CN102068819A - Single-power four-foot walking mechanism - Google Patents
Single-power four-foot walking mechanism Download PDFInfo
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- CN102068819A CN102068819A CN 201010588398 CN201010588398A CN102068819A CN 102068819 A CN102068819 A CN 102068819A CN 201010588398 CN201010588398 CN 201010588398 CN 201010588398 A CN201010588398 A CN 201010588398A CN 102068819 A CN102068819 A CN 102068819A
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Abstract
The invention discloses a single-power four-foot walking mechanism which comprises a left side leg (L1), a right side leg (L2), a body (L3) and a towing carriage (L4), wherein a clamping slot in a left crank (15) of the left side leg (L1) is matched with a left side leg drive shaft (6) and axially fixed through top threads; a clamping slot in a right crank (41) of the left side leg (L2) is matched with a right side leg drive shaft (13) and axially fixed through top threads; a bracket (65) on the towing carriage (L4) is connected with a body second connecting piece (11) of the body (L3) through a towing carriage connecting pin (64), thereby completing the assembly of the mechanism; and a motor (8) drives a first rotating shaft (4) and a second rotating shaft (13) through a synchronous belt (7), thereby driving the legs to move, and further realizing the movement. Leg rods at each side are arranged in two layers, thereby simplifying the leg mechanism and facilitating the assembly and machining. The single-power four-foot walking mechanism can be used for making toys and teaching aids, and designing walking robots.
Description
Technical field
The present invention relates to a kind of single action power four feet walk mechanism, relate to a kind of bionical walking robot especially, realize quadruped on ground walking move.The present invention can be applicable to toy, teaching aid and walking robot and designs and produces.
Background technology
Walking robot have motion flexibly, advantage that the ground adaptive capacity is strong, pay close attention to so more and more be subjected to the researcher.The conventional walking robot shank free degree is more, structure and control more complicated.The single-degree-of-freedom walking mechanism utilizes a series of linkage, and the motion of four foots is coupled, and by the characteristics of motion of four foots of an Electric Machine Control, realizes walking.Public affairs CN2370926Y discloses a kind of mechanical horse, and every horse leg is made up of a plane eight-linkage mechanism, four groups of shared cranks of plane eight-linkage mechanism also have certain phase difference, this patent has realized the walking movement of four-footed, but mechanism's rod member number is more, and assembling is complicated.
Summary of the invention
Technical problem to be solved by this invention is that the rod member number of the walking movement mechanism of existing four-footed is more, the assembling challenge.A kind of single action power four feet walk mechanism is provided.
The present invention solves the technical scheme of its technical problem:
Single action power four feet walk mechanism comprises left side leg, right side leg, body, trailer.
The hole at middle part and the A stomidium of left side leg connecting rod are by one shipping and reselling on another market and link together in the left side on three bars of a left side.
The hole at middle part and the B stomidium of left side leg connecting rod are by two shipping and reselling on another market and link together in the left side on six bars of a left side.
The draw-in groove of left side crank cooperates with left side leg power transmission shaft, by the jackscrew axial restraint.
The C stomidium of the hole at middle part and right side leg connecting rod is by one shipping and reselling on another market and link together in the right side on right three bars.
The D stomidium of the hole at middle part and right side leg connecting rod is by two shipping and reselling on another market and link together in the right side on right six bars.
The draw-in groove of right crank cooperates with the right side leg power transmission shaft, by the jackscrew axial restraint.
Carriage on the trailer is connected on body second connector of body by the trailer connecting pin.
By above-mentioned connection, finish the assembling of mechanism, motor is by band drive first rotating shaft synchronously and second rotating shaft, and then the driving leg exercise, realizes moving.
The structure of and arranged on left and right sides leg and measure-alike comprises two foots, and structure is about the crank symmetry at center.After the installation then the whole free degree of mechanism be one.
Trailer is connected on the matrix by shipping and reselling on another market, and is used for stablizing entire mechanism, prevents to turn on one's side in motion process.
