CN104443106B - Bionic multi-foot walking robot and robot leg - Google Patents
Bionic multi-foot walking robot and robot leg Download PDFInfo
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- CN104443106B CN104443106B CN201410736993.9A CN201410736993A CN104443106B CN 104443106 B CN104443106 B CN 104443106B CN 201410736993 A CN201410736993 A CN 201410736993A CN 104443106 B CN104443106 B CN 104443106B
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- plate
- fraising
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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
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
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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, it is related to a kind of bionical multi-foot robot and its robot leg, it is possible to achieve single electricity
Machine drives the motor pattern of a plurality of leg, have the characteristics that motion flexibly, volume is light and handy, it is strong to adapt to ground ability it is adaptable to various
Complicated landform transports goods and materials etc..
Background technology
At present, in the motion of mobile robot, universal adopt wheeled, crawler type and Zu Shi mechanism, and wheeled
Robot or caterpillar type robot are compared, and legged mobile robot has higher mobility, can select on the ground that may reach
Select the strong point of optimum, to rough ground, also there is the ability of well adapting to.
To detect, to scout and dangerous operation environment work is as application background it is desirable to legged mobile robot has a structure little, weight
Amount is light, the low feature of energy consumption.The scheme that legged mobile robot adopts mostly at present is to be provided with multiple joints on every leg, each pass
Section, by a motor control, so not only makes robot architecture more complicated, also increases the complexity of control simultaneously.
Content of the invention
It is a kind of robot leg that the present invention proposes Section 1 content, and described robot leg includes：
Drive plate, described drive plate is tabular, and center is provided with the hole that is in transmission connection driving it to rotate, can be driven by insertion
Bearing pin drives its rotation, is evenly equipped with the first drive plate fraising, the second drive plate hinge with the circle as the center of circle for the described transmission disk center
Hole and the fraising of the 3rd drive plate；The described gear pin being connected with transmission disk center is connected with motor shaft, is capable of single motor
Drive a plurality of leg of homonymy.
Four-bladed vane, described four-bladed vane is cross tabular, and its center is provided with through hole, its four cornus are respectively equipped with
Be fixed motionless fixing hole, the respectively first fixing hole, the second fixing hole, the 3rd fixing hole, the 4th fixing hole, wherein institute
State the first fixing hole to be oppositely arranged with described 3rd fixing hole.
Connecting plate, described connecting plate be provided be in triangular distribution first connecting plate fraising, second connecting plate fraising and
3rd connecting plate fraising.
Pedal plate, described pedal plate is provided with the first pedal plate fraising and the fraising of the second pedal plate.
First drive link, the two ends of described first drive link are provided with fraising, and the first drive link includes two identical rod members；
Second drive link, the two ends of described second drive link are provided with fraising, and the second drive link includes two identical rod members；
3rd drive link, the two ends of described 3rd drive link are provided with fraising, and the 3rd drive link includes two identical rod members；
4th drive link, the two ends of described 4th drive link are provided with fraising, and the 4th drive link includes two identical rod members.
Described drive plate and described four-bladed vane arranged concentric；On the first fixing hole on described four-bladed vane and described connecting plate
The 3rd connecting plate fraising hinged, described connecting plate second connecting plate fraising with described drive plate on first drive plate fraising
Two ends by described first drive link are hinged, and the first connecting plate fraising of described connecting plate is cut with scissors with the first pedal plate of described pedal plate
Hole is hinged by the two ends of described second drive link, the 3rd connecting plate fraising of described connecting plate and the second pedal plate of described pedal plate
Fraising is hinged by the two ends of described 3rd drive link, and the second pedal plate fraising of described pedal plate is driven with the first of described drive plate
Disk fraising is hinged by the two ends of described 4th drive link.
The 3rd fixing hole on described four-bladed vane is hinged with the 3rd connecting plate fraising on second described connecting plate, and second
Second connecting plate fraising of individual described connecting plate passes through second described first with the first drive plate fraising on described drive plate
The two ends of drive link are hinged, and the first connecting plate fraising of second described connecting plate is cut with scissors with the first pedal plate of second described pedal plate
The two ends that second described second drive link is passed through in hole are hinged, and the 3rd connecting plate of second described connecting plate reams and described foot
Second pedal plate fraising of plate is hinged by the two ends of second described 3rd drive link, the second pedal plate hinge of second described pedal plate
Hole is hinged by the two ends of second described 4th drive link with the first drive plate fraising of described drive plate.
