CN102556200A - Four-feet walker - Google Patents
Four-feet walker Download PDFInfo
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- CN102556200A CN102556200A CN2012100096363A CN201210009636A CN102556200A CN 102556200 A CN102556200 A CN 102556200A CN 2012100096363 A CN2012100096363 A CN 2012100096363A CN 201210009636 A CN201210009636 A CN 201210009636A CN 102556200 A CN102556200 A CN 102556200A
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- side chain
- revolute pair
- branch chain
- driving branch
- sleeve
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Abstract
The invention relates to a four-feet walker which mainly comprises a rack and four mechanical legs connected on four corners of the rack with same structure, wherein each mechanical leg mainly comprises a rectangular annular piece, a first driving branch chain, a second driving branch chain, a third driving branch chain and a semispherical elastic toe; and the first driving branch chain mainly consists of a first motor, a ball screw, a nut, a sleeve, a strip plate, a sliding block, a guide rail and upper and lower sleeve connecting pieces. The second driving branch chain has a structure the same as that of the first driving branch chain, the upper sleeve connecting pieces of the first driving branch chain and the second driving branch chain are respectively arranged in the rectangular annular piece by a first revolute pair and a second revolute pair, the rectangular annular piece is arranged on the rack by a third revolute pair, and the front ends of the strip plates of the first driving branch chain and the second driving branch chain are connected by a fourth revolute pair. The third driving branch chain mainly comprises a second motor, a crank and a connecting rod. The four-feet walker is flexible in operation, quick in walking speed, large in movement space, strong in bearing capability and small in movement inertia.
Description
Technical field
The present invention relates to the Robotics field, particularly relate to a kind of walker.
Background technology
The walking-function of robot has been opened up unlimited wide prospect for the application that enlarges robot.Four feet walking robot has advantages such as load-carrying capacity is strong, good stability than two-foot walking robot; Than six foots, eight feet walking robot havings are simple in structure; Control is convenient; Can with creep, slowly, mode such as trot realizes the walking of complex road surface environment is had comformability preferably, thereby its application being more extensive.At present; The leg structure of four feet walk device mostly adopts tandem; It is big to have working space, and motion is controlled advantages such as easy flexibly; But part also comes with some shortcomings: 1, the swing force of inertia of leg mechanism is very big to the dynamic performance influence of body attitude, becomes the kinetic factor that system can not ignore.2, because leg mechanism is the multi-joint serial mechanism, and the single-piece quadruped robot but is a connection in series-parallel mixed organization, the joint angle in each joint is in constantly changing in the motion process, and the transmission efficiency aviation value of power or moment is lower.3, the leg mechanism rigidity is little, and the deadweight duty ratio is little.
Summary of the invention
The object of the present invention is to provide the four feet walk device that kinematic velocity is fast, load-carrying capacity is strong.The present invention adopts every leg of parallel-connection structure to have one dimension to move and two dimension rotation three degree of freedom.