Beneficial effect of the present invention is a mechanism with single degree of freedom after every side leg is connected on the body, and rod member divides two-layer layout, has simplified shank mechanism, and is easy to assembly, is easy to processing, can be used for toy and makes, teaching aids making and walking robot design.
Description of drawings
Fig. 1 single action power four feet walk overall structure figure of mechanism.
Fig. 2 body structure chart.
Fig. 3 left and right sides leg power transmission shaft schematic diagram.
Fig. 4 body graphics.
Fig. 5 left side leg structure chart.
Fig. 6 the first from left foot connection diagram.
Fig. 7 right side leg figure.
Fig. 8 trailer configuration figure.
The specific embodiment
The invention will be further described in conjunction with the accompanying drawings.
Single action power four feet walk mechanism as shown in Figure 1, comprises left side leg L1, right side leg L2, body L3, trailer L4.
The hole at middle part and the A stomidium of left side leg connecting rod 2 are by one shipping and reselling on another market and 37 link together in the left side on three bars 20 of a left side.
The hole at middle part and the B stomidium of left side leg connecting rod 2 are by two shipping and reselling on another market and 38 link together in the left side on six bars 30 of a left side.
The draw-in groove of left side crank 15 cooperates with left side leg power transmission shaft 6, by the jackscrew axial restraint.
The C stomidium of the hole at middle part and right side leg connecting rod 12 is by one shipping and reselling on another market and 39 link together in the right side on right three bars 45.
The D stomidium of the hole at middle part and right side leg connecting rod 12 is by two shipping and reselling on another market and 40 link together in the right side on right six bars 56.
The draw-in groove of right crank 41 cooperates with right side leg power transmission shaft 13, by the jackscrew axial restraint.
Carriage 65 on the trailer L4 is connected on body second connector 11 of body L3 by trailer connecting pin 64.
By above-mentioned connection, finish the assembling of mechanism, motor 8 is by being with 7 to drive first rotating shaft 4 and second rotating shafts 13 synchronously, and then drives leg exercise, realizes moving.
Described body L3, shown in Fig. 2,4, comprise body first connector 1, left side leg connecting rod 2, shaft coupling 3, synchronous pulley 4, body first rolling bearing 5, left side leg power transmission shaft 6, be with 7 synchronously, motor 8, motor cabinet 9, motor synchronous belt wheel 10, body second connector 11, right side leg connecting rod 12, right side leg power transmission shaft 13, body second rolling bearing 14.
Body first rolling bearing 5 is installed at the center of left side leg connecting rod 2, has four about centrosymmetric counterbore on the left side leg connecting rod 2, is connected with screwed hole on body second connector 11 by screw and body second connector 1.
Left side leg power transmission shaft 6 cooperates with body first rolling bearing 5, as shown in Figure 3, has two screwed holes on the left side leg power transmission shaft 6, and by the fixing synchronous pulley 4 of jackscrew, another one is connected with shaft coupling 3 from the near screwed hole of the shaft shoulder.
Motor 8 is fixed on the motor cabinet 9, and motor cabinet 9 is fixed on body second connector 11 by screw, and motor shaft is fixing by jackscrew and motor synchronous belt wheel 10.
Be with 7 to be installed on synchronous pulley 4 and the motor synchronous belt wheel 10 synchronously.
Body second rolling bearing 14 is installed at right side leg connecting rod 12 centers, has four on the right side leg connecting rod 12 about centrosymmetric counterbore, is connected with screwed hole on body second connector 11 by screw and body first connector 1.
Right side leg power transmission shaft 13 cooperates with body second rolling bearing 14, and right side leg power transmission shaft 13 and left side leg power transmission shaft 6 structures and measure-alike are connected with shaft coupling 3 away from an end of the shaft shoulder.
Described left side leg L1 as shown in Figure 5, comprising: left crank 15, the first from left bar 16, the second from left bar 18, left three bars 20, left four bars 23, left five bars 27, left six bars 30, left seven bars 31, left eight bars 34.The first from left ships and resell on another market 17, the second from left is shipped and resell on another market 19, ship and resell on another market in a left side three 21, ship and resell on another market in a left side four 22, ship and resell on another market in a left side five 24, ship and resell on another market in a left side six 26, ship and resell on another market in a left side seven 28, ship and resell on another market in a left side eight 29, ship and resell on another market in a left side nine 32, ship and resell on another market in a left side ten 33, Zuo Shiyi ships and resell on another market 35.The first from left foot 25, the second from left foot 36.
