CN103979034A - Four-leg walking robot with single power leg mechanism - Google Patents
Four-leg walking robot with single power leg mechanism Download PDFInfo
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- CN103979034A CN103979034A CN201410211307.6A CN201410211307A CN103979034A CN 103979034 A CN103979034 A CN 103979034A CN 201410211307 A CN201410211307 A CN 201410211307A CN 103979034 A CN103979034 A CN 103979034A
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Abstract
The invention provides a four-leg walking robot with a single power leg mechanism. The four-leg walking robot comprises a carrying rack (A), and b-e groups of leg mechanisms (B, C, D, E), wherein a single group of leg mechanisms only need one driving motor, and walking movement of the mechanisms can be realized by virtue of whole-circle rotation of the motor; by virtue of regulating the phase difference of upper and lower cranked rod pieces, namely b-e fourth rod pieces (B-4, C-4, D-4, E-4), the adjustment of foot end tracks can be finished, the leg raising height and step-through distance of the four-leg walking robot are changed, and the ground trafficability is improved. The mechanism can be used in the fields of celestial body detection, materiel carrying, military reconnaissance and the like.
Description
Technical field
The present invention relates to a kind of four feet walk mechanism, particularly the bionical walking robot of a kind of single-power leg mechanism, by adjusting the phase change foot end track of crank rod member in leg mechanism, strengthens the ground comformability of walking mechanism.
Background technology
Compare with wheeled and crawler type ground mobile robot, walking robot has good ground adaptive capacity.Existing walking robot shank mostly is open chain mechanism, utilizes multi-joint individual drive, through gait planning, realizes mobile walking, and completing a walking step state needs a plurality of motor coordinated drive.Such walking robot is simple in structure, but needs complicated perfect control system, leg mechanism poor rigidity, and energy consumption is larger.
Another kind of four feet walking robot is that lower-mobility drives, and shank is many connecting rods closed chain mechanism, and single leg only needs a motor to drive.Chinese patent CN102068819A discloses a kind of " single-power four feet walk mechanism ", and the one-sided leg of this mechanism divides two-layer layout, and front and back leg shares a crank, and this walking mechanism is simple in structure, can realize four feet walk motion.But this mechanism's gait is fixed, and cannot regulate and lift leg height and step pitch, that has limited mechanism passes through performance and Applicable scope.
Summary of the invention
The problem to be solved in the present invention is to provide a kind of single leg single degree of freedom and drives, the adjustable four feet walking robot of lifting leg height and step pitch.
Technical scheme of the present invention:
Single-power leg mechanism four feet walking robot comprises that carrier, b to e organize leg mechanism.
Described carrier comprises: thick stick before guardrail rack, vehicle frame steel plate and traction.Connection mode is as follows: two vehicle frame steel plates are welded in respectively guardrail rack two side bottoms, and before traction, thick stick, by the end collar and guardrail fit, interfixes with guardrail rack.
B, c group leg mechanism and d, e group leg mechanism are respectively the forward and backward leg of single-power leg mechanism quadruped robot, joint is towards the opposite, b to e group leg mechanism is identical with carrier annexation, and wherein, b group leg mechanism and carrier are affixed by four mounting holes on b the first bar.
B to e group leg mechanism is single degree of freedom connecting rod mechanism, respectively by b to e motor individual drive, realizes the ground motion of described single-power leg mechanism four feet walking robot.
Described b group leg mechanism comprises: b the first bar is to b the 7th bar, b the first axle to b the 7th axle, b sleeve, b motor, b belt wheel and b Timing Belt, and b group leg mechanism annexation is as follows:
B motor is two output shaft electric machines, is clipped between two b the second bars, and motor shaft, respectively through two of left and right b the second bar, completes the fixing of b motor and two b the second bars by four motor mounting holes uniform on b the second bar.B the 4th axle, through two b the second bar middle part mounting hole, carries out axial restraint by medial and lateral jump-ring slot.Four b belt wheel left and right, respectively through two output shafts of b motor, b the 4th axle two ends, are realized circumferentially and being fixed by D profile, and axle head jump-ring slot is installed jump ring and is realized axial restraint.B Timing Belt is arranged on b belt wheel, completes toothed belt transmission and partly connect.Four b the 4th bars are arranged on b motor output shaft, b the 4th shaft end by the hole interference of D type.Two b the second boom ends are clamped b the first bar, and b the first axle passes mounting hole, and jump ring is installed and is fixed.Two b the second bar other end mounting holes are through b the 5th axle, and outside coordinates with two b the 6th bar respectively, and b installs at the 5th axle two ends jump ring and realizes axial restraint.Two b the 3rd bar one end mounting holes coordinate with the mounting hole on two b the 4th bars on b motor output shaft respectively, and b the 3rd axle is through mounting hole, and two ends are fixed with jump ring.Two b the 3rd bar other end mounting holes coordinate with through hole on b the first bar boss, and b the second axle, through mounting hole, is arranged b sleeve between b the 3rd bar and boss, and b installs at the second axle two ends jump ring and realizes axial restraint.Two b the 5th bar one end mounting holes coordinate with the mounting hole on two b the 4th bars on b the 4th axle respectively, and b the 3rd axle is through mounting hole, and two ends are fixed with jump ring.Two b the 5th bar other end mounting holes coordinate with b the 6th bar middle part mounting hole, and b the 6th axle is through mounting hole, and axial restraint is realized with jump ring in two ends.B the 6th bar other end mounting hole matches with b the 7th bar convex platform mounting hole, and b the 7th axle is through mounting hole, and two ends are installed jump ring and fixed.
