CN103465991B - A kind of simple type quadruped robot - Google Patents
A kind of simple type quadruped robot Download PDFInfo
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- CN103465991B CN103465991B CN201310435813.9A CN201310435813A CN103465991B CN 103465991 B CN103465991 B CN 103465991B CN 201310435813 A CN201310435813 A CN 201310435813A CN 103465991 B CN103465991 B CN 103465991B
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Abstract
The invention discloses a kind of simple type quadruped robot, comprise head, leg mechanism; Wherein head to be connected with front half body by the first bearing pin and can to relatively rotate, second electric expansion bar is also set between head and front half body, the external part of described second electric expansion bar is connected with head by the 6th bearing pin, and the tail end of the second electric expansion bar is connected with front half body by the second bearing pin; Described front half body to be connected with lower body by the 4th bearing pin and can to relatively rotate, first electric expansion bar is also set between front half body and lower body, the external part of described 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 4th bearing pin, the 5th bearing pin and the 3rd bearing pin is parallel to each other; Simple type quadruped robot of the present invention can realize being similar to quadruped walking; Structure is simple, and it is convenient to control, and flexibly, reliability is high in motion.
Description
Technical field
The present invention relates to robotics, particularly a kind of simple type quadruped robot.
Background technology
As a kind of mobile platform being 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 the quadruped walking of imitation, the research and development of quadruped robot obtain the attention of many Scholar or reserch structures, also achieve some corresponding achievements in research.Wherein, comparatively successfully quadruped robot comprises " iron dog " series of Japanese Universities research and development and " bigdog " quadruped robot etc. of " TITAN " serial quadruped robot, the exploitation of boston, u.s.a kinetic equation company.These quadruped robots can realize multiple four feet walk gait and have turning walking function, every bar leg have the driving joint of more than three at least, but this also causes its drive motor quantity and institute's consumed energy comparatively large and manufacturing cost is higher.If develop the less simple type quadruped robot of some drive motor quantity to complete similar four feet walk action, then obviously can reduce its manufacturing cost and effective practical application promoting quadruped robot.
In the structure design of this kind of simple type quadruped robot, existing Chinese utility model patent (the patent No.: 92230220.0) propose a kind of four-footed mechanical horse structure based on Worm and worm-wheel gearing, the walking action that complicated transmission device completes four-footed mechanical horse four legs is combined, although drive motor quantity only has its walking action fix and cannot realize turning function by a drive motor.Thus, from the motion characteristics playing quadruped robot better, further exploitation is needed to have four feet walk function and turning walking function and the simple type quadruped robot of 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, every bar leg of this simple type quadruped robot arranges a drive motor, there is four feet walk function and turning function, can realize being similar to quadruped walking action.
The technical scheme realizing 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 to be connected with front half body by the first bearing pin and can to relatively rotate, second electric expansion bar is also set between head and front half body, the external part of described 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 first bearing pin, the 6th bearing pin and the second bearing pin is parallel to each other;
Described front half body to be connected with lower body by the 4th bearing pin and can to relatively rotate, first electric expansion bar is also set between front half body and lower body, the external part of described 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 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, each riser is all arranged a drive motor and a set of leg mechanism, the output shaft of described drive motor is connected with leg mechanism and driving leg portion mechanism moves, and each riser is all arranged two bearings.
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 one end of driving crank is connected mutually with the output shaft of drive motor, the other end of driving crank to be connected with the first attaching parts by the first turning cylinder and can to relatively rotate, described first attaching parts is connected mutually with one end of the second sliding bar, the other end of the second sliding bar is connected mutually with the 3rd attaching parts, on described second sliding bar, cover has the second orienting sleeve, second sliding bar can slide by relative second orienting sleeve, the interior also energy of through hole that the bottom cylinder of described second orienting sleeve is arranged on riser rotate relative to riser, its pivot center is crossing with the pilot hole central axis upright on the second orienting sleeve, described 3rd attaching parts is connected one end of the second rotating shaft, and the other end of the second rotating shaft is connected with the second attaching parts and can relatively rotates, and the central axis of wherein the second rotating shaft is crossing with the central axis upright of the second sliding bar, second attaching parts is connected mutually with one end of the first sliding bar, the quantity of described 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 is all connected mutually with foot, described two first sliding bars all run through the first orienting sleeve and can slide by relative first orienting sleeve, between two bearings of riser, pilot bar is set, this pilot bar runs through the first orienting sleeve, this first orienting sleeve can slide by pilot bar relatively, the central axis upright of its relative sliding direction and the first sliding bar, its relative sliding direction also with the central axis upright of the second rotating shaft.
