine body framework and the second machine body framework through screws, the through holes of the deformation rotating shaft frame are connected with the first deformation supporting frame and the second deformation supporting frame in a revolute pair mode, and the through holes of the double-lug rotating shaft seat are connected with the first push rod in a revolute pair mode.
As shown in fig. 2, the first bipedal module comprises: the device comprises a motor driving board, a first machine body deformation connecting sheet, a second machine body deformation connecting sheet, a deformation rotating shaft frame, a chassis reinforcing plate, a first single-foot module, a first monaural rotating shaft seat, a battery, a chassis, a double-ear rotating shaft seat, a second monaural rotating shaft seat and a second single-foot module.
As shown in fig. 3, the first body deformation connecting piece is of a flat plate structure, and connecting holes are symmetrically formed in two sides of the first body deformation connecting piece and are respectively and fixedly connected with the motor driving plate, the first single-foot module, the deformation rotating shaft frame, the battery and the second single-foot module through screws.
The second machine body deformation connecting piece is the same as the first machine body deformation connecting piece in structure and size.
As shown in fig. 4, the base of the deformation rotating shaft frame is a square structure with a rectangular cross section, two symmetrical bosses are arranged on the square side of the base, the cross section of the base is provided with a connecting hole and fixedly connected with the second body deformation connecting sheet through a screw, the symmetrical inner and outer surfaces of the bosses are respectively connected with the first deformation supporting frame, the second deformation supporting frame and the third push rod, and the cross section of the boss is provided with a through hole and connected with the first deformation supporting frame, the second deformation supporting frame and the third push rod in a revolute pair mode.
As shown in fig. 5, the chassis reinforcing plate is a flat plate structure, two surfaces of the chassis reinforcing plate are respectively connected with the first and second monaural rotation shaft seats and the chassis, and connecting holes are symmetrically arranged at two sides of the chassis reinforcing plate and respectively fixedly connected with the first monaural rotation shaft, the chassis and the second monaural rotation shaft seat through screws.
As shown in fig. 6, the base of the first single-lug rotating shaft seat is a square structure with a rectangular cross section, a symmetrical boss and a connecting hole are arranged on the square side of the base, the connecting hole is fixedly connected with the chassis reinforcing plate through a screw, and the boss is provided with a through hole and connected with the deformation rotating shaft seat in a revolute pair manner.
As shown in fig. 7, the chassis is of a flat plate structure, two surfaces of the chassis are respectively connected with the chassis reinforcing plate, the double-lug rotating shaft seat and the first and second machine body frameworks, and connecting holes are symmetrically arranged at two sides of the chassis and respectively fixedly connected with the chassis reinforcing plate and the first and second machine body frameworks through screws.
As shown in fig. 8, the base of the binaural pivot seat is a square structure with a rectangular cross section, two symmetrical bosses and connecting holes at the symmetrical cross section are arranged on the square side of the base, the connecting holes are fixedly connected with the chassis through screws, and the bosses are provided with through holes.
The second monaural rotary shaft seat and the first monaural rotary shaft seat have the same structure and size.
As shown in fig. 9, the first deformable support frame is a flat plate structure, and four through holes are uniformly formed in one side of the longest side of the first deformable support frame and are respectively connected with the deformable pivot frames of the first to fourth dual-leg modules in a revolute pair manner.
The second deformation support frame and the first deformation support frame are identical in structure and size.
As shown in fig. 10, the first body frame is a rectangular square tube structure, and one pair of side surfaces of the first body frame is provided with a connecting hole, which is respectively connected to the chassis of the first to fourth biped modules.
The second fuselage skeleton and the first fuselage skeleton have the same structure and size.
As shown in fig. 11, the first monopod module includes: the device comprises a machine frame rod, a driven rotating pair, a first flange coupler, a first main shaft, a power assisting arm, a foot end mounting frame, a foot end, a power arm, a second main shaft, a first motor and a deformation rotating shaft seat.