Part composition, structure and size, annexation, the degree of freedom of described b to e group leg mechanism are identical.
By above-mentioned connection, complete the assembling of single-power leg mechanism four feet walking robot.
The present invention compares the beneficial effect having with prior art:
Patent of the present invention proposes a kind of single-power leg mechanism four feet walking robot, and single leg replaces multi-joint motor to drive with multi-connecting-rod mechanism interlock, reduces drive motor number, with low cost, simplifies control algorithm, elevator system reliability.This walking robot, by regulating shank crank rod member phase place, is adjusted foot end track and is realized the change of lifting leg height and steplength simultaneously, has improved the limitation of single degree of freedom leg mechanism, promotes ground crossing ability and the field of application of such walking mechanism.This walking robot can be used as the fields such as celestial body detecting, goods and materials delivery and military surveillance.
Accompanying drawing explanation
Fig. 1: the whole graphics of single-power leg mechanism four feet walking robot;
Fig. 2: carrier graphics;
Fig. 3: b group leg mechanism connects outside drawing;
Fig. 4: b group leg mechanism drive motor, band transmission and crank rod member are installed exploded view;
Fig. 5: leg mechanism graphics when crank rod member phase difference is 0 °, 90 ° and 180 °.
The specific embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Figure 1, single-power leg mechanism four feet walking robot comprises that carrier A, b to e organize leg mechanism.
As shown in Figure 2, carrier A comprises: thick stick A-3 before guardrail rack A-1, vehicle frame steel plate A-2 and traction, connection mode is as follows: two vehicle frame steel plate A-2 are welded in respectively guardrail rack A-1 two side bottoms, and before traction, thick stick A-3 is by the end collar and guardrail fit, and A-1 interfixes with guardrail rack.
B, c group leg mechanism B, C and d, e group leg mechanism D, E are respectively the forward and backward leg of single-power leg mechanism quadruped robot, and joint is towards the opposite.B to e group leg mechanism is identical with carrier A annexation, and wherein, b group leg mechanism B and carrier A are affixed by four mounting holes on b the first bar B-1.
B to e group leg mechanism is single degree of freedom connecting rod mechanism, respectively by b to e motor individual drive, realizes the ground motion of described single-power leg mechanism four feet walking robot.
As shown in Figure 3, b group leg mechanism B comprises: b the first bar is to b the 7th bar, b the first axle to b the 7th axle, b sleeve B-10, b motor B-11, b belt wheel B-12 and b Timing Belt B-14.
B the first bar B-1 is the suspention of b group leg mechanism, uniform four mounting holes in upper surface, and another side convex platform is furnished with two through holes.B the second bar B-2 arranges four through holes, near middle part, is motor output shaft hole, uniform four the motor mounting holes of motor output shaft hole surrounding.Respectively there is respectively a through hole at b the 3rd bar, b the 4th bar and b the 5th bar two ends, and wherein b the 4th bar B-4 is toggle-action lever.Three through holes of the upper layout of b the 6th bar B-6.B the 7th bar B-7 is the foot end of b group leg mechanism, arranges a through hole on boss, and bottom is yielding rubber.
