CN103465991A - Simple type quadruped robot - Google Patents
Simple type quadruped robot Download PDFInfo
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- CN103465991A CN103465991A CN2013104358139A CN201310435813A CN103465991A CN 103465991 A CN103465991 A CN 103465991A CN 2013104358139 A CN2013104358139 A CN 2013104358139A CN 201310435813 A CN201310435813 A CN 201310435813A CN 103465991 A CN103465991 A CN 103465991A
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Abstract
The invention discloses a simple type quadruped robot comprising a head part and leg part mechanisms, wherein the head part is connected with a front half body through a first pin shaft and can rotate relative to the front half body; a second electric telescopic rod is arranged between the head part and the front half body, the extending end of the second electric telescopic rod is connected with the head part through a sixth pin shaft, and the tail end of the second electric telescopic rod is connected with the front half body through a second pin shaft; the front half body is connected with a back half body through a fourth pin shaft and can rotate relative to the back half body; a first electric telescopic rod is arranged between the front half body and the back half body, the extending end of the first electric telescopic rod is connected with the front half body through a fifth pin shaft, and the tail end of the first electric telescopic rod is connected with the back half body through a third pin shaft; the axial lines of the fourth pin shaft, the fifth pin shaft and the third pin shaft are mutually parallel. The simple type quadruped robot can walk like quadruped animals; the structure is simple, the control is convenient, the motion is flexible, and the reliability is high.
Description
Technical field
The present invention relates to the Robotics field, particularly a kind of simple type quadruped robot.
Background technology
As a kind of mobile platform that is applicable to level land and field landform simultaneously, quadruped robot can be widely used in the multiple occasions such as extraordinary detection, field work and military surveillance.From imitating quadruped walking, the research and development of quadruped robot obtain the attention of many Scholar or reserch structures, have also obtained some corresponding achievements in research.Wherein, comparatively successful quadruped robot comprises " iron dog " series of Japanese Universities research and development and " bigdog " quadruped robot of " TITAN " serial quadruped robot, the exploitation of boston, u.s.a kinetic equation company etc.These quadruped robots can be realized multiple four feet walk gait and have the turning walking function to have the driving joint more than three at least on every leg, but this also causes, its drive motor quantity and institute's consumed energy are large and manufacturing cost is higher.Complete similar four feet walk action if develop some drive motor quantity simple type quadruped robot still less, can obviously reduce its manufacturing cost the effectively practical application of promotion quadruped robot.
Aspect the structure design of this class simple type quadruped robot, existing Chinese utility model patent (the patent No.: 92230220.0) proposed a kind of four-footed mechanical horse structure based on Worm and worm-wheel gearing, complete the walking action of four legs of four-footed mechanical horse in conjunction with complicated transmission device by a drive motor, although drive motor quantity only has its walking action fix and can't realize turning function.Thus, from bringing into play better the motion characteristics of quadruped robot, need further exploitation to there is the simple type quadruped robot of four feet walk function and turning walking function and drive motor negligible amounts.But there is no associated description in prior art.
Summary of the invention
The invention provides a kind of simple type quadruped robot, a drive motor is set on every leg of this simple type quadruped robot, there is four feet walk function and turning function, can realize being similar to quadruped walking action.
The technical scheme that realizes the object of the invention is: a kind of simple type quadruped robot comprises head, leg mechanism, the first bearing pin, the second bearing pin, riser, front half body, drive motor, lower body, the 3rd bearing pin, the first electric expansion bar, the 4th bearing pin, the 5th bearing pin, the second electric expansion bar and the 6th bearing pin;
Wherein head is connected with front half body by the first bearing pin and can relatively rotates, the second electric expansion bar also is set between head and front half body, the external part of described the second electric expansion bar is connected with head by the 6th bearing pin, the tail end of the second electric expansion bar is connected with front half body by the second bearing pin, and the axis of described the first bearing pin, the 6th bearing pin and the second bearing pin is parallel to each other;
Described front half body is connected with lower body by the 4th bearing pin and can relatively rotates, the first electric expansion bar also is set between front half body and lower body, the external part of described the first electric expansion bar is connected with front half body by the 5th bearing pin, the tail end of the first electric expansion bar is connected with lower body by the 3rd bearing pin, and the axis of described the 4th bearing pin, the 5th bearing pin and the 3rd bearing pin is parallel to each other;
The quantity of described riser is four, wherein two risers are connected in the both sides of front half body, two other riser is connected in the both sides of lower body, a drive motor and a set of leg mechanism all are set on each riser, the output shaft of described drive motor is connected with leg mechanism and the motion of driving leg portion mechanism, and two bearings all are set on each riser.