As shown in fig. 12, the rack rod is a rectangular square tube structure, the front side surface is provided with a round hole and a threaded hole, the rear side surface is provided with a hollow groove, and the upper side surface and the lower side surface are provided with connecting holes for respectively installing and fixing a first motor and a driven revolute pair; the front side surface and the rear side surface are respectively provided with a connecting hole and fixedly connected with the deformation rotating shaft seat through screws; the upper and lower side surfaces are provided with connecting holes for fixedly connecting with the first and second machine body deformation connecting sheets through screws.
As shown in fig. 13, the driven revolute pair is a square block structure, a group of connecting holes are formed in the square base and used for being fixedly connected with the rack rod through screws, and the small cylindrical shaft is a rotary connecting shaft and fixedly connected with the flange coupler.
As shown in fig. 14, the first flange coupler is of a cylindrical structure, and a group of connecting holes are formed in a large cylindrical disc at the lower end of the first flange coupler and are used for being fixedly connected with the first spindle through screws; and a round hole is formed in the upper hollow cylinder and used for being connected and fixed with the driven revolute pair.
As shown in fig. 15, the first main shaft is of a cylindrical structure, the lower circular surface of the first main shaft is provided with connecting holes, the first main shaft is fixedly connected with the first flange coupler through screws, and the side surface of the upper cylinder is provided with symmetrical connecting holes, and the first main shaft is connected with the power assisting arm in a revolute pair manner.
As shown in fig. 16, the cross section of the power assisting arm is a rectangular frame structure, and two groups of connecting holes with mutually perpendicular axes are respectively arranged on the side surfaces of the two ends and are respectively connected with the first main shaft and the foot end mounting rack in a revolute pair manner.
As shown in fig. 17, the foot end mounting frame is a rectangular square tube structure, and two groups of connecting holes with mutually perpendicular axes are respectively arranged on the side surfaces of the two ends and are respectively connected with the power-assisted arm and the power arm in a revolute pair manner; each side surface is provided with a group of mounting holes which are fixedly connected with the power paddle through screws.
As shown in fig. 18, the foot end is of an energy saving lamp tube structure, and a connection hole is formed in the inner boss for fixedly connecting with the foot end mounting frame through a screw.
As shown in fig. 19, the cross section of the power arm is a rectangular structure, and two sets of connection holes with mutually perpendicular axes are respectively arranged on the side surfaces of the two ends and are respectively connected with the foot end mounting rack and the second spindle in a revolute pair manner.
As shown in fig. 20, the second spindle is a cylindrical structure, the circular surface of the lower end of the second spindle is provided with connecting holes for fixedly connecting with the first motor, and the side surface of the upper end of the second spindle is provided with symmetrical connecting holes which are connected with the power arm in a revolute pair manner.
As shown in fig. 21, the cross section of the base of the deformation rotating shaft seat is of a triangular structure, and a group of connecting holes are formed in the square ground of the base and are connected with the rack rod through screws; one side surface of the base is of an ear-shaped boss structure which is provided with a connecting hole and is connected with the first monaural rotary shaft seat in a revolute pair mode.
The second single-foot module and the first single-foot module are identical in structure and size.
As shown in fig. 22, a multi-legged deformation robot based on the Schatz mechanism can realize straight-ahead motion when the first, third, fifth and seventh motors and the second, fourth, sixth and eighth motors have the same rotation speed and different rotation directions, and the traveling speed of the robot is positively correlated with the rotation speed of the motors.
As shown in fig. 23, a multi-legged deformation robot based on the Schatz mechanism can realize differential steering motions on the left and right sides when the first, third, fifth and seventh motors and the second, fourth, sixth and eighth motors have different rotating speeds, and the steering angular speed of the robot is positively correlated with the speed difference of the motors.
The materials of a multi-foot deformation robot based on a Schatz mechanism are various types, such as wood, organic glass, synthetic resin, synthetic carbon fiber, magnesium alloy or titanium alloy; the shape of the foot end is also various patterns, such as a paddle shape and the like.
As shown in fig. 24, when the first to third push rods extend, the body of the multi-legged deformation robot based on the Schatz mechanism deforms, the overall mass center is increased, and the high-speed movement of the robot can be realized.