The feature of described robot leg is that described connecting plate includes that size shape is identical, overlap the top plate stacking
And lower plywood, keep certain distance to fix between described top plate and described lower plywood；Described pedal plate include size shape identical,
Overlap the upper strata pedal plate stacking and lower floor's pedal plate, keeps certain distance solid between described upper strata pedal plate and described lower floor pedal plate
Fixed.It is respectively arranged with pin in first connecting plate fraising of described robot leg, the second connecting plate fraising and the fraising of the 3rd connecting plate
Axle, described first drive link is hinged with described connecting plate by described bearing pin, and described four-bladed vane passes through described bearing pin and described company
Fishplate bar is hinged；It is respectively arranged with pedal plate bearing pin, described second drive link, the in described first pedal plate fraising, the second pedal plate fraising
Three drive links, the 4th drive link and described pedal plate are by described pedal plate hinge.
Section 2 content proposed by the present invention be a kind of bionical multi-foot walking robot, include running gear be arranged at institute
State the robot body above running gear, described running gear is divided into left and right to the first walking unit set setting and the second row
Walk unit set, described first walking unit set and described second walking unit set include respectively multigroup be arranged side by side become
To robot leg it is characterised in that described first walking unit set and described second walking unit set pass through two
Support axle is each passed through the second driving hole of described four-bladed vane and the 4th driving hole links together, and described robot leg is in invention
Hold the robot leg described in Section 1.
Described first walking unit set includes three and is removably disposed side by side parallel to described drive plate central axis direction
Described robot leg, be respectively the first robot leg, the second robot leg and the 3rd robot leg from outside to inner side, described
The described drive plate of the described drive plate of the first robot leg, the described drive plate of the second robot leg and the 3rd robot leg is same
Axle.
It is provided with the described machine of carrying between the four-bladed vane of the four-bladed vane of described second robot leg and described 3rd robot leg
The bogey of device human agent.Described bogey includes the four-bladed vane and described that bolt is installed on described second robot leg
Spring support between the four-bladed vane of three robot legs and the damping spring being fixedly arranged on described spring support.
Beneficial effects of the present invention：
1. described in, bionical multi-foot walking robot belongs to legged mobile robot, has the advantages that obstacle climbing ability is strong.
2. the leg structure design of bionical multi-foot walking robot described in can realize the motion of a plurality of leg of single Motor drive
Pattern, reduces legged mobile robot structure and the complexity controlling.
3. the moving cell of the bionical multi-foot walking robot left and right sides described in is respectively by the multigroup one-tenth being arranged side by side of inclusion
To robot leg composition, improve the stability of robot.
4. each moving cell of bionical multi-foot walking robot described in, can select the leg group of different bar numbers as needed
Become, there is modularization feature.
5. different detachable foots can be installed according to varying environment by bionical multi-foot walking robot described in, improve machine
The environmental suitability of people.
Brief description
Fig. 1 (a) (b) is different angle robots outline drawing；
Fig. 2 is single Motor drive side leg schematic diagram；
A pair of leg structural representation of Tu3Shi robot；
The following is in Figure of description illustrating of every content：
(1). main body；(2). four-bladed vane；(3). motor；(4). damping spring；(5). four-bladed vane；(6). spring support；
(7). support shaft；(8). support shaft；(9). drive plate；(10). gear pin；(11). shaft coupling；(12). connecting plate；
(13.1). the first drive link；(13.2). the second drive link；(13.3). the 3rd drive link；(13.4). the 4th drive link；(14).
Pedal plate；
The order mark being connected fraising for described connecting plate with described pedal plate wherein 1. 2. 3. marking.
