CN104443106A - Bionic multi-foot walking robot and robot leg - Google Patents
Bionic multi-foot walking robot and robot leg Download PDFInfo
- Publication number
- CN104443106A CN104443106A CN201410736993.9A CN201410736993A CN104443106A CN 104443106 A CN104443106 A CN 104443106A CN 201410736993 A CN201410736993 A CN 201410736993A CN 104443106 A CN104443106 A CN 104443106A
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- robot
- connecting panel
- fraising
- plate
- pedal plate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention provides a bionic multi-foot walking robot and a robot leg and belongs to the field of leg robots. In order to solve the problem that the existing leg robot is complicated in structure and control, the robot utilizes the characteristic of control of a plurality of pairs of legs on the same side driven by a single motor, so that the robot is simple in structure and control and walks stably. The robot comprises a walking device and a robot main body arranged above the walking device, wherein the walking device is divided into walking unit sets arranged oppositely left and right; each walking unit set comprises a plurality of groups of pairwise robot legs arranged side by side; and a shock-absorbing device is mounted above the walking device and the main body of the robot. The robot is applied to detection, reconnaissance and operation in a hazardous operation environment and is applicable to material transportation and the like in various complicated terrains.
Description
Technical field
The invention belongs to Robotics, relate to a kind of bionical multi-foot robot and robot leg thereof, the mode of motion that single motor drives many legs can be realized, have the advantages that motion is flexible, volume is light and handy, adaptation ground ability is strong, be applicable to various complex-terrain and transport goods and materials etc.
Background technology
At present, in the kinematic mechanism of mobile robot, general employing is wheeled, crawler type and Zu Shi mechanism, compared with wheeled robot or caterpillar type robot, legged mobile robot has higher manoevreability, the optimum strong point can be selected on the ground that may arrive, to rough ground, also there is good adaptive capacity.
With detection, scouting and dangerous operation environment work for application background, require that legged mobile robot has structure little, lightweight, the feature that energy consumption is low.The scheme that current legged mobile robot adopts mostly is that every bar leg is provided with multiple joint, and each joint, by an electric machine control, so not only makes robot architecture more complicated, too increases the complexity of control simultaneously.
Summary of the invention
It is a kind of robot leg that the present invention proposes Section 1 content, and described robot leg comprises:
Drive plate, described drive plate is tabular, center is provided with the hole that is in transmission connection driving it to rotate, and drives it to rotate by inserting gear pin, the circle being the center of circle is evenly equipped with the first drive plate fraising, the second drive plate fraising and the fraising of the 3rd drive plate with described drive plate center; The described gear pin be connected with drive plate center is connected with motor shaft, can realize single motor and drive homonymy many legs.
Four-bladed vane, described four-bladed vane is criss-cross tabular, its center is provided with through hole, its four cornus are respectively equipped with the motionless fixed orifice that is fixed, be respectively the first fixed orifice, the second fixed orifice, the 3rd fixed orifice, the 4th fixed orifice, wherein said first fixed orifice and described 3rd fixed orifice are what be oppositely arranged.
Connecting panel, described connecting panel be provided be in triangular distribution first connecting panel fraising, second connecting panel fraising and the 3rd connecting panel fraising.
Pedal plate, described pedal plate is provided with the first pedal plate fraising and the fraising of the second pedal plate.
Drive link, the two ends of described drive link are provided with fraising.
Described drive plate and described four-bladed vane arranged concentric, the first fixed orifice on described four-bladed vane and the first connecting panel on described connecting panel ream hinged, second connecting panel fraising of described connecting panel is reamed hinged by the two ends of a described drive link with the first drive plate on described drive plate, first connecting panel fraising of described connecting panel is reamed hinged by the two ends of second described drive link with the first pedal plate of described pedal plate, 3rd connecting panel fraising of described connecting panel is reamed hinged by the two ends of the 3rd described drive link with the second pedal plate of described pedal plate, second pedal plate fraising of described pedal plate is reamed hinged by the two ends of the 4th described drive link with the first drive plate of described drive plate.
The 3rd fixed orifice on described four-bladed vane and the first connecting panel on second described connecting panel ream hinged, second connecting panel fraising of second described connecting panel is reamed hinged by the two ends of the 5th described drive link with the first drive plate on described drive plate, first connecting panel fraising of second described connecting panel is reamed hinged by the two ends of the 6th described drive link with the first pedal plate of second described pedal plate, 3rd connecting panel fraising of second described connecting panel is reamed hinged by the two ends of the 7th described drive link with the second pedal plate of described pedal plate, second pedal plate fraising of second described pedal plate is reamed hinged by the two ends of the 8th described drive link with the first drive plate of described drive plate.