Compared with prior art, its remarkable advantage is in the present invention: 1) simple type quadruped robot leg of the present invention only has a drive motor, just can realize step track during quadruped motion, can realize being similar to quadruped walking; Structure is simple, and 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.
Accompanying drawing explanation
Fig. 1 is the overall tomograph of quadruped robot of the present invention.
Fig. 2 is the graphics of quadruped robot leg structure of the present invention.
Detailed description of the invention
Composition graphs 1, Fig. 2, a kind of simple type quadruped robot of the present invention, comprises head 1, leg mechanism 2, first bearing pin 3, second bearing pin 4, riser 5, front half body 6, drive motor 7, lower body 8, the 3rd bearing pin 9, first electric expansion bar 10, the 4th bearing pin 11, the 5th bearing pin 12, second electric expansion bar 13 and the 6th bearing pin 14;
Wherein head 1 to be connected with front half body 6 by the first bearing pin 3 and can to relatively rotate, second electric expansion bar 13 is also set between head 1 and front half body 6, the external part of described 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 first bearing pin 3, the 6th bearing pin 14 and the second bearing pin 4 is parallel to each other; Thus, can drive when the external part of the second electric expansion bar 13 stretches out forward or retracts head 1 relative to before half body 6 rotate thus realize the action that quadruped robot head swings up and down.
Described front half body 6 to be connected with lower body 8 by the 4th bearing pin 11 and can to relatively rotate, first electric expansion bar 10 is also set between front half body 6 and lower body 8, the external part of described 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 4th bearing pin 11, the 5th bearing pin 12 and the 3rd bearing pin 9 is parallel to each other; Thus, before driving when the external part of the first electric expansion bar 10 stretches out forward or retracts, half body 6 rotates relative to lower body 8 thus realizes the function of walking of turning.
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, each riser 5 is all arranged a drive motor 7 and a set of leg mechanism 2, the output shaft of described drive motor 7 is connected with leg mechanism 2 and driving leg portion mechanism 2 moves, and each riser 5 is all arranged two bearings 212.The output shaft of described drive motor 7 be connected with leg mechanism 2 and driving leg portion mechanism 2 to make its foot 205 according to foot path A to realize its walking action.When four legs of quadruped robot start action with the phase difference of 1/4 walking period simultaneously, its four legs can be made to complete the action of lifting leg walking successively.
Composition graphs 2, described leg mechanism 2 comprises driving crank 201, first attaching parts 202, first turning cylinder 203, pilot bar 204, foot 205, first sliding bar 206, first orienting sleeve 207, second attaching parts 208, second rotating shaft 209, the 3rd attaching parts 210, second sliding bar 211, bearing 212 and the second orienting sleeve 213;
Wherein one end of driving crank 201 is connected mutually with the output shaft of drive motor 7, the other end of driving crank 201 to be connected with the first attaching parts 202 by the first turning cylinder 203 and can to relatively rotate, described first attaching parts 202 is connected mutually with one 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 second sliding bar 211, cover has the second orienting sleeve 213, second sliding bar 211 can slide by relative second orienting sleeve 213, the interior also energy of through hole that the bottom cylinder of described second orienting sleeve 213 is arranged on riser 5 rotate relative to riser 5, its pivot center is crossing with the pilot hole central axis upright on the second orienting sleeve 213, described 3rd attaching parts 210 is connected one end of the second rotating shaft 209, and the other end of the second rotating shaft 209 is connected with the second attaching parts 208 and can relatively rotates, and the central axis of wherein the second rotating shaft 209 is crossing with the central axis upright of the second sliding bar 211, second attaching parts 208 is connected mutually with one end of the first sliding bar 206, the quantity of described 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 is all connected mutually with foot 205, described two first sliding bars 206 all run through the first orienting sleeve 207 and can slide by relative first orienting sleeve 207, between two bearings 212 of riser 5, pilot bar 204 is set, this pilot bar 204 runs through the first orienting sleeve 207, this first orienting sleeve 207 can slide by pilot bar 204 relatively, the central axis upright of its relative sliding direction and the first sliding bar 206, its relative sliding direction also with the central axis upright of the second rotating shaft 209.
Driving crank 201 is driven to rotate when drive motor 7 rotates by assigned direction by its output shaft, thus drive relative second orienting sleeve 213 of the second sliding bar 211 to move up and down by the first turning cylinder 203, second orienting sleeve 213 rotates relative to riser 5 simultaneously, second sliding bar 211 move through the second turning cylinder 209 drive the first sliding bar 206 and foot 205 together relative first orienting sleeve 207 move up and down, drive the first orienting sleeve 207 sway on pilot bar 204 simultaneously, finally make the bottom of foot 205 according to foot path A back and forth movement, complete walking action.Above-mentioned foot path A is similar to half ellipse, is similar to horizontal line section bottom it.