Have three equidistant installing holes on the first from left bar 16, the installing hole on the end of band groove is by 26 upper stratas that are connected left crank 15 of shipping and reselling on another market, a left side six.Not with the termination installing hole of an end of groove by the second from left 19 upper stratas that are connected left three bars 20 of shipping and reselling on another market.The another one installing hole of the first from left bar 16 is by the first from left 17 upper stratas that are connected the second from left bar 18 of shipping and reselling on another market.
A left side has three not equidistant installing holes on four bars 23, and the installing hole of its end of side that pitch of holes is less is by 21 upper stratas that are connected the hole of left three bars 20 terminations of shipping and reselling on another market, a left side three.The installing hole at four bars 23 middle parts, a left side is by 22 upper stratas that are connected the hole of the second from left bar 18 terminations of shipping and reselling on another market, a left side four.Another installing hole of a left side four bars 23 is shipped and resell on another market by a left side five and 24 25 is connected enough with the first from left, as shown in Figure 6.
A left side five bars 27 and the first from left bar 16 structures and measure-alike, the installing hole on the end of band groove is by 26 upper stratas that are connected left crank 15 of shipping and reselling on another market, a left side six.Not with the termination installing hole of an end of groove by 29 upper stratas that are connected left six bars 30 of shipping and reselling on another market, a left side eight.The another one installing hole is by 28 upper stratas that are connected left seven bars 31 of shipping and reselling on another market, a left side seven.
A left side eight bars 34 and left four bars, 23 structures and measure-alike, the installing hole of its end of side that pitch of holes is less is by 32 upper stratas that are connected the hole of left six bars 30 terminations of shipping and reselling on another market, a left side nine.The installing hole at eight bars 34 middle parts, a left side by a left side ten ship and resell on another market 33 be connected left seven bars 31 terminations the hole the upper strata.Another installing hole of a left side eight bars 34 is shipped and resell on another market by a left side 11 and 35 36 is connected enough with the second from left.
The first from left bar 17 and a left side 5 27 structures and measure-alike.
The second from left bar 18 and a left side 7 31 structures and measure-alike.
A left side three bars 20 and a left side 6 30 structures and measure-alike.
A left side four bars 23 and a left side 8 34 structures and measure-alike.
The first from left foot 25 and the second from left 36 structures and measure-alike.
Described right side leg L2 as shown in Figure 7, comprising: right crank 41, a right bar 42, right two bars 43, right three bars 45, right four bars 49, right five bars 52, right six bars 56, right seven bars 57, right eight bars 59.
Right one ships and resell on another market 44, right two ships and resell on another market and 46, right three ships and resell on another market and 47, right four ship and resell on another market and 48, right five ship and resell on another market and 50, right six ship and resell on another market and 53, right seven ship and resell on another market and 55, right eight ship and resell on another market and 58, right nine ship and resell on another market and 60, right ten ship and resell on another market and 61, right 11 ship and resell on another market 63.A right foot 51, right two foots 62.
Have three equidistant installing holes on the right bar 42, the installing hole on the end of trough of belt is by the 11 63 lower floors that are connected right crank 41 that ship and resell on another market.The termination installing hole of an end of trough of belt is not by right two 46 lower floors that are connected right three bars 45 that ship and resell on another market.The another one installing hole of a right bar 42 is by right one 44 lower floors that are connected right two bars 43 that ship and resell on another market.
Have three not equidistant installing holes on right four bars 49, the installing hole of its end of side that pitch of holes is less is by right three 47 lower floors that are connected the hole of right three bars 45 terminations that ship and resell on another market.The installing hole at right four bars 49 middle parts is by right four 48 lower floors that are connected the hole of right two bars 43 terminations that ship and resell on another market.Another installing hole of right four bars 49 is shipped and resell on another market by right five and 50 51 is connected enough with right one.