The technical scheme that the present invention adopted is: on four jiaos of frame, connect four pedipulators that structure is identical respectively, said frame is provided with through hole so that the connection of pedipulator with alleviate deadweight; Said every pedipulator comprises that mainly rectangular ring-like, first drives side chain, the second driving side chain, and the 3rd drives side chain and semisphere elasticity toes.Described first drive side chain mainly by first motor, ball-screw, nut, sleeve, stripe board, slide block, guide rail, sleeve up and down attaching parts etc. form.Said sleeve two ends respectively with sleeve up and down attaching parts be connected, said first motor is installed on the sleeve upper connector, in above-mentioned sleeve; One end of the rotating shaft of first motor and ball-screw is connected, and this motor can drive ball-screw and rotate, and the other end of this ball-screw is provided with nut; This nut is installed on the slide block, and this slide block can slide on the guide rail that is located at above-mentioned ball-screw both sides through the through hole on it, the two ends of this guide rail respectively with sleeve up and down attaching parts be connected; One end of a pair of stripe board is connected in respectively on the above-mentioned slide block two sides; Rotate through first motor driven ball screws, drive nut and move, can realize stripe board moving along guide rail.It is identical that the said second driving side chain and first drives branched structure; Said second drives the terminal lower ends of passing through the stripe board of the 4th revolute pair and the above-mentioned first driving side chain of stripe board of side chain, and the end and the semisphere elasticity toes of the stripe board of this first driving side chain are connected.The sleeve upper connector that the said first driving side chain and second drives side chain is installed in rectangular ring-like through first revolute pair and second revolute pair respectively; Said rectangular ring-like is installed on the frame through the 3rd revolute pair; Described first and second, four revolute pair pivots center are parallel to each other, described first revolute pair pivot center and the 3rd revolute pair pivot center are orthogonal.The said the 3rd drives side chain mainly comprises second motor, crank and connecting rod; Said second motor is installed on the frame; One end of said crank is connected with the rotating shaft of second motor mutually; This second motor can drive crank and rotate, and the other end of above-mentioned crank links to each other with an end of connecting rod through ball pivot, and attaching parts links to each other under the sleeve that passes through ball pivot and the above-mentioned first driving side chain of the other end of this connecting rod.Rotate through the second motor-driven crank, the drivening rod motion can realize the swing of semisphere elasticity toes; The coordinated drive that first and second drives side chain can realize swinging and up-and-down movement of semisphere elasticity toes, thereby satisfy the required motion requirement of four feet walk device.The motion control of this four feet walk device is realized by special control system.
The present invention compared with prior art has following advantage: the speed of travel is fast, load-carrying capacity is strong, movement inertia is little.
Description of drawings
Fig. 1 is a perspective view of the present invention.
Fig. 2 is the three-dimensional sectional structure scheme drawing of single leg among Fig. 1.
Fig. 3 is the perspective view of the first driving side chain among Fig. 2.
Fig. 4 is the perspective view of the 3rd movement branched chain among Fig. 2.
The specific embodiment
In the scheme drawing of Fig. 1, Fig. 2, Fig. 3 and a kind of four feet walk device shown in Figure 4, the pedipulator 1,2,3,4 that four structures that on four jiaos of frame 5, are connected with are identical.Said frame is provided with through hole so that the connection of pedipulator with alleviate deadweight.Said pedipulator comprises that mainly rectangular ring-like 11, first drives side chain 8, the second driving side chain, 13, the three driving side chain 14 and semisphere elasticity toes 6; Said first drive side chain sleeve 18 two ends respectively with sleeve up and down attaching parts 23,20 be connected; First motor 15 is installed on the sleeve upper connector, and an end of the rotating shaft of this first motor and ball-screw 16 is connected, and the other end of this ball-screw is provided with nut 17; This nut is installed on the slide block 21; The both sides of above-mentioned ball-screw are provided with two guide rails 22, the two ends of this guide rail respectively with above-mentioned sleeve up and down attaching parts be connected, above-mentioned slide block can slide on guide rail through the through hole on it; One end of a pair of stripe board 19 is connected in respectively on the slide block two sides; Its other end and semisphere elasticity toes are connected, and the end of the stripe board of the said second driving side chain is through the lower ends of the 4th revolute pair 7 above-mentioned first driving side chain stripe board, and it is identical that other structure of the said second driving side chain and first drives side chain.Said first drive side chain and the second driving side chain the sleeve upper connector be installed in rectangular ring-like through first revolute pair 9 and second revolute pair 12 respectively, this rectangular ring-like is installed on the frame through the 3rd revolute pair 10.Described first and second, four revolute pair pivots center are parallel to each other, described first revolute pair pivot center and the 3rd revolute pair pivot center are orthogonal.Second motor 24 of said the 3rd driving side chain is installed on the frame; One end of crank 25 and the rotating shaft of second motor are connected; The other end of this crank links to each other with an end of connecting rod 27 through ball pivot 26, and attaching parts links to each other under the sleeve that passes through ball pivot 28 and the above-mentioned first driving side chain of the other end of this connecting rod.Rotate through the second motor-driven crank, can realize the swing of semisphere elasticity toes; The coordinated drive that first and second drives side chain can realize swinging and up-and-down movement of semisphere elasticity toes, thereby satisfy the required motion requirement of four feet walk device.The motion control of this four feet walk device is realized by special control system.