Specific embodiment
Described polypody bio-robot is made up of with the robot body being arranged above described running gear running gear,
Running gear be left and right to the first walking unit set and the second walking unit set setting, see that accompanying drawing 1 (a) is the outer of robot
Shape figure.Walking unit set comprises multigroup paired robot leg being arranged side by side, and is respectively the first machine from outside to inner side
People's leg, the second robot leg and the 3rd robot leg, and robot leg number can set according to demand, have modular feature.
See a pair of leg structural representation of accompanying drawing 3 robot, the leg mechanism of robot by drive plate (9), four-bladed vane (2),
Connecting plate (12), the first drive link (13.1), the second drive link (13.2), the 3rd drive link (13.3), the 4th drive link
(13.4) form with pedal plate (14).
Drive plate, described drive plate is tabular, and center is provided with the hole that is in transmission connection driving it to rotate, can be driven by insertion
Bearing pin drives its rotation, is evenly equipped with the first drive plate fraising, the second drive plate hinge with the circle as the center of circle for the described transmission disk center
Hole and the fraising of the 3rd drive plate；The described gear pin being connected with transmission disk center is connected with motor shaft, is capable of single motor
Drive the motor pattern of a plurality of leg.
Four-bladed vane, described four-bladed vane is cross tabular, and its center is provided with through hole, its four cornus are respectively equipped with
Be fixed motionless fixing hole, the respectively first fixing hole, the second fixing hole, the 3rd fixing hole, the 4th fixing hole, wherein institute
State the first fixing hole to be oppositely arranged with described 3rd fixing hole.
Connecting plate, described connecting plate be provided be in triangular distribution first connecting plate fraising, second connecting plate fraising and
3rd connecting plate fraising.
Pedal plate, described pedal plate is provided with the first pedal plate fraising and the fraising of the second pedal plate.
First drive link, the second drive link, the 3rd drive link, the 4th drive link, the two ends of described drive link are provided with fraising.
The drive plate (9) of described robot leg and four-bladed vane (2) arranged concentric, the first fixing hole on four-bladed vane (2) with
The 3rd connecting plate fraising on connecting plate (12) is hinged, the on the second connecting plate fraising of connecting plate (12) and drive plate (9)
One drive plate fraising is hinged by the two ends of the first drive link (13.1), and the first connecting plate of connecting plate (12) reams and pedal plate
(14) the first pedal plate fraising is hinged by the two ends of the second drive link (13.2), the 3rd connecting plate fraising of connecting plate (12) with
Second pedal plate fraising of pedal plate (14) is hinged by the two ends of the 3rd drive link (13.3), the first pedal plate fraising of pedal plate (14) with
First drive plate fraising of drive plate (9) is hinged by the two ends of the 4th drive link (13.4)；On four-bladed vane (2) the 3rd is fixing
The 3rd connecting plate fraising on hole and second connecting plate (12) is hinged, the second connecting plate fraising of second connecting plate (12) with
The first drive plate fraising on drive plate (9) is hinged by the two ends of second described first drive link (13.1), second company
First connecting plate fraising of fishplate bar (12) and the first pedal plate fraising of second pedal plate (14) are by second described second transmission
The two ends of bar (13.2) are hinged, the 3rd connecting plate fraising of second connecting plate (12) and the second pedal plate of second pedal plate (14)
Fraising is hinged by the two ends of second described 3rd drive link (13.3), and the second pedal plate of second pedal plate (14) reams and passes
First drive plate fraising of Moving plate (9) is hinged by the two ends of second described 4th drive link (13.4).Described robot
Leg structure design can realize the motor pattern of a plurality of leg of single Motor drive, reduces legged mobile robot structure and answering of controlling
Polygamy.
Robot outline drawing shown in Fig. 1 (b), it is identical, mutual that the connecting plate of described robot leg includes size shape
Overlap the top plate stacking and lower plywood, keeps certain distance to fix between described top plate and described lower plywood；Described first
It is respectively arranged with bearing pin, described first drive link passes through in connecting plate fraising, the second connecting plate fraising and the fraising of the 3rd connecting plate
Described bearing pin is hinged with described connecting plate, and it is hinged with described connecting plate that described four-bladed vane passes through described bearing pin；Described pedal plate includes
Size shape is identical, overlap the upper strata pedal plate stacking and lower floor's pedal plate, between described upper strata pedal plate and described lower floor pedal plate
Certain distance is kept to fix；It is respectively arranged with pedal plate bearing pin, described second biography in described first pedal plate fraising, the second pedal plate fraising
Lever, the 3rd drive link, the 4th drive link and described pedal plate are by described pedal plate hinge.