Claims (4)
1. A multi-foot deformation robot based on a Schatz mechanism is characterized in that: the first to fourth double-foot modules (A, B, C, D), the first deformation support frame (E), the second deformation support frame (F), the first machine body framework (G), the second machine body framework (H), the first push rod (I), the second push rod (J) and the third push rod (K);
the first and second deformable support frames (E, F) and the first and second body frameworks (G, H) are respectively provided with connecting holes, are respectively connected with the first to fourth biped modules (A, B, C, D), and are respectively positioned at the upper and lower sides of the first to fourth biped modules (A, B, C, D);
a chassis (A9) of the first double-foot module (A) is provided with connecting holes (A9-e) which are fixedly connected with a first fuselage framework (G, H) and a second fuselage framework (G, H) through screws, and through holes (A4-c) of a deformation rotating shaft frame (A4) are respectively connected with a first deformation supporting frame (E, F) and a third push rod (K) in a revolute pair mode;
a chassis (B9) of the second double-foot module (B) is provided with connecting holes (B9-e) which are fixedly connected with the first and second airframe frameworks (G, H) through screws, through holes (B4-c) of the deformation rotating shaft bracket (B4) are respectively connected with the first and second deformation supporting frames (E, F) and the second push rod (J) in a revolute pair mode, and through holes (B10-a) of the double-lug rotating shaft seat (B10) are connected with the third push rod (K) in a revolute pair mode;
a chassis (C9) of the third double-foot module (C) is provided with connecting holes (C9-e) which are fixedly connected with the first and second airframe frameworks (G, H) through screws, through holes (C4-C) of the deformation rotating shaft bracket (C4) are respectively connected with the first and second deformation supporting frames (E, F) and the first push rod (I) in a revolute pair mode, and through holes (C10-a) of the double-lug rotating shaft seat (C10) are connected with the second push rod (J) in a revolute pair mode;
a chassis (D9) of the fourth double-foot module (D) is provided with connecting holes (D9-e) which are fixedly connected with the first and second machine body frameworks (G, H) through screws, through holes (D4-c) of the deformation rotating shaft frame (D4) are connected with the first and second deformation supporting frames (E, F) in a revolute pair mode, and through holes (D10-a) of the double-lug rotating shaft seat (D10) are connected with the first push rod (I) in a revolute pair mode.
2. The multi-legged deformation robot based on the Schatz mechanism as claimed in claim 1, characterized in that:
the first biped module (a) comprises: the device comprises a motor driving plate (A1), a first body deformation connecting piece (A2), a second body deformation connecting piece (A3), a deformation rotating shaft frame (A4), a chassis reinforcing plate (A5), a first single-foot module (A6), a first single-lug rotating shaft seat (A7), a battery (A8), a chassis (A9), a double-lug rotating shaft seat (A10), a second single-lug rotating shaft seat (A11) and a second single-foot module (A12);
the first machine body deformation connecting piece (A2) is of a flat plate structure, connecting holes (A2-a, b, c, d and e) are symmetrically formed in two sides of the first machine body deformation connecting piece and are respectively and fixedly connected with a motor driving plate (A1), a first single-foot module (A6), a deformation rotating shaft frame (A4), a battery (A8) and a second single-foot module (A12) through screws;
the second body deformation connecting piece (A3) and the first body deformation connecting piece (A2) have the same structure and size;
the base of the deformation rotating shaft frame (A4) is of a square structure with a rectangular cross section, two symmetrical bosses are arranged on the square side of the base, a connecting hole (A4-a) is formed in the cross section of the base and fixedly connected with a second machine body deformation connecting sheet (A3) through a screw, the symmetrical inner and outer surfaces of each boss are respectively connected with the first deformation supporting frame (E, F), the second deformation supporting frame (E, F) and the third push rod (K), through holes (A4-c and d) are formed in the cross section of each boss and connected with the first deformation supporting frame (E, F) and the third push rod (K) in a revolute pair mode;