Claims (1)
1. four feet walk device; Mainly comprise frame (5) and the identical pedipulator (1,2,3,4) of four structures that is connected on its four jiaos, it is characterized in that: said pedipulator comprises that mainly rectangular ring-like (11), first drive side chain (8), second and drive side chain (13), the 3rd driving side chain (14) and semisphere elasticity toes (6); Described first drive side chain (8) sleeve (18) two ends respectively with sleeve up and down attaching parts (23,20) be connected; First motor (15) is installed on the sleeve upper connector (23); In above-mentioned sleeve; One end of the rotating shaft of said first motor (15) and ball-screw (16) is connected, and the other end of this ball-screw is provided with nut (17), and this nut is installed on the slide block (21); The both sides of above-mentioned ball-screw are provided with two guide rails (22); The two ends of this guide rail respectively with sleeve up and down attaching parts (23,20) be connected, above-mentioned slide block (21) can be gone up slip at guide rail (22) through the through hole on it, an end of a pair of stripe board (19) is connected in respectively on above-mentioned slide block (21) two sides;
It is identical that the said second driving side chain (13) and first drives side chain (8) structure; Second drives the stripe board lower ends of the stripe board front end of side chain through the 4th revolute pair (7) and the above-mentioned first driving side chain, and the stripe board of this first driving side chain is terminal to be connected with semisphere elasticity toes (6); The sleeve upper connector that the said first driving side chain and second drives side chain is installed in rectangular ring-like (11) through first revolute pair (9) and second revolute pair (12) respectively; Said rectangular ring-like (11) are installed on the frame through the 3rd revolute pair (10); Described first and second, four revolute pair pivots center are parallel to each other, described first revolute pair pivot center and the 3rd revolute pair pivot center are orthogonal;
Second motor (24) of said the 3rd driving side chain (14) is installed on the frame; The rotating shaft of one end of crank (25) and second motor (24) is connected; Its other end links to each other with an end of connecting rod (27) through ball pivot (26), and attaching parts (20) links to each other under the sleeve that passes through ball pivot (28) and the above-mentioned first driving side chain of the other end of this connecting rod (27).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201210009636 CN102556200B (en) | 2012-01-13 | 2012-01-13 | Four-feet walker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201210009636 CN102556200B (en) | 2012-01-13 | 2012-01-13 | Four-feet walker |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102556200A true CN102556200A (en) | 2012-07-11 |
| CN102556200B CN102556200B (en) | 2013-07-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201210009636 Expired - Fee Related CN102556200B (en) | 2012-01-13 | 2012-01-13 | Four-feet walker |
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| Country | Link |
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| CN (1) | CN102556200B (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102765433A (en) * | 2012-07-16 | 2012-11-07 | 上海大学 | Novel wheel-leg type robot with variable structure |
| 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 |
| 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 |
| CN105128976A (en) * | 2015-07-21 | 2015-12-09 | 重庆邮电大学 | Under-actuated running gear and turning control method thereof |
| CN105346620A (en) * | 2015-12-11 | 2016-02-24 | 吉林大学 | Energy-saving walking leg mechanism simulating ostrich hindlimb movement function characteristic |