B group leg mechanism annexation is as follows:
B motor B-11 is two output shaft electric machines, is clipped between two b the second bar B-2, and motor shaft, respectively through two of left and right b the second bar B-2, completes the fixing of b motor B-11 and two b the second bar B-2 by upper four the uniform motor mounting holes of b the second bar B-2.B the 4th axle B-15, through two b the second bar B-2 middle part mounting hole, carries out axial restraint by interior outside jump-ring slot.Four b belt wheel B-12 left and right, respectively through two output shafts of b motor B-11, b the 4th axle B-15 two ends, are realized circumferentially and being fixed by D profile, and axle head jump-ring slot is installed jump ring and is realized axial restraint.B Timing Belt B-14 is arranged on to b belt wheel B-12 upper, completes toothed belt transmission and partly connect.Four b the 4th bar B-4 are arranged on b motor B-11 output shaft, b the 4th axle B-15 end by the hole interference of D type, and above-mentioned driving, running part connect as shown in Figure 4.B the first bar B-1 is clamped in two b the second bar B-2 ends, and b the first axle B-8 passes mounting hole, and jump ring is installed and is fixed.Two b the second bar B-2 other end mounting holes are through b the 5th axle B-16, and outside coordinates with two b the 6th bar B-6 respectively, and b installs at the 5th axle B-16 two ends jump ring and realizes axial restraint.Two b the 3rd bar B-3 one end mounting holes coordinate with the mounting hole on two b the 4th bar B-4 on b motor B-11 output shaft respectively, and b the 3rd axle B-13 is through mounting hole, and two ends are fixed with jump ring.Two b the 3rd bar B-3 other end mounting holes coordinate with through hole on b the first bar B-1 boss, and b the second axle B-9, through mounting hole, arranges b sleeve B-10 between b the 3rd bar B-3 and boss, and b installs at the second axle B-9 two ends jump ring and realizes axial restraint.Two b the 5th bar B-5 one end mounting holes coordinate with the mounting hole on upper two b the 4th bar B-4 of b the 4th axle B-15 respectively, and b the 3rd axle B-13 is through mounting hole, and two ends are fixed with jump ring; Two b the 5th bar B-5 other end mounting holes coordinate with b the 6th bar B-6 middle part mounting hole, and b the 6th axle B-17 is through mounting hole, and axial restraint is realized with jump ring in two ends.B the 6th bar B-6 other end mounting hole matches with b the 7th bar B-7 convex platform mounting hole, and b the 7th axle B-18 is through mounting hole, and two ends are installed jump ring and fixed.Part composition, structure and size, annexation, the degree of freedom of described b to e group leg mechanism are identical.By above-mentioned connection, complete the assembling of single degree of freedom b to e group leg mechanism.
Unclamp the Timing Belt on b to e group leg mechanism, by adjusting b to e the 4th axle, adjustable upper and lower two b to e the 4th bar phase difference; After being installed, Timing Belt realizes the adjustment to foot end track.Be illustrated in figure 5 after adjustment, phase difference is the leg mechanism schematic diagram of 0 °, 90 ° and 180 °.
Claims (3)
1. single-power leg mechanism four feet walking robot, is characterized in that:
Single-power leg mechanism four feet walking robot comprises that carrier (A), b to e organize leg mechanism (B, C, D, E);
Described carrier (A) comprising: thick stick (A-3) before guardrail rack (A-1), vehicle frame steel plate (A-2) and traction; Connection mode is as follows: two vehicle frame steel plates (A-2) are welded in respectively guardrail rack (A-1) two side bottoms; Before traction, thick stick (A-3) interfixes by end and guardrail rack (A-1);
B, c group leg mechanism (B, C) is respectively the forward and backward leg of single-power leg mechanism quadruped robot with d, e group leg mechanism (D, E), and joint is towards the opposite; It is identical with carrier (A) connection mode that b to e organizes leg mechanism (B, C, D, E), and wherein, b group leg mechanism (B) is affixed by four mounting holes on b the first bar (B-1) with carrier (A);
It is single degree of freedom connecting rod mechanism that b to e organizes leg mechanism (B, C, D, E), respectively by b to e motor (B-11, C-11, D-11, E-11) individual drive, realizes the ground motion of described single-power leg mechanism four feet walking robot.