the chassis reinforcing plate (A5) is of a flat plate structure, two surfaces of the chassis reinforcing plate are respectively connected with the first single lug rotating shaft seat (A7, 11) and the second single lug rotating shaft seat (A9), connecting holes (A5-a, b and c) are symmetrically formed in two sides of the chassis reinforcing plate and are respectively fixedly connected with the first single lug rotating shaft seat (A7), the chassis (A9) and the second single lug rotating shaft seat (A11) through screws;
the base of the first single lug rotating shaft seat (A7) is of a square structure with a rectangular cross section, a symmetrical boss and a connecting hole (A7-b) are arranged on the square side of the base, the connecting hole (A7-b) is fixedly connected with a chassis reinforcing plate (A5) through a screw, the boss is provided with a through hole (A7-a) and is connected with a deformation rotating shaft seat (A6-11) in a revolute pair mode;
the chassis (A9) is of a flat plate structure, two surfaces of the chassis (A9) are respectively connected with a chassis reinforcing plate (A5), a double-lug rotating shaft seat (A10) and a first body framework and a second body framework (G, H), connecting holes (A9-a, b, c, d and e) are symmetrically formed in two sides of the chassis (A9) and are respectively and fixedly connected with the chassis reinforcing plate (A5) and the first body framework and the second body framework (G, H) through screws;
the base of the double-lug rotating shaft seat (A10) is of a square structure with a rectangular section, two symmetrical bosses and connecting holes (A10-b) at the symmetrical section are arranged on the square side of the base, the connecting holes (A10-b) are fixedly connected with the chassis (A9) through screws, and the bosses are provided with through holes (A10-a);
the second monaural rotary shaft seat (A11) and the first monaural rotary shaft seat (A7) have the same structure and size;
the first deformation support frame (E) is of a flat plate structure, four through holes are uniformly formed in one side of the longest side of the first deformation support frame (E), and the first deformation support frame (E) is respectively connected with the deformation rotating shaft frames (A4, B4, C4 and D4) of the first to fourth double-foot modules (A, B, C, D) in a revolute pair mode;
the second deformation support frame (F) has the same structure and size as the first deformation support frame (E);
the first machine body framework (G) is of a rectangular square tube structure, and one pair of side faces of the first machine body framework (G) are provided with connecting holes which are respectively connected with chassis (A9, B9, C9 and D9) of the first to fourth double-foot modules (A, B, C, D);
the second fuselage skeleton (H) and the first fuselage skeleton (G) are identical in structure and size.
3. The multi-legged deformation robot based on the Schatz mechanism as claimed in claim 2, characterized in that:
the first monopod module (A6) comprises: the device comprises a rack rod (A6-1), a driven revolute pair (A6-2), a first flange coupler (A6-3), a first main shaft (A6-4), a power assisting arm (A6-5), a foot end mounting rack (A6-6), a foot end (A6-7), a power arm (A6-8), a second main shaft (A6-9), a first motor (A6-10) and a deformation rotating shaft seat (A6-11);
the rack rod (A6-1) is of a rectangular square tube structure, the front side surface is provided with round holes (A6-1-a and c) and a threaded hole (A6-1-b), the rear side surface is provided with a hollow groove, and the upper side surface and the lower side surface are provided with connecting holes (A6-1-e) which are respectively used for installing and fixing a first motor (A6-10) and a driven revolute pair (A6-2); the front side and the rear side are respectively provided with a connecting hole (A6-1-f) which is fixedly connected with the deformation rotating shaft seat (A6-11) through a screw; the upper and lower side surfaces are provided with connecting holes (A6-1-d) which are used for being fixedly connected with the first and second fuselage deformation connecting sheets (A2, 3) through screws;
the driven revolute pair (A6-2) is of a square block structure, a group of connecting holes (A6-2-a) are formed in the square base and are used for being fixedly connected with a rack rod (A6-1) through screws, and the small cylindrical shaft is a rotary connecting shaft and is fixedly connected with a flange coupler (A6-3);