| CN105520821A (en) * | 2016-01-26 | 2016-04-27 | 哈尔滨工业大学 | Spring energy storage device with continuous variable stiffness |
| CN106625580A (en) * | 2016-11-23 | 2017-05-10 | 华南理工大学 | Single-motor-driven robot walking mechanism |
| CN107054499A (en) * | 2017-04-25 | 2017-08-18 | 胡建令 | A kind of town road robot |
| CN107264666A (en) * | 2017-07-17 | 2017-10-20 | 厦门精图信息技术有限公司 | Hazardous area Robot based on Big Dipper location technology |
| CN108297965A (en) * | 2018-03-06 | 2018-07-20 | 河南科技大学 | A kind of quadruped robot |
| CN111006094A (en) * | 2019-11-02 | 2020-04-14 | 厦门精图信息技术有限公司 | Professional pipeline leakage diagnosis system and method based on Beidou positioning technology |
Citations (3)
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| WO2001081791A1 (en) * | 2000-04-21 | 2001-11-01 | Centre National De La Recherche Scientifique | Actuator designed for articulated structures, such as walking robot limbs |
| CN102001371A (en) * | 2010-11-23 | 2011-04-06 | 南京航空航天大学 | Hydraulically-driven four-foot robot |
| CN102285390A (en) * | 2011-06-03 | 2011-12-21 | 哈尔滨工程大学 | Elastically driven walking leg in hybrid connection for walking robot |
-
2012
- 2012-01-13 CN CN 201210009636 patent/CN102556200B/en not_active Expired - Fee Related
Patent Citations (3)
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|---|---|---|---|---|
| WO2001081791A1 (en) * | 2000-04-21 | 2001-11-01 | Centre National De La Recherche Scientifique | Actuator designed for articulated structures, such as walking robot limbs |
| CN102001371A (en) * | 2010-11-23 | 2011-04-06 | 南京航空航天大学 | Hydraulically-driven four-foot robot |
| CN102285390A (en) * | 2011-06-03 | 2011-12-21 | 哈尔滨工程大学 | Elastically driven walking leg in hybrid connection for walking robot |
Non-Patent Citations (1)
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| 金振林等: "一种新型3-UPS并联机构及其工作空间分析", 《燕山大学学报》 * |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102765433B (en) * | 2012-07-16 | 2015-07-01 | 上海大学 | Novel wheel-leg type robot with variable structure |
| CN102765433A (en) * | 2012-07-16 | 2012-11-07 | 上海大学 | Novel wheel-leg type robot with variable structure |
| 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 |
| 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 |
| 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 |
| CN105128976B (en) * | 2015-07-21 | 2017-06-16 | 重庆邮电大学 | A kind of drive lacking running gear and its Servo Control method |
| CN105128976A (en) * | 2015-07-21 | 2015-12-09 | 重庆邮电大学 | Under-actuated running gear and turning control method thereof |
| CN105346620A (en) * | 2015-12-11 | 2016-02-24 | 吉林大学 | Energy-saving walking leg mechanism simulating ostrich hindlimb movement function characteristic |
| CN105520821B (en) * | 2016-01-26 | 2017-11-03 | 哈尔滨工业大学 | A kind of spring energy storage device of continuous variable-stiffness |
| CN105520821A (en) * | 2016-01-26 | 2016-04-27 | 哈尔滨工业大学 | Spring energy storage device with continuous variable stiffness |
| CN106625580A (en) * | 2016-11-23 | 2017-05-10 | 华南理工大学 | Single-motor-driven robot walking mechanism |
| CN107054499A (en) * | 2017-04-25 | 2017-08-18 | 胡建令 | A kind of town road robot |
| CN107264666A (en) * | 2017-07-17 | 2017-10-20 | 厦门精图信息技术有限公司 | Hazardous area Robot based on Big Dipper location technology |
| CN108297965A (en) * | 2018-03-06 | 2018-07-20 | 河南科技大学 | A kind of quadruped robot |
| CN108297965B (en) * | 2018-03-06 | 2024-01-30 | 河南科技大学 | Four-foot robot |
| CN111006094A (en) * | 2019-11-02 | 2020-04-14 | 厦门精图信息技术有限公司 | Professional pipeline leakage diagnosis system and method based on Beidou positioning technology |
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| Publication number | Publication date |
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| CN102556200B (en) | 2013-07-31 |
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Granted publication date: 20130731 Termination date: 20160113 |