CN102556200B

CN102556200B - Four-feet walker

Info

Publication number: CN102556200B
Application number: CN 201210009636
Authority: CN
Inventors: 金振林; 王炳一; 高峰
Original assignee: 燕山大学
Priority date: 2012-01-13
Filing date: 2012-01-13
Publication date: 2013-07-31
Also published as: CN102556200A

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

A kind of four feet walk device

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 is more extensive.At present, the leg structure of four feet walk device mostly adopts tandem, it is big to have working space, motion flexibly, control advantages such as easy, 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 solution adopted in the present invention is: connect four pedipulators that structure is identical on four jiaos of frame respectively, described frame is provided with through hole so that the connection of pedipulator with alleviate deadweight; Described 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.Described sleeve two ends respectively with sleeve up and down attaching parts be connected, described 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, this motor can drive ball-screw and rotate, the other end of this ball-screw is provided with nut, this nut is installed on the slide block, this slide block can slide on the guide rail that is located at above-mentioned ball-screw both sides by the through hole on it, the two ends of this guide rail respectively with sleeve up and down attaching parts be connected, an end of a pair of stripe board is connected in respectively on the above-mentioned slide block two sides, rotates by first motor driven ball screws, the drive nut moves, and can realize stripe board moving along guide rail.It is identical that the described second driving side chain and first drives branched structure, described second terminal the 4th revolute pair of passing through of stripe board that drives side chain links to each other with above-mentioned first lower end that drives the stripe board of side chain, and these first end and semisphere elasticity toes that drive the stripe board of side chain are connected.The described first sleeve upper connector that drives the side chain and the second driving side chain is installed in rectangular ring-like by first revolute pair and second revolute pair respectively, described rectangular ring-like is installed on the frame by 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 described the 3rd drives side chain mainly comprises second motor, crank and connecting rod, described second motor is installed on the frame, one end of described crank is connected mutually with the rotating shaft of second motor, this second motor can drive crank and rotate, the other end of above-mentioned crank links to each other with an end of connecting rod by 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 by 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 are connected with on four jiaos of frame 5 are identical.Described frame is provided with through hole so that the connection of pedipulator with alleviate deadweight.Described 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; Described first sleeve 18 two ends that drive side chain respectively with sleeve attaching parts 23 up and down, 20 are connected, first motor 15 is installed on the sleeve upper connector, one end of the rotating shaft of this first motor and ball-screw 16 is connected, 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 by 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, described second end that drives the stripe board of side chain links to each other by the lower end that the 4th revolute pair 7 above-mentioned first drives the side chain stripe board, and it is identical that described second other structure and first that drives side chain drives side chain.The described first sleeve upper connector that drives side chain and the second driving side chain is installed in rectangular ring-like by first revolute pair 9 and second revolute pair 12 respectively, and this rectangular ring-like is installed on the frame by 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.The described the 3rd second motor 24 that drives 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 by 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 by 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. 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: described 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 sleeve (18) two ends that drive side chain (8) respectively with sleeve attaching parts (23 up and down, 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 described first motor (15) and ball-screw (16) is connected, 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 sleeve attaching parts (23 up and down, 20) be connected, above-mentioned slide block (21) can be gone up at guide rail (22) by the through hole on it and slide, and 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 described second driving side chain (13) and first drives side chain (8) structure, the second stripe board front end that drives side chain links to each other with the above-mentioned first stripe board lower end that drives side chain by the 4th revolute pair (7), and these first end and semisphere elasticity toes (6) that drive the stripe board other end of side chain are connected; The described first sleeve upper connector that drives the side chain and the second driving side chain is installed in rectangular ring-like (11) by first revolute pair (9) and second revolute pair (12) respectively, described rectangular ring-like (11) are installed on the frame by 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;

The described the 3rd second motor (24) that drives 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) by ball pivot (26), and the other end of this connecting rod (27) links to each other by attaching parts (20) under the sleeve of ball pivot (28) and the above-mentioned first driving side chain.