Described leg mechanism comprises driving crank, the first attaching parts, the first turning cylinder, pilot bar, foot, the first sliding bar, the first orienting sleeve, the second attaching parts, the second rotating shaft, the 3rd attaching parts, the second sliding bar, bearing and the second orienting sleeve;
Wherein an end of driving crank is connected mutually with the output shaft of drive motor, the other end of driving crank is connected with the first attaching parts by the first turning cylinder and can relatively rotates, described the first attaching parts is connected mutually with an end of the second sliding bar, the other end of the second sliding bar is connected mutually with the 3rd attaching parts, on described the second sliding bar, cover has the second orienting sleeve, the second sliding bar can slide by relative the second orienting sleeve, the bottom cylinder of described the second orienting sleeve is arranged in the through hole on riser and can rotates relative to riser, pilot hole central axis on its pivot center and the second orienting sleeve intersects vertically, be connected on described the 3rd an attaching parts end of the second rotating shaft, the other end of the second rotating shaft is connected with the second attaching parts and can relatively rotates, and wherein the central axis of the central axis of the second rotating shaft and the second sliding bar intersects vertically, the second attaching parts is connected mutually with an end of the first sliding bar, the quantity of described the first sliding bar is two, these two sliding bars are arranged side by side and are parallel to each other, the other end of these two sliding bars all is connected mutually with foot, described two the first sliding bars all run through the second orienting sleeve and can slide by relative the second orienting sleeve, between two bearings of riser, pilot bar is set, this pilot bar runs through the second orienting sleeve, this second orienting sleeve pilot bar relatively slides, its relative sliding direction is vertical with the central axis of the first sliding bar, its relative sliding direction is also vertical with the central axis of the second rotating shaft.
Compared with prior art, its remarkable advantage is in the present invention: 1) simple type quadruped robot shank of the present invention only has a drive motor, and the step track in the time of just can realizing the quadruped motion, can realize being similar to quadruped walking; Simple in structure, it is convenient to control, and flexibly, reliability is high in motion; 2) simple type quadruped robot cost of the present invention is low, can be applied to multiple different occasion as a mobile platform.
Below in conjunction with accompanying drawing, the present invention is described in further detail.
The accompanying drawing explanation
The whole tomograph that Fig. 1 is quadruped robot of the present invention.
The graphics that Fig. 2 is quadruped robot leg structure of the present invention.
The specific embodiment
In conjunction with Fig. 1, Fig. 2, a kind of simple type quadruped robot of the present invention, comprise head 1, leg mechanism 2, the first bearing pin 3, the second bearing pin 4, riser 5, front half body 6, drive motor 7, lower body 8, the 3rd bearing pin 9, the first electric expansion bar 10, the 4th bearing pin 11, the 5th bearing pin 12, the second electric expansion bar 13 and the 6th bearing pin 14;
Wherein head 1 is connected with front half body 6 by the first bearing pin 3 and can relatively rotates, the second electric expansion bar 13 also is set between head 1 and front half body 6, the external part of described the second electric expansion bar 13 is connected with head 1 by the 6th bearing pin 14, the tail end of the second electric expansion bar 13 is connected with front half body 6 by the second bearing pin 4, and the axis of described the first bearing pin 3, the 6th bearing pin 14 and the second bearing pin 4 is parallel to each other; Thus, thus when the external part of the second electric expansion bar 13 stretches out forward or retracts, can drive head 1 relative to before half body 6 rotate the action that realizes that the quadruped robot head swings up and down.
Described front half body 6 is connected with lower body 8 by the 4th bearing pin 11 and can relatively rotates, the first electric expansion bar 10 also is set between front half body 6 and lower body 8, the external part of described the first electric expansion bar 10 is connected with front half body 6 by the 5th bearing pin 12, the tail end of the first electric expansion bar 10 is connected with lower body 8 by the 3rd bearing pin 9, and the axis of described the 4th bearing pin 11, the 5th bearing pin 12 and the 3rd bearing pin 9 is parallel to each other; Thus, thus before driving when the external part of the first electric expansion bar 10 stretches out forward or retracts half body 6 relatively lower body 8 rotates the function that realizes that turning is walked.
The quantity of described riser 5 is four, wherein two risers 5 are connected in the both sides of front half body 6, two other riser 5 is connected in the both sides of lower body 8, a drive motor 5 and a set of leg mechanism 2 all are set on each riser 5, the output shaft of described drive motor 5 is connected with leg mechanism 2 and 2 motions of driving leg portion mechanism, and two bearings 212 all are set on each riser 5.The output shaft of described drive motor 5 is connected with leg mechanism 2 and driving leg portion mechanism 2 makes its foot 205 realize its walking action according to walking track A.When four shanks of quadruped robot start to move with the phase difference of 1/4 walking period simultaneously, can make its four legs complete successively the action of lifting the leg walking.
