CN102381380A - Novel four-footed walker having parallel leg structure - Google Patents
Novel four-footed walker having parallel leg structure Download PDFInfo
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- CN102381380A CN102381380A CN2011103146069A CN201110314606A CN102381380A CN 102381380 A CN102381380 A CN 102381380A CN 2011103146069 A CN2011103146069 A CN 2011103146069A CN 201110314606 A CN201110314606 A CN 201110314606A CN 102381380 A CN102381380 A CN 102381380A
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Abstract
The invention relates to a novel four-footed walker having a parallel leg structure, which comprises a frame and four parallel legs having same structures, wherein the four parallel legs are mounted under the frame; each of the four parallel legs comprises a leg frame, three linear drivers, three connecting elements, a T-shaped leg and a foot part; a single parallel leg is provided with three branches; during a practical operation, the foot part does a space motion under the driving of the collaborative operation of the three linear drivers; the foot part is in buffering connection and can be used for finishing the processes of buffering, storing energy and recycling within a walking period; the four legs are symmetrically arranged or are arranged along a same direction; and an omni-directional motion of a robot can be realized through a certain tread of the four legs. The novel four-footed walker has the advantages of simple structure, easiness in control, high motion precision, high-speed response capability and high bearing capacity. The novel four-footed walker is suitable for a high-speed and high-load transportation operation and a dangerous circumstance operation under an outdoor complex unstructured terrain condition.
Description
Technical field
The present invention relates to Robotics field in the mechanical engineering, specifically is a kind of novel parallelly connected leg structure four feet walk device.
Background technology
At a high speed, high-mechanic four feet walk device is the specialized robot of imitation quadruped mode of motion; The walking that this robotlike is can be in the non-structure environment of complicacy stable; Can replace the people to accomplish many dangerous operations, many potential application prospects arranged in industries such as military affairs, mining, nuclear power industry, celestial body probing surface, fire-fighting and rescue, building industry, agricultural felling, teaching amusements.For a long time, four feet walk device technology is one of focus of domestic and international robot field's research always.Compare with series connection leg structure, the application of parallelly connected leg structure can improve robot construction intensity and stability greatly, to improving walker load-carrying/very important meaning is arranged from anharmonic ratio; Simultaneously, linear actuator is simple in structure, layout is easy, uses linear actuator can make the walker leg structure simpler, compact, and can improve the propulsive effort and the kinematic velocity of walker.
Find that through retrieval application number is 200910098461.6, the applying date is that the Chinese invention patent on May 8th, 2009 discloses a kind of " robot leg structure ", is used for anthropomorphic robot's shank.This invention comprises pedestal and motion platform, and pedestal is connected with motion platform through transmission device; Transmission device comprise the motor that is fixed on the pedestal and with motor bonded assembly moving cell; Moving cell comprise can make first moving cell that robot leg mechanism swings backward with motion platform is pressed down or on second moving cell carried; First moving cell comprises that a top is fixed on the strut bar on the pedestal, is connected first screw body and one and motion platform pivotally attached first connecting-rods with constant lengh with first motor; First connecting-rods with constant lengh comprises the straight bar part and the outside projection part of protrusion, strut bar hinged with straight bar part, and first screw body and projection part are hinged; Unit second comprise with the second motor bonded assembly, second screw body and with motion platform pivotally attached second connecting-rods with constant lengh, second screw body and second connecting-rods with constant lengh are hinged.Application number is 200910005416.1; The applying date is that the Chinese invention patent on January 14th, 2009 discloses " a kind of four-leg bionic walking mechanism "; Be primarily characterized in that: four feet walk mechanism can advance in complex environment, retreats, turn, and side direction is impacted has very stable attitude hold facility simultaneously; Four feet walk mechanism simple and compact for structure improved the load-carrying capacity of walking mechanism, makes it have higher using value; This invention also has stronger ductility, can expand to the above even-even walking mechanism of four-footed.But the structure of this walking mechanism is a cascaded structure.Do not retrieve at present of the application of pure parallel institution leg as yet in the quadruped robot field.
Summary of the invention
The present invention is directed to the above-mentioned deficiency that exists in the prior art, a kind of novel parallelly connected leg structure four feet walk device is provided.
The present invention realizes through following technical scheme.