The feature of described robot leg is that described connecting panel comprises that size shape is identical, overlap the top plate and lower plywood that stack, keeps certain distance to fix between described top plate and described lower plywood; Described pedal plate comprises that size shape is identical, overlap the upper strata pedal plate and lower floor's pedal plate that stack, keeps certain distance to fix between described upper strata pedal plate and described lower floor pedal plate.Be respectively arranged with bearing pin in first connecting panel fraising of described robot leg, the second connecting panel fraising and the fraising of the 3rd connecting panel, described drive link and described four-bladed vane by described bearing pin and described connecting panel hinged; Be respectively arranged with pedal plate bearing pin in described first pedal plate fraising, the second pedal plate fraising, described drive link and described pedal plate are by described pedal plate hinge.
The Section 2 content that the present invention proposes is a kind of bionical multi-foot walking robot, comprise running gear and be arranged at the robot body above described running gear, described running gear is divided into left and right to the first walking unit set established and the second walking unit set, described first walking unit set and described second walking unit set comprise the many groups of paired robot legs be arranged side by side respectively, it is characterized in that, described first walking unit set and described second walking unit set is each passed through the second driving hole of described four-bladed vane by two pivot shafts and the 4th driving hole links together, described robot leg is the robot leg described in summary of the invention Section 1.
Described first walking unit set comprises three described robot legs being parallel to described drive plate central axis direction and removably arranging side by side, from outside to inner side, be respectively the first robot leg, the second robot leg and the 3rd robot leg, the described drive plate of the described drive plate of described first robot leg, the described drive plate of the second robot leg and the 3rd robot leg is coaxial.
The bogey carrying described robot body is provided with between the four-bladed vane of described second robot leg and the four-bladed vane of described 3rd robot leg.Described bogey comprises the damping spring that bolt is installed on the spring bracket between the four-bladed vane of described second robot leg and the four-bladed vane of described 3rd robot leg and is fixedly arranged on described spring bracket.
Beneficial effect of the present invention:
1. described in, bionical multi-foot walking robot belongs to legged mobile robot, has the advantage that obstacle climbing ability is strong.
2. the leg structure design of bionical multi-foot walking robot described in can realize the mode of motion that single motor drives many legs, reduces the complexity of legged mobile robot structure and control.
3. the moving cell of the bionical multi-foot walking robot left and right sides described in forms by comprising the many groups of paired robot legs be arranged side by side respectively, improves the stability of robot.
4. each moving cell of bionical multi-foot walking robot described in, can select the leg of different number to form as required, have modularization feature.
5. bionical multi-foot walking robot described in can install different detachable foots according to varying environment, improves the compatible with environment of robot.
Accompanying drawing explanation
Fig. 1 (a) (b) is different angles robot outside drawing;
Fig. 2 is that single motor drives side leg schematic diagram;
Fig. 3 is robot pair of leg structural representation;
Below the illustrating of every content in Figure of description:
1. main body; 2. four-bladed vane; 3. motor; 4. damping spring; 5. four-bladed vane; 6. spring bracket; 7. pivot shaft; 8. pivot shaft; 9. drive plate; 10. gear pin; 11. coupler; 12. connecting panels; 13.1 drive links; 13.2 drive links; 13.3 drive links; 13.4. drive link; 14. pedal plates;
What wherein 1. 2. 3. mark marks for described connecting panel is connected the order reamed with described pedal plate.
Detailed description of the invention
Described polypody bio-robot is made up of running gear and the robot body be arranged at above described running gear, running gear be left and right to establish first walking unit set and second walking unit set, see the outside drawing that accompanying drawing 1 (a) is robot.Walking unit set comprises the many groups of paired robot legs be arranged side by side, and be respectively the first robot leg, the second robot leg and the 3rd robot leg, and robot leg number can set according to demand, has modular feature from outside to inner side.
See accompanying drawing 3 robot pair of leg structural representation, the leg mechanism of robot is made up of drive plate 9, four-bladed vane 2, connecting panel 12, drive link 13.1, drive link 13.2, drive link 13.3, drive link 13.4 and pedal plate 14.