2. single-power leg mechanism four feet walking robot claimed in claim 1, is characterized in that:
Described b group leg mechanism (B) comprising: b the first bar is to b the 7th bar (B-1, B-2, B-3, B-4, B-5, B-6, B-7), b the first axle to b the 7th axle (B-8, B-9, B-13, B-15, B-16, B-17, B-18), b sleeve (B-10), b motor (B-11), b belt wheel (B-12) and b Timing Belt (B-14);
B the first bar (B-1) is the suspention of b group leg mechanism, uniform four mounting holes in upper surface, and another side convex platform is furnished with two through holes;
B the second bar (B-2) is arranged four axis holes and four motor mounting holes, and motor output shaft hole is positioned at b the second bar (B-2) middle part, and four motor mounting holes are distributed in motor output shaft hole surrounding;
Respectively there is respectively a through hole at b the 3rd bar, b the 4th bar and b the 5th bar (B-3, B-4, B-5) two ends, and wherein b the 4th bar (B-4) is toggle-action lever;
Three through holes of the upper layout of b the 6th bar (B-6);
B the 7th bar (B-7), for the foot end of b group leg mechanism, is arranged a through hole on boss, bottom is yielding rubber;
B group leg mechanism (B) annexation is as follows:
B motor (B-11) is two output shaft electric machines, be clipped between two b the second bars (B-2), motor shaft, respectively through two b the second bars in left and right (B-2), completes the fixing of b motor (B-11) and two b the second bars (B-2) by upper four the uniform motor mounting holes of b the second bar (B-2); B the 4th axle (B-15), through two b the second bars (B-2) middle part mounting hole, carries out axial restraint by interior outside jump-ring slot; Four b belt wheels (B-12) left and right, respectively through two output shafts of b motor (B-11), b the 4th axle (B-15) two ends, is realized circumferentially and being fixed by D profile, and axle head jump-ring slot is installed jump ring and is realized axial restraint; B Timing Belt (B-14) is arranged on to homonymy b belt wheel (B-12) upper, completes toothed belt transmission and partly connect; Four b the 4th bars (B-4) by D type hole respectively interference be arranged on b motor (B-11) output shaft, b the 4th axle (B-15) two ends; B the first bar (B-1) is clamped in two b the second bars (B-2) end, and b the first axle (B-8) passes axis hole, and jump ring axial restraint is installed; Two b the second bars (B-2) other end mounting hole is through b the 5th axle (B-16), and outside coordinates with two b the 6th bar (B-6) respectively, and b installs at the 5th axle (B-16) two ends jump ring and realizes axial restraint; Two b the 3rd bar (B-3) one end mounting holes coordinate by b the 3rd axle (B-13) with the mounting hole on two b the 4th bars (B-4) on b motor (B-11) output shaft respectively, and b fixes with jump ring at the 3rd axle (B-13) two ends; Two b the 3rd bar (B-3) other end mounting holes coordinate by b the second axle (B-9) with through hole on b the first bar (B-1) boss, between b the 3rd bar (B-3) and boss, arrange b sleeve (B-10), b the second axle (B-9) two ends are installed jump ring and are realized axial restraint; Two b the 5th bar (B-5) one end mounting holes coordinate by b the 3rd axle (B-13) with the mounting hole on upper two b the 4th bar (B-4) of b the 4th axle (B-15) respectively, and b fixes with jump ring at the 3rd axle (B-13) two ends; Two b the 5th bar (B-5) other end mounting holes coordinate by b the 6th axle (B-17) with b the 6th bar (B-6) middle part mounting hole, and b realizes axial restraint with jump ring in the 6th axle (B-17) two ends; B the 6th bar (B-6) other end mounting hole coordinates by b the 7th axle (B-18) with b the 7th bar (B-7) convex platform mounting hole, and b installs at the 7th axle (B-18) two ends jump ring and fixes;
It is identical that described b to e organizes part composition, structure and size, annexation, the degree of freedom of leg mechanism (B, C, D, E);
By above-mentioned connection, complete the assembling that single degree of freedom b to e organizes leg mechanism (B, C, D, E).
3. single-power leg mechanism four feet walking robot claimed in claim 1, is characterized in that:
By adjusting b to e the 4th axle (B-15, C-15, D-15, E-15), adjustable upper and lower two b to e the 4th bar (B-4, C-4, D-4, E-4) phase difference; The adjustment of realization to foot end track.