The described drive plate of described first robot leg, the described drive plate of the second robot leg and the 3rd robot leg
Described drive plate is coaxial, and the described drive plate of adjacently positioned described robot leg is mutually circumferential by respective attachment means (10)
It is fixedly connected, initial phase differs 120 °.
Robot outline drawing shown in Fig. 1 (b), motor (3) is arranged in the first walking unit set whole robots
The inner side of leg, gear pin (10) week at the center of drive plate of the nearest robot leg of the corresponding side position of its power transmission shaft
To being fixedly connected, support shaft (7) and support shaft (8) are passed through in described first walking unit set and described second walking unit set
It is each passed through the second driving hole of described four-bladed vane and the 4th driving hole links together.
As shown in Fig. 1 (a), robot shock-damping structure is by four-bladed vane (5), spring support (6) and damping spring (4) group
Become, by screw bolt and nut, four-bladed vane is fixed with spring support, then with screw bolt and nut, main body, spring and spring support is solid
Fixed, reach the purpose of damping, improve stability and the adaptive capacity to environment of walking.
Claims (9)
1. a kind of robot leg is it is characterised in that described robot leg includes：
Drive plate (9), described drive plate is tabular, and center is provided with the hole that is in transmission connection driving it to rotate, can be driven by insertion
Bearing pin drives its rotation, is evenly equipped with the first drive plate fraising, the second drive plate hinge with the circle as the center of circle for the described transmission disk center
Hole and the fraising of the 3rd drive plate；The described gear pin being connected with transmission disk center is connected with motor shaft；
Four-bladed vane (2), described four-bladed vane is cross tabular, and its center is provided with through hole, its four cornus are respectively equipped with
Be fixed motionless fixing hole, the respectively first fixing hole, the second fixing hole, the 3rd fixing hole, the 4th fixing hole, wherein institute
State the first fixing hole to be oppositely arranged with described 3rd fixing hole；
Connecting plate (12), described connecting plate be provided be in triangular distribution first connecting plate fraising, second connecting plate fraising and
3rd connecting plate fraising；
Pedal plate (14), described pedal plate is provided with the first pedal plate fraising and the fraising of the second pedal plate；
First drive link (13.1), the two ends of described first drive link are provided with fraising, and the first drive link includes two identical rod members；
Second drive link (13.2), the two ends of described second drive link are provided with fraising, and the second drive link includes two identical rod members；
3rd drive link (13.3), the two ends of described 3rd drive link are provided with fraising, and the 3rd drive link includes two identical rod members；
4th drive link (13.4), the two ends of described 4th drive link are provided with fraising, and the 4th drive link includes two identical rod members；
Described drive plate and described four-bladed vane arranged concentric；On the first fixing hole on described four-bladed vane and described connecting plate the
Three connecting plate fraisings are hinged, and the second connecting plate fraising of described connecting plate is passed through with the first drive plate fraising on described drive plate
The two ends of described first drive link are hinged, and the first connecting plate fraising of described connecting plate is logical with the first pedal plate fraising of described pedal plate
The two ends crossing described second drive link are hinged, and the 3rd connecting plate fraising of described connecting plate is reamed with the second pedal plate of described pedal plate
Two ends by described 3rd drive link are hinged, and the second pedal plate fraising of described pedal plate is cut with scissors with the first drive plate of described drive plate
The two ends that described 4th drive link is passed through in hole are hinged；
The 3rd connecting plate on the 3rd fixing hole on described four-bladed vane and second described connecting plate reams hinged, second institute
State the second connecting plate fraising of connecting plate and the first drive plate fraising on described drive plate is driven by second described first
The two ends of bar are hinged, and the first connecting plate fraising of second described connecting plate is logical with the first pedal plate fraising of second described pedal plate
The two ends crossing second described second drive link are hinged, and the 3rd connecting plate of second described connecting plate reams and described in second
Second pedal plate fraising of pedal plate is hinged by the two ends of second described 3rd drive link, the second pedal plate of second described pedal plate
Fraising is hinged by the two ends of second described 4th drive link with the first drive plate fraising of described drive plate.