In conjunction with Fig. 2, described leg mechanism 2 comprises driving crank 201, the first attaching parts 202, the first turning cylinder 203, pilot bar 204, foot 205, the first sliding bar 206, the first orienting sleeve 207, the second attaching parts 208, the second rotating shaft 209, the 3rd attaching parts 210, the second sliding bar 211, bearing 212 and the second orienting sleeve 213;
Wherein an end of driving crank 201 is connected mutually with the output shaft of drive motor 7, the other end of driving crank 201 is connected with the first attaching parts 202 by the first turning cylinder 203 and can relatively rotates, described the first attaching parts 202 is connected mutually with an end of the second sliding bar 211, the other end of the second sliding bar 211 is connected mutually with the 3rd attaching parts 210, on described the second sliding bar 211, cover has the second orienting sleeve 213, the second sliding bar 211 can slide by relative the second orienting sleeve 213, the bottom cylinder of described the second orienting sleeve 213 is arranged in the through hole on riser 5 and can rotates relative to riser 5, pilot hole central axis on its pivot center and the second orienting sleeve 213 intersects vertically, be connected on described the 3rd attaching parts 210 end of the second rotating shaft 209, the other end of the second rotating shaft 209 is connected with the second attaching parts 208 and can relatively rotates, and wherein the central axis of the central axis of the second rotating shaft 209 and the second sliding bar 211 intersects vertically, the second attaching parts 208 is connected mutually with an end of the first sliding bar 206, the quantity of described the first sliding bar 206 is two, these two sliding bars are arranged side by side and are parallel to each other, the other end of these two sliding bars all is connected mutually with foot 205, described two the first sliding bars 206 all run through the second orienting sleeve 207 and can slide by relative the second orienting sleeve 207, between two bearings 212 of riser 5, pilot bar 204 is set, this pilot bar 204 runs through the second orienting sleeve 207, this second orienting sleeve 207 pilot bar 204 relatively slides, its relative sliding direction is vertical with the central axis of the first sliding bar 206, its relative sliding direction is also vertical with the central axis of the second rotating shaft 209.
Can drive driving crank 201 by its output shaft when drive motor 7 is pressed the assigned direction rotation rotates, thereby driving relative the second orienting sleeve 213 of the second sliding bar 211 by the first turning cylinder 203 moves up and down, the second orienting sleeve 213 rotates relative to riser 5 simultaneously, second turning cylinder 209 drive first sliding bars 206 that move through of the second sliding bar 211 move up and down with foot 205 relative the second orienting sleeve 207 together, drive the second orienting sleeve 207 sway on pilot bar 204 simultaneously, finally make the bottom of foot 205 according to walking track A back and forth movement, complete the walking action.Above-mentioned walking track A is similar to ellipse half, and its bottom is similar to horizontal line section.
Simple type quadruped robot shank of the present invention only has a drive motor, and the step track in the time of just can realizing the quadruped motion, can realize being similar to quadruped walking; Simple in structure, it is convenient to control, and flexibly, reliability is high in motion; Simple type quadruped robot cost of the present invention is low, can be applied to multiple different occasion as a mobile platform.
Claims (2)
1. a simple type quadruped robot, it is characterized in that, comprise head [1], leg mechanism [2], the first bearing pin [3], the second bearing pin [4], riser [5], front half body [6], drive motor [7], lower body [8], the 3rd bearing pin [9], the first electric expansion bar [10], the 4th bearing pin [11], the 5th bearing pin [12], the second electric expansion bar [13] and the 6th bearing pin [14];
Wherein head [1] is connected with front half body [6] by the first bearing pin [3] and can relatively rotates, the second electric expansion bar [13] also is set between head [1] and front half body [6], the external part of described the second electric expansion bar [13] is connected with head [1] by the 6th bearing pin [14], the tail end of the second electric expansion bar [13] is connected with front half body [6] by the second bearing pin [4], and the axis of described the first bearing pin [3], the 6th bearing pin [14] and the second bearing pin [4] is parallel to each other;
Described front half body [6] is connected with lower body [8] by the 4th bearing pin [11] and can relatively rotates, the first electric expansion bar [10] also is set between front half body [6] and lower body [8], the external part of described the first electric expansion bar [10] is connected with front half body [6] by the 5th bearing pin [12], the tail end of the first electric expansion bar [10] is connected with lower body [8] by the 3rd bearing pin [9], and the axis of described the 4th bearing pin [11], the 5th bearing pin [12] and the 3rd bearing pin [9] is parallel to each other;
The quantity of described riser [5] is four, wherein two risers [5] are connected in the both sides of front half body [6], two other riser [5] is connected in the both sides of lower body [8], a drive motor [5] and a set of leg mechanism [2] all are set on each riser [5], the output shaft of described drive motor [5] is connected with leg mechanism [2] and driving leg portion mechanism [2] motion, and two bearings [212] all are set on each riser [5].