A kind of novel parallelly connected leg structure four feet walk device comprises frame, also comprises four parallelly connected legs that structure is identical, and said four parallelly connected legs are installed on the below of frame.
Said parallelly connected leg comprises: shank frame, first linear actuator, first attaching parts, second linear actuator, second attaching parts, the 3rd linear actuator, the 3rd attaching parts, T type leg and foot; Wherein, The shank frame is positioned at the below of frame, and is fixedly connected on the frame, and first attaching parts and shank frame flexibly connect; One end of first linear actuator and first attaching parts flexibly connect, and the other end of first linear actuator and T type leg flexibly connect; Second attaching parts and shank frame flexibly connect, and an end of second linear actuator and second attaching parts flexibly connect, and the other end of second linear actuator and T type leg flexibly connect; The 3rd attaching parts and shank frame flexibly connect, and an end of the 3rd linear actuator and the 3rd attaching parts flexibly connect, and the other end of the 3rd linear actuator is fixedly connected on the T type leg; Foot is positioned at the bottom of T type leg, and with T type leg between be connected.
Said first attaching parts, second attaching parts and the 3rd attaching parts are the o type.
Said flexible connection is that hinge connects.
Said foot is connected with the elastic buffer that is connected between the T type leg.
The arrangement of said four parallelly connected legs adopts symmetric arrangement or arranges in the same way.
During actual job, every parallelly connected leg has three and drives degree of freedom, and three linear actuators can drive foot and carry out space motion.Article four, leg can be realized the omnibearing movable of robot through certain gait.
The parallelly connected leg structure that the present invention adopted has improved the bearing capacity and the alerting ability of quadruped robot leg structure; Linear actuator is arranged easily, makes the robot leg bilge construction simpler, compact, has also improved the propulsive effort and the kinematic velocity of robot; The concussion that the buffering of foot can reduce in robot motion's process is impacted, simultaneously for take a step to put aside energy next time.The present invention is simple in structure, easily manufactured, and control is easy, and kinematic accuracy is high, has high-speed response ability and high bearing capacity, is applicable to high speed, high capacity hauling operation and hazardous environment operation under the complicated non-structure topographic condition in field.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Among Fig. 1,1 is frame, and 2 is the shank frame, and 3 is first linear actuator, and 4 is first attaching parts, and 5 is second linear actuator, and 6 is second attaching parts, and 7 is the 3rd linear actuator, and 8 is the 3rd attaching parts, and 9 is T type leg, and 10 is foot.
The specific embodiment
Below in conjunction with accompanying drawing technical scheme of the present invention is further described.
Fig. 1 is a structural representation of the present invention.As shown in Figure 1, the present invention mainly comprises: frame 1 and four parallelly connected legs that structure is identical.
Every parallelly connected leg comprises shank frame 2, first linear actuator 3, first attaching parts 4, second linear actuator 5, second attaching parts 6, the 3rd linear actuator 7, the 3rd attaching parts 8, T type leg 9, foot 10.Shank frame 2 is connected on the frame, and first attaching parts 4 is connected with shank frame 2 through hinge, and an end of first linear actuator 3 is connected with first attaching parts 4 through hinge, and the other end is connected with T type leg 9 through hinge; Second attaching parts 6 is connected with shank frame 2 through hinge, and an end of second linear actuator 5 is connected with second attaching parts 6 through hinge, and the other end is connected with T type leg 9 through hinge; The 3rd attaching parts 8 is connected with shank frame 2 through hinge, and an end of the 3rd linear actuator 7 is connected with the 3rd attaching parts 8 through hinge, and the other end is connected on the T type leg 9; Be connected for elastic buffer between foot 10 and the T type leg 9.
First attaching parts among the present invention, second attaching parts and the 3rd attaching parts are the o type.
The arrangement of four parallelly connected legs among the present invention can adopt symmetric arrangement or arrange in the same way.
Three linear actuators that adopt among the present invention can replace with any type according to applicable cases can satisfy the linear drive system that drives requirement.
During actual job, every parallelly connected leg has three and drives degree of freedom, and three linear actuators can drive foot and carry out space motion.First linear actuator and second linear actuator elongate or shorten simultaneously, and the 3rd linear actuator shortens, and can drive T type leg and swing forward or backward; Second linear actuator was corresponding when first linear actuator elongated or shortened shortens or elongation, can drive T type leg and outwards or to the inside swing; Three linear actuators elongate or shorten simultaneously, can adjust the entire length of parallelly connected leg, are used for clear an obstacle.