2. robot leg according to claim 1 it is characterised in that described connecting plate to include size shape identical, mutual
Overlap the top plate stacking and lower plywood, keeps certain distance to fix between described top plate and described lower plywood.
3. robot leg according to claim 2 is it is characterised in that described first connecting plate fraising, the second connecting plate are cut with scissors
It is respectively arranged with bearing pin, described first drive link (13.1) is by described bearing pin and described connection in hole and the fraising of the 3rd connecting plate
Plate is hinged, and it is hinged with described connecting plate that described four-bladed vane passes through described bearing pin.
4. size shape is identical, phase mutual respect it is characterised in that described pedal plate includes for robot leg according to claim 1
Close the upper strata pedal plate stacking and lower floor's pedal plate, between described upper strata pedal plate and described lower floor pedal plate, keep certain distance to fix.
5. robot leg according to claim 4 it is characterised in that described first pedal plate fraising, second pedal plate fraising in
It is respectively arranged with pedal plate bearing pin, described second drive link (13.2), described 3rd drive link (13.3), described 4th drive link
And described pedal plate is all by described pedal plate hinge (13.4).
6. a kind of bionical multi-foot walking robot, including running gear and the robot master being arranged above described running gear
Body, described running gear is divided into left and right to the first walking unit set setting and the second walking unit set, described first walking
Unit set and described second walking unit set include multigroup paired robot leg being arranged side by side respectively, and its feature exists
It is the robot leg described in any one of claim 1 to 5 in, described robot leg, 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 support shafts and the 4th driving hole connects
Together.
7. bionical multi-foot walking robot according to claim 6 it is characterised in that described first walking unit set bag
Include three described robot legs being removably disposed side by side parallel to described drive plate central axis direction, from outside to inner side respectively
For the first robot leg, the second robot leg and the 3rd robot leg, the described drive plate of described first robot leg, the second machine
The described drive plate of the described drive plate of device people's leg and the 3rd robot leg is coaxial.
8. bionical multi-foot walking robot according to claim 7 is it is characterised in that the cross of described second robot leg
It is provided with, between the four-bladed vane of plate and described 3rd robot leg, the bogey carrying described robot body.
9. bionical multi-foot walking robot according to claim 8 is it is characterised in that described bogey includes bolt peace
It is loaded on the spring support between the four-bladed vane of described second robot leg and the four-bladed vane of described 3rd robot leg and be fixedly arranged on
Damping spring on described spring support.
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 |
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| 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 |
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| Publication Number | Publication Date |
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| CN104443106A CN104443106A (en) | 2015-03-25 |
| CN104443106B true CN104443106B (en) | 2017-02-22 |
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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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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105620584B (en) * | 2016-04-01 | 2017-11-28 | 安徽理工大学 | Complete pneumatic step forward walking mechanism and its atmospheric control |
| 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 |
| 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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| CN102897245A (en) * | 2012-10-30 | 2013-01-30 | 同济大学 | Robot body modularization linkage device for single-drive multi-legged robot |
| CN204415556U (en) * | 2014-12-08 | 2015-06-24 | 北京林业大学 | A kind of bionical multi-foot walking robot and robot leg thereof |
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| CN1836848A (en) * | 2006-04-27 | 2006-09-27 | 上海交通大学 | Microsize robot based on wheel leg type composite mechanism |
| 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 |
| WO2013007975A1 (en) * | 2011-07-14 | 2013-01-17 | Aquamarine Power Limited | An underwater vehicle for installation, maintenance of wave, tidal or water current power generating devices |
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| CN204415556U (en) * | 2014-12-08 | 2015-06-24 | 北京林业大学 | A kind of bionical multi-foot walking robot and robot leg thereof |
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