Right five bars 52 and a right bar 42 structures and measure-alike, the installing hole on the end of trough of belt is by right six 63 lower floors that are connected right crank 41 that ship and resell on another market.The termination installing hole of an end of trough of belt is not by right seven 55 lower floors that are connected right six bars 56 that ship and resell on another market, and the another one installing hole is by right seven 53 lower floors that are connected right seven bars 57 that ship and resell on another market.
Right eight bars 59 and right four bars, 49 structures and measure-alike, the installing hole of its end of side that pitch of holes is less is by right eight 58 lower floors that are connected the hole of right six bars 56 terminations that ship and resell on another market.The installing hole at right eight bars 59 middle parts by right nine ship and resell on another market 60 be connected right seven bars 57 terminations the hole lower floor.Another installing hole of right eight bars 59 is shipped and resell on another market by right ten and 61 62 is connected enough with right two.
The structure of described left side leg L1 and right side leg L2, measure-alike.
Described trailer L4 comprises carriage 65, vehicle frame 66, first wheel 67, second wheel 68 as shown in Figure 8.
One end of carriage 65 has two fixing holes, and fixing by screw and vehicle frame 66, the other end has through hole, is connected with body L3 by trailer connecting pin 64.
Claims (6)
1. single action power four feet walk mechanism is characterized in that:
Single action power four feet walk mechanism comprises left side leg (L1), right side leg (L2), body (L3), trailer (L4);
The A stomidium that a left side three bars (20) are gone up the hole at middle part and left side leg connecting rod (2) by in the left side one ship and resell on another market (37) link together;
The B stomidium that a left side six bars (30) are gone up the hole at middle part and left side leg connecting rod (2) by in the left side two ship and resell on another market (38) link together;
The draw-in groove of left side crank (15) cooperates with left side leg power transmission shaft (6), by the jackscrew axial restraint;
The C stomidium that right three bars (45) are gone up the hole at middle part and right side leg connecting rod (12) by in the right side one ship and resell on another market (39) link together;
The D stomidium that right six bars (56) are gone up the hole at middle part and right side leg connecting rod (12) by in the right side two ship and resell on another market (40) link together;
The draw-in groove of right crank (41) cooperates with right side leg power transmission shaft (13), by the jackscrew axial restraint;
Carriage (65) on the trailer (L4) is connected on body second connector (11) of body (L3) by trailer connecting pin (64);
By above-mentioned connection, finish the assembling of mechanism, motor (8) is by band (7) drive first rotating shaft (4) synchronously and second rotating shaft (13), and then the driving leg exercise, realizes moving.
2. single action power four feet walk according to claim 1 mechanism is characterized in that:
Described body (L3) comprises body first connector (1), left side leg connecting rod (2), shaft coupling (3), synchronous pulley (4), body first rolling bearing (5), left side leg power transmission shaft (6), synchronous band (7), motor (8), motor cabinet (9), motor synchronous belt wheel (10), body second connector (11), right side leg connecting rod (12), right side leg power transmission shaft (13), body second rolling bearing (14);
Body first rolling bearing (5) is installed at the center of left side leg connecting rod (2), has four about centrosymmetric counterbore on the left side leg connecting rod (2), is connected with screwed hole on body second connector (11) by screw and body second connector (1);
Left side leg power transmission shaft (6) cooperates with body first rolling bearing (5), has two screwed holes on the left side leg power transmission shaft (6), and by the fixing synchronous pulley (4) of jackscrew, another one is connected with shaft coupling (3) from the near screwed hole of the shaft shoulder;
Motor (8) is fixed on the motor cabinet (9), and motor cabinet (9) is fixed on body second connector (11) by screw, and motor shaft is fixing by jackscrew and motor synchronous belt wheel (10);
Band (7) is installed on synchronous pulley (4) and the motor synchronous belt wheel (10) synchronously;
Body second rolling bearing (14) is installed at right side leg connecting rod (12) center, has four about centrosymmetric counterbore on the right side leg connecting rod (12), is connected with screwed hole on body second connector (11) by screw and body first connector (1);
Right side leg power transmission shaft (13) cooperates with body second rolling bearing (14), and right side leg power transmission shaft (13) and left side leg power transmission shaft (6) structure and measure-alike are connected away from an end and the shaft coupling (3) of the shaft shoulder;
Motor (8) drives right side leg power transmission shaft (13) and left side leg power transmission shaft (6) rotation synchronously.