Drive plate, described drive plate is tabular, center is provided with the hole that is in transmission connection driving it to rotate, and drives it to rotate by inserting gear pin, the circle being the center of circle is evenly equipped with the first drive plate fraising, the second drive plate fraising and the fraising of the 3rd drive plate with described drive plate center; The described gear pin be connected with drive plate center is connected with motor shaft, can realize the mode of motion that single motor drives many legs.
Four-bladed vane, described four-bladed vane is criss-cross tabular, its center is provided with through hole, its four cornus are respectively equipped with the motionless fixed orifice that is fixed, be respectively the first fixed orifice, the second fixed orifice, the 3rd fixed orifice, the 4th fixed orifice, wherein said first fixed orifice and described 3rd fixed orifice are what be oppositely arranged.
Connecting panel, described connecting panel be provided be in triangular distribution first connecting panel fraising, second connecting panel fraising and the 3rd connecting panel fraising.
Pedal plate, described pedal plate is provided with the first pedal plate fraising and the fraising of the second pedal plate.
Drive link, the two ends of described drive link are provided with fraising.
Drive plate 9 and four-bladed vane 2 arranged concentric of described robot leg, the first fixed orifice on four-bladed vane 2 and the first connecting panel on connecting panel 12 ream hinged, second connecting panel fraising of connecting panel 12 is reamed hinged by the two ends of first drive link 13.1 with the first drive plate on drive plate 9, first connecting panel fraising of connecting panel 12 is reamed hinged by the two ends of second drive link 13.2 with the first pedal plate of pedal plate 14, 3rd connecting panel fraising of connecting panel 12 is reamed hinged by the two ends of the 3rd drive link 13.3 with the second pedal plate of pedal plate 14, first pedal plate fraising of pedal plate 14 is reamed hinged by the two ends of the 4th drive link 13.4 with the first drive plate of drive plate 9, the 3rd fixed orifice on four-bladed vane 2 and the first connecting panel on second connecting panel 12 ream hinged, second connecting panel fraising of second connecting panel 12 is reamed hinged by the two ends of the 5th drive link 13.1 with the first drive plate on drive plate 9, first connecting panel fraising of second connecting panel 12 is reamed hinged by the two ends of the 6th drive link 13.2 with the first pedal plate of second pedal plate 14, 3rd connecting panel fraising of second connecting panel 12 is reamed hinged by the two ends of the 7th drive link 13.3 with the second pedal plate of pedal plate 14, second pedal plate fraising of second pedal plate 14 is reamed hinged by the two ends of the 8th drive link 13.4 with the first drive plate of drive plate 9.The leg structure design of described robot can realize the mode of motion that single motor drives many legs, reduces the complexity of legged mobile robot structure and control.
By the robot outside drawing shown in Fig. 1 (b), the connecting panel of described robot leg comprises that size shape is identical, overlap the top plate and lower plywood that stack, keeps certain distance to fix between described top plate and described lower plywood; Be respectively arranged with bearing pin in described first connecting panel fraising, the second connecting panel fraising and the fraising of the 3rd connecting panel, described drive link and described four-bladed vane by described bearing pin and described connecting panel hinged; Described pedal plate comprises that size shape is identical, overlap the upper strata pedal plate and lower floor's pedal plate that stack, keeps certain distance to fix between described upper strata pedal plate and described lower floor pedal plate; Be respectively arranged with pedal plate bearing pin in described first pedal plate fraising, the second pedal plate fraising, described drive link and described pedal plate are by described pedal plate hinge.
The described drive plate of the described drive plate of described first robot leg, the described drive plate of the second robot leg and the 3rd robot leg is coaxial, the described drive plate of the described robot leg of adjacent layout is fixedly connected with by the mutual circumference of respective connecting device 10, and Initial Phase differs 120 °.
By the robot outside drawing shown in Fig. 1 (b), motor 3 is arranged at the inner side of whole robot leg in the first walking unit set, gear pin 10 circumference at the center of the drive plate of the robot leg that its transmission shaft is nearest with its respective side position is fixedly connected with, described first walking unit set and described second walking unit set is each passed through the second driving hole of described four-bladed vane by pivot shaft 7 and pivot shaft 8 and the 4th driving hole links together.