2. simple type quadruped robot according to claim 1, it is characterized in that, described leg mechanism [2] comprises driving crank [201], the first attaching parts [202], the first turning cylinder [203], pilot bar [204], foot [205], the first sliding bar [206], the first orienting sleeve [207], the second attaching parts [208], the second rotating shaft [209], the 3rd attaching parts [210], the second sliding bar [211], bearing [212] and the second orienting sleeve [213];
Wherein an end of driving crank [201] is connected mutually with the output shaft of drive motor [7], the other end of driving crank [201] is connected with the first attaching parts [202] by the first turning cylinder [203] and can relatively rotates, described the first attaching parts [202] is connected mutually with an end of the second sliding bar [211], the other end of the second sliding bar [211] is connected mutually with the 3rd attaching parts [210], the upper cover of described the second sliding bar [211] has the second orienting sleeve [213], the second sliding bar [211] can slide by relative the second orienting sleeve [213], the bottom cylinder of described the second orienting sleeve [213] is arranged in the through hole on riser [5] and can rotates relative to riser [5], pilot hole central axis on its pivot center and the second orienting sleeve [213] intersects vertically, an end of the second rotating shaft [209] is connected on described the 3rd attaching parts [210], the other end of the second rotating shaft [209] is connected with the second attaching parts [208] and can relatively rotates, and wherein the central axis of the central axis of the second rotating shaft [209] and the second sliding bar [211] intersects vertically, the second attaching parts [208] is connected mutually with an end of the first sliding bar [206], the quantity of described the first sliding bar [206] is two, these two sliding bars are arranged side by side and are parallel to each other, the other end of these two sliding bars all is connected mutually with foot [205], described two the first sliding bars [206] all run through the second orienting sleeve [207] and can slide by relative the second orienting sleeve [207], between two bearings [212] of riser [5], pilot bar [204] is set, this pilot bar [204] runs through the second orienting sleeve [207], this second orienting sleeve [207] pilot bar [204] relatively slides, its relative sliding direction is vertical with the central axis of the first sliding bar [206], its relative sliding direction is also vertical with the central axis of the second rotating shaft [209].
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310435813.9A CN103465991B (en) | 2013-09-23 | 2013-09-23 | A kind of simple type quadruped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310435813.9A CN103465991B (en) | 2013-09-23 | 2013-09-23 | A kind of simple type quadruped robot |
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| Publication Number | Publication Date |
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| CN103465991A true CN103465991A (en) | 2013-12-25 |
| CN103465991B CN103465991B (en) | 2015-09-16 |
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| CN201310435813.9A Expired - Fee Related CN103465991B (en) | 2013-09-23 | 2013-09-23 | A kind of simple type quadruped robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105638615A (en) * | 2016-01-10 | 2016-06-08 | 济宁山云宇内机电科技有限公司 | Agricultural pesticide spraying robot |
| CN105667624A (en) * | 2016-01-06 | 2016-06-15 | 山东优宝特智能机器人有限公司 | Electric-drive four-footed bionic robot |
| CN105667622A (en) * | 2016-01-14 | 2016-06-15 | 哈尔滨工业大学 | Six-wheel-foot type moving robot with three robot bodies |
| CN106737578A (en) * | 2016-12-15 | 2017-05-31 | 山东大学 | A kind of quadruped robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105667624A (en) * | 2016-01-06 | 2016-06-15 | 山东优宝特智能机器人有限公司 | Electric-drive four-footed bionic robot |
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| CN105667622A (en) * | 2016-01-14 | 2016-06-15 | 哈尔滨工业大学 | Six-wheel-foot type moving robot with three robot bodies |
| CN106737578A (en) * | 2016-12-15 | 2017-05-31 | 山东大学 | A kind of quadruped robot |
| CN106737578B (en) * | 2016-12-15 | 2018-11-13 | 山东大学 | A kind of quadruped robot |
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| CN103465991B (en) | 2015-09-16 |
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Granted publication date: 20150916 Termination date: 20170923 |