3. four feet walk according to claim 1 mechanism is characterized in that:
Described left side leg (L1) comprising: left crank (15), the first from left bar (16), the second from left bar (18), left three bars (20), left four bars (23), left five bars (27), left six bars (30), left seven bars (31), left eight bars (34); The first from left is shipped and resell on another market (17), the second from left is shipped and resell on another market (19), ship and resell on another market (21) in a left side three, ship and resell on another market (22) in a left side four, ship and resell on another market (24) in a left side five, ship and resell on another market (26) in a left side six, ship and resell on another market (28) in a left side seven, ship and resell on another market (29) in a left side eight, ship and resell on another market (32) in a left side nine, ship and resell on another market (33) in a left side ten, Zuo Shiyi ships and resell on another market (35); The first from left foot (25), the second from left foot (36);
Have three equidistant installing holes on the first from left bar (16), the installing hole on the end of band groove by a left side six ship and resell on another market (26) be connected the upper strata of left crank (15); Not with the termination installing hole of an end of groove by the second from left ship and resell on another market (19) be connected the upper strata of left three bars (20); The another one installing hole of the first from left bar (16) by the first from left ship and resell on another market (17) be connected the upper strata of the second from left bar (18);
Have three not equidistant installing holes on the left side four bars (23), the installing hole of its end of side that pitch of holes is less by a left side three ship and resell on another market (21) be connected the upper strata in the hole of left three bars (20) termination; The installing hole at a left side four bars (23) middle part by a left side four ship and resell on another market (22) be connected the upper strata in the hole of the second from left bar (18) termination; Another installing hole of a left side four bars (23) by a left side five ship and resell on another market (24) and the first from left enough (25) be connected;
A left side five bars (27) and the first from left bar (16) structure and measure-alike, the installing hole on the end of band groove by a left side six ship and resell on another market (26) be connected the upper strata of left crank (15); Not with the termination installing hole of an end of groove by a left side eight ship and resell on another market (29) be connected the upper strata of left six bars (30); The another one installing hole by a left side seven ship and resell on another market (28) be connected the upper strata of left seven bars (31);
A left side eight bars (34) and left four bars (23) structure and measure-alike, the installing hole of its end of side that pitch of holes is less by a left side nine ship and resell on another market (32) be connected the upper strata in the hole of left six bars (30) termination; A left side eight bars (34) middle part installing hole by a left side ten ship and resell on another market (33) be connected left seven bars (31) termination the hole the upper strata; Another installing hole of a left side eight bars (34) by a left side 11 ship and resell on another market (35) and the second from left enough (36) be connected.
4. single action power four feet walk according to claim 1 mechanism, it is characterized in that: left side leg (L1) is a symmetrical mechanism;
The first from left bar (17) and a left side five (27) structures and measure-alike;
The second from left bar (18) and a left side seven (31) structures and measure-alike;
A left side three bars (20) and a left side six (30) structures and measure-alike;
A left side four bars (23) and a left side eight (34) structures and measure-alike;
The first from left foot (25) and the second from left (36) structure and measure-alike;
Left side crank (15) and the second from left bar (18), left three bars (20), left six bars (30), left seven bars (31) are at ground floor; The first from left bar (17), left five bars (27), left four bars (23), left eight bars (34) are at the second layer.
5. single action power four feet walk according to claim 1 mechanism is characterized in that:
The structure of described left side leg (L1) and right side leg (L2), measure-alike.
