CN102068819B - Single-power four-foot walking mechanism - Google Patents
Single-power four-foot walking mechanism Download PDFInfo
- Publication number
- CN102068819B CN102068819B CN2010105883987A CN201010588398A CN102068819B CN 102068819 B CN102068819 B CN 102068819B CN 2010105883987 A CN2010105883987 A CN 2010105883987A CN 201010588398 A CN201010588398 A CN 201010588398A CN 102068819 B CN102068819 B CN 102068819B
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- China
- Prior art keywords
- bars
- leg
- resell
- ship
- another market
- Prior art date
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- 230000001360 synchronised Effects 0.000 claims abstract description 15
- 239000010410 layers Substances 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 27
- 210000002683 Foot Anatomy 0.000 claims description 22
- 230000014759 maintenance of location Effects 0.000 claims description 2
- 210000002414 Leg Anatomy 0.000 abstract description 52
- 238000003754 machining Methods 0.000 abstract 1
- 210000001699 lower leg Anatomy 0.000 description 2
- 230000003044 adaptive Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000011159 matrix materials Substances 0.000 description 1
- 238000000034 methods Methods 0.000 description 1
Abstract
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 that quadruped moves in ground walking.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, so more and more receive researchist's concern.Conventional walking robot shank degree of freedom is more, structure and control more complicated.The single degree of freedom walking mechanism utilizes a series of connecting rod mechanism, and the motion of four foots is coupled, and through 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 matters 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 matters:
Single action power four feet walk mechanism comprises left side leg, right side leg, body, trailer.
The A stomidium of hole and the left side leg pipe link at middle part is through one shipping and reselling on another market and link together in the left side on three bars of a left side.
The B stomidium of hole and the left side leg pipe link at middle part is through 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 the left side leg transmission shaft, through the jackscrew axial restraint.
The C stomidium of the hole at middle part and right side leg pipe link is through 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 pipe link is through 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 transmission shaft, through the jackscrew axial restraint.
Carriage on the trailer is connected on body second attaching parts of body through the trailer connecting pin.
Through above-mentioned connection, accomplish the assembling of mechanism, motor drives first rotating shaft and second rotating shaft through synchronous band, and then drives leg exercise, realizes mobile.
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 degree of freedom of mechanism be one.
Trailer is connected on the matrix through shipping and reselling on another market, and is used for stablizing entire mechanism, prevents in motion process, to turn on one's side.
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 integral structure figure of mechanism.
Fig. 2 body constructional drawing.
Fig. 3 left and right sides leg transmission shaft scheme drawing.
Fig. 4 body graphics.
Fig. 5 left side leg constructional drawing.
Fig. 6 the first from left foot connects scheme drawing.
Fig. 7 right side leg figure.
Fig. 8 trailer configuration figure.
The specific embodiment
In conjunction with accompanying drawing the present invention is described further.
Single action power four feet walk mechanism, as shown in Figure 1, comprise left side leg L1, right side leg L2, body L3, trailer L4.
The A stomidium of hole and the left side leg pipe link 2 at middle part is through one shipping and reselling on another market and 37 link together in the left side on three bars 20 of a left side.
The B stomidium of hole and the left side leg pipe link 2 at middle part is through 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 transmission shaft 6, through the jackscrew axial restraint.
The C stomidium of the hole at middle part and right side leg pipe link 12 is through 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 pipe link 12 is through 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 transmission shaft 13, through the jackscrew axial restraint.
Carriage 65 on the trailer L4 is connected on body second attaching parts 11 of body L3 through trailer connecting pin 64.
Through above-mentioned connection, accomplish the assembling of mechanism, motor 8 is through being with 7 to drive first rotating shaft 4 and second rotating shafts 13 synchronously, and then drives leg exercise, realizes mobile.
Described body L3; Like Fig. 2, shown in 4, comprise body first attaching parts 1, left side leg pipe link 2, coupler 3, synchronous pulley 4, body first antifriction-bearing box 5, left side leg transmission shaft 6, be with 7 synchronously, motor 8, motor cabinet 9, motor synchronous belt wheel 10, body second attaching parts 11, right side leg pipe link 12, right side leg transmission shaft 13, body second antifriction-bearing box 14.