the first flange coupler (A6-3) is of a cylindrical structure, and a group of connecting holes (A6-3-a) are formed in a large cylindrical disc at the lower end and are fixedly connected with the first main shaft (A6-4) through screws; a round hole (A6-3-b) is arranged on the hollow cylinder at the upper end and is used for connecting and fixing with a driven revolute pair (A6-2);
the first main shaft (A6-4) is of a cylindrical structure, a connecting hole (A6-4-a) is formed in the circular face of the lower end of the first main shaft and fixedly connected with a first flange coupler (A6-3) through a screw, and symmetrical connecting holes (A6-4-b) are formed in the side face of the cylinder at the upper end of the first main shaft and connected with a power assisting arm (A6-5) in a revolute pair mode;
the cross section of the power assisting arm (A6-5) is of a rectangular frame structure, two groups of connecting holes (A6-5-a, b) with mutually vertical axes are respectively arranged on the side surfaces of two ends of the power assisting arm, and the two groups of connecting holes are respectively connected with the first main shaft (A6-4) and the foot end mounting rack (A6-6) in a revolute pair mode;
the foot end mounting rack (A6-6) is of a rectangular square tube structure, two groups of connecting holes (A6-6-a, c) with mutually vertical axes are respectively arranged on the side surfaces of two ends of the foot end mounting rack and are respectively connected with the power-assisted arm (A6-5) and the power arm (A6-8) in a revolute pair mode; each side surface is provided with a group of mounting holes (A6-6-B) which are fixedly connected with the power paddle (B9) through screws;
the foot end (A6-7) is of an energy-saving lamp tube structure, and a connecting hole is formed in an inner boss and is used for being fixedly connected with the foot end mounting rack (A6-6) through a screw;
the cross section of the power arm (A6-8) is of a rectangular structure, two groups of connecting holes (A6-8-a, b) with mutually vertical axes are respectively arranged on the side surfaces of two ends of the power arm, and the connecting holes are respectively connected with the foot end mounting rack (A6-6) and the second spindle (A6-9) in a revolute pair mode;
the second main shaft (A6-9) is of a cylindrical structure, a connecting hole (A6-9-a) is formed in the circular surface of the lower end of the second main shaft and used for being fixedly connected with a first motor (A6-10), and symmetrical connecting holes (A6-9-b) are formed in the side surface of a cylinder at the upper end of the second main shaft and connected with a power arm (A6-8) in a revolute pair mode;
the base section of the deformation rotating shaft seat (A6-11) is of a triangular structure, and a group of connecting holes (A6-11-b) are formed in the square ground and are connected with a rack rod (A6-1) through screws; one side surface of the base is of an ear-shaped boss structure, which is provided with a connecting hole (A6-11-a) and is connected with a first monaural rotating shaft seat (A7) in a rotating pair mode;
the second single-foot module (A12) is identical to the first single-foot module (A6) in structure and size.
4. The multi-legged deformation robot based on the Schatz mechanism as claimed in claim 1, characterized in that:
a multi-foot deformable robot based on a Schatz mechanism can realize straight-going motion when the rotating speeds of a first motor (A6, B6, C6 and D6) and a second motor (A12, B12, C12 and D12) are the same and the turning directions are different, and the traveling speed of the robot is positively correlated with the rotating speed of the motors;
a multi-foot deformable robot based on a Schatz mechanism can realize differential steering motions on the left side and the right side when the rotating speeds of first, third, fifth and seventh motors (A6, B6, C6 and D6) are different from those of second, fourth, sixth and eighth motors (A12, B12, C12 and D12), and the angular speed of the steering of the robot is positively correlated with the speed difference of the motors;
the materials of a multi-foot deformation robot based on a Schatz mechanism are various types, such as wood, organic glass, synthetic resin, synthetic carbon fiber, magnesium alloy or titanium alloy; the shape of the foot end (A6-7) is also various patterns, such as a paddle shape and the like;
when a first push rod (I, J, K) to a third push rod (I, J, K) of the multi-foot deformation robot based on the Schatz mechanism extend, the body deforms, the overall mass center is improved, and high-speed movement of the robot can be realized.
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