6. single action power four feet walk according to claim 1 mechanism is characterized in that:
Described trailer (L4) comprises carriage (65), vehicle frame (66), first wheel (67), second wheel 68);
One end of carriage (65) has two fixing holes, and fixing by screw and vehicle frame (66), the other end has through hole, is connected with body (L3) by trailer connecting pin (64).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105883987A CN102068819B (en) | 2010-12-14 | 2010-12-14 | Single-power four-foot walking mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105883987A CN102068819B (en) | 2010-12-14 | 2010-12-14 | Single-power four-foot walking mechanism |
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| CN102068819A true CN102068819A (en) | 2011-05-25 |
| CN102068819B CN102068819B (en) | 2012-08-08 |
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| CN2010105883987A Active CN102068819B (en) | 2010-12-14 | 2010-12-14 | Single-power four-foot walking mechanism |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102295029A (en) * | 2011-06-13 | 2011-12-28 | 北京航空航天大学 | Adaptive wheel-leg combined obstacle detouring mechanism |
| CN103148314A (en) * | 2013-03-06 | 2013-06-12 | 北京隆科兴非开挖工程有限公司 | Pipeline walking robot |
| CN103407506A (en) * | 2013-07-05 | 2013-11-27 | 北京交通大学 | Foldable polyhedral rolling mechanism |
| CN103818492A (en) * | 2014-03-11 | 2014-05-28 | 北京交通大学 | Wheel and leg composite carrying robot |
| CN104398262A (en) * | 2014-08-08 | 2015-03-11 | 北京交通大学 | Split lower limb wearing measuring device and following control method |
| CN104477270A (en) * | 2014-08-08 | 2015-04-01 | 北京交通大学 | Single-power-moved six-rod robot |
| CN105818879A (en) * | 2016-03-29 | 2016-08-03 | 北京交通大学 | Forward-backward double-gait foot type robot |
| CN106143670A (en) * | 2015-04-27 | 2016-11-23 | 佛山市禾才科技服务有限公司 | A kind of vehicles with eight-linkage mechanism |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102295029B (en) * | 2011-06-13 | 2012-11-07 | 北京航空航天大学 | Adaptive wheel-leg combined obstacle detouring mechanism |
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| CN103148314A (en) * | 2013-03-06 | 2013-06-12 | 北京隆科兴非开挖工程有限公司 | Pipeline walking robot |
| CN103148314B (en) * | 2013-03-06 | 2014-11-26 | 北京隆科兴非开挖工程有限公司 | Pipeline walking robot |
| CN103407506B (en) * | 2013-07-05 | 2016-01-13 | 北京交通大学 | Folding multi-face body rolling mechanism |
| CN103407506A (en) * | 2013-07-05 | 2013-11-27 | 北京交通大学 | Foldable polyhedral rolling mechanism |
| CN103818492B (en) * | 2014-03-11 | 2016-04-06 | 北京交通大学 | A kind of wheel leg compound carrying robot |
| CN103818492A (en) * | 2014-03-11 | 2014-05-28 | 北京交通大学 | Wheel and leg composite carrying robot |
| CN104477270A (en) * | 2014-08-08 | 2015-04-01 | 北京交通大学 | Single-power-moved six-rod robot |
| CN104398262A (en) * | 2014-08-08 | 2015-03-11 | 北京交通大学 | Split lower limb wearing measuring device and following control method |
| CN104398262B (en) * | 2014-08-08 | 2016-08-10 | 北京交通大学 | A kind of dissection type lower limb dress measurement apparatus and follow-up control method |
| CN106143670B (en) * | 2015-04-27 | 2018-08-21 | 佛山市禾才科技服务有限公司 | A kind of vehicles with eight-linkage mechanism |
| CN106143670A (en) * | 2015-04-27 | 2016-11-23 | 佛山市禾才科技服务有限公司 | A kind of vehicles with eight-linkage mechanism |
| CN108158483A (en) * | 2016-01-30 | 2018-06-15 | 李沁心 | A kind of cleaning equipment of glass curtain wall |
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| CN107751536B (en) * | 2017-09-13 | 2020-08-04 | 江苏建筑职业技术学院 | Executor for cutting steel wire into ice cream in two-way mode according to two-key-point track |
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| CN111038611A (en) * | 2019-11-29 | 2020-04-21 | 上海工程技术大学 | Multi-mode mobile robot |
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