As shown in Fig. 1 (a), robot shock-damping structure is by four-bladed vane 5, spring bracket 6 and damping spring 4 form, by screw bolt and nut, four-bladed vane and spring bracket are fixed, with screw bolt and nut, main body, spring and spring bracket are fixed again, reach the object of damping, improve stability and the adaptive capacity to environment of walking.
Claims (9)
1. a robot leg, is characterized in that, described robot leg comprises:
Drive plate (9), 9 represent the numbering in accompanying drawing, described drive plate is tabular, center is provided with the hole that is in transmission connection driving it to rotate, driving it to rotate by inserting gear pin, the circle being the center of circle being evenly equipped with the first drive plate fraising, the second drive plate fraising and the fraising of the 3rd drive plate with described drive plate center; The described gear pin be connected with drive plate center is connected with motor shaft.
Four-bladed vane (2), 2 represent the numbering in accompanying drawing, described four-bladed vane is criss-cross tabular, its center is provided with through hole, its four cornus are respectively equipped with the motionless fixed orifice that is fixed, be respectively the first fixed orifice, the second fixed orifice, the 3rd fixed orifice, the 4th fixed orifice, wherein said first fixed orifice and described 3rd fixed orifice are what be oppositely arranged;
Connecting panel (12), 12 represent the numbering in accompanying drawing, described connecting panel be provided be in triangular distribution first connecting panel fraising, second connecting panel fraising and the 3rd connecting panel fraising;
Pedal plate (14), 14 represent the numbering in accompanying drawing, and described pedal plate is provided with the first pedal plate fraising and the fraising of the second pedal plate;
Drive link (13.1-13.4), 13.1-13.4 represents the numbering in accompanying drawing, and the two ends of described drive link are provided with fraising;
Described drive plate and described four-bladed vane arranged concentric, the first fixed orifice on described four-bladed vane and the first connecting panel on described connecting panel ream hinged, second connecting panel fraising of described connecting panel is reamed hinged by the two ends of a described drive link with the first drive plate on described drive plate, first connecting panel fraising of described connecting panel is reamed hinged by the two ends of second described drive link with the first pedal plate of described pedal plate, 3rd connecting panel fraising of described connecting panel is reamed hinged by the two ends of the 3rd described drive link with the second pedal plate of described pedal plate, second pedal plate fraising of described pedal plate is reamed hinged by the two ends of the 4th described drive link with the first drive plate of described drive plate,
The 3rd fixed orifice on described four-bladed vane and the first connecting panel on second described connecting panel ream hinged, second connecting panel fraising of second described connecting panel is reamed hinged by the two ends of the 5th described drive link with the first drive plate on described drive plate, first connecting panel fraising of second described connecting panel is reamed hinged by the two ends of the 6th described drive link with the first pedal plate of second described pedal plate, 3rd connecting panel fraising of second described connecting panel is reamed hinged by the two ends of the 7th described drive link with the second pedal plate of described pedal plate, second pedal plate fraising of second described pedal plate is reamed hinged by the two ends of the 8th described drive link with the first drive plate of described drive plate.
2. robot leg according to claim 1, is characterized in that, described connecting panel comprises that size shape is identical, overlap the top plate and lower plywood that stack, keeps certain distance to fix between described top plate and described lower plywood.
3. robot leg according to claim 2, it is characterized in that, be respectively arranged with bearing pin in described first connecting panel fraising, the second connecting panel fraising and the fraising of the 3rd connecting panel, described drive link and described four-bladed vane by described bearing pin and described connecting panel hinged.
4. robot leg according to claim 1, is characterized in that, described pedal plate comprises that size shape is identical, overlap the upper strata pedal plate and lower floor's pedal plate that stack, keeps certain distance to fix between described upper strata pedal plate and described lower floor pedal plate.
5. robot leg according to claim 4, is characterized in that, be respectively arranged with pedal plate bearing pin in described first pedal plate fraising, the second pedal plate fraising, described drive link and described pedal plate are by described pedal plate hinge.
6. a bionical multi-foot walking robot, comprise running gear and be arranged at the robot body above described running gear, described running gear is divided into left and right to the first walking unit set established and the second walking unit set, described first walking unit set and described second walking unit set comprise the many groups of paired robot legs be arranged side by side respectively, it is characterized in that, described first walking unit set and described second walking unit set is each passed through the second driving hole of described four-bladed vane by two pivot shafts and the 4th driving hole links together, described robot leg is the robot leg described in any one of claim 1 to 5.