Article four, leg can be realized the omnibearing movable of robot through certain gait.
Claims (6)
1. a novel parallelly connected leg structure four feet walk device comprises frame, and it is characterized in that: also comprise four parallelly connected legs that structure is identical, said four parallelly connected legs are installed on the below of frame.
2. novel parallelly connected leg structure four feet walk device according to claim 1; It is characterized in that; Said parallelly connected leg comprises: shank frame, first linear actuator, first attaching parts, second linear actuator, second attaching parts, the 3rd linear actuator, the 3rd attaching parts, T type leg and foot, and wherein, the shank frame is positioned at the below of frame; And be fixedly connected on the frame; First attaching parts and shank frame flexibly connect, and an end of first linear actuator and first attaching parts flexibly connect, and the other end of first linear actuator and T type leg flexibly connect; Second attaching parts and shank frame flexibly connect, and an end of second linear actuator and second attaching parts flexibly connect, and the other end of second linear actuator and T type leg flexibly connect; The 3rd attaching parts and shank frame flexibly connect, and an end of the 3rd linear actuator and the 3rd attaching parts flexibly connect, and the other end of the 3rd linear actuator is fixedly connected on the T type leg; Foot is positioned at the bottom of T type leg, and with T type leg between be connected.
3. novel parallelly connected leg structure four feet walk device according to claim 2, said first attaching parts, second attaching parts and the 3rd attaching parts are the o type.
4. novel parallelly connected leg structure four feet walk device according to claim 2 is characterized in that, said flexible connection is that hinge connects.
5. novel parallelly connected leg structure four feet walk device according to claim 2 is characterized in that, said foot is connected with the elastic buffer that is connected between the T type leg.
6. novel parallelly connected leg structure four feet walk device according to claim 1 is characterized in that, the arrangement of said four parallelly connected legs adopts symmetric arrangement or arranges in the same way.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201110314606 CN102381380B (en) | 2011-10-17 | 2011-10-17 | Novel four-footed walker having parallel leg structure |
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| CN 201110314606 CN102381380B (en) | 2011-10-17 | 2011-10-17 | Novel four-footed walker having parallel leg structure |
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| CN102381380A true CN102381380A (en) | 2012-03-21 |
| CN102381380B CN102381380B (en) | 2013-05-22 |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103273985A (en) * | 2013-06-18 | 2013-09-04 | 辰星（天津）自动化设备有限公司 | Quadruped stair climbing robot mechanism |
| CN103921267A (en) * | 2014-03-18 | 2014-07-16 | 上海交通大学 | All-directional movable manipulator with four feet |
| CN104044138A (en) * | 2014-06-17 | 2014-09-17 | 凯斯特阀门集团有限公司 | 8-UPS (Uninterruptible Power Supply) walking processing parallel robot |
| CN104924294A (en) * | 2015-06-15 | 2015-09-23 | 上海交通大学 | Quadruped robot with parallel waist structure |
| CN104925161A (en) * | 2015-06-15 | 2015-09-23 | 上海交通大学 | Six-leg walking robot in parallel connection driven by rotation |
| CN104973163A (en) * | 2015-07-21 | 2015-10-14 | 重庆邮电大学 | All-landform walking device and control method thereof |
| CN106181959A (en) * | 2016-08-24 | 2016-12-07 | 黄仕 | A kind of carrier robot |
| CN107284548A (en) * | 2017-05-24 | 2017-10-24 | 上海交通大学 | The waist structure of Hexapod Robot in parallel |