Simple type quadruped robot leg of the present invention only has a drive motor, just can realize step track during quadruped motion, can realize being similar to quadruped walking; Structure is simple, and 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] to be connected with front half body [6] by the first bearing pin [3] and can to relatively rotate, second electric expansion bar [13] is also set between head [1] and front half body [6], the external part of described 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 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] to be connected with lower body [8] by the 4th bearing pin [11] and can to relatively rotate, first electric expansion bar [10] is also set between front half body [6] and lower body [8], the external part of described 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], described 4th bearing pin [11], the axis of 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], each riser [5] is all arranged a drive motor [7] and a set of leg mechanism [2], the output shaft of described drive motor [7] is connected with leg mechanism [2] and driving leg portion mechanism [2] moves, and each riser [5] is all arranged two bearings [212].
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 one 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 first attaching parts [202] is connected mutually with one 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 second sliding bar [211] has the second orienting sleeve [213], second sliding bar [211] can relative second orienting sleeve [213] slide, the interior also energy of through hole that the bottom cylinder of described second orienting sleeve [213] is arranged on riser [5] rotate relative to riser [5], its pivot center is crossing with the pilot hole central axis upright on the second orienting sleeve [213], described 3rd attaching parts [210] is connected one 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 the central axis of wherein the second rotating shaft [209] is crossing with the central axis upright of the second sliding bar [211], second attaching parts [208] is connected mutually with one end of the first sliding bar [206], the quantity of described 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 is all connected mutually with foot [205], described two first sliding bars [206] are all run through the first orienting sleeve [207] and can relative first orienting sleeve [207] be slided, between two bearings [212] of riser [5], pilot bar [204] is set, this pilot bar [204] runs through the first orienting sleeve [207], this first orienting sleeve [207] can slide by pilot bar [204] relatively, the central axis upright of its relative sliding direction and the first sliding bar [206], its relative sliding direction also with the central axis upright 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 |
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| Application Number | Priority Date | Filing Date | Title |
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| 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 CN103465991A (en) | 2013-12-25 |
| CN103465991B true 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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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105667624B (en) * | 2016-01-06 | 2018-04-17 | 山东优宝特智能机器人有限公司 | Electric drive four-leg bionic robot |
| CN105638615B (en) * | 2016-01-10 | 2020-07-07 | 济宁山云宇内机电科技有限公司 | Agricultural pesticide spraying robot |
| CN105667622B (en) * | 2016-01-14 | 2017-09-01 | 哈尔滨工业大学 | It is a kind of to have the six of three sections of bodies to take turns sufficient formula mobile robots |
| CN106737578B (en) * | 2016-12-15 | 2018-11-13 | 山东大学 | A kind of quadruped robot |
Citations (4)
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| CN1956822A (en) * | 2005-03-30 | 2007-05-02 | 提姆查克股份有限公司 | Quadruped walking robot |
| CN101870311A (en) * | 2010-07-07 | 2010-10-27 | 南京航空航天大学 | Nine-degree of freedom four-footed simulating crawling robot |
| CN101927793A (en) * | 2010-07-23 | 2010-12-29 | 南京航空航天大学 | Variable-structure quadruped robot structure interconverting creeping motion and vertical motion |
| CN103144694A (en) * | 2013-03-26 | 2013-06-12 | 上海大学 | Pivot-steering mechanism of quadruped bio-robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006263887A (en) * | 2005-03-25 | 2006-10-05 | Rikogaku Shinkokai | Quadrupedal walking slope surface working robot |
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2013
- 2013-09-23 CN CN201310435813.9A patent/CN103465991B/en not_active Expired - Fee Related
Patent Citations (4)
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|---|---|---|---|---|
| CN1956822A (en) * | 2005-03-30 | 2007-05-02 | 提姆查克股份有限公司 | Quadruped walking robot |
| CN101870311A (en) * | 2010-07-07 | 2010-10-27 | 南京航空航天大学 | Nine-degree of freedom four-footed simulating crawling robot |
| CN101927793A (en) * | 2010-07-23 | 2010-12-29 | 南京航空航天大学 | Variable-structure quadruped robot structure interconverting creeping motion and vertical motion |
| CN103144694A (en) * | 2013-03-26 | 2013-06-12 | 上海大学 | Pivot-steering mechanism of quadruped bio-robot |
Non-Patent Citations (1)
| Title |
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| "一种四足马机器人的结构模型及其步行控制";陶卫军 等;《机电工程》;20090331;第26卷(第3期);第94-98页 * |
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Granted publication date: 20150916 Termination date: 20170923 |