Central mounting body first antifriction-bearing box 5 of left side leg pipe link 2 has four about centrosymmetric counterbore on the left side leg pipe link 2, be connected with tapped bore on body second attaching parts 11 through screw and body second attaching parts 1.
Left side leg transmission shaft 6 cooperates with body first antifriction-bearing box 5, and is as shown in Figure 3, has two tapped bore on the left side leg transmission shaft 6, passes through fixedly synchronous pulley 4 of jackscrew from the near tapped bore of the shaft shoulder, and another one is connected with coupler 3.
Motor 8 is fixed on the motor cabinet 9, and on body second attaching parts 11, motor shaft is fixing through jackscrew and motor synchronous belt wheel 10 through screw retention for motor cabinet 9.
Be with 7 to be installed on synchronous pulley 4 and the motor synchronous belt wheel 10 synchronously.
Right side leg pipe link 12 central mounting bodies second antifriction-bearing box 14 has four about centrosymmetric counterbore on the right side leg pipe link 12, be connected with tapped bore on body second attaching parts 11 through screw and body first attaching parts 1.
Right side leg transmission shaft 13 cooperates with body second antifriction-bearing box 14, and right side leg transmission shaft 13 and left side leg transmission shaft 6 structures and measure-alike are connected with coupler 3 away from an end of the shaft shoulder.
Motor 8 drives right side leg transmission shaft 13 and rotates synchronously with left side leg transmission shaft 6.
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 not equidistance mounting holes on the first from left bar 16, the mounting hole on the end of band groove through a left side six ship and resell on another market 26 be connected left crank 15 the upper strata.Not with the termination mounting hole of an end of groove through the second from left ship and resell on another market 19 be connected left three bars 20 the upper strata.The another one mounting hole of the first from left bar 16 through the first from left ship and resell on another market 17 be connected the second from left bar 18 the upper strata.
A left side has three not mounting holes of equidistance on four bars 23, the mounting hole of its end of side that pitch of holes is less through a left side three ship and resell on another market 21 be connected the hole of left three bars 20 terminations the upper strata.The mounting hole at four bars 23 middle parts, a left side through a left side four ship and resell on another market 22 be connected the hole of the second from left bar 18 terminations the upper strata.Another mounting hole of a left side four bars 23 is shipped and resell on another market through a left side five and 24 25 is connected enough with the first from left, and is as shown in Figure 6.
A left side five bars 27 and the first from left bar 16 structures and measure-alike, the mounting hole on the end of band groove through a left side six ship and resell on another market 26 be connected left crank 15 the upper strata.Not with the termination mounting hole of an end of groove through a left side eight ship and resell on another market 29 be connected left six bars 30 the upper strata.The another one mounting hole through a left side seven ship and resell on another market 28 be connected left seven bars 31 the upper strata.
A left side eight bars 34 and left four bars, 23 structures and measure-alike, the mounting hole of its end of side that pitch of holes is less through a left side nine ship and resell on another market 32 be connected the hole of left six bars 30 terminations the upper strata.The mounting hole at eight bars 34 middle parts, a left side through a left side ten ship and resell on another market 33 be connected left seven bars 31 terminations the hole the upper strata.Another mounting hole of a left side eight bars 34 is shipped and resell on another market through 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.
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), (34 at the second layer for left eight bars.
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 sufficient 62.
Have three not equidistance mounting holes on the right bar 42, the mounting hole on the end of trough of belt through the 11 ship and resell on another market 63 be connected right crank 41 lower floor.Not the termination mounting hole of an end of trough of belt through right two ship and resell on another market 46 be connected right three bars 45 lower floor.The another one mounting hole of a right bar 42 through right one ship and resell on another market 44 be connected right two bars 43 lower floor.
Have three not mounting holes of equidistance on right four bars 49, the mounting hole of its end of side that pitch of holes is less through right three ship and resell on another market 47 be connected the hole of right three bars 45 terminations lower floor.The mounting hole at right four bars 49 middle parts through right four ship and resell on another market 48 be connected the hole of right two bars 43 terminations lower floor.Another mounting hole of right four bars 49 is shipped and resell on another market through 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 mounting hole on the end of trough of belt through right six ship and resell on another market 63 be connected right crank 41 lower floor.Not the termination mounting hole of an end of trough of belt through right seven ship and resell on another market 55 be connected right six bars 56 lower floor, the another one mounting hole through right seven ship and resell on another market 53 be connected right seven bars 57 lower floor.