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| CN104886955A (en) * | 2015-06-08 | 2015-09-09 | 北京交通大学 | Desk with automatic travelling function |
| CN105947012A (en) * | 2016-05-10 | 2016-09-21 | 南京航空航天大学 | Differential gear driving robot leg mechanism and control method |
| CN106809294A (en) * | 2016-12-27 | 2017-06-09 | 郑州轻工业学院 | The walking robot that cam link combined mechanism drives |
| CN106809295A (en) * | 2016-12-27 | 2017-06-09 | 郑州轻工业学院 | The walking robot list leg system that cam link combined mechanism drives |
| CN107010137A (en) * | 2017-04-18 | 2017-08-04 | 江苏信息职业技术学院 | A kind of lightweight quadruped robot |
| CN107364504A (en) * | 2017-07-23 | 2017-11-21 | 连雪芳 | Wheel leg combination search and rescue robot platform |
| CN107364507A (en) * | 2017-07-23 | 2017-11-21 | 连雪芳 | A kind of bionical search and rescue robot platform |
| CN107380295A (en) * | 2017-07-17 | 2017-11-24 | 安徽工业大学 | A kind of closed chain formula walking leg mechanism |
| CN108639184A (en) * | 2018-06-13 | 2018-10-12 | 辽宁石油化工大学 | A kind of novel bionic joint pedipulator |
| CN109178137A (en) * | 2018-08-29 | 2019-01-11 | 燕山大学 | Multi-foot robot based on Three Degree Of Freedom pedipulator |
| CN109398526A (en) * | 2018-10-18 | 2019-03-01 | 北京交通大学 | A kind of adjustable walking carrying platform in foot end track |
| CN109747731A (en) * | 2018-12-11 | 2019-05-14 | 深圳市优必选科技有限公司 | Robot and its leg structure |
| CN110091934A (en) * | 2019-03-22 | 2019-08-06 | 北京交通大学 | A kind of adaptive polypody walking platform |
| CN112498515A (en) * | 2020-09-23 | 2021-03-16 | 北京交通大学 | Multi-foot carrying platform capable of walking passively |
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| CN104886955A (en) * | 2015-06-08 | 2015-09-09 | 北京交通大学 | Desk with automatic travelling function |
| CN105947012A (en) * | 2016-05-10 | 2016-09-21 | 南京航空航天大学 | Differential gear driving robot leg mechanism and control method |
| CN106809294B (en) * | 2016-12-27 | 2018-11-06 | 郑州轻工业学院 | The walking robot of cam link combined mechanism driving |
| CN106809294A (en) * | 2016-12-27 | 2017-06-09 | 郑州轻工业学院 | The walking robot that cam link combined mechanism drives |
| CN106809295A (en) * | 2016-12-27 | 2017-06-09 | 郑州轻工业学院 | The walking robot list leg system that cam link combined mechanism drives |
| CN106809295B (en) * | 2016-12-27 | 2018-09-21 | 郑州轻工业学院 | The walking robot list leg system of cam link combined mechanism driving |
| CN107010137A (en) * | 2017-04-18 | 2017-08-04 | 江苏信息职业技术学院 | A kind of lightweight quadruped robot |
| CN107380295B (en) * | 2017-07-17 | 2019-04-12 | 安徽工业大学 | A kind of closed chain formula walking leg mechanism |
| CN107380295A (en) * | 2017-07-17 | 2017-11-24 | 安徽工业大学 | A kind of closed chain formula walking leg mechanism |
| CN107364504A (en) * | 2017-07-23 | 2017-11-21 | 连雪芳 | Wheel leg combination search and rescue robot platform |
| CN107364507A (en) * | 2017-07-23 | 2017-11-21 | 连雪芳 | A kind of bionical search and rescue robot platform |
| CN108639184A (en) * | 2018-06-13 | 2018-10-12 | 辽宁石油化工大学 | A kind of novel bionic joint pedipulator |
| CN108639184B (en) * | 2018-06-13 | 2023-04-25 | 辽宁石油化工大学 | Novel bionic joint mechanical leg |
| CN109178137A (en) * | 2018-08-29 | 2019-01-11 | 燕山大学 | Multi-foot robot based on Three Degree Of Freedom pedipulator |
| CN109178137B (en) * | 2018-08-29 | 2019-09-13 | 燕山大学 | Multi-foot robot based on Three Degree Of Freedom pedipulator |
| CN109398526A (en) * | 2018-10-18 | 2019-03-01 | 北京交通大学 | A kind of adjustable walking carrying platform in foot end track |
| CN109747731A (en) * | 2018-12-11 | 2019-05-14 | 深圳市优必选科技有限公司 | Robot and its leg structure |
| CN110091934A (en) * | 2019-03-22 | 2019-08-06 | 北京交通大学 | A kind of adaptive polypody walking platform |
| CN112498515A (en) * | 2020-09-23 | 2021-03-16 | 北京交通大学 | Multi-foot carrying platform capable of walking passively |
| CN113696994A (en) * | 2021-09-16 | 2021-11-26 | 李延博 | Leg structure of controllable multi-point contact ground of quadruped robot and control method |
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