| CN107554640A (en) * | 2017-09-08 | 2018-01-09 | 燕山大学 | A kind of six sufficient walkers based on four-degree-of-freedom mechanism leg |
| CN109367643A (en) * | 2018-11-02 | 2019-02-22 | 常州大学 | A kind of Four-feet creeping bio-robot based on link mechanism |
| CN109733498A (en) * | 2019-01-22 | 2019-05-10 | 北华航天工业学院 | Leg structure and walking robot in parallel |
| CN114228860A (en) * | 2021-12-22 | 2022-03-25 | 燕山大学 | Novel parallel leg biped robot |
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| US20080252247A1 (en) * | 2005-03-30 | 2008-10-16 | Tmsuk Co. Ltd | Quadruped Walking Robot |
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| CN102001371A (en) * | 2010-11-23 | 2011-04-06 | 南京航空航天大学 | Hydraulically-driven four-foot robot |
| CN102211628A (en) * | 2011-04-29 | 2011-10-12 | 燕山大学 | Double-leg walker |
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2011
- 2011-10-17 CN CN 201110314606 patent/CN102381380B/en active Active
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| SU414148A1 (en) * | 1971-12-27 | 1974-02-05 | WALKING VEHICLE | |
| US20080252247A1 (en) * | 2005-03-30 | 2008-10-16 | Tmsuk Co. Ltd | Quadruped Walking Robot |
| CN101947983A (en) * | 2010-09-13 | 2011-01-19 | 华东交通大学 | Omnidirectional quadruped walking mobile device based on hybrid connected mechanism |
| CN102001371A (en) * | 2010-11-23 | 2011-04-06 | 南京航空航天大学 | Hydraulically-driven four-foot robot |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103273985B (en) * | 2013-06-18 | 2015-07-08 | 辰星（天津）自动化设备有限公司 | Quadruped stair climbing robot mechanism |
| CN103273985A (en) * | 2013-06-18 | 2013-09-04 | 辰星（天津）自动化设备有限公司 | Quadruped stair climbing robot mechanism |
| CN103921267B (en) * | 2014-03-18 | 2016-04-13 | 上海交通大学 | Four-footed all-around mobile mechanical arm |
| CN103921267A (en) * | 2014-03-18 | 2014-07-16 | 上海交通大学 | All-directional movable manipulator with four feet |
| CN104044138A (en) * | 2014-06-17 | 2014-09-17 | 凯斯特阀门集团有限公司 | 8-UPS (Uninterruptible Power Supply) walking processing parallel robot |
| CN104044138B (en) * | 2014-06-17 | 2018-04-17 | 凯斯特阀门集团有限公司 | Parallel robot is processed in 8 UPS walkings |
| CN104924294B (en) * | 2015-06-15 | 2017-03-08 | 上海交通大学 | There is the quadruped robot of waist structure in parallel |
| CN104925161A (en) * | 2015-06-15 | 2015-09-23 | 上海交通大学 | Six-leg walking robot in parallel connection driven by rotation |
| CN104924294A (en) * | 2015-06-15 | 2015-09-23 | 上海交通大学 | Quadruped robot with parallel waist structure |
| CN104925161B (en) * | 2015-06-15 | 2017-11-14 | 上海交通大学 | Rotate the Six-foot walking robot in parallel of driving |
| CN104973163A (en) * | 2015-07-21 | 2015-10-14 | 重庆邮电大学 | All-landform walking device and control method thereof |
| CN106181959A (en) * | 2016-08-24 | 2016-12-07 | 黄仕 | A kind of carrier robot |
| CN106181959B (en) * | 2016-08-24 | 2018-06-29 | 黄仕 | A kind of carrier robot |
| CN107284548A (en) * | 2017-05-24 | 2017-10-24 | 上海交通大学 | The waist structure of Hexapod Robot in parallel |
| CN107554640A (en) * | 2017-09-08 | 2018-01-09 | 燕山大学 | A kind of six sufficient walkers based on four-degree-of-freedom mechanism leg |
| CN107554640B (en) * | 2017-09-08 | 2020-02-25 | 燕山大学 | Six-foot walker based on four-degree-of-freedom mechanism legs |
| CN109367643A (en) * | 2018-11-02 | 2019-02-22 | 常州大学 | A kind of Four-feet creeping bio-robot based on link mechanism |
| CN109367643B (en) * | 2018-11-02 | 2021-03-16 | 常州大学 | Four-foot crawling bionic robot based on connecting rod structure |
| CN109733498A (en) * | 2019-01-22 | 2019-05-10 | 北华航天工业学院 | Leg structure and walking robot in parallel |
| CN109733498B (en) * | 2019-01-22 | 2020-04-07 | 北华航天工业学院 | Parallel leg structure and walking robot |
| CN114228860A (en) * | 2021-12-22 | 2022-03-25 | 燕山大学 | Novel parallel leg biped robot |
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