Right eight bars 59 and right four bars, 49 structures and measure-alike, the mounting hole of its end of side that pitch of holes is less through right eight ship and resell on another market 58 be connected the hole of right six bars 56 terminations lower floor.The mounting hole at right eight bars 59 middle parts through right nine ship and resell on another market 60 be connected right seven bars 57 terminations the hole lower floor.Another mounting hole of right eight bars 59 is shipped and resell on another market through 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 is as shown in Figure 8, comprises carriage 65, vehicle frame 66, first wheel 67, second wheel 68.
One end of carriage 65 has two fixed orifices, and fixing through screw and vehicle frame 66, the other end has through hole, is connected with body L3 through trailer connecting pin 64.
Claims (3)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105883987A CN102068819B (en) | 2010-12-14 | 2010-12-14 | Single-power four-foot walking mechanism |
Applications Claiming Priority (1)
| 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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| Publication Number | Publication Date |
|---|---|
| CN102068819A CN102068819A (en) | 2011-05-25 |
| CN102068819B true CN102068819B (en) | 2012-08-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010105883987A CN102068819B (en) | 2010-12-14 | 2010-12-14 | Single-power four-foot walking mechanism |
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| CN (1) | CN102068819B (en) |
Families Citing this family (11)
| 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 |
| 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 |
| CN103818492B (en) * | 2014-03-11 | 2016-04-06 | 北京交通大学 | A kind of wheel leg compound carrying robot |
| 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 |
| CN104477270B (en) * | 2014-08-08 | 2017-02-22 | 北京交通大学 | Single-power-moved six-rod robot |
| 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 |
| CN108158483A (en) * | 2016-01-30 | 2018-06-15 | 李沁心 | A kind of cleaning equipment of glass curtain wall |
| CN105818879B (en) * | 2016-03-29 | 2018-05-04 | 北京交通大学 | A kind of positive and negative double step gait legged type robot |
| 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 |
| CN109183881A (en) * | 2018-08-14 | 2019-01-11 | 彭渤 | Hydraulic engineering channel cleanout auxiliary device for moving peculiar to vessel based on bionics principle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN87207890U (en) * | 1987-05-09 | 1988-05-25 | 向耀清 | Toy walking mechanism capable of imitating quadruped |
| CN2094373U (en) * | 1991-05-08 | 1992-01-29 | 阮士权 | Electric four leg walking animal cart-pulling toy |
| CN1730340A (en) * | 2005-08-23 | 2006-02-08 | 王少玉 | Bionic walking mechanical carrier, recreational vehicle and making and using method thereof |
| CN201015712Y (en) * | 2007-02-01 | 2008-02-06 | 甘贤俊 | Bionic mechanical quadruped |
| CN101602382A (en) * | 2009-05-13 | 2009-12-16 | 上海工程技术大学 | A kind of single-drive four feet walking robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6866557B2 (en) * | 2002-07-02 | 2005-03-15 | Mitch Randall | Apparatus and method for producing ambulatory motion |
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2010
- 2010-12-14 CN CN2010105883987A patent/CN102068819B/en active IP Right Grant
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN87207890U (en) * | 1987-05-09 | 1988-05-25 | 向耀清 | Toy walking mechanism capable of imitating quadruped |
| CN2094373U (en) * | 1991-05-08 | 1992-01-29 | 阮士权 | Electric four leg walking animal cart-pulling toy |
| CN1730340A (en) * | 2005-08-23 | 2006-02-08 | 王少玉 | Bionic walking mechanical carrier, recreational vehicle and making and using method thereof |
| CN201015712Y (en) * | 2007-02-01 | 2008-02-06 | 甘贤俊 | Bionic mechanical quadruped |
| CN101602382A (en) * | 2009-05-13 | 2009-12-16 | 上海工程技术大学 | A kind of single-drive four feet walking robot |
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| CN102068819A (en) | 2011-05-25 |
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