7. bionical multi-foot walking robot according to claim 6, it is characterized in that, described first walking unit set comprises three described robot legs being parallel to described drive plate central axis direction and removably arranging side by side, from outside to inner side, be respectively the first robot leg, the second robot leg and the 3rd robot leg, the described drive plate of the described drive plate of described first robot leg, the described drive plate of the second robot leg and the 3rd robot leg is coaxial.
8. bionical multi-foot walking robot according to claim 7, is characterized in that, is provided with the bogey carrying described robot body between the four-bladed vane of described second robot leg and the four-bladed vane of described 3rd robot leg.
9. bionical multi-foot walking robot according to claim 8, it is characterized in that, described bogey comprises the damping spring that bolt is installed on the spring bracket between the four-bladed vane of described second robot leg and the four-bladed vane of described 3rd robot leg and is fixedly arranged on described spring bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410736993.9A CN104443106B (en) | 2014-12-08 | 2014-12-08 | Bionic multi-foot walking robot and robot leg |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410736993.9A CN104443106B (en) | 2014-12-08 | 2014-12-08 | Bionic multi-foot walking robot and robot leg |
Publications (2)
| Publication Number | Publication Date |
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| CN104443106A true CN104443106A (en) | 2015-03-25 |
| CN104443106B CN104443106B (en) | 2017-02-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201410736993.9A Expired - Fee Related CN104443106B (en) | 2014-12-08 | 2014-12-08 | Bionic multi-foot walking robot and robot leg |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107738703A (en) * | 2016-04-01 | 2018-02-27 | 安徽理工大学 | Complete pneumatic step forward walking mechanism |
| CN108015781A (en) * | 2017-12-19 | 2018-05-11 | 浙江工业大学 | Rehabilitation Stepped Power Assist Device device |
| CN108016525A (en) * | 2017-12-19 | 2018-05-11 | 浙江工业大学 | Four-footed conveying robot device |
| CN108771874A (en) * | 2018-08-01 | 2018-11-09 | 重庆电子工程职业学院 | Ship bionical battlebus and robot control system enough |
| CN109432794A (en) * | 2018-09-07 | 2019-03-08 | 武汉做自己科技有限公司 | Cardboard polypody mechanical creep robot |
| CN111135588A (en) * | 2019-12-26 | 2020-05-12 | 东华大学 | Modularization bamboo wood robot based on crank rocker mechanism |
| CN111232084A (en) * | 2020-03-02 | 2020-06-05 | 广东博智林机器人有限公司 | Multi-foot walking robot |
| CN114802524A (en) * | 2022-05-11 | 2022-07-29 | 南京工程学院 | Jansen connecting rod structure robot bionic leg and bionic scorpion type hexapod robot |
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| CN102897245A (en) * | 2012-10-30 | 2013-01-30 | 同济大学 | Robot body modularization linkage device for single-drive multi-legged robot |
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| CN101850798A (en) * | 2010-03-29 | 2010-10-06 | 北京航空航天大学 | Bionic cockroach robot based on double-four link mechanism |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107738703A (en) * | 2016-04-01 | 2018-02-27 | 安徽理工大学 | Complete pneumatic step forward walking mechanism |
| CN107738703B (en) * | 2016-04-01 | 2019-07-05 | 安徽理工大学 | Complete pneumatic step forward walking mechanism |
| CN108015781A (en) * | 2017-12-19 | 2018-05-11 | 浙江工业大学 | Rehabilitation Stepped Power Assist Device device |
| CN108016525A (en) * | 2017-12-19 | 2018-05-11 | 浙江工业大学 | Four-footed conveying robot device |
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| CN109432794A (en) * | 2018-09-07 | 2019-03-08 | 武汉做自己科技有限公司 | Cardboard polypody mechanical creep robot |
| CN111135588A (en) * | 2019-12-26 | 2020-05-12 | 东华大学 | Modularization bamboo wood robot based on crank rocker mechanism |
| CN111232084A (en) * | 2020-03-02 | 2020-06-05 | 广东博智林机器人有限公司 | Multi-foot walking robot |
| CN111232084B (en) * | 2020-03-02 | 2021-08-31 | 广东博智林机器人有限公司 | Multi-foot walking robot |
| CN114802524A (en) * | 2022-05-11 | 2022-07-29 | 南京工程学院 | Jansen connecting rod structure robot bionic leg and bionic scorpion type